simspark-svn Mailing List for Spark - A generic physical simulator (Page 5)

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Revision: 316
          http://simspark.svn.sourceforge.net/simspark/?rev=316&view=rev
Author:   hedayat
Date:     2012-05-22 22:33:15 +0000 (Tue, 22 May 2012)
Log Message:
-----------
Don't allow direct goals from kickoff
Don't allow dribbling on kickoff
Update 0.6.6 release notes

Modified Paths:
--------------
    trunk/rcssserver3d/ChangeLog
    trunk/rcssserver3d/NEWS
    trunk/rcssserver3d/RELEASE
    trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.cpp
    trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
    trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h

Modified: trunk/rcssserver3d/ChangeLog
===================================================================

--- trunk/rcssserver3d/ChangeLog	2012-05-22 18:22:38 UTC (rev 315)
+++ trunk/rcssserver3d/ChangeLog	2012-05-22 22:33:15 UTC (rev 316)
@@ -1,3 +1,13 @@
+2012-05-23  Hedayat Vatankhah  <hed...@gm...>
+
+	* NEWS: 
+	* RELEASE: 
+	- updated for 0.6.6
+	
+	* plugin/soccer/soccerruleaspect/soccerruleaspect.cpp: 
+	- do not allow direct goals from kickoff
+	- do not let the kickoff taker to kick the ball again befor other players
+
 2012-05-22  Hedayat Vatankhah  <hed...@gm...>
 
 	* plugin/soccer/gamestateaspect/gamestateaspect.cpp: 
@@ -8,6 +18,7 @@
 	
 	* plugin/soccer/soccerruleaspect/soccerruleaspect.h:
 	- a little cleanup, and fixed comment for mAutoKickOffTimeOrigin
+	- removed an unused variable mLastValidBallPosition
 
 	* plugin/soccer/soccerruleaspect/soccerruleaspect.cpp:
 	- update game's paused state 

Modified: trunk/rcssserver3d/NEWS
===================================================================
--- trunk/rcssserver3d/NEWS	2012-05-22 18:22:38 UTC (rev 315)
+++ trunk/rcssserver3d/NEWS	2012-05-22 22:33:15 UTC (rev 316)
@@ -6,6 +6,14 @@
 also increased to 20x30 meters, and free kick distance is 2.0 meters now.
 More detailed information about this release follows:
 
+* Rule Changes:
+ - automatic referee now enforces rules whenever players are permitted to 
+   play, rather than only in playon play mode.
+ - it is no longer possible to score directly from kick off, the ball should 
+   at least touch another player before going into the goal
+ - in kickoff playmode, the kicker cannot touch the ball again until another
+   player touches it.
+
 * Field/Dimension Changes:
  - New dimensions: 20x30
  - Free kick distance: 2.0

Modified: trunk/rcssserver3d/RELEASE
===================================================================
--- trunk/rcssserver3d/RELEASE	2012-05-22 18:22:38 UTC (rev 315)
+++ trunk/rcssserver3d/RELEASE	2012-05-22 22:33:15 UTC (rev 316)
@@ -7,6 +7,14 @@
 also increased to 20x30 meters, and free kick distance is 2.0 meters now.
 More detailed information about this release follows:
 
+* Rule Changes:
+ - automatic referee now enforces rules whenever players are permitted to 
+   play, rather than only in playon play mode.
+ - it is no longer possible to score directly from kick off, the ball should 
+   at least touch another player before going into the goal
+ - in kickoff playmode, the kicker cannot touch the ball again until another
+   player touches it.
+
 * Field/Dimension Changes:
  - New dimensions: 20x30
  - Free kick distance: 2.0

Modified: trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.cpp	2012-05-22 18:22:38 UTC (rev 315)
+++ trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateaspect.cpp	2012-05-22 22:33:15 UTC (rev 316)
@@ -119,7 +119,7 @@
             if (changeSides)
                 mNextHalfKickOff = ti;
             else
-                mNextHalfKickOff = (ti == TI_LEFT) ? TI_RIGHT : TI_LEFT;
+                mNextHalfKickOff = SoccerBase::OpponentTeam(ti);
         }
     }
 

Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp	2012-05-22 18:22:38 UTC (rev 315)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp	2012-05-22 22:33:15 UTC (rev 316)
@@ -68,7 +68,9 @@
     mMin2PlDistance(0),            // min dist for second closest of team before being repositioned
     mMin3PlDistance(0),            // min dist for third closest of team before being repositioned
     mMaxTouchGroupSize(1000),
-    mMaxFaultTime(0.0)               // maximum time allowed for a player to commit a positional fault before being repositioned
+    mMaxFaultTime(0.0),              // maximum time allowed for a player to commit a positional fault before being repositioned
+    mLastKickOffKickTime(0),
+    mCheckKickOffKickerFault(false)
 {
     mFreeKickPos = Vector3f(0.0,0.0,mBallRadius);
 }
@@ -589,6 +591,40 @@
 }
 
