news

2009 ROBOCUP 仿真2DSERVER 源码

[13.0.0]
  * RCSSBase is now integrated into RCSSServer. It is not necessary
    for you to install RCSSBase before the RCSSServer installation.

  * New parameters:
    - server::stamina_capacity (default value: 148600.0)
    - server::max_dash_angle (default value: 180.0)
    - server::min_dash_angle (default value: -180.0)
    - server::dash_angle_step (default value: 90.0)
    - server::side_dash_rate (default value: 0.25)
    - server::back_dash_rate (default value: 0.5)
    - server::max_dash_power (default value: 100.0)
    - server::min_dash_power (default value: -100.0)

  * Changed parameters:
    - server::stamina_max (4000 -> 8000)
    - server::max_back_tackle_power (50.0 -> 0.0)
    - server::extra_half_time (300 -> 100)
    - server::player_speed_max (1.2 -> 1.05)
    - server::player_speed_max_min (0.8 -> 0.75)
    - server::extra_stamina (0.0 -> 50.0)
    - player::player_decay_delta_min (-0.05 -> -0.1)
    - player::extra_stamina_delta_max (100.0 -> 50.0)
    - player::effort_mix_delta_factor (-0.002 -> -0.004)
    - player::effort_man_delta_factor (-0.002 -> -0.004)
    - player::new_dash_power_rate_delta_min (-0.0005 -> -0.0012)
    - player::new_dash_power_rate_delta_max (0.0015 -> 0.0008)

  * Changed a stamina model. The new parameter
    server::stamina_capacity defines the maximum recovery capacity for
    each player. When player's stamina is recovered during the game,
    his stamina capacity is also consumed. If the player's stamina
    capacity becomes 0, his stamina is never recovered and he can use
    only his extra stamina. The recovery policy of the stamina
    capacity is as follows:

     - normal halves
       The stamina capacity is reset to the initial value just after
       the kick off as well as the other stamina related variables.

     - extra halves and penalty shootouts
       The stamina capacity is reset to the initial value just after
       normal halves if the game is not over, but is never recovered
       at the half time and before the penalty shootouts.

    If server::stamina_capacity is set to a negative value, players
    have an infinite stamina capacity. This setting makes the new
    stamina model completely same as the old stamina model.

  * Changed a dash model. Players can now add the dash direction as
    the second argument of his dash command:

      `(dash <power> <dir>)'

    The dash direction is relative to player's body angle (or reverse
    side angle if dash power is negative value) and is restricted
    within [server::min_dash_angle,server::max_dash_angle]. The dash
    power effectiveness is affected by the magnitude of dash
    angle. Players can dash in direction of their body (or reverse
    side angle if dash power is negative) using 100% of power, in
    backward with server::back_dash_rate(0.5) of power and in sideward
    with server::side_dash_rate(0.25) of power. The dash power
    effectiveness will increase between sides and body direction from
    server::side_dash_rate(0.25) to 1.0 and between sides and backward
    from server::side_dash_rate(0.25) to server::back_dash_rate(0.5).

    dir_rate = ( fabs( dir ) > 90.0
                 ? back_dash_rate - ( back_dash_rate - side_dash_rate )
                                      * ( 1.0 - ( fabs( dir ) - 90.0 ) / 90.0 )
                 : side_dash_rate + ( 1.0 - side_dash_rate )
                                      * ( 1.0 - fabs( dir ) / 90.0 ) );

    Please note that server::min_dash_power will be set to 0 in the
    future simulator (v14 or later). This means the negative dash
    power will be forbidden completely.

    In order to balance with older binaries and to enable flexible
    settings, server::dash_angle_step parameter has been
    introduced. This parameter defines the discreteness of player's
    dash direction. If server::dash_angle_step is 90.0, players can
    dash only in four directions (forward, backward and two
    sidewards).

  * Changed heterogeneous player parameters. Now, heterogeneous
    players' dash speed become slower.

  * Forbad a backward tackle. Now, server::max_back_tackle_power is
    set to 0. This means the tackle command directed to 180.0 degree
    has no effect.

  * Changed a overtime length. Now, the default overtime length
    is set to 1000 cycles.

