1、基于网格思想的 1V1using System;using System.Collections.Generic;using System.Linq;using System.Text;using xna = Microsoft.Xna.Framework;using Microsoft.Dss;using URWPGSim2D.Common;using URWPGSim2D.StrategyLoader;using URWPGSim2D.Core;using URWPGSim2D.Strategy;using URWPGSim2D.StrategyHelper;namespace URWPG
2、Sim2D.Strategypublic class Strategy : MarshalByRefObject, IStrategy#region reserved code never be changed or removed/ / override the InitializeLifetimeService to return null instead of a valid ILease implementation/ to ensure this type of remote object never dies/ / nullpublic override object Initia
3、lizeLifetimeService()/return base.InitializeLifetimeService();return null; / makes the object live indefinitely#endregion/ / 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/ private Decision decisions = null;/ / 获取队伍名称 在此处设置参赛队伍的名称/ / 队伍名称字符串public string GetTeamName()return “兰之鹰队“;/ / 获取当前仿真使命（比赛项
4、目）当前队伍所有仿真机器鱼的决策数据构成的数组/ / 服务端当前运行着的仿真使命 Mission对象/ 当前队伍在服务端运行着的仿真使命中所处的编号 / 用于作为索引访问 Mission对象的 TeamsRef队伍列表中代表当前队伍的元素/ 当前队伍所有仿真机器鱼的决策数据构成的Decision数组对象public Decision GetDecision(Mission mission, int teamId)/ 决策类当前对象第一次调用 GetDecision时Decision数组引用为 nullif (decisions = null)/ 根据决策类当前对象对应的仿真使命参与队伍仿真机器
5、鱼的数量分配决策数组空间decisions = new Decisionmission.CommonPara.FishCntPerTeam;#region 决策计算过程 需要各参赛队伍实现的部分#region 策略编写帮助信息/=我是华丽的分割线=/=策略编写指南=/1.策略编写工作直接目标是给当前队伍决策数组decisions各元素填充决策值/2.决策数据类型包括两个 int成员，VCode 为速度档位值，TCode 为转弯档位值/3.VCode取值范围 0-14共 15个整数值，每个整数对应一个速度值，速度值整体但非严格递增/有个别档位值对应的速度值低于比它小的档位值对应的速度值，速度值数
6、据来源于实验/4.TCode取值范围 0-14共 15个整数值，每个整数对应一个角速度值/整数 7对应直游，角速度值为 0，整数 6-0，8-14分别对应左转和右转，偏离 7越远，角度速度值越大/5.任意两个速度/转弯档位之间切换，都需要若干个仿真周期，才能达到稳态速度/角速度值/目前运动学计算过程决定稳态速度/角速度值接近但小于目标档位对应的速度/角速度值/6.决策类 Strategy的实例在加载完毕后一直存在于内存中，可以自定义私有成员变量保存必要信息/但需要注意的是，保存的信息在中途更换策略时将会丢失/=我是华丽的分割线=/=策略中可以使用的比赛环境信息和过程信息说明=/场地坐标系: 以
7、毫米为单位，矩形场地中心为原点，向右为正 X，向下为正 Z/ 负 X轴顺时针转回负 X轴角度范围为(-PI,PI)的坐标系，也称为世界坐标系/mission.CommonPara: 当前仿真使命公共参数/mission.CommonPara.FishCntPerTeam: 每支队伍仿真机器鱼数量/mission.CommonPara.MsPerCycle: 仿真周期毫秒数/mission.CommonPara.RemainingCycles: 当前剩余仿真周期数/mission.CommonPara.TeamCount: 当前仿真使命参与队伍数量/mission.CommonPara.Tota
8、lSeconds: 当前仿真使命运行时间秒数/mission.EnvRef.Balls: /当前仿真使命涉及到的仿真水球列表，列表元素的成员意义参见 URWPGSim2D.Common.Ball类定义中的注释/mission.EnvRef.FieldInfo: /当前仿真使命涉及到的仿真场地，各成员意义参见URWPGSim2D.Common.Field类定义中的注释/mission.EnvRef.ObstaclesRect: /当前仿真使命涉及到的方形障碍物列表，列表元素的成员意义参见 URWPGSim2D.Common.RectangularObstacle类定义中的注释/mission.E
9、nvRef.ObstaclesRound:/当前仿真使命涉及到的圆形障碍物列表，列表元素的成员意义参见 URWPGSim2D.Common.RoundedObstacle类定义中的注释/mission.TeamsRefteamId:/决策类当前对象对应的仿真使命参与队伍（当前队伍）/mission.TeamsRefteamId.Para:/当前队伍公共参数，各成员意义参见URWPGSim2D.Common.TeamCommonPara类定义中的注释/mission.TeamsRefteamId.Fishes:/当前队伍仿真机器鱼列表，列表元素的成员意义参见 URWPGSim2D.Common.
