global.h

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/*
Copyright (C) 2005 Ferdowsi University
*/

#ifndef GLOBAL_H 
#define GLOBAL_H

#include <zeitgeist/leaf.h>
#include <soccer/soccertypes.h>
#include <oxygen/gamecontrolserver/predicate.h>
#include <oxygen/gamecontrolserver/baseparser.h>
#include "math.h"

using namespace zeitgeist;
using namespace std;
using namespace boost;
using namespace oxygen;
using namespace salt;

#include "logunit.h"
#include "types.h"
#include "player.h"
#include "objects.h"
#include "ball.h"
#include "soccer.h"
#include "adjustkickpos.h"
#include "field.h"
#include "tackle.h"

#define _LOG	//Remove this line to disable logging.

#ifdef _LOG
	#define DoLog	logunit.LogAction
#else
	#define DoLog(...) NULL
#endif

#define PI 3.1415926535897932384626433832795

namespace global
{
/************* variables ***************/
	//field parameters
	extern float FieldLength;
	extern float FieldWidth;
	extern float FieldHeight;
	extern float GoalWidth;
	extern float GoalDepth;
	extern float GoalHeight;
	extern float BorderSize;
	// agent parameters
	extern int AgentMass;
	extern float AgentRadius;
	extern int AgentMaxSpeed;
	// ball parameters
	extern float BallRadius;
	extern float BallMass;

	extern float KickDistance;
	extern float MinKickDistance;
/************* variables ***************/
	extern int MyNumber;
	extern string MyTeamName;
	extern string TheirTeamName;
	extern LogUnit logunit;
	extern Player MyPlayer[12];
	extern Player TheirPlayer[12];
	extern FieldObject object[9];
	extern Ball ball;
	extern MySelf self;
	extern TTeamIndex TeamIndex;
	extern float CurrentTime;
	extern AdjustKickPosition AdjustKickPos;
	extern ActionInfo action_info;
	extern bool do_beam_on_kickof;
	extern Vector3f predicted_ball_pos[41];
	extern int stop_index;
	extern Field FieldInfo;
	extern Tackle tackle;

/************* functions ***************/
	extern float Deg2Rad(float);
	extern float Rad2Deg(float);
	extern float ATan(float);
	extern Vector3f pol2vector(pol);
	extern void InitObjects();
	extern float NormalizeAngle(float ,float);
	extern float MidAngle(float ,float);
	extern float GetSlopeOfMidAngle(float ,float);
	extern float Tan(float);
	extern bool OpponentCanIntercept(Vector3f);
};

using namespace global;

#endif // GLOBAL_H