using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using URWPGSim2D.Core;
using xna = Microsoft.Xna.Framework;
using URWPGSim2D.Common;
using URWPGSim2D.StrategyLoader;
namespace URWPGSim2D.Strategy
{
public class Strategy : MarshalByRefObject, IStrategy
{
#region reserved code never be changed or removed
/// <summary>
/// override the InitializeLifetimeService to return null instead of a valid ILease implementation
/// to ensure this type of remote object never dies
/// </summary>
/// <returns>null</returns>
public override object InitializeLifetimeService()
{
//return base.InitializeLifetimeService();
return null; // makes the object live indefinitely
}
#endregion
/// <summary>
/// 决策类当前对象对应的仿真使命参与队伍的决策数组引用 第一次调用GetDecision时分配空间
/// </summary>
private Decision[] decisions = null;
private xna.Vector3 ZuoShangQiuDong = new xna.Vector3(-2250, 0, -1500);
private xna.Vector3 ZuoXiaQiuDong = new xna.Vector3(-2250, 0, 1500);
private xna.Vector3 ZhongShangQiuDong = new xna.Vector3(0, 0, -1500);
private xna.Vector3 ZhongXiaQiuDong = new xna.Vector3(0, 0, 1500);
private xna.Vector3 YouShangQiuDong = new xna.Vector3(2250, 0, -1500);
private xna.Vector3 YouXiaQiuDong = new xna.Vector3(2250, 0, 1500);
private xna.Vector3 ZuiJiaDingQiuDian = new xna.Vector3();
private xna.Vector3 YuZhiDianZuoBiao = new xna.Vector3();
private xna.Vector3 ZuiJiaQiuDong = new xna.Vector3();
private xna.Vector3 MuBiaoDian = new xna.Vector3();
private xna.Vector3 ZuiJiaJinQiuDian = new xna.Vector3();
private int i = 0;
#region 求最佳顶球点
public xna.Vector3 ZuiJiaDingQiuDianHanShu(Mission mission, xna.Vector3 MuBiaoDian, int i)
{
Ball Qiu = mission.EnvRef.Balls[i];
xna.Vector3 QiuZuoBiao = Qiu.PositionMm;
xna.Vector3 zuijiadingqiudian = FanXiangYuZhiDianZuoBiaoHanShu(QiuZuoBiao, MuBiaoDian, 58);
return zuijiadingqiudian;
}
#endregion
#region AB向量弧度
public float XiangLiangHuDu(xna.Vector3 dianA, xna.Vector3 dianB)
{
xna.Vector3 XiangLiangAB = dianB - dianA;
float XiangLiangABJiaoDu = GetAngleDegree(XiangLiangAB);
float XiangLiangABHuDu = xna.MathHelper.ToRadians(XiangLiangABJiaoDu);
return XiangLiangABHuDu;
}
#endregion
#region 沿目标方向的反方向偏离起点阈值距离的点
public xna.Vector3 FanXiangYuZhiDianZuoBiaoHanShu(xna.Vector3 QiDian, xna.Vector3 ZhongDian, float YuZhi)
{
float QiDianDaoZhongDianHuDu = XiangLiangHuDu(QiDian, ZhongDian);
xna.Vector3 yuzhidianzuobaio = new xna.Vector3((float)(QiDian.X - YuZhi * Math.Cos(QiDianDaoZhongDianHuDu)),
0, (float)(QiDian.Z - YuZhi * Math.Sin(QiDianDaoZhongDianHuDu)));
return yuzhidianzuobaio;
}
#endregion
#region 最佳进球点函数
public xna.Vector3 ZuiJiaJinQiuDianHanShu(Mission mission, int teamId, xna.Vector3 QiuDong, int i)
{
RoboFish Yu = mission.TeamsRef[teamId].Fishes[0];//鱼对象
xna.Vector3 ZuiJiaJinQiuDian = new xna.Vector3();
Ball Qiu = mission.EnvRef.Balls[i];//球对象
float QiuDaoQiuMenXiangLiangHuDu = XiangLiangHuDu(Qiu.PositionMm, QiuDong);
