[simspark-svn] SF.net SVN: simspark:[379] trunk/rcssserver3d

[<pat...@us...>]

Revision: 379
          http://sourceforge.net/p/simspark/svn/379
Author:   patmac369
Date:     2014-06-02 11:08:41 +0000 (Mon, 02 Jun 2014)
Log Message:
-----------
Allowing the automated referee for collision fouls to be turned on by setting the UseCharging variable to true (default value is false).  Previously charging fouls were hard coded to be ignored regardless of the value of UseCharging.

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

Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp	2014-06-02 10:39:21 UTC (rev 378)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp	2014-06-02 11:08:41 UTC (rev 379)
@@ -58,7 +58,7 @@
     mNotOffside(false),
     mLastModeWasPlayOn(false),
     mUseOffside(true),
-    mUseCharging(true),
+    mUseCharging(false),
     mChargingMinSpeed(0.2),
     mChargingMinBallDist(0.2),
     mChargingMaxOppSpeedAngle(90),
@@ -647,14 +647,11 @@
         int unum = (*i)->GetUniformNumber();
         if (playerFoulTime[unum][idx] > mMaxFoulTime / 0.02)
         {
-            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
-            }
+            // 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));

Modified: trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
===================================================================
--- trunk/rcssserver3d/rcssserver3d/naosoccersim.rb	2014-06-02 10:39:21 UTC (rev 378)
+++ trunk/rcssserver3d/rcssserver3d/naosoccersim.rb	2014-06-02 11:08:41 UTC (rev 379)
@@ -78,7 +78,7 @@
 addSoccerVar('MaxTouchGroupSize', 2)
 
 # charging foul parameters
-addSoccerVar('UseCharging', true)
+addSoccerVar('UseCharging', false)
 addSoccerVar('ChargingMinSpeed', 0.2)
 addSoccerVar('ChargingMinBallDist', 0.2)
 addSoccerVar('IllegalInterceptMinAngle', 70)

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