worldmodel.h

2006年世界杯足球赛2D仿真组第16名的源代码。在此代码上随便改改

/*
 *  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
 *  and is modified by: Mostafa Rokooey, Sassan Haradji
 *                      Darioush Jalali
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#ifndef __WORLD_MODEL_H
#define __WORLD_MODEL_H


#include <vector>
#include <set>
#include <Ball.h>
#include <Body.h>
#include <Timer.h>
#include <Config.h>
#include <Object.h>
#include <Player.h>
#include <FieldData.h>
#include <SExpression.h>
#include <KickCalculate.h>
#include <InterceptCalculate.h>
#include <string>
#include <map>
#include <vector>

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

#define FLAGS_NUM 53
#define GOALS_NUM 2
#define LINES_NUM 4
#define FULL_PLAYERS_NUM 11
#define HALF_PLAYERS_NUM  20
#define QUARTER_PLAYERS_NUM 30
#define CHANGE_PLACE_SURE_ANGLE 5
#define CHANGE_PLACE_SURE_DIST 2
#define PUT_OUT_VIS_SURE_DIST 0.2

#define VIEW_PARTS_NUM 9
#define VIEW_PART_SIZE 45
#define EXTRA_VIEW_SIZE ((VIEW_PARTS_NUM * VIEW_PART_SIZE - 360) \
		/ (float)VIEW_PARTS_NUM)
#define MAX_SEE_DELTA_CYCLE 50


class Form;

class WorldModel
{
protected:
	Timer *timer;
	Param serverParam;
	Param playerParam;
	std::vector<Param> playerTypes;
	FieldData fieldData;
	KickCalculate curKickCalculate;
	InterceptCalculate curInterCalculate;

	std::map<unsigned, std::pair<std::vector<Vector>, unsigned> > correlationMap;
	std::vector<Vector> ourPosition;
	std::set<unsigned> markers;
	unsigned seeCycle;
	unsigned seeTime;
	unsigned curCycle;
	unsigned curTime;
	unsigned refereeHearTime;
	unsigned playModeRemainCycle;
	unsigned playOnStartCycle;
	Side fieldSide;
	PlayMode playMode;
	VirtualPlayMode virtualPlayMode;

	bool bodyReplacedFlag;

	float viewPartDirs[VIEW_PARTS_NUM];
	unsigned viewPartCycles[VIEW_PARTS_NUM];

	unsigned freeKickAdvicerSayCycle;
	unsigned freeKickAdvicerSayNumber;
	
	BallStatus ballStatus;

	// Heared Vars
	float hearedSuggestPassDir;
	float hearedSuggestPassSpeed;
	float hearedSuggestPassWeight;
	unsigned hearedSuggestPassNum;

	unsigned hearedPlanTime;
	unsigned hearedPlanSender;
	std::string hearedPlanInfo;
		
	// Remain until next hear
	char hearedHeader;
	unsigned hearedSender;

	// Remain until next cycle
	int planStatusSender;
	unsigned hearedPlanStatus;
	unsigned hearedInterceptNum;
	unsigned hearedSuggestPassTime;

	// Objects on the field
	FieldFlag *flags[FLAGS_NUM];
	FieldGoal *goals[GOALS_NUM];
	FieldLine *lines[LINES_NUM];

	Ball *ball;
	Body *body;
	Player *fullPlayers[2][FULL_PLAYERS_NUM];
	Player *halfPlayers[2][HALF_PLAYERS_NUM];
	Player *quarterPlayers[QUARTER_PLAYERS_NUM];

	unsigned flagsNum;
	unsigned goalsNum;
	unsigned linesNum;

public:
	WorldModel();
	WorldModel(const WorldModel &worldModelCopy);
	virtual ~WorldModel();

	void copyFrom(const WorldModel &worldModelCopy, bool constructed = true);

	void initServerParam(const SExpression &exp);
	virtual void initPlayerParam(const SExpression &exp);
	virtual void initPlayerType(const SExpression &exp);

	virtual void parseSee(const SExpression &exp);
	virtual void parseFlag(const SExpression &exp);
	virtual void parseGoal(const SExpression &exp);
	virtual void parseLine(const SExpression &exp);
	virtual void parseBall(const SExpression &exp);
	virtual void parsePlayer(const SExpression &exp);

	virtual void parseHear(const SExpression &exp);
	virtual void parseRefereeHear(const SExpression &exp);
	virtual void parseTeammateCoachHear(const SExpression &exp);
	virtual void selfHear(const std::string &message);
	virtual void teammateHear(float hearDir, unsigned senderNum,
								const std::string &message);
	void opponentHear(float hearDir, const std::string &message);
	void suggestPassTmmHear(const std::string &message, unsigned senderNum);
	void routinTmmHear(const std::string &message, unsigned senderNum);
//	void routinTmmHearWithoutBall(const std::string &message, unsigned senderNum);
	void beforePassTmmHear(const std::string &message, unsigned senderNum);
	void beforePassRelatedTmmHear(const std::string &message, unsigned senderNum);
	void freeKickKickerHear(const std::string &messager, unsigned senderNum);
	void planTmmHear(const std::string &message, unsigned senderNum);
	void radarHear(const std::string &message, unsigned senderNum);

	void updatePlayModeRemainCycleAfterSenseBody();

	virtual void updateAfterSenseBody();
	void parseChangePlayerType(const SExpression &exp);

	void updateCurKickCalculate();
	void updateCurInterCalculate();

	void resetObjects();
	void updateObjects();
	void completeUpdateObjects();
	void replaceBodyInPlayersList(unsigned bodyUniNum);
	void simulateObjects(const Body &lastBody, const Command *bodyCycleCommand);
	virtual void logObjects();
	void updateMarkingPlayers();

	void putOutOfVisibleAngle(Object &object);
	void putOutOfVisibleDistance(Object &object);
	void changePosDevBySee(Object &object);

	void initViewPartDirs();
	void resetSeeDeltaCycles();
	void updateSeeDeltaCyclesAfterSee();
	void updateSeeDeltaCyclesAfterSenseBody();
	float getSeeDeltaCycle(float dir, float minRate = 0.35) const;
	float getSeeViewPartValue(unsigned viewPartNum,
			float headDir, float viewAngle) const;

	void updateBallStatus();
	void resetHearedVarsBeforeHear();
	void resetHearedVarsAfterSenseBody();

	int checkPlayModeForPenalty() const;

