simspark-cvs

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

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

Added Files:
      Tag: projectx
	ballstateaspect.cpp ballstateaspect.h ballstateaspect_c.cpp 
Log Message:
soccer plugins from rcssserver3D

--- NEW FILE: ballstateaspect.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: ballstateaspect.cpp,v 1.1.2.1 2007/03/07 10:39:20 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 "ballstateaspect.h"
#include <zeitgeist/logserver/logserver.h>
#include <oxygen/sceneserver/sceneserver.h>
#include <oxygen/sceneserver/scene.h>
#include <oxygen/agentaspect/agentaspect.h>
#include <oxygen/physicsserver/recorderhandler.h>
#include <soccer/gamestateaspect/gamestateaspect.h>
#include <soccer/soccerbase/soccerbase.h>
#include <soccer/ball/ball.h>

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

BallStateAspect::BallStateAspect() : SoccerControlAspect()
{
    mBallOnField = false;
    mLastValidBallPos = Vector3f(0,0,0);
    mGoalState = TI_NONE;
    mLastAgentCollisionTime = 0;
}

BallStateAspect::~BallStateAspect()
{
}

bool BallStateAspect::GetLastCollidingAgent(shared_ptr<AgentAspect>& agent,
                                            TTime& time)
{
    agent = mLastCollidingAgent;
    time  = mLastAgentCollisionTime;

    return (agent.get() != 0);
}

bool BallStateAspect::GetLastKickingAgent(shared_ptr<AgentAspect>& agent,
                                            TTime& time)
{
    agent = mLastKickingAgent;
    time  = mLastAgentKickTime;

    return (agent.get() != 0);
}

void BallStateAspect::UpdateLastCollidingAgent()
{
    // 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.
    RecorderHandler::TParentList agents;
    mBallRecorder->GetParentsSupportingClass("AgentAspect",agents);

    if (agents.size() > 0)
        {
            mLastCollidingAgent = shared_static_cast<AgentAspect>
                (make_shared(agents.front()));
            mLastAgentCollisionTime = mGameState->GetTime();
        }

    // empty the recorder buffer
    mBallRecorder->Clear();
}

void
BallStateAspect::UpdateLastCollidingAgent(boost::shared_ptr<AgentAspect> agent)
{
    mLastCollidingAgent = agent;
    mLastAgentCollisionTime = mGameState->GetTime();
}

void
BallStateAspect::UpdateLastKickingAgent(boost::shared_ptr<AgentAspect> agent)
{
    mLastKickingAgent = agent;
    mLastAgentKickTime = mGameState->GetTime();
}

void BallStateAspect::UpdateBallOnField()
{
    // get a list of Ball nodes that collided with the field
    RecorderHandler::TParentList ball;
    mFieldRecorder->GetParentsSupportingClass("Ball",ball);

    // the ball is on or above the playing field iff it collided with
    // the box collider around the playing field
    mBallOnField = (ball.size() > 0);

    // empty the recorder buffer
    mFieldRecorder->Clear();
}

void BallStateAspect::UpdateLastValidBallPos()
{
    if (! mBallOnField)
        {
            return;
        }

    mLastValidBallPos = mBall->GetWorldTransform().Pos();
}

void BallStateAspect::UpdateGoalState()
{
    // check both goal box collider
    RecorderHandler::TParentList ball;
    mLeftGoalRecorder->GetParentsSupportingClass("Ball",ball);

    if (! ball.empty())
        {
            mGoalState = TI_LEFT;
        } else
            {
                mRightGoalRecorder->GetParentsSupportingClass("Ball",ball);

                if (! ball.empty())
                    {
                        mGoalState = TI_RIGHT;
                    } else
                        {
                            mGoalState = TI_NONE;
                        }
            }

    mLeftGoalRecorder->Clear();
    mRightGoalRecorder->Clear();
}

TTeamIndex BallStateAspect::GetGoalState()
{
    return mGoalState;
}

void BallStateAspect::Update(float deltaTime)
{
    if (
        (mFieldRecorder.get() == 0) ||
        (mBall.get() == 0) ||
        (mBallRecorder.get() == 0) ||
        (mLeftGoalRecorder.get() == 0) ||
        (mRightGoalRecorder.get() == 0)
        )
        {
            return;
        }

