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[simspark-svn] SF.net SVN: simspark:[356] branches/gui-bullet
|
From: <he...@us...> - 2013-06-09 18:35:19
|
Revision: 356
http://sourceforge.net/p/simspark/svn/356
Author: hedayat
Date: 2013-06-09 18:35:13 +0000 (Sun, 09 Jun 2013)
Log Message:
-----------
Merge (except renderserver.cpp) with trunk
Modified Paths:
--------------
branches/gui-bullet/rcssserver3d/CMakeLists.txt
branches/gui-bullet/rcssserver3d/ChangeLog
branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/hingejoint.rsg
branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/naoarm.rsg
branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/naoleg.rsg
branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg
branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/universaljoint.rsg
branches/gui-bullet/rcssserver3d/plugin/soccer/CMakeLists.txt
branches/gui-bullet/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/agentstate/agentstate.h
branches/gui-bullet/rcssserver3d/plugin/soccer/agentstate/agentstate_c.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/agentstateperceptor/agentstateperceptor.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/ball/ball.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/beameffector/beameffector.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/catcheffector/catcheffector.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/createeffector/createeffector.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/driveeffector/driveeffector.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/export.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.h
branches/gui-bullet/rcssserver3d/plugin/soccer/gametimeperceptor/gametimeperceptor.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/initeffector/initeffector.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/initeffector/singlematiniteffector.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/initeffector/staticmeshiniteffector.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerinput.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerrender.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/kickeffector/kickeffector.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/pantilteffector/pantilteffector.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/rcs3dmonitor/rcs3dmonitor.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.h
branches/gui-bullet/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor_c.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/sayeffector/sayeffector.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/sexpmonitor/sexpmonitor.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/soccerbase/soccerbase.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/soccercontrolaspect/soccercontrolaspect.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/soccernode/soccernode.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
branches/gui-bullet/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/visionperceptor/visionperceptor.cpp
branches/gui-bullet/rcssserver3d/plugin/soccermonitor/soccerinput.cpp
branches/gui-bullet/rcssserver3d/plugin/soccermonitor/soccerinputlogplayer.cpp
branches/gui-bullet/rcssserver3d/plugin/soccermonitor/soccerrender.cpp
branches/gui-bullet/rcssserver3d/rcssagent3d/hoap2behavior.cpp
branches/gui-bullet/rcssserver3d/rcssagent3d/naobehavior.cpp
branches/gui-bullet/rcssserver3d/rcssagent3d/soccerbehavior.cpp
branches/gui-bullet/rcssserver3d/rcssagent3d/soccerbotbehavior.cpp
branches/gui-bullet/rcssserver3d/rcssmonitor3d/CMakeLists.txt
branches/gui-bullet/rcssserver3d/rcssserver3d/CMakeLists.txt
branches/gui-bullet/rcssserver3d/rcssserver3d/naosoccersim.rb
branches/gui-bullet/spark/CMakeLists.txt
branches/gui-bullet/spark/ChangeLog
branches/gui-bullet/spark/lib/kerosin/fontserver/glyph.cpp
branches/gui-bullet/spark/lib/kerosin/imageserver/imageserver.cpp
branches/gui-bullet/spark/lib/kerosin/inputserver/inputcontrol.cpp
branches/gui-bullet/spark/lib/kerosin/inputserver/inputserver.cpp
branches/gui-bullet/spark/lib/kerosin/materialserver/material2dtexture.cpp
branches/gui-bullet/spark/lib/kerosin/materialserver/materialserver.cpp
branches/gui-bullet/spark/lib/kerosin/openglserver/openglserver.cpp
branches/gui-bullet/spark/lib/kerosin/renderserver/rendercontrol.cpp
branches/gui-bullet/spark/lib/kerosin/renderserver/renderserver.cpp
branches/gui-bullet/spark/lib/kerosin/sceneserver/singlematnode.cpp
branches/gui-bullet/spark/lib/kerosin/sceneserver/staticmesh.cpp
branches/gui-bullet/spark/lib/kerosin/soundserver/soundserver.cpp
branches/gui-bullet/spark/lib/oxygen/agentaspect/agentaspect.cpp
branches/gui-bullet/spark/lib/oxygen/agentaspect/effector.cpp
branches/gui-bullet/spark/lib/oxygen/controlaspect/controlaspect.cpp
branches/gui-bullet/spark/lib/oxygen/gamecontrolserver/gamecontrolserver.cpp
branches/gui-bullet/spark/lib/oxygen/geometryserver/geometryserver.cpp
branches/gui-bullet/spark/lib/oxygen/geometryserver/indexbuffer.cpp
branches/gui-bullet/spark/lib/oxygen/monitorserver/monitorserver.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/angularmotor.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/balljoint.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/body.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/bodycontroller.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/boxcollider.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/capsulecollider.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/collider.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/collisionhandler.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/compoundcollider.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/concavecollider.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/conecollider.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/conetwistjoint.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/contactjointhandler.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/convexcollider.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/cylindercollider.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/dynamicbody.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/emptycollider.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/fixedjoint.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/generic6dofjoint.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/hinge2joint.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/hingejoint.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/joint.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/physicsobject.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/physicsserver.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/planecollider.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/raycollider.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/rigidbody.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/sliderjoint.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/softbody.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/space.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/spherecollider.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/staticbody.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/transformcollider.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/universaljoint.cpp
branches/gui-bullet/spark/lib/oxygen/physicsserver/world.cpp
