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[simspark-svn] SF.net SVN: simspark:[268] trunk/rcssserver3d
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From: <he...@us...> - 2011-04-20 23:19:33
|
Revision: 268
http://simspark.svn.sourceforge.net/simspark/?rev=268&view=rev
Author: hedayat
Date: 2011-04-20 23:19:27 +0000 (Wed, 20 Apr 2011)
Log Message:
-----------
Implementing a fix for goal counting problem based on Luis's suggestion and Mahdi's work.
Modified Paths:
--------------
trunk/rcssserver3d/ChangeLog
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2011-04-20 23:14:35 UTC (rev 267)
+++ trunk/rcssserver3d/ChangeLog 2011-04-20 23:19:27 UTC (rev 268)
@@ -1,3 +1,12 @@
+2011-04-21 Hedayat Vatankhah <hed...@gm...>
+
+ * plugin/soccer/soccerruleaspect/soccerruleaspect.h:
+ * plugin/soccer/soccerruleaspect/soccerruleaspect.cpp (SoccerRuleAspect::CheckGoal):
+ - if goal recorder's cannot detect any goals, geometrically check to
+ make sure that no goal is actually happened. Thanks to Luis for starting
+ the effort and Mahdi for the initial code for calculating where the ball
+ crosses the goal geometrically.
+
2011-03-28 Hedayat Vatankhah <hed...@gm...>
* rcssmonitor3d/rcssmonitor3d.rb:
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2011-04-20 23:14:35 UTC (rev 267)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2011-04-20 23:19:27 UTC (rev 268)
@@ -63,7 +63,7 @@
mMaxPlayersInsideOwnArea(1000), // maximum number of players of the defending team that may be inside own penalty area
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
+ 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
{
@@ -83,23 +83,23 @@
mBallBody->Enable();
}
-/* Uses only Ball and Players positions and detects overcrowind near ball and areas and
+/* Uses only Ball and Players positions and detects overcrowind near ball and areas and
players innappropriate behavior (laying on the ground or not walking for too much time) */
-void
+void
SoccerRuleAspect::AutomaticSimpleReferee(TPlayMode playMode)
{
// Reset counters before kickoff
if (playMode == PM_BeforeKickOff)
- {
+ {
ResetFaultCounter(TI_LEFT);
ResetFaultCounter(TI_RIGHT);
}
else
{
- CalculateDistanceArrays(TI_LEFT); // Calculates distance arrays for left team
- 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
+ CalculateDistanceArrays(TI_LEFT); // Calculates distance arrays for left team
+ 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
@@ -108,7 +108,7 @@
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);
@@ -116,18 +116,18 @@
}
-void
+void
SoccerRuleAspect::ResetFaultCounterPlayer(int unum, TTeamIndex idx)
{
- playerGround[unum][idx] = 0;
- playerNotStanding[unum][idx] = 0;
+ playerGround[unum][idx] = 0;
+ playerNotStanding[unum][idx] = 0;
playerStanding[unum][idx] = 5/0.02; // Considers player has been standing for some time in playoff
- prevPlayerInsideOwnArea[unum][idx] = 0;
- playerInsideOwnArea[unum][idx] = 0;
- playerFaultTime[unum][idx] = 0;
+ prevPlayerInsideOwnArea[unum][idx] = 0;
+ playerInsideOwnArea[unum][idx] = 0;
+ playerFaultTime[unum][idx] = 0;
}
-void
+void
SoccerRuleAspect::ResetFaultCounter(TTeamIndex idx)
{
for(int t=1; t<=11; t++) {
@@ -136,54 +136,54 @@
}
// Process agent state: standing, sitted, laying down, ...
-void
+void
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...)
