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[simspark-svn] SF.net SVN: simspark:[316] trunk/rcssserver3d
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From: <he...@us...> - 2012-05-22 22:33:21
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Revision: 316
http://simspark.svn.sourceforge.net/simspark/?rev=316&view=rev
Author: hedayat
Date: 2012-05-22 22:33:15 +0000 (Tue, 22 May 2012)
Log Message:
-----------
Don't allow direct goals from kickoff
Don't allow dribbling on kickoff
Update 0.6.6 release notes
Modified Paths:
--------------
trunk/rcssserver3d/ChangeLog
trunk/rcssserver3d/NEWS
trunk/rcssserver3d/RELEASE
trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.cpp
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2012-05-22 18:22:38 UTC (rev 315)
+++ trunk/rcssserver3d/ChangeLog 2012-05-22 22:33:15 UTC (rev 316)
@@ -1,3 +1,13 @@
+2012-05-23 Hedayat Vatankhah <hed...@gm...>
+
+ * NEWS:
+ * RELEASE:
+ - updated for 0.6.6
+
+ * plugin/soccer/soccerruleaspect/soccerruleaspect.cpp:
+ - do not allow direct goals from kickoff
+ - do not let the kickoff taker to kick the ball again befor other players
+
2012-05-22 Hedayat Vatankhah <hed...@gm...>
* plugin/soccer/gamestateaspect/gamestateaspect.cpp:
@@ -8,6 +18,7 @@
* plugin/soccer/soccerruleaspect/soccerruleaspect.h:
- a little cleanup, and fixed comment for mAutoKickOffTimeOrigin
+ - removed an unused variable mLastValidBallPosition
* plugin/soccer/soccerruleaspect/soccerruleaspect.cpp:
- update game's paused state
Modified: trunk/rcssserver3d/NEWS
===================================================================
--- trunk/rcssserver3d/NEWS 2012-05-22 18:22:38 UTC (rev 315)
+++ trunk/rcssserver3d/NEWS 2012-05-22 22:33:15 UTC (rev 316)
@@ -6,6 +6,14 @@
also increased to 20x30 meters, and free kick distance is 2.0 meters now.
More detailed information about this release follows:
+* Rule Changes:
+ - automatic referee now enforces rules whenever players are permitted to
+ play, rather than only in playon play mode.
+ - it is no longer possible to score directly from kick off, the ball should
+ at least touch another player before going into the goal
+ - in kickoff playmode, the kicker cannot touch the ball again until another
+ player touches it.
+
* Field/Dimension Changes:
- New dimensions: 20x30
- Free kick distance: 2.0
Modified: trunk/rcssserver3d/RELEASE
===================================================================
--- trunk/rcssserver3d/RELEASE 2012-05-22 18:22:38 UTC (rev 315)
+++ trunk/rcssserver3d/RELEASE 2012-05-22 22:33:15 UTC (rev 316)
@@ -7,6 +7,14 @@
also increased to 20x30 meters, and free kick distance is 2.0 meters now.
More detailed information about this release follows:
+* Rule Changes:
+ - automatic referee now enforces rules whenever players are permitted to
+ play, rather than only in playon play mode.
+ - it is no longer possible to score directly from kick off, the ball should
+ at least touch another player before going into the goal
+ - in kickoff playmode, the kicker cannot touch the ball again until another
+ player touches it.
+
* Field/Dimension Changes:
- New dimensions: 20x30
- Free kick distance: 2.0
Modified: trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.cpp 2012-05-22 18:22:38 UTC (rev 315)
+++ trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.cpp 2012-05-22 22:33:15 UTC (rev 316)
@@ -119,7 +119,7 @@
if (changeSides)
mNextHalfKickOff = ti;
else
- mNextHalfKickOff = (ti == TI_LEFT) ? TI_RIGHT : TI_LEFT;
+ mNextHalfKickOff = SoccerBase::OpponentTeam(ti);
}
}
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2012-05-22 18:22:38 UTC (rev 315)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2012-05-22 22:33:15 UTC (rev 316)
@@ -68,7 +68,9 @@
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
+ mMaxFaultTime(0.0), // maximum time allowed for a player to commit a positional fault before being repositioned
+ mLastKickOffKickTime(0),
+ mCheckKickOffKickerFault(false)
{
mFreeKickPos = Vector3f(0.0,0.0,mBallRadius);
}
@@ -589,6 +591,40 @@
}
void
+SoccerRuleAspect::PunishKickOffFault(
+ boost::shared_ptr<oxygen::AgentAspect> agent)
+{
+ boost::shared_ptr<AgentState> agentState;
+ if (!SoccerBase::GetAgentState(agent, agentState))
+ {
+ GetLog()->Error() << "ERROR: (SoccerRuleAspect) Cannot get "
+ "AgentState from an AgentAspect\n";
+ }
+ else
+ {
+ TTeamIndex opp = SoccerBase::OpponentTeam(agentState->GetTeamIndex());
+ ClearPlayersBeforeKickOff(opp);
+
+ // put the ball back in the middle of the playing field
+ Vector3f pos(0, 0, mBallRadius);
+ MoveBall(pos);
+
+ mGameState->KickOff(opp);
+ }
+}
+
+inline bool SoccerRuleAspect::WasLastKickFromKickOff(
+ boost::shared_ptr<oxygen::AgentAspect> &lastKicker)
+{
+ TTime kickTime;
+ // notice that a kick is not necessarily an immediate action, it can
+ // take some time...
