positioning.cpp

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			maxDashPower = 60;		
			if (worldModel->getBody().getStamina() < 2300)
				maxDashPower = worldModel->getBody().getStaminaIncMax();
		}

		if (worldModel->getBall().getPos().getX() > 0 && 
			!((worldModel->getBody().getPos().getX() - homePoint.x) > 4) && 
			worldModel->getBody().getStamina() < 2800)
			maxDashPower = worldModel->getBody().getStaminaIncMax() / 2; 

		if (worldModel->getBall().getPos().getX() > 15 && 
			!((worldModel->getBody().getPos().getX() - homePoint.x) > 6) && 
			worldModel->getBody().getStamina() < 2800)
			maxDashPower = worldModel->getBody().getStaminaIncMax() / 3; 
	}
		
	if (worldModel->getBody().getPostNum() == 8 || 
				worldModel->getBody().getPostNum() == 7)
	{
		maxDashPower = 85;
		if (worldModel->getBody().getStamina() < 2300)
			maxDashPower = worldModel->getBody().getStaminaIncMax();
		if (worldModel->getBody().getStamina() < 2000)
			maxDashPower = worldModel->getBody().getStaminaIncMax() / 2;
	}
		
	if (worldModel->getBody().getPostNum() == 11 || 
		worldModel->getBody().getPostNum() == 9 || 
		worldModel->getBody().getPostNum() == 10 || 
		worldModel->getBody().getPostNum() == 6)  
	{
		maxDashPower = 100;
		if (worldModel->getBody().getPos().getX() > homePoint.x)
		{
			if (worldModel->getBall().getPos().getX() < 20)
			{
				maxDashPower = 80;		
				if (worldModel->getBody().getStamina() < 1700)
					maxDashPower = worldModel->getBody().getStaminaIncMax();
				if (worldModel->getBody().getStamina() < 1600)
					maxDashPower = worldModel->getBody().getStaminaIncMax() / 2;
			}

			if (worldModel->getBall().getPos().getX() < 5)
			{
				maxDashPower = 65;		
				if (worldModel->getBody().getStamina() < 2300)
					maxDashPower = worldModel->getBody().getStaminaIncMax();
				if (worldModel->getBody().getStamina() < 2000)
					maxDashPower = worldModel->getBody().getStaminaIncMax() / 2;
			}

			if (worldModel->getBall().getPos().getX() < -10)
			{
				maxDashPower = 40;		
				if (worldModel->getBody().getStamina() < 2700)
					maxDashPower = worldModel->getBody().getStaminaIncMax();
				if (worldModel->getBody().getStamina() < 2300)
					maxDashPower = worldModel->getBody().getStaminaIncMax() / 3;
			}
						
			if (hypot(worldModel->getBody().getPos().getX() - homePoint.x, 
					worldModel->getBody().getPos().getY() - homePoint.y) < 7)
				maxDashPower = worldModel->getBody().getStaminaIncMax() / 2;

			if (hypot(worldModel->getBody().getPos().getX() - homePoint.x, 
					worldModel->getBody().getPos().getY() - homePoint.y) < 3)
				maxDashPower = 0;
		}
		else
		{
			if (hypot(worldModel->getBody().getPos().getX() - homePoint.x, 
					worldModel->getBody().getPos().getY() - homePoint.y) < 5)
				maxDashPower = 80;

			if (hypot(worldModel->getBody().getPos().getX() - homePoint.x, 
					worldModel->getBody().getPos().getY() - homePoint.y) < 3)
				maxDashPower = 50;

			if (hypot(worldModel->getBody().getPos().getX() - homePoint.x, 
					worldModel->getBody().getPos().getY() - homePoint.y) < 1.5)
				maxDashPower = 0;
		}
	}
	
	float idealBodyDir = 0;
	
