机器人足球代码1

1、足球机器人程序代码 /应用程序模板 #include <airobot/c/ActionListeningRobot.h>/判断自身与球的方位是否危险bool AzimuthDanger()    double ballX = getBallX();    double myX = getX();    double radius = getBallRadius()+getRadius();        if(getAttack()

2、>0 && myX+radius*2>ballX) return true;    if(getAttack()<0 && myX-radius*2<ballX) return true;            if( (getAttack()>0 && getBallX()<getCourtWidth()/2) | (getAttack()<0 && getBallX(

3、)>getCourtWidth()/2) )            if(getBallY()>getCourtHeight()/2)&&(getY()>getBallY()return true;        if(getBallY()<getCourtHeight()/2)&&(getY()<getBallY()return true;  

4、          return false;/判断球的运动方向 返回true 危险bool JudgeDanger()double ballX = getBallX();double ballY = getBallY();double goalMin = getCourtHeight()/2-getGoalWidth()/2;double goalMax = getCourtHeight()/2+getGoalWidth()/2;double b = ballY - tan(getBallHeading()*ballX;i

5、f(getAttack()>0 && getBallHeading()>PI/2 && getBallHeading()<PI*3/2)    if(goalMin<50*tan(getBallHeading() + b && goalMax>50*tan(getBallHeading() + b)return true;    else return false;else if(getAttack()<=0 && (getBallHe

6、ading()>=0 && getBallHeading()<PI/2          | getBallHeading()<2*PI && getBallHeading()>3*PI/2)          if(goalMin<tan(getBallHeading()*(getCourtWidth() - 50) + b && tan(getB

7、allHeading()*(getCourtWidth() - 50) + b<goalMax)      return true; else return false;else return false;/预测足球在times个单位时间后的位置void Next(int times, double* nextX, double* nextY)double velocity = getBallVelocity();double heading = getBallHeading();double acc = -getBallNegative

8、Acceleration();*nextX = getBallX();*nextY = getBallY();for (int i = 0; i < times; i+)   if(velocity=0) break;      nextPoint(*nextX, *nextY, heading, velocity, nextX, nextY);   / 摩擦减速   if (velocity > 0) velocity = fmax(0, velocity+acc);&#

9、160;  else if (velocity < 0) velocity = fmin(0, velocity -acc);     / 撞墙检测   if (*nextX) < 0 | (*nextX) > getCourtWidth()       heading = PI - heading;    modifyInCourt(nextX, nextY, getBallRadius();   

10、0;  if (*nextY) < 0 | (*nextY) > getCourtHeight()       heading = -heading;    modifyInCourt(nextX, nextY, getBallRadius();   / 跌代计算球的运行线路，计算未来的击球点void OptimumPosition(double* hitedX ,double* hitedY )    *hitedX = getBallX()

11、;    *hitedY = getBallY();    for (int i = 0; i < 200; i+)            double nextX, nextY;        Next(i, &nextX, &nextY);        if (dista

12、nce(nextX, nextY, getX(), getY() < i * getMaxMoveVelocity()                    hitedX = &nextX;            hitedY = &nextY;   

13、60;        break;            /1v1得到敌机坐标double getBotX()    int id = getAttack()>0? 1:0;    struct Bot bot;    getBotById(id, &bot);    return bot.x;

14、double getBotY()    int id = getAttack()>0? 1:0;    struct Bot bot;    getBotById(id, &bot);    return bot.y;double getBotVelocity()    int id = getAttack()>0? 1:0;    struct Bot bot;   

15、; getBotById(id, &bot);    return bot.moveVelocity;bool BotBallBotDistance()double MDistance = distance(getX(), getY(), getBallX(), getBallY();double DDistance = distance(getBotX(), getBotY(), getBallX(), getBallY();if(MDistance<DDistance)return true;return false;/将球踢向目标void Sh

16、oot(double targetX, double targetY)double ballX, ballY;OptimumPosition(&ballX,&ballY);double Rn=0.93;Rn= (AzimuthDanger() && getBallVelocity()>getMaxMoveVelocity()/2) ? Rn=1.1 : Rn=0.93;        double MDDistance = distance(getX(), getY(), getBotX

17、(), getBotY(); /争球        if(getBallVelocity() < getMaxMoveVelocity()/2           && MDDistance<=getBallRadius()*2+getRadius()*2            &&

18、(getX()=getBotX() | getY()=getBotY() Rn=0.1;                if(getBotVelocity()=0) Rn=0.93;/R越小，抢劫能力就越强，R越大，防守能力越强double R =(getBallRadius() + getRadius()*Rn);double tangentX1, tangentX2, tangentY1, tangentY2; double bestHitX, bes

19、tHitY; double distanceToTarget = distance(targetX, targetY, getX(), getY();if(distanceToTarget<R) setMoveToward(targetX, targetY, getMaxMoveVelocity();return;double tangentBearing = acos(R/distanceToTarget);double ballToMeHeading = heading(ballX, ballY, getX(), getY();nextPoint(ballX, ballY, ball

