%%%================================================== %%% %%% WASP SOCCER GAME SERVER 1.1, Dec 3, 2003 %%% %%% %%% %%% Vrije University Amsterdam %%% %%% %%% %%% (C) Zhisheng Huang %%% %%%================================================== %%% :-object wsserver : [gg_server]. var server_port = 4321. var client_host = null. var client_name = null. % next client name (1-1 client-server thread) var client_addr = null. var time_limit = 5000. main :- gg_server_init(server_port), soccer_game_init. wsserver(Socket) :- gg_server_loop(Socket). wsserver(Server, ServerPort) :- format('Server at ~w~n', [Server]), gg_server_init(ServerPort). mk_server(Socket) :- new(wsserver(Socket), _). free_name_list(FreeList) :- FreeList = [blue2, red4, blue3, red5, blue4, red6, blue5, red7, blue6, red8, blue10, red9, red10], true. default_server_reply(Attributes) :- Attributes = [0, none]. server_reply(InputTerm, ReplyTerm) :- InputTerm = [register, soccer, from(ClientHost, ClientAddr)], !, format('~n~w new client from ~q~n~n', [this, ClientHost]), get_field(used_name_list, Others), gg_register_client(ClientHost, ClientName), client_host := ClientHost, client_name := ClientName, client_addr := ClientAddr, get_field(ball, position, BallPosition), wsgame_score <- getGameScoreStruct(Score), ReplyTerm = [reply, accept, [client_name, BallPosition, Score, Others]], Message = [tell, new_player, [client_name]], gg_echo <- broadcast(ClientHost,ClientName, Message). server_reply(InputTerm, ReplyTerm) :- InputTerm = [unregister, soccer, [user(Host,Name)]], !, gg_unregister_client(Host, Name, Length), ReplyTerm = [reply, unregister, [done, Length]], Message = [tell, unregister, [client_name]], gg_echo <- broadcast(client_host, to_all_clients, Message). server_reply(InputTerm, ReplyTerm) :- InputTerm = [tell, position, [user(Host,Name), Position]], %% Position = position(X,Y,Z), !, set_field(Name, position, Position), gg_echo <- broadcast(Host, Name, InputTerm), gg_echo <- get_broadcasted_data(user(Host,Name), Attributes), ReplyTerm = [reply, update, Attributes]. server_reply(InputTerm, ReplyTerm) :- InputTerm = [tell, rotation, [user(Host,Name), Rotation]], %% Rotation = rotation(X,Y,Z,R), !, set_field(Name, rotation, Rotation), gg_echo <- broadcast(Host, Name, InputTerm), gg_echo <- get_broadcasted_data(user(Host,Name), Attributes), ReplyTerm = [reply, update, Attributes]. server_reply(InputTerm, ReplyTerm) :- InputTerm = [tell, position_and_rotation, Data], Data = [user(Host,Name), Position, Rotation], %% Position = position(X,Y,Z), %% Rotation = rotation(XR,YR,ZR,RR), !, set_field(Name, position, Position), set_field(Name, rotation, Rotation), gg_echo <- broadcast(Host, Name, InputTerm), gg_echo <- get_broadcasted_data(user(Host,Name), Attributes), ReplyTerm = [reply, update, Attributes]. server_reply(InputTerm, ReplyTerm) :- InputTerm = [tell, kick_ball, Data], !, set_queue(ball, [kick_ball, Data]), gg_echo <- get_broadcasted_data(user(client_host,client_name), Attributes), ReplyTerm = [reply, update, Attributes]. server_reply(InputTerm, ReplyTerm) :- InputTerm = [ask, update, [User]], !, gg_echo <- get_broadcasted_data(User, Attributes), ReplyTerm = [reply, update, Attributes]. server_reply(InputTerm, ReplyTerm) :- InputTerm = shutdown, !, %% unregister .. Message = [tell, browser_exit, [client_name]], gg_unregister_client(client_host, client_name, _Length), gg_echo <- broadcast(client_host, client_name, Message), ReplyTerm = shutdown. server_reply(InputTerm, ReplyTerm) :- InputTerm = [tell, text, Message], Message = [user(Host, Name), [all], _Text], !, gg_echo <- broadcast(Host, Name, InputTerm), ReplyTerm = getChatMessage. server_reply(InputTerm, ReplyTerm) :- InputTerm = [tell, text, Message], Message = [user(Host, _Name), [Recipient], _Text], !, set_queue(Host, Recipient, InputTerm), ReplyTerm = getChatMessage. server_reply(InputTerm, ReplyTerm) :- ReplyTerm = unknown_message(InputTerm). soccer_game_init :- _Pulse := new(wsclock_pulse), set_field(wsserver,clock,time_limit), % set_init_value_list([ball,goalKeeper1,goalKeeper2,red2,red3,blue7,blue8]), _ball := new(wsball(ball, time_limit)), _GoalKeeper1 := new(wsgoalKeeper(goalKeeper1, time_limit)), _GoalKeeper2 := new(wsgoalKeeper(goalKeeper2, time_limit)), % _Blue9 := new(soccerPlayerServerAgent(blue9, time_limit)), _Blue8 := new(soccerPlayerServerAgent(blue8, time_limit)), _Blue7 := new(soccerPlayerServerAgent(blue7, time_limit)), _Red2 := new(soccerPlayerServerAgent(red2, time_limit)), % _Red3 := new(soccerPlayerServerAgent(red3, time_limit)), % _Blue11 := new(soccerPlayerServerAgent(blue11, time_limit)), % _Red11 := new(soccerPlayerServerAgent(red11, time_limit)), % format('ENTER GAME_SCORE~n'), wsgame_score <- setGameScore(red, blue, 0, 0), % format('NEXT GAME_SCORE CALL~n'), wsgame_score <- showGameScore. :-end_object wsserver. :-object wsball: [common_process_wsserver]. var steps. var xmax = 50.0. var xmin = -50.0. var zmax = 32.0. var zmin = -32.0. % var ballstep = 1.5. var ballSleepTime=300.0. var status := unlock. var time_limit = 5000. var kickableDistance = 3.0 . wsball(Name, TimeLimit) :- format('~w thread active.~n',[Name]), time_limit := TimeLimit, set_init_position(Name), activity(Name). init_position(ball, 0.0, 0.25, 0.0). set_init_position(Name):- init_position(Name, X,Y,Z), set_field(Name, position, position(X,Y,Z)). activity(Name) :- repeat, sleep(500), get_clock(TimeLimit), %% format('~w : playing time = ~w~n', [this, TimeLimit]), ball_checks(Name), %% format('~w : check 1 time = ~w~n', [this, TimeLimit]), ball_action(Name), %% format('~w : action1 time = ~w~n', [this, TimeLimit]), ball_checks(Name), TimeLimit > time_limit, !, wsgame_score <- showGameScore. ball_action(Name) :- get_queue(ball, Message), ball_activity(Name,Message). ball_checks(Name) :- getPosition(Name,X,Y,Z), setValidBallPosition(Name,X,Y,Z). ball_activity(Ball, Message) :- Message = [ball_position, Data], Data = [Ball, Position], !, set_field(Ball, position, Position). ball_activity(Ball, Message) :- Message = [kick_ball, Data], !, check_kick_ball(Ball, Data). ball_activity(Ball, Message) :- Message = [move_ball, Data], Data = [Ball, XB,YB,ZB, XE,YE,ZE, Dist], !, move_to_position(Ball, translation, stepUnit, ballSleepTime,XB,YB,ZB,XE,YE,ZE, Dist). ball_activity(Ball, Message) :- format('~nUNKNOWN ~w MESSAGE = ~w~n~n', [Ball, Message]). check_kick_ball(Ball, Data) :- Data = [Player, Ball, X,Y,Z,R1, KickBallForce, KickBallForceY], get_field(Ball, position, position(XB,_YB,ZB)), get_field(Player, position, position(XP,_YP,ZP)), distance2d(XP,ZP,XB,ZB,Dist), Dist =< kickableDistance, !, gg_echo <- broadcast(any_host, any_client, [tell, kick_ball, Data]), kickedwithStaticStartRF(Ball, translation, X,Y,Z,R1, KickBallForce, KickBallForceY). check_kick_ball(_Ball, _Data) :- %% format('~nCHECK_KICK_BALL FAILS: ~w, ~w~n~n', [Ball,Data]), true. validMinMax(V0, Vmin, Vmax, VN) :- askValid_Min(V0, Vmin, V1), askValid_Max(V1, Vmax, VN). askValid_Min(X, Xmin, Xval) :- X < Xmin, !, Xval = Xmin. askValid_Min(X,_Xmin, Xval) :- Xval = X. askValid_Max(X, Xmax, Xval) :- X > Xmax, !, Xval = Xmax. askValid_Max(X,_Xmax, Xval) :- Xval = X. setValidBallPosition(_Ball,X,_Y,Z):- X =< xmax, X >= xmin, Z =< zmax, Z >= zmin, !. setValidBallPosition(Ball, X, Y, Z) :- validMinMax(X, xmin, xmax, Xnew), validMinMax(Z, zmin, zmax, Znew), setPositionEx(Ball, Xnew,Y,Znew). setPositionEx(Ball,X,Y,Z):- setPosition(Ball,X,Y,Z), %% get_field(Ball, old_pos, OldPos), %% OldPos \= position(X,Y,Z), !, set_field(Ball, old_pos, position(X,Y,Z)), %% format('~n~w : broadcast of the ball position~n~n', [this]), Message = [tell, ball_position, [Ball, position(X,Y,Z)]], local_host(Host, _), gg_echo <- broadcast(Host, to_all_clients, Message). setPositionEx(Ball,_X,_Y,_Z):- format('no position broadcast for ~w~n', [Ball]). % kickedwithStaticStart(+Ball,+Field,+X,+Y,+Z,+Vx,+Vy,+Vz,+SleepTime). kickedwithStaticStart(Ball,Field,X,Y,Z,Vx,Vy,Vz,BallSleepTime):- % kickedSound(Ball), Time is Vy/4.9, BallSleepTimeInSecond is BallSleepTime/1000, steps := 1, repeat, sleep(BallSleepTime), CurrentTime is steps*BallSleepTimeInSecond, Xnew is X+ Vx*CurrentTime, Ynew is Y+ Vy*CurrentTime-4.9*CurrentTime*CurrentTime, Znew