class WalkBehindBall

# File high_skills/walkBehindBall.rb, line 14
def initialize
  @agentInfo = Java::sk.fiit.jim.agent.AgentInfo.getInstance
  @radius = 1
end

# File high_skills/walkBehindBall.rb, line 88
def getHighestY points
  points.sort_by {|p| p.getY}
  return points.last
end

# File high_skills/walkBehindBall.rb, line 98
def getLowestX points
  points.sort_by {|p| p.getX}
  return points.first
end

# File high_skills/walkBehindBall.rb, line 93
def getLowestY points
  points.sort_by {|p| p.getY}
  return points.first
end

# File high_skills/walkBehindBall.rb, line 19
def pickHighSkill
  case 
  when @agentInfo.ballUnseen > 5
    #puts 'finding ball'
    return Localize.new(Proc.new{(not see_ball? || me.on_ground?)})
  end
  #puts 'walking to'
  return pickWalk
end

# File high_skills/walkBehindBall.rb, line 29
def pickWalk
  #relative positions
  @ballRelPos = @agentInfo.ballControlPosition
  
  #absolute positions
  @ballAbsPos = WorldModel.getInstance.getBall.getPosition
  #@goalAbsPos = AgentInfo.getInstance.kickTarget
  @goalAbsPos = Vector3D.cartesian(11.5,0,0)
  @agentAbsPos = AgentModel.getInstance.getPosition
  
  #circle aroud ball in @radius radius 
  @circleAroundBall = Circle.new(Vector2.new(@ballAbsPos.getX(),@ballAbsPos.getY()),@radius)
  
  #line between ball and target
  @line = Line2D.new(@ballAbsPos.getX, @ballAbsPos.getY, @goalAbsPos.getX, @goalAbsPos.getY)
  #orthogonal line
  @ortLine = Line2D.new(@ballAbsPos.getX, @ballAbsPos.getY, @line.getNormalVector)
  
  #points of intersection between line (ball,target) and circle(ball,radius)
  #there have to be always two points as a result for each line 
  @pointsAroudBallOnSides = @ortLine.getCircleIntersection(@circleAroundBall) 
  @pointsAroudBallOnWay = @line.getCircleIntersection(@circleAroundBall)
  
  @leftPoint = Vector3D.cartesian(getHighestY(@pointsAroudBallOnSides),0)
  @rightPoint = Vector3D.cartesian(getLowestY(@pointsAroudBallOnSides),0)
  @frontPoint = Vector3D.cartesian(getLowestX(@pointsAroudBallOnWay),0)
       
  #puts @circleAroundBall
  #puts @line
  #puts @ortLine
  #puts @frontPoint
  #puts @leftPoint
  #puts @rightPoint
  
  if @ortLine.solveGeneralEqation(@agentAbsPos.getX,@agentAbsPos.getY)<2 then
    #puts 'ball is behind me'
    if @line.solveGeneralEqation(@agentAbsPos.getX,@agentAbsPos.getY)>0 then
      @targetToGo = @leftPoint 
      #puts 'I have to go left around ball'
    else        
      @targetToGo = @rightPoint
      #puts 'I have to go right around ball'
    end
  else
    #puts 'ball is in front of me, I have to go to front point'
    @targetToGo = @frontPoint
  end
  
  #@targetToGo = AgentModel.getInstance.relativize @targetToGo
  #puts 'BALL IS at'
  #puts @ballAbsPos
  #puts 'GOING TO'
  #puts @targetToGo
  #puts 'I am here>'
  #puts @agentAbsPos
  return WalkOld.new(@targetToGo)
  #return WalkOld.new(:ball)
end

# File high_skills/walkBehindBall.rb, line 103
def see_ball?
  ball.notSeenLongTime() < 5
end