机器人足球代码1汇编

2024年3月15日发(作者：祝福妈妈生日快乐的祝福语)

足球机器人程序代码

//应用程序模板

#include

//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()>0 && myX+radius*2>ballX) return true;

if(getAttack()<0 && myX-radius*2

if( (getAttack()>0 && getBallX()

(getAttack()<0 && getBallX()>getCourtWidth()/2) )

{

if((getBallY()>getCourtHeight()/2)&&(getY()>getBallY()

))return true;

if((getBallY()

))return true;

}

return fal;

}

//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;

if(getAttack()>0 && getBallHeading()>PI/2 && getBallHeading()

{

if(goalMin<50*tan(getBallHeading()) + b &&

goalMax>50*tan(getBallHeading()) + b)return true;

el return fal;

}

el if(getAttack()<=0 && (getBallHeading()>=0 && getBallHeading()

|| getBallHeading()<2*PI &&

getBallHeading()>3*PI/2))

{

if(goalMin

&& tan(getBallHeading())*(getCourtWidth() - 50) + b

return true; el return fal;

}

el return fal;

}

//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 = -getBallNegativeAcceleration();

*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);

el if (velocity < 0) velocity = fmin(0, velocity -acc);

// 撞墙检测

if ((*nextX) < 0 || (*nextX) > getCourtWidth())

{

heading = PI - heading;

modifyInCourt(nextX, nextY, getBallRadius());

}

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();