	if (worldModel->getPlayMode() != PM_PLAY_ON)
	{
		LOG << "Positioning NPO " << endl;
		if (worldModel->getPlayMode() == PM_OFFSIDE)
		{
			LOG << "Positioning  NPO Offside NPOX" << endl;
			ForbiddenAreaGotoPoint doGotoPoint(homePoint, worldModel->getBall().getPos(), 
				9.15, worldModel->getBody(), true);
			if (doGotoPoint.getStatus() == 0)
			{
				if (doGotoPoint.getCommand())
					delete doGotoPoint.getCommand();
				return TurnToPoint(worldModel->getBall().getPos(),
						worldModel->getBody(), 5).getCommand();
			}
			else
				return doGotoPoint.getCommand();
		}
		else if (worldModel->getPlayMode() == PM_GOAL_KICK_OPP)
		{
			LOG << "Positioning  NPO GoalKickOpp NPOX" << endl;
			ForbiddenAreaGotoPoint doGotoPoint(getOppGoalieKickHome(homePoint),
				   	36, -20, 20, worldModel->getBody());
			if (doGotoPoint.getStatus() == 0)
			{
				if (doGotoPoint.getCommand())
					delete doGotoPoint.getCommand();
				return TurnToPoint(worldModel->getBall().getPos(),
						worldModel->getBody(), 5).getCommand();
			}
			else
				return doGotoPoint.getCommand();
		}
		else if (worldModel->getPlayMode() == PM_FREE_KICK_OPP &&
				 worldModel->getVirtualPlayMode() == VPM_GOALIE_CATCH_BALL_OPP)
		{
			LOG << "Positioning  NPO GoalieCatchOpp NPOX" << endl;
			ForbiddenAreaGotoPoint doGotoPoint(getOppGoalieKickHome(homePoint),
					worldModel->getBall().getPos(), 9.15,
				   	worldModel->getBody());
			if (doGotoPoint.getStatus() == 0)
			{
				if (doGotoPoint.getCommand())
					delete doGotoPoint.getCommand();
				return TurnToPoint(worldModel->getBall().getPos(),
						worldModel->getBody(), 5).getCommand();
			}
			else
				return doGotoPoint.getCommand();
		}
		else
		{
			LOG << "Positioning  NPO Other  NPOX" << endl;
			ForbiddenAreaGotoPoint doGotoPoint(homePoint, worldModel->getBall().
					getPos(), 9.15, worldModel->getBody());
			if (doGotoPoint.getStatus() == 0)
			{
				if (doGotoPoint.getCommand())
					delete doGotoPoint.getCommand();
				return TurnToPoint(worldModel->getBall().getPos(),
						worldModel->getBody(), 5).getCommand();
			}
			else
				return doGotoPoint.getCommand();
		}

	}
	
	if (worldModel->getBody().getPostNum() >= 9)
	{
		idealBodyDir = 0; 
		return DashNormalGotoPoint(homePoint, 1.5, worldModel->getBody(), idealBodyDir,
				maxDashPower).getCommand();
	}

	if ((worldModel->getBody().getPostNum() <= 5 || 
		(worldModel->getBody().getPostNum() == 8 && 
		worldModel->getBall().getPos().getX() < 10)) &&
		worldModel->getBall().getPos().getX() > -32)
	{
		if (worldModel->getBall().getPos().getY() > homePoint.y)
			idealBodyDir = 90; 
		else
			idealBodyDir = -90;

		if (worldModel->getBody().getPostNum() == 8)
		{
			if (fabs(worldModel->getBall().getPos().getY()) > 12)
				idealBodyDir = 180;
		}
		if (worldModel->getBody().getPostNum() == 4)
		{
			if (worldModel->getBall().getPos().getY() < 0)
				idealBodyDir = 180;

			if (worldModel->getBall().getPos().getY() > 15)
				idealBodyDir = 135;
		}
		if (worldModel->getBody().getPostNum() == 3)
		{
			if (worldModel->getBall().getPos().getY() > 0)
				idealBodyDir = 180;

			if (worldModel->getBall().getPos().getY() < -15)
				idealBodyDir = -135;
		}
		if (worldModel->getBody().getPostNum() == 5)
		{
			if (worldModel->getBall().getPos().getY() < 12)
				idealBodyDir = 180;
		}
		if (worldModel->getBody().getPostNum() == 2)
		{
			if (worldModel->getBall().getPos().getY() > -12)
				idealBodyDir = 180;
		}
		return DashNormalGotoPoint(homePoint, 1.5, worldModel->getBody(), idealBodyDir,
				maxDashPower).getCommand();
	}

	return DashNormalGotoPoint(homePoint, 1.5, worldModel->getBody(),
			maxDashPower).getCommand();
	
