/***************************************************************************************** *                                      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. ****************************************************************************************/ #include "BasicPlayer.h"#include "Formation.h"#ifdef ENABLE_LOGextern FileLogger msgLog;#endifBasicPlayer::BasicPlayer(){#ifdef JOYSTICK	isJoystickLive = false;#endif}BasicPlayer::~BasicPlayer(){#ifdef JOYSTICK	if ( isJoystickLive )	{		reomveJoystick();	}#endif}void BasicPlayer::playMatch(){#ifdef JOYSTICK	if ( FM->getMyType() == PT_JOYSTICK )	{		joystickPlay();	}	else	{#endif#ifdef TRAINING_MODE		playTraining();#else	GL_PRINT("PlayMode","PM:%d",WM->getPlayMode() );		switch ( WM->getPlayMode() )        	{        	case PM_BeforeKickOff :				playBeforeKickOff();            	break;        	case PM_KickOff_Left :        	case PM_KickOff_Right :            	playKickOff();            	break;        	case PM_PlayOn :				playPlayOn();            	break;        	case PM_KickIn_Left :        	case PM_KickIn_Right :            	playKickIn();            	break;					case PM_CORNER_KICK_LEFT:			case PM_CORNER_KICK_RIGHT:				playCornerKick();				break;					case PM_GOAL_KICK_LEFT:			case PM_GOAL_KICK_RIGHT:						playGoalKick();				break;			case PM_OFFSIDE_LEFT:			case PM_OFFSIDE_RIGHT:				playOffsideKick();				break;			        	default:				playPlayOn();            	break;        	}#endif /* TRAINING_MODE */#ifdef JOYSTICK	}#endif /* JOYSTICK */}void BasicPlayer::playBeforeKickOff(){		WM->setBallBeforeKickOff();			Vector3f posInit = FM->getInitPosition( WM->getMyNum() );	Action action;	action.setTime(  WM->getRealTime()+10);	action.setDriveForce( Vector3f(1,0,0) );	action.setBeam(posInit);	putActionInQueue( action );}void BasicPlayer::playKickOff(){	TTeamIndex ti = WM->getTeamIndex();    if (ti == TI_NONE)        {            return;        }    TPlayMode myKickOff = ( WM->getTeamIndex() == TI_LEFT) ?        PM_KickOff_Left : PM_KickOff_Right;    if ( WM->getPlayMode() == myKickOff)        {            playMyKickOff();        } 		else        {            playTheirKickOff();        }}void BasicPlayer::playMyKickOff(){	// for now, just the same as playOn    playPlayOn();}void BasicPlayer::playTheirKickOff(){	WM->setBallBeforeKickOff();		Vector3f posInit = FM->getInitPosition( WM->getMyNum() );	if ( WM->getMyNum() ==10 )	{		posInit.x()-=12;	}		putActionInQueue( SKILL->runTo(posInit,Vector3f(0,0,0)));}void BasicPlayer::playPlayOn(){	Action act;	if ( WM->isFastestOur() )	{		act = SKILL->interceptBall();	}	else	{		act = SKILL->runStrategicPos();	}		if ( WM->isKickable() 		&& WM->getMyGlobalPos()[0] < WM->getBallGlobalPos()[0] - 0.05 )	{		float kickAngle =  50;		if ( WM->getBallGlobalPos()[0] > 35 )			kickAngle = 0;		act.setKick( kickAngle, 100 );		act.setTime( WM->getRealTime() +5 );	}		act.setTime(  WM->getRealTime()+10);	putActionInQueue( act );	}    void BasicPlayer::playKickIn(){	TTeamIndex ti = WM->getTeamIndex();    if (ti == TI_NONE)        {            return;        }    TPlayMode myKickIn = ( ti == TI_LEFT) ?        PM_KickIn_Left : PM_KickIn_Right;    if ( WM->getPlayMode() == myKickIn )    {        playMyKickIn();    } 	else    {        playTheirKickIn();    }}    void BasicPlayer::playMyKickIn(){    if ( WM->isFastestOur() )	{		if ( abs(WM->getMyGlobalPos().y()) < abs(WM->getBallGlobalPos().y()) )		{			int side = sign(WM->getBallGlobalPos().y());			Vector3f posOut = WM->getBallGlobalPos()+Vector3f(0,side*2,0);			while ( isThreePointOneLine(WM->getMyGlobalPos(),WM->getBallGlobalPos(),posOut,20) )			{				posOut.x()--;			}			putActionInQueue( SKILL->runTo(posOut,Vector3f(0,0,0)) );		}		else		{			playPlayOn();		}	}	else	{		putActionInQueue( SKILL->runStrategicPos() );	}}    void BasicPlayer::playTheirKickIn(){	// do nothing, just runStrategicPos	putActionInQueue( SKILL->runStrategicPos() );}	void BasicPlayer::playCornerKick(){	TTeamIndex ti = WM->getTeamIndex();    if (ti == TI_NONE)        {            return;        }    TPlayMode myCornerKick = ( ti == TI_LEFT) ?        