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

#ifndef __INTERCEPT_CALCULATE_H
#define __INTERCEPT_CALCULATE_H


#include <Ball.h>
#include <Types.h>
#include <Player.h>


#define INCA_OUT_DIST 2
#define INCA_MIN_DELTA_ANGLE 5
#define INCA_MAX_INTERCEPT_TIME 100
#define INCA_MAX_PLAYERS 65
#define MAX_CHECK_PLAYERS 3
#define DEFAULT_SHARE_CYCLES 2


class WorldModel;

class InterceptPlayer
{
protected:
	bool loggingFlag;

	// Static variables
	bool kickingFlag;
	bool blockedFlag;
	float slowAccel;
	float fastAccel;
	float directAccel;
	float kickableRadius;
	float posDevDashDist;
	unsigned seeBallDelay;
	Player simPlayer;
	const Player *player;

	float withTurnVelArchive[INCA_MAX_INTERCEPT_TIME];
	float withoutTurnVelArchive[INCA_MAX_INTERCEPT_TIME];
	float withTurnDashDistArchive[INCA_MAX_INTERCEPT_TIME];
	float withoutTurnDashDistArchive[INCA_MAX_INTERCEPT_TIME];

	// Dynamic variables
	bool catchBallFlag;

	float *withTurnVel;
	float *withoutTurnVel;
	float *withTurnDashDist;
	float *withoutTurnDashDist;

	// Result variables
	bool extraCatchedFlag;
	unsigned interceptTime;
	Point interceptPoint;

public:

	InterceptPlayer();

	void simulate();
	void getReadyToRun();
	void checkForExtraCatch(const Ball &ball);
	void init(const Player &playerArg, const Ball &ball,
			bool kickingFlagArg, unsigned kickCycles,
			unsigned seeBallDelayArg, float slowDashPower,
			float fastDashPower, float directDashPower,
			float posDevDashDist, bool blockedPlayer = false,
			bool checkForPenaltyBox = true);
	void finalizeIntercept(const Ball &ball, unsigned interceptTimeArg);
	bool isBallKickable(const Ball &ball);
	bool checkCatchBall(const Ball &ball);

	// Getting functions
	bool isLogging() const;
	bool isKicking() const;
	bool isBlocked() const;
	bool isCatchBall() const;
	bool isExtraCatched() const;
	float getDashDist() const;
	float getKickableRadius() const;
	unsigned getInterTime() const;
	Point getInterPoint() const;
	const Player& getPlayer() const;

	// Setting functions
	void setLogging(bool loggingFlagArg);
	void setKicking(bool kickingFlagArg);
	void setCatchBall(bool catchBallFlagArg);
	void setExtraCatched(bool extraCatchedFlagArg);
	void setKickableRadius(float kickableRadiusArg);
};

class InterceptCalculate
{
protected:
	// Starting session variables
	bool loggingFlag;
	unsigned kickCycles;
	unsigned playersNum;
	unsigned shareCycles;
	Vector blockedBallVel;
	InterceptPlayer interceptPlayers[INCA_MAX_PLAYERS];
	const Player *kickPlayer;
	const Player *blockedPlayer;

	// Two teams properties
	unsigned kickerSeeBallDelay;

	float tmmPosDevRate;
	float tmmSlowDashPower;
	float tmmFastDashPower;
	float tmmDirectDashPower;
	float tmmGoalieDirectDashPower;
	unsigned tmmSeeBallDelay;
	unsigned tmmGoalieSeeBallDelay;

	float oppPosDevRate;
	float oppSlowDashPower;
	float oppFastDashPower;
	float oppDirectDashPower;
	float oppGoalieDirectDashPower;
	unsigned oppSeeBallDelay;
	unsigned oppGoalieSeeBallDelay;

	// Before running intercepts variables
	Ball virtualBall;