+ return mBallState->GetLastCollidingAgent(lastKicker, kickTime)
+ && kickTime - mLastKickOffKickTime < 0.1 // kick duration = 0.1
+ && lastKicker == mLastKickOffTaker;
+}
+
+void
SoccerRuleAspect::ClearSelectedPlayers()
{
float min_dist = mFreeKickMoveDist;
@@ -750,6 +786,9 @@
}
if (time > mGameState->GetLastModeChange())
{
+ mLastKickOffKickTime = time;
+ mCheckKickOffKickerFault = true;
+ mLastKickOffTaker = agent;
mGameState->SetPlayMode(PM_PlayOn);
}
}
@@ -1099,6 +1138,8 @@
if (idx == TI_NONE)
{
+ // sometimes, ball can't record goals due to approximation errors,
+ // so we check for goals analytically
const salt::Vector3f ballPos = mBallBody->GetPosition();
const float xDist2Goal = fabs(ballPos.x()) - mGoalBallLineX;
@@ -1129,6 +1170,19 @@
return false;
}
+ /* don't allow goals directly from kickoff
+ *
+ * todo it is allowed in FIFA rules, so we should get rid of it e.g. by
+ * adding noise to the beam effector so that kickoff kicks cannot be
+ * precisely planned
+ */
+ boost::shared_ptr<AgentAspect> agent;
+ if (WasLastKickFromKickOff(agent))
+ {
+ PunishKickOffFault(agent);
+ return false;
+ }
+
// score the lucky team
mGameState->ScoreTeam((idx == TI_LEFT) ? TI_RIGHT : TI_LEFT);
mGameState->SetPlayMode((idx == TI_LEFT) ? PM_Goal_Right : PM_Goal_Left);
@@ -1136,6 +1190,25 @@
return true;
}
+bool
+SoccerRuleAspect::CheckKickOffTakerFault()
+{
+ if (!mCheckKickOffKickerFault)
+ return false;
+
+ boost::shared_ptr<AgentAspect> agent;
+ if (!WasLastKickFromKickOff(agent)) // second kick
+ {
+ mCheckKickOffKickerFault = false;
+ if (agent == mLastKickOffTaker)
+ {
+ PunishKickOffFault(mLastKickOffTaker);
+ return true;
+ }
+ }
+ return false;
+}
+
void
SoccerRuleAspect::UpdatePlayOn()
{
@@ -1161,6 +1234,11 @@
}
#endif
+ if (CheckKickOffTakerFault())
+ {
+ return;
+ }
+
// other checks go here...
}
@@ -1176,7 +1254,7 @@
}
// put the ball back in the middle of the playing field
- Vector3f pos(0,0,mBallRadius);
+ Vector3f pos(0, 0, mBallRadius);
MoveBall(pos);
// kick off for the opposite team
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2012-05-22 18:22:38 UTC (rev 315)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2012-05-22 22:33:15 UTC (rev 316)
@@ -211,6 +211,9 @@
/** checks if the assistant referee should raise the flag for offside */
bool CheckOffside();
+ /** checks if kickoff taker has kicked the ball again before other players */
+ bool CheckKickOffTakerFault();
+
/** moves the ball to pos setting its linear and angular velocity to 0 */
void MoveBall(const salt::Vector3f& pos);
@@ -253,6 +256,15 @@
*/
void SwapTeamSides();
+ /**
+ * Punish agent's fault committed during kickoff
+ */
+ void PunishKickOffFault(boost::shared_ptr<oxygen::AgentAspect> agent);
+
+ /** returns true if last kick was happenned in kick off */
+ bool WasLastKickFromKickOff(
+ boost::shared_ptr<oxygen::AgentAspect> &lastKicker);
+
protected:
/** reference to the body node of the Ball */
boost::shared_ptr<oxygen::RigidBody> mBallBody;
@@ -276,9 +288,6 @@
one team can touch the ball */
float mDropBallTime;
- /** the point above the ground, where the ball left the field */
- salt::Vector3f mLastValidBallPos;
-
/** the field length (in meters) */
float mFieldLength;
/** the field width (in meters) */
@@ -384,6 +393,13 @@
/** use offside law */
bool mUseOffside;
+
+ /** the time of the kick in the last kick off mode */
+ TTime mLastKickOffKickTime;
+ /** the player which kicked in the last kick off mode */
+ boost::shared_ptr<oxygen::AgentAspect> mLastKickOffTaker;
+ /** if kickoff taker should be checked for single kick rule */
+ bool mCheckKickOffKickerFault;
};
DECLARE_CLASS(SoccerRuleAspect);
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