Constants.h

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/************************
*           *
*           *
*           *
*   Constants   *
*   6/12/14     *
*           *
*           *
*           *
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/**
 * \file Constants.h
 *
 * A list of constants used in the ZR program.
 */

#ifndef   Constants_H
#define   Constants_H
#pragma once

extern "C" {
  #include "math_matrix.h"
}

/**
 * \var const float EARTH[3]
 *
 * Contains the attitude towards Earth. The satellite's attidude must be within MAX_FACING_ANGLE to this attitude
 */
const float EARTH[3] = {0.0f, 0.0f, 1.0f}; // TBD

#undef    ZR2D
#undef    ZR3D
#undef    ALLIANCE
#define   ALLIANCE

#define SHOW_GAME_TRACE // If this is undef, then the GAME_TRACEs won't show up.

/**
 * \var int GAME_TIME
 *
 * The time at game start.
 */
#define   GAME_TIME     0

/*****************************************************************************************
****                                SPHERE PROPERTIES                                 ****
*****************************************************************************************/

//#define   SPHERE_MAX_VEL        0.05f // Obsolete #1
//#define   SPHERE_RADIUS         0.11f // Obsolete #2

/**
 * \var int VEL_X
 *
 * The index for the beginning of the velocity array inside of ZRState.
 */
#define   VEL_X                 3

/**
 * \var int MAX_GAME_TIME
 *
 * Length of the whole game in seconds.
 */
#define   MAX_GAME_TIME         180

/**
 * \var float MAX_FACING_ANGLE
 *
 * Cosine of the angle at which pictures may be taken/uploaded.
 */
#define   MAX_FACING_ANGLE      0.968912f // ~cosf(0.25f)

#define   UPLOAD_ANG_VEL        0.05f //!< The maximum speed at which pictures can be uploaded in rads/s, which is roughly equal to 2.8 deg/s. This is calculated by taking the absolute value of the magnitude of the attitude rate vector.

//#define   MAX_PICTURE_ANGLE_1   0.92f // increased by 15% for ISS --- was 0.8f // ~~ 0.7853981f // Obsolete #3
//#define   MAX_PICTURE_ANGLE_2   0.46f // increased by 15% for ISS --- was 0.4f // ~~ 0.3926991f // Obsolete #4


/*****************************************************************************************
****                                  ITEM PROPERTIES                                 ****
*****************************************************************************************/

//TODO: Replace these with an enum
#define   ITEM_TYPE_ADD_SCORE   0   //!< The type identifier for a score item.
#define   ITEM_TYPE_ADD_ENERGY    1   //!< The type identifier for an energy item.
#define   ITEM_TYPE_MIRROR    2   //!< The type identifier for a mirror.

#define   ITEM_SCORE      1.5f         //!< The added score given by a score item.
#define   ITEM_ENERGY       MAX_ENERGY   //!< The added energy given by an energy item.
#define   ITEM_MIRROR_DURATION    24       //!< The length a mirror lasts once activated.
#define   NUM_ITEMS     9            //!< The number of items in the game.
#define   STARTING_MIRRORS                0      //!< The number of mirrors each sphere starts with

//#define   MEMORY_PACK     1 // Obsolete #5
#ifndef   ZR2D

#ifdef ZR3D
/**
 * Array that outlines the locations of each item.
 * Usage: ITEM_LOC[int ItemID]
 * Each element is an array of three floats for the XYZ coordinates.
 */
  const float ITEM_LOC[NUM_ITEMS][3] =
  {
  { 0.3,-0.2, 0.3},
  {-0.3,-0.2, 0.3},
  { 0.0, 0.0, 0.3},
  { 0.0, 0.6, 0.4},
  { 0.4, 0.6, 0.0},
  {-0.4, 0.6, 0.0},
  { 0.0, 0.6,-0.4},
  {-0.4, 0.15,-0.4},
  { 0.4, 0.15,-0.4}


  };
#endif
  // Alliance coordinates to be determined in initItems

/**
 * Array that outlines the types of each item.
 * Usage: ITEM_TYPES[int ItemID]
 * Each element is an integer that refers to one of the previously defined item types.
 */
  const int ITEM_TYPES[NUM_ITEMS] =
  {
  ITEM_TYPE_ADD_ENERGY,
  ITEM_TYPE_ADD_ENERGY,
  ITEM_TYPE_ADD_ENERGY,
  ITEM_TYPE_ADD_SCORE,
  ITEM_TYPE_ADD_SCORE,
  ITEM_TYPE_ADD_SCORE,
  ITEM_TYPE_ADD_SCORE,
  ITEM_TYPE_MIRROR,
  ITEM_TYPE_MIRROR
  };

#else


/**
 * Array that outlines the locations of each item.
 * Usage: ITEM_LOC[int ItemID]
 * Each element is an array of three floats for the XYZ coordinates.
 */

  const float ITEM_LOC[NUM_ITEMS][3] =
  {
  { 0.3, 0.0, 0.0},
  {-0.3, 0.0, 0.0},
  { 0.0, 0.3, 0.0},
  { 0.0,-0.3, 0.0},
  { 0.0, 0.6, 0.0},
  { 0.4, 0.6, 0.0},
  {-0.4, 0.6, 0.0},
  { 0.6,-0.7, 0.0},
  {-0.6,-0.7, 0.0}

  };

/**
 * Array that outlines the types of each item.
 * Usage: ITEM_TYPES[int ItemID]
 * Each element is an integer that refers to one of the previously defined item types.

 */
  const int ITEM_TYPES[NUM_ITEMS] =
  {
  ITEM_TYPE_ADD_ENERGY,
  ITEM_TYPE_ADD_ENERGY,
  ITEM_TYPE_ADD_ENERGY,
  ITEM_TYPE_ADD_ENERGY,
  ITEM_TYPE_ADD_SCORE,
  ITEM_TYPE_ADD_SCORE,
  ITEM_TYPE_ADD_SCORE,
  ITEM_TYPE_MIRROR,
  ITEM_TYPE_MIRROR
  };
#endif

#define   MP_SPEED            0.01f     //!< The maximum speed at which an item may be picked up.
#define   MP_RADIUS           0.05f   //!< The maximum distance from which an item may be picked up.
#define   MP_ROTATION_ANGLE   0.707106f   //!<(rad) Rotation of satellite needed to pick up item (cos(90/2))
//#define   MAX_START_MP        0.04f     // Obsolete #6 - Found in a comment in ZRItems
#define   MP_EMPTY            0x0fff

// Light properties
#define   LIGHT_SWITCH_PERIOD   60  //!< The light switches this number of seconds after the first flip in the 2D/3D versions of the game.
#define   LIGHT_SPEED .025f //!< The light moves at this speed (in m/s) during the Alliance portion of the game.
#define   LIGHT_WIDTH .8  //!< The width of the area that is not dark. Note that this includes the grey zone.
#define   LIGHT_GREY_WIDTH .2 //!< The width of the grey zone in the 2D/3D versions. The width of each grey zone in Alliance is LIGHT_GREY_WIDTH/2.



// Camera Properties
#define   DISABLE_CAMERA_TIME     3       //!< The camera is disabled for this many seconds after taking and uploading pictures.
#define   CAMERA_DEFAULT_MEMORY   2       //!< The number of memory slots an unmodified camera has.
#define   CAMERA_MAX_MEMORY       4     //!< The number of memory slots the camera may have at a maximum.

#define   PHOTO_MIN_DISTANCE    0.5         //!< The minimum distance the sphere may be from the target of its photograph.

//Fuel Management Variables
#define   MIN_FUEL(a, b) ((a < b) ? b : a)    // Prevents fuel from being less than 0
#define   MAX_FUEL(c, d) ((c < d) ? c : d)    // Prevents fuel from being greater than PROP_ALLOWED_SECONDS
#define   PROP_ALLOWED_SECONDS 60.0f          //!< Total time in thruster-seconds allowed per user. Full tank ~500 seconds.


// Energy properties
#define   MAX_ENERGY                    5.0f        //!< Energy capacity
#define   STARTING_ENERGY               MAX_ENERGY  //!< Starting energy
#define   ENERGY_GAIN_RATE              0.5f      //!< Energy gained per second
#define   ENERGY_COST_TAKE_PICTURE      1.0f    //!< The energy cost to take a picture
#define   ENERGY_COST_GET_OTHER_ENERGY  0.0f    //!< The energy cost to determine how much energy your opponent has.
#define   ENERGY_COST_GET_PIC_POINTS    0.1f    //!< The energy cost to determine how many points taking a picture right now would be worth, should you choose to take it.


#define   ENERGY_COST_UPLOAD_PICTURES   1.0f    //!< The energy cost to upload pictures
#define   ENERGY_COST_THRUSTERS         (.001f)*(.3f) //!< The energy cost to use one thousandth of a second of fuel.


//Penalty Variables
#define   OFFSIDES_PENALTY    .02*PROP_ALLOWED_SECONDS  // Fuel penalty per second of being out of bounds
#define   OOBgain             10.0f       // Used to slow down satellite
#define   DRAG                1000.0f     // DRAG coefficient while in obstacle

//Scoring constants
//#define   LOW_ORBIT_SCORE     2 // Obsolete #7
//#define   HIGH_ORBIT_SCORE    3 // Obsolete #8
#define   START_SCORE         0.0f          //!< Your score upon starting the game.

//#define   DEAD_ZONE_WIDTH       0.11f     // need to be verified // Obsolete #9
//#define   LOW_ORBIT_ZONE_WIDTH  0.11f     // before finalized.    // Obsolete #10
//#define   HIGH_ORBIT_ZONE_WIDTH 0.11f     // Obsolete #11
//#define   MAX_PIC_TAKE_RADIUS   0.53f     // Obsolete #12

//Interaction zone limits
#define   ZONE_pX         0.64f       //!< The highest X coordinate in bounds.
#define   ZONE_pY         0.80f         //!< The highest Y coordinate in bounds.
#define   ZONE_pZ         0.64f         //!< The highest Z coordinate in bounds.
#define   ZONE_nX         -ZONE_pX      //!< The lowest X coordinate in bounds.
#define   ZONE_nY         -ZONE_pY      //!< The lowest Y coordinate in bounds.
#define   ZONE_nZ         -ZONE_pZ      //!< The lowest Z coordinate in bounds.

const float limits[3] = {ZONE_pX,ZONE_pY,ZONE_pZ};    //!< The limits of the interaction zone.

#endif