branches/gui-bullet/spark/lib/oxygen/sceneserver/basenode.cpp
branches/gui-bullet/spark/lib/oxygen/sceneserver/fpscontroller.cpp
branches/gui-bullet/spark/lib/oxygen/sceneserver/sceneserver.cpp
branches/gui-bullet/spark/lib/oxygen/sceneserver/transform.cpp
branches/gui-bullet/spark/lib/oxygen/simulationserver/simcontrolnode.cpp
branches/gui-bullet/spark/lib/oxygen/simulationserver/simulationserver.cpp
branches/gui-bullet/spark/lib/oxygen/spadesserver/spadesserver.cpp
branches/gui-bullet/spark/lib/zeitgeist/class.cpp
branches/gui-bullet/spark/lib/zeitgeist/core.cpp
branches/gui-bullet/spark/lib/zeitgeist/core.h
branches/gui-bullet/spark/lib/zeitgeist/corecontext.cpp
branches/gui-bullet/spark/lib/zeitgeist/fileserver/fileserver.cpp
branches/gui-bullet/spark/lib/zeitgeist/leaf.cpp
branches/gui-bullet/spark/lib/zeitgeist/leaf.h
branches/gui-bullet/spark/lib/zeitgeist/node.cpp
branches/gui-bullet/spark/lib/zeitgeist/node.h
branches/gui-bullet/spark/plugin/accelerometer/accelerometer.cpp
branches/gui-bullet/spark/plugin/collisionperceptor/forceresistanceperceptor.cpp
branches/gui-bullet/spark/plugin/collisionperceptor/perceptorhandler.cpp
branches/gui-bullet/spark/plugin/collisionperceptor/touchperceptorhandler.cpp
branches/gui-bullet/spark/plugin/filesystemrar/filesystemrar.cpp
branches/gui-bullet/spark/plugin/forceeffector/forceeffector.cpp
branches/gui-bullet/spark/plugin/gyrorateperceptor/gyrorateperceptor.cpp
branches/gui-bullet/spark/plugin/imageperceptor/imageperceptor.cpp
branches/gui-bullet/spark/plugin/inputsdl/inputsystemsdl.cpp
branches/gui-bullet/spark/plugin/objimporter/objimporter.cpp
branches/gui-bullet/spark/plugin/perfectvisionperceptor/perfectvisionperceptor.cpp
branches/gui-bullet/spark/plugin/rosimporter/rosimporter.cpp
branches/gui-bullet/spark/plugin/rubysceneimporter/rubysceneimporter.cpp
branches/gui-bullet/spark/plugin/sceneeffector/sceneaction.h
branches/gui-bullet/spark/plugin/sceneeffector/sceneeffector.cpp
branches/gui-bullet/spark/plugin/sparkagent/hinge2effector.cpp
branches/gui-bullet/spark/plugin/sparkagent/hingeeffector.cpp
branches/gui-bullet/spark/plugin/sparkagent/timeperceptor.cpp
branches/gui-bullet/spark/plugin/sparkagent/universaljointeffector.cpp
branches/gui-bullet/spark/plugin/sparkmonitor/sparkmonitor.cpp
branches/gui-bullet/spark/plugin/sparkmonitor/sparkmonitorclient.cpp
branches/gui-bullet/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.cpp
branches/gui-bullet/spark/spark/spark.cpp
branches/gui-bullet/spark/test/coretest/main.cpp
branches/gui-bullet/spark/test/fonttest/main.cpp
branches/gui-bullet/spark/test/inputtest/main.cpp
branches/gui-bullet/spark/test/scenetest/main.cpp
branches/gui-bullet/spark/test/scenetest/md5mesh.cpp
Added Paths:
-----------
branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/nao.rsg
branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/nao_hetero.rsg
branches/gui-bullet/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem.cpp
branches/gui-bullet/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem.h
branches/gui-bullet/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleitem_c.cpp
branches/gui-bullet/rcssserver3d/rcssserver3d/naorobottypes.rb
branches/gui-bullet/spark/doc/papers/2013/
Removed Paths:
-------------
branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/nao.rsg
Property Changed:
----------------
branches/gui-bullet/rcssserver3d/
branches/gui-bullet/spark/
Index: branches/gui-bullet/rcssserver3d
===================================================================
--- branches/gui-bullet/rcssserver3d 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d 2013-06-09 18:35:13 UTC (rev 356)
Property changes on: branches/gui-bullet/rcssserver3d
___________________________________________________________________
Added: svn:mergeinfo
## -0,0 +1 ##
+/trunk/rcssserver3d:329-355
\ No newline at end of property
Modified: branches/gui-bullet/rcssserver3d/CMakeLists.txt
===================================================================
--- branches/gui-bullet/rcssserver3d/CMakeLists.txt 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/CMakeLists.txt 2013-06-09 18:35:13 UTC (rev 356)
@@ -26,7 +26,7 @@
find_package(Spark REQUIRED)
find_package(Freetype REQUIRED)
-find_package(Boost REQUIRED)
+find_package(Boost REQUIRED system)
find_package(SDL REQUIRED)
find_package(DevIL REQUIRED)
find_package(ODE REQUIRED)
Modified: branches/gui-bullet/rcssserver3d/ChangeLog
===================================================================
--- branches/gui-bullet/rcssserver3d/ChangeLog 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/ChangeLog 2013-06-09 18:35:13 UTC (rev 356)
@@ -1,3 +1,50 @@
+2013-06-09 Hedayat Vatankhah <hed...@gm...>
+
+ * plugin/soccer/gamestateaspect/gamestateaspect.h:
+ * plugin/soccer/gamestateaspect/gamestateaspect.cpp:
+ * plugin/soccer/agentstate/agentstate.cpp (AgentState::OnUnlink):
+ * rcssserver3d/naosoccersim.rb:
+ - control the number of heterogeneous players each team can use. It limits
+ both the total number of heterogeneous players of each team
+ (MaxTotalHeteroCount variable in naosoccersim.rb), and the number of
+ heterogeneous players of each type (MaxHeteroTypeCount variable)
+
+2013-06-06 Hedayat Vatankhah <hed...@gm...>
+
+ * plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.h:
+ * plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp:
+ * plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor_c.cpp:
+ * data/rsg/agent/nao/naoneckhead.rsg:
+ - added MyOrientation sensing by Patrick (setSenseMyOrien in rsg file)
+
+2013-04-25 Hedayat Vatankhah <hed...@gm...>
+
+ * data/rsg/agent/nao/nao_hetero.rsg:
+ * plugin/soccer/agentstate/agentstate.h:
+ * plugin/soccer/agentstate/agentstate.cpp:
+ * plugin/soccer/agentstate/agentstate_c.cpp:
+ - added robot type to agent state
+
+2012-11-25 Hedayat Vatankhah <hed...@gm...>
+
+ * data/rsg/agent/nao/nao_hetero.rsg:
+ - nao_hetero.rsg can be used to create different variants of Nao robot
+ - nao.rsg a compatbility scene to create default Nao type (type 0)
+
+ * rcssserver3d/naorobottypes.rb:
+ * rcssserver3d/naosoccersim.rb:
+ * rcssserver3d/CMakeLists.txt:
+ - added naorobottypes.rb to initialize Nao heterogeneous robot parameters
+
+2012-06-21 Hedayat Vatankhah <hed...@gm...>
+
+ * plugin/soccer/soccerruleaspect/soccerruleaspect.cpp:
+ - let a player kick the ball more than once in kickoff if there are not
+ more than 2 players inside the game. Should be removed when a proper
+ "Penalty mode" is added to the simulator
+ - small cleanup: call SoccerBase::GetGameControlServer() to access
+ game control server
+
2012-05-23 Hedayat Vatankhah <hed...@gm...>
* NEWS:
Modified: branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/hingejoint.rsg
===================================================================
--- branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/hingejoint.rsg 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/hingejoint.rsg 2013-06-09 18:35:13 UTC (rev 356)
@@ -6,14 +6,9 @@
$Path_Body1 $Path_Body2
$Anchor_X $Anchor_Y $Anchor_Z
$Axis_X $Axis_Y $Axis_Z
- $Min $Max
+ $MinDeg $MaxDeg
+ $MaxAbsSpeed
)
-
- (def $PI 3.14159265)
- ;(def $MinDeg (eval $Min * (eval 180.0 / $PI)))
- ;(def $MaxDeg (eval $Max * (eval 180.0 / $PI)))
- (def $MinDeg $Min)
- (def $MaxDeg $Max)
; There are 2 types of motor installed on the real Nao, each type has
; 2 types of "Reduction ratio".
