diff --git a/LICENSE b/LICENSE new file mode 100644 index 00000000..7858c4f3 --- /dev/null +++ b/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2019 AI World Cup + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/README.md b/README.md index 2fd976a6..37bc8ac2 100644 --- a/README.md +++ b/README.md @@ -1,21 +1,17 @@ # AI World Cup Simulation -The AI World Cup simulation environment for usage in local PCs. Participants of [AI World Cup](http://aiworldcup.org) can download the program to develop their own algorithm for AI Soccer, AI Commentator, or AI Reporter. After development, participants of [AI World Cup](http://aiworldcup.org) can upload their algorithm online and test against others' on server provided by us. The online simulation running on our server for test matches can be used through [AI World Cup Web Simulator page](http://aiworldcup.org/web-si). As the qualifying/main rounds will be run in a same environment with the web simulation, please make sure that the developed program works in the web simulator. +The AI World Cup simulation environment. Participants of [AI World Cup](http://aiworldcup.org/) can download the program to develop their own algorithm for AI Soccer, AI Commentator, or AI Reporter. After development, participants of AI World Cup can submit their programs to [aiwc@rit.kaist.ac.kr](aiwc@rit.kaist.ac.kr). We will check if your program runs correctly on our server where the qualifying/main rounds will be run and reply back as soon as possible. Regarding the deadlines, please refer to our [AI World Cup Website](http://aiworldcup.org/). - There are two ways to download the AI World Cup simulation program. -- AI World Cup simulation program requires Webots Robot Simulator. Please refer to Webots official website's [installation procedure](https://www.cyberbotics.com/doc/guide/installation-procedure) to install Webots. -- Downloading ZIP file through 'Download ZIP' will not work. It does not download the submodules related to the program. +- AI World Cup simulation program requires Webots Robot Simulator. Please refer to Webots official website's [installation procedure](https://www.cyberbotics.com/doc/guide/installation-procedure) to install Webots (Webots version should be R2019b). +- **Downloading the ZIP file through 'Download ZIP' will not work.** It does not download the submodules related to the program. **How to download the simulation program** -Method 1. Go to [releases](https://github.com/aiwc/test_world/releases) and download the latest version (test_world.v0.5.zip). +Method 1. Go to [releases](https://github.com/aiwc/test_world/releases) and download the latest version. Method 2. Use following git command - ## Windows only. Carriage return will invalidate simulation files. - git config --global core.autocrlf false - - ## Both Linux and Windows git clone https://github.com/aiwc/test_world.git --recurse-submodules **How to run the simulation program** @@ -24,37 +20,48 @@ Please refer to the [Wiki pages](https://github.com/aiwc/test_world/wiki). **Descriptions** -**controllers**: Contains programs for managing AI World Cup simulation system **(Programs in this directory are managed by us and must not be modified)** +**controllers**: Contains programs for managing AI World Cup simulation game system **(You can modify the controllers to aid your development. However, the games at the competition will use the default controllers)** -- soccer_robot: Program that changes robot wheel movements based on received data +- soccer_robot: A program that changes robot wheel movements based on received data -- supervisor: Referee program that manages AI Soccer game +- supervisor: A referee program that manages AI World Cup games as whole (Participant programs communicate with this program to control the robots/make comments/submit a report) **examples**: Contains sample programs participants can refer to **(Participants may implement AI programs referring to the sample programs provided in this directory)** -- common: Contains a basic interface for information handling and communication with the simulation program +- common: Contains a basic interface for C++ information handling and communication with the simulation program - extlibs: Contains external libraries used in sample programs -- (role-prefix)_data: Directories where participants' program may write some files into if needed +- team_a_data, team_b_data, commentator_data, and reporter_data: Directories where participants' program may write some files into if needed + +- Remaining directories contain samples participants can refer to. + +- general_check-variables: A program that prints game information variables sent from the simulation program to participants program + +- general_frame-skip: A program that implements framing skipping. Frame skipping is advised when your program takes more than 50 ms in each game frame in generating the output control signal + +- general_image-fetch: A program that shows the game image frames using OpenCV + +- player_deep-learning-play and player_deep-learning-train: Programs that implement a base skeleton for AI Soccer deep learning using Deep-Q-Network (DQN) + +- player_random-walk: An AI Soccer program that simply sets robot wheel speeds to random value in each game frame + +- player_rulebased-A, player_rulebased-B: Programs that implement a rule-based control of a team in AI Soccer ('rulebased-B' is a simplified version of 'rulebased-A') -- Remaining directories contain samples participants can refer to. The sample directory names follow format '(role-prefix)_(program-description)_(programming_language)'. +- player_skeleton: A base skeleton for AI Soccer program -- (role-prefix): AI Soccer (player), AI Commentator (commentator), AI Reporter (reporter), general (Examples that may help participants from all three competitions) -- (program-description): Brief description of what the program does -- (programming_language): Programming language used in the example. Currently, we have examples for C++ (cpp) and Python (py). +- commentator_skeleton: A base skeleton for AI Commentator program -**extlibs**: Contains external libraries used in AI World Cup simulation **(Files in this directory are managed by us and must not be modified)** +- reporter_skeleton: A base skeleton for AI Reporter program -**plugins**: Contains a physics plugin used for ball-robot collision detection **(Files in this directory are managed by us and must not be modified)** +**extlibs**: Contains external libraries used in AI World Cup simulation -**protos**: Contains AI World Cup object models (robot, ball, stadium, etc.) **(Files in this directory are managed by us and must not be modified)** +**plugins**: Contains a physics plugin used for ball-robot collision detection -**reports**: If AI World Cup simulation is run with an AI Reporter, the report will be stored in this directory after the game. The created file's name will be (reporter team name specified in config.json).txt. **(Only related to AI Reporters)** +**protos**: Contains AI World Cup object models (robot, ball, stadium, etc.) **worlds**: Contains AI World Cup simulation world files **(Files in this directory can be run using Webots Robot Simulator)** - aiwc.wbt: Webots world file -- aiwc_simple.wbt: A simplified version of aiwc.wbt without visual decorations (stadium, grass field, etc.). This world can be run faster than aiwc.wbt without any differences in data observed by the participant's AI program. **config.json**: Configuration file for setting player executables, setting game duration, and setting some rules on/off for effective training. Please refer to the [Wiki page](https://github.com/aiwc/test_world/wiki/How-to-use-AI-World-Cup-simulation-program) for parameter descriptions **(Participants should modify the player information in this file to tell the simulation which program to execute)** diff --git a/config.json b/config.json index acd4f3b4..711d4499 100644 --- a/config.json +++ b/config.json @@ -1,28 +1,31 @@ { "rule": { "game_time": 300, - "deadlock": true, - "goal_area_foul": true, - "penalty_area_foul": true + "deadlock": true }, "team_a": { "name": "teamA", - "executable": "examples/player_rulebased_py/player_rulebased.py", + "executable": "examples/player_rulebased-A_py/player_rulebased-A.py", "datapath": "examples/team_a_data" }, "team_b": { "name": "teamB", - "executable": "examples/player_rulebased_py/player_rulebased.py", + "executable": "examples/player_rulebased-B_py/player_rulebased-B.py", "datapath": "examples/team_b_data" }, "commentator": { "name": "commentator", - "executable": "", - "datapath": "../../examples/commentator_data" + "executable": "examples/commentator_skeleton_py/commentator_skeleton.py", + "datapath": "examples/commentator_data" }, "reporter": { "name": "reporter", - "executable": "", - "datapath": "../../examples/reporter_data" + "executable": "examples/reporter_skeleton_py/reporter_skeleton.py", + "datapath": "examples/reporter_data" + }, + "tool": { + "repeat": false, + "record": false, + "record_path": "" } } diff --git a/controllers/soccer_robot/Makefile b/controllers/soccer_robot/Makefile index f1653c74..fae4164a 100644 --- a/controllers/soccer_robot/Makefile +++ b/controllers/soccer_robot/Makefile @@ -16,8 +16,8 @@ include $(WEBOTS_HOME_PATH)/resources/Makefile.include # Following lines need os detection ifneq ($(OSTYPE),windows) # need >=boost-1.64. use bundled boost for systems that has lower version of boost -CFLAGS += -I ../../extlibs/boost-1.65.1/include -LFLAGS += -L ../../extlibs/boost-1.65.1/lib/$(OSTYPE) +INCLUDE += -I ../../extlibs/boost-1.65.1/include +LIBRARIES += -L ../../extlibs/boost-1.65.1/lib/$(OSTYPE) BOOST_POSTFIX = else # webots for windows contains boost diff --git a/controllers/soccer_robot/soccer_robot b/controllers/soccer_robot/soccer_robot index 564422b9..aa37e533 100755 Binary files a/controllers/soccer_robot/soccer_robot and b/controllers/soccer_robot/soccer_robot differ diff --git a/controllers/soccer_robot/soccer_robot.exe b/controllers/soccer_robot/soccer_robot.exe deleted file mode 100644 index 5f654e02..00000000 Binary files a/controllers/soccer_robot/soccer_robot.exe and /dev/null differ diff --git a/controllers/supervisor/.supervisor.exe.signature b/controllers/supervisor/.supervisor.exe.signature deleted file mode 100644 index 995091ab..00000000 Binary files a/controllers/supervisor/.supervisor.exe.signature and /dev/null differ diff --git a/controllers/supervisor/.supervisor.signature b/controllers/supervisor/.supervisor.signature deleted file mode 100644 index ea2cc0ad..00000000 Binary files a/controllers/supervisor/.supervisor.signature and /dev/null differ diff --git a/controllers/supervisor/Makefile b/controllers/supervisor/Makefile index 6f28ad42..97efd7f4 100644 --- a/controllers/supervisor/Makefile +++ b/controllers/supervisor/Makefile @@ -25,8 +25,8 @@ include $(WEBOTS_HOME_PATH)/resources/Makefile.include # Following lines need os detection ifneq ($(OSTYPE),windows) # need >=boost-1.64. use bundled boost for systems that has lower version of boost -CFLAGS += -I ../../extlibs/boost-1.65.1/include -LFLAGS += -L ../../extlibs/boost-1.65.1/lib/$(OSTYPE) +INCLUDE += -I ../../extlibs/boost-1.65.1/include +LIBRARIES += -L ../../extlibs/boost-1.65.1/lib/$(OSTYPE) BOOST_POSTFIX = else # webots for windows contains boost @@ -36,4 +36,4 @@ BOOST_POSTFIX = -mt endif LIBRARIES += -lboost_system$(BOOST_POSTFIX) -lboost_thread$(BOOST_POSTFIX) -lboost_filesystem$(BOOST_POSTFIX) -lboost_random$(BOOST_POSTFIX) -LFLAGS += -L ../../extlibs/bonefish/lib/$(OSTYPE) +LIBRARIES += -L ../../extlibs/bonefish/lib/$(OSTYPE) diff --git a/controllers/supervisor/constants.hpp b/controllers/supervisor/constants.hpp index 59c9c107..8a55bf96 100644 --- a/controllers/supervisor/constants.hpp +++ b/controllers/supervisor/constants.hpp @@ -6,6 +6,7 @@ #pragma once #include +#include #include namespace constants { @@ -19,9 +20,11 @@ namespace constants { const std::string DEF_CAMB = "DEF_CAMB"; const std::string DEF_GRASS = "DEF_GRASS"; const std::string DEF_STADIUM = "DEF_STADIUM"; + const std::string DEF_WALL = "DEF_WALL"; + const std::string DEF_VISWALL = "DEF_VISWALL"; const std::string NAME_CAMA = "cam_a"; const std::string NAME_CAMB = "cam_b"; - const std::string NAME_RECV = "recv"; + const std::string NAME_RECV = "recv"; // these DEF names are for dynamically created node such as ball and robots const std::string DEF_BALL = "DEF_BALL"; @@ -39,44 +42,138 @@ namespace constants { constexpr std::size_t ESTIMATED_SUBIMAGE_SIZE = (RESOLUTION_X / SUBIMAGE_NX) * (RESOLUTION_Y / SUBIMAGE_NY) * 4 + 100; // Field Dimensions - constexpr double FIELD_LENGTH = 3.8; - constexpr double FIELD_WIDTH = 2.7; - constexpr double GOAL_DEPTH = 0.15; - constexpr double GOAL_WIDTH = 0.6; - constexpr double PENALTY_AREA_DEPTH = 0.5; - constexpr double PENALTY_AREA_WIDTH = 1.3; - constexpr double GOAL_AREA_DEPTH = 0.2; - constexpr double GOAL_AREA_WIDTH = 0.85; + constexpr double FIELD_LENGTH = 7.8; + constexpr double FIELD_WIDTH = 4.65; + constexpr double GOAL_DEPTH = 0.45; + constexpr double GOAL_WIDTH = 1.0; + constexpr double PENALTY_AREA_DEPTH = 0.9; + constexpr double PENALTY_AREA_WIDTH = 1.8; + constexpr double GOAL_AREA_DEPTH = 0.4; + constexpr double GOAL_AREA_WIDTH = 1.3; + constexpr double WALL_THICKNESS = 0.025; + constexpr double CORNER_LENGTH = 0.1; // Ball Dimension - constexpr double BALL_RADIUS = 0.03; + constexpr double BALL_RADIUS = 0.04; + constexpr double BALL_MASS = 0.0184; - // Robot Dimensions - constexpr double ROBOT_SIZE = 0.115; //DEPRECATED: will be removed on next release - constexpr double ROBOT_HEIGHT = 0.075; - constexpr double ROBOT_RADIUS = 0.0575; - constexpr double AXLE_LENGTH = 0.07; - constexpr double WHEEL_RADIUS = 0.03; - - // robot + // Robot Specifications constexpr std::size_t NUMBER_OF_ROBOTS = 5; - constexpr double MAX_LINEAR_VELOCITY = 1.5; - - constexpr double ROBOT_INIT_POSTURE[NUMBER_OF_ROBOTS][3] = { - // x, y, th - {-0.4, 0.3, 0}, - {-0.4, -0.3, 0}, - {-1.0, 0.6, 0}, - {-1.0, -0.6, 0}, - {-1.8, 0.0, PI / 2}, + constexpr std::array ROBOT_SIZE = {0.15, 0.15, 0.15, 0.15, 0.15}; + constexpr std::array ROBOT_HEIGHT = {0.09, 0.09, 0.09, 0.09, 0.09}; + constexpr std::array AXLE_LENGTH = {0.14, 0.14, 0.14, 0.14, 0.14}; + constexpr std::array ROBOT_BODY_MASS = {2.5, 2.0, 2.0, 1.5, 1.5}; + + constexpr std::array WHEEL_RADIUS = {0.04, 0.04, 0.04, 0.04, 0.04}; + constexpr std::array WHEEL_MASS = {0.15, 0.10, 0.10, 0.10, 0.10}; + + constexpr std::array MAX_LINEAR_VELOCITY = {1.8, 2.1, 2.1, 2.55, 2.55}; + constexpr std::array MAX_TORQUE = {0.8, 1.2, 1.2, 0.4, 0.4}; + + constexpr double ROBOT_FORMATION[14][NUMBER_OF_ROBOTS][3] = { + // x, y, th - Default Formation + {{-3.8, 0.0, PI / 2}, + {-2.25, 1.0, 0}, + {-2.25, -1.0, 0}, + {-0.65, 0.3, 0}, + {-0.65, -0.3, 0},}, + // x, y, th - Kickoff Formation + {{-3.8, 0.0, PI / 2}, + {-2.25, 1.0, 0}, + {-2.25, -1.0, 0}, + {-0.9, 0, 0}, + { 0.4, 0, PI},}, + // x, y, th - Goalkick-Attack Formation + {{-3.8, 0.0, 0}, + {-2.5, 0.45, 0}, + {-2.5, -0.45, 0}, + {-1.5, 0.8, 0}, + {-1.5, -0.8, 0},}, + // x, y, th - Goalkick-Defense Formation + {{-3.8, 0.0, PI / 2}, + {-0.5, 0.8, 0}, + {-0.5, -0.8, 0}, + { 0.5, 0.45, 0}, + { 0.5, -0.45, 0},}, + // x, y, th - Corner AD - Attack-Attack Formation + {{-3.8, 0.0, PI / 2}, + { 2.25, -1.0, PI / 2}, + { 3.25, -1.0, PI / 2}, + { 2.25, 0.0, 0}, + { 2.75, -2.0, PI / 2},}, + // x, y, th - Corner AD - Attack-Defense Formation + {{-3.8, 0.0, PI / 2}, + {-3.25, 0.5, PI / 2}, + {-3.25, -0.5, PI / 2}, + {-2.25, 0.5, PI / 2}, + {-2.25, -0.5, PI / 2},}, + // x, y, th - Corner AD - Defense-Attack Formation + {{-3.8, 0.0, PI / 2}, + {-2.25, 1.0, 3*PI / 2}, + {-3.25, 1.0, 3*PI / 2}, + {-3.25, 0.0, 0}, + {-2.75, 2.0, 3*PI / 2},}, + // x, y, th - Corner AD - Defense-Defense Formation + {{-3.8, 0.0, PI / 2}, + {-1.5, 0.45, 0}, + {-1.5, -0.45, 0}, + {-0.5, 0.8, 0}, + {-0.5, -0.8, 0},}, + // x, y, th - Corner BC - Attack-Attack Formation + {{-3.8, 0.0, PI / 2}, + { 3.25, 1.0, 3*PI / 2}, + { 2.25, 1.0, 3*PI / 2}, + { 2.25, 0.0, 0}, + { 2.75, 2.0, 3*PI / 2},}, + // x, y, th - Corner BC - Attack-Defense Formation + {{-3.8, 0.0, PI / 2}, + {-3.25, 0.5, 3*PI / 2}, + {-3.25, -0.5, 3*PI / 2}, + {-2.25, 0.5, 3*PI / 2}, + {-2.25, -0.5, 3*PI / 2},}, + // x, y, th - Corner BC - Defense-Attack Formation + {{-3.8, 0.0, PI / 2}, + {-3.25, -1.0, PI / 2}, + {-2.25, -1.0, PI / 2}, + {-3.25, 0.0, 0 }, + {-2.75, -2.0, PI / 2},}, + // x, y, th - Corner BC - Defense-Defense Formation + {{-3.8, 0.0, PI / 2}, + {-1.5, 0.45, 0}, + {-1.5, -0.45, 0}, + {-0.5, 0.8, 0}, + {-0.5, -0.8, 0},}, + // x, y, th - Penaltykick - Attack Formation + {{-3.8, 0.0, PI / 2}, + { 0.5, -0.8, 0}, + { 1.0, -0.8, 0}, + { 1.5, -0.8, 0}, + { 2.0, 0.0, 0},}, + // x, y, th - Penaltykick - Defense Formation + {{-3.8, 0.0, PI / 2}, + {-1.5, -0.8, PI / 2}, + {-1.5, -1.05, PI / 2}, + {-1.25, -0.8, PI / 2}, + {-1.25, -1.05, PI / 2},}, }; constexpr double ROBOT_FOUL_POSTURE[NUMBER_OF_ROBOTS][3] = { - {-1.99, 0.55, 0}, - {-1.99, 0.70, 0}, - {-1.99, 0.85, 0}, - {-1.99, 1.00, 0}, - {-1.99, 1.15, 0}, + {-4.05, -0.85, 0}, + {-4.05, -1.15, 0}, + {-4.05, -1.45, 0}, + {-4.05, -1.75, 0}, + {-4.05, -2.05, 0}, + }; + + constexpr double BALL_POSTURE[8][2] = { + { 0.0, 0.0}, + {-3.25, 0.0}, + { -1.5, 1.0}, + { -1.5, -1.0}, + { 1.5, 1.0}, + { 1.5, -1.0}, + {-2.75, 1.5}, + { 2.95, 0.0}, }; // WAMP router settings @@ -93,16 +190,22 @@ namespace constants { constexpr std::size_t WAIT_END_MS = 3 * 1000; // ms constexpr std::size_t DEFAULT_GAME_TIME_MS = 300 * 1000; // ms constexpr std::size_t PERIOD_MS = 50; // ms - constexpr std::size_t FOUL_PA_DURATION_MS = 1000; // ms - constexpr std::size_t FOUL_GA_DURATION_MS = 500; // ms - constexpr double FOUL_PA_THRESHOLD = 4.; // number of robots in penalty area - constexpr double FOUL_GA_THRESHOLD = 3.; // number of robots in goal area - constexpr std::size_t DEADLOCK_DURATION_MS = 2 * 1000; // ms - constexpr std::size_t DEADLOCK_RESET_MS = 5 * 1000; // ms + constexpr std::size_t PA_THRESHOLD_A = 2; // penalty area robot limit for attacking team + constexpr std::size_t PA_THRESHOLD_D = 3; // penalty area robot limit for defending team + constexpr std::size_t DEADLOCK_SENTOUT_NUMBER = 2; // number of robots sent out when a deadlock happens + constexpr std::size_t SENTOUT_DURATION_MS = 5 * 1000; // ms + constexpr std::size_t FALL_TIME_MS = 3 * 1000; // ms + constexpr std::size_t DEADLOCK_DURATION_MS = 4 * 1000; // ms constexpr double DEADLOCK_THRESHOLD = 0.4; // m/s - constexpr double DEADLOCK_RANGE = 1.5 * (ROBOT_RADIUS + BALL_RADIUS); // robots within this range near the ball are sent off + constexpr std::size_t KICKOFF_TIME_LIMIT_MS = 3 * 1000; // ms + constexpr double KICKOFF_BORDER = 0.5; // m + constexpr std::size_t GOALKICK_TIME_LIMIT_MS = 3 * 1000; // ms + constexpr std::size_t CORNERKICK_TIME_LIMIT_MS = 3 * 1000; // ms + constexpr std::size_t PENALTYKICK_TIME_LIMIT_MS = 3 * 1000; // ms + constexpr std::size_t IOPA_TIME_LIMIT_MS = 1 * 1000; // ms + constexpr std::size_t GK_NIPA_TIME_LIMIT_MS = 3 * 1000; // ms - constexpr std::size_t NUM_COMMENTS = 5; + constexpr std::size_t NUM_COMMENTS = 3; constexpr std::size_t MSG_MAX_SIZE = 90000; // bytes @@ -113,6 +216,47 @@ namespace constants { SCORE_BLUE_TEAM = 3, GAME_END = 4, DEADLOCK = 5, + GOALKICK = 6, + CORNERKICK = 7, + PENALTYKICK = 8, + HALFTIME = 9, + EPISODE_END = 10, + }; + + enum game_state { + STATE_DEFAULT = 0, + STATE_KICKOFF = 1, + STATE_GOALKICK = 2, + STATE_CORNERKICK = 3, + STATE_PENALTYKICK = 4, + }; + + enum robot_formation { + FORMATION_DEFAULT = 0, + FORMATION_KICKOFF = 1, + FORMATION_GOALKICK_A = 2, + FORMATION_GOALKICK_D = 3, + FORMATION_CAD_AA = 4, + FORMATION_CAD_AD = 5, + FORMATION_CAD_DA = 6, + FORMATION_CAD_DD = 7, + FORMATION_CBC_AA = 8, + FORMATION_CBC_AD = 9, + FORMATION_CBC_DA = 10, + FORMATION_CBC_DD = 11, + FORMATION_PENALTYKICK_A = 12, + FORMATION_PENALTYKICK_D = 13, + }; + + enum ball_posture { + BALL_DEFAULT = 0, + BALL_GOALKICK = 1, + BALL_RELOCATION_A = 2, + BALL_RELOCATION_B = 3, + BALL_RELOCATION_C = 4, + BALL_RELOCATION_D = 5, + BALL_CORNERKICK = 6, + BALL_PENALTYKICK = 7, }; constexpr std::array CODEWORDS = { diff --git a/controllers/supervisor/game.cpp b/controllers/supervisor/game.cpp index 045ce713..bcf9227c 100644 --- a/controllers/supervisor/game.cpp +++ b/controllers/supervisor/game.cpp @@ -11,10 +11,13 @@ #include "rapidjson/document.h" #include +#include namespace c = constants; namespace bp = boost::process; +#define _unused(x) ((void)(x)) + namespace /* anonymous */ { enum { @@ -66,23 +69,7 @@ game::game(supervisor& sv, std::size_t rs_port, std::string uds_path) : sv_(sv) , rs_port_(rs_port) , uds_path_(uds_path) -{ - for(auto& fc : foul_pa_counter_) { - fc.set_capacity(c::FOUL_PA_DURATION_MS / c::PERIOD_MS); - } - - for(auto& fc : foul_opa_counter_) { - fc.set_capacity(c::FOUL_PA_DURATION_MS / c::PERIOD_MS); - } - - for(auto& fc : foul_ga_counter_) { - fc.set_capacity(c::FOUL_GA_DURATION_MS / c::PERIOD_MS); - } - - for(auto& fc : foul_oga_counter_) { - fc.set_capacity(c::FOUL_GA_DURATION_MS / c::PERIOD_MS); - } -} +{} void game::run() { @@ -135,12 +122,10 @@ void game::run() if (!config_json.IsObject()) throw std::runtime_error("Format of 'config.json' seems to be incorrect."); - //gets game rules from 'config.json' (if no rules specified, default options are given) + // gets game rules from 'config.json' (if no rules specified, default options are given) { game_time_ms_ = c::DEFAULT_GAME_TIME_MS / c::PERIOD_MS * c::PERIOD_MS; deadlock_flag_ = true; - goal_area_foul_flag_ = true; - penalty_area_foul_flag_ = true; if (config_json.HasMember("rule") && config_json["rule"].IsObject()) { //set rules if (config_json["rule"].HasMember("game_time") && config_json["rule"]["game_time"].IsNumber()) @@ -148,12 +133,6 @@ void game::run() if (config_json["rule"].HasMember("deadlock") && config_json["rule"]["deadlock"].IsBool()) deadlock_flag_ = config_json["rule"]["deadlock"].GetBool(); - - if (config_json["rule"].HasMember("goal_area_foul") && config_json["rule"]["goal_area_foul"].IsBool()) - goal_area_foul_flag_ = config_json["rule"]["goal_area_foul"].GetBool(); - - if (config_json["rule"].HasMember("penalty_area_foul") && config_json["rule"]["penalty_area_foul"].IsBool()) - penalty_area_foul_flag_ = config_json["rule"]["penalty_area_foul"].GetBool(); } else std::cout << "\"rule\" section of 'config.json' seems to be missing: using default options" << std::endl; @@ -161,28 +140,50 @@ void game::run() std::cout << "Rules:" << std::endl; std::cout << " game duration - " << game_time_ms_ / 1000.0 << " seconds" << std::endl; std::cout << " deadlock - " << (deadlock_flag_ ? "on" : "off") << std::endl; - std::cout << " goal area foul - " << (goal_area_foul_flag_ ? "on" : "off") << std::endl; - std::cout << " penalty area foul - " << (penalty_area_foul_flag_ ? "on" : "off") << std::endl << std::endl; + } + + // gets other options from 'config.json' (if no option is specified, default option is given) + { + // automatic recording of the game (default: false) + record = false; + record_path = ""; + + // automatic repetition of the game (default: false) + repeat = false; + + if (config_json.HasMember("tool") && config_json["tool"].IsObject()) { //set other options if specified + if (config_json["tool"].HasMember("repeat") && config_json["tool"]["repeat"].IsBool()) + repeat = config_json["tool"]["repeat"].GetBool(); + + // if repeat is enabled, record is forced to be disabled + if (repeat) + std::cout << "Game repetition is enabled that the game recording will be disabled." << std::endl; + else { + if (config_json["tool"].HasMember("record") && config_json["tool"]["record"].IsBool()) + record = config_json["tool"]["record"].GetBool(); + + if (record && config_json["tool"].HasMember("record_path") && config_json["tool"]["record_path"].IsString()) + record_path = config_json["tool"]["record_path"].GetString(); + } + } } const auto path_prefix = std::string("../../"); // gets the teams' information from 'config.json' - assert(config_json.HasMember("team_a") && config_json["team_a"].IsObject()); - assert(config_json.HasMember("team_b") && config_json["team_b"].IsObject()); for(const auto& team : {T_RED, T_BLUE}) { const auto tc = ((team == T_RED) ? "team_a" : "team_b"); const auto tc_op = ((team != T_RED) ? "team_a" : "team_b"); // my team const std::string& name = ((config_json[tc].HasMember("name") && config_json[tc]["name"].IsString()) ? config_json[tc]["name"].GetString() : ""); - const double& rating = 0; //rating is currently disabled + const double& rating = 0; //rating is disabled const std::string& exe = ((config_json[tc].HasMember("executable") && config_json[tc]["executable"].IsString()) ? config_json[tc]["executable"].GetString() : ""); const std::string& data = ((config_json[tc].HasMember("datapath") && config_json[tc]["datapath"].IsString()) ? config_json[tc]["datapath"].GetString() : ""); // opponent const std::string& name_op = ((config_json[tc_op].HasMember("name") && config_json[tc_op]["name"].IsString()) ? config_json[tc_op]["name"].GetString() : ""); - const double& rating_op = 0; //rating is currently disabled + const double& rating_op = 0; //rating is disabled const auto ret = player_team_infos_.emplace(std::piecewise_construct, std::make_tuple(random_string(c::KEY_LENGTH)), @@ -191,9 +192,11 @@ void game::run() ); assert(ret.second); + _unused(ret); std::cout << ((team == T_RED) ? "Team A: " : "Team B: ") << std::endl; std::cout << " team name - " << name << std::endl; + team_name[team] = name; std::cout << " executable - " << exe << std::endl; std::cout << " data path - " << data << std::endl << std::endl; @@ -206,18 +209,27 @@ void game::run() c::PENALTY_AREA_WIDTH), z_info_)); info.emplace_back("goal_area", msgpack::object(std::make_tuple(c::GOAL_AREA_DEPTH, c::GOAL_AREA_WIDTH), z_info_)); + info.emplace_back("ball_radius", msgpack::object(c::BALL_RADIUS, z_info_)); - info.emplace_back("robot_size", msgpack::object(c::ROBOT_SIZE, z_info_)); //DEPRECATED: will be removed on next release - info.emplace_back("robot_height", msgpack::object(c::ROBOT_HEIGHT, z_info_)); - info.emplace_back("robot_radius", msgpack::object(c::ROBOT_RADIUS, z_info_)); + info.emplace_back("ball_mass", msgpack::object(c::BALL_MASS, z_info_)); + + info.emplace_back("robot_size", msgpack::object(c::ROBOT_SIZE, z_info_)); + info.emplace_back("robot_height", msgpack::object(c::ROBOT_HEIGHT, z_info_)); info.emplace_back("axle_length", msgpack::object(c::AXLE_LENGTH, z_info_)); + info.emplace_back("robot_body_mass", msgpack::object(c::ROBOT_BODY_MASS, z_info_)); + + info.emplace_back("wheel_radius", msgpack::object(c::WHEEL_RADIUS, z_info_)); + info.emplace_back("wheel_mass", msgpack::object(c::WHEEL_MASS, z_info_)); + info.emplace_back("max_linear_velocity", msgpack::object(c::MAX_LINEAR_VELOCITY, z_info_)); + info.emplace_back("max_torque", msgpack::object(c::MAX_TORQUE, z_info_)); info.emplace_back("resolution", msgpack::object(std::make_tuple(c::RESOLUTION_X, c::RESOLUTION_Y), z_info_)); info.emplace_back("number_of_robots", msgpack::object(c::NUMBER_OF_ROBOTS, z_info_)); info.emplace_back("codewords", msgpack::object(c::CODEWORDS, z_info_)); info.emplace_back("game_time", msgpack::object(game_time_ms_ / 1000., z_info_)); + info.emplace_back("team_info", msgpack::object(std::make_tuple(map{std::make_pair("name", msgpack::object(name, z_info_)), /* */ std::make_pair("rating", msgpack::object(rating, z_info_))}, @@ -238,11 +250,12 @@ void game::run() // commentator is treated as red team with rating 0 const auto ret = player_team_infos_.emplace(std::piecewise_construct, std::make_tuple(random_string(c::KEY_LENGTH)), - std::make_tuple(name, 0, path_prefix + exe, data, + std::make_tuple(name, 0, path_prefix + exe, path_prefix + data, ROLE_COMMENTATOR, true) ); assert(ret.second); + _unused(ret); std::cout << "Commentator: " << std::endl; std::cout << " team name - " << name << std::endl; @@ -265,11 +278,12 @@ void game::run() // reporter is treated as red team with rating 0 const auto ret = player_team_infos_.emplace(std::piecewise_construct, std::make_tuple(random_string(c::KEY_LENGTH)), - std::make_tuple(name, 0, path_prefix + exe, data, + std::make_tuple(name, 0, path_prefix + exe, path_prefix + data, ROLE_REPORTER, true) ); assert(ret.second); + _unused(ret); std::cout << "Reporter: " << std::endl; std::cout << " team name - " << name << std::endl; @@ -290,7 +304,7 @@ void game::run() connect_to_server(); - // bootup VMs & wait until app players boot up + // wait until app players boot up run_participant(); bootup_future.wait(); @@ -310,13 +324,34 @@ void game::run() const auto it = std::find_if(std::cbegin(player_team_infos_), std::cend(player_team_infos_), [](const auto& kv) { return kv.second.is_ready == true; }); assert(it != std::cend(player_team_infos_)); - - // TODO: send winning frame to team pointed by it. + _unused(it); } else { try { + // if recording is enabled + if (record) { + std::cout << "Game recording is enabled" << std::endl; + // Get the timestamp + time_t rawtime; + struct tm *timeinfo; + + time(&rawtime); + timeinfo = localtime(&rawtime); + + // Start game recording + record_fullpath = record_path + "/[" + std::to_string(timeinfo->tm_year + 1900) + "-" + std::to_string(timeinfo->tm_mon + 1) + "-" + std::to_string(timeinfo->tm_mday) + "T" + std::to_string(timeinfo->tm_hour) + "_" + std::to_string(timeinfo->tm_min) + "_" + std::to_string(timeinfo->tm_sec) + "]" + team_name[T_RED] + "_" + team_name[T_BLUE] + ".mp4"; + sv_.movieStartRecording(record_fullpath, 1920, 1080, 0, 100, 1, false); + } + std::cout << "Starting a new game" << std::endl; - run_game(); + if (repeat) { + for(;;) { + run_game(); + sv_.mark_episode_restart(); + } + } + else + run_game(); // now players have c::WAIT_KILL seconds to finish const auto until = std::chrono::steady_clock::now() + std::chrono::milliseconds(c::WAIT_KILL_MS); @@ -327,12 +362,18 @@ void game::run() auto& ti = kv.second; // boost 1.65 or lower has a bug in child::wait_until(). use child::wait_for(). - // ti.c.wait_until(until); ti.c.wait_for(until - std::chrono::steady_clock::now()); if(ti.c.running()) { ti.c.terminate(); } } + + if (record) { + // Stop game recording + std::cout << "Saving the recorded game as: " << record_fullpath << std::endl; + std::cout << "Please wait until the message \033[36m\"INFO: Video creation finished.\"\033[0m is shown." << std::endl; + sv_.movieStopRecording(); + } } catch(const webots_revert_exception& e) { terminate_participant(); @@ -419,7 +460,7 @@ void game::run_participant() // and pass the script path as an argument to run python scripts if (ti.executable.compare(ti.executable.length() - 3, 3, ".py") || !boost::filesystem::exists(ti.executable)) { #endif - ti.c = bp::child(bp::exe = ti.executable, + ti.c = bp::child(bp::exe = p_exe.filename().string(), bp::args = {c::SERVER_IP, std::to_string(rs_port_), c::REALM, @@ -430,7 +471,7 @@ void game::run_participant() } else { // if python script, enter special handler ti.c = bp::child(bp::exe = bp::search_path("python").string(), - bp::args = {ti.executable, + bp::args = {p_exe.filename().string(), c::SERVER_IP, std::to_string(rs_port_), c::REALM, @@ -463,20 +504,32 @@ void game::terminate_participant() void game::update_label() { - sv_.setLabel(0, - (boost::format("score %d:%d, time %.2f") % score_[0] % score_[1] % (time_ms_ / 1000.)).str(), - 0.4, 0.95, // x, y - 0.10, 0x00000000, // size, color - 0, "Arial" // transparency, font - ); + if(half_passed_ == false) { + sv_.setLabel(1, "1st Half", 0.45, 0.9, 0.10, 0x00000000, 0, "Arial"); + sv_.setLabel(0, + (boost::format("score %d:%d, time %.2f") % score_[0] % score_[1] % (time_ms_ / 1000.)).str(), + 0.4, 0.95, // x, y + 0.10, 0x00000000, // size, color + 0, "Arial" // transparency, font + ); + } + else { + sv_.setLabel(1, "2nd Half", 0.45, 0.9, 0.10, 0x00000000, 0, "Arial"); + sv_.setLabel(0, + (boost::format("score %d:%d, time %.2f") % score_[1] % score_[0] % ((game_time_ms_ + time_ms_) / 1000.)).str(), + 0.4, 0.95, // x, y + 0.10, 0x00000000, // size, color + 0, "Arial" // transparency, font + ); +} - constexpr std::size_t comments_start = 1; + constexpr std::size_t comments_start = 2; std::unique_lock lck(m_comments_); for(std::size_t i = 0; i < comments_.size(); ++i) { sv_.setLabel(comments_start + i, comments_[i], - 0.01, 0.02 + 0.04 * i, // x, y + 0.01, 0.01 + 0.04 * i, // x, y 0.08, 0x00000000, // size, color 0, "Arial" // transparency, font ); @@ -514,9 +567,9 @@ void game::pause() paused_.store(true); } -void game::reset() +void game::reset(c::robot_formation red_formation, c::robot_formation blue_formation) { - sv_.reset_position(); + sv_.reset_position(red_formation, blue_formation); // reset activeness for(auto& team_activeness : activeness_) { @@ -525,52 +578,46 @@ void game::reset() } } - // reset in_penalty_area - for(auto& team_ipa : in_penalty_area_) { - for(auto& robot_ipa : team_ipa) { - robot_ipa = false; + // reset touch + for(auto& team_touch : touch_) { + for(auto& robot_touch : team_touch) { + robot_touch = false; } } + recent_touch_ = touch_; - // reset in_opponent_penalty_area - for(auto& team_iopa : in_opponent_penalty_area_) { - for(auto& robot_iopa : team_iopa) { - robot_iopa = false; + // reset fall time + for(auto& team_ft : fall_time_) { + for(auto& robot_ft : team_ft) { + robot_ft = time_ms_; } } - // reset in_goal_area - for(auto& team_iga : in_goal_area_) { - for(auto& robot_iga : team_iga) { - robot_iga = false; + // reset sentout time + for(auto& team_st : sentout_time_) { + for(auto& robot_st : team_st) { + robot_st = 0; } } - // reset in_opponent_goal_area - for(auto& team_ioga : in_opponent_goal_area_) { - for(auto& robot_ioga : team_ioga) { - robot_ioga = false; + // reset not_in_opponent_penalty_area time + for(auto& team_niopa : niopa_time_) { + for(auto& robot_niopa : team_niopa) { + robot_niopa = time_ms_; } } - stop_robots(); - - // reset foul counters - for(auto& fc : foul_pa_counter_) { - fc.clear(); - } - for(auto& fc : foul_opa_counter_) { - fc.clear(); - } - for(auto& fc : foul_ga_counter_) { - fc.clear(); - } - for(auto& fc : foul_oga_counter_) { - fc.clear(); + // reset goalkeeper in penalty_area time + for(auto& robot_ipa : gk_ipa_time_) { + robot_ipa = time_ms_; } - deadlock_reset_time_ = time_ms_; + stop_robots(); + deadlock_time_ = time_ms_; + + // flush touch packet + sv_.flush_touch_ball(); } void game::resume() @@ -603,7 +650,10 @@ void game::send_speed() for(const auto& team : {T_RED, T_BLUE}) { for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; ++id) { if(activeness_[team][id]) { - sv_.set_linear_wheel_speed(team == T_RED, id, ws[team][id]); + auto speed = ws[team][id]; + speed[0] = std::max(std::min(speed[0], c::MAX_LINEAR_VELOCITY[id]), -c::MAX_LINEAR_VELOCITY[id]); + speed[1] = std::max(std::min(speed[1], c::MAX_LINEAR_VELOCITY[id]), -c::MAX_LINEAR_VELOCITY[id]); + sv_.set_linear_wheel_speed(team == T_RED, id, speed); } else { sv_.set_linear_wheel_speed(team == T_RED, id, stop); @@ -612,147 +662,266 @@ void game::send_speed() } } -std::size_t game::count_robots_in_goal_area(bool is_red) +void game::lock_all_robots() { - std::size_t ret = 0; + for(const auto& team : {T_RED, T_BLUE}) + for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; ++id) + activeness_[team][id] = false; +} - constexpr auto is_in_goal = [](double x, double y) { - return (x < -c::FIELD_LENGTH / 2) && (std::abs(y) < c::GOAL_WIDTH / 2); - }; +void game::unlock_all_robots() +{ + for(const auto& team : {T_RED, T_BLUE}) + for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; ++id) + activeness_[team][id] = true; +} - constexpr auto is_in_goal_area = [](double x, double y) { - return - (x >= -c::FIELD_LENGTH / 2) - && (x < -c::FIELD_LENGTH / 2 + c::GOAL_AREA_DEPTH) - && (std::abs(y) < c::GOAL_AREA_WIDTH / 2); - }; +void game::unlock_robot(bool team, std::size_t id) +{ + activeness_[team][id] = true; +} - for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; ++id) { - const auto pos = sv_.get_robot_posture(is_red, id); - const double sign = is_red ? 1 : -1; +bool game::get_corner_ownership() +{ + const auto ball_x = std::get<0>(sv_.get_ball_position()); + const auto ball_y = std::get<1>(sv_.get_ball_position()); + std::size_t robot_count[2] = {0, 0}; + double robot_distance[2] = {0, 0}; - const auto x = sign * std::get<0>(pos); - const auto y = sign * std::get<1>(pos); + const auto s_x = (ball_x > 0) ? 1 : -1; + const auto s_y = (ball_y > 0) ? 1 : -1; - if(is_in_goal(x, y) || is_in_goal_area(x, y)) { - in_goal_area_[is_red ? T_RED : T_BLUE][id] = true; - ++ret; + // count the robots and distance from the ball in the corner region of concern + for(const auto& team : {T_RED, T_BLUE}) { + for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; ++id) { + if(!activeness_[team][id]) + continue; + + const auto robot_pos = sv_.get_robot_posture(team == T_RED, id); + const auto x = std::get<0>(robot_pos); + const auto y = std::get<1>(robot_pos); + + // the robot is located in the corner region of concern + if((s_x * x > c::FIELD_LENGTH / 2 - c::PENALTY_AREA_DEPTH) && (s_y * y > c::PENALTY_AREA_WIDTH / 2)) { + const auto distance_squared = (x-ball_x)*(x-ball_x) + (y-ball_y)*(y-ball_y); + robot_count[team] += 1; + robot_distance[team] += sqrt(distance_squared); + } } + } + + // decision - team with more robots near the ball gets the ownership + if(robot_count[T_RED] > robot_count[T_BLUE]) { + return T_RED; + } + else if(robot_count[T_BLUE] > robot_count[T_RED]) { + return T_BLUE; + } + // tie breaker - team with robots (within the decision region) closer to the ball on average gets the ownership + else { + if(robot_distance[T_RED] < robot_distance[T_BLUE]) { + return T_RED; + } + else if(robot_distance[T_BLUE] < robot_distance[T_RED]) { + return T_BLUE; + } + // a total tie - the attacker team gets an advantage else { - in_goal_area_[is_red ? T_RED : T_BLUE][id] = false; + return (ball_x > 0) ? T_RED : T_BLUE; + } + } +} + +bool game::get_pa_ownership() +{ + const auto ball_x = std::get<0>(sv_.get_ball_position()); + const auto ball_y = std::get<1>(sv_.get_ball_position()); + std::size_t robot_count[2] = {0, 0}; + double robot_distance[2] = {0, 0}; + + const auto s_x = (ball_x > 0) ? 1 : -1; + + // count the robots and distance from the ball in the penalty area of concern + for(const auto& team : {T_RED, T_BLUE}) { + for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; ++id) { + if(!activeness_[team][id]) + continue; + + const auto robot_pos = sv_.get_robot_posture(team == T_RED, id); + const auto x = std::get<0>(robot_pos); + const auto y = std::get<1>(robot_pos); + + // the robot is located in the corner region of concern + if((s_x * x > c::FIELD_LENGTH / 2 - c::PENALTY_AREA_DEPTH) && (std::abs(y) < c::PENALTY_AREA_WIDTH / 2)) { + const auto distance_squared = (x-ball_x)*(x-ball_x) + (y-ball_y)*(y-ball_y); + robot_count[team] += 1; + robot_distance[team] += sqrt(distance_squared); + } } } - return ret; + // decision - team with more robots near the ball gets the ownership + if(robot_count[T_RED] > robot_count[T_BLUE]) { + return T_RED; + } + else if(robot_count[T_BLUE] > robot_count[T_RED]) { + return T_BLUE; + } + // tie breaker - team with robots (within the decision region) closer to the ball on average gets the ownership + else { + if(robot_distance[T_RED] < robot_distance[T_BLUE]) { + return T_RED; + } + else if(robot_distance[T_BLUE] < robot_distance[T_RED]) { + return T_BLUE; + } + // a total tie - the attacker team gets an advantage + else { + return (ball_x > 0) ? T_RED : T_BLUE; + } + } } -std::size_t game::count_robots_in_opponent_goal_area(bool is_red) +bool game::check_penalty_area() { - std::size_t ret = 0; + const auto ball_x = std::get<0>(sv_.get_ball_position()); + const auto ball_y = std::get<1>(sv_.get_ball_position()); + std::size_t robot_count[2] = {0, 0}; - constexpr auto is_in_opponent_goal = [](double x, double y) { - return (x > c::FIELD_LENGTH / 2) && (std::abs(y) < c::GOAL_WIDTH / 2); - }; + // check if the ball is not in the penalty area + if((std::abs(ball_x) < c::FIELD_LENGTH / 2 - c::PENALTY_AREA_DEPTH) || (std::abs(ball_y) > c::PENALTY_AREA_WIDTH / 2)) { + return false; + } - constexpr auto is_in_opponent_goal_area = [](double x, double y) { - return - (x <= c::FIELD_LENGTH / 2) - && (x > c::FIELD_LENGTH / 2 - c::GOAL_AREA_DEPTH) - && (std::abs(y) < c::GOAL_AREA_WIDTH / 2); - }; + const auto s_x = (ball_x > 0) ? 1 : -1; - for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; ++id) { - const auto pos = sv_.get_robot_posture(is_red, id); - const double sign = is_red ? 1 : -1; + // count the robots and distance from the ball in the penalty area of concern + for(const auto& team : {T_RED, T_BLUE}) { + for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; ++id) { + if(!activeness_[team][id]) + continue; - const auto x = sign * std::get<0>(pos); - const auto y = sign * std::get<1>(pos); + const auto robot_pos = sv_.get_robot_posture(team == T_RED, id); + const auto x = std::get<0>(robot_pos); + const auto y = std::get<1>(robot_pos); - if(is_in_opponent_goal(x, y) || is_in_opponent_goal_area(x, y)) { - in_opponent_goal_area_[is_red ? T_RED : T_BLUE][id] = true; - ++ret; + // the robot is located in the penalty area of concern + if((s_x * x > c::FIELD_LENGTH / 2 - c::PENALTY_AREA_DEPTH) && (std::abs(y) < c::PENALTY_AREA_WIDTH / 2)) { + robot_count[team] += 1; + } } - else { - in_opponent_goal_area_[is_red ? T_RED : T_BLUE][id] = false; + } + + if(ball_x < 0) { + //the ball is in Team Red's penalty area + if(robot_count[T_RED] > c::PA_THRESHOLD_D) { + ball_ownership_ = T_BLUE; + return true; + } + if(robot_count[T_BLUE] > c::PA_THRESHOLD_A) { + ball_ownership_ = T_RED; + return true; } } + else { + //the ball is in Team Blue's penalty area + if(robot_count[T_BLUE] > c::PA_THRESHOLD_D) { + ball_ownership_ = T_RED; + return true; + } + if(robot_count[T_RED] > c::PA_THRESHOLD_A) { + ball_ownership_ = T_BLUE; + return true; + } + } + return false; +} - return ret; +bool game::robot_in_field(bool is_red, std::size_t id) +{ + const auto robot_pos = sv_.get_robot_posture(is_red, id); + const auto x = std::get<0>(robot_pos); + const auto y = std::get<1>(robot_pos); + + if (std::abs(y) < c::GOAL_WIDTH / 2) { + if (std::abs(x) > c::FIELD_LENGTH / 2 + c::GOAL_DEPTH) + return false; + else + return true; + } + + if (std::abs(x) > c::FIELD_LENGTH / 2) + return false; + else + return true; } -std::size_t game::count_robots_in_penalty_area(bool is_red) +bool game::ball_in_field() { - std::size_t ret = 0; + const auto pos = sv_.get_ball_position(); - constexpr auto is_in_goal = [](double x, double y) { - return (x < -c::FIELD_LENGTH / 2) && (std::abs(y) < c::GOAL_WIDTH / 2); - }; + // checking with absolute values is sufficient since the field is symmetrical + const auto abs_x = std::abs(std::get<0>(pos)); + const auto abs_y = std::abs(std::get<1>(pos)); - constexpr auto is_in_penalty_area = [](double x, double y) { - return - (x >= -c::FIELD_LENGTH / 2) - && (x < -c::FIELD_LENGTH / 2 + c::PENALTY_AREA_DEPTH) - && (std::abs(y) < c::PENALTY_AREA_WIDTH / 2); - }; + if ((abs_x > c::FIELD_LENGTH / 2 + c::WALL_THICKNESS) && (abs_y > c::GOAL_WIDTH / 2 + c::WALL_THICKNESS)) + return false; - for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; ++id) { - const auto pos = sv_.get_robot_posture(is_red, id); - const double sign = is_red ? 1 : -1; + if (abs_y > c::FIELD_WIDTH / 2 + c::WALL_THICKNESS) + return false; - const auto x = sign * std::get<0>(pos); - const auto y = sign * std::get<1>(pos); + // check triangular region at the corner + const auto cs_x = c::FIELD_LENGTH / 2 - c::CORNER_LENGTH; + const auto cs_y = c::FIELD_WIDTH / 2 + c::WALL_THICKNESS; + const auto ce_x = c::FIELD_LENGTH / 2 + c::WALL_THICKNESS; + const auto ce_y = c::FIELD_WIDTH / 2 - c::CORNER_LENGTH; - if(is_in_goal(x, y) || is_in_penalty_area(x, y)) { - in_penalty_area_[is_red ? T_RED : T_BLUE][id] = true; - ++ret; - } - else { - in_penalty_area_[is_red ? T_RED : T_BLUE][id] = false; - } + if (cs_x < abs_x && abs_x < ce_x) { + const auto border_y = ce_y + (abs_x - ce_x)*(ce_y - cs_y)/(ce_x - cs_x); + if (abs_y > border_y) + return false; } - return ret; + return true; } -std::size_t game::count_robots_in_opponent_penalty_area(bool is_red) +bool game::any_object_nearby(double target_x, double target_y, double target_r) { - std::size_t ret = 0; + // check ball position + const auto pos = sv_.get_ball_position(); - constexpr auto is_in_opponent_goal = [](double x, double y) { - return (x > c::FIELD_LENGTH / 2) && (std::abs(y) < c::GOAL_WIDTH / 2); - }; + const auto x = std::get<0>(pos); + const auto y = std::get<1>(pos); - constexpr auto is_in_opponent_penalty_area = [](double x, double y) { - return - (x <= c::FIELD_LENGTH / 2) - && (x > c::FIELD_LENGTH / 2 - c::PENALTY_AREA_DEPTH) - && (std::abs(y) < c::PENALTY_AREA_WIDTH / 2); - }; + const auto dist_sq = (target_x - x) * (target_x - x) + (target_y - y) * (target_y - y); - for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; ++id) { - const auto pos = sv_.get_robot_posture(is_red, id); - const double sign = is_red ? 1 : -1; + // the ball is within the region + if(dist_sq < target_r * target_r) + return true; - const auto x = sign * std::get<0>(pos); - const auto y = sign * std::get<1>(pos); + // check robot positions + for(const auto& team : {T_RED, T_BLUE}) { + for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; ++id) { + const auto pos = sv_.get_robot_posture(team == T_RED, id); - if(is_in_opponent_goal(x, y) || is_in_opponent_penalty_area(x, y)) { - in_opponent_penalty_area_[is_red ? T_RED : T_BLUE][id] = true; - ++ret; - } - else { - in_opponent_penalty_area_[is_red ? T_RED : T_BLUE][id] = false; + const auto x = std::get<0>(pos); + const auto y = std::get<1>(pos); + + const auto dist_sq = (target_x - x) * (target_x - x) + (target_y - y) * (target_y - y); + + // a robot is within the region + if(dist_sq < target_r * target_r) + return true; } } - return ret; + return false; } void game::publish_current_frame(std::size_t reset_reason) { // get ball and robots position const auto g_ball = sv_.get_ball_position(); - const auto g_touch = sv_.get_robot_touch_ball(); std::array, c::NUMBER_OF_ROBOTS>, 2> g_robots; for(const auto& team : {T_RED, T_BLUE}) { for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; ++id) { @@ -761,7 +930,7 @@ void game::publish_current_frame(std::size_t reset_reason) std::get<1>(g_robots[team][id]) = std::get<1>(r); std::get<2>(g_robots[team][id]) = std::get<2>(r); std::get<3>(g_robots[team][id]) = activeness_[team][id]; - std::get<4>(g_robots[team][id]) = g_touch[team][id]; + std::get<4>(g_robots[team][id]) = touch_[team][id]; } } @@ -776,6 +945,7 @@ void game::publish_current_frame(std::size_t reset_reason) auto robots = g_robots; auto score = score_; auto reason = reset_reason; + std::size_t game_state = game_state_; if(!ti.is_red) { // blue team sees red as blue, blue as red for(auto& e : ball) { e *= -1; } @@ -795,10 +965,17 @@ void game::publish_current_frame(std::size_t reset_reason) msgpack::type::assoc_vector msg; msgpack::zone z; - // The first frame contains time, score, reset_reason + // The first frame contains time, score, reset_reason, game_state, and ball ownership msg.emplace_back("time", msgpack::object(time_ms_ / 1000., z)); msg.emplace_back("score", msgpack::object(score, z)); msg.emplace_back("reset_reason", msgpack::object(reason, z)); + msg.emplace_back("game_state", msgpack::object(game_state, z)); + if(game_state != c::STATE_DEFAULT) + msg.emplace_back("ball_ownership", msgpack::object(ti.is_red ? ball_ownership_ == T_RED : ball_ownership_ == T_BLUE, z)); + else + msg.emplace_back("ball_ownership", msgpack::object(false, z)); + msg.emplace_back("half_passed", msgpack::object(half_passed_, z)); + auto subimages = ti.imbuf.update_image(sv_.get_image(ti.is_red)); constexpr std::size_t n_max_subimages = c::MSG_MAX_SIZE / c::ESTIMATED_SUBIMAGE_SIZE; @@ -831,11 +1008,11 @@ void game::publish_current_frame(std::size_t reset_reason) } } } - msg.emplace_back("EOF", msgpack::object(true, z)); msg.emplace_back("coordinates", msgpack::object(std::make_tuple(robots[T_RED], robots[T_BLUE], ball), z)); + msg.emplace_back("EOF", msgpack::object(true, z)); events.emplace_back(topic, msgpack::object(std::make_tuple(msg), z), @@ -855,6 +1032,7 @@ void game::run_game() { time_ms_ = 0; score_ = {0, 0}; + half_passed_ = false; for(auto& team_activeness : activeness_) { for(auto& robot_activeness : team_activeness) { @@ -862,35 +1040,28 @@ void game::run_game() } } - for(auto& team_ipa : in_penalty_area_) { - for(auto& robot_ipa : team_ipa) { - robot_ipa = false; - } - } - - for(auto& team_ipa : in_opponent_penalty_area_) { - for(auto& robot_ipa : team_ipa) { - robot_ipa = false; - } - } - - for(auto& team_iga : in_goal_area_) { - for(auto& robot_iga : team_iga) { - robot_iga = false; - } - } - - for(auto& team_iga : in_opponent_goal_area_) { - for(auto& robot_iga : team_iga) { - robot_iga = false; + for(auto& team_touch : touch_) { + for(auto& robot_touch : team_touch) { + robot_touch = false; } } + recent_touch_ = touch_; update_label(); // reset and wait 1s for stabilizing pause(); - reset(); + + // game starts with a kickoff by T_RED + ball_ownership_ = T_RED; + game_state_ = c::STATE_KICKOFF; + kickoff_time_ = time_ms_; + + reset(c::FORMATION_KICKOFF, c::FORMATION_DEFAULT); + + lock_all_robots(); + unlock_robot(ball_ownership_, c::NUMBER_OF_ROBOTS - 1); + step(c::WAIT_STABLE_MS); resume(); @@ -905,195 +1076,639 @@ void game::run_game() // special case: game ended. finish the game without checking game rules. if(time_ms_ >= game_time_ms_) { - publish_current_frame(c::GAME_END); - pause(); - stop_robots(); - step(c::WAIT_END_MS); - return; - } + if(half_passed_) { + if(repeat) + publish_current_frame(c::EPISODE_END); + else + publish_current_frame(c::GAME_END); + pause(); + stop_robots(); + step(c::WAIT_END_MS); + return; + } + else { + publish_current_frame(c::HALFTIME); + pause(); + stop_robots(); + step(c::WAIT_END_MS); - // publish current frame - publish_current_frame(reset_reason); - reset_reason = c::NONE; + // mark the halftime and notify the supervisor too + half_passed_ = true; + sv_.mark_half_passed(); + time_ms_ = 0; - // check rules - { // if a team scored - const auto ball_x = std::get<0>(sv_.get_ball_position()); - const auto ball_y = std::get<1>(sv_.get_ball_position()); - if((std::abs(ball_x) > c::FIELD_LENGTH / 2) && (std::abs(ball_y) < c::GOAL_WIDTH /2)) { - ++score_[(ball_x > 0) ? T_RED : T_BLUE]; - update_label(); + // second half starts with a kickoff by T_BLUE + ball_ownership_ = T_BLUE; + game_state_ = c::STATE_KICKOFF; + kickoff_time_ = time_ms_; - // stop all and wait for c::WAIT_GOAL seconds - pause(); - stop_robots(); - step(c::WAIT_GOAL_MS); + reset(c::FORMATION_DEFAULT, c::FORMATION_KICKOFF); + + lock_all_robots(); + unlock_robot(ball_ownership_, c::NUMBER_OF_ROBOTS - 1); - // reset and wait until stabilized - reset(); step(c::WAIT_STABLE_MS); + resume(); + publish_current_frame(c::GAME_START); + update_label(); - reset_reason = (ball_x > 0) ? c::SCORE_RED_TEAM : c::SCORE_BLUE_TEAM; + reset_reason = c::NONE; } } - // if the ball is not moved fast enough for c::DEADLOCK_RESET_MS - if(reset_reason == c::NONE && deadlock_flag_ == true) { - if(sv_.get_ball_velocity() >= c::DEADLOCK_THRESHOLD) { - deadlock_reset_time_ = time_ms_; + // publish current frame + publish_current_frame(reset_reason); + + // update the touch status + touch_ = sv_.get_robot_touch_ball(); + for(auto& team_touch : touch_) { + for(auto& robot_touch : team_touch) { + // if any of the robots has touched the ball at this frame, update recent_touch_ + if(robot_touch) { + recent_touch_ = touch_; + } } - else if((time_ms_ - deadlock_reset_time_) >= c::DEADLOCK_RESET_MS) { - pause(); - stop_robots(); - reset(); - step(c::WAIT_STABLE_MS); - resume(); + } + + reset_reason = c::NONE; - reset_reason = c::DEADLOCK; + // check if any of robots has fallen + { + for(const auto& team : {T_RED, T_BLUE}) { + for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; id++) { + // if a robot has fallen and could not recover for c::FALL_TIME_MS, send the robot to foulzone + if(activeness_[team][id] && time_ms_ - fall_time_[team][id] >= c::FALL_TIME_MS) { + activeness_[team][id] = false; + sv_.send_to_foulzone(team == T_RED, id); + sentout_time_[team][id] = time_ms_; + } + else { + // if robot is standing properly + if (std::get<3>(sv_.get_robot_posture(team == T_RED, id))) + fall_time_[team][id] = time_ms_; + } + } } } - // if a team is blocking the goal area - if (goal_area_foul_flag_ == true) { + // check if any of robots has been left the field without send_to_foulzone() + { for(const auto& team : {T_RED, T_BLUE}) { - { - auto cnt_rbts_iga = count_robots_in_goal_area(team == T_RED); - foul_ga_counter_[team].push_back(cnt_rbts_iga); - - const auto sum = std::accumulate(std::cbegin(foul_ga_counter_[team]), std::cend(foul_ga_counter_[team]), (std::size_t)0); - if((cnt_rbts_iga >= c::FOUL_GA_THRESHOLD) && (sum >= c::FOUL_GA_THRESHOLD * foul_ga_counter_[team].capacity())) { - std::mt19937 rng{std::random_device{}()}; - std::uniform_int_distribution dist(0, 4); - - auto& team_activeness = activeness_[team]; - - if(std::any_of(std::begin(team_activeness), std::end(team_activeness), - [](const auto& is_active) { return is_active; })) { - for(;;) { - std::size_t id = dist(rng); - auto& is_active = activeness_[team][id]; - auto& is_iga = in_goal_area_[team][id]; - if(is_active && is_iga) { - is_active = false; - is_iga = false; - sv_.send_to_foulzone(team == T_RED, id); - break; - } - } - } - foul_ga_counter_[team].clear(); + for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; id++) { + // an active robot is not in the field + if(activeness_[team][id] && !robot_in_field(team == T_RED, id)) { + // make the robot inactive and send out + activeness_[team][id] = false; + sv_.send_to_foulzone(team == T_RED, id); + sentout_time_[team][id] = time_ms_; } } - { - auto cnt_rbts_ioga = count_robots_in_opponent_goal_area(team == T_RED); - foul_oga_counter_[team].push_back(cnt_rbts_ioga); - - const auto sum = std::accumulate(std::cbegin(foul_oga_counter_[team]), std::cend(foul_oga_counter_[team]), (std::size_t)0); - if((cnt_rbts_ioga >= c::FOUL_GA_THRESHOLD) && (sum >= c::FOUL_GA_THRESHOLD * foul_oga_counter_[team].capacity())) { - std::mt19937 rng{std::random_device{}()}; - std::uniform_int_distribution dist(0, 4); - - auto& team_activeness = activeness_[team]; - - if(std::any_of(std::begin(team_activeness), std::end(team_activeness), - [](const auto& is_active) { return is_active; })) { - for(;;) { - std::size_t id = dist(rng); - auto& is_active = activeness_[team][id]; - auto& is_ioga = in_opponent_goal_area_[team][id]; - if(is_active && is_ioga) { - is_active = false; - is_ioga = false; - sv_.send_to_foulzone(team == T_RED, id); - break; - } + } + } + + // check if any of robots are in the opponent's goal area + { + constexpr auto is_in_opponent_goal = [](double x, double y) { + return (x > c::FIELD_LENGTH / 2) && (std::abs(y) < c::GOAL_WIDTH / 2); + }; + constexpr auto is_in_opponent_goal_area = [](double x, double y) { + return + (x <= c::FIELD_LENGTH / 2) + && (x > c::FIELD_LENGTH / 2 - c::GOAL_AREA_DEPTH) + && (std::abs(y) < c::GOAL_AREA_WIDTH / 2); + }; + + for(const auto& team : {T_RED, T_BLUE}) { + for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; id++) { + const auto pos = sv_.get_robot_posture(team == T_RED, id); + const double sign = team == T_RED ? 1 : -1; + + const auto x = sign * std::get<0>(pos); + const auto y = sign * std::get<1>(pos); + + // if a robot has been in the opponent's goal area for more than c::IOPA_TIME_LIMIT_MS seconds, the robot is relocated to the initial position + if(is_in_opponent_goal(x, y) || is_in_opponent_goal_area(x,y)) { + if (time_ms_ - niopa_time_[team][id] >= c::IOPA_TIME_LIMIT_MS) { + const auto ix = sign * c::ROBOT_FORMATION[c::FORMATION_DEFAULT][id][0]; + const auto iy = sign * c::ROBOT_FORMATION[c::FORMATION_DEFAULT][id][1]; + const auto r = 1.5 * c::ROBOT_SIZE[id]; + // if any object is located within 1.5 * robot_size, the relocation is delayed + if(!any_object_nearby(ix, iy, r)) { + sv_.return_to_field(team == T_RED, id); + niopa_time_[team][id] = time_ms_; + + // also, as a penalty, the goalkeeper is sent out from the game for c::SENTOUT_DURATION_MS + activeness_[team][0] = false; + sv_.send_to_foulzone(team == T_RED, 0); + sentout_time_[team][0] = time_ms_; } } - foul_oga_counter_[team].clear(); + } + else { + niopa_time_[team][id] = time_ms_; } } } } - // if a team is blocking the penalty area - if (penalty_area_foul_flag_ == true) { + // check if the goalkeeper is in the own penalty area + { + constexpr auto is_in_goal = [](double x, double y) { + return (x < -c::FIELD_LENGTH / 2) && (std::abs(y) < c::GOAL_WIDTH / 2); + }; + constexpr auto is_in_penalty_area = [](double x, double y) { + return + (x >= -c::FIELD_LENGTH / 2) + && (x < -c::FIELD_LENGTH / 2 + c::PENALTY_AREA_DEPTH) + && (std::abs(y) < c::PENALTY_AREA_WIDTH / 2); + }; + for(const auto& team : {T_RED, T_BLUE}) { - { - auto cnt_rbts_ipa = count_robots_in_penalty_area(team == T_RED); - foul_pa_counter_[team].push_back(cnt_rbts_ipa); - - const auto sum = std::accumulate(std::cbegin(foul_pa_counter_[team]), std::cend(foul_pa_counter_[team]), (std::size_t)0); - if((cnt_rbts_ipa >= c::FOUL_PA_THRESHOLD) && (sum >= c::FOUL_PA_THRESHOLD * foul_pa_counter_[team].capacity())) { - std::mt19937 rng{std::random_device{}()}; - std::uniform_int_distribution dist(0, 4); - - auto& team_activeness = activeness_[team]; - - if(std::any_of(std::begin(team_activeness), std::end(team_activeness), - [](const auto& is_active) { return is_active; })) { - for(;;) { - std::size_t id = dist(rng); - auto& is_active = activeness_[team][id]; - auto& is_ipa = in_penalty_area_[team][id]; - if(is_active && is_ipa) { - is_active = false; - is_ipa = false; - sv_.send_to_foulzone(team == T_RED, id); - break; - } + // if the goalkeeper is currently not active, skip the check + if(activeness_[team][0] == false) + continue; + const auto pos = sv_.get_robot_posture(team == T_RED, 0); + const double sign = team == T_RED ? 1 : -1; + + const auto x = sign * std::get<0>(pos); + const auto y = sign * std::get<1>(pos); + + if(is_in_goal(x, y) || is_in_penalty_area(x,y)) { + gk_ipa_time_[team] = time_ms_; + } + // if the goalkeeper has been not in the penalty area for more than c::GK_NIPA_TIME_LIMIT_MS seconds, the robot is returned to the initial position + else { + if (time_ms_ - gk_ipa_time_[team]>= c::GK_NIPA_TIME_LIMIT_MS) { + const auto ix = sign * c::ROBOT_FORMATION[c::FORMATION_DEFAULT][0][0]; + const auto iy = sign * c::ROBOT_FORMATION[c::FORMATION_DEFAULT][0][1]; + const auto r = 1.5 * c::ROBOT_SIZE[0]; + // if any object is located within 1.5 * robot_size, the return is delayed + if(!any_object_nearby(ix, iy, r)) { + sv_.return_to_field(team == T_RED, 0); + gk_ipa_time_[team] = time_ms_; + } + } + } + } + } + + // check rules based on game states + switch(game_state_) { + case c::STATE_DEFAULT: + { + const auto ball_x = std::get<0>(sv_.get_ball_position()); + const auto ball_y = std::get<1>(sv_.get_ball_position()); + + if((std::abs(ball_x) > c::FIELD_LENGTH / 2) && (std::abs(ball_y) < c::GOAL_WIDTH /2)) { + ++score_[(ball_x > 0) ? T_RED : T_BLUE]; + update_label(); + + // stop all and wait for c::WAIT_GOAL seconds + pause(); + stop_robots(); + step(c::WAIT_GOAL_MS); + + game_state_ = c::STATE_KICKOFF; + // kickoff_foul_flag_ = false; + + ball_ownership_ = (ball_x > 0) ? T_BLUE : T_RED; + kickoff_time_ = time_ms_; + + // reset and wait until stabilized + reset(((ball_ownership_ == T_RED) ? c::FORMATION_KICKOFF : c::FORMATION_DEFAULT), ((ball_ownership_ == T_BLUE) ? c::FORMATION_KICKOFF : c::FORMATION_DEFAULT)); + + lock_all_robots(); + unlock_robot(ball_ownership_, c::NUMBER_OF_ROBOTS - 1); + + step(c::WAIT_STABLE_MS); + resume(); + + reset_reason = (ball_x > 0) ? c::SCORE_RED_TEAM : c::SCORE_BLUE_TEAM; + } + // ball sent out of the field - proceed to corner kick or goal kick + else if(!ball_in_field()){ + pause(); + stop_robots(); + step(c::WAIT_STABLE_MS); + + // determine the ownership based on who touched the ball last + int touch_count[2] = {0, 0}; + for(const auto& team : {T_RED, T_BLUE}) { + for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; id++) { + if(recent_touch_[team][id]) + touch_count[team] += 1; + } + } + + // if recent_touch_ was red team dominant, blue team gets the ball + if(touch_count[T_RED] > touch_count[T_BLUE]) + ball_ownership_ = T_BLUE; + // the other way around + else if(touch_count[T_BLUE] > touch_count[T_RED]) + ball_ownership_ = T_RED; + // otherwise, the attacking team gets an advantage + else + ball_ownership_ = (ball_x < 0) ? T_BLUE : T_RED; + + // happened on the left side + if(ball_x < 0) { + // if the red gets the ball, proceed to goalkick + if(ball_ownership_ == T_RED) { + game_state_ = c::STATE_GOALKICK; + goalkick_time_ = time_ms_; + + reset(c::FORMATION_GOALKICK_A, c::FORMATION_GOALKICK_D); + + lock_all_robots(); + unlock_robot(ball_ownership_, 0); + + reset_reason = c::GOALKICK; + } + // otherwise, proceed to corner kick + else { + game_state_ = c::STATE_CORNERKICK; + cornerkick_time_ = time_ms_; + + if(ball_y > 0) { + // upper left corner + reset(c::FORMATION_CAD_AD, c::FORMATION_CAD_AA); + } + else { + // lower left corner + reset(c::FORMATION_CBC_AD, c::FORMATION_CBC_AA); + } + + lock_all_robots(); + unlock_robot(ball_ownership_, 4); + + reset_reason = c::CORNERKICK; + } + } + // cornerkick happened on the right side + else { + // if the blue gets the ball, proceed to goalkick + if(ball_ownership_ == T_BLUE) { + game_state_ = c::STATE_GOALKICK; + goalkick_time_ = time_ms_; + + reset(c::FORMATION_GOALKICK_D, c::FORMATION_GOALKICK_A); + + lock_all_robots(); + unlock_robot(ball_ownership_, 0); + + reset_reason = c::GOALKICK; + } + // otherwise, proceed to corenerkick + else { + game_state_ = c::STATE_CORNERKICK; + cornerkick_time_ = time_ms_; + + if(ball_y > 0) { + // upper right corner + reset(c::FORMATION_CBC_AA, c::FORMATION_CBC_AD); + } + else { + // lower right corner + reset(c::FORMATION_CAD_AA, c::FORMATION_CAD_AD); + } + + lock_all_robots(); + unlock_robot(ball_ownership_, 4); + + reset_reason = c::CORNERKICK; + } + } + + step(c::WAIT_STABLE_MS); + resume(); + break; + } + } + + // check if any of robots should return to the field + { + for(const auto& team : {T_RED, T_BLUE}) { + for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; id++) { + // sentout time of 0 is an indicator that the robot is currently on the field + if(sentout_time_[team][id] == 0) + continue; + // if a robot has been sent out and c::SENTOUT_DURATION_MS has passed, return the robot back to the field + if(time_ms_ - sentout_time_[team][id] >= c::SENTOUT_DURATION_MS) { + // if any object is located within 1.5 * robot_size, the return is delayed + const auto s = (team == T_RED) ? 1 : -1; + const auto x = c::ROBOT_FORMATION[c::FORMATION_DEFAULT][id][0] * s; + const auto y = c::ROBOT_FORMATION[c::FORMATION_DEFAULT][id][1] * s; + const auto r = 1.5 * c::ROBOT_SIZE[id]; + + if(!any_object_nearby(x, y, r)) { + activeness_[team][id] = true; + sv_.return_to_field(team == T_RED, id); + sentout_time_[team][id] = 0; } } - foul_pa_counter_[team].clear(); } } - { - auto cnt_rbts_iopa = count_robots_in_opponent_penalty_area(team == T_RED); - foul_opa_counter_[team].push_back(cnt_rbts_iopa); - - const auto sum = std::accumulate(std::cbegin(foul_opa_counter_[team]), std::cend(foul_opa_counter_[team]), (std::size_t)0); - if((cnt_rbts_iopa >= c::FOUL_PA_THRESHOLD) && (sum >= c::FOUL_PA_THRESHOLD * foul_opa_counter_[team].capacity())) { - std::mt19937 rng{std::random_device{}()}; - std::uniform_int_distribution dist(0, 4); - - auto& team_activeness = activeness_[team]; - - if(std::any_of(std::begin(team_activeness), std::end(team_activeness), - [](const auto& is_active) { return is_active; })) { - for(;;) { - std::size_t id = dist(rng); - auto& is_active = activeness_[team][id]; - auto& is_iopa = in_opponent_penalty_area_[team][id]; - if(is_active && is_iopa) { - is_active = false; - is_iopa = false; - sv_.send_to_foulzone(team == T_RED, id); - break; + } + + { + const auto ball_x = std::get<0>(sv_.get_ball_position()); + // if the penalty area reset condition is met + if(check_penalty_area()) { + // the ball ownership is already set by check_penalty_area() + pause(); + stop_robots(); + step(c::WAIT_STABLE_MS); + + + if(ball_x < 0 && ball_ownership_ == T_RED) { + // proceed to goal kick by Team Red + game_state_ = c::STATE_GOALKICK; + reset_reason = c::GOALKICK; + goalkick_time_ = time_ms_; + + reset(c::FORMATION_GOALKICK_A, c::FORMATION_GOALKICK_D); + + lock_all_robots(); + unlock_robot(ball_ownership_, 0); + } + else if(ball_x > 0 && ball_ownership_ == T_BLUE) { + // proceed to goal kick by Team Blue + game_state_ = c::STATE_GOALKICK; + reset_reason = c::GOALKICK; + goalkick_time_ = time_ms_; + + reset(c::FORMATION_GOALKICK_D, c::FORMATION_GOALKICK_A); + + lock_all_robots(); + unlock_robot(ball_ownership_, 0); + } + else if(ball_x < 0 && ball_ownership_ == T_BLUE) { + // proceed to penalty kick by Team Blue + game_state_ = c::STATE_PENALTYKICK; + reset_reason = c::PENALTYKICK; + penaltykick_time_ = time_ms_; + + reset(c::FORMATION_PENALTYKICK_D, c::FORMATION_PENALTYKICK_A); + + lock_all_robots(); + unlock_robot(ball_ownership_, 4); + } + else { + // proceed to penalty kick by Team Red + game_state_ = c::STATE_PENALTYKICK; + reset_reason = c::PENALTYKICK; + penaltykick_time_ = time_ms_; + + reset(c::FORMATION_PENALTYKICK_A, c::FORMATION_PENALTYKICK_D); + + lock_all_robots(); + unlock_robot(ball_ownership_, 4); + } + + step(c::WAIT_STABLE_MS); + resume(); + break; + } + } + + if(reset_reason == c::NONE && deadlock_flag_ == true) { + if(sv_.get_ball_velocity() >= c::DEADLOCK_THRESHOLD) { + deadlock_time_ = time_ms_; + } + // if the ball is not moved fast enough for c::DEADLOCK_DURATION_MS + else if((time_ms_ - deadlock_time_) >= c::DEADLOCK_DURATION_MS) { + const auto ball_x = std::get<0>(sv_.get_ball_position()); + const auto ball_y = std::get<1>(sv_.get_ball_position()); + + // if the deadlock happened in special region + if (std::abs(ball_x) > c::FIELD_LENGTH / 2 - c::PENALTY_AREA_DEPTH) { + // if the deadlock happened inside the penalty area + if (std::abs(ball_y) < c::PENALTY_AREA_WIDTH / 2) { + ball_ownership_ = get_pa_ownership(); + + pause(); + stop_robots(); + step(c::WAIT_STABLE_MS); + + + if(ball_x < 0 && ball_ownership_ == T_RED) { + // proceed to goal kick by Team Red + game_state_ = c::STATE_GOALKICK; + reset_reason = c::GOALKICK; + goalkick_time_ = time_ms_; + + reset(c::FORMATION_GOALKICK_A, c::FORMATION_GOALKICK_D); + + lock_all_robots(); + unlock_robot(ball_ownership_, 0); + } + else if(ball_x > 0 && ball_ownership_ == T_BLUE) { + // proceed to goal kick by Team Blue + game_state_ = c::STATE_GOALKICK; + reset_reason = c::GOALKICK; + goalkick_time_ = time_ms_; + + reset(c::FORMATION_GOALKICK_D, c::FORMATION_GOALKICK_A); + + lock_all_robots(); + unlock_robot(ball_ownership_, 0); + } + else if(ball_x < 0 && ball_ownership_ == T_BLUE) { + // proceed to penalty kick by Team Blue + game_state_ = c::STATE_PENALTYKICK; + reset_reason = c::PENALTYKICK; + penaltykick_time_ = time_ms_; + + reset(c::FORMATION_PENALTYKICK_D, c::FORMATION_PENALTYKICK_A); + + lock_all_robots(); + unlock_robot(ball_ownership_, 4); + } + else { + // proceed to penalty kick by Team Red + game_state_ = c::STATE_PENALTYKICK; + reset_reason = c::PENALTYKICK; + penaltykick_time_ = time_ms_; + + reset(c::FORMATION_PENALTYKICK_A, c::FORMATION_PENALTYKICK_D); + + lock_all_robots(); + unlock_robot(ball_ownership_, 4); + } + + step(c::WAIT_STABLE_MS); + resume(); + deadlock_time_ = time_ms_; + } + // if the deadlock happened in the corner regions + else { + // set the ball ownership + ball_ownership_ = get_corner_ownership(); + + pause(); + stop_robots(); + step(c::WAIT_STABLE_MS); + + game_state_ = c::STATE_CORNERKICK; + + cornerkick_time_ = time_ms_; + + // determine where to place the robots and the ball + if (ball_x < 0) { // on Team Red's side + if (ball_y > 0) { // on upper side + if (ball_ownership_ == T_RED) { // ball owned by Team Red + reset(c::FORMATION_CAD_DA, c::FORMATION_CAD_DD); + } + else { // ball owned by Team Blue + reset(c::FORMATION_CAD_AD, c::FORMATION_CAD_AA); + } + } + else { // on lower side + if (ball_ownership_ == T_RED) { // ball owned by Team Red + reset(c::FORMATION_CBC_DA, c::FORMATION_CBC_DD); + } + else { // ball owned by Team Blue + reset(c::FORMATION_CBC_AD, c::FORMATION_CBC_AA); + } } } + else { // on Team Blue's side + if (ball_y > 0) { // on upper side + if (ball_ownership_ == T_RED) { // ball owned by Team Red + reset(c::FORMATION_CBC_AA, c::FORMATION_CBC_AD); + } + else { // ball owned by Team Blue + reset(c::FORMATION_CBC_DD, c::FORMATION_CBC_DA); + } + } + else { // on lower side + if (ball_ownership_ == T_RED) { // ball owned by Team Red + reset(c::FORMATION_CAD_AA, c::FORMATION_CAD_AD); + } + else { // ball owned by Team Blue + reset(c::FORMATION_CAD_DD, c::FORMATION_CAD_DA); + } + } + } + + lock_all_robots(); + unlock_robot(ball_ownership_, 4); + + step(c::WAIT_STABLE_MS); + resume(); + + reset_reason = c::CORNERKICK; + deadlock_time_ = time_ms_; } - foul_opa_counter_[team].clear(); + } + // if the deadlock happened in the general region, relocate the ball and continue the game + else { + pause(); + stop_robots(); + step(c::WAIT_STABLE_MS); + + // determine where to relocate and relocate the ball + if (ball_x < 0) { // Team Red's region + if (ball_y > 0) { // upper half + sv_.relocate_ball(c::BALL_RELOCATION_A); + } + else { // lower half + sv_.relocate_ball(c::BALL_RELOCATION_B); + } + } + else { // Team Blue's region + if (ball_y > 0) { // upper half + sv_.relocate_ball(c::BALL_RELOCATION_C); + } + else { // lower half + sv_.relocate_ball(c::BALL_RELOCATION_D); + } + } + + sv_.flush_touch_ball(); + + step(c::WAIT_STABLE_MS); + resume(); + + reset_reason = c::DEADLOCK; + deadlock_time_ = time_ms_; } } } - } + break; + case c::STATE_KICKOFF: + { + // time limit has passed + if (time_ms_ - kickoff_time_ >= c::KICKOFF_TIME_LIMIT_MS) { + game_state_ = c::STATE_DEFAULT; + unlock_all_robots(); + } + else { + const auto ball_x = std::get<0>(sv_.get_ball_position()); + const auto ball_y = std::get<1>(sv_.get_ball_position()); + // ball has left the center circle + if (ball_x*ball_x + ball_y*ball_y > c::KICKOFF_BORDER*c::KICKOFF_BORDER) { + unlock_all_robots(); + game_state_ = c::STATE_DEFAULT; + } + } - // if the ball is not moved fast enough for c::DEADLOCK_DURATION_MS - if(deadlock_flag_ == true) { - if(sv_.get_ball_velocity() >= c::DEADLOCK_THRESHOLD) { deadlock_time_ = time_ms_; } - else if((time_ms_ - deadlock_time_) >= c::DEADLOCK_DURATION_MS) { - for(const auto& team : {T_RED, T_BLUE}) { - for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; id++) { - if(activeness_[team][id] && (sv_.get_distance_from_ball(team == T_RED, id) < c::DEADLOCK_RANGE)) { - activeness_[team][id] = false; - sv_.send_to_foulzone(team == T_RED, id); + break; + case c::STATE_GOALKICK: + { + // time limit has passed + if (time_ms_ - goalkick_time_ >= c::GOALKICK_TIME_LIMIT_MS) { + game_state_ = c::STATE_DEFAULT; + unlock_all_robots(); + } + // the goalie has touched the ball + else if (touch_[ball_ownership_][0]) { + game_state_ = c::STATE_DEFAULT; + unlock_all_robots(); + } + deadlock_time_ = time_ms_; + } + break; + case c::STATE_CORNERKICK: + { + // time limit has passed + if (time_ms_ - cornerkick_time_ >= c::CORNERKICK_TIME_LIMIT_MS) { + game_state_ = c::STATE_DEFAULT; + unlock_all_robots(); + } + else { + // a robot has touched the ball + for (std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; id++) { + if (touch_[ball_ownership_][id]) { + game_state_ = c::STATE_DEFAULT; + unlock_all_robots(); + break; } } } deadlock_time_ = time_ms_; } + break; + case c::STATE_PENALTYKICK: + { + // time limit has passed + if (time_ms_ - penaltykick_time_ >= c::PENALTYKICK_TIME_LIMIT_MS) { + game_state_ = c::STATE_DEFAULT; + unlock_all_robots(); + } + // the attacker has touched the ball + else if (touch_[ball_ownership_][4]) { + game_state_ = c::STATE_DEFAULT; + unlock_all_robots(); + } + deadlock_time_ = time_ms_; + } + break; + default: + break; } } } @@ -1121,7 +1736,7 @@ void game::on_bootup(autobahn::wamp_invocation invocation) if(std::all_of(std::cbegin(player_team_infos_), std::cend(player_team_infos_), [](const auto& kv) { return kv.second.is_bootup == true; })) { - std::cout << "Everyone bootup" << std::endl; + // std::cout << "Everyone bootup" << std::endl; state_.store(STATE_WAITING_READY); for(auto& inv : bootup_waiting_list_) { inv->empty_result(); @@ -1224,7 +1839,10 @@ void game::on_commentate(autobahn::wamp_invocation invocation) } std::unique_lock lck(m_comments_); - comments_.push_back((boost::format("[%.2f] ") % (time_ms_ / 1000.)).str() + invocation->argument(1)); + if(half_passed_ == false) + comments_.push_back((boost::format("[%.2f] ") % (time_ms_ / 1000.)).str() + invocation->argument(1)); + else + comments_.push_back((boost::format("[%.2f] ") % ((game_time_ms_ + time_ms_) / 1000.)).str() + invocation->argument(1)); invocation->empty_result(); } diff --git a/controllers/supervisor/game.hpp b/controllers/supervisor/game.hpp index f2fd3766..b506fb13 100644 --- a/controllers/supervisor/game.hpp +++ b/controllers/supervisor/game.hpp @@ -69,17 +69,22 @@ class game // game state control functions void step(std::size_t ms); // throw webots_revert_exception when webots reverts void pause(); - void reset(); + void reset(constants::robot_formation red_formation, constants::robot_formation blue_formation); void resume(); void stop_robots(); // simulator-related functions void send_speed(); // send wheel speed to the simulator + void lock_all_robots(); // block sending wheel speed to the simulator + void unlock_all_robots(); // unblock sending wheel speed to the simulator + void unlock_robot(bool is_red, std::size_t id); // unblock sending wheel speed to the simulator (one specific robot) + bool get_corner_ownership(); // find which team should get the ball ownership for corner kick on corners + bool get_pa_ownership(); // find which team should get the ball ownership for deadlock happened in the penalty area + bool check_penalty_area(); // check whether the penaly area reset condition is met + bool robot_in_field(bool is_Red, std::size_t id); // check whether a robot is in the field + bool ball_in_field(); // check whether the ball is in the field - std::size_t count_robots_in_goal_area(bool is_red); - std::size_t count_robots_in_opponent_goal_area(bool is_red); - std::size_t count_robots_in_penalty_area(bool is_red); - std::size_t count_robots_in_opponent_penalty_area(bool is_red); + bool any_object_nearby(double target_x, double target_y, double target_r); void publish_current_frame(std::size_t reset_reason); @@ -154,28 +159,35 @@ class game std::atomic state_{STATE_WAITING_BOOTUP}; std::size_t game_time_ms_; + bool half_passed_; bool deadlock_flag_; - bool goal_area_foul_flag_; - bool penalty_area_foul_flag_; + bool ball_ownership_; + bool record; + bool repeat; + + std::string record_path; + std::string record_fullpath; + std::string team_name[2]; std::size_t time_ms_ = 0; std::array score_ = {{0, 0}}; std::array, 2> activeness_; - std::array, 2> in_penalty_area_; - std::array, 2> in_opponent_penalty_area_; - std::array, 2> in_goal_area_; - std::array, 2> in_opponent_goal_area_; + std::array, 2> touch_; + std::array, 2> recent_touch_; + std::array, 2> sentout_time_; + std::array, 2> fall_time_; + std::array, 2> niopa_time_; + std::array gk_ipa_time_; std::atomic paused_{true}; + constants::game_state game_state_; std::vector bootup_waiting_list_; - std::array, 2> foul_pa_counter_; - std::array, 2> foul_opa_counter_; - std::array, 2> foul_ga_counter_; - std::array, 2> foul_oga_counter_; - - std::size_t deadlock_reset_time_ = 0; std::size_t deadlock_time_ = 0; + std::size_t kickoff_time_ = 0; + std::size_t goalkick_time_ = 0; + std::size_t cornerkick_time_ = 0; + std::size_t penaltykick_time_ = 0; using wheel_speed_t = std::array, constants::NUMBER_OF_ROBOTS>, 2>; diff --git a/controllers/supervisor/runtime.ini b/controllers/supervisor/runtime.ini new file mode 100644 index 00000000..ce3df5f0 --- /dev/null +++ b/controllers/supervisor/runtime.ini @@ -0,0 +1,2 @@ +[environment variables] +WEBOTS_LIBRARY_PATH = /usr/lib/x86_64-linux-gnu/:$(WEBOTS_LIBRARY_PATH) diff --git a/controllers/supervisor/supervisor b/controllers/supervisor/supervisor index ee18c2fa..5d08a541 100755 Binary files a/controllers/supervisor/supervisor and b/controllers/supervisor/supervisor differ diff --git a/controllers/supervisor/supervisor.exe b/controllers/supervisor/supervisor.exe deleted file mode 100644 index 199be7db..00000000 Binary files a/controllers/supervisor/supervisor.exe