    UpdateLastCollidingAgent();
    UpdateBallOnField();
    UpdateLastValidBallPos();
    UpdateGoalState();
}

void BallStateAspect::OnLink()
{
    SoccerControlAspect::OnLink();

    mFieldRecorder = GetFieldRecorder();
    SoccerBase::GetBall(*this,mBall);
    mBallRecorder = GetBallRecorder();
    mLeftGoalRecorder = GetLeftGoalRecorder();
    mRightGoalRecorder = GetRightGoalRecorder();

    mGameState = shared_dynamic_cast<GameStateAspect>
        (GetControlAspect("GameStateAspect"));
}

void BallStateAspect::OnUnlink()
{
    SoccerControlAspect::OnUnlink();

    mBallRecorder.reset();
    mFieldRecorder.reset();
    mLastCollidingAgent.reset();
    mLeftGoalRecorder.reset();
    mRightGoalRecorder.reset();
    mGameState.reset();
}

bool BallStateAspect::GetBallOnField()
{
    return mBallOnField;
}

salt::Vector3f BallStateAspect::GetLastValidBallPosition()
{
    return mLastValidBallPos;
}


--- NEW FILE: ballstateaspect.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: ballstateaspect.h,v 1.1.2.1 2007/03/07 10:39:20 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 BALLLSTATEASPECT_H
#define BALLLSTATEASPECT_H

#include <soccer/soccercontrolaspect/soccercontrolaspect.h>

/** BallStateAspect is a ControlAspect that holds information about
    the current state of the ball in the simulation.
 */
class Ball;

namespace oxygen
{
    class RecorderHandler;
    class AgentAspect;
}

class BallStateAspect : public SoccerControlAspect
{
public:
    BallStateAspect();
    virtual ~BallStateAspect();

    /** called during the update of the GameControlServer to allow the
        ControlAspect to perform any necessary checks.
    */
    virtual void Update(float deltaTime);

    /** returns the last agent that collided with the ball and the
        time when this happened*/
    bool GetLastCollidingAgent
    (boost::shared_ptr<oxygen::AgentAspect>& agent, TTime& time);

    /** returns the last agent that kicked the ball and the
        time when this happened*/
    bool GetLastKickingAgent
    (boost::shared_ptr<oxygen::AgentAspect>& agent, TTime& time);

    /** returns true if the ball over the playing field */
    bool GetBallOnField();

    /** returns the last valid position of the ball over the playing
        field */
    salt::Vector3f GetLastValidBallPosition();

    /** returns the goal in which the balls position is or TI_NONE
        otherwise */
    TTeamIndex GetGoalState();

    /** updates the reference to the last agent that collided with the
        ball
    */
    void UpdateLastCollidingAgent(boost::shared_ptr<oxygen::AgentAspect> agent);

    /** updates the reference to the last agent that kicked the ball */
    void UpdateLastKickingAgent(boost::shared_ptr<oxygen::AgentAspect> agent);

protected:
    /** set up the reference to the ball and field collider */
    virtual void OnLink();

    /** reset the reference to the ball and field recorder */
    virtual void OnUnlink();

    /** updates the reference to the last agent that collided with the
        ball
    */
    void UpdateLastCollidingAgent();

    /** checks if the ball is on the playing field an updates the
        mBallOnField flag
    */
    void UpdateBallOnField();

    /** checks if the ball is in one of the goals and updates the
        mGoalState member*/
    void UpdateGoalState();

    /** if the ball has a valid position, i.e. is on the field,
        remember it
     */
    void UpdateLastValidBallPos();

protected:
    /** reference to the Ball node */
    boost::shared_ptr<Ball> mBall;

    /** reference to the Ball collision recorder */
    boost::shared_ptr<oxygen::RecorderHandler> mBallRecorder;

    /** reference to the field collider */
    boost::shared_ptr<oxygen::RecorderHandler> mFieldRecorder;

    /** reference to the left goal recorder */
    boost::shared_ptr<oxygen::RecorderHandler> mLeftGoalRecorder;

    /** reference to the right goal recorder */
    boost::shared_ptr<oxygen::RecorderHandler> mRightGoalRecorder;

    /** holds a reference to the last agent that collided with the
        ball */
    boost::shared_ptr<oxygen::AgentAspect> mLastCollidingAgent;

    /** holds a reference to the last agent that kicked the ball */
    boost::shared_ptr<oxygen::AgentAspect> mLastKickingAgent;

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

    /** then time when the last agent collided with the ball */
    TTime mLastAgentCollisionTime;

    /** then time when the last agent kicked the ball */
    TTime mLastAgentKickTime;

    /** true if the ball on the soccer field, i.e. not on the border
        surrounding the soccer field */
    bool mBallOnField;

    /** holds the last valid ball position */
    salt::Vector3f mLastValidBallPos;

    /** indicates in which goal the ball is, TI_NONE otherwise */
    TTeamIndex mGoalState;
};

DECLARE_CLASS(BallStateAspect);

#endif // BALLLSTATEASPECT_H

--- NEW FILE: ballstateaspect_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: ballstateaspect_c.cpp,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.
*/

#include "ballstateaspect.h"

using namespace oxygen;

void CLASS(BallStateAspect)::DefineClass()
{
    DEFINE_BASECLASS(SoccerControlAspect);
}