@@ -23,7 +18,7 @@
; We don't need to follow them totally that different hingeeffector is using
; different types of motor.
; All the hingeeffector uses the 351.77
- (def $MaxAbsSpeed (eval $PI * (eval 351.77 / 180.0)))
+ ; (def $MaxAbsSpeed (eval $PI * (eval 351.77 / 180.0)))
;
;Hinge Joint Parameters
Deleted: branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/nao.rsg
===================================================================
--- branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/nao.rsg 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/nao.rsg 2013-06-09 18:35:13 UTC (rev 356)
@@ -1,138 +0,0 @@
-; -*- mode: lisp; -*-
-
-;
-; nao robot description file.
-;
-
-(RSG 0 1)
-(
-
-;
-; The torso parameters
-;
-
-(def $TorsoLength 0.1)
-(def $TorsoWidth 0.1)
-(def $TorsoHeight 0.18)
-(def $TorsoMass 1.2171)
-
-(def $TorsoInitX 0)
-(def $TorsoInitY -1)
-(def $TorsoInitZ 1.5)
-
-(def $loadObj (eval Nao.UseTexture))
-;
-;Begin Construct of Nao
-;
-(nd Space
- (setName spacenao)
- (disableInnerCollision true)
-
- ;
- ;The torso part
- ;
- (nd AgentAspect
- (setName body)
- (setLocalPos $TorsoInitX $TorsoInitY $TorsoInitZ)
-
- (switch $loadObj
- (true
- (nd Transform
- (setLocalRotation -90 0 180)
- (nd StaticMesh
- (load 'models/naobody.obj')
- (setScale $TorsoLength $TorsoLength $TorsoLength)
- )
- )
- )
-
- (false
- (importScene rsg/agent/nao/box_appearance.rsg $TorsoLength $TorsoWidth $TorsoHeight matGrey)
- )
- )
-
- ;(importScene rsg/agent/nao/box_physics.rsg $TorsoLength $TorsoWidth $TorsoHeight $TorsoMass)
- (importScene rsg/agent/nao/box_physics_nocollider.rsg $TorsoLength $TorsoWidth $TorsoHeight $TorsoMass)
- (nd BoxCollider
- (setName TorsoCollider)
- (setBoxLengths $TorsoLength $TorsoWidth $TorsoHeight)
- (importScene rsg/agent/nao/contactjointhandler.rsg)
- )
-
- ;Install effectors and perceptors
- (nd StaticMeshInitEffector)
-
- (nd TimePerceptor)
-
- (nd AgentState
- (setName AgentState)
- (nd GameStatePerceptor)
- (nd HearPerceptor)
- (nd Transform
- (nd Cylinder
- (setName SelectionMarker)
- (setParams 1.0 1.0)
- (setScale 0.2 0.2 0.02)
- (setMaterial matSelect)
- (setTransparent)
- )
- )
- )
-
- (nd GyroRatePerceptor (setName torso))
- (nd Accelerometer (setName torso))
-
- ;(nd HMDPPerceptor)
- ;(nd HMDPEffector)
-
- (nd BeamEffector)
-
- (nd SayEffector)
-
- ;(nd VisionPerceptor
- ; (setSenseMyPos false)
- ; (setStaticSenseAxis false)
- ; (addNoise false))
-
- (nd AgentSyncEffector)
-
- );end of AgentAspect
-
-
- ;
- ;The neck and head part
- ;
- (importScene rsg/agent/nao/naoneckhead.rsg $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj)
-
-
- ;
- ;The Right Arm
- ;
- (importScene rsg/agent/nao/naoarm.rsg
- 1 r
- $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj)
-
- ;
- ;The Left Arm
- ;
- (importScene rsg/agent/nao/naoarm.rsg
- -1 l
- $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj)
-
- ;
- ;The Right Leg
- ;
- (importScene rsg/agent/nao/naoleg.rsg
- 1 r
- $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj)
-
- ;
- ;The Left Leg
- ;
- (importScene rsg/agent/nao/naoleg.rsg
- -1 l
- $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj)
-
-);end of nd Space
-
-);end of RSG 0 1
Copied: branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/nao.rsg (from rev 355, trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg)
===================================================================
--- branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/nao.rsg (rev 0)
+++ branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/nao.rsg 2013-06-09 18:35:13 UTC (rev 356)
@@ -0,0 +1,7 @@
+; -*- mode: lisp; -*-
+
+(RSG 0 1)
+(
+ (importScene rsg/agent/nao/nao_hetero.rsg 0)
+)
+
\ No newline at end of file
Copied: branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/nao_hetero.rsg (from rev 355, trunk/rcssserver3d/data/rsg/agent/nao/nao_hetero.rsg)
===================================================================
--- branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/nao_hetero.rsg (rev 0)
+++ branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/nao_hetero.rsg 2013-06-09 18:35:13 UTC (rev 356)
@@ -0,0 +1,149 @@
+; -*- mode: lisp; -*-
+
+;
+; nao robot description file.
