/**
* 通过传入kick的参数，计算kick后球的位置和速度
* Calculate ball position and velocity after a kick action.
* \param kick_power.
* \param kick_angle.
* \param player_state state of the player who is performing kick.
* \param ball_state ball state before the kick action is performed.
* \param ball_pos will be set to ball position after kick.
* \param ball_vel will be set to ball velocity after kick.
* \param is_self if the action is performed by the agent this process represents.
*/
void ActionEffector::ComputeInfoAfterKick(const double kick_power, const double kick_angle,
const PlayerState &player_state, const BallState &ball_state, Vector &ball_pos, Vector &ball_vel, bool is_self)
{
double power = GetNormalizeKickPower(kick_power);
double dir = GetNormalizeMoment(kick_angle);
Vector ball_2_player = (ball_state.GetPos() - player_state.GetPos()).Rotate(-player_state.GetBodyDir());
double eff_power = power *
(is_self ? player_state.GetKickRate() : GetKickRate(ball_2_player, player_state.GetPlayerType()));
Vector accel = Polar2Vector(eff_power, player_state.GetBodyDir() + dir);
ball_vel = ball_state.GetVel() + accel;
ball_pos = ball_state.GetPos() + ball_vel;
ball_vel *= ServerParam::instance().ballDecay();
}
/**
* 通过传入turn的参数，计算turn后球员的身体朝向和脖子朝向
* Calculate player body direction after a turn action.
* \param turn_angle.
* \param player_state state of the player who is turning.
* \param body_dir will be set to player's body direction after turn.
*/
void ActionEffector::ComputeInfoAfterTurn(const AngleDeg moment,
const PlayerState &player_state, AngleDeg &body_dir)
{
double turn_angle = GetTurnAngle(moment, player_state.GetPlayerType(), player_state.GetVel().Mod());
body_dir = GetNormalizeAngleDeg(player_state.GetBodyDir() + turn_angle);
}