20、ToMeHeading + tangentBearing,R,&tangentX1, &tangentY1);nextPoint(ballX, ballY,ballToMeHeading - tangentBearing,R,&tangentX2, &tangentY2);nextPoint(ballX, ballY,heading(targetX, targetY, ballX, ballY),R,&bestHitX, &bestHitY);modifyInCourt(&tangentX1, &tangentY1, getRad

21、ius();modifyInCourt(&tangentX2, &tangentY2, getRadius();modifyInCourt(&bestHitX, &bestHitY, getRadius();double xx=0;double yy=0;if (distance(getX(), getY(), bestHitX, bestHitY) < distance(getX(), getY(), tangentX1, tangentY1)      xx=bestHitX; yy=bestHitY;

22、else if (distance(bestHitX, bestHitY, tangentX1, tangentY1) < distance(bestHitX, bestHitY, tangentX2, tangentY2)      xx=tangentX1; yy=tangentY1;else       xx=tangentX2; yy=tangentY2;        /防止争边球  

23、60;     if(getX()>(getBallRadius()+getRadius()*3 | getX()<getCourtWidth()-(getBallRadius()+getRadius()*3)                    double jj= getBallRadius()-getRadius()>0 ? getBallRadius

24、()-getRadius() : getRadius()-getBallRadius();            yy = MIN(getCourtHeight()-jj, yy);            yy = MAX(jj, yy);            

25、60;          /抄近路拦截                   double MDistance = distance(getX(), getY(), getBallX(), getBallY();            dou

26、ble DDistance = distance(getBotX(), getBotY(), getBallX(), getBallY();                        if(DDistance<MDistance)           

27、60;               if(getBallVelocity()>getMoveVelocity()/2)                             

28、;        int fx;                     if(getBallY()>getCourtHeight()/2)fx=1;              

29、60;      else fx=-1;                                      yy+=fx*getBallRadius()*2;  

30、                                        /沿对门边路滚动时的防范措施       if(getBallHeading()=PI/2 | ge

31、tBallHeading()=3*PI/2)                  double bx=getAttack()>0 ? getCourtWidth()-getBallRadius() : getBallRadius();           if(getBallX()=bx && getBallVeloc

32、ity()>getMaxMoveVelocity()*2/3)                          double jj=getBallRadius();               xx=getAtt

33、ack()>0? xx-jj : xx+jj;                         setMoveToward(xx, yy, getMaxMoveVelocity();void ShootGoal() /射门    double targetX = getOpponentGoalCenterX();   &#

34、160; double targetY = getOpponentGoalCenterY();     Shoot(targetX, targetY);   void ShootAttack() /带球射门 波浪式进攻    double targetX= getAttack()>0 ? getBallX()*2 : getBallX()/2;    double targetY=0;    if( (getAttack()>0 &&a

35、mp; getBallX()<getCourtWidth()*3/5) | (getAttack()<0 && getBallX()>getCourtWidth()*2/5) )            if(getY()<getBallY()targetY=getCourtHeight();        if(getBallY()<getCourtHeight()/4)targe

36、tY=getCourtHeight();        targetY = MIN(getCourtHeight() / 2 + getGoalWidth() / 2 - getBallRadius(), targetY);targetY = MAX(getCourtHeight() / 2 - getGoalWidth() / 2 + getBallRadius(), targetY);        Shoot(targetX, targetY);&#

37、160;   else ShootGoal();/防止乌龙的策略void Owngoal()if(JudgeDanger()    double Radius = getBallRadius() + getRadius();    double Distance = distance(getX(), getY(), getBallX(), getBallY();    double ballX = getBallX();    double myX = g

38、etX();    double targetX=ballX;     double targetY=0;         if ( (getAttack()>0 && myX>ballX+Radius) | (getAttack()<0 && myX<ballX-Radius) )          if(getY()>getBall

39、Y() targetY=0;      else targetY=getCourtHeight();      Shoot(targetX, targetY);    /预测防守void ForecastGuard()double x = getAttack() > 0 ? getBallX()/2 : getCourtWidth()-(getCourtWidth()-getBallX()/2;double y = getBallY();for(int i=0

40、; i<50; i+)   double nextX, nextY;   Next(i, &nextX, &nextY);   if(getAttack()>0&&nextX<=x) | (getAttack()<0&&nextX>=x)       y = nextY;    break;   /将y坐标限制在球门的范围内y = MIN(getCourtHe

41、ight() / 2 + getGoalWidth() / 2, y);y = MAX(getCourtHeight() / 2 - getGoalWidth() / 2, y);setMoveTo(x, y);void myGuard()    double x = getAttack()>0 ? getBallX()/2 : getCourtWidth()-(getCourtWidth()-getBallX()/2;    double y = getBallY();    y = MIN(ge

42、tCourtHeight()/2+getGoalWidth()/2, y);    y = MAX(getCourtHeight()/2-getGoalWidth()/2, y);    setMoveTo(x, y);/全力防守void GoAllOutGuard()double x = getAttack()>0 ? getBallX()/2 : getCourtWidth()-(getCourtWidth()-getBallX()/2;double y = getBallY();y = MIN(getCourtHeight