+;
+
+(RSG 0 1)
+(
+
+(templ $type)
+
+;
+; The torso parameters
+;
+
+;(def $TorsoLength (eval "NaoType["$type"]['tl']"))
+
+(def $TorsoLength 0.1)
+(def $TorsoWidth 0.1)
+(def $TorsoHeight 0.18)
+(def $TorsoMass 1.2171)
+
+(def $TorsoInitX 0)
+(def $TorsoInitY -1)
+(def $TorsoInitZ 1.5)
+
+(def $loadObj (eval Nao.UseTexture))
+;
+;Begin Construct of Nao
+;
+(nd Space
+ (setName spacenao)
+ (disableInnerCollision true)
+
+ ;
+ ;The torso part
+ ;
+ (nd AgentAspect
+ (setName body)
+ (setLocalPos $TorsoInitX $TorsoInitY $TorsoInitZ)
+
+ (switch $loadObj
+ (true
+ (nd Transform
+ (setLocalRotation -90 0 180)
+ (nd StaticMesh
+ (load 'models/naobody.obj')
+ (setScale $TorsoLength $TorsoLength $TorsoLength)
+ )
+ )
+ )
+
+ (false
+ (importScene rsg/agent/nao/box_appearance.rsg $TorsoLength $TorsoWidth $TorsoHeight matGrey)
+ )
+ )
+
+ ;(importScene rsg/agent/nao/box_physics.rsg $TorsoLength $TorsoWidth $TorsoHeight $TorsoMass)
+ (importScene rsg/agent/nao/box_physics_nocollider.rsg $TorsoLength $TorsoWidth $TorsoHeight $TorsoMass)
+ (nd BoxCollider
+ (setName TorsoCollider)
+ (setBoxLengths $TorsoLength $TorsoWidth $TorsoHeight)
+ (importScene rsg/agent/nao/contactjointhandler.rsg)
+ )
+
+ ;Install effectors and perceptors
+ (nd StaticMeshInitEffector)
+
+ (nd TimePerceptor)
+
+ (nd AgentState
+ (setName AgentState)
+ (setRobotType $type)
+ (nd GameStatePerceptor)
+ (nd HearPerceptor)
+ (nd Transform
+ (nd Cylinder
+ (setName SelectionMarker)
+ (setParams 1.0 1.0)
+ (setScale 0.2 0.2 0.02)
+ (setMaterial matSelect)
+ (setTransparent)
+ )
+ )
+ )
+
+ (nd GyroRatePerceptor (setName torso))
+ (nd Accelerometer (setName torso))
+
+ ;(nd HMDPPerceptor)
+ ;(nd HMDPEffector)
+
+ (nd BeamEffector)
+
+ (nd SayEffector)
+
+ ;(nd VisionPerceptor
+ ; (setSenseMyPos false)
+ ; (setStaticSenseAxis false)
+ ; (addNoise false))
+
+ (nd AgentSyncEffector)
+
+ );end of AgentAspect
+
+
+ ;
+ ;The neck and head part
+ ;
+ (importScene rsg/agent/nao/naoneckhead.rsg
+ $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj
+ $type)
+
+
+ ;
+ ;The Right Arm
+ ;
+ (importScene rsg/agent/nao/naoarm.rsg
+ 1 r
+ $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj
+ $type)
+
+ ;
+ ;The Left Arm
+ ;
+ (importScene rsg/agent/nao/naoarm.rsg
+ -1 l
+ $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj
+ $type)
+
+ ;
+ ;The Right Leg
+ ;
+ (importScene rsg/agent/nao/naoleg.rsg
+ 1 r
+ $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj
+ $type)
+
+ ;
+ ;The Left Leg
+ ;
+ (importScene rsg/agent/nao/naoleg.rsg
+ -1 l
+ $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj
+ $type)
+
+);end of nd Space
+
+);end of RSG 0 1
Modified: branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/naoarm.rsg
===================================================================
--- branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/naoarm.rsg 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/naoarm.rsg 2013-06-09 18:35:13 UTC (rev 356)
@@ -8,6 +8,7 @@
;
(templ $LRFactor $LeftOrRight
$Torso_X $Torso_Y $Torso_Z $loadObj
+ $type
)
;
@@ -45,7 +46,8 @@
(def $UpperarmRelShoulderZ 0)
(def $ElbowRelUpperArm_X (eval $LRFactor * -0.01))
- (def $ElbowRelUpperArm_Y 0.07)
+ ;(def $ElbowRelUpperArm_Y 0.07)
+ (def $ElbowRelUpperArm_Y (eval "NaoType["$type"]['ElbowRelUpperArm_Y']"))
(def $ElbowRelUpperArm_Z 0.009)
(def $LowerarmRelElbow_X 0)
@@ -91,8 +93,12 @@
;
;Joint Parameters
;
+ (def $PI 3.14159265)
+ (def $MaxAbsJointSpeed (eval $PI * (eval 351.77 / 180.0)))
+
(def $aj1_min -120)
(def $aj1_max 120)
+ (def $aj1_max_abs_speed $MaxAbsJointSpeed)
(def $right_aj2_min -95)
(def $left_aj2_min -1)
@@ -105,9 +111,11 @@
(def $aj2_max_c1 (eval (eval $right_aj2_max + $left_aj2_max) * 0.5))
(def $aj2_max_c2 (eval (eval $right_aj2_max - $left_aj2_max) * 0.5))
(def $aj2_max (eval $aj2_max_c1 + (eval $LRFactor * $aj2_max_c2)))
+ (def $aj2_max_abs_speed $MaxAbsJointSpeed)
(def $aj3_min -120)
(def $aj3_max 120)
+ (def $aj3_max_abs_speed $MaxAbsJointSpeed)
(def $right_aj4_min -1)
(def $left_aj4_min -90)
@@ -120,6 +128,7 @@
(def $aj4_max_c1 (eval (eval $right_aj4_max + $left_aj4_max) * 0.5))
(def $aj4_max_c2 (eval (eval $right_aj4_max - $left_aj4_max) * 0.5))
(def $aj4_max (eval $aj4_max_c1 + (eval $LRFactor * $aj4_max_c2)))
+ (def $aj4_max_abs_speed $MaxAbsJointSpeed)
(def $aj2_Anchor_X (eval -1 * $UpperarmRelShoulderX))
@@ -152,7 +161,8 @@
../sphereBody ../../body/boxBody
0 0 0
1 0 0 ;1 -1 -1
- $aj1_min $aj1_max)
+ $aj1_min $aj1_max
+ $aj1_max_abs_speed)
)
;
@@ -175,11 +185,12 @@
(importScene rsg/agent/nao/box_physics.rsg $UpperArmSizeX $UpperArmSizeY $UpperArmSizeZ $UpperArmMass)
(importScene rsg/agent/nao/hingejoint.rsg
- $Joint2PerName $Joint2EffName
- ../boxBody $ShoulderBodyPath
- $aj2_Anchor_X $aj2_Anchor_Y $aj2_Anchor_Z
- 0 0 1 ;2 -1 -1
- $aj2_min $aj2_max)
+ $Joint2PerName $Joint2EffName
+ ../boxBody $ShoulderBodyPath
+ $aj2_Anchor_X $aj2_Anchor_Y $aj2_Anchor_Z
+ 0 0 1 ;2 -1 -1
+ $aj2_min $aj2_max
+ $aj2_max_abs_speed)
)
;
@@ -195,11 +206,12 @@
(importScene rsg/agent/nao/sphere_physics_nocollider.rsg $ElbowRadius $ElbowMass)
(importScene rsg/agent/nao/hingejoint.rsg
- $Joint3PerName $Joint3EffName
- ../sphereBody $UpperarmBodyPath
- 0 0 0
- 0 1 0 ;1 -1 -1
- $aj3_min $aj3_max)
+ $Joint3PerName $Joint3EffName
+ ../sphereBody $UpperarmBodyPath
+ 0 0 0
+ 0 1 0 ;1 -1 -1
+ $aj3_min $aj3_max
+ $aj3_max_abs_speed)
)
;
@@ -221,11 +233,12 @@
(importScene rsg/agent/nao/box_physics.rsg $LowerArmSizeX $LowerArmSizeY $LowerArmSizeZ $LowerArmMass)
(importScene rsg/agent/nao/hingejoint.rsg
- $Joint4PerName $Joint4EffName
- ../boxBody $ElbowBodyPath
- $aj4_Anchor_X $aj4_Anchor_Y $aj4_Anchor_Z
- 0 0 1 ;2 -1 -1
- $aj4_min $aj4_max)
+ $Joint4PerName $Joint4EffName
