Merge branch 'main' of github.com:Umbrella167/Rocos

Core/HuRocos-2024/play/our_Penalty.lua

@@ -4,7 +4,7 @@ local p2 = CGeoPoint(- param.pitchLength / 2 + 300,param.pitchWidth / 2 - 600)
 local p3 = CGeoPoint(- param.pitchLength / 2 + 300, -param.pitchWidth / 2 + 300)
 local p4 = CGeoPoint(- param.pitchLength / 2 + 300,-param.pitchWidth / 2 + 600)
 local p5 = CGeoPoint(- param.pitchLength / 2 , 0)
-local shootThreshold = 2500
+local shootThreshold = 2000
 
 local canShoot = function(role,ishootThreshold)
 	if ball.posX() > ishootThreshold then

Core/HuRocos-2024/play/their_Penalty.lua

@@ -21,25 +21,47 @@ local stopPos = function(role)
 end
 
 local getBallPos = function(role)
-	local enemyNum = enemy.closestBall()
-	local rolePos = player.pos(role)
-	local enemyPos = enemy.pos(enemyNum)
-    local tPos = Utils.GetBestInterPos(vision, rolePos, param.playerVel, 1, 1,param.V_DECAY_RATE)
-    if enemyPos:dist(tPos) < param.playerRadius then
-    	tPos = tPos + Utils.Polar2Vector(param.playerRadius, (param.ourGoalPos-enemyPos):dir())
-    end
-    return tPos
+	local idir = (ball.pos() - param.ourGoalPos):dir()
+	local getBallPos = ball.pos() + Utils.Polar2Vector(-param.playerFrontToCenter*2, idir)
+	if Utils.InExclusionZone(getBallPos, 0, "our") and  ball.velMod() < 200 then
+		return player.pos(role)
+	end
+	return getBallPos
+end
+
+local getBestInterBallPos = function(role)
+    local getBallPos = Utils.GetBestInterPos(vision, player.pos(role), param.playerVel, 2, 1, param.V_DECAY_RATE)
+    if getBallPos == CGeoPoint(param.INF, param.INF) then
+		return player.pos(role)
+	end
+	-- local getBallPos = getBallPos + Utils.Polar2Vector(-param.playerFrontToCenter*4, ball.velDir())
+	local getBallPos = getBallPos + Utils.Polar2Vector(ball.velMod()/10, ball.velDir())
+	if Utils.InExclusionZone(getBallPos, 0, "our") and  ball.velMod() < 200 then
+		return player.pos(role)
+	end
+    return getBallPos
 end
 
+local getPlayerFlag = function(role)
+	local idir = math.abs(player.toBallDir(role))
+	return (idir < math.pi/2) and flag.allow_dss or flag.dodge_ball
+end
+
+local getShootPoint = function(role)
+	local enemyNum = enemy.closestBall()
+	local idir = (enemy.pos(enemyNum) - player.pos(role)):dir()
+	local targetPos = idir < 0 and CGeoPoint(player.posX(role), param.INF) or CGeoPoint(player.posX(role), -param.INF)
+	return targetPos
+end
 
 local subScript = false
 
 return {
+
 	__init__ = function(name, args)
         print("in __init__ func : ",name, args)
     end,
 
-
 firstState = "Init",
 
 ["Init"] = {
@@ -48,52 +70,77 @@ firstState = "Init",
             gSubPlay.new("Goalie", "Nor_Goalie")
         end
 		if cond.isNormalStart() then
-			return "Defend"
+			return "Wait"
 		end
 	end,
     Assister = function() return task.goCmuRush(stopPos("Assister"), 0, a, DSS_FLAG, r, v, s, force_manual) end,
     Kicker = function() return task.goCmuRush(stopPos("Kicker"), 0, a, DSS_FLAG, r, v, s, force_manual) end,
     Special = function() return task.goCmuRush(stopPos("Special"), 0, a, DSS_FLAG, r, v, s, force_manual) end,
     Defender = function() return task.goCmuRush(stopPos("Defender"), 0, a, DSS_FLAG, r, v, s, force_manual) end,
-    Center = function() return task.goCmuRush(stopPos("Tier"), 0, a, DSS_FLAG, r, v, s, force_manual) end,
-	Goalie = task.goCmuRush(param.ourGoalPos, player.toBallDir("Goalie"), a, DSS_FLAG),
-    match = "[AKSC]{DG}"
+    Tier = function() return task.goCmuRush(stopPos("Tier"), 0, a, DSS_FLAG, r, v, s, force_manual) end,
+	Goalie = function() return task.goCmuRush(param.ourGoalPos, player.toBallDir("Goalie"), a, DSS_FLAG) end,
+    match = "[AKS]{TDG}"
 },
 