	// After running intercepts variables
	PlayMode playMode;
	unsigned fastestPlayerNum;
	unsigned fastestTmmPlayerNum;
	unsigned fastestOppPlayerNum;
	unsigned checkedPlayersNum;
	unsigned fastestCheckedPlayerNum;
	unsigned fastestTmmCheckedPlayerNum;
	unsigned fastestOppCheckedPlayerNum;
	unsigned checkedPlayers[MAX_CHECK_PLAYERS];

	void getReadyToRun();
	void setBlockedBall();
	void simulateVirtualBall();
	void finalizeIntercepts();

	void prepareSum();
	void initTeamsProps();

public:

	void run();
	void startSession(unsigned kickCyclesArg = 0,
			const Player *kickPlayerArg = NULL,
			const Player *blockedPlayerArg = NULL);
	void addPlayer(const Player &player, bool kickingBallFlag = false,
			bool blockedPlayerFlag = false, bool checkForPenaltyBox = true);
	void updateByWorldModel(const WorldModel *worldModel,
			bool removeBody = false, bool removeTmm = false,
			bool removeOpp = false);

	void logCheckedPlayers() const;
	void getNearestOppDistDirToFastest(float &dist, float &dir);
	bool existFastestPlayer() const;
	bool existFastestTmmPlayer() const;
	bool existFastestOppPlayer() const;
	bool isFastestPlayer(const Player &player) const;
	unsigned getTmmCheckedPlayersNum() const;
	unsigned getOppCheckedPlayersNum() const;
	unsigned getCheckedListNum(const Player &Player) const;
	unsigned getOppPlayersBeforeLine(float x) const;
	unsigned getOppPlayersBetweenLines(float x1, float x2) const;

	const Player &getFastestPlayer() const;
	const Player &getFastestTmmPlayer() const;
	const Player &getFastestOppPlayer() const;
	const InterceptPlayer &getFastestInterPlayer() const;
	const InterceptPlayer &getFastestTmmInterPlayer() const;
	const InterceptPlayer &getFastestOppInterPlayer() const;
	const InterceptPlayer &getCheckedInterPlayer(unsigned CheckedNum) const;

	// Getting functions
	unsigned getPlayersNum() const;
	unsigned getFastestPlayerNum() const;
	unsigned getFastestTmmPlayerNum() const;
	unsigned getFastestOppPlayerNum() const;
	unsigned getCheckedPlayersNum() const;
	unsigned getFastestCheckedPlayerNum() const;
	unsigned getFastestTmmCheckedPlayerNum() const;
	unsigned getFastestOppCheckedPlayerNum() const;

	bool isLogging() const;
	PlayMode getPlayMode() const;
	const Ball &getVirtualBall() const;
	const Player *getKickPlayer() const;

	// Setting functions
	void setLogging(bool loggingFlagArg);
	void setKickCycles(unsigned kickCyclesArg);
	void setShareCycles(unsigned shareCyclesArg);
	void setBlockedBallVel(const Vector &blockedBallVelArg);

	void setKickerSeeBallDelay(unsigned kickerSeeBallDelayArg);

	void setTmmPosDevRate(float tmmPosDevRateArg);
	void setTmmSlowDashPower(float tmmSlowDashPowerArg);
	void setTmmFastDashPower(float tmmFastDashPowerArg);
	void setTmmDirectDashPower(float tmmDirectDashPowerArg);
	void setTmmGoalieDirectDashPower(float tmmGoalieDirectDashPowerArg);
	void setTmmSeeBallDelay(unsigned tmmSeeBallDelayArg);
	void setTmmGoalieSeeBallDelay(unsigned tmmGoalieSeeBallDelayArg);

	void setOppPosDevRate(float oppPosDevRateArg);
	void setOppSlowDashPower(float oppSlowDashPowerArg);
	void setOppFastDashPower(float oppFastDashPowerArg);
	void setOppDirectDashPower(float oppDirectDashPowerArg);
	void setOppGoalieDirectDashPower(float oppGoalieDirectDashPowerArg);
	void setOppSeeBallDelay(unsigned oppSeeBallDelayArg);
	void setOppGoalieSeeBallDelay(unsigned oppGoalieSeeBallDelayArg);

	void setVirtualBall(const Ball &virtualBallArg);

	InterceptPlayer &setLastInterPlayer();
};

#endif // __INTERCEPT_CALCULATE_H