soccer.rsg

rcssserver3d Robocup 3D比赛官方指定平台

; -*- 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 $FieldHeight (eval Soccer.FieldHeight))
 (def $GoalDepth   (eval Soccer.GoalDepth))

 ;; height of the field ground plane
 (def $FieldMaterial matGrass)

 ;; calc some helper vars
 (def $FieldBase 0)
 (def $FieldHalfLength (eval $FieldLength / 2.0))
 (def $FieldHalfHeight (eval $FieldHeight / 2.0))
 (def $FieldHalfWidth  (eval $FieldWidth / 2.0))
 (def $GoalHalfDepth   (eval $GoalDepth / 2.0))
 (def $FieldTextureSize (eval $FieldLength / 12.0 ))

 ;;
 ;; 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)

	(setLocalRotation 90 180 0)
	(nd StaticMesh
          	(load 'models/naosoccerfield.obj')
		(setScale $FieldTextureSize
			  $FieldTextureSize
			  $FieldTextureSize)
      	)

       (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 skybox
(nd Transform
       (setLocalPos 0 0 0)

	(setLocalRotation 90 180 0)
	(nd StaticMesh
          	(load 'models/skybox.obj')
		(setScale 10
			  10
			  10)
	    )
	)

 ;; create the left goal
 (def $LeftGoalX (eval -1* (eval $FieldHalfLength + $GoalHalfDepth)))
 (importScene rsg/agent/nao/goal.rsg
	      leftgoal
	      $LeftGoalX 0 0
	      G1L G2L
	      matYellow)

 ;; create the right goal
 (def $RightGoalX (eval -1 * $LeftGoalX))
 (importScene rsg/agent/nao/goal.rsg
	      rightgoal
	      $RightGoalX 0 180
	      G2R G1R
	      matBlue)

; create left side wall
 (nd Transform
       (setLocalPos (eval -1 * 10.0) 0 0)
       (nd Box
	     (setMaterial matGrey)
	     (setExtents 1.0 20.0 1.0)
	     ) 
       
       )

; create right side wall
 (nd Transform
       (setLocalPos (eval 1 * 10.0) 0 0)
       (nd Box
	     (setMaterial matGrey)
	     (setExtents 1.0 20.0 1.0)
	     ) 
       
       )

; create back side wall
 (nd Transform
       (setLocalPos 0 (eval 1 * 10.0) 0)
       (nd Box
	     (setMaterial matGrey)
	     (setExtents 21.0 1.0 1.0)
	     ) 
       
       )

; create front side wall
 (nd Transform
       (setLocalPos 0 (eval 1 * -10.0) 0)
       (nd Box
	     (setMaterial matGrey)
	     (setExtents 21.0 1.0 1.0)
	     ) 
       
       )

 ;;
 ;; add flags
 ;;

 ;; mark the soccer field with 4 field flags (no visualization)
 (importScene rsg/agent/flag_no_viz.rsg
	      (eval -1 * $FieldHalfLength)  
	      $FieldHalfWidth
	      0
	      F1L
	      )

 (importScene rsg/agent/flag_no_viz.rsg
	      (eval -1 * $FieldHalfLength) 
	      (eval -1 * $FieldHalfWidth)
	      0
	      F2L
	      )

 (importScene rsg/agent/flag_no_viz.rsg
	      $FieldHalfLength 
	      $FieldHalfWidth 
	      0
	      F1R
	      )

 (importScene rsg/agent/flag_no_viz.rsg
	      $FieldHalfLength 
	      (eval -1 * $FieldHalfWidth) 
	      0 
	      F2R
	      )

;;
;; add the ball
;;
 (importScene rsg/agent/ball.rsg)

 )