{	if (kickCycles > 0)	{		kickerSeeBallDelay = 0;		tmmPosDevRate = -0.75;		tmmSeeBallDelay = 2;		tmmGoalieSeeBallDelay = 0;		tmmSlowDashPower = 0;		tmmFastDashPower = 100;		tmmDirectDashPower = 0;		tmmGoalieDirectDashPower = 0;		oppPosDevRate = 0.5;		oppSeeBallDelay = 0;		oppGoalieSeeBallDelay = 0;		oppSlowDashPower = 45;		oppFastDashPower = 100;		oppDirectDashPower = 60;		oppGoalieDirectDashPower = 100;	}	else	{		kickerSeeBallDelay = 0; // only for reseting		tmmPosDevRate = -0.3;		tmmSeeBallDelay = 0;		tmmGoalieSeeBallDelay = 0;		tmmSlowDashPower = 30;		tmmFastDashPower = 100;		tmmDirectDashPower = 30;		tmmGoalieDirectDashPower = 30;		oppPosDevRate = 0.3;		oppSeeBallDelay = 0;		oppGoalieSeeBallDelay = 0;		oppSlowDashPower = 50;		oppFastDashPower = 100;		oppDirectDashPower = 90;		oppGoalieDirectDashPower = 100;	}}void InterceptCalculate::startSession(unsigned kickCyclesArg,		const Player *kickPlayerArg, const Player *blockedPlayerArg){	setLogging(false);	playersNum = 0;	kickPlayer = kickPlayerArg;	blockedPlayer = blockedPlayerArg;	kickCycles = kickCyclesArg;	shareCycles = DEFAULT_SHARE_CYCLES;	initTeamsProps();}void InterceptCalculate::addPlayer(const Player &player, bool kickPlayerFlag,		bool blockedPlayerFlag, bool checkForPenaltyBox){	float posDevDashDist;	interceptPlayers[playersNum].setLogging(isLogging());	if (kickPlayerFlag)		interceptPlayers[playersNum].init(player, virtualBall,				kickPlayerFlag, kickCycles, kickerSeeBallDelay,				0, player.getMaxPower(), 0, 0, false, checkForPenaltyBox);	else if (player.getTeamId() == TID_TEAMMATE)	{		posDevDashDist = tmmPosDevRate * player.getPosDeviation();		if (player.isGoalie())			interceptPlayers[playersNum].init(player, virtualBall,					kickPlayerFlag, kickCycles, tmmGoalieSeeBallDelay,					tmmSlowDashPower, tmmFastDashPower,					tmmGoalieDirectDashPower, posDevDashDist,					blockedPlayerFlag, checkForPenaltyBox);		else			interceptPlayers[playersNum].init(player, virtualBall,					kickPlayerFlag, kickCycles, tmmSeeBallDelay,					tmmSlowDashPower, tmmFastDashPower,					tmmDirectDashPower, posDevDashDist, blockedPlayerFlag,					checkForPenaltyBox);	}	else if (player.getTeamId() == TID_OPPONENT)	{		posDevDashDist = oppPosDevRate * player.getPosDeviation();		if (player.isGoalie())			interceptPlayers[playersNum].init(player, virtualBall,					kickPlayerFlag, kickCycles, oppGoalieSeeBallDelay,					oppSlowDashPower, oppFastDashPower,					oppGoalieDirectDashPower, posDevDashDist,					blockedPlayerFlag, checkForPenaltyBox);		else			interceptPlayers[playersNum].init(player, virtualBall,					kickPlayerFlag, kickCycles, oppSeeBallDelay,					oppSlowDashPower, oppFastDashPower,					oppDirectDashPower, posDevDashDist, blockedPlayerFlag,					checkForPenaltyBox);	}	else		assert(0);	playersNum++;}void InterceptCalculate::updateByWorldModel(const WorldModel *worldModel,		bool removeBody, bool removeTmm, bool removeOpp){	unsigned i;	// adding the ball	virtualBall = worldModel->getBall();	// adding players	if (!removeBody)		addPlayer(worldModel->getBody(),			(&worldModel->getBody() == kickPlayer),			(&worldModel->getBody() == blockedPlayer));	for (i = 0; i < FULL_PLAYERS_NUM; i++)	