/* produce a jaggy path - for debugging. If abs is set, move to first
coordinate absolutely. If abs is not set, move to first coordinate
relatively, and traverse path in the opposite direction. */
static int svg_jaggy_path(FILE *fout, point_t *pt, int n, int abs) {
int i;
point_t cur, prev;
if (abs) {
cur = prev = pt[n-1];
svg_moveto(fout, dpoint(cur));
for (i=0; i<n; i++) {
if (pt[i].x != cur.x && pt[i].y != cur.y) {
cur = prev;
svg_lineto(fout, dpoint(cur));
}
prev = pt[i];
}
svg_lineto(fout, dpoint(pt[n-1]));
} else {
cur = prev = pt[0];
svg_rmoveto(fout, dpoint(cur));
for (i=n-1; i>=0; i--) {
if (pt[i].x != cur.x && pt[i].y != cur.y) {
cur = prev;
svg_lineto(fout, dpoint(cur));
}
prev = pt[i];
}
svg_lineto(fout, dpoint(pt[0]));
}
newline = 1;
shiptoken(fout, "z");
return 0;
}
inline PPositionOurGoalKick(const BeliefState& state)
: Play(state)
{
name = "PositionOurGoalKick";
assert(HomeTeam::SIZE == 5);
setTimeout(100, 1);
PositionPlay = PLAYTYPE_YES;
AttackPlay = PLAYTYPE_NO;
Tactic::Param param;
Vector2D<int> finalPoint ;
/* for goalie */
roleList[0].push_back(std::make_pair(Tactic::GoalieOur, param));
/*Vector2D<int> dpointg(ForwardX(-HALF_FIELD_MAXX + GOAL_DEPTH + BOT_RADIUS*1.2),state.ballPos.y);
param.PositionP.x = ForwardX(-HALF_FIELD_MAXX + GOAL_DEPTH + BOT_RADIUS*1.2) ;
param.PositionP.y = state.ballPos.y;
param.PositionP.finalSlope = 0;
param.PositionP.align = false ;
roleList[0].push_back(std::make_pair(Tactic::Position,param));
*//* Role 1 - Defender 1*/
Vector2D<int> dpoint0(ForwardX(-HALF_FIELD_MAXX + GOAL_DEPTH + BOT_RADIUS*9),-1*(OUR_GOAL_MAXY + 2*BOT_RADIUS));
finalPoint = position_our_bot(&state,dpoint0,0);
param.PositionP.x = finalPoint.x ; param.PositionP.y = finalPoint.y ;
param.PositionP.finalSlope = 0 ;
roleList[1].push_back(std::make_pair(Tactic::Position,param));
// Role 2
Vector2D<int> dpoint(ForwardX(-HALF_FIELD_MAXX/2),HALF_FIELD_MAXY/2);
finalPoint = position_our_bot(&state,dpoint,0);
param.PositionP.x = finalPoint.x ; param.PositionP.y = finalPoint.y ;
param.PositionP.finalSlope = 0;
roleList[2].push_back(std::make_pair(Tactic::Position, param));
//Role 3
Vector2D<int> dpoint1(ForwardX(-CENTER_CIRCLE_DIAMETER/2),HALF_FIELD_MAXY/4);
finalPoint = position_our_bot(&state,dpoint1,0);
param.PositionP.x = finalPoint.x ; param.PositionP.y = finalPoint.y ;
param.PositionP.finalSlope = 0;
roleList[3].push_back(std::make_pair(Tactic::Position, param));
//Role 4
Vector2D<int> dpoint2(ForwardX(HALF_FIELD_MAXX/6),-HALF_FIELD_MAXY/2);
finalPoint = position_our_bot(&state,dpoint2,0);
param.PositionP.x = finalPoint.x ; param.PositionP.y = finalPoint.y ;
param.PositionP.finalSlope = 0;
roleList[4].push_back(std::make_pair(Tactic::Position, param));
