#! /pkg/gnu/bin/gawk -f
BEGIN {
  srand()

  lmargin = 10
  tmargin = 10
  height = 300
  width = 600
  halfemh = 18
  halfemw = 12

  MAXDEVP = 20

  TRAILS = 1

  redrgoal = height/2
  redcgoal = 0
  greenrgoal = height/2
  greencgoal = width

  getline whoami
  # print "i am "whoami

  while (getline < "off") {
    roff[$1] = $3
    coff[$1] = $4
  }
  close("off")

  while (getline < "def") {
    rdef[$1] = $3
    cdef[$1] = $4
  }
  close("def")


  while (getline < "pos" > 0) {
    if ($1 ~ /^[a-zA-Z0]$/) {
      dat[$1] = $0
      color[$1] = $2
      rdat[$1] = $3
      cdat[$1] = $4
      edat[$1] = $5
      if ($1 == "0") {
        rball = rdat["0"]
        cball = cdat["0"]
        if ($0 ~ /aloft/) notes["0"] = "aloft"
        if (match($0,/static[0-9]*/)) static["0"] = substr($0,RSTART+6,RLENGTH)
      }
    }
  }
  close("pos")

  while (getline < "dirs" > 0) {
    if ($1 ~ /^[a-zA-Z0]$/) {
      dirdat[$1] = $0
      rdev[$1] = $3
      cdev[$1] = $4
      if ($1 == "0") {
        rrdev[$1] = rdev[$1]
        ccdev[$1] = cdev[$1]
      } else {
        rrdev[$1] = maxdev(rdev[$1])
        ccdev[$1] = maxdev(cdev[$1])
      }
      rkick[$1] = maxkick($6)
      ckick[$1] = maxkick($7)
      kick[$1] = $5" "$6" "$7
    }
  }
  close("dirs")

  makedirs()

  for (i in rrdev) {
    if (color[i] == whoami) print i, color[i], rdev[i], cdev[i], kick[i]
  }

}

func rok(x) {
  x = int(.5+x)
  if (x < 0) return 0
  if (x > height) return height
  return x
}

func cok(x) {
  x = int(.5+x)
  if (x < 0) return 0
  if (x > width) return width
  return x
}

func eok(x) {
  x = int(.5+x)
  if (x < 0) return 0
  if (x > 100) return 100
  return x
}

func sgn(x) {
  if (x < 0) return -1
  if (x > 0) return 1
  return 0
}

func abs(x) {
  if (x < 0) return -x
  return x
}


func makedirs() {
	
	dribble = 20
	move = 10
	kickit = 35
	ROWDEV = (.4-rand()) * 8 + .1

	offense = 0	

  if (whoami ~ /red/ && cball > 450) offense = 1
  if (whoami ~ /green/ && cball < 150) offense = 1

	#print "offense = " offense

  while (getline < "init") {
    rinit[$1] = $3
    cinit[$1] = $4
  }
  close("init")
  if (rand() < 1) chaser["f"] = 1
  if (rand() < 1) chaser["g"] = 1
  if (rand() < 1) chaser["F"] = 1
  if (rand() < 1) chaser["G"] = 1
  if (rand() < .4) chaser["c"] = 1
  if (rand() < .4) chaser["C"] = 1
  if (rand() < .4) chaser["b"] = 1
  if (rand() < .4) chaser["B"] = 1
	
	closest = "f"
	nextClosest = "g"
	for(i in dat){

		if(  (i != "a" || i != "A" || i != "0")   && color[i] == whoami){		
			if( distance("0",i) < distance("0",closest) ) closest = i
			else if( distance("0",i) < distance("0",nextClosest) ) nextClosest = i
			
