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coding the defender
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@TnTeQAQ
TnTeQAQ committed Apr 16, 2024
1 parent 1319c8a commit c174faa
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Showing 4 changed files with 69 additions and 32 deletions.
4 changes: 2 additions & 2 deletions Core/tactics/play/defender.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ return {
Tier = task.defend("Tier", 0),
Defender = task.defend("Defender", 1),
Goalie = task.goalie("Goalie"),
match = "(ALG)"
match = "(GTD)"
},
["defend1"] = {
switch = function()
Expand All @@ -25,7 +25,7 @@ return {
Tier = task.stop(),
Defender = task.stop(),
Goalie = task.goalie("Goalie"),
match = "(ALG)"
match = "(GTD)"
},

name = "defender",
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4 changes: 2 additions & 2 deletions Core/tactics/play/mytest2.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ return {
Tier = task.stop(),
Defender = task.stop(),
Goalie = task.stop(),
match = "[TDG]"
match = "[GTD]"
},
["run"] = {
switch = function()
Expand All @@ -41,7 +41,7 @@ return {
Tier = gSubPlay.roleTask("testDefender", "Tier"),
Defender = gSubPlay.roleTask("testDefender", "Defender"),
Goalie = gSubPlay.roleTask("testDefender", "Goalie"),
match = "(TDG)"
match = "(GTD)"
},

name = "mytest2",
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6 changes: 3 additions & 3 deletions ZBin/lua_scripts/Config.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -18,9 +18,9 @@ gStateFileNameString = string.format(os.date("%Y%m%d%H%M"))
gTestPlay = CGetSettings("ZAlert/" .. team .. "_TestScriptName", "String")

gRoleFixNum = {
["Goalie"] = { 1 },
["Defender"] = { 2 },
["Tier"] = { 3 },
["Goalie"] = { 0 },
["Defender"] = { 1 },
["Tier"] = { 2 },
}

-- 用来进行定位球的保持
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87 changes: 62 additions & 25 deletions ZBin/lua_scripts/worldmodel/task.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -450,8 +450,6 @@ function goalie(role, flag)
end
local goalRadius = param.penaltyRadius
-- 禁区半径
local penaltyRadius = param.penaltyWidth/2
local goalPos = CGeoPoint:new_local(-param.pitchLength/2, 0)
local rolePos = CGeoPoint:new_local(player.posX(role), player.posY(role))
local goalieRadius = goalRadius-100
local closestBallEnemyNum = enemy.closestBall()
Expand All @@ -468,13 +466,13 @@ function goalie(role, flag)
local enemyDirLine = CGeoSegment(enemyPos, enemyPos+Utils.Polar2Vector(9999, enemyDir))
debugEngine:gui_debug_msg(CGeoPoint(0, 0), enemyNum)
debugEngine:gui_debug_x(enemyPos)
local goalToEnemyDir = (enemyPos - goalPos):dir()
local goalToEnemyLine = CGeoSegment(goalPos, enemyPos)
local goalToEnemyDir = (enemyPos - param.ourGoalPos):dir()
local goalToEnemyLine = CGeoSegment(param.ourGoalPos, enemyPos)
local goalLine = CGeoSegment(CGeoPoint:new_local(-param.pitchLength/2, -9999), CGeoPoint:new_local(-param.pitchLength/2, 9999))
local goalieMoveLine = CGeoSegment(CGeoPoint:new_local(-param.pitchLength/2+param.playerRadius*2, -9999), CGeoPoint:new_local(-param.pitchLength/2+param.playerRadius*2, 9999))
local tPos = goalLine:segmentsIntersectPoint(ballLine)
-- 判断是否踢向球门
local isShooting = -penaltyRadius-100<tPos:y() and tPos:y()<penaltyRadius+100
local isShooting = -param.penaltyRadius-100<tPos:y() and tPos:y()<param.penaltyRadius+100
local getBallPos = stabilizePoint(Utils.GetBestInterPos(vision, rolePos, param.playerVel, 1, 1))
if flag == 0 then
getBallPos = goalieMoveLine:segmentsIntersectPoint(ballLine)
Expand Down Expand Up @@ -512,12 +510,12 @@ function goalie(role, flag)
-- 准备状态
-- 这里是当球没有朝球门飞过来的时候，需要提前到达的跑位点
local roleToEnemyDist = (enemyPos-rolePos):mod()
local goaliePoint = goalPos+Utils.Polar2Vector(goalieRadius, goalToEnemyDir)
-- local goaliePoint = goalPos+Utils.Polar2Vector(goalieRadius, goalToEnemyDir)
local goaliePoint = param.ourGoalPos+Utils.Polar2Vector(goalieRadius, goalToEnemyDir)
-- local goaliePoint = param.ourGoalPos+Utils.Polar2Vector(goalieRadius, goalToEnemyDir)
if flag==0 then
goaliePoint = goalieMoveLine:segmentsIntersectPoint(goalToEnemyLine)
elseif flag==1 then
goaliePoint = goalPos+Utils.Polar2Vector(goalieRadius, goalToEnemyDir)
goaliePoint = param.ourGoalPos+Utils.Polar2Vector(goalieRadius, goalToEnemyDir)
end
if roleToEnemyDist<2500 then
-- 近处需要考虑敌人朝向的问题
Expand Down Expand Up @@ -667,6 +665,7 @@ end