}





float Positioning::getMaxXFor34()
{
	float maxXFor34 = 0;
	unsigned i;
	float xTmmFullPlayer[FULL_PLAYERS_NUM];
	float xTmmHalfPlayer[HALF_PLAYERS_NUM];

	for (int i = 0; i < FULL_PLAYERS_NUM; i++)
		xTmmFullPlayer[i] = 0;	
	
	for (int i = 0; i < HALF_PLAYERS_NUM; i++)
		xTmmHalfPlayer[i] = 0;	
	
	if (worldModel->getBody().getPostNum() == 3)
	{
		xTmmFullPlayer[7] = 0;
	
		if (worldModel->getFullPlayer(TID_TEAMMATE, 6).isValid()) 
			xTmmFullPlayer[6] = worldModel->getFullPlayer(TID_TEAMMATE, 6).getPos().
							getX() + 15;
		else
			xTmmFullPlayer[6] = 0;
	}
	
	if (worldModel->getBody().getPostNum() == 4)
	{
		if (worldModel->getFullPlayer(TID_TEAMMATE, 7).isValid()) 
			xTmmFullPlayer[7] = worldModel->getFullPlayer(TID_TEAMMATE, 7).getPos().
							getX() + 15;
		else
			xTmmFullPlayer[7] = 0;

		xTmmFullPlayer[6] = 0;
	}
		
	
	
	for (int i = 0; i < FULL_PLAYERS_NUM; i++)
		if (i != 6 && i != 7)	
			if (worldModel->getFullPlayer(TID_TEAMMATE,i).isValid() &&
				!worldModel->getFullPlayer(TID_TEAMMATE,i).isGoalie())
				xTmmFullPlayer[i] = worldModel->getFullPlayer(TID_TEAMMATE,i).
										getPos().getX();				

	xTmmFullPlayer[4] = 0;
	
	for (int i = 0; i < HALF_PLAYERS_NUM; i++)
		if (worldModel->getHalfPlayer(TID_TEAMMATE,i).isValid() &&
			!worldModel->getHalfPlayer(TID_TEAMMATE,i).isGoalie())
			xTmmHalfPlayer[i] = worldModel->getHalfPlayer(TID_TEAMMATE,i).
								getPos().getX();				


	bool isGoalieInList = false;
	
	for (int i = 0; i < FULL_PLAYERS_NUM; i++)
		if (worldModel->getFullPlayer(TID_TEAMMATE,i).isValid() &&
			worldModel->getFullPlayer(TID_TEAMMATE,i).isGoalie())
			isGoalieInList = true;

	for (int i = 0; i < HALF_PLAYERS_NUM; i++)
		if (worldModel->getHalfPlayer(TID_TEAMMATE,i).isValid() &&
			worldModel->getHalfPlayer(TID_TEAMMATE,i).isGoalie())
			isGoalieInList = true;
			
			
	
	if (isGoalieInList)
	{
		maxXFor34 = 0xFFFF;
		for (i = 0; i < FULL_PLAYERS_NUM; i++)
			if (xTmmFullPlayer[i] < maxXFor34)
				maxXFor34 = xTmmFullPlayer[i];

		for (i = 0; i < HALF_PLAYERS_NUM; i++)
			if (xTmmHalfPlayer[i] < maxXFor34)
				maxXFor34 = xTmmHalfPlayer[i];
	}
	else
	{
		float firstMinX = 0xFFFF, secMinX = 0xFFFF;
		for (i = 0; i < FULL_PLAYERS_NUM; i++)
			if (xTmmFullPlayer[i] < secMinX)
				{
					secMinX = xTmmFullPlayer[i];
					if (secMinX < firstMinX)
						swap(firstMinX, secMinX);
				}

		for (i = 0; i < HALF_PLAYERS_NUM; i++)
			if (xTmmHalfPlayer[i] < secMinX)
				{
					secMinX = xTmmHalfPlayer[i];
					if (secMinX < firstMinX)
						swap(firstMinX, secMinX);
				}
		maxXFor34 = secMinX;		
	
	}


	if (maxXFor34 > 0)
		maxXFor34 = 0;
		
	return maxXFor34;
}


float Positioning::getMaxXFor7()
{
	float maxXFor7 = 0;
	unsigned i;
	float xTmmFullPlayer[FULL_PLAYERS_NUM];
	float xTmmHalfPlayer[HALF_PLAYERS_NUM];

	for (int i = 0; i < FULL_PLAYERS_NUM; i++)
		xTmmFullPlayer[i] = 0;	
	
	for (int i = 0; i < HALF_PLAYERS_NUM; i++)
		xTmmHalfPlayer[i] = 0;	
	
	/////.
		xTmmFullPlayer[4] = 0;
	////.
	
