situation.h

RoboCup 3D 仿真组清华大学2005的源代码

/***************************************************************************
 *   Copyright (C) 2005 by Rujia Liu                                       *
 *   [e-mail]                                                  *
 *                                                                         *
 *   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; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   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 General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
#ifndef SITUATION_H
#define SITUATION_H
#include <zeitgeist/leaf.h>

class Situation{
public:
    float lastWithBallTime; // prevent with ball but do not kick
    float lastStoppedTime;  // prevent close to ball but do not approach it
    bool withBall;
    bool stopped;

public:
    Situation();
    ~Situation();
    void CycleStart();
    float GetStoppedTime();
    int JudgeSituation();
    
    bool OkToShoot(int team, int unum, float& shoottarget);
    bool Dangerous();
    
    float GetTeamClosestDistance(int team, salt::Vector3f pos);
    float GetTeamClosestDistanceExcept(int team, int unum, salt::Vector3f pos);

    bool InField(salt::Vector3f pos);
    bool InPenaltyArea(int team, salt::Vector3f pos);
    
    float Emptiness(salt::Vector3f pos);
    float Attackness(salt::Vector3f pos);
};

#endif