/* *  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: Meisam Vosoughpour *  and is modified by: Mostafa Rokooey * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#include <AdvancedAgent.h>#include <GoalieIntercept.h>#include <GoaliePositioning.h>#include <Intercept.h>#include <GoaliePlayOnDecision.h>#include <Clear.h>#include <BasicKick.h>#include <Circle.h>#include <cmath>#define GOALIE_CATCH_NUM 0#define CLEAR_NUM 1#define GOALIE_INTERCEPT_NUM 2#define INTERCEPT_NUM 3#define GOALIE_POSITIONING_NUM 4#define PASS_NUM 5#define DRIBBLE_NUM 6using namespace std;GoaliePlayOnDecision::GoaliePlayOnDecision(		const WorldModel *worldModel):		BodyDecision(worldModel){	addAdvancedAction(new GoalieCatch(worldModel),		AdvancedActionWeights(0, 1, 1), 2);	addAdvancedAction(new Clear(worldModel),		AdvancedActionWeights(0, 1, 1), 2);	addAdvancedAction(new GoalieIntercept(worldModel),		AdvancedActionWeights(0, 1, 1), 1);	addAdvancedAction(new Intercept(worldModel),		AdvancedActionWeights(0, 1, 1), 1);	addAdvancedAction(new GoaliePositioning(worldModel),		AdvancedActionWeights(0, 1, 1), 1);	addAdvancedAction(new Pass(worldModel),		AdvancedActionWeights(0, 1, 1), 0);	addAdvancedAction(new Dribble(worldModel),		AdvancedActionWeights(0, 1, 1), 0);    dynamic_cast<Pass *>(advancedActions[PASS_NUM])->        setCurKickCalculate(&worldModel->getCurKickCalculate());}GoaliePlayOnDecision::~GoaliePlayOnDecision(){}bool GoaliePlayOnDecision::isBallOppKickable(float minExtra, float maxExtra){	register int i;	float kickableArea, virtualKickableArea;	kickableArea = worldModel->getBall().getSize() + 			worldModel->getBody().getKickableMargin() + 			worldModel->getBody().getSize();		virtualKickableArea = kickableArea + minExtra;		for (i = 0; i < FULL_PLAYERS_NUM; i++)		if (worldModel->getFullPlayer(TID_OPPONENT, i).isValid())			if(worldModel->getFullPlayer(TID_OPPONENT, i).					getDistance(worldModel->getBall()) 				<=	(virtualKickableArea + min((float)(worldModel->getFullPlayer(					TID_OPPONENT, i).getDistance(worldModel->getBody()) * .08),					maxExtra) ))				return true;						for (i = 0; i < HALF_PLAYERS_NUM; i++)		if (worldModel->getHalfPlayer(TID_OPPONENT, i).isValid())			if(worldModel->getHalfPlayer(TID_OPPONENT, i).					getDistance(worldModel->getBall()) 				<=	(virtualKickableArea + min((float)(worldModel->getHalfPlayer(					TID_OPPONENT, i).getDistance(worldModel->getBody()) * .08), 					maxExtra) ))				return true;	return false;}void GoaliePlayOnDecision::decide(int quickLevel,		Form &form, const Library &library){	resetQuickLevels();	float passValue;	bool isPlayerInSafeCircle;	int i;	if (worldModel->getBall().getPos().getX() < -36.4 &&		worldModel->getBody().getPos().getX() < -36.4 &&		abs(worldModel->getBall().getPos().getY()) < 19.6 &&		abs(worldModel->getBody().getPos().getY()) < 19.6)	{	}	else if (worldModel->isBallKickable())	{		passValue = advancedActions[PASS_NUM]->getValue(library);		if (passValue >= 25)		{			advancedActions[PASS_NUM]->execute(form, library);			command = advancedActions[PASS_NUM]->getCommand();		}		else		{			Circle safeDribbleCircle;			safeDribbleCircle.setByCenterRadius(worldModel->getBody().getPos(),						3);			isPlayerInSafeCircle = false;			for (i = 0; i <= 10; i++)			{				if (worldModel->getFullPlayer(TID_OPPONENT, i).isAlive())					if (safeDribbleCircle.checkPointInArea(						worldModel->getFullPlayer(						TID_OPPONENT, i).getPos()))						isPlayerInSafeCircle = true;			}						advancedActions[DRIBBLE_NUM]->getValue(library);						if (!isPlayerInSafeCircle && 				worldModel->getBody().getPos().getX() <= -25.)			{				advancedActions[DRIBBLE_NUM]->execute(form, library);				command = advancedActions[DRIBBLE_NUM]->getCommand();			}			else			{				if (worldModel->getBall().getPos().getY() > 0)					command = FastKickToDir(AT_GOALIE_CLEAR, 90, worldModel->getBall(),								worldModel->getBody()).getCommand();				else					command = FastKickToDir(AT_GOALIE_CLEAR, -90, worldModel->getBall(),								worldModel->getBody()).getCommand();			}		}			return;	}	quickLevels[GOALIE_CATCH_NUM] = 2;	quickLevels[CLEAR_NUM] = 2;	if (worldModel->getCurInterCalculate().existFastestTmmPlayer() && (		(worldModel->getCurInterCalculate().getFastestTmmPlayer().isBody() &&		!isBallOppKickable(.2,1.5)) || 		(worldModel->isOppBallShooted(worldModel->getBall()) && 		!worldModel->isBallInOppKickable())))	{ // Intercept		quickLevels[GOALIE_INTERCEPT_NUM] = 1;		quickLevels[INTERCEPT_NUM] = 1;			}	else	{ // Positioning		quickLevels[GOALIE_POSITIONING_NUM] = 1;	}	if (worldModel->getBall().getAbsVec().getMagnitude() < 20)		form.headForm.tnMode = TNM_LOOK_CAREFULLY_TO_BALL;	else		form.headForm.tnMode = TNM_LOOK_NORMALLY_TO_BALL;	BodyDecision::decide(quickLevel, form, library);}