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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,282 @@ | ||
| local temp01 = CGeoPoint:new_local(-1000,1000) | ||
| local temp02 = CGeoPoint:new_local(-1000,-1000) | ||
| local temp03 = CGeoPoint:new_local(-1000,0) | ||
| local temp04 = CGeoPoint:new_local(-1500,500) | ||
| local theirgoal = CGeoPoint:new_local(4500,0) | ||
| local target = CGeoPoint:new_local(3000,2000) | ||
| local target2 = CGeoPoint:new_local(-2500,1500) | ||
| local target3 = CGeoPoint:new_local(0,0) | ||
| local p1 = CGeoPoint:new_local(-120,-170) | ||
| local p2 = CGeoPoint:new_local(-250,-2000) | ||
| local p3 = CGeoPoint:new_local(-200,1500) | ||
| local p4 = CGeoPoint:new_local(-2200,100) | ||
| local p5 = CGeoPoint:new_local(-2200,-100) | ||
| local p6 = CGeoPoint:new_local(-3000,-800) | ||
| local p7 = CGeoPoint:new_local(-3000,800) | ||
| local Dir_ball = function(role) | ||
| return function() | ||
| return (ball.pos() - player.pos(role)):dir() | ||
| end | ||
| end | ||
|
|
||
| local pos_self = function(role) | ||
| return function() | ||
| return player.pos(role) | ||
| end | ||
| end | ||
| local pos_ = function(ppp) | ||
| return function() | ||
| return ppp | ||
| end | ||
| end | ||
|
|
||
|
|
||
| local debugStatus = function() | ||
| for num,i in pairs(GlobalMessage.attackPlayerRunPos) do | ||
| debugEngine:gui_debug_msg(CGeoPoint:new_local(-4400,num * 200), | ||
| tostring(GlobalMessage.attackPlayerRunPos[num].num) .. | ||
| " " .. | ||
| "(" .. | ||
| tostring(GlobalMessage.attackPlayerRunPos[num].pos:x()) .. | ||
| "," .. | ||
| tostring(GlobalMessage.attackPlayerRunPos[num].pos:y()) .. | ||
| ")" | ||
| ,6) | ||
| end | ||
| for num,i in pairs(GlobalMessage.attackPlayerStatus) do | ||
| debugEngine:gui_debug_msg(CGeoPoint:new_local(-4400,num * -200), | ||
| tostring(i.num) .. | ||
| " " .. | ||
| tostring(i.status),3) | ||
| end | ||
| debugEngine:gui_debug_msg(CGeoPoint:new_local(-4400,-2000),ball_rights) | ||
| debugEngine:gui_debug_msg(CGeoPoint:new_local(-4300,-2000),dribbling_player_num,3) | ||
| end | ||
|
|
||
| local closures_point = function(point) | ||
| return function() | ||
| return CGeoPoint:new_local(point:x(),point:y()) | ||
| end | ||
| end | ||
| local playerPos = function(role) | ||
| return function() | ||
| return CGeoPoint:new_local(player.posX(role),player.posY(role)) | ||
| end | ||
| end | ||
| -- dir:pos1 -> pos2 | ||
| local closures_dir = function(pos1,pos2) | ||
| return function() | ||
| return (pos2 - pos1):dir() | ||
| end | ||
| end | ||
|
|
||
| local closures_dir_ball = function(role) | ||
| return function() | ||
| return player.toBallDir(role) | ||
| end | ||
| end | ||
|
|
||
| local ballPos = function() | ||
| return function() | ||
| return CGeoPoint:new_local(ball.pos():x(),ball.pos():y()) | ||
| end | ||
| end | ||
|
|
||
| local shootPos = function() | ||
| return function() | ||
| return shoot_pos | ||
| end | ||
| end | ||
| local passPos = function() | ||
| return function() | ||
| return CGeoPoint:new_local(player.posX(pass_player_num),player.posY(pass_player_num)) | ||
| end | ||
| end | ||
| local function correctionPos() | ||
| return function() | ||
| return CGeoPoint:new_local(correction_pos:x(),correction_pos:y()) | ||
| end | ||
| end | ||
|
|
||
| -- 校正返回的脚本 | ||
| correction_state = "Shoot" | ||
| -- 角度误差常数 | ||
| error_dir = 4 | ||
| -- 校正坐标初始化 | ||
| correction_pos = CGeoPoint:new_local(0,0) | ||
| -- 带球车初始化 | ||
| dribbling_player_num = 1 | ||