		}
	
	}

	#print "closest is " closest


  # to do:  vision based on direction, speed, ball, player
  # to do:  call each program
  for (i in dat) {

    if (color[i] != whoami) continue

    key = index("aAbBcCdDeEfFgG",i)
    if (i != "0") {

		if (offense){
      if (edat[i] > 20 && i == closest || (abs(cdat["0"]-cdat[i]) < 50 && abs(rdat["0"]-rdat[i]) < 20)) {
        #cdev[i] = maxdev(cball-cdat[i])
        #rdev[i] = maxdev(rball-rdat[i])
				if(distance("0",i) < 4){
				cdev[i] = 0
				rdev[i] = 0
				}
				else{
					#print i " is movin3"
					cdev[i] = maxdev2(cball-cdat[i],rball-rdat[i])
  	      rdev[i] = maxdev2(rball-rdat[i],cball-cdat[i])
				}

        if (edat[i] > 20 && abs(cdat["0"]-cdat[i]) < kickit && abs(rdat["0"]-rdat[i]) < kickit) {

					if( (cball < 8) || (cball > width-8) ){
						passBack(i)
					}
	 				else if (rand() < .2 ||  (cball < 80 || cball > width-80)) {
            if (color[i] ~ /red/) kick[i] = "kick " (greenrgoal-rdat[i]) " "greencgoal-cdat[i]
            if (color[i] ~ /green/) kick[i] = "kick " (redrgoal-rdat[i]) " "redcgoal-cdat[i]
	 			 	} 
					else if (rand() < .6){ 	
            if (color[i] ~ /red/){
						 kick[i] = "kick " ROWDEV " " dribble
      			 cdev[i] = move
       			 rdev[i] = ROWDEV
						}
            if (color[i] ~ /green/){
							kick[i] = "kick " ROWDEV  " " -dribble
       				cdev[i] = -move
       				rdev[i] = ROWDEV
						}
	 				}
					else pass(i)				

				}
				else kick[i] = ""
      } 
		else if (edat[i] > 50) {
				#print i " is movin2"
        cdev[i] = maxdev(coff[i]-cdat[i])
        rdev[i] = maxdev(roff[i]-rdat[i])
				kick[i] = ""
      }
		else {
			cdev[i] = 0
			rdev[i] = 0
			kick[i] = ""
    }

		}
		else{   ######### DEFENSE #########

			if(i == "a" || i == "A"){
				goalie(i)
				continue
			}

      if (edat[i] > 20 && i == closest ||  (abs(cdat["0"]-cdat[i]) < 50 && abs(rdat["0"]-rdat[i]) < 40)) {
        #cdev[i] = maxdev(cball-cdat[i])
        #rdev[i] = maxdev(rball-rdat[i])
        
				if(distance("0",i) < 4){
				cdev[i] = 0
				rdev[i] = 0
				}
				else{
				#print i " is movin3"
				cdev[i] = maxdev2(cball-cdat[i],rball-rdat[i])
        rdev[i] = maxdev2(rball-rdat[i],cball-cdat[i])
				}

        if ((edat[i] > 20) && (abs(cdat["0"]-cdat[i]) < kickit) && (abs(rdat["0"]-rdat[i]) < kickit)) {

	 				if (cball < 100 || cball > width-100) {
            if (color[i] ~ /red/) kick[i] = "kick.aloft " (greenrgoal-rdat[i]) " "greencgoal-cdat[i]
            if (color[i] ~ /green/) kick[i] = "kick.aloft " (redrgoal-rdat[i]) " "redcgoal-cdat[i]
	 			 	} 
					else if (rand() < .8){
            if (color[i] ~ /red/){
							 kick[i] = "kick " ROWDEV " " dribble
       				 cdev[i] = move
       				 rdev[i] = ROWDEV
						}
            if (color[i] ~ /green/){
							 kick[i] = "kick " ROWDEV  " " -dribble
       				 cdev[i] = -move
       				 rdev[i] = ROWDEV
						}

					}
					else pass(i)



				}
				else kick[i] = ""


