NORMALPLAY add touch

Umbrella167 · May 14, 2024 · 9336b34 · 9336b34
1 parent c36fbb7
commit 9336b34
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Showing 7 changed files with 36 additions and 38 deletions.
diff --git a/Core/HuRocos-2024/play/NORMALPLAY.lua b/Core/HuRocos-2024/play/NORMALPLAY.lua
@@ -288,21 +288,17 @@ firstState = "Init",
     switch = function()
         UpdataTickMessage(our_goalie_num,defend_num1,defend_num2)    -- 更新帧信息
         local State = getState()
-        if param.shootPos:x() == param.pitchLength / 2 then
-			shoot_kp = 10000
-		else
-			shoot_kp = param.shootKp
-		end
-
-        return State
+        if(GlobalMessage.Tick().ball.rights == -1 or not player.canTouch(player.pos("Assister"),shoot_pos,param.canTouchAngle)) then
+            return State
+        end
     end,
     Assister = task.touchKick(function() return shoot_pos end, false, function() return shoot_kp end, kick.flat),
     Kicker = task.goCmuRush(function() return KickerRUNPos end,closures_dir_ball("Kicker"),_,DSS_FLAG),
     Special = task.goCmuRush(function() return SpecialRUNPos end,closures_dir_ball("Special"),_,DSS_FLAG),
     Tier = gSubPlay.roleTask("Defender", "Tier"),
     Defender = gSubPlay.roleTask("Defender", "Defender"),
     Goalie = gSubPlay.roleTask("Goalie", "Goalie"),
-    match = "{AKSTDG}"
+    match = "[AKS]{TDG}"
 },
 -- 接球
 ["Getball"] = {
@@ -313,13 +309,13 @@ firstState = "Init",
         if State ~= "Getball" then
             return State
         end
-        -- local AssisterPos = CGeoPoint(player.posX("Assister"),player.posY("Assister"))
-        -- local ballLine = CGeoSegment(ball.pos(),ball.pos() + Utils.Polar2Vector(9999,ball.velDir()))
-        -- local playerPrjPos = ballLine:projection(player.pos("Assister"))
-        -- local onBallLine = ballLine:IsPointOnLineOnSegment(playerPrjPos)
-        -- if Utils.isValidPass(vision,AssisterPos,shoot_pos,param.enemy_buffer) and player.canTouch(AssisterPos,shoot_pos,param.canTouchAngle)  and Utils.isValidPass(vision,AssisterPos,CGeoPoint(ball.posX(),ball.posY()),param.enemy_buffer) and ball.velMod() > 500 and onBallLine then
-        --     return "Touch"
-        -- end
+        local AssisterPos = CGeoPoint(player.posX("Assister"),player.posY("Assister"))
+        local ballLine = CGeoSegment(ball.pos(),ball.pos() + Utils.Polar2Vector(9999,ball.velDir()))
+        local playerPrjPos = ballLine:projection(player.pos("Assister"))
+        local onBallLine = ballLine:IsPointOnLineOnSegment(playerPrjPos)
+        if Utils.isValidPass(vision,AssisterPos,shoot_pos,param.enemy_buffer) and player.canTouch(AssisterPos,shoot_pos,param.canTouchAngle)  and Utils.isValidPass(vision,AssisterPos,CGeoPoint(ball.posX(),ball.posY()),param.enemy_buffer)then
+            return "Touch"
+        end
     end,
     Assister = task.getball(function() return shoot_pos end,playerVel,getballMode),
     Kicker = task.goCmuRush(function() return KickerRUNPos end,closures_dir_ball("Kicker"),_,DSS_FLAG),