 void
+SoccerRuleAspect::PunishKickOffFault(
+    boost::shared_ptr<oxygen::AgentAspect> agent)
+{
+    boost::shared_ptr<AgentState> agentState;
+    if (!SoccerBase::GetAgentState(agent, agentState))
+    {
+        GetLog()->Error() << "ERROR: (SoccerRuleAspect) Cannot get "
+                "AgentState from an AgentAspect\n";
+    }
+    else
+    {
+        TTeamIndex opp = SoccerBase::OpponentTeam(agentState->GetTeamIndex());
+        ClearPlayersBeforeKickOff(opp);
+
+        // put the ball back in the middle of the playing field
+        Vector3f pos(0, 0, mBallRadius);
+        MoveBall(pos);
+
+        mGameState->KickOff(opp);
+    }
+}
+
+inline bool SoccerRuleAspect::WasLastKickFromKickOff(
+    boost::shared_ptr<oxygen::AgentAspect> &lastKicker)
+{
+    TTime kickTime;
+    // notice that a kick is not necessarily an immediate action, it can
+    // take some time...
+    return mBallState->GetLastCollidingAgent(lastKicker, kickTime)
+            && kickTime - mLastKickOffKickTime < 0.1 // kick duration = 0.1
+            && lastKicker == mLastKickOffTaker;
+}
+
+void
 SoccerRuleAspect::ClearSelectedPlayers()
 {
     float min_dist = mFreeKickMoveDist;
@@ -750,6 +786,9 @@
     }
     if (time > mGameState->GetLastModeChange())
     {
+        mLastKickOffKickTime = time;
+        mCheckKickOffKickerFault = true;
+        mLastKickOffTaker = agent;
         mGameState->SetPlayMode(PM_PlayOn);
     }
 }
@@ -1099,6 +1138,8 @@
 
     if (idx == TI_NONE)
     {
+        // sometimes, ball can't record goals due to approximation errors,
+        // so we check for goals analytically
         const salt::Vector3f ballPos = mBallBody->GetPosition();
         const float xDist2Goal = fabs(ballPos.x()) - mGoalBallLineX;
 
@@ -1129,6 +1170,19 @@
             return false;
     }
 
+    /* don't allow goals directly from kickoff
+     *
+     * todo it is allowed in FIFA rules, so we should get rid of it e.g. by
+     * adding noise to the beam effector so that kickoff kicks cannot be
+     * precisely planned
+     */
+    boost::shared_ptr<AgentAspect> agent;
+    if (WasLastKickFromKickOff(agent))
+    {
+        PunishKickOffFault(agent);
+        return false;
+    }
+
     // score the lucky team
     mGameState->ScoreTeam((idx == TI_LEFT) ? TI_RIGHT : TI_LEFT);
     mGameState->SetPlayMode((idx == TI_LEFT) ? PM_Goal_Right : PM_Goal_Left);
@@ -1136,6 +1190,25 @@
     return true;
 }
 
+bool
+SoccerRuleAspect::CheckKickOffTakerFault()
+{
+    if (!mCheckKickOffKickerFault)
+        return false;
+
+    boost::shared_ptr<AgentAspect> agent;
+    if (!WasLastKickFromKickOff(agent)) // second kick
+    {
+        mCheckKickOffKickerFault = false;
+        if (agent == mLastKickOffTaker)
+        {
+            PunishKickOffFault(mLastKickOffTaker);
+            return true;
+        }
+    }
+    return false;
+}
+
 void
 SoccerRuleAspect::UpdatePlayOn()
 {
@@ -1161,6 +1234,11 @@
     }
 #endif
 
+    if (CheckKickOffTakerFault())
+    {
+        return;
+    }
+
     // other checks go here...
 }
 
@@ -1176,7 +1254,7 @@
     }
 
     // put the ball back in the middle of the playing field
-    Vector3f pos(0,0,mBallRadius);
+    Vector3f pos(0, 0, mBallRadius);
     MoveBall(pos);
 
     // kick off for the opposite team

Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h	2012-05-22 18:22:38 UTC (rev 315)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h	2012-05-22 22:33:15 UTC (rev 316)
@@ -211,6 +211,9 @@
     /** checks if the assistant referee should raise the flag for offside */
     bool CheckOffside();
 
+    /** checks if kickoff taker has kicked the ball again before other players */
+    bool CheckKickOffTakerFault();
+
     /** moves the ball to pos setting its linear and angular velocity to 0 */
     void MoveBall(const salt::Vector3f& pos);
 
@@ -253,6 +256,15 @@
      */
     void SwapTeamSides();
 
+    /**
+     * Punish agent's fault committed during kickoff
+     */
+    void PunishKickOffFault(boost::shared_ptr<oxygen::AgentAspect> agent);
+
+    /** returns true if last kick was happenned in kick off */
+    bool WasLastKickFromKickOff(
+        boost::shared_ptr<oxygen::AgentAspect> &lastKicker);
+
 protected:
     /** reference to the body node of the Ball */
     boost::shared_ptr<oxygen::RigidBody> mBallBody;
@@ -276,9 +288,6 @@
         one team can touch the ball */
     float mDropBallTime;
 
-    /** the point above the ground, where the ball left the field */
-    salt::Vector3f mLastValidBallPos;
-
     /** the field length (in meters) */
     float mFieldLength;
     /** the field width (in meters) */
@@ -384,6 +393,13 @@
 
     /** use offside law */
     bool mUseOffside;
+
+    /** the time of the kick in the last kick off mode */
+    TTime mLastKickOffKickTime;
+    /** the player which kicked in the last kick off mode */
+    boost::shared_ptr<oxygen::AgentAspect> mLastKickOffTaker;
+    /** if kickoff taker should be checked for single kick rule */
+    bool mCheckKickOffKickerFault;
 };
 
 DECLARE_CLASS(SoccerRuleAspect);

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simspark-svn Mailing List for Spark - A generic physical simulator (Page 5)

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