+ ../boxBody $ElbowBodyPath
+ $aj4_Anchor_X $aj4_Anchor_Y $aj4_Anchor_Z
+ 0 0 1 ;2 -1 -1
+ $aj4_min $aj4_max
+ $aj4_max_abs_speed)
(nd ObjectState
(setID $LowerarmName)
Modified: branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/naoleg.rsg
===================================================================
--- branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/naoleg.rsg 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/naoleg.rsg 2013-06-09 18:35:13 UTC (rev 356)
@@ -8,6 +8,7 @@
;
(templ $LRFactor $LeftOrRight
$Torso_X $Torso_Y $Torso_Z $loadObj
+ $type
)
;
@@ -56,7 +57,8 @@
(def $ThighRelHip2_X 0)
(def $ThighRelHip2_Y 0.01)
- (def $ThighRelHip2_Z -0.04)
+ ;(def $ThighRelHip2_Z -0.04)
+ (def $ThighRelHip2_Z (eval "NaoType["$type"]['ThighRelHip2_Z']"))
(def $ShankRelThigh_X 0)
(def $ShankRelThigh_Y 0.005)
@@ -64,7 +66,8 @@
(def $AnkleRelShank_X 0)
(def $AnkleRelShank_Y -0.01)
- (def $AnkleRelShank_Z -0.055)
+ ;(def $AnkleRelShank_Z -0.055)
+ (def $AnkleRelShank_Z (eval "NaoType["$type"]['AnkleRelShank_Z']"))
(def $FootRelAnkle_X 0)
(def $FootRelAnkle_Y 0.03)
@@ -125,8 +128,12 @@
;
;Joint Parameters
;
+ (def $PI 3.14159265)
+ (def $MaxAbsJointSpeed (eval $PI * (eval 351.77 / 180.0)))
+
(def $lj1_min -90)
(def $lj1_max 1)
+ (def $lj1_max_abs_speed $MaxAbsJointSpeed)
(def $right_lj2_min -45)
(def $left_lj2_min -25)
@@ -139,15 +146,19 @@
(def $lj2_max_c1 (eval (eval $right_lj2_max + $left_lj2_max) * 0.5))
(def $lj2_max_c2 (eval (eval $right_lj2_max - $left_lj2_max) * 0.5))
(def $lj2_max (eval $lj2_max_c1 + (eval $LRFactor * $lj2_max_c2)))
+ (def $lj2_max_abs_speed $MaxAbsJointSpeed)
(def $lj3_min -25)
(def $lj3_max 100)
+ (def $lj3_max_abs_speed $MaxAbsJointSpeed)
(def $lj4_min -130)
(def $lj4_max 1)
+ (def $lj4_max_abs_speed $MaxAbsJointSpeed)
(def $lj5_min -45)
(def $lj5_max 75)
+ (def $lj5_max_abs_speed (eval "NaoType["$type"]['lj5_max_abs_speed']"))
(def $right_lj6_min -25)
(def $left_lj6_min -45)
@@ -160,6 +171,7 @@
(def $lj6_max_c1 (eval (eval $right_lj6_max + $left_lj6_max) * 0.5))
(def $lj6_max_c2 (eval (eval $right_lj6_max - $left_lj6_max) * 0.5))
(def $lj6_max (eval $lj6_max_c1 + (eval $LRFactor * $lj6_max_c2)))
+ (def $lj6_max_abs_speed (eval "NaoType["$type"]['lj6_max_abs_speed']"))
(def $lj1_axis_x -0.7071)
(def $lj1_axis_y 0)
@@ -193,7 +205,8 @@
../sphereBody ../../body/boxBody
0 0 0
$lj1_axis_x $lj1_axis_y $lj1_axis_z
- $lj1_min $lj1_max)
+ $lj1_min $lj1_max
+ $lj1_max_abs_speed)
)
;
@@ -212,7 +225,8 @@
../sphereBody $Hip1BodyPath
0 0 0 ;anchor
0 1 0 ;axis
- $lj2_min $lj2_max)
+ $lj2_min $lj2_max
+ $lj2_max_abs_speed)
)
;
@@ -243,11 +257,12 @@
(importScene rsg/agent/nao/hingejoint.rsg
- $Joint3PerName $Joint3EffName
- ../boxBody $Hip2BodyPath
- $lj3_Anchor_X $lj3_Anchor_Y $lj3_Anchor_Z
- 1 0 0 ;1 -1 -1
- $lj3_min $lj3_max)
+ $Joint3PerName $Joint3EffName
+ ../boxBody $Hip2BodyPath
+ $lj3_Anchor_X $lj3_Anchor_Y $lj3_Anchor_Z
+ 1 0 0 ;1 -1 -1
+ $lj3_min $lj3_max
+ $lj3_max_abs_speed)
)
@@ -277,11 +292,12 @@
)
(importScene rsg/agent/nao/hingejoint.rsg
- $Joint4PerName $Joint4EffName
- ../boxBody $ThighBodyPath
- 0 -0.01 0.045
- 1 0 0 ;0 -1 -1
- $lj4_min $lj4_max)
+ $Joint4PerName $Joint4EffName
+ ../boxBody $ThighBodyPath
+ 0 -0.01 0.045
+ 1 0 0 ;0 -1 -1
+ $lj4_min $lj4_max
+ $lj4_max_abs_speed)
)
@@ -301,7 +317,8 @@
../sphereBody $ShankBodyPath
0 0 0
1 0 0 ;0 -1 -1
- $lj5_min $lj5_max)
+ $lj5_min $lj5_max
+ $lj5_max_abs_speed)
)
@@ -336,11 +353,12 @@
)
(importScene rsg/agent/nao/hingejoint.rsg
- $Joint6PerName $Joint6EffName
- ../boxBody $AnkleBodyPath
- 0 -0.03 0.035
- 0 1 0 ;1 -1 -1
- $lj6_min $lj6_max)
+ $Joint6PerName $Joint6EffName
+ ../boxBody $AnkleBodyPath
+ 0 -0.03 0.035
+ 0 1 0 ;1 -1 -1
+ $lj6_min $lj6_max
+ $lj6_max_abs_speed)
(nd ObjectState
(setID $FootName)
Modified: branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg
===================================================================
--- branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg 2013-06-09 18:35:13 UTC (rev 356)
@@ -2,7 +2,9 @@
(RSG 0 1)
(
- (templ $Torso_X $Torso_Y $Torso_Z $loadObj)
+ (templ $Torso_X $Torso_Y $Torso_Z $loadObj
+ $type
+ )
;
;neck parameter
@@ -27,14 +29,19 @@
;
;Head effector 1 parameter
;
+ (def $PI 3.14159265)
+ (def $MaxAbsJointSpeed (eval $PI * (eval 351.77 / 180.0)))
+
(def $he1_min -120)
(def $he1_max 120)
+ (def $he1_max_abs_speed $MaxAbsJointSpeed)
;
;Head effector 2 parameter
;
(def $he2_min -45)
(def $he2_max 45)
+ (def $he2_max_abs_speed $MaxAbsJointSpeed)
;
;Begin construct neck
@@ -51,7 +58,8 @@
../capsuleBody ../../body/boxBody
0 0 0
0 0 1
- $he1_min $he1_max)
+ $he1_min $he1_max
+ $he1_max_abs_speed)
)
;
@@ -84,11 +92,13 @@
;../boxBody ../../body/boxBody
0 0 -0.005
1 0 0
- $he2_min $he2_max)
+ $he2_min $he2_max
+ $he2_max_abs_speed)
(nd RestrictedVisionPerceptor
(setViewCones 120 120)
(setSenseMyPos false)
+ (setSenseMyOrien false)
(setSenseBallPos false)
(setStaticSenseAxis false)
(addNoise true)
Modified: branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/universaljoint.rsg
===================================================================
--- branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/universaljoint.rsg 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/data/rsg/agent/nao/universaljoint.rsg 2013-06-09 18:35:13 UTC (rev 356)
@@ -9,6 +9,7 @@
$Axis2_X $Axis2_Y $Axis2_Z
$Min0 $Max0
$Min1 $Max1
+ $MaxAbsSpeed
)
(def $PI 3.14159265)
@@ -26,7 +27,6 @@
(def $Stop_ERP 0.8)
(def $FudgeFactor 1e-5)
(def $Bounce 1)
- (def $MaxAbsSpeed (eval $PI * (eval 351.77 / 180.0)))
(nd UniversalJoint
(attach $Path_Body1 $Path_Body2)
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/CMakeLists.txt
