[Core-TC] defB not finish

Core/src/LuaModule/worldmodel.pkg

@@ -13,4 +13,5 @@ class CWorldModel{
     bool    IsInfraredOn(int);
     int     InfraredOnCount(int);
     int     InfraredOffCount(int);
+	double  predictRunTime(const PlayerVisionT& start, const CGeoPoint& Target, const CVector& targetVel);
 }

Core/src/WorldModel/WorldModel.h

@@ -7,6 +7,7 @@
 #include "BufferCounter.h"
 // #include "BallStatus.h"
 #include <singleton.hpp>
+#include "CMmotion.h"
 extern bool record_run_pos_on;
 ///
 /// @file   WoldModel.h
@@ -43,7 +44,9 @@ class CWorldModel{
     int     InfraredOnCount(int);
     int     InfraredOffCount(int);
     bool	KickDirArrived (int current_cycle, double kickdir, double kickdirprecision, int myNum = myDefaultNum);
-
+	double  predictRunTime(const PlayerVisionT& start, const CGeoPoint& Target, const CVector& targetVel = CVector(0, 0)){
+		return predictedTime(start, Target, targetVel);
+	}
 private:
 	const CVisionModule* _pVision;
 	const COptionModule* _pOption;

Core/tactics/play/TC/TC2024DefenseB.lua

@@ -0,0 +1,126 @@
+local ORIGIN = CGeoPoint:new_local(0,0)
+local CIRCLE_RADIUS = 800
+local CIRCLE_DIST = 1500
+local RUN_DIST = 1200
+local WAIT_POS = {
+    ORIGIN + Utils.Polar2Vector(CIRCLE_DIST, 0*math.pi*2/3+math.pi),
+    ORIGIN + Utils.Polar2Vector(CIRCLE_DIST, 1*math.pi*2/3+math.pi),
+    ORIGIN + Utils.Polar2Vector(CIRCLE_DIST, 2*math.pi*2/3+math.pi),
+}
+local RUN_POS = {
+    ORIGIN + Utils.Polar2Vector(RUN_DIST, 0*math.pi*2/3),
+    ORIGIN + Utils.Polar2Vector(RUN_DIST, 1*math.pi*2/3),
+    ORIGIN + Utils.Polar2Vector(RUN_DIST, 2*math.pi*2/3),
+}
+
+local area = 1
+local minDist = 99999
+local farArea = 1
+local farDist = 0
+local checkClosest = function(pos)
+    local tempMinDist = 99999
+    local tempArea = -1
+    for i = 1, 3 do
+        if (pos-WAIT_POS[i]):mod() < tempMinDist then
+            tempMinDist = (pos-WAIT_POS[i]):mod()
+            tempArea = i
+        end
+    end
+    return tempArea, tempMinDist
+end
+
+local checkFarthest = function(pos)
+    local tempMaxDist = 0
+    local tempArea = -1
+    for i = 1, 3 do
+        if (pos-WAIT_POS[i]):mod() > tempMaxDist then
+            tempMaxDist = (pos-WAIT_POS[i]):mod()
+            tempArea = i
+        end
+    end
+    return tempArea, tempMaxDist
+end
+
+local update = function()
+    local ball = ball.rawPos()
+    area, minDist = checkClosest(ball)
+    farArea, farDist = checkFarthest(ball)
+end
+
+local dynPos = function()
+    return ORIGIN+Utils.Polar2Vector(500,(ORIGIN-WAIT_POS[farArea]):dir())
+end
+local dynDir = function()
+    return (ORIGIN - WAIT_POS[area]):dir() + math.pi/2
+end
+
+local RUSH_TASK = function()
+    local DIR = player.dir("a")
+    local ballVel = ball.vel()
+    local ball = ball.pos()
+    local targetPos = ball
+    local minTimePos = ball
+    local minTime = 99999
+    for dist = 0, 1000, 50 do
+        local targetPos = ball + Utils.Polar2Vector(dist, ballVel:dir())
+        local t1 = world:predictRunTime(player.instance("a"), targetPos, CVector(0,0))
+        local t2 = ballModel:timeForDist(dist)
+        if t1 < t2 then
+            return task.goCmuRush(targetPos,DIR)
+        end
+        if t1 < minTime then
+            minTime = t1
+            minTimePos = targetPos
+        end
+    end
+    local runDir = (minTimePos - player.pos("a")):dir()
+    return task.goCmuRush(minTimePos,DIR,_,_,Utils.Polar2Vector(2000,runDir))
+end
+
+return {
+firstState = "reset",
+["reset"] = {
+    switch = function()
+        gSubPlay.new("TC", "ZJRoboCon2024TC")
+        return "run"
+    end,
+    a = task.stop(),
+    match = "(a)"
+},
+["wait"] = {
+    switch = function()
+        update()
+        return gSubPlay.getState("TC") == "run" and "run" or "wait"
+    end,
+    a = task.goCmuRush(ORIGIN, player.dir("a")),
+    match = "(a)"
+},
+["run"] = {
+    switch = function()
+        update()
+        if not gSubPlay.getState("TC") == "run" then
+            return "wait"
+        end
+        if minDist > CIRCLE_RADIUS then
+            return "rush"
+        end
+    end,
+    -- a = task.runMultiPos(RUN_POS,true,30,0),
+    a = task.goCmuRush(dynPos, player.dir("a")),
+    match = "(a)"
+},
+['rush'] = {
+    switch = function()
+        update()
+        if not gSubPlay.getState("TC") == "run" then
+            return "wait"
+        end
+        if minDist < CIRCLE_RADIUS then
+            return "run"
+        end
+    end,
+    a = RUSH_TASK,
+    match = "(a)"
+},
+name = "TC2024DefenseB",
+}