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From: <sgv...@us...> - 2010-05-16 14:46:34
|
Revision: 198
http://simspark.svn.sourceforge.net/simspark/?rev=198&view=rev
Author: sgvandijk
Date: 2010-05-16 14:46:27 +0000 (Sun, 16 May 2010)
Log Message:
-----------
- Initial player selection stuff
Modified Paths:
--------------
branches/agentselection/rcssserver3d/data/rsg/agent/nao/nao.rsg
branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.h
branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp
branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h
branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerrender.cpp
branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerrender.h
branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb
branches/agentselection/rcssserver3d/rcssmonitor3d/soccersim-monitor.rb
branches/agentselection/spark/data/scripts/materials.rb
branches/agentselection/spark/lib/kerosin/inputserver/input.h
branches/agentselection/spark/lib/kerosin/inputserver/inputcontrol.cpp
branches/agentselection/spark/lib/kerosin/inputserver/inputserver.cpp
branches/agentselection/spark/lib/kerosin/renderserver/rendernode.cpp
branches/agentselection/spark/lib/kerosin/renderserver/rendernode.h
branches/agentselection/spark/lib/kerosin/renderserver/rendernode_c.cpp
branches/agentselection/spark/lib/kerosin/renderserver/renderserver.cpp
branches/agentselection/spark/lib/kerosin/sceneserver/singlematnode_c.cpp
branches/agentselection/spark/lib/kerosin/sceneserver/staticmesh_c.cpp
branches/agentselection/spark/plugin/inputsdl/keyboardsdl.cpp
branches/agentselection/spark/plugin/sparkmonitor/sparkmonitor.cpp
Modified: branches/agentselection/rcssserver3d/data/rsg/agent/nao/nao.rsg
===================================================================
--- branches/agentselection/rcssserver3d/data/rsg/agent/nao/nao.rsg 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/rcssserver3d/data/rsg/agent/nao/nao.rsg 2010-05-16 14:46:27 UTC (rev 198)
@@ -68,6 +68,14 @@
(setName AgentState)
(nd GameStatePerceptor)
(nd HearPerceptor)
+ (nd Transform
+ (nd Sphere
+ (setName SelectionMarker)
+ (setRadius 0.2)
+ (setMaterial matRed)
+ (setTransparent)
+ )
+ )
)
(nd GyroRatePerceptor (setName torso))
Modified: branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2010-05-16 14:46:27 UTC (rev 198)
@@ -23,9 +23,11 @@
#include <soccertypes.h>
#include <soccerbase/soccerbase.h>
#include <gamestateaspect/gamestateaspect.h>
+#include <kerosin/renderserver/rendernode.h>
#include <sstream>
using namespace oxygen;
+using namespace kerosin;
using namespace std;
AgentState::AgentState() : ObjectState(), mTeamIndex(TI_NONE),
@@ -33,7 +35,8 @@
mHearMax(2), mHearInc(1),
mHearDecay(2), mHearMateCap(2),
mHearOppCap(2), mIfSelfMsg(false),
- mIfMateMsg(false), mIfOppMsg(false)
+ mIfMateMsg(false), mIfOppMsg(false),
+ mSelected(false)
{
// set mID and mUniformNumber into a joint state
SetUniformNumber(0);
@@ -211,6 +214,18 @@
}
void
+AgentState::UpdateHierarchyInternal()
+{
+ boost::shared_ptr<RenderNode> node = boost::shared_dynamic_cast<RenderNode>(GetChild("SelectionMarker", true));
+ if (!node)
+ {
+ GetLog()->Error() << "ERROR: (AgentState::UpdateHierarchyInternal) could not find selection marker\n";
+ return;
+ }
+ node->SetVisible(mSelected);
+}
+
+void
AgentState::OnUnlink()
{
ObjectState::OnUnlink();
Modified: branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2010-05-16 14:46:27 UTC (rev 198)
@@ -91,6 +91,10 @@
bool GetMessage(std::string& msg, float& direction, bool teamMate);
bool GetSelfMessage(std::string& msg);
+ bool IsSelected() const { return mSelected; }
+ void Select(bool s = true) { mSelected = s; }
+ void UnSelect() { mSelected = false; }
+
protected:
/** team index */
TTeamIndex mTeamIndex;
@@ -134,7 +138,9 @@
/** is there any message from oponnent */
bool mIfOppMsg;
+ bool mSelected;
protected:
+ virtual void UpdateHierarchyInternal();
virtual void OnUnlink();
};
Modified: branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2010-05-16 14:46:27 UTC (rev 198)
@@ -212,6 +212,47 @@
}
void
+SoccerRuleAspect::ClearSelectedPlayers(float min_dist)
+{
+ std::list<boost::shared_ptr<AgentState> > agent_states;
+ if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_NONE))
+ return;
+
+ boost::shared_ptr<oxygen::Transform> agent_aspect;
+ std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ for (i = agent_states.begin(); i != agent_states.end(); ++i)
+ {
+ SoccerBase::GetTransformParent(**i, agent_aspect);
+
+ // if agent is selected, move it away
+ Vector3f new_pos = agent_aspect->GetWorldTransform().Pos();
+
+ if ((*i)->IsSelected())
+ {
+ float dist = salt::UniformRNG<>(min_dist, min_dist + 2.0)();
+
+ if ((*i)->GetTeamIndex() == TI_LEFT)
+ {
+ if (new_pos[0] - dist < -mFieldLength/2.0)
+ {
+ new_pos[1] = new_pos[1] < 0 ? new_pos[1] + dist : new_pos[1] - dist;
+ } else {
+ new_pos[0] = new_pos[0] - dist;
+ }
+ } else {
+ if (new_pos[0] + dist > mFieldLength/2.0)
+ {
+ new_pos[1] = new_pos[1] < 0 ? new_pos[1] + dist : new_pos[1] - dist;
+ } else {
+ new_pos[0] = new_pos[0] + dist;
+ }
+ }
+ SoccerBase::MoveAgent(agent_aspect, new_pos);
+ }
+ }
+}
+
+void
SoccerRuleAspect::DropBall()
{
DropBall(mBallBody->GetPosition());
@@ -1348,7 +1389,51 @@
}
}
-Vector2f SoccerRuleAspect::GetFieldSize() const
+Vector2f
+SoccerRuleAspect::GetFieldSize() const
{
return Vector2f(mFieldLength,mFieldWidth);
}
+
+void
+SoccerRuleAspect::ResetAgentSelection()
+{
+ std::list<boost::shared_ptr<AgentState> > agent_states;
+ if (SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_NONE))
+ {
+
+ std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ for (i = agent_states.begin(); i != agent_states.end(); ++i)
+ (*i)->UnSelect();
+ }
+}
+
+void
+SoccerRuleAspect::SelectNextAgent()
+{
+ std::list<boost::shared_ptr<AgentState> > agent_states;
+ boost::shared_ptr<AgentState> first = agent_states.front();
+ bool found = false;
+ if (SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_NONE))
+ {
+
+ std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ for (i = agent_states.begin(); i != agent_states.end(); ++i)
+ {
+ if ((*i)->IsSelected())
+ {
+ (*i)->UnSelect();
+ found = true;
+ continue;
+ }
+ if (found)
+ {
+ (*i)->Select();
+ found = false;
+ break;
+ }
+ }
+ if (found)
+ first->Select();
+ }
+}
\ No newline at end of file
Modified: branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2010-05-16 14:46:27 UTC (rev 198)
@@ -45,7 +45,8 @@
{
public:
typedef std::list<boost::shared_ptr<AgentState> > TAgentStateList;
-
+ typedef std::pair<TTeamIndex, int> TAgentSelection;
+
public:
SoccerRuleAspect();
virtual ~SoccerRuleAspect();
@@ -96,6 +97,10 @@
*/
salt::Vector2f GetFieldSize() const;
+ void ResetAgentSelection();
+
+ void SelectNextAgent();
+
protected:
/** rereads the current soccer script values */
virtual void UpdateCachedInternal();
@@ -191,6 +196,8 @@
*/
void ClearPlayersBeforeKickOff(TTeamIndex idx);
+ void ClearSelectedPlayers(float min_dist);
+
protected:
/** reference to the body node of the Ball */
boost::shared_ptr<oxygen::RigidBody> mBallBody;
Modified: branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp 2010-05-16 14:46:27 UTC (rev 198)
@@ -28,9 +28,11 @@
using namespace zeitgeist;
using namespace oxygen;
using namespace kerosin;
+using namespace std;
SoccerInput::SoccerInput()
- : InputItem()
+ : InputItem(),
+ mCmdMode(CmdModeDefault)
{
}
@@ -57,7 +59,10 @@
//JAN
scriptServer->CreateVariable("Command.FreeKickLeft", CmdFreeKickLeft);
scriptServer->CreateVariable("Command.FreeKickRight", CmdFreeKickRight);
+
+ scriptServer->CreateVariable("Command.NextMode", CmdNextMode);
+
mMonitorClient = shared_dynamic_cast<NetClient>
(GetCore()->Get("/sys/server/simulation/SparkMonitorClient"));
@@ -126,6 +131,15 @@
default:
return;
+ case CmdNextMode:
+ if (input.GetKeyPress())
+ {
+ mCmdMode = (ECmdMode)(mCmdMode + 1);
+ if (mCmdMode == CmdModeNone)
+ mCmdMode = CmdModeDefault;
+ }
+ break;
+
case CmdKickOff:
if (input.GetKeyPress())
{
Modified: branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h 2010-05-16 14:46:27 UTC (rev 198)
@@ -51,8 +51,17 @@
CmdCameraRightGoal = CmdCameraRightCorner + 1,
//JAN
CmdFreeKickLeft = CmdCameraRightGoal + 1,
- CmdFreeKickRight = CmdFreeKickLeft + 1
+ CmdFreeKickRight = CmdFreeKickLeft + 1,
+
+ CmdNextMode = CmdFreeKickRight + 1
};
+
+ enum ECmdMode
+ {
+ CmdModeDefault = 1,
+ CmdModePlayerSelect,
+ CmdModeNone
+ };
public:
SoccerInput();
@@ -71,6 +80,8 @@
/** reset SparkMonitorClient reference */
virtual void OnUnlink();
+ ECmdMode GetCmdMode() const { return mCmdMode; }
+
protected:
void SendCommand(const std::string& cmd);
@@ -82,6 +93,8 @@
boost::shared_ptr<oxygen::RigidBody> mCameraBody;
boost::shared_ptr<oxygen::FPSController> mFPS;
+
+ ECmdMode mCmdMode;
};
DECLARE_CLASS(SoccerInput);
Modified: branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerrender.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerrender.cpp 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerrender.cpp 2010-05-16 14:46:27 UTC (rev 198)
@@ -23,6 +23,7 @@
#include <sstream>
#include "soccerrender.h"
#include "soccermonitor.h"
+#include "soccerinput.h"
#include <zeitgeist/logserver/logserver.h>
#include <kerosin/openglserver/openglserver.h>
#include <kerosin/fontserver/fontserver.h>
@@ -69,6 +70,13 @@
{
GetLog()->Error() << "ERROR: (SoccerRender) Unable to get SoccerMonitor\n";
}
+ mInput = shared_static_cast<SoccerInput>
+ (GetCore()->Get("/sys/server/simulation/InputControl/SoccerInput"));
+
+ if (mInput.get() == 0)
+ {
+ GetLog()->Error() << "ERROR: (SoccerRender) Unable to get SoccerInput\n";
+ }
}
void SoccerRender::OnUnlink()
@@ -90,7 +98,7 @@
return;
}
- stringstream ss_l, ss_c, ss_r;
+ stringstream ss_l, ss_c, ss_r, ss_m;
ss_c.setf(ios_base::fixed,ios_base::floatfield);
ss_c.precision(2);
@@ -141,5 +149,8 @@
xPos = int((1024-(mFont->GetStringWidth(ss_c.str().c_str())))/2);
mFont->DrawString(xPos, 0, ss_c.str().c_str());
+ ss_m << mInput->GetCmdMode();
+ mFont->DrawString(10, 30, ss_m.str().c_str());
+
mFontServer->End();
}
Modified: branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerrender.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerrender.h 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerrender.h 2010-05-16 14:46:27 UTC (rev 198)
@@ -32,6 +32,7 @@
}
class SoccerMonitor;
+class SoccerInput;
class SoccerRender : public kerosin::CustomRender
{
@@ -51,6 +52,7 @@
