share/Media/Ball.mesh share/Media/materials/scripts/Example.material share/Media/materials/scripts/Examples.compositor share/Media/materials/scripts/Examples.program share/Media/materials/scripts/Goal.material share/Media/materials/scripts/Scene.material share/Media/materials/textures/RustySteel.jpg share/Media/materials/textures/grass_1024.jpg share/Media/materials/textures/r2skin.jpg share/Media/materials/textures/spheremap.png share/Media/models/Goal.mesh share/Media/models/ball.mesh share/Media/models/robot.mesh share/Media/models/robot.skeleton share/Media/sphere.mesh src/freekick/match/client/Helpers.cpp src/freekick/match/client/Helpers.h src/freekick/match/client/ai/tasks/GoalkeeperAction.cpp src/freekick/match/client/ai/tasks/GoalkeeperAction.h src/freekick/match/client/ai/tasks/GoalkeeperGetBall.cpp src/freekick/match/client/ai/tasks/GoalkeeperGetBall.h src/freekick/match/client/ai/tasks/PassBall.cpp src/freekick/match/client/ai/tasks/PassBall.h src/freekick/match/client/ai/tasks/ShootBall.cpp src/freekick/match/client/ai/tasks/ShootBall.h @@ -1,7 +1,8 @@ # Resource locations to be added to the default path [General] -FileSystem=Media -FileSystem=Media/materials/programs -FileSystem=Media/materials/scripts -FileSystem=Media/materials/textures -FileSystem=Media/models +FileSystem=../share/Media +FileSystem=../share/Media/materials/programs +FileSystem=../share/Media/materials/scripts +FileSystem=../share/Media/materials/textures +FileSystem=../share/Media/models +FileSystem=../share/Media/gui \ No newline at end of file bin/resources.cfg @@ -1,3 +1,17 @@ +-27.01.2009-------------- +-client: third camera (tv style) +bugs: +-physics: goal too wide -> goalkeeper may get stuck behind +-rules: when a goalkeeper gets stuck behind a goal and a goal is made, the + ball position is reset but the velocity is not zero +-ai: goalkeepers always kick long ball after holding it, because after a pass + they would try to hold the ball again +-rules: according to matchstatus players are allowed to kick even when the + play is blocked, because kicking the ball changes the ball state to ball in + according to rules, and physics doesn't move the ball if the player is not + allowed to kick it. this should be fixed so that the ball is blocked until + it is free (no opponents nearby etc.), after that it should be not blocked + and kickable according to all parties (matchstatus, rules, physics). -10.01.2009-------------- +physics: make players look in the direction they're moving +physics: add restitution to ball @@ -8,16 +22,16 @@ +server: allow only one client to control a player +server: allow humans to take over ai players +protocol: drop control requests from the initialization message --client: make keyboard controls fully functional --client: add mouse controls --client: add kick control --client: add preset cameras --client: display goals ++client: make keyboard controls fully functional ++client: add mouse controls ++client: add kick control ++client: add preset cameras ++client: display goals +physics: add goal posts -client: add display of score -physics: make player torsos block ball --physics: improve goalkeepers --ai: improve goalkeepers ++physics: improve goalkeepers ++ai: improve goalkeepers -06.01.2009-------------- +physics: collision callbacks for seeing which player/club touched the ball last -26.12.2008-------------- doc/curr-tasks.txt @@ -282,6 +282,7 @@ Constant update (~ 30..60/Second) 1 Celebrating 2 Asking for support/the ball 4 Disappointed + 8 Holding ball Procotol: (n v x y z a b c d s t) @@ -313,5 +314,6 @@ e.g. (e 4886 4.6 10.49 2.2 43.2 -3.2 4.4) # head (jump and try to score north) (f 4865 0.0 0.0 0.0 2) # ask for support Note: player_id should always be sent by the AI and by the human clients +Note: heading for goalkeepers includes boxing the ball ------------------------------------------------------------------------------ doc/protocol2.txt @@ -33,6 +33,12 @@ namespace freekick : mMatchStatus(ms), mPlayerID(id) { + mPlayer = mMatchStatus->getPlayer(mPlayerID); + } + + bool f::finished() const + { + return true; } boost::shared_ptr<messages::PlayerControlMessage> f::process() etc/Task_Template.cpp @@ -40,14 +40,16 @@ namespace freekick { namespace tasks { - class fff : public AtomicTask + class fff : public CompositeTask { public: fff(boost::shared_ptr<MatchStatus> ms, int id); + bool finished() const; boost::shared_ptr<messages::PlayerControlMessage> process(); private: boost::shared_ptr<MatchStatus> mMatchStatus; int mPlayerID; + boost::shared_ptr<MatchPlayer> mPlayer; }; } } etc/Task_Template.h @@ -21,7 +21,9 @@ #ifndef ADDUTIL_GENERAL_H #define ADDUTIL_GENERAL_H +#include <cmath> #include <set> +#include <iostream> #include <boost/foreach.hpp> @@ -29,12 +31,35 @@ namespace addutil { namespace general { +/** + * clamp: sets val between min and max + */ template <typename T> void clamp(T& val, T min, T max) { if(val < min) val = min; if(val > max) val = max; } +/** + * intervalize: sets val to be divisible by interval. + */ + template <typename T> void intervalize(T& val, T interval) + { + T dif = fmod(val, interval); + if(dif < interval / 2.0f) + { + val -= dif; + } + else + val += (interval - dif); + } + +/** + * set_union: sets out to the union of a and b. + * e.g.: a: 1 3 4 + * b: 2 3 5 + * out: 3 + */ template <typename T> void set_union(const std::set<T>& a, const std::set<T>& b, std::set<T>& out) { out.clear(); @@ -47,6 +72,12 @@ namespace addutil } } +/** + * set_inverse_union: sets diff to what more has that less doesn't. + * e.g.: more: 1 2 3 4 + * less: 2 3 4 + * diff: 1 + */ template <typename T> void set_inverse_union(const std::set<T>& more, const std::set<T>& less, std::set<T>& diff) { diff.clear(); src/addutil/General.h @@ -47,6 +47,20 @@ namespace addutil z = _z; } + void Quaternion::toAxisAngle(addutil::Vector3& axis, float angle) const + { + angle = 2 * acos(w); + float l = sqrt(x * x + y * y + z * z); + if(l > 0.0f) + { + axis.set(x / l, y / l, z / l); + } + else + { + axis.reset(); + } + } + /* Vector3 Quaternion::toVector() { src/addutil/Quaternion.cpp @@ -41,6 +41,7 @@ namespace addutil Quaternion(float xzangle); virtual ~Quaternion() { } void set(float _w, float _x, float _y, float _z); + void toAxisAngle(addutil::Vector3& axis, float angle) const; // void fromVector(const Vector3& n); // void fromVector(float _x, float _y, float _z); // Vector3 toVector(); src/addutil/Quaternion.h @@ -77,6 +77,13 @@ namespace addutil x = y = z = 0.0f; } + void Vector3::set(float _x, float _y, float _z) + { + x = _x; + y = _y; + z = _z; + } + float Vector3::XZAngle() const { return atan2(-z, x); @@ -129,5 +136,13 @@ namespace addutil os << v.x << " " << v.y << " " << v.z; return os; } -} + bool inArea(const Vector3& tl, const Vector3& br, const Vector3& p) + { + if(p.x < tl.x) return false; + if(p.z < tl.z) return false; + if(p.x > br.x) return false; + if(p.z > br.z) return false; + return true; + } +} src/addutil/Vector3.cpp @@ -66,6 +66,7 @@ namespace addutil void capY(float n); void capZ(float n); void reset(); + void set(float _x, float _y, float _z); float XZAngle() const; // Public attributes @@ -86,6 +87,7 @@ namespace addutil }; std::ostream& operator<<(std::ostream& os, const