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catcheffector.cpp

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00001 /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
00002 
00003    this file is part of rcssserver3D
00004    Fri May 9 2003
00005    Copyright (C) 2002,2003 Koblenz University
00006    Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
00007 
00008    This program is free software; you can redistribute it and/or modify
00009    it under the terms of the GNU General Public License as published by
00010    the Free Software Foundation; version 2 of the License.
00011 
00012    This program is distributed in the hope that it will be useful,
00013    but WITHOUT ANY WARRANTY; without even the implied warranty of
00014    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015    GNU General Public License for more details.
00016 
00017    You should have received a copy of the GNU General Public License
00018    along with this program; if not, write to the Free Software
00019    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00020 */
00021 #include "catchaction.h"
00022 #include "catcheffector.h"
00023 #include <salt/random.h>
00024 #include <zeitgeist/logserver/logserver.h>
00025 #include <oxygen/sceneserver/transform.h>
00026 #include <oxygen/physicsserver/spherecollider.h>
00027 #include <oxygen/agentaspect/agentaspect.h>
00028 #include <oxygen/physicsserver/body.h>
00029 #include <oxygen/gamecontrolserver/gamecontrolserver.h>
00030 #include <soccer/ballstateaspect/ballstateaspect.h>
00031 #include <soccer/agentstate/agentstate.h>
00032 #include <soccer/soccerbase/soccerbase.h>
00033 #include <soccer/soccercontrolaspect/soccercontrolaspect.h>
00034 #include <soccer/soccerruleaspect/soccerruleaspect.h>
00035 
00036 using namespace boost;
00037 using namespace oxygen;
00038 using namespace salt;
00039 using namespace std;
00040 
00041 CatchEffector::CatchEffector()
00042     : oxygen::Effector(),
00043       mCatchMargin(2.00),mPlayerRadius(0.0),mBallRadius(0.0)
00044 {
00045 }
00046 
00047 CatchEffector::~CatchEffector()
00048 {
00049 }
00050 
00051 void
00052 CatchEffector::MoveBall(const Vector3f& pos)
00053 {
00054     mBallBody->SetPosition(pos);
00055     mBallBody->SetVelocity(Vector3f(0,0,0));
00056     mBallBody->SetAngularVelocity(Vector3f(0,0,0));
00057 }
00058 
00059 bool
00060 CatchEffector::Realize(boost::shared_ptr<ActionObject> action)
00061 {
00062     // this should also include the case when there is no ball
00063     // (because then there will be no body, neither).
00064     if (mBallBody.get() == 0)
00065     {
00066         return false;
00067     }
00068 
00069     if (mAgent.get() == 0)
00070     {
00071         GetLog()->Error()
00072             << "ERROR: (CatchEffector) parent node is not derived "
00073             << "from BaseNode\n";
00074         return false;
00075     }
00076 
00077     if (mAgentState.get() == 0)
00078     {
00079         GetLog()->Error()
00080             << "ERROR: (CatchEffector) parent node is not derived "
00081             << "from BaseNode\n";
00082         return false;
00083     }
00084 
00085     shared_ptr<CatchAction> catchAction =
00086         shared_dynamic_cast<CatchAction>(action);
00087 
00088     if (catchAction.get() == 0)
00089     {
00090         GetLog()->Error()
00091             << "ERROR: (CatchEffector) cannot realize an unknown "
00092             << "ActionObject\n";
00093         return false;
00094     }
00095 
00096     if (mAgentState->GetUniformNumber() != 1)
00097     {
00098         return true;
00099     }
00100 
00101     Vector3f pos = mBallBody->GetWorldTransform().Pos();
00102     if ( mAgentState->GetTeamIndex() == TI_LEFT )
00103     {
00104         if (! mLeftPenaltyArea.Contains(Vector2f(pos[0], pos[1])))
00105         {
00106             return true;
00107         }
00108     }
00109     else
00110     {
00111         if (! mRightPenaltyArea.Contains(Vector2f(pos[0], pos[1])))
00112         {
00113             return true;
00114         }
00115     }
00116 
00117     Vector3f ballVec =
