/* *  Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET). * *  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. * *  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. * *  This file is created by: Mostafa Rokooey * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#include <cmath>#include <Command.h>#include <Degree.h>#include <Line.h>#include <Shoot.h>#include <Logger.h>#include <Basics.h>#include <Defines.h>#include <BasicKick.h>#include <AdvancedAgent.h>#define SHOOT_LOG_LEVEL 0using namespace std;Shoot::Shoot(const WorldModel *worldModel): AdvancedAction(worldModel){	int i;    for (i = 0;i <= NUMBEROFSHOOTPOINTS;i++)    {		shootPoints[i].x = SHOOTPOINTSX;		shootPoints[i].y = -6.3 + (12.6 / NUMBEROFSHOOTPOINTS) * (i); // Sassan    }	shootLogLevel = SHOOT_LOG_LEVEL;}Shoot::~Shoot(){}float Shoot::getValue(const Library &library){	LOG<< "Shoot::getValue" << endl;	int i;	if (worldModel->getBody().getPos().getX() <= 25.0) // Sassan 30		return AD_MIN_VALUE;			setShootRates();		for (i = 0; i <= NUMBEROFSHOOTPOINTS; i++)	{		if (shootLogLevel >= 2)			LOG << " --------------- Shoot Number " << i << " ---------------" << endl;		if (!getFastest(i))		{			shootWeights[i] = 0;			if (shootLogLevel >= 2)				LOG << "I cant't kick the ball." << endl;			continue;		}				shootWeights[i] = getCatchWeight(i) * catchRate;		shootWeights[i] += getNoiseWeight(i) * noiseRate;		shootWeights[i] += getFarToGoalieWeight(i) * farToGoalieRate;		shootWeights[i] += getGoalieMistakeWeight() * goalieMistakeRate;		shootWeights[i] += getBallFastMovingWeight(library) * ballFastMovingRate;		shootWeights[i] += getGoaliePosDeviationWeight() * 						goaliePosDeviationRate;		shootWeights[i] += getGoalSeenWeight(i) * goalSeenRate;					if (shootLogLevel >= 2)		{			LOG << "catchWeight = " << getCatchWeight(i) << endl;			LOG << "noiseWeight = " << getNoiseWeight(i) << endl;			LOG << "farToGoalieWeight = " << getFarToGoalieWeight(i) << endl;			LOG << "goalieMistakeWeight = " << getGoalieMistakeWeight() << endl;			LOG << "ballFastMovingWeight = " << getBallFastMovingWeight(library) << endl;			LOG << "goaliePosDeviationWeight = " << getGoaliePosDeviationWeight() << endl;			LOG << "goalSeenWeight = " << getGoalSeenWeight(i) << endl;			LOG << "shootWeight is = " << shootWeights[i] << endl;		}				if (getCatchWeight(i) <= 10)		{			if (shootLogLevel >= 2)				LOG << "shootWeight changed to 0." << endl;			shootWeights[i] = 0;		}		if (getGoalSeenWeight(i) <= 10)		{			if (shootLogLevel >= 2)				LOG << "shootWeight changed to 0. (goalSeen)" << endl;			shootWeights[i] = 0;		}	}		float weightsHistory[NUMBEROFSHOOTPOINTS];		for (i = 0; i <= NUMBEROFSHOOTPOINTS; i++)		weightsHistory[i] = shootWeights[i];			for (i = 0; i <= NUMBEROFSHOOTPOINTS; i++)	{		if (i > 0)			shootWeights[i] += weightsHistory[i - 1] / 10;		else			shootWeights[i] += weightsHistory[i + 1] / 10;				if (i < NUMBEROFSHOOTPOINTS)			shootWeights[i] += weightsHistory[i + 1] / 10;			else			shootWeights[i] += weightsHistory[i - 1] / 10;	}		float bestShootWeight = -0xFFFF;	int bestShootNum = NOVALUE;		for (i = 0; i <= NUMBEROFSHOOTPOINTS; i++)	{		if (shootLogLevel >= 1)			LOG << "shootWeights[" << i << "] = " << shootWeights[i] << endl;		if (shootWeights[i] > bestShootWeight)		{			bestShootWeight = shootWeights[i];			bestShootNum = i;		}	}		if (bestShootNum != NOVALUE)	{		shootCommand = shootCommands[bestShootNum];	}	else	{		shootCommand = new KickCommand(AT_SHOOT, 100, 0);	}		if (shootLogLevel >= 1)	{		LOG << " bestShootWeight = " << bestShootWeight << endl;		LOG << " bestShootNum = " << bestShootNum << endl;		LOG << " FINAL shootCommand = " << shootCommand->toString() << endl;	}	if (bestShootWeight >= 5000)		return AD_ALWAYS_RUN_VALUE;	else		return AD_MIN_VALUE;}void Shoot::execute(Form &form, const Library &library){	LOG<< "Shoot::execute" << endl;		command = shootCommand;}bool Shoot::getFastest(int shootNum){	shootIntercept.startSession(1, &worldModel->getBody());	if (shootLogLevel >= 3)		shootIntercept.setLogging(true);	//	Setting goalie configurations	shootIntercept.setTmmSlowDashPower(40);	shootIntercept.setTmmFastDashPower(100);	if (worldModel->getPlayMode() == PM_PENALTY_SETUP ||		worldModel->getPlayMode() == PM_PENALTY_SETUP_OPP ||		worldModel->getPlayMode() == PM_PENALTY_READY_OPP ||		worldModel->getPlayMode() == PM_PENALTY_READY)	{		shootIntercept.setTmmDirectDashPower(67);		shootIntercept.setTmmGoalieDirectDashPower(67);	}	else	{		shootIntercept.setTmmDirectDashPower(60);		shootIntercept.setTmmGoalieDirectDashPower(60);	}		shootIntercept.setTmmGoalieSeeBallDelay(0);	shootIntercept.setTmmSeeBallDelay(0);	if (worldModel->getPlayMode() == PM_PENALTY_SETUP ||		worldModel->getPlayMode() == PM_PENALTY_SETUP_OPP ||		worldModel->getPlayMode() == PM_PENALTY_READY_OPP ||		worldModel->getPlayMode() == PM_PENALTY_READY)	{		shootIntercept.setTmmPosDevRate(0.78);	}	else	{		shootIntercept.setTmmPosDevRate(0.75);	}	//	Setting players configurations	shootIntercept.setOppSlowDashPower(10);	shootIntercept.setOppFastDashPower(50);	shootIntercept.setOppDirectDashPower(20);	shootIntercept.setOppSeeBallDelay(2);	shootIntercept.setOppGoalieDirectDashPower(20);	shootIntercept.setOppGoalieSeeBallDelay(2);	shootIntercept.setOppPosDevRate(0.15);		for (int i = 0; i < FULL_PLAYERS_NUM; i++)		if (worldModel->getFullPlayer(TID_OPPONENT, i).isValid())			if (!worldModel->getFullPlayer(TID_OPPONENT, i).isGoalie())			{				if (shootLogLevel >= 2)					LOG << "full Opp added, num = " << i << endl;				shootIntercept.addPlayer(worldModel->							getFullPlayer(TID_OPPONENT, i));			}				for (int i = 0; i < HALF_PLAYERS_NUM; i++)		if (worldModel->getHalfPlayer(TID_OPPONENT, i).isValid())			if (!worldModel->getHalfPlayer(TID_OPPONENT, i).isGoalie())			{				if (shootLogLevel >= 2)					LOG << "half Opp added, num = " << i << endl;				shootIntercept.addPlayer(worldModel->							getHalfPlayer(TID_OPPONENT, i));			}	if (worldModel->getOppGoalie() != NULL)	{		