是否在禁区添加了三种模式[our,their,all]

Umbrella167 · Apr 16, 2024 · f2fb411 · f2fb411
1 parent 4e2fe06
commit f2fb411
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Showing 6 changed files with 45 additions and 19 deletions.
diff --git a/Core/src/LuaModule/utils.pkg b/Core/src/LuaModule/utils.pkg
@@ -16,7 +16,7 @@ namespace Utils{
 
 	// 小工具
 	CGeoPoint GetBallMaxPos(const CVisionModule *pVision);
-	bool InExclusionZone(CGeoPoint Point, double buffer = 0);
+	bool InExclusionZone(CGeoPoint Point, double buffer = 0,std::string dir = "all");
 	bool InField(CGeoPoint Point);
 	bool InOurField(CGeoPoint Point);
 

diff --git a/Core/src/Utils/utils.cpp b/Core/src/Utils/utils.cpp
@@ -312,7 +312,7 @@ namespace Utils
 //            GDebugEngine::Instance() ->gui_debug_x(CGeoPoint(x,y));
 //            GDebugEngine::Instance() ->gui_debug_msg(CGeoPoint(x,y),to_string(grade),1,0,60);
         }
-        GDebugEngine::Instance() ->gui_debug_arc(Tick[now].ball.first_dribbling_pos,1000,0,360,3);
+        GDebugEngine::Instance() ->gui_debug_arc(Tick[now].ball.first_dribbling_pos,1000,0,360,8);
         GDebugEngine::Instance() ->gui_debug_x(max_grade_point,3);
         return max_grade_point;
 
@@ -1391,22 +1391,44 @@ namespace Utils
      * @param  {double} y :
      * @return {bool}     :
      */
-    bool InExclusionZone(CGeoPoint Point, double buffer)
+    bool InExclusionZone(CGeoPoint Point, double buffer,string dir)
     {
         double x = Point.x();
         double y = Point.y();
-        if (((x < (-1 * PARAM::Field::PITCH_LENGTH / 2) + PARAM::Field::PENALTY_AREA_DEPTH + buffer) ||
-             (x > (PARAM::Field::PITCH_LENGTH / 2) - PARAM::Field::PENALTY_AREA_DEPTH - buffer)) &&
-            (y > -1 * PARAM::Field::PENALTY_AREA_WIDTH / 2 - buffer && y < PARAM::Field::PENALTY_AREA_WIDTH / 2 + buffer))
+        if (dir == "our")
         {
-            return true;
+
+            if ((x < (-1 * PARAM::Field::PITCH_LENGTH / 2) + PARAM::Field::PENALTY_AREA_DEPTH + buffer) &&
+                (y > -1 * PARAM::Field::PENALTY_AREA_WIDTH / 2 - buffer && y < PARAM::Field::PENALTY_AREA_WIDTH / 2 + buffer))
+                return true;
+            else
+                return false;
+
+
+
+
+
+        }
+        else if(dir == "their")
+        {
+            if ((x > (PARAM::Field::PITCH_LENGTH / 2) - PARAM::Field::PENALTY_AREA_DEPTH - buffer)&&
+               (y > -1 * PARAM::Field::PENALTY_AREA_WIDTH / 2 - buffer && y < PARAM::Field::PENALTY_AREA_WIDTH / 2 + buffer))
+                return true;
+            else
+                return false;
+
         }
         else
         {
-            return false;
+            if (((x < (-1 * PARAM::Field::PITCH_LENGTH / 2) + PARAM::Field::PENALTY_AREA_DEPTH + buffer) ||
+                 (x > (PARAM::Field::PITCH_LENGTH / 2) - PARAM::Field::PENALTY_AREA_DEPTH - buffer))     &&
+                 (y > -1 * PARAM::Field::PENALTY_AREA_WIDTH / 2 - buffer && y < PARAM::Field::PENALTY_AREA_WIDTH / 2 + buffer))
+                return true;
+            else
+                return false;
+
         }
     }
-
     /**
      * 判断是否在场地内
      * @brief InField

diff --git a/Core/src/Utils/utils.h b/Core/src/Utils/utils.h
@@ -35,7 +35,7 @@ namespace Utils
     extern std::string GlobalComputingPos(const CVisionModule *pVision);                           // 计算所有点位
     extern double map(double value, double min_in, double max_in, double min_out, double max_out); // 映射
     extern bool InField(CGeoPoint Point);                                                          // 判断点是否在场地内
-    extern bool InExclusionZone(CGeoPoint Point, double buffer = 0);                             // 判断点是否在禁区内
+    extern bool InExclusionZone(CGeoPoint Point, double buffer = 0,std::string dir = "all");                             // 判断点是否在禁区内
     extern bool InOurField(CGeoPoint Point);
     extern double NumberNormalize(double data, double max_data, double min_data);                  // [0,1] 标准化
     extern bool isValidPass(const CVisionModule *pVision, CGeoPoint start, CGeoPoint end, double buffer = 150);

diff --git a/Core/tactics/play/newNormalPlay.lua b/Core/tactics/play/newNormalPlay.lua
@@ -179,7 +179,7 @@ local getBallRoleMatch = function(resState)
     if NowAssisterNum ~= AssisterNumLast then 
         matchChangeCount = matchChangeCount + 1
     end
-    if matchChangeCount > 3 and firstAssisterNum ~=  NowAssisterNum then
+    if matchChangeCount > 2 and firstAssisterNum ~=  NowAssisterNum then
         matchChangeCount = 0
         return resState
     end

diff --git a/Core/tactics/play/shootPoint.lua b/Core/tactics/play/shootPoint.lua
@@ -21,11 +21,7 @@ local shootPosFun = function()
 		return param.shootPos
 	end
 end
-local debugMesg = function ()
-		-- debugEngine:gui_debug_msg(CGeoPoint(-1000,1000),shootPosFun():x() .. "   "  .. shootPosFun():y(),3)
-		debugEngine:gui_debug_line(player.pos("Assister"),player.pos("Assister") + Utils.Polar2Vector(9999,player.dir("Assister")),4)
-		-- debugEngine:gui_debug_line(player.pos("Assister"),player.pos("Assister") + Utils.Polar2Vector(9999,player.dir("Assister") - param.shootError / 57.3))
-end
+
 
 local shoot_kp = param.shootKp
 local resShootPos = CGeoPoint(4500,0)
@@ -34,7 +30,15 @@ local shootKPFun = function()
 		return shoot_kp
 	end
 end
-
+local debugMesg = function ()
+
+	if(task.playerDirToPointDirSub("Assister",resShootPos) < param.shootError) then 
+		debugEngine:gui_debug_line(player.pos("Assister"),player.pos("Assister") + Utils.Polar2Vector(9999,player.dir("Assister")),1)
+	else
+		debugEngine:gui_debug_line(player.pos("Assister"),player.pos("Assister") + Utils.Polar2Vector(9999,player.dir("Assister")),4)
+
+	end
+end
 return {
 
 firstState = "ready1",

diff --git a/ZBin/lua_scripts/worldmodel/task.lua b/ZBin/lua_scripts/worldmodel/task.lua
@@ -183,8 +183,8 @@ function power(p, Kp) --根据目标点与球之间的距离求出合适的 击
 		if res > 6000 then
 			res = 6000
 		end
-		if res < 3500 then
-			res = 3500
+		if res < 4000 then
+			res = 4000
 		end
 		debugEngine:gui_debug_msg(CGeoPoint:new_local(0,3200),"Power" .. res .. "    toTargetDist: " .. dist,3)
 		return res