is Z+ Vz*CurrentTime, setSFVec3f(Ball,Field,Xnew,Ynew,Znew), ++steps, steps > Time//BallSleepTimeInSecond, !. % kickedwithStaticStartRF(Ball,Field,X,Y,Z,R1,ForceXZ,ForceY) kickedwithStaticStartRF(Ball,Field,X,Y,Z,R1,F1,Vy):- Vx is F1 * cos(R1), Vz is F1 * sin(R1), kickedwithStaticStart(Ball,Field,X,Y,Z,Vx,Vy,Vz,ballSleepTime), fallToGround(Ball,Field), !. kickedwithStaticStartRF(_,_,_,_,_,_,_,_):- format('~nKICK STATIC START RF FAILS~n~n'). fallToGround(Ball,Field):- getSFVec3f(Ball, Field, X, _Y, Z), setSFVec3f(Ball, Field, X, 0.25, Z), Message = [tell, ball_position, [Ball, position(X,0.25,Z)]], local_host(Host, _), gg_echo <- broadcast(Host, to_all_clients, Message). :- end_object wsball. :-object wsgoalKeeper: [common_process_wsserver]. var steps. var holdableDistance = 2.8. var throwableDistance = 45.0. var watchableDistance = 30.0. var stopableDistance = 8.0. var ballstep = 1.5. var ballSleepTime = 300. var kickBallForce = 10.0. var kickBallForceY = 15.0. var runstep = 1.5. var runSleepTime=750. var time_limit = 5000. wsgoalKeeper(Name, TimeLimit) :- time_limit := TimeLimit, set_init_value(Name), format('~w thread active.~n', [Name]), activity(Name). set_init_value(Player):- defaultPositionRotation(Player,Position,Rotation), set_field(Player,position,Position), set_field(Player,rotation,Rotation). defaultPositionRotation(goalKeeper1, position(47.0, 1.8,0.0), rotation(0,1,0,-1.5708)) :- !. defaultPositionRotation(goalKeeper2, position(-47.0, 1.8,0.0), rotation(0,1,0,1.5708)). activity(Name) :- repeat, sleep(2000), get_clock(TimeLimit), %% format('~w thread ~w seconds left.~n', [Name, TimeLimit]), setDefaultPosition(Name), %% format('~w : look_at_ball~n', [Name]), look_at_ball(Name,ball), %% format('~w : getPositionInformation~n', [Name]), getPositionInformation(Name,ball,X,Y,Z,Xball,Yball,Zball,Dist), %% format('~w : findHowtoReact~n', [Name]), findHowtoReact(Name,ball,X,Y,Z,Xball,Yball,Zball,Dist,Action), nonvar(Action), format('~w action: ~w ~n',[Name,Action]), doAction(Action, Name,ball,X,Y,Z,Xball,Yball,Zball,Dist), TimeLimit > time_limit, quitGame(Name), !. stadiumExit(0.0, 0.0, -50.0). quitGame(Player):- format('~w is gone.~n',[Player]), getSFVec3f(Player, position, X,Y,Z), stadiumExit(X1,Y1,Z1), distance2d(X,Z,X1,Z1,Dist), run_to_position(Player,X,Y,Z,X1,Y1,Z1,Dist), gg_echo <- broadcast(server, Player, [tell,quit,[Player]]). %getPositionInformation(+Player,+Ball,-X,-Y,-Z,-X1,-Y1,-Z1,-Dist). getPositionInformation(Player,Ball,X,Y,Z,X1,Y1,Z1,Dist) :- getPosition(Ball,X1,Y1,Z1), getSFVec3f(Player,position,X,Y,Z), distance2d(X,Z,X1,Z1,Dist). %findHowtoReact(+Player,+Ball,+X,+Y,+Z,+Xball,+Yball,+Zball,+Dist,-Action). /*** findHowtoReact(_,_,_,_,_,_,_,_,Dist,do_nothing):- var(Dist), !. ***/ findHowtoReact(_Player,_,_,_,_,_X1,Y1,_Z1,Dist,run_then_kick):- Dist > holdableDistance, Dist =< stopableDistance, Y1 =< 0.25 , !. findHowtoReact(_Player,_,_,_,_,_,_,_,Dist,hold_then_throw):- Dist =< holdableDistance, !. findHowtoReact(Player,_,_,_,_,X1,_,Z1,_Dist,record_score_then_throw):- goalArea(Player,_,GoalXMin,GoalXMax,GoalZMin,GoalZMax), GoalXMin =< X1, GoalXMax >= X1, GoalZMin =< Z1, GoalZMax >= Z1, !. findHowtoReact(_,_,_,_,_,_,_,_,Dist,ready_for_goal):- Dist > stopableDistance, Dist < watchableDistance, !. findHowtoReact(_,_,_,_,_,_,_,_,Dist,do_nothing):- Dist > watchableDistance, !. findHowtoReact(_,_,_,_,_,_,_,_,_,_) :- format('~n~w : findHowtoReact : CASE UNDEFINED (SHOULD NEVER HAPPEN)~n~n', [this]). %% goalArea(Player,Team,GoalXMin,GoalXMax,GoalZMin,GoalZMax). goalArea(goalKeeper1, blue, 47.0, 50.0, -3.5, 3.5) :-!. goalArea(goalKeeper2, red, -50.0, -47.0, -3.5, 3.5). defaultPosition(goalKeeper1, position(47.0, 1.8, 0.0)) :-!. defaultPosition(goalKeeper2, position(-47.0, 1.8, 0.0)). setDefaultPosition(GoalKeeper):- defaultPosition(GoalKeeper,Position), set_field(GoalKeeper,position,Position), get_field(GoalKeeper, old_pos, OldPos), OldPos \= Position, !, set_field(GoalKeeper, old_pos, Position), local_host(ClientHost, _), Data = [user(ClientHost,GoalKeeper), Position], Message = [tell, position, Data], gg_echo <- broadcast(ClientHost, GoalKeeper, Message). setDefaultPosition(_GoalKeeper). %% ballThrowPosition(Player,Position,X,Z). ballThrowPosition(goalKeeper1, top, 5.0, -10.0) :-!. ballThrowPosition(goalKeeper2, bottom, -5.0, 10.0). %doAction(Action,GoalKeeper,Ball,X,Y,Z,Xball,Yball,Zball,Dist). doAction(do_nothing, _GoalKeeper,_,_,_,_,_,_,_,_) :- !. doAction(hold_then_throw, GoalKeeper,Ball,X,Y,Z,X1,Y1,Z1,_):- %% format('~w : action = hold_then_throw.