/***************************************************************************************** *                                      SEU-3D *                     ------------------------------------------------- * Copyright (c) 2005, Yuan XU<xychn15@yahoo.com.cn>,Chang'e SHI<evelinesce@yahoo.com.cn> * Copyright (c) 2006, Yuan XU<xuyuan.cn@gmail.com>,Chunlu JIANG<JamAceWatermelon@gmail.com> * Southeast University ,China * All rights reserved. * * Additionally,this program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the * GNU Library General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. ****************************************************************************************/ #ifndef _WORLDMODEL_H#define _WORLDMODEL_H#ifdef __cplusplusextern "C"{#endif#ifdef __cplusplus}#endif#include "BasicWorldModel.h"/*! enum all state to the ball*/enum State2Ball{	S2B_ILLEGAL			=	0, //-* illegal value		S2B_FASTEST_TYPE	=	1, //-* the fastest of the same PlayerType with me of my team	S2B_FASTEST_TEAM	=	2, //-* the fastest of my teammates( 11 players)	S2B_FASTEST_ALL		= 	3  //-* the fastest of all 22 players};class WorldModel: public BasicWorldModel,public Singleton<WorldModel>{private://///////////// predict data ////////////////////	Vector3f _firstPoint;//-* for isFastestOur, only for test	Vector3f _posIntercept;	Vector3f _prePosIntercept;	float	 _myFreedom;	float	 _myFreedomChange;	int		 _freeState;	State2Ball _myState2Ball;		AngDeg	 _kickHorizontalAng;	Num		 _closest2BallOppNum;	set<Num> _sameTypeTeammateNum;	set<Num> _diffTypeTeammateNum;	//-* position in real time (predict)	deque< Time	>			_timePredict; //-* time of the corresponding information	deque< Vector3f	>		_posGlobalPredict; //-* Global position in the field	//-*  global velocity in real time (predict)	deque< Vector3f >   	_globalVelocityPredict;      //-*  Global velocity of the object	deque< Vector3f	>		_globalAcceletationPredict;	 //-*  global Acceletation of the object	protected:	virtual void predict();public:	///////////////// predict //////////////////////////////////	//-* predict ball position and veloctiy	//-- new: use 3 history record data	bool		predictBallStateAfterNrSteps(	Vector3f &pos, Vector3f &prePos, Vector3f &preprePos,										Vector3f &vel, Vector3f &preVel, Vector3f &prepreVel,										int iStep = 1,										int iStepMax = max_intercept_steps ) const;		int			predictFirstPoint( Vector3f &pos, Vector3f &prePos, Vector3f &preprePos,										Vector3f &vel, Vector3f &preVel, Vector3f &prepreVel,										int iStepMax = max_intercept_steps ) const;		Vector3f	predictInterceptPos(Step &iStepPre,										Vector3f posPlayer,										Step iStepMax = max_intercept_steps ) const;		Vector3f	predictInterceptPos(Time &time,										const Vector3f &posPlayer,										const Vector3f &velPlayer,										Time timeMax = max_intercept_time ) const;		virtual bool predictPlayerStateAfterNrSteps(	Vector3f &pos,										Vector3f &vel,										int iStep = 1,										int iStepMax = max_intercept_steps ) const;		void		 predictPlayerStateAfterOneStep( Vector3f &pos, Vector3f &vel, const Vector3f &drivePower) const;		Step		whenToKick( Vector3f PlayerPos, Vector3f PlayerVel,							Vector3f ballPos, Vector3f ballVel,							Vector3f ballPos1, Vector3f ballVel1,							Vector3f ballPos2, Vector3f ballVel2,							const Vector3f &drivePower,							const Vector3f &goal, AngDeg &minErrAng) const;	private:	void		predictRealTime();	State2Ball	predictOurFastest();public:	WorldModel();	///////////////// Is ///////////////////////////////////////	bool isGroundBall( const Vector3f &posBall, const Vector3f &prePosBall, const Vector3f &preprePosBall,						const Vector3f &velBall, const Vector3f &preVelBall, const Vector3f &prepreVelBall) const;	bool isFallOnGround( const Vector3f &posBall, const Vector3f &prePosBall, const Vector3f &preprePosBall,						const Vector3f &velBall, const Vector3f &preVelBall, const Vector3f &prepreVelBall) const;	bool isBallStop( const float minSpeed = 0.01 ) const;	bool isKickable( Vector3f posPlayer, Vector3f posBall);		bool isKickable();		bool isFastestOur() const { return _myState2Ball >= S2B_FASTEST_TEAM; }	bool isFastestMyType() const { return _myState2Ball >= S2B_FASTEST_TYPE; }		static bool isCollide( const Vector3f &pos1, const Vector3f &pos2, const float minDist);	bool isInDefencePos( const Num teammateNum ) const;		/** is offside */	bool isOffSide( float posX, bool isOur ) const;	bool isOffSide( const Vector3f &pos, bool isOur ) const { return isOffSide( pos.x(), isOur); }	bool isOffSide( Num playerNum, bool isOur) const { return isOffSide(getPlayerGlobalPos(isOur,playerNum),isOur); }	bool isOffSide() const { return isOffSide(getMyGlobalPos(),true); }	//bool isOffSide( VisionObject playerName );		/** */	//bool isSpaceAhead(const float length=17,const float width=10)const;	bool isSpaceAhead(const Vector3f &goal)const;	bool isSpaceAhead() const { return isSpaceAhead(getOppGoalCenter()); }	///////////////// GET ///////////////////////////////////////	Vector3f getMyRealPos() { return getDequeValue( _posGlobalPredict, 0 ); }	Vector3f getInterceptPos( const Vector3f &goal) const;	Vector3f getInterceptBallPos() const { return _posIntercept; }		Num		getClosestOppNum2Pos(const Vector3f &pos) const;	Num		getClosestOppNum2Pos(const Vector3f &pos, float &minDist) const;	Num 	getClosestOurNum2Pos(const Vector3f &pos, float &minDist) const;		float	getMyFreedom() const { return _myFreedom; }	int		getMyFreeState() const { return _freeState; }	float	getMyFreedomChange() const { return _myFreedomChange; }	Num		getClosestOppNum2Ball() const { return _closest2BallOppNum; }	AngDeg	getMyKickHorizontalAng() const { return _kickHorizontalAng; }////////////////////////Calculate//////////////////////////////	float calOurFreedom( Num num, int &state) const;	AngDeg calKickHorizontalAng(const Vector3f &posPlayer) const;	float calOurFreedom( Num num ) const;//////////////////////// SET ///////////////////////////////////	void	setSameTypeTeammateNum();		Vector3f setVector3fInField(const Vector3f &pos) const;//////////////////////// LOG ///////////////////////////////////	void	logWorldModel();};#define WM WorldModel::GetSingletonPtr()#endif /* _WORLDMODEL_H */