      }
 
		else if (edat[i] > 50) {
				#print i " movin4"
        cdev[i] = maxdev(cdef[i]-cdat[i])
        rdev[i] = maxdev(rdef[i]-rdat[i])
				kick[i] = ""
      }
		else {
			cdev[i] = 0
			rdev[i] = 0
			kick[i] = ""
		}


		}
    }

  }


}

func pass(i){
  for(j in dat){
    if ((color[i] != color[j]) || (dat[i] == dat[j])) continue  #not same team or same guy
    if (whoami == "red"){
      if (cdat[j]-cdat[i] > -10){
        kick[i] = "kick " (rdat[j]-rdat[i])  " " (cdat[j]-cdat[i])
      }
			else kick[i] = "kick.aloft " (rball-rdat[i]) " " (cball-cdat[i])
    }
    else{ #team=green
       if (cdat[i]-cdat[j] > -10){
         kick[i] = "kick " (rdat[j]-rdat[i])  " " (cdat[j]-cdat[i])
       }
      else kick[i] = "kick.aloft " (rball-rdat[i]) " " (cball-cdat[i])

    }
	}

}

func passBack(i){
	minPass = 700
  for(j in dat){

		if(color[j] == whoami && i != j){

			if( (abs(cdat[i] - cdat[j])) < minPass ) {
				passTo = j
				minpass = abs(cdat[i] - cdat[j])
			}
		}
	}


	kick[i] = "kick.aloft " (rdat[passTo] - rdat["0"]) " " (cdat[passTo] - cdat["0"])

}


func distance(x,y){
	a = (rdat[y]-rdat[x])^2
	b = (cdat[y]-cdat[x])^2
	return sqrt(a+b)
}

func len(x,y){
	return sqrt(x^2+y^2)
}

func goalie(x){

	if (abs(cdat["0"]-cdat[x]) < 30 && abs(rdat["0"]-rdat[x]) < 20) {
        cdev[x] = maxdev(cball-cdat[x])
        rdev[x] = maxdev(rball-rdat[x])

    if (abs(cdat["0"]-cdat[x]) < kickit && abs(rdat["0"]-rdat[x]) < kickit) {
       if (color[i] ~ /red/) kick[x] = "kick.aloft " (greenrgoal-rdat[i]) " "greencgoal-cdat[i]
       if (color[i] ~ /green/) kick[x] = "kick.aloft " (redrgoal-rdat[i]) " "redcgoal-cdat[i]
		}

	}
	else if(whoami ~ /red/ && (rdat["0"] < (-1*cdat["0"] + 150)) ){
			rdev[x] = maxdev(143 - rdat[x])
			cdev[x] = maxdev(7 - cdat[x])
	}
	else if(whoami ~ /red/ && (rdat["0"] > (cdat["0"] + 150)) ){
			rdev[x] = maxdev(157 - rdat[x])
			cdev[x] = maxdev(7 - cdat[x])
	}
	else if(whoami ~ /green/ && (rdat["0"] > (-1*cdat["0"] + 750)) ){
			rdev[x] = maxdev(157 - rdat[x])
			cdev[x] = maxdev(593 - cdat[x])
	}
	else if(whoami ~ /green/ && (rdat["0"] < (cdat["0"] + 750)) ){
			rdev[x] = maxdev(143 - rdat[x])
			cdev[x] = maxdev(593 - cdat[x])
	}
	else{
    cdev[x] = maxdev(cdef[x]-cdat[x])
    rdev[x] = maxdev(rdef[x]-rdat[x])
		kick[x] = ""
	}

}

func maxkick(x) {
  if (x > 2*MAXDEVP) return 2*MAXDEVP
  if (x < -2*MAXDEVP) return -2*MAXDEVP
  return x
}

func maxdev(x){
	if(x > MAXDEVP) return MAXDEVP
	if(X < -1*MAXDEVP) return -1*MAXDEVP

	return x
}


func maxdev2(x,k) {
	if(x > MAXDEVP || x < -1*MAXDEVP)  return ( x/(len(x,k)) )*20

	return  x
}