43、()/2+getGoalWidth()/2+getRadius()*2*2, y);y = MAX(getCourtHeight()/2-getGoalWidth()/2-getRadius()*2*2, y);setMoveTo(x, y);/防守反击void Guard()double Radius = getBallRadius()*2 + getRadius()*2;double Distance = distance(getX(), getY(), getBallX(), getBallY();if(Distance>Radius*10) myGuard(); else

44、0;     GoAllOutGuard();if(!AzimuthDanger()ShootAttack();return; /方位安全时攻击if(isHitBall() && !AzimuthDanger() && getBallVelocity()>getMoveVelocity()/4) ShootAttack();return;if(BotBallBotDistance()ShootGoal(); /如果自己离球的距离小于敌人则进攻/判断进攻还是防守void AttackOrGuard() 

45、60; if(AzimuthDanger() && getBallVelocity()>0)Guard();return;   if(JudgeDanger() && getBallVelocity()>getMaxMoveVelocity()/2)Guard();return;   ShootAttack();/进攻门前争球void GuardConfrontEachOther()    double Radius = getRadius()+getBallRadius()/2;

46、    double xx=getAttack()>0 ? Radius : getCourtWidth()-Radius;        double MaxY = getCourtHeight() / 2 + getGoalWidth() / 2 + getRadius()*4;    double MinY = getCourtHeight() / 2 - getGoalWidth() / 2 - getRadius()*4;   

47、    if(getBallVelocity()>getMaxMoveVelocity()/2)            if (getAttack()>0 && getX()<xx && (getY()>MaxY | getY()<MinY)               

48、60;     setMoveToward(getBallX(), getBallY(), getMaxMoveVelocity();                if(getAttack()<0 && getX()>getCourtWidth()-xx && (getY()>MaxY | getY()<MinY)    

49、;                setMoveToward(getBallX(), getBallY(), getMaxMoveVelocity();            void Text(char* tt,int color)struct TextView text;text.showTime=1; text.color=color;text.tex

50、t=tt;text.size=40;double len = text.size*3.2;text.x=getX()-len;text.y=getY()-getRadius()*2;addTextView(&text);void drawLine(double dx,double dy,double endx,double endy)    struct LineView view;view.beginX=dx;view.beginY=dy;view.endX=endx;view.endY=endy;view.color=-256;view.showTim

51、e=1;    addLineView(&view);void line()      double MDistance = distance(getX(), getY(), getBallX(), getBallY();      double DDistance = distance(getBotX(), getBotY(), getBallX(), getBallY();      double MDD

52、istance = distance(getBotX(), getBotY(), getX(), getY();            if(MDistance>DDistance)drawLine(getBotX(),getBotY(),getBallX(),getBallY();      else drawLine(getX(),getY(),getBallX(),getBallY();    

53、              if(MDistance=DDistance) drawLine(getX(),getY(),getBotX(),getBotY();/组合策略void startGame()    double starttime=getTime();        double bgj=0; /被进攻次数    double gj=0;

54、60;  /进攻次数    char* tt=""    int color=-1;        while(1)            double timejg=getTime()-starttime;        if(gj-bgj>10) /对方属于防守型机器人

55、 攻击数大于被攻击数超过10次                       tt="ShootGoal"color=-256;              double bx=getBallX();   

56、0;          /球在对方场地 进攻              if ( (getAttack()>0 && bx>getCourtWidth()/2) | (getAttack()<0 && bx<getCourtWidth()/2) ) ShootGoal();tt="ShootGoal"c

57、olor=-256;              /球在自己场地 同时在滚动 防守              else if(getBallVelocity()>getMaxMoveVelocity()/5) Guard(); tt="Guard"color=-1;    &

58、#160;         if(getBallVelocity()<getMaxMoveVelocity()/5) ShootAttack(); tt="ShootAttack"color=-256;                       /球被反弹出去后进攻  &

59、#160;    if( (getAttack()>0 && getBallX()>getCourtWidth()*2/5) | (getAttack()<0 && getBallX()<getCourtWidth()*3/5) )                  if(!JudgeDanger()ShootGoal();tt="Shoot

60、Goal"color=-256;                      /足球临近球门 全力防守       if(getAttack()>0 && getBallX()<getCourtWidth()*2/5) | (getAttack()<0 && getBallX()>ge

61、tCourtWidth()*3/5)                  GoAllOutGuard();            tt="GoAllOutGuard"color=-1;           

62、60;         /球在对方场地 全力进攻       if(getAttack()>0 && getBallX()>getCourtWidth()*3/5) ShootGoal();tt="ShootGoal"color=-256;       else if(getAttack()<0 && getBallX()<getC

63、ourtWidth()*2/5) ShootGoal();tt="ShootGoal"color=-256;                     /强力防守 危险时刻       if( (getAttack()>0 && getBallX()<getBallRadius()*4) | (getAttack()<0 && getBallX()>getCourtWidth()-getBallRadius()*4) )           double x = getAttack() > 0 ? getRadius() : getCourtWidth()-getRadius();    setMoveTo(x, g