  * Supported a protocol version 13.

    - All new parameters are sent to v.13 or later clients.

    - server::extra_half_time parameter is now sent to v.13 or later
      clients.

    - Version 13+ players and coaches can see players' kicking state.

      When players can see another players team, they can also see if
      that player is kicking via a `k' flag as follows:

        `((p "<TEAMNAME>" <UNUM>) <DIST> <DIR> <DISTCHG> <DIRCHG>
                                 <BDIR> <HDIR> [<POINTDIR>] [{t|k}])'

        `((p "<TEAMNAME>") <DIST> <DIR> [<POINTDIR>] [{t|k}])'

      Coach visuals now can indicate if a player is kickingvia a `k'
      flag as follows:

        `((p "<TEAMNAME>" <UNUM>) <X> <Y> <VEL_X> <VEL_Y> <ANGLE>
                                  <NECK_ANGLE> [<ARM_DIR>] [{t|k}])'

      If an observed player is tackling, the kicking flag is always
      overwritten by the tackle flag.

      Please note that the kicking state can be seen within one cycle
      just after kicking.

    - The stamina capacity information is added to sense_body message
      as follows:

        `(stamina <STAMINA> <EFFORT> <CAPACITY>)`

  * Supported a monitor protocol version 4 and a game log format
    version 5. In these versions, players' stamina capacity
    information are contained in each player data. Now, these versions
    are used by default.

  * Now, stoppage time information is recorded in the text log(.rcl)
    files.

  * Supported the environment variable RCSS_CONF_DIR. With this
    variable, you can specify the default location of configuration
    files.

[12.1.4]
  * Fixed library dependencies and a problem in 64bit platforms.
    Thanks go to hedayat Vatankhah for providing the patches.

[12.1.3]
  * This release is the version for the final round of RoboCup2008.

  * Added new parameter, server::extra_half_time(default: 300). This
    parameter changes the length of each extra half. Please note that,
    at least in this release, rcssserver never send
    server::extra_half_time to v.12 or older clients via the
    server_param message.

[12.1.2]
  * Fixed gcc 4.3 compilation problems. Thanks go to Hedayat Vatankhah
  for providing the patch.

  * Fixed gcc 4.4 warnings.

[12.1.1]
  * Fixed an endless loop bug in the collision check with goal
    posts. Thanks go to Alexander Burger for reporting the
    problem.

  * Fixed defects of the back pass rule.
    - Now, the back pass rule does not apply if goalie catches the
      ball after his own kick but the previous ball kicker is an
      opponent player and both kicks are performed within the same
      play_on period.

    - Now, the back pass rule applies if a teammate player holds the
      ball and kicks the ball just after goalie's catch in the same
      cycle.

    - Fixed a defect of timer count when trainer changes the playmode.

[12.1.0]
  * Slightly changed the game log format version 4. Now, players'
    pointing points are recorded by the global value of left-hand
    coordinate system.

  * The size of team_graphic image can be smaller than 256x64. Any xpm
    graphic that the size is 8*m x 8*n (0<m<=32,0<n<=8) is acceptable.

  * Now, team_graphic messages are always recorded in the game log
    file as msg info.

  * Now, the game date and result are recorded at the end of the game
    log file as msg info.

  * Fixed a defect of log file flushing.

  * Disabled the stdoutsaver by default. Instead, the rcsoccersim
    script will try to load the stdoutsaver module.

  * Fixed an incorrect result message of penalty shootouts in
    stdoutsaver.

[12.0.1]
  * Fixed a change_view command bug in the synchronous mode. Thanks go
    to Tobias Springenbergr for reporting the problem and providing
    the patch.

[12.0.0]
  * Supported the monitor protocol version 3 and the game log format
    version 4. Now, these are used by default.

  * Fixed a build problem on some platforms.

[12.0.0_pre-20080210]

  * New parameter:
    - server::synch_see_offset (default value: 30)

  * Renamed parameter:
    - server::min_tackle_power -> server::max_back_tackle_power
      (default value: 50.0)

  * Changed parameters:
    - server::tackle_power_rate (0.0135 -> 0.027)
    - server::tackle_back_dist (0.5 -> 0.0)
    - server::tackle_width (1.0 -> 1.25)

  * New command:
    - "(synch_see)"
      All version players can use this command. If the command is
      accepted, rcssserver sent a reply message, "(ok synch_see)".
      This command is used for a synchronous mode describing below.

