soccer.rsg

robocup rcssserver 运行防真机器人足球比赛所用的服务器端

; -*- mode: lisp; -*-

(RSG 0 1)
(
;
; define constants, copy values from the ScriptServer Soccer namespace
;

 (def $FieldLength (eval Soccer.FieldLength))
 (def $FieldWidth  (eval Soccer.FieldWidth))
 (def $BorderExt   (eval Soccer.BorderSize))
 (def $GoalWidth   (eval Soccer.GoalWidth))
 (def $GoalDepth   (eval Soccer.GoalDepth))
 (def $GoalHeight  (eval Soccer.GoalHeight))

; height of the field ground plane
 (def $FieldBaseHeight 4) 

; with of the side boundary
 (def $SideExt 2) 

; height of the side boundary
 (def $SideHeight 1) 

; height of a field line
 (def $LineHeight 0.2)

 (def $FieldMaterial matGrass)
 (def $BorderMaterial matTrack)
 (def $SideMaterial matGrey)
 (def $LineMaterial matWhite)
 (def $GoalMaterial matWhite)

; calc some helper vars
 (def $FieldBase (eval -1 * $FieldBaseHeight / 2.0))
 (def $LineBase 0)
 (def $FieldHalfLength (eval $FieldLength / 2.0))
 (def $FieldHalfWidth  (eval $FieldWidth / 2.0))
 (def $GoalHalfWidth   (eval $GoalWidth / 2.0))
 (def $GoalHalfHeight  (eval $GoalHeight / 2.0))
 (def $GoalHalfDepth   (eval $GoalDepth / 2.0))

 (def $HalfBorderExt   (eval $BorderExt / 2.0))
 (def $BorderLength    (eval $FieldHalfLength + $HalfBorderExt))
 (def $BorderWidth     (eval $FieldHalfWidth + $HalfBorderExt))

 (def $SideLength      (eval $FieldHalfLength + $BorderExt))
 (def $SideWidth       (eval $FieldHalfWidth  + $BorderExt))
 
 (def $LineWidth       (eval $FieldWidth - $LineHeight)) 
 
 (def $BarDiameter     $LineHeight)
 (def $BarRadius       (eval $BarDiameter / 2.0))

;
; construct playing field
;

; add lights
 (nd Transform
       (setLocalPos -10 10 10)
       (nd Light
	     (setDiffuse 1.0 1.0 1.0 1.0)
	     (setSpecular 0.1 0.1 0.1 1.0)
	     (setAmbient 0.8 0.8 0.8 1.0)
	     )

       )

; add lights
 (nd Transform
       (setLocalPos 10 -10 10)
       (nd Light
	     (setDiffuse 1.0 1.0 1.0 1.0)
	     (setSpecular 0.1 0.1 0.1 1.0)
	     (setAmbient 0.0 0.0 0.0 1.0)
	     )
       )

; create the base plane
 (nd Transform
       (setLocalPos 0 0 $FieldBase)
       (nd Box
	     (setMaterial $FieldMaterial)
	     (setExtents $FieldLength $FieldWidth $FieldBaseHeight)
	     )
       (nd PlaneCollider
	     (setParams 0 0 1.0 0)
	     (nd ContactJointHandler
		   (setContactBounceMode false)

		   (setContactSlipMode true)
		   (setContactSlip 0.1 0.1)

		   (setContactSoftERPMode true)
		   (setContactSoftERP 0.2)

		   (setContactSoftCFM true)
		   (setContactSoftCFM 0.01)
		   )
	     )
       )

; create box collider around playing field
 (nd BoxCollider
       (setName FieldBox)
       (setPosition 0 0 20)
       (setBoxLengths $FieldLength $FieldWidth 40)
       (nd RecorderHandler 
	     (setName recorder)
	     )  
       )

; create the left goal
 (nd Space
       (setName LeftGoalSpace)
       (nd Transform
	     (setName GoalBoxL)
	     (setLocalPos (eval -1 * (eval $FieldHalfLength + $GoalHalfDepth)) 0 $GoalHalfHeight)
	     (nd BoxCollider
		(setName GoalColliderL)
		(setBoxLengths $GoalDepth $GoalWidth $GoalHeight)
;		   (nd ContactJointHandler
;			 (setContactBounceMode false)
;					)
		(nd RecorderHandler 
		   (setName recorder)
		)
             )  
       )


; create the left goal post (left goal)
 (nd Transform
       (setLocalPos (eval -1 * (eval $FieldHalfLength + $GoalHalfDepth) + $LineHeight) 
                               (eval -1 * (eval $GoalHalfWidth + $BarRadius))
			       (eval $GoalHalfHeight)
			       )
       (nd Box
       	     (setExtents $GoalDepth $BarDiameter $GoalHeight)
	     (setMaterial $GoalMaterial)
	     )
       (nd BoxCollider
       	     (setBoxLengths $GoalDepth $BarDiameter $GoalHeight)
	     ) 	     
       