~n', [GoalKeeper]), Y2 is Y-0.3, Z2 is Z+0.2, wsball <- setPositionEx(Ball,X,Y2,Z2), %% set_queue ??? ballThrowPosition(GoalKeeper,_,X3,Z3), look_at_position(GoalKeeper,X3,Z3), sleep(500), getRotation(GoalKeeper,_,_,_,R), R1 is R -1.5708, % getSFTime(myTimeSensor,time,Time), % setSFTime(GoalKeeper,set_gesture5,Time), Data = [GoalKeeper, Ball, X1,Y1,Z1,R1, kickBallForce,kickBallForceY], set_queue(Ball, [kick_ball, Data]), %% Ball will broadcast data sleep(200), !. doAction(hold_then_throw, _GoalKeeper,Ball,_X,_Y,_Z,_X1,_Y1,_Z1,_):- get_field(ball, position, position(XB,YB,ZB)), Data = [Ball, position(XB,YB,ZB)], Message = [tell, ball_position, Data], gg_echo <- broadcast(anyhost, all_clients, Message), format('~nHOLD_THEN_THROW FAILS : ~w~n', [this]). doAction(run_then_kick, GoalKeeper,Ball,_X,Y,_Z,X1,Y1,Z1,_):- %% format('~w action: run_then_kick.~n', [GoalKeeper]), set_field(GoalKeeper, position, position(X1,Y,Z1)), local_host(Host, _), KeeperData = [user(Host,GoalKeeper), position(X1,Y,Z1)], KeeperMessage = [tell, position, KeeperData], gg_echo <- broadcast(Host,to_all_clients, KeeperMessage), ballThrowPosition(GoalKeeper,_,X3,Z3), look_at_position(GoalKeeper,X3,Z3), get_field(GoalKeeper, rotation, rotation(_,_,_,R)), R1 is R -1.5708, % getSFTime(myTimeSensor, time, Time), % setSFTime(GoalKeeper, set_gesture3, Time), KickData = [GoalKeeper, Ball, X1,Y1,Z1,R1, kickBallForce,kickBallForceY], set_queue(Ball, [kick_ball, KickData]), sleep(200), !. doAction(run_then_kick, _GoalKeeper,Ball,_X,_Y,_Z,_X1,_Y1,_Z1,_):- get_field(ball, position, position(XB,YB,ZB)), Data = [Ball, position(XB,YB,ZB)], Message = [tell, ball_position, Data], gg_echo <- broadcast(anyhost, all_clients, Message), format('~nRUN THEN KICK FAILS : ~w~n', [this]). doAction(record_score_then_throw, GoalKeeper,Ball,X,Y,Z,X1,Y1,Z1,_):- !, format('~none more score!!!~n'), opp_team(GoalKeeper,OppTeam), wsgame_score <- getTeamScore(OppTeam,Score), nonvar(Score), NewScore is Score + 1, wsgame_score <- setTeamScore(OppTeam,NewScore), wsgame_score <- showGameScore, setSFVec3f(GoalKeeper, position, X1,Y,Z1), local_host(Host, _), Data = [user(Host,GoalKeeper), position(X1,Y,Z1)], Message = [tell, position, Data], gg_echo <- broadcast(Host, GoalKeeper, Message), % goalkeeper walks to the ball % getSFTime(myTimeSensor,time,Time), % setSFTime(GoalKeeper,set_gesture2,Time), sleep(1000), setSFVec3f(GoalKeeper,position,X,Y,Z), Data2 = [user(Host,GoalKeeper), position(X,Y,Z)], Message2 = [tell, position, Data2], gg_echo <- broadcast(Host,GoalKeeper, Message2), % goalKeeper back to the standard position doAction(hold_then_throw, GoalKeeper,Ball,X,Y,Z,X1,Y1,Z1,_). doAction(ready_for_goal, _GoalKeeper, _,_,_,_,_,_,_,_) :- !. doAction(Action,_,_,_,_,_,_,_,_,_) :- format('~n~w : UNKNOWN ACTION = ~w~n', [this, Action]). kick_ball_to_position(Ball,X,Y,Z,X1,Y1,Z1,Dist):- move_to_position(Ball,translation, ballstep, ballSleepTime, X,Y,Z,X1,Y1,Z1,Dist), !, Data = [Ball, X,Y,Z, X1,Y1,Z1, Dist], Message = [tell, move_ball, Data], local_host(Host, _), gg_echo <- broadcast(Host,Ball,Message). %% set_queue ??? kick_ball_to_position(Ball,_X,_Y,_Z,_X1,_Y1,_Z1,_Dist) :- format('~n~w MOVE FAILS ~n', [Ball]). run_to_position(Player,X,Y,Z,X1,Y1,Z1,Dist):- look_at_position(Player,X1,Z1), local_host(Host, _), Data = [user(Host,Player), X,Y,Z, X1,Y1,Z1, Dist], Message = [tell, move_player, Data], gg_echo <- broadcast(Host, Player, Message), move_to_position(Player,set_position,runstep,runSleepTime,X,Y,Z,X1,Y1,Z1,Dist). opp_team(goalKeeper1,red) :- !. opp_team(goalKeeper2,blue). setRotationEx(GoalKeeper,X,Y,Z,R):- get_field(GoalKeeper, old_rot, OldRot), OldRot \= rotation(X,Y,Z,R), !, set_field(GoalKeeper, old_rot, rotation(X,Y,Z,R)), setRotation(GoalKeeper,X,Y,Z,R), local_host(Host, _), Data = [user(Host,GoalKeeper), rotation(X,Y,Z,R)], Message = [tell, rotation, Data], local_host(Host, _), gg_echo <- broadcast(Host, GoalKeeper, Message). setRotationEx(_GoalKeeper,_X,_Y,_Z,_R):- %% format('no rotation broadcast for ~w~n', [GoalKeeper]), true. :- end_object wsgoalKeeper. :-object soccerPlayerServerAgent: [common_process_wsserver]. var time_limit = 5000 . var runstep = 2.0 . var runSleepTime=1000. var ballstep = 1.5. var ballSleepTime=250. var kickableDistance = 1.5. var runableDistance =30.0. %%40.0 var kickableGoalDistance = 30.0. %var watchDistance =40.0. var passableDistanceMax = 40.0. var passableDistanceMin = 3.0. var kickBallForce = 10.0. var kickBallForceY =6.0. var steps. var balldistance. var xold. var zold. defaultPositionRotation(blue9, position(35.0, 1.8, 4.0), rotation(0.0, 1.0, 0.0, -1.5708)) :- !. defaultPositionRotation(blue8, position(5.5, 1.8, 4.0), rotation(0.0, 1.0, 0.0, -1.5708)) :- !. defaultPositionRotation(blue7, position(15.0, 1.8, 4.0), rotation(0.0, 1.0, 0.0, -1.5708)) :- !. defaultPositionRotation(red2, position(5.0, 1.8, -4.0), rotation(0.0, 1.0, 0.0, 1.5708)) :- !. defaultPositionRotation(red3, position(25.0, 1.8, 4.0), rotation(0.0, 1.0, 0.0, -1.5708)) :- !. defaultPositionRotation(red10, position(-10.0, 1.8, 4.0), rotation(0.0, 1.0, 0.0, -1.5708)) :- !. defaultPositionRotation(red4, position(40.0, 1.8, 9.5), rotation(0.0, 1.0, 0.0, -1.5708)) :- !. defaultPositionRotation(red5, position(15.0, 1.8,-20.0), rotation(0.0, 1.0, 0.0, -1.5708)) :- !. defaultPositionRotation(red7, position(15.0, 1.8, 23.0), rotation(0.0, 1.0, 0.0, -1.5708)) :- !. defaultPositionRotation(red8, position(-40.0, 1.8, 10.0), rotation(0.0, 1.0, 0.0, -1.5708)) :- !. defaultPositionRotation(red9, position(-35.0, 1.8,-10.0), rotation(0.0, 1.0, 0.0, -1.5708)) :- !. defaultPositionRotation(red11, position(-45.0, 1.8,-10.0), rotation(0.0, 1.0, 0.0, -1.5708)) :- !. defaultPositionRotation(blue6, position(15.0, 1.8, 14.0), rotation(0.0, 1.0, 0.0, -1.5708)) :- !. defaultPositionRotation(blue5, position(-15.0, 1.8,-24.0), rotation(0.0, 1.0, 0.0, -1.5708)) :- !. defaultPositionRotation(blue4, position(-25.0, 1.8,-14.0), rotation(0.0, 1.0, 0.0, -1.5708)) :- !. defaultPositionRotation(blue3, position(45.0, 1.8, 14.0), rotation(0.0, 1.0, 0.0, -1.5708)) :- !. defaultPositionRotation(blue2, position(35.0, 1.8,-16.0), rotation(0.0, 1.0, 0.0, -1.5708)) :- !. defaultPositionRotation(blue10, position(-45.0, 1.8, -9.0), rotation(0.0, 1.0, 0.0, -1.5708)). soccerPlayerServerAgent(Name, TimeLimit) :- time_limit := TimeLimit, set_init_value(Name), format('~w thread active.~n', [Name]), activity(Name). set_init_value(Player):- defaultPositionRotation(Player,Position,Rotation), set_field(Player,position,Position), set_field(Player,rotation,Rotation). activity(Name) :- repeat, sleep(5000), get_clock(TimeLimit), format('~w : playing time = ~w seconds.~n', [Name, TimeLimit]), %% format('~w : look_at_ball~n', [Name]), %% look_at_ball(Name,ball), %% format('~w : getPositionInformation~n', [Name]), getPositionInformation(Name,ball,X,Y,Z,Xball,Yball,Zball,Dist,Xgoal,Zgoal,Dist1), %% format('~w : findHowtoReact~n', [Name]), findHowtoReact(Name,ball,X,Y,Z,Xball,Yball,Zball,Dist,Xgoal,Zgoal,Dist1,Action), nonvar(Action), format('~w : action = ~w ~n', [Name, Action]), doAction(Action, Name,ball,X,Y,Z,Xball,Yball,Zball,Dist,Xgoal,Zgoal,Dist1), TimeLimit > time_limit, quitGame(Name), !. %findHowtoReact(+Player,+Ball,+X,+Y,+Z,+Xball,+Yball,+Zball,+Distball,+Xgoal,+Zgoal,+Distgoal,-Action). findHowtoReact(_, _Ball,_,_,_,_,_,_,Dist,_,_,Dist1, shooting):- Dist =< kickableDistance, Dist1 =< kickableGoalDistance, !. findHowtoReact(_,_Ball,_,_,_,_,_,_,Dist,_,_,Dist1, passing):- Dist =< kickableDistance, Dist1 > kickableGoalDistance, !. findHowtoReact(Player,_Ball,_,_,_,X1,_,_,Dist,_,_,_,run_to_ball):- Dist > kickableDistance, getFieldAreaInformation(Player,_,_,FieldMin,FieldMax), FieldMin =< X1, FieldMax >= X1, !. findHowtoReact(Player,_,_,_,_,X1,_,_,Dist,_,_,_,move_around):- Dist > kickableDistance, getFieldAreaInformation(Player,_,_,FieldMin,_), X1 < FieldMin, !. findHowtoReact(Player,_,_,_,_,X1,_,_,Dist,_,_,_,move_around):- Dist > kickableDistance, getFieldAreaInformation(Player,_,_,_,FieldMax), X1 > FieldMax, !. findHowtoReact(_,_,_,_,_,_,_,_,_,_,_,_,_). %getFiledAreaInformation(+Player,-Team,-Role,-FieldMin,-FieldMax). getFieldAreaInformation(Player,Team,Role,FieldMin,FieldMax):- playerRole(Player,Role), team(Team,Player), fieldArea(Team,Role,FieldMin,FieldMax). doAction(shooting, _Player, Ball,_,_,_,X1,Y1,Z1,_,Xgoal,Zgoal,Dist1):- !, % getSFTime(myTimeSensor,time,Time), % setSFTime(Player,set_gesture3,Time), kick_ball_to_position(Ball,X1,Y1,Z1,Xgoal,0.0,Zgoal,Dist1), true. doAction(passing,Player,Ball,X,Y,Z,X1,Y1,Z1,_,_,_,_):- !, findCoTeammate(Player,X,Y,Z,Teammate,X2,_,Z2,_), doPassing(Player,Ball,X,Y,Z,X1,Y1,Z1,Teammate,X2,_,Z2), true. doAction(run_to_ball,Player,Ball,X,Y,Z,_X1,_Y1,_Z1,_Dist,_,_,_):- !, %% run_and_trace(Player,Ball,X,Y,Z,kickableDistance,runableDistance,runstep,runSleepTime). doAction(move_around,Player,_,X,Y,Z,_,_,_,_,_,_,_):- !, % getFieldAreaInformation(Player,_,_,FieldMin,FieldMax), % FieldMid is (FieldMin+FieldMax)/2, % distance2d(X,Z,FieldMid,Z,Dist), % run_to_position(Player,X,Y,Z,FieldMid,Y,Z,Dist). defaultPositionRotation(Player,position(X1,Y1,Z1),_), distance2d(X,Z,X1,Z1,Dist), run_to_position(Player,X,Y,Z,X1,Y1,Z1,Dist). doAction(do_nothing,_,_,_,_,_,_,_,_,_,_,_,_) :- !. doAction(Action,_,_,_,_,_,_,_,_,_,_,_,_) :- format('~n~w : unknown action = ~w~n', [this, Action]). %doPassing(_Player,_Ball, _X,_Y,_Z,_X1,_Y1,_Z1,_Teammate,_X2,_Y2,_Z2). doPassing(Player,Ball,X,_,_,X1,Y1,Z1,Teammate,X2,_,Z2):- nonvar(Teammate), %% format('player ~w is passing the ball to the teammate ~w.~n', [Player,Teammate]), kickBalltoDirection(Player,Ball,X,_,_,X1,Y1,Z1,X2,_,Z2), !. doPassing(Player,Ball,X,_,_,X1,Y1,Z1,Teammate,_,_,_):- var(Teammate), team(Team,Player), goalPosition(Team,X2,Z2), %% format('player ~w is kicking the ball.~n', [Player]), kickBalltoDirection(Player,Ball,X,_,_,X1,Y1,Z1,X2,_,Z2), !. %kickBalltoDirection(_Player, _Ball,_X,_Y,_Z,_X1,_Y1,_Z1,_X2,_Y2,_Z2). kickBalltoDirection(Player,Ball,X,_,_,X1,Y1,Z1,X2,_,Z2):- look_at_position(Player,X2,Z2), getRotation(Player,_,_,_,R), getCorrectKickRotation(X,X1,R,R1), KickBallForceY is kickBallForceY + random*10.0, % getSFTime(myTimeSensor,time,Time), % setSFTime(Player,set_gesture3,Time), !, Data = [Player, Ball, X1,Y1,Z1,R1, kickBallForce, KickBallForceY], set_queue(Ball, [kick_ball, Data]), sleep(200), true. getCorrectKickRotation(X,X1,R,R1):- X =< X1, !, R1 is R - 1.5708. getCorrectKickRotation(X,X1,R,R1):- X > X1, R1 is 1.5708 - R. getPositionInformation(Player,Ball,X,Y,Z,X1,Y1,Z1,Dist,Xgoal,Zgoal,Dist1) :- get_field(Ball, position, position(X1,Y1,Z1)), get_field(Player, position, position(X,Y,Z)), distance2d(X,Z,X1,Z1,Dist), distanceGoal(Player,X,Y,Z,Xgoal,Zgoal,Dist1). kick_ball_to_position(Ball,X,Y,Z,X1,Y1,Z1,Dist):- Data = [Ball, X,Y,Z, X1,Y1,Z1, Dist], Message = [tell, move_ball, Data], local_host(Host, _), gg_echo <- broadcast(Host,Ball,Message), %% ??? set_queue move_to_position(Ball,translation, ballstep, ballSleepTime, X,Y,Z,X1,Y1,Z1,Dist). run_to_position(_,X,_,Z,X,_,Z,_):- !. run_to_position(Player,X,Y,Z,X1,Y1,Z1,Dist):- look_at_position(Player,X1,Z1), !, move_to_position(Player,set_position,runstep,runSleepTime,X,Y,Z,X1,Y1,Z1,Dist), local_host(Host, _), Data = [user(Host,Player), X,Y,Z, X1,Y1,Z1, Dist], Message = [tell, move_player, Data], gg_echo <- broadcast(Host, to_all_clients, Message). run_to_position(Player,_X,_Y,_Z,_X1,_Y1,_Z1,_Dist):- format('~w RUN TO POSITION FAILS~n',[Player]). %run_and_trace(+Player,+Ball,+X,+Y,+Z,+kickableDistance,+RunableDist,+runstep,+runSleepTime). run_and_trace(Player,Ball,X,Y,Z,KickableDistance,Dist,Runstep,RunSleepTime):- Data = [user(ServerHost,Player), Ball,X,Y,Z,KickableDistance,Dist,Runstep,RunSleepTime], Message = [tell, run_and_trace, Data], gg_echo <- broadcast(ServerHost, to_all_clients, Message), xold := X, zold := Z, repeat, %% format('RUN_AND_TRACE 1 : ~w~n', [position(xold,zold)]), sleep(RunSleepTime), getPosition(Ball,X1,_,Z1), look_at_position(Player,X1,Z1), getRotation(Player,_,_,_,R), R1 is R + 1.5708, Xnew is xold-Runstep * cos(R1), Znew is zold+Runstep * sin(R1), setSFVec3f(Player,set_position, Xnew, Y, Znew), %% local_host(Host, _), %% Data = [user(Host,Player), position(Xnew,Y,Znew)], %% Message = [tell, position, Data], %% gg_echo <- broadcast(Host, to_all_clients, Message), %% format('RUN_AND_TRACE 2 : ~w~n', [position(xold,zold)]), xold := Xnew, zold := Znew, distance2d(Xnew,Znew,X1,Z1,Distball), balldistance := Distball, end_of_run_and_trace(balldistance, KickableDistance, Dist), !. run_and_trace(Player,_Ball,_X,_Y,_Z,_KickableDist,_Dist,_Runstep,_RunSleepTime) :- format('~nRUN_AND_TRACE FAILS : ~w~n', [Player]). end_of_run_and_trace(BallDist, KickDist, _Dist) :- BallDist =< KickDist, !. end_of_run_and_trace(BallDist, _KickDist, Dist) :- BallDist > Dist. team(red, goalKeeper2). team(red, red2). team(red, red3). team(blue, goalKeeper1). %team(blue, blue9). team(blue, blue8). team(blue, blue7). %team(red, red10). %team(blue,blue11). %team(red, red11). playerRole(red2, midfielder). playerRole(red3, forward). playerRole(blue7,midfielder). playerRole(blue8,forward). %playerRole(blue9,defender). %playerRole(red10,midfielder). %playerRole(red11,defender). %playerRole(blue11,forward). goalPosition(red, 49.0, -3.0). goalPosition(blue, -49.0, -3.0). fieldArea(red, midfielder, -25.0, 20.0). fieldArea(blue, midfielder, -20.0, 25.0). fieldArea(red, defender, -50.0, -25.0). fieldArea(blue, defender, 25.0, 50.0). fieldArea(blue, forward, -50.0, 20.0). fieldArea(red, forward, 20.0, 50.0). stadiumExit(0.0, 0.0, -50.0). quitGame(Player):- format('~n~w is gone.~n',[Player]), getSFVec3f(Player, position, X,Y,Z), stadiumExit(X1, Y1,Z1), distance2d(X,Z,X1,Z1,Dist), run_to_position(Player,X,Y,Z,X1,Y1,Z1,Dist), %% setSFInt32(Player,whichChoice, -1), gg_echo <- broadcast(any_host, any_client, [tell,quit,[Player]]). teammate(Player1,Player2,Team) :- team(Team,Player1), team(Team,Player2), Player1 \== Player2. %teammateRole(Player+,Team+,Role+,Mate-). teammateRole(Player,Team,Role,Mate) :- team(Team,Mate), Player \== Mate, playerRole(Mate,Role). distanceGoal(Player,X,_,Z,X1,Z1,Dist) :- team(Team,Player), goalPosition(Team,X1,Z2), Z1 := Z2 + random* 7.0, % set goal shooting point as a random point around the gate distance2d(X,Z,X1,Z1,Dist). %findCoTeammate(Player+,X+,Y+,Z+,Teammate-,X1-,Y1-,Z1-,Dist-). findCoTeammate(Player,X,Y,Z,Teammate,X1,Y1,Z1,Dist):- playerRole(Player,Role), roleOrder(Role,TeammateRole,attack), %% format('Teammate role is ~w~n',[TeammateRole]), findRoleTeammate(Player,X,Y,Z,TeammateRole,Teammate,X1,Y1,Z1,Dist), nonvar(Dist), Dist =< passableDistanceMax, Dist > passableDistanceMin, !. findCoTeammate(_,_,_,_,_,_,_,_,_). %roleOrder(Role1, Role2, strategy). roleOrder(midfielder,forward,attack). roleOrder(defender,midfielder,attack). roleOrder(forward,forward,attack). roleOrder(midfielder,midfielder,attack). roleOrder(defender,defender,attack). %findRoleTeammate(Player+,X+,Y+,Z+,Role+,Mate-,X1-,Y1-,Z1-,Dist-). findRoleTeammate(Player,X,_,Z,Role,Mate,X1,Y1,Z1,Dist):- team(Team,Player), teammateRole(Player,Team,Role,Mate), %% format('Mate is ~w~n',[Mate]), getSFVec3f(Mate,position,X1,Y1,Z1), distance2d(X,Z,X1,Z1,Dist), !. findRoleTeammate(_,_,_,_,_,_,_,_,_,_). :- end_object soccerPlayerServerAgent. :-object common_process_wsserver: [getsets]. var steps. distance2d(X,Z,X1,Z1,Dist):- Xdif is X1-X, Zdif is Z1-Z, Dist is sqrt(Xdif*Xdif + Zdif*Zdif). distance3d(X,Y,Z,X1,Y1,Z1,Dist):- Xdif is X1-X, Ydif is Y1-Y, Zdif is Z1-Z, Dist is sqrt(Xdif*Xdif + Ydif*Ydif + Zdif*Zdif). distance2dObject(Object1,Field1,Object2,Field2,Dist):- getSFVec3f(Object1, Field1, X1, _, Z1), getSFVec3f(Object2, Field2, X2, _, Z2), distance2d(X1,Z1,X2,Z2,Dist). distance3dObject(Object1,Field1,Object2,Field2,Dist):- getSFVec3f(Object1, Field1, X1, Y1, Z1), getSFVec3f(Object2, Field2, X2, Y2, Z2), distance3d(X1,Y1,Z1,X2,Y2,Z2,Dist). distanceBall(Player,Ball, Dist) :- distance2dObject(Player,position,Ball,position,Dist). distancePlayer(Player1,Player2, Dist) :- distance2dObject(Player1,position,Player2,position,Dist). look_at_ball(Player, Ball) :- get_field(Player, position, position(X,_,Z)), get_field(Ball, position, position(X1,_,Z1)), X \= X1, !, Xdif is X-X1, Zdif is Z1-Z, R is atan(Zdif/Xdif) - sign(Xdif) * 1.5708 , set_field(Player, rotation, rotation(0.0, 1.0, 0.0, R)). look_at_ball(_,_). look_at_position(Player,X1,Z1) :- get_field(Player, position, position(X,_,Z)), X = X1, Z = Z1, !. look_at_position(Player,X1,Z1) :- get_field(Player, position, position(X,_,Z)), X \= X1, %% CCC : added !, Xdif is X-X1, Zdif is Z1-Z, R is atan(Zdif/Xdif) - sign(Xdif)*1.5708, setRotationEx(Player, 0.0, 1.0, 0.0, R). %%% set_field(Player, rotation, rotation(0.0, 1.0, 0.0, R)). look_at_position(_Player,_X1,_Z1). %% CCC : added (see above) setRotationEx(Player,X,Y,Z,R):- set_field(Player, rotation, rotation(X,Y,Z,R)), get_field(Player, old_rot, OldRot), OldRot \= rotation(X,Y,Z,R), !, set_field(Player, old_rot, rotation(X,Y,Z,R)), local_host(Host, _), Data = [user(Host,Player), rotation(X,Y,Z,R)], Message = [tell, rotation, Data], gg_echo <- broadcast(Host, Player, Message), true. setRotationEx(_Player,_X,_Y,_Z,_R) :- %% format('NO ROTATION BROADCAST FOR ~w~n', [Player]), true. %move_to_position(+Object,+Field,+Steplength,+Sleeptime,+X,+Y,+Z,+X1,+Y1,+Z1,+Dist). move_to_position(_,_,_,_,X,_,Z,X,_,Z,_) :- !. move_to_position(Object,Field, StepUnit, SleepTime, X,Y,Z,X1,_,Z1,Dist) :- Xstep is sign(X-X1)*StepUnit*abs(X-X1)/Dist, Zstep is sign(Z-Z1)*StepUnit*abs(Z-Z1)/Dist, steps := Dist // StepUnit, repeat, sleep(SleepTime), Steps is Dist // StepUnit - steps + 1, Xnew is X - Xstep*Steps, Znew is Z - Zstep*Steps, setSFVec3f(Object,Field,Xnew,Y,Znew), -- steps, steps < 1, !. %% move_to_position(_,_,_,_,_,_,_,_,_,_,_). get_clock(Time) :- get_field(wsserver, clock, Time). set_clock(Time) :- set_field(wsserver, clock, Time). :-end_object common_process_wsserver. :-object getsets. getPosition(Name, X,Y,Z):- get_field(Name, position, position(X,Y,Z)). setPosition(Name, X,Y,Z):- set_field(Name, position, position(X,Y,Z)). getRotation(Name, X,Y,Z,R):- get_field(Name, rotation, rotation(X,Y,Z,R)). setRotation(Name, X,Y,Z,R):- set_field(Name, rotation, rotation(X,Y,Z,R)). getSFVec3f(Name, position, X,Y,Z):- !, get_field(Name, position, position(X,Y,Z)). getSFVec3f(Name,set_position,X,Y,Z):- !, get_field(Name, position, position(X,Y,Z)). getSFVec3f(Name, translation, X,Y,Z):- get_field(Name, position, position(X,Y,Z)). setSFVec3f(Name, position, X,Y,Z) :- !, %% format('NEW ~w POSITION = ~w~n', [Name, position(X,Y,Z)]), set_field(Name, position, position(X,Y,Z)). setSFVec3f(Name, set_position, X,Y,Z) :- !, %% format('NEW ~w SET_POSITION = ~w~n', [Name, position(X,Y,Z)]), set_field(Name, position, position(X,Y,Z)). setSFVec3f(Name, translation, X,Y,Z) :- %% format('NEW ~w TRANSLATION = ~w~n', [Name, position(X,Y,Z)]), set_field(Name, position, position(X,Y,Z)). :-end_object getsets. :-object wsgame_score. var score1 = 0. var score2 = 0. var team1 = unknown. var team2 = unknown. setGameScore(Team1, Team2, Score1, Score2) :- team1 := Team1, team2 := Team2, score1 := Score1, score2 := Score2. getGameScore(Team1, Team2, Score1, Score2) :- Team1 = team1, Team2 = team2, Score1 = score1, Score2 = score2. getGameScoreStruct(Score) :- Score = score(team1:team2 / score1:score2). getTeamScore(team1, Score) :- !, Score = score1. getTeamScore(team2, Score) :- Score = score2. setTeamScore(team1, Score) :- !, score1 := Score. setTeamScore(team2, Score) :- score2 := Score. showGameScore :- getGameScoreStruct(Score), format('~ngame score: ~w~n', [Score]), Message = [tell, game_score, Score], local_host(Host, _), format('game score: ~w~n', [Host]), gg_echo <- broadcast(Host,server,Message). :-end_object wsgame_score. :-object wsclock_pulse: [common_process_wsserver]. wsclock_pulse:- repeat, sleep(1000), get_clock(Time), Left is Time - 1, set_clock(Left), Left < 1, !. :-end_object wsclock_pulse. /** **/