/***************************************************************************************** *                                      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 _SETTINGS_H#define _SETTINGS_H#ifdef __cplusplusextern "C"{#endif#ifdef __cplusplus}#endif#include <salt/vector.h> // for need the Vector3fusing namespace salt;using namespace std;typedef float Time;		// Type definition for Time in 10mstypedef float Second;	// Type definition for Time in sencondtypedef unsigned short int Step; // Type definition for simulate step numtypedef float AngRad;  // Type definition for angles in degrees. typedef float AngDeg;  // Type definition for angles in radians. typedef unsigned short int Num; // Type definition for palyer's number.//////////////////////////// DEFINES //////////////////////////////* Define if you want to use joystick, 	but the need-memory will be more bigger *///#define JOYSTICK/* Define if you want the player and Trainer training together */ //#define TRAINING_MODE#ifdef TRAINING_MODE/* Define which do you want to train */#define TRAINING_PASS#endif /* TRAINING_MODE *////////////////////// Log System /////////////////////////////////* Define ENABLE_LOG if you want to use the log system *///#define ENABLE_LOG //-* Log switch#define ENABLE_GL_LOGconst unsigned int MAX_LOG_LINE = 3072; //-*  maximum size of a log message#ifdef ENABLE_LOGconst int MIN_LOG_LEVEL = 0;const int MAX_LOG_LEVEL = 100;#endif///////////////////// CommServer ////////////////////////////////const unsigned int default_read_buffer_size = 1024;///////////////////// Action ////////////////////////////////////const unsigned int max_action_num_in_queue = 40;const unsigned int step_num_per_kick = 5;///////////////////// Object ////////////////////////////////////const unsigned int max_vision_history_num = 3; //-* the max record number of the history vision data of an objectconst unsigned int max_data_history_num = 20*max_vision_history_num; //-* the max record number of the history data of an object											//-- at least 3; [0]:current,[1]last,...//-* set illegal valuesconst Time time_illegal = -1; //-* the time can be this value							  //-- so, if time vaules this, the time is illegalconst Vector3f vector3f_illegal(10000,0,0);//( -10000,-10000,-10000);//-* the Z can not be minus///////////////////// BasicWorldModel ///////////////////////////const unsigned int players_num = 5;//11; //-* the number of each teamconst unsigned int teammates_num = 5;//11; //-* the number of teammatesconst unsigned int opponents_num = 5;//11; //-* the number of opponents//////////////////// server settings //////////////////////////////// see rcssserver3d.rb//-* agent action settings//-- about kickconst float max_drive_force = 100;const float max_kick_force = 100;const AngDeg min_kick_angle = 0;const AngDeg max_kick_angle = 50;const float max_kick_distance = 27.5f;const float kick_margin = 0.07;//0.04;const Time kick_effect_time = 0.1; //-* how long the kick effect?const float kick_force_factor = 0.55;//0.7;const float kick_torque_factor = 0.1;//-- about driveconst float real_agent_max_speed = 1.62;//-* physics settingsconst float air_friction_factor = 0.301066; //-* the friction factor of ball and airconst float ground_friction_factor = 0.2148156; //-* the friction factor of ball and groundconst float acceleration_of_gravity = 9.81; //-* g = 9.81 m/s^2const float ground_rebound_ball_factor = -0.75; //-* after ball hit the ground, Vz*=u//-* field parameter settingsconst float min_field_length = 40;//100;const float max_field_length = 45;//110;const float min_field_width = 20;//64;const float max_field_width = 25;//75;const float penalty_length = 5;//16.5;//禁區(qū)長度const float penalty_width = 10;//40; //禁區(qū)寬度const float half_penalty_width = 5;//20.0f;const float goal_width = 7.32f; //球門寬度const float goal_height  = 0.5f; //球門高度#FIFA:2.44const float half_goal_width = 3.66f;//-* time settingsconst Time sim_step_time = 0.01;//-* 0.01s per stepconst Time sim_cycle_time = 0.2;//-* 0.2s per cycleconst Step step_num_per_cycle = Step(sim_cycle_time/sim_step_time);//////////////////// spades settings ////////////////////////////const unsigned int sense_latecy = 11;//10const unsigned int action_latecy = 10;const unsigned int drive_latecy = 18;const unsigned int max_request_time_notify = 30;/////////////////// agent world model settings //////////////////const float kick_pos_dist = 0.331;//0.23;//0.25;//*0.32;//0.25;//0.32;//0.25;//0.23;//0.33; //-* the distance between kick pos and the ballconst Step think_steps = 20;//5;const Step max_intercept_steps = 2000;const Time max_intercept_time = 20;#endif /* _SETTINGS_H */