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/CMakeLists.txt 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/CMakeLists.txt 2013-06-09 18:35:13 UTC (rev 356)
@@ -37,6 +37,7 @@
soccercontrolaspect/soccercontrolaspect.h
soccernode/soccernode.h
soccerruleaspect/soccerruleaspect.h
+ soccerruleaspect/soccerruleitem.h
trainercommandparser/trainercommandparser.h
gametimeperceptor/gametimeperceptor.h
visionperceptor/visionperceptor.h
@@ -106,6 +107,8 @@
soccernode/soccernode_c.cpp
soccerruleaspect/soccerruleaspect.cpp
soccerruleaspect/soccerruleaspect_c.cpp
+ soccerruleaspect/soccerruleitem.cpp
+ soccerruleaspect/soccerruleitem_c.cpp
trainercommandparser/trainercommandparser.cpp
trainercommandparser/trainercommandparser_c.cpp
visionperceptor/visionperceptor.cpp
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp 2013-06-09 18:35:13 UTC (rev 356)
@@ -56,5 +56,5 @@
return boost::shared_ptr<AgentState>();
}
- return boost::shared_static_cast<AgentState>(agentAspect->FindChildSupportingClass<AgentState>(true));
+ return boost::static_pointer_cast<AgentState>(agentAspect->FindChildSupportingClass<AgentState>(true));
}
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2013-06-09 18:35:13 UTC (rev 356)
@@ -76,6 +76,18 @@
}
void
+AgentState::SetRobotType(int type)
+{
+ mRobotType = type;
+}
+
+int
+AgentState::GetRobotType() const
+{
+ return mRobotType;
+}
+
+void
AgentState::SetID(const std::string& id, TPerceptType pt)
{
std::istringstream iss(id);
@@ -217,7 +229,7 @@
void
AgentState::UpdateHierarchyInternal()
{
- boost::shared_ptr<RenderNode> node = boost::shared_dynamic_cast<RenderNode>(GetChild("SelectionMarker", true));
+ boost::shared_ptr<RenderNode> node = boost::dynamic_pointer_cast<RenderNode>(GetChild("SelectionMarker", true));
if (!node)
{
GetLog()->Error() << "ERROR: (AgentState::UpdateHierarchyInternal) could not find selection marker\n";
@@ -238,8 +250,9 @@
GetLog()->Error() << "ERROR: (AgentState::OnUnlink) could not get game state\n";
return;
}
-
- game_state->ReturnUniform(GetTeamIndex(), GetUniformNumber());
+
+ game_state->ReturnUniform(GetTeamIndex(), GetUniformNumber(),
+ GetRobotType());
}
bool
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/agentstate/agentstate.h
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2013-06-09 18:35:13 UTC (rev 356)
@@ -59,6 +59,12 @@
/** returns the uniform number as integer */
int GetUniformNumber() const;
+ /** Set the robot type. */
+ void SetRobotType(int type);
+
+ /** returns the robot type */
+ int GetRobotType() const;
+
/** Set the object id for perceptors.
*
* This method is the same as SetUniformNumber for AgentState.
@@ -97,25 +103,25 @@
/** 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;
@@ -123,6 +129,9 @@
/** uniform number */
int mUniformNumber;
+ /** robot type */
+ int mRobotType;
+
/** motor temperature */
float mTemperature;
@@ -161,7 +170,7 @@
/** is this agent selected */
bool mSelected;
-
+
boost::shared_ptr<TouchGroup> mOldTouchGroup;
boost::shared_ptr<TouchGroup> mTouchGroup;
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/agentstate/agentstate_c.cpp
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/agentstate/agentstate_c.cpp 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/agentstate/agentstate_c.cpp 2013-06-09 18:35:13 UTC (rev 356)
@@ -25,8 +25,25 @@
using namespace boost;
using namespace oxygen;
+FUNCTION(AgentState,setRobotType)
+{
+ int inType;
+
+ if (
+ (in.GetSize() != 1) ||
+ (! in.GetValue(in.begin(), inType))
+ )
+ {
+ return false;
+ }
+
+ obj->SetRobotType(inType);
+ return true;
+}
+
void
CLASS(AgentState)::DefineClass()
{
DEFINE_BASECLASS(ObjectState);
+ DEFINE_FUNCTION(setRobotType);
}
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/agentstateperceptor/agentstateperceptor.cpp
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/agentstateperceptor/agentstateperceptor.cpp 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/agentstateperceptor/agentstateperceptor.cpp 2013-06-09 18:35:13 UTC (rev 356)
@@ -61,7 +61,7 @@
predicate.parameter.Clear();
boost::shared_ptr<BaseNode> parent =
- shared_dynamic_cast<BaseNode>(GetParent().lock());
+ dynamic_pointer_cast<BaseNode>(GetParent().lock());
if (parent.get() == 0)
{
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/ball/ball.cpp
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/ball/ball.cpp 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/ball/ball.cpp 2013-06-09 18:35:13 UTC (rev 356)
@@ -46,7 +46,7 @@
if (mBody.get() == 0)
{
- mBody = shared_dynamic_cast<RigidBody>(GetChildOfClass("RigidBody"));
+ mBody = dynamic_pointer_cast<RigidBody>(GetChildOfClass("RigidBody"));
}
}
@@ -60,7 +60,7 @@
// mBallStateAspect during OnLink
if (mBallStateAspect.get() == 0)
{
- mBallStateAspect = shared_dynamic_cast<BallStateAspect>
+ mBallStateAspect = dynamic_pointer_cast<BallStateAspect>
(GetCore()->Get("/sys/server/gamecontrol/BallStateAspect"));
if (mBallStateAspect.get() == 0) return;
}
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.cpp
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.cpp 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.cpp 2013-06-09 18:35:13 UTC (rev 356)
@@ -74,7 +74,7 @@
if (agents.size() > 0)
{
- mLastCollidingAgent = shared_static_cast<AgentAspect>
+ mLastCollidingAgent = static_pointer_cast<AgentAspect>
(agents.front().lock());
mLastAgentCollisionTime = mGameState->GetTime();
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/beameffector/beameffector.cpp
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/beameffector/beameffector.cpp 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/beameffector/beameffector.cpp 2013-06-09 18:35:13 UTC (rev 356)
@@ -61,7 +61,7 @@
}