double ZuiJiaJinQiuDianDaoQiuMenJuLi = 75 / (Math.Abs(Math.Cos(QiuDaoQiuMenXiangLiangHuDu)));
ZuiJiaJinQiuDian = ZhengXiangYuZhiDianZuoBiaoHanShu(QiuDong, Qiu.PositionMm, (float)ZuiJiaJinQiuDianDaoQiuMenJuLi);
return ZuiJiaJinQiuDian;
}
#endregion
#region 进洞函数
public void JinDongHanShu(Mission mission, int teamId, int i)
{
RoboFish Yu = mission.TeamsRef[teamId].Fishes[0];//鱼对象
xna.Vector3 MuBiaoDian = mission.EnvRef.Balls[i].PositionMm;
// 鱼体绘图中心指向目标点向量方向的弧度值（中间方向）
double ZhongJianFangXiang = xna.MathHelper.ToRadians((float)GetAngleDegree(MuBiaoDian - Yu.PositionMm));
// 中间方向与鱼体方向的差值（目标角度）
double ChaJiao = ZhongJianFangXiang - Yu.BodyDirectionRad;
// 将目标角度规范化到(-PI,PI]
// 规范化之后目标角度为正，表示目标方向在鱼体方向右边
// 规范化之后目标角度为负，表示目标方向在鱼体方向左边
if (ChaJiao > Math.PI)
{// 中间方向为正鱼体方向为负才可能目标角度大于PI
ChaJiao -= 2 * Math.PI; // 规范化到(-PI,0)
}
else if (ChaJiao < -Math.PI)
{// 中间方向为负鱼体方向为正才可能目标角度小于-PI
ChaJiao += 2 * Math.PI; // 规范化到(0,PI)
}
float angThreshold = 5;
if (Math.Abs(ChaJiao) > angThreshold * Math.PI / 180.0)
{// 目标角度绝对值超过某一阈值（默认30度）速度档位置次低进行小半径转弯。防止控制率过大。
decisions[0].VCode = 3;
decisions[0].TCode = (ChaJiao <= 0) ? 1 : 13;
}
else
{
decisions[0].VCode = 5;
decisions[0].TCode = 7;
}
}
#endregion
#region 带球函数
public void DaiQiu(Mission mission, int teamId, xna.Vector3 MuBiaoDianZuoBiao, float MuBiaoFangXiangHuDu,
float JiaoDuChaYuZhi1, float JiaoDuChaYuZhi2, float JuLiYuZhi, int SuDu1, int SuDu2, int cycles, int msPerCycle, bool YuZhongXin_YuTou, int ZuiDaSuDuDangWei)
{
RoboFish Yu = mission.TeamsRef[teamId].Fishes[0];//鱼对象
// 调节所用周期数及每周期毫秒数转换得到秒数
double seconds1 = 15 * msPerCycle / 1000.0;
double seconds2 = cycles * msPerCycle / 1000.0;
// 标志量为true则起始点为PositionMm即鱼体绘图中心false则起始点为PolygonVertices[0]即鱼头点（起始点）
xna.Vector3 YuZuoBiao = (YuZhongXin_YuTou == true) ? Yu.PositionMm : Yu.PolygonVertices[0];
// 起始点到目标点的距离（目标距离）
double MuBiaoJuLi = Math.Sqrt(Math.Pow(MuBiaoDianZuoBiao.X - YuZuoBiao.X, 2.0)
+ Math.Pow(MuBiaoDianZuoBiao.Z - YuZuoBiao.Z, 2.0));
// 鱼体绘图中心指向目标点向量方向的弧度值（中间方向）
double YuDaoMuBiaoDianXiangLiangHuDu = xna.MathHelper.ToRadians((float)GetAngleDegree(MuBiaoDianZuoBiao - Yu.PositionMm));
if (MuBiaoJuLi < 30)
{// 起始点到目标点距离小于阈值（默认58毫米）将中间方向调为目标方向
YuDaoMuBiaoDianXiangLiangHuDu = MuBiaoFangXiangHuDu;
}
// 中间方向与鱼体方向的差值（目标角度）
double MuBiaoJiaoDu = YuDaoMuBiaoDianXiangLiangHuDu - Yu.BodyDirectionRad;
// 将目标角度规范化到(-PI,PI]
// 规范化之后目标角度为正表示目标方向在鱼体方向右边
// 规范化之后目标角度为负表示目标方向在鱼体方向左边
if (MuBiaoJiaoDu > Math.PI)
{// 中间方向为正鱼体方向为负才可能目标角度大于PI
MuBiaoJiaoDu -= 2 * Math.PI; // 规范化到(-PI,0)
}
else if (MuBiaoJiaoDu < -Math.PI)
{// 中间方向为负鱼体方向为正才可能目标角度小于-PI
MuBiaoJiaoDu += 2 * Math.PI; // 规范化到(0,PI)
}
// 最大角速度取左转和右转最大角速度绝对值的均值
float maxAngularV = (Math.Abs(DataBasedOnExperiment.TCodeAndAngularVelocityTable[0])
+ Math.Abs(DataBasedOnExperiment.TCodeAndAngularVelocityTable[14])) / 2;
// 以最大角速度转过目标角度所需的预计时间（角度预计时间）
double estimatedT