PM_CORNER_KICK_LEFT : PM_CORNER_KICK_RIGHT;    if ( WM->getPlayMode() == myCornerKick)        {            playMyCornerKick();        } 	else        {            playTheirCornerKick();        }}	void BasicPlayer::playMyCornerKick(){	if ( WM->isFastestOur() )	{		if ( abs(WM->getMyGlobalPos().y()) < abs(WM->getBallGlobalPos().y()) 			|| WM->getMyGlobalPos().x() < WM->getBallGlobalPos().x()			)		{			int side = sign(WM->getBallGlobalPos().y());			Vector3f posOut = WM->getBallGlobalPos()+Vector3f(2,side*2,0);			while ( isThreePointOneLine(WM->getMyGlobalPos(),WM->getBallGlobalPos(),posOut,20) )			{				posOut.x()++;			}			putActionInQueue( SKILL->runTo(posOut,Vector3f(0,0,0)) );		}		else		{			playPlayOn();		}	}	else	{		putActionInQueue( SKILL->runStrategicPos() );	}}	void BasicPlayer::playTheirCornerKick(){	// do nothing, just runStrategicPos	putActionInQueue( SKILL->runStrategicPos() );}	void BasicPlayer::playGoalKick(){	TTeamIndex ti = WM->getTeamIndex();    if (ti == TI_NONE)        {            return;        }    TPlayMode myGoalKick = ( ti == TI_LEFT) ?        PM_GOAL_KICK_LEFT : PM_GOAL_KICK_RIGHT;    if ( WM->getPlayMode() == myGoalKick)        {            playMyGoalKick();        } 	else        {            playTheirGoalKick();        }}	void BasicPlayer::playMyGoalKick(){	if ( FM->getMyType() == PT_GOALKEEPER )	{		putActionInQueue( SKILL->kickBetween(WM->getOppGoalLeft(),WM->getOppGoalRight(),max_kick_force,25) );	}	else	{		putActionInQueue( SKILL->runStrategicPos(WM->getBallGlobalPos()+Vector3f(20,0,0)) );	}}void BasicPlayer::playTheirGoalKick(){	// do nothing, just runStrategicPos	Vector3f posBias(-10,0,0);	if ( FM->getMyType() > PT_MIDFIELDER_SWEEPER )		posBias.x()-=10;	if ( FM->getMyType() > PT_MIDFIELDER_WING )		posBias.x()-=10;	putActionInQueue( SKILL->runStrategicPos(WM->getBallGlobalPos()+posBias) );}void BasicPlayer::playOffsideKick(){	TTeamIndex ti = WM->getTeamIndex();    if (ti == TI_NONE)        {            return;        }    TPlayMode myOffsideKick = ( ti == TI_LEFT) ?        PM_OFFSIDE_LEFT : PM_OFFSIDE_RIGHT;    if ( WM->getPlayMode() == myOffsideKick)        {            playMyOffsideKick();        } 	else        {            playTheirOffsideKick();        }}void BasicPlayer::playMyOffsideKick(){	// just as playOn	playPlayOn();}void BasicPlayer::playTheirOffsideKick(){	// do nothing, just runStrategicPos	putActionInQueue( SKILL->runStrategicPos() );}#ifdef JOYSTICK//////////// Joystick Player //////////////////bool BasicPlayer::setupJoystick(){	//Initialisation of Joystick	if(SDL_Init(SDL_INIT_VIDEO|SDL_INIT_JOYSTICK) < 0)	{		LOGERR( "Couldn't initialize SDL:");		cerr<<SDL_GetError()<<"\n";		return false;	}	SDL_JoystickEventState(SDL_ENABLE);	joystick = SDL_JoystickOpen(0);	return true;}void BasicPlayer::reomveJoystick(){	//Closing Joystick subsystem	SDL_JoystickClose(joystick);	SDL_QuitSubSystem(SDL_INIT_VIDEO|SDL_INIT_JOYSTICK);}void BasicPlayer::joystickPlay(){	if ( !isJoystickLive )	{		isJoystickLive = setupJoystick();		if ( !isJoystickLive ) exit(1);	}		// initialize moving Vectors	int move_x;	int move_y;	int move_lr;	int move_ud;		// event loop	SDL_Event event;	if(SDL_PollEvent(&event))	{		switch (event.type)		{		//axis aligned movements of agent (all Events tested on BTP-C036)			case SDL_JOYAXISMOTION:				switch(event.jaxis.axis){					// slow but precise move left-right					case 0:					move_x= SDL_JoystickGetAxis(joystick,0);		            move_lr= move_x/500;		            drive(Vector3f(move_lr,0,0));					cout<<"axis 0\n";	                break;	 		            // slow but precise move up-down		            case 1:	                move_y= SDL_JoystickGetAxis(joystick,1);	                move_ud= -(move_y/500);	                drive(Vector3f(0,move_ud,0));					cout<<"axis 1\n";	                break;                    // fast but unprecise move up-down                    case 2:					move_y= SDL_JoystickGetAxis(joystick,2);					move_ud= -(move_y/100);					drive(Vector3f(0,move_ud,0));					cout<<"axis 2\n";					break;					// fast but unprecise move left-right	                case 3:					move_x= SDL_JoystickGetAxis(joystick,3);					move_lr= move_x/100;					drive(Vector3f(move_lr,0,0));					cout<<"axis 3\n";					break;                     default:						drive(Vector3f(0,0,0));                          cout<< "axis motion default\n";                          break;                          }             break;			// events which occur if certain buttons are pressed			case SDL_JOYBUTTONDOWN:				switch(event.jbutton.button)				{					//low kick					case 2:					kick(90,20);					LOG( 99,"low kick");					break;										//normal kick					case 3:					kick(90,50);					LOG( 99,"normal kick");					break;					//hard kick					case 5:					kick(90,70);					LOG( 99,"hard kick");					break;										//jumping; is not functional yet					/* case 0:					drive(Vector3f(0,0,10));					break;*/					default:					LOG( 99,"kick default");					break;				}										break;										default:						cout << "event default\n";					break;		}	}}#endif //JOYSTICK