and /dev/null differ diff --git a/controllers/supervisor/supervisor.hpp b/controllers/supervisor/supervisor.hpp index 2e3b4e5e..98234899 100644 --- a/controllers/supervisor/supervisor.hpp +++ b/controllers/supervisor/supervisor.hpp @@ -66,12 +66,13 @@ class supervisor return pc_cams_[is_red ? C_CAMA : C_CAMB]->getImage(); } - void reset_position() + void reset_position(constants::robot_formation red_formation, constants::robot_formation blue_formation) { namespace c = constants; const auto reset_ball_node = [&](webots::Node* pn, double x, double y, double z) { - const double translation[] = {x, y, z}; + const auto f = half_passed_ ? -1 : 1; + const double translation[] = {f * x, y, f * -z}; const double rotation[] = {0, 1, 0, 0}; pn->getField("translation")->setSFVec3f(translation); pn->getField("rotation")->setSFRotation(rotation); @@ -79,10 +80,16 @@ class supervisor }; const auto reset_robot_node = [&](webots::Node* pn, double x, double y, double z, double th) { - const double translation[] = {x, y, z}; - const double rotation[] = {0, 1, 0, th - c::PI / 2}; - const double lwTranslation[] = {-c::AXLE_LENGTH / 2, (-c::ROBOT_HEIGHT + 2 * c::WHEEL_RADIUS) / 2, 0}; - const double rwTranslation[] = {c::AXLE_LENGTH / 2, (-c::ROBOT_HEIGHT + 2 * c::WHEEL_RADIUS) / 2, 0}; + const auto f = half_passed_ ? -1 : 1; + const double translation[] = {f * x, y, f * -z}; + const double rotation[] = {0, 1, 0, (half_passed_ ? c::PI : 0.) + th}; + + const double al = pn->getField("axleLength")->getSFFloat(); + const double h = pn->getField("height")->getSFFloat(); + const double wr = pn->getField("wheelRadius")->getSFFloat(); + + const double lwTranslation[] = {-al / 2, (-h + 2 * wr) / 2, 0}; + const double rwTranslation[] = {al / 2, (-h + 2 * wr) / 2, 0}; const double wheelRotation[] = {1, 0, 0, c::PI / 2}; pn->getField("translation")->setSFVec3f(translation); @@ -97,22 +104,69 @@ class supervisor pn->resetPhysics(); }; - reset_ball_node(getFromDef(c::DEF_BALL), 0, c::BALL_RADIUS, 0); + switch(red_formation) { + case c::FORMATION_DEFAULT: + reset_ball_node(getFromDef(c::DEF_BALL), c::BALL_POSTURE[c::BALL_DEFAULT][0], 1.5*c::BALL_RADIUS, c::BALL_POSTURE[c::BALL_DEFAULT][1]); + break; + case c::FORMATION_KICKOFF: + reset_ball_node(getFromDef(c::DEF_BALL), c::BALL_POSTURE[c::BALL_DEFAULT][0], 1.5*c::BALL_RADIUS, c::BALL_POSTURE[c::BALL_DEFAULT][1]); + break; + case c::FORMATION_GOALKICK_A: + reset_ball_node(getFromDef(c::DEF_BALL), c::BALL_POSTURE[c::BALL_GOALKICK][0], 1.5*c::BALL_RADIUS, c::BALL_POSTURE[c::BALL_GOALKICK][1]); + break; + case c::FORMATION_GOALKICK_D: + reset_ball_node(getFromDef(c::DEF_BALL), -c::BALL_POSTURE[c::BALL_GOALKICK][0], 1.5*c::BALL_RADIUS, c::BALL_POSTURE[c::BALL_GOALKICK][1]); + break; + case c::FORMATION_CAD_AD: + reset_ball_node(getFromDef(c::DEF_BALL), c::BALL_POSTURE[c::BALL_CORNERKICK][0], 1.5*c::BALL_RADIUS, c::BALL_POSTURE[c::BALL_CORNERKICK][1]); + break; + case c::FORMATION_CAD_DA: + reset_ball_node(getFromDef(c::DEF_BALL), c::BALL_POSTURE[c::BALL_CORNERKICK][0], 1.5*c::BALL_RADIUS, c::BALL_POSTURE[c::BALL_CORNERKICK][1]); + break; + case c::FORMATION_CBC_AD: + reset_ball_node(getFromDef(c::DEF_BALL), c::BALL_POSTURE[c::BALL_CORNERKICK][0], 1.5*c::BALL_RADIUS, -c::BALL_POSTURE[c::BALL_CORNERKICK][1]); + break; + case c::FORMATION_CBC_DA: + reset_ball_node(getFromDef(c::DEF_BALL), c::BALL_POSTURE[c::BALL_CORNERKICK][0], 1.5*c::BALL_RADIUS, -c::BALL_POSTURE[c::BALL_CORNERKICK][1]); + break; + case c::FORMATION_CAD_AA: + reset_ball_node(getFromDef(c::DEF_BALL), -c::BALL_POSTURE[c::BALL_CORNERKICK][0], 1.5*c::BALL_RADIUS, -c::BALL_POSTURE[c::BALL_CORNERKICK][1]); + break; + case c::FORMATION_CAD_DD: + reset_ball_node(getFromDef(c::DEF_BALL), -c::BALL_POSTURE[c::BALL_CORNERKICK][0], 1.5*c::BALL_RADIUS, -c::BALL_POSTURE[c::BALL_CORNERKICK][1]); + break; + case c::FORMATION_CBC_AA: + reset_ball_node(getFromDef(c::DEF_BALL), -c::BALL_POSTURE[c::BALL_CORNERKICK][0], 1.5*c::BALL_RADIUS, c::BALL_POSTURE[c::BALL_CORNERKICK][1]); + break; + case c::FORMATION_CBC_DD: + reset_ball_node(getFromDef(c::DEF_BALL), -c::BALL_POSTURE[c::BALL_CORNERKICK][0], 1.5*c::BALL_RADIUS, c::BALL_POSTURE[c::BALL_CORNERKICK][1]); + break; + case c::FORMATION_PENALTYKICK_A: + reset_ball_node(getFromDef(c::DEF_BALL), c::BALL_POSTURE[c::BALL_PENALTYKICK][0], 1.5*c::BALL_RADIUS, c::BALL_POSTURE[c::BALL_PENALTYKICK][1]); + break; + case c::FORMATION_PENALTYKICK_D: + reset_ball_node(getFromDef(c::DEF_BALL), -c::BALL_POSTURE[c::BALL_PENALTYKICK][0], 1.5*c::BALL_RADIUS, c::BALL_POSTURE[c::BALL_PENALTYKICK][1]); + break; + default: + break; + } for(const auto& is_red : {true, false}) { const auto s = is_red ? 1 : -1; + auto formation = is_red ? red_formation : blue_formation; for(std::size_t id = 0; id < c::NUMBER_OF_ROBOTS; ++id) { reset_robot_node(getFromDef(robot_name(is_red, id)), - c::ROBOT_INIT_POSTURE[id][0] * s, - c::ROBOT_HEIGHT / 2, - c::ROBOT_INIT_POSTURE[id][1] * s, - c::ROBOT_INIT_POSTURE[id][2] + (is_red ? 0. : c::PI)); + c::ROBOT_FORMATION[formation][id][0] * s, + c::ROBOT_HEIGHT[id] / 2, + c::ROBOT_FORMATION[formation][id][1] * s, + c::ROBOT_FORMATION[formation][id][2] + (is_red ? 0. : c::PI) - c::PI / 2); } } } std::array get_ball_position() const { + const auto f = half_passed_ ? -1 : 1; webots::Node* pn_ball = getFromDef(constants::DEF_BALL); const double* position = pn_ball->getPosition(); @@ -120,7 +174,7 @@ class supervisor const double x = position[0]; const double y = -position[2]; - return {x, y}; + return {f * x, f * y}; } double get_ball_velocity() const @@ -136,18 +190,28 @@ class supervisor } // x y th - std::tuple get_robot_posture(bool is_red, std::size_t id) const + std::tuple get_robot_posture(bool is_red, std::size_t id) const { + namespace c = constants; + webots::Node* pn_robot = getFromDef(robot_name(is_red, id)); + const auto f = half_passed_ ? -1 : 1; const double* position = pn_robot->getPosition(); const double* orientation = pn_robot->getOrientation(); const double x = position[0]; const double y = -position[2]; - const double th = std::atan2(orientation[2], orientation[8]) + constants::PI / 2; + double th = (half_passed_ ? c::PI : 0.) + std::atan2(orientation[2], orientation[8]) + c::PI / 2; + // Squeeze the orientation range to [-PI, PI] + while (th > c::PI) + th -= 2*c::PI; + while (th < -c::PI) + th += 2*c::PI; - return std::make_tuple(x, y, th); + const bool stand = orientation[4] > 0.8; + + return std::make_tuple(f * x, f * y, th, stand); } double get_distance_from_ball(bool is_red, std::size_t id) const @@ -181,22 +245,96 @@ class supervisor return {{{rc[0][0], rc[0][1], rc[0][2], rc[0][3], rc[0][4]}, {rc[1][0], rc[1][1], rc[1][2], rc[1][3], rc[1][4]}}}; } + void flush_touch_ball() const + { + while (pr_recv_->getQueueLength() > 0) + pr_recv_->nextPacket(); + } + void send_to_foulzone(bool is_red, std::size_t id) { namespace c = constants; - webots::Node* pn_robot = getFromDef(robot_name(is_red, id)); + webots::Node* pn = getFromDef(robot_name(is_red, id)); + const auto f = half_passed_ ? -1 : 1; const auto s = is_red ? 1 : -1; - const double translation[] = {c::ROBOT_FOUL_POSTURE[id][0] * s, - c::ROBOT_HEIGHT / 2, - c::ROBOT_FOUL_POSTURE[id][1] * s}; + const double translation[] = {f * c::ROBOT_FOUL_POSTURE[id][0] * s, + c::ROBOT_HEIGHT[id] / 2, + f * -c::ROBOT_FOUL_POSTURE[id][1] * s}; const double rotation[] = { 0, 1, 0, - c::ROBOT_FOUL_POSTURE[id][2] + (is_red ? 0. : c::PI) - c::PI / 2 }; - pn_robot->getField("translation")->setSFVec3f(translation); - pn_robot->getField("rotation")->setSFRotation(rotation); - pn_robot->getField("customData")->setSFString("0 0"); - pn_robot->resetPhysics(); + (half_passed_ ? c::PI : 0.) + c::ROBOT_FOUL_POSTURE[id][2] + (is_red ? 0. : c::PI) - c::PI / 2 }; + + const double al = pn->getField("axleLength")->getSFFloat(); + const double h = pn->getField("height")->getSFFloat(); + const double wr = pn->getField("wheelRadius")->getSFFloat(); + + const double lwTranslation[] = {-al / 2, (-h + 2 * wr) / 2, 0}; + const double rwTranslation[] = {al / 2, (-h + 2 * wr) / 2, 0}; + const double wheelRotation[] = {1, 0, 0, c::PI / 2}; + + pn->getField("translation")->setSFVec3f(translation); + pn->getField("rotation")->setSFRotation(rotation); + pn->getField("customData")->setSFString("0 0"); + + pn->getField("lwTranslation")->setSFVec3f(lwTranslation); + pn->getField("lwRotation")->setSFRotation(wheelRotation); + + pn->getField("rwTranslation")->setSFVec3f(rwTranslation); + pn->getField("rwRotation")->setSFRotation(wheelRotation); + + pn->resetPhysics(); + } + + void return_to_field(bool is_red, std::size_t id) + { + namespace c = constants; + + webots::Node* pn = getFromDef(robot_name(is_red, id)); + + const auto f = half_passed_ ? -1 : 1; + const auto s = is_red ? 1 : -1; + const double translation[] = {f * c::ROBOT_FORMATION[c::FORMATION_DEFAULT][id][0] * s, + c::ROBOT_HEIGHT[id] / 2, + f * -c::ROBOT_FORMATION[c::FORMATION_DEFAULT][id][1] * s}; + const double rotation[] = { 0, 1, 0, + (half_passed_ ? c::PI : 0.) + c::ROBOT_FORMATION[c::FORMATION_DEFAULT][id][2] + (is_red ? 0. : c::PI) - c::PI / 2 }; + + const double al = pn->getField("axleLength")->getSFFloat(); + const double h = pn->getField("height")->getSFFloat(); + const double wr = pn->getField("wheelRadius")->getSFFloat(); + + const double lwTranslation[] = {-al / 2, (-h + 2 * wr) / 2, 0}; + const double rwTranslation[] = {al / 2, (-h + 2 * wr) / 2, 0}; + const double wheelRotation[] = {1, 0, 0, c::PI / 2}; + + pn->getField("translation")->setSFVec3f(translation); + pn->getField("rotation")->setSFRotation(rotation); + pn->getField("customData")->setSFString("0 0"); + + pn->getField("lwTranslation")->setSFVec3f(lwTranslation); + pn->getField("lwRotation")->setSFRotation(wheelRotation); + + pn->getField("rwTranslation")->setSFVec3f(rwTranslation); + pn->getField("rwRotation")->setSFRotation(wheelRotation); + + pn->resetPhysics(); + } + + void relocate_ball(constants::ball_posture pos) + { + namespace c = constants; + + const auto reset_ball_node = [&](webots::Node* pn, double x, double y, double z) { + const auto f = half_passed_ ? -1 : 1; + const double translation[] = {f * x, y, f * -z}; + const double rotation[] = {0, 1, 0, 0}; + pn->getField("translation")->setSFVec3f(translation); + pn->getField("rotation")->setSFRotation(rotation); + pn->resetPhysics(); + }; + + reset_ball_node(getFromDef(c::DEF_BALL), c::BALL_POSTURE[pos][0], 0.2, c::BALL_POSTURE[pos][1]); } void set_linear_wheel_speed(bool is_red, std::size_t id, const std::array& speed) @@ -205,11 +343,30 @@ class supervisor webots::Node* pn_robot = getFromDef(robot_name(is_red, id)); - const auto left = std::max(std::min(speed[0], c::MAX_LINEAR_VELOCITY), -c::MAX_LINEAR_VELOCITY); - const auto right = std::max(std::min(speed[1], c::MAX_LINEAR_VELOCITY), -c::MAX_LINEAR_VELOCITY); + pn_robot->getField("customData")->setSFString(std::to_string(speed[0] / c::WHEEL_RADIUS[id]) + " " + + std::to_string(speed[1] / c::WHEEL_RADIUS[id])); + } - pn_robot->getField("customData")->setSFString(std::to_string(left / c::WHEEL_RADIUS) + " " + - std::to_string(right / c::WHEEL_RADIUS)); + void mark_half_passed() + { + if (!half_passed_) { + half_passed_ = true; + const double rotation_a[] = {0, 0, 1, constants::PI}; + const double rotation_b[] = {0, 0, 1, 0}; + pn_cams_[1]->getField("rotation")->setSFRotation(rotation_a); + pn_cams_[2]->getField("rotation")->setSFRotation(rotation_b); + } + } + + void mark_episode_restart() + { + if (half_passed_) { + half_passed_ = false; + const double rotation_a[] = {0, 0, 1, 0}; + const double rotation_b[] = {0, 0, 1, constants::PI}; + pn_cams_[1]->getField("rotation")->setSFRotation(rotation_a); + pn_cams_[2]->getField("rotation")->setSFRotation(rotation_b); + } } private: // private member functions @@ -253,6 +410,39 @@ class supervisor } } + // Robot's gray cover is visible only to robots + { + for(const auto& team : {T_RED, T_BLUE}) { + for(std::size_t id = 0; id < constants::NUMBER_OF_ROBOTS; ++id) { + const auto* pn_robot = getFromDef(robot_name(team == T_RED, id)); + + auto* pf_cover = pn_robot->getField("cover"); + + assert(pf_cover && (pf_cover->getCount() == 1)); + + auto* pn_cover = pf_cover->getMFNode(0); + + pn_cover->setVisibility(pn_cams_[N_VIEWPOINT], false); + } + } + } + // Wall is visible only to robots + { + auto* pn_wall = getFromDef(DEF_WALL); + if (pn_wall) { + pn_wall->setVisibility(pn_cams_[N_VIEWPOINT], false); + } + } + + // VisualWall is visible only to viewpoint, optional + { + auto* pn_viswall = getFromDef(DEF_VISWALL); + if (pn_viswall) { + pn_viswall->setVisibility(pn_cams_[N_CAMA], false); + pn_viswall->setVisibility(pn_cams_[N_CAMB], false); + } + } + // patches { for(const auto& team : {T_RED, T_BLUE}) { @@ -306,6 +496,7 @@ class supervisor std::array pn_cams_; std::array pc_cams_; webots::Receiver* pr_recv_; + bool half_passed_ = false; }; #endif // H_SUPERVISOR_HPP diff --git a/examples b/examples index dea511cf..ae937e69 160000 --- a/examples +++ b/examples @@ -1 +1 @@ -Subproject commit dea511cf4bd4f1d7f0ebbb36415282f633cc0737 +Subproject commit ae937e69e40b82159e21861d86852c5ae4425321 diff --git a/plugins/physics/collision_detector/.collision_detector.dll.signature b/plugins/physics/collision_detector/.collision_detector.dll.signature deleted file mode 100644 index 77e57d89..00000000 Binary files a/plugins/physics/collision_detector/.collision_detector.dll.signature and /dev/null differ diff --git a/plugins/physics/collision_detector/.libcollision_detector.so.signature b/plugins/physics/collision_detector/.libcollision_detector.so.signature deleted file mode 100644 index c6a7c778..00000000 Binary files a/plugins/physics/collision_detector/.libcollision_detector.so.signature and /dev/null differ diff --git a/plugins/physics/collision_detector/collision_detector.cpp b/plugins/physics/collision_detector/collision_detector.cpp index 03f06df8..7e2022ca 100644 --- a/plugins/physics/collision_detector/collision_detector.cpp +++ b/plugins/physics/collision_detector/collision_detector.cpp @@ -18,13 +18,14 @@ const char robot_name[2][5][12] = { // plugin variables static dGeomID robot_geom[2][5] = {{NULL, NULL, NULL, NULL, NULL}, {NULL, NULL, NULL, NULL, NULL}}; static dGeomID ball_geom = NULL; +static dGeomID robot_ceiling_geom = NULL; bool robot_collision[2][5] = {{false, false, false, false, false}, {false, false, false, false, false}}; int step = 0; void webots_physics_init() { pthread_mutex_init(&mutex, NULL); - + // get ODE handles to .wbt objects for (int i = 0; i < 2; i++) { for (int j = 0; j < ROBOT_COUNT; j++) { @@ -34,6 +35,9 @@ void webots_physics_init() { } } ball_geom = dWebotsGetGeomFromDEF("DEF_BALL"); + robot_ceiling_geom = dWebotsGetGeomFromDEF("ROBOTCEILING"); + if (robot_ceiling_geom == NULL) + dWebotsConsolePrintf("Robot ceiling is missing"); } void webots_physics_step() { @@ -42,9 +46,6 @@ void webots_physics_step() { robot_collision[i][j] = false; } -void webots_physics_draw(int pass, const char *view) { -} - int webots_physics_collide(dGeomID g1, dGeomID g2) { pthread_mutex_lock(&mutex); if (dAreGeomsSame(g1, ball_geom)) { @@ -55,6 +56,11 @@ int webots_physics_collide(dGeomID g1, dGeomID g2) { } } } + + if (dAreGeomsSame(g2, robot_ceiling_geom)) { + pthread_mutex_unlock(&mutex); + return 1; + } } else if (dAreGeomsSame(g2, ball_geom)) { for (int i = 0; i < 2; i++) { @@ -64,6 +70,11 @@ int webots_physics_collide(dGeomID g1, dGeomID g2) { } } } + + if (dAreGeomsSame(g1, robot_ceiling_geom)) { + pthread_mutex_unlock(&mutex); + return 1; + } } pthread_mutex_unlock(&mutex); @@ -77,7 +88,7 @@ void webots_physics_step_end() { collision_packet[i+2*j] = (char)robot_collision[i][j]; } } - + dWebotsSend(0, collision_packet, sizeof(char)*2*ROBOT_COUNT); } diff --git a/plugins/physics/collision_detector/collision_detector.dll b/plugins/physics/collision_detector/collision_detector.dll deleted file mode 100644 index 04d67c4b..00000000 Binary files a/plugins/physics/collision_detector/collision_detector.dll and /dev/null differ diff --git a/plugins/physics/collision_detector/libcollision_detector.so b/plugins/physics/collision_detector/libcollision_detector.so index c6a5dc31..a97a0b9d 100755 Binary files a/plugins/physics/collision_detector/libcollision_detector.so and b/plugins/physics/collision_detector/libcollision_detector.so differ diff --git a/protos/.Referee.proto.signature b/protos/.Referee.proto.signature deleted file mode 100644 index 5a2eeac1..00000000 Binary files a/protos/.Referee.proto.signature and /dev/null differ diff --git a/protos/Referee.proto b/protos/Referee.proto index 9af7d892..deacf037 100644 --- a/protos/Referee.proto +++ b/protos/Referee.proto @@ -1,4 +1,4 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Inbae Jeong, Chansol Hong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) @@ -17,7 +17,7 @@ PROTO Referee [ field SFBool synchronization TRUE ] { - Supervisor { + Robot { translation IS translation rotation IS rotation scale IS scale @@ -29,5 +29,6 @@ PROTO Referee [ controller IS controller controllerArgs IS controllerArgs synchronization IS synchronization + supervisor TRUE } } diff --git a/protos/colors/.Black.proto.signature b/protos/colors/.Black.proto.signature deleted file mode 100644 index f0d51126..00000000 Binary files a/protos/colors/.Black.proto.signature and /dev/null differ diff --git a/protos/colors/.Blue.proto.signature b/protos/colors/.Blue.proto.signature deleted file mode 100644 index 5aea3b99..00000000 Binary files a/protos/colors/.Blue.proto.signature and /dev/null differ diff --git a/protos/colors/.DarkGray.proto.signature b/protos/colors/.DarkGray.proto.signature deleted file mode 100644 index 7ff9a32a..00000000 --- a/protos/colors/.DarkGray.proto.signature +++ /dev/null @@ -1,6 +0,0 @@ -jà‡õŒÄHßIß·išJÙ~n£6\ -°þ¾’ÈÃ'ÅVö Ëñ&åz#tʵ ¯Œ¬ú¦™?”Ný¨f"žß_²É_òô³ø¾rgµ¶Ãæ»ë0ñÔa¼ê]'xÂœ¨\á‘NÆ“— ýÉ=þÌ·†š± ƒü² -w\ÌOþÃíÙ›„ç6!OÈ" -iÑÜ·å¦t—¥ñõzXõ ú(b½ -d)æ QDoìþ+ÌÖ2È+<Ä8=r6L¾µõ„B½OJÚâ&ËŒí:÷¼ÿ@Ò±¾è2ì)z=ÁKž{ù"vÉH*¾øøR1àðÕè¹ð9ÙîR‘ÃÔbÃÃß45„éúàÿÂùŨ¡Æ"ßD²Áܲ^–Ú©Jºu8®îЈZä½sÑцèŽeý<ç¬S»4Á »ö£ý‹ád¥¹å8´K{J©~Iî© ¹¸¦‡kJ_QQÑ1z²n<Ïù®p»Ð^9¼ÔÕìN\Œï¼ØïOÄñ–d¿Äšx1ÝÁ\àW”¢ß÷íÓ›¿€ÉÄöü· >û[+O" ûô¼ØÀœ˜¶HᲊTýk1L…#ï¦ô €é,wýÌ£ãs;²?ùwµÕ -ä<ˆâc^1“<§Àhíê¥%$y^‹µ3x*ÒXS… \ No newline at end of file diff --git a/protos/colors/.DarkGreen.proto.signature b/protos/colors/.DarkGreen.proto.signature deleted file mode 100644 index 4af644f2..00000000 Binary files a/protos/colors/.DarkGreen.proto.signature and /dev/null differ diff --git a/protos/colors/.Gray.proto.signature b/protos/colors/.Gray.proto.signature deleted file mode 100644 index 5e0f3e21..00000000 Binary files a/protos/colors/.Gray.proto.signature and /dev/null differ diff --git a/protos/colors/.Green.proto.signature b/protos/colors/.Green.proto.signature deleted file mode 100644 index 57429d79..00000000 Binary files a/protos/colors/.Green.proto.signature and /dev/null differ diff --git a/protos/colors/.LightGray.proto.signature b/protos/colors/.LightGray.proto.signature deleted file mode 100644 index a7000cd3..00000000 Binary files a/protos/colors/.LightGray.proto.signature and /dev/null differ diff --git a/protos/colors/.LightGreen.proto.signature b/protos/colors/.LightGreen.proto.signature deleted file mode 100644 index 063b0005..00000000 Binary files a/protos/colors/.LightGreen.proto.signature and /dev/null differ diff --git a/protos/colors/.Orange.proto.signature b/protos/colors/.Orange.proto.signature deleted file mode 100644 index 75738eff..00000000 Binary files a/protos/colors/.Orange.proto.signature and /dev/null differ diff --git a/protos/colors/.Red.proto.signature b/protos/colors/.Red.proto.signature deleted file mode 100644 index a097ac62..00000000 Binary files a/protos/colors/.Red.proto.signature and /dev/null differ diff --git a/protos/colors/.Skin_1.proto.signature b/protos/colors/.Skin_1.proto.signature deleted file mode 100644 index ec933910..00000000 Binary files a/protos/colors/.Skin_1.proto.signature and /dev/null differ diff --git a/protos/colors/.Skin_2.proto.signature b/protos/colors/.Skin_2.proto.signature deleted file mode 100644 index 8a5bbe1b..00000000 Binary files a/protos/colors/.Skin_2.proto.signature and /dev/null differ diff --git a/protos/colors/.Skin_3.proto.signature b/protos/colors/.Skin_3.proto.signature deleted file mode 100644 index a25798d5..00000000 Binary files a/protos/colors/.Skin_3.proto.signature and /dev/null differ diff --git a/protos/colors/.White.proto.signature b/protos/colors/.White.proto.signature deleted file mode 100644 index 4df705f2..00000000 Binary files a/protos/colors/.White.proto.signature and /dev/null differ diff --git a/protos/colors/Black.proto b/protos/colors/Black.proto index e340ccd0..ecf1409d 100644 --- a/protos/colors/Black.proto +++ b/protos/colors/Black.proto @@ -1,4 +1,4 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Inbae Jeong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) diff --git a/protos/colors/Blue.proto b/protos/colors/Blue.proto deleted file mode 100644 index 5655df73..00000000 --- a/protos/colors/Blue.proto +++ /dev/null @@ -1,13 +0,0 @@ -#VRML_SIM R2018a utf8 -#Author(s): Inbae Jeong -#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) - -PROTO Blue [ -] -{ - Appearance { - material Material { - diffuseColor 0 0 1 - } - } -} diff --git a/protos/colors/DarkBlue.proto b/protos/colors/DarkBlue.proto new file mode 100644 index 00000000..c43c5fca --- /dev/null +++ b/protos/colors/DarkBlue.proto @@ -0,0 +1,14 @@ +#VRML_SIM R2019a utf8 +#Author(s): Chansol Hong +#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) + +PROTO DarkBlue [ +] +{ + Appearance { + material Material { + ambientIntensity 1 + diffuseColor 0.013 0.205 0.24 + } + } +} diff --git a/protos/colors/DarkGray.proto b/protos/colors/DarkGray.proto index e97177f0..d99269af 100644 --- a/protos/colors/DarkGray.proto +++ b/protos/colors/DarkGray.proto @@ -1,4 +1,4 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Inbae Jeong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) diff --git a/protos/colors/DarkGreen.proto b/protos/colors/DarkGreen.proto index 5417b9df..92184048 100644 --- a/protos/colors/DarkGreen.proto +++ b/protos/colors/DarkGreen.proto @@ -1,5 +1,5 @@ -#VRML_SIM R2018a utf8 -#Author(s): Inbae Jeong +#VRML_SIM R2019a utf8 +#Author(s): Chansol Hong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) PROTO DarkGreen [ @@ -7,7 +7,7 @@ PROTO DarkGreen [ { Appearance { material Material { - diffuseColor 0.263 0.416 0.098 + diffuseColor 0.26 0.53 0.17 } } } diff --git a/protos/colors/DarkRed.proto b/protos/colors/DarkRed.proto new file mode 100644 index 00000000..219b1d1a --- /dev/null +++ b/protos/colors/DarkRed.proto @@ -0,0 +1,14 @@ +#VRML_SIM R2019a utf8 +#Author(s): Chansol Hong +#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) + +PROTO DarkRed [ +] +{ + Appearance { + material Material { + ambientIntensity 1 + diffuseColor 0.33 0.035 0.08 + } + } +} diff --git a/protos/colors/Gray.proto b/protos/colors/Gray.proto index 8c703c5d..3ce08ea6 100644 --- a/protos/colors/Gray.proto +++ b/protos/colors/Gray.proto @@ -1,4 +1,4 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Inbae Jeong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) diff --git a/protos/colors/Green.proto b/protos/colors/Green.proto deleted file mode 100644 index 27b52014..00000000 --- a/protos/colors/Green.proto +++ /dev/null @@ -1,13 +0,0 @@ -#VRML_SIM R2018a utf8 -#Author(s): Inbae Jeong -#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) - -PROTO Green [ -] -{ - Appearance { - material Material { - diffuseColor 0 1 0 - } - } -} diff --git a/protos/colors/LightGray.proto b/protos/colors/LightGray.proto index 10b7a051..a0103bf8 100644 --- a/protos/colors/LightGray.proto +++ b/protos/colors/LightGray.proto @@ -1,5 +1,5 @@ -#VRML_SIM R2018a utf8 -#Author(s): Inbae Jeong +#VRML_SIM R2019a utf8 +#Author(s): Chansol Hong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) PROTO LightGray [ @@ -7,7 +7,8 @@ PROTO LightGray [ { Appearance { material Material { - diffuseColor 0.75 0.75 0.75 + ambientIntensity 0.75 + diffuseColor 0.9 0.9 0.9 } } } diff --git a/protos/colors/LightGreen.proto b/protos/colors/LightGreen.proto index 93a4daed..7b591048 100644 --- a/protos/colors/LightGreen.proto +++ b/protos/colors/LightGreen.proto @@ -1,5 +1,5 @@ -#VRML_SIM R2018a utf8 -#Author(s): Inbae Jeong +#VRML_SIM R2019a utf8 +#Author(s): Chansol Hong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) PROTO LightGreen [ @@ -7,7 +7,7 @@ PROTO LightGreen [ { Appearance { material Material { - diffuseColor 0.435 0.592 0.145 + diffuseColor 0.335 0.655 0.185 } } } diff --git a/protos/colors/Orange.proto b/protos/colors/Orange.proto index 03810b9e..025d82db 100644 --- a/protos/colors/Orange.proto +++ b/protos/colors/Orange.proto @@ -1,4 +1,4 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Inbae Jeong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) diff --git a/protos/colors/Red.proto b/protos/colors/Red.proto deleted file mode 100644 index e63de72c..00000000 --- a/protos/colors/Red.proto +++ /dev/null @@ -1,13 +0,0 @@ -#VRML_SIM R2018a utf8 -#Author(s): Inbae Jeong -#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) - -PROTO Red [ -] -{ - Appearance { - material Material { - diffuseColor 1 0 0 - } - } -} diff --git a/protos/colors/Skin_1.proto b/protos/colors/Skin_1.proto deleted file mode 100644 index 85439eea..00000000 --- a/protos/colors/Skin_1.proto +++ /dev/null @@ -1,13 +0,0 @@ -#VRML_SIM R2018a utf8 -#Author(s): Inbae Jeong -#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) - -PROTO Skin_1 [ -] -{ - Appearance { - material Material { - diffuseColor 0.61 0.44 0.36 - } - } -} diff --git a/protos/colors/Skin_2.proto