| -- 球权初始化 | ||
| ballRights = -1 | ||
| -- 射门坐标初始化 | ||
| shoot_pos = CGeoPoint:new_local(4500,0) | ||
| -- 被传球机器人 | ||
| pass_player_num = 0 | ||
|
|
||
| -- touch power | ||
| touchPower = 4000 | ||
|
|
||
| -- 后卫号码 | ||
| defend_num1 = 1 | ||
| defend_num2 = 2 | ||
|
|
||
| -- 射门Kp | ||
| shootKp = 0.0001 | ||
| -- Touch pos | ||
| touchPos = CGeoPoint:new_local(0,0) | ||
| -- Touch 角度 | ||
| canTouchAngle = 30 | ||
|
|
||
| -- 传球角度 | ||
| pass_pos = CGeoPoint:new_local(4500,-999) | ||
|
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|
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||
| runPosKicker = CGeoPoint(0,0) | ||
| runPosSpecial = CGeoPoint(0,0) | ||
| runPosAssister = CGeoPoint(0,0) | ||
| shootPosKicker = CGeoPoint(0,0) | ||
| shootPosAssister = CGeoPoint(0,0) | ||
|
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||
| local UpdataTickMessage = function() | ||
| Utils.UpdataTickMessage(vision,param.our_goalie_num,param.defend_num1,param.defend_num2) | ||
| --GetAttackPos(const CVisionModule *pVision,int num ,CGeoPoint shootPos,CGeoPoint startPoint,CGeoPoint endPoint,double step,double ballDist) | ||
| shootPosKicker = Utils.GetShootPoint(vision,player.num("Kicker")) | ||
| shootPosAssister = Utils.GetShootPoint(vision,player.num("Assister")) | ||
| runPosAssister = Utils.GetAttackPos(vision,player.num("Assister"),shootPosAssister,CGeoPoint(3500,1350),CGeoPoint(4000,1000),300) | ||
| runPosKicker = Utils.GetAttackPos(vision,player.num("Kicker"),shootPosKicker,CGeoPoint(1200,-100),CGeoPoint(1800,-800),300) | ||
| runPosSpecial = Utils.GetAttackPos(vision,player.num("Special"),runPosKicker,CGeoPoint(500,2500),CGeoPoint(1000,1900),300) | ||
| end | ||
|
|
||
| local runPos_Assister = function(dist) | ||
| return function() | ||
| local new_pos = runPosAssister + Utils.Polar2Vector(dist,(ball.pos() - runPosAssister):dir()) | ||
| new_pos = CGeoPoint:new_local(new_pos:x(),new_pos:y()) | ||
| return new_pos | ||
| end | ||
| end | ||
| local runPos_Kicker = function(dist) | ||
| return function() | ||
| local new_pos = runPosKicker + Utils.Polar2Vector(dist,(ball.pos() - runPosKicker):dir()) | ||
| new_pos = CGeoPoint:new_local(new_pos:x(),new_pos:y()) | ||
| return new_pos | ||
| end | ||
| end | ||
| local runPos_Special = function(dist) | ||
| return function() | ||
| local new_pos = runPosSpecial + Utils.Polar2Vector(dist,(ball.pos() - runPosSpecial):dir()) | ||
| new_pos = CGeoPoint:new_local(new_pos:x(),new_pos:y()) | ||
| return new_pos | ||
| end | ||
| end | ||
|
|
||
| local KickerShootPos = function() | ||
| return function() | ||
| return shootPosKicker | ||
| end | ||
| end | ||
| local DSS_FLAG = bit:_or(flag.allow_dss, flag.dodge_ball) | ||
| gPlayTable.CreatePlay{ | ||
| firstState = "ready", | ||
| ["ready"] = { | ||
| switch = function () | ||
| UpdataTickMessage() | ||
| if cond.isNormalStart() then | ||
| return "OtherRunPos" | ||
| elseif cond.isGameOn() then | ||
| return "OtherRunPos" | ||
| end | ||
| end, | ||
| Assister = task.goCmuRush(p1, Dir_ball("Assister")), | ||
| Special = task.goCmuRush(p3, Dir_ball("Special")), | ||
| Kicker = task.goCmuRush(p2, Dir_ball("Kicker")), | ||
| Tier = task.goCmuRush(p7, Dir_ball("Tier")), | ||
| Defender = task.goCmuRush(p6, Dir_ball("Defender")), | ||
| Goalie = task.goalie("Goalie"), | ||
| match = "[ASK]{TDG}" | ||
| }, | ||
|
|
||
| ["OtherRunPos"] = { | ||
| switch = function () | ||
| local tick = Utils.UpdataTickMessage(vision,param.our_goalie_num,param.defend_num1,param.defend_num2) | ||