	// Some Utilities
	int getOppPlayersBeforeLine(float lineX) const;
	int getOppPlayersBetweenLines(float line1X, float line2X) const;

	bool isBallKickable() const;
	bool isBallKickable(const Ball &theBall) const;
	bool isBallCatchable() const;
	bool isBallCatchable(const Ball &theBall) const;
	bool isBallInTmmKickable() const;
	bool isBallInTmmKickable(const Ball &theBall) const;
	bool isBallInOppKickable() const;
	bool isBallInOppKickable(const Ball &theBall) const;
	bool isBallInField() const;
	static bool isBallInField(const Ball &theBall);
	bool isOppBallShooted(const Ball &theBall) const;
	bool isOppBallShootedToTir(const Ball &theBall, float upYTirPoint, 
								float downYTirPoint, Point &shootIntercept) const;
	static bool isPlayerInOurField(const Player &player);
	static bool isPlayerInOppField(const Player &player);
	static bool isPlayerInOurShootArea(const Player &player);
	static bool isPlayerInOppShootArea(const Player &player);

	float getTmmDefenseLine() const;
	float getOppOffsideLine(bool isBallFlag = true) const;
	float getTmmOffsideLine(bool isBallFlag = true) const;
	float getBallOutDistance() const;
	float getOppLocalOffLine() const;
	static float getOutDistance(const Point &point);

	const Player *getNearestOppToBall() const;
	const Player &getNearestTmmToBall() const;
	const Player &getNearestTmmToPoint(const Point & point) const;
	const Player* getNearestTmmToPointFromList(const Point & point,
			std::string players = "", std::string blackPlayers = "") const;
	const Player *getTmmGoalie() const;
	const Player *getOppGoalie() const;

	Point getOppDefenseMedium() const;
	Point getOppDefenseYMin() const;
	Point getOppDefenseYMax() const;
	float getSecurityStatus(const Player &player, float oval_a = .4,
			float oval_b = .5) const;
	float getPathSecurityStatus(const Player &srcPlayer,
			const Point trgPoint, float forwardRate) const;


	// Getting functions
	bool isBodyReplaced() const;
	unsigned getFlagsNum() const;
	unsigned getGoalsNum() const;
	unsigned getLinesNum() const;
	unsigned getSeeCycle() const;
	unsigned getCurCycle() const;
	unsigned getCurTime() const;
	Side getFieldSide() const;
	PlayMode getPlayMode() const;
	VirtualPlayMode getVirtualPlayMode() const;
	BallStatus getBallStatus() const;
	unsigned getPlayOnPastCycles() const;
	unsigned getRefereeHearTime() const;
  const std::set<unsigned>& getMarkers() const;

	float getViewPartDir(unsigned num) const;
	unsigned getViewPartCycle(unsigned num) const;

	unsigned getFreeKickAdvicerSayCycle() const;
	unsigned getFreeKickAdvicerSayNumber() const;
	
	char getHearedHeader() const;
	bool getMustAttention() const;
	float getHearedSuggestPassDir() const;
	float getHearedSuggestPassSpeed() const;
	float getHearedSuggestPassWeight() const;
	unsigned getHearedSender() const;
	unsigned getHearedPlanStatus() const;
	unsigned getHearedInterceptNum() const;
	unsigned getHearedRequestPassNum() const;
	unsigned getHearedSuggestPassNum() const;
	unsigned getHearedSuggestPassTime() const;
	int getPlanStatusSender() const;

	const std::string& getHearedPlanInfo() const;
	unsigned getHearedPlanTime() const;
	unsigned getHearedPlanSender() const;

	const Timer &getTimer() const;
	unsigned getPlayModeRemainCycle() const;
	const Param &getServerParam() const;
	const Param &getPlayerParam() const;
	const Param &getPlayerType(unsigned num) const;
	const KickCalculate &getCurKickCalculate() const;
	const InterceptCalculate &getCurInterCalculate() const;

	const Ball &getBall() const;
	const Body &getBody() const;
	const Player &getFullPlayer(TeamId teamId, unsigned num) const;
	const Player &getHalfPlayer(TeamId teamId, unsigned num) const;
	const Player &getQuarterPlayer(unsigned num) const;

	// Setting functions
	void setBodyReplaced(bool bodyReplacedFlagArg);
	void setFlagsNum(unsigned flagsNumArg);
	void setGoalsNum(unsigned goalsNumArg);
	void setLinesNum(unsigned linesNumArg);
	void setSeeCycle(unsigned seeCycleArg);
	void setCurCycle(unsigned curCycleArg);
	void setCurTime(unsigned curTimeArg);
	void setFieldSide(Side fieldSideArg);
	void setVirtualPlayMode(VirtualPlayMode virtualPlayModeArg);

	Timer &setTimer();
	Ball &setBall();
	Body &setBody();
	Player &setFullPlayer(TeamId teamId, unsigned num);
	Player &setHalfPlayer(TeamId teamId, unsigned num);
	Player &setQuarterPlayer(unsigned num);
	FieldData &setFieldData();
};


#endif // __WORLD_MODEL_H