當中有很多版本，從{多桿件設定與測試} →{多桿件回位設定與測試}→{導入電腦對打&第二桿件電腦判斷添加}→{加入電腦對打&第二及三桿件電腦對打code}→{第四桿件電腦回擊設定}→{球重生&左下計分}，沒意外下個版本就可以結束了。((全寫在lua中
影片是照順序放der
檔案也是1→2→3→4→5→6
目前最新版本
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| function sysCall_init() Ball=sim.getObjectHandle('ball') --player-- Slide_rail= sim.getObjectHandle('R1') Roller= sim.getObjectHandle('RR1') Slide_rail2= sim.getObjectHandle('R2') Roller2= sim.getObjectHandle('RR2') Slide_rail3= sim.getObjectHandle('R3') Roller3= sim.getObjectHandle('RR3') Slide_rail4= sim.getObjectHandle('R4') Roller4= sim.getObjectHandle('RR4') Slide_rail_v=0 Roller_v=0 Roller_v2=0 Roller_v3=0 Roller_v4=0 dVel=0.5 --computer-- Body=sim.getObjectHandle('LSO1') Body2=sim.getObjectHandle('LSO2') Body3=sim.getObjectHandle('LSO3') Body4=sim.getObjectHandle('LSO4')-- test=sim.getObjectHandle('LS3_P1') LR1=sim.getObjectHandle('LR1') LR2=sim.getObjectHandle('LR2') LR3=sim.getObjectHandle('LL3') LR4=sim.getObjectHandle('LR4') L1=sim.getObjectHandle('L1') L2=sim.getObjectHandle('L2') L3=sim.getObjectHandle('L3') L4=sim.getObjectHandle('L4') --goal-- Player_G = 0 Computer_G = 0endfunction sysCall_actuation() --player-- A= sim.getObjectHandle('RS1_PO1') --auto_return--1 PA= sim.getObjectPosition(A,-1) if PA[1] >= -0.712 then Roller_v = Roller_v + dVel*3 end B= sim.getObjectHandle('RS2_PO1') --auto_return--2 PB= sim.getObjectPosition(B,-1) if PB[1] >= -0.531 then Roller_v2 = Roller_v2 + dVel*3 end C= sim.getObjectHandle('RS4_PO2') --auto_return--3 PC= sim.getObjectPosition(C,-1) if PC[1] >= -0.197 then Roller_v3=Roller_v3 + dVel*5 end D= sim.getObjectHandle('RS3_PO1') --auto_return--4 PD= sim.getObjectPosition(D,-1) if PD[1] >= 0.137 then Roller_v4=Roller_v4 + dVel*5 end message,auxiliaryData=sim.getSimulatorMessage() while message~=-1 do if (message==sim.message_keypress) then if (auxiliaryData[1]==32) then --"space"--restart sim.setObjectPosition(Ball,-1,{-0.1429, -0.1334, 0.5}) end if (auxiliaryData[1]==122) then --"z"--goalkeeper Roller_v = Roller_v - dVel*50 if (Roller_v > 0) then Roller_v = 0 end end if (auxiliaryData[1]==120) then --"x"--2 Roller_v2 = Roller_v2 - dVel*30 if (Roller_v2 > 0) then Roller_v2 = 0 end end if (auxiliaryData[1]==99) then --"c"--3 Roller_v3 = Roller_v3 - dVel*30 if (Roller_v3 > 0) then Roller_v3 = 0 end end if (auxiliaryData[1]==118) then --"v"--4 Roller_v4 = Roller_v4 - dVel*30 if (Roller_v4 > 0) then Roller_v4 = 0 end end if (auxiliaryData[1]==2008) then --"down"--return_player Roller_v = Roller_v + dVel*20 Roller_v2 = Roller_v2 + dVel*20 Roller_v3 = Roller_v3 + dVel*20 Roller_v4 = Roller_v4 + dVel*20 if (Roller_v < 0) then Roller_v = 0 end if (Roller_v2 < 0) then Roller_v2 = 0 end if (Roller_v3 < 0) then Roller_v3 = 0 end if (Roller_v4 < 0) then Roller_v4 = 0 end end if (auxiliaryData[1]==2009) then --"right" Slide_rail_v = Slide_rail_v + dVel/5 if (Slide_rail_v < 0) then Slide_rail_v = 0 end end if (auxiliaryData[1]==2010) then --"left" Slide_rail_v = Slide_rail_v - dVel/5 if (Slide_rail_v > 0) then Slide_rail_v = 0 end end end message,auxiliaryData=sim.getSimulatorMessage() end Slide_rail_v2 = Slide_rail_v/1.3 Slide_rail_v3 = Slide_rail_v/1.5 Slide_rail_v4 = Slide_rail_v/1.4 