[simspark-cvs] simspark/simulations/soccer Makefile.am, NONE, 1.1.2.1 bindings.rb, NONE, 1.1.2.1 simspark.cpp, NONE, 1.1.2.1 simspark.rb, NONE, 1.1.2.1 soccersim.rb, NONE, 1.1.2.1

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

Update of /cvsroot/simspark/simspark/simulations/soccer
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv16715

Added Files:
      Tag: projectx
	Makefile.am bindings.rb simspark.cpp simspark.rb soccersim.rb 
Log Message:
added simspark

--- NEW FILE: soccersim.rb ---
#
# prepare soccer simulation
#

importBundle "soccer"

# soccer namespace
$soccerNameSpace = "Soccer"

# register a variable in the soccer namespace
def addSoccerVar(name, value)
   createVariable($soccerNameSpace, name, value)
end

# helper to get the value of a variable in the soccer namespace
def getSoccerVar(name)
  eval <<-EOS 
    #{$soccerNameSpace}.#{name} 
  EOS
end

# set a random seed (a seed of 0 means: use a random random seed)
randomServer = get($serverPath+'random')
randomServer.seed(0)

# the soccer field dimensions in meters
addSoccerVar('FieldLength', randomServer.uniformRND(100.0,110.9).floor().to_f())
addSoccerVar('FieldWidth', randomServer.uniformRND(64.0,75.9).floor().to_f())
addSoccerVar('FieldHeight', 40.0)
addSoccerVar('GoalWidth', 7.32)
addSoccerVar('GoalDepth', 2.0)
addSoccerVar('GoalHeight', 0.75) # FIFA: 2.44 
addSoccerVar('BorderSize', 10.0)
addSoccerVar('FreeKickDistance', 9.15)
addSoccerVar('AutomaticKickOff', false)
addSoccerVar('WaitBeforeKickOff', 2.0)

# agent parameters
addSoccerVar('AgentMass', 75.0)
addSoccerVar('AgentRadius',  0.22)
addSoccerVar('AgentMaxSpeed', 10.0)

# ball parameters
addSoccerVar('BallRadius', 0.7) # FIFA: 68-70 cm
addSoccerVar('BallDensity',2)
addSoccerVar('BallMass',0.45) # FIFA: 410-450 g

# soccer rule parameters
addSoccerVar('RuleGoalPauseTime',3.0)
addSoccerVar('RuleKickInPauseTime',1.0)
addSoccerVar('RuleHalfTime',5.0 * 60)
addSoccerVar('RuleDropBallTime',30)

scene = get($scenePath)
scene.importScene('rsg/agent/soccer.rsg')

# setup the GameControlServer
gameControlServer = get($serverPath+'gamecontrol')
gameControlServer.initControlAspect('GameStateAspect')
gameControlServer.initControlAspect('BallStateAspect')
# gameControlServer.initControlAspect('SoccerRuleAspect')

# init monitorItems to transmit game state information
monitorServer = get($serverPath+'monitor')
monitorServer.registerMonitorItem('GameStateItem')

# install the TrainerCommandParser to parse commands received from a
# monitor client
sparkRegisterMonitorCmdParser 'TrainerCommandParser'

--- NEW FILE: simspark.cpp ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
   this file is part of simspark
   Tue May 9 2006
   Copyright (C) Koblenz University, Germany
                 University of Newcastle, Australia
   $Id: simspark.cpp,v 1.1.2.1 2007/03/07 11:37:06 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.
*/
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif

#include <spark/spark.h>
#include <oxygen/oxygen.h>
#include <kerosin/kerosin.h>
#include <zeitgeist/zeitgeist.h>

#ifdef __APPLE__ 
// for WebInitForCarbon()
#include <WebKit/CarbonUtils.h>
#endif 

using namespace spark;
using namespace kerosin;
using namespace oxygen;
using namespace zeitgeist;
using namespace salt;
using namespace boost;

class SimSpark : public Spark
{
public:
    SimSpark(const std::string& relPathPrefix) :
        Spark(relPathPrefix)
    {};

    /** called once after Spark finished it's init */
    virtual bool InitApp(int argc, char** argv);

    /** print command line options */
    void PrintHelp();

    /** print a greeting */
    void PrintGreeting();

    /** process command line options */
    bool ProcessCmdLine(int argc, char* argv[]);
};

void 
SimSpark::PrintGreeting()
{
    GetLog()->Normal()
        << "simspark, a monolithic simulator 0.1\n"
        << "Copyright (C) 2004 Markus Rollmann, \n"
        << "Universität Koblenz.\n"
        << "Copyright (C) 2004 - 2007"
        << "The RoboCup Soccer Server Maintenance Group.\n"
        << "\nType '--help' for further information\n\n";
}

void 
SimSpark::PrintHelp()
{
    GetLog()->Normal()
        << "\nusage: simspark [options]\n"
        << "\noptions:\n"
        << " --help\t print this message.\n"
        << "\n";
}

bool 
SimSpark::ProcessCmdLine(int argc, char* argv[])
{
    for( int i = 0; i < argc; i++)
    {
        if( strcmp( argv[i], "--help" ) == 0 )
        {
            PrintHelp();
            return false;
        }
    }

    return true;
}

bool 
SimSpark::InitApp(int argc, char** argv)
{
    GetSimulationServer()->SetSimStep(0.02);
    PrintGreeting();

    // process command line
    if (! ProcessCmdLine(argc, argv))
    {
        return false;
    }

