From cd1a4c6628a54c5d0f3ab236bcd598259e573889 Mon Sep 17 00:00:00 2001
From: Rick5 <1770224907@qq.com>
Date: Fri, 17 May 2024 02:12:00 +0800
Subject: [PATCH] =?UTF-8?q?=E5=B9=B2=E6=89=B0=E6=95=8C=E6=96=B9=E5=BC=80?=
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---
 Core/HuRocos-2024/play/indirectDefend_New.lua | 45 ++++++++++++++++---
 ZBin/lua_scripts/worldmodel/param.lua         |  2 +-
 ZBin/lua_scripts/worldmodel/task.lua          |  4 +-
 3 files changed, 41 insertions(+), 10 deletions(-)

diff --git a/Core/HuRocos-2024/play/indirectDefend_New.lua b/Core/HuRocos-2024/play/indirectDefend_New.lua
index 5c61dd6..6a10187 100644
--- a/Core/HuRocos-2024/play/indirectDefend_New.lua
+++ b/Core/HuRocos-2024/play/indirectDefend_New.lua
@@ -16,8 +16,9 @@ function Tdebug()
 	end
 end
 --获取球位置
-local ballpos = ball.pos()
-KeepDis = 100
+local KeepDis = 270
+
+
 
 --获取敌人车号
 -- local LockdefendNum = function()
@@ -37,7 +38,7 @@ local DenfendPosFront = function (role)
 	-- end
 
 	ballpos = ball.pos()
-	local denfendPosfront = enemy.pos(Match[player.num(role)]) + Utils.Polar2Vector(KeepDis, (enemy.pos(Match[player.num(role)]) - ballpos):dir() +  math.pi / 3)
+	local denfendPosfront = enemy.pos(Match[player.num(role)]) + Utils.Polar2Vector(KeepDis, (enemy.pos(Match[player.num(role)]) - ballpos):dir() +  math.pi *2/3)
 	return denfendPosfront
 end
 
@@ -48,10 +49,11 @@ local DenfendPosCenter = function (role)
 	-- end
 	
 	ballpos = ball.pos()
-	local denfendPoscenter = enemy.pos(Match[player.num(role)]) + Utils.Polar2Vector(KeepDis, (enemy.pos(Match[player.num(role)]) - ballpos):dir() +  math.pi / 3)
+	local denfendPoscenter = enemy.pos(Match[player.num(role)]) + Utils.Polar2Vector(KeepDis, (enemy.pos(Match[player.num(role)]) - ballpos):dir() +  math.pi *2/3)
 	return denfendPoscenter
-end
 
+end
+local DenfendPos = CGeoPoint(0,0)
 -------------------------------------------------------------------------------------------------
 return {
 
@@ -60,7 +62,38 @@ return {
     end,
 
 
-firstState = "Init",
+firstState = "Init1111",
+
+
+
+["Init1111"] = {
+	switch = function ()
+
+		local ballpos = ball.pos()
+		local StartEnemyPos = enemy.pos(enemy.closestBall()) 
+		DenfendPos = ballpos + Utils.Polar2Vector(KeepDis,(ball.pos() - StartEnemyPos ):dir())
+		debugEngine:gui_debug_msg(CGeoPoint(0,0),DenfendPos:x(),4)
+		debugEngine:gui_debug_msg(CGeoPoint(0,150),DenfendPos:y(),4)
+
+		if ball.velMod() > 500 then
+        	return "exit"
+        end
+	end,
+
+	Assister =task.goCmuRush( function()return DenfendPos end ,0,a,0),
+    Kicker = function() return task.defender_marking("Kicker",CGeoPoint(param.INF,param.INF)) end,
+    Special = function() return task.defender_marking("Special",CGeoPoint(param.INF,param.INF)) end,
+
+    -- Assister = task.stop(),
+    -- Kicker = task.stop(),
+    -- Special = task.stop(),
+
+    match = "[AKS]"
+},
+
+
+
+
 
 ["Init"] = {
 	switch = function ()
diff --git a/ZBin/lua_scripts/worldmodel/param.lua b/ZBin/lua_scripts/worldmodel/param.lua
index e5bbd74..e35bc76 100644
--- a/ZBin/lua_scripts/worldmodel/param.lua
+++ b/ZBin/lua_scripts/worldmodel/param.lua
@@ -112,7 +112,7 @@ markingPosRate2 = 1 / 10
 --             defend参数             --|
 -----------------------------------------------|
 -- defender 模式, 0-盯球，1-盯人
-defenderMode = 0
+defenderMode = 1
 
 defenderShootMode = function() return 1 end -- 1 flat  2 chip
 defenderBuf = playerRadius * 1.5
diff --git a/ZBin/lua_scripts/worldmodel/task.lua b/ZBin/lua_scripts/worldmodel/task.lua
index a5176cf..c5f1336 100644
--- a/ZBin/lua_scripts/worldmodel/task.lua
+++ b/ZBin/lua_scripts/worldmodel/task.lua
@@ -1370,7 +1370,6 @@ end
 markingTable = {}
 markingTableLen = 0
 
-
 function defender_marking(role,pos)
 	local enemyDribblingNum = GlobalMessage.Tick().their.dribbling_num
 	local p
@@ -1395,7 +1394,7 @@ function defender_marking(role,pos)
 		end
 	-- end
 	-- 如果 敌人在前场 ,我方正常跑位
-	if markingTableLen == 0 or (markingTableLen == 1 and role == "Special" )  then 
+	if markingTableLen == 0 or (markingTableLen == 1 and role == "Special" ) and pos:x() ~= param.INF then 
 		local mexe, mpos = GoCmuRush { pos = p, dir = idir, acc = a, flag = flag.allow_dss + flag.dodge_ball, rec = r, vel = v }
 		return { mexe, mpos }
 	else
@@ -1417,7 +1416,6 @@ function defender_marking(role,pos)
 			if(not Utils.InField(markingPos)) then
 				markingPos = CGeoPoint (player.posX(role),player.posY(role))
 			end
-
 			local mexe, mpos = GoCmuRush { pos = markingPos, dir = idir, acc = a, flag = flag.allow_dss, rec = r, vel = v }
 			return { mexe, mpos }
 		end