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[simspark-svn] SF.net SVN: simspark:[253] trunk/rcssserver3d
|
From: <sgv...@us...> - 2011-03-21 22:27:52
|
Revision: 253
http://simspark.svn.sourceforge.net/simspark/?rev=253&view=rev
Author: sgvandijk
Date: 2011-03-21 22:27:45 +0000 (Mon, 21 Mar 2011)
Log Message:
-----------
- New touch rules
Modified Paths:
--------------
trunk/rcssserver3d/data/rsg/agent/nao/contactjointhandler.rsg
trunk/rcssserver3d/plugin/soccer/CMakeLists.txt
trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.h
trunk/rcssserver3d/plugin/soccer/export.cpp
trunk/rcssserver3d/plugin/soccer/soccerbase/soccerbase.h
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
Added Paths:
-----------
trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/
trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp
trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.h
trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler_c.cpp
Modified: trunk/rcssserver3d/data/rsg/agent/nao/contactjointhandler.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/contactjointhandler.rsg 2011-03-14 23:16:57 UTC (rev 252)
+++ trunk/rcssserver3d/data/rsg/agent/nao/contactjointhandler.rsg 2011-03-21 22:27:45 UTC (rev 253)
@@ -16,4 +16,8 @@
(setContactSlipMode true)
(setContactSlip 5e-3)
)
-)
\ No newline at end of file
+ (nd AgentCollisionHandler
+ (setName handler)
+ )
+
+)
Modified: trunk/rcssserver3d/plugin/soccer/CMakeLists.txt
===================================================================
--- trunk/rcssserver3d/plugin/soccer/CMakeLists.txt 2011-03-14 23:16:57 UTC (rev 252)
+++ trunk/rcssserver3d/plugin/soccer/CMakeLists.txt 2011-03-21 22:27:45 UTC (rev 253)
@@ -46,6 +46,7 @@
hmdp_effector/hmdpperceptor.h
hmdp_effector/naospecific.h
line/line.h
+ agentcollisionhandler/agentcollisionhandler.h
)
set(soccer_LIB_SRCS
@@ -120,6 +121,8 @@
hmdp_effector/naospecific.cpp
line/line.cpp
line/line_c.cpp
+ agentcollisionhandler/agentcollisionhandler.cpp
+ agentcollisionhandler/agentcollisionhandler_c.cpp
)
include_directories(${CMAKE_CURRENT_SOURCE_DIR} ${FREETYPE_INCLUDE_DIRS}
Added: trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp (rev 0)
+++ trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp 2011-03-21 22:27:45 UTC (rev 253)
@@ -0,0 +1,60 @@
+#include "agentcollisionhandler.h"
+#include <oxygen/agentaspect/agentaspect.h>
+
+using namespace oxygen;
+
+void AgentCollisionHandler::OnLink()
+{
+}
+
+void AgentCollisionHandler::HandleCollision(boost::shared_ptr<Collider> collidee, GenericContact& contact)
+{
+ if (!mAgentState.get())
+ {
+ mAgentState = FindAgentState(this);
+ if (!mAgentState.get())
+ {
+ GetLog()->Error() <<
+ "(AgentCollisionHandler) Could not find own AgentState\n";
+ return;
+ }
+ }
+
+ boost::shared_ptr<AgentState> other = FindAgentState(collidee.get());
+ if (other.get())
+ {
+ boost::shared_ptr<TouchGroup> myGroup = mAgentState->GetTouchGroup();
+ boost::shared_ptr<TouchGroup> otherGroup = other->GetTouchGroup();
+
+ // Check if not already in same group
+ if (myGroup == otherGroup)
+ return;
+
+ // Insert agents into group with lowest index
+ // This ensures assignment uniqueness
+ if (myGroup < otherGroup)
+ {
+ myGroup->insert(otherGroup->begin(), otherGroup->end());
+ otherGroup->clear();
+ other->SetTouchGroup(myGroup);
+ }
+ else
+ {
+ otherGroup->insert(myGroup->begin(), myGroup->end());
+ myGroup->clear();
+ mAgentState->SetTouchGroup(otherGroup);
+ }
+ }
+}
+
+boost::shared_ptr<AgentState> AgentCollisionHandler::FindAgentState(BaseNode* node)
+{
+ boost::shared_ptr<AgentAspect> agentAspect
+ = node->FindParentSupportingClass<AgentAspect>().lock();
+ if (!agentAspect.get())
