/* *  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 <cassert>#include <Body.h>#include <Config.h>#include <Logger.h>#include <Player.h>#include <Degree.h>#include <Basics.h>#include <Defines.h>#include <SExpression.h>#include <PossiblePoints.h>using namespace std;Player::Player(PlayerModel model) : model(model){	goalieFlag = false;	tacklingFlag = false;	pointingDir = 0;	bodyDir = 0;	headDir = 0;	uniNum = 0;	postNum = 0;	type = 0;	teamId = TID_TEAMMATE;	relativePointingDir = 0;	relativeBodyDir = 0;	relativeHeadDir = 0;	lastAPVRTime = 0;	dashExpires = 0;}Player::~Player(){}void Player::parse(TeamId teamIdArg, unsigned uniNumArg, bool isGoalie,		const SExpression &exp, unsigned curTime){	SExpAtomic *at;	tacklingFlag = false;	relativeBodyDir = -NOVALUE;	relativeHeadDir = -NOVALUE;	relativePointingDir = -NOVALUE;	Object::parse(exp, curTime);	goalieFlag = isGoalie;	setUniNum(uniNumArg);	teamId = teamIdArg;	if (teamId == TID_UNKNOWN)		model = PLM_QUARTER;	else if (uniNum == 0)		model = PLM_HALF;	else		model = PLM_FULL;	unsigned decreaseNum = 0;	at = dynamic_cast<SExpAtomic *>(exp[exp.size() - 1]);	if (at->toString() == "t")		decreaseNum = 1;	if (exp.size() - decreaseNum > 6)	{		at = dynamic_cast<SExpAtomic *>(exp[5]);		assert(at);		relativeBodyDir = at->asFloat();		at = dynamic_cast<SExpAtomic *>(exp[6]);		assert(at);		relativeHeadDir = at->asFloat();	}	if (model != PLM_QUARTER)	{		at = dynamic_cast<SExpAtomic *>(exp[exp.size() - 1]);		assert(at);		if (at->toString() == "t")			tacklingFlag = true;	}	if ((exp.size() - decreaseNum) % 2 == 0) // see format is very very poor in this case.	{		if (tacklingFlag)			at = dynamic_cast<SExpAtomic *>(exp[exp.size() - 2]);		else			at = dynamic_cast<SExpAtomic *>(exp[exp.size() - 1]);		assert(at);		relativePointingDir = at->asFloat();	}	relativeBodyDir *= -1;	relativeHeadDir *= -1;	relativePointingDir *= -1;}void Player::setServerParamVars(const Param &serverParam){	Object::setServerParamVars(serverParam);	accelMax = serverParam["player_accel_max"].asFloat();	decay = serverParam["player_decay"].asFloat();	rand = serverParam["player_rand"].asFloat();	size = serverParam["player_size"].asFloat();	speedMax = serverParam["player_speed_max"].asFloat();	staminaMax = serverParam["stamina_max"].asFloat();	effortDecThr = serverParam["effort_dec_thr"].asFloat();	recoverDecThr = serverParam["recover_dec_thr"].asFloat();	maxNeckAng = serverParam["maxneckang"].asFloat();	minNeckAng = serverParam["minneckang"].asFloat();	maxNeckMoment = serverParam["maxneckmoment"].asFloat();	minNeckMoment = serverParam["minneckmoment"].asFloat();	catchableAreaL = serverParam["catchable_area_l"].asFloat();	catchableAreaW = serverParam["catchable_area_w"].asFloat();}void Player::update(const Body &body, PlayMode playMode){	position = possiblePoints.calculatePlayerPosition(*this, body,			posDeviation, quantizeStep);	validPosDeviation = posDeviation;	absVector.setByPoints(body.getPos(), position);	bodyVector = absVector;	bodyVector.rotate(-body.getBodyDir());	headVector = absVector;	headVector.rotate(-body.getHeadDir());	if (relativeBodyDir != NOVALUE)	{		bodyDir = Degree::normalizeAngle(body.getHeadDir() + relativeBodyDir);		headDir = Degree::normalizeAngle(body.getHeadDir() + relativeHeadDir);	}	if (seeDistChange != NOVALUE)	{		velocity.setByDistDirChange(headVector, seeDistChange, seeDirChange);		velocity.rotate(body.getHeadDir());		velocity += body.getVel();	}	if (relativePointingDir != NOVALUE)		pointingDir = Degree::normalizeAngle(				body.getHeadDir() + relativePointingDir);	else		pointingDir = NOVALUE;	float maxSenseStamina;	if (playMode == PM_PLAY_ON)		maxSenseStamina = 2500;	else		maxSenseStamina = 3850;	if (pointingDir != NOVALUE)		stamina = Basics::reRate(Degree::absoluteAngle(pointingDir),				0, 270, 1000, maxSenseStamina, RRM_DIRECT);	else		stamina = staminaMax;	executeAPVR(body);	executeAPDR(body);	if (seeTime == velSeeTime && velocity.getMagnitude() > 0.2)	{		LOG << "APMR: started for player " << teamId << " " << uniNum			<< "." << endl;		dashExpires = 2;	}}void Player::simulateByDynamics(const Body &body){	if (dashExpires > 0 && bodyDir != NOVALUE)	{		LOG << "APMR: accelerated for player " << teamId << " " << uniNum			<< "." << endl;		Vector accel;		accel.setAsPolar(0.6, bodyDir);		velocity += accel;		if (velocity.getMagnitude() > getSpeedMax())			velocity.setAsPolar(getSpeedMax(), velocity.getDirection());	}	position += velocity;	velocity *= decay;	posDeviation += 1;	if (posDeviation > MAX_POS_DEV)		posDeviation = MAX_POS_DEV;	validPosDeviation += 1;	if (validPosDeviation > MAX_POS_DEV)		validPosDeviation = MAX_POS_DEV;	velDeviation += 0.02;	if (velDeviation > MAX_VEL_DEV)		velDeviation = MAX_VEL_DEV;	absVector.setByPoints(body.getPos(), position);	bodyVector = absVector;	bodyVector.rotate(-body.getBodyDir());	headVector = absVector;	headVector.rotate(-body.getHeadDir());//	bodyDir = headDir = NOVALUE;	if (dashExpires > 0)		dashExpires--;}void Player::virtualUpdate(const Body &body){	position = body.getPos() + absVector;}void Player::setByAnotherPlayer(const Player &player, const Body &body){	// Object vars	posDeviation = player.getPosDeviation();	validPosDeviation = player.getValidPosDeviation();	velDeviation = player.getVelDeviation();	seeDistance = player.getSeeDistance();	seeDirection = player.getSeeDirection();	seeDistChange = player.getSeeDistChange();	seeDirChange = player.getSeeDirChange();	seeTime = player.getSeeTime();	velSeeTime = player.getVelSeeTime();	position = player.getPos();	velocity = player.getVel();	absVector = player.getAbsVec();	bodyVector = player.getBodyVec();	headVector = player.getHeadVec();	// Player vars	goalieFlag = isGoalie() | player.isGoalie();	tacklingFlag = player.isTackling();	stamina = player.getStamina();	bodyDir = player.getBodyDir();	headDir = player.getHeadDir();	pointingDir = player.getPointingDir();	relativeBodyDir = player.getRelativeBodyDir();	relativeHeadDir = player.getRelativeHeadDir();	relativePointingDir = player.getRelativePointingDir();	dashExpires = player.getDashExpires();	// last* variables do not be copied.	if (model == PLM_FULL && player.getModel() == PLM_FULL)	{		setUniNum(player.getUniNum());		type = player.getType();		staminaIncMax = player.getStaminaIncMax();		inertiaMoment = player.getInertiaMoment();		dashPowerRate = player.getDashPowerRate();		kickableMargin = player.getKickableMargin();		kickRand = player.getKickRand();		extraStamina = player.getExtraStamina();		effortMax = player.getEffortMax();		effortMin = player.getEffortMin();	}	if (model >= PLM_HALF && player.getModel() >= PLM_HALF)		teamId = player.getTeamId();	// some update functions	executeAPVR(body);	executeAPDR(body);}bool Player::isBody() const{	if (dynamic_cast<const Body *>(this))		return true;	return false;}bool Player::isAlive() const{	if (model != PLM_FULL)		return isValid();	if (validPosDeviation < PLAYER_ALIVE_POS_DEV)		return true;	return false;}bool Player::isValid() const{	if (validPosDeviation < PLAYER_VALID_POS_DEV)		return true;	return false;}void Player::executeAPVR(const Body &body){	// Advance Player Velocity Recognizer (APVR)	if (model == PLM_FULL && seeDistChange == NOVALUE &&		absVector.getMagnitude() < APVR_RADIUS &&		body.getCollisionStatus() != TA_YES && lastAPVRTime == seeTime - 1)	{		Vector lastBodyVel(body.getVel());		lastBodyVel /= body.getDecay();		Vector virtualVel(absVector - lastAPVRPosition + lastBodyVel);		virtualVel *= getDecay();		velocity = virtualVel;		velSeeTime = seeTime; // it must be in Parsing but it is an exeption.		LOG << "APVR: executed for player " << teamId << " "			<< uniNum << "." << endl;	}	if (absVector.getMagnitude() < APVR_RADIUS)	{		lastAPVRPosition = absVector;		lastAPVRTime = seeTime;	}	else		lastAPVRTime = 0;}void Player::executeAPDR(const Body &body){	// Advanced Player Direction Recognizer (APDR)	if (model == PLM_FULL && velSeeTime == seeTime &&		lastAPDRTime == seeTime - 1)	{		Vector Accelerate(velocity);		Accelerate /= getDecay();		Accelerate -= lastAPDRVelocity;		if (Accelerate.getMagnitude() > 0.15)		{			bodyDir = Accelerate.getDirection();			LOG << "APDR: executed for player " << teamId << " "				<< uniNum << "." << endl;		}	}	if (velSeeTime == seeTime)	{		lastAPDRVelocity = velocity;		lastAPDRTime = seeTime;	}	else		lastAPDRTime = 0;}bool Player::canBodySee(const Vector &playerPos, float viewAngle,		float visibleDist) const{	float farLength;	if (model == PLM_FULL)		farLength = UNUM_FAR_LENGTH;	else if (model == PLM_HALF)		farLength = TEAM_FAR_LENGTH;	else		farLength = 0xFFFF;	if (absVector.getMagnitude() + 0.75 * posDeviation < visibleDist)		return true;	if (fabs(headVector.getDirection()) +		Degree::arcTan(0.75 * posDeviation / absVector.getMagnitude()) <				viewAngle &&		absVector.getMagnitude() + 0.75 * posDeviation < farLength)		return true;	return false;}unsigned Player::uniNumToPostNum(unsigned uniNum){	switch (uniNum)	{	case 2:		return 11;	case 3:		return 9;	case 4: