有限状态机算法的实现

#include "SoccerTeam.h" #include "SoccerPitch.h" #include "Goal.h" #include "PlayerBase.h" #include "GoalKeeper.h" #include "FieldPlayer.h" #include "utils.h" #include "SteeringBehaviors.h" #include "GoalKeeperStates.h" #include "ParamLoader.h" #include "geometry.h" #include "EntityManager.h" #include "MessageDispatcher.h" #include "SoccerMessages.h" #include "TeamStates.h" #include "DebugConsole.h" #include <windows.h> using std::vector; //----------------------------- ctor ------------------------------------- // //------------------------------------------------------------------------ SoccerTeam::SoccerTeam(Goal* home_goal, Goal* opponents_goal, SoccerPitch* pitch, team_color color):m_pOpponentsGoal(opponents_goal), m_pHomeGoal(home_goal), m_pOpponents(NULL), m_pPitch(pitch), m_Color(color), m_dDistSqToBallOfClosestPlayer(0.0), m_pSupportingPlayer(NULL), m_pReceivingPlayer(NULL), m_pControllingPlayer(NULL), m_pPlayerClosestToBall(NULL) { //setup the state machine m_pStateMachine = new StateMachine<SoccerTeam>(this); m_pStateMachine->SetCurrentState(Defending::Instance()); m_pStateMachine->SetPreviousState(Defending::Instance()); m_pStateMachine->SetGlobalState(NULL); //create the players and goalkeeper CreatePlayers(); //set default steering behaviors std::vector<PlayerBase*>::iterator it = m_Players.begin(); for (it; it != m_Players.end(); ++it) { (*it)->Steering()->SeparationOn(); } //create the sweet spot calculator m_pSupportSpotCalc = new SupportSpotCalculator(Prm.NumSupportSpotsX, Prm.NumSupportSpotsY, this); } //----------------------- dtor ------------------------------------------- // //------------------------------------------------------------------------ SoccerTeam::~SoccerTeam() { delete m_pStateMachine; std::vector<PlayerBase*>::iterator it = m_Players.begin(); for (it; it != m_Players.end(); ++it) { delete *it; } delete m_pSupportSpotCalc; } //-------------------------- update -------------------------------------- // // iterates through each player's update function and calculates // frequently accessed info //------------------------------------------------------------------------ void SoccerTeam::Update() { //this information is used frequently so it's more efficient to //calculate it just once each frame CalculateClosestPlayerToBall(); //the team state machine switches between attack/defense behavior. It //also handles the 'kick off' state where a team must return to their //kick off positions before the whistle is blown m_pStateMachine->Update(); //now update each player std::vector<PlayerBase*>::iterator it = m_Players.begin(); for (it; it != m_Players.end(); ++it) { (*it)->Update(); } } //------------------------ CalculateClosestPlayerToBall ------------------ // // sets m_iClosestPlayerToBall to the player closest to the ball //------------------------------------------------------------------------ void SoccerTeam::CalculateClosestPlayerToBall() { double ClosestSoFar = MaxFloat; std::vector<PlayerBase*>::iterator it = m_Players.begin(); for (it; it != m_Players.end(); ++it) { //calculate the dist. Use the squared value to avoid sqrt double dist = Vec2DDistanceSq((*it)->Pos(), Pitch()->Ball()->Pos()); //keep a record of this value for each player (*it)->SetDistSqToBall(dist); if (dist < ClosestSoFar) { ClosestSoFar = dist; m_pPlayerClosestToBall = *it; } } m_dDistSqToBallOfClosestPlayer = ClosestSoFar; } //------------- DetermineBestSupportingAttacker ------------------------ // // calculate the closest player to the SupportSpot //------------------------------------------------------------------------ PlayerBase* SoccerTeam::DetermineBestSupportingAttacker() { double ClosestSoFar = MaxFloat; PlayerBase* BestPlayer = NULL; std::vector<PlayerBase*>::iterator it = m_Players.begin(); for (it; it != m_Players.end(); ++it) { //only attackers utilize the BestSupportingSpot if ( ((*it)->Role() == PlayerBase::attacker) && ((*it) != m_pControllingPlayer) ) { //calculate the dist. Use the squared value to avoid sqrt double dist = Vec2DDistanceSq((*it)->Pos(), m_pSupportSpotCalc->GetBestSupportingSpot()); //if the distance is the closest so far and the player is not a //goalkeeper and the player is not the one currently controlling //the ball, keep a record of this player if ((dist < ClosestSoFar) ) { ClosestSoFar = dist; BestPlayer = (*it); } } } return BestPlayer; } //-------------------------- FindPass ------------------------------ // // The best pass is considered to be the pass that cannot be intercepted // by an opponent and that is as far forward of the receiver as possible //------------------------------------------------------------------------ bool SoccerTeam::FindPass(const PlayerBase*const passer, PlayerBase*& receiver, Vector2D& PassTarget, double power, double MinPassingDistance)const { std::vector<PlayerBase*>::const_iterator curPlyr = Members().begin(); double ClosestToGoalSoFar = MaxFloat; Vector2D Target; //iterate through all this player's team members and calculate which //one is in a position to be passed the ball for (curPlyr; curPlyr != Members().end(); ++curPlyr) { //make sure the potential receiver being examined is not this player //and that it is further away than the minimum pass distance if ( (*curPlyr != passer) && (Vec2DDistanceSq(passer->Pos(), (*curPlyr)->Pos()) > MinPassingDistance*MinPassingDistance)) { if (GetBestPassToReceiver(passer, *curPlyr, Target, power)) { //if the pass target is the closest to the opponent's goal line found // so far, keep a record of it double Dist2Goal = fabs(Target.x - OpponentsGoal()->Center().x); if (Dist2Goal < ClosestToGoalSoFar) { ClosestToGoalSoFar = Dist2Goal; //keep a record of this player receiver = *curPlyr; //and the target PassTarget = Target; } } } }//next team member if (receiver) return true; else return false; } //---------------------- GetBestPassToReceiver --------------------------- // // Three potential passes are calculated. One directly toward the receiver's // current position and two that are the tangents from the ball position // to the circle of radius 'range' from the receiver. // These passes are then tested to see if they can be intercepted by an // opponent and to make sure they terminate within the playing area. If // all the passes are invalidated the function returns false. Otherwise // the function returns the pass that takes the ball closest to the // opponent's goal area. //------------------------------------------------------------------------ bool SoccerTeam: