/* *  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: Ahmad Boorghany * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#include <cmath>#include <Logger.h>#include <Degree.h>#include <Defines.h>#include <Command.h>#include <BasicKick.h>#include <WorldModel.h>#include <KickCalculate.h>//#define KICK_CALCULATE_LOGLEVEL1using namespace std;using namespace Degree;// class KickInterceptPlayervoid KickInterceptPlayer::init(const InterceptPlayer &interPlayer){	extraCatchedFlag = interPlayer.isExtraCatched();	dashDist = interPlayer.getDashDist();	interceptTime = interPlayer.getInterTime();	player = &interPlayer.getPlayer();	interceptPoint = interPlayer.getInterPoint();}// Getting functionsbool KickInterceptPlayer::isExtraCatched() const{	return extraCatchedFlag;}float KickInterceptPlayer::getDashDist() const{	return dashDist;}unsigned KickInterceptPlayer::getInterTime() const{	return interceptTime;}const Player &KickInterceptPlayer::getPlayer() const{	return *player;}const Point &KickInterceptPlayer::getInterPoint() const{	return interceptPoint;}// class KickInterceptCalculateKickInterceptCalculate::KickInterceptCalculate(){	kickCommand = NULL;}KickInterceptCalculate::~KickInterceptCalculate(){}unsigned KickInterceptCalculate::getTmmCheckedPlayersNum() const{	unsigned tmmCounter = 0;	for (unsigned i = 0; i < checkedPlayersNum; i++)		if (checkedPlayers[i].getPlayer().getTeamId() == TID_TEAMMATE)			tmmCounter++;	return tmmCounter;}unsigned KickInterceptCalculate::getOppCheckedPlayersNum() const{	unsigned oppCounter = 0;	for (unsigned i = 0; i < checkedPlayersNum; i++)		if (checkedPlayers[i].getPlayer().getTeamId() == TID_OPPONENT)			oppCounter++;	return oppCounter;}unsigned KickInterceptCalculate::getCheckedListNum(const Player &player) const{	for (unsigned i = 0; i < checkedPlayersNum; i++)		if (checkedPlayers[i].getPlayer().getModel() == player.getModel() &&			checkedPlayers[i].getPlayer().getTeamId() == player.getTeamId() &&			checkedPlayers[i].getPlayer().getUniNum() == player.getUniNum())				return i;	return NOVALUE;}bool KickInterceptCalculate::existFastestPlayer() const{	if (fastestPlayerNum == NOVALUE)		return false;	return true;}bool KickInterceptCalculate::existFastestTmmPlayer() const{	if (fastestTmmPlayerNum == NOVALUE)		return false;	return true;}bool KickInterceptCalculate::existFastestOppPlayer() const{	if (fastestOppPlayerNum == NOVALUE)		return false;	return true;}bool KickInterceptCalculate::isFastestPlayer(const Player &player) const{	if (checkedPlayers[fastestPlayerNum].getPlayer().getModel() ==				player.getModel() &&		checkedPlayers[fastestPlayerNum].getPlayer().getTeamId() ==				player.getTeamId() &&		checkedPlayers[fastestPlayerNum].getPlayer().getUniNum() ==				player.getUniNum())		return true;	return false;}const Player& KickInterceptCalculate::getFastestPlayer() const{	return checkedPlayers[fastestPlayerNum].getPlayer();}const KickInterceptPlayer& KickInterceptCalculate::getFastestInterPlayer() const{	return checkedPlayers[fastestPlayerNum];}const KickInterceptPlayer& KickInterceptCalculate::getFastestTmmInterPlayer() const{	return checkedPlayers[fastestTmmPlayerNum];}const KickInterceptPlayer& KickInterceptCalculate::getFastestOppInterPlayer() const{	return checkedPlayers[fastestOppPlayerNum];}void KickInterceptCalculate::saveResults(const InterceptCalculate &interCalc){	virtualBall.setPos() = interCalc.getVirtualBall().getPos();	virtualBall.setVel() = interCalc.getVirtualBall().getVel();	playMode = interCalc.getPlayMode();	checkedPlayersNum = interCalc.getCheckedPlayersNum();	fastestPlayerNum = interCalc.getFastestCheckedPlayerNum();	fastestTmmPlayerNum = interCalc.getFastestTmmCheckedPlayerNum();	fastestOppPlayerNum = interCalc.getFastestOppCheckedPlayerNum();	kickPlayer = interCalc.getKickPlayer();	for (unsigned i = 0; i < checkedPlayersNum; i++)		checkedPlayers[i].init(interCalc.getCheckedInterPlayer(i));}void KickInterceptCalculate::init(const WorldModel *worldModel,		const KickCommand *kickCommandArg, InterceptCalculate &interCalc){	if (!kickCommandArg)	{		setValid(false);		return;	}	delete kickCommand;	kickCommand = new KickCommand(*kickCommandArg);	firstBall = worldModel->getBall();	firstBall.simulateByAction(worldModel->getBody(), kickCommand);#ifdef KICK_CALCULATE_LOGLEVEL1	LOG << "New kick: " << kickCommand->toString() << " Ball vel: "		<< Point(firstBall.getVel().getMagnitude(),				 firstBall.getVel().getDirection()) << endl;#endif	if (worldModel->getSeeDeltaCycle(firstBall.getVel().getDirection(), 0.2) >			KICK_CALC_MAX_SEE_DELTA_CYCLE)	{#ifdef KICK_CALCULATE_LOGLEVEL1		LOG << "Break: did not see." << endl;#endif		setValid(false);		return;	}	setValid(true);	interCalc.setVirtualBall(firstBall);	interCalc.run();	