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[simspark-svn] SF.net SVN: simspark:[388] trunk/rcssserver3d
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From: <pat...@us...> - 2015-04-23 01:45:11
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Revision: 388
http://sourceforge.net/p/simspark/svn/388
Author: patmac369
Date: 2015-04-23 01:45:03 +0000 (Thu, 23 Apr 2015)
Log Message:
-----------
This commit adds the following new rules and fixes:
- Adding new rule requiring that the ball must either touch an opponent, or touch a teammate outside the center circle, before a team taking a kickoff can score.
- Adding noise to the beam effector with the amount of noise added controlled by the 'BeamNoiseXY' (in meters) and 'BeamNoiseAngle' (in degrees) values in naosoccersim.rb. Noise is added to beam X and Y values from a uniform distribution within the range [-BeamNoiseXY,BeamNoiseXY] and to beam angle values from a uniform distribution within the range [-BeamNoiseAngle,BeamNoiseAngle].
- Fixing a bug where a player would be incorrectly called for double touching the ball on a kickoff if the player first kicked the ball directly in the opponent's goal from a kickoff, resulting in no goal being awarded and the opposing team being given a kickoff, and then is the next player to touch the ball in the PlayOn playmode after a dropball when the opponent doesn't take their kickoff.
Modified Paths:
--------------
trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.cpp
trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.h
trunk/rcssserver3d/plugin/soccer/beameffector/beameffector.cpp
trunk/rcssserver3d/plugin/soccer/beameffector/beameffector.h
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
Modified: trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.cpp 2015-03-27 19:39:48 UTC (rev 387)
+++ trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.cpp 2015-04-23 01:45:03 UTC (rev 388)
@@ -26,6 +26,7 @@
#include <oxygen/agentaspect/agentaspect.h>
#include <oxygen/physicsserver/recorderhandler.h>
#include <gamestateaspect/gamestateaspect.h>
+#include <agentstate/agentstate.h>
#include <soccerbase/soccerbase.h>
#include <ball/ball.h>
@@ -40,6 +41,8 @@
mLastValidBallPos = Vector3f(0,0,0);
mGoalState = TI_NONE;
mLastAgentCollisionTime = 0;
+ mCollidingWithLeftTeamAgent = false;
+ mCollidingWithRightTeamAgent = false;
}
BallStateAspect::~BallStateAspect()
@@ -66,6 +69,9 @@
void BallStateAspect::UpdateLastCollidingAgent()
{
+ mCollidingWithLeftTeamAgent = false;
+ mCollidingWithRightTeamAgent = false;
+
// get a list of agents that collided with the ball since the last
// update of the recorder and remember the first returned node as
// the last agent that collided with the ball.
@@ -78,6 +84,26 @@
(agents.front().lock());
mLastAgentCollisionTime = mGameState->GetTime();
+
+ for (RecorderHandler::TParentList::iterator it = agents.begin();
+ it != agents.end(); ++it) {
+ boost::shared_ptr<oxygen::AgentAspect> agent =
+ static_pointer_cast<AgentAspect>(it->lock());
+ boost::shared_ptr<AgentState> agentState;
+ if (!SoccerBase::GetAgentState(agent, agentState))
+ {
+ GetLog()->Error() << "ERROR: (SoccerRuleAspect) Cannot"
+ " get AgentState from an AgentAspect\n";
+ }
+ else {
+ TTeamIndex team = agentState->GetTeamIndex();
+ if (team == TI_LEFT) {
+ mCollidingWithLeftTeamAgent = true;
+ } else if (team == TI_RIGHT) {
+ mCollidingWithRightTeamAgent = true;
+ }
+ }
+ }
}
// empty the recorder buffer
@@ -206,3 +232,16 @@
{
return mLastValidBallPos;
}
+
+bool BallStateAspect::GetBallCollidingWithAgentTeam(TTeamIndex team)
+{
+ if (team == TI_LEFT) {
+ return mCollidingWithLeftTeamAgent;
+ } else if (team == TI_RIGHT) {
+ return mCollidingWithRightTeamAgent;
+ } else if (team == TI_NONE) {
+ return !mCollidingWithLeftTeamAgent && !mCollidingWithRightTeamAgent;
+ }
+
+ return false;
+}
Modified: trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.h 2015-03-27 19:39:48 UTC (rev 387)
+++ trunk/rcssserver3d/plugin/soccer/ballstateaspect/ballstateaspect.h 2015-04-23 01:45:03 UTC (rev 388)
@@ -76,6 +76,11 @@
/** updates the reference to the last agent that kicked the ball */
void UpdateLastKickingAgent(boost::shared_ptr<oxygen::AgentAspect> agent);
