[simspark-svn] SF.net SVN: simspark:[68] trunk/rcssserver3d

[<sgv...@us...>]

Revision: 68
          http://simspark.svn.sourceforge.net/simspark/?rev=68&view=rev
Author:   sgvandijk
Date:     2009-06-15 15:08:14 +0000 (Mon, 15 Jun 2009)

Log Message:
-----------
- change goal and out-of-field checks to only accept when ball is completely over the line

Modified Paths:
--------------
    trunk/rcssserver3d/ChangeLog
    trunk/rcssserver3d/data/rsg/agent/nao/goal.rsg
    trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.cpp
    trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.h

Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog	2009-06-15 13:33:46 UTC (rev 67)
+++ trunk/rcssserver3d/ChangeLog	2009-06-15 15:08:14 UTC (rev 68)
@@ -1,3 +1,11 @@
+2009-06-15  Sander van Dijk  <sgv...@gm...>
+
+  * plugin/soccer/ballstateaspect/ballstateaspect.h
+  * plugin/soccer/ballstateaspect/ballstateaspect.cpp
+  * data/rsg/agent/nao/goal.rsg
+  - change goal and out-of-field checks to only accept when ball is
+  completely over the line
+  
 2009-04-30  Sander van Dijk  <sgv...@gm...>
 
 	* rcssmonitor3d/rcssmonitor3d.rb

Modified: trunk/rcssserver3d/data/rsg/agent/nao/goal.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/goal.rsg	2009-06-15 13:33:46 UTC (rev 67)
+++ trunk/rcssserver3d/data/rsg/agent/nao/goal.rsg	2009-06-15 15:08:14 UTC (rev 68)
@@ -9,11 +9,18 @@
  (def $GoalWidth   (eval Soccer.GoalWidth))
  (def $GoalDepth   (eval Soccer.GoalDepth))
  (def $GoalHeight  (eval Soccer.GoalHeight))
-
+ (def $BallRadius  (eval Soccer.BallRadius))
+ 
  (def $GoalHalfWidth   (eval $GoalWidth / 2.0))
  (def $GoalHalfHeight  (eval $GoalHeight / 2.0))
  (def $GoalHalfDepth   (eval $GoalDepth / 2.0))
 
+ (def $BallDiameter  (eval $BallRadius * 2.0))
+ 
+ (def $GoalColliderWidth   (eval $GoalWidth - $BallDiameter))
+ (def $GoalColliderDepth   (eval $GoalDepth - $BallDiameter))
+ (def $GoalColliderHeight  (eval $GoalHeight))
+   
  (def $BarDiameter     0.04)
  (def $BarRadius       (eval $BarDiameter / 2.0))
 
@@ -29,7 +36,7 @@
 	 (setLocalRotation 0 0 $theta)
 	 (nd BoxCollider
 	     (setName BoxCollider)
-	     (setBoxLengths $GoalDepth $GoalWidth $GoalHeight)
+	     (setBoxLengths $GoalColliderDepth $GoalColliderWidth $GoalColliderHeight)
 	     (nd RecorderHandler
 		 (setName recorder)
 		 )

Modified: trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.cpp	2009-06-15 13:33:46 UTC (rev 67)
+++ trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.cpp	2009-06-15 15:08:14 UTC (rev 68)
@@ -101,8 +101,8 @@
 void BallStateAspect::UpdateBallOnField()
 {
     const Vector3f& posBall = mBall->GetWorldTransform().Pos();
-    mBallOnField = ( gAbs(posBall.x()) < mHalfFieldLength )
-        && ( gAbs(posBall.y()) < mHalfFieldWidth );
+    mBallOnField = ( gAbs(posBall.x()) < mHalfFieldLength + mBallRadius + 0.001 )
+        && ( gAbs(posBall.y()) < mHalfFieldWidth + mBallRadius + 0.001 );
 }
 
 void BallStateAspect::UpdateLastValidBallPos()
@@ -182,6 +182,8 @@
     float fieldLength = 100.0f;
     SoccerBase::GetSoccerVar(*this,"FieldLength",fieldLength);
     mHalfFieldLength = fieldLength * 0.5f;
+    
+    SoccerBase::GetSoccerVar(*this,"BallRadius",mBallRadius);
 }
 
 void BallStateAspect::OnUnlink()

Modified: trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.h	2009-06-15 13:33:46 UTC (rev 67)
+++ trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.h	2009-06-15 15:08:14 UTC (rev 68)
@@ -141,6 +141,9 @@
     /** indicates in which goal the ball is, TI_NONE otherwise */
     TTeamIndex mGoalState;
 
+    /** the cached ball radius */
+    float mBallRadius;
+    
     /** the cached field length */
     float mHalfFieldLength;
 


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