computeMaxTacticTransits();
}
//dessin d'une ligne
void trace(Point p1,Point p2,Uint32 couleur){
double x = p1.x, y = p1.y;
double inc_x = p2.x - p1.x, inc_y = p2.y - p1.y;
int m = Max(abs(inc_x), abs(inc_y));
inc_x /= m;
inc_y /= m;
for(; m >= 0; m--)
{
dpoint(point((unsigned int)x, (unsigned int)y), couleur);
x += inc_x;
y += inc_y;
}
}
inline PPositionOurPenalty(const BeliefState& state) : Play(state)
{
printf("Posiition our penalty is being executed");
name = "PositionOurPenalty";
PositionPlay = PLAYTYPE_YES;
AttackPlay = PLAYTYPE_NO;
assert(HomeTeam::SIZE ==5);
Tactic::Param param;
param.PositionP.align = -PI;
Vector2D<int> finalpoint ;
/* Role 0 - Goalie*/
roleList[0].push_back(std::make_pair(Tactic::GoalieOur,param));
/* Role 1 - Position 1*/ //shooter
param.PositionP.x = state.ballPos.x - ForwardX(3*BOT_RADIUS);// state.ballPos.x - 2*BOT_RADIUS ;
param.PositionP.y = state.ballPos.y;
param.PositionP.finalSlope = 0;
roleList[1].push_back(std::make_pair(Tactic::Position,param));
/* Role 1 - Position 2*/
Vector2D<int> dpoint1(-ForwardX(2*BOT_RADIUS),0);
finalpoint = position_our_bot(&state,dpoint1,0);
param.PositionP.x = finalpoint.x;
param.PositionP.y = finalpoint.y;
param.PositionP.finalSlope = 0;
roleList[2].push_back(std::make_pair(Tactic::Position,param));
/* Role 1 - Position 3*/ //shooter
Vector2D<int> dpoint(-ForwardX(2*BOT_RADIUS),HALF_FIELD_MAXY/2);
finalpoint = position_our_bot(&state,dpoint,0);
param.PositionP.x = finalpoint.x;
param.PositionP.y = finalpoint.y;
param.PositionP.finalSlope = 0;
roleList[3].push_back(std::make_pair(Tactic::Position,param));
/* Role 1 - Position 4*/
Vector2D<int> dpoint3(-ForwardX(2*BOT_RADIUS),-HALF_FIELD_MAXY/2);
finalpoint = position_our_bot(&state,dpoint3,0);
param.PositionP.x = finalpoint.x;
param.PositionP.y = finalpoint.y;
param.PositionP.finalSlope = 0;
roleList[4].push_back(std::make_pair(Tactic::Position,param));
computeMaxTacticTransits();
}
virtual void reevaluateRoleParams()
{
{
Vector2D<int> finalpoint;
Tactic::Param ¶m = roleList[1][0].second;
param.PositionP.x = state.ballPos.x - ForwardX(3*BOT_RADIUS);// state.ballPos.x - 2*BOT_RADIUS ;
param.PositionP.y = state.ballPos.y;
param.PositionP.align = true;
param.PositionP.finalSlope = 0;
}
{
Vector2D<int> finalpoint;
Tactic::Param ¶m = roleList[2][0].second;
Vector2D<int> dpoint1(-ForwardX(2*BOT_RADIUS),0);
finalpoint = position_our_bot(&state,dpoint1,0);
param.PositionP.x = finalpoint.x;
param.PositionP.y = finalpoint.y;
param.PositionP.finalSlope = 0;
}
{
{
printf("pop");
Vector2D<int> finalpoint;
Tactic::Param ¶m = roleList[3][0].second;
Vector2D<int> dpoint(-ForwardX(2*BOT_RADIUS),HALF_FIELD_MAXY/2);
finalpoint = position_our_bot(&state,dpoint,0);