boost::shared_ptr<SoccerMonitor> mMonitor;
boost::shared_ptr<kerosin::FontServer> mFontServer;
boost::shared_ptr<kerosin::Font> mFont;
+ boost::shared_ptr<SoccerInput> mInput;
};
DECLARE_CLASS(SoccerRender);
Modified: branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb
===================================================================
--- branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb 2010-05-16 14:46:27 UTC (rev 198)
@@ -27,7 +27,7 @@
inputServer.bindCommand('k', Command.KickOff);
inputServer.bindCommand('j', Command.KickOffRight);
inputServer.bindCommand('b', Command.DropBall);
- inputServer.bindCommand('m', Command.MoveAgent);
+ #inputServer.bindCommand('m', Command.MoveAgent);
inputServer.bindCommand('n', Command.ShootBall);
inputServer.bindCommand('x', Command.MoveBall);
inputServer.bindCommand('1', Command.CameraLeftGoal);
@@ -39,5 +39,6 @@
inputServer.bindCommand('7', Command.CameraRightGoal);
inputServer.bindCommand('l', Command.FreeKickLeft);
inputServer.bindCommand('r', Command.FreeKickRight);
+ inputServer.bindCommand('lctrl y', Command.NextMode);
end
end
Modified: branches/agentselection/rcssserver3d/rcssmonitor3d/soccersim-monitor.rb
===================================================================
--- branches/agentselection/rcssserver3d/rcssmonitor3d/soccersim-monitor.rb 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/rcssserver3d/rcssmonitor3d/soccersim-monitor.rb 2010-05-16 14:46:27 UTC (rev 198)
@@ -13,10 +13,6 @@
# state
sparkRegisterCustomMonitor 'SoccerMonitor'
-# register the soccer render plugin to draw the game state on the
-# screen
-sparkRegisterCustomRender 'SoccerRender'
-
if ($logPlayerMode == true)
# register the soccer input logplayer plugin for playback
# specific keys
@@ -29,3 +25,7 @@
# bind keys to soccer commands
run "soccerbindings.rb"
+# register the soccer render plugin to draw the game state on the
+# screen
+sparkRegisterCustomRender 'SoccerRender'
+
Modified: branches/agentselection/spark/data/scripts/materials.rb
===================================================================
--- branches/agentselection/spark/data/scripts/materials.rb 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/spark/data/scripts/materials.rb 2010-05-16 14:46:27 UTC (rev 198)
@@ -13,7 +13,8 @@
material.setDiffuse(1.0,0.3,0.0,1.0)
material = sparkCreate('kerosin/MaterialSolid', $serverPath+'material/matRed');
-material.setDiffuse(1.0,0.0,0.0,1.0)
+material.setDiffuse(1.0,0.0,0.0,0.5)
+material.setAmbient(1.0,0.0,0.0,0.5)
material = sparkCreate('kerosin/MaterialSolid', $serverPath+'material/matRedGlow');
material.setDiffuse(1.0,0.0,0.0,1.0)
Modified: branches/agentselection/spark/lib/kerosin/inputserver/input.h
===================================================================
--- branches/agentselection/spark/lib/kerosin/inputserver/input.h 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/spark/lib/kerosin/inputserver/input.h 2010-05-16 14:46:27 UTC (rev 198)
@@ -101,6 +101,7 @@
float f;
} mData;
+ unsigned int mModState;
public:
// numbers
Modified: branches/agentselection/spark/lib/kerosin/inputserver/inputcontrol.cpp
===================================================================
--- branches/agentselection/spark/lib/kerosin/inputserver/inputcontrol.cpp 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/spark/lib/kerosin/inputserver/inputcontrol.cpp 2010-05-16 14:46:27 UTC (rev 198)
@@ -212,21 +212,21 @@
break;
default:
- // pass unknown events on to the registered InputItems
- TLeafList items;
- ListChildrenSupportingClass<InputItem>(items);
-
- for (
- TLeafList::iterator iter = items.begin();
- iter != items.end();
- ++iter
- )
- {
- shared_static_cast<InputItem>(*iter)
- ->ProcessInput(input);
- }
break;
}
+ // pass unknown events on to the registered InputItems
+ TLeafList items;
+ ListChildrenSupportingClass<InputItem>(items);
+
+ for (
+ TLeafList::iterator iter = items.begin();
+ iter != items.end();
+ ++iter
+ )
+ {
+ shared_static_cast<InputItem>(*iter)
+ ->ProcessInput(input);
+ }
}
if (mAdvanceTime)
Modified: branches/agentselection/spark/lib/kerosin/inputserver/inputserver.cpp
===================================================================
--- branches/agentselection/spark/lib/kerosin/inputserver/inputserver.cpp 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/spark/lib/kerosin/inputserver/inputserver.cpp 2010-05-16 14:46:27 UTC (rev 198)
@@ -305,11 +305,13 @@
++bindIter
)
{
+ /*
const Bind& bind = (*bindIter);
//printf("Looking at: %d %d %d", (*bind).mCode, (*bind).cmd, (*bind).modifier);
- if (bind.modifier == mModifierState)
+ if (bind.modifier == input.mModState)
{
+ */
#if 0
if (input.mType == Input::eButton)
{
@@ -322,8 +324,8 @@
//printf("Looking at: %d %d %d", (*bind).mCode, (*bind).cmd, (*bind).modifier);
if (
- (bind.modifier == 0 && mModifierState == 0) ||
- (bind.modifier & mModifierState)
+ (bind.modifier == 0 && input.mModState == 0) ||
+ (bind.modifier & input.mModState)
)
#endif
{
@@ -335,7 +337,7 @@
input.mId = bind.cmd;
return true;
}
- }
+ //}
}
input.mId = -1;
@@ -404,6 +406,7 @@
{
current = tokens.front();
tokens.pop_front();
+
bind.modifier |= ParseModifier(current);
}
Modified: branches/agentselection/spark/lib/kerosin/renderserver/rendernode.cpp
===================================================================
--- branches/agentselection/spark/lib/kerosin/renderserver/rendernode.cpp 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/spark/lib/kerosin/renderserver/rendernode.cpp 2010-05-16 14:46:27 UTC (rev 198)
@@ -24,10 +24,12 @@
#include "rendernode.h"
using namespace kerosin;
+using namespace std;
RenderNode::RenderNode()
: BaseNode(),
- mTransparent(false)
+ mTransparent(false),
+ mVisible(true)
{
}
@@ -37,5 +39,10 @@
void RenderNode::SetTransparent()
{
- mTransparent = true;
+ mTransparent = true;
}
+
+void RenderNode::SetVisible(bool visible)
+{
+ mVisible = visible;
+}
\ No newline at end of file
Modified: branches/agentselection/spark/lib/kerosin/renderserver/rendernode.h
===================================================================
--- branches/agentselection/spark/lib/kerosin/renderserver/rendernode.h 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/spark/lib/kerosin/renderserver/rendernode.h 2010-05-16 14:46:27 UTC (rev 198)
@@ -45,8 +45,13 @@
bool IsTransparent() { return mTransparent; }
void SetTransparent();
+
+ void SetVisible(bool visible);
+ bool IsVisible() { return mVisible; }
+
private:
bool mTransparent;
+ bool mVisible;
};
DECLARE_ABSTRACTCLASS(RenderNode);
Modified: branches/agentselection/spark/lib/kerosin/renderserver/rendernode_c.cpp
===================================================================
--- branches/agentselection/spark/lib/kerosin/renderserver/rendernode_c.cpp 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/spark/lib/kerosin/renderserver/rendernode_c.cpp 2010-05-16 14:46:27 UTC (rev 198)
@@ -29,8 +29,26 @@
return true;
}
+FUNCTION(RenderNode,setVisible)
+{
+ int visible;
+
+ if (
+ (in.GetSize() != 1) ||
+ (! in.GetValue(in.begin(), visible))
+ )
+ {
+ return false;
+ }
+
+
+ obj->SetVisible(visible);
+ return true;
+}
+
void CLASS(RenderNode)::DefineClass()
{
DEFINE_BASECLASS(oxygen/BaseNode);
DEFINE_FUNCTION(setTransparent);
+ DEFINE_FUNCTION(setVisible);
}
Modified: branches/agentselection/spark/lib/kerosin/renderserver/renderserver.cpp
===================================================================
--- branches/agentselection/spark/lib/kerosin/renderserver/renderserver.cpp 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/spark/lib/kerosin/renderserver/renderserver.cpp 2010-05-16 14:46:27 UTC (rev 198)
@@ -251,6 +251,10 @@
{
boost::shared_ptr<RenderNode> renderNode = shared_dynamic_cast<RenderNode>(node);
if (renderNode.get() != 0 &&
+ !renderNode->IsVisible())
+ return;
+
+ if (renderNode.get() != 0 &&
((pass == 0 && !renderNode->IsTransparent()) || (pass == 1 && renderNode->IsTransparent()))
)
{
Modified: branches/agentselection/spark/lib/kerosin/sceneserver/singlematnode_c.cpp
===================================================================
--- branches/agentselection/spark/lib/kerosin/sceneserver/singlematnode_c.cpp 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/spark/lib/kerosin/sceneserver/singlematnode_c.cpp 2010-05-16 14:46:27 UTC (rev 198)
@@ -40,10 +40,28 @@
return obj->SetMaterial(inName);
}
+FUNCTION(SingleMatNode,setVisible)
+{
+ int visible;
+
+ if (
+ (in.GetSize() != 1) ||
+ (! in.GetValue(in.begin(), visible))
+ )
+ {
+ return false;
+ }
+
+
+ obj->SetVisible(visible);
+ return true;
+}
+
void CLASS(SingleMatNode)::DefineClass()
{
DEFINE_BASECLASS(kerosin/StaticMesh);
DEFINE_FUNCTION(setMaterial);
+ DEFINE_FUNCTION(setVisible);
}
Modified: branches/agentselection/spark/lib/kerosin/sceneserver/staticmesh_c.cpp
===================================================================
--- branches/agentselection/spark/lib/kerosin/sceneserver/staticmesh_c.cpp 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/spark/lib/kerosin/sceneserver/staticmesh_c.cpp 2010-05-16 14:46:27 UTC (rev 198)
@@ -144,15 +144,9 @@
return true;
}
-FUNCTION(RenderNode,setTransparent)
-{
- obj->SetTransparent();
- return true;
-}
-
void CLASS(StaticMesh)::DefineClass()
{
- DEFINE_BASECLASS(oxygen/BaseNode);
+ DEFINE_BASECLASS(kerosin/RenderNode);
DEFINE_FUNCTION(load);
DEFINE_FUNCTION(setScale);
DEFINE_FUNCTION(setCastShadows)
@@ -160,5 +154,4 @@
DEFINE_FUNCTION(setExternalMeshName)
DEFINE_FUNCTION(setExternalMeshScale)
DEFINE_FUNCTION(resetMaterials)
- DEFINE_FUNCTION(setTransparent);
}
Modified: branches/agentselection/spark/plugin/inputsdl/keyboardsdl.cpp
===================================================================
--- branches/agentselection/spark/plugin/inputsdl/keyboardsdl.cpp 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/spark/plugin/inputsdl/keyboardsdl.cpp 2010-05-16 14:46:27 UTC (rev 198)
@@ -24,6 +24,7 @@
#include <zeitgeist/logserver/logserver.h>
using namespace kerosin;
+using namespace std;
KeyboardSDL::KeyboardSDL()
: InputDeviceSDL()
@@ -213,8 +214,7 @@
return 1;
}
- unsigned int& modState =
- mInputSystem->GetInputServer()->GetModifierState();
+ unsigned int modState;
modState = Input::eNone;
@@ -238,6 +238,16 @@
modState |= Input::eRAlt;
}
+ if (event->key.keysym.mod & KMOD_LCTRL)
+ {
+ modState |= Input::eLCtrl;
+ }
+
+ if (event->key.keysym.mod & KMOD_RCTRL)
+ {
+ modState |= Input::eRCtrl;
+ }
+
if (event->key.keysym.sym == 0)
{
return 1;
@@ -254,7 +264,8 @@