Vector3& e); + bool inArea(const Vector3& tl, const Vector3& br, const Vector3& p); } #endif // VECTOR3_H src/addutil/Vector3.h @@ -195,11 +195,9 @@ namespace addutil GroupMap::iterator it; it = groups.find(gid); if (it == groups.end()) return; - clientset::iterator it2; - clientset* cs = &groups[gid]; - it2 = cs->find(cid); - if (it2 != cs->end()) - cs->erase(it2); + clientset::iterator it2 = it->second.find(cid); + if (it2 != it->second.end()) + it->second.erase(it2); } void Server::broadcast(const std::string& msg) src/addutil/network/Server.cpp @@ -331,6 +331,35 @@ namespace freekick return addObject(body, collgroup); } + bool BulletPhysicsEngine::getObjectPosition(ObjectID oid, addutil::Vector3& pos) const + { + ObjectMap::const_iterator it = mObjectMap.find(oid); + if(it == mObjectMap.end()) return false; + const btVector3 p(it->second->getWorldTransform().getOrigin()); + pos.set(p.x(), p.y(), p.z()); + return true; + } + + bool BulletPhysicsEngine::getObjectOrientation(ObjectID oid, addutil::Quaternion& ori) const + { + ObjectMap::const_iterator it = mObjectMap.find(oid); + if(it == mObjectMap.end()) return false; + const btQuaternion p(it->second->getWorldTransform().getRotation()); + ori.set(p.w(), p.x(), p.y(), p.z()); + return true; + } + + bool BulletPhysicsEngine::getObjectPositionAndOrientation(ObjectID oid, addutil::Vector3& pos, addutil::Quaternion& ori) const + { + ObjectMap::const_iterator it = mObjectMap.find(oid); + if(it == mObjectMap.end()) return false; + const btVector3 p(it->second->getWorldTransform().getOrigin()); + pos.set(p.x(), p.y(), p.z()); + const btQuaternion q(it->second->getWorldTransform().getRotation()); + ori.set(q.w(), q.x(), q.y(), q.z()); + return true; + } + bool BulletPhysicsEngine::removeObject(ObjectID oid) { // TODO @@ -342,7 +371,7 @@ namespace freekick dynamicsWorld->stepSimulation(steptime, 10); // TODO: variable maxSubSteps // This piece of code checks for collisions between the ball and the players. - // TODO: add checks between (tackling etc.) players and the rest of players + // TODO: add checks between (tackling) players and the rest of players ObjectMap::const_iterator it = mObjectMap.find(BallID); if(it != mObjectMap.end()) { src/freekick/match/BulletPhysicsEngine.cpp @@ -59,6 +59,9 @@ namespace freekick bool setObjectPosition(ObjectID oid, const addutil::Vector3& pos); bool setObjectOrientation(ObjectID oid, const addutil::Quaternion& q); bool setObjectOrientation(ObjectID oid, float xz); + bool getObjectPosition(ObjectID oid, addutil::Vector3& pos) const; + bool getObjectOrientation(ObjectID oid, addutil::Quaternion& ori) const; + bool getObjectPositionAndOrientation(ObjectID oid, addutil::Vector3& pos, addutil::Quaternion& ori) const; bool removeObject(ObjectID oid); bool stepWorld(float steptime); src/freekick/match/BulletPhysicsEngine.h @@ -23,11 +23,16 @@ namespace freekick { namespace match { - CausedStatus::CausedStatus (int i) + CausedStatus::CausedStatus (bool i) : injured(i) { } + void CausedStatus::setValue(int v) + { + injured = (v % 2 == 1); + } + std::ostream& operator << (std::ostream& os, const CausedStatus& a) { os << a.injured; src/freekick/match/CausedStatus.cpp @@ -34,10 +34,11 @@ namespace freekick class CausedStatus { public: - CausedStatus(int i = 0); + CausedStatus(bool i = 0); virtual ~CausedStatus() { } + void setValue(int v); - int injured; + bool injured; }; std::ostream& operator << (std::ostream& os, const CausedStatus& a); src/freekick/match/CausedStatus.h @@ -23,14 +23,22 @@ namespace freekick { namespace match { - ControlledStatus::ControlledStatus (int c) - : celebrates(c) + ControlledStatus::ControlledStatus (bool c, bool hold) + : celebrates(c), + holding_ball(hold) { } + void ControlledStatus::setValue(int v) + { + celebrates = (v % 2 == celeb_val); + holding_ball = (v >= holdi_val); + } + std::ostream& operator << (std::ostream& os, const ControlledStatus& a) { - os << a.celebrates; + int val = (a.celebrates ? ControlledStatus::celeb_val : 0) + (a.holding_ball ? ControlledStatus::holdi_val : 0); + os << val; return os; } } src/freekick/match/ControlledStatus.cpp @@ -34,10 +34,16 @@ namespace freekick class ControlledStatus { public: - ControlledStatus(int c = 0); + ControlledStatus(bool c = false, bool hold = false); virtual ~ControlledStatus() { } - int celebrates; + void setValue(int v); + + bool celebrates; + bool holding_ball; + + static const int celeb_val = 1; + static const int holdi_val = 8; }; std::ostream& operator << (std::ostream& os, const ControlledStatus& a); src/freekick/match/ControlledStatus.h @@ -26,9 +26,20 @@ namespace freekick { MatchBall::MatchBall (const Ball& b) : DynamicEntity(b.getMass(), "ball.mesh"), - Ball(b) + Ball(b), + holder(0) { } + + int MatchBall::getHolder() const + { + return holder; + } + + void MatchBall::setHolder(int h) + { + holder = h; + } } } src/freekick/match/MatchBall.cpp @@ -48,8 +48,11 @@ namespace freekick */ MatchBall (const Ball& b); const int getID() const { return BallID; } + int getHolder() const; + void setHolder(int h); private: + int holder; friend class boost::serialization::access; template<class Archive> src/freekick/match/MatchBall.h @@ -114,6 +114,20 @@ namespace freekick e->update(v, vec.x, vec.y, vec.z); e->updateOrientation(v, q.w, q.x, q.y, q.z); + + int holder = holdingBall(); + int thisid = m.getPlayerID(); + ControlledStatus cons; + m.getControlledStatus(cons); + if(holder == thisid) + { + if(!cons.holding_ball) + setBallHolder(0); + } + if(cons.holding_ball) + { + setBallHolder(thisid); + } } void MatchStatus::update(const std::vector<messages::ConstantUpdateMessage>& ms, float time_interval) @@ -336,7 +350,18 @@ namespace freekick bool MatchStatus::playerAllowedToKick(int id) const { // TODO: add "player can't touch the ball after giving throwin/goal kick/etc." - if(mBallState.blocked_play) return false; + + // 1. before/after the match kick as much as you want + if(mBallState.bio_type == PreKickoff || mBallState.bio_type == HalfFullTime) return true; + + // 2. blocked -> deny + // if(mBallState.blocked_play) return false; + + // 3. ball held in someone's hands -> deny + int h = mBall->getHolder(); + if(h != 0 && h != id) return false; + + // 4. ball in play or we're supposed to get it in -> accept soccer::BallOwner b = getPlayerSide(id); if(mBallState.bio_type == BallIn || mBallState.owner == b) { @@ -374,5 +399,22 @@ namespace freekick { return score_away; } + + GoalQuery MatchStatus::ballInGoalArea() const + { + GoalQuery q = mMatchData->getStadium()->getPitch()->inGoalArea(mBall->getPosition()); + if(!secondhalf) return other(q); + return q; + } + + int MatchStatus::holdingBall() const + { + return mBall->getHolder(); + } + + void MatchStatus::setBallHolder(int h) + { + mBall->setHolder(h); + } } } src/freekick/match/MatchStatus.cpp @@ -87,6 +87,9 @@ namespace freekick void addAwayScore(); int getHomeScore() const; int getAwayScore() const; + GoalQuery ballInGoalArea() const; + int holdingBall() const; + void setBallHolder(int h); protected: void updateEntity(addutil::DynamicEntity* e, const messages::ConstantUpdateMessage& m, float time_interval); src/freekick/match/MatchStatus.h @@ -59,6 +59,9 @@ namespace