b/protos/colors/Skin_2.proto deleted file mode 100644 index ee272539..00000000 --- a/protos/colors/Skin_2.proto +++ /dev/null @@ -1,13 +0,0 @@ -#VRML_SIM R2018a utf8 -#Author(s): Inbae Jeong -#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) - -PROTO Skin_2 [ -] -{ - Appearance { - material Material { - diffuseColor 1 0.9 0.8 - } - } -} diff --git a/protos/colors/Skin_3.proto b/protos/colors/Skin_3.proto deleted file mode 100644 index 2ee08f52..00000000 --- a/protos/colors/Skin_3.proto +++ /dev/null @@ -1,13 +0,0 @@ -#VRML_SIM R2018a utf8 -#Author(s): Inbae Jeong -#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) - -PROTO Skin_3 [ -] -{ - Appearance { - material Material { - diffuseColor 0.9 0.68 0.56 - } - } -} diff --git a/protos/colors/White.proto b/protos/colors/White.proto index ed4d5026..3741dff1 100644 --- a/protos/colors/White.proto +++ b/protos/colors/White.proto @@ -1,4 +1,4 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Inbae Jeong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) @@ -7,6 +7,7 @@ PROTO White [ { Appearance { material Material { + ambientIntensity 1 diffuseColor 1 1 1 } } diff --git a/protos/soccerball/.SoccerBall.proto.signature b/protos/soccerball/.SoccerBall.proto.signature deleted file mode 100644 index 9ef01a1a..00000000 Binary files a/protos/soccerball/.SoccerBall.proto.signature and /dev/null differ diff --git a/protos/soccerball/.SoccerBallOrangeShape.proto.signature b/protos/soccerball/.SoccerBallOrangeShape.proto.signature deleted file mode 100644 index 2ab45396..00000000 Binary files a/protos/soccerball/.SoccerBallOrangeShape.proto.signature and /dev/null differ diff --git a/protos/soccerball/.SoccerBallShape.proto.signature b/protos/soccerball/.SoccerBallShape.proto.signature deleted file mode 100644 index dda2f369..00000000 Binary files a/protos/soccerball/.SoccerBallShape.proto.signature and /dev/null differ diff --git a/protos/soccerball/SoccerBall.proto b/protos/soccerball/SoccerBall.proto index 4414403c..33287e3f 100644 --- a/protos/soccerball/SoccerBall.proto +++ b/protos/soccerball/SoccerBall.proto @@ -1,9 +1,9 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Inbae Jeong, Chansol Hong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) -# A soccer ball with no shape. Shape should be added in the slot. -# It's to control visibility to cameras. +# A soccer ball with no shape. Shapes should be added in the slot. +# This is for visibility control on cameras. PROTO SoccerBall [ # fields inherited from Solid: Default values are set according to the corresponding default values of Solid field SFVec3f translation 0 0 0 @@ -24,16 +24,16 @@ PROTO SoccerBall [ field SFFloat rotationStep 0.261799387 # pi/12 rad # fields specific to SoccerBall - field SFFloat radius 0.03 + field SFFloat radius 0.05 field SFInt32 subdivision 2 - field SFFloat mass 0.046 + field SFFloat mass 0.0184 field MFNode shapes [ DEF DEF_SOCCERBALLSHAPE SoccerBallShape { - radius 0.03 + radius 0.05 subdivision 3 } DEF DEF_ORANGESHAPE SoccerBallOrangeShape { - radius 0.03 + radius 0.05 subdivision 3 } ] diff --git a/protos/soccerball/SoccerBallOrangeShape.proto b/protos/soccerball/SoccerBallOrangeShape.proto index 1cb9bac2..3b650b74 100644 --- a/protos/soccerball/SoccerBallOrangeShape.proto +++ b/protos/soccerball/SoccerBallOrangeShape.proto @@ -1,10 +1,7 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Inbae Jeong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) -# An orange ball with customizable radius. -# Created by inbae.jeong@gmail.com - PROTO SoccerBallOrangeShape [ field SFFloat radius 0.02135 field SFInt32 subdivision 3 diff --git a/protos/soccerball/SoccerBallShape.proto b/protos/soccerball/SoccerBallShape.proto index 2c3ab9c3..8948c07d 100644 --- a/protos/soccerball/SoccerBallShape.proto +++ b/protos/soccerball/SoccerBallShape.proto @@ -1,10 +1,7 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Inbae Jeong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) -# A black and white soccer ball with customizable radius and subdivision -# Imported and modified by inbae.jeong@gmail.com - PROTO SoccerBallShape [ field SFFloat radius 0.02135 field SFInt32 subdivision 3 @@ -15,6 +12,9 @@ PROTO SoccerBallShape [ children [ Shape { appearance Appearance { + material Material { + ambientIntensity 0.5 + } texture ImageTexture { url [ "textures/football.jpg" diff --git a/protos/soccerfield/.MyBox.proto.signature b/protos/soccerfield/.MyBox.proto.signature deleted file mode 100644 index 2ebe3829..00000000 Binary files a/protos/soccerfield/.MyBox.proto.signature and /dev/null differ diff --git a/protos/soccerfield/.SoccerField.proto.signature b/protos/soccerfield/.SoccerField.proto.signature deleted file mode 100644 index 688166ef..00000000 Binary files a/protos/soccerfield/.SoccerField.proto.signature and /dev/null differ diff --git a/protos/soccerfield/.SoccerField5v5.proto.signature b/protos/soccerfield/.SoccerField5v5.proto.signature deleted file mode 100644 index 51fd9769..00000000 Binary files a/protos/soccerfield/.SoccerField5v5.proto.signature and /dev/null differ diff --git a/protos/soccerfield/.SoccerFieldGrass.proto.signature b/protos/soccerfield/.SoccerFieldGrass.proto.signature deleted file mode 100644 index 953d5209..00000000 Binary files a/protos/soccerfield/.SoccerFieldGrass.proto.signature and /dev/null differ diff --git a/protos/soccerfield/.SoccerFieldLine.proto.signature b/protos/soccerfield/.SoccerFieldLine.proto.signature deleted file mode 100644 index 739391a7..00000000 --- a/protos/soccerfield/.SoccerFieldLine.proto.signature +++ /dev/null @@ -1,3 +0,0 @@ -¿^ÝGÔ ,ôG2õÀ¢Ç öM6fKV&ÔÖc|¥Ãe£—é\$0‡ŠØØâÌ©úŸÈï4/ã y+&ÿøïìD»›òÕÀ­XuÄÞ¼õR>E…HÌm‹a ã9Bů„Äh°@®%š±µˆœžì B¢[$/wý5$yª3±´ÀŽãÈT±Æÿ+9;솮…µñÿøú -¯[«¢´Œ×1”ýÐ ÂÉ™MHênÏ`Û‡g20äj–S¤Ñ_xøê h*Y?cD\ ÑȪïrã9ê{´n§eEÁ¾0vÕZçý(M‰m\3ñÃë8­Kuòg»UÊÆôl˜'´ú×î«!¼£?OL$]e e]éd]–ü³«+¥:ÐÒ¨±öÈ(ª&Ä ÜþA÷¸s -8äòóY³ì7^ì‡1<\pôŠHï>×'J@²§T(Þ¦ó™šÊÈ™âÙ*\¸fÁ6E–ó[Í1ehðèýµY¯uÊn÷˜¤ á%³´ÔC‘C}¹/gÝXˆ¨Rq&ýÈêC½fKª”{©ÅŽ¹–åÚÍ£šXñÎaýýSZÐt´l]SÂxT³Ó«Üi†Z{µÝÒ°þG£Xdp¿5QªÔ÷ßÛs:?*åSªSÛ*ƒ”ö.¿´³ó+…ùv \ No newline at end of file diff --git a/protos/stadium/Banner.proto b/protos/soccerfield/Banner.proto similarity index 55% rename from protos/stadium/Banner.proto rename to protos/soccerfield/Banner.proto index ce130439..458a2755 100644 --- a/protos/stadium/Banner.proto +++ b/protos/soccerfield/Banner.proto @@ -1,4 +1,4 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Seung-Jae Lee, Chansol Hong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) # tags: static @@ -8,21 +8,35 @@ PROTO Banner [ field SFRotation rotation 0 1 0 0 field SFFloat length 0.5 field SFFloat height 0.1 + field SFFloat bannerThickness 0.025 + field SFFloat frameThickness 0.01 field SFVec3f scale 1 1 1 field SFNode frameAppearance LightGray { } field SFBool castShadows TRUE - field SFFloat frameThickness 0.01 - field SFBool bannerBehind FALSE - field SFString url "" + field SFBool bannerFront TRUE + field SFBool bannerBehind TRUE + field SFString url "textures/kaist.png" field SFString name "banner" ] { %{ local l = fields.length.value local h = fields.height.value - local th = fields.frameThickness.value + local bt = fields.bannerThickness.value + if bt <= 0 then + bt = 0.01 + end + local ft = fields.frameThickness.value local url = fields.url.value + local bf = fields.bannerFront.value local bb = fields.bannerBehind.value + + local bl = math.min(l-ft, l) + local blb = l + local bh = math.min(h-2*ft, h) + + local fvt = math.min(ft, h/2) + local fht = math.min(ft/2, l/2) }% Solid { translation IS translation @@ -30,25 +44,34 @@ PROTO Banner [ scale IS scale name IS name children [ + %{if bl > 0 and bh > 0 then}% DEF PANEL Group { children [ Transform { rotation 1 0 0 1.57 - translation %{=th/3}% %{=h/2}% %{=th/2}% + translation %{=bt/2}% %{=h/2}% 0 children [ Transform { rotation 0 0 1 -1.57 children [ Shape { + %{if bf then}% appearance Appearance { + material Material { + ambientIntensity 1 + diffuseColor 1 1 1 + } texture ImageTexture { url [ "%{=url}%" ] } } + %{else}% + appearance IS frameAppearance + %{end}% geometry Plane { - size %{=l-th}% %{=h-2*th}% + size %{=bl}% %{=bh}% } castShadows IS castShadows } @@ -58,7 +81,7 @@ PROTO Banner [ } Transform { rotation 1 0 0 1.57 - translation %{=-th/3}% %{=h/2}% %{=th/2}% + translation %{=-bt/2}% %{=h/2}% 0 children [ Transform { rotation 0 0 1 1.57 @@ -66,17 +89,17 @@ PROTO Banner [ Shape { %{if bb then}% appearance Appearance { - texture ImageTexture { - url [ - "%{=url}%" - ] + material Material { + ambientIntensity 1 + diffuseColor 1 1 1 + transparency 0.75 } } %{else}% appearance IS frameAppearance %{end}% geometry Plane { - size %{=l-th}% %{=h-2*th}% + size %{=blb}% %{=bh}% } castShadows IS castShadows } @@ -86,46 +109,65 @@ PROTO Banner [ } ] } + %{end}% + %{if ft > 0 then}% DEF FRAME Group { children [ + %{if l - ft > 0 then}% Transform { - translation 0 %{=th/2}% %{=th/2}% + translation 0 %{=fvt/2}% 0 children [ Shape { appearance IS frameAppearance geometry Box { - size %{=th}% %{=th}% %{=l-th}% - } + size %{=bt}% %{=fvt}% %{=l}% + } + castShadows IS castShadows + } + ] + } + Transform { + translation 0 %{=h-fvt/2}% 0 + children [ + Shape { + appearance IS frameAppearance + geometry Box { + size %{=bt}% %{=fvt}% %{=l}% + } castShadows IS castShadows - } - ] + } + ] } + %{end}% Transform { - translation 0 %{=h-th/2}% %{=th/2}% - children [ - Shape { + rotation 0 0 1 4.71238 + translation %{=bt/2}% %{=h/2}% %{=l/2-fht/2}% + children [ + Shape { appearance IS frameAppearance - geometry Box { - size %{=th}% %{=th}% %{=l-th}% - } + geometry Plane { + size %{=h-2*ft}% %{=fht}% + } castShadows IS castShadows - } - ] + } + ] } Transform { - translation 0 %{=h/2}% %{=l/2+th/2}% - children [ - Shape { + rotation 0 0 1 4.71238 + translation %{=bt/2}% %{=h/2}% %{=-l/2+fht/2}% + children [ + Shape { appearance IS frameAppearance - geometry Box { - size %{=th}% %{=h}% %{=th}% - } + geometry Plane { + size %{=h-2*ft}% %{=fht}% + } castShadows IS castShadows - } - ] + } + ] } ] } + %{end}% ] } } diff --git a/protos/stadium/Goalpost.proto b/protos/soccerfield/Goalpost.proto similarity index 97% rename from protos/stadium/Goalpost.proto rename to protos/soccerfield/Goalpost.proto index 4fe0b9b2..e7a90d21 100644 --- a/protos/stadium/Goalpost.proto +++ b/protos/soccerfield/Goalpost.proto @@ -1,4 +1,4 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Seung-Jae Lee, Chansol Hong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) # tags: static @@ -27,6 +27,9 @@ PROTO Goalpost [ children [ Shape { appearance Appearance { + material Material { + ambientIntensity 1 + } texture ImageTexture { url [ "textures/net_top_re.png" @@ -46,6 +49,9 @@ PROTO Goalpost [ children [ Shape { appearance Appearance { + material Material { + ambientIntensity 1 + } texture ImageTexture { url [ "textures/net_top_re.png" @@ -70,6 +76,9 @@ PROTO Goalpost [ children [ Shape { appearance Appearance { + material Material { + ambientIntensity 1 + } texture ImageTexture { url [ "textures/net_back_re.png" @@ -89,6 +98,9 @@ PROTO Goalpost [ children [ Shape { appearance Appearance { + material Material { + ambientIntensity 1 + } texture ImageTexture { url [ "textures/net_back_re.png" @@ -113,6 +125,9 @@ PROTO Goalpost [ children [ Shape { appearance Appearance { + material Material { + ambientIntensity 1 + } texture ImageTexture { url [ "textures/net_side_re.png" @@ -132,6 +147,9 @@ PROTO Goalpost [ children [ Shape { appearance Appearance { + material Material { + ambientIntensity 1 + } texture ImageTexture { url [ "textures/net_side_re.png" @@ -156,6 +174,9 @@ PROTO Goalpost [ children [ Shape { appearance Appearance { + material Material { + ambientIntensity 1 + } texture ImageTexture { url [ "textures/net_side_re.png" @@ -175,6 +196,9 @@ PROTO Goalpost [ children [ Shape { appearance Appearance { + material Material { + ambientIntensity 1 + } texture ImageTexture { url [ "textures/net_side_re.png" @@ -199,6 +223,9 @@ PROTO Goalpost [ children [ Shape { appearance Appearance { + material Material { + ambientIntensity 1 + } texture ImageTexture { url [ "textures/net_side_2_re.png" @@ -218,6 +245,9 @@ PROTO Goalpost [ children [ Shape { appearance Appearance { + material Material { + ambientIntensity 1 + } texture ImageTexture { url [ "textures/net_side_3_re.png" @@ -242,6 +272,9 @@ PROTO Goalpost [ children [ Shape { appearance Appearance { + material Material { + ambientIntensity 1 + } texture ImageTexture { url [ "textures/net_side_2_re.png" @@ -261,6 +294,9 @@ PROTO Goalpost [ children [ Shape { appearance Appearance { + material Material { + ambientIntensity 1 + } texture ImageTexture { url [ "textures/net_side_3_re.png" diff --git a/protos/soccerfield/MyBox.proto b/protos/soccerfield/MyBox.proto index 7937371f..ade21266 100644 --- a/protos/soccerfield/MyBox.proto +++ b/protos/soccerfield/MyBox.proto @@ -1,4 +1,4 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Inbae Jeong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) diff --git a/protos/soccerfield/SoccerField.proto b/protos/soccerfield/SoccerField.proto index 30c6bb98..dc9b9979 100644 --- a/protos/soccerfield/SoccerField.proto +++ b/protos/soccerfield/SoccerField.proto @@ -1,4 +1,4 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Inbae Jeong, Chansol Hong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) # tags: static @@ -23,18 +23,14 @@ PROTO SoccerField [ field SFFloat rotationStep 0.261799387 # pi/12 rad # fields specific to SoccerField - field SFFloat length 2.2 - field SFFloat width 1.8 - field SFFloat height 0.4 # height of virtual ceiling - field SFFloat cornerLength 0.07 + field SFFloat fieldLength 2.2 + field SFFloat fieldWidth 1.8 field SFFloat floorLength 2.55 field SFFloat floorWidth 1.85 - field SFFloat goalWidth 0.4 - field SFFloat goalDepth 0.15 - field SFFloat wallHeight 0.05 - field SFFloat wallThickness 0.025 + field SFFloat floorThickness 0.025 + field SFFloat robotCeiling 0.4 # hieght of virtual ceiling for the robots + field SFFloat ballCeiling 0.8 # height of virtual ceiling for the ball field SFNode floorAppearance Black { } - field SFNode wallAppearance DarkGray { } field SFFloat centerDotRadius 0.01 field SFFloat centerCircleRadius 0.25 @@ -50,34 +46,31 @@ PROTO SoccerField [ field SFFloat lineThickness 0.01 field SFFloat lineHeight 0.001 + field MFNode soccerFieldWall [ + DEF DEF_WALL Group { + children [ + SoccerFieldWall { } + ] + } + DEF DEF_VISWALL Group { + children [ + VisualWall { } + ] + } + ] + field SFNode grassSlot NULL field SFFloat grassHeight 0.001 field SFString floorContactMaterial "default" - field SFString wallContactMaterial "default" ] { %{ - local l = fields.length.value - local w = fields.width.value - local h = fields.height.value - local c = fields.cornerLength.value + local rc = fields.robotCeiling.value + local bc = fields.ballCeiling.value local fl = fields.floorLength.value local fw = fields.floorWidth.value - local gw = fields.goalWidth.value - local gd = fields.goalDepth.value - local wh = fields.wallHeight.value - local wt = fields.wallThickness.value - - if(fl < l + 2 * gd + 2 * wt) then - print('fl should not be less than (l + 2 * gd + 2 * wt), resetting fl') - fl = l + 2 * gd + 2 * wt - end - - if fw < w + 2 * wt then - print('fw should not be less than (w + 2 * wt), resetting fw') - fw = w + 2 * wt - end + local ft = fields.floorThickness.value }% Solid { translation IS translation @@ -87,6 +80,9 @@ PROTO SoccerField [ children [ DEF SHAPES Group { children [ + Group { + children IS soccerFieldWall + } DEF GRASSSLOT Transform { translation 0 %{=fields.grassHeight.value}% 0 children [ @@ -97,8 +93,8 @@ PROTO SoccerField [ ] } DEF FIELDLINES SoccerFieldLine { - length IS length - width IS width + length IS fieldLength + width IS fieldWidth centerDotRadius IS centerDotRadius centerCircleRadius IS centerCircleRadius centerCircleSubdivision IS centerCircleSubdivision @@ -116,192 +112,18 @@ PROTO SoccerField [ DEF FLOOR Group { children [ Transform { # floor - translation 0 %{=-wt / 2}% 0 + translation 0 %{=-ft / 2}% 0 children [ Shape { appearance IS floorAppearance geometry Box { - size %{=fl}% %{=wt}% %{=fw}% + size %{=fl}% %{=ft}% %{=fw}% } } ] } ] } - DEF WALLS Group { - children [ - Transform { # top - translation 0 %{=wh / 2}% %{=-(w + wt) / 2}% - children [ - DEF TOP_WALL MyBox { - size %{=l}% %{=wh}% %{=wt}% - topAppearance White { } - bottomAppearance IS wallAppearance - frontAppearance IS wallAppearance - backAppearance IS wallAppearance - leftAppearance IS wallAppearance - rightAppearance IS wallAppearance - } - ] - } - Transform { # bottom - translation 0 %{=wh / 2}% %{=(w + wt) / 2}% - children [ - USE TOP_WALL - ] - } - Transform { # left_top - translation %{=-(l + wt) / 2}% %{=wh / 2}% %{=-(w + gw + 2 * wt) / 4}% - children [ - DEF LEFT_TOP_WALL MyBox { - size %{=wt}% %{=wh}% %{=(w - gw + 2 * wt) / 2}% - topAppearance White { } - bottomAppearance IS wallAppearance - frontAppearance IS wallAppearance - backAppearance IS wallAppearance - leftAppearance IS wallAppearance - rightAppearance IS wallAppearance - } - ] - } - Transform { # left_bottom - translation %{=-(l + wt) / 2}% %{=wh / 2}% %{=(w + gw + 2 * wt) / 4}% - children [ - USE LEFT_TOP_WALL - ] - } - Transform { # right_top - translation %{=(l + wt) / 2}% %{=wh / 2}% %{=-(w + gw + 2 * wt) / 4}% - children [ - USE LEFT_TOP_WALL - ] - } - Transform { # right_bottom - translation %{=(l + wt) / 2}% %{=wh / 2}% %{=(w + gw + 2 * wt) / 4}% - children [ - USE LEFT_TOP_WALL - ] - } - Transform { # left_top_corner - translation %{=-l / 2}% 0 %{=-w / 2}% - children [ - DEF LEFT_TOP_CORNER Group { - children [ - Shape { - appearance IS wallAppearance - geometry IndexedFaceSet { - coord Coordinate { - point [ - 0 0 0, # 0 - %{=c}% 0 0, # 1 - 0 0 %{=c}%, # 2 - 0 %{=wh}% 0, # 3 - %{=c}% %{=wh}% 0, # 4 - 0 %{=wh}% %{=c}%, # 5 - ] - } - coordIndex [ - 0 1 2 -1 # floor - 0 2 5 3 -1 # left - 0 3 4 1 -1 # top - 1 4 5 2 -1 # diagonal - ] - } - } - Shape { - appearance White { } - geometry IndexedFaceSet { - coord Coordinate { - point [ - 0 %{=wh}% 0, # 0 - %{=c}% %{=wh}% 0, # 1 - 0 %{=wh}% %{=c}%, # 2 - ] - } - coordIndex [ - 0 2 1 -1 - ] - } - } - ] - } - ] - } - Transform { # left_bottom_corner - translation %{=-l / 2}% 0 %{=w / 2}% - rotation 0 1 0 %{=math.pi / 2}% - children [ - USE LEFT_TOP_CORNER - ] - } - Transform { # right_top_corner - translation %{=l / 2}% 0 %{=-w / 2}% - rotation 0 1 0 %{=-math.pi / 2}% - children [ - USE LEFT_TOP_CORNER - ] - } - Transform { # right_bottom_corner - translation %{=l / 2}% 0 %{=w / 2}% - rotation 0 1 0 %{=math.pi}% - children [ - USE LEFT_TOP_CORNER - ] - } - Transform { # left_goal_top - translation %{=-(l + wt + gd) / 2}% %{=wh / 2}% %{=-(gw + wt) / 2}% - children [ - DEF LEFT_GOAL_TOP_WALL MyBox { - size %{=gd - wt}% %{=wh}% %{=wt}% - topAppearance White { } - bottomAppearance IS wallAppearance - frontAppearance IS wallAppearance - backAppearance IS wallAppearance - leftAppearance IS wallAppearance - rightAppearance IS wallAppearance - } - ] - } - Transform { # left_goal_left - translation %{=-(l + 2 * gd + wt) / 2}% %{=wh / 2}% 0 - children [ - DEF LEFT_GOAL_LEFT_WALL MyBox { - size %{=wt}% %{=wh}% %{=gw + 2 * wt}% - topAppearance White { } - bottomAppearance IS wallAppearance - frontAppearance IS wallAppearance - backAppearance IS wallAppearance - leftAppearance IS wallAppearance - rightAppearance IS wallAppearance - } - ] - } - Transform { # left_goal_bottom - translation %{=-(l + wt + gd) / 2}% %{=wh / 2}% %{=(gw + wt) / 2}% - children [ - USE LEFT_GOAL_TOP_WALL - ] - } - Transform { # right_goal_top - translation %{=(l + wt + gd) / 2}% %{=wh / 2}% %{=-(gw + wt) / 2}% - children [ - USE LEFT_GOAL_TOP_WALL - ] - } - Transform { # right_goal_right - translation %{=(l + 2 * gd + wt) / 2}% %{=wh / 2}% 0 - children [ - USE LEFT_GOAL_LEFT_WALL - ] - } - Transform { # right_goal_bottom - translation %{=(l + wt + gd) / 2}% %{=wh / 2}% %{=(gw + wt) / 2}% - children [ - USE LEFT_GOAL_TOP_WALL - ] - } - ] - } ] } DEF BOUNDINGOBJECTS Group { @@ -309,114 +131,35 @@ PROTO SoccerField [ DEF FLOOR Solid { contactMaterial IS floorContactMaterial boundingObject Plane { - size %{=l + 2 * gd}% %{=w}% + size %{=fl}% %{=fw}% } name "floor" } - DEF WALL Solid { - contactMaterial IS wallContactMaterial - boundingObject Group { + DEF ROBOTCEILING Solid { + contactMaterial IS floorContactMaterial + boundingObject Transform { # ceiling for the robot + translation 0 %{=rc}% 0 + rotation 1 0 0 %{=math.pi}% children [ - Transform { # ceiling - translation 0 %{=h}% 0 - rotation 1 0 0 %{=math.pi}% - children [ - Plane { - size %{=l + 2 * gd}% %{=w}% - } - ] - } - Transform { # top - translation 0 %{=h / 2}% %{=-w / 2}% - rotation 1 0 0 %{=math.pi / 2}% - children [ - Plane { - size %{=l - 2 * c}% %{=h}% - } - ] + Plane { + size %{=fl}% %{=fw}% } - Transform { # bottom - translation 0 %{=h / 2}% %{=w / 2}% - rotation 1 0 0 %{=-math.pi / 2}% - children [ - Plane { - size %{=l - 2 * c}% %{=h}% - } - ] - } - Transform { # left goal - translation %{=-l / 2 - gd}% %{=h / 2}% 0 - rotation 0 0 1 %{=-math.pi / 2}% - children [ - Plane { - size %{=h}% %{=gw}% - } - ] - } - Transform { # right goal - translation %{=l / 2 + gd}% %{=h / 2}% 0 - rotation 0 0 1 %{=math.pi / 2}% - children [ - Plane { - size %{=h}% %{=gw}% - } - ] - } - Shape { - geometry IndexedFaceSet { - coord Coordinate { - # lower plane - # 3 7 - # 2 /---------------------\ 6 - # | | - # 0 -- 1 5 -- 4 - # | | - #12 -- 13 9 -- 8 - # | | - # 14 \---------------------/ 10 - # 15 11 - # for upper plane, add 16 to the indices of the lower plane - point [ - %{ - for _, local_h in ipairs({0, h}) do - for _, sign in ipairs({ - {x = 1, z = 1}, - {x = -1, z = 1}, - {x = -1, z = -1}, - {x = 1, z = -1}}) do - }% - %{=sign.x * (-l / 2 - gd)}% %{=local_h}% %{=sign.z * (-gw / 2) }%, # 0 - %{=sign.x * (-l / 2) }% %{=local_h}% %{=sign.z * (-gw / 2) }%, # 1 - %{=sign.x * (-l / 2) }% %{=local_h}% %{=sign.z * (-w / 2 + c)}%, # 2 - %{=sign.x * (-l / 2 + c) }% %{=local_h}% %{=sign.z * (-w / 2) }%, # 3 - %{ - end - end - }% - ] - } - coordIndex [ - # left side - 2 3 19 18 -1 - 2 18 17 1 -1 - 0 1 17 16 -1 - 12 28 29 13 -1 - 13 29 30 14 -1 - 14 30 31 15 -1 - - # right side - 6 22 23 7 -1 - 5 21 22 6 -1 - 4 20 21 5 -1 - 8 9 25 24 -1 - 9 10 26 25 -1 - 10 11 27 26 -1 - ] - } + ] + } + name "robotceiling" + } + DEF BALLCEILING Solid { + contactMaterial IS floorContactMaterial + boundingObject Transform { # ceiling for the ball + translation 0 %{=bc}% 0 + rotation 1 0 0 %{=math.pi}% + children [ + Plane { + size %{=fl}% %{=fw}% } ] } - name "wall" + name "ballceiling" } ] } diff --git a/protos/soccerfield/SoccerField5v5.proto b/protos/soccerfield/SoccerField5v5.proto index 5acb17ee..5d32a6a3 100644 --- a/protos/soccerfield/SoccerField5v5.proto +++ b/protos/soccerfield/SoccerField5v5.proto @@ -1,42 +1,62 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Inbae Jeong, Chansol Hong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) PROTO SoccerField5v5 [ - field SFFloat height 0.12 # height of virtual ceiling + field SFFloat fieldLength 3.8 + field SFFloat fieldWidth 2.7 + field SFFloat robotCeiling 0.2 # height of virtual ceiling for the robots + field SFFloat ballCeiling 0.8 # height of virtual ceiling for the ball field SFFloat floorLength 4.6 field SFFloat floorWidth 3.4 - field SFFloat wallHeight 0.075 - field SFFloat wallThickness 0.025 field SFNode floorAppearance Black { } - field SFNode wallAppearance Gray { } field SFFloat lineThickness 0.01 + field MFNode soccerFieldWall [ + DEF DEF_WALL SoccerFieldWall { + length 3.8 + width 2.7 + height 0.24 + cornerLength 0.1 + goalWidth 0.6 + goalDepth 0.15 + wallHeight 0.075 + wallThickness 0.025 + wallAppearance Gray { } + wallContactMaterial "default" + } + DEF DEF_VISWALL VisualWall { + length 3.8 + width 2.7 + goalWidth 0.6 + bannerBehind TRUE + cornerLength 0.1 + gpTranslation 2.0082 + gpScale 1.3157 + } + ] field SFNode grassSlot SoccerFieldGrass { } field SFString floorContactMaterial "default" - field SFString wallContactMaterial "default" ] { SoccerField { - length 3.8 - width 2.7 - height IS height - cornerLength 0.1 + fieldLength IS fieldLength + fieldWidth IS fieldWidth + robotCeiling IS robotCeiling + ballCeiling IS ballCeiling + floorLength IS floorLength floorWidth IS floorWidth - goalWidth 0.6 - goalDepth 0.15 - wallHeight IS wallHeight - wallThickness IS wallThickness + floorThickness IS wallThickness + floorAppearance IS floorAppearance - wallAppearance IS wallAppearance centerDotRadius 0.01 - centerCircleRadius 0.35 + centerCircleRadius 0.5 centerCircleSubdivision 24 - penaltyAreaDepth 0.5 - penaltyAreaWidth 1.3 - goalAreaDepth 0.2 - goalAreaWidth 0.85 + penaltyAreaDepth 0.9 + penaltyAreaWidth 1.8 + goalAreaDepth 0.4 + goalAreaWidth 1.3 penaltyArcProportion 0.25 penaltyArcSubdivision 7 @@ -44,8 +64,9 @@ PROTO SoccerField5v5 [ lineThickness IS lineThickness lineHeight 0.003 + soccerFieldWall IS soccerFieldWall + grassSlot IS grassSlot floorContactMaterial IS floorContactMaterial - wallContactMaterial IS wallContactMaterial } } diff --git a/protos/soccerfield/SoccerFieldGrass.proto b/protos/soccerfield/SoccerFieldGrass.proto index c5233db9..f9c730fb 100644 --- a/protos/soccerfield/SoccerFieldGrass.proto +++ b/protos/soccerfield/SoccerFieldGrass.proto @@ -1,4 +1,4 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Inbae Jeong, Chansol Hong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) # tags: static @@ -12,6 +12,13 @@ PROTO SoccerFieldGrass [ field SFFloat blockSize 0.25 field SFFloat length 4.6 field SFFloat width 3.4 + + # fields specific to the floor logo + field SFBool useBanner FALSE + field SFString url "textures/logo.png" + field SFFloat bannerLength 0.3 + field SFFloat bannerWidth 1.2 + field SFFloat bannerHeight 0.0004 ] { %{ @@ -21,6 +28,12 @@ PROTO SoccerFieldGrass [ local bn = math.floor(l / (2 * bs)) local ll = math.max(0, l / 2 - bs * bn) + + local ub = fields.useBanner.value + local url = fields.url.value + local bl = fields.bannerLength.value + local bw = fields.bannerWidth.value + local bh = fields.bannerHeight.value }% Slot { type "soccer_field_grass" @@ -77,6 +90,42 @@ PROTO SoccerFieldGrass [ %{ m = -1 }% %{ end }% + %{ if ub then}% + %{ for i = -1, 1, 2 do }% + %{ for j = -1, 1, 2 do }% + Transform { + %{ + local bias + if j < 0 then + bias = w/24 + else + bias = w/24 + end + }% + translation %{=i*(l/2 - ll/2)}% %{=bh}% %{=j*(w/3.5) - bias}% + rotation 0 1 0 %{=-i*math.pi/2}% + children [ + Shape { + appearance Appearance { + material Material { + ambientIntensity 1 + diffuseColor 1 1 1 + } + texture ImageTexture { + url [ + "%{=url}%" + ] + } + } + geometry Plane { + size %{=bw}% %{=bl}% + } + } + ] + } + %{ end }% + %{ end }% + %{ end }% ] } } diff --git a/protos/soccerfield/SoccerFieldLine.proto b/protos/soccerfield/SoccerFieldLine.proto index f66408d4..895838a3 100644 --- a/protos/soccerfield/SoccerFieldLine.proto +++ b/protos/soccerfield/SoccerFieldLine.proto @@ -1,4 +1,4 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Inbae Jeong, Chansol Hong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) # tags: static diff --git a/protos/soccerfield/SoccerFieldWall.proto b/protos/soccerfield/SoccerFieldWall.proto new file mode 100644 index 00000000..04ad80ec --- /dev/null +++ b/protos/soccerfield/SoccerFieldWall.proto @@ -0,0 +1,380 @@ +#VRML_SIM R2019a utf8 +#Author(s): Inbae Jeong, Chansol Hong +#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) +# tags: static + +PROTO SoccerFieldWall [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 + field SFVec3f scale 1 1 1 + + field SFString name "soccer_field_wall" + + field SFFloat length 2.2 + field SFFloat width 1.8 + field SFFloat height 0.8 + field SFFloat cornerLength 0.07 + field SFFloat goalWidth 0.4 + field SFFloat goalDepth 0.15 + field SFFloat wallHeight 0.05 + field SFFloat wallThickness 0.025 + field SFNode wallAppearance DarkGray { } + field SFString wallContactMaterial "default" +] +{ + %{ + local l = fields.length.value + local w = fields.width.value + local h = fields.height.value + local c = fields.cornerLength.value + local gw = fields.goalWidth.value + local gd = fields.goalDepth.value + local wh = fields.wallHeight.value + local wt = fields.wallThickness.value + }% + Solid { + translation IS translation + rotation IS rotation + scale IS scale + name IS name + + children [ + DEF WALLS Group { + children [ + Transform { # top + translation 0 %{=wh / 2}% %{=-(w + wt) / 2}% + children [ + DEF TOP_WALL MyBox { + size %{=l}% %{=wh}% %{=wt}% + topAppearance White { } + bottomAppearance IS wallAppearance + frontAppearance IS wallAppearance + backAppearance IS wallAppearance + leftAppearance IS wallAppearance + rightAppearance IS wallAppearance + } + ] + } + Transform { # bottom + translation 0 %{=wh / 2}% %{=(w + wt) / 2}% + children [ + USE TOP_WALL + ] + } + Transform { # left_top + translation %{=-(l + wt) / 2}% %{=wh / 2}% %{=-(w + gw + 2 * wt) / 4}% + children [ + DEF LEFT_TOP_WALL MyBox { + size %{=wt}% %{=wh}% %{=(w - gw + 2 * wt) / 2}% + topAppearance White { } + bottomAppearance IS wallAppearance + frontAppearance IS wallAppearance + backAppearance IS wallAppearance + leftAppearance IS wallAppearance + rightAppearance IS wallAppearance + } + ] + } + Transform { # left_bottom + translation %{=-(l + wt) / 2}% %{=wh / 2}% %{=(w + gw + 2 * wt) / 4}% + children [ + USE LEFT_TOP_WALL + ] + } + Transform { # right_top + translation %{=(l + wt) / 2}% %{=wh / 2}% %{=-(w + gw + 2 * wt) / 4}% + children [ + USE LEFT_TOP_WALL + ] + } + Transform { # right_bottom + translation %{=(l + wt) / 2}% %{=wh / 2}% %{=(w + gw + 2 * wt) / 4}% + children [ + USE LEFT_TOP_WALL + ] + } + Transform { # left_top_corner + translation %{=-l / 2}% 0 %{=-w / 2}% + children [ + DEF LEFT_TOP_CORNER Group { + children [ + Shape { + appearance IS wallAppearance + geometry IndexedFaceSet { + coord Coordinate { + point [ + 0 0 0, # 0 + %{=c}% 0 0, # 1 + 0 0 %{=c}%, # 2 + 0 %{=wh}% 0, # 3 + %{=c}% %{=wh}% 0, # 4 + 0 %{=wh}% %{=c}%, # 5 + ] + } + coordIndex [ + 0 1 2 -1 # floor + 0 2 5 3 -1 # left + 0 3 4 1 -1 # top + 1 4 5 2 -1 # diagonal + ] + } + } + Shape { + appearance White { } + geometry IndexedFaceSet { + coord Coordinate { + point [ + 0 %{=wh}% 0, # 0 + %{=c}% %{=wh}% 0, # 1 + 0 %{=wh}% %{=c}%, # 2 + ] + } + coordIndex [ + 0 2 1 -1 + ] + } + } + ] + } + ] + } + Transform { # left_bottom_corner + translation %{=-l / 2}% 0 %{=w / 2}% + rotation 0 1 0 %{=math.pi / 2}% + children [ + USE LEFT_TOP_CORNER + ] + } + Transform { # right_top_corner + translation %{=l / 2}% 0 %{=-w / 2}% + rotation 0 1 0 %{=-math.pi / 2}% + children [ + USE LEFT_TOP_CORNER + ] + } + Transform { # right_bottom_corner + translation %{=l / 2}% 0 %{=w / 2}% + rotation 0 1 0 %{=math.pi}% + children [ + USE LEFT_TOP_CORNER + ] + } + Transform { # left_goal_top + translation %{=-(l + wt + gd) / 2}% %{=wh / 2}% %{=-(gw + wt) / 2}% + children [ + DEF LEFT_GOAL_TOP_WALL MyBox { + size %{=gd - wt}% %{=wh}% %{=wt}% + topAppearance White { } + bottomAppearance IS wallAppearance + frontAppearance IS wallAppearance + backAppearance IS wallAppearance + leftAppearance IS wallAppearance + rightAppearance IS wallAppearance + } + ] + } + Transform { # left_goal_left + translation %{=-(l + 2 * gd + wt) / 2}% %{=wh / 2}% 0 + children [ + DEF LEFT_GOAL_LEFT_WALL MyBox { + size %{=wt}% %{=wh}% %{=gw + 2 * wt}% + topAppearance White { } + bottomAppearance IS wallAppearance + frontAppearance IS wallAppearance + backAppearance IS wallAppearance + leftAppearance IS wallAppearance + rightAppearance IS wallAppearance + } + ] + } + Transform { # left_goal_bottom + translation %{=-(l + wt + gd) / 2}% %{=wh / 2}% %{=(gw + wt) / 2}% + children [ + USE LEFT_GOAL_TOP_WALL + ] + } + Transform { # right_goal_top + translation %{=(l + wt + gd) / 2}% %{=wh / 2}% %{=-(gw + wt) / 2}% + children [ + USE LEFT_GOAL_TOP_WALL + ] + } + Transform { # right_goal_right + translation %{=(l + 2 * gd + wt) / 2}% %{=wh / 2}% 0 + children [ + USE LEFT_GOAL_LEFT_WALL + ] + } + Transform { # right_goal_bottom + translation %{=(l + wt + gd) / 2}% %{=wh / 2}% %{=(gw + wt) / 2}% + children [ + USE LEFT_GOAL_TOP_WALL + ] + } + ] + } + + + DEF WALL Solid { + contactMaterial IS wallContactMaterial + boundingObject Group { + children [ + Transform { # top + translation 0 %{=h / 2}% %{=-w / 2}% + rotation 1 0 0 %{=math.pi / 2}% + children [ + Plane { + size %{=l - 2 * c}% %{=h}% + } + ] + } + Transform { # bottom + translation 0 %{=h / 2}% %{=w / 2}% + rotation 1 0 0 %{=-math.pi / 2}% + children [ + Plane { + size %{=l - 2 * c}% %{=h}% + } + ] + } + Transform { # left goal + translation %{=-l / 2 - gd}% %{=h / 2}% 0 + rotation 0 0 1 %{=-math.pi / 2}% + children [ + Plane { + size %{=h}% %{=gw}% + } + ] + } + Transform { # right goal + translation %{=l / 2 + gd}% %{=h / 2}% 0 + rotation 0 0 1 %{=math.pi / 2}% + children [ + Plane { + size %{=h}% %{=gw}% + } + ] + } + Transform { # left_top_wall + translation %{=-l / 2 - wt / 2}% %{=h / 2}% %{=-w / 4 - gw / 4 + c / 2}% + rotation 1 0 0 0 + children [ + Box { + size %{=wt}% %{=h}% %{=w / 2 - gw / 2 - c}% + } + ] + } + Transform { # left_top__goal_wall + translation %{=-l / 2 - gd / 2 - wt / 2}% %{=h / 2}% %{=- gw / 2 - wt / 2}% + rotation 1 0 0 0 + children [ + Box { + size %{=gd - wt}% %{=h}% %{=wt}% + } + ] + } + Transform { # left_bottom__goal_wall + translation %{=-l / 2 - gd / 2 - wt / 2}% %{=h / 2}% %{=gw / 2 + wt / 2}% + rotation 1 0 0 0 + children [ + Box { + size %{=gd - wt}% %{=h}% %{=wt}% + } + ] + } + Transform { # left_bottom_wall + translation %{=-l / 2 - wt / 2}% %{=h / 2}% %{=w / 4 + gw / 4 - c / 2}% + rotation 1 0 0 0 + children [ + Box { + size %{=wt}% %{=h}% %{=w / 2 - gw / 2 - c}% + } + ] + } + Transform { # right_top_wall + translation %{=l / 2 + wt / 2}% %{=h / 2}% %{=-w / 4 - gw / 4 + c / 2}% + rotation 1 0 0 0 + children [ + Box { + size %{=wt}% %{=h}% %{=w / 2 - gw / 2 - c}% + } + ] + } + Transform { # right_top__goal_wall + translation %{=l / 2 + gd / 2 + wt / 2}% %{=h / 2}% %{=- gw / 2 - wt / 2}% + rotation 1 0 0 0 + children [ + Box { + size %{=gd - wt}% %{=h}% %{=wt}% + } + ] + } + Transform { # right_bottom__goal_wall + translation %{=l / 2 + gd / 2 + wt / 2}% %{=h / 2}% %{=gw / 2 + wt / 2}% + rotation 1 0 0 0 + children [ + Box { + size %{=gd - wt}% %{=h}% %{=wt}% + } + ] + } + Transform { # right_bottom_wall + translation %{=l / 2 + wt / 2}% %{=h / 2}% %{=w / 4 + gw / 4 - c / 2}% + rotation 1 0 0 0 + children [ + Box { + size %{=wt}% %{=h}% %{=w / 2 - gw / 2 - c}% + } + ] + } + Shape { + geometry IndexedFaceSet { + coord Coordinate { + # lower plane + # 3 7 + # 2 /---------------------\ 6 + # | | + # 0 -- 1 5 -- 4 + # | | + #12 -- 13 9 -- 8 + # | | + # 14 \---------------------/ 10 + # 15 11 + # for upper plane, add 16 to the indices of the lower plane + point [ + %{ + for _, local_h in ipairs({0, h}) do + for _, sign in ipairs({ + {x = 1, z = 1}, + {x = -1, z = 1}, + {x = -1, z = -1}, + {x = 1, z = -1}}) do + }% + %{=sign.x * (-l / 2 - gd)}% %{=local_h}% %{=sign.z * (-gw / 2) }%, # 0 + %{=sign.x * (-l / 2) }% %{=local_h}% %{=sign.z * (-gw / 2) }%, # 1 + %{=sign.x * (-l / 2) }% %{=local_h}% %{=sign.z * (-w / 2 + c)}%, # 2 + %{=sign.x * (-l / 2 + c) }% %{=local_h}% %{=sign.z * (-w / 2) }%, # 3 + %{ + end + end + }% + ] + } + coordIndex [ + # left side + 2 3 19 18 -1 + 14 30 31 15 -1 + + # right side + 6 22 23 7 -1 + 10 11 27 26 -1 + ] + } + } + ] + } + name "wall" + } + ] + } +} diff --git a/protos/soccerfield/VisualWall.proto b/protos/soccerfield/VisualWall.proto new file mode 100644 index 00000000..fdc63986 --- /dev/null +++ b/protos/soccerfield/VisualWall.proto @@ -0,0 +1,283 @@ +#VRML_SIM R2019a utf8 +#Author(s): Chansol Hong +#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) +# tags: static + +PROTO VisualWall [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 + field SFVec3f scale 1 1 1 + + field SFFloat length 2.2 + field SFFloat width 1.8 + field SFFloat bannerHeight 0.2 + field SFFloat goalWidth 0.4 + field SFFloat bannerThickness 0.025 + field SFFloat frameThickness 0.01 + + field SFFloat gpTranslation 1.21 + field SFFloat gpScale 1 + + field SFBool castShadows FALSE + field SFBool bannerWall FALSE + field SFBool bannerFront FALSE + field SFBool bannerBehind FALSE + + field SFInt32 bannerHorizontal 8 + field SFInt32 bannerVertical 2 + + field SFFloat cornerLength 0.07 + + + field SFNode frameAppearance LightGray { } + + field MFString url ["textures/kaist.png"] + field SFString name "banner_wall" +] +{ + %{ + local l = fields.length.value + local w = fields.width.value + local bh = fields.bannerHeight.value + local gw = fields.goalWidth.value + local bt = fields.bannerThickness.value + local gpt = fields.gpTranslation.value + local gps = fields.gpScale.value + local bw = fields.bannerWall.value + local bhor = fields.bannerHorizontal.value + local bver = fields.bannerVertical.value + local cl = fields.cornerLength.value + local url = fields.url.value + + local n_urls = 0 + for _,_ in pairs(url) do + n_urls = n_urls + 1 + end + + local l_trim = l - 2*cl + local w_trim = w - 2*cl - 2*bt - gw + + local banner_counter = 0 + }% + Solid { + translation IS translation + rotation IS rotation + name IS name + children [ + %{ if bw then }% + Transform { + translation 0 %{=bh/2}% %{=-w/2 + 0.0005}% + rotation 1 0 0 %{=math.pi/2}% + children [ + Shape { + appearance Appearance { + material Material { + ambientIntensity 1 + diffuseColor 1 1 1 + } + texture ImageTexture { + url "%{=url[1]}%" + } + } + geometry Plane { + size %{=5.7377*(bh - 2*fields.frameThickness.value)}% %{=bh - 2*fields.frameThickness.value}% + } + castShadows IS castShadows + } + ] + } + %{ end }% + #top + %{ for i = 0, (bhor - 1) do }% + %{ u = url[banner_counter % n_urls + 1] }% + Banner { + translation %{=-l_trim/2 + l_trim/(2*bhor) + i*l_trim/bhor}% 0 %{=-w/2 - bt/2}% + rotation 0 1 0 %{=3*math.pi/2}% + length %{=l_trim/bhor}% + height IS bannerHeight + bannerThickness IS bannerThickness + frameThickness IS frameThickness + frameAppearance IS frameAppearance + url "%{=u}%" + castShadows IS castShadows + bannerFront IS bannerFront + bannerBehind IS bannerBehind + name "%{='t_banner_' .. i}%" + } + %{banner_counter = banner_counter + 1}% + %{end}% + + #right-top + %{ for i = 0, (bver - 1) do }% + %{ u = url[banner_counter % n_urls + 1] }% + Banner { + translation %{=l/2 + bt/2}% 0 %{=-w_trim/2 - gw/2 - bt + w_trim/(4*bver) + i*w_trim/(2*bver)}% + rotation 0 1 0 %{=math.pi}% + length %{=w_trim/(2*bver)}% + height IS bannerHeight + bannerThickness IS bannerThickness + frameThickness IS frameThickness + frameAppearance IS frameAppearance + url "%{=u}%" + castShadows IS castShadows + bannerFront IS bannerFront + bannerBehind IS bannerBehind + name "%{='rt_banner_' .. i}%" + } + %{banner_counter = banner_counter + 1}% + %{end}% + + #right-bottom + %{ for i = 0, (bver - 1) do }% + %{ u = url[banner_counter % n_urls + 1] }% + Banner { + translation %{=l/2 + bt/2}% 0 %{=w_trim/2 + gw/2 + bt - w_trim/(4*bver) - (bver - 1 - i)*w_trim/(2*bver)}% + rotation 0 1 0 %{=math.pi}% + length %{=w_trim/(2*bver)}% + height IS bannerHeight + bannerThickness IS bannerThickness + frameThickness IS frameThickness + frameAppearance IS frameAppearance + url "%{=u}%" + castShadows IS castShadows + bannerFront IS bannerFront + bannerBehind IS bannerBehind + name "%{='rb_banner_' .. i}%" + } + %{banner_counter = banner_counter + 1}% + %{end}% + + #bottom + %{ for i = 0, (bhor - 1) do }% + %{ u = url[banner_counter % n_urls + 1] }% + Banner { + translation %{=-l_trim/2 + l_trim/(2*bhor) + (bhor - 1 - i)*l_trim/bhor}% 0 %{=w/2 + bt/2}% + rotation 0 1 0 %{=math.pi/2}% + length %{=l_trim/bhor}% + height IS bannerHeight + bannerThickness IS bannerThickness + frameThickness IS frameThickness + frameAppearance IS frameAppearance + url "%{=u}%" + castShadows IS castShadows + bannerFront IS bannerFront + bannerBehind IS bannerBehind + name "%{='b_banner_' .. i}%" + } + %{banner_counter = banner_counter + 1}% + %{end}% + + #left-bottom + %{ for i = 0, (bver - 1) do }% + %{ u = url[banner_counter % n_urls + 1] }% + Banner { + translation %{=-l/2 - bt/2}% 0 %{=w_trim/2 + gw/2 + bt - w_trim/(4*bver) - i*w_trim/(2*bver)}% + rotation 0 1 0 0 + length %{=w_trim/(2*bver)}% + height IS bannerHeight + bannerThickness IS bannerThickness + frameThickness IS frameThickness + frameAppearance IS frameAppearance + url "%{=u}%" + castShadows IS castShadows + bannerFront IS bannerFront + bannerBehind IS bannerBehind + name "%{='lb_banner_' .. i}%" + } + %{banner_counter = banner_counter + 1}% + %{end}% + + #left-top + %{ for i = 0, (bver - 1) do }% + %{ u = url[banner_counter % n_urls + 1] }% + Banner { + translation %{=-l/2 - bt/2}% 0 %{=-w_trim/2 - gw/2 - bt + w_trim/(4*bver) + (bver - 1 - i)*w_trim/(2*bver)}% + rotation 0 1 0 0 + length %{=w_trim/(2*bver)}% + height IS bannerHeight + bannerThickness IS bannerThickness + frameThickness IS frameThickness + frameAppearance IS frameAppearance + url "%{=u}%" + castShadows IS castShadows + bannerFront IS bannerFront + bannerBehind IS bannerBehind + name "%{='lt_banner_' .. i}%" + } + %{banner_counter = banner_counter + 1}% + %{end}% + + #corners + Transform { # left_top_corner + translation %{=-l / 2}% 0 %{=-w / 2}% + children [ + DEF LEFT_TOP_CORNER Group { + children [ + Shape { + appearance IS frameAppearance + geometry IndexedFaceSet { + coord Coordinate { + point [ + %{=cl}% 0 %{=-bt}%, # 0 + %{=cl}% 0 0, # 1 + 0 0 %{=cl}%, # 2 + %{=-bt}% 0 %{=cl}%, # 3 + %{=cl}% %{=bh}% %{=-bt}%, # 4 + %{=cl}% %{=bh}% 0, # 5 + 0 %{=bh}% %{=cl}%, # 6 + %{=-bt}% %{=bh}% %{=cl}%, # 7 + ] + } + coordIndex [ + 7 6 5 4 -1 #top + 0 1 2 3 -1 #bottom + 5 6 2 1 -1 #inner + 0 3 7 4 -1 #outer + ] + } + } + ] + } + ] + } + Transform { # left_bottom_corner + translation %{=-l / 2}% 0 %{=w / 2}% + rotation 0 1 0 %{=math.pi / 2}% + children [ + USE LEFT_TOP_CORNER + ] + } + Transform { # right_top_corner + translation %{=l / 2}% 0 %{=-w / 2}% + rotation 0 1 0 %{=-math.pi / 2}% + children [ + USE LEFT_TOP_CORNER + ] + } + Transform { # right_bottom_corner + translation %{=l / 2}% 0 %{=w / 2}% + rotation 0 1 0 %{=math.pi}% + children [ + USE LEFT_TOP_CORNER + ] + } + Group { # goalposts + children [ + Goalpost { + translation %{=-gpt}% 0 0 + scale %{=gps}% %{=gps}% %{=gps}% + castShadows IS castShadows + name "goalpost_left" + } + Goalpost { + translation %{=gpt}% 0 0 + scale %{=gps}% %{=gps}% %{=gps}% + rotation 0 1 0 3.141592635 + castShadows IS castShadows + name "goalpost_right" + } + ] + } + ] + } +} diff --git a/protos/stadium/textures/net_back_re.png b/protos/soccerfield/textures/net_back_re.png similarity index 100% rename from protos/stadium/textures/net_back_re.png rename to protos/soccerfield/textures/net_back_re.png diff --git a/protos/stadium/textures/net_side_2_re.png b/protos/soccerfield/textures/net_side_2_re.png similarity index 100% rename from protos/stadium/textures/net_side_2_re.png rename to protos/soccerfield/textures/net_side_2_re.png diff --git a/protos/stadium/textures/net_side_3_re.png b/protos/soccerfield/textures/net_side_3_re.png similarity index 100% rename from protos/stadium/textures/net_side_3_re.png rename to protos/soccerfield/textures/net_side_3_re.png diff --git a/protos/stadium/textures/net_side_re.png b/protos/soccerfield/textures/net_side_re.png similarity index 100% rename from protos/stadium/textures/net_side_re.png rename to protos/soccerfield/textures/net_side_re.png diff --git a/protos/stadium/textures/net_top_re.png b/protos/soccerfield/textures/net_top_re.png similarity index 100% rename from protos/stadium/textures/net_top_re.png rename to protos/soccerfield/textures/net_top_re.png diff --git a/protos/soccerrobot/.SoccerRobot.proto.signature b/protos/soccerrobot/.SoccerRobot.proto.signature deleted file mode 100644 index 9c2874e3..00000000 Binary files a/protos/soccerrobot/.SoccerRobot.proto.signature and /dev/null differ diff --git a/protos/soccerrobot/.SoccerRobotIDPatch.proto.signature b/protos/soccerrobot/.SoccerRobotIDPatch.proto.signature deleted file mode 100644 index b9b7aa1f..00000000 Binary files a/protos/soccerrobot/.SoccerRobotIDPatch.proto.signature and /dev/null differ diff --git a/protos/soccerrobot/.SoccerRobotNumberPatch.proto.signature b/protos/soccerrobot/.SoccerRobotNumberPatch.proto.signature deleted file mode 100644 index 90f8d9f4..00000000 --- a/protos/soccerrobot/.SoccerRobotNumberPatch.proto.signature +++ /dev/null @@ -1,5 +0,0 @@ -kSö<õÏ'ÛópßkÑp"æõ½ÇŽÇÀÕ΢|Nuš!“÷€‹ì]Û ¬ -Æ -ö‘Påž±Iv5zËB‰–®ªŠ)ÖâwD¯É¥ éat0q?ÞK{dòÀöi7é÷[¯ -á%!9ƒçߥ¼¼„,ÃúT}”¼)ƒ&x}`k‰¿zÍö“yáå!A§YlEI/?ìxÕ8l"+ÉG2&«ªs{ñÔàE­ì~hÜQò‰ÆfŒ:Ïä_KÚõV1 €qf9Ðæ'›.§SR»#üòì²8´]Îå¢NÖho¥ý{OëÅh@š d:qñ´”sŽ¾%;} œEÒa£¯ö`VeQøzê¬Ò/¾¨®‘6ƾ›™åø¼¯WõNoSKkY/»b1<ñRãyã¿à#¢ü¿6VHËH€Í¨‹}~¤ž¾j)jPуèNÏ“…ûõRdˆ†µåÞm.ÑÌóóªë¨.¶¢YUÀÙÎ4¾ûæû“þ±€ zßQ°€¶5ƒÚ}- ®q‚ñL”Š{nÔoðîcP5LèŸj×mïlíZ~à§åkôQ7_ÝÑ» -±Ó8ÄD*ƒ\ížP@ ô ôè¹¢fñ_ûe¯…,®ì3¼ÙXã9"‚+Ïb2ÃEø¿°ákýÈ!ÅÙRì \ No newline at end of file diff --git a/protos/soccerrobot/SoccerRobot.proto b/protos/soccerrobot/SoccerRobot.proto index a23d51de..c54a9df8 100644 --- a/protos/soccerrobot/SoccerRobot.proto +++ b/protos/soccerrobot/SoccerRobot.proto @@ -1,4 +1,4 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Inbae Jeong, Chansol Hong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) # tags: static @@ -10,9 +10,9 @@ PROTO SoccerRobot [ field SFVec3f scale 1 1 1 # fields for left and right wheels - field SFVec3f lwTranslation -0.035 -0.0075 0 + field SFVec3f lwTranslation -0.07 -0.005 0 field SFRotation lwRotation 1 0 0 1.570796 - field SFVec3f rwTranslation 0.035 -0.0075 0 + field SFVec3f rwTranslation 0.07 -0.005 0 field SFRotation rwRotation 1 0 0 1.570796 # children @@ -40,24 +40,23 @@ PROTO SoccerRobot [ # fields related to differential wheel robot field SFFloat motorConsumption 0 # [0,inf) - # SFFloat axleLength 0.1 # (0,inf) - # SFFloat wheelRadius 0.01 # (0,inf) - field SFFloat maxSpeed 10 # (0,inf) - field SFFloat maxAcceleration 10 + field SFFloat axleLength 0.14 + field SFFloat wheelRadius 0.04 + field SFFloat maxSpeed 52.5 # (0,inf) field SFFloat slipNoise 0.1 # [0,inf) - field SFFloat maxForce 0.3 # (0,inf) + field SFFloat maxTorque 1.2 # (0,inf) # fields specific to SoccerRobot - field SFFloat height 0.075 + field SFFloat height 0.09 field SFBool kinematic FALSE # If TRUE, Physics' are ignored - field SFFloat axleLength 0.07 - field SFFloat wheelRadius 0.03 + field SFFloat wheelThickness 0.004 field SFFloat wheelTireThickness 0.0 - field SFFloat bodyRadius 0.0575 - field SFFloat bodySubdivision 24 + field SFFloat bodySize 0.15 + # field SFFloat bodyRadius 0.0575 + field SFFloat bodySubdivision 4 field SFFloat wheelVisibleRatio 0.75 field SFFloat weightThickness 0.01 @@ -70,16 +69,16 @@ PROTO SoccerRobot [ field SFFloat distanceToPatch 0.001 field SFFloat distanceToWheel 0.001 field SFNode bodyAppearance Black { } - field SFNode tireAppearance White { } - field SFNode wheelAppearance White { } + field SFNode tireAppearance Gray { } + field SFNode wheelAppearance Gray { } field SFNode bodyPhysics Physics { density -1 - mass 0.75 - centerOfMass [0 -0.025 0] + mass 2.0 + centerOfMass [0 -0.03 0] } field SFNode wheelPhysics Physics { density -1 - mass 0.05 + mass 0.10 } field SFNode weightPhysics Physics { density -1 @@ -94,10 +93,14 @@ PROTO SoccerRobot [ field SFString wheelContactMaterial "default" field MFNode patches [ - SoccerRobotNumberPatch { isTeamTagRed TRUE id 0 name "number_patch" } + SoccerRobotNumberPatch { isTeamTagRed TRUE role "GK" name "number_patch" } SoccerRobotIDPatch { isTeamTagRed TRUE id 0 name "id_patch_red" } SoccerRobotIDPatch { isTeamTagRed FALSE id 0 name "id_patch_blue" } ] + + field MFNode cover [ + SoccerRobotCover { } + ] ] { %{ @@ -106,15 +109,20 @@ PROTO SoccerRobot [ local wr = fields.wheelRadius.value local wt = fields.wheelThickness.value local wtt = fields.wheelTireThickness.value - local br = fields.bodyRadius.value local bs = fields.bodySubdivision.value + local br = 0 + if bs == 4 then + br = fields.bodySize.value / math.sqrt(2) + else + br = fields.bodyRadius.value + end local wvr = math.min(math.max(0, fields.wheelVisibleRatio.value), 1) local wht = fields.weightThickness.value local tc = fields.topCover.value local sc = fields.sideCover.value local wp = fields.weightPlate.value local df = fields.distanceToFloor.value - local dp = fields.distanceToPatch.value + local dp = 2*fields.distanceToPatch.value local dw = fields.distanceToWheel.value local kinematic = fields.kinematic.value @@ -136,6 +144,10 @@ PROTO SoccerRobot [ rotation 0 1 0 %{=math.pi / 2}% children IS patches } + DEF COVER Transform { + rotation 0 1 0 %{=math.pi / 2}% + children IS cover + } DEF BODYSHAPE Transform { rotation 0 1 0 %{=math.pi / 2}% children [ @@ -371,10 +383,9 @@ PROTO SoccerRobot [ device [ RotationalMotor { name "left wheel motor" - acceleration IS acceleration consumptionFactor IS motorConsumption maxVelocity %{=mv*(1 + sn)}% - maxTorque IS maxForce + maxTorque IS maxTorque sound "" } ] @@ -429,10 +440,9 @@ PROTO SoccerRobot [ device [ RotationalMotor { name "right wheel motor" - acceleration IS acceleration consumptionFactor IS motorConsumption maxVelocity %{=mv*(1 + sn)}% - maxTorque IS maxForce + maxTorque IS maxTorque sound "" } ] @@ -463,7 +473,7 @@ PROTO SoccerRobot [ } } DEF FRONTSUPPORT Solid { - translation 0 %{=-h/2 + df}% %{=-(br - 2*df)}% + translation 0 %{=-h/2 + df}% %{=-(0.5*math.sqrt(2)*br - 2*df)}% children [ Shape { appearance IS bodyAppearance @@ -482,7 +492,7 @@ PROTO SoccerRobot [ } } DEF REARSUPPORT Solid { - translation 0 %{=-h/2 + df}% %{=br - 2*df}% + translation 0 %{=-h/2 + df}% %{=0.5*math.sqrt(2)*br - 2*df}% children [ Shape { appearance IS bodyAppearance @@ -522,13 +532,11 @@ PROTO SoccerRobot [ contactMaterial IS bodyContactMaterial immersionProperties IS immersionProperties boundingObject Transform { - translation 0 %{=df / 2}% 0 - rotation 0 1 0 %{=math.pi / bs}% + translation 0 %{=df/2}% 0 + rotation 0 1 0 0 children [ - Cylinder { - height %{=h - df}% - radius %{=br}% - subdivision %{=bs}% + Box { + size %{=math.sqrt(2)*br}% %{=h - df}% %{=math.sqrt(2)*br}% } ] } diff --git a/protos/soccerrobot/SoccerRobotCover.proto b/protos/soccerrobot/SoccerRobotCover.proto new file mode 100644 index 00000000..b1d58670 --- /dev/null +++ b/protos/soccerrobot/SoccerRobotCover.proto @@ -0,0 +1,40 @@ +#VRML_SIM R2019a utf8 +#Author(s): Chansol Hong +#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) +# tags: static + +# SoccerRobot's cover that hides robot body color differences +# from camera recording images sent to participant algorithms + +PROTO SoccerRobotCover [ + field SFFloat height 0.09 + field SFFloat bodySize 0.15 + field SFFloat distanceToPatch 0.001 + + field SFString name "cam_body" +] +{ + %{ + local h = fields.height.value + local bs = fields.bodySize.value + local dp = fields.distanceToPatch.value + }% + Solid { + children [ + Transform { + translation 0 %{=-dp/2}% 0 + children [ + %{ if h - dp > 0 then }% + Shape { + appearance Gray { } + geometry Box { + size %{=bs + 0.001}% %{=h - dp}% %{=bs + 0.001}% + } + } + %{ end }% + ] + } + ] + name IS name + } +} diff --git a/protos/soccerrobot/SoccerRobotIDPatch.proto b/protos/soccerrobot/SoccerRobotIDPatch.proto index 5bac0515..fd7fc6d8 100644 --- a/protos/soccerrobot/SoccerRobotIDPatch.proto +++ b/protos/soccerrobot/SoccerRobotIDPatch.proto @@ -1,4 +1,4 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Inbae Jeong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) # tags: static @@ -7,8 +7,8 @@ PROTO SoccerRobotIDPatch [ # fields inherited from Shape # fields specific to Patch - field SFFloat length 0.075 - field SFFloat width 0.075 + field SFFloat length 0.15 + field SFFloat width 0.15 field SFInt32 id 0 # should be >= 0 field SFBool isTeamTagRed TRUE field SFInt32 dataResolution 3 # should be > 0 diff --git a/protos/soccerrobot/SoccerRobotNumberPatch.proto b/protos/soccerrobot/SoccerRobotNumberPatch.proto index da2247f6..d2a4d1cb 100644 --- a/protos/soccerrobot/SoccerRobotNumberPatch.proto +++ b/protos/soccerrobot/SoccerRobotNumberPatch.proto @@ -1,4 +1,4 @@ -#VRML_SIM R2018a utf8 +#VRML_SIM R2019a utf8 #Author(s): Inbae Jeong, Chansol Hong #Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) # tags: static @@ -7,25 +7,17 @@ PROTO SoccerRobotNumberPatch [ # fields inherited from Shape # fields specific to Patch - field SFFloat radius 0.0575 - field SFFloat scale 0.8 - field SFInt32 id 0 # should be >= 0 + field SFFloat length 0.15 + field SFFloat width 0.15 + # field SFFloat radius 0.0575 + field SFString role "GK" field SFBool isTeamTagRed TRUE field SFString name "number_patch" ] { %{ - -- local variables - local radius = fields.radius.value - local scale = fields.scale.value - local id = fields.id.value + -- local variable local isTeamTagRed = fields.isTeamTagRed.value - - -- invariants - if id < 0 then - print("id must be nonnegative. Setting id to 0.