package com.ygames.ysoccer.match; import com.badlogic.gdx.math.Vector3; import com.ygames.ysoccer.framework.Assets; import com.ygames.ysoccer.framework.GLGame; import com.ygames.ysoccer.framework.EMath; import static com.ygames.ysoccer.framework.GLGame.LogType.AI_ATTACKING; import static com.ygames.ysoccer.match.AiFsm.Id.STATE_ATTACKING; import static com.ygames.ysoccer.match.Const.DIRECT_SHOT_DISTANCE; import static com.ygames.ysoccer.match.Const.GOAL_AREA_H; import static com.ygames.ysoccer.match.Const.GOAL_LINE; import static com.ygames.ysoccer.match.Const.POST_X; import static com.ygames.ysoccer.match.Const.TEAM_SIZE; import static com.ygames.ysoccer.match.Const.TOUCH_LINE; import static com.ygames.ysoccer.match.PlayerFsm.Id.STATE_STAND_RUN; class AiStateAttacking extends AiState { AiStateAttacking(AiFsm fsm) { super(STATE_ATTACKING, fsm); } static class Parameters { static int URGENT_TARGET_UPDATE_INTERVAL = 10; static int TARGET_UPDATE_INTERVAL = 30; static int CONTROLS_UPDATE_INTERVAL = 5; static int MATE_SEARCH_INTERVAL = 8; static float PASSING_PROBABILITY = 0.3f; static int PLAYER_DETECTION_RADIUS = 300; static int OUTSIDE_DETECTION_RADIUS = 60; static float MATE_FACTOR = 1f; static float OPPONENT_FACTOR = 1.5f; static float OWN_GOAL_FACTOR = 3.5f; static float GOAL_FACTOR = 2.5f; static float GOAL_FACTOR_INSIDE_PENALTY_AREA = 3.5f; } private float controlsAngle; private float targetAngle; @Override void entryActions() { super.entryActions(); controlsAngle = player.a; ai.x0 = Math.round(EMath.cos(controlsAngle)); ai.y0 = Math.round(EMath.sin(controlsAngle)); targetAngle = controlsAngle; GLGame.debug(AI_ATTACKING, player.numberName(), "Enters attacking state, player.a: " + player.a + ", controlsAngle: " + controlsAngle + ", targetAngle: " + targetAngle); } @Override void doActions() { super.doActions(); GLGame.debug(AI_ATTACKING, player.numberName(), "[TIMER: " + timer + "] controlsAngle: " + controlsAngle + ", player.a: " + player.a); if (isUrgentTargetUpdateTime()) { targetAngle += getUrgentAngleCorrection(); GLGame.debug(AI_ATTACKING, player.numberName(), "Urgent target update time, targetAngle: " + targetAngle); } if (isTargetUpdateTime()) { targetAngle += getAngleCorrection(); GLGame.debug(AI_ATTACKING, player.numberName(), "Target update, targetAngle: " + targetAngle); } if (isMateSearchingTime()) { player.searchPassingMate(); GLGame.debug(AI_ATTACKING, player.numberName(), "Mate searching, passingMate: " + (player.passingMate == null ? "null" : player.passingMate.numberName()) + " with passingMateAngleCorrection: " + player.passingMateAngleCorrection + ", updating targetAngle: " + targetAngle + ", timer: " + timer); } if (isTurningTime()) { float signedAngleDiff = EMath.signedAngleDiff(targetAngle, player.a); if (Math.abs(signedAngleDiff) > 22.5f) { controlsAngle += 45f * Math.signum(signedAngleDiff); GLGame.debug(AI_ATTACKING, player.numberName(), "Turning, signedAngleDiff: " + signedAngleDiff + ", correction: " + (45f * Math.signum(signedAngleDiff)) + ", new controlsAngle: " + controlsAngle); } else { GLGame.debug(AI_ATTACKING, player.numberName(), "No turning needed"); } } ai.x0 = Math.round(EMath.cos(controlsAngle)); ai.y0 = Math.round(EMath.sin(controlsAngle)); } private boolean isUrgentTargetUpdateTime() { return (timer - 1) % (Parameters.URGENT_TARGET_UPDATE_INTERVAL) == 0; } private boolean isTargetUpdateTime() { return (timer - 1) % Parameters.TARGET_UPDATE_INTERVAL == 0; } private