------------------------------------ 防守相关的skill ---------------------------------------
-- Defender

-- 获得拥有球或者球将会传到的敌人
function getManMarkEnemy()
local closestBallEnemyNum = enemy.closestBall()
Expand All @@ -682,8 +681,8 @@ function getManMarkEnemy()
return enemyNum
end

-- those params are all static, but i'm lazy to move them
defenderCount = 0

function getDefenderCount()
defenderCount = 0
for i=0, param.maxPlayer-1 do
Expand All @@ -696,26 +695,64 @@ end

-- defender_norm script
-- mode: 0 upper area, 1 down area, 2 middle
function defend(role, mode)
-- flag: 0 aim the ball, 1 aim the enemy
function defend(role, mode, flag)
return function()
if defenderCount == 1 then
mode = 2
end
if flag == nil then
flag = 0
end
local enemyNum = getManMarkEnemy()
local enemyPos = CGeoPoint:new_local(enemy.posX(enemyNum), enemy.posY(enemyNum))
local goalieToEnemyDir = (enemy.pos(enemyNum) - player.rawPos("Goalie")):dir()
local rolePos = CGeoPoint:new_local(player.rawPos(role):x(), player.rawPos(role):y())
local ballPos = CGeoPoint:new_local(ball.rawPos():x(), ball.rawPos():y())

local rolePos = player.rawPos(role)
local basePos = param.ourGoalPos

local targetPos = ballPos
if mode == 0 then
basePos = param.ourTopGoalPos
elseif mode == 1 then
basePos = param.ourButtomGoalPos
elseif mode == 2 then
basePos = param.ourGoalPos
end

debugEngine:gui_debug_line(rolePos, basePos)
debugEngine:gui_debug_line(enemy.pos(enemyNum), enemy.pos(enemyNum)+Utils.Polar2Vector(999, goalieToEnemyDir))
if flag == 0 then
targetPos = ballPos
elseif flag == 1 then
targetPos = enemyPos
end

local baseDir = (targetPos - basePos):dir()
-- use the math formula to calc the run pos
local distX = basePos:x() - param.ourGoalPos:x()
local distY = basePos:y() - param.ourGoalPos:y()
local dist = math.sqrt(distX*distX + distY*distY)
local angle = math.atan2(distY, distX)
local dist = dist * math.cos(baseDir - angle) - param.defenderRadius


debugEngine:gui_debug_line(basePos, basePos+Utils.Polar2Vector(-dist, baseDir), param.BLUE)
-- debugEngine:gui_debug_line(enemy.pos(enemyNum), param.ourTopGoalPos)
-- debugEngine:gui_debug_line(enemy.pos(enemyNum), param.ourButtomGoalPos)
-- debugEngine:gui_debug_line(enemy.pos(enemyNum), enemy.pos(enemyNum)+Utils.Polar2Vector(999, goalieToEnemyDir))
-- debugEngine:gui_debug_line(enemy.pos(enemyNum), enemy.pos(enemyNum)+Utils.Polar2Vector(999, goalieToEnemyDir))
-- debugEngine:gui_debug_line(basePos, basePos+Utils.Polar2Vector(param.defenderRadius, baseDir))
-- debugEngine:gui_debug_line(basePos, basePos+Utils.Polar2Vector(9999, basePosToRoleDir))
debugEngine:gui_debug_msg(CGeoPoint(2000, 2000+(150*mode)), role.." mode:"..mode)
debugEngine:gui_debug_msg(player.rawPos(role), role)
debugEngine:gui_debug_arc(param.ourGoalPos, param.defenderRadius, 0, 360)

local defenderPoint = basePos+Utils.Polar2Vector(-dist, baseDir)

debugEngine:gui_debug_msg(defenderPoint, role, param.WHITE)

local idir = player.toPointDir(enemyPos, role)
local mexe, mpos = GoCmuRush { pos = defenderPoint, dir = idir, acc = a, flag = 0x00000100, rec = r, vel = endVelController(role, defenderPoint) }
return { mexe, mpos }

end
end
Expand Down Expand Up @@ -776,7 +813,7 @@ end

-- local enemyNum = getManMarkEnemy()
-- local enemyPos = enemy.pos(enemyNum)
-- local enemyToGoalDir = (enemy.pos(enemyNum) - goalPos):dir()
-- local enemyToGoalDir = (enemy.pos(enemyNum) - param.ourGoalPos):dir()
-- local playerToEnemyDir = function(runner)
-- return (enemyPos - player.pos(runner)):dir()
-- end
Expand All @@ -799,7 +836,7 @@ end