param.PositionP.x = finalpoint.x;
param.PositionP.y = finalpoint.y;
param.PositionP.finalSlope = 0;
}
}
{
Vector2D<int> finalpoint;
Tactic::Param ¶m = roleList[4][0].second;
Vector2D<int> dpoint3(-ForwardX(2*BOT_RADIUS),-HALF_FIELD_MAXY/2);
finalpoint = position_our_bot(&state,dpoint3,0);
param.PositionP.x = finalpoint.x;
param.PositionP.y = finalpoint.y;
param.PositionP.finalSlope = 0;
}
printf("reevaling params in OurFreeKick. ballPos = %d, %d\n", state.ballPos.x, state.ballPos.y);
}
virtual void reevaluateRoleParams()
{
/* {
Tactic::Param ¶m = roleList[0][0].second;
param.PositionP.x = ForwardX(-HALF_FIELD_MAXX + GOAL_DEPTH + BOT_RADIUS*1.2) ;
param.PositionP.y = state.ballPos.y;
param.PositionP.finalSlope = 0;
param.PositionP.align = false ;
}*/
{
Vector2D<int> finalPoint;
Tactic::Param ¶m = roleList[1][0].second;
Vector2D<int> dpoint0(ForwardX(-HALF_FIELD_MAXX + GOAL_DEPTH + BOT_RADIUS*9),-1*(OUR_GOAL_MAXY + 2*BOT_RADIUS));
finalPoint = position_our_bot(&state,dpoint0,0);
param.PositionP.x = finalPoint.x ; param.PositionP.y = finalPoint.y ;
param.PositionP.finalSlope = 0 ;
}
{
Vector2D<int> finalPoint;
Tactic::Param ¶m = roleList[2][0].second;
Vector2D<int> dpoint(ForwardX(-HALF_FIELD_MAXX/2),HALF_FIELD_MAXY/2);
finalPoint = position_our_bot(&state,dpoint,0);
param.PositionP.x = finalPoint.x ; param.PositionP.y = finalPoint.y ;
param.PositionP.finalSlope = 0;
}
{
Vector2D<int> finalPoint;
Tactic::Param ¶m = roleList[3][0].second;
Vector2D<int> dpoint1(ForwardX(-CENTER_CIRCLE_DIAMETER),HALF_FIELD_MAXY/4);
finalPoint = position_our_bot(&state,dpoint1,0);
param.PositionP.x = finalPoint.x ; param.PositionP.y = finalPoint.y ;
param.PositionP.finalSlope = 0;
}
{
Vector2D<int> finalPoint;
Tactic::Param ¶m = roleList[4][0].second;
Vector2D<int> dpoint2(ForwardX(HALF_FIELD_MAXX/6),-HALF_FIELD_MAXY/2);
finalPoint = position_our_bot(&state,dpoint2,0);
param.PositionP.x = finalPoint.x ; param.PositionP.y = finalPoint.y ;
param.PositionP.finalSlope = 0;
}
printf("reevaling params in OurFreeKick. ballPos = %d, %d\n", state.ballPos.x, state.ballPos.y);
}
dpoint::dpoint(const float x, const float y) {//:QPointF(x,y){
dpoint();
this->setX(qreal(x));
this->setY(qreal(y));
//rot = QPointF();
}
dpoint::dpoint(const QPointF& point) {//: QPointF(point){
dpoint();
this->setX(point.x());
this->setY(point.y());
//rot = QPointF();
}
BOOL CPolylineCreatorTracker::CreatePolyline(CWnd* pWnd, CDPoint point, CSnapper* pSnapper)
{
// don't handle if capture already set
if (::GetCapture() != NULL)
return FALSE;
AfxLockTempMaps(); // protect maps while looping
m_bErase = FALSE;
m_bFinalErase = FALSE;
// set capture to the window which received this message
pWnd->SetCapture();