10、RoboFish类定义中的注释/mission.TeamsRefteamId.Fishesi.PositionMm和 PolygonVertices0,BodyDirectionRad,VelocityMmPs,/ AngularVelocityRadPs,Tactic:/当前队伍第 i条仿真机器鱼鱼体矩形中心和鱼头顶点在场地坐标系中的位置（用到 X坐标和 Z坐标） ，鱼体方向，速度值，/ 角速度值，决策值/=我是华丽的分割线=/=典型循环=/for (int i = 0; i -135dirbBtoG = DirBToG(ballPt, rightGoal);/球到右球门方向tempPt.X
11、 = ballPt.X - (float)(r * Math.Cos(dirbBtoG);tempPt.Z = ballPt.Z - (float)(r * Math.Sin(dirbBtoG);StrategyHelper.Helpers.Dribble(ref decisions0, mission.TeamsRefteamId.Fishes0,tempPt, dirbBtoG, 5, 10, 150, 14, 8, 14, mission.CommonPara.MsPerCycle, true);return decisions;else if (mission.EnvRef.Balls
12、0.PositionMm.X -200 tempPt.X = ballPt.X - (float)(r * Math.Cos(dirFish);tempPt.Z = ballPt.Z - (float)(r * Math.Sin(dirFish);StrategyHelper.Helpers.Dribble(ref decisions0, mission.TeamsRefteamId.Fishes0,tempPt, dirFish, 5, 10, 150, 14, 8, 14, mission.CommonPara.MsPerCycle, true);return decisions;else
13、 if (mission.EnvRef.Balls0.PositionMm.X -200 tempPt.X = ballPt.X - (float)(r * Math.Cos(dirFish);tempPt.Z = ballPt.Z - (float)(r * Math.Sin(dirFish);StrategyHelper.Helpers.Dribble(ref decisions0, mission.TeamsRefteamId.Fishes0,tempPt, dirFish, 5, 10, 150, 14, 8, 14, mission.CommonPara.MsPerCycle, tr
14、ue);return decisions;else if (mission.EnvRef.Balls0.PositionMm.Z = -500)tempPt.X = ballPt.X - (float)(r * Math.Cos(dirFish);tempPt.Z = ballPt.Z - (float)(r * Math.Sin(dirFish);StrategyHelper.Helpers.Dribble(ref decisions0, mission.TeamsRefteamId.Fishes0,tempPt, dirFish, 5, 10, 170, 14, 8, 14, missio
15、n.CommonPara.MsPerCycle, true);return decisions;else if (mission.EnvRef.Balls0.PositionMm.Z = 950)/球门左外rightGoal = new xna.Vector3(1350f, 0f, 200);dirbBtoG = DirBToG(ballPt, rightGoal);/球到右球门方向tempPt.X = ballPt.X - (float)(r * Math.Cos(dirbBtoG);tempPt.Z = ballPt.Z - (float)(r * Math.Sin(dirbBtoG);S
16、trategyHelper.Helpers.Dribble(ref decisions0, mission.TeamsRefteamId.Fishes0,tempPt, dirFish, 5, 10, 200, 14, 8, 14, mission.CommonPara.MsPerCycle, true);return decisions;else if (mission.EnvRef.Balls0.PositionMm.Z = 950)/球门右外rightGoal = new xna.Vector3(1350f, 0f, -200);dirbBtoG = DirBToG(ballPt, ri
17、ghtGoal);/球到右球门方向tempPt.X = ballPt.X - (float)(r * Math.Cos(dirbBtoG);tempPt.Z = ballPt.Z - (float)(r * Math.Sin(dirbBtoG);StrategyHelper.Helpers.Dribble(ref decisions0, mission.TeamsRefteamId.Fishes0,tempPt, dirFish, 5, 10, 200, 14, 8, 14, mission.CommonPara.MsPerCycle, true);return decisions;#endr
