<commit_before>

def is_moving_towards_our_goal():
    raise NotImplementedError()
    # Here's the old C++ code from Goalie.cpp:
    # bool Gameplay::Behaviors::Goalie::ballIsMovingTowardsGoal()
    # {
    #     Segment goalLine(Point(-MaxX, 0), Point(MaxX, 0));
    #     Segment ballPath(ball().pos, (ball().pos + 5*ball().vel.normalized()));
    #     //if the ball is traveling towards the goal
    #     return (ball().vel.magsq() > 0.02 && ballPath.intersects(goalLine));
    # }

def is_in_our_goalie_box():
    raise NotImplementedError()


# returns a Robot or None indicating which opponent has the ball
def opponent_with_ball():
    raise NotImplementedError()
    # Here's the old c++ code from Goalie.cpp
    # Robot* Gameplay::Behaviors::Goalie::opponentWithBall()
    # {
    #     Robot* closest = 0;
    #     float bestDist = 0;
    #     BOOST_FOREACH(Robot *r, state()->opp){
    #         float dist = r->pos.distTo(ball().pos);
    #         if (!closest || dist < bestDist)
    #         {
    #             closest = r;
    #             bestDist = dist;
    #         }
    #     }
    #     float angle = 3.14 * (closest->angle / 180);
    #     float theta = angleBetweenThreePoints(Point(closest->pos.x + cos(angle), closest->pos.y + sin(angle)),ball().pos,closest->pos);
    #     float maxRadius = Robot_Diameter + Robot_Diameter*cos(theta);
    #     //std::cout << theta << std::endl;<commit_msg>added ball pos prediction function - thanks doho!<commit_after>

def is_moving_towards_our_goal():
    raise NotImplementedError()
    # Here's the old C++ code from Goalie.cpp:
    # bool Gameplay::Behaviors::Goalie::ballIsMovingTowardsGoal()
    # {
    #     Segment goalLine(Point(-MaxX, 0), Point(MaxX, 0));
    #     Segment ballPath(ball().pos, (ball().pos + 5*ball().vel.normalized()));
    #     //if the ball is traveling towards the goal
    #     return (ball().vel.magsq() > 0.02 && ballPath.intersects(goalLine));
    # }

def is_in_our_goalie_box():
    raise NotImplementedError()


# The ball's motion follows the equation X(t) = X_i + V_i*t - 0.5*(c*g)*t^2
def predict(X_i, V_i, t):
    raise NotImplementedError("The value of the coefficient of rolling friction between the ball and the field hasn't been set")
    c = 1       # The coefficient of rolling for a golf ball on the field's felt surface
    g = 9.81    # gravitational coefficient (m/s^2)
    m = 0.04593 # mass of golf ball (kg)

    return X_i + (V_i * t) - (0.5 * c * g * t**2)



# returns a Robot or None indicating which opponent has the ball
def opponent_with_ball():
    raise NotImplementedError()
    # Here's the old c++ code from Goalie.cpp
    # Robot* Gameplay::Behaviors::Goalie::opponentWithBall()
    # {
    #     Robot* closest = 0;
    #     float bestDist = 0;
    #     BOOST_FOREACH(Robot *r, state()->opp){
    #         float dist = r->pos.distTo(ball().pos);
    #         if (!closest || dist < bestDist)
    #         {
    #             closest = r;
    #             bestDist = dist;
    #         }
    #     }
    #     float angle = 3.14 * (closest->angle / 180);
    #     float theta = angleBetweenThreePoints(Point(closest->pos.x + cos(angle), closest->pos.y + sin(angle)),ball().pos,closest->pos);
    #     float maxRadius = Robot_Diameter + Robot_Diameter*cos(theta);
    #     //std::cout << theta << std::endl;
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