-- local tPos = defender_readyLine:segmentsIntersectPoint(ballLine)
-- -- -- 判断是否踢向我方
-- local isShooting = -penaltyRadius-100<tPos:y() and tPos:y()<penaltyRadius+100
-- local isShooting = -param.penaltyRadius-100<tPos:y() and tPos:y()<param.penaltyRadius+100
-- debugEngine:gui_debug_msg(CGeoPoint(1000, 1000), tostring(isShooting))

-- if Utils.InOurField(ballPos) then
Expand All @@ -808,9 +845,9 @@ end

-- -- local tPos = defender_readyLine:segmentsIntersectPoint(ballLine)
-- -- -- -- 判断是否踢向我方
-- -- local isShooting = -penaltyRadius-100<tPos:y() and tPos:y()<penaltyRadius+100
-- -- local isShooting = -param.penaltyRadius-100<tPos:y() and tPos:y()<param.penaltyRadius+100

-- local enemyToGoalLine = CGeoSegment(goalPos, enemyPos)
-- local enemyToGoalLine = CGeoSegment(param.ourGoalPos, enemyPos)
-- local defenderPoint = defender_defendLine:segmentsIntersectPoint(enemyToGoalLine)
-- -- if defender_playerLen>=2 then
-- -- if isActiveDefender then
Expand Down Expand Up @@ -839,7 +876,7 @@ end
-- return { mexe, mpos }
-- else
-- -- 当球在敌方半场时
-- local enemyToGoalLine = CGeoSegment(goalPos, enemyPos)
-- local enemyToGoalLine = CGeoSegment(param.ourGoalPos, enemyPos)
-- local defenderPoint = defender_readyLine:segmentsIntersectPoint(enemyToGoalLine)

-- if defender_playerLen>=2 then
Expand Down Expand Up @@ -887,13 +924,13 @@ function goalie(role, flag)
local enemyPos = CGeoPoint:new_local(enemy.posX(enemyNum), enemy.posY(enemyNum))
local enemyDirLine = CGeoSegment(enemyPos, enemyPos+Utils.Polar2Vector(param.INF, enemyDir))

local goalToEnemyDir = (enemyPos - goalPos):dir()
local goalToEnemyLine = CGeoSegment(goalPos, enemyPos)
local goalToEnemyDir = (enemyPos - param.ourGoalPos):dir()
local goalToEnemyLine = CGeoSegment(param.ourGoalPos, enemyPos)
local goalLine = CGeoSegment(CGeoPoint:new_local(-param.pitchLength/2, -param.INF), CGeoPoint:new_local(-param.pitchLength/2, param.INF))
local goalieMoveLine = CGeoSegment(CGeoPoint:new_local(-param.pitchLength/2+param.playerRadius*2, -param.INF), CGeoPoint:new_local(-param.pitchLength/2+param.playerRadius*2, param.INF))
local tPos = goalLine:segmentsIntersectPoint(ballLine)
-- 判断是否踢向球门
local isShooting = -penaltyRadius-100<tPos:y() and tPos:y()<penaltyRadius+100
local isShooting = -param.penaltyRadius-100<tPos:y() and tPos:y()<param.penaltyRadius+100
local getBallPos = stabilizePoint(Utils.GetBestInterPos(vision, rolePos, param.playerVel, 1, 1))
if flag == 0 then
getBallPos = goalieMoveLine:segmentsIntersectPoint(ballLine)
Expand Down Expand Up @@ -931,12 +968,12 @@ function goalie(role, flag)
-- 准备状态
-- 这里是当球没有朝球门飞过来的时候，需要提前到达的跑位点
local roleToEnemyDist = (enemyPos-rolePos):mod()
local goaliePoint = goalPos+Utils.Polar2Vector(goalieRadius, goalToEnemyDir)
-- local goaliePoint = goalPos+Utils.Polar2Vector(goalieRadius, goalToEnemyDir)
local goaliePoint = param.ourGoalPos+Utils.Polar2Vector(goalieRadius, goalToEnemyDir)
-- local goaliePoint = param.ourGoalPos+Utils.Polar2Vector(goalieRadius, goalToEnemyDir)
if flag==0 then
goaliePoint = goalieMoveLine:segmentsIntersectPoint(goalToEnemyLine)
elseif flag==1 then
goaliePoint = goalPos+Utils.Polar2Vector(goalieRadius, goalToEnemyDir)
goaliePoint = param.ourGoalPos+Utils.Polar2Vector(goalieRadius, goalToEnemyDir)
end
if roleToEnemyDist<2500 then
-- 近处需要考虑敌人朝向的问题
Expand Down

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