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[simspark-svn] SF.net SVN: simspark:[360] trunk/rcssserver3d
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From: <sgv...@us...> - 2013-06-12 10:28:10
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Revision: 360
http://sourceforge.net/p/simspark/svn/360
Author: sgvandijk
Date: 2013-06-12 10:28:06 +0000 (Wed, 12 Jun 2013)
Log Message:
-----------
Added Patrick's charging foul rules, plus soccervar parameters
to enable and configure them. these fouls are not penalized, only
recorded and sent to the monitor
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 2013-06-12 09:17:07 UTC (rev 359)
+++ trunk/rcssserver3d/ChangeLog 2013-06-12 10:28:06 UTC (rev 360)
@@ -1,3 +1,13 @@
+2013-06-12 Sander van Dijk <sgv...@gm...>
+
+ * plugin/soccer/soccerruleaspect/soccerruleaspect.h:
+ * plugin/soccer/soccerruleaspect/soccerruleaspect.cpp:
+ * rcssserver3d/naosoccersim.rb:
+ - added Patrick's charging foul rules, plus soccervar parameters
+ to enable and configure them. these fouls are not penalized, only
+ recorded and sent to the monitor
+
+
2013-06-09 Hedayat Vatankhah <hed...@gm...>
* plugin/soccer/gamestateaspect/gamestateaspect.h:
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2013-06-12 09:17:07 UTC (rev 359)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2013-06-12 10:28:06 UTC (rev 360)
@@ -58,6 +58,11 @@
mNotOffside(false),
mLastModeWasPlayOn(false),
mUseOffside(true),
+ mUseCharging(true),
+ mChargingMinSpeed(0.2),
+ mChargingMinBallDist(0.2),
+ mChargingMaxOppSpeedAngle(90),
+ mChargingIllInterceptMinMutualSpeedAngel(70),
mDropBallTime(15),
mNotStandingMaxTime(1000), // max time player may be sitted or laying down before being repositioned
mGoalieNotStandingMaxTime(1000), // max time goalie may be sitted or laying down before being repositioned
@@ -275,6 +280,151 @@
return;
random_shuffle(agent_states.begin(), agent_states.end());
+
+ // BEGIN FOUL DETECTION
+ if (mUseCharging)
+ {
+
+ SoccerBase::TAgentStateList::iterator asIt = agent_states.begin();
+ for (; asIt != agent_states.end(); ++asIt)
+ {
+ boost::shared_ptr<TouchGroup> touchGroup = (*asIt)->GetTouchGroup();
+
+ if (touchGroup->size() != 2) {
+ continue;
+ }
+
+ salt::Vector3f agentVel[2];
+ salt::Vector3f agentPos[2];
+ float s[2]; //agentSpeed
+ float d[2]; //agentDistToBall
+ float a[2]; //agentAngleOfSpeedVectorToBall
+ float agentAngleOfSpeedVectorToOpponent[2];
+ float m; //mutualAngleOfSpeed
+ int agentUNum[2];
+ int agentTeamIndex[2];
+
+ salt::Vector3f ballPos = mBallBody->GetPosition();
+
+ int i = 0;
+ for (TouchGroup::iterator agentIt = touchGroup->begin();
+ agentIt != touchGroup->end(); ++agentIt)
+ {
+
+ boost::shared_ptr<Transform> transform_parent;
+ boost::shared_ptr<RigidBody> agent_body;
+
+ SoccerBase::GetTransformParent(*(*agentIt), transform_parent);
+ SoccerBase::GetAgentBody(transform_parent, agent_body);
+
+ // Get agent position
+ agentPos[i] = agent_body->GetPosition();
+
+ // Compute agent distance to ball
+ d[i] = sqrt(pow(agentPos[i].x()-ballPos.x(),2)+pow(agentPos[i].y()-ballPos.y(),2));
+
+ // Get agent velocity
+ agentVel[i] = agent_body->GetVelocity();
+
+ // Compute agent speed
+ s[i] = sqrt(pow(agentVel[i].x(),2)+pow(agentVel[i].y(),2));
+
+ // Compute speed vector angle to ball
+ a[i] = abs(salt::gRadToDeg(salt::gNormalizeRad(salt::gArcTan2(agentVel[i].y(), agentVel[i].x()) - salt::gArcTan2(ballPos.y()-agentPos[i].y(), ballPos.x()-agentPos[i].x()))));