		
	
	
	for (int i = 0; i < FULL_PLAYERS_NUM; i++)
		if (i != 4)	
			if (worldModel->getFullPlayer(TID_TEAMMATE,i).isValid() &&
				!worldModel->getFullPlayer(TID_TEAMMATE,i).isGoalie())
				xTmmFullPlayer[i] = worldModel->getFullPlayer(TID_TEAMMATE,i).
										getPos().getX();				

	for (int i = 0; i < HALF_PLAYERS_NUM; i++)
		if (worldModel->getHalfPlayer(TID_TEAMMATE,i).isValid() &&
			!worldModel->getHalfPlayer(TID_TEAMMATE,i).isGoalie())
			xTmmHalfPlayer[i] = worldModel->getHalfPlayer(TID_TEAMMATE,i).
								getPos().getX();				


	bool isGoalieInList = false;
	
	for (int i = 0; i < FULL_PLAYERS_NUM; i++)
		if (worldModel->getFullPlayer(TID_TEAMMATE,i).isValid() &&
			worldModel->getFullPlayer(TID_TEAMMATE,i).isGoalie())
			isGoalieInList = true;

	for (int i = 0; i < HALF_PLAYERS_NUM; i++)
		if (worldModel->getHalfPlayer(TID_TEAMMATE,i).isValid() &&
			worldModel->getHalfPlayer(TID_TEAMMATE,i).isGoalie())
			isGoalieInList = true;
			
			
	
	if (isGoalieInList)
	{
		maxXFor7 = 0xFFFF;
		for (i = 0; i < FULL_PLAYERS_NUM; i++)
			if (xTmmFullPlayer[i] < maxXFor7)
				maxXFor7 = xTmmFullPlayer[i];

		for (i = 0; i < HALF_PLAYERS_NUM; i++)
			if (xTmmHalfPlayer[i] < maxXFor7)
				maxXFor7 = xTmmHalfPlayer[i];
	}
	else
	{
		float firstMinX = 0xFFFF, secMinX = 0xFFFF;
		for (i = 0; i < FULL_PLAYERS_NUM; i++)
			if (xTmmFullPlayer[i] < secMinX)
				{
					secMinX = xTmmFullPlayer[i];
					if (secMinX < firstMinX)
						swap(firstMinX, secMinX);
				}

		for (i = 0; i < HALF_PLAYERS_NUM; i++)
			if (xTmmHalfPlayer[i] < secMinX)
				{
					secMinX = xTmmHalfPlayer[i];
					if (secMinX < firstMinX)
						swap(firstMinX, secMinX);
				}
		maxXFor7 = secMinX;		
	
	}


	if (maxXFor7 > 0)
		maxXFor7 = 0;
		
	return maxXFor7;
}


Point Positioning::getBasicPos(unsigned num) const
{
	return basicPos[num];
}

Point Positioning::getHomePoint(unsigned playerUniNum) const
{
	return basicPos[Player::uniNumToPostNum(playerUniNum) - 1];
}

Point Positioning::getOppGoalieKickHome(Point homePoint) const
{
	Point newHomePoint;
	newHomePoint = homePoint;
	if (worldModel->getPlayMode() == PM_FREE_KICK_OPP &&
				 worldModel->getVirtualPlayMode() == VPM_GOALIE_CATCH_BALL_OPP)
	{
		LOG << "Positioning GoalieCatchOppHome model=catch" << endl;
		if (worldModel->getBody().getPostNum() == 6)
			newHomePoint = Point(18, 10);
		if (worldModel->getBody().getPostNum() == 7)
			newHomePoint = Point(18, -10);
		if (worldModel->getBody().getPostNum() == 9)
			newHomePoint = Point(25, 0);
		if (worldModel->getBody().getPostNum() == 10)
			newHomePoint = Point(30, -20);
		if (worldModel->getBody().getPostNum() == 11)
			newHomePoint = Point(30, 20);
		newHomePoint.y += worldModel->getBall().getPos().getY() * .15;
	}
	if (worldModel->getPlayMode() == PM_GOAL_KICK_OPP)
	{
		LOG << "Positioning GoalieCatchOppHome model=goalkick" << endl;
		if (worldModel->getBody().getPostNum() == 6)
			newHomePoint = Point(28, 10);
		if (worldModel->getBody().getPostNum() == 7)
			newHomePoint = Point(28, -10);
		if (worldModel->getBody().getPostNum() == 9)
			newHomePoint = Point(35, 0);
		if (worldModel->getBody().getPostNum() == 10)
			newHomePoint = Point(35, -20);
		if (worldModel->getBody().getPostNum() == 11)
			newHomePoint = Point(35, 20);
		newHomePoint.y += worldModel->getBall().getPos().getY() * .15;
	}
	return newHomePoint;
}