- //increase player not standing if it is not in upward position and inside of field
+ //increase player not standing if it is not in upward position and inside of field
if (pos.z() < middleZVal && fabs(pos.y())< mFieldWidth / 2 + 0.1)
- {
- playerNotStanding[unum][idx]++;
+ {
+ playerNotStanding[unum][idx]++;
playerStanding[unum][idx] = 0; //player not standing
}
//increase player near ground if it is very low and inside of field
if (pos.z() < groundZVal && fabs(pos.y())< mFieldWidth / 2 + 0.1)
{
- playerGround[unum][idx]++;
+ playerGround[unum][idx]++;
}
//increase player standing or at least trying... Reset ground
if (pos.z() >= middleZVal)
{
- playerStanding[unum][idx]++;
+ playerStanding[unum][idx]++;
playerGround[unum][idx] = 0;
}
//Player standing for some cycles (0.5 seconds) reset not standing count
- if (playerStanding[unum][idx] > 0.5 / 0.02) {
- playerNotStanding[unum][idx] = 0;
+ if (playerStanding[unum][idx] > 0.5 / 0.02) {
+ playerNotStanding[unum][idx] = 0;
}
}
// Calculates ordering on a distance vector
void SoccerRuleAspect::SimpleOrder(float dArr[][3], int oArr[][3], TTeamIndex idx)
{
- for(int t1 = 1; t1 <= 10; t1++)
- for(int t2 = t1 + 1; t2 <= 11; t2++)
+ for(int t1 = 1; t1 <= 10; t1++)
+ for(int t2 = t1 + 1; t2 <= 11; t2++)
if (dArr[t1][idx] >= dArr[t2][idx])
oArr[t1][idx]++;
else
oArr[t2][idx]++;
-
+
// DEBUG
// if (dArr[1][idx]<1000.0) {
// cout << "Team: " << idx << " --> ";
-// for(int t1=1; t1<=6; t1++)
+// for(int t1=1; t1<=6; t1++)
// if (dArr[t1][idx]<5.0) cout << t1 << " o:" << oArr[t1][idx] << " d: " << dArr[t1][idx] << " | ";
-// cout << endl;
+// cout << endl;
// }
}
@@ -202,7 +202,7 @@
ownGoalPos = Vector3f(-mFieldLength/2.0, 0.0, 0.0);
else
ownGoalPos = Vector3f(mFieldLength/2.0, 0.0, 0.0);
-
+
boost::shared_ptr<oxygen::Transform> agent_aspect;
SoccerBase::TAgentStateList::const_iterator i;
@@ -210,45 +210,45 @@
closestPlayer[idx] = 1;
closestPlayerDist[idx] = 1000.0;
for(int t = 1; t <= 11; t++)
- {
+ {
distArr[t][idx]=1000.0;
ordArr[t][idx]=1;
distGArr[t][idx]=1000.0;
- ordGArr[t][idx]=1;
+ ordGArr[t][idx]=1;
}
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();
- distArr[unum][idx] = sqrt((agentPos.x()-ballPos.x())*(agentPos.x()-ballPos.x()) +
+ int unum = (*i)->GetUniformNumber();
+ distArr[unum][idx] = sqrt((agentPos.x()-ballPos.x())*(agentPos.x()-ballPos.x()) +
(agentPos.y()-ballPos.y())*(agentPos.y()-ballPos.y()));
- distGArr[unum][idx] = sqrt((agentPos.x()-ownGoalPos.x())*(agentPos.x()-ownGoalPos.x()) +
+ distGArr[unum][idx] = sqrt((agentPos.x()-ownGoalPos.x())*(agentPos.x()-ownGoalPos.x()) +
(agentPos.y()-ownGoalPos.y())*(agentPos.y()-ownGoalPos.y()));
// determine closest player
if (distArr[unum][idx] < closestPlayerDist[idx])
- {
+ {
closestPlayerDist[idx] = distArr[unum][idx];
- closestPlayer[idx] = unum;
+ closestPlayer[idx] = unum;
}
// save player inside area state in previous cycle
- prevPlayerInsideOwnArea[unum][idx] = playerInsideOwnArea[unum][idx];
+ prevPlayerInsideOwnArea[unum][idx] = playerInsideOwnArea[unum][idx];
// determine number of players inside area and set inside area state of player
- if (idx == TI_LEFT && mLeftPenaltyArea.Contains(Vector2f(agentPos.x(), agentPos.y())) ||
+ if (idx == TI_LEFT && mLeftPenaltyArea.Contains(Vector2f(agentPos.x(), agentPos.y())) ||
idx == TI_RIGHT && mRightPenaltyArea.Contains(Vector2f(agentPos.x(), agentPos.y())))
- {
+ {
numPlInsideOwnArea[idx]++;
- playerInsideOwnArea[unum][idx] = 1;
+ playerInsideOwnArea[unum][idx] = 1;
//goalie is not repositioned when inside own area...
if (unum == 1)
- {
- distGArr[unum][idx] = 0.0;
- }
+ {
+ distGArr[unum][idx] = 0.0;
+ }
}
else
playerInsideOwnArea[unum][idx] = 0;
@@ -256,7 +256,7 @@
// Process agent state: standing, sitted, laying down, ...