if (shootLogLevel >= 2)			LOG << "OppGoalie added." << endl;		Player opponentGoalie;		opponentGoalie = *(worldModel->getOppGoalie());		opponentGoalie.setTeamId(TID_TEAMMATE);		shootIntercept.addPlayer(opponentGoalie, false, false, false);	}		if (!kickMaxPower(shootNum))		return false;			if ((getGoalSeenWeight((int)(NUMBEROFSHOOTPOINTS / 2)) < 84) && (shootIntercept.getPlayersNum() == 0))		return false;	if (shootLogLevel >= 2)	{		LOG << "addedPlayersNum = " << shootIntercept.getPlayersNum();		LOG << "shootNum = " << shootNum << endl;		LOG << "shootCommands[shootNum] = " << shootCommands[shootNum]->toString() << endl;	}		Ball shootedBall;	shootedBall = worldModel->getBall();	shootedBall.simulateByAction(worldModel->getBody(), 				shootCommands[shootNum]);	shootIntercept.setVirtualBall(shootedBall);	shootIntercept.setKickCycles(1);	shootIntercept.run();	return true;}bool Shoot::kickMaxPower(int shootNum){	Point targetShootPoint;	float shootedBallFirstVelocity;	bool iCantShoot = false;	KickToPointVelocity *kickForShoot;	Command *kickCommand;	kickCommand = new KickCommand(AT_SHOOT, 100, 0);			targetShootPoint = shootPoints[shootNum];	shootedBallFirstVelocity = 4.0;	while(1)	{		if (shootedBallFirstVelocity < 0.0001)		{				iCantShoot = true;								break;		}				kickForShoot = new KickToPointVelocity(AT_SHOOT, targetShootPoint,					shootedBallFirstVelocity,worldModel->getBall(),					worldModel->getBody());		delete kickCommand;		kickCommand = kickForShoot->getCommand();				if (!kickForShoot->isPossible())			shootedBallFirstVelocity -= .1;		else			break;	}	shootCommands[shootNum] = 				new KickCommand(*dynamic_cast<KickCommand *>(kickCommand));	if(shootedBallFirstVelocity <= 0.05)		return false;	if(iCantShoot)		return false;	return true;	}float Shoot::getCatchWeight(int shootNum){	Point shootPoint = shootPoints[shootNum];	Point catchPoint;	if (!shootIntercept.existFastestPlayer())	{		if (shootLogLevel >= 2)			LOG << "don't exist fastest player." << endl;		catchPoint = Point(55, 0);	}	else	{		if (shootLogLevel >= 2)			LOG << "exist fastest player." << endl;		catchPoint = shootIntercept.getFastestInterPlayer().getInterPoint();	}		if (shootLogLevel >= 2)		LOG << "catchPoint = " << catchPoint << endl;		Vector shootVec;	shootVec.setByPoints(worldModel->getBall().getPos(), catchPoint);	float aveRange = 52.5 - (shootVec.getX() / 10);	if (fabs(worldModel->getBody().getPos().getX()) >= 8.5) // Sassan: getX ? (or Y)		aveRange = 52.7;		if (shootLogLevel >= 2)		LOG << "aveRange = " << aveRange << endl;			if (catchPoint.x >= 55)		return 100;	else if (catchPoint.x >= 52.5)		return 80;	return Basics::reRate(catchPoint.x, aveRange, 52.5, 0, 20);}float Shoot::getNoiseWeight(int shootNum){	Point shootPoint = shootPoints[shootNum];	Vector shootVector;	shootVector.setByPoints(worldModel->getBall().getPos(), shootPoint);	if (shootVector.getMagnitude() <= 2)	{		if (fabs(shootPoint.y) >= 6)			return 50;		if (fabs(shootPoint.y) >= 5)			return 70;		return 