📄 soccerbase.cpp
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{ static shared_ptr<Scene> scene; static shared_ptr<Ball> ballRef; if (scene.get() == 0) { if (! GetActiveScene(base,scene)) { base.GetLog()->Error() << "(SoccerBase) ERROR: " << base.GetName() << ", could not get active scene.\n"; return false; } } if (ballRef.get() == 0) { ballRef = shared_dynamic_cast<Ball> (base.GetCore()->Get(scene->GetFullPath() + "Ball")); if (ballRef.get() == 0) { base.GetLog()->Error() << "(SoccerBase) ERROR: " << base.GetName() << ", found no ball node\n"; return false; } } ball = ballRef; return true;}boolSoccerBase::GetBallBody(const Leaf& base, shared_ptr<Body>& body){ static shared_ptr<Scene> scene; static shared_ptr<Body> bodyRef; if (scene.get() == 0) { if (! GetActiveScene(base,scene)) { base.GetLog()->Error() << "(SoccerBase) ERROR: " << base.GetName() << ", could not get active scene.\n"; return false; } } if (bodyRef.get() == 0) { bodyRef = shared_dynamic_cast<Body> (base.GetCore()->Get(scene->GetFullPath() + "Ball/physics")); if (bodyRef.get() == 0) { base.GetLog()->Error() << "(SoccerBase) ERROR: " << base.GetName() << ", found no ball body node\n"; return false; } } body = bodyRef; return true;}boolSoccerBase::GetBallCollider(const zeitgeist::Leaf& base, boost::shared_ptr<oxygen::SphereCollider>& sphere){ static shared_ptr<Scene> scene; static shared_ptr<SphereCollider> sphereRef; if (scene.get() == 0) { if (! GetActiveScene(base,scene)) { base.GetLog()->Error() << "(SoccerBase) ERROR: " << base.GetName() << ", could not get active scene.\n"; return false; } } if (sphereRef.get() == 0) { sphereRef = shared_dynamic_cast<SphereCollider> (base.GetCore()->Get(scene->GetFullPath() + "Ball/geometry")); if (sphereRef.get() == 0) { base.GetLog()->Error() << "(SoccerBase) ERROR:" << base.GetName() << ", Ball got no SphereCollider node\n"; return false; } } sphere = sphereRef; return true;}salt::Vector3fSoccerBase::FlipView(const salt::Vector3f& pos, TTeamIndex ti){ salt::Vector3f newPos; switch (ti) { case TI_RIGHT: newPos[0] = -pos[0]; newPos[1] = -pos[1]; newPos[2] = pos[2]; break; case TI_NONE: case TI_LEFT: newPos = pos; break; } return newPos;}TTeamIndexSoccerBase::OpponentTeam(TTeamIndex ti){ switch (ti) { case TI_RIGHT: return TI_LEFT; case TI_LEFT: return TI_RIGHT; default: return TI_NONE; }}stringSoccerBase::PlayMode2Str(const TPlayMode mode){ switch (mode) { case PM_BeforeKickOff: return STR_PM_BeforeKickOff; case PM_KickOff_Left: return STR_PM_KickOff_Left; case PM_KickOff_Right: return STR_PM_KickOff_Right; case PM_PlayOn: return STR_PM_PlayOn; case PM_KickIn_Left: return STR_PM_KickIn_Left; case PM_KickIn_Right: return STR_PM_KickIn_Right; case PM_CORNER_KICK_LEFT: return STR_PM_CORNER_KICK_LEFT; case PM_CORNER_KICK_RIGHT: return STR_PM_CORNER_KICK_RIGHT; case PM_GOAL_KICK_LEFT: return STR_PM_GOAL_KICK_LEFT; case PM_GOAL_KICK_RIGHT: return STR_PM_GOAL_KICK_RIGHT; case PM_OFFSIDE_LEFT: return STR_PM_OFFSIDE_LEFT; case PM_OFFSIDE_RIGHT: return STR_PM_OFFSIDE_RIGHT; case PM_GameOver: return STR_PM_GameOver; case PM_Goal_Left: return STR_PM_Goal_Left; case PM_Goal_Right: return STR_PM_Goal_Right; case PM_FREE_KICK_LEFT: return STR_PM_FREE_KICK_LEFT; case PM_FREE_KICK_RIGHT: return STR_PM_FREE_KICK_RIGHT; default: return STR_PM_Unknown; };}shared_ptr<ControlAspect>SoccerBase::GetControlAspect(const zeitgeist::Leaf& base,const string& name){ static const string gcsPath = "/sys/server/gamecontrol/"; shared_ptr<ControlAspect> aspect = shared_dynamic_cast<ControlAspect> (base.GetCore()->Get(gcsPath + name)); if (aspect.get() == 0) { base.GetLog()->Error() << "ERROR: (SoccerBase: " << base.GetName() << ") found no ControlAspect " << name << "\n"; } return aspect;}boolSoccerBase::MoveAgent(shared_ptr<Transform> agent_aspect, const Vector3f& pos){ Vector3f agentPos = agent_aspect->GetWorldTransform().Pos(); shared_ptr<Transform> parent = shared_dynamic_cast<Transform> (agent_aspect->FindParentSupportingClass<Transform>().lock()); if (parent.get() == 0) { agent_aspect->GetLog()->Error() << "(MoveAgent) ERROR: can't get parent node.