18、egion#region/防守策略else if (mission.EnvRef.Balls0.PositionMm.X = -950if (dirFish = -950tempPt.X = ballPt.X - (float)(r * Math.Cos(dirFish);tempPt.Z = ballPt.Z - (float)(r * Math.Sin(dirFish);StrategyHelper.Helpers.Dribble(ref decisions0, mission.TeamsRefteamId.Fishes0,tempPt, dirFish, 5, 10, 200, 14,
19、8, 14, mission.CommonPara.MsPerCycle, true);return decisions;else if (mission.EnvRef.Balls0.PositionMm.X = -950tempPt.X = ballPt.X - (float)(r * Math.Cos(dirFish);tempPt.Z = ballPt.Z - (float)(r * Math.Sin(dirFish);StrategyHelper.Helpers.Dribble(ref decisions0, mission.TeamsRefteamId.Fishes0,tempPt,
20、 dirFish, 5, 10, 200, 14, 8, 14, mission.CommonPara.MsPerCycle, true);return decisions;else if (mission.EnvRef.Balls0.PositionMm.X 700 | mission.EnvRef.Balls0.PositionMm.Z 0 dirbBtoG = DirBToG(ballPt, rightGoal);/球到右球门方向tempPt.X = ballPt.X - (float)(r * Math.Cos(dirbBtoG);tempPt.Z = ballPt.Z - (floa
21、t)(r * Math.Sin(dirbBtoG);StrategyHelper.Helpers.Dribble(ref decisions0, mission.TeamsRefteamId.Fishes0,tempPt, dirFish, 5, 10, 150, 14, 8, 14, mission.CommonPara.MsPerCycle, true);return decisions;elserightGoal = new xna.Vector3(1350f, 0f, 0f);dirbBtoG = DirBToG(ballPt, rightGoal);/球到右球门方向tempPt.X
22、= ballPt.X - (float)(r * Math.Cos(dirbBtoG);tempPt.Z = ballPt.Z - (float)(r * Math.Sin(dirbBtoG);StrategyHelper.Helpers.Dribble(ref decisions0, mission.TeamsRefteamId.Fishes0,tempPt, dirbBtoG, 5, 10, 150, 14, 8, 14, mission.CommonPara.MsPerCycle, true);return decisions;#endregion#endregion#endregion
23、#region/右半场策略if (mission.TeamsRefteamId.Para.MyHalfCourt = HalfCourt.RIGHT)#region/进攻策略if (mission.EnvRef.Balls0.PositionMm.Z -135tempPt.X = ballPt.X - (float)(r * Math.Cos(dirFish);tempPt.Z = ballPt.Z - (float)(r * Math.Sin(dirFish);StrategyHelper.Helpers.Dribble(ref decisions0, mission.TeamsReftea
24、mId.Fishes0,tempPt, dirFish, 5, 10, 150, 14, 8, 14, mission.CommonPara.MsPerCycle, true);return decisions;else if (mission.EnvRef.Balls0.PositionMm.X -200 tempPt.X = ballPt.X - (float)(r * Math.Cos(dirFish);tempPt.Z = ballPt.Z - (float)(r * Math.Sin(dirFish);StrategyHelper.Helpers.Dribble(ref decisi