diff --git a/Core/tactics/skill/Getball.lua b/Core/tactics/skill/Getball.lua
@@ -16,11 +16,11 @@ function Getball(task)
 		local qflag = inter_flag or 0
 		local playerPos = CGeoPoint:new_local(player.pos(runner):x(),player.pos(runner):y())
 		local inter_pos = Utils.GetBestInterPos(vision,playerPos,param.playerVel,minter_flag,0,param.V_DECAY_RATE,param.distRate)
-		debugEngine:gui_debug_msg(CGeoPoint(0,0),minter_flag)
-		local ballLine = CGeoSegment(ball.pos(),ball.pos() + Utils.Polar2Vector(-param.INF,ball.velDir()))
-		local playerPrj = ballLine:projection(player.pos(runner))
-		local canGetBall = ballLine:IsPointOnLineOnSegment(playerPrj)
-		local toballdist = player.toBallDist(runner) 
+		-- debugEngine:gui_debug_msg(CGeoPoint(0,0),minter_flag)
+		-- local ballLine = CGeoSegment(ball.pos(),ball.pos() + Utils.Polar2Vector(-param.INF,ball.velDir()))
+		-- local playerPrj = ballLine:projection(player.pos(runner))
+		-- local canGetBall = ballLine:IsPointOnLineOnSegment(playerPrj)
+		-- local toballdist = player.toBallDist(runner) 
 
 		-- --  敌方球权的情况
 		-- if GlobalMessage.Tick().ball.rights == -1 or GlobalMessage.Tick().ball.rights == 2 then
@@ -145,11 +145,11 @@ function Getball(task)
 			debugError = debugError .. "  INF "
 		end
 		-- 解决敌人过近的问题
-		if GlobalMessage.Tick().ball.rights == -1 or GlobalMessage.Tick().ball.rights == 2 then
+		-- if GlobalMessage.Tick().ball.rights == -1 or GlobalMessage.Tick().ball.rights == 2 then
 			local minEnemyDistNum = {}
 			for i = 0 ,param.maxPlayer -1 do 
 				if enemy.valid(i) then
-					if enemy.pos(i):dist(ball.pos()) < 300 then
+					if enemy.pos(i):dist(ball.pos()) < 200 then
 						table.insert(minEnemyDistNum,i)
 					end
 				end
@@ -158,12 +158,12 @@ function Getball(task)
 				local toballDir = (ball.pos() - enemy.pos(GlobalMessage.Tick().their.dribbling_num)):dir()
 				local playerDir = player.dir(runner)
 				local Subdir =Utils.angleDiff(toballDir,playerDir) * 180/math.pi
-				local dist_ = param.playerFrontToCenter + 150
+				local dist_ = param.playerFrontToCenter + 100
 				local theirDribblingPlayerPos = enemy.pos(GlobalMessage.Tick().their.dribbling_num)
-				inter_pos = ball.pos() + Utils.Polar2Vector(dist_,(player.pos(runner) - theirDribblingPlayerPos):dir())
+				inter_pos = ball.pos() + Utils.Polar2Vector(dist_,(ball.pos() - theirDribblingPlayerPos):dir())
 				debugError = debugError ..  Subdir .."Enemy "
 			end
-		end
+		-- end
 		endVel = Utils.Polar2Vector(endVelMod,idir)
 
 		param.lastInterPos = inter_pos

diff --git a/Core/tactics/skill/Touch.lua b/Core/tactics/skill/Touch.lua
@@ -1,10 +1,10 @@
 function Touch(task)
 	local mpos
 	local useInter = task.useInter or false
-	matchPos = function()
-		return ball.pos()
+	matchPos = function(runner)
+		local inter_pos = Utils.GetBestInterPos(vision,player.pos(runner),param.playerVel,param.getballMode,0,param.V_DECAY_RATE,param.distRate)
+		return _c(inter_pos)
 	end
-
 	execute = function(runner)
 		mpos = _c(task.pos,runner)
 		task_param = TaskT:new_local()

diff --git a/ZBin/lua_scripts/RoleMatch.lua b/ZBin/lua_scripts/RoleMatch.lua
@@ -49,8 +49,7 @@ gRolePos = {
 