-["Defend"] = {
+["Wait"] = {
 	switch = function()
-		-- debugEngine:gui_debug_msg(CGeoPoint(0,0),ball.posX())
-		-- if bufcnt(ball.pos():dist(enemy.pos(enemy.closestBall())) < param.playerRadius * 1.5, 20) then
-		-- 	return "Getball"
-		-- end
-		return "CatchBall"
-
-		-- if bufcnt(ball.pos():dist(enemy.pos(enemy.closestBall())) < param.playerRadius * 1.5, 20) then
-		-- 	return "Getball"
-		-- end
+		local enemyNum = enemy.closestBall()
+		if enemy.toBallDist(enemyNum)<param.playerRadius*1.5 then
+			return "Getball"
+		end
 	end,
-	Goalie = gSubPlay.roleTask("Goalie", "Goalie"),
-	-- Leader = task.getball(function() return shoot_pos end,playerVel,getballMode),
+	Goalie = function() return task.goCmuRush(param.ourGoalPos, player.toBallDir("Goalie"), a, DSS_FLAG) end,
     match = "{G}"
 },
 
+["Getball"] = {
+	switch = function()
+		local enemyNum = enemy.closestBall()
+		if ball.velMod() < 100 then
+			maxBallVel = 0
+		end
+		if enemy.toBallDist(enemyNum)>param.playerRadius*4 or ball.velMod()>1000  then
+			return "CatchBall"
+		end
 
+		if player.myinfraredCount("Goalie") > 10 then
+			return "KickBall"
+		end
+	end,
+	-- Goalie = task.stop(),
+	Goalie = function() return task.goSimplePos(getBallPos("Goalie"), player.toBallDir("Goalie"), flag.dribbling) end,
+    match = "{G}"
+},
 ["CatchBall"] = {
 	switch = function()
-		-- debugEngine:gui_debug_msg(CGeoPoint(0,0),ball.posX())
-		-- if ball.pos():dist(enemy.pos(enemy.closestBall())) > param.playerRadius * 1.5 then
-		-- 	return "Defend"
-		-- end
-		-- if ball.posX() < player.posX("Goalie") then
-		-- 	return "CatchBall"
-		-- end
+		local enemyNum = enemy.closestBall()
+
+		if bufcnt(enemy.toBallDist(enemyNum)<param.playerRadius*2, 50) then
+			return "Getball"
+		end
+
+		if player.myinfraredCount("Goalie") > 10 then
+			return "KickBall"
+		end
+	end,
+	-- Goalie = task.stop(),
+	Goalie = function() return task.goCmuRush(getBestInterBallPos("Goalie"),  player.toBallDir("Goalie"), a, getPlayerFlag("Goalie")) end,
+    match = "{G}"
+},
 
+["KickBall"] = {
+	switch = function()
+		if player.toBallDist("Goalie") > param.playerRadius*2 then
+			return "CatchBall"
+		end
 	end,
-	Goalie = function() return task.goalie_catchBall("Goalie") end,
+	-- Goalie = task.stop(),
+	Goalie = task.ShootdotV3("Goalie", function() return getShootPoint("Goalie") end, 45, kick.flat),
     match = "{G}"
 },
 
 
+
 name = "their_Penalty",
 applicable ={
 	exp = "a",

Core/src/Utils/utils.cpp

@@ -540,6 +540,7 @@ namespace Utils
             ball_pos = pVision->rawBall().Pos();
         double maxDist = GetBallMaxDist(pVision,acc) * (1 - rate);
         CGeoPoint maxBallPos = ball_pos + Polar2Vector(maxDist, pVision->ball().Vel().dir());
+        GDebugEngine::Instance()->gui_debug_x(maxBallPos, 3);
         CGeoPoint maxAllowedBallPos = CGeoPoint(inf, inf);
         CGeoPoint maxTolerancePos = CGeoPoint(inf, inf);
         CGeoPoint minGetBallPos = CGeoPoint(inf, inf);

ZBin/lua_scripts/worldmodel/param.lua

@@ -15,7 +15,7 @@ playerInfraredCountBuffer = CGetSettings("ZJHU/playerInfraredCountBuffer", "Int"
 our_goalie_num            = CGetSettings("ZJHU/our_goalie_num", "Int")
 defend_num1               = CGetSettings("ZJHU/defend_num1", "Int")
 defend_num2               = CGetSettings("ZJHU/defend_num2", "Int")
-LeaderNum = 5
+LeaderNum = 4
 -----------------------------------------------|
 --                feild参数                  --|
 -----------------------------------------------|