freekick virtual bool setObjectPosition(ObjectID oid, const addutil::Vector3& pos) = 0; virtual bool setObjectOrientation(ObjectID oid, const addutil::Quaternion& q) = 0; virtual bool setObjectOrientation(ObjectID oid, float xz) = 0; + virtual bool getObjectPosition(ObjectID oid, addutil::Vector3& pos) const = 0; + virtual bool getObjectOrientation(ObjectID oid, addutil::Quaternion& ori) const = 0; + virtual bool getObjectPositionAndOrientation(ObjectID oid, addutil::Vector3& pos, addutil::Quaternion& ori) const = 0; virtual bool removeObject(ObjectID oid) = 0; virtual bool stepWorld(float steptime) = 0; src/freekick/match/PhysicsEngine.h @@ -52,7 +52,7 @@ namespace freekick void AI_Engine::run() { using namespace boost::posix_time; - unsigned long sleep_time = 1000000/5; + unsigned long sleep_time = 1000000/20; std::vector<AIPlayer>::iterator it; std::vector<boost::shared_ptr<messages::Message> > msgs; src/freekick/match/client/ai/AI_Engine.cpp @@ -29,10 +29,9 @@ namespace freekick { namespace tasks { - IdleInFormation::IdleInFormation (const boost::shared_ptr<MatchStatus>& ms, int id, const addutil::Vector3& form) + IdleInFormation::IdleInFormation (const boost::shared_ptr<MatchStatus>& ms, int id) : mMatchStatus(ms), - mPlayerID(id), - mTarget(form) + mPlayerID(id) { mPlayer = mMatchStatus->getPlayer(mPlayerID); } @@ -47,6 +46,53 @@ namespace freekick boost::shared_ptr<messages::PlayerControlMessage> IdleInFormation::process() { + soccer::PlayerTarget b = mMatchStatus->getPlayerTarget(mPlayerID); + const boost::shared_ptr<Formation> f = mMatchStatus->getPlayerClub(mPlayerID)->getFormation(); + PlayerPosition pp = mPlayer->getPlayerPosition(); + addutil::Vector3 formationpoint = f->getPlayerArea(mPlayerID).getCenter(); + addutil::Vector3 movedFormationpoint(formationpoint); + float plength = mMatchStatus->getPitchLength(); + float pwidth = mMatchStatus->getPitchWidth(); + float bheight = mMatchStatus->getBall()->getPosition().z / plength; + float bwidth = mMatchStatus->getBall()->getPosition().x / pwidth; + if(b == UpTarget) + { + bheight = 1.0f - bheight; + } + // 0.0f: own goal; 1.0f: opponent's goal + + float target_z_modifier = (1.0f - formationpoint.z) * (bheight - formationpoint.z) * (pp == Goalkeeper ? 0.04f : 0.2f); + movedFormationpoint.z += target_z_modifier; + + float target_x_modifier = (bwidth - 0.5f) * 0.2f; + if(b == UpTarget) + { + movedFormationpoint.x -= target_x_modifier; + } + else + { + movedFormationpoint.x += target_x_modifier; + } + addutil::general::clamp(movedFormationpoint.x, 0.0f, 1.0f); + + if((movedFormationpoint - mPlayer->getPosition()).length() > 5.0f) + { + mTarget = movedFormationpoint; + } + else + { + mTarget = formationpoint; + } + + if(b == UpTarget) + { + mTarget.z = 1.0f - mTarget.z; + mTarget.x = 1.0f - mTarget.x; + } + + mTarget.x *= pwidth; + mTarget.z *= plength; + addutil::Vector3 gotovec = mTarget - mPlayer->getPosition(); if(gotovec.length() < 1.0f) gotovec.reset(); gotovec.y = 0.0f; src/freekick/match/client/ai/tasks/IdleInFormation.cpp @@ -24,6 +24,7 @@ #include <boost/shared_ptr.hpp> #include "addutil/Vector3.h" +#include "addutil/General.h" #include "MatchStatus.h" #include "messages/MovePlayerControlMessage.h" @@ -43,7 +44,7 @@ namespace freekick class IdleInFormation : public AtomicTask { public: - IdleInFormation(const boost::shared_ptr<MatchStatus>& ms, int id, const addutil::Vector3& form); + IdleInFormation(const boost::shared_ptr<MatchStatus>& ms, int id); bool finished() const; boost::shared_ptr<messages::PlayerControlMessage> process(); private: src/freekick/match/client/ai/tasks/IdleInFormation.h @@ -46,66 +46,29 @@ namespace freekick boost::shared_ptr<messages::PlayerControlMessage> KickBall::process() { - addutil::Vector3 target; + clearTasks(); - soccer::PlayerTarget t = mMatchStatus->getPlayerTarget(mPlayerID); + // TODO: have shootball, passball share these addutil::Vector3 ownpos = mPlayer->getPosition(); + soccer::PlayerTarget t = mMatchStatus->getPlayerTarget(mPlayerID); addutil::Vector3 tgtgoal = mMatchStatus->getGoalPosition(t); addutil::Vector3 goalvec = tgtgoal - ownpos; - float plength = mMatchStatus->getPitchLength(); if(goalvec.length() < 35.0f) { - target = goalvec; - target.y = goalvec.length() * 0.1f; - target.normalize(); - target *= 30.0f; - std::cout << "Shooting; kick target: " << (target + ownpos) << std::endl; + boost::shared_ptr<ShootBall> t(new ShootBall(mMatchStatus, mPlayerID)); + addTask(t); } else { - std::vector<addutil::Vector3> ownclub; - std::vector<addutil::Vector3>::const_iterator clubit; - - float best_z = 0.0f; - float own_z = (t == UpTarget) ? plength - ownpos.z : ownpos.z; - addutil::Vector3 bestpass = tgtgoal; - - mMatchStatus->getPlayerPositions(ownclub, t); - for(clubit = ownclub.begin(); clubit != ownclub.end(); clubit++) - { - float diff = (*clubit - ownpos).length(); - float this_z = clubit->z; - if(t == UpTarget) this_z = plength - this_z; - - if(diff < 5.0f || diff > 20.0f) - continue; - if (this_z < own_z - 10.0f) - continue; - - if(this_z > best_z) - { - bestpass = *clubit; - best_z = this_z; - } - } - target = bestpass - ownpos; - if (target.length() > 20.0f) - { - target *= 1.5f; - target.y = target.length() * 0.3f; - } - else - { - target.y = 2.0f; - } - target.x *= 1.1f; - target.z *= 1.1f; - std::cout << "Pass: Kick target: " << (target + ownpos) << std::endl; + boost::shared_ptr<PassBall> t(new PassBall(mMatchStatus, mPlayerID)); + addTask(t); } - using namespace messages; - return boost::shared_ptr<KickPlayerControlMessage>(new KickPlayerControlMessage(mPlayerID, target)); + + boost::shared_ptr<Task> nexttask = getNextTask(); + boost::shared_ptr<messages::PlayerControlMessage> msg = nexttask->process(); + return msg; } } } src/freekick/match/client/ai/tasks/KickBall.cpp @@ -26,9 +26,10 @@ #include "addutil/Vector3.h" #include "MatchStatus.h" -#include "messages/KickPlayerControlMessage.h" -#include "tasks/AtomicTask.h" +#include "tasks/CompositeTask.h" +#include "tasks/PassBall.h" +#include "tasks/ShootBall.h" namespace freekick { @@ -40,7 +41,7 @@ namespace freekick { namespace tasks { - class KickBall : public AtomicTask + class KickBall : public CompositeTask { public: KickBall(const boost::shared_ptr<MatchStatus>& ms, int id); src/freekick/match/client/ai/tasks/KickBall.h @@ -48,12 +48,20 @@ namespace freekick boost::shared_ptr<messages::PlayerControlMessage> PlaySoccer::process() { - soccer::BallOwner b = mMatchStatus->getPlayerSide(mPlayerID); - boost::tuple<int, float> nearestown = mMatchStatus->nearestPlayerFromClubToBall(b); + Helpers h(mMatchStatus, mPlayerID); - bool issub = mPlayer->isSubstitute(); - if(issub) +/* + boost::shared_ptr<Task> nexttask = getNextTask(); + if(nexttask->finished()) + { + deleteNextTask(); + } +*/ + clearTasks(); + + if(h.issub) { + // TODO: replace with BeingASubstituteTask if(emptyTasks()) { boost::shared_ptr<Idle> t(new Idle(mPlayerID)); @@ -64,43 +72,34 @@ namespace freekick { if(!emptyTasks()) { + // TODO: check if current task should be cleared clearTasks(); } - const BallState bss = mMatchStatus->getBallState(); - bool allowed_to_kick = mMatchStatus->playerAllowedToKick(mPlayerID); - if(!allowed_to_kick) + if(h.bio == BallIn && mPlayer->getPlayerPosition() == Goalkeeper) { - if(bss.blocked_play && bss.owner == b) - allowed_to_kick = true; - } - - BallInOut bio = bss.bio_type; - bool iskickoff = (bio == Kickoff); - bool blocked = bss.blocked_play; - bool own = bss.owner; - bool startplay = (iskickoff && !blocked && nearestown.get<0>() == mPlayerID && own == b); - if(iskickoff && !startplay) // goto start formation - { - boost::shared_ptr<GotoKickoffFormationPosition> t(new GotoKickoffFormationPosition(mMatchStatus, mPlayerID)); + boost::shared_ptr<GoalkeeperAction> t(new GoalkeeperAction(mMatchStatus, mPlayerID)); addTask(t); } else { - if(nearestown.get<0>() == mPlayerID) + if(h.iskickoff && !h.startplay) // goto start formation + { + boost::shared_ptr<GotoKickoffFormationPosition> t(new GotoKickoffFormationPosition(mMatchStatus, mPlayerID)); + addTask(t); + } + else { - if(allowed_to_kick) + if(h.isnearestplayer && h.allowed_to_kick) { - // TODO: read max. kicking distance from somewhere else - if(nearestown.get<1>() < 1.5f) // able to kick + if(h.abletokick) { boost::shared_ptr<KickBall> t(new KickBall(mMatchStatus, mPlayerID)); addTask(t); } else { - boost::tuple<int, float> nearestother = mMatchStatus->nearestPlayerFromClubToBall(other(b)); - if(nearestown.get<1>() < nearestother.get<1>()) // run to ball + if(h.amnearerthanthey) // run to ball { boost::shared_ptr<FetchBall> t(new FetchBall(mMatchStatus, mPlayerID)); addTask(t); @@ -114,61 +113,17 @@ namespace freekick } else { - addTask(newIdleInFormation()); + boost::shared_ptr<IdleInFormation> t(new IdleInFormation(mMatchStatus, mPlayerID)); + addTask(t); } } - else - { - addTask(newIdleInFormation()); - } } } boost::shared_ptr<Task> nexttask = getNextTask(); -/* - if(nexttask->finished()) - { - deleteNextTask(); - return process(); - } -*/ boost::shared_ptr<messages::PlayerControlMessage> msg = nexttask->process(); return msg; } - - boost::shared_ptr<IdleInFormation> PlaySoccer::newIdleInFormation() const - { - soccer::PlayerTarget b = mMatchStatus->getPlayerTarget(mPlayerID); - const boost::shared_ptr<Formation> f = mMatchStatus->getPlayerClub(mPlayerID)->getFormation(); - PlayerPosition pp = mPlayer->getPlayerPosition(); - addutil::Vector3 tgt = f->getPlayerArea(mPlayerID).getCenter(); - float plength = mMatchStatus->getPitchLength(); - float pwidth = mMatchStatus->getPitchWidth(); - float bheight = mMatchStatus->getBall()->getPosition().z / plength; - float bwidth = mMatchStatus->getBall()->getPosition().x / pwidth; - if(b == UpTarget) - { - bheight = 1.0f - bheight; - } - // 0.0f: own goal; 1.0f: opponent's goal - - float tgt_z_modifier = (1.0f - tgt.z) * (bheight - tgt.z) * (pp == Goalkeeper ? 0.04f : 0.4f); - tgt.z += tgt_z_modifier; - - float tgt_x_modifier = (bwidth - 0.5f) * 0.2f; - tgt.x += tgt_x_modifier; - addutil::general::clamp(tgt.x, 0.0f, 1.0f); - - if(b == UpTarget) - { - tgt.z = 1.0f - tgt.z; - tgt.x = 1.0f - tgt.x; - } - - tgt.x *= pwidth; - tgt.z *= plength; - return (boost::shared_ptr<IdleInFormation>(new IdleInFormation(mMatchStatus, mPlayerID, tgt))); - } } } } src/freekick/match/client/ai/tasks/PlaySoccer.cpp @@ -27,6 +27,7 @@ #include "messages/PlayerControlMessage.h" #include "MatchStatus.h" +#include "Helpers.h" #include "tasks/CompositeTask.h" #include "tasks/Idle.h" @@ -35,6 +36,7 @@ #include "tasks/IdleInFormation.h" #include "tasks/KickBall.h" #include "tasks/GotoKickoffFormationPosition.h" +#include "tasks/GoalkeeperAction.h" namespace freekick { @@ -53,7 +55,6 @@ namespace freekick bool finished() const; virtual boost::shared_ptr<messages::PlayerControlMessage> process(); private: - boost::shared_ptr<IdleInFormation> newIdleInFormation() const; boost::shared_ptr<MatchStatus> mMatchStatus; int mPlayerID; boost::shared_ptr<MatchPlayer> mPlayer; src/freekick/match/client/ai/tasks/PlaySoccer.h @@ -121,9 +121,10 @@ namespace freekick Camera *cam = mgr->createCamera("Camera"); Viewport *vp = mRoot->getAutoCreatedWindow()->addViewport(cam); - vp->setBackgroundColour(ColourValue(0.675, 0.84, 0.9)); + // vp->setBackgroundColour(ColourValue(0.675, 0.84, 0.9)); // light blue + vp->setBackgroundColour(ColourValue(0.5, 0.0, 0.0)); // maroon cam->setNearClipDistance(0.5); - cam->setAspectRatio(Real(vp->getActualWidth()) / Real(vp->getActualHeight())); + cam->setAutoAspectRatio(true); mgr->setAmbientLight(ColourValue( 0.2, 0.2, 0.2 ) ); mgr->setShadowTechnique( SHADOWTYPE_STENCIL_ADDITIVE); @@ -209,16 +210,12 @@ namespace freekick win->getCustomAttribute("WINDOW", &windowHnd); windowHndStr << windowHnd; - unsigned int width, height, depth; - int top, left; - win->getMetrics(width, height, depth, left, top); - Ogre::SceneManager *mgr = mRoot->getSceneManager("Default SceneManager"); Ogre::Camera* cam = mgr->getCamera("Camera"); try { - input->setupInputSystem(windowHndStr.str(), width, height, mgr, cam); + input->setupInputSystem(windowHndStr.str(), win, mgr, cam); mRoot->addFrameListener(input->getFrameListener()); } catch (const OIS::Exception &e) @@ -237,6 +234,8 @@ namespace freekick mSystem = new CEGUI::System(mRenderer); // Other CEGUI setup here. + // CEGUI::SchemeManager::getSingleton().loadScheme((CEGUI::utf8*)"TaharezLookSkin.scheme"); + // CEGUI::MouseCursor::getSingleton().setImage("TaharezLook", "MouseArrow"); } void Graphics::startRenderLoop() src/freekick/match/client/cl_ogre/Graphics.cpp @@ -46,12 +46,11 @@ namespace freekick } void Input::setupInputSystem(const std::string& windowhnd, - unsigned int width, - unsigned int height, + Ogre::RenderWindow* win, Ogre::SceneManager* mgr, Ogre::Camera* cam) { - inputhandler = new InputHandler(configuration->getInputConfiguration(), windowhnd, width, height, network, mgr, cam); + inputhandler = new InputHandler(configuration->getInputConfiguration(), status, windowhnd, win, network, mgr, cam); } Ogre::FrameListener* Input::getFrameListener() src/freekick/match/client/cl_ogre/Input.cpp @@ -58,8 +58,7 @@ namespace freekick boost::shared_ptr<InputConfiguration>& getInputConfiguration ( ) const; void setCameraPos(float x, float y, float z); void setupInputSystem(const std::string& windowhnd, - unsigned int width, - unsigned int height, + Ogre::RenderWindow* win, Ogre::SceneManager* mgr, Ogre::Camera* cam); Ogre::FrameListener* getFrameListener(); src/freekick/match/client/cl_ogre/Input.h @@ -28,18 +28,20 @@ namespace freekick { namespace cl_ogre { - InputHandler::InputHandler (boost::shared_ptr<InputConfiguration>& inputconf, + InputHandler::InputHandler (const boost::shared_ptr<InputConfiguration>& inputconf, + MatchStatus* ms, const std::string& windowhnd, - unsigned int width, - unsigned int height, + Ogre::RenderWindow* win, Network* netw, Ogre::SceneManager* mgr, Ogre::Camera* cam) : inputconfiguration(inputconf), + mMatchStatus(ms), network(netw), mControlledPlayer(110), mSceneMgr(mgr), - mCamera(cam) + mCamera(cam), + mRenderWindow(win) { mRotate = 0.13; mMove = 250; @@ -69,10 +71,16 @@ namespace freekick mMouse = static_cast<OIS::Mouse*>(mInputManager->createInputObject(OIS::OISMouse, true)); //mJoy = static_cast<OIS::JoyStick*>(mInputManager->createInputObject(OIS::OISJoyStick, true)); const OIS::MouseState &ms = mMouse->getMouseState(); + + unsigned int width, height, depth; + int