       )  

; create the right goal post (left goal)
 (nd Transform
       (setLocalPos (eval -1 * (eval $FieldHalfLength + $GoalHalfDepth) + $LineHeight) 
                               (eval $GoalHalfWidth + $BarRadius)
			       (eval $GoalHalfHeight)
			       )
       (nd Box
       	     (setExtents $GoalDepth $BarDiameter $GoalHeight)
	     (setMaterial $GoalMaterial)
	     )
       (nd BoxCollider
       	     (setBoxLengths $GoalDepth $BarDiameter $GoalHeight)
	     )
       
       )

; create goal back wall (left goal)
 (nd Transform
       (setLocalPos (eval -1 * (eval $FieldHalfLength + $GoalDepth) + $LineHeight) 
                               0
			       (eval $GoalHalfHeight)
			       )
       (nd Box
       	     (setExtents $LineHeight $GoalWidth $GoalHeight)
	     (setMaterial matYellow)
	     )
       (nd BoxCollider
       	     (setBoxLengths $LineHeight $GoalWidth $GoalHeight)
	     )
       
       )   
) ;; of Space

; create the right goal
(nd Space
    (setName RightGoalSpace)
    (nd Transform
	(setName GoalBoxR)
	(setLocalPos (eval $FieldHalfLength + $GoalHalfDepth) 0 $GoalHalfHeight)
	(nd BoxCollider
	    (setName GoalColliderR)
	    (setBoxLengths $GoalDepth $GoalWidth $GoalHeight)
;	    (nd ContactJointHandler
;		(setContactBounceMode false)
;		)
	    (nd RecorderHandler 
                (setName recorder)
	    )
	)
    )
       
; create the left goal post (right goal)
 (nd Transform
       (setLocalPos (eval (eval $FieldHalfLength + $GoalHalfDepth) - $LineHeight) 
                               (eval -1 * (eval $GoalHalfWidth + $BarRadius))
			       (eval $GoalHalfHeight)
			       )
       (nd Box
       	     (setExtents $GoalDepth $BarDiameter $GoalHeight)
	     (setMaterial $GoalMaterial)
	     )
	(nd BoxCollider
       	     (setBoxLengths $GoalDepth $BarDiameter $GoalHeight)
	     )
       
       )  

; create the right goal post (right goal)
 (nd Transform
       (setLocalPos (eval (eval $FieldHalfLength + $GoalHalfDepth) - $LineHeight) 
                               (eval $GoalHalfWidth + $BarRadius)
			       (eval $GoalHalfHeight)
			       )
       (nd Box
       	     (setExtents $GoalDepth $BarDiameter $GoalHeight)
	     (setMaterial $GoalMaterial)
	     )
	(nd BoxCollider
       	     (setBoxLengths $GoalDepth $BarDiameter $GoalHeight)
	     )
       
       )   


; create goal back wall (right goal)
 (nd Transform
       (setLocalPos (eval (eval $FieldHalfLength + $GoalDepth) - $LineHeight) 
                               0
			       (eval $GoalHalfHeight)
			       )
       (nd Box
       	     (setExtents $LineHeight $GoalWidth $GoalHeight)
	     (setMaterial matBlue)
	     )
       (nd BoxCollider
       	     (setBoxLengths $LineHeight $GoalWidth $GoalHeight)
	     )
       
       )
) ;; of space

; create left side
 (nd Transform
       (setLocalPos (eval -1 * $SideLength) 0 0)
       (nd Box
	     (setMaterial $SideMaterial)
	     (setExtents $SideHeight (eval $FieldWidth + 2 * $BorderExt) $SideExt)
	     ) 
       (nd PlaneCollider
	     (setParams 1.0 0 0 (eval -1 * $SideLength))
	     )
       )


; create right side
 (nd Transform
       (setLocalPos $SideLength 0 0)
       (nd Box
	     (setMaterial $SideMaterial)
	     (setExtents $SideHeight (eval $FieldWidth + 2 * $BorderExt) $SideExt)
	     ) 
       (nd PlaneCollider
	     (setParams -1.0 0 0 (eval -1 * $SideLength))
	     )
       )


; create back side
 (nd Transform
       (setLocalPos 0 $SideWidth 0)
       (nd Box
	     (setMaterial $SideMaterial)
	     (setExtents (eval $FieldLength + 2 * $BorderExt) $SideHeight $SideExt)
	     ) 
       (nd PlaneCollider
	     (setParams 0 -1.0 0 (eval -1 * $SideWidth))
	     )
       )

; create front side
 (nd Transform
       (setLocalPos 0 (eval -1 * $SideWidth) 0)
       (nd Box
	     (setMaterial $SideMaterial)
	     (setExtents (eval $FieldLength + 2 * $BorderExt) $SideHeight $SideExt)
	     ) 
       (nd PlaneCollider
	     (setParams 0 1.0 0 (eval -1 * $SideWidth))
	     )
       )