25、ons0, mission.TeamsRefteamId.Fishes0,tempPt, dirFish, 5, 10, 150, 14, 8, 14, mission.CommonPara.MsPerCycle, true);return decisions;else if (mission.EnvRef.Balls0.PositionMm.Z = -500)tempPt.X = ballPt.X - (float)(r * Math.Cos(dirFish);tempPt.Z = ballPt.Z - (float)(r * Math.Sin(dirFish);StrategyHelper
26、.Helpers.Dribble(ref decisions0, mission.TeamsRefteamId.Fishes0,tempPt, dirFish, 5, 10, 170, 14, 14, 8, mission.CommonPara.MsPerCycle, true);return decisions;else if (mission.EnvRef.Balls0.PositionMm.Z = 200 tempPt.X = ballPt.X - (float)(r * Math.Cos(dirFish);tempPt.Z = ballPt.Z - (float)(r * Math.S
27、in(dirFish);StrategyHelper.Helpers.Dribble(ref decisions0, mission.TeamsRefteamId.Fishes0,tempPt, dirFish, 5, 10, 200, 14, 8, 8, mission.CommonPara.MsPerCycle, true);return decisions;else if (mission.EnvRef.Balls0.PositionMm.X = 200dirbBtoG = DirBToG(ballPt, rightGoal);/球到右球门方向tempPt.X = ballPt.X -
28、(float)(r * Math.Cos(dirbBtoG);tempPt.Z = ballPt.Z - (float)(r * Math.Sin(dirbBtoG);StrategyHelper.Helpers.Dribble(ref decisions0, mission.TeamsRefteamId.Fishes0,tempPt, dirFish, 5, 10, 150, 14, 8, 14, mission.CommonPara.MsPerCycle, true);return decisions;elserightGoal = new xna.Vector3(1350f, 0f, 0
29、f);dirbBtoG = DirBToG(ballPt, rightGoal);/球到右球门方向tempPt.X = ballPt.X - (float)(r * Math.Cos(dirbBtoG);tempPt.Z = ballPt.Z - (float)(r * Math.Sin(dirbBtoG);StrategyHelper.Helpers.Dribble(ref decisions0, mission.TeamsRefteamId.Fishes0,tempPt, dirbBtoG, 5, 10, 150, 14, 8, 14, mission.CommonPara.MsPerCy
30、cle, true);return decisions;#endregion#endregionreturn decisions;#region/球到球门的方向public float DirBToG(xna.Vector3 ballPt, xna.Vector3 goalPt)float dirBToG = 0;if (goalPt.X = 1350)dirBToG = (float)Math.Atan(ballPt.Z - goalPt.Z) / (ballPt.X - goalPt.X);if (goalPt.X = -1350)dirBToG = (float)Math.Atan(ba
31、llPt.Z - goalPt.Z) / (ballPt.X - goalPt.X);if (dirBToG = 0)dirBToG = -3.14f + dirBToG;elsedirBToG = 3.14f + dirBToG;return dirBToG;#endregion#region /角度差计算public float CalVectorAngleDiff(xna.Vector3 BaseEmitPostion, xna.Vector3 BaseTailPositon, float AngleOfCalVector)xna.Vector3 AngleOfBase = BaseTailPositon - BaseEmitPostion;float AngleDiff = AngleOfCalVector - (float)Math.Atan2(AngleOfBase.Z, AngleOfBase.X);/当角度.进行处理使之范围处于-if (AngleDiff Math.PI)AngleDiff = AngleDiff - (float)Math.PI * 2;return AngleDiff;#endregion