boost::shared_ptr<BeamAction> beamAction =
- shared_dynamic_cast<BeamAction>(mAction);
+ dynamic_pointer_cast<BeamAction>(mAction);
mAction.reset();
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/catcheffector/catcheffector.cpp
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/catcheffector/catcheffector.cpp 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/catcheffector/catcheffector.cpp 2013-06-09 18:35:13 UTC (rev 356)
@@ -83,7 +83,7 @@
}
boost::shared_ptr<CatchAction> catchAction =
- shared_dynamic_cast<CatchAction>(mAction);
+ dynamic_pointer_cast<CatchAction>(mAction);
mAction.reset();
if (catchAction.get() == 0)
{
@@ -177,7 +177,7 @@
SoccerBase::GetSoccerRuleAspect(*this,mSoccerRule);
- mAgent = shared_dynamic_cast<AgentAspect>(GetParent().lock());
+ mAgent = dynamic_pointer_cast<AgentAspect>(GetParent().lock());
if (mAgent.get() == 0)
{
@@ -188,7 +188,7 @@
}
boost::shared_ptr<SphereCollider> geom =
- shared_dynamic_cast<SphereCollider>(mAgent->GetChild("geometry"));
+ dynamic_pointer_cast<SphereCollider>(mAgent->GetChild("geometry"));
if (geom.get() == 0)
{
GetLog()->Error()
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/createeffector/createeffector.cpp
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/createeffector/createeffector.cpp 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/createeffector/createeffector.cpp 2013-06-09 18:35:13 UTC (rev 356)
@@ -42,7 +42,7 @@
return;
boost::shared_ptr<CreateAction> createAction =
- shared_dynamic_cast<CreateAction>(mAction);
+ dynamic_pointer_cast<CreateAction>(mAction);
mAction.reset();
if (createAction.get() == 0)
{
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/driveeffector/driveeffector.cpp
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/driveeffector/driveeffector.cpp 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/driveeffector/driveeffector.cpp 2013-06-09 18:35:13 UTC (rev 356)
@@ -50,7 +50,7 @@
}
boost::shared_ptr<BaseNode> parent =
- shared_dynamic_cast<BaseNode>(GetParent().lock());
+ dynamic_pointer_cast<BaseNode>(GetParent().lock());
if (parent.get() == 0)
{
@@ -59,7 +59,7 @@
return false;
}
- boost::shared_ptr<DriveAction> driveAction = shared_dynamic_cast<DriveAction>(action);
+ boost::shared_ptr<DriveAction> driveAction = dynamic_pointer_cast<DriveAction>(action);
if (driveAction.get() == 0)
{
@@ -117,7 +117,7 @@
SoccerBase::GetAgentState(*this,mAgentState);
boost::shared_ptr<SphereCollider> geom =
- shared_dynamic_cast<SphereCollider>(mTransformParent->GetChild("geometry"));
+ dynamic_pointer_cast<SphereCollider>(mTransformParent->GetChild("geometry"));
mMaxDistance = 0.001;
if (geom.get() == 0)
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/export.cpp
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/export.cpp 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/export.cpp 2013-06-09 18:35:13 UTC (rev 356)
@@ -36,6 +36,7 @@
#include "gamestateaspect/gamestateitem.h"
#include "ballstateaspect/ballstateaspect.h"
#include "soccerruleaspect/soccerruleaspect.h"
+#include "soccerruleaspect/soccerruleitem.h"
#include "agentstate/agentstate.h"
#include "sexpmonitor/sexpmonitor.h"
#include "internalsoccermonitor/internalsoccerrender.h"
@@ -63,6 +64,7 @@
ZEITGEIST_EXPORT(GameStateItem);
ZEITGEIST_EXPORT(BallStateAspect);
ZEITGEIST_EXPORT(SoccerRuleAspect);
+ ZEITGEIST_EXPORT(SoccerRuleItem);
ZEITGEIST_EXPORT(BeamEffector);
ZEITGEIST_EXPORT(CatchEffector);
ZEITGEIST_EXPORT(CreateEffector);
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.cpp
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.cpp 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.cpp 2013-06-09 18:35:13 UTC (rev 356)
@@ -38,14 +38,21 @@
mFupTime = 0;
mLastModeChange = 0;
mGameHalf = GH_FIRST;
+ mRobotTypeCount[0].push_back(0); // add count for type 0 (default type)
+ mRobotTypeCount[1].push_back(0);
+ mHeteroCount[0] = 0;
+ mHeteroCount[1] = 0;
mScore[0] = 0;
mScore[1] = 0;
mLastKickOffGameHalf = GH_NONE;
mNextHalfKickOff = TI_NONE;
mLeftInit = Vector3f(0,0,0);
mRightInit = Vector3f(0,0,0);
+ mAgentRadius = 3.5;
mFinished = false;
mGamePaused = true;
+ mMaxHeteroTypeCount = 3;
+ mMaxTotalHeteroCount = 9;
}
GameStateAspect::~GameStateAspect()
@@ -266,6 +273,82 @@
}
bool
+GameStateAspect::InsertRobotType(TTeamIndex idx, int type)
+{
+ int i;
+
+ switch (idx)
+ {
+ case TI_LEFT:
+ i = 0;
+ break;
+ case TI_RIGHT:
+ i = 1;
+ break;
+ default:
+ return false;
+ }
+
+ if (type) // heterogeneous player
+ {
+ if (mHeteroCount[i] == mMaxTotalHeteroCount)
+ {
+ GetLog()->Error()
+ << "ERROR: (GameStateAspect::InsertRobotType) Hetero player"
+ " count limit reached.\n";
+ return false;
+ }
+
+ ++mHeteroCount[i];
+
+ if (mRobotTypeCount[i].size() <= type)
+ mRobotTypeCount[i].resize(type+1);
+
+ if (mRobotTypeCount[i][type] == mMaxHeteroTypeCount)
+ {
+ GetLog()->Error()
+ << "ERROR: (GameStateAspect::InsertRobotType) No more robots "
+ "of type " << type << " are allowed.\n";
+ return false;
+ }
+ }
+
+ ++mRobotTypeCount[i][type];
+
+ return true;
+}
+
+bool
+GameStateAspect::EraseRobotType(TTeamIndex idx, int type)
+{
+ int i;
+
+ switch (idx)
+ {
+ case TI_LEFT:
+ i = 0;
+ break;
+ case TI_RIGHT:
+ i = 1;
+ break;
+ default:
+ return false;
+ }
+
+ if (mRobotTypeCount[i].size() <= type || !mRobotTypeCount[i][type])
+ {
+ return false;
+ }
+
+ if (type) // heterogeneous player
+ --mHeteroCount[i];
+
+ --mRobotTypeCount[i][type];
+
+ return true;
+}
+
+bool
GameStateAspect::RequestUniform(boost::shared_ptr<AgentState> agentState,
std::string teamName, unsigned int unum)
{
@@ -297,6 +380,15 @@
return false;
}
+ if (!InsertRobotType(idx, agentState->GetRobotType()))
+ {
+ GetLog()->Error()