    // run initialization scripts
    GetScriptServer()->Run("simspark.rb");

    return true;
}

int 
main(int argc, char** argv)
{
#ifdef __APPLE__ 
    WebInitForCarbon ();
#endif 
    std::cerr << "start\n";
    // the spark app framework instance
    SimSpark spark("../../");
    std::cerr << "create spark done\n";

    if (! spark.Init(argc, argv))
    {
        return 1;
    }
    std::cerr << "init spark done\n";
    spark.GetSimulationServer()->Run(argc,argv);

    shared_ptr<RenderControl> renderCtr = spark.GetRenderControl();
    if (renderCtr.get() != 0)
    {
        spark.GetLog()->Normal()
            << "Average FPS: "
            << renderCtr->GetFramesRendered() /
            spark.GetSimulationServer()->GetTime()
            << "\n";
    }
    return 0;
}

--- NEW FILE: Makefile.am ---
SUBDIRS = plugin

noinst_PROGRAMS = simspark

simspark_SOURCES = simspark.cpp

all-local: app rsg 

rsg:
	$(LN_S) $(top_srcdir)/parts/rsg .

app:
	mkdir -p $(srcdir)/simspark.app/Contents/MacOS
	mkdir -p $(srcdir)/simspark.app/Contents/plugins
	cp $(srcdir)/*.rb $(srcdir)/simspark.app/Contents/MacOS/ 
	cp -r $(top_srcdir)/parts/rsg $(srcdir)/simspark.app/Contents/MacOS/rsg 
	cp $(srcdir)/plugin/.libs/soccer.so $(srcdir)/simspark.app/Contents/plugins 
--- NEW FILE: simspark.rb ---
#
# simspark.rb
#

sparkSetupServer()
sparkSetupRendering()
sparkSetupInput()


# let spark create a default camera
sparkAddFPSCamera(
		  $scenePath+'camera', 
		  x = -0.5, 
		  y = -20, 
		  z = 3,
		  maxSpeed = 15.0,
		  accel = 400.0,
		  drag = 4,
		  addCollider = false
		  )

# setup default input bindings
run "bindings.rb"

# create custom materials
material = new('kerosin/MaterialSolid', $serverPath+'material/matYellow');
material.setDiffuse(1.0,1.0,0.0,1.0)

material = new('kerosin/MaterialSolid', $serverPath+'material/matOrange');
material.setDiffuse(1.0,0.3,0.0,1.0)

material = new('kerosin/MaterialSolid', $serverPath+'material/matBlue');
material.setDiffuse(0.0,0.0,1.0,1.0)

material = new('kerosin/MaterialSolid', $serverPath+'material/matWhite');
material.setDiffuse(1.0,1.0,1.0,1.0)

material = new('kerosin/MaterialSolid', $serverPath+'material/matRed');
material.setDiffuse(1.0,0.0,0.0,1.0)

material = new('kerosin/MaterialSolid', $serverPath+'material/matRedGlow');
material.setDiffuse(1.0,0.0,0.0,1.0)
material.setEmission(0.5,0.0,0.0,1.0)

material = new('kerosin/MaterialSolid', $serverPath+'material/matGreen');
material.setDiffuse(0.1,0.6,0.1,1.0)
material.setAmbient(0.1,0.3,0.1,1.0)

material = new('kerosin/MaterialSolid', $serverPath+'material/matGrey');
material.setDiffuse(0.1,0.1,0.1,1.0)

material = new('kerosin/MaterialSolid', $serverPath+'material/matLightBlue');
material.setDiffuse(0.0,0.75,1.0,1.0)

#
# uncomment for logging setup (see spark.rb for reference)
#

sparkLogAllToFile('./spark.txt')
sparkLogDebugToCerr()

#
# uncomment any of the following to run a simulation
#
importBundle "soccer"

# create an arena with a bunch of boxes and spheres
scene = get($scenePath)
#scene.importScene('rsg/boxspheres/simspark.rsg')
scene.importScene('rsg/agent/hoap2.rsg')

# create an arena to test various joint bodies
# scene = get($scenePath)
#scene.importScene('rsg/jointtest/simspark.rsg')

# source soccersim.rb to run the soccer simulation
run "soccersim.rb"

--- NEW FILE: bindings.rb ---
#
# bindings.rb sets up a mapping from input constants used by the
# inputserver to application defined command constants.
#
inputServer = get('/sys/server/input');

if (inputServer == nil)
  print "(bindings.rb) no InputServer present\n";
else
  print "(bindings.rb) setting up bindings\n";

  inputServer.bindCommand('axist',      Command.Timer);
  inputServer.bindCommand('axisx',      Command.MouseX);
  inputServer.bindCommand('axisy',      Command.MouseY);
  inputServer.bindCommand('mouse_left', Command.Mouselook);
  inputServer.bindCommand('mouse_right',Command.Up);
  inputServer.bindCommand('pagedown',   Command.Down);
  inputServer.bindCommand('kp_minus', Command.Down);
  inputServer.bindCommand('kp_plus',Command.Up);
  inputServer.bindCommand('pageup',     Command.Up);
  inputServer.bindCommand('q',          Command.Quit)
  inputServer.bindCommand('a',          Command.Left)
  inputServer.bindCommand('left',       Command.Left)
  inputServer.bindCommand('d',          Command.Right)
  inputServer.bindCommand('right',      Command.Right)
  inputServer.bindCommand('w',          Command.Forward)
  inputServer.bindCommand('up',         Command.Forward)
  inputServer.bindCommand('s',          Command.Backward)
  inputServer.bindCommand('down',       Command.Backward)
end