+ /** returns if ball is currently colliding with an agent from the given
+ team
+ */
+ bool GetBallCollidingWithAgentTeam(TTeamIndex team);
+
protected:
/** set up the reference to the ball and field collider */
virtual void OnLink();
@@ -128,6 +133,12 @@
/** then time when the last agent collided with the ball */
TTime mLastAgentCollisionTime;
+ /** if ball is currently colliding with left team agent */
+ bool mCollidingWithLeftTeamAgent;
+
+ /** if ball is currently colliding with right team agent */
+ bool mCollidingWithRightTeamAgent;
+
/** then time when the last agent kicked the ball */
TTime mLastAgentKickTime;
Modified: trunk/rcssserver3d/plugin/soccer/beameffector/beameffector.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/beameffector/beameffector.cpp 2015-03-27 19:39:48 UTC (rev 387)
+++ trunk/rcssserver3d/plugin/soccer/beameffector/beameffector.cpp 2015-04-23 01:45:03 UTC (rev 388)
@@ -37,6 +37,8 @@
BeamEffector::~BeamEffector()
{
+ mXYRng.reset();
+ mThetaRng.reset();
}
#ifdef __APPLE_CC__
@@ -54,7 +56,9 @@
(mAction.get() == 0) ||
(mBody.get() == 0) ||
(mGameState.get() == 0) ||
- (mAgentState.get() == 0)
+ (mAgentState.get() == 0) ||
+ (mXYRng.get() == 0) ||
+ (mThetaRng.get() == 0)
)
{
return;
@@ -78,10 +82,10 @@
|| mGameState->GetPlayMode() == PM_Goal_Right)
{
Vector3f pos;
- pos[0] = beamAction->GetPosX();
- pos[1] = beamAction->GetPosY();
+ pos[0] = beamAction->GetPosX() + (*(mXYRng.get()))();
+ pos[1] = beamAction->GetPosY() + (*(mXYRng.get()))();
- float angle = beamAction->GetXYAngle();
+ float angle = beamAction->GetXYAngle() + (*(mThetaRng.get()))();
// reject nan or infinite numbers in the beam position
if (
@@ -181,6 +185,17 @@
mAgentRadius = 0.22f;
SoccerBase::GetSoccerVar(*this,"AgentRadius",mAgentRadius);
+
+ mBeamNoiseXY = 0.05f;
+ SoccerBase::GetSoccerVar(*this, "BeamNoiseXY",mBeamNoiseXY);
+
+ mBeamNoiseAngle = 10.0f;
+ SoccerBase::GetSoccerVar(*this, "BeamNoiseAngle",mBeamNoiseAngle);
+
+ UniformRngPtr rng1(new salt::UniformRNG<>(-mBeamNoiseXY,mBeamNoiseXY));
+ mXYRng = rng1;
+ UniformRngPtr rng2(new salt::UniformRNG<>(-mBeamNoiseAngle,mBeamNoiseAngle));
+ mThetaRng = rng2;
}
void
@@ -189,5 +204,7 @@
mBody.reset();
mGameState.reset();
mAgentState.reset();
+ mXYRng.reset();
+ mThetaRng.reset();
}
Modified: trunk/rcssserver3d/plugin/soccer/beameffector/beameffector.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/beameffector/beameffector.h 2015-03-27 19:39:48 UTC (rev 387)
+++ trunk/rcssserver3d/plugin/soccer/beameffector/beameffector.h 2015-04-23 01:45:03 UTC (rev 388)
@@ -25,9 +25,13 @@
#include <oxygen/agentaspect/effector.h>
#include <oxygen/physicsserver/rigidbody.h>
#include <gamestateaspect/gamestateaspect.h>
+#include <salt/random.h>
class BeamEffector : public oxygen::Effector
{
+protected:
+ typedef boost::shared_ptr<salt::UniformRNG<> > UniformRngPtr;
+
public:
BeamEffector();
virtual ~BeamEffector();
@@ -65,8 +69,20 @@
/** the cached field width */
float mFieldWidth;
- /** thec cached agent radius */
+ /** the cached agent radius */
float mAgentRadius;
+
+ /** random number generator for beam X and Y noise */
+ UniformRngPtr mXYRng;
+
+ /** random number generator for beam angle noise */
+ UniformRngPtr mThetaRng;
+
+ /** amount of noise added to beam X and Y values */
+ float mBeamNoiseXY;
+
+ /** amount of noise added to beam angle value */
+ float mBeamNoiseAngle;
};
DECLARE_CLASS(BeamEffector);
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2015-03-27 19:39:48 UTC (rev 387)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2015-04-23 01:45:03 UTC (rev 388)
@@ -76,6 +76,7 @@
mMaxFoulTime(0.0), // maximum time allowed for a player to commit a positional foul before being repositioned
mLastKickOffKickTime(0),
mCheckKickOffKickerFoul(false),
+ mAllowKickOffTeamToScore(true),
mPenaltyShootout(false)
{
mFreeKickPos = Vector3f(0.0,0.0,mBallRadius);
@@ -1022,6 +1023,9 @@
{
mGameState->SetPaused(false);
+ mCheckKickOffKickerFoul = false;
+ mAllowKickOffTeamToScore = true;
+
ClearPlayersBeforeKickOff(idx);
// if no player touched the ball for mDropBallTime, we move away
@@ -1045,10 +1049,12 @@
if (time > mGameState->GetLastModeChange())
