//?-*-c++-*-

/*!
??\file?basic_actions.cpp
??\brief?basic?player?actions?Source?File
*/

/*
?*Copyright:

?Copyright?（C）?Hidehisa?AKIYAMA

?This?code?is?free?software;?you?can?redistribute?it?and/or
?modify?it?under?the?terms?of?the?GNU?Lesser?General?Public
?License?as?published?by?the?Free?Software?Foundation;?either
?version?3?of?the?License?or?（at?your?option）?any?later?version.

?This?library?is?distributed?in?the?hope?that?it?will?be?useful
?but?WITHOUT?ANY?WARRANTY;?without?even?the?implied?warranty?of
?MERCHANTABILITY?or?FITNESS?FOR?A?PARTICULAR?PURPOSE.??See?the?GNU
?Lesser?General?Public?License?for?more?details.

?You?should?have?received?a?copy?of?the?GNU?Lesser?General?Public
?License?along?with?this?library;?if?not?write?to?the?Free?Software
?Foundation?Inc.?59?Temple?Place?Suite?330?Boston?MA??02111-1307??USA

?*EndCopyright:
?*/

/////////////////////////////////////////////////////////////////////

#ifdef?HAVE_CONFIG_H
#include?
#endif

#include?“basic_actions.h“

#include?“bhv_scan_field.h“
#include?“neck_scan_field.h“
#include?“neck_scan_players.h“

#include?yer/player_agent.h>
#include?
#include?
#include?

//#define?DEBUG
//#define?DEBUG_NECK_TURN_TO_BALL

namespace?rcsc?{


/////////////////////////////////////////////////////////////////////

/*-------------------------------------------------------------------*/
/*!

?*/
bool
Body_TurnToAngle::execute（?PlayerAgent?*?agent?）
{
????dlog.addText（?Logger::ACTION
??????????????????__FILE__“:?Body_TurnToAngle“?）;

????const?Selfobject?&?self?=?agent->world（）.self（）;

????if?（?!?self.faceValid（）?）
????{
????????agent->doTurn（?0.0?）;
????????return?false;
????}

????agent->doTurn（?M_angle?-?self.body（）?）;
????return?true;
}

/////////////////////////////////////////////////////////////////////

/*-------------------------------------------------------------------*/
/*!

?*/
bool
Body_TurnToPoint::execute（?PlayerAgent?*?agent?）
{
????dlog.addText（?Logger::ACTION
??????????????????__FILE__“:?Body_TurnToPoint“?）;

????const?Selfobject?&?self?=?agent->world（）.self（）;

????if?（?!?self.posValid（）?）
????{
????????return?agent->doTurn（?60.0?）;
????}

????//?relative?angle?from?my?predicted?pos?&?body?angle?to?point
????Vector2D?my_point?=?self.inertiaPoint（?M_cycle?）;
????AngleDeg?target_rel_angle
????????=?（?M_point?-?my_point?）.th（）?-?self.body（）;


????//?not?consider?about?max?effective?turn?（inertia?moment）
????//?try?to?face?to?point?greedy

????agent->doTurn（?target_rel_angle?）;

????if?（?target_rel_angle.abs（）?????{
????????return?false;
????}
????return?true;
}

/////////////////////////////////////////////////////////////////////

/*-------------------------------------------------------------------*/
/*!

?*/
bool
Body_TurnToBall::execute（?PlayerAgent?*?agent?）
{
????dlog.addText（?Logger::ACTION
??????????????????__FILE__“:?Body_TurnToBall“?）;

????if?（?!?agent->world（）.ba