| if tick.ball.rights == -1 then | ||
| return "exit" | ||
| end | ||
|
|
||
| if(player.kickBall("Assister")) then | ||
| return "SpecialTouch" | ||
| end | ||
| end, | ||
| Assister = task.Shootdot("Assister",runPos_Special(-400), shootKp, 5, kick.flat), | ||
| Special = task.goCmuRush(runPos_Special(-400), Dir_ball("Special"), a, f, r, v), | ||
| Kicker = task.goCmuRush(runPos_Kicker(-400), Dir_ball("Kicker"), a, f, r, v), | ||
| -- Tier = task.Shootdot("Tier",playerPos("Special"), shootKp, 5, kick.flat), | ||
| -- Defender = task.defender_defence("Defender"), | ||
| Goalie = task.goalie("Goalie"), | ||
| match = "{ASKTDG}" | ||
| }, | ||
| ["SpecialTouch"] = { | ||
| switch = function () | ||
| local tick = Utils.UpdataTickMessage(vision,param.our_goalie_num,param.defend_num1,param.defend_num2) | ||
| if tick.ball.rights == -1 then | ||
| return "exit" | ||
| end | ||
| if(player.kickBall("Special")) then | ||
| return "KickerTouch" | ||
| end | ||
| end, | ||
| Assister = task.goCmuRush(runPos_Assister(-400), Dir_ball("Assister"), a, DSS_FLAG, r, v), | ||
| Special = task.touchKick(runPos_Kicker(0), false, param.shootKp, kick.flat), | ||
| Kicker = task.goCmuRush(runPos_Kicker(-400), Dir_ball("Kicker"), a, f, r, v), | ||
| -- Tier = task.defender_defence("Tier"), | ||
| -- Defender = task.defender_defence("Defender"), | ||
| Goalie = task.goalie("Goalie"), | ||
| match = "{ASKTDG}" | ||
| }, | ||
|
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||
|
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||
| ["KickerTouch"] = { | ||
| switch = function () | ||
| local tick = Utils.UpdataTickMessage(vision,param.our_goalie_num,param.defend_num1,param.defend_num2) | ||
| if tick.ball.rights == -1 then | ||
| return "exit" | ||
| end | ||
| if(player.toBallDist("Kicker") < 300) then | ||
| return "exit" | ||
| end | ||
| end, | ||
| Assister = task.goCmuRush(runPos_Assister(-400), Dir_ball("Assister"), a, DSS_FLAG, r, v), | ||
| Special = task.goCmuRush(runPos_Special(-400), Dir_ball("Special"), a, f, r, v), | ||
| Kicker = task.getball(_, param.playerVel, param.getballMode, KickerShootPos()), | ||
| -- Tier = task.defender_defence("Tier"), | ||
| -- Defender = task.defender_defence("Defender"), | ||
| Goalie = task.goalie("Goalie"), | ||
| match = "{ASKTDG}" | ||
| }, | ||
|
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|
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|
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| ["shoot"] = { | ||
| switch = function () | ||
| local tick = Utils.UpdataTickMessage(vision,param.our_goalie_num,param.defend_num1,param.defend_num2) | ||
| if tick.ball.rights == -1 then | ||
| return "exit" | ||
| end | ||
| end, | ||
| Assister = task.goCmuRush(runPos_Assister(-400), Dir_ball("Assister"), a, DSS_FLAG, r, v), | ||
| Special = task.goCmuRush(runPos_Special(-400), Dir_ball("Special"), a, f, r, v), | ||
| Kicker = task.getball("Kicker", param.playerVel, param.getballMode, KickerShootPos()), | ||
| -- Tier = task.defender_defence("Tier"), | ||
| -- Defender = task.defender_defence("Defender"), | ||
| Goalie = task.goalie("Goalie"), | ||
| match = "{ASKTDG}" | ||
| }, | ||
|
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|
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| name = "our_KickOff", | ||
| applicable ={ | ||
| exp = "a", | ||
| a = true | ||
| }, | ||
| attribute = "attack", | ||
| timeout = 99999 | ||
| } |
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