00118         mBallBody->GetWorldTransform().Pos() -
00119         mAgent->GetWorldTransform().Pos();
00120 
00121     // the ball can be catched if the distance is
00122     // less then Ball-Radius + Player-Radius + KickMargin AND
00123     // the player is close to the ground
00124     if (mAgent->GetWorldTransform().Pos().z() > mPlayerRadius + 0.01 ||
00125         ballVec.Length() > mPlayerRadius + mBallRadius + mCatchMargin)
00126     {
00127         // ball is out of reach, or player is in the air:
00128         // catch has no effect
00129         return true;
00130     }
00131 
00132     Vector3f ballPos = mAgent->GetWorldTransform().Pos();
00133     ballPos[2]= mBallRadius;
00134     if (mAgentState->GetTeamIndex() == TI_LEFT)
00135     {
00136         ballPos[0] += mBallRadius + mPlayerRadius + 0.07;
00137     }
00138     else
00139     {
00140         ballPos[0] -= mBallRadius + mPlayerRadius + 0.07;
00141     }
00142 
00143     mSoccerRule->ClearPlayersWithException(ballPos,
00144         2.0, 5.0, TI_LEFT, mAgentState);
00145     mSoccerRule->ClearPlayersWithException(ballPos,
00146         2.0, 5.0, TI_RIGHT, mAgentState);
00147 
00148     MoveBall(ballPos);
00149 
00150     return true;
00151 }
00152 
00153 shared_ptr<ActionObject>
00154 CatchEffector::GetActionObject(const Predicate& predicate)
00155 {
00156   do
00157   {
00158       if (predicate.name != GetPredicate())
00159           {
00160               GetLog()->Error() << "ERROR: (CatchEffector) invalid predicate"
00161                                 << predicate.name << "\n";
00162               break;
00163           }
00164 
00165       // construct the CatchAction object
00166       return shared_ptr<CatchAction>(new CatchAction(GetPredicate()));
00167 
00168   } while (0);
00169 
00170   // some error happened
00171   return shared_ptr<ActionObject>();
00172 }
00173 
00174 void
00175 CatchEffector::OnLink()
00176 {
00177     SoccerBase::GetBallBody(*this,mBallBody);
00178     SoccerBase::GetAgentState(*this,mAgentState);
00179 
00180     SoccerBase::GetSoccerRuleAspect(*this,mSoccerRule);
00181 
00182     mAgent = shared_dynamic_cast<AgentAspect>(make_shared(GetParent()));
00183 
00184     if (mAgent.get() == 0)
00185     {
00186         GetLog()->Error()
00187             << "ERROR: (CatchEffector) parent node is not derived "
00188             << "from AgentAspect\n";
00189         return;
00190     }
00191 
00192     shared_ptr<SphereCollider> geom =
00193         shared_dynamic_cast<SphereCollider>(mAgent->GetChild("geometry"));
00194     if (geom.get() == 0)
00195     {
00196         GetLog()->Error()
00197             << "ERROR: (CatchEffector) parent node has no SphereCollider "
00198             << "child\n";
00199     } 
00200     else
00201     {
00202         mPlayerRadius = geom->GetRadius();
00203     }
00204 
00205     if (! SoccerBase::GetBallCollider(*this,geom))
00206     {
00207         GetLog()->Error()
00208             << "ERROR: (CatchEffector) ball node has no SphereCollider "
00209             << "child\n";
00210     } 
00211     else
00212     {
00213         mBallRadius = geom->GetRadius();
00214     }
00215 
00216     SoccerBase::GetSoccerVar(*this,"FieldLength",mFieldLength);
00217     SoccerBase::GetSoccerVar(*this,"GoalWidth",mGoalWidth);
00218 
00219     // the penalty areas (exact sizes)
00220     mRightPenaltyArea = salt::AABB2(
00221                      Vector2f(mFieldLength/2.0 - 16.5, -16.5 - mGoalWidth/2.0),
00222                      Vector2f(mFieldLength/2.0 , 16.5 + mGoalWidth/2.0));
00223     mLeftPenaltyArea = salt::AABB2(
00224                      Vector2f(-mFieldLength/2.0 + 16.5, -16.5 - mGoalWidth/2.0),
00225                      Vector2f(-mFieldLength/2.0, 16.5 + mGoalWidth/2.0));
00226 }
00227 
00228 void
00229 CatchEffector::OnUnlink()
00230 {
00231     mSoccerRule.reset();
00232     mBallBody.reset();
00233     mAgent.reset();
00234     mAgentState.reset();
00235 }
00236 
00237 void
00238 CatchEffector::SetCatchMargin(float margin)
00239 {
00240     mCatchMargin = margin;
00241 }

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