{		if (!removeTmm)			if (worldModel->getFullPlayer(TID_TEAMMATE, i).isValid() &&				!worldModel->getFullPlayer(TID_TEAMMATE, i).isBody())				addPlayer(worldModel->getFullPlayer(TID_TEAMMATE, i),					(&worldModel->getFullPlayer(TID_TEAMMATE, i) == kickPlayer),					(&worldModel->getFullPlayer(TID_TEAMMATE, i) == blockedPlayer));		if (!removeOpp)			if (worldModel->getFullPlayer(TID_OPPONENT, i).isValid())				addPlayer(worldModel->getFullPlayer(TID_OPPONENT, i),					(&worldModel->getFullPlayer(TID_OPPONENT, i) == kickPlayer),					(&worldModel->getFullPlayer(TID_OPPONENT, i) == blockedPlayer));	}	for (i = 0; i < HALF_PLAYERS_NUM; i++)	{		if (!removeTmm)			if (worldModel->getHalfPlayer(TID_TEAMMATE, i).isValid())				addPlayer(worldModel->getHalfPlayer(TID_TEAMMATE, i),					(&worldModel->getHalfPlayer(TID_TEAMMATE, i) == kickPlayer),					(&worldModel->getHalfPlayer(TID_TEAMMATE, i) ==	blockedPlayer));		if (!removeOpp)			if (worldModel->getHalfPlayer(TID_OPPONENT, i).isValid())				addPlayer(worldModel->getHalfPlayer(TID_OPPONENT, i),					(&worldModel->getHalfPlayer(TID_OPPONENT, i) == kickPlayer),					(&worldModel->getHalfPlayer(TID_OPPONENT, i) ==	blockedPlayer));	}}void InterceptCalculate::getReadyToRun(){	// Resetting after running Intercepts variables	playMode = PM_PLAY_ON;	checkedPlayersNum = 0;	fastestPlayerNum = NOVALUE;	fastestTmmPlayerNum = NOVALUE;	fastestOppPlayerNum = NOVALUE;	fastestCheckedPlayerNum = NOVALUE;	fastestTmmCheckedPlayerNum = NOVALUE;	fastestOppCheckedPlayerNum = NOVALUE;	for (unsigned i = 0;i < playersNum;i++)		interceptPlayers[i].getReadyToRun();}void InterceptCalculate::simulateVirtualBall(){	virtualBall.setPos() += virtualBall.getVel();	virtualBall.setVel() *= virtualBall.getDecay();}void InterceptCalculate::finalizeIntercepts(){	prepareSum();}bool InterceptCalculate::existFastestPlayer() const{	if (fastestPlayerNum == NOVALUE)		return false;	return true;}bool InterceptCalculate::existFastestTmmPlayer() const{	if (fastestTmmPlayerNum == NOVALUE)		return false;	return true;}bool InterceptCalculate::existFastestOppPlayer() const{	if (fastestOppPlayerNum == NOVALUE)		return false;	return true;}bool InterceptCalculate::isFastestPlayer(const Player &player) const{	if (getFastestPlayer().getModel() == player.getModel() &&		getFastestPlayer().getTeamId() == player.getTeamId() &&		getFastestPlayer().getUniNum() == player.getUniNum())		return true;	return false;}unsigned InterceptCalculate::getTmmCheckedPlayersNum() const{	unsigned tmmCounter = 0;	for (unsigned i = 0; i < checkedPlayersNum; i++)		if (getCheckedInterPlayer(i).getPlayer().getTeamId() == TID_TEAMMATE)			tmmCounter++;	return tmmCounter;}unsigned InterceptCalculate::getOppCheckedPlayersNum() const{	unsigned oppCounter = 0;	for (unsigned i = 0; i < checkedPlayersNum; i++)		if (getCheckedInterPlayer(i).getPlayer().getTeamId() == TID_OPPONENT)			oppCounter++;	return oppCounter;}unsigned InterceptCalculate::getCheckedListNum(const Player &player) const{	for (unsigned i = 0; i < checkedPlayersNum; i++)		if (getCheckedInterPlayer(i).getPlayer().getModel() == player.getModel() &&			