; create middle line
; (nd Transform
;       (setLocalPos 0 0 $LineBase)
;       (nd Box
;	     (setExtents $LineHeight $LineWidth $LineHeight)
;	     (setMaterial $LineMaterial)
;	     )
;       )

; create front line
; (nd Transform
;       (setLocalPos 0 (eval -1 * $FieldHalfWidth) $LineBase)
;       (nd Box
;	     (setExtents $FieldLength $LineHeight $LineHeight)
;	     (setMaterial $LineMaterial)
;	     )
;       )

; create back line
; (nd Transform
;       (setLocalPos 0 $FieldHalfWidth $LineBase)
;       (nd Box
;	     (setExtents $FieldLength $LineHeight $LineHeight)
;	     (setMaterial $LineMaterial)
;	     )
;       )

; create left line
; (nd Transform
;       (setLocalPos (eval -1 * $FieldHalfLength) 0 $LineBase)
;       (nd Box
;	     (setExtents $LineHeight $LineWidth $LineHeight)
;	     (setMaterial $LineMaterial)
;	     )
;       )

; create right line
; (nd Transform
;       (setLocalPos $FieldHalfLength 0 $LineBase)
;       (nd Box
;	     (setExtents $LineHeight $LineWidth $LineHeight)
;	     (setMaterial $LineMaterial)
;	     )
;       )

 ;create left outer field
 (nd Transform
       (setLocalPos (eval -1 * $BorderLength) 0 $FieldBase)
       (nd Box
	     (setMaterial $BorderMaterial)
	     (setExtents $BorderExt $FieldWidth $FieldBaseHeight)
	     )
       )

 ;create right outer field
 (nd Transform
       (setLocalPos $BorderLength 0 $FieldBase)
       (nd Box
	     (setMaterial $BorderMaterial)
	     (setExtents $BorderExt $FieldWidth $FieldBaseHeight)
	     )
       )

; create front outer field
 (nd Transform
       (setLocalPos 0 (eval -1 * $BorderWidth) $FieldBase)
       (nd Box
	     (setMaterial $BorderMaterial)
	     (setExtents (eval $FieldLength + 2 * $BorderExt) $BorderExt $FieldBaseHeight)
	     )
       )

; create back outer field
 (nd Transform
       (setLocalPos 0 $BorderWidth $FieldBase)
       (nd Box
	     (setMaterial $BorderMaterial)
	     (setExtents (eval $FieldLength + 2 * $BorderExt) $BorderExt $FieldBaseHeight)
	     ;(pwd)
	     )
	)

;;
;; add flags
;;

; mark the soccer field with 4 field flags
 (importScene rsg/agent/flag_left1.rsg 
	      (eval -1 * $FieldHalfLength)  
	      $FieldHalfWidth
	      0.375 
	      F1L
	      0.5
	      0.5
	      0.75
	      )

 (importScene rsg/agent/flag_left2.rsg 
	      (eval -1 * $FieldHalfLength) 
	      (eval -1 * $FieldHalfWidth)
	      0.375
	      F2L
	      0.5
	      0.5
	      0.75
	      )

 (importScene rsg/agent/flag_right1.rsg 
	      $FieldHalfLength 
	      $FieldHalfWidth 
	      0.375 
	      F1R
	      0.5
	      0.5
	      0.75
	      )

 (importScene rsg/agent/flag_right2.rsg 
	      $FieldHalfLength 
	      (eval -1 * $FieldHalfWidth) 
	      0.375 
	      F2R
	      0.5
	      0.5
	      0.75
	      )
	      
	      
  ; mark the left goal (no visualization)
 (importScene rsg/agent/flag_no_viz.rsg
	      (eval -1 * $FieldHalfLength)
	      $GoalHalfWidth
	      0
	      G1L
	      )

 (importScene rsg/agent/flag_no_viz.rsg
	      (eval -1 * $FieldHalfLength)
	      (eval -1 * $GoalHalfWidth)
	      0
	      G2L
	      )

 ; mark the right goal (no visualization)
 (importScene rsg/agent/flag_no_viz.rsg
	      $FieldHalfLength
	      $GoalHalfWidth
	      0
	      G1R
	      )

 (importScene rsg/agent/flag_no_viz.rsg
	      $FieldHalfLength
	      (eval -1 * $GoalHalfWidth)
	      0
	      G2R
	      )	      

;;
;; add the ball
;;
 (importScene rsg/agent/ball.rsg)
;(importScene rsg/agent/boxes.rsg)
; (nd Transform
;       (setLocalPos 5.0 9.0 2.0)
;       (importScene rsg/boxspheres/box.rsg 0.5 1.5 4.0 10 matRedGlow))

; (importScene rsg/agent/hierarchytest4.rsg)
;(nd Transform
;  (setLocalPos 0 0 10)
;  (nd Sphere 
;    (setMaterial ballMat)
;    (setRadius 4)
;)
;)

 )