saveResults(interCalc);	// Initing Informations	passedOppPlayers = 0;	nearestOppToFastestDist = 0xFFFF;	nearestOppToFastestDir = 180;	if (interCalc.existFastestPlayer())	{		if (firstBall.getPos().getX() <			interCalc.getFastestInterPlayer().getInterPoint().x)			passedOppPlayers = interCalc.getOppPlayersBetweenLines(					firstBall.getPos().getX(),					interCalc.getFastestInterPlayer().getInterPoint().x);		interCalc.getNearestOppDistDirToFastest(				nearestOppToFastestDist, nearestOppToFastestDir);	}}// Getting functionsunsigned KickInterceptCalculate::getKickCycles() const{	return kickCycles;}unsigned KickInterceptCalculate::getFastestPlayerNum() const{	return fastestPlayerNum;}unsigned KickInterceptCalculate::getFastestTmmPlayerNum() const{	return fastestTmmPlayerNum;}unsigned KickInterceptCalculate::getFastestOppPlayerNum() const{	return fastestOppPlayerNum;}unsigned KickInterceptCalculate::getCheckedPlayersNum() const{	return checkedPlayersNum;}bool KickInterceptCalculate::isValid() const{	return validFlag;}unsigned KickInterceptCalculate::getPassedOppPlayers() const{	return passedOppPlayers;}float KickInterceptCalculate::getNearestOppToFastestDist() const{	return nearestOppToFastestDist;}float KickInterceptCalculate::getNearestOppToFastestDir() const{	return nearestOppToFastestDir;}PlayMode KickInterceptCalculate::getPlayMode() const{	return playMode;}const KickCommand &KickInterceptCalculate::getKickCommand() const{	return *kickCommand;}const KickInterceptPlayer &KickInterceptCalculate::getCheckedInterPlayer(unsigned num) const{	return checkedPlayers[num];}const Ball &KickInterceptCalculate::getFirstBall() const{	return firstBall;}const Ball &KickInterceptCalculate::getVirtualBall() const{	return virtualBall;}const Player *KickInterceptCalculate::getKickPlayer() const{	return kickPlayer;}// Setting functionsvoid KickInterceptCalculate::setValid(bool validFlagArg){	validFlag = validFlagArg;}// class KickCalculateKickCalculate::KickCalculate(){	setValid(false);	setInited(false);	simulates = NULL;	simulatesNum = 0;}KickCalculate::~KickCalculate(){	if (isInited())		delete [] simulates;}void KickCalculate::init(){	setInited(true);	simulatesNum = KICK_CALCULATES_NUM;	simulates = new KickInterceptCalculate[simulatesNum];}void KickCalculate::update(const WorldModel *worldModel){	InterceptCalculate interCalc;	KickCommand *kickCommand = new KickCommand(AT_KICK_CALCULATE, 100, 0);	LOG << "KickCalculate::update" << endl;	setValid(true);	updateTime = worldModel->getCurTime();	interCalc.startSession(1, &worldModel->getBody(), NULL);	interCalc.setShareCycles(1);//	if (worldModel->getCurCycle() == 82)//		interCalc.setLogging(true);	interCalc.updateByWorldModel(worldModel);	for (unsigned i = 0; i < simulatesNum - KICK_CALCULATES_EXTRA_NUM; i++)	{		kickCommand->setPower(((i % KICK_POW_NUM) + 1) * KICK_POW_STEP);		kickCommand->setDirection(normalizeAngle(				floor((float)i / KICK_POW_NUM) * KICK_DIR_STEP));		simulates[i].init(worldModel, kickCommand, interCalc);	}	for (unsigned i = 0; i < KICK_CALCULATES_EXTRA_NUM; i++)	{		delete kickCommand;		KickToDirectionVelocity extraKick(AT_KICK_CALCULATE, worldModel->getBody().getBodyDir(),			0.75 + i * 0.25, worldModel->getBall(), worldModel->getBody());		if (extraKick.isPossible())			kickCommand = dynamic_cast<KickCommand *>(extraKick.getCommand());		else			kickCommand = NULL;		simulates[i].init(worldModel, kickCommand, interCalc);	}	delete kickCommand;}void KickCalculate::getNeighboursByDir(unsigned num,		unsigned &neighbour1, unsigned &neighbour2) const{	float pow = simulates[num].getKickCommand().getPower();	float dir = simulates[num].getKickCommand().getDirection();	neighbour1 = NOVALUE;	neighbour2 = NOVALUE;	for (unsigned i = 0; i < KICK_CALCULATES_NUM; i++)	{		float thisPow = simulates[i].getKickCommand().getPower();		float thisDir = simulates[i].getKickCommand().getDirection();		if (pow == thisPow)		{		}		else if (neighbour1 == NOVALUE &&				getDeltaAngle(thisDir,dir) == KICK_DIR_STEP)		{			neighbour1 = i;			if (neighbour2 != NOVALUE)				break;		}		else if (neighbour2 == NOVALUE &&				getDeltaAngle(thisDir,dir) == -KICK_DIR_STEP)		{			neighbour2 = i;			if (neighbour1 != NOVALUE)				break;		}	}}// Getting functionsbool KickCalculate::isValid() const{	return validFlag;}bool KickCalculate::isInited() const{	return initedFlag;}unsigned KickCalculate::getUpdateTime() const{	return updateTime;}unsigned KickCalculate::getSimulatesNum() const{	return simulatesNum;}const KickInterceptCalculate &KickCalculate::getSimulate(unsigned num) const{	return simulates[num];}// Setting functionsvoid KickCalculate::setInited(bool initedFlagArg){	initedFlag = initedFlagArg;}void KickCalculate::setValid(bool validFlagArg){	validFlag = validFlagArg;}