[simspark-cvs] simspark/simulations/soccer/plugin/beameffector beamaction.h, NONE, 1.1.2.1 beameffector.cpp, NONE, 1.1.2.1 beameffector.h, NONE, 1.1.2.1 beameffector_c.cpp, NONE, 1.1.2.1

[Oliver O. <fr...@us...>]

Update of /cvsroot/simspark/simspark/simulations/soccer/plugin/beameffector
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv24718/beameffector

Added Files:
      Tag: projectx
	beamaction.h beameffector.cpp beameffector.h 
	beameffector_c.cpp 
Log Message:
soccer plugins from rcssserver3D

--- NEW FILE: beameffector.cpp ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: beameffector.cpp,v 1.1.2.1 2007/03/07 10:39:22 fruit Exp $

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include "beamaction.h"
#include "beameffector.h"
#include <soccer/soccerbase/soccerbase.h>
#include <soccer/agentstate/agentstate.h>
#include <cmath>

using namespace boost;
using namespace oxygen;
using namespace salt;
using namespace std;

BeamEffector::BeamEffector() : oxygen::Effector()
{
}

BeamEffector::~BeamEffector()
{
}

#ifdef __APPLE_CC__
bool
isfinite( float f )
{
    return f == f && f != f * 0.5f;
}
#endif

bool
BeamEffector::Realize(boost::shared_ptr<ActionObject> action)
{
    if (
        (mBody.get() == 0) ||
        (mGameState.get() == 0) ||
        (mAgentState.get() == 0)
        )
    {
        return false;
    }

    shared_ptr<BeamAction> beamAction =
        shared_dynamic_cast<BeamAction>(action);

    if (beamAction.get() == 0)
    {
        GetLog()->Error()
            << "ERROR: (BeamEffector) cannot realize an unknown ActionObject\n";
        return false;
    }

    // the beam effector only has an effect in PM_BeforeKickOff
    if (mGameState->GetPlayMode() == PM_BeforeKickOff)
    {
        Vector3f pos = beamAction->GetPosition();

        // reject nan or infinite numbers in the beam position
        if (
            (! isfinite(pos[0])) ||
            (! isfinite(pos[1])) ||
            (! isfinite(pos[2]))
            )
            {
                return false;
            }

        // an agent can only beam within it's own field half
        float minX = -mFieldLength/2 + mAgentRadius;
        pos[0] = std::max<float>(pos[0],minX);
        pos[0] = std::min<float>(pos[0],0.0f);

        float minY = -mFieldWidth/2 + mAgentRadius;
        float maxY = mFieldWidth/2 - mAgentRadius;
        pos[1] = std::max<float>(minY,pos[1]);
        pos[1] = std::min<float>(maxY,pos[1]);

        pos[2] = mAgentRadius;

        // swap x and y coordinates accordingly for the current
        // team; after the flip pos is global and not independent
        // on the team
        pos = SoccerBase::FlipView
            (
                pos,
                mAgentState->GetTeamIndex()
                );

        mBody->SetPosition(pos);
        mBody->SetVelocity(Vector3f(0,0,0));
        mBody->SetAngularVelocity(Vector3f(0,0,0));
    }

    return true;
}

shared_ptr<ActionObject>
BeamEffector::GetActionObject(const Predicate& predicate)
{
  if (predicate.name != GetPredicate())
    {
      GetLog()->Error() << "ERROR: (BeamEffector) invalid predicate"
                        << predicate.name << "\n";
      return shared_ptr<ActionObject>();
    }

  Vector3f pos;
  if (! predicate.GetValue(predicate.begin(), pos))
  {
      GetLog()->Error()
          << "ERROR: (BeamEffector) Vector3f parameter expected\n";
      return shared_ptr<ActionObject>(new ActionObject(GetPredicate()));
  }

  return shared_ptr<ActionObject>(new BeamAction(GetPredicate(),pos));
}

void
BeamEffector::OnLink()
{
    SoccerBase::GetBody(*this,mBody);
    SoccerBase::GetGameState(*this, mGameState);
    SoccerBase::GetAgentState(*this,mAgentState);

    mFieldWidth = 64.0;
    SoccerBase::GetSoccerVar(*this,"FieldWidth",mFieldWidth);

    mFieldLength = 100.0;
    SoccerBase::GetSoccerVar(*this,"FieldLength",mFieldLength);

    mAgentRadius = 0.22;
    SoccerBase::GetSoccerVar(*this,"AgentRadius",mAgentRadius);
}

void
BeamEffector::OnUnlink()
{
    mBody.reset();
    mGameState.reset();
    mAgentState.reset();
}


--- NEW FILE: beameffector_c.cpp ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: beameffector_c.cpp,v 1.1.2.1 2007/03/07 10:39:22 fruit Exp $

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/

#include "beameffector.h"

using namespace oxygen;

void
CLASS(BeamEffector)::DefineClass()
{
    DEFINE_BASECLASS(oxygen/Effector);
}

--- NEW FILE: beameffector.h ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: beameffector.h,v 1.1.2.1 2007/03/07 10:39:22 fruit Exp $

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#ifndef BEAMEFFECTOR_H
#define BEAMEFFECTOR_H

#include <oxygen/agentaspect/effector.h>
#include <oxygen/physicsserver/body.h>
#include <soccer/gamestateaspect/gamestateaspect.h>

class BeamEffector : public oxygen::Effector
{
public:
    BeamEffector();
    virtual ~BeamEffector();

    /** realizes the action described by the ActionObject */
    virtual bool Realize(boost::shared_ptr<oxygen::ActionObject> action);

    /** returns the name of the predicate this effector implements. */
    virtual std::string GetPredicate() { return "beam"; }

    /** constructs an Actionobject, describing a predicate */
    virtual boost::shared_ptr<oxygen::ActionObject>
    GetActionObject(const oxygen::Predicate& predicate);

protected:
    /** setup the reference to the agents body node */
    virtual void OnLink();

    /** remove the reference to the agents body node */
    virtual void OnUnlink();

protected:
    /** the reference to the parents body node */
    boost::shared_ptr<oxygen::Body> mBody;

    /** the reference to the GameState */
    boost::shared_ptr<GameStateAspect> mGameState;

    /** a reference to the agent state */
    boost::shared_ptr<AgentState> mAgentState;

    /** the cached field length */
    float mFieldLength;

    /** the cached field width */
    float mFieldWidth;

    /** thec cached agent radius */
    float mAgentRadius;
};

DECLARE_CLASS(BeamEffector);

#endif // BEAMEFFECTOR_H

--- NEW FILE: beamaction.h ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: beamaction.h,v 1.1.2.1 2007/03/07 10:39:21 fruit Exp $

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#ifndef BEAMACTION_H
#define BEAMACTION_H

#include <oxygen/gamecontrolserver/actionobject.h>
#include <salt/vector.h>

class BeamAction : public oxygen::ActionObject
{
public:
    BeamAction(const std::string& predicate, salt::Vector3f pos)
        : ActionObject(predicate), mPos(pos) {}
    virtual ~BeamAction() {}

    /** returns the stored positin */
    const salt::Vector3f& GetPosition() { return mPos; }

protected:
    /** the position to beam the agent to */
    salt::Vector3f mPos;
};

#endif // BEAMACTION_H