手足球準最終版本

完成手足球程式編譯，剩下場地修改，由於組員軌道製作時間過長所以先用程式寫回球。
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 = 0 end   function 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)     end end function 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)     end end function 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)     end end function 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)     end end