[simspark-svn] SF.net SVN: simspark:[302] trunk/rcssserver3d

[<he...@us...>]

Revision: 302
          http://simspark.svn.sourceforge.net/simspark/?rev=302&view=rev
Author:   hedayat
Date:     2012-04-08 21:39:34 +0000 (Sun, 08 Apr 2012)
Log Message:
-----------
Change teams' sides on the second half

Modified Paths:
--------------
    trunk/rcssserver3d/ChangeLog
    trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
    trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
    trunk/rcssserver3d/rcssserver3d/naosoccersim.rb

Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog	2012-04-07 07:22:30 UTC (rev 301)
+++ trunk/rcssserver3d/ChangeLog	2012-04-08 21:39:34 UTC (rev 302)
@@ -1,3 +1,10 @@
+2012-04-09  Hedayat Vatankhah  <hed...@gm...>
+
+	* plugin/soccer/soccerruleaspect/soccerruleaspect.h:
+	* plugin/soccer/soccerruleaspect/soccerruleaspect.cpp (SoccerRuleAspect::SwapTeamSides): 
+	* rcssserver3d/naosoccersim.rb: 
+	- change teams' sides in the second half if enabled (enabled by default)
+
 2012-04-07  Hedayat Vatankhah  <hed...@gm...>
 
 	* plugin/soccer/soccerruleaspect/soccerruleaspect.cpp (SoccerRuleAspect::UpdateGameOver): 

Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp	2012-04-07 07:22:30 UTC (rev 301)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp	2012-04-08 21:39:34 UTC (rev 302)
@@ -50,6 +50,7 @@
     mWaitBeforeKickOff(1.0),
     mSingleHalfTime(false),
     mAutomaticQuit(true),
+    mChangeSidesInSecondHalf(true),
     mSayMsgSize(20),
     mAudioCutDist(50.0),
     mFirstCollidingAgent(true),
@@ -577,6 +578,20 @@
 }
 
 void
+SoccerRuleAspect::SwapTeamSides()
+{
+    SoccerBase::TAgentStateList agent_states;
+    if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states))
+        return;
+
+    SoccerBase::TAgentStateList::iterator it;
+    for (it = agent_states.begin(); it != agent_states.end(); ++it)
+    {
+        (*it)->SetTeamIndex(SoccerBase::OpponentTeam((*it)->GetTeamIndex()));
+    }
+}
+
+void
 SoccerRuleAspect::ClearSelectedPlayers()
 {
     float min_dist = mFreeKickMoveDist;
@@ -1183,6 +1198,8 @@
             // the first game half is over
             mGameState->SetPlayMode(PM_BeforeKickOff);
             mGameState->SetGameHalf(GH_SECOND);
+            if (mChangeSidesInSecondHalf)
+                SwapTeamSides();
         }
     }
     else if ((half == GH_SECOND) && (now >= 2 * mHalfTime))
@@ -1348,6 +1365,7 @@
     SoccerBase::GetSoccerVar(*this,"WaitBeforeKickOff",mWaitBeforeKickOff);
     SoccerBase::GetSoccerVar(*this,"SingleHalfTime",mSingleHalfTime);
     SoccerBase::GetSoccerVar(*this,"AutomaticQuit",mAutomaticQuit);
+    SoccerBase::GetSoccerVar(*this,"ChangeSidesInSecondHalf",mChangeSidesInSecondHalf);
     SoccerBase::GetSoccerVar(*this,"UseOffside",mUseOffside);
     float penaltyLength, penaltyWidth;
     SoccerBase::GetSoccerVar(*this,"PenaltyLength",penaltyLength);

Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h	2012-04-07 07:22:30 UTC (rev 301)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h	2012-04-08 21:39:34 UTC (rev 302)
@@ -248,6 +248,11 @@
      */
     void ClearPlayersBeforeKickOff(TTeamIndex idx);
 
+    /**
+     * swaps the side of the teams
+     */
+    void SwapTeamSides();
+
 protected:
     /** reference to the body node of the Ball */
     boost::shared_ptr<oxygen::RigidBody> mBallBody;
@@ -298,6 +303,8 @@
     bool mSingleHalfTime;
     /** flag if the simulator should quit automatically when the game is over */
     bool mAutomaticQuit;
+    /** flag if the side of the teams should be changed in the second half*/
+    bool mChangeSidesInSecondHalf;
 
     //FCP 2010 - New Parameters (added by FCPortugal for Singapure 2010)
     /** max time player may be sitted or laying down before being repositioned */

Modified: trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
===================================================================
--- trunk/rcssserver3d/rcssserver3d/naosoccersim.rb	2012-04-07 07:22:30 UTC (rev 301)
+++ trunk/rcssserver3d/rcssserver3d/naosoccersim.rb	2012-04-08 21:39:34 UTC (rev 302)
@@ -51,6 +51,7 @@
 addSoccerVar('AutomaticKickOff', false)
 addSoccerVar('WaitBeforeKickOff', 2.0)
 addSoccerVar('AutomaticQuit', true)
+addSoccerVar('ChangeSidesInSecondHalf', true)
 addSoccerVar('BorderSize', 0.0) # prevent complaining about missing variable
 
 # agent parameters

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