+ << "ERROR: (GameStateAspect::RequestUniform) cannot insert robot"
+ " of type " << agentState->GetRobotType() << " to team "
+ << teamName << "\n";
+ return false;
+ }
+
agentState->SetUniformNumber(unum);
agentState->SetTeamIndex(idx);
//agentState->SetPerceptName(teamName, ObjectState::PT_Default);
@@ -311,7 +403,7 @@
}
bool
-GameStateAspect::ReturnUniform(TTeamIndex ti, unsigned int unum)
+GameStateAspect::ReturnUniform(TTeamIndex ti, unsigned int unum, int type)
{
if (! EraseUnum(ti,unum))
{
@@ -321,6 +413,14 @@
return false;
}
+ if (!EraseRobotType(ti, type))
+ {
+ GetLog()->Error()
+ << "ERROR: (GameStateAspect::ReturnUniform) cannot erase robot "
+ " type " << type << " from team " << ti << "\n";
+ return false;
+ }
+
return true;
}
@@ -445,6 +545,9 @@
SoccerBase::GetSoccerVar(*this, "CoinTossForKickOff", coinTossKickOff);
if (!coinTossKickOff)
mNextHalfKickOff = TI_LEFT;
+
+ SoccerBase::GetSoccerVar(*this, "MaxHeteroTypeCount", mMaxHeteroTypeCount);
+ SoccerBase::GetSoccerVar(*this, "MaxTotalHeteroCount", mMaxTotalHeteroCount);
}
int
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.h
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.h 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.h 2013-06-09 18:35:13 UTC (rev 356)
@@ -24,6 +24,7 @@
#include <soccercontrolaspect/soccercontrolaspect.h>
#include <set>
+#include <vector>
class AgentState;
@@ -87,7 +88,7 @@
std::string teamName, unsigned int unum);
/** notifies that a uniform number is free again */
- bool ReturnUniform(TTeamIndex ti, unsigned int unum);
+ bool ReturnUniform(TTeamIndex ti, unsigned int unum, int type);
/** returns the next uniform number not taken for the given team */
int RequestUniformNumber(TTeamIndex ti) const;
@@ -133,6 +134,18 @@
contain a uniform number unum and erases it. */
bool EraseUnum(TTeamIndex idx, int unum);
+ /**
+ * Adds a robot of the given type to the given team if permitted.
+ * @return true if permitted
+ */
+ bool InsertRobotType(TTeamIndex idx, int type);
+
+ /**
+ * Removes a robot of the given type from the given team if exists.
+ * @return true on success
+ */
+ bool EraseRobotType(TTeamIndex idx, int type);
+
/** returns the team index corresponding to the given teamName. If
the teamname does not exist and less than two teams are
registered, the given team name is registered.
@@ -170,6 +183,12 @@
/** the set of uniform number for each team */
TUnumSet mUnumSet[2];
+ /** the array of robot type counts for each team */
+ std::vector<int> mRobotTypeCount[2];
+
+ /** the number of heterogeneous players for each team */
+ int mHeteroCount[2];
+
/** the scores of two teams */
int mScore[2];
@@ -187,6 +206,12 @@
/** flag if the game is running or paused (e.g. in goal_left/right state) */
bool mGamePaused;
+
+ /** the maximum number of heterogeneous players of a single type per team */
+ int mMaxHeteroTypeCount;
+
+ /** the maximum number of total heterogeneous players for a team */
+ int mMaxTotalHeteroCount;
};
DECLARE_CLASS(GameStateAspect);
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/gametimeperceptor/gametimeperceptor.cpp
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/gametimeperceptor/gametimeperceptor.cpp 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/gametimeperceptor/gametimeperceptor.cpp 2013-06-09 18:35:13 UTC (rev 356)
@@ -65,7 +65,7 @@
void
GameTimePerceptor::OnLink()
{
- mGameState = shared_dynamic_cast<GameStateAspect>
+ mGameState = dynamic_pointer_cast<GameStateAspect>
(GetCore()->Get("/sys/server/gamecontrol/GameStateAspect"));
if (mGameState.get() == 0)
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.cpp
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.cpp 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.cpp 2013-06-09 18:35:13 UTC (rev 356)
@@ -85,7 +85,7 @@
return;
}
- boost::shared_ptr<HMDPAction> hMDPAction = shared_dynamic_cast<HMDPAction>(mAction);
+ boost::shared_ptr<HMDPAction> hMDPAction = dynamic_pointer_cast<HMDPAction>(mAction);
mAction.reset();
if (hMDPAction.get() == 0)
{
@@ -141,7 +141,7 @@
// parent should be a transform, or some other node, which has a
// Body-child
- mBody = shared_dynamic_cast<RigidBody>(parent->GetChildOfClass("RigidBody"));
+ mBody = dynamic_pointer_cast<RigidBody>(parent->GetChildOfClass("RigidBody"));
if (mBody.get() == 0)
{
@@ -216,7 +216,7 @@
boost::shared_ptr<Leaf> join = *j_it;
boost::shared_ptr<BaseNode> jparent =
- shared_dynamic_cast<BaseNode>(join->GetParent().lock());
+ dynamic_pointer_cast<BaseNode>(join->GetParent().lock());
std::cout << i << " " << jparent->GetName() << std::endl;
i++;
@@ -259,7 +259,7 @@
for (TLeafList::iterator j_it = jointList.begin(); j_it != jointList.end(); j_it++)
{
- boost::shared_ptr<HingeJoint> joint = shared_static_cast<HingeJoint> (*j_it);
+ boost::shared_ptr<HingeJoint> joint = static_pointer_cast<HingeJoint> (*j_it);
servo_angle[i] = joint->GetAngle() - zeroPosServo(i);
double tpos = servo_target_pos[i];
float err = servo_gain[i] * (tpos - servo_angle[i]);
Modified: branches/gui-bullet/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.cpp
===================================================================
--- branches/gui-bullet/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.cpp 2013-06-08 21:23:54 UTC (rev 355)
+++ branches/gui-bullet/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.cpp 2013-06-09 18:35:13 UTC (rev 356)
@@ -48,10 +48,10 @@
{
messageOut = "";
- boost::shared_ptr<Transform> transformParent = shared_static_cast<Transform> (
+ boost::shared_ptr<Transform> transformParent = static_pointer_cast<Transform> (
FindParentSupportingClass<Transform> ().lock());
- mBody = shared_static_cast<RigidBody> (transf...
[truncated message content] |