+ {
+ return boost::shared_ptr<AgentState>();
+ }
+
+ return boost::shared_static_cast<AgentState>(agentAspect->FindChildSupportingClass<AgentState>(true));
+}
Added: trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.h (rev 0)
+++ trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.h 2011-03-21 22:27:45 UTC (rev 253)
@@ -0,0 +1,62 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: recorderhandler.h 176 2010-02-25 12:19:37Z a-held $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef AGENTCOLLISIONHANDLER_H
+#define AGENTCOLLISIONHANDLER_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/collisionhandler.h>
+#include <oxygen/physicsserver/collider.h>
+#include <agentstate/agentstate.h>
+#include <boost/enable_shared_from_this.hpp>
+
+/** \class AgentCollisionHandler is a CollisionHandler that passes
+ collision information of the Collider it belongs to to the owning
+ AgentState.
+*/
+class AgentCollisionHandler : public oxygen::CollisionHandler
+{
+public:
+ AgentCollisionHandler() : oxygen::CollisionHandler() {};
+ virtual ~AgentCollisionHandler() {};
+
+ virtual void OnLink();
+
+ /** Adds to collision list if \collidee is part of another agent
+
+ \param collidee is the geom ID of the colliders collision
+ partner
+
+ \param holds the contact points between the two affected geoms
+ as returned from the ODE dCollide function
+ */
+ virtual void HandleCollision
+ (boost::shared_ptr<oxygen::Collider> collidee, oxygen::GenericContact& contact);
+
+private:
+ boost::shared_ptr<AgentState> FindAgentState(BaseNode* node);
+
+ boost::shared_ptr<AgentState> mAgentState;
+};
+
+ DECLARE_CLASS(AgentCollisionHandler);
+
+#endif // AGENTCOLLISIONHANDLER_H
Added: trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler_c.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler_c.cpp (rev 0)
+++ trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler_c.cpp 2011-03-21 22:27:45 UTC (rev 253)
@@ -0,0 +1,30 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: recorderhandler_c.cpp 176 2010-02-25 12:19:37Z a-held $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "agentcollisionhandler.h"
+
+void CLASS(AgentCollisionHandler)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/CollisionHandler);
+}
+
+
Modified: trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2011-03-14 23:16:57 UTC (rev 252)
+++ trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2011-03-21 22:27:45 UTC (rev 253)
@@ -36,7 +36,8 @@
mHearDecay(2), mHearMateCap(2),
mHearOppCap(2), mIfSelfMsg(false),
mIfMateMsg(false), mIfOppMsg(false),
- mSelected(false)
+ mSelected(false),
+ mOldTouchGroup(new TouchGroup), mTouchGroup(new TouchGroup)
{
// set mID and mUniformNumber into a joint state
SetUniformNumber(0);
@@ -258,3 +259,28 @@
{
mSelected = false;
}
+
+void
+AgentState::NewTouchGroup()
+{
+ mOldTouchGroup = mTouchGroup;
+ mTouchGroup = boost::shared_ptr<TouchGroup>(new TouchGroup());
+}
+
+boost::shared_ptr<TouchGroup>
+AgentState::GetOldTouchGroup()
+{
+ return mOldTouchGroup;
+}
+
+void
+AgentState::SetTouchGroup(boost::shared_ptr<TouchGroup> group)
+{
+ mTouchGroup = group;
+}
+
+boost::shared_ptr<TouchGroup>
+AgentState::GetTouchGroup()
+{
+ return mTouchGroup;
+}
Modified: trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2011-03-14 23:16:57 UTC (rev 252)
+++ trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2011-03-21 22:27:45 UTC (rev 253)
@@ -30,6 +30,10 @@
class RigidBody;
}
+class AgentState;
+
+typedef std::set<boost::shared_ptr<AgentState> > TouchGroup;
+
class AgentState : public ObjectState
{
//
@@ -91,10 +95,27 @@
bool GetMessage(std::string& msg, float& direction, bool teamMate);
