Representations/RoboCup/GameRules.cpp

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#include "GameRules.h"

#include "Tools/FieldDimensions.h"

THROW_IN_POINTS getPoint(GameRules::THROWINPOINT p,Player::teamColor c)
{
  switch (c)
  {
    case Player::red:
      switch (p)
      {
        case GameRules::leftRed:
          return throwInPointNumberBackLeft;
        case GameRules::rightRed:
          return throwInPointNumberBackRight;
        case GameRules::leftmiddle:
          return throwInPointNumberMiddleLeft;
        case GameRules::rightmiddle:
          return throwInPointNumberMiddleRight;
        case GameRules::leftBlue:
          return throwInPointNumberFrontLeft;
        case GameRules::rightBlue:
          return throwInPointNumberFrontRight;
      }
    case Player::blue:
      switch (p)
      {
        case GameRules::leftRed:
          return throwInPointNumberFrontLeft;
        case GameRules::rightRed:
          return throwInPointNumberFrontRight;
        case GameRules::leftmiddle:
          return throwInPointNumberMiddleLeft;
        case GameRules::rightmiddle:
          return throwInPointNumberMiddleRight;
        case GameRules::leftBlue:
          return throwInPointNumberBackLeft;
        case GameRules::rightBlue:
          return throwInPointNumberBackRight;
      }
  }
  return throwInPointNumber;
}

int GameRules::getThrowInPointFieldNumber(THROWINPOINT pointNr, Player::teamColor team)
{
  return getPoint(pointNr, team);
}

GameRules::THROWINPOINT GameRules::getThrowInPointNumber(GameRules::ROLLOUTBORDER border, Player::teamColor team)
{
  switch (team)
  {
//    case Player::red:
    case Player::blue:
      switch (border)
      {
        case leftRedGoal:
        case leftRedSite:
          return leftRed;
        case rightRedGoal:
        case rightRedSite:
          return rightRed;
        case leftBlueSite:
        case leftBlueGoal:
          return leftmiddle;
        case rightBlueSite:
        case rightBlueGoal:
          return rightmiddle;
      }
      break;
//    case Player::blue:
    case Player::red:
      switch (border)
      {
        case leftRedGoal:
        case leftRedSite:
          return leftmiddle;
        case rightRedGoal:
        case rightRedSite:
          return rightmiddle;
        case leftBlueSite:
        case leftBlueGoal:
          return leftBlue;
        case rightBlueSite:
        case rightBlueGoal:
          return rightBlue;
      }
      break;
  }
  return numOfThrowIn;
}

int GameRules::getThrowInPointNumber(Vector2<double> ball, Player player, RoboCupGameControlData gamedata)
{
  GameRules::ROLLOUTBORDER border;
  switch ( player.getTeamColor() )
  {
    case Player::red:
      if (ball.x > 0)
      {
        if (ball.y > 0)
        {
          border = leftBlueGoal;
        }else{
          border = rightBlueGoal;
        }
      }else{
        if (ball.y > 0)
        {
          border = leftRedGoal;
        }else{
          border = rightRedGoal;
        }
      }
    break;
    case Player::blue: 
      if (ball.x > 0)
      {
        if (ball.y > 0)
        {
          border = leftRedGoal;
        }else{
          border = rightRedGoal;
        }
      }else{
        if (ball.y > 0)
        {
          border = leftBlueGoal;
        }else{
          border = rightBlueGoal;
        }
      }
    break;
    default:
      return throwInPointNumber;
  }

  THROWINPOINT tip= getThrowInPointNumber(border, 
    GameManagerTool::getTeamColorFormGameManager(gamedata.teams[gamedata.dropInTeam].teamColour));

  return tip;
}  
Vector3<double> GameRules::getThrowInPoint(Vector2<double> ball, Player player, RoboCupGameControlData gamedata)
{
  int tip = getThrowInPointNumber(ball,player,gamedata);
  if (tip >=throwInPointNumber)
    Vector3<double>(0,0,0);

  int tmpi =getPoint((GameRules::THROWINPOINT)tip,player.getTeamColor());
  Vector3<double> tmpv(throwInPoint[tmpi][0],throwInPoint[tmpi][1],0);
  return tmpv;
}  


Player::teamColor GameManagerTool::getTeamColorFormGameManager(uint32 teamColour)
{
  switch (teamColour)
  {
    case (TEAM_BLUE):
      return Player::blue;
    case (TEAM_RED):
      return Player::red;
  }
  return Player::undefinedTeamColor;
}

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