\n"; return false; } Leaf::TLeafList leafList; parent->ListChildrenSupportingClass<Body>(leafList, true); if (leafList.size() == 0) { agent_aspect->GetLog()->Error() << "(MoveAgent) ERROR: agent aspect doesn't have " << "children of type Body\n"; return false; } Leaf::TLeafList::iterator iter = leafList.begin(); // move all child bodies for (iter; iter != leafList.end(); ++iter) { shared_ptr<Body> childBody = shared_dynamic_cast<Body>(*iter); Vector3f childPos = childBody->GetPosition(); childBody->SetPosition(pos + (childPos-agentPos)); childBody->SetVelocity(Vector3f(0,0,0)); childBody->SetAngularVelocity(Vector3f(0,0,0)); } return true;}boolSoccerBase::MoveAndRotateAgent(shared_ptr<Transform> agent_aspect, const Vector3f& pos, float angle){ Vector3f agentPos = agent_aspect->GetWorldTransform().Pos(); shared_ptr<Transform> parent = shared_dynamic_cast<Transform> (agent_aspect->FindParentSupportingClass<Transform>().lock()); if (parent.get() == 0) { agent_aspect->GetLog()->Error() << "(MoveAndRotateAgent) ERROR: can't get parent node.\n"; return false; } Leaf::TLeafList leafList; parent->ListChildrenSupportingClass<Body>(leafList, true); if (leafList.size() == 0) { agent_aspect->GetLog()->Error() << "(MoveAndRotateAgent) ERROR: agent aspect doesn't have " << "children of type Body\n"; return false; } shared_ptr<Body> body; GetAgentBody(agent_aspect, body); Matrix bodyR = body->GetRotation(); bodyR.InvertRotationMatrix(); Matrix mat; mat.RotationZ(gDegToRad(angle)); mat *= bodyR; Leaf::TLeafList::iterator iter = leafList.begin(); // move all child bodies for (iter; iter != leafList.end(); ++iter ) { shared_ptr<Body> childBody = shared_dynamic_cast<Body>(*iter); Vector3f childPos = childBody->GetPosition(); Matrix childR = childBody->GetRotation(); childR = mat*childR; childBody->SetPosition(pos + mat.Rotate(childPos-agentPos)); childBody->SetVelocity(Vector3f(0,0,0)); childBody->SetAngularVelocity(Vector3f(0,0,0)); childBody->SetRotation(childR); } return true;}AABB3 SoccerBase::GetAgentBoundingBox(const Leaf& base){ AABB3 boundingBox; shared_ptr<Space> parent = base.FindParentSupportingClass<Space>().lock(); if (!parent) { base.GetLog()->Error() << "(GetAgentBoundingBox) ERROR: can't get parent node.\n"; return boundingBox; } /* We can't simply use the GetWorldBoundingBox of the space node, becuase * (at least currently) it'll return a wrong answer. Currently, the space * object is always at (0,0,0) which is encapsulated in the result of it's * GetWorldBoundingBox method call. */ Leaf::TLeafList baseNodes; parent->ListChildrenSupportingClass<BaseNode>(baseNodes); if (baseNodes.empty()) { base.GetLog()->Error() << "(GetAgentBoundingBox) ERROR: space object doesn't have any" << " children of type BaseNode.\n"; } for (Leaf::TLeafList::iterator i = baseNodes.begin(); i!= baseNodes.end(); ++i) { shared_ptr<BaseNode> node = shared_static_cast<BaseNode>(*i); boundingBox.Encapsulate(node->GetWorldBoundingBox()); } return boundingBox;}AABB2 SoccerBase::GetAgentBoundingRect(const Leaf& base){ AABB2 boundingRect; shared_ptr<Space> parent = base.FindParentSupportingClass<Space>().lock(); if (!parent) { base.GetLog()->Error() << "(GetAgentBoundingBox) ERROR: can't get parent node.\n"; return boundingRect; } /* We can't simply use the GetWorldBoundingBox of the space node, becuase * (at least currently) it'll return a wrong answer. Currently, the space * object is always at (0,0,0) which is encapsulated in the result of it's * GetWorldBoundingBox method call. */ Leaf::TLeafList baseNodes; parent->ListChildrenSupportingClass<Collider>(baseNodes,true); if (baseNodes.empty()) { base.GetLog()->Error() << "(GetAgentBoundingBox) ERROR: space object doesn't have any" << " children of type BaseNode.\n"; } for (Leaf::TLeafList::iterator i = baseNodes.begin(); i!= baseNodes.end(); ++i) { shared_ptr<BaseNode> node = shared_static_cast<BaseNode>(*i); const AABB3 &box = node->GetWorldBoundingBox(); boundingRect.Encapsulate(box.minVec.x(), box.minVec.y()); boundingRect.Encapsulate(box.maxVec.x(), box.maxVec.y()); } return boundingRect;}⌨️ 快捷键说明
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