top, left; + mRenderWindow->getMetrics(width, height, depth, left, top); + ms.width = width; ms.height = height; mMouse->setEventCallback(this); mKeyboard->setEventCallback(this); + Ogre::WindowEventUtilities::addWindowEventListener(mRenderWindow, this); } catch (const OIS::Exception& e) { @@ -83,20 +91,28 @@ namespace freekick // Camera // TODO: read pitch dimensions from matchstatus mCamNodes[0] = mSceneMgr->getRootSceneNode()->createChildSceneNode("CamNode0"); - mCamNodes[0]->setPosition (Ogre::Vector3(35.0f, 60.0f, 50.0f)); + mCamNodes[0]->setPosition (Ogre::Vector3(35.0f, 100.0f, 50.0f)); + mCamNodes[0]->lookAt (Ogre::Vector3(35.0f, 0, 50.0f), Ogre::Node::TS_WORLD); + mCamNodes[0]->roll(Ogre::Radian(-Ogre::Math::HALF_PI)); mCamNodes[1] = mSceneMgr->getRootSceneNode()->createChildSceneNode("CamNode1"); - mCamNodes[1]->setPosition (Ogre::Vector3(35.0f, 45.0f, 150.0f)); + mCamNodes[1]->setPosition (Ogre::Vector3(35.0f, 75.0f, 120.0f)); + mCamNodes[1]->lookAt (Ogre::Vector3(35.0f, 0, 65.0f), Ogre::Node::TS_WORLD); + + mCamNodes[1]->attachObject(mCamera); + mCamNode = mCamNodes[1]; + mCamMode = CamLengthFar; - mCamNodes[0]->attachObject(mCamera); - mCamNode = mCamNodes[0]; - switchToCameraMode(CamLengthFar); + mRaySceneQuery = mSceneMgr->createRayQuery(Ogre::Ray()); + // mRaySceneQuery->setWorldFragmentType(Ogre::SceneQuery::WFT_SINGLE_INTERSECTION); network->sendMessage(messages::PlayerControlRequestMessage(mControlledPlayer)); } InputHandler::~InputHandler() { + mSceneMgr->destroyQuery(mRaySceneQuery); + if(mKeyboard) mInputManager->destroyInputObject(mKeyboard); if(mMouse) mInputManager->destroyInputObject(mMouse); OIS::InputManager::destroyInputSystem(mInputManager); @@ -116,6 +132,46 @@ namespace freekick bool InputHandler::mousePressed (const OIS::MouseEvent& e, OIS::MouseButtonID id ) { + // CEGUI::Point mousePos = CEGUI::MouseCursor::getSingleton().getPosition(); + Ogre::Ray mouseRay = mCamera->getCameraToViewportRay( + e.state.X.abs / float(e.state.width), + e.state.Y.abs / float(e.state.height)); + mRaySceneQuery->setRay(mouseRay); + mRaySceneQuery->setSortByDistance(false); + // std::cerr << "X: " << e.state.X.abs << "; Y: " << e.state.Y.abs << "; width: " << e.state.width << "; height: " << e.state.height << std::endl; + + using namespace Ogre; + RaySceneQueryResult& result = mRaySceneQuery->execute(); + RaySceneQueryResult::iterator itr = result.begin(); + + for(itr = result.begin(); itr != result.end(); itr++) + { + if(itr->distance == 0.0f) + continue; + Ogre::Vector3 clickpos = mouseRay.getPoint(itr->distance); + // std::cerr << "Clicked; dist: " << itr->distance << "; pos: " << clickpos.x << ";" << clickpos.y << ";" << clickpos.z << std::endl; + try + { + boost::shared_ptr<MatchPlayer> pl = mMatchStatus->getPlayer(mControlledPlayer); + addutil::Vector3 plpos = pl->getPosition(); + addutil::Vector3 target(clickpos.x - plpos.x, clickpos.y - plpos.y, clickpos.z - plpos.z); + if(id == OIS::MB_Left) + { + Helpers::correctPassVector(target); + } + else + { + Helpers::correctShootVector(target); + } + network->sendMessage(messages::KickPlayerControlMessage(mControlledPlayer, target)); + } + catch(...) + { + std::cerr << "Tried to kick, but the player is not in the match status.\n"; + } + break; + } + return true; } @@ -126,6 +182,8 @@ namespace freekick bool InputHandler::mouseMoved (const OIS::MouseEvent& e ) { + // CEGUI::System::getSingleton().injectMouseMove(e.state.X.rel, e.state.Y.rel); +/* if (e.state.buttonDown(OIS::MB_Right)) { if(mCamNode) @@ -134,7 +192,7 @@ namespace freekick mCamNode->pitch(Ogre::Degree(-mRotate * e.state.Y.rel), Ogre::Node::TS_LOCAL); } } - +*/ return true; } @@ -171,6 +229,13 @@ namespace freekick mDirection.y += mMove; break; + case OIS::KC_O: + { + const Ogre::Vector3& vec = mCamNode->getPosition(); + std::cerr << "Camera position: " << vec.x << "; " << vec.y << "; " << vec.z << std::endl; + break; + } + case OIS::KC_W: setMoveVector(DirUp, 15.0f); sendmove = true; @@ -253,32 +318,32 @@ namespace freekick break; case OIS::KC_W: - setMoveVector(DirUp, 0.0f); + setMoveVector(DirUp, -15.0f); sendmove = true; break; case OIS::KC_S: - setMoveVector(DirDown, 0.0f); + setMoveVector(DirDown, -15.0f); sendmove = true; break; case OIS::KC_A: - setMoveVector(DirLeft, 0.0f); + setMoveVector(DirLeft, -15.0f); sendmove = true; break; case OIS::KC_D: - setMoveVector(DirRight, 0.0f); + setMoveVector(DirRight, -15.0f); sendmove = true; break; case OIS::KC_Q: - setMoveVector(DirUp, 0.0f); + setMoveVector(DirUp, -15.0f); sendmove = true; break; case OIS::KC_E: - setMoveVector(DirCrouch, 0.0f); + setMoveVector(DirCrouch, -15.0f); sendmove = true; break; @@ -292,39 +357,46 @@ namespace freekick return true; } + void InputHandler::windowResized(Ogre::RenderWindow* rw) + { + const OIS::MouseState &ms = mMouse->getMouseState(); + ms.width = rw->getWidth(); + ms.height = rw->getHeight(); + } + void InputHandler::setMoveVector(SubjectiveDirection d, float mag) { switch(d) { case DirUp: if(mCamMode == CamSky) - mRunDirection.x = mag; + mRunDirection.x += mag; else if (mCamMode == CamLengthFar) - mRunDirection.z = -mag; + mRunDirection.z -= mag; break; case DirDown: if(mCamMode == CamSky) - mRunDirection.x = -mag; + mRunDirection.x -= mag; else if (mCamMode == CamLengthFar) - mRunDirection.z = mag; + mRunDirection.z += mag; break; case DirLeft: if(mCamMode == CamSky) - mRunDirection.z = mag; + mRunDirection.z -= mag; else if (mCamMode == CamLengthFar) - mRunDirection.x = -mag; + mRunDirection.x -= mag; break; case DirRight: if(mCamMode == CamSky) - mRunDirection.z = -mag; + mRunDirection.z += mag; else if (mCamMode == CamLengthFar) - mRunDirection.x = mag; + mRunDirection.x += mag; break; case DirJump: - mRunDirection.y = mag; + mRunDirection.y += mag; break; case DirCrouch: - mRunDirection.y = -mag; + mRunDirection.y -= mag; break; } } @@ -355,7 +427,6 @@ namespace freekick int i = (m == CamSky) ? 0 : 1; mCamNodes[i]->attachObject(mCamera); mCamNode = mCamNodes[i]; - mCamera->lookAt (Ogre::Vector3(35.0f, 0, 50.0f)); mCamMode = m; } } src/freekick/match/client/cl_ogre/InputHandler.cpp @@ -30,14 +30,22 @@ #include <OIS/OIS.h> -#include "addutil/Vector3.h" +#include <CEGUI/CEGUISystem.h> +#include <CEGUI/CEGUISchemeManager.h> +#include <OgreCEGUIRenderer.h> -#include "Network.h" -#include "InputConfiguration.h" +#include "addutil/Vector3.h" #include "messages/InitialDataRequest.h" #include "messages/MovePlayerControlMessage.h" +#include "messages/KickPlayerControlMessage.h" #include "messages/PlayerControlRequestMessage.h" +#include "MatchPlayer.h" +#include "MatchStatus.h" +#include "Helpers.h" + +#include "Network.h" +#include "InputConfiguration.h" /** * class InputHandler @@ -77,13 +85,13 @@ namespace freekick CamLengthFar }; - class InputHandler : public Ogre::FrameListener, public OIS::MouseListener, public OIS::KeyListener + class InputHandler : public Ogre::FrameListener, public OIS::MouseListener, public OIS::KeyListener, public Ogre::WindowEventListener { public: - InputHandler (boost::shared_ptr<InputConfiguration>& inputconf, + InputHandler (const boost::shared_ptr<InputConfiguration>& inputconf, + MatchStatus* ms, const std::string& windowhnd, - unsigned int width, - unsigned