bool
VisionPerceptor::StaticAxisPercept(boost::shared_ptr<PredicateList> predList)
{
    Predicate& predicate = predList->AddPredicate();
    predicate.name       = mPredicateName;
    predicate.parameter.Clear();

    TTeamIndex  ti       = mAgentState->GetTeamIndex();
    salt::Vector3f myPos = mTransformParent->GetWorldTransform().Pos();

    TObjectList visibleObjects;
    SetupVisibleObjects(visibleObjects);

    for (std::list<ObjectData>::iterator i = visibleObjects.begin();
         i != visibleObjects.end(); ++i)
    {
        ObjectData& od = (*i);

        od.mRelPos = SoccerBase::FlipView(od.mRelPos, ti);
        if (mAddNoise)
            {
                od.mRelPos += mError;
            }

        if (
            (od.mRelPos.Length() <= 0.1) ||
            (CheckOcclusion(myPos,od))
            )
        {
            // object is occluded or too close
            continue;
        }

        // theta is the angle in the X-Y (horizontal) plane
        od.mTheta = salt::gRadToDeg(salt::gArcTan2(od.mRelPos[1], od.mRelPos[0]));

        // latitude
        od.mPhi = 90.0 - salt::gRadToDeg(salt::gArcCos(od.mRelPos[2]/od.mDist));

        // make some noise
        ApplyNoise(od);

        // generate a sense entry
        AddSense(predicate,od);
    }

    if (mSenseMyPos)
    {
        Vector3f sensedMyPos = SoccerBase::FlipView(myPos, ti);

        ParameterList& element = predicate.parameter.AddList();
        element.AddValue(std::string("mypos"));
        element.AddValue(sensedMyPos[0]);
        element.AddValue(sensedMyPos[1]);
        element.AddValue(sensedMyPos[2]);
    }

    return true;
}
Example #2
0
bool CLiteObjectMgr::RemoveObjectFromList(TObjectList &aList, GameBaseLite *pObject)
{
	TObjectList::iterator iObj = std::find(aList.begin(), aList.end(), pObject);
	if (iObj == aList.end())
		return false;
	*iObj = 0;
	return true;
}
Example #3
0
void CLiteObjectMgr::RemoveObjectList(TObjectList &aList)
{
	// Remove the objects in the engine
	TObjectList::iterator iCurObj = aList.begin();
	for (; iCurObj != aList.end(); ++iCurObj)
	{
		if (*iCurObj)
		{
			GameBaseLite *pObj = *iCurObj;
			// Clear out the entry in the list so we don't think we have it any more
			*iCurObj = 0;
			g_pLTServer->RemoveObject(pObj->GetClass(), pObj);
		}
	}
	// Forget...
	aList.swap(TObjectList());
}
Example #4
0
void CLiteObjectMgr::CleanList(TObjectList &aList)
{
	// Clear nulls from the end of the list
	while (!aList.empty() && (aList.back() == 0))
		aList.pop_back();

	// Swap empties to the end of the list and get rid of them
	TObjectList::iterator iCurObj = aList.begin();
	while (iCurObj != aList.end())
	{
		if (!*iCurObj)
		{
			*iCurObj = aList.back();
			aList.pop_back();
		}
		else
			++iCurObj;
	}
}
bool
VisionPerceptor::DynamicAxisPercept(boost::shared_ptr<PredicateList> predList)
{
    Predicate& predicate = predList->AddPredicate();
    predicate.name       = mPredicateName;
    predicate.parameter.Clear();

	// get the transformation matrix describing the current orientation
    const Matrix& mat = mTransformParent->GetWorldTransform();

    TObjectList visibleObjects;
    SetupVisibleObjects(visibleObjects);

    for (std::list<ObjectData>::iterator i = visibleObjects.begin();
         i != visibleObjects.end(); ++i)
    {
        ObjectData& od = (*i);

        if (mAddNoise)
            {
                od.mRelPos += mError;
            }

        if (od.mRelPos.Length() <= 0.1)
        {
            // object is too close
            continue;
        }