bool GetSelfMessage(std::string& msg);
+ /** Whether agent is selected */
bool IsSelected() const;
+
+ /** Select agent */
void Select(bool s = true);
+
+ /** Unselect agent */
void UnSelect();
+ /** Backup old touch group and create new empty one */
+ void NewTouchGroup();
+
+ /** Get the touch group of the previous step */
+ boost::shared_ptr<TouchGroup> GetOldTouchGroup();
+
+ /** Get the current touch group */
+ boost::shared_ptr<TouchGroup> GetTouchGroup();
+
+ /** Set the current touch group */
+ void SetTouchGroup(boost::shared_ptr<TouchGroup> group);
+
protected:
/** team index */
TTeamIndex mTeamIndex;
@@ -138,7 +159,12 @@
/** is there any message from oponnent */
bool mIfOppMsg;
+ /** is this agent selected */
bool mSelected;
+
+ boost::shared_ptr<TouchGroup> mOldTouchGroup;
+ boost::shared_ptr<TouchGroup> mTouchGroup;
+
protected:
virtual void UpdateHierarchyInternal();
virtual void OnUnlink();
Modified: trunk/rcssserver3d/plugin/soccer/export.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/export.cpp 2011-03-14 23:16:57 UTC (rev 252)
+++ trunk/rcssserver3d/plugin/soccer/export.cpp 2011-03-21 22:27:45 UTC (rev 253)
@@ -54,6 +54,7 @@
#include "hmdp_effector/hmdpeffector.h"
#include "hmdp_effector/hmdpperceptor.h"
#include "line/line.h"
+#include "agentcollisionhandler/agentcollisionhandler.h"
ZEITGEIST_EXPORT_BEGIN()
ZEITGEIST_EXPORT(SoccerControlAspect);
@@ -90,5 +91,6 @@
ZEITGEIST_EXPORT(HMDPPerceptor);
ZEITGEIST_EXPORT(HMDPEffector);
ZEITGEIST_EXPORT(Line);
+ ZEITGEIST_EXPORT(AgentCollisionHandler);
ZEITGEIST_EXPORT_END()
Modified: trunk/rcssserver3d/plugin/soccer/soccerbase/soccerbase.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerbase/soccerbase.h 2011-03-14 23:16:57 UTC (rev 252)
+++ trunk/rcssserver3d/plugin/soccer/soccerbase/soccerbase.h 2011-03-21 22:27:45 UTC (rev 253)
@@ -62,7 +62,7 @@
class SoccerBase
{
public:
- typedef std::list<boost::shared_ptr<AgentState> > TAgentStateList;
+ typedef std::vector<boost::shared_ptr<AgentState> > TAgentStateList;
typedef std::map<int, boost::shared_ptr<AgentState> > TAgentStateMap;
public:
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2011-03-14 23:16:57 UTC (rev 252)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2011-03-21 22:27:45 UTC (rev 253)
@@ -30,6 +30,7 @@
#include <gamestateaspect/gamestateaspect.h>
#include <ballstateaspect/ballstateaspect.h>
#include <agentstate/agentstate.h>
+#include <algorithm>
using namespace oxygen;
using namespace boost;
@@ -63,6 +64,7 @@
mMinOppDistance(0), // min dist for closest Opponent to ball in order to use repositions for 2nd, 3rd player
mMin2PlDistance(0), // min dist for second closest of team before being repositioned
mMin3PlDistance(0), // min dist for third closest of team before being repositioned
+ mMaxTouchGroupSize(1000),
mMaxFaultTime(0.0) // maximum time allowed for a player to commit a positional fault before being repositioned
{
mFreeKickPos = Vector3f(0.0,0.0,mBallRadius);
@@ -98,12 +100,18 @@
CalculateDistanceArrays(TI_RIGHT); // Calculates distance arrays for right team
AnalyseFaults(TI_LEFT); // Analyses simple faults for the left team
AnalyseFaults(TI_RIGHT); // Analyses simple faults for the right team
+ AnalyseTouchGroups(TI_LEFT);
+ AnalyseTouchGroups(TI_RIGHT);
// Only apply rules during play-on
if (playMode == PM_PlayOn)
{
ClearPlayersAutomatic(TI_LEFT); // enforce standing and not overcrowding rules for left team
ClearPlayersAutomatic(TI_RIGHT); // enforce standing and not overcrowding rules for right team
}
+
+ // Reset touch groups
+ ResetTouchGroups(TI_LEFT);
+ ResetTouchGroups(TI_RIGHT);
}
}
@@ -129,7 +137,7 @@
// Process agent state: standing, sitted, laying down, ...
