[simspark-svn] SF.net SVN: simspark:[385] trunk/rcssserver3d

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

Revision: 385
          http://sourceforge.net/p/simspark/svn/385
Author:   patmac369
Date:     2015-02-06 04:28:44 +0000 (Fri, 06 Feb 2015)
Log Message:
-----------
Adding penalty shootout mode where a goal is awarded to the left team (penalty kicker) if the right team's player (penalty goalie) leaves the penalty area.

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

Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp	2014-07-06 05:21:04 UTC (rev 384)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp	2015-02-06 04:28:44 UTC (rev 385)
@@ -75,7 +75,8 @@
     mMaxTouchGroupSize(1000),
     mMaxFoulTime(0.0),              // maximum time allowed for a player to commit a positional foul before being repositioned
     mLastKickOffKickTime(0),
-    mCheckKickOffKickerFoul(false)
+    mCheckKickOffKickerFoul(false),
+    mPenaltyShootout(false)
 {
     mFreeKickPos = Vector3f(0.0,0.0,mBallRadius);
 }
@@ -120,6 +121,28 @@
         // Reset touch groups
         ResetTouchGroups(TI_LEFT);
         ResetTouchGroups(TI_RIGHT);
+
+        // If in penalty shootout mode check that the goalie remains in the penalty area
+        if (mPenaltyShootout) 
+        {
+            SoccerBase::TAgentStateList agent_states;
+            if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_RIGHT))
+                return;
+            boost::shared_ptr<oxygen::Transform> agent_aspect;
+            SoccerBase::TAgentStateList::const_iterator i;
+            for (i = agent_states.begin(); i != agent_states.end(); ++i)
+            {
+                SoccerBase::GetTransformParent(**i, agent_aspect);
+                Vector3f agentPos = agent_aspect->GetWorldTransform().Pos();
+                if (agentPos.x() < mRightPenaltyArea.minVec[0] || agentPos.y() < mRightPenaltyArea.minVec[1] || agentPos.y() > mRightPenaltyArea.maxVec[1]) 
+                {
+                    // Penalty shootout goalie has left penalty area so award goal
+                    mPenaltyShootout = false;
+                    mGameState->ScoreTeam(TI_LEFT);
+                    mGameState->SetPlayMode(PM_Goal_Left);
+                }
+            }
+        }
     }
 }
 
@@ -1717,6 +1740,7 @@
     SoccerBase::GetSoccerVar(*this,"GoalKickDist",mGoalKickDist);
     SoccerBase::GetSoccerVar(*this,"AutomaticKickOff",mAutomaticKickOff);
     SoccerBase::GetSoccerVar(*this,"WaitBeforeKickOff",mWaitBeforeKickOff);
+    SoccerBase::GetSoccerVar(*this,"PenaltyShootout",mPenaltyShootout);
     SoccerBase::GetSoccerVar(*this,"SingleHalfTime",mSingleHalfTime);
     SoccerBase::GetSoccerVar(*this,"AutomaticQuit",mAutomaticQuit);
     SoccerBase::GetSoccerVar(*this,"ChangeSidesInSecondHalf",mChangeSidesInSecondHalf);

Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h	2014-07-06 05:21:04 UTC (rev 384)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h	2015-02-06 04:28:44 UTC (rev 385)
@@ -448,6 +448,8 @@
     boost::shared_ptr<oxygen::AgentAspect> mLastKickOffTaker;
     /** if kickoff taker should be checked for single kick rule */
     bool mCheckKickOffKickerFoul;
+    /** if in penalty shootout mode */
+    bool mPenaltyShootout;
 
     /** complete foul history */
     std::vector<Foul> mFouls;

Modified: trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
===================================================================
--- trunk/rcssserver3d/rcssserver3d/naosoccersim.rb	2014-07-06 05:21:04 UTC (rev 384)
+++ trunk/rcssserver3d/rcssserver3d/naosoccersim.rb	2015-02-06 04:28:44 UTC (rev 385)
@@ -54,6 +54,7 @@
 addSoccerVar('AutomaticKickOff', false)
 addSoccerVar('WaitBeforeKickOff', 30.0)
 addSoccerVar('CoinTossForKickOff', false)
+addSoccerVar('PenaltyShootout', false)
 
 addSoccerVar('AutomaticQuit', false)
 addSoccerVar('ChangeSidesInSecondHalf', false)

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