global.cpp

robocup3d源化码 Nexus3D.tar.gz

/*
Copyright (C) 2005 Ferdowsi University
*/

#include "global.h" 
#include <zeitgeist/zeitgeist.h>

using namespace zeitgeist;
namespace global
{
/************* variables ***************/
	// field parameters
	float FieldLength = 105.0;
	float FieldWidth = 68.0;
	float FieldHeight = 20.0;
	float GoalWidth = 7.32;
	float GoalDepth = 2.0;
	float GoalHeight = 2.44;
	float BorderSize = 4.0f;
	// agent parameters
	int AgentMass = 75;
	float AgentRadius = 0.22;
	int AgentMaxSpeed = 10;
	// ball parameters
	float BallRadius = 0.111;
	float BallMass = 0.4;

	float KickDistance = AgentRadius + BallRadius + 0.07;//0.15;//04;
	float MinKickDistance = AgentRadius + BallRadius + 0.04;//04;

/************* variables ***************/
	// the playes uniform number, if left to zero the server will allocate
	// the next free unum
	int MyNumber = 0;

	// the default team name
	string MyTeamName = "";
	string TheirTeamName = "";

	LogUnit logunit;

	Player MyPlayer[12];
	Player TheirPlayer[12];
	FieldObject object[9];
	Ball ball;
	MySelf self;
	TTeamIndex TeamIndex;
	float CurrentTime;
	ActionInfo action_info;
	bool do_beam_on_kickof=true;
	AdjustKickPosition AdjustKickPos;
	Vector3f predicted_ball_pos[41];
	int stop_index;
	Field FieldInfo;
	Tackle tackle;

/************* functions ***************/
	float Deg2Rad(float deg)
	{
		return (deg*PI)/180.0f;
	}

	float Rad2Deg(float x)
	{
		return float(x*57.2958);
	}

	float ATan(float x){
		//DoLog(LOG_POS,"ATan(%.2f)=%.2f",x,float(Rad2Deg(float(atan(x)))));
		return float(Rad2Deg(float(atan(x))));
	}

	float Tan(float deg){
		return float(tan(Deg2Rad(deg)));
	}

	Vector3f pol2vector(pol tmp)
	{
		Vector3f i;
		i[0]=tmp.distance*(float)cos(Deg2Rad(tmp.phi))*(float)cos(Deg2Rad(tmp.theta));
		i[1]=tmp.distance*(float)cos(Deg2Rad(tmp.phi))*(float)sin(Deg2Rad(tmp.theta));
		i[2]=tmp.distance*(float)sin(Deg2Rad(tmp.phi));
		return i;
	}

	void InitObjects()
	{
	       	if(TeamIndex == TI_LEFT){
			object[VO_FLAG1L].pos = Vector3f(-FieldLength/2, -FieldWidth/2, 0.0);
			object[VO_FLAG1R].pos = Vector3f(FieldLength/2, -FieldWidth/2, 0.0);
			object[VO_FLAG2L].pos = Vector3f(-FieldLength/2, FieldWidth/2, 0.0);
			object[VO_FLAG2R].pos = Vector3f(FieldLength/2, FieldWidth/2, 0.0);
			object[VO_GOAL1L].pos = Vector3f(-FieldLength/2, -GoalWidth/2, 0.0);
			object[VO_GOAL1R].pos = Vector3f(FieldLength/2, -GoalWidth/2, 0.0);
			object[VO_GOAL2L].pos = Vector3f(-FieldLength/2, GoalWidth/2, 0.0);
			object[VO_GOAL2R].pos = Vector3f(FieldLength/2, GoalWidth/2, 0.0);
		}
		else{
			object[VO_FLAG1L].pos = Vector3f(FieldLength/2, FieldWidth/2, 0.0);
			object[VO_FLAG1R].pos = Vector3f(-FieldLength/2, FieldWidth/2, 0.0);
			object[VO_FLAG2L].pos = Vector3f(FieldLength/2, -FieldWidth/2, 0.0);
			object[VO_FLAG2R].pos = Vector3f(-FieldLength/2, -FieldWidth/2, 0.0);
			object[VO_GOAL1L].pos = Vector3f(FieldLength/2, GoalWidth/2, 0.0);
			object[VO_GOAL1R].pos = Vector3f(-FieldLength/2, GoalWidth/2, 0.0);
			object[VO_GOAL2L].pos = Vector3f(FieldLength/2, -GoalWidth/2, 0.0);
			object[VO_GOAL2R].pos = Vector3f(-FieldLength/2, -GoalWidth/2, 0.0);
		}
	}