Input input(Input::eButton, sym);
input.mData.l = (event->type == SDL_KEYDOWN);
- mInputSystem->AddInputInternal(input);
+ input.mModState = modState;
+ mInputSystem->AddInput(input);
return 0;
}
Modified: branches/agentselection/spark/plugin/sparkmonitor/sparkmonitor.cpp
===================================================================
--- branches/agentselection/spark/plugin/sparkmonitor/sparkmonitor.cpp 2010-05-12 20:39:17 UTC (rev 197)
+++ branches/agentselection/spark/plugin/sparkmonitor/sparkmonitor.cpp 2010-05-16 14:46:27 UTC (rev 198)
@@ -233,11 +233,6 @@
void SparkMonitor::DescribeMesh(stringstream& ss, boost::shared_ptr<StaticMesh> mesh)
{
- if (! mFullState)
- {
- return DescribeBaseNode(ss);
- }
-
boost::shared_ptr<SingleMatNode> singleMat =
shared_dynamic_cast<SingleMatNode>(mesh);
@@ -249,6 +244,18 @@
ss << "(nd StaticMesh";
}
+ if (mesh->IsVisible())
+ {
+ ss << " (setVisible 1)";
+ }
+ else
+ {
+ ss << " (setVisible 0)";
+ }
+
+ if (! mFullState)
+ return;
+
if (mesh->IsTransparent())
{
ss << " (setTransparent)";
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sgv...@us...> - 2010-05-17 18:50:28
|
Revision: 199
http://simspark.svn.sourceforge.net/simspark/?rev=199&view=rev
Author: sgvandijk
Date: 2010-05-17 18:50:22 +0000 (Mon, 17 May 2010)
Log Message:
-----------
- Agent selection works
(just cycling through agents, todo:
specific agent
multiple selection
clear selection
mouse selection
do something with selection
)
Modified Paths:
--------------
branches/agentselection/rcssserver3d/data/rsg/agent/nao/nao.rsg
branches/agentselection/rcssserver3d/data/scripts/rcs-materials-textures.rb
branches/agentselection/rcssserver3d/data/scripts/rcs-materials.rb
branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.h
branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h
branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp
branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h
branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb
branches/agentselection/rcssserver3d/rcssserver3d/simspark.rb
branches/agentselection/spark/data/scripts/materials.rb
branches/agentselection/spark/lib/kerosin/renderserver/rendernode.cpp
branches/agentselection/spark/lib/kerosin/renderserver/rendernode.h
branches/agentselection/spark/plugin/sparkmonitor/sparkmonitor.cpp
Modified: branches/agentselection/rcssserver3d/data/rsg/agent/nao/nao.rsg
===================================================================
--- branches/agentselection/rcssserver3d/data/rsg/agent/nao/nao.rsg 2010-05-16 14:46:27 UTC (rev 198)
+++ branches/agentselection/rcssserver3d/data/rsg/agent/nao/nao.rsg 2010-05-17 18:50:22 UTC (rev 199)
@@ -71,8 +71,8 @@
(nd Transform
(nd Sphere
(setName SelectionMarker)
- (setRadius 0.2)
- (setMaterial matRed)
+ (setRadius 0.4)
+ (setMaterial matSelect)
(setTransparent)
)
)
Modified: branches/agentselection/rcssserver3d/data/scripts/rcs-materials-textures.rb
===================================================================
--- branches/agentselection/rcssserver3d/data/scripts/rcs-materials-textures.rb 2010-05-16 14:46:27 UTC (rev 198)
+++ branches/agentselection/rcssserver3d/data/scripts/rcs-materials-textures.rb 2010-05-17 18:50:22 UTC (rev 199)
@@ -19,7 +19,6 @@
material.setDiffuse(1.0,0.64,0.4,1.0)
material.setAmbient(0.2,0.01,0.0,1.0)
-
# grass
# without lines
Modified: branches/agentselection/rcssserver3d/data/scripts/rcs-materials.rb
===================================================================
--- branches/agentselection/rcssserver3d/data/scripts/rcs-materials.rb 2010-05-16 14:46:27 UTC (rev 198)
+++ branches/agentselection/rcssserver3d/data/scripts/rcs-materials.rb 2010-05-17 18:50:22 UTC (rev 199)
@@ -22,7 +22,6 @@
material.setDiffuse(0.1,0.6,0.1,1.0)
material.setAmbient(0.1,0.3,0.1,1.0)
-
#----------------------------------------------------------------
# left team
#----------------------------------------------------------------
Modified: branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2010-05-16 14:46:27 UTC (rev 198)
+++ branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2010-05-17 18:50:22 UTC (rev 199)
@@ -241,3 +241,21 @@
game_state->ReturnUniform(GetTeamIndex(), GetUniformNumber());
}
+bool
+AgentState::IsSelected() const
+{
+ return mSelected;
+}
+
+void
+AgentState::Select(bool s)
+{
+ cerr << "Selecting " << mUniformNumber << endl;
+ mSelected = s;
+}
+
+void
+AgentState::UnSelect()
+{
+ mSelected = false;
+}
Modified: branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2010-05-16 14:46:27 UTC (rev 198)
+++ branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2010-05-17 18:50:22 UTC (rev 199)
@@ -91,9 +91,9 @@
bool GetMessage(std::string& msg, float& direction, bool teamMate);
bool GetSelfMessage(std::string& msg);
- bool IsSelected() const { return mSelected; }
- void Select(bool s = true) { mSelected = s; }
- void UnSelect() { mSelected = false; }
+ bool IsSelected() const;
+ void Select(bool s = true);
+ void UnSelect();
protected:
/** team index */
Modified: branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2010-05-16 14:46:27 UTC (rev 198)
+++ branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2010-05-17 18:50:22 UTC (rev 199)
@@ -1411,11 +1411,13 @@
void
SoccerRuleAspect::SelectNextAgent()
{
+ cerr << "Selecting Next Agent..." << endl;
+
std::list<boost::shared_ptr<AgentState> > agent_states;
- boost::shared_ptr<AgentState> first = agent_states.front();
- bool found = false;
- if (SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_NONE))
+ bool selectNext = false;
+ if (SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_NONE) && agent_states.size() > 0)
{
+ boost::shared_ptr<AgentState> first = agent_states.front();
std::list<boost::shared_ptr<AgentState> >::const_iterator i;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
@@ -1423,17 +1425,17 @@
if ((*i)->IsSelected())
{
(*i)->UnSelect();
- found = true;
+ selectNext = true;
continue;
}
- if (found)
+ else if (selectNext)
{
(*i)->Select();
- found = false;
- break;
+ return;
}
}
- if (found)
- first->Select();
+
+ // No agent selected, select first
+ first->Select();
}
-}
\ No newline at end of file
+}
Modified: branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2010-05-16 14:46:27 UTC (rev 198)
+++ branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2010-05-17 18:50:22 UTC (rev 199)
@@ -45,7 +45,8 @@
mCommandMap["dropBall"] = CT_DROP_BALL;
mCommandMap["kickOff"] = CT_KICK_OFF;
mCommandMap["getAck"] = CT_ACK;
-
+ mCommandMap["select"] = CT_SELECT;
+
// setup team index map
// Originally team sides were "L","R" and "N"
// But this seems to be unused
@@ -151,6 +152,8 @@
// lookup the command type corresponding to the predicate name
TCommandMap::iterator iter = mCommandMap.find(predicate.name);
+ cerr << "Trainer command: " << predicate.name << endl;
+
if (iter == mCommandMap.end())
{
return false;
@@ -189,6 +192,9 @@
break;
}
+ case CT_SELECT:
+ ParseSelectCommand(predicate);
+ break;
default:
return false;
}
@@ -477,3 +483,72 @@
}
}
+void TrainerCommandParser::ParseSelectCommand(const oxygen::Predicate & predicate)
+{
+ Predicate::Iterator unumParam(predicate);
+ int unum;
+ bool specified = true;
+
+ cerr << "Parsing Select Command..." << endl;
+
+ shared_ptr<SoccerRuleAspect> soccerRuleAspect;
+ if (!SoccerBase::GetSoccerRuleAspect(*this, soccerRuleAspect))
+ {
+ cerr << "(TrainerCommandParser) ERROR: can't get soccer rule aspect\n" << endl;
+ GetLog()->Error() << "(TrainerCommandParser) ERROR: can't get soccer rule aspect\n";
+ return;
+ }
+
+ // extract unum
+ if (predicate.FindParameter(unumParam, "unum"))
+ {
+ if (! predicate.GetValue(unumParam, unum))
+ specified = false;
+ }
+ else
+ specified = false;
+
+ string team;
+ TTeamIndex idx;
+ Predicate::Iterator teamParam(predicate);
+
+ // extract side
+ if (predicate.FindParameter(teamParam, "team"))
+ {
+ if (! predicate.GetValue(teamParam, team))
+ specified = false;
+ else
+ idx = mTeamIndexMap[team];
+ }
+ else
+ specified = false;
+
+ if (!specified)
+ {
+ soccerRuleAspect->SelectNextAgent();
+ return;
+ }
+
+ SoccerBase::TAgentStateList agentStates;
+ SoccerBase::GetAgentStates(*this, agentStates, idx);
+ SoccerBase::TAgentStateList::iterator iter = agentStates.begin();
+ bool found = false;
+
+ while (iter != agentStates.end() && !found)
+ {
+ if ((*iter)->GetUniformNumber() == unum)
+ {
+ found = true;
+ }
+ else
+ ++iter;
+ }
+
+ if (!found)
+ {
+ GetLog()->Error() << "(TrainerCommandParser) ERROR: can't get correct AgentState\n";
+ return;
+ }
+
+ (*iter)->Select();
+}
Modified: branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h 2010-05-16 14:46:27 UTC (rev 198)
+++ branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h 2010-05-17 18:50:22 UTC (rev 199)
@@ -44,7 +44,8 @@
CT_PLAYMODE,
CT_DROP_BALL,
CT_KICK_OFF,
- CT_ACK
+ CT_ACK,
+ CT_SELECT
};
typedef std::map<std::string, ECommandType> TCommandMap;
@@ -100,6 +101,11 @@
predicate
*/
void ParseKickOffCommand(const oxygen::Predicate & predicate);
+
+ /** parses and executes the select command contained in the given
+ predicate
+ */
+ void ParseSelectCommand(const oxygen::Predicate & predicate);
protected:
TCommandMap mCommandMap;
Modified: branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp 2010-05-16 14:46:27 UTC (rev 198)
+++ branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp 2010-05-17 18:50:22 UTC (rev 199)
@@ -61,6 +61,7 @@
scriptServer->CreateVariable("Command.FreeKickRight", CmdFreeKickRight);
scriptServer->CreateVariable("Command.NextMode", CmdNextMode);
+ scriptServer->CreateVariable("Command.SelectNextAgent", CmdSelectNextAgent);
mMonitorClient = shared_dynamic_cast<NetClient>
@@ -139,6 +140,13 @@
mCmdMode = CmdModeDefault;
}
break;
+
+ case CmdSelectNextAgent:
+ if (input.GetKeyPress())
+ {
+ SendCommand("(select)");
+ }
+ break;
case CmdKickOff:
if (input.GetKeyPress())
Modified: branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h 2010-05-16 14:46:27 UTC (rev 198)
+++ branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h 2010-05-17 18:50:22 UTC (rev 199)
@@ -53,7 +53,8 @@
CmdFreeKickLeft = CmdCameraRightGoal + 1,
CmdFreeKickRight = CmdFreeKickLeft + 1,
- CmdNextMode = CmdFreeKickRight + 1
+ CmdNextMode = CmdFreeKickRight + 1,
+ CmdSelectNextAgent = CmdNextMode + 1
};
enum ECmdMode
Modified: branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb
===================================================================
--- branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb 2010-05-16 14:46:27 UTC (rev 198)
+++ branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb 2010-05-17 18:50:22 UTC (rev 199)
@@ -28,8 +28,8 @@
inputServer.bindCommand('j', Command.KickOffRight);
inputServer.bindCommand('b', Command.DropBall);
#inputServer.bindCommand('m', Command.MoveAgent);
- inputServer.bindCommand('n', Command.ShootBall);
- inputServer.bindCommand('x', Command.MoveBall);
+ #inputServer.bindCommand('n', Command.ShootBall);
+ #inputServer.bindCommand('x', Command.MoveBall);
inputServer.bindCommand('1', Command.CameraLeftGoal);
inputServer.bindCommand('2', Command.CameraLeftCorner);
inputServer.bindCommand('3', Command.CameraMiddleLeft);
@@ -40,5 +40,6 @@
inputServer.bindCommand('l', Command.FreeKickLeft);
inputServer.bindCommand('r', Command.FreeKickRight);
inputServer.bindCommand('lctrl y', Command.NextMode);
+ inputServer.bindCommand('n', Command.SelectNextAgent);
end
end
Modified: branches/agentselection/rcssserver3d/rcssserver3d/simspark.rb
===================================================================
--- branches/agentselection/rcssserver3d/rcssserver3d/simspark.rb 2010-05-16 14:46:27 UTC (rev 198)
+++ branches/agentselection/rcssserver3d/rcssserver3d/simspark.rb 2010-05-17 18:50:22 UTC (rev 199)
@@ -48,7 +48,7 @@
sparkLogErrorToCerr()
#sparkLogAllToCerr()
#sparkLogAllToFile('spark.txt')
-#sparkLogDebugToCerr()
+sparkLogDebugToCerr()
#
# uncomment any of the following to run a simulation
Modified: branches/agentselection/spark/data/scripts/materials.rb
===================================================================
--- branches/agentselection/spark/data/scripts/materials.rb 2010-05-16 14:46:27 UTC (rev 198)
+++ branches/agentselection/spark/data/scripts/materials.rb 2010-05-17 18:50:22 UTC (rev 199)
@@ -13,8 +13,8 @@
material.setDiffuse(1.0,0.3,0.0,1.0)
material = sparkCreate('kerosin/MaterialSolid', $serverPath+'material/matRed');
-material.setDiffuse(1.0,0.0,0.0,0.5)
-material.setAmbient(1.0,0.0,0.0,0.5)
+material.setDiffuse(1.0,0.0,0.0,1.0)
+material.setAmbient(1.0,0.0,0.0,1.0)
material = sparkCreate('kerosin/MaterialSolid', $serverPath+'material/matRedGlow');
material.setDiffuse(1.0,0.0,0.0,1.0)
@@ -34,6 +34,11 @@
material.setDiffuse(0.1,0.6,0.1,1.0)
material.setAmbient(0.1,0.3,0.1,1.0)
+# selection marker
+material = sparkCreate('kerosin/MaterialSolid', $serverPath+'material/matSelect');
+material.setDiffuse(1.0,0.0,0.0,0.2)
+material.setAmbient(1.0,0.0,0.0,0.2)
+
# shades of grey
material = sparkCreate('kerosin/MaterialSolid', $serverPath+'material/matWhite');
material.setDiffuse(1.0,1.0,1.0,1.0)
Modified: branches/agentselection/spark/lib/kerosin/renderserver/rendernode.cpp
===================================================================
--- branches/agentselection/spark/lib/kerosin/renderserver/rendernode.cpp 2010-05-16 14:46:27 UTC (rev 198)
+++ branches/agentselection/spark/lib/kerosin/renderserver/rendernode.cpp 2010-05-17 18:50:22 UTC (rev 199)
@@ -29,7 +29,8 @@
RenderNode::RenderNode()
: BaseNode(),
mTransparent(false),
- mVisible(true)
+ mVisible(true),
+ mVisibleToggled(true)
{
}
@@ -44,5 +45,14 @@
void RenderNode::SetVisible(bool visible)
{
- mVisible = visible;
-}
\ No newline at end of file
+ if (!mVisibleToggled && mVisible != visible)
+ mVisibleToggled = true;
+ mVisible = visible;
+}
+
+bool RenderNode::VisibleToggled()
+{
+ bool tmp = mVisibleToggled;
+ mVisibleToggled = false;
+ return tmp;
+}
Modified: branches/agentselection/spark/lib/kerosin/renderserver/rendernode.h
===================================================================
--- branches/agentselection/spark/lib/kerosin/renderserver/rendernode.h 2010-05-16 14:46:27 UTC (rev 198)
+++ branches/agentselection/spark/lib/kerosin/renderserver/rendernode.h 2010-05-17 18:50:22 UTC (rev 199)
@@ -47,11 +47,13 @@
void SetTransparent();
void SetVisible(bool visible);
- bool IsVisible() { return mVisible; }
+ bool IsVisible() const { return mVisible; }
+ bool VisibleToggled();
private:
bool mTransparent;
bool mVisible;
+ bool mVisibleToggled;
};
DECLARE_ABSTRACTCLASS(RenderNode);
Modified: branches/agentselection/spark/plugin/sparkmonitor/sparkmonitor.cpp
===================================================================
--- branches/agentselection/spark/plugin/sparkmonitor/sparkmonitor.cpp 2010-05-16 14:46:27 UTC (rev 198)
+++ branches/agentselection/spark/plugin/sparkmonitor/sparkmonitor.cpp 2010-05-17 18:50:22 UTC (rev 199)
@@ -244,14 +244,11 @@
ss << "(nd StaticMesh";
}
- if (mesh->IsVisible())
- {
+ if (mFullState || mesh->VisibleToggled())
+ if (mesh->IsVisible())
ss << " (setVisible 1)";
- }
- else
- {
+ else
ss << " (setVisible 0)";
- }
if (! mFullState)
return;
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sgv...@us...> - 2010-05-18 16:16:29
|
Revision: 200
http://simspark.svn.sourceforge.net/simspark/?rev=200&view=rev
Author: sgvandijk
Date: 2010-05-18 16:16:23 +0000 (Tue, 18 May 2010)
Log Message:
-----------
- kill command kills selected agent
Modified Paths:
--------------
branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h
branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp
branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h
branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb
branches/agentselection/rcssserver3d/rcssserver3d/simspark.rb
branches/agentselection/spark/data/scripts/materials.rb
branches/agentselection/spark/lib/kerosin/inputserver/inputcontrol.cpp
branches/agentselection/spark/lib/kerosin/inputserver/inputserver.cpp
branches/agentselection/spark/plugin/inputsdl/keyboardsdl.cpp
branches/agentselection/spark/plugin/inputsdl/mousesdl.cpp
Modified: branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2010-05-17 18:50:22 UTC (rev 199)
+++ branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2010-05-18 16:16:23 UTC (rev 200)
@@ -1411,8 +1411,6 @@
void
SoccerRuleAspect::SelectNextAgent()
{
- cerr << "Selecting Next Agent..." << endl;
-
std::list<boost::shared_ptr<AgentState> > agent_states;
bool selectNext = false;
if (SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_NONE) && agent_states.size() > 0)
Modified: branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2010-05-17 18:50:22 UTC (rev 199)
+++ branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2010-05-18 16:16:23 UTC (rev 200)
@@ -45,7 +45,6 @@
{
public:
typedef std::list<boost::shared_ptr<AgentState> > TAgentStateList;
- typedef std::pair<TTeamIndex, int> TAgentSelection;
public:
SoccerRuleAspect();
Modified: branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2010-05-17 18:50:22 UTC (rev 199)
+++ branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2010-05-18 16:16:23 UTC (rev 200)
@@ -29,6 +29,7 @@
#include <agentstate/agentstate.h>
#include <soccertypes.h>
#include <gamestateaspect/gamestateaspect.h>
+#include <oxygen/agentaspect/agentaspect.h>
#include "trainercommandparser.h"
using namespace std;
@@ -107,6 +108,15 @@
GetLog()->Error() << "ERROR: (TrainerCommnadParser) failed to create SexpParser\n";
return;
}
+
+ mGameControl = shared_dynamic_cast<GameControlServer>
+ (GetCore()->Get("/sys/server/gamecontrol"));
+
+ if (mGameControl.get() == 0)
+ {
+ GetLog()->Error() << "ERROR: (TrainerCommandParser) Unable to get GameControlServer\n";
+ }
+
}
void TrainerCommandParser::OnUnlink()
@@ -152,8 +162,6 @@
// lookup the command type corresponding to the predicate name
TCommandMap::iterator iter = mCommandMap.find(predicate.name);
- cerr << "Trainer command: " << predicate.name << endl;
-
if (iter == mCommandMap.end())
{
return false;
@@ -206,17 +214,17 @@
{
Predicate::Iterator unumParam(predicate);
int unum;
+ bool specified = true;
// extract unum
if (predicate.FindParameter(unumParam, "unum"))
{
if (! predicate.GetValue(unumParam, unum))
- {
- GetLog()->Error() << "(TrainerCommandParser) ERROR: can't get unum\n";
- return;
- }
+ specified = false;
}
-
+ else
+ specified = false;
+
string team;
TTeamIndex idx;
Predicate::Iterator teamParam(predicate);
@@ -225,26 +233,23 @@
if (predicate.FindParameter(teamParam, "team"))
{
if (! predicate.GetValue(teamParam, team))
- {
- GetLog()->Error() << "(TrainerCommandParser) ERROR: can't get team name\n";
- return;
- }
-
- idx = mTeamIndexMap[team];
+ specified = false;
+ else
+ idx = mTeamIndexMap[team];
}
+ else
+ specified = false;
-
SoccerBase::TAgentStateList agentStates;
- SoccerBase::GetAgentStates(*this, agentStates, idx);
+ SoccerBase::GetAgentStates(*this, agentStates, (specified ? idx : TI_NONE));
SoccerBase::TAgentStateList::iterator iter = agentStates.begin();
bool found = false;
while (iter != agentStates.end() && !found)
{
- if ((*iter)->GetUniformNumber() == unum)
- {
- found = true;
- }
+ if ((specified && (*iter)->GetUniformNumber() == unum) ||
+ (!specified && (*iter)->IsSelected()))
+ found = true;
else
++iter;
}
@@ -256,7 +261,6 @@
}
Predicate::Iterator posParam(predicate);
-
if (predicate.FindParameter(posParam, "pos"))
{
salt::Vector3f pos;
@@ -315,6 +319,31 @@
}
}
+ Predicate::Iterator killParam(predicate);
+ if (predicate.FindParameter(killParam, "kill"))
+ {
+ GameControlServer::TAgentAspectList agentAspects;
+ mGameControl->GetAgentAspectList(agentAspects);
+
+ GameControlServer::TAgentAspectList::iterator aaiter;
+ for (
+ aaiter = agentAspects.begin();
+ aaiter != agentAspects.end();
+ ++aaiter
+ )
+ {
+ // search for the first agent of the left/right side
+ boost::shared_ptr<AgentState> agentState =
+ shared_dynamic_cast<AgentState>((*aaiter)->GetChild("AgentState", true));
+
+ if (agentState == *iter)
+ {
+ mGameControl->pushDisappearedAgent((*aaiter)->ID());
+ break;
+ }
+ }
+ }
+
// Joschka: I removed the part to set a velocity because it doesn't really
// seem to have a meaning for agents that have more than just a single body
@@ -489,12 +518,9 @@
int unum;
bool specified = true;
- cerr << "Parsing Select Command..." << endl;
-
shared_ptr<SoccerRuleAspect> soccerRuleAspect;
if (!SoccerBase::GetSoccerRuleAspect(*this, soccerRuleAspect))
{
- cerr << "(TrainerCommandParser) ERROR: can't get soccer rule aspect\n" << endl;
GetLog()->Error() << "(TrainerCommandParser) ERROR: can't get soccer rule aspect\n";
return;
}
Modified: branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h 2010-05-17 18:50:22 UTC (rev 199)
+++ branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h 2010-05-18 16:16:23 UTC (rev 200)
@@ -33,6 +33,11 @@
#include <soccertypes.h>
#include <soccerruleaspect/soccerruleaspect.h>
