world.h

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#ifndef _WORLD_H
#define _WORLD_H

#include <string>
#include <vector>
#include "common.h"
#include "Matrix.h"
#include "Geometry.h"

class body;

class world
{
public:
	world();
	body *bd;

	void set_flags();
	void set_teammate(int,Vector3d);
	void set_opponent(int,Vector3d);

	void SetGyro(double,double,double);
	Vector3d GetGyro();
	Vector3d Gyroscope;

	void SetHearMsg(double,string,string);
	double GetHearTime();
	string GetHearName();
	string GetHearMsg();
	double HearTime;
	string HearName,HearMsg;

	void analyze();
	void update_torso_position();
	void update_torso_rotation_matrix();
	void update_objects_positions();
	void update_situation();

	double field_width;
	double field_length;
	double goal_width;

	double theta_angle_on_field;
	situation_e situation;

	bool ready;
	int uniform_number;
	int cycle;
	std::string team_name;
	std::string team_side;
	play_mode_e play_mode;
	double simulation_time;
	double game_time;
	//vision
	Vector3d ball_position;
	Vector3d ball_vision_position;
	Vector3d my_position;
	Matrix torso_direction_matrix;
	flag flags[8];
	std::vector<agent> teammates;
	std::vector<agent> opponents;
};

#endif