int height, + Ogre::RenderWindow* win, Network* netw, Ogre::SceneManager* mgr, Ogre::Camera* cam); @@ -95,14 +103,17 @@ namespace freekick bool mouseMoved (const OIS::MouseEvent& e ); bool keyPressed (const OIS::KeyEvent& e ); bool keyReleased (const OIS::KeyEvent& e ); + void windowResized(Ogre::RenderWindow* rw); private: void setMoveVector(SubjectiveDirection d, float mag); void sendMoveMessage(const addutil::Vector3& to); void sendMoveMessage(Direction d, float mag); void switchToCameraMode(CameraMode m); + boost::shared_ptr<InputConfiguration> inputconfiguration; - OIS::MouseState mousePositionState; + MatchStatus* mMatchStatus; + // OIS::MouseState mousePositionState; Ogre::SceneNode* camtarget; Ogre::Real mRotate; // The rotate constant @@ -124,6 +135,10 @@ namespace freekick CameraMode mCamMode; boost::array<Ogre::SceneNode*, 2> mCamNodes; Ogre::SceneNode* mCamNode; + + Ogre::RaySceneQuery* mRaySceneQuery; + CEGUI::Renderer *mGUIRenderer; + Ogre::RenderWindow* mRenderWindow; }; } } src/freekick/match/client/cl_ogre/InputHandler.h @@ -76,8 +76,8 @@ namespace freekick m_quat.x = atof(ss[6].c_str()); m_quat.y = atof(ss[7].c_str()); m_quat.z = atof(ss[8].c_str()); - m_causs = atoi(ss[9].c_str()); - m_contrs = atoi(ss[10].c_str()); + m_causs.setValue(atoi(ss[9].c_str())); + m_contrs.setValue(atoi(ss[10].c_str())); } else throw "Constant Update Message: failed parse"; src/freekick/match/messages/ConstantUpdateMessage.h @@ -36,7 +36,14 @@ namespace freekick : PlayerControlMessage(plid, tgtvec) { } + virtual ~HoldPlayerControlMessage() { } + + HoldPlayerControlMessage(std::string& msg) + : PlayerControlMessage(msg, c_pl_ctl_hold) + { + } + const std::string toString() const { return contString(c_pl_ctl_hold); src/freekick/match/messages/HoldPlayerControlMessage.h @@ -89,47 +89,21 @@ namespace freekick // MovePlayerControlMessage: handled by InputMonitor. if (t == c_pl_ctl_move) { - try - { - const messages::MovePlayerControlMessage m(b); - int playerid = m.getPlayerID(); - if(!(*it).second->controlsPlayer(playerid)) - { - std::cerr << "ClientEventListener: client " << clientid << " trying to control another player (" << playerid << ").\n"; - if(it->second->getAI()) - { - mDispatcher->sendPlayerList(clientid); - } - return; - } - mInputMonitor->newClientMessage(m); - } - catch(...) - { - std::cerr << "ClientEventListener: failed to parse MovePlayerControlMessage.\n"; - } + handleMoveMessage(clientid, b, it->second); return; } - // TODO: merge this with MovePlayerControlMessage for nicer code? // KickPlayerControlMessage: handled by InputMonitor. else if (t == c_pl_ctl_kick) { - try - { - const messages::KickPlayerControlMessage m(b); - int playerid = m.getPlayerID(); - if(!(*it).second->controlsPlayer(playerid)) - { - std::cerr << "ClientEventListener: client " << clientid << " trying to control another player (" << playerid << ").\n"; - return; - } - mInputMonitor->newClientMessage(m); - } - catch(...) - { - std::cerr << "ClientEventListener: failed to parse KickPlayerControlMessage.\n"; - } + handleKickMessage(clientid, b, it->second); + return; + } + + // HoldPlayerControlMessage: handled by InputMonitor. + else if (t == c_pl_ctl_hold) + { + handleHoldMessage(clientid, b, it->second); return; } @@ -251,6 +225,69 @@ namespace freekick // TODO: add handling for all messages } + + void ClientEventListener::handleMoveMessage(int clientid, buffer& b, boost::shared_ptr<Client> c) + { + try + { + const messages::MovePlayerControlMessage m(b); + int playerid = m.getPlayerID(); + if(checkController(clientid, playerid, c)) + mInputMonitor->newClientMessage(m); + } + catch(...) + { + std::cerr << "ClientEventListener: failed to parse PlayerControlMessage.\n"; + } + return; + } + + // TODO: merge this with MovePlayerControlMessage for nicer code? + void ClientEventListener::handleKickMessage(int clientid, buffer& b, boost::shared_ptr<Client> c) + { + try + { + const messages::KickPlayerControlMessage m(b); + int playerid = m.getPlayerID(); + if(checkController(clientid, playerid, c)) + mInputMonitor->newClientMessage(m); + } + catch(...) + { + std::cerr << "ClientEventListener: failed to parse PlayerControlMessage.\n"; + } + return; + } + + void ClientEventListener::handleHoldMessage(int clientid, buffer& b, boost::shared_ptr<Client> c) + { + try + { + const messages::HoldPlayerControlMessage m(b); + int playerid = m.getPlayerID(); + if(checkController(clientid, playerid, c)) + mInputMonitor->newClientMessage(m); + } + catch(...) + { + std::cerr << "ClientEventListener: failed to parse PlayerControlMessage.\n"; + } + return; + } + + bool ClientEventListener::checkController(int clientid, int playerid, boost::shared_ptr<Client> c) + { + if(!c->controlsPlayer(playerid)) + { + std::cerr << "ClientEventListener: client " << clientid << " trying to control another player (" << playerid << ").\n"; + if(c->getAI()) + { + mDispatcher->sendPlayerList(clientid); + } + return false; + } + return true; + } } } } src/freekick/match/server/ClientEventListener.cpp @@ -60,6 +60,10 @@ namespace freekick std::map<int, std::string> unfinished_buffer; void handleMessage(int clientid, buffer b); + void handleMoveMessage(int clientid, buffer& b, boost::shared_ptr<Client> c); + void handleKickMessage(int clientid, buffer& b, boost::shared_ptr<Client> c); + void handleHoldMessage(int clientid, buffer& b, boost::shared_ptr<Client> c); + bool checkController(int clientid, int playerid, boost::shared_ptr<Client> c); }; } } src/freekick/match/server/ClientEventListener.h @@ -55,6 +55,9 @@ namespace freekick VelocityMap::iterator itv = mVelocities->find(plid); if(itv == mVelocities->end()) mVelocities->insert(std::pair<int, addutil::Vector3>(plid, Vector3(0.0f, 0.0f, 0.0f))); + + if(mMatchStatus->holdingBall() == plid) + mMatchStatus->setBallHolder(0); } void InputMonitor::newClientMessage (const messages::KickPlayerControlMessage& e) @@ -80,7 +83,7 @@ namespace freekick // TODO: also check ball height vs. feet if(dist.length() > 2.5f) { - std::cerr << "InputMonitor: Player tried to kick but was too far away\n"; + // std::cerr << "InputMonitor: Player tried to kick but was too far away\n"; return; } @@ -92,6 +95,36 @@ namespace freekick } (*mKicks)[plid] = v; + + if(mMatchStatus->holdingBall() == plid) + mMatchStatus->setBallHolder(0); + } + + void InputMonitor::newClientMessage (const messages::HoldPlayerControlMessage& e) + { + addutil::Vector3 v; + e.getTargetVector(v); + messages::MovePlayerControlMessage m(e.getPlayerID(), v); + newClientMessage(m); + + boost::shared_ptr<MatchPlayer> pl; + int plid = e.getPlayerID(); + try + { + pl = mMatchStatus->getPlayer(plid); + } + catch(const char* e) + { + std::cerr << "InputMonitor::newClientMessage: " << e << std::endl; + return; + } + float dist = (pl->getPosition() - mMatchStatus->getBall()->getPosition()).length(); + if(dist < 2.5f) // TODO: define this somewhere else (and make it more realistic) + { + // std::cerr << "InputMonitor: Player " << e.getPlayerID() << " holds the ball\n"; + mMatchStatus->setBallHolder(e.getPlayerID()); + } + // else std::cerr << "InputMonitor: Player tried to hold ball but was too far away\n"; } void InputMonitor::interpolate(unsigned long