\n") - id = 0 - end }% Solid { name IS name @@ -35,16 +27,17 @@ PROTO SoccerRobotNumberPatch [ children [ Shape { appearance Appearance { + material Material {} texture ImageTexture { %{ local color if isTeamTagRed then color = 'red' else color = 'blue' end }% - url [ "textures/%{=color}%_%{=fields.id.value}%.png" ] + url [ "textures/%{=color}%_%{=fields.role.value}%.png" ] } } geometry Plane { - size %{=2*radius}% %{=2*radius}% + size %{=fields.width.value}% %{=fields.length.value}% } } ] diff --git a/protos/soccerrobot/textures/0.png b/protos/soccerrobot/textures/0.png deleted file mode 100644 index f2a2deaa..00000000 Binary files a/protos/soccerrobot/textures/0.png and /dev/null differ diff --git a/protos/soccerrobot/textures/1.png b/protos/soccerrobot/textures/1.png deleted file mode 100644 index fdf9ffd1..00000000 Binary files a/protos/soccerrobot/textures/1.png and /dev/null differ diff --git a/protos/soccerrobot/textures/2.png b/protos/soccerrobot/textures/2.png 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mode 100644 index 44bf4810..00000000 Binary files a/protos/stadium/.Chair.proto.signature and /dev/null differ diff --git a/protos/stadium/.Goalpost.proto.signature b/protos/stadium/.Goalpost.proto.signature deleted file mode 100644 index 650d3730..00000000 Binary files a/protos/stadium/.Goalpost.proto.signature and /dev/null differ diff --git a/protos/stadium/.Placement.proto.signature b/protos/stadium/.Placement.proto.signature deleted file mode 100644 index 8e709a6c..00000000 Binary files a/protos/stadium/.Placement.proto.signature and /dev/null differ diff --git a/protos/stadium/.Spectator_1.proto.signature b/protos/stadium/.Spectator_1.proto.signature deleted file mode 100644 index e8a190e2..00000000 Binary files a/protos/stadium/.Spectator_1.proto.signature and /dev/null differ diff --git a/protos/stadium/.Spectator_2.proto.signature b/protos/stadium/.Spectator_2.proto.signature deleted file mode 100644 index d8302ed3..00000000 Binary files a/protos/stadium/.Spectator_2.proto.signature and /dev/null differ diff --git a/protos/stadium/.Spectator_3.proto.signature b/protos/stadium/.Spectator_3.proto.signature deleted file mode 100644 index 663cf856..00000000 Binary files a/protos/stadium/.Spectator_3.proto.signature and /dev/null differ diff --git a/protos/stadium/.Spectator_4.proto.signature b/protos/stadium/.Spectator_4.proto.signature deleted file mode 100644 index 3e6445b5..00000000 Binary files a/protos/stadium/.Spectator_4.proto.signature and /dev/null differ diff --git a/protos/stadium/.Spectator_5.proto.signature b/protos/stadium/.Spectator_5.proto.signature deleted file mode 100644 index 91c61f27..00000000 Binary files a/protos/stadium/.Spectator_5.proto.signature and /dev/null differ diff --git a/protos/stadium/.Spectator_6.proto.signature b/protos/stadium/.Spectator_6.proto.signature deleted file mode 100644 index 79f0d640..00000000 Binary files a/protos/stadium/.Spectator_6.proto.signature and /dev/null differ diff --git a/protos/stadium/.Spectator_7.proto.signature b/protos/stadium/.Spectator_7.proto.signature deleted file mode 100644 index 3493b112..00000000 Binary files a/protos/stadium/.Spectator_7.proto.signature and /dev/null differ diff --git a/protos/stadium/.Stadium.proto.signature b/protos/stadium/.Stadium.proto.signature deleted file mode 100644 index 3294b6c5..00000000 Binary files a/protos/stadium/.Stadium.proto.signature and /dev/null differ diff --git a/protos/stadium/.Stand.proto.signature b/protos/stadium/.Stand.proto.signature deleted file mode 100644 index fe20c616..00000000 Binary files a/protos/stadium/.Stand.proto.signature and /dev/null differ diff --git a/protos/stadium/Banners.proto b/protos/stadium/Banners.proto deleted file mode 100644 index 668e2938..00000000 --- a/protos/stadium/Banners.proto +++ /dev/null @@ -1,98 +0,0 @@ -#VRML_SIM R2018a utf8 -#Author(s): Seung-Jae Lee, Chansol Hong -#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) -# tags: static, hidden - -PROTO Banners [ - field SFVec3f translation 0 0 0 - field SFRotation rotation 0 1 0 0 - field SFBool castShadows TRUE - field SFFloat roundWidth 2.95 - field SFFloat roundHeight 2.25 - field SFFloat bannerHeight 0.1 - field SFInt32 widthBannerNum 6 - field SFInt32 heightBannerNum 5 - field SFFloat frameThickness 0.01 - field SFBool bannerBehind FALSE - field MFString url [] - field SFString name "banners" -] -{ - %{ - local rw = fields.roundWidth.value - local rh = fields.roundHeight.value - local h = fields.bannerHeight.value - local th = fields.frameThickness.value - local url = fields.url.value - local wn = fields.widthBannerNum.value - local hn = fields.heightBannerNum.value - - local n_urls = 0 - for _,_ in pairs(url) do - n_urls = n_urls + 1 - end - }% - Solid { - translation IS translation - rotation IS rotation - name IS name - children [ - %{ for i = 0, (wn - 1) do }% - %{ rwx = -rw/2 + i * rw/wn }% - %{u = url[i % n_urls + 1]}% - Banner { - translation %{=rwx + rw/(2*wn)-th/2}% 0 %{=rh/2}% - rotation 0 1 0 %{=math.pi/2}% - length %{=rw/wn}% - height IS h - url "%{=u}%" - castShadows IS castShadows - bannerBehind IS bannerBehind - name "%{='rwp_banner_' .. i}%" - } - %{end}% - %{ for i = 0, (hn - 1) do }% - %{ rhx = rh/2 - i * rh/hn }% - %{u = url[i % n_urls + 1]}% - Banner { - translation %{=rw/2}% 0 %{=rhx - rh/(2*hn)+th/2}% - rotation 0 1 0 %{=math.pi}% - length %{=rh/hn}% - height IS h - url "%{=u}%" - castShadows IS castShadows - bannerBehind IS bannerBehind - name "%{='rhp_banner_' .. i}%" - } - %{end}% - %{ for i = 0, (wn - 1) do }% - %{ rwx = -rw/2 + i * rw/wn }% - %{u = url[i % n_urls + 1]}% - Banner { - translation %{=-rwx - rw/(2*wn)+th/2}% 0 %{=-rh/2}% - rotation 0 1 0 %{=math.pi*3/2}% - length %{=rw/wn}% - height IS h - url "%{=u}%" - castShadows IS castShadows - bannerBehind IS bannerBehind - name "%{='rwn_banner_' .. i}%" - } - %{end}% - %{ for i = 0, (hn - 1) do }% - %{ rhx = rh/2 - i * rh/hn }% - %{u = url[i % n_urls + 1]}% - Banner { - translation %{=-rw/2}% 0 %{=-rhx + rh/(2*hn)-th/2}% - rotation 0 1 0 %{=math.pi*2}% - length %{=rh/hn}% - height IS h - url "%{=u}%" - castShadows IS castShadows - bannerBehind IS bannerBehind - name "%{='rhn_banner_' .. i}%" - } - %{end}% - ] - } -} diff --git a/protos/stadium/Chair.proto b/protos/stadium/Chair.proto deleted file mode 100644 index f1fc92d7..00000000 --- a/protos/stadium/Chair.proto +++ /dev/null @@ -1,1274 +0,0 @@ -#VRML_SIM R2018a utf8 -#Author(s): AI World Cup Developers -#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) -# tags: static - -PROTO Chair [ - field SFVec3f translation 0 0 0 - field SFRotation rotation 0 1 0 0 - field SFVec3f scale 1 1 1 - field SFNode appearance Red {} - field SFBool castShadows TRUE - field SFString name "chair" -] -{ - Solid { - translation IS translation - rotation IS rotation - scale IS scale - name IS name - children [ - Transform { - translation 0 0.03 0 - rotation 0 1 0 %{=math.pi}% - children [ - Transform { - 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2.606, - -3.976 -2.99 2.583, 4.33 2.962 -5.138, 4.314 2.95 -5.112, - 4.313 2.982 -5.134, 4.303 2.963 -5.109, 4.288 2.967 -5.363, - 4.275 2.99 -5.347, 4.265 2.967 -5.379, 4.26 2.99 -5.357, - 4.287 -2.962 -5.368, 4.262 -2.95 -5.387, 4.27 -2.982 -5.364, - 4.251 -2.963 -5.385, 4.33 -2.967 -5.143, 4.311 -2.99 -5.151, - 4.314 -2.967 -5.119, 4.301 -2.99 -5.136, -3.675 3 2.047, - -3.767 0 1.922, -3.675 -3 2.047, -3.582 0 2.171, -0.6708 3 1.756, - -0.8825 0 1.763, -0.6708 -3 1.756, -0.6731 0 2.076, - 2.139 3 -0.9224, 1.781 0 -1.026, 2.139 -3 -0.9224, - 2.07 0 -0.8188, 2.803 3 -4.263, 2.47 0 -4.355, 2.803 -3 -4.263, - 2.708 0 -4.171, 3.79 3 -5.154, 3.517 0 -5.296, 3.79 -3 -5.154, - 3.636 0 -5.013, -4.077 0 2.55, 4.117 0 -5.256, -3.767 -2.125 1.922, - -3.767 2.125 1.922, -3.582 2.125 2.171, -3.582 -2.125 2.171, - -0.8312 -2.125 1.685, -0.8312 2.125 1.685, -0.6218 2.125 1.998, - -0.6218 -2.125 1.998, 1.884 -2.125 -1.026, 1.884 2.125 -1.026, - 2.172 2.125 -0.8188, 2.172 -2.125 -0.8188, 2.572 -2.125 -4.355, - 2.572 2.125 -4.355, 2.811 2.125 -4.171, 2.811 -2.125 -4.171, - 3.619 -2.125 -5.296, 3.619 2.125 -5.296, 3.738 2.125 -5.013, - 3.738 -2.125 -5.013, -4.077 -2.125 2.55, -4.077 2.125 2.55, - 4.22 2.125 -5.256, 4.22 -2.125 -5.256, 1.328 3 1.876, - -2.82 3 1.627, -2.915 0 1.554, 1.001 0 1.825, 1.328 -3 1.876, - -2.82 -3 1.627, -2.764 0 1.864, 1.269 0 2.142, -2.905 -2.125 1.515, - 1.093 -2.125 1.774, 1.093 2.125 1.774, -2.905 2.125 1.515, - -2.755 2.125 1.825, 1.362 2.125 2.091, 1.362 -2.125 2.091, - -2.755 -2.125 1.825, 1.789 3 1.866, 1.537 2.125 1.724, - 1.789 -3 1.866, 1.819 -2.125 2.042, 1.435 0 1.739, - 1.537 -2.125 1.724, 1.717 0 2.057, 1.819 2.125 2.042, - 1.947 3 1.726, 1.695 2.125 1.57, 1.947 -3 1.726, 1.977 -2.125 1.888, - 1.592 0 1.573, 1.695 -2.125 1.57, 1.874 0 1.891, 1.977 2.125 1.888, - -4.006 2.954 2.6, -4.117 2.995 2.46, -4.142 -2.954 2.492, - -3.981 -2.995 2.569, 4.29 2.955 -5.102, 4.249 2.995 -5.347, - 4.237 -2.955 -5.387, 4.288 -2.995 -5.142, -3.612 2.996 2.132, 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1.711, - 2.079 -2.95 1.882, -3.992 2.937 2.611, -3.965 2.944 2.615, - -3.934 2.948 2.599, -3.997 2.949 2.608, -3.974 2.967 2.608, - -3.946 2.978 2.59, -3.992 2.978 2.593, -3.969 2.992 2.572, - -4.12 2.995 2.436, -4.142 2.981 2.426, -4.156 2.949 2.421, - -4.122 2.995 2.448, -4.147 2.981 2.451, -4.163 2.949 2.453, - -4.137 2.981 2.474, -4.149 2.949 2.483, -4.156 -2.937 2.481, - -4.165 -2.944 2.455, -4.157 -2.948 2.422, -4.151 -2.949 2.484, - -4.156 -2.967 2.462, -4.145 -2.978 2.431, -4.138 -2.978 2.476, - -4.122 -2.992 2.449, -3.956 -2.995 2.566, -3.943 -2.981 2.586, - -3.934 -2.949 2.599, -3.968 -2.995 2.572, -3.965 -2.981 2.597, - -3.964 -2.949 2.612, -3.99 -2.981 2.591, -3.996 -2.949 2.606, - 4.305 2.937 -5.105, 4.326 2.944 -5.124, 4.336 2.949 -5.157, - 4.301 2.949 -5.104, 4.318 2.967 -5.122, 4.325 2.978 -5.154, - 4.297 2.978 -5.118, 4.298 2.992 -5.149, 4.27 2.995 -5.333, - 4.289 2.981 -5.344, 4.299 2.95 -5.351, 4.262 2.995 -5.344, - 4.274 2.981 -5.364, 4.279 2.95 -5.378, 4.25 2.981 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-2.981 -0.8291, - 2.274 -2.95 -0.8209, 2.905 2.981 -4.182, 2.913 2.95 -4.174, - 2.696 2.981 -4.344, 2.68 2.95 -4.353, 2.696 -2.981 -4.344, - 2.721 -2.996 -4.326, 2.905 -2.981 -4.182, 2.913 -2.95 -4.174, - 3.84 2.981 -5.031, 3.842 2.95 -5.017, 4.31 2.981 -5.253, - 4.321 2.95 -5.256, 3.735 2.981 -5.278, 3.726 2.95 -5.292, - 4.176 2.125 -5.381, 4.198 2.125 -5.353, 3.736 -2.981 -5.278, - 3.749 -2.996 -5.25, 4.31 -2.981 -5.252, 4.321 -2.95 -5.255, - 3.84 -2.981 -5.031, 3.842 -2.95 -5.017, 4.225 -2.125 -5.124, - 4.234 -2.125 -5.158, -4.167 0 2.453, -4.153 0 2.485, - -4.167 2.125 2.453, -4.153 2.125 2.485, -3.963 0 2.616, - -3.997 0 2.609, -3.963 -2.125 2.616, -3.997 -2.125 2.609, - 4.074 0 -5.381, 4.095 0 -5.353, 4.176 -2.125 -5.381, - 4.198 -2.125 -5.353, 4.122 0 -5.124, 4.132 0 -5.158, - 4.225 2.125 -5.124, 4.234 2.125 -5.158, -0.578 2.981 1.899, - -0.5714 2.95 1.915, 1.448 2.981 2.021, 1.454 2.95 2.035, - -0.7661 2.981 1.618, -0.7766 2.95 1.608, -2.887 2.981 1.491, - -2.894 2.95 1.478, -0.7661 -2.981 1.618, -0.7481 -2.996 1.642, - -2.887 -2.981 1.491, -2.873 -2.996 1.518, -0.578 -2.981 1.899, - -0.5714 -2.95 1.915, -2.753 -2.981 1.766, -2.747 -2.95 1.781, - 2.073 2.981 1.87, 2.054 2.996 1.847, 1.658 2.981 1.722, - 1.681 2.996 1.745, 1.817 -2.981 1.581, 1.839 -2.996 1.604, - 1.914 -2.981 2.011, 1.896 -2.996 1.988, 1.914 2.981 2.011, - 1.896 2.996 1.988, 1.817 2.981 1.581, 1.839 2.996 1.604, - 1.658 -2.981 1.722, 1.681 -2.996 1.745, 2.073 -2.981 1.87, - 2.054 -2.996 1.847, -3.633 2.999 2.103, -3.281 3 1.717, - -3.716 2.999 1.99, -3.947 2.999 2.387, -3.36 2.125 1.581, - -3.767 -2.734 1.923, -4.057 -2.125 2.286, -3.281 -3 1.717, - -3.633 -2.999 2.103, -3.947 -2.999 2.387, -3.208 -2.125 1.875, - -3.837 2.125 2.488, -2.784 2.999 1.701, 1.616 3 1.884, - 1.258 2.999 1.794, 1.369 2.125 1.757, 1.164 -2.734 1.735, - 1.616 -3 1.884, 1.398 -2.999 1.959, 1.647 -2.125 2.074, - 2.209 2.999 -0.8699, 2.379 3 -3.027, 2.07 2.999 -0.9748, - 2.128 2.125 -3.099, 1.962 -2.734 -1.025, 2.379 -3 -3.027, - 2.209 -2.999 -0.8699, 2.407 -2.125 -2.954, 2.856 2.999 -4.221, - 3.308 3 -4.887, 2.749 2.999 -4.305, 3.106 2.125 -5.013, - 2.65 -2.734 -4.354, 3.308 -3 -4.887, 2.856 -2.999 -4.221, - 3.286 -2.125 -4.761, 3.817 2.999 -5.092, 4.149 2.999 -5.222, - 3.763 2.999 -5.217, 4.002 2.125 -5.367, 3.697 -2.734 -5.295, - 4.149 -2.999 -5.222, 3.817 -2.999 -5.092, 4.073 -2.125 -5.077, - -3.363 0 1.591, -3.36 -2.125 1.581, -4.057 0 2.286, - -4.057 2.125 2.286, -3.21 0 1.885, -3.208 2.125 1.875, - -3.837 0 2.488, -3.837 -2.125 2.488, 1.269 0 1.786, - 1.369 -2.125 1.757, 1.548 0 2.103, 1.647 2.125 2.074, - 2.026 0 -3.099, 2.128 -2.125 -3.099, 2.305 0 -2.954, - 2.407 2.125 -2.954, 3.003 0 -5.013, 3.106 -2.125 -5.013, - 3.184 0 -4.761, 3.286 2.125 -4.761, 3.9 0 -5.367, 4.002 -2.125 -5.367, - 3.971 0 -5.077, 4.073 2.125 -5.077, -3.767 -1.191 1.922, - -3.767 1.191 1.922, -3.582 1.191 2.171, -3.582 -1.191 2.171, - 1.024 -1.191 1.812, -2.912 1.191 1.544, 1.292 1.191 2.129, - -2.762 -1.191 1.854, 1.807 -1.191 -1.026, 1.807 1.191 -1.026, - 2.095 1.191 -0.8188, 2.095 -1.191 -0.8188, 2.495 -1.191 -4.355, - 2.495 1.191 -4.355, 2.734 1.191 -4.171, 2.734 -1.191 -4.171, - 3.542 -1.191 -5.296, 3.542 1.191 -5.296, 3.661 1.191 -5.013, - 3.661 -1.191 -5.013, -4.077 -1.191 2.55, -4.077 1.191 2.55, - 4.143 1.191 -5.256, 4.143 -1.191 -5.256, -0.6184 2.999 1.835, - 1.398 2.999 1.959, -0.7234 2.999 1.679, -2.855 2.999 1.554, - -0.7919 -2.734 1.626, -2.898 -2.734 1.486, -0.6184 -2.999 1.835, - -2.784 -2.999 1.701, -0.8697 -1.191 1.743, -2.912 -1.191 1.544, - -0.8697 1.191 1.743, 1.024 1.191 1.812, -0.6603 1.191 2.057, - -2.762 1.191 1.854, -0.6603 -1.191 2.057, 1.292 -1.191 2.129, - 0.6554 3 1.836, -2.034 3 1.675, -2.172 0 1.662, 0.37 0 1.827, - 0.6554 -3 1.836, -2.034 -3 1.675, -2 0 1.973, 0.6168 0 2.143, - -2.147 -2.125 1.593, 0.4476 -2.125 1.756, 0.4476 2.125 1.756, - -2.147 2.125 1.593, -1.975 2.125 1.905, 0.6944 2.125 2.072, - 0.6944 -2.125 2.072, -1.975 -2.125 1.905, 2.054 2.734 1.885, - 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a/protos/stadium/Placement.proto +++ /dev/null @@ -1,332 +0,0 @@ -#VRML_SIM R2018a utf8 -#Author(s): Seung-Jae Lee, Chansol Hong -#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) -# tags: static, hidden - -PROTO Placement [ - field SFVec3f translation 0 0 0 - field SFRotation rotation 0 1 0 0 - field SFVec3f scale 1 1 1 - # fields specific to the chair displacement - field SFNode chairAppearance Red { } - field SFBool castShadows TRUE - field SFInt32 numberOfRows 3 - field SFFloat placeProbability 0.5 - field SFString name "placement" -] -{ - %{ - local nr = fields.numberOfRows.value - local kp = fields.placeProbability.value - local tx = 0.13 - local ty = 0.03 - local tz = 0.08 - - math.randomseed(os.time()) - - -- '#a' doesn't work in procedural proto since # is used for comments. let's just count. - local array_length = function(a) - local ret = 0 - for _,_ in pairs(a) do - ret = ret + 1 - end - return ret - end - - -- color name MUST have matching protos/colors/*.proto - local shirt = {"DarkGray", "Gray", "LightGray", "White"} - local pants = shirt - local shoes = {"Black"} - - local shirt_n = array_length(shirt) - local pants_n = array_length(pants) - local shoes_n = array_length(shoes) - - local place_spectator = function(prefix, i, z) - if kp > math.random() then - return "Spectator_" .. math.random(1,7) .. " {" - .. "bodyAppearance Skin_" .. math.random(1, 3) .. " { }" - .. "shirtAppearance " .. shirt[math.random(1, shirt_n)] .. " { }" - .. "pantsAppearance " .. pants[math.random(1, pants_n)] .. " { }" - .. "shoesAppearance " .. shoes[math.random(1, shoes_n)] .. " { }" - .. "name \"" .. prefix .. "_" .. i .. "_" .. z .. "\"" - .. "castShadows IS castShadows" - .. "}" - else - return "" - end - end - }% - Solid { - translation IS translation - rotation IS rotation - scale IS scale - name IS name - children [ - DEF EAST_CENTER Transform { - translation 0 0 0 - rotation 0 1 0 0 - children [ - %{ for i = 0, (nr - 1) do }% - %{ for z = 0, (9 + i*2) do }% - Transform { - translation %{=1.60+(i*tx)}% %{=0.03+(i*ty)}% %{=-0.35+(z*tz)-(i*0.08)}% - rotation 0 1 0 %{=math.pi}% - children [ - Chair { - appearance IS chairAppearance - castShadows IS castShadows - name "%{='ec_chair_' .. i .. '_' .. z}%" - } - %{=place_spectator("ec_spectator", i, z)}% - ] - } - %{ end }% - %{ end }% - ] - } - DEF EAST_RIGHT Transform { - translation 0 0 0 - rotation 0 1 0 0 - children [ - %{ for i = 0, (nr - 1) do }% - %{ for z = 0, (6 + i) do }% - Transform { - translation %{=1.60+(i*tx)}% %{=0.03+(i*ty)}% %{=0.7+(z*tz)+(i*0.05)}% - rotation 0 1 0 %{=math.pi}% - children [ - Chair { - appearance IS chairAppearance - castShadows IS castShadows - name "%{='er_chair_' .. i .. '_' .. z}%" - } - %{=place_spectator("er_spectator", i, z)}% - ] - } - %{ end }% - %{ end }% - ] - } - DEF EAST_LEFT Transform { - translation 0 0 0 - rotation 0 1 0 0 - children [ - %{ for i = 0, (nr - 1) do }% - %{ for z = 0, (6 + i) do }% - Transform { - translation %{=1.60+(i*tx)}% %{=0.03+(i*ty)}% %{=-1.18+(z*tz)-(i*0.13)}% - rotation 0 1 0 %{=math.pi}% - children [ - Chair { - appearance IS chairAppearance - castShadows IS castShadows - name "%{='el_chair_' .. i .. '_' .. z}%" - } - %{=place_spectator("el_spectator", i, z)}% - ] - } - %{ end }% - %{ end }% - ] - } - DEF WEST_CENTER Transform { - translation 0 0 0 - rotation 0 1 0 %{=math.pi}% - children [ - %{ for i = 0, (nr - 1) do }% - %{ for z = 0, (9 + i*2) do }% - Transform { - translation %{=1.60+(i*tx)}% %{=0.03+(i*ty)}% %{=-0.35+(z*tz)-(i*0.08)}% - rotation 0 1 0 %{=math.pi}% - children [ - Chair { - appearance IS chairAppearance - castShadows IS castShadows - name "%{='wc_chair_' .. i .. '_' .. z}%" - } - %{=place_spectator("wc_spectator", i, z)}% - ] - } - %{ end }% - %{ end }% - ] - } - DEF WEST_RIGHT Transform { - translation 0 0 0 - rotation 0 1 0 %{=math.pi}% - children [ - %{ for i = 0, (nr - 1) do }% - %{ for z = 0, (6 + i) do }% - Transform { - translation %{=1.60+(i*tx)}% %{=0.03+(i*ty)}% %{=0.7+(z*tz)+(i*0.05)}% - rotation 0 1 0 %{=math.pi}% - children [ - Chair { - appearance IS chairAppearance - castShadows IS castShadows - name "%{='wr_chair_' .. i .. '_' .. z}%" - } - %{=place_spectator("wr_spectator", i, z)}% - ] - } - %{ end }% - %{ end }% - ] - } - DEF WEST_LEFT Transform { - translation 0 0 0 - rotation 0 1 0 %{=math.pi}% - children [ - %{ for i = 0, (nr - 1) do }% - %{ for z = 0, (6 + i) do }% - Transform { - translation %{=1.60+(i*tx)}% %{=0.03+(i*ty)}% %{=-1.18+(z*tz)-(i*0.13)}% - rotation 0 1 0 %{=math.pi}% - children [ - Chair { - appearance IS chairAppearance - castShadows IS castShadows - name "%{='wl_chair_' .. i .. '_' .. z}%" - } - %{=place_spectator("wl_spectator", i, z)}% - ] - } - %{ end }% - %{ end }% - ] - } - DEF NORTH_CENTER Transform { - translation 0 0 0 - rotation 0 1 0 %{=math.pi / 2}% - children [ - %{ for i = 0, (nr - 1) do }% - %{ for z = 0, (11 + i*2) do }% - Transform { - translation %{=1.25+(i*tx)}% %{=0.03+(i*ty)}% %{=-0.44+(z*tz)-(i*0.08)}% - rotation 0 1 0 %{=math.pi}% - children [ - Chair { - appearance IS chairAppearance - castShadows IS castShadows - name "%{='nc_chair_' .. i .. '_' .. z}%" - } - %{=place_spectator("nc_spectator", i, z)}% - ] - } - %{ end }% - %{ end }% - ] - } - DEF NORTH_RIGHT Transform { - translation 0 0 0 - rotation 0 1 0 %{=math.pi / 2}% - children [ - %{ for i = 0, (nr - 1) do }% - %{ for z = 0, (8 + i) do }% - Transform { - translation %{=1.25+(i*tx)}% %{=0.03+(i*ty)}% %{=0.82+(z*tz)+(i*0.05)}% - rotation 0 1 0 %{=math.pi}% - children [ - Chair { - appearance IS chairAppearance - castShadows IS castShadows - name "%{='nr_chair_' .. i .. '_' .. z}%" - } - %{=place_spectator("nr_spectator", i, z)}% - ] - } - %{ end }% - %{ end }% - ] - } - DEF NORTH_LEFT Transform { - translation 0 0 0 - rotation 0 1 0 %{=math.pi / 2}% - children [ - %{ for i = 0, (nr - 1) do }% - %{ for z = 0, (8 + i) do }% - Transform { - translation %{=1.25+(i*tx)}% %{=0.03+(i*ty)}% %{=-1.45+(z*tz)-(i*0.13)}% - rotation 0 1 0 %{=math.pi}% - children [ - Chair { - appearance IS chairAppearance - castShadows IS castShadows - name "%{='nl_chair_' .. i .. '_' .. z}%" - } - %{=place_spectator("nl_spectator", i, z)}% - ] - } - %{ end }% - %{ end }% - ] - } - DEF SOUTH_CENTER Transform { - translation 0 0 0 - rotation 0 1 0 %{=3*math.pi / 2}% - children [ - %{ for i = 0, (nr - 1) do }% - %{ for z = 0, (11 + i*2) do }% - Transform { - translation %{=1.25+(i*tx)}% %{=0.03+(i*ty)}% %{=-0.44+(z*tz)-(i*0.08)}% - rotation 0 1 0 %{=math.pi}% - children [ - Chair { - appearance IS chairAppearance - castShadows IS castShadows - name "%{='sc_chair_' .. i .. '_' .. z}%" - } - %{=place_spectator("sc_spectator", i, z)}% - ] - } - %{ end }% - %{ end }% - ] - } - DEF SOUTH_RIGHT Transform { - translation 0 0 0 - rotation 0 1 0 %{=3*math.pi / 2}% - children [ - %{ for i = 0, (nr - 1) do }% - %{ for z = 0, (8 + i) do }% - Transform { - translation %{=1.25+(i*tx)}% %{=0.03+(i*ty)}% %{=0.82+(z*tz)+(i*0.05)}% - rotation 0 1 0 %{=math.pi}% - children [ - Chair { - appearance IS chairAppearance - castShadows IS castShadows - name "%{='sr_chair_' .. i .. '_' .. z}%" - } - %{=place_spectator("sr_spectator", i, z)}% - ] - } - %{ end }% - %{ end }% - ] - } - DEF SOUTH_LEFT Transform { - translation 0 0 0 - rotation 0 1 0 %{=3*math.pi / 2}% - children [ - %{ for i = 0, (nr - 1) do }% - %{ for z = 0, (8 + i) do }% - Transform { - translation %{=1.25+(i*tx)}% %{=0.03+(i*ty)}% %{=-1.45+(z*tz)-(i*0.13)}% - rotation 0 1 0 %{=math.pi}% - children [ - Chair { - appearance IS chairAppearance - castShadows IS castShadows - name "%{='sl_chair_' .. i .. '_' .. z}%" - } - %{=place_spectator("sl_spectator", i, z)}% - ] - } - %{ end }% - %{ end }% - ] - } - ] - } -} diff --git a/protos/stadium/Spectator_1.proto b/protos/stadium/Spectator_1.proto deleted file mode 100644 index 78c96adc..00000000 --- a/protos/stadium/Spectator_1.proto +++ /dev/null @@ -1,1940 +0,0 @@ -#VRML_SIM R2018a utf8 -#Author(s): Seung-Jae Lee, Chansol Hong -#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) -# tags: static - -PROTO Spectator_1 [ - field SFVec3f translation 0 0 0 - field SFRotation rotation 0 1 0 0 - field SFVec3f scale 1 1 1 - field SFNode bodyAppearance White {} - field SFNode shirtAppearance Red {} - field SFNode pantsAppearance Blue {} - field SFNode shoesAppearance Black {} - field SFBool castShadows TRUE - field SFString name "spectator_1" -] -{ - Solid { - translation IS translation - rotation IS rotation - scale IS scale - name IS name - children [ - Transform { - translation -0.003 0.047 0 - rotation 0 1 0 %{=math.pi/2}% - scale 0.0006061 0.0006061 0.0006061 - 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502, 291, 304, -1 - ] - } - } - ] - } - ] - } -} diff --git a/protos/stadium/Spectator_2.proto b/protos/stadium/Spectator_2.proto deleted file mode 100644 index 62fc4a2c..00000000 --- a/protos/stadium/Spectator_2.proto +++ /dev/null @@ -1,2198 +0,0 @@ -#VRML_SIM R2018a utf8 -#Author(s): Seung-Jae Lee, Chansol Hong -#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) -# tags: static - -PROTO Spectator_2 [ - field SFVec3f translation 0 0 0 - field SFRotation rotation 0 1 0 0 - field SFVec3f scale 1 1 1 - field SFNode bodyAppearance White {} - field SFNode shirtAppearance Red {} - field SFNode pantsAppearance Green {} # Unused. same with shirtAppearance - field SFNode shoesAppearance Black {} - field SFBool castShadows TRUE - field SFString name "spectator_2" -] -{ - Solid { - translation IS translation - rotation IS rotation - scale IS scale - name IS name - children [ - Transform { - translation 0.035 0.09 0 - rotation 0 1 0 %{=math.pi/2}% - scale 0.0006061 0.0006061 0.0006061 - children [ - 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] - } - } - ] - } - ] - } -} diff --git a/protos/stadium/Spectator_3.proto b/protos/stadium/Spectator_3.proto deleted file mode 100644 index 11bd4174..00000000 --- a/protos/stadium/Spectator_3.proto +++ /dev/null @@ -1,1990 +0,0 @@ -#VRML_SIM R2018a utf8 -#Author(s): Seung-Jae Lee, Chansol Hong -#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) -# tags: static - -PROTO Spectator_3 [ - field SFVec3f translation 0 0 0 - field SFRotation rotation 0 1 0 0 - field SFVec3f scale 1 1 1 - field SFNode bodyAppearance White {} - field SFNode shirtAppearance Red {} - field SFNode pantsAppearance Blue {} - field SFNode shoesAppearance Black {} # Unused. same with shirtAppearance - field SFBool castShadows TRUE - field SFString name "spectator_3" -] -{ - Solid { - translation IS translation - rotation IS rotation - scale IS scale - name IS name - children [ - Transform { - translation -0.003 0.051 0 - rotation 0 1 0 %{=math.pi/2}% - scale 0.0006061 0.0006061 0.0006061 - children [ - Shape { - appearance IS bodyAppearance - 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- field SFNode standAppearance LightGray { } - field SFNode groundAppearance DarkGray { } - field SFNode chairAppearance Red { } - field SFBool castShadows TRUE - field SFFloat spectatorProbability 0.6 - field MFString bannerUrl [ "textures/kaist.png" ] - field MFNode goalPost [ - DEF DEF_GOALPOST Group { # Exposed intentionally for visibility control - children [ - Goalpost { - translation -1.21 0 0 - castShadows IS castShadows - name "goalpost_left" - } - Goalpost { - translation 1.21 0 0 - rotation 0 1 0 3.141592635 - castShadows IS castShadows - name "goalpost_right" - } - ] - } - ] -] -{ - Solid { - translation IS translation - rotation IS rotation - scale IS scale - name IS name - children [ - Stand { - appearance IS standAppearance - castShadows IS castShadows - groundAppearance IS groundAppearance - name "stand_basic" - } - Placement { - chairAppearance IS chairAppearance - castShadows IS castShadows - placeProbability IS spectatorProbability - name "placement_basic" - } - Banners { - castShadows IS castShadows - url IS bannerUrl - name "banners_basic" - } - Group { - children IS goalPost - } - ] - } -} diff --git a/protos/stadium/Stand.proto b/protos/stadium/Stand.proto deleted file mode 100644 index ecf9e466..00000000 --- a/protos/stadium/Stand.proto +++ /dev/null @@ -1,1258 +0,0 @@ -#VRML_SIM R2018a utf8 -#Author(s): Seung-Jae Lee, Chansol Hong -#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) -# tags: static, hidden - -PROTO Stand [ - field SFVec3f translation 0 0 0 - field SFRotation rotation 0 1 0 0 - field SFVec3f scale 1 1 1 - field SFNode appearance LightGray { } - field SFNode groundAppearance DarkGray { } - field SFBool castShadows TRUE - field SFString name "stand" -] -{ - Solid { - translation IS translation - rotation IS rotation - scale IS scale - name IS name - children [ - Transform { - translation 0 -0.1 0 - rotation 1 0 0 %{=math.pi}% - children [ - Shape { - appearance Gray { } - geometry Plane { - size 3.922 3.23 - } - castShadows IS castShadows - 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+#VRML_SIM R2019a utf8 WorldInfo { ERP 0.15 physics "collision_detector" basicTimeStep 10 FPS 20 - optimalThreadCount 8 defaultDamping Damping { } lineScale 0.01 contactProperties [ - DEF floor-robot_body ContactProperties { + DEF floor-goalie_body ContactProperties { material1 "floor" - material2 "body" + material2 "goalie_body" coulombFriction [ 0 ] bounce 0 softERP 0.15 - softCFM 1e-5 + softCFM 1e-05 + bumpSound "" + rollSound "" + slideSound "" + } + DEF floor-defense_body ContactProperties { + material1 "floor" + material2 "defense_body" + coulombFriction [ + 0 + ] + bounce 0 + softERP 0.15 + softCFM 1e-05 + bumpSound "" + rollSound "" + slideSound "" + } + DEF floor-offense_body ContactProperties { + material1 "floor" + material2 "offense_body" + coulombFriction [ + 0 + ] + bounce 0 + softERP 0.15 + softCFM 1e-05 bumpSound "" rollSound "" slideSound "" @@ -28,9 +50,12 @@ WorldInfo { DEF floor-wheel ContactProperties { material1 "floor" material2 "wheel" + coulombFriction [ + 3 + ] bounce 0 softERP 0.15 - softCFM 1e-5 + softCFM 1e-05 bumpSound "" rollSound "" slideSound "" @@ -43,17 +68,37 @@ WorldInfo { ] bounce 0 softERP 0.15 - softCFM 1e-5 + softCFM 1e-05 + bumpSound "" + rollSound "" + slideSound "" + } + DEF wall-goalie_body ContactProperties { + material1 "wall" + material2 "goalie_body" + bounce 0 + softERP 0 + softCFM 1e-05 + bumpSound "" + rollSound "" + slideSound "" + } + DEF wall-defense_body ContactProperties { + material1 "wall" + material2 "defense_body" + bounce 0 + softERP 0 + softCFM 1e-05 bumpSound "" rollSound "" slideSound "" } - DEF wall-body ContactProperties { + DEF wall-offense_body ContactProperties { material1 "wall" - material2 "body" + material2 "offense_body" bounce 0 softERP 0 - softCFM 1e-5 + softCFM 1e-05 bumpSound "" rollSound "" slideSound "" @@ -63,7 +108,7 @@ WorldInfo { material2 "wheel" bounce 0 softERP 0 - softCFM 1e-5 + softCFM 1e-05 bumpSound "" rollSound "" slideSound "" @@ -71,39 +116,128 @@ WorldInfo { DEF wall-ball ContactProperties { material1 "wall" material2 "ball" - bounce 0.5 - softERP 0.8 - softCFM 1e-9 + bounce 0.75 + softERP 1 + softCFM 0 + bumpSound "" + rollSound "" + slideSound "" + } + DEF goalie_body-goalie_body ContactProperties { + material1 "goalie_body" + material2 "goalie_body" + bounce 0.25 + softERP 0 + softCFM 1e-07 + bumpSound "" + rollSound "" + slideSound "" + } + DEF defense_body-goalie_body ContactProperties { + material1 "defense_body" + material2 "goalie_body" + bounce 0.25 + softERP 0 + softCFM 1e-07 + bumpSound "" + rollSound "" + slideSound "" + } + DEF defense_body-defense_body ContactProperties { + material1 "defense_body" + material2 "defense_body" + bounce 0.25 + softERP 0 + softCFM 1e-07 + bumpSound "" + rollSound "" + slideSound "" + } + DEF offense_body-defense_body ContactProperties { + material1 "offense_body" + material2 "defense_body" + bounce 0.25 + softERP 0 + softCFM 1e-07 + bumpSound "" + rollSound "" + slideSound "" + } + DEF offense_body-offense_body ContactProperties { + material1 "offense_body" + material2 "offense_body" + bounce 0.25 + softERP 0 + softCFM 1e-07 bumpSound "" rollSound "" slideSound "" } - DEF body-body ContactProperties { - material1 "body" - material2 "body" + DEF goalie_body-offense_body ContactProperties { + material1 "goalie_body" + material2 "offense_body" bounce 0.25 softERP 0 - softCFM 1e-7 + softCFM 1e-07 bumpSound "" rollSound "" slideSound "" } - DEF body-wheel ContactProperties { - material1 "body" + DEF goalie_body-wheel ContactProperties { + material1 "goalie_body" material2 "wheel" bounce 0 softERP 0.3 - softCFM 1e-7 + softCFM 1e-07 bumpSound "" rollSound "" slideSound "" } - DEF body-ball ContactProperties { - material1 "body" + DEF defense_body-wheel ContactProperties { + material1 "defense_body" + material2 "wheel" + bounce 0 + softERP 0.3 + softCFM 1e-07 + bumpSound "" + rollSound "" + slideSound "" + } + DEF offense_body-wheel ContactProperties { + material1 "offense_body" + material2 "wheel" + bounce 0 + softERP 0.3 + softCFM 1e-07 + bumpSound "" + rollSound "" + slideSound "" + } + DEF goalie_body-ball ContactProperties { + material1 "goalie_body" material2 "ball" - bounce 0.5 softERP 0.15 - softCFM 1e-5 + softCFM 1e-05 + bumpSound "" + rollSound "" + slideSound "" + } + DEF defense_body-ball ContactProperties { + material1 "defense_body" + material2 "ball" + bounce 0.8 + softERP 0.15 + softCFM 1e-05 + bumpSound "" + rollSound "" + slideSound "" + } + DEF offense_body-ball ContactProperties { + material1 "offense_body" + material2 "ball" + bounce 0.8 + softERP 0.15 + softCFM 1e-05 bumpSound "" rollSound "" slideSound "" @@ -113,7 +247,7 @@ WorldInfo { material2 "wheel" bounce 0 softERP 0 - softCFM 1e-5 + softCFM 1e-05 bumpSound "" rollSound "" slideSound "" @@ -123,7 +257,7 @@ WorldInfo { material2 "ball" bounce 0 softERP 0 - softCFM 1e-5 + softCFM 1e-05 bumpSound "" rollSound "" slideSound "" @@ -132,19 +266,20 @@ WorldInfo { } DEF DEF_AUDVIEW Viewpoint { orientation -1 0 0 0.8910057735495215 - position 0 6.839949869285961 5.658156540652288 + position 0 8.875596883460489 7.30360808821792 } Background { skyColor [ - 0.7 0.8 1 + 0.283 0.54 0.665 ] } DirectionalLight { ambientIntensity 1 direction 0 -1 0 + castShadows TRUE } Referee { - translation 0 12.72 0 + translation 0 25.6 0 children [ DEF DEF_RECV Receiver { name "recv" @@ -153,10 +288,12 @@ Referee { rotation 1 0 0 4.712389 children [ DEF DEF_CAMA Camera { + rotation 0 0 1 0 name "cam_a" fieldOfView 0.325 width 640 height 480 + near 20 } DEF DEF_CAMB Camera { rotation 0 0 1 3.1415926 @@ -164,6 +301,7 @@ Referee { fieldOfView 0.325 width 640 height 480 + near 20 } ] } @@ -171,83 +309,104 @@ Referee { controller "supervisor" } SoccerField5v5 { - height 0.2 - grassSlot DEF DEF_GRASS SoccerFieldGrass { - } - floorContactMaterial "floor" - wallContactMaterial "wall" -} -DEF DEF_STADIUM Stadium { - scale 1.65 1.65 1.65 - castShadows FALSE - bannerUrl [ - "textures/cyberbotics.png" - "textures/hynix.png" - "textures/kaist.png" - ] - goalPost [ - DEF DEF_GOALPOST Group { + fieldLength 7.8 + fieldWidth 4.65 + floorLength 8.8 + floorWidth 4.8 + lineThickness 0.02 + soccerFieldWall [ + Group { children [ - Goalpost { - translation -1.24 0 0 - scale 0.88 0.88 0.88 - castShadows IS castShadows - name "goalpost_left" + DEF DEF_WALL SoccerFieldWall { + length 7.8 + width 4.65 + cornerLength 0.1 + goalWidth 1 + goalDepth 0.45 + wallHeight 0.075 + wallAppearance Gray { + } + wallContactMaterial "wall" } - Goalpost { - translation 1.24 0 0 - rotation 0 1 0 3.141592635 - scale 0.88 0.88 0.88 - castShadows IS castShadows - name "goalpost_right" + DEF DEF_VISWALL VisualWall { + length 7.8 + width 4.65 + goalWidth 1 + gpTranslation 4.081 + gpScale 2.193 + bannerBehind TRUE + bannerHorizontal 10 + cornerLength 0.1 } ] } ] + grassSlot DEF DEF_GRASS SoccerFieldGrass { + blockSize 0.5 + length 8.8 + width 4.8 + } + floorContactMaterial "floor" } DEF DEF_BALL SoccerBall { - translation 0 0.03 0 + translation 0 0.06 0 contactMaterial "ball" - mass 0.0184 shapes [ DEF DEF_BALLSHAPE SoccerBallShape { - radius 0.03 + radius 0.05 } DEF DEF_ORANGESHAPE SoccerBallOrangeShape { - radius 0.03 + radius 0.05 } ] } DEF DEF_ROBOTR0 SoccerRobot { - translation -0.4 0.0375 0.3 - rotation 0 1 0 -1.5708 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 + translation -3.8 0.045 0 name "R0" customData "0 0" controller "soccer_robot" - maxSpeed 50 + maxSpeed 45 slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" + maxTorque 0.8 + bodyAppearance DarkRed { } + tireAppearance DarkRed { } + wheelAppearance DarkRed { } + bodyPhysics Physics { + density -1 + mass 2.5 + centerOfMass [ + 0 -0.03 0 + ] + } + wheelPhysics Physics { + density -1 + mass 0.15 + } + bodyContactMaterial "goalie_body" wheelContactMaterial "wheel" + cover [ + DEF DEF_COVERR0 SoccerRobotCover { + height 0.09 + bodySize 0.15 + distanceToPatch 0.001 + } + ] } DEF DEF_ROBOTR1 SoccerRobot { - translation -0.4 0.0375 -0.3 + translation -2.25 0.045 -1 rotation 0 1 0 -1.5708 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 name "R1" customData "0 0" controller "soccer_robot" - maxSpeed 50 slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" + bodyAppearance DarkRed { } + tireAppearance DarkRed { } + wheelAppearance DarkRed { } + bodyContactMaterial "defense_body" wheelContactMaterial "wheel" patches [ SoccerRobotNumberPatch { - id 1 + role "D1" } SoccerRobotIDPatch { id 31 @@ -259,23 +418,29 @@ DEF DEF_ROBOTR1 SoccerRobot { name "id_patch_blue" } ] + cover [ + DEF DEF_COVERR1 SoccerRobotCover { + height 0.09 + bodySize 0.15 + distanceToPatch 0.001 + } + ] } DEF DEF_ROBOTR2 SoccerRobot { - translation -1 0.0375 0.6 + translation -2.25 0.0375 1 rotation 0 1 0 -1.5708 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 name "R2" customData "0 0" controller "soccer_robot" - maxSpeed 50 slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" + bodyAppearance DarkRed { } + tireAppearance DarkRed { } + wheelAppearance DarkRed { } + bodyContactMaterial "defense_body" wheelContactMaterial "wheel" patches [ SoccerRobotNumberPatch { - id 2 + role "D2" } SoccerRobotIDPatch { id 227 @@ -287,23 +452,38 @@ DEF DEF_ROBOTR2 SoccerRobot { name "id_patch_blue" } ] + cover [ + DEF DEF_COVERR2 SoccerRobotCover { + height 0.09 + bodySize 0.15 + distanceToPatch 0.001 + } + ] } DEF DEF_ROBOTR3 SoccerRobot { - translation -1 0.0375 -0.6 + translation -0.65 0.045 -0.3 rotation 0 1 0 -1.5708 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 name "R3" customData "0 0" controller "soccer_robot" - maxSpeed 50 + maxSpeed 63.75 slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" + maxTorque 0.4 + bodyAppearance DarkRed { } + tireAppearance DarkRed { } + wheelAppearance DarkRed { } + bodyPhysics Physics { + density -1 + mass 1.5 + centerOfMass [ + 0 -0.03 0 + ] + } + bodyContactMaterial "offense_body" wheelContactMaterial "wheel" patches [ SoccerRobotNumberPatch { - id 3 + role "F1" } SoccerRobotIDPatch { id 364 @@ -315,22 +495,38 @@ DEF DEF_ROBOTR3 SoccerRobot { name "id_patch_blue" } ] + cover [ + DEF DEF_COVERR3 SoccerRobotCover { + height 0.09 + bodySize 0.15 + distanceToPatch 0.001 + } + ] } DEF DEF_ROBOTR4 SoccerRobot { - translation -1.8 0.0375 0 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 + translation -0.65 0.045 0.3 + rotation 0 1 0 -1.5708 name "R4" customData "0 0" controller "soccer_robot" - maxSpeed 50 + maxSpeed 63.75 slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" + maxTorque 0.4 + bodyAppearance DarkRed { } + tireAppearance DarkRed { } + wheelAppearance DarkRed { } + bodyPhysics Physics { + density -1 + mass 1.5 + centerOfMass [ + 0 -0.03 0 + ] + } + bodyContactMaterial "offense_body" wheelContactMaterial "wheel" patches [ SoccerRobotNumberPatch { - id 4 + role "F2" } SoccerRobotIDPatch { id 437 @@ -342,19 +538,38 @@ DEF DEF_ROBOTR4 SoccerRobot { name "id_patch_blue" } ] + cover [ + DEF DEF_COVERR4 SoccerRobotCover { + height 0.09 + bodySize 0.15 + distanceToPatch 0.001 + } + ] } DEF DEF_ROBOTB0 SoccerRobot { - translation 0.4 0.0375 -0.3 - rotation 0 1 0 1.5708 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 + translation 3.8 0.045 0 + rotation 0 1 0 3.1415926 name "B0" customData "0 0" controller "soccer_robot" - maxSpeed 50 + maxSpeed 45 slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" + maxTorque 0.8 + bodyAppearance DarkBlue { } + tireAppearance DarkBlue { } + wheelAppearance DarkBlue { } + bodyPhysics Physics { + density -1 + mass 2.5 + centerOfMass [ + 0 -0.03 0 + ] + } + wheelPhysics Physics { + density -1 + mass 0.15 + } + bodyContactMaterial "goalie_body" wheelContactMaterial "wheel" patches [ SoccerRobotNumberPatch { @@ -368,23 +583,29 @@ DEF DEF_ROBOTB0 SoccerRobot { name "id_patch_blue" } ] + cover [ + DEF DEF_COVERB0 SoccerRobotCover { + height 0.09 + bodySize 0.15 + distanceToPatch 0.001 + } + ] } DEF DEF_ROBOTB1 SoccerRobot { - translation 0.4 0.0375 0.3 + translation 2.25 0.045 1 rotation 0 1 0 1.5708 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 name "B1" customData "0 0" controller "soccer_robot" - maxSpeed 50 slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" + bodyAppearance DarkBlue { } + tireAppearance DarkBlue { } + wheelAppearance DarkBlue { } + bodyContactMaterial "defense_body" wheelContactMaterial "wheel" patches [ SoccerRobotNumberPatch { - id 1 + role "D1" isTeamTagRed FALSE } SoccerRobotIDPatch { @@ -397,23 +618,29 @@ DEF DEF_ROBOTB1 SoccerRobot { name "id_patch_blue" } ] + cover [ + DEF DEF_COVERB1 SoccerRobotCover { + height 0.09 + bodySize 0.15 + distanceToPatch 0.001 + } + ] } DEF DEF_ROBOTB2 SoccerRobot { - translation 1 0.0375 -0.6 + translation 2.25 0.045 -1 rotation 0 1 0 1.5708 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 name "B2" customData "0 0" controller "soccer_robot" - maxSpeed 50 slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" + bodyAppearance DarkBlue { } + tireAppearance DarkBlue { } + wheelAppearance DarkBlue { } + bodyContactMaterial "defense_body" wheelContactMaterial "wheel" patches [ SoccerRobotNumberPatch { - id 2 + role "D2" isTeamTagRed FALSE } SoccerRobotIDPatch { @@ -426,23 +653,38 @@ DEF DEF_ROBOTB2 SoccerRobot { name "id_patch_blue" } ] + cover [ + DEF DEF_COVERB2 SoccerRobotCover { + height 0.09 + bodySize 0.15 + distanceToPatch 0.001 + } + ] } DEF DEF_ROBOTB3 SoccerRobot { - translation 1 0.0375 0.6 + translation 0.65 0.045 0.3 rotation 0 1 0 1.5708 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 name "B3" customData "0 0" controller "soccer_robot" - maxSpeed 50 + maxSpeed 63.75 slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" + maxTorque 0.4 + bodyAppearance DarkBlue { } + tireAppearance DarkBlue { } + wheelAppearance DarkBlue { } + bodyPhysics Physics { + density -1 + mass 1.5 + centerOfMass [ + 0 -0.03 0 + ] + } + bodyContactMaterial "offense_body" wheelContactMaterial "wheel" patches [ SoccerRobotNumberPatch { - id 3 + role "F1" isTeamTagRed FALSE } SoccerRobotIDPatch { @@ -455,23 +697,38 @@ DEF DEF_ROBOTB3 SoccerRobot { name "id_patch_blue" } ] + cover [ + DEF DEF_COVERB3 SoccerRobotCover { + height 0.09 + bodySize 0.15 + distanceToPatch 0.001 + } + ] } DEF DEF_ROBOTB4 SoccerRobot { - translation 1.8 0.0375 0 - rotation 0 1 0 3.14159 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 + translation 0.65 0.045 -0.3 + rotation 0 1 0 1.5708 name "B4" customData "0 0" controller "soccer_robot" - maxSpeed 50 + maxSpeed 63.75 slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" + maxTorque 0.4 + bodyAppearance DarkBlue { } + tireAppearance DarkBlue { } + wheelAppearance DarkBlue { } + bodyPhysics Physics { + density -1 + mass 1.5 + centerOfMass [ + 0 -0.03 0 + ] + } + bodyContactMaterial "offense_body" wheelContactMaterial "wheel" patches [ SoccerRobotNumberPatch { - id 4 + role "F2" isTeamTagRed FALSE } SoccerRobotIDPatch { @@ -484,4 +741,11 @@ DEF DEF_ROBOTB4 SoccerRobot { name "id_patch_blue" } ] + cover [ + DEF DEF_COVERB4 SoccerRobotCover { + height 0.09 + bodySize 0.15 + distanceToPatch 0.001 + } + ] } diff --git a/worlds/aiwc_simple.wbt b/worlds/aiwc_simple.wbt deleted file mode 100644 index 552cea89..00000000 --- a/worlds/aiwc_simple.wbt +++ /dev/null @@ -1,431 +0,0 @@ -#VRML_SIM R2018a utf8 -#Author(s): Inbae Jeong, Chansol Hong -#Maintainer: Chansol Hong (cshong@rit.kaist.ac.kr) - -WorldInfo { - ERP 0.15 - physics "collision_detector" - basicTimeStep 10 - FPS 20 - optimalThreadCount 8 - defaultDamping Damping { - } - lineScale 0.01 - contactProperties [ - DEF floor-robot_body ContactProperties { - material1 "floor" - material2 "body" - coulombFriction [ - 0 - ] - bounce 0 - softERP 0.15 - softCFM 1e-5 - bumpSound "" - rollSound "" - slideSound "" - } - DEF floor-wheel ContactProperties { - material1 "floor" - material2 "wheel" - bounce 0 - softERP 0.15 - softCFM 1e-5 - bumpSound "" - rollSound "" - slideSound "" - } - DEF floor-ball ContactProperties { - material1 "floor" - material2 "ball" - coulombFriction [ - 0.1 - ] - bounce 0 - softERP 0.15 - softCFM 1e-5 - bumpSound "" - rollSound "" - slideSound "" - } - DEF wall-body ContactProperties { - material1 "wall" - material2 "body" - bounce 0 - softERP 0 - softCFM 1e-5 - bumpSound "" - rollSound "" - slideSound "" - } - DEF wall-wheel ContactProperties { - material1 "wall" - material2 "wheel" - bounce 0 - softERP 0 - softCFM 1e-5 - bumpSound "" - rollSound "" - slideSound "" - } - DEF wall-ball ContactProperties { - material1 "wall" - material2 "ball" - softERP 0.8 - softCFM 1e-9 - bumpSound "" - rollSound "" - slideSound "" - } - DEF body-body ContactProperties { - material1 "body" - material2 "body" - bounce 0.25 - softERP 0 - softCFM 1e-7 - bumpSound "" - rollSound "" - slideSound "" - } - DEF body-wheel ContactProperties { - material1 "body" - material2 "wheel" - bounce 0 - softERP 0.3 - softCFM 1e-7 - bumpSound "" - rollSound "" - slideSound "" - } - DEF body-ball ContactProperties { - material1 "body" - material2 "ball" - softERP 0.15 - softCFM 1e-5 - bumpSound "" - rollSound "" - slideSound "" - } - DEF wheel-wheel ContactProperties { - material1 "wheel" - material2 "wheel" - bounce 0 - softERP 0 - softCFM 1e-5 - bumpSound "" - rollSound "" - slideSound "" - } - DEF wheel-ball ContactProperties { - material1 "wheel" - material2 "ball" - bounce 0 - softERP 0 - softCFM 1e-5 - bumpSound "" - rollSound "" - slideSound "" - } - ] -} -DEF DEF_AUDVIEW Viewpoint { - orientation -1 0 0 0.8910057735495215 - position 0 6.839949869285961 5.658156540652288 -} -Background { - skyColor [ - 0.7 0.8 1 - ] -} -DirectionalLight { - ambientIntensity 1 - direction 0 -1 0 -} -Referee { - translation 0 12.72 0 - children [ - DEF DEF_RECV Receiver { - name "recv" - } - Transform { - rotation 1 0 0 4.712389 - children [ - DEF DEF_CAMA Camera { - name "cam_a" - fieldOfView 0.325 - width 640 - height 480 - } - DEF DEF_CAMB Camera { - rotation 0 0 1 3.1415926 - name "cam_b" - fieldOfView 0.325 - width 640 - height 480 - } - ] - } - ] - controller "supervisor" -} -SoccerField5v5 { - height 0.2 - grassSlot NULL - floorContactMaterial "floor" - wallContactMaterial "wall" -} -DEF DEF_BALL SoccerBall { - translation 0 0.03 0 - contactMaterial "ball" - mass 0.0184 - shapes [ - DEF DEF_ORANGESHAPE SoccerBallOrangeShape { - radius 0.03 - } - ] -} -DEF DEF_ROBOTR0 SoccerRobot { - translation -0.4 0.0375 0.3 - rotation 0 1 0 -1.5708 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 - name "R0" - customData "0 0" - controller "soccer_robot" - maxSpeed 50 - slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" - wheelContactMaterial "wheel" - patches [ - SoccerRobotIDPatch { - name "id_patch_red" - } - SoccerRobotIDPatch { - isTeamTagRed FALSE - name "id_patch_blue" - } - ] -} -DEF DEF_ROBOTR1 SoccerRobot { - translation -0.4 0.0375 -0.3 - rotation 0 1 0 -1.5708 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 - name "R1" - customData "0 0" - controller "soccer_robot" - maxSpeed 50 - slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" - wheelContactMaterial "wheel" - patches [ - SoccerRobotIDPatch { - id 31 - name "id_patch_red" - } - SoccerRobotIDPatch { - id 31 - isTeamTagRed FALSE - name "id_patch_blue" - } - ] -} -DEF DEF_ROBOTR2 SoccerRobot { - translation -1 0.0375 0.6 - rotation 0 1 0 -1.5708 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 - name "R2" - customData "0 0" - controller "soccer_robot" - maxSpeed 50 - slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" - wheelContactMaterial "wheel" - patches [ - SoccerRobotIDPatch { - id 227 - name "id_patch_red" - } - SoccerRobotIDPatch { - id 227 - isTeamTagRed FALSE - name "id_patch_blue" - } - ] -} -DEF DEF_ROBOTR3 SoccerRobot { - translation -1 0.0375 -0.6 - rotation 0 1 0 -1.5708 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 - name "R3" - customData "0 0" - controller "soccer_robot" - maxSpeed 50 - slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" - wheelContactMaterial "wheel" - patches [ - SoccerRobotIDPatch { - id 364 - name "id_patch_red" - } - SoccerRobotIDPatch { - id 364 - isTeamTagRed FALSE - name "id_patch_blue" - } - ] -} -DEF DEF_ROBOTR4 SoccerRobot { - translation -1.8 0.0375 0 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 - name "R4" - customData "0 0" - controller "soccer_robot" - maxSpeed 50 - slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" - wheelContactMaterial "wheel" - patches [ - SoccerRobotIDPatch { - id 437 - name "id_patch_red" - } - SoccerRobotIDPatch { - id 437 - isTeamTagRed FALSE - name "id_patch_blue" - } - ] -} -DEF DEF_ROBOTB0 SoccerRobot { - translation 0.4 0.0375 -0.3 - rotation 0 1 0 1.5708 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 - name "B0" - customData "0 0" - controller "soccer_robot" - maxSpeed 50 - slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" - wheelContactMaterial "wheel" - patches [ - SoccerRobotIDPatch { - isTeamTagRed FALSE - name "id_patch_red" - } - SoccerRobotIDPatch { - name "id_patch_blue" - } - ] -} -DEF DEF_ROBOTB1 SoccerRobot { - translation 0.4 0.0375 0.3 - rotation 0 1 0 1.5708 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 - name "B1" - customData "0 0" - controller "soccer_robot" - maxSpeed 50 - slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" - wheelContactMaterial "wheel" - patches [ - SoccerRobotIDPatch { - id 31 - isTeamTagRed FALSE - name "id_patch_red" - } - SoccerRobotIDPatch { - id 31 - name "id_patch_blue" - } - ] -} -DEF DEF_ROBOTB2 SoccerRobot { - translation 1 0.0375 -0.6 - rotation 0 1 0 1.5708 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 - name "B2" - customData "0 0" - controller "soccer_robot" - maxSpeed 50 - slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" - wheelContactMaterial "wheel" - patches [ - SoccerRobotIDPatch { - id 227 - isTeamTagRed FALSE - name "id_patch_red" - } - SoccerRobotIDPatch { - id 227 - name "id_patch_blue" - } - ] -} -DEF DEF_ROBOTB3 SoccerRobot { - translation 1 0.0375 0.6 - rotation 0 1 0 1.5708 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 - name "B3" - customData "0 0" - controller "soccer_robot" - maxSpeed 50 - slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" - wheelContactMaterial "wheel" - patches [ - SoccerRobotIDPatch { - id 364 - isTeamTagRed FALSE - name "id_patch_red" - } - SoccerRobotIDPatch { - id 364 - name "id_patch_blue" - } - ] -} -DEF DEF_ROBOTB4 SoccerRobot { - translation 1.8 0.0375 0 - rotation 0 1 0 3.14159 - lwRotation 1 0 0 1.5708 - rwRotation 1 0 0 1.5708 - name "B4" - customData "0 0" - controller "soccer_robot" - maxSpeed 50 - slipNoise 0.05 - maxForce 0.1 - bodyContactMaterial "body" - wheelContactMaterial "wheel" - patches [ - SoccerRobotIDPatch { - id 437 - isTeamTagRed FALSE - name "id_patch_red" - } - SoccerRobotIDPatch { - id 437 - name "id_patch_blue" - } - ] -}