+
+ // Get agent uniform number and team index
+ agentUNum[i] = (*agentIt)->GetUniformNumber();
+ agentTeamIndex[i] = (*agentIt)->GetTeamIndex();
+
+ std::cout << "Agent " << agentUNum[i] << " team " << agentTeamIndex[i] << ":\tposition = " << agentPos[i] << "\tvelocity = " << agentVel[i] << std::endl;
+
+ i++;
+ }
+
+
+ // Check if these are opponent agents meaning they have different team indexes
+ bool haveOpponent = agentTeamIndex[0] != agentTeamIndex[1];
+
+ if (haveOpponent) {
+ // Compute speed vector angle to opponent
+ for (i = 0; i <= 1; i++) {
+ agentAngleOfSpeedVectorToOpponent[i] = abs(salt::gRadToDeg(salt::gNormalizeRad(salt::gArcTan2(agentVel[i].y(), agentVel[i].x()) - salt::gArcTan2(agentPos[1-i].y()-agentPos[i].y(), agentPos[1-i].x()-agentPos[i].x()))));
+ }
+
+ // Compute mutual angle of speed
+ m = abs(salt::gRadToDeg(salt::gNormalizeRad(salt::gArcTan2(agentVel[0].y(), agentVel[0].x()) - salt::gArcTan2(agentVel[1].y(), agentVel[1].x()))));
+
+ bool agentFoul[2]; // Boolean if an agent had committed a foul
+
+ for (int i = 0; i <= 1; i++) {
+ // Minimum requirements for a foul
+ std::cout << "Agent " << agentUNum[i] << " team " << agentTeamIndex[i] << ":\tspeed = " << s[i] << "\tdist_from_ball = " << d[i] << "\tangle_speed_to_opp = " << agentAngleOfSpeedVectorToOpponent[i] << std::endl;
+ agentFoul[i] = s[i] >= mChargingMinSpeed && d[i] >= mChargingMinBallDist && agentAngleOfSpeedVectorToOpponent[i] < mChargingMaxOppSpeedAngle;
+ }
+
+ if (d[0] < mChargingMinBallDist || d[1] < mChargingMinBallDist) {
+ // Don't call a foul if at least one of the agents is close to the ball
+ continue;
+ }
+
+ if (agentFoul[0] && agentFoul[1]) {
+ // Handle case where both agent's are thought to have committed a foul
+ std::cout << "m = " << m << std::endl;
+ if (m < mChargingIllInterceptMinMutualSpeedAngel) {
+ // Handle foul from player behind case
+ salt::Vector3f midpoint = ((agentPos[0]+agentVel[0])+(agentPos[1]+agentVel[1]))/2.0;
+
+ float agentDistFromMidpoint[2];
+ for (int i = 0; i <= 1; i++) {
+ agentDistFromMidpoint[i] = sqrt(pow(agentPos[i].x()-midpoint.x(),2)+pow(agentPos[i].y()-midpoint.y(),2));
+ std::cout << "Agent " << agentUNum[i] << " team " << agentTeamIndex[i] << ":\tdistance from midpoint = " << agentDistFromMidpoint[i] << std::endl;
+ }
+
+
+ if (agentDistFromMidpoint[0] < agentDistFromMidpoint[1]) {
+ agentFoul[0] = false;
+ } else if (agentDistFromMidpoint[1] < agentDistFromMidpoint[0]) {
+ agentFoul[1] = false;
+ } else {
+ // Mutual foul so no call
+ agentFoul[0] = false;
+ agentFoul[1] = false;
+ }
+
+
+ } else {
+ // Handle illegal interception case
+ for (int i = 0; i <= 1; i++) {
+ std::cout << "Agent " << agentUNum[i] << " team " << agentTeamIndex[i] << ":\tangle of speed vector to ball = " << a[i] << std::endl;
+ }
+
+ if (a[0] < a[1]) {
+ agentFoul[0] = false;
+ } else if (a[1] < a[0]) {
+ agentFoul[1] = false;
+ } else {
+ // Mutual foul so no call
+ agentFoul[0] = false;
+ agentFoul[1] = false;
+ }
+ }
+ }
+
+ for (int i = 0; i <= 1; i++) {
+ if (agentFoul[i]) {
+ playerFoulTime[agentUNum[i]][agentTeamIndex[i]]++;
+ playerLastFoul[agentUNum[i]][agentTeamIndex[i]] = FT_Charging;
+ std::cout << "FOUL on agent " << agentUNum[i] << " team " << agentTeamIndex[i] << std::endl;
+ // Should we remove fouling player from touch group?