100;	}	else if (shootVector.getMagnitude() <= 6)	{		if (fabs(shootPoint.y) <= 4)			return 100;		if (fabs(shootPoint.y) > 5.8)			return 40;		return Basics::reRate(fabs(shootPoint.y), 4, 6, 40, 100, RRM_REVERSE);	}	else	{		if (fabs(shootPoint.y) <= 4)			return 100;		if (fabs(shootPoint.y) > 5.8)			return 25;		return Basics::reRate(fabs(shootPoint.y), 4, 5.8, 25, 100, RRM_REVERSE);	}}float Shoot::getGoalSeenWeight(int shootNum){	Point shootPoint = shootPoints[shootNum];	Point goalSeenCheckPoint;	Vector meToCheckVector;	float goalSeenValue;	if(shootPoint.y <= -2.5 && shootPoint.y > -7)		goalSeenCheckPoint.y = -5;	else if(shootPoint.y <= 2.5 && shootPoint.y > -2.5)		goalSeenCheckPoint.y = 0;	else if(shootPoint.y <= 7 && shootPoint.y > 2.5)		goalSeenCheckPoint.y = 5;	else		goalSeenCheckPoint.y = 0;	goalSeenCheckPoint.x = SHOOTPOINTSX;	meToCheckVector.setByPoints(worldModel->getBody().getPos(), 					goalSeenCheckPoint);	goalSeenValue = worldModel->getSeeDeltaCycle(meToCheckVector.getDirection(), 					0.2);	if (getGoaliePosDeviationWeight() >= 75)		return 85;	if (goalSeenValue > 7)		return 0;	else if (goalSeenValue > 5)		return 40;	else		return Basics::reRate(goalSeenValue, 0, 5, 60, 100, RRM_REVERSE);}float Shoot::getGoaliePosDeviationWeight(void){	if (worldModel->getOppGoalie() != NULL)		return Basics::reRate(worldModel->getOppGoalie()->getPosDeviation(),					0.6, 7, 0, 100, RRM_REVERSE);	return 60;}float Shoot::getGoalieMistakeWeight(void){	if (worldModel->getOppGoalie() != NULL)	{		Line upTir, downTir;		Line halfMaker;		Line goalieXLine;			upTir.setByPoints(worldModel->getBall().getPos(), Point(52.5, 6.5));		downTir.setByPoints(worldModel->getBall().getPos(), Point(52.5, -6.5));		float halfDir = Degree::normalizeAngle((upTir.getDirection() + downTir.getDirection()) / 2);			halfMaker.setBySourceDir(worldModel->getBall().getPos(), halfDir);		goalieXLine.setBySourceDir(Point(51.5, 0), 90);		Point goalieBestPoint;		halfMaker.getLineIntersect(goalieXLine, goalieBestPoint);		Vector goalieMistake;		goalieMistake.setByPoints(worldModel->getOppGoalie()->getPos(), 					goalieBestPoint);		return Basics::reRate(goalieMistake.getY(), 1.5, 7, 0, 100, RRM_DIRECT);	}	return 20;}float Shoot::getFarToGoalieWeight(int shootNum){	Point shootPoint = shootPoints[shootNum];	if (worldModel->getOppGoalie() != NULL)		return Basics::reRate(worldModel->getOppGoalie()->					getDistance(shootPoint), 0, 14, 0, 100, RRM_DIRECT);	return 60;}float Shoot::getBallFastMovingWeight(const Library &library){	float value;	if (library.lastBodyCycleCommand->getCreator() == AT_INTERCEPT)	{		value = (fabs(worldModel->getBall().getVel().getX()) / 4) + 				(fabs(worldModel->getBall().getVel().getY()) * 1);		return Basics::reRate(value, .75, 2.75, 0, 100, RRM_DIRECT);  	}	return 0;}void Shoot::setShootRates(void){    catchRate = 30;    noiseRate = 5;    goaliePosDeviationRate = 5;    farToGoalieRate = 25;    goalSeenRate = 8;	goalieMistakeRate = 10;	ballFastMovingRate = 8;}