ASSERT(pWnd == CWnd::GetCapture());
pWnd->UpdateWindow();
m_Points.AddTail(new CDPOINT(point));
CPoint LastPoint(point);
// get DC for drawing
CDC* pDrawDC;
// otherwise, just use normal DC
pDrawDC = pWnd->GetDC();
ASSERT_VALID(pDrawDC);
BOOL bMoved = FALSE;
// get messages until capture lost or cancelled/accepted
for (;;)
{
MSG msg;
VERIFY(::GetMessage(&msg, NULL, 0, 0));
if (CWnd::GetCapture() != pWnd)
break;
if(msg.message == WM_MOUSEMOVE)
DispatchMessage(&msg);
switch (msg.message)
{
// handle movement/accept messages
case WM_MOUSEMOVE:
{
// handle resize cases (and part of move)
CPoint point;
::GetCursorPos(&point);
pWnd->ScreenToClient(&point);
if((::GetKeyState(VK_SHIFT) & 0x8000)!=0)
{
CDPoint *pLastPoint = (CDPoint*)m_Points.GetTail();
if(pLastPoint!=NULL)
{
CDPOINT ppp = CDPoint(point)-(*pLastPoint);
if(ABS(ppp.x)>ABS(ppp.y))
ppp.y=0;
else
ppp.x=0;
point = *pLastPoint+ppp;
}
}
if(pSnapper!=NULL)
pSnapper->FixSnapTo(&point);
if (LastPoint != point)
{
m_bErase = FALSE;
DrawTracker(point, pDrawDC, pWnd);
bMoved = TRUE;
}
LastPoint = point;
}
break;
case WM_LBUTTONDOWN:
{
// handle resize cases (and part of move)
CPoint point;
::GetCursorPos(&point);
pWnd->ScreenToClient(&point);
CDPoint dpoint(point);
if((::GetKeyState(VK_SHIFT) & 0x8000)!=0)
{
CDPoint *pLastPoint = (CDPoint*)m_Points.GetTail();
if(pLastPoint!=NULL)
{
CDPOINT ppp = dpoint-(*pLastPoint);
if(ABS(ppp.x)>ABS(ppp.y))
ppp.y=0;
else
ppp.x=0;
dpoint = *pLastPoint+ppp;
}
}
if(pSnapper!=NULL)
pSnapper->FixSnapTo(&dpoint);
point = dpoint;
if (LastPoint != dpoint)
{
m_bErase = FALSE;
DrawTracker(point, pDrawDC, pWnd);
}
m_Points.AddTail(new CDPoint(dpoint));
//the tracker will not erease the last line
if(m_PointsLast!=NULL)
delete []m_PointsLast;
bMoved = FALSE;
m_PointsLast = NULL;
LastPoint = point;
}
break;
// handle cancel messages
case WM_KEYDOWN:
if (msg.wParam != VK_ESCAPE)
break;
case WM_LBUTTONDBLCLK:
case WM_RBUTTONDOWN:
{
if (bMoved)
{
m_bErase = m_bFinalErase = TRUE;
DrawTracker(point, pDrawDC, pWnd);
}
UINT uiCount = GetPointsCount();
if(uiCount>1)//erace all the line
{
LPPOINT lpPoints = new POINT[uiCount];
LPCDPOINT lpDPoints = new CDPOINT[uiCount];
GetPoints(lpDPoints);
for(UINT ui=0; ui<uiCount; ui++)
lpPoints[ui] = lpDPoints[ui];
CLineTracker::DrawDragPolyLine(pDrawDC, lpPoints, 1, NULL, 1, uiCount);
delete []lpPoints;
delete []lpDPoints;
}
}
goto ExitLoop;
// just dispatch rest of the messages
default:
DispatchMessage(&msg);
break;
}
}
ExitLoop:
pWnd->ReleaseDC(pDrawDC);
ReleaseCapture();
AfxUnlockTempMaps(FALSE);
// restore rect in case bMoved is still FALSE
m_bFinalErase = FALSE;
m_bErase = FALSE;
// return TRUE only if rect has changed
return GetPointsCount()>1;
}