+
+ }
+ }
+
+ }
+ }
+ // END FOUL DETECTION
+ }
+
SoccerBase::TAgentStateList::iterator i = agent_states.begin();
for (; i != agent_states.end(); ++i)
{
@@ -435,11 +585,14 @@
int unum = (*i)->GetUniformNumber();
if (playerFoulTime[unum][idx] > mMaxFoulTime / 0.02)
{
- // I am not a very good soccer player... I am violating the rules...
- salt::Vector3f new_pos = RepositionOutsidePos(ballPos, unum, idx);
- //Calculate my Reposition pos outside of the field
- SoccerBase::MoveAgent(agent_aspect, new_pos);
- //Oh my God!! I am flying!! I am going outside of the field
+ if (playerLastFoul[unum][idx] != FT_Charging)
+ {
+ // I am not a very good soccer player... I am violating the rules...
+ salt::Vector3f new_pos = RepositionOutsidePos(ballPos, unum, idx);
+ //Calculate my Reposition pos outside of the field
+ SoccerBase::MoveAgent(agent_aspect, new_pos);
+ //Oh my God!! I am flying!! I am going outside of the field
+ }
ResetFoulCounterPlayer(unum, idx);
// Record faul
mFouls.push_back(Foul(mFouls.size() + 1, playerLastFoul[unum][idx], *i));
@@ -1514,6 +1667,11 @@
SoccerBase::GetSoccerVar(*this,"Min3PlDistance",mMin3PlDistance);
SoccerBase::GetSoccerVar(*this,"MaxTouchGroupSize",mMaxTouchGroupSize);
//SoccerBase::GetSoccerVar(*this,"MaxFoulTime",mMaxFoulTime);
+ SoccerBase::GetSoccerVar(*this,"UseCharging",mUseCharging);
+ SoccerBase::GetSoccerVar(*this,"ChargingMinSpeed",mChargingMinSpeed);
+ SoccerBase::GetSoccerVar(*this,"ChargingMinBallDist",mChargingMinBallDist);
+ SoccerBase::GetSoccerVar(*this,"IllegalInterceptMinAngle",mChargingIllInterceptMinMutualSpeedAngel);
+ SoccerBase::GetSoccerVar(*this,"UseCharging",mUseCharging);
// cout << "MaxInside " << mMaxPlayersInsideOwnArea << endl << endl;
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2013-06-12 09:17:07 UTC (rev 359)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2013-06-12 10:28:06 UTC (rev 360)
@@ -53,7 +53,8 @@
FT_IllegalDefence,
FT_IllegalAttack,
FT_Incapable,
- FT_KickOff
+ FT_KickOff,
+ FT_Charging
};
struct Foul
@@ -67,6 +68,8 @@
EFoulType type;
boost::shared_ptr<AgentState> agent;
bool operator<(Foul const& other) const { return index < other.index; }
+
+ int time;
};
public:
@@ -425,6 +428,20 @@
/** use offside law */
bool mUseOffside;
+ /** use charging law */
+ bool mUseCharging;
+
+ /** minimum player speed to apply charging rules */
+ float mChargingMinSpeed;
+ /** minimum player distance to ball to apply charging rules */
+ float mChargingMinBallDist;
+ /** maximum angle between move direction and opponent to apply
+ * charging rules */
+ float mChargingMaxOppSpeedAngle;
+ /** minimum angle between move directions to apply illegal
+ * intercept part of charging rules */
+ float mChargingIllInterceptMinMutualSpeedAngel;
+
/** the time of the kick in the last kick off mode */
TTime mLastKickOffKickTime;
/** the player which kicked in the last kick off mode */
Modified: trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
===================================================================
--- trunk/rcssserver3d/rcssserver3d/naosoccersim.rb 2013-06-12 09:17:07 UTC (rev 359)
+++ trunk/rcssserver3d/rcssserver3d/naosoccersim.rb 2013-06-12 10:28:06 UTC (rev 360)
@@ -76,6 +76,8 @@
addSoccerVar('UseOffside', false)
addSoccerVar('MaxTouchGroupSize', 2)
+addSoccerVar('UseCharging', true)
+
# auto ref parameters FCP 2010
addSoccerVar('NotStandingMaxTime',30)
addSoccerVar('GoalieNotStandingMaxTime',60)
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