boolean isMateSearchingTime() { return (timer - 1) % Parameters.MATE_SEARCH_INTERVAL == 0; } private boolean isTurningTime() { return (timer - 1) % Parameters.CONTROLS_UPDATE_INTERVAL == 0; } @Override State checkConditions() { Player requestedPassReceiver = player.team.consumePassRequest(player); if (requestedPassReceiver != null) { controlsAngle = player.prepareForcedPass(requestedPassReceiver); targetAngle = controlsAngle; ai.x0 = Math.round(EMath.cos(controlsAngle)); ai.y0 = Math.round(EMath.sin(controlsAngle)); return fsm.statePassing; } // passing if (isMateSearchingTime()) { if (player.passingMate != null && Assets.random.nextFloat() < Parameters.PASSING_PROBABILITY) { return fsm.statePassing; } } // TODO: // if (is clear ahead){ // return fsm.autoPassing; // } if (player.ball.isInsideDirectShotArea(-player.team.side) && player.seesTheGoal()) { float visualWidth = goalVisualWidth(player.x, player.y); float probabilityByVisualWidth = probabilityByVisualWidth(visualWidth, 180); float distance = EMath.dist(player.x, player.y, POST_X * EMath.sgn(player.x), GOAL_LINE * EMath.sgn(player.y)); float probabilityByDistance = probabilityByDistance(distance, 0.1f, DIRECT_SHOT_DISTANCE); float probability = (probabilityByVisualWidth + probabilityByDistance * probabilityByDistance) / 2; GLGame.debug(AI_ATTACKING, player.numberName(), "Inside direct shot area, visualWidth: " + visualWidth + ", probabilityByVisualWidth: " + probabilityByVisualWidth + ", distance: " + distance + ", probabilityByDistance: " + probabilityByDistance + ", probability: " + probability); if (Assets.random.nextFloat() < probability) { return fsm.stateKicking; } } // player has changed its state PlayerState playerState = player.getState(); if (playerState != null && !playerState.checkId(STATE_STAND_RUN)) { return fsm.stateIdle; } // lost the ball if (player.ball.owner != player) { return fsm.stateSeeking; } return null; } private float getUrgentAngleCorrection() { GLGame.debug(AI_ATTACKING, player.numberName(), "player.x: " + player.x + ", player.y: " + player.y + ", controlsAngle: " + controlsAngle); // Vector3(left, center, right) Vector3 totalWeights = new Vector3(1, 1, 1); // avoid exiting Vector3 inFieldMap = getInFieldMap(); GLGame.debug(AI_ATTACKING, player.numberName(), "In field map: " + inFieldMap); // sum all weights totalWeights.scl(inFieldMap); GLGame.debug(AI_ATTACKING, player.numberName(), "TotalWeights: " + totalWeights); // whenever players picks the ball near goal or touch lines // he needs to turn more than normal 45 degrees if (totalWeights.isZero()) { return emergencyAngle(); } // if very near to goal area turn immediately to see the goal if (Math.abs(player.x) < (POST_X + 10) && EMath.isIn(player.y, -player.side * (GOAL_LINE - GOAL_AREA_H - 10), -player.side * GOAL_LINE) && !player.seesTheGoal()) { float signedAngleDiff = player.goalSignedAngleDiff(); if (signedAngleDiff < -Const.SHOOTING_ANGLE_TOLERANCE) { GLGame.debug(AI_ATTACKING, player.numberName(), "Forcing left turn to see the goal"); totalWeights.scl(2, 0, 0); } if (signedAngleDiff > Const.SHOOTING_ANGLE_TOLERANCE) { GLGame.debug(AI_ATTACKING, player.numberName(), "Forcing right turn to see the goal"); totalWeights.scl(0, 0, 2); } } // finally decide if (totalWeights.x > Math.max(totalWeights.y, totalWeights.z)) { GLGame.debug(AI_ATTACKING, player.numberName(), "Turning left: -45"); return -45; } else if (totalWeights.y >= totalWeights.z) { GLGame.debug(AI_ATTACKING, player.numberName(), "No turning: 0"); return 0; } else { GLGame.debug(AI_ATTACKING, player.numberName(), "Turning right: +45"); return 45; } } private float getAngleCorrection() { // Vector3(left, center, right) Vector3 totalWeights = new Vector3(); // 1. minimize mates frame distance Vector3 mateWeights = getMateWeights(); GLGame.debug(AI_ATTACKING, player.numberName(), "Mates weights: " + mateWeights); totalWeights.add(mateWeights.scl(Parameters.MATE_FACTOR)); // 2. maximize opponent frame distance Vector3 opponentWeights = getOpponentWeights(); GLGame.debug(AI_ATTACKING, player.numberName(), "Opponents weights: " + opponentWeights); totalWeights.add(opponentWeights.scl(Parameters.OPPONENT_FACTOR)); // 3. push toward/away goals Vector3 goalWeights; float GOAL_FACTOR; if (player.ball.isInsidePenaltyArea(player.team.side)) { goalWeights = getOwnGoalWeights(); GOAL_FACTOR = Parameters.OWN_GOAL_FACTOR; } else { goalWeights = getGoalWeights(); if (player.ball.isInsidePenaltyArea(-player.side)) { GOAL_FACTOR = Parameters.GOAL_FACTOR_INSIDE_PENALTY_AREA; } else { GOAL_FACTOR = Parameters.GOAL_FACTOR; } } totalWeights.add(goalWeights.scl(GOAL_FACTOR)); GLGame.debug(AI_ATTACKING, player.numberName(), "Goal weights: " + goalWeights); GLGame.debug(AI_ATTACKING, player.numberName(), "TotalWeights: " + totalWeights); // finally decide if (totalWeights.x > Math.max(totalWeights.y, totalWeights.z)) { GLGame.debug(AI_ATTACKING, player.numberName(), "Turning left: -45"); return -45; } else if (totalWeights.y >= totalWeights.z) { GLGame.debug(AI_ATTACKING, player.numberName(), "No turning: 0"); return 0; } else { GLGame.debug(AI_ATTACKING, player.numberName(), "Turning right: +45"); return 45; } } private Vector3 getMateWeights() { Vector3 weights = new Vector3(); int count = 0; for (int i = 0; i < TEAM_SIZE; i++) { Player ply = player.team.lineup.get(i); if (ply == player) continue; float dist = player.distanceFrom(ply); if (dist > Parameters.PLAYER_DETECTION_RADIUS) continue; float minFrameDistance = EMath.min(ply.frameDistanceL, ply.frameDistance, ply.frameDistanceR); // mate weight decay with distance float w = weightByDistance(dist); if (ply.frameDistanceL == minFrameDistance) { weights.add(w, 0, 0); } if (ply.frameDistance == minFrameDistance) { weights.add(0, w, 0); } if (ply.frameDistanceR == minFrameDistance) { weights.add(0, 0, w); } count++; } return count == 0 ? weights.setZero() : weights.scl(1f / count); } private Vector3 getOpponentWeights() { Vector3 weights = new Vector3(); Team opponentTeam = player.team.match.team[1 - player.team.index]; int count = 0; for (int i = 0; i < TEAM_SIZE; i++) { Player ply = opponentTeam.lineup.get(i); float dist = player.distanceFrom(ply); if (dist > Parameters.PLAYER_DETECTION_RADIUS) continue; float maxFrameDistance = EMath.max(ply.frameDistanceL, ply.frameDistance, ply.frameDistanceR); // opponent weight decay with distance float w = weightByDistance(dist); if (ply.frameDistanceL == maxFrameDistance) { weights.add(w, 0, 0); } if (ply.frameDistance == maxFrameDistance) { weights.add(0, w, 0); } if (ply.frameDistanceR == maxFrameDistance) { weights.add(0, 0, w); } count++; } return count == 0 ? weights.setZero() : weights.scl(1f / count); } private Vector3 getOwnGoalWeights() { Vector3 weights = new Vector3(); float ownGoalToPlayerAngle = EMath.aTan2(player.y - GOAL_LINE * player.team.side, player.x); weights.set( 1 - EMath.angleDiff(ownGoalToPlayerAngle, controlsAngle - 45) / 360, 1 - EMath.angleDiff(ownGoalToPlayerAngle, controlsAngle) / 360, 1 - EMath.angleDiff(ownGoalToPlayerAngle, controlsAngle + 45) / 360 ); GLGame.debug(AI_ATTACKING, player.numberName(), "player.x: " + player.x + ", player.y: " + player.y + ", controlsAngle: " + controlsAngle + ", ownGoalToPlayerAngle: " + ownGoalToPlayerAngle); return weights; } private Vector3 getGoalWeights() { Vector3 weights = new Vector3(); float playerToGoalAngle = EMath.aTan2(-(GOAL_LINE - GOAL_AREA_H) * player.team.side - player.y, -player.x); weights.set( 1 - EMath.angleDiff(playerToGoalAngle, controlsAngle - 45) / 360, 1 - EMath.angleDiff(playerToGoalAngle, controlsAngle) / 360, 1 - EMath.angleDiff(playerToGoalAngle, controlsAngle + 45) / 360 ); GLGame.debug(AI_ATTACKING, player.numberName(), "player.x: " + player.x + ", player.y: " + player.y + ", controlsAngle: " + controlsAngle + ", playerToGoalAngle: " + playerToGoalAngle); return weights; } private Vector3 getInFieldMap() { boolean includeGoal = Const.isInsideGoalArea(player.x, player.y, -player.side); float leftX = player.x + Parameters.OUTSIDE_DETECTION_RADIUS * EMath.cos(controlsAngle - 45); float leftY = player.y + Parameters.OUTSIDE_DETECTION_RADIUS * EMath.sin(controlsAngle - 45); boolean left = insideField(leftX, leftY, includeGoal); float centerX = player.x + Parameters.OUTSIDE_DETECTION_RADIUS * EMath.cos(controlsAngle); float centerY = player.y + Parameters.OUTSIDE_DETECTION_RADIUS * EMath.sin(controlsAngle); boolean center = insideField(centerX, centerY, includeGoal); float rightX = player.x + Parameters.OUTSIDE_DETECTION_RADIUS * EMath.cos(controlsAngle + 45); float rightY = player.y + Parameters.OUTSIDE_DETECTION_RADIUS * EMath.sin(controlsAngle + 45); boolean right = insideField(rightX, rightY, includeGoal); Vector3 map = new Vector3( left ? 1 : 0, (center && left && right) ? 1 : 0, right ? 1 : 0 ); // if choosing between left and right in own goal area, remove the nearest to the goal if (map.len2() == 2 && Const.isInsideGoalArea(player.x, player.y, player.side)) { if (EMath.dist(0, player.side * GOAL_LINE, leftX, leftY) < EMath.dist(0, player.side * GOAL_LINE, rightX, rightY)) { map.x = 0; } else { map.z = 0; } } return map; } private boolean insideField(float x, float y, boolean includeGoal) { if (Math.abs(x) < TOUCH_LINE && Math.abs(y) < GOAL_LINE) { return true; } return includeGoal && (Math.abs(x) < POST_X && Math.abs(y) < (GOAL_LINE + Parameters.OUTSIDE_DETECTION_RADIUS)); } private float weightByDistance(float dist) { return EMath.pow(dist / Parameters.PLAYER_DETECTION_RADIUS, 2) - 2 * dist / Parameters.PLAYER_DETECTION_RADIUS + 1; } private float emergencyAngle() { float playerToCenterAngle = player.angleToPoint(0, 0); float angle = 90 * Math.signum(EMath.signedAngleDiff(controlsAngle, playerToCenterAngle)); GLGame.debug(AI_ATTACKING, player.numberName(), "Emergency turn by: " + angle); return angle; } private float probabilityByVisualWidth(float value, float maxValue) { return -value * value / (maxValue * maxValue) + 2f * value / maxValue; } private float probabilityByDistance(float value, float minProb, float maxValue) { return (minProb - 1) * value * value / (maxValue * maxValue) + 1; } private float goalVisualWidth(float x, float y) { int side = EMath.sgn(y); float angle1 = EMath.angle(x, y, -POST_X, side * GOAL_LINE); float angle2 = EMath.angle(x, y, +POST_X, side * GOAL_LINE); return EMath.angleDiff(angle1, angle2); } }