basickick.h

RoboCup 2D 仿真组老牌强队Mersad 2005的完整源代码

/*
 *  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: Mostafa Rokooey
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#ifndef __BASIC_KICK_H
#define __BASIC_KICK_H


#include <Types.h>
#include <Vector.h>
#include <BasicAction.h>


#ifndef NULL
#	define NULL 0
#endif // NULL


class Object;
class Ball;
class Player;
class Body;


class BasicKick: public BasicAction
{
protected:
	Vector kickVector;
	Vector trajectoryVector;
	bool possibleFlag;

public:
	BasicKick(ActionType creator);

	Vector getKickVec();
	Vector getTrajVec();
	bool isPossible();
	float needKick(float power, const Body &body, const Ball &ball);
	float directionOfMaxPowerKick(float direction, const Body &body,
		const Ball &ball, float maxKickPower = 100);
};

class KickToDirectionVelocity: public BasicKick
{
protected:
	float direction;
	float velocity;
	const Ball &ball;
	const Body &body;
	float possibleArea;
	Command *kickCommand;

public:
	KickToDirectionVelocity(ActionType creator, float direction, float velocity, 
		const Ball &ball, const Body &body, float possibleArea = 0);
	virtual Command *getCommand();
	
};

class KickToPointVelocity: public BasicKick
{
protected:
	Point point;
	float velocity;
	const Ball &ball;
	const Body &body;
	float possibleArea;
	Command *kickCommand;

public:
	KickToPointVelocity(ActionType creator, const Point &point, float velocity, const Ball &ball, 
		const Body &body, float possibleArea = 0);
	virtual Command *getCommand();
};

class KickToPointArriveVelocity: public BasicKick
{
protected:
	Point point;
	float velocity;
	const Ball &ball;
	const Body &body;
	float possibleArea;
	Command *kickCommand;

public:
	KickToPointArriveVelocity(ActionType creator, const Point &point, float velocity, const Ball &ball, 
		const Body &body, float possibleArea = 0);
	virtual Command *getCommand();
};

class KickToPointCycles: public BasicKick
{
protected:
	Point point;
	float cycles;
	const Ball &ball;
	const Body &body;
	float possibleArea;
	Command *kickCommand;

public:
	KickToPointCycles(ActionType creator, const Point &point, float cycles, const Ball &ball, const Body &body,
		float possibleArea = 0);
	virtual Command *getCommand();
};

class FastKickToDir: public BasicKick
{
protected:
	float dir;
	const Ball &ball;
	const Body &body;
	Command *kickCommand;

public:
	FastKickToDir(ActionType creator, float dir, const Ball &ball, const Body &body);
	virtual Command *getCommand();
};

class FastKickToPoint: public BasicKick
{
protected:
	Point point;
	const Ball &ball;
	const Body &body;
	Command *kickCommand;

public:
	FastKickToPoint(ActionType creator, Point &point, const Ball &ball, const Body &body);
	virtual Command *getCommand();
};

class StopBall: public BasicKick
{
protected:
	const Ball &ball;
	const Body &body;
	float possibleArea;
	Command *kickCommand;
	
public:
	StopBall(ActionType creator, const Ball &ball, const Body &body, float possibleArea = 0);
	virtual Command *getCommand();
};

#endif // __BASIC_DASH_H