ProcessAgentState(agentPos, unum, idx);
}
-
+
// compute rank of distance to ball
SimpleOrder(distArr, ordArr, idx);
// compute rank of distance to own goal
@@ -290,7 +290,7 @@
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++)
{
@@ -307,31 +307,31 @@
idx2 = TI_RIGHT;
else
idx2 = TI_LEFT; //Other team
-
+
for(int unum=1; unum<=11; unum++)
{
- // I am the third closest player but i am too near the ball (and not the goalie)
- if (unum != 1 && closestPlayerDist[idx2] < mMinOppDistance &&
- (distArr[unum][idx] <= mMin3PlDistance + 0.01 && ordArr[unum][idx] == 3))
+ // I am the third closest player but i am too near the ball (and not the goalie)
+ if (unum != 1 && closestPlayerDist[idx2] < mMinOppDistance &&
+ (distArr[unum][idx] <= mMin3PlDistance + 0.01 && ordArr[unum][idx] == 3))
{
playerFaultTime[unum][idx]++;
}
// I am the second closest player but i am too near the ball (and not the goalie)
- else if(unum != 1 && closestPlayerDist[idx2] < mMinOppDistance &&
- distArr[unum][idx] <= mMin2PlDistance + 0.01 && ordArr[unum][idx] == 2 )
+ else if(unum != 1 && closestPlayerDist[idx2] < mMinOppDistance &&
+ distArr[unum][idx] <= mMin2PlDistance + 0.01 && ordArr[unum][idx] == 2 )
{
playerFaultTime[unum][idx]++;
}
- // Too many players inside my own penalty area and Im am the last one to enter or
+ // Too many players inside my own penalty area and Im am the last one to enter or
// the last one to enter was the goalie and I am the one further away from own goal
else if((numPlInsideOwnArea[idx] > mMaxPlayersInsideOwnArea && unum != 1 && playerInsideOwnArea[unum][idx] == 1 &&
- (prevPlayerInsideOwnArea[unum][idx] == 0 ||
+ (prevPlayerInsideOwnArea[unum][idx] == 0 ||
(prevPlayerInsideOwnArea[1][idx] == 0 && playerInsideOwnArea[1][idx] == 1 && mMaxPlayersInsideOwnArea + 1 == ordGArr[unum][idx]))))
{
playerFaultTime[unum][idx]++;
}
// I am a field player and on the ground for too much time
- else if (unum != 1 && playerGround[unum][idx] > mGroundMaxTime / 0.02)
+ else if (unum != 1 && playerGround[unum][idx] > mGroundMaxTime / 0.02)
{
playerFaultTime[unum][idx]++;
}
@@ -346,7 +346,7 @@
playerFaultTime[unum][idx]++;
}
// I am the goalie and I and not standing for too much time
- else if (unum == 1 && playerNotStanding[unum][idx] > mGoalieNotStandingMaxTime / 0.02)
+ else if (unum == 1 && playerNotStanding[unum][idx] > mGoalieNotStandingMaxTime / 0.02)
{
playerFaultTime[unum][idx]++;
}
@@ -354,11 +354,11 @@
{
playerFaultTime[unum][idx]=0;
}
- }
+ }
}
-salt::Vector3f SoccerRuleAspect::RepositionOutsidePos(salt::Vector3f posIni, int unum, TTeamIndex idx)
+salt::Vector3f SoccerRuleAspect::RepositionOutsidePos(salt::Vector3f posIni, int unum, TTeamIndex idx)
{
salt::Vector3f pos;
// Choose x side based on team
@@ -396,12 +396,12 @@
if (playerFaultTime[unum][idx] > mMaxFaultTime / 0.02)
{
// I am not a very good soccer player... I am violating the rules...