	float NormalizeAngle(float ang,float min=-180.0f){
		while(ang>=360+min) ang-=360;
		while(ang<min) ang+=360;
		return ang;
	}

	float MidAngle(float ang1,float ang2){
		float ang=NormalizeAngle(ang2-ang1,0.0f);
		//DoLog(LOG_POS,"ang1=%.2f   ang2=%.2f   midang=%.2f",ang1,ang2,NormalizeAngle(ang1+ang/2.0f));
		return NormalizeAngle(ang1+ang/2.0f);
	}

	float GetSlopeOfMidAngle(float ang1,float ang2){
		return -Tan(MidAngle(ang1,ang2));
	}

	// simulating if the ball can be intercepted while shooting
	bool OpponentCanIntercept(Vector3f ball_vel){
		float MinVel = 0.3;
		float radious[12]={0};
		float MaxPlayerSpeed = 0.25; //meter per cycle
		Vector3f ball_pos = ball.pos;
		Vector3f ball_decay;
		ball_pos[0] = 0.0;
		ball_vel[0] = 0.0;
		Vector3f temp = ball_vel;
		while(ball_vel.Length() > MinVel){
			if(fabs(ball_vel[0])>1.5) ball_decay[0]=0.78;
			else if(fabs(ball_vel[0])>1) ball_decay[0]=0.80;
			else if(fabs(ball_vel[0])>0.85) ball_decay[0]=0.85;
			else ball_decay[0]=0.88;
			if(fabs(ball_vel[1])>1.5) ball_decay[1]=0.78;
			else if(fabs(ball_vel[1])>1) ball_decay[1]=0.80;
			else if(fabs(ball_vel[1])>0.85) ball_decay[1]=0.85;
			else ball_decay[1]=0.88;
			ball_pos = ball_pos + ball_vel;
			ball_vel[0]=ball_vel[0]*ball_decay[0];
			ball_vel[1]=ball_vel[1]*ball_decay[1];
		}
		Vector3f target = ball_pos;
		// this while simulates each cycle
		ball_pos = ball.pos;
		ball_vel = temp;
		while(ball_vel.Length() > MinVel){
			if(fabs(ball_vel[0])>1.5) ball_decay[0]=0.78;
			else if(fabs(ball_vel[0])>1) ball_decay[0]=0.80;
			else if(fabs(ball_vel[0])>0.85) ball_decay[0]=0.85;
			else ball_decay[0]=0.88;
			if(fabs(ball_vel[1])>1.5) ball_decay[1]=0.78;
			else if(fabs(ball_vel[1])>1) ball_decay[1]=0.80;
			else if(fabs(ball_vel[1])>0.85) ball_decay[1]=0.85;
			else ball_decay[1]=0.88;
			ball_pos = ball_pos + ball_vel;
			ball_vel[0]=ball_vel[0]*ball_decay[0];
			ball_vel[1]=ball_vel[1]*ball_decay[1];

			for(int i=1;i<12;i++){
				radious[i] += MaxPlayerSpeed;
				if((ball_pos - TheirPlayer[i].pos).Length() < radious[i] || (target - TheirPlayer[i].pos).Length() - radious[i] < 4)
					return true; // opponent can intercept the ball!
			}
		}
		return false;
	}
}