-- Podball Project https://sourceforge.net/projects/podball/
-- This is wub!
-- You may use this code freely, as a base for your own control scripts.

-- We import the vector module.
-- Note that vector.lua is in the same directory as this file.
-- This works because Podball sets the Lua package path to the path given in match.info.
local vector = require "vector"

local debugSpam = false

-- Constants for convenience
local NO_TEAM = -1
local OUR_TEAM = 0
local OTHER_TEAM = 1
local ACTION_NOTHING = 0
local ACTION_MOVE = 1
local ACTION_SHOOT = 2

local GOAL_KEEPER_POSITION = vector(-0.45, 0)
local FIELD_POSITIONS = {}
local FORWARD_POSITION = vector(0.45, 0)
local GOALTARGET = vector(1,0)

-- Module wide variables
local gameSettings = {}
local matchSettings = {}
-- Last ball owning team
local last_owningteam = OTHER_TEAM

-- Some useful physical constants.
-- They will be calculated during initMatchTeam.
-- Distance the ball travels until loosing half of his velocity.
local pass_distance
-- Time this will take.
local pass_time

----------------------------------------
-- This stateless function should return static info about the module.
function getModuleInfo()
    local t = {}
    t["name"] = "wub"
    t["version"] = "1.0.0"
    t["author"] = "Me"
    t["date"] = "2014-06-01"
    t["min_pods"] = 1
    t["max_pods"] = 12
    return t
end

----------------------------------------
-- Called for every new match and once per team.
-- For parameter gameSettingsParam, see struct GAMEINFO defined in podtypes.h.
-- For parameter matchSettingsParam, see struct CMatchSettings defined in podball.h.
function initMatchTeam(gameSettingsParam, matchSettingsParam)
    print("HIER KOMMT DER WUB!")
    gameSettings = gameSettingsParam
    matchSettings = matchSettingsParam
end

----------------------------------------
-- Called for every time step the engine needs a control module action for a team.
-- Input: world - The state of the game world containing all object positions among others.
--  See WORLDSTRUCT in podtypes.h.
--  NOTE: In order to respect common habits of Lua, pod indices go from 1 to NPODS.
--  This includes the variable world.ball.owningpod.
-- Return value: Actions of all the pods of the own team:
--  A table podActions[1..NPODS] with a vector "a" and the action "action" to perform.
--  action is one of 0-do nothing; 1-move; 2-shoot
local myworld = {}
local gameframe = 0
local lastshotframe = 0
function getTeamActions(world)
    gameframe=gameframe+1
    myworld = world
    --print ("owningteam:", world.ball.owningteam)
    --rPrint(world.ball,nil," ")


    --print(world.time)
    -- 'vectorize' some of the tables.
    setmetatable(world.ball.q, getmetatable(vector.zero))
    setmetatable(world.ball.v, getmetatable(vector.zero))
    setmetatable(world.ball.f, getmetatable(vector.zero))


    local podActions = {}
    for i=1,gameSettings.NPODS do
        podActions[i] = {}
        podActions[i].action = ACTION_NOTHING
        podActions[i].a = vector()
        if i== 1 then
            podActions[i] , s = thinkTowart(i)
        else
            podActions[i] , s = think (i)
        end
        if debugSpam then print (i, s) end
    end

    --print (gameframe,"pod 1 speed:" ,  getSpeed(1)*1000)
    --print ("gameframe-lastshotframe", gameframe-lastshotframe)
    --print (world.time, last_owningteam)
    return podActions
end

function thinkTowart (podID)
    local s = "torwart: "
    local podAction = {}
    podAction.action = ACTION_NOTHING
    podAction.a = vector()
    if (myworld.ball.owningpod==podID and myworld.ball.owningteam == OUR_TEAM) then
        s=s.."ball wegschiessen"
        podAction.action = ACTION_SHOOT
        podAction.a = getMoveVectorTowardsXY (podID, 0.5,math.random (-0.2, 0.2))
        return podAction,s
    end
    local d = getBallDistance (podID)
    if d < 0.2 then
        --if myworld.ball.v.x < 0 then print ("<-") else print ("->") end
        s=s.. " naher ball!"
        podAction.a = getMoveVectorTowardsXY (podID,
        myworld.ball.q.x , myworld.ball.q.y)
        podAction.action = ACTION_MOVE
        return podAction,s
    end

    if d < 0.4 and getDistance (podID, -0.45,0) < 0.05 then
        s=s.. " wachsam am tor"
        podAction.a = getMoveVectorTowardsXY (podID, -0.45, myworld.ball.q.y/4 )
        podAction.action = ACTION_MOVE
        return podAction,s
    end