+namespace oxygen
+{
+ class GameControlServer;
+}
+
class TrainerCommandParser : public oxygen::MonitorCmdParser
{
public:
@@ -120,6 +125,8 @@
boost::shared_ptr<SoccerRuleAspect> mSoccerRule;
//! the parser used to create the PredicateList
boost::shared_ptr<oxygen::BaseParser> mSexpParser;
+ //! cached reference to the game control server
+ boost::shared_ptr<oxygen::GameControlServer> mGameControl;
bool mGetAck;
std::string mAckString;
Modified: branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp 2010-05-17 18:50:22 UTC (rev 199)
+++ branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp 2010-05-18 16:16:23 UTC (rev 200)
@@ -62,7 +62,7 @@
scriptServer->CreateVariable("Command.NextMode", CmdNextMode);
scriptServer->CreateVariable("Command.SelectNextAgent", CmdSelectNextAgent);
-
+ scriptServer->CreateVariable("Command.KillSelection", CmdKillSelection);
mMonitorClient = shared_dynamic_cast<NetClient>
(GetCore()->Get("/sys/server/simulation/SparkMonitorClient"));
@@ -147,6 +147,13 @@
SendCommand("(select)");
}
break;
+
+ case CmdKillSelection:
+ if (input.GetKeyPress())
+ {
+ SendCommand("(agent (kill 1))");
+ }
+ break;
case CmdKickOff:
if (input.GetKeyPress())
Modified: branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h 2010-05-17 18:50:22 UTC (rev 199)
+++ branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h 2010-05-18 16:16:23 UTC (rev 200)
@@ -54,7 +54,8 @@
CmdFreeKickRight = CmdFreeKickLeft + 1,
CmdNextMode = CmdFreeKickRight + 1,
- CmdSelectNextAgent = CmdNextMode + 1
+ CmdSelectNextAgent = CmdNextMode + 1,
+ CmdKillSelection = CmdSelectNextAgent + 1
};
enum ECmdMode
Modified: branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb
===================================================================
--- branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb 2010-05-17 18:50:22 UTC (rev 199)
+++ branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb 2010-05-18 16:16:23 UTC (rev 200)
@@ -41,5 +41,6 @@
inputServer.bindCommand('r', Command.FreeKickRight);
inputServer.bindCommand('lctrl y', Command.NextMode);
inputServer.bindCommand('n', Command.SelectNextAgent);
+ inputServer.bindCommand('x', Command.KillSelection);
end
end
Modified: branches/agentselection/rcssserver3d/rcssserver3d/simspark.rb
===================================================================
--- branches/agentselection/rcssserver3d/rcssserver3d/simspark.rb 2010-05-17 18:50:22 UTC (rev 199)
+++ branches/agentselection/rcssserver3d/rcssserver3d/simspark.rb 2010-05-18 16:16:23 UTC (rev 200)
@@ -48,7 +48,7 @@
sparkLogErrorToCerr()
#sparkLogAllToCerr()
#sparkLogAllToFile('spark.txt')
-sparkLogDebugToCerr()
+#sparkLogDebugToCerr()
#
# uncomment any of the following to run a simulation
Modified: branches/agentselection/spark/data/scripts/materials.rb
===================================================================
--- branches/agentselection/spark/data/scripts/materials.rb 2010-05-17 18:50:22 UTC (rev 199)
+++ branches/agentselection/spark/data/scripts/materials.rb 2010-05-18 16:16:23 UTC (rev 200)
@@ -36,8 +36,9 @@
# selection marker
material = sparkCreate('kerosin/MaterialSolid', $serverPath+'material/matSelect');
-material.setDiffuse(1.0,0.0,0.0,0.2)
-material.setAmbient(1.0,0.0,0.0,0.2)
+material.setDiffuse(1.0,0.0,0.0,0.4)
+material.setAmbient(1.0,0.0,0.0,1.0)
+material.setSpecular(1.0,0.5,0.5,1.0);
# shades of grey
material = sparkCreate('kerosin/MaterialSolid', $serverPath+'material/matWhite');
Modified: branches/agentselection/spark/lib/kerosin/inputserver/inputcontrol.cpp
===================================================================
--- branches/agentselection/spark/lib/kerosin/inputserver/inputcontrol.cpp 2010-05-17 18:50:22 UTC (rev 199)
+++ branches/agentselection/spark/lib/kerosin/inputserver/inputcontrol.cpp 2010-05-18 16:16:23 UTC (rev 200)
@@ -212,21 +212,21 @@
break;
default:
+ // pass unknown events on to the registered InputItems
+ TLeafList items;
+ ListChildrenSupportingClass<InputItem>(items);
+
+ for (
+ TLeafList::iterator iter = items.begin();
+ iter != items.end();
+ ++iter
+ )
+ {
+ shared_static_cast<InputItem>(*iter)
+ ->ProcessInput(input);
+ }
break;
}
- // pass unknown events on to the registered InputItems
- TLeafList items;
- ListChildrenSupportingClass<InputItem>(items);
-
- for (
- TLeafList::iterator iter = items.begin();
- iter != items.end();
- ++iter
- )
- {
- shared_static_cast<InputItem>(*iter)
- ->ProcessInput(input);
- }
}
if (mAdvanceTime)
Modified: branches/agentselection/spark/lib/kerosin/inputserver/inputserver.cpp
===================================================================
--- branches/agentselection/spark/lib/kerosin/inputserver/inputserver.cpp 2010-05-17 18:50:22 UTC (rev 199)
+++ branches/agentselection/spark/lib/kerosin/inputserver/inputserver.cpp 2010-05-18 16:16:23 UTC (rev 200)
@@ -288,6 +288,7 @@
// return Input::eUser input
return true;
}
+
// translate raw input to binding
TBindMap::iterator bindListIter = mBindings.find(input.mCode);
if (bindListIter == mBindings.end())
@@ -322,13 +323,13 @@
#else
const Bind& bind = (*bindIter);
- //printf("Looking at: %d %d %d", (*bind).mCode, (*bind).cmd, (*bind).modifier);
if (
(bind.modifier == 0 && input.mModState == 0) ||
(bind.modifier & input.mModState)
)
#endif
{
+
input.mId = bind.cmd;
return true;
}
Modified: branches/agentselection/spark/plugin/inputsdl/keyboardsdl.cpp
===================================================================
--- branches/agentselection/spark/plugin/inputsdl/keyboardsdl.cpp 2010-05-17 18:50:22 UTC (rev 199)
+++ branches/agentselection/spark/plugin/inputsdl/keyboardsdl.cpp 2010-05-18 16:16:23 UTC (rev 200)
@@ -265,7 +265,7 @@
Input input(Input::eButton, sym);
input.mData.l = (event->type == SDL_KEYDOWN);
input.mModState = modState;
- mInputSystem->AddInput(input);
+ mInputSystem->AddInputInternal(input);
return 0;
}
Modified: branches/agentselection/spark/plugin/inputsdl/mousesdl.cpp
===================================================================
--- branches/agentselection/spark/plugin/inputsdl/mousesdl.cpp 2010-05-17 18:50:22 UTC (rev 199)
+++ branches/agentselection/spark/plugin/inputsdl/mousesdl.cpp 2010-05-18 16:16:23 UTC (rev 200)
@@ -69,6 +69,7 @@
}
input.mData.l = (event->type == SDL_MOUSEBUTTONDOWN);
+ input.mModState = 0;
mInputSystem->AddInputInternal(input);
return 0;
}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sgv...@us...> - 2010-05-19 14:58:23
|
Revision: 201
http://simspark.svn.sourceforge.net/simspark/?rev=201&view=rev
Author: sgvandijk
Date: 2010-05-19 14:58:17 +0000 (Wed, 19 May 2010)
Log Message:
-----------
- clear selection, clear selected agent, monitorinput controls
Modified Paths:
--------------
branches/agentselection/rcssserver3d/data/rsg/agent/nao/nao.rsg
branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h
branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp
branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h
branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb
branches/agentselection/spark/data/scripts/materials.rb
Modified: branches/agentselection/rcssserver3d/data/rsg/agent/nao/nao.rsg
===================================================================
--- branches/agentselection/rcssserver3d/data/rsg/agent/nao/nao.rsg 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/data/rsg/agent/nao/nao.rsg 2010-05-19 14:58:17 UTC (rev 201)
@@ -69,9 +69,10 @@
(nd GameStatePerceptor)
(nd HearPerceptor)
(nd Transform
- (nd Sphere
+ (nd Cylinder
(setName SelectionMarker)
- (setRadius 0.4)
+ (setParams 1.0 1.0)
+ (setScale 0.2 0.2 0.02)
(setMaterial matSelect)
(setTransparent)
)
Modified: branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2010-05-19 14:58:17 UTC (rev 201)
@@ -250,7 +250,6 @@
void
AgentState::Select(bool s)
{
- cerr << "Selecting " << mUniformNumber << endl;
mSelected = s;
}
Modified: branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2010-05-19 14:58:17 UTC (rev 201)
@@ -212,8 +212,9 @@
}
void
-SoccerRuleAspect::ClearSelectedPlayers(float min_dist)
+SoccerRuleAspect::ClearSelectedPlayers()
{
+ float min_dist = mFreeKickMoveDist;
std::list<boost::shared_ptr<AgentState> > agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_NONE))
return;
Modified: branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2010-05-19 14:58:17 UTC (rev 201)
@@ -100,6 +100,8 @@
void SelectNextAgent();
+ void ClearSelectedPlayers();
+
protected:
/** rereads the current soccer script values */
virtual void UpdateCachedInternal();
@@ -194,8 +196,6 @@
* @param idx the team which kick off
*/
void ClearPlayersBeforeKickOff(TTeamIndex idx);
-
- void ClearSelectedPlayers(float min_dist);
protected:
/** reference to the body node of the Ball */
Modified: branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2010-05-19 14:58:17 UTC (rev 201)
@@ -47,6 +47,7 @@
mCommandMap["kickOff"] = CT_KICK_OFF;
mCommandMap["getAck"] = CT_ACK;
mCommandMap["select"] = CT_SELECT;
+ mCommandMap["kill"] = CT_KILL;
// setup team index map
// Originally team sides were "L","R" and "N"
@@ -203,6 +204,9 @@
case CT_SELECT:
ParseSelectCommand(predicate);
break;
+ case CT_KILL:
+ ParseKillCommand(predicate);
+ break;
default:
return false;
}
@@ -240,6 +244,12 @@
else
specified = false;
+ if (!specified)
+ {
+ mSoccerRule->ClearSelectedPlayers();
+ return;
+ }
+
SoccerBase::TAgentStateList agentStates;
SoccerBase::GetAgentStates(*this, agentStates, (specified ? idx : TI_NONE));
SoccerBase::TAgentStateList::iterator iter = agentStates.begin();
@@ -247,7 +257,7 @@
while (iter != agentStates.end() && !found)
{
- if ((specified && (*iter)->GetUniformNumber() == unum) ||
+ if ((specified && (*iter)->GetUniformNumber() == unum && (*iter)->GetTeamIndex() == idx) ||
(!specified && (*iter)->IsSelected()))
found = true;
else
@@ -319,31 +329,6 @@
}
}
- Predicate::Iterator killParam(predicate);
- if (predicate.FindParameter(killParam, "kill"))
- {
- GameControlServer::TAgentAspectList agentAspects;
- mGameControl->GetAgentAspectList(agentAspects);
-
- GameControlServer::TAgentAspectList::iterator aaiter;
- for (
- aaiter = agentAspects.begin();
- aaiter != agentAspects.end();
- ++aaiter
- )
- {
- // search for the first agent of the left/right side
- boost::shared_ptr<AgentState> agentState =
- shared_dynamic_cast<AgentState>((*aaiter)->GetChild("AgentState", true));
-
- if (agentState == *iter)
- {
- mGameControl->pushDisappearedAgent((*aaiter)->ID());
- break;
- }
- }
- }
-