ZBin/lua_scripts/worldmodel/task.lua

@@ -336,7 +336,7 @@ function power(p, num,shootFlag)
 			-- res = res * SimulationRate
 			res = 3500
 			if iflag == kick.chip() then
-				res = 3500
+				res = 3000
 			end
 		end	
 		debugEngine:gui_debug_msg(CGeoPoint(-param.pitchLength / 2,param.pitchWidth / 2), "POWER:"..res .."   TargetPos: " .. p1:x())
@@ -529,6 +529,28 @@ function ShootdotV2(p, error_, flag_,role)
 	end
 end
 
+-- goalie only
+function ShootdotV3(role, p, error_, flag_)
+	local p1
+	if type(p) == 'function' then
+		p1 = p()
+	else
+		p1 = p
+	end
+
+	local shootpos = function(role)
+		return ball.pos() + Utils.Polar2Vector(-50, (p1 - ball.pos()):dir())
+	end
+	local idir = function(role)
+		return (p1 - player.pos(role)):dir()
+	end
+	local error__ = function()
+		return error_ * math.pi / 180.0
+	end
+
+	local mexe, mpos = GoCmuRush { pos = shootpos, dir = idir, acc = a, flag = flag.dribbling, rec = r, vel = v }
+	return { mexe, mpos, flag_, idir, error__, power(p, player.num(role), flag_), power(p, player.num(role), flag_), flag.dribbling }
+end
 
 function ShootdotDribbling(error_, flag_,power)
 	return function()
@@ -1218,34 +1240,47 @@ function goalie_catchBall(role)
 	local playerToBallDir = (ball.pos()-rolePos):dir()
 	local ballPos = ball.pos()
 
-
-	local getBallPos =  ballPos + Utils.Polar2Vector(param.playerFrontToCenter, playerToBallDir)
+	local getBallPos =  ballPos + Utils.Polar2Vector(-param.playerFrontToCenter, playerToBallDir)
 	local idir = playerToBallDir
 	local iflag = flag.dribbling
 
 
-	local ballLine = CGeoSegment(ballPos, ballPos+Utils.Polar2Vector(param.INF, ball.velDir()))
-	local tdist = (ballLine:projection(rolePos)-rolePos):mod()
-	if tdist > 500 then
-		idir = ball.velDir() + math.pi
-		iflag =  flag.dodge_ball
-		getBallPos = Utils.GetBestInterPos(vision, rolePos, param.playerVel, 1, 1,param.V_DECAY_RATE)
-	end
-
-
-
-
-
+	-- local ballLine = CGeoSegment(ballPos, ballPos+Utils.Polar2Vector(param.INF, ball.velDir()))
+	-- local tdist = (ballLine:projection(rolePos)-rolePos):mod()
+	-- if tdist > 100 then
+	-- 	idir = ball.velDir() + math.pi
+	-- 	iflag =  flag.dodge_ball
+	-- 	getBallPos = Utils.GetBestInterPos(vision, rolePos, param.playerVel, 1, 1, param.V_DECAY_RATE)
+	-- end
 
 	-- if rolePos:dist(ballPos) < 300 then
-		-- iflag = flag.dribbling
+		-- iflag = flag.dribbling.abs(player.dir(role)-playerToBallDir)
+	-- -- local iflag = bit:_or(flag.allow_dss, flag.dodge_ball)
+	-- if Subdir > 0.14 then 
+	-- 	return TurnToPointV2(role, ballPos, 4.8)
+	-- else
+	-- 	local mexe, mpos = GoCmuRush { pos = getBallPos, dir = idir, acc = a, flag = iflag, rec = r, vel = v }
+	-- 	return { mexe, mpos }
+	-- end
+
 		-- idir = playerToBallDir
 		-- getBallPos = ballPos + Utils.Polar2Vector(param.playerFrontToCenter, playerToBallDir)
 	-- end
 
 
+	-- local Subdir = math.abs(player.dir(role)-playerToBallDir)
+	-- -- local iflag = bit:_or(flag.allow_dss, flag.dodge_ball)
+	-- if Subdir > 0.14 then 
+	-- 	return TurnToPointV2(role, ballPos, 4.8)
+	-- else
+	-- 	local mexe, mpos = GoCmuRush { pos = getBallPos, dir = idir, acc = a, flag = iflag, rec = r, vel = v }
+	-- 	return { mexe, mpos }
+	-- end
+
+
+	-- local mexe, mpos = GoCmuRush { pos = getBallPos, dir = idir, acc = a, flag = iflag, rec = r, vel = v }
+	local mexe, mpos = SimpleGoto { pos = getBallPos, dir = idir, flag = iflag }
 
-	local mexe, mpos = GoCmuRush { pos = getBallPos, dir = idir, acc = a, flag = iflag, rec = r, vel = v }
 	return { mexe, mpos }
 end