		// determine position relative to the local reference frame
        Vector3f localRelPos = mat.InverseRotate(od.mRelPos);
        
        
        // theta is the angle in horizontal plane, with fwAngle as 0 degree
        od.mTheta = gNormalizeDeg (gRadToDeg(gNormalizeRad(
                              gArcTan2(localRelPos[1],localRelPos[0])
                              )) -90 );

        // latitude with fwPhi as 0 degreee
        od.mPhi = gRadToDeg(gNormalizeRad(
							gArcTan2( localRelPos[2], Vector2f(localRelPos[0], localRelPos[1]).Length())
                            ));

        // make some noise
        ApplyNoise(od);

        // generate a sense entry
        AddSense(predicate,od);
    }

    if (mSenseMyPos)
    {
        TTeamIndex  ti          = mAgentState->GetTeamIndex();
        salt::Vector3f myPos = mTransformParent->GetWorldTransform().Pos();
        Vector3f sensedMyPos = SoccerBase::FlipView(myPos, ti);

        ParameterList& element = predicate.parameter.AddList();
        element.AddValue(std::string("mypos"));
        element.AddValue(sensedMyPos[0]);
        element.AddValue(sensedMyPos[1]);
        element.AddValue(sensedMyPos[2]);
    }

    return true;
}
Example #6
0
bool CLiteObjectMgr::IsObjectInList(TObjectList &aList, GameBaseLite *pObject)
{
	return std::find(aList.begin(), aList.end(), pObject) != aList.end();
}
void
RestrictedVisionPerceptor::AddSense(Predicate& predicate,
                                    boost::shared_ptr<BaseNode> node,
                                    TObjectList& objectList) const
{
    if (objectList.empty())
    {
        return;
    }

    boost::shared_ptr<AgentAspect> agent_aspect =
        dynamic_pointer_cast<AgentAspect>(node);
    if (agent_aspect != 0)
    {
        boost::shared_ptr<AgentAspect> aspect =
            agent_aspect->FindParentSupportingClass<AgentAspect>().lock();
        if (aspect != 0)
        {
            agent_aspect = aspect;
        }

        boost::shared_ptr<AgentState> agent_state = static_pointer_cast<AgentState>
            (agent_aspect->GetChildOfClass("AgentState",true));
        if (agent_state.get() == 0 ||
            (agent_state->GetPerceptName(ObjectState::PT_Player).empty())
           )
        {
            return;
        }

        ParameterList& element = predicate.parameter.AddList();
        element.AddValue(std::string("P"));

        ParameterList player;
        player.AddValue(std::string("team"));
        player.AddValue
            (std::string
                (agent_state->GetPerceptName(ObjectState::PT_Player)
                )
            );
        element.AddValue(player);

        if (! agent_state->GetID().empty())
        {
            ParameterList id;
            id.AddValue(std::string("id"));
            id.AddValue(agent_state->GetID());
            element.AddValue(id);
        }

        for (TObjectList::iterator j = objectList.begin();
            j != objectList.end(); ++j)
        {
            ObjectData& od = (*j);

            if (!od.mObj->GetID().empty())
            {
                ParameterList id;
                id.AddValue(od.mObj->GetID());

                ParameterList position;
                position.AddValue(std::string("pol"));
                position.AddValue(od.mDist);
                position.AddValue(od.mTheta);
                position.AddValue(od.mPhi);
                id.AddValue(position);

                element.AddValue(id);
            }
        }
    }
    else
    {
        for (TObjectList::iterator j = objectList.begin();
            j != objectList.end(); ++j)
        {
            ObjectData& od = (*j);
            ParameterList& element = predicate.parameter.AddList();
            element.AddValue(od.mObj->GetPerceptName());

            ParameterList& position = element.AddList();
            position.AddValue(std::string("pol"));
            position.AddValue(od.mDist);
            position.AddValue(od.mTheta);
            position.AddValue(od.mPhi);
        }
    }
}