// Joschka: I removed the part to set a velocity because it doesn't really
// seem to have a meaning for agents that have more than just a single body
@@ -534,6 +519,12 @@
else
specified = false;
+ if (specified && unum == -1)
+ {
+ soccerRuleAspect->ResetAgentSelection();
+ return;
+ }
+
string team;
TTeamIndex idx;
Predicate::Iterator teamParam(predicate);
@@ -578,3 +569,64 @@
(*iter)->Select();
}
+
+void TrainerCommandParser::ParseKillCommand(const oxygen::Predicate & predicate)
+{
+ Predicate::Iterator unumParam(predicate);
+ int unum;
+ bool specified = true;
+
+ shared_ptr<SoccerRuleAspect> soccerRuleAspect;
+ if (!SoccerBase::GetSoccerRuleAspect(*this, soccerRuleAspect))
+ {
+ GetLog()->Error() << "(TrainerCommandParser) ERROR: can't get soccer rule aspect\n";
+ return;
+ }
+
+ // extract unum
+ if (predicate.FindParameter(unumParam, "unum"))
+ {
+ if (! predicate.GetValue(unumParam, unum))
+ specified = false;
+ }
+ else
+ specified = false;
+
+ string team;
+ TTeamIndex idx;
+ Predicate::Iterator teamParam(predicate);
+
+ // extract side
+ if (predicate.FindParameter(teamParam, "team"))
+ {
+ if (! predicate.GetValue(teamParam, team))
+ specified = false;
+ else
+ idx = mTeamIndexMap[team];
+ }
+ else
+ specified = false;
+
+ GameControlServer::TAgentAspectList agentAspects;
+ mGameControl->GetAgentAspectList(agentAspects);
+ GameControlServer::TAgentAspectList::iterator aaiter;
+ for (
+ aaiter = agentAspects.begin();
+ aaiter != agentAspects.end();
+ ++aaiter
+ )
+ {
+ // search for the first agent of the left/right side
+ boost::shared_ptr<AgentState> agentState =
+ shared_dynamic_cast<AgentState>((*aaiter)->GetChild("AgentState", true));
+
+ if ((specified && agentState->GetUniformNumber() == unum && agentState->GetTeamIndex() == idx) ||
+ (!specified && agentState->IsSelected()))
+ {
+ mGameControl->pushDisappearedAgent((*aaiter)->ID());
+ break;
+ }
+ }
+}
+
+
Modified: branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h 2010-05-19 14:58:17 UTC (rev 201)
@@ -50,7 +50,8 @@
CT_DROP_BALL,
CT_KICK_OFF,
CT_ACK,
- CT_SELECT
+ CT_SELECT,
+ CT_KILL
};
typedef std::map<std::string, ECommandType> TCommandMap;
@@ -112,6 +113,10 @@
*/
void ParseSelectCommand(const oxygen::Predicate & predicate);
+ /** parses and executes the kill command contained in the given
+ predicate
+ */
+ void ParseKillCommand(const oxygen::Predicate & predicate);
protected:
TCommandMap mCommandMap;
Modified: branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.cpp 2010-05-19 14:58:17 UTC (rev 201)
@@ -62,6 +62,7 @@
scriptServer->CreateVariable("Command.NextMode", CmdNextMode);
scriptServer->CreateVariable("Command.SelectNextAgent", CmdSelectNextAgent);
+ scriptServer->CreateVariable("Command.ResetSelection", CmdResetSelection);
scriptServer->CreateVariable("Command.KillSelection", CmdKillSelection);
mMonitorClient = shared_dynamic_cast<NetClient>
@@ -148,10 +149,17 @@
}
break;
+ case CmdResetSelection:
+ if (input.GetKeyPress())
+ {
+ SendCommand("(select (unum -1))");
+ }
+ break;
+
case CmdKillSelection:
if (input.GetKeyPress())
{
- SendCommand("(agent (kill 1))");
+ SendCommand("(kill)");
}
break;
@@ -171,7 +179,7 @@
case CmdMoveAgent:
if (input.GetKeyPress())
{
- //SendCommand("(agent (team Left)(unum 1)(pos -2.0 1.0 3.5))");
+ SendCommand("(agent)");
}
break;
case CmdDropBall:
Modified: branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/plugin/soccermonitor/soccerinput.h 2010-05-19 14:58:17 UTC (rev 201)
@@ -55,7 +55,8 @@
CmdNextMode = CmdFreeKickRight + 1,
CmdSelectNextAgent = CmdNextMode + 1,
- CmdKillSelection = CmdSelectNextAgent + 1
+ CmdResetSelection = CmdSelectNextAgent + 1,
+ CmdKillSelection = CmdResetSelection + 1
};
enum ECmdMode
Modified: branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb
===================================================================
--- branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/rcssserver3d/rcssmonitor3d/soccerbindings.rb 2010-05-19 14:58:17 UTC (rev 201)
@@ -27,7 +27,7 @@
inputServer.bindCommand('k', Command.KickOff);
inputServer.bindCommand('j', Command.KickOffRight);
inputServer.bindCommand('b', Command.DropBall);
- #inputServer.bindCommand('m', Command.MoveAgent);
+ inputServer.bindCommand('m', Command.MoveAgent);
#inputServer.bindCommand('n', Command.ShootBall);
#inputServer.bindCommand('x', Command.MoveBall);
inputServer.bindCommand('1', Command.CameraLeftGoal);
@@ -41,6 +41,7 @@
inputServer.bindCommand('r', Command.FreeKickRight);
inputServer.bindCommand('lctrl y', Command.NextMode);
inputServer.bindCommand('n', Command.SelectNextAgent);
+ inputServer.bindCommand('e', Command.ResetSelection);
inputServer.bindCommand('x', Command.KillSelection);
end
end
Modified: branches/agentselection/spark/data/scripts/materials.rb
===================================================================
--- branches/agentselection/spark/data/scripts/materials.rb 2010-05-18 16:16:23 UTC (rev 200)
+++ branches/agentselection/spark/data/scripts/materials.rb 2010-05-19 14:58:17 UTC (rev 201)
@@ -36,9 +36,9 @@
# selection marker
material = sparkCreate('kerosin/MaterialSolid', $serverPath+'material/matSelect');
-material.setDiffuse(1.0,0.0,0.0,0.4)
-material.setAmbient(1.0,0.0,0.0,1.0)
-material.setSpecular(1.0,0.5,0.5,1.0);
+material.setDiffuse(1.0,0.0,0.0,0.5)
+material.setAmbient(1.0,0.0,0.0,0.5)
+material.setSpecular(1.0,0.2,0.2,0.5);
# shades of grey
material = sparkCreate('kerosin/MaterialSolid', $serverPath+'material/matWhite');
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sgv...@us...> - 2010-06-01 10:07:45
|
Revision: 205
http://simspark.svn.sourceforge.net/simspark/?rev=205&view=rev
Author: sgvandijk
Date: 2010-06-01 10:07:38 +0000 (Tue, 01 Jun 2010)
Log Message:
-----------
- Merge from trunk r204
Modified Paths:
--------------
branches/agentselection/rcssserver3d/ChangeLog
branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
branches/agentselection/rcssserver3d/rcssserver3d/naosoccersim.rb
branches/agentselection/spark/ChangeLog
branches/agentselection/spark/lib/oxygen/simulationserver/simulationserver.cpp
branches/agentselection/spark/lib/zeitgeist/scriptserver/scriptserver.cpp
branches/agentselection/spark/plugin/accelerometer/accelerometer.cpp
branches/agentselection/spark/plugin/agentsynceffector/agentsynceffector.cpp
branches/agentselection/spark/plugin/inputwx/CMakeLists.txt
branches/agentselection/spark/plugin/openglsyswx/CMakeLists.txt
Property Changed:
----------------
branches/agentselection/
Property changes on: branches/agentselection
___________________________________________________________________
Modified: svn:mergeinfo
- /branches/treehole:175
+ /branches/treehole:175
/trunk:195-204
Modified: branches/agentselection/rcssserver3d/ChangeLog
===================================================================
--- branches/agentselection/rcssserver3d/ChangeLog 2010-05-23 07:34:24 UTC (rev 204)
+++ branches/agentselection/rcssserver3d/ChangeLog 2010-06-01 10:07:38 UTC (rev 205)
@@ -1,3 +1,11 @@
+2010-05-23 Hedayat Vatankhah <he...@gr...>
+
+ * rcssserver3d/naosoccersim.rb:
+ * plugin/soccer/soccerruleaspect/soccerruleaspect.h:
+ * plugin/soccer/soccerruleaspect/soccerruleaspect.cpp:
+ - Added the simple referee patch from FCPortugal team (thanks to
+ Luis Paulo Reis)
+
2010-02-28 Marian Buchta <mar...@gm...>
* cmake/FindBoost.cmake:
Modified: branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2010-05-23 07:34:24 UTC (rev 204)
+++ branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2010-06-01 10:07:38 UTC (rev 205)
@@ -53,10 +53,19 @@
mFirstCollidingAgent(true),
mNotOffside(false),
mLastModeWasPlayOn(false),
- mUseOffside(true)
+ mUseOffside(true),
+ mDropBallTime(15),
+ mNotStandingMaxTime(1000), // max time player may be sitted or laying down before being repositioned
+ mGoalieNotStandingMaxTime(1000), // max time goalie may be sitted or laying down before being repositioned
+ mGroundMaxTime(1000), // max time player may be on the ground before being repositioned
+ mGoalieGroundMaxTime(1000), // max time goalie (pl number 1) may be on the ground before being repositioned
+ mMaxPlayersInsideOwnArea(1000), // maximum number of players of the defending team that may be inside own penalty area
+ mMinOppDistance(0), // min dist for closest Opponent to ball in order to use repositions for 2nd, 3rd player
+ mMin2PlDistance(0), // min dist for second closest of team before being repositioned
+ mMin3PlDistance(0), // min dist for third closest of team before being repositioned
+ mMaxFaultTime(0.0) // maximum time allowed for a player to commit a positional fault before being repositioned
{
mFreeKickPos = Vector3f(0.0,0.0,mBallRadius);
-
}
SoccerRuleAspect::~SoccerRuleAspect()
@@ -72,7 +81,272 @@
mBallBody->Enable();
}
+/* Uses only Ball and Players positions and detects overcrowind near ball and areas and
+players innappropriate behavior (laying on the ground or not walking for too much time) */
+void
+SoccerRuleAspect::AutomaticSimpleReferee(TPlayMode playMode)
+{
+ if (playMode != PM_PlayOn) {
+ ResetFaultCounter(TI_LEFT); ResetFaultCounter(TI_RIGHT); //only using automatic refereing in PlayOn
+ }
+ else {
+ CalculateDistanceArrays(TI_LEFT); // Calculates distance arrays for left team
+ CalculateDistanceArrays(TI_RIGHT); // Calculates distance arrays for right team
+ AnalyseFaults(TI_LEFT); // Analyses simple faults for the left team
+ AnalyseFaults(TI_RIGHT); // Analyses simple faults for the right team
+ ClearPlayersAutomatic(TI_LEFT); // enforce standing and not overcrowding rules for left team
+ ClearPlayersAutomatic(TI_RIGHT); // enforce standing and not overcrowding rules for right team
+ }
+}
+
+
+void
+SoccerRuleAspect::ResetFaultCounterPlayer(int unum, TTeamIndex idx)
+{
+ playerGround[unum][idx] = 0;
+ playerNotStanding[unum][idx] = 0;
+ playerStanding[unum][idx] = 5/0.02; // Considers player has been standing for some time in playoff
+ prevPlayerInsideOwnArea[unum][idx] = 0;
+ playerInsideOwnArea[unum][idx] = 0;
+ playerFaultTime[unum][idx] = 0;
+}
+
+void
+SoccerRuleAspect::ResetFaultCounter(TTeamIndex idx)
+{
+ for(int t=1; t<=11; t++) {
+ ResetFaultCounterPlayer(t,idx);
+ }
+}
+
+// Process agent state: standing, sitted, laying down, ...
+void
+SoccerRuleAspect::processAgentState(salt::Vector3f pos, int unum, TTeamIndex idx)
+{
+ float groundZVal = 0.15; //bellow this player is on the ground
+ float middleZVal = 0.25; //abovce this player is standing (or trying...)