- salt::Vector3f new_pos = RepositionOutsidePos(ballPos, unum, idx);
+ salt::Vector3f new_pos = RepositionOutsidePos(ballPos, unum, idx);
//Calculate my Reposition pos outside of the field
- SoccerBase::MoveAgent(agent_aspect, new_pos);
+ SoccerBase::MoveAgent(agent_aspect, new_pos);
//Oh my God!! I am flying!! I am going outside of the field
ResetFaultCounterPlayer(unum, idx);
- //cout << "*********Player Repos Num: " << unum << " Team: " << team << " Pos: " << new_pos << endl;
+ //cout << "*********Player Repos Num: " << unum << " Team: " << team << " Pos: " << new_pos << endl;
}
}
}
@@ -1025,9 +1025,35 @@
{
// check if the ball is in one of the goals
TTeamIndex idx = mBallState->GetGoalState();
+
if (idx == TI_NONE)
{
- return false;
+ const salt::Vector3f ballPos = mBallBody->GetPosition();
+ const float xDist2Goal = fabs(ballPos.x()) - mGoalBallLineX;
+
+ // check if ball is completely out of the field
+ if (xDist2Goal < 0)
+ return false;
+
+ salt::Vector3f normBVel = mBallBody->GetVelocity();
+ // ball should be inside the field recently (assumes that the simulation
+ // step size is smaller than 1 second)
+ if (ballPos.x() - normBVel.x() > mGoalBallLineX)
+ return false;
+
+ normBVel.Normalize();
+ double velCos = normBVel.x();
+ double dist = xDist2Goal / velCos;
+ salt::Vector3f crossPoint = ballPos - normBVel * dist;
+
+ if (fabs(crossPoint.y()) < mGoalWidth / 2.0 &&
+ crossPoint.z() < mGoalHeight)
+ {
+ if (ballPos.x() < 0)
+ idx = TI_LEFT;
+ else
+ idx = TI_RIGHT;
+ }
}
// score the lucky team
@@ -1231,7 +1257,7 @@
<< playMode << "\n";
break;
}
-
+
// Simple Referee
AutomaticSimpleReferee(playMode);
}
@@ -1281,6 +1307,7 @@
SoccerBase::GetSoccerVar(*this,"FieldLength",mFieldLength);
SoccerBase::GetSoccerVar(*this,"FieldWidth",mFieldWidth);
SoccerBase::GetSoccerVar(*this,"GoalWidth",mGoalWidth);
+ SoccerBase::GetSoccerVar(*this,"GoalHeight",mGoalHeight);
SoccerBase::GetSoccerVar(*this,"FreeKickDistance",mFreeKickDist);
SoccerBase::GetSoccerVar(*this,"FreeKickMoveDist",mFreeKickMoveDist);
SoccerBase::GetSoccerVar(*this,"GoalKickDist",mGoalKickDist);
@@ -1291,9 +1318,9 @@
float penaltyLength, penaltyWidth;
SoccerBase::GetSoccerVar(*this,"PenaltyLength",penaltyLength);
SoccerBase::GetSoccerVar(*this,"PenaltyWidth",penaltyWidth);
-
+
// auto ref parameters
- SoccerBase::GetSoccerVar(*this,"NotStandingMaxTime",mNotStandingMaxTime);
+ SoccerBase::GetSoccerVar(*this,"NotStandingMaxTime",mNotStandingMaxTime);
SoccerBase::GetSoccerVar(*this,"GoalieNotStandingMaxTime",mGoalieNotStandingMaxTime);
SoccerBase::GetSoccerVar(*this,"GroundMaxTime",mGroundMaxTime);
SoccerBase::GetSoccerVar(*this,"GoalieGroundMaxTime",mGoalieGroundMaxTime);
@@ -1324,6 +1351,8 @@
-(penaltyWidth + mGoalWidth)/2.0),
Vector2f(-mFieldLength/2.0,
(penaltyWidth + mGoalWidth)/2.0));
+
+ mGoalBallLineX = mFieldLength / 2.0 + mBallRadius;
}
void
@@ -1753,7 +1782,7 @@
SoccerBase::TAgentStateList agent_states;
if (SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_NONE))
{
-
+
SoccerBase::TAgentStateList::const_iterator i;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
(*i)->UnSelect();
@@ -1768,7 +1797,7 @@
if (SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_NONE) && agent_states.size() > 0)
{
boost::shared_ptr<AgentState> first = agent_states.front();
-
+
SoccerBase::TAgentStateList::const_iterator i;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
{
@@ -1784,7 +1813,7 @@
return;
}
}
-
+
// No agent selected, select first
first->Select();
}
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2011-04-20 23:14:35 UTC (rev 267)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2011-04-20 23:19:27 UTC (rev 268)
@@ -45,7 +45,7 @@
{
public:
typedef std::list<boost::shared_ptr<AgentState> > TAgentStateList;
-
+
public:
SoccerRuleAspect();
virtual ~SoccerRuleAspect();
@@ -64,13 +64,13 @@
\param pos position where the ball should be dropped-
*/
void DropBall(salt::Vector3f pos);
-
+
/** Calculates the out of the field reposition pos for a given agent with unum and team idx
Agents are repositioned outside of the field near the mid field line on the opposite yy side
regarding the ball position
*/
salt::Vector3f RepositionOutsidePos(salt::Vector3f initPos, int unum, TTeamIndex idx);
-
+