  * Changed a see message timer. There are 2 modes for all players,
    the asynchronous mode and the synchronous mode. The asynchronous
    mode is completely same as v.11 or older timer and is a default
    mode for all players including v.12 players. If players send the
    "(synch_see)" command, they enter to the synchronous mode and
    cannot return to the asynchronous mode. v.11 or older players
    also can use this command and the synchronous mode.

    In the synchronous mode, the "low" view quality cannot be used and
    the following view width are available:

      | mode    | view width(degree) | see frequency  |
      | narrow  | 60                 | every cycle    |
      | normal  | 120                | every 2 cycles |
      | wide    | 180                | every 3 cycles |

    In all view modes, rcssserver send see messages at
    server::synch_see_offset(30) ms from the beginning of the cycle.

    Each view width can be calculated as follows:

      narrow:  60 = visible_angle(90) * send_step(150) / sim_step(100)
      normal: 120 = narrow * 2
      wide:   130 = narrow * 3

  * Changed a tackle model for v.12 players based on the Thomas
    Gabel's proposal. Now, the argument of the tackle command sent by
    v.12 players means the ball acceleration angle relative to the
    player's body angle. Effective power for tackle(angle) is
    calculated as follows:

      eff_power = ( max_back_tackle_power
                    + ( max_tackle_power - max_back_tackle_power )
                    * ( 1 - fabs( angle )/PI ) )
                * tackle_power_rate

  * Changed a tackle power restriction rule for the v.11 or older
    players as follows:

      power = max( -max_back_tackle_power,
                   min( max_tackle_power, power ) )

    This means a tackle power is restricted within [-50,100] in the
    default settings. Note that a backwards tackle might be completely
    forbidden (max_back_tackle_power is set to 0) in the v.13 or later
    simulator.

  * Added a tackle power reduction according to the ball position as
    follows:

      eff_power *= 1 - 0.5*( fabs( player_2_ball.th() )/PI

  * Changed a kick noise model. This change is motivated by the Mehrab
    Norouzitallab's proposal. Now, the maximum kick noise is directly
    proportional to the kick power, the ball distance, the ball
    direction and the ball speed. When the kick power is 0, the kick
    noise becomes always 0.

      pos_rate = 0.5 + 0.25*( dir_diff/PI + dist_2_bal/kickable_margin )
        For tackle: pos_rate = 0.5 + 0.5*( 1.0 - tackle_prob )
      speed_rate = 0.5
                 + 0.5*( ball_speed / (ball_speed_max*ball_decay) )
      max_rand = kick_rand
               * ( power / max_power )
               * ( pos_rate + speed_rate )
      kick_noise = polar2vector( rand( 0, max_rand ),
                                 rand(-PI,PI) )

  * Added an automatic version check for configuration files. If
    configuration files do not contain a version parameter that is
    same as the rcssserver's release version, rcssserver will exit
    with error messages.

  * (Not fixed yet) Supported the monitor protocol version 3 and the
    game log format version 4. From these versions, data is
    represented by human readable text messages. The default version
    of game log format is still 3 in 12.0.0_pre-20080210 because the
    format has not been fixed yet and the implementation has not been
    completed yet.

  * (Test version) Introduced a new catch model based on the
    Sebastian Marian's proposal. The catch probability is set to
    unreliable catches. If ball is not within the goalie's reliable
    catch area, the catch probability is calculated according to the
    ball position and the goalie's catch command might be failed.

    Note that this rule is not actually used in the default
    settings of v.12 server. If you try to test this rule, you need
    to change the server::catchable_area_l(default value: 1.2)
    parameter to the value greater than
    server::reliable_catch_area_l(default value: 1.2). And
    server::min_catch_probability(default value: 1) also need to be
    change to [0, 1]. RCSSServer can read these parameter from
    server.conf, but does not send them to clients.