    if getDistance (podID, -0.45,0) < 0.05 then
        podAction.action = ACTION_NOTHING
        s=s.. " superchill"
    else
        podAction.a = getMoveVectorTowardsXY (podID, -0.45, 0 )
        podAction.action = ACTION_MOVE
        s=s.. " chill "..getDistance (podID, -0.45,0)
        return podAction,s
    end
    return podAction, "lol?"
end

function think (podID)
    local s = "*"
    podAction = {}
    podAction.action = ACTION_NOTHING
    podAction.a = vector()
    if (myworld.ball.owningpod==podID and getBallDistance (podID)<0.01) then
        s=s.."schuss!"
        podAction.action = ACTION_SHOOT
        podAction.a = getMoveVectorTowardsXY (podID, 0.5,0)
        lastshotframe = gameframe
    else    --kein ball
    if myworld.ball.owningteam == OUR_TEAM then --jemand anders im team hat den ball
        s=s.." bewege+ "
        podAction = {}
        podAction.a = getMoveVectorTowardsXY (podID, 0.5, 0)
        podAction.action = ACTION_MOVE
    else --gar niemand im team hat gar nicht den ball
        --falls sehr nah am Ball: dann auf jeden fall den ball holen
        local d = getBallDistance (podID)
        --print (podID, d)
        if d < 0.05 then
            s=s.. " hole nahen ball"
            podAction.a = getMoveVectorTowardsXY (podID, myworld.ball.q.x, myworld.ball.q.y )
            podAction.action = ACTION_MOVE
            return podAction,s
        end

        s=s.." bewege- "
        podAction = {}
        if podID%2 == 0 then
            podAction.a = getMoveVectorTowardsXY (podID, myworld.ball.q.x, myworld.ball.q.y )
            s=s.." zum ball"
        else
            s=s.." schlange!"
            local maxSpread = math.abs (0.5+myworld.ball.q.x)/2  +0.1
            --print (maxSpread)
            local x = ((podID/gameSettings.NPODS)-0.5) /1.5
            --print (podID, maxSpread)
            --if podID%2 == 0 then x = myworld.ball.q.x end
            podAction.a = getMoveVectorTowardsXY (podID, x, math.clamp (-maxSpread, myworld.ball.q.y, maxSpread ))
        end
        podAction.action = ACTION_MOVE
    end
end
return podAction,s
end


function math.clamp(low, n, high)
    return math.min(math.max(n, low), high)
end

--[[
    if world.ball.owningteam == OUR_TEAM then
        last_owningteam = OUR_TEAM
    elseif world.ball.owningteam == OTHER_TEAM then
        last_owningteam = OTHER_TEAM
    end
--]]

function getSpeed (podID)
    local x = myworld.team.pods[podID].v.x
    local y = myworld.team.pods[podID].v.y
    return (x*x+y*y)
end

function getBallDistance(podID)
    local ax = myworld.team.pods[podID].q.x
    local ay = myworld.team.pods[podID].q.y
    local bx = myworld.ball.q.x
    local by = myworld.ball.q.y

    local dx = ax - bx
    local dy = ay - by
    return math.sqrt(dx * dx + dy * dy)
end

function getDistance (podID, bx,by)
    local ax = myworld.team.pods[podID].q.x
    local ay = myworld.team.pods[podID].q.y

    local dx = ax - bx
    local dy = ay - by
    return math.sqrt(dx * dx + dy * dy)
end

function getMoveVectorTowardsXY (podID, tx, ty)
    --local mx = 0
    --local my = 0
    --if myworld.team.pods[podID].q.x < tx then mx = 1 else mx = -1 end
    --if myworld.team.pods[podID].q.y < ty then my = 1 else my = -1 end
    local mx = tx-myworld.team.pods[podID].q.x
    local my = ty-myworld.team.pods[podID].q.y
    local v = vector (mx, my):normalize_inplace()
    return v
    --return myworld.team.pods[podID].q - vector (tx,ty)
end

--https://gist.github.com/stuby/5445834#file-rprint-lua
function rPrint(s, l, i) -- recursive Print (structure, limit, indent)
l = (l) or 100; i = i or "";    -- default item limit, indent string
if (l<1) then print "ERROR: Item limit reached."; return l-1 end;
local ts = type(s);
if (ts ~= "table") then print (i,ts,s); return l-1 end
print (i,ts); -- print "table"
for k,v in pairs(s) do -- print "[KEY] VALUE"
l = rPrint(v, l, i.."\t["..tostring(k).."]");
if (l < 0) then break end
end
return l
end


----------------------------------------
-- Called once at the end of a match.
function disposeMatchTeam()
    print("wub: dispose.")
end