sim.setJointTargetVelocity(Slide_rail,Slide_rail_v) sim.setJointTargetVelocity(Roller,Roller_v) sim.setJointTargetVelocity(Slide_rail2,Slide_rail_v2) sim.setJointTargetVelocity(Roller2,Roller_v2) sim.setJointTargetVelocity(Slide_rail3,Slide_rail_v3) sim.setJointTargetVelocity(Roller3,Roller_v4) sim.setJointTargetVelocity(Slide_rail4,Slide_rail_v4) sim.setJointTargetVelocity(Roller4,Roller_v3) --computer-- Body_s = sim.getObjectPosition(Body,-1) Ball_s = sim.getObjectPosition(Ball,-1) X = Body_s[1] - Ball_s[1] Y = Body_s[2] - Ball_s[2] if 1 then --C_goalkeeper if X <= 0.02 then sim.setJointTargetVelocity(LR1,-5) sim.setJointTargetVelocity(L1,0) elseif X > 0.02 or X <= 0.01 then sim.setJointTargetVelocity(LR1,5) YYYYY = Y*7 sim.setJointTargetVelocity(L1,YYYYY) end--[[ if X <= 0.02 and Y <= 0 then --old_version sim.setJointTargetVelocity(LR1,-5) elseif X > 0.02 and Y <= 0 then sim.setJointTargetVelocity(LR1,2) elseif X <= 0.02 and Y > 0 then 40623130 sim.setJointTargetVelocity(LR1,-5) elseif X > 0.02 and Y > 0 then sim.setJointTargetVelocity(LR1,2) end]] end Body_s2 = sim.getObjectPosition(Body2,-1) X2_1 = Body_s2[1] - Ball_s[1] Y2_1 = Body_s2[2] - Ball_s[2] - 0.15 Y2_2 = Body_s2[2] - Ball_s[2] + 0.15 if X2_1 >= 0.02 then --C_second-- if Ball_s[2] <= -0.133 then C_K_B_X2() Y2_1 = Y2_1*5 sim.setJointTargetVelocity(L2,Y2_1) elseif Ball_s[2] > -0.133 then C_K_B_X2() Y2_2 = Y2_2*5 sim.setJointTargetVelocity(L2,Y2_2) end end Body_s4 = sim.getObjectPosition(Body4,-1) X4_1 = Body_s4[1] - Ball_s[1] Y4_1 = Body_s4[2] - Ball_s[2] - 0.15 Y4_2 = Body_s4[2] - Ball_s[2] + 0.15 if X4_1 >= 0.02 then --C_third-- if Ball_s[2] <= -0.133 then C_K_B_X4() Y4_1 = Y4_1*3 sim.setJointTargetVelocity(L4,Y4_1) elseif Ball_s[2] > -0.133 then C_K_B_X4() Y4_2 = Y4_2*3 sim.setJointTargetVelocity(L4,Y4_2) end end--[[ test_s = sim.getObjectPosition(test,-1) M = test_s[2]- Ball_s[2] print(M)--]] Body_s3 = sim.getObjectPosition(Body3,-1) X3_1 = Body_s3[1] - Ball_s[1] Y3_1 = Body_s3[2] - Ball_s[2] Y3_2 = Body_s3[2] - Ball_s[2] +0.2487 Y3_3 = Body_s3[2] - Ball_s[2] -0.2487 if X3_1 >= 0.02 then --C_fourth-- if Ball_s[2] < -0.0028 and Ball_s[2] >= -0.2487 then C_K_B_X3() Y3_1 = Y3_1*2 sim.setJointTargetVelocity(L3,Y3_1) elseif Ball_s[2] >= -0.0028 then C_K_B_X3() Y3_2 = Y3_2*2 sim.setJointTargetVelocity(L3,Y3_2) elseif Ball_s[2] < -0.2487 then C_K_B_X3() Y3_3 = Y3_3*2 sim.setJointTargetVelocity(L3,Y3_3) end end --reborn_ball & count goal-- if Ball_s[1] < -0.85 then Player_G = Player_G + 1 end if Ball_s[1] >= 0.61 then Computer_G = Computer_G+1 end if Ball_s[1] < -0.85 or Ball_s[1] >= 0.61 then sim.setObjectPosition(Ball,-1,{-0.1429, -0.1334, 0.5}) print[[Player:Computer]] print(' '..Computer_G..' '..Player_G) endendfunction C_K_B_X2() --C_second_kick-- if X2_1 < 0.03 then sim.setJointTargetVelocity(LR2,-5) elseif X2_1 > 0.03 then sim.setJointTargetVelocity(LR2,5) endendfunction C_K_B_X3() --C_third_kcik-- if X3_1 < 0.03 then sim.setJointTargetVelocity(LR3,-5) elseif X3_1 > 0.03 then sim.setJointTargetVelocity(LR3,5) endendfunction C_K_B_X4() --C_fourth_kick-- if X4_1 < 0.03 then sim.setJointTargetVelocity(LR4,-5) elseif X4_1 > 0.03 then sim.setJointTargetVelocity(LR4,5) endend |