{
boost::shared_ptr<GameControlServer> game_control;
- if (SoccerBase::GetGameControlServer(*this, game_control)
- && game_control->GetAgentCount() > 2) // todo: remove this when there is a "penalty" playmode
+ if ((SoccerBase::GetGameControlServer(*this, game_control)
+ && game_control->GetAgentCount() > 2) // todo: remove this when there is a "penalty" playmode
+ && !mPenaltyShootout)
{
mCheckKickOffKickerFoul = true;
+ mAllowKickOffTeamToScore = false;
}
mLastKickOffKickTime = time;
mLastKickOffTaker = agent;
@@ -1444,9 +1450,34 @@
if (WasLastKickFromKickOff(agent))
{
PunishKickOffFoul(agent);
- return false;
+ // Return true so that we know the ball is in the goal and don't check
+ // for other conditions such as the ball being out of bounds
+ return true;
}
+ /* Don't allow goals kicked from inside center circle directly after
+ kickoff
+ */
+ if (!mAllowKickOffTeamToScore) {
+ boost::shared_ptr<AgentState> agentState;
+ if (!SoccerBase::GetAgentState(mLastKickOffTaker, agentState))
+ {
+ GetLog()->Error() << "ERROR: (SoccerRuleAspect) Cannot"
+ " get AgentState from an AgentAspect\n";
+ }
+ else {
+ TTeamIndex team = agentState->GetTeamIndex();
+ if (idx != team) {
+ // Team that scored is same team that took kickoff
+ PunishKickOffFoul(mLastKickOffTaker);
+ // Return true so that we know the ball is in the goal and
+ // don't check for other conditions such as the ball being out
+ // of bounds
+ return true;
+ }
+ }
+ }
+
// score the lucky team
mGameState->ScoreTeam((idx == TI_LEFT) ? TI_RIGHT : TI_LEFT);
mGameState->SetPlayMode((idx == TI_LEFT) ? PM_Goal_Right : PM_Goal_Left);
@@ -1478,6 +1509,13 @@
{
mGameState->SetPaused(false);
+ // check that player who took kickoff doesn't touch the ball a second
+ // time before another agent touches the ball
+ if (CheckKickOffTakerFoul())
+ {
+ return;
+ }
+
// check if the ball is in one of the goals
if (CheckGoal())
{
@@ -1498,11 +1536,6 @@
}
#endif
- if (CheckKickOffTakerFoul())
- {
- return;
- }
-
// other checks go here...
}
@@ -1602,6 +1635,28 @@
mLastModeWasPlayOn = false;
+ if (!mAllowKickOffTeamToScore) {
+ // Check if requirements/rules have been met for team taking kickoff
+ // to score
+ boost::shared_ptr<AgentState> agentState;
+ if (!SoccerBase::GetAgentState(mLastKickOffTaker, agentState))
+ {
+ GetLog()->Error() << "ERROR: (SoccerRuleAspect) Cannot"
+ " get AgentState from an AgentAspect\n";
+ }
+ else {
+ TTeamIndex team = agentState->GetTeamIndex();
+ bool ballTouchedByKickOffTeam =
+ mBallState->GetBallCollidingWithAgentTeam(team);
+ bool ballTouchedByNonKickOffTeam =
+ mBallState->GetBallCollidingWithAgentTeam(SoccerBase::OpponentTeam(team));
+ salt::Vector2f ball_pos(mBallBody->GetPosition().x(), mBallBody->GetPosition().y());
+ bool ballOutsideCenterCircle = ball_pos.Length() > mFreeKickDist;
+ mAllowKickOffTeamToScore = ballTouchedByNonKickOffTeam ||
+ (ballTouchedByKickOffTeam && ballOutsideCenterCircle);
+ }
+ }
+
switch (playMode)
{
case PM_BeforeKickOff:
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2015-03-27 19:39:48 UTC (rev 387)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2015-04-23 01:45:03 UTC (rev 388)
@@ -448,6 +448,8 @@
boost::shared_ptr<oxygen::AgentAspect> mLastKickOffTaker;
/** if kickoff taker should be checked for single kick rule */
bool mCheckKickOffKickerFoul;
+ /** if kickoff taking team has met requirements/rules to score */
+ bool mAllowKickOffTeamToScore;
/** if in penalty shootout mode */
bool mPenaltyShootout;
Modified: trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
===================================================================
--- trunk/rcssserver3d/rcssserver3d/naosoccersim.rb 2015-03-27 19:39:48 UTC (rev 387)
+++ trunk/rcssserver3d/rcssserver3d/naosoccersim.rb 2015-04-23 01:45:03 UTC (rev 388)
@@ -98,6 +98,10 @@
addSoccerVar('ReportScore', true)
addSoccerVar('LabelMessages', true)
+# Noise added to requested beam positions
+addSoccerVar('BeamNoiseXY',0.05)
+addSoccerVar('BeamNoiseAngle',10.0)
+
# auto ref parameters for testing (not for use in competition...)
#addSoccerVar('NotStandingMaxTime',10)
#addSoccerVar('GoalieNotStandingMaxTime',30)
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