package Domains.SoccerBots.teams;import EDU.gatech.cc.is.util.Vec2;import EDU.gatech.cc.is.abstractrobot.*;public class JunTeamHeteroG extends ControlSystemSS {    //////////////////////////////////////////////////    // Constants                                    //    //////////////////////////////////////////////////    public static final int MEMORY = 10;    public static final int PLAYERS = 5;    public static final int TEAMMATES = 4;    public static final int UNDEFINED = -1;    public static final int GOALKEEPER = 0;    public static final int CENTER = 1;    public static final int TACKLER = 2;    public static final int DRIBBLER = 3;    public static final int STOPPER = 4;    public static final int DEFENDER = 5;    public static final double INFINITY = 99999;    public static final double EPSILON = 0.01;    public static final double ZERO = 0.0;    public static final double GOALMAX = 0.25;    public static final double DZYMAX = 0.5;    public static final double DZYMIN = -0.5;    public static final double DZXMAX = 1.145;    public static final double DZXMIN = -1.145;    public static final double XMAX = 1.3096740;    public static final double YMAX = 0.6980531;    public static final double XMIN = -1.3096740;    public static final double YMIN = -0.6980531;    public static final int WESTSIDE = -1;    public static final int EASTSIDE = 1;    public static final double MAXSPEED = 1.0;    public static final double HALFSPEED = 0.50;    public static final double STOP = 0.0;    //////////////////////////////////////////////////    // Memory Variables                             //    //////////////////////////////////////////////////    private static int goalkeeper;    private static int center;    private static int tackler;    private static int dribbler;    private static int stopper;    private static int defender;    private static Vec2[][] gplayerlocations;    private static int[][] gplayerpositions;    private static Vec2 gplayerlastlocation;    private static int gplayerlastposition;    private static Vec2[] gballlocations;    private static Vec2 gballlastlocation;    private static int side;    private static String cstrategy;    //////////////////////////////////////////////////    // Sensor Data                                  //    //////////////////////////////////////////////////        private long ctime;    private int mynumber;    private Vec2 gball, eball;    private Vec2 gplayer, eplayer;    private Vec2 gourgoal, eourgoal;     private Vec2 goppgoal, eoppgoal;        private Vec2[] gourteam, eourteam;    private Vec2[] goppteam, eoppteam;    private Vec2 eopponent, gopponent;    private Vec2 eteammate, gteammate;    //////////////////////////////////////////////////    // Actuator Data                                //    //////////////////////////////////////////////////            private boolean attemptkick;    private Vec2 nextmove;    private int nextposition;    /**         Configure the control system. This method is        called once at initialization time. You can         use it to do whatever you like.    */    public void configure() {                ctime = abstract_robot.getTime();        cstrategy = "begin";        goalkeeper = 0;        center = 0;        tackler = 0;        dribbler = 0;        stopper = 0;        defender = 0;        gballlocations = new Vec2[MEMORY];        for (int i = 0; i < MEMORY; i++) {            gballlocations[i] = new Vec2(0, 0);        }                gplayerlocations = new Vec2[PLAYERS][MEMORY];        gplayerpositions = new int[PLAYERS][MEMORY];        for (int i = 0; i < PLAYERS; i++) {            for (int j = 0; j < MEMORY; j++) {                gplayerlocations[i][j] = new Vec2(0, 0);                gplayerpositions[i][j] = UNDEFINED;            }        }                if (abstract_robot.getOurGoal(ctime).x < 0)             side = -1;        else            side = 1;        nextmove = new Vec2(0, 0);    }    /**       Called every timestep to allow the control system to run.    */    public int takeStep() {        updateSensors();        selectStrategy();        updateActuators();               return CSSTAT_OK;    }    /**       Updates sensors.    */    private void updateSensors() {        //////////////////////////////////////////////////        // Sensor Data                                  //        //////////////////////////////////////////////////            ctime = abstract_robot.getTime();        mynumber = abstract_robot.getPlayerNumber(ctime);        eplayer = new Vec2(0,0);        gplayer = abstract_robot.getPosition(ctime);        eball = abstract_robot.getBall(ctime);        gball = new Vec2(0,0);        gball.sett(eball.t);        gball.setr(eball.r);        gball.add(gplayer);        eourgoal = abstract_robot.getOurGoal(ctime);        gourgoal = new Vec2(0,0);        gourgoal.sett(eourgoal.t);        gourgoal.setr(eourgoal.r);        gourgoal.add(gplayer);        eoppgoal = abstract_robot.getOpponentsGoal(ctime);        goppgoal = new Vec2(0,0);        goppgoal.sett(eoppgoal.t);        goppgoal.setr(eoppgoal.r);        goppgoal.add(gplayer);                eourteam = abstract_robot.getTeammates(ctime);        eoppteam = abstract_robot.getOpponents(ctime);                eteammate = closestTeammate();        eopponent = closestOpponent();    }    /**       Selects a strategy to execute. Ideally, would select strategy       based on opponent's history and formation. Didn't have time       to finish.    */   private void selectStrategy() {       // homogeneous();       // heterogeneous();       // kechze();       // schema();       // basicteam();       dteam();       // Wall();       // Horde();   }    /**       Homogeneous strategy.     */    private void homogeneous() {                cstrategy = "homogeneous";        if (closestToOppGoal(gplayer))            playStopper();        else if (neargoalzone(gball) && closestToGoal(gplayer))            playGoalkeeper(false);        else if (neargoalzone(gball) && (goalkeeper > 0) && (defender == 0))            playDefender();        else if (nearcenterzone(gball) && closestToGoal(gplayer))            playGoalkeeper(false);        else if (nearcenterzone(gball) && (goalkeeper > 0) && (defender == 0))            playDefender();        else if (closestToGoal(gplayer))            playGoalkeeper(false);        else if (closestToBall(gplayer))            playDribbler();        else if (closestToCenter(gplayer) && !closestToBall(gplayer) && (goalkeeper > 0))            playCenter();        else            playTackler();    }    private void dteam() {                cstrategy = "dteam";        if (mynumber == 0)            playStopper();        else if (mynumber == 1)            playCenter();        else if (mynumber == 2)            playCenter();        else if (closestToCenter(gplayer) && !closestToBall(gplayer))            playCenter();        else             playDribbler();    }    private void kechze() {        cstrategy = "kechze";        if ((lastPosition() == DRIBBLER) && (!closestToBall(gplayer)) && (dribbler >= 2) && (closestToCenter(gplayer))) {            playCenter();        } else if (lastPosition() == GOALKEEPER) {            playGoalkeeper(false);        } else if (lastPosition() == STOPPER) {            playStopper();        } else if (lastPosition() == DRIBBLER) {            playDribbler();        } else if (lastPosition() == TACKLER) {            playTackler();        } else if ((goalkeeper < 2) && (defzone(gplayer))) {            playGoalkeeper(false);        } else if (stopper == 0) {            playStopper();        } else if (tackler == 0) {            playTackler();        } else {             playCenter();        }    }        //////////////////////////////////////////////////    // Player functions                             //    //////////////////////////////////////////////////    /**       Has player play goalkeeper. Defends our goal.    */    private void playGoalkeeper(boolean dontmove) {             abstract_robot.setDisplayString("Goalkeeper");        nextposition = GOALKEEPER;        if (!closestToGoal(gplayer)) {            playDribbler();        } else if (!defzone(gplayer)) {            nextmove.sett(eourgoal.t);            nextmove.setr(HALFSPEED);        } else if ((defzone(gplayer)) && (!goalzone(gplayer)))  {            nextmove.sett(eourgoal.t);            nextmove.setr(HALFSPEED);        } else if (goalzone(gplayer) && !dontmove) {            nextmove.sety( (eball.y / Math.abs(eball.y)) * 10 );            nextmove.setr(MAXSPEED);        } else if (dontmove) {            nextmove.setr(STOP);        } else {            // Should never end up in this state            System.out.println("ERROR: goalkeeper");        }    }    /**       Has player play defender. Defends our goal.    */    private void playDefender() {               abstract_robot.setDisplayString("Defender");        nextposition = DEFENDER;        if (!neargoalzone(gplayer)) {            nextmove.setx(side * DZXMAX);            nextmove.sety(ZERO);        } else if (((side == WESTSIDE) && (eball.x > 0)) || ((side == EASTSIDE) && (eball.x < 0))) {            nextmove.sett(eball.t);            nextmove.setr(MAXSPEED);            kickBall();        } else if (neargoalzone(gplayer)) {            Vec2 odribbler = closestTo(eoppteam, eball);            Vec2 ogoal = new Vec2(eourgoal.x, eourgoal.y);            ogoal.sub(odribbler);            ogoal.setr(abstract_robot.RADIUS);            ogoal.add(odribbler);                        nextmove.sett(ogoal.t);            nextmove.setr(MAXSPEED);                        if (odribbler != eopponent)                avoidCollision();        } else {            // Should never end up in this state            System.out.println("ERROR: defender");        }    }        /**       Has player play center. Looks for ball in       the center of the field.    */    private void playCenter() {        abstract_robot.setDisplayString("Center");        nextposition = CENTER;        Vec2 centerfield = new Vec2(0, 0);        centerfield = abstract_robot.getPosition(ctime);        if (side == WESTSIDE)            centerfield.setx(centerfield.x + (4 * abstract_robot.RADIUS));        else // EASTSIDE            centerfield.setx(centerfield.x - (4 * abstract_robot.RADIUS));        centerfield.setr(-centerfield.r);                if (closestToBall(gplayer)) {            playDribbler();        } else {            moveBehind(centerfield, eoppgoal);            avoidCollision();        }    }    /**       Has player play tackler. Tries to get in between       opponent and our goal.    */    private void playTackler() {        abstract_robot.setDisplayString("Tackler");        nextposition = TACKLER;        Vec2 odribbler = closestTo(eoppteam, eball);        Vec2 ogoal = new Vec2(eourgoal.x, eourgoal.y);        ogoal.sub(odribbler);        ogoal.setr(abstract_robot.RADIUS);        ogoal.add(odribbler);        nextmove.sett(ogoal.t);        nextmove.setr(MAXSPEED);        if (odribbler != eopponent)            avoidCollision();    }    /**       Has player play dribbler. Tries to move the ball       towards the opponents goal.    */    private void playDribbler() {        abstract_robot.setDisplayString("Dribbler");        nextposition = DRIBBLER;        if (behindBall(eball, eoppgoal) && eball.t < abstract_robot.RADIUS * 4) {            nextmove.sett(eoppgoal.t);            nextmove.setr(MAXSPEED);                        if ((Math.abs(abstract_robot.getSteerHeading(ctime) - eoppgoal.t) < Math.PI / 8) &&                 (eoppgoal.r < abstract_robot.RADIUS * 15) && (!neargoalzone(gplayer) && !nearcenterzone(gplayer))) {                kickBall();            }        } else {            moveBehind(eball, eoppgoal);            avoidCollision();        }    }    /**       Has player play stopper. Tries to prevent opponent       goalkeeper from doing its job.     */    private void playStopper() {        abstract_robot.setDisplayString("Stopper");        nextposition = STOPPER;        // the other team's goalie is whoever is closest to the goal        Vec2 ogoalkeeper = closestTo(eoppteam, eoppgoal);                eoppgoal.sub(ogoalkeeper);        eoppgoal.setr(abstract_robot.RADIUS);        eoppgoal.add(ogoalkeeper);                nextmove.sett(eoppgoal.t);        nextmove.setr(MAXSPEED);                if (ogoalkeeper != eopponent)            avoidCollision();    }    //////////////////////////////////////////////////    // Movement functions                           //    //////////////////////////////////////////////////    /**       Has player move behind ball (or other point) with        respect to some target point.     */    private void moveBehind(Vec2 eball, Vec2 etarget) {        Vec2 behindpoint = new Vec2(0, 0);        double behind = 0;        double pointside = 0;                behindpoint.sett(etarget.t);        behindpoint.setr(etarget.r);                behindpoint.sub(eball);        behindpoint.setr(-abstract_robot.RADIUS * 1.8);                behind = Math.cos(Math.abs(eball.t - behindpoint.t));                pointside = Math.sin(Math.abs(eball.t - behindpoint.t));