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# Strategy Params 2001            #
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GOALIE_OCCLUSION_THRESH -1.000000

#in '00, this was PLAYER_RADIUS/sqrt(2)
GOALIE_FRONT_RADIUS 0.090000

#the goalie chooses a different strategy when the
#ball is moving faster than this. (should be a negative number)
BALL_VEL_THRESH_FOR_GOALIE -0.350000

# try to intercept the ball when faster than this
BALL_VEL_THRESH_FOR_INTERCEPT 0.100000

#in '00, this was LEFT_GOALIE_BOX - PLAYER_RADIUS;
GOALIE_ROAM_RADIUS 0.600000
GOALIE_OPTIMAL_PASS_DISTANCE 0.350000

# maximum number of seconds to hold the ball
GOALIE_MAX_HOLD_TIME 4.000000
GOALIE_TO_OPPONENT_DIST_THRESH 0.350000
GOALIE_MIN_LANE_WIDTH 0.090000

#seconds...
GOALIE_PASS_TIME_LIMIT 4.000000

#radians...
OUR_PENALTY_ANGLE 0.000000

# FIELD_WIDTH/2.0f
MIDFIELD_AREA_RADIUS 0.750000

# stay this far away from the ball in both dimensions.
MIDFIELD_SHIELD_BALL_DISTANCE 0.141400

# don't try to strip the ball unless you are at least this close.
MIDFIELD_MAX_STRIP_DISTANCE 0.400000
SPIN_TOL 0.157100
KICK_TOL 0.060000
PASS_TOL 0.060000

# speed of the ball after being kicked
KICK_VELOCITY 1.50

MAX_ACCEL 10.000000

#75 degrees
PENALTY_SHOT_ANGLE 1.309000

SHOOT_THRESH_LINE 0.060000

CLEAR_UPFIELD_THRESH_LINE -0.500000

CLEAR_UPFIELD_TARGET_LINE 0.100000

#When kicking, set destination to a point this far away
RUN_PAST_BALL_DISTANCE 1.000000

# m/s
SLOW_STRIP_VELOCITY 0.050000

##### Offensive dividing lines #####
CLEAR_UPFIELD_LINE 0.300000
FAR_FORWARD_LINE 0.950000
SIDELINE_DIVIDER 0.350000
SIDELINE_Y_RECEIVE_PASS 0.450000

##### maximum distance to a pass destination #####
DIST_TO_PASS_DEST 0.150000

##### Width thresholds for passing and shooting lanes #####
PASS_LANE_THRESH 0.100000
#about 15 degrees. function laneWidthBetweenPoints() takes enemy radius into account
PASS_LANE_ANGLE_THRESH 0.261700
SHOOT_LANE_THRESH 0.070000

##### parameters for directkick #####
MIN_GOALIE_DIST 0.050000

##### Parameters for pass combinations #####
PASS_LENGTHS_RATIO 2.000000

##### Parameters for pass combination #####
PASS_COMBO_MAX_LENGTH 2.000000
PASS_COMBO_MIN_LENGTH 0.750000

# ~PI/3
PASS_COMBO_MAX_ANGLE 1.000000

PASS_COMBO_CLEARANCE_THRESH 0.075000

##### Parameters for pass shot #####
PASS_SHOT_MAX_LENGTH 2.000000
PASS_SHOT_MIN_LENGTH 0.750000

# ~PI/3
PASS_SHOT_MAX_ANGLE 1.000000
PASS_SHOT_CLEARANCE_THRESH 0.075000

##### Parameters for ball interception #####
INTERCEPTION_SLOW_BALL_SPEED 0.050000
INTERCEPTION_DELAY_PARAM 1.000000
INTERCEPTION_DELAY_OFFSET 0.000000

######  Corner kick parameters #######
CORNER_KICK_TIME_LIMIT 5.000000
CORNER_DIST 0.000000

### Values for the phone side of the field...
LEFT_CORNER_POINT_1X 0.335000
LEFT_CORNER_POINT_1Y 0.290000
LEFT_CORNER_POINT_2X 0.285000
LEFT_CORNER_POINT_2Y 0.250000
LEFT_CORNER_POINT_3X 0.265000
LEFT_CORNER_POINT_3Y 0.250000
LEFT_CORNER_POINT_4X 0.190000
LEFT_CORNER_POINT_4Y 0.110000
LEFT_CORNER_POINT_5X 0.160000
LEFT_CORNER_POINT_5Y 0.090000
LEFT_CORNER_POINT_6X 0.090000
LEFT_CORNER_POINT_6Y 0.080000
LEFT_CORNER_POINT_7X 0.080000
LEFT_CORNER_POINT_7Y 0.110000
RIGHT_CORNER_POINT_1X 0.335000
RIGHT_CORNER_POINT_1Y 0.290000
RIGHT_CORNER_POINT_2X 0.285000
RIGHT_CORNER_POINT_2Y 0.250000
RIGHT_CORNER_POINT_3X 0.265000
RIGHT_CORNER_POINT_3Y 0.250000
RIGHT_CORNER_POINT_4X 0.190000
RIGHT_CORNER_POINT_4Y 0.110000
RIGHT_CORNER_POINT_5X 0.160000
RIGHT_CORNER_POINT_5Y 0.090000
RIGHT_CORNER_POINT_6X 0.080000
RIGHT_CORNER_POINT_6Y 0.100000
RIGHT_CORNER_POINT_7X 0.095000
RIGHT_CORNER_POINT_7Y 0.120000

STEP1COUNTER 25
STEP2COUNTER 50
STEP3COUNTER 75
STEP4COUNTER 100
STEP5COUNTER 125
STEP6COUNTER 150
STEP7COUNTER 300

##########  Testing Data  #################
# integer
TEST_METHOD 3

# meters/second
TEST_SPEED 0.500000

# radians
TEST_ROTATION 0.000000

# radians/second
TEST_ROT_VEL 0.500000

##########  Play Data  #################
ENABLE_SIMPLE_OFFENSE 0
USE_CLEAR_UPFIELD 1
USE_CORNER_KICK 1
USE_DIRECT_KICK 1
USE_UPFIELD_PASSING 1

MIN_PASS_DEST            0.27
PASS_TO_SHOT_DISTANCE    0.70

#---------------------------------------
ENABLE_BACK_PASS   0
ENABLE_CREATOR_ASSIST   0

#used by special op defender in tight defense
ENABLE_OPPOSITE_COVER_SKILL 1

#used by special op defender in loose defender
ENABLE_FOLLOW_DEFNDER_SKILL 1

#rotates long way to avoid rotating toward out goal behind a parameterized line
ENABLE_SMART_ROTATE_AROUND_BALL 1

ENABLE_AGGRESSIVE_PULL_OFF_WALL 0

ENABLE_AGGRESSIVE_PULL_OFF_CORNER 0

#0 = normal, swings wide when beginning with large ABS(y) coord
#1 = aggresive mode, adjusts radius
#2 = stupid mode, don't push across much at all
JAM_AND_SHOOT_MODE 1

#takes extra special care not to push on opponents too hard
ENABLE_CAREFUL_STRIP_BALL 0
#---------------------------------------