 }
 
-gRolePriority = { "Goalie","Defender","Tier"}
-
+gRolePriority = { "Goalie","Defender","Tier","Leader"}
 
 gOurExistNum = {} --为了使车号统一从0开始，强行给gOurExistNum[0]赋值，但table自身接口全都无法使用了
 

diff --git a/ZBin/lua_scripts/worldmodel/param.lua b/ZBin/lua_scripts/worldmodel/param.lua
@@ -40,13 +40,13 @@ ourButtomGoalPos          = CGeoPoint:new_local(-pitchLength / 2, -goalRadius)
 
 
 -- 是否为真实场地
-isReality = true
+isReality = false
 Team = "ONE"
 -- Team = "TWO"
 -----------------------------------------------|
 --                Getball参数                 --|
 -----------------------------------------------|
-playerVel = 2.5                                 -- 机器人速度
+playerVel = 1.5                                 -- 机器人速度
 getballMode = 1                               -- [0[激进模式], 1[保守模式], 2[middle]]
 -- local V_DECAY_RATE_Reality = 700              -- 场地摩擦
 local V_DECAY_RATE_Reality = 800              -- 场地摩擦

diff --git a/ZBin/lua_scripts/worldmodel/player.lua b/ZBin/lua_scripts/worldmodel/player.lua
@@ -80,7 +80,8 @@ end
 
 
 function pos(role)
-	return instance(role):Pos()
+	local p = instance(role):Pos()
+	return CGeoPoint(p:x(),p:y())
 end
 
 function posX(role)

diff --git a/ZBin/lua_scripts/worldmodel/task.lua b/ZBin/lua_scripts/worldmodel/task.lua
@@ -148,11 +148,11 @@ end
 function getball(shootPos_,playerVel, inter_flag, permissions)
 	return function()
 		-- 解决敌人过近的问题
-		if GlobalMessage.Tick().ball.rights == -1 or GlobalMessage.Tick().ball.rights == 2 then
+		-- if GlobalMessage.Tick().ball.rights == -1 or GlobalMessage.Tick().ball.rights == 2 then
 			local minEnemyDistNum1 = {}
 			for i = 0 ,param.maxPlayer -1 do 
 				if enemy.valid(i) then
-					if enemy.pos(i):dist(ball.pos()) < 300 then
+					if enemy.pos(i):dist(ball.pos()) < 200 then
 						table.insert(minEnemyDistNum1,i)
 					end
 					if #minEnemyDistNum1 == 2 then
@@ -167,14 +167,16 @@ function getball(shootPos_,playerVel, inter_flag, permissions)
 				local Subdir = Utils.angleDiff(toballDir,playerDir) * 180/math.pi
 				local dist_ = param.playerFrontToCenter - 10
 				local theirDribblingPlayerPos = enemy.pos(GlobalMessage.Tick().their.dribbling_num)
+
 				if math.abs(Subdir) > 165 then
-					local inter_pos = ball.pos() + Utils.Polar2Vector(dist_,(ball.pos() - theirDribblingPlayerPos):dir())
-					local idir = 0
+					local inter_pos = ball.pos() + Utils.Polar2Vector(dist_,(theirDribblingPlayerPos - ball.pos()):dir())
+					local idir = (theirDribblingPlayerPos - ball.pos()):dir()
+					local iflag = flag.dribbling
 					local mexe, mpos = SimpleGoto { pos = inter_pos, dir = idir, flag = iflag }
 					return { mexe, mpos }
 				end
 			end
-		end
+		-- end
-Original file line number
+Diff line change
@@ Expand Up / @@ -49,8 +49,7 @@ gRolePos = { @@
     }
-    gRolePriority = { "Goalie","Defender","Tier"}
+    gRolePriority = { "Goalie","Defender","Tier","Leader"}
     gOurExistNum = {} --为了使车号统一从0开始，强行给gOurExistNum[0]赋值，但table自身接口全都无法使用了
@@ Expand Down @@