getCheckedInterPlayer(i).getPlayer().getTeamId() == player.getTeamId() &&			getCheckedInterPlayer(i).getPlayer().getUniNum() == player.getUniNum())				return i;	return NOVALUE;}unsigned InterceptCalculate::getOppPlayersBeforeLine(float x) const{	unsigned counter = 0;	for (unsigned i = 0; i < playersNum; i++)		if (interceptPlayers[i].getPlayer().getTeamId() == TID_OPPONENT &&			interceptPlayers[i].getPlayer().getPos().getX() <= x)				counter++;	return counter;}unsigned InterceptCalculate::getOppPlayersBetweenLines(float x1,		float x2) const{	return abs((int)getOppPlayersBeforeLine(x1) -			(int)getOppPlayersBeforeLine(x2));}const Player &InterceptCalculate::getFastestPlayer() const{	return interceptPlayers[fastestPlayerNum].getPlayer();}const Player &InterceptCalculate::getFastestTmmPlayer() const{	return interceptPlayers[fastestTmmPlayerNum].getPlayer();}const Player &InterceptCalculate::getFastestOppPlayer() const{	return interceptPlayers[fastestOppPlayerNum].getPlayer();}const InterceptPlayer &InterceptCalculate::getFastestInterPlayer() const{	return interceptPlayers[fastestPlayerNum];}const InterceptPlayer &InterceptCalculate::getFastestTmmInterPlayer() const{	return interceptPlayers[fastestTmmPlayerNum];}const InterceptPlayer &InterceptCalculate::getFastestOppInterPlayer() const{	return interceptPlayers[fastestOppPlayerNum];}const InterceptPlayer &InterceptCalculate::getCheckedInterPlayer(unsigned num) const{	return interceptPlayers[checkedPlayers[num]];}void InterceptCalculate::logCheckedPlayers() const{	LOG << "InterceptCalculate checked players:" << endl;	for (unsigned i = 0; i < checkedPlayersNum; i++)		LOG << "\t" << i << ": "			<< getCheckedInterPlayer(i).getPlayer().getTeamId() << " "			<< getCheckedInterPlayer(i).getPlayer().getUniNum() << " "			<< getCheckedInterPlayer(i).getInterTime() << endl;}void InterceptCalculate::setBlockedBall(){	virtualBall.setVel() = blockedBallVel;	virtualBall.setDecay(1);}void InterceptCalculate::getNearestOppDistDirToFastest(float &dist, float &dir){	unsigned miner = NOVALUE;	float min = 0xFFFF;	if (existFastestOppPlayer())	{		dist = 0;		dir = 0;		return;	}	for (unsigned i = 0; i < playersNum; i++)		if (interceptPlayers[i].getPlayer().getTeamId() == TID_OPPONENT)		{			float cur = interceptPlayers[i].getPlayer().getDistance(					getFastestInterPlayer().getInterPoint()) -					interceptPlayers[i].getDashDist();			if (miner == NOVALUE || cur < min)			{				miner = i;				min = cur;			}		}	if (miner == NOVALUE)	{		dist = NOVALUE;		dir = NOVALUE;		return;	}	dir = Degree::arcTan2((interceptPlayers[miner].getPlayer().getPos().getY() -			getFastestInterPlayer().getInterPoint().y),			(interceptPlayers[miner].getPlayer().getPos().getX() -			getFastestInterPlayer().getInterPoint().x));	dist = interceptPlayers[miner].getPlayer().getDistance(				getFastestInterPlayer().getInterPoint()) -				interceptPlayers[miner].getDashDist();}// Getting functionsbool InterceptCalculate::isLogging() const{	return loggingFlag;}unsigned InterceptCalculate::getPlayersNum() const{	return playersNum;}unsigned InterceptCalculate::getFastestPlayerNum() const{	return fastestPlayerNum;}unsigned InterceptCalculate::getFastestTmmPlayerNum() const{	