microseconds) src/freekick/match/server/InputMonitor.cpp @@ -32,6 +32,7 @@ #include "MatchStatus.h" #include "messages/MovePlayerControlMessage.h" #include "messages/KickPlayerControlMessage.h" +#include "messages/HoldPlayerControlMessage.h" namespace freekick { @@ -60,6 +61,7 @@ namespace freekick virtual ~InputMonitor() { } void newClientMessage (const messages::MovePlayerControlMessage& e); void newClientMessage (const messages::KickPlayerControlMessage& e); + void newClientMessage (const messages::HoldPlayerControlMessage& e); void interpolate(unsigned long microseconds); boost::shared_ptr<VelocityMap> getVelocities(); boost::shared_ptr<KickMap> getKicks(); src/freekick/match/server/InputMonitor.h @@ -123,7 +123,7 @@ namespace freekick successful = mPhysicsEngine->stepWorld(frametime); const BallState bs = mMatchStatus->getBallState(); - if(bs.bio_type == PreKickoff || (bs.bio_type == Kickoff && bs.blocked_play)) + if(bs.bio_type == Kickoff && bs.blocked_play) { addutil::Vector3 p = mMatchStatus->getCentreSpot(); p.y = ball_radius; @@ -131,7 +131,8 @@ namespace freekick } else if(bs.blocked_play && (bs.bio_type != BallIn && - bs.bio_type != HalfFullTime)) + bs.bio_type != HalfFullTime && + bs.bio_type != PreKickoff)) { addutil::Vector3 p = bs.restart_point; p.y = ball_radius; @@ -142,9 +143,13 @@ namespace freekick kickit = kickMap->begin(); while(kickit != kickMap->end()) { - if (!mPhysicsEngine->setObjectVelocity(BallID, kickit->second, kickit->first)) + bool allowed_to_kick = mMatchStatus->playerAllowedToKick(kickit->first); + if(allowed_to_kick) { - std::cerr << "Physics::run: Invalid kick (no ball?)\n"; + if (!mPhysicsEngine->setObjectVelocity(BallID, kickit->second, kickit->first)) + { + std::cerr << "Physics::run: Invalid kick (no ball?)\n"; + } } kickMap->erase(kickit); kickit = kickMap->begin(); @@ -163,6 +168,25 @@ namespace freekick } mInputMonitor->interpolate(sleep_time); + int holder = mMatchStatus->holdingBall(); + if(holder) + { + addutil::Vector3 plpos; + addutil::Quaternion orien; + if(mPhysicsEngine->getObjectPositionAndOrientation(holder, plpos, orien)) + { + addutil::Vector3 ballpos; +/* + addutil::Vector3 pldir; + float ang = 0.0f; + orien.toAxisAngle(pldir, ang); + ballpos = plpos + pldir * 0.7f; +*/ + ballpos = plpos; + mPhysicsEngine->setObjectPosition(BallID, ballpos); + } + } + ptime after_time(microsec_clock::local_time()); time_period diff_time(before_time, after_time); @@ -174,12 +198,12 @@ namespace freekick else { /* - if(fps > 10) - { - fps--; - frametime = 1.0f / fps; - sleep_time = frametime * 1000000; - } + if(fps > 10) + { + fps--; + frametime = 1.0f / fps; + sleep_time = frametime * 1000000; + } */ std::cerr << "Physics::run: overrun by " << -time_left << " microseconds; fps: " << fps << std::endl; } @@ -199,7 +223,10 @@ namespace freekick if(p.first > 0) pos_corrected.y -= collision_box_height; const addutil::Quaternion orien = p.second->getOrientation(); - messages::ConstantUpdateMessage c(p.first, 0, pos_corrected, orien); + + // TODO: add other elements of Caused+ControlledStatus here + bool isholder = (mMatchStatus->holdingBall() == p.second->getID()); + messages::ConstantUpdateMessage c(p.first, 0, pos_corrected, orien, CausedStatus(), ControlledStatus(false, isholder)); newmessages.push_back(c); } src/freekick/match/server/Physics.cpp @@ -49,17 +49,9 @@ namespace freekick mPhysics->unsubscribe(*this); } - void Rules::update(Physics* p) + void Rules::check_for_touched_ball(const OwnerMessageList& c, bool& new_ball_status, bool& ball_touched) { - PhysicsMessageList l; - OwnerMessageList c; - p->getUpdates(l, c); - - bool new_ball_status = false; - bool ball_touched = false; - GoalQuery goal_scored = NoGoal; - - OwnerMessageList::iterator oit; + OwnerMessageList::const_iterator oit; for(oit = c.begin(); oit != c.end(); oit++) { try @@ -94,8 +86,11 @@ namespace freekick // invalid ID in owner message (referee, etc.) -> ignore. } } + } - PhysicsMessageList::iterator it; + void Rules::check_for_over_pitch(const PhysicsMessageList& l, bool& new_ball_status, GoalQuery& goal_scored) + { + PhysicsMessageList::const_iterator it; for(it = l.begin(); it != l.end(); it++) { int plid = it->getPlayerID(); @@ -193,88 +188,111 @@ namespace freekick } } } + } + } - if(mBallState.bio_type == PreKickoff || mBallState.bio_type == Kickoff) + void Rules::check_for_bio_change(bool& new_ball_status, bool& ball_touched) + { + if(mBallState.bio_type == PreKickoff || mBallState.bio_type == Kickoff) + { + typedef std::map<int, boost::shared_ptr<MatchPlayer> > EntityMap; + std::map<int, boost::shared_ptr<MatchPlayer> > entitymap; + mMatchStatus->getPlayers(entitymap); + std::vector<int>::const_iterator it; + + if(mBallState.bio_type == PreKickoff) { - typedef std::map<int, boost::shared_ptr<MatchPlayer> > EntityMap; - std::map<int, boost::shared_ptr<MatchPlayer> > entitymap; - mMatchStatus->getPlayers(entitymap); - std::vector<int>::const_iterator it; + bool substitute_on_pitch = false; - if(mBallState.bio_type == PreKickoff) + for(int i = 0; i < 2 && substitute_on_pitch == false; i++) { - bool substitute_on_pitch = false; - - for(int i = 0; i < 2 && substitute_on_pitch == false; i++) + for(it = substitutes[i].begin(); it != substitutes[i].end() && substitute_on_pitch == false; it++) { - for(it = substitutes[i].begin(); it != substitutes[i].end() && substitute_on_pitch == false; it++) + EntityMap::const_iterator eit = entitymap.find(*it); + if(eit != entitymap.end()) { - EntityMap::const_iterator eit = entitymap.find(*it); - if(eit != entitymap.end()) - { - addutil::Vector3 v = eit->second->getPosition(); - if(mPitch->onPitch(v.x, v.z)) - substitute_on_pitch = true; - } + addutil::Vector3 v = eit->second->getPosition(); + if(mPitch->onPitch(v.x, v.z)) + substitute_on_pitch = true; } } - if(!substitute_on_pitch) - { - new_ball_status = true; - mBallState.bio_type = Kickoff; - mBallState.blocked_play = true; - } } - else if(mBallState.bio_type == Kickoff) + if(!substitute_on_pitch) { - // TODO: check if a player moved from his side to the other after giving play free - if(mBallState.blocked_play) + new_ball_status = true; + mBallState.bio_type = Kickoff; + mBallState.blocked_play = true; + } + } + else if(mBallState.bio_type == Kickoff) + { + // TODO: check if a player moved from his side to the other after giving play free + if(mBallState.blocked_play) + { + bool player_not_on_his_side = false; + for(int i = 0; i < 2 && player_not_on_his_side == false; i++) { - bool player_not_on_his_side = false; - for(int i = 0; i < 2 && player_not_on_his_side == false; i++) + for(it = players[i].begin(); it != players[i].end() && player_not_on_his_side == false; it++) { - for(it = players[i].begin(); it != players[i].end() && player_not_on_his_side == false; it++) + EntityMap::const_iterator eit = entitymap.find(*it); + if(eit != entitymap.end()) { - EntityMap::const_iterator eit = entitymap.find(*it); - if(eit != entitymap.end()) - { - addutil::Vector3 v = eit->second->getPosition(); - // TODO: check for half time/coin toss - if(!mPitch->onSide((i == 0), v.x, v.z)) - player_not_on_his_side = true; - } + addutil::Vector3 v = eit->second->getPosition(); + // TODO: check for half time/coin toss + if(!mPitch->onSide((i == 0), v.x, v.z)) + player_not_on_his_side = true; } } - if(!player_not_on_his_side) - { - new_ball_status = true; - mBallState.blocked_play = false; - } - // TODO: check for ball in centre } - else + if(!player_not_on_his_side) { - if(ball_touched) - { - new_ball_status = true; - mBallState.bio_type = BallIn; - } + new_ball_status = true; + mBallState.blocked_play = false; } + // TODO: check for ball in centre } - } - else if (mBallState.bio_type != HalfFullTime) - { - if(ball_touched) + else { - new_ball_status = true; - mBallState.blocked_play = false; - mBallState.bio_type = BallIn; + if(ball_touched) + { + new_ball_status = true; + mBallState.bio_type = BallIn; + } } } - else // HalfFullTime + } + else if (mBallState.bio_type != HalfFullTime) + { + // throwin, goal kick, etc... + if(ball_touched) { + new_ball_status = true; + mBallState.blocked_play = false; + mBallState.bio_type = BallIn; } } + else // HalfFullTime + { + } + } + + void Rules::update(Physics* p) + { + PhysicsMessageList l; + OwnerMessageList c; + p->getUpdates(l, c); + + bool new_ball_status = false; + bool ball_touched = false; + GoalQuery goal_scored = NoGoal; + + if(!(mBallState.bio_type == PreKickoff || mBallState.bio_type == HalfFullTime)) + { + check_for_touched_ball(c, new_ball_status, ball_touched); + check_for_over_pitch(l, new_ball_status, goal_scored); + } + + check_for_bio_change(new_ball_status, ball_touched); boost::posix_time::ptime this_time(boost::posix_time::microsec_clock::local_time()); boost::posix_time::time_period diff_time(last_update_time, this_time); src/freekick/match/server/Rules.cpp @@ -81,6 +81,10 @@ namespace freekick boost::posix_time::ptime last_update_time; static const unsigned long update_time_interval_ms = 1000000; + + void check_for_touched_ball(const OwnerMessageList& c, bool& new_ball_status, bool& ball_touched); + void check_for_over_pitch(const PhysicsMessageList& l, bool& new_ball_status, GoalQuery& goal_scored); + void check_for_bio_change(bool& new_ball_status, bool& ball_touched); }; } src/freekick/match/server/Rules.h @@ -82,12 +82,12 @@ namespace freekick { ClientList::iterator it; it = clients->find(id); - std::cerr << "Client " << id << " disconnected.\n"; if (it != clients->end()) { clients->erase(it); } remove_from_group(id, 1); + std::cerr << "Client " << id << " disconnected.\n"; } void ServerManager::client_input(client_id id, std::string& msg) src/freekick/match/server/ServerManager.cpp @@ -64,7 +64,7 @@ namespace freekick switch(it->first) { case Goalkeeper: - mFormationMap.insert(pair<int, Circle>(it->second, Circle(0.5f, 0.05f, 0.1f))); + mFormationMap.insert(pair<int, Circle>(it->second, Circle(0.5f, 0.03f, 0.1f))); break; case Defender: mFormationMap.insert(pair<int, Circle>(it->second, Circle(defdiff * defs + defdiff / 2.0f, defhei, defdiff))); src/freekick/soccer/Formation.cpp @@ -24,9 +24,17 @@ namespace freekick { namespace soccer { - Pitch::Pitch (float w, float l ) + Pitch::Pitch (float w, float l) : width(w), length(l) { + float goal_area_left = width / 2.0f - (goal_width / 2.0f) - goal_area_width; + float goal_area_right = width / 2.0f + (goal_width / 2.0f) + goal_area_width; + float goal_area_up = goal_area_length; + float goal_area_down = length - goal_area_length; + goal_area_points[0] = addutil::Vector3(goal_area_left, 0.0f, 0.0f); + goal_area_points[1] = addutil::Vector3(goal_area_right, 0.0f, goal_area_up); + goal_area_points[2] = addutil::Vector3(goal_area_left, 0.0f, goal_area_down); + goal_area_points[3] = addutil::Vector3(goal_area_right, 0.0f, length); } float Pitch::getWidth() const @@ -82,7 +90,12 @@ namespace freekick if(y < 0.0f || y > goal_height) return false; return true; } + + GoalQuery Pitch::inGoalArea(const addutil::Vector3& v) const + { + if(addutil::inArea(goal_area_points[0], goal_area_points[1], v)) return HomeGoal; + if(addutil::inArea(goal_area_points[2], goal_area_points[3], v)) return AwayGoal; + return NoGoal; + } } } - - src/freekick/soccer/Pitch.cpp @@ -25,9 +25,12 @@ #include <string> #include <boost/serialization/serialization.hpp> +#include <boost/array.hpp> #include "addutil/Vector3.h" +#include "Primitives.h" + /** * class Pitch */ @@ -39,6 +42,8 @@ namespace freekick // TODO: move such magic constants to a separate .h static const float goal_width = 7.32f; static const float goal_height = 2.44f; + static const float goal_area_width = 5.5f; + static const float goal_area_length = 5.5f; class Pitch { @@ -52,12 +57,14 @@ namespace freekick bool inSecondGoal(const addutil::Vector3& v) const; bool inFirstGoal(float x, float y, float z) const; bool inSecondGoal(float x, float y, float z) const; + GoalQuery inGoalArea(const addutil::Vector3& v) const; protected: bool maybeInGoal(float x, float y, float z) const; private: const float width; const float length; + boost::array<addutil::Vector3, 4> goal_area_points; friend class boost::serialization::access; template<class Archive> src/freekick/soccer/Pitch.h @@ -35,6 +35,13 @@ namespace freekick return DownTarget; } + GoalQuery other(GoalQuery q) + { + if(q == HomeGoal) return AwayGoal; + if(q == AwayGoal) return HomeGoal; + return q; + } + BallOwner intToBallOwner(int n) { if(n) return Away; return Home; @@ -66,5 +73,13 @@ namespace freekick return Home; return Away; } + + bool ownersGoal(BallOwner b, GoalQuery g) + { + if(g == NoGoal) return false; + if(b == Home && g == HomeGoal) return true; + if(b == Away && g == AwayGoal) return true; + return false; + } } } src/freekick/soccer/Primitives.cpp @@ -51,11 +51,13 @@ namespace freekick BallOwner other(BallOwner b); PlayerTarget other(PlayerTarget b); + GoalQuery other(GoalQuery q); BallOwner intToBallOwner(int n); void setPositionSide(PlayerTarget t, addutil::Vector3& pos, float pitch_width, float pitch_length); void setPositionSide(BallOwner b, bool secondhalf, addutil::Vector3& pos, float pitch_width, float pitch_length); PlayerTarget ballOwnerToPlayerTarget(BallOwner b, bool secondhalf); BallOwner playerTargetToBallOwner(PlayerTarget t, bool secondhalf); + bool ownersGoal(BallOwner b, GoalQuery g); } } src/freekick/soccer/Primitives.h bin/Media/materials/scripts/Example.material bin/Media/materials/scripts/Examples.compositor bin/Media/materials/scripts/Examples.program bin/Media/materials/textures/RustySteel.jpg bin/Media/materials/textures/grass_1024.jpg bin/Media/materials/textures/r2skin.jpg bin/Media/materials/textures/spheremap.png bin/Media/models/Goal.mesh bin/Media/models/ball.mesh bin/Media/models/robot.mesh bin/Media/models/robot.skeleton 5818adddc7ff57f19b7c3d4b6531054e48761f76 Antti Salonen ajsalonen@gmail.com http://github.com/anttisalonen/freekick/commit/6c596be674c0db850d80f98a2de9439a9f7376bd 6c596be674c0db850d80f98a2de9439a9f7376bd 2009-01-27T13:00:02-08:00 2009-01-27T13:00:02-08:00 moved the Media files from bin/ to share/ Addutil: minor additions Server: added get-functions to PhysicsEngine Protocol: added "holding ball" to ControlledStatus Libmatch: added holder to MatchBall AI: improved goalkeeper AI Client: added two preset cameras Client: added kicking by mouse Server: added handling of HoldPlayerControlMessage 560fe2c705e19097a5f4e3badfc7136dcc6c42e5 Antti Salonen ajsalonen@gmail.com