goal.rsg

rcssserver3d Robocup 3D比赛官方指定平台

;; -*- mode: lisp; -*-

(RSG 0 1)
(
 (templ $name $x $y $theta
	$LeftFlagName $RightFlagName
	$material)

 (def $GoalWidth   (eval Soccer.GoalWidth))
 (def $GoalDepth   (eval Soccer.GoalDepth))
 (def $GoalHeight  (eval Soccer.GoalHeight))

 (def $GoalHalfWidth   (eval $GoalWidth / 2.0))
 (def $GoalHalfHeight  (eval $GoalHeight / 2.0))
 (def $GoalHalfDepth   (eval $GoalDepth / 2.0))

 (def $BarDiameter     0.04)
 (def $BarRadius       (eval $BarDiameter / 2.0))

 (def $GoalObj (join models/ $name .obj))
 (def $ObjWidth (eval $GoalWidth + (eval $BarDiameter * 2.0)))

 ;; create the goal to hanle the goal
 (nd Space
     (setName $name)
     (nd Transform
	 (setName GoalBox)
	 (setLocalPos $x $y $GoalHalfHeight)
	 (setLocalRotation 0 0 $theta)
	 (nd BoxCollider
	     (setName BoxCollider)
	     (setBoxLengths $GoalDepth $GoalWidth $GoalHeight)
	     (nd RecorderHandler
		 (setName recorder)
		 )
             )

	 (nd Transform
	     (setLocalPos $GoalHalfDepth 0.0 (eval -1 * $GoalHalfHeight))
	     (setLocalRotation 90 90 0)
	     (nd StaticMesh
		 (load $GoalObj)
		 (setScale $ObjWidth $ObjWidth $ObjWidth)
		 )
	     )

	 ;; create the left goal post
	 (nd Transform
	     (setLocalPos 0 (eval -1 * (eval $GoalHalfWidth + $BarRadius)) 0)
	     ;; (nd Box
;; 		 (setExtents $GoalDepth $BarDiameter $GoalHeight)
;; 		 (setMaterial matWhite)
;; 		 )
	     (nd BoxCollider
		 (setBoxLengths $GoalDepth $BarDiameter $GoalHeight)
		 )
	     )

	 ;; create the right goal post
	 (nd Transform
	     (setLocalPos 0 (eval $GoalHalfWidth + $BarRadius)  0 )
;;; 	     (nd Box
;;; 		 (setExtents $GoalDepth $BarDiameter $GoalHeight)
;;; 		 (setMaterial matWhite)
;;; 		 )
	     (nd BoxCollider
		 (setBoxLengths $GoalDepth $BarDiameter $GoalHeight)
		 )
	     )

	 ;; create goal back wall
	 (nd Transform
	     (setLocalPos (eval -0.2 * $GoalHalfDepth) 0 0)
	     (setLocalRotation 0 30 0)
;;; 	     (nd Box
;;; 		 (setExtents $BarDiameter $GoalWidth $GoalHeight)
;;; 		 (setMaterial $material)
;;; 		 )
	     (nd BoxCollider
		 (setBoxLengths $BarDiameter $GoalWidth $GoalHeight)
		 )
	     )	 

	 ;; mark the goal (no visualization)
	 (importScene rsg/agent/flag_no_viz.rsg
		      (eval $GoalHalfDepth )
		      $GoalHalfWidth
		      $GoalHalfHeight
		      $LeftFlagName
		      )

	 (importScene rsg/agent/flag_no_viz.rsg
		      (eval $GoalHalfDepth )
		      (eval -1 * $GoalHalfWidth)
		      $GoalHalfHeight
		      $RightFlagName
		      )

	 ) ;; of Transform
     ) ;; of Space
 )