/** Calculates the inside field reposition pos for a given agent with unum and team idx
Agents are repositioned at distance from the ball, that is, at: plpos + (plpos-ballpos).normalize()*dist
*/
@@ -80,7 +80,7 @@
*/
void ClearPlayersAutomatic(TTeamIndex idx);
- /** Calculates distance arrays needed for repositioning players
+ /** Calculates distance arrays needed for repositioning players
*/
void CalculateDistanceArrays(TTeamIndex idx);
@@ -99,18 +99,18 @@
*/
void ResetFaultCounterPlayer(int unum, TTeamIndex idx);
- /**Analyse Faults from players and increase fault counter of offending players
+ /**Analyse Faults from players and increase fault counter of offending players
*/
void AnalyseFaults(TTeamIndex idx);
/** 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);
@@ -138,19 +138,19 @@
void ClearPlayersWithException(const salt::Vector3f& pos, float radius, float min_dist,
TTeamIndex idx, boost::shared_ptr<AgentState> agentState);
- /**
+ /**
* get the size of field, i.e. length and width
- *
- *
+ *
+ *
* @return the length and width
*/
salt::Vector2f GetFieldSize() const;
-
-
+
+
void ResetAgentSelection();
-
+
void SelectNextAgent();
-
+
void ClearSelectedPlayers();
protected:
@@ -238,7 +238,7 @@
*/
void ClearPlayers(const salt::AABB2& box, float min_dist, TTeamIndex idx);
- /**
+ /**
* clear the player before kick off, if the team is the kick off
* side, the robots can be on his own half and the center circle,
* otherwise the robots can only be on his own half except the
@@ -247,7 +247,7 @@
* @param idx the team which kick off
*/
void ClearPlayersBeforeKickOff(TTeamIndex idx);
-
+
protected:
/** reference to the body node of the Ball */
boost::shared_ptr<oxygen::RigidBody> mBallBody;
@@ -277,6 +277,10 @@
float mFieldWidth;
/** the goal width (in meters) */
float mGoalWidth;
+ /** the goal height (in meters) */
+ float mGoalHeight;
+ /** the absolute x coordinate of the goal which ball should pass (in meters) */
+ float mGoalBallLineX;
/** the point on the field where we do the kick in, free kick etc. */
salt::Vector3f mFreeKickPos;
/** the distance opponents have to keep during free kicks, kick ins etc. */
@@ -295,28 +299,28 @@
//FCP 2010 - New Parameters (added by FCPortugal for Singapure 2010)
/** max time player may be sitted or laying down before being repositioned */
- int mNotStandingMaxTime;
+ int mNotStandingMaxTime;
/** max time player may be on the ground before being repositioned */
- int mGroundMaxTime;
+ int mGroundMaxTime;
/** max time goalie may be sitted or laying down before being repositioned */
- int mGoalieNotStandingMaxTime;
+ int mGoalieNotStandingMaxTime;
/** max time goalie (player number 1) may be on the ground before being repositioned */
int mGoalieGroundMaxTime;
/** min dist for second closest of team before being repositioned */
- float mMin2PlDistance;
+ float mMin2PlDistance;
/** min dist for third closest of team before being repositioned */
- float mMin3PlDistance;
+ float mMin3PlDistance;
/** min dist for closest Opponent to ball in order to use repositions for the second and third player*/
- float mMinOppDistance;
+ float mMinOppDistance;
/** maximum number of players of the defending team that may be inside own penalty area */
- int mMaxPlayersInsideOwnArea;
+ 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;
+ int mMaxFaultTime;
/* Useful arrays for dealing with agent state an faults */
salt::Vector3f playerPos[12][3]; //Players Positions - not used
- int playerGround[12][3]; //Time Players are on the ground
+ int playerGround[12][3]; //Time Players are on the ground
int playerNotStanding[12][3]; //Time Players are not standing (head up for more than 0.5s)
int playerInsideOwnArea[12][3]; //Player is inside own area
int prevPlayerInsideOwnArea[12][3]; //Player was inside own area last cycle
@@ -329,7 +333,7 @@
int numPlInsideOwnArea[3]; //Number of players inside own area
int closestPlayer[3]; //Closest Player from each team
float closestPlayerDist[3]; //Closest Player distance to ball from each team
- /* FCP 2010 - New Parameters */
+ /* FCP 2010 - New Parameters */
// areas where opponents are not allowed in certain play modes
/** bounding box for the right half of the field */
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