+
+ //increase player not standing if it is not in upward position and inside of field
+ if (pos.z() < middleZVal && fabs(pos.y())< mFieldWidth/2 + 0.1) {
+ playerNotStanding[unum][idx]++;
+ playerStanding[unum][idx]=0; //player not standing
+ }
+
+ //increase player near ground if it is very low and inside of field
+ if (pos.z() < groundZVal && fabs(pos.y())< mFieldWidth/2 + 0.1) {
+ playerGround[unum][idx]++;
+ }
+
+ //increase player standing or at least trying... Reset ground
+ if (pos.z() >= middleZVal) {
+ playerStanding[unum][idx]++;
+ playerGround[unum][idx]=0;
+ }
+
+ //Player standing for some cycles (0.5 seconds) reset not standing count
+ if (playerStanding[unum][idx] > 0.5/0.02) {
+ playerNotStanding[unum][idx]=0;
+ }
+
+// if (playerGround[unum][idx] > 0/0.02)
+// cout << "On the Ground Unum" << unum << " Team: " << idx << " Time: " << playerGround[unum][idx] <<
+// " z= " << pos.z() << endl; //debug
+}
+
+// Calculates ordering on a distance vector
+void SoccerRuleAspect::SimpleOrder(float dArr[][3], int oArr[][3], TTeamIndex idx)
+{
+ for(int t1=1; t1<=10; t1++)
+ for(int t2=t1+1; t2<=11; t2++)
+ if (dArr[t1][idx] >= dArr[t2][idx]) oArr[t1][idx]++; else oArr[t2][idx]++;
+
+// DEBUG
+// if (dArr[1][idx]<1000.0) {
+// cout << "Team: " << idx << " --> ";
+// for(int t1=1; t1<=6; t1++)
+// if (dArr[t1][idx]<5.0) cout << t1 << " o:" << oArr[t1][idx] << " d: " << dArr[t1][idx] << " | ";
+// cout << endl;
+// }
+}
+
+// Calculate Distance arrays and ordering to the ball and own goal
+void SoccerRuleAspect::CalculateDistanceArrays(TTeamIndex idx)
+{
+ if (idx == TI_NONE || mBallState.get() == 0) return;
+ std::list<boost::shared_ptr<AgentState> > agent_states;
+ if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx)) return;
+
+ salt::Vector3f ballPos = mBallBody->GetPosition();
+ salt::Vector3f ownGoalPos = Vector3f(-mFieldLength/2.0, 0.0, 0.0);
+ if (idx==TI_RIGHT) ownGoalPos = Vector3f(mFieldLength/2.0, 0.0, 0.0); //own goal position
+ boost::shared_ptr<oxygen::Transform> agent_aspect;
+ std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+
+ numPlInsideOwnArea[idx] = 0; closestPlayer[idx]=1; closestPlayerDist[idx]=1000.0;
+ for(int t=1; t<=11; t++) {
+ distArr[t][idx]=1000.0; ordArr[t][idx]=1; distGArr[t][idx]=1000.0; ordGArr[t][idx]=1;
+ }
+
+ for (i = agent_states.begin(); i != agent_states.end(); ++i) {
+ SoccerBase::GetTransformParent(**i, agent_aspect);
+ Vector3f agentPos = agent_aspect->GetWorldTransform().Pos();
+ int unum = (*i)->GetUniformNumber();
+ distArr[unum][idx] = sqrt((agentPos.x()-ballPos.x())*(agentPos.x()-ballPos.x()) +
+ (agentPos.y()-ballPos.y())*(agentPos.y()-ballPos.y()));
+ distGArr[unum][idx] = sqrt((agentPos.x()-ownGoalPos.x())*(agentPos.x()-ownGoalPos.x()) +
+ (agentPos.y()-ownGoalPos.y())*(agentPos.y()-ownGoalPos.y()));
+
+ // determine closest player
+ if (distArr[unum][idx] < closestPlayerDist[idx]) {
+ closestPlayerDist[idx] = distArr[unum][idx]; closestPlayer[idx] = unum;
+ }
+
+ // save player inside area state in previous cycle
+ prevPlayerInsideOwnArea[unum][idx] = playerInsideOwnArea[unum][idx];
+
+ // determine number of players inside area and set inside area state of player
+ if (idx == TI_LEFT && mLeftPenaltyArea.Contains(Vector2f(agentPos.x(), agentPos.y())) ||
+ idx == TI_RIGHT && mRightPenaltyArea.Contains(Vector2f(agentPos.x(), agentPos.y()))) {
+ numPlInsideOwnArea[idx]++;
+ playerInsideOwnArea[unum][idx] = 1;
+
+ //goalie is not repositioned when inside own area...
+ if (unum == 1) {
+ distGArr[unum][idx] = 0.0;
+ }
+ }
+ else playerInsideOwnArea[unum][idx] = 0;
+
+ // Process agent state: standing, sitted, laying down, ...
+ processAgentState(agentPos, unum, idx);
+ }
+
+ // compute rank of distance to ball
+ SimpleOrder(distArr, ordArr, idx);
+ // compute rank of distance to own goal
+ SimpleOrder(distGArr, ordGArr, idx);
+}
+
+// Analyse Faults and Creates Fault Time Array
+void SoccerRuleAspect::AnalyseFaults(TTeamIndex idx)
+{
+ TTeamIndex idx2; if (idx == TI_LEFT) idx2 = TI_RIGHT; else idx2 = TI_LEFT; //Other team
+ for(int unum=1; unum<=11; unum++) {
+
+ //I am the third closest player but i am too near the ball (and not the goalie)
+ if ( unum!=1 && closestPlayerDist[idx2] < mMinOppDistance &&
+ (distArr[unum][idx] <= mMin3PlDistance+0.01 && ordArr[unum][idx] == 3))
+ {
+ playerFaultTime[unum][idx]++; //increase player fault time
+ //cout << "Min3Dist " << mMin3PlDistance << " activated - player " << unum << " to be repositioned \n";
+ }
+ else
+ //I am the second closest player but i am too near the ball (and not the goalie)
+ if( unum!=1 && closestPlayerDist[idx2] < mMinOppDistance &&
+ distArr[unum][idx] <= mMin2PlDistance+0.01 && ordArr[unum][idx] == 2 )
+ {
+ playerFaultTime[unum][idx]++; //increase player fault time
+ //cout << "Min2Dist " << mMin2PlDistance << " activated - player " << unum << " to be repositioned \n";
+ }
+ else
+ // too many players inside my own penalty area and Im am the last one to enter or
+ // the last one to enter was the goalie and I am the one further away from own goal
+ if( (numPlInsideOwnArea[idx] > mMaxPlayersInsideOwnArea && unum !=1 && playerInsideOwnArea[unum][idx] == 1 &&
+ (prevPlayerInsideOwnArea[unum][idx] == 0 ||
+ prevPlayerInsideOwnArea[1][idx] == 0 &&
+ playerInsideOwnArea[1][idx] == 1 &&
+ mMaxPlayersInsideOwnArea + 1 == ordGArr[unum][idx])))
+ {
+ playerFaultTime[unum][idx]++; //increase player fault time
+ //cout << "MaxPlInPenalty " << mMaxPlayersInsideOwnArea << " activated - player "
+ // << unum << " to be repositioned " << " ord " << ordGArr[unum][idx] << "\n";
+ }
+ else
+ //I am a field player and on the ground for too much time
+ if ( unum!=1 && playerGround[unum][idx] > mGroundMaxTime/0.02 )
+ {
+ playerFaultTime[unum][idx]++; //increase player fault time
+ //cout << "GroundMaxTime " << mGroundMaxTime << " activated - player "
+ // << unum << " to be repositioned " << "\n";
+ }
+ else
+ // I am a field player and I am not standing for too much time
+ if( unum!=1 && playerNotStanding[unum][idx] > mNotStandingMaxTime/0.02 )
+ {
+ playerFaultTime[unum][idx]++; //increase player fault time
+ //cout << "StandMaxTime " << mNotStandingMaxTime << " activated - player "
+ // << unum << " to be repositioned " << "\n";
+ }
+
+ else
+ //I am the goalie and I am on the ground for too much time
+ if ( unum==1 &&
+ playerGround[unum][idx] > mGoalieGroundMaxTime/0.02 )
+ {
+ playerFaultTime[unum][idx]++; //increase player fault time
+ //cout << "GoalieGroundMaxTime " << mGoalieGroundMaxTime << " activated - player "
+ // << unum << " to be repositioned " << "\n";
+ }
+ else
+ //I am the goalie and I and not standing for too much time
+ if ( unum == 1 && playerNotStanding[unum][idx] > mGoalieNotStandingMaxTime/0.02)
+ {
+ playerFaultTime[unum][idx]++; //increase player fault time
+ //cout << "GoalieStandMaxTime " << mGoalieNotStandingMaxTime << " activated - player "
+ // << unum << " to be repositioned " << "\n";
+ }
+ else {
+ playerFaultTime[unum][idx]=0; //reset player fault time
+ }
+
+ }
+}
+
+
+salt::Vector3f SoccerRuleAspect::RepositionOutsidePos(salt::Vector3f posIni, int unum, TTeamIndex idx)
+{
+ salt::Vector3f pos;
+ float fac=1.0;
+ if (unum > 6) unum = 7 -unum; //because of teams that use numbers 7-11
+ if (posIni.y()<1.5) fac = 1.0; else fac = -1.0; //for visualization purposes
+ if (idx==TI_LEFT) pos = Vector3f(-(7-unum)*0.6, 6.5*fac, 1.0);
+ else pos = Vector3f((7-unum)*0.6, 6.5*fac, 1.0);
+ //cout << "*********Player Repos Num: " << unum << " Team: " << idx << " Pos: " << pos << endl;
+ return pos;
+}
+
+
+// Clear Players that are violating the rules
void
+SoccerRuleAspect::ClearPlayersAutomatic(TTeamIndex idx)
+{
+ if (idx == TI_NONE || mBallState.get() == 0) return;
+
+ std::list<boost::shared_ptr<AgentState> > agent_states;
+ if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx)) return;
+
+ salt::Vector3f ballPos = mBallBody->GetPosition();
+
+ boost::shared_ptr<oxygen::Transform> agent_aspect;
+ std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+
+ for (i = agent_states.begin(); i != agent_states.end(); ++i) {
+ SoccerBase::GetTransformParent(**i, agent_aspect);
+ Vector3f agentPos = agent_aspect->GetWorldTransform().Pos();
+ int unum = (*i)->GetUniformNumber();
+ if (playerFaultTime[unum][idx] > mMaxFaultTime/0.02) {
+ // I am not a very good soccer player... I am violating the rules...