void
-SoccerRuleAspect::processAgentState(salt::Vector3f pos, int unum, TTeamIndex idx)
+SoccerRuleAspect::ProcessAgentState(salt::Vector3f pos, int unum, TTeamIndex idx)
{
float groundZVal = 0.15; //bellow this player is on the ground
float middleZVal = 0.25; //abovce this player is standing (or trying...)
@@ -184,7 +192,7 @@
{
if (idx == TI_NONE || mBallState.get() == 0)
return;
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
return;
@@ -196,7 +204,7 @@
ownGoalPos = Vector3f(mFieldLength/2.0, 0.0, 0.0);
boost::shared_ptr<oxygen::Transform> agent_aspect;
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
numPlInsideOwnArea[idx] = 0;
closestPlayer[idx] = 1;
@@ -246,7 +254,7 @@
playerInsideOwnArea[unum][idx] = 0;
// Process agent state: standing, sitted, laying down, ...
- processAgentState(agentPos, unum, idx);
+ ProcessAgentState(agentPos, unum, idx);
}
// compute rank of distance to ball
@@ -255,6 +263,42 @@
SimpleOrder(distGArr, ordGArr, idx);
}
+void SoccerRuleAspect::AnalyseTouchGroups(TTeamIndex idx)
+{
+ if (idx == TI_NONE || mBallState.get() == 0)
+ return;
+ SoccerBase::TAgentStateList agent_states;
+ if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
+ return;
+
+ random_shuffle(agent_states.begin(), agent_states.end());
+ SoccerBase::TAgentStateList::iterator i = agent_states.begin();
+ for (; i != agent_states.end(); ++i)
+ {
+ // Wasn't touching before, joined group making group too large
+ if ((*i)->GetOldTouchGroup()->size() == 1 && (*i)->GetTouchGroup()->size() > mMaxTouchGroupSize)
+ {
+ playerFaultTime[(*i)->GetUniformNumber()][idx]++;
+ // Remove player from touch group so no more agents are replaced
+ (*i)->GetTouchGroup()->erase(*i);
+ }
+ }
+}
+
+void SoccerRuleAspect::ResetTouchGroups(TTeamIndex idx)
+{
+ SoccerBase::TAgentStateList agent_states;
+ if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
+ return;
+
+ SoccerBase::TAgentStateList::const_iterator i;
+ for (i = agent_states.begin(); i != agent_states.end(); i++)
+ {
+ (*i)->NewTouchGroup();
+ (*i)->GetTouchGroup()->insert(*i);
+ }
+}
+
// Analyse Faults and Creates Fault Time Array
void SoccerRuleAspect::AnalyseFaults(TTeamIndex idx)
{
@@ -316,14 +360,15 @@
salt::Vector3f SoccerRuleAspect::RepositionOutsidePos(salt::Vector3f posIni, int unum, TTeamIndex idx)
{
- salt::Vector3f pos;
- float fac=1.0;
- if (unum > 6) unum = 7 -unum; //because of teams that use numbers 7-11
- if (posIni.y()<1.5) fac = 1.0; else fac = -1.0; //for visualization purposes
- if (idx==TI_LEFT) pos = Vector3f(-(7-unum)*0.6, 6.5*fac, 1.0);
- else pos = Vector3f((7-unum)*0.6, 6.5*fac, 1.0);
- //cout << "*********Player Repos Num: " << unum << " Team: " << idx << " Pos: " << pos << endl;
- return pos;
+ salt::Vector3f pos;
+ // Choose x side based on team
+ float xFac = idx == TI_LEFT ? -0.6 : 0.6;
+ // Choose side on oppisite side of field
+ float yFac = posIni.y() < 0 ? 1.0 : -1.0;
+
+ pos = Vector3f(xFac * (7 - unum), (mFieldWidth / 2 + 0.5) * yFac, 1.0);
+
+ return pos;
}
@@ -334,20 +379,20 @@
if (idx == TI_NONE || mBallState.get() == 0)
return;
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
return;
salt::Vector3f ballPos = mBallBody->GetPosition();
boost::shared_ptr<oxygen::Transform> agent_aspect;
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
{
SoccerBase::GetTransformParent(**i, agent_aspect);