return fastestTmmPlayerNum;}unsigned InterceptCalculate::getFastestOppPlayerNum() const{	return fastestOppPlayerNum;}unsigned InterceptCalculate::getCheckedPlayersNum() const{	return checkedPlayersNum;}unsigned InterceptCalculate::getFastestCheckedPlayerNum() const{	return fastestCheckedPlayerNum;}unsigned InterceptCalculate::getFastestTmmCheckedPlayerNum() const{	return fastestTmmCheckedPlayerNum;}unsigned InterceptCalculate::getFastestOppCheckedPlayerNum() const{	return fastestOppCheckedPlayerNum;}PlayMode InterceptCalculate::getPlayMode() const{	return playMode;}const Ball &InterceptCalculate::getVirtualBall() const{	return virtualBall;}const Player *InterceptCalculate::getKickPlayer() const{	return kickPlayer;}// Setting functionsvoid InterceptCalculate::setLogging(bool loggingFlagArg){	loggingFlag = loggingFlagArg;}void InterceptCalculate::setKickCycles(unsigned kickCyclesArg){	kickCycles = kickCyclesArg;}void InterceptCalculate::setShareCycles(unsigned shareCyclesArg){	shareCycles = shareCyclesArg;}void InterceptCalculate::setKickerSeeBallDelay(unsigned kickerSeeBallDelayArg){	kickerSeeBallDelay = kickerSeeBallDelayArg;}void InterceptCalculate::setTmmSlowDashPower(float tmmSlowDashPowerArg){	tmmSlowDashPower = tmmSlowDashPowerArg;}void InterceptCalculate::setTmmFastDashPower(float tmmFastDashPowerArg){	tmmFastDashPower = tmmFastDashPowerArg;}void InterceptCalculate::setTmmDirectDashPower(float tmmDirectDashPowerArg){	tmmDirectDashPower = tmmDirectDashPowerArg;}void InterceptCalculate::setTmmGoalieDirectDashPower(float tmmGoalieDirectDashPowerArg){	tmmGoalieDirectDashPower = tmmGoalieDirectDashPowerArg;}void InterceptCalculate::setTmmSeeBallDelay(unsigned tmmSeeBallDelayArg){	tmmSeeBallDelay = tmmSeeBallDelayArg;}void InterceptCalculate::setTmmGoalieSeeBallDelay(unsigned tmmGoalieSeeBallDelayArg){	tmmGoalieSeeBallDelay = tmmGoalieSeeBallDelayArg;}void InterceptCalculate::setTmmPosDevRate(float tmmPosDevRateArg){	tmmPosDevRate = tmmPosDevRateArg;}void InterceptCalculate::setOppSlowDashPower(float oppSlowDashPowerArg){	oppSlowDashPower = oppSlowDashPowerArg;}void InterceptCalculate::setOppFastDashPower(float oppFastDashPowerArg){	oppFastDashPower = oppFastDashPowerArg;}void InterceptCalculate::setOppDirectDashPower(float oppDirectDashPowerArg){	oppDirectDashPower = oppDirectDashPowerArg;}void InterceptCalculate::setOppGoalieDirectDashPower(float oppGoalieDirectDashPowerArg){	oppGoalieDirectDashPower = oppGoalieDirectDashPowerArg;}void InterceptCalculate::setOppSeeBallDelay(unsigned oppSeeBallDelayArg){	oppSeeBallDelay = oppSeeBallDelayArg;}void InterceptCalculate::setOppGoalieSeeBallDelay(unsigned oppGoalieSeeBallDelayArg){	oppGoalieSeeBallDelay = oppGoalieSeeBallDelayArg;}void InterceptCalculate::setOppPosDevRate(float oppPosDevRateArg){	oppPosDevRate = oppPosDevRateArg;}void InterceptCalculate::setVirtualBall(const Ball &virtualBallArg){	virtualBall = virtualBallArg;}void InterceptCalculate::setBlockedBallVel(const Vector &blockedBallVelArg){	blockedBallVel = blockedBallVelArg;}InterceptPlayer &InterceptCalculate::setLastInterPlayer(){	return interceptPlayers[playersNum - 1];}