Merge pull request #122 from rcsoccersim/develop

Official Release 18.1.1

Author: hidehisaakiyama

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5.1)
 
-project(RCSSServer VERSION 18.1.0)
+project(RCSSServer VERSION 18.1.1)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

ChangeLog

@@ -1,3 +1,11 @@
+2023-03-15  Hidehisa Akiyama  <hidehisaakiyama@users.noreply.github.com>
+
+	* CMakeLists.txt:
+	* NEWS:
+	* configure.ac:
+	- update a point version number. Official release 18.1.1.
+	- Fix a problem in which the focus point is sometimes not updated.
+
 2023-03-14  Hidehisa Akiyama  <hidehisaakiyama@users.noreply.github.com>
 
 	* CMakeLists.txt:

NEWS

@@ -1,3 +1,6 @@
+[18.1.1]
+  * Fix a problem in which the focus point is sometimes not updated.
+
 [18.1.0]
   * Revert the message frequency and the noise model of the visual
     information. Now, these settings are same as 17.0.1.

configure.ac

@@ -3,7 +3,7 @@
 
 AC_PREREQ([2.69])
 LT_PREREQ([2.2])
-AC_INIT([RCSSServer],[18.1.0],[https://github.com/rcsoccersim/],[rcssserver])
+AC_INIT([RCSSServer],[18.1.1],[https://github.com/rcsoccersim/],[rcssserver])
 
 #AM_INIT_AUTOMAKE([gnu 1.7.2 check-news dist-bzip2 dist-zip])
 AM_INIT_AUTOMAKE([gnu 1.7.2 check-news foreign])

src/player.cpp

@@ -203,7 +203,6 @@ Player::Player( Stadium & stadium,
       //
       M_focus_dist( 0.0 ),
       M_focus_dir( 0.0 ),
-      M_focus_point( 0.0, 0.0 ),
       //
       M_ball_collide( false ),
       M_player_collide( false ),
@@ -251,7 +250,6 @@ Player::Player( Stadium & stadium,
 
     setPlayerType( 0 );
     recoverAll();
-    updateFocusPoint();
 }
 
 Player::~Player()
@@ -1191,7 +1189,6 @@ Player::change_focus( double moment_dist, double moment_dir )
     M_focus_dir = rcss::bound( -M_visible_angle * 0.5,
                                normalize_angle( M_focus_dir + Deg2Rad( moment_dir ) ),
                                +M_visible_angle * 0.5 );
-    updateFocusPoint();
 
     ++M_change_focus_count;
 }
@@ -1815,7 +1812,6 @@ Player::change_view( rcss::pcom::VIEW_WIDTH viewWidth )
     M_focus_dir = rcss::bound( -M_visible_angle * 0.5,
                                M_focus_dir,
                                +M_visible_angle * 0.5 );
-    updateFocusPoint();
 
     ++M_change_view_count;
 }
@@ -2412,7 +2408,6 @@ Player::turnImpl()
 {
     M_angle_body_committed = this->M_angle_body;
     M_angle_neck_committed = this->M_angle_neck;
-    updateFocusPoint();
     M_vel.assign( 0.0, 0.0 );
     M_accel.assign( 0.0, 0.0 );
 }
@@ -2422,14 +2417,6 @@ Player::updateAngle()
 {
     M_angle_body_committed = this->M_angle_body;
     M_angle_neck_committed = this->M_angle_neck;
-    updateFocusPoint();
-}
-
-void
-Player::updateFocusPoint()
-{
-    const double focus_angle = normalize_angle( angleBodyCommitted() + angleNeckCommitted() + focusDir() );
-    M_focus_point = pos() + PVector::fromPolar( focusDist(), focus_angle );
 }
 
 void
@@ -2490,6 +2477,12 @@ Player::canHearFullFrom( const Player & sender ) const
     }
 }
 
+PVector
+Player::focusPoint() const
+{
+    return pos() + PVector::fromPolar( focusDist(),
+                                       normalize_angle( angleBodyCommitted() + angleNeckCommitted() + focusDir() ) );
+}
 
 void
 Player::recoverAll()

src/player.h

@@ -147,7 +147,6 @@ class Player
     double M_angle_neck_committed;
     double M_focus_dist; //!< distance to the focus point from the center of the player
     double M_focus_dir; //!< direction to the focus point relative to the neck angle
-    PVector M_focus_point; //!< the global focus position on the pitch
 
     //
     // collision state
@@ -353,7 +352,7 @@ class Player
     const double & angleNeckCommitted() const { return M_angle_neck_committed; }
     double focusDist() const { return M_focus_dist; }
     double focusDir() const { return M_focus_dir; }
-    const PVector & focusPoint() const { return M_focus_point; }
+    PVector focusPoint() const;
 
     //
     // update stamina
@@ -468,8 +467,6 @@ class Player
 
 private:
 
-    void updateFocusPoint();
-
     bool parseCommand( const char * command );
     int parseEar( const char * command );
 

src/visualsenderplayer.cpp

@@ -106,6 +106,8 @@ VisualSenderPlayerV1::sendVisual()
         return;
     }
 
+    updateCache();
+
     serializer().serializeVisualBegin( transport(), stadium().time() );
     sendFlags();
     sendBalls();
@@ -1035,7 +1037,8 @@ VisualSenderPlayerV13::~VisualSenderPlayerV13()
 */
 
 VisualSenderPlayerV18::VisualSenderPlayerV18( const Params & params )
-    : VisualSenderPlayerV13( params )
+    : VisualSenderPlayerV13( params ),
+      M_focus_point( 0.0, 0.0 )
 {
 
 }
@@ -1045,6 +1048,14 @@ VisualSenderPlayerV18::~VisualSenderPlayerV18()
 
 }
 
+
+void
+VisualSenderPlayerV18::updateCache()
+{
+    M_focus_point = self().focusPoint();
+}
+
+
 void
 VisualSenderPlayerV18::sendLowFlag( const PObject & flag )
 {
@@ -1314,13 +1325,12 @@ VisualSenderPlayerV18::calcQuantDistFocusPoint( const PObject & obj,
                                                 const double unquant_dist,
                                                 const double qstep )
 {
-    const double dist_focus_point = obj.pos().distance( self().focusPoint() );
+    const double dist_focus_point = obj.pos().distance( M_focus_point );
     const double quant_dist_focus_point = calcQuantDist( dist_focus_point, qstep );
 
     return std::max( 0.0, unquant_dist - ( dist_focus_point - quant_dist_focus_point ) );
 }
 
-
 /*!
 //===================================================================
 //

src/visualsenderplayer.h

@@ -131,6 +131,10 @@ class VisualSenderPlayer
           M_sendcnt = 0;
       }
 
+    virtual
+    void updateCache()
+      { }
+
 };
 
 
@@ -644,6 +648,9 @@ class VisualSenderPlayerV13
 
 class VisualSenderPlayerV18
     : public VisualSenderPlayerV13 {
+private:
+    PVector M_focus_point;
+
 public:
     VisualSenderPlayerV18( const Params & params );
 
@@ -652,6 +659,9 @@ class VisualSenderPlayerV18
 
 protected:
 
+    virtual
+    void updateCache() override;
+
     virtual
     void sendLowFlag( const PObject & flag ) override;
     virtual
@@ -671,7 +681,6 @@ class VisualSenderPlayerV18
     double calcQuantDistFocusPoint( const PObject & obj,
                                     const double unquant_dist,
                                     const double q_step );
-
 };
 
 }