Vector3f agentPos = agent_aspect->GetWorldTransform().Pos();
- int unum = (*i)->GetUniformNumber();
+ int unum = (*i)->GetUniformNumber();
if (playerFaultTime[unum][idx] > mMaxFaultTime / 0.02)
{
// I am not a very good soccer player... I am violating the rules...
@@ -367,13 +412,13 @@
{
if (idx == TI_NONE || mBallState.get() == 0) return;
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
return;
salt::BoundingSphere sphere(pos, radius);
boost::shared_ptr<oxygen::Transform> agent_aspect;
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
{
SoccerBase::GetTransformParent(**i, agent_aspect);
@@ -412,12 +457,12 @@
float min_dist, TTeamIndex idx)
{
if (idx == TI_NONE || mBallState.get() == 0) return;
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
return;
boost::shared_ptr<oxygen::Transform> agent_aspect;
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
{
SoccerBase::GetTransformParent(**i, agent_aspect);
@@ -457,7 +502,7 @@
ClearPlayers(Vector3f(0,0,0), mFreeKickDist, mFreeKickMoveDist,opp);
// move the kick off team to own half field and the center circle
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
return;
@@ -470,7 +515,7 @@
}
boost::shared_ptr<oxygen::Transform> agent_aspect;
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
float freeKickDist2 = mFreeKickDist*mFreeKickDist;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
{
@@ -504,12 +549,12 @@
SoccerRuleAspect::ClearSelectedPlayers()
{
float min_dist = mFreeKickMoveDist;
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_NONE))
return;
boost::shared_ptr<oxygen::Transform> agent_aspect;
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
{
SoccerBase::GetTransformParent(**i, agent_aspect);
@@ -1256,6 +1301,7 @@
SoccerBase::GetSoccerVar(*this,"MinOppDistance",mMinOppDistance);
SoccerBase::GetSoccerVar(*this,"Min2PlDistance",mMin2PlDistance);
SoccerBase::GetSoccerVar(*this,"Min3PlDistance",mMin3PlDistance);
+ SoccerBase::GetSoccerVar(*this,"MaxTouchGroupSize",mMaxTouchGroupSize);
//SoccerBase::GetSoccerVar(*this,"MaxFaultTime",mMaxFaultTime);
@@ -1284,13 +1330,13 @@
SoccerRuleAspect::Broadcast(const string& message, const Vector3f& pos,
int number, TTeamIndex idx)
{
- TAgentStateList agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
{
return;
}
- TAgentStateList opponent_agent_states;
+ SoccerBase::TAgentStateList opponent_agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), opponent_agent_states,
SoccerBase::OpponentTeam(idx)))
{
@@ -1308,7 +1354,7 @@
boost::shared_ptr<RigidBody> agent_body;
for (
- TAgentStateList::const_iterator it = agent_states.begin();
+ SoccerBase::TAgentStateList::const_iterator it = agent_states.begin();
it != agent_states.end();
it++
)
@@ -1653,13 +1699,13 @@
boost::shared_ptr<AgentState> agentState)
{
if (idx == TI_NONE || mBallState.get() == 0) return;
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
return;
salt::BoundingSphere sphere(pos, radius);
boost::shared_ptr<oxygen::Transform> agent_aspect;
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
{
if (agentState == (*i))
@@ -1704,11 +1750,11 @@
void
SoccerRuleAspect::ResetAgentSelection()
{
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_NONE))
{
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
(*i)->UnSelect();
}
@@ -1717,13 +1763,13 @@
void
SoccerRuleAspect::SelectNextAgent()