+ salt::Vector3f new_pos = RepositionOutsidePos(ballPos, unum, idx);
+ //Calculate my Reposition pos outside of the field
+ SoccerBase::MoveAgent(agent_aspect, new_pos);
+ //Oh my God!! I am flying!! I am going outside of the field
+ ResetFaultCounterPlayer(unum, idx);
+ //cout << "*********Player Repos Num: " << unum << " Team: " << team << " Pos: " << new_pos << endl;
+ }
+ }
+}
+
+void
SoccerRuleAspect::ClearPlayers(const salt::Vector3f& pos, float radius,
float min_dist, TTeamIndex idx)
{
@@ -897,6 +1171,9 @@
<< playMode << "\n";
break;
}
+
+ // Simple Referee
+ AutomaticSimpleReferee(playMode);
}
void
@@ -954,7 +1231,20 @@
float penaltyLength, penaltyWidth;
SoccerBase::GetSoccerVar(*this,"PenaltyLength",penaltyLength);
SoccerBase::GetSoccerVar(*this,"PenaltyWidth",penaltyWidth);
+
+ // auto ref parameters
+ SoccerBase::GetSoccerVar(*this,"NotStandingMaxTime",mNotStandingMaxTime);
+ SoccerBase::GetSoccerVar(*this,"GoalieNotStandingMaxTime",mGoalieNotStandingMaxTime);
+ SoccerBase::GetSoccerVar(*this,"GroundMaxTime",mGroundMaxTime);
+ SoccerBase::GetSoccerVar(*this,"GoalieGroundMaxTime",mGoalieGroundMaxTime);
+ SoccerBase::GetSoccerVar(*this,"MaxPlayersInsideOwnArea",mMaxPlayersInsideOwnArea);
+ SoccerBase::GetSoccerVar(*this,"MinOppDistance",mMinOppDistance);
+ SoccerBase::GetSoccerVar(*this,"Min2PlDistance",mMin2PlDistance);
+ SoccerBase::GetSoccerVar(*this,"Min3PlDistance",mMin3PlDistance);
+ //SoccerBase::GetSoccerVar(*this,"MaxFaultTime",mMaxFaultTime);
+
+ // cout << "MaxInside " << mMaxPlayersInsideOwnArea << endl << endl;
// set up bounding boxes for halfs and goal areas
// the right and the left half are intentionally oversized towards the sides and
Modified: branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
===================================================================
--- branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2010-05-23 07:34:24 UTC (rev 204)
+++ branches/agentselection/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2010-06-01 10:07:38 UTC (rev 205)
@@ -64,7 +64,49 @@
\param pos position where the ball should be dropped-
*/
void DropBall(salt::Vector3f pos);
+
+ /** Calculates the out of the field reposition pos for a given agent with unum and team idx
+ Agents are repositioned outside of the field near the mid field line on the opposite yy side
+ regarding the ball position
+ */
+ salt::Vector3f RepositionOutsidePos(salt::Vector3f initPos, int unum, TTeamIndex idx);
+
+ /** Calculates the inside field reposition pos for a given agent with unum and team idx
+ Agents are repositioned at distance from the ball, that is, at: plpos + (plpos-ballpos).normalize()*dist
+ */
+ //salt::Vector3f RepositionInsidePos(salt::Vector3f initPos, int unum, TTeamIndex idx, float distance);
+ /** New rules for repositioning players that commit faults
+ */
+ void ClearPlayersAutomatic(TTeamIndex idx);
+
+ /** Calculates distance arrays needed for repositioning players
+ */
+ void CalculateDistanceArrays(TTeamIndex idx);
+
+ /** Calculates ordering on a distance vector */
+ void SimpleOrder(float dArr[][3], int oArr[][3], TTeamIndex idx);
+
+ /** Agent state concerining standing, laying down on the ground are processed
+ */
+ void processAgentState(salt::Vector3f pos, int unum, TTeamIndex idx);
+
+ /** Reset the fault time counter for all players and also other counters
+ */
+ void ResetFaultCounter(TTeamIndex idx);
+
+ /** Reset the fault time counter for a given player
+ */
+ void ResetFaultCounterPlayer(int unum, TTeamIndex idx);
+
+ /**Analyse Faults from players and increase fault counter of offending players
+ */
+ void AnalyseFaults(TTeamIndex idx);
+
+ /** Automatic Referee that clears players that violate the rules
+ */
+ void AutomaticSimpleReferee(TPlayMode playMode);
+
/** broadcast a said message to all players
\param message said message-
\param pos positon of the player-
@@ -95,6 +137,7 @@
* @return the length and width
*/
salt::Vector2f GetFieldSize() const;
+
void ResetAgentSelection();
@@ -209,21 +252,15 @@
/** the radius of the Ball */
float mBallRadius;
-
/** the length of the pause after a goal */
float mGoalPauseTime;
-
/** the length of the pause after the ball left the field */
float mKickInPauseTime;
-
/** the length of one game half */
float mHalfTime;
-
/** the time we wait before dropping the ball in play modes where only
- one team can touch the ball
- */
+ 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) */
@@ -247,6 +284,43 @@
float mWaitBeforeKickOff;
/** flag if we want to play only one half of the match */
bool mSingleHalfTime;
+
+ //FCP 2010 - New Parameters (added by FCPortugal for Singapure 2010)
+ /** max time player may be sitted or laying down before being repositioned */
+ int mNotStandingMaxTime;
+ /** max time player may be on the ground before being repositioned */
+ int mGroundMaxTime;
+ /** max time goalie may be sitted or laying down before being repositioned */
+ int mGoalieNotStandingMaxTime;
+ /** max time goalie (player number 1) may be on the ground before being repositioned */
+ int mGoalieGroundMaxTime;
+ /** min dist for second closest of team before being repositioned */
+ float mMin2PlDistance;
+ /** min dist for third closest of team before being repositioned */
+ float mMin3PlDistance;
+ /** min dist for closest Opponent to ball in order to use repositions for the second and third player*/
+ float mMinOppDistance;
+ /** maximum number of players of the defending team that may be inside own penalty area */
+ int mMaxPlayersInsideOwnArea;
+ /** maximum time allowed for a player to commit a positional fault before being repositioned */
+ int mMaxFaultTime;
+ /* Useful arrays for dealing with agent state an faults */
+ salt::Vector3f playerPos[12][3]; //Players Positions - not used
+ int playerGround[12][3]; //Time Players are on the ground
+ int playerNotStanding[12][3]; //Time Players are not standing (head up for more than 0.5s)
+ int playerInsideOwnArea[12][3]; //Player is inside own area
+ int prevPlayerInsideOwnArea[12][3]; //Player was inside own area last cycle
+ int playerStanding[12][3]; //Time Players are standing
+ float distArr[12][3]; //Distance array to ball (left/right team)
+ int ordArr[12][3]; //Distance order of players (left/right team)
+ float distGArr[12][3]; //Distance array to own goal (left/right team)
+ int ordGArr[12][3]; //Distance order of players to own goal (left/right team)
+ int playerFaultTime[12][3]; //Time player is commiting a positional fault
+ int numPlInsideOwnArea[3]; //Number of players inside own area
+ int closestPlayer[3]; //Closest Player from each team
+ float closestPlayerDist[3]; //Closest Player distance to ball from each team
+ /* FCP 2010 - New Parameters */
+
// areas where opponents are not allowed in certain play modes
/** bounding box for the right half of the field */
salt::AABB2 mRightHalf;
Modified: branches/agentselection/rcssserver3d/rcssserver3d/naosoccersim.rb
===================================================================
--- branches/agentselection/rcssserver3d/rcssserver3d/naosoccersim.rb 2010-05-23 07:34:24 UTC (rev 204)
+++ branches/agentselection/rcssserver3d/rcssserver3d/naosoccersim.rb 2010-06-01 10:07:38 UTC (rev 205)
@@ -62,10 +62,30 @@
addSoccerVar('RuleGoalPauseTime',3.0)
addSoccerVar('RuleKickInPauseTime',1.0)
addSoccerVar('RuleHalfTime',5.0 * 60)
-addSoccerVar('RuleDropBallTime',30)
+addSoccerVar('RuleDropBallTime',15)
addSoccerVar('SingleHalfTime', false)
addSoccerVar('UseOffside',false)
+# auto ref parameters FCP 2010
+addSoccerVar('NotStandingMaxTime',30)
+addSoccerVar('GoalieNotStandingMaxTime',60)
+addSoccerVar('GroundMaxTime',15)
+addSoccerVar('GoalieGroundMaxTime', 30)
+addSoccerVar('MaxPlayersInsideOwnArea',3)
+addSoccerVar('MinOppDistance',0.8)
+addSoccerVar('Min2PlDistance',0.4)
+addSoccerVar('Min3PlDistance',1.0)
+
+# auto ref parameters for testing (not for use in competition...)
+#addSoccerVar('NotStandingMaxTime',10)
+#addSoccerVar('GoalieNotStandingMaxTime',30)
+#addSoccerVar('GroundMaxTime', 5)
+#addSoccerVar('GoalieGroundMaxTime', 5)
+#addSoccerVar('MaxPlayersInsideOwnArea',2)
+#addSoccerVar('MinOppDistance',1.0)
+#addSoccerVar('Min2PlDistance',0.6)
+#addSoccerVar('Min3PlDistance',1.5)
+
# recorders
addSoccerVar('BallRecorder',"Ball/geometry/recorder")
addSoccerVar('LeftGoalRecorder',"leftgoal/GoalBox/BoxCollider/recorder")
Modified: branches/agentselection/spark/ChangeLog
===================================================================
--- branches/agentselection/spark/ChangeLog 2010-05-23 07:34:24 UTC (rev 204)
+++ branches/agentselection/spark/ChangeLog 2010-06-01 10:07:38 UTC (rev 205)
@@ -1,3 +1,8 @@
+2010-05-09 Hedayat Vatankhah <he...@gr...>
+
+ * lib/zeitgeist/scriptserver/scriptserver.cpp (thisCall):
+ - Fixed a bug in number to pointer conversion in 64bit systems
+
2010-03-28 Hedayat Vatankhah <he...@gr...>
* lib/oxygen/monitorserver/monitorserver.h (MonitorServer):
Modified: branches/agentselection/spark/lib/oxygen/simulationserver/simulationserver.cpp
===================================================================
--- branches/agentselection/spark/lib/oxygen/simulationserver/simulationserver.cpp 2010-05-23 07:34:24 UTC (rev 204)
+++ branches/agentselection/spark/lib/oxygen/simulationserver/simulationserver.cpp 2010-06-01 10:07:38 UTC (rev 205)
@@ -237,6 +237,7 @@
mSimTime += mSumDeltaTime;
mSumDeltaTime = 0;
}
+ usleep(10000);
}
void SimulationServer::ControlEvent(EControlEvent event)
Modified: branches/agentselection/spark/lib/zeitgeist/scriptserver/scriptserver.cpp
===================================================================
--- branches/agentselection/spark/lib/zeitgeist/scriptserver/scriptserver.cpp 2010-05-23 07:34:24 UTC (rev 204)
+++ branches/agentselection/spark/lib/zeitgeist/scriptserver/scriptserver.cpp 2010-06-01 10:07:38 UTC (rev 205)
@@ -147,7 +147,7 @@
ParameterList in;
getParameterList(args, in);
- Object *obj = (Object*)NUM2INT(objPointer);
+ Object *obj = (Object*)NUM2ULONG(objPointer);
Class::TCmdProc cmd =
obj->GetClass()->GetCmdProc(STR2CSTR(functionName));
Modified: branches/agentselection/spark/plugin/accelerometer/accelerometer.cpp
===================================================================
--- branches/agentselection/spark/plugin/accelerometer/accelerometer.cpp 2010-05-23 07:34:24 UTC (rev 204)
+++ branches/agentselection/spark/plugin/accelerometer/accelerometer.cpp 2010-06-01 10:07:38 UTC (rev 205)
@@ -79,6 +79,7 @@
// calculate the acceleration according to velocity, it is a bit noise
Vector3f vel = mBody->GetVelocity();
Vector3f acc = (vel - mLastVel) / deltaTime;
+ mLastVel = vel;
acc -= mGravity;
Matrix invRot = mBody->GetRotation();
Modified: branches/agentselection/spark/plugin/agentsynceffector/agentsynceffector.cpp
===================================================================
--- branches/agentselection/spark/plugin/agentsynceffector/agentsynceffector.cpp 2010-05-23 07:34:24 UTC (rev 204)
+++ branches/agentselection/spark/plugin/agentsynceffector/agentsynceffector.cpp 2010-06-01 10:07:38 UTC (rev 205)
@@ -27,6 +27,7 @@
using namespace boost;
using namespace oxygen;
+using namespace std;
AgentSyncEffector::AgentSyncEffector() : oxygen::Effector()
{
Modified: branches/agentselection/spark/plugin/inputwx/CMakeLists.txt
===================================================================
--- branches/agentselection/spark/plugin/inputwx/CMakeLists.txt 2010-05-23 07:34:24 UTC (rev 204)
+++ branches/agentselection/spark/plugin/inputwx/CMakeLists.txt 2010-06-01 10:07:38 UTC (rev 205)
@@ -12,7 +12,13 @@
)
include_directories(${wxWidgets_INCLUDE_DIRS})
- add_definitions(${wxWidgets_DEFINITIONS})
+ if (CMAKE_MAJOR_VERSION EQUAL 2 AND CMAKE_MINOR_VERSION LESS 8)
+ add_definitions(${wxWidgets_DEFINITIONS})
+ else (CMAKE_MAJOR_VERSION EQUAL 2 AND CMAKE_MINOR_VERSION LESS 8)
+ set_property(DIRECTORY APPEND
+ PROPERTY COMPILE_DEFINITIONS ${wxWidgets_DEFINITIONS})
+ endif (CMAKE_MAJOR_VERSION EQUAL 2 AND CMAKE_MINOR_VERSION LESS 8)
+
add_library(inputwx MODULE ${inputwx_LIB_SRCS})
target_link_libraries(inputwx ${wxWidgets_LIBRARIES} ${spark_libs})
Modified: branches/agentselection/spark/plugin/openglsyswx/CMakeLists.txt
===================================================================
--- branches/agentselection/spark/plugin/openglsyswx/CMakeLists.txt 2010-05-23 07:34:24 UTC (rev 204)
+++ branches/agentselection/spark/plugin/openglsyswx/CMakeLists.txt 2010-06-01 10:07:38 UTC (rev 205)
@@ -10,7 +10,12 @@
)
include_directories(${wxWidgets_INCLUDE_DIRS})
- add_definitions(${wxWidgets_DEFINITIONS})
+ if (CMAKE_MAJOR_VERSION EQUAL 2 AND CMAKE_MINOR_VERSION LESS 8)
+ add_definitions(${wxWidgets_DEFINITIONS})
+ else (CMAKE_MAJOR_VERSION EQUAL 2 AND CMAKE_MINOR_VERSION LESS 8)
+ set_property(DIRECTORY APPEND
+ PROPERTY COMPILE_DEFINITIONS ${wxWidgets_DEFINITIONS})
+ endif (CMAKE_MAJOR_VERSION EQUAL 2 AND CMAKE_MINOR_VERSION LESS 8)
add_library(openglsyswx MODULE ${openglsyswx_LIB_SRCS})
target_link_libraries(openglsyswx ${wxWidgets_LIBRARIES} ${spark_libs})
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