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

#ifndef __OPP_TYPES_H
#define __OPP_TYPES_H

#include <Types.h>
#include <AdvancedCoach.h>
#include <CoachWorldModel.h>
#include <Task.h>

class TypeInfo
{
public:
	float playerSpeedMax;
	float staminaIncMax;
	float playerDecay;
	float inertiaMoment;
	float dashPowerRate;
	float playerSize;
	float kickableMargin;
	float kickRand;
	float extraStamina;
	float effortMax;
	float effortMin;

	void setByPlayerType(const Param &playerParam);
	
	// 0:Unable 1:Able with noise 2:Able
	int isAbleToKick(Vector playerPos, Vector ballPos, float playerBodyDir,
			Vector Accleration, Side ourSide, const Param &serverParam);
		
	// 0:Unable 1:Able with noise 2:Able
	int isAbleToDash(Vector playerVel, Vector playerPrevVel,
		   	float playerBodyDir, const Param &serverParam);

	bool isMaxDash(Vector playerVel, Vector playerPrevVel,
			float playerBodyDir, const Param &serverParam);

	// 0:Unable 1:Able with noise 2:Able
	int isAbleToTurn(Vector playerVel, float Angle, const Param &serverParam);
	
	bool isMaxTurn(Vector playerVel, float Angle, const Param &serverParam);
};

class OppTypes: public Task
{
protected:
	bool sureNot[11][7];
	float sureIs[11][7];
	
	bool foundSure[11];
	int foundType[11];
	
	TypeInfo types[7];
	bool typesSet;

	float maxPlayerDecay;
	float maxKickableArea;

	void resetPlayer(int uniNum);
	void resetPlayerForFirstTime(int uniNum);
	void informOppChangePlayerType(unsigned playerNum);

	void checkForTurns();
	void informTurn(int uniNum, unsigned time);
	void informMaxTurn(int uniNum, unsigned time);

	void checkForDashes();
	void informDash(int uniNum, unsigned time);
	void informMaxDash(int uniNum, unsigned time);

	void checkForKicks();
	void informKick(int uniNum, unsigned time, Vector acclerate);

	// T:changed F:not changed
	bool find();
	void setFreeForm();
public:
	OppTypes(const CoachWorldModel *worldModel, const CoachWorldModelHistory &worldModelHistory);
	virtual ~OppTypes();
	
	virtual bool execute();
	void initialize();
};


#endif // __OPP_TYPES_H