{
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
bool selectNext = false;
if (SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_NONE) && agent_states.size() > 0)
{
boost::shared_ptr<AgentState> first = agent_states.front();
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
{
if ((*i)->IsSelected())
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2011-03-14 23:16:57 UTC (rev 252)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2011-03-21 22:27:45 UTC (rev 253)
@@ -76,36 +76,44 @@
*/
//salt::Vector3f RepositionInsidePos(salt::Vector3f initPos, int unum, TTeamIndex idx, float distance);
- /** New rules for repositioning players that commit faults
- */
- void ClearPlayersAutomatic(TTeamIndex idx);
+ /** New rules for repositioning players that commit faults
+ */
+ void ClearPlayersAutomatic(TTeamIndex idx);
- /** Calculates distance arrays needed for repositioning players
- */
- void CalculateDistanceArrays(TTeamIndex idx);
+ /** Calculates distance arrays needed for repositioning players
+ */
+ void CalculateDistanceArrays(TTeamIndex idx);
- /** Calculates ordering on a distance vector */
- void SimpleOrder(float dArr[][3], int oArr[][3], TTeamIndex idx);
+ /** Calculates ordering on a distance vector */
+ void SimpleOrder(float dArr[][3], int oArr[][3], TTeamIndex idx);
- /** Agent state concerining standing, laying down on the ground are processed
- */
- void processAgentState(salt::Vector3f pos, int unum, TTeamIndex idx);
+ /** Agent state concerining standing, laying down on the ground are processed
+ */
+ void ProcessAgentState(salt::Vector3f pos, int unum, TTeamIndex idx);
- /** Reset the fault time counter for all players and also other counters
- */
- void ResetFaultCounter(TTeamIndex idx);
+ /** Reset the fault time counter for all players and also other counters
+ */
+ void ResetFaultCounter(TTeamIndex idx);
- /** Reset the fault time counter for a given player
- */
- void ResetFaultCounterPlayer(int unum, TTeamIndex idx);
+ /** Reset the fault time counter for a given player
+ */
+ void ResetFaultCounterPlayer(int unum, TTeamIndex idx);
- /**Analyse Faults from players and increase fault counter of offending players
- */
- void AnalyseFaults(TTeamIndex idx);
+ /**Analyse Faults from players and increase fault counter of offending players
+ */
+ void AnalyseFaults(TTeamIndex idx);
- /** Automatic Referee that clears players that violate the rules
- */
- void AutomaticSimpleReferee(TPlayMode playMode);
+ /** Check whether too many agents are touching
+ */
+ void AnalyseTouchGroups(TTeamIndex idx);
+
+ /** Reset the touch groups
+ */
+ void ResetTouchGroups(TTeamIndex idx);
+
+ /** Automatic Referee that clears players that violate the rules
+ */
+ void AutomaticSimpleReferee(TPlayMode playMode);
/** broadcast a said message to all players
\param message said message-
@@ -302,6 +310,8 @@
float mMinOppDistance;
/** maximum number of players of the defending team that may be inside own penalty area */
int mMaxPlayersInsideOwnArea;
+ /** maximum number of players that may be in a single touch group */
+ int mMaxTouchGroupSize;
/** maximum time allowed for a player to commit a positional fault before being repositioned */
int mMaxFaultTime;
/* Useful arrays for dealing with agent state an faults */
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