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BasicPlayer.h

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/*
Copyright (c) 2000-2003, Jelle Kok, University of Amsterdam
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.

3. Neither the name of the University of Amsterdam nor the names of its
contributors may be used to endorse or promote products derived from this
software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#ifndef _BASICPLAYER_
#define _BASICPLAYER_

#include "ActHandler.h"

extern Logger Log; 
class BasicPlayer
{
protected:
  ActHandler      *ACT; 
  WorldModel      *WM;  
  ServerSettings  *SS;  
  PlayerSettings  *PS;  


  SoccerCommand   alignNeckWithBody       (                                  );
  SoccerCommand   turnBodyToPoint         ( VecPosition   pos,
                                            int           iPos = 1           );
  SoccerCommand   turnBackToPoint         ( VecPosition   pos,
                                            int           iPos = 1           );
  SoccerCommand   turnNeckToPoint         ( VecPosition   pos,
                                            SoccerCommand com                );
  SoccerCommand   searchBall              (                                  );
  SoccerCommand   dashToPoint             ( VecPosition   pos,
                                            int           iCycles = 1        );
  SoccerCommand   freezeBall              (                                  );
  SoccerCommand   kickBallCloseToBody     ( AngDeg        ang,
              double        dKickRatio = 0.16  );
  SoccerCommand   accelerateBallToVelocity( VecPosition   vel                );
  SoccerCommand   catchBall               (                                  );
  SoccerCommand   communicate             ( char          *str               );
  SoccerCommand   teleportToPos           ( VecPosition   pos                );
  SoccerCommand   listenTo                ( ObjectT       obj                );
  SoccerCommand   tackle                  (                                  );


  SoccerCommand   turnBodyToObject        ( ObjectT       o                  );
  SoccerCommand   turnNeckToObject        ( ObjectT       o,
                                            SoccerCommand com                );
  SoccerCommand   directTowards           ( VecPosition   posTo,
                                            AngDeg        angWhenToTurn,
                                            VecPosition   *pos = NULL,
                                            VecPosition   *vel = NULL,
                                            AngDeg        *angBody  = NULL   );
  SoccerCommand   moveToPos               ( VecPosition   posTo,
                                            AngDeg        angWhenToTurn,
                                            double        dDistDashBack = 0.0,
                                            bool          bMoveBack = false,
                                            int           iCycles = 1        );
  SoccerCommand   collideWithBall         (                                  );
  SoccerCommand   interceptClose          (                                  );
  SoccerCommand   interceptCloseGoalie    (                                  );
  SoccerCommand   kickTo                  ( VecPosition   posTarget,
                                            double        dEndSpeed          );
  SoccerCommand   turnWithBallTo          ( AngDeg        ang,
                                            AngDeg        angKickThr,
                                            double        dFreezeThr         );
  SoccerCommand   moveToPosAlongLine      ( VecPosition   pos,
                                            AngDeg        ang,
                                            double        dDistThr,
                                            int           iSign,
                                            AngDeg        angThr,
                                            AngDeg        angCorr            );



  SoccerCommand   intercept               ( bool          isGoalie           );
  SoccerCommand   dribble                 ( AngDeg        ang,
                                            DribbleT      d                  );
  SoccerCommand   directPass              ( VecPosition   pos,
                                            PassT         passType           );
  SoccerCommand   leadingPass             ( ObjectT       o,
                                            double        dDist,
                                            DirectionT    dir = DIR_NORTH    );
  SoccerCommand   throughPass             ( ObjectT       o,
                                            VecPosition   posEnd,
                                            AngDeg        *angMax = NULL     );
  SoccerCommand   outplayOpponent         ( ObjectT       o,
                                            VecPosition   pos,
                                            VecPosition   *posTo = NULL      );
  SoccerCommand   clearBall               ( ClearBallT    type,
                                            SideT         s = SIDE_ILLEGAL,
                                            AngDeg        *angMax = NULL     );
  SoccerCommand   mark                    ( ObjectT       o,
                                            double        dDist,
                                            MarkT         mark               );
  SoccerCommand   defendGoalLine          ( double        dDist              );
  SoccerCommand   interceptScoringAttempt (                                  );
  SoccerCommand   holdBall                (                                  );


  VecPosition     getThroughPassShootingPoint( ObjectT       objTeam,
                                               VecPosition   posEnd,
                 AngDeg        *angMax         );
  VecPosition     getInterceptionPointBall(    int           *iCyclesBall,
                                               bool          isGoalie        );
  VecPosition     getActiveInterceptionPointBall
                                          ( int           *iCyclesBall,
                                            bool          isGoalie           );
  VecPosition     getDribblePoint         ( DribbleT      dribble,
                                            double        *dDist             );
  VecPosition     getShootPositionOnLine  ( VecPosition   p1,
                                            VecPosition   p2,
                                            AngDeg        *angLargest = NULL );
  double          getEndSpeedForPass      ( ObjectT       o,
                                            VecPosition   posPass            );
  VecPosition     getMarkingPosition      ( ObjectT       o,
                                            double        dDist,
                                            MarkT         mark               );
} ;

#endif

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