%%%===================================================%%% %%% WASP SOCCER GAME CLIENT 1.1, Dec 5, 2003 %%% %%% %%% %%% Vrije University Amsterdam %%% %%% %%% %%% (C) Zhisheng Huang %%% %%%===================================================%%% :-object wsclient: [gg_client, bcilib]. var url='./soccer6.wrl'. var client_name = unknown. var client_host = unknown. var client_addr = unknown. var server_host = unknown. var remote_data = 0. var time_limit = 5000. var server_port = 4321, timeout = 10. main :- text_area(BrowserTextArea), set_output(BrowserTextArea), wsclient. wsclient:- format('Load the game ...~n'), loadURL(url), format('the game will start in 5 seconds,~n'), format('the total playing time is ~w seconds,~n', [time_limit]), sleep(5000), format('joining the game ...~n'), set_field(wsclient, clock, time_limit), new(wsclock_pulse_client,_), new(ball_client(ball, time_limit), _), new(soccerPlayerClientAgent(goalKeeper1, time_limit), _), new(soccerPlayerClientAgent(goalKeeper2, time_limit), _), new(soccerPlayerClientAgent(blue8, time_limit), _), new(soccerPlayerClientAgent(blue7, time_limit), _), new(soccerPlayerClientAgent(red2, time_limit), _), % new(soccerPlayerClientAgent(red3, time_limit), _), % new(soccerPlayerClientAgent(blue9, time_limit), _), % new(soccerPlayerClientAgent(blue11, time_limit), _), % new(soccerPlayerClientAgent(red11, time_limit), _), % local_host(ClientHost, ClientAddress), ClientHost = 'a computer', % client_addr := ClientAddress, client_addr := 'a computer', code_base_host(ServerHost), server_host := ServerHost, wsclient(ClientHost, ServerHost, server_port), true. wsclient(ClientHost, ServerHost, ServerPort) :- client_host := ClientHost, gg_client_loop(ClientHost, ServerHost, ServerPort). client_request(Request) :- client_name = unknown, Request = [register, soccer, From], From = from(client_host, client_addr). client_request(Request) :- set_field(client_name, position(0.0, 0.0, 0.0)), set_field(client_name, rotation(0.0, 0.0, 0.0, 0.0)), local_processing(Request). client_request(Request) :- Request = [unregister, soccer, [User]], client_ident(User). client_chat(Recipient, Text) :- get_field(wsclient, name, ClientName), TellMessage = [tell, text, [user(client_host, ClientName),[Recipient], Text]], %% format('tell message: ~w~n',[TellMessage]), set_queue(ClientName, TellMessage). server_reply(ReplyTerm) :- ReplyTerm = [tell, position, Data], Data = [user(_Host,Name), position(X,Y,Z)], client_name \= Name, !, %% format('~nsetSFVec3f NAME = ~w (~k, ~k, ~k)~n', [Name,X,Y,Z]), setSFVec3f(Name, set_position, X,Y,Z). server_reply(ReplyTerm) :- ReplyTerm = [tell, text, Message], Message = [user(_Host, Name), _RecipientList, Text], % client_name \= Name, !, show_chat_text(Name, Text), true. server_reply(ReplyTerm) :- ReplyTerm = [tell, rotation, Data], Data = [user(_Host,Name), rotation(X,Y,Z,R)], client_name \= Name, !, setRotation(Name, X,Y,Z,R). server_reply(ReplyTerm) :- ReplyTerm = [tell, position_and_rotation, Data], Data = [user(_Host,Name), position(X,Y,Z), rotation(XR,YR,ZR,RR)], client_name \= Name, !, %% format('~nsetSFVec3f NAME = ~w (~k, ~k, ~k)~n', [Name,X,Y,Z]), setSFVec3f(Name, set_position, X,Y,Z), setRotation(Name, XR,YR,ZR,RR). server_reply(ReplyTerm) :- ReplyTerm = [reply, update, [Count, Message]], !, remote_data := Count, %% format('~w : broadcast message, ~w~n', [this, Message]), print_server_queue_size(client_name, Count), server_reply(Message). server_reply(ReplyTerm) :- ReplyTerm = [tell, move_player, Data], Data = [user(_Host,Player), _X,_Y,_Z, _X1,_Y1,_Z1, _Dist], !, set_queue(Player, [move_player, Data]), sleep(100). server_reply(ReplyTerm) :- ReplyTerm = [tell, run_and_trace, Data], Data = [user(_ServerHost,Player), _Ball,_X,_Y,_Z,_KickableDistance,_Dist,_Runstep,_RunSleepTime], !, set_queue(Player, [run_and_trace, Data]), sleep(100). server_reply(ReplyTerm) :- ReplyTerm = none, !, %% format('~w : server reply, ~w~n', [this, ReplyTerm]), true. server_reply(ReplyTerm) :- ReplyTerm = [tell, kick_ball, Data], !, set_queue(ball, [kick_ball, Data]). server_reply(ReplyTerm) :- ReplyTerm = [tell, move_ball, Data], !, set_queue(ball, [move_ball, Data]). server_reply(ReplyTerm) :- ReplyTerm = [tell, ball_position, Data], Data = [Ball, position(_X,_Y,_Z)], !, set_queue(Ball, [ball_position, Data]). server_reply(ReplyTerm) :- ReplyTerm = [tell, game_score, Score], !, set_score_board(Score). server_reply(ReplyTerm) :- ReplyTerm = [reply, accept, [UserName, BallPosition, GameScore,Others]], BallPosition = position(XB,YB,ZB), !, setPosition(ball, XB,YB,ZB), set_score_board(GameScore), new(soccerPlayerUser_client(me, time_limit, UserName), _), enable_others(Others), % format('get the user name ~w from the server~n',[UserName]), enable_clientname(UserName), client_name := UserName. server_reply(ReplyTerm) :- ReplyTerm = [tell, new_player, [UserName]], client_name \= UserName, !, enable_newplayer(UserName). server_reply(ReplyTerm) :- ReplyTerm = [tell, unregister, [UserName]], client_name \= UserName, !, disenable_player(UserName). server_reply(ReplyTerm) :- ReplyTerm = [tell, browser_exit, [UserName]], client_name \= UserName, !, disenable_player(UserName). server_reply(ReplyTerm) :- %% Server exit, broken pipe: ReplyTerm = shutdown, !. server_reply(ReplyTerm) :- ReplyTerm = getChatMessage, !. server_reply(ReplyTerm) :- format('~n~w : SKIPPING UNKNOWN SERVER REPLY : ~w~n', [this, ReplyTerm]). enable_others([]) :- !. enable_others([OtherInfo | List]) :- OtherInfo = user(_OtherHost,OtherName), enable_newplayer(OtherName), enable_others(List). enable_clientname(UserName):- set_field(wsclient, name, UserName), Term = setUserName(UserName), set_queue(script, queue, Term), true. enable_newplayer(Name):- setSFInt32(Name, whichChoice, 0), Term = addPlayerName(Name), set_queue(script, queue, Term). disenable_player(Name):- setSFInt32(Name, whichChoice, -1), Term =removePlayerName(Name), set_queue(script, queue, Term). show_chat_text(Name, Text):- format('~w: ~w~n', [Name, Text]), Term = showChatText(Name, Text), set_queue(script, queue, Term), true. print_server_queue_size(ClientName, NewQueueSize) :- get_field(ClientName, old_queue_size, OldQueueSize), NewQueueSize \= OldQueueSize, !, set_field(ClientName, old_queue_size, NewQueueSize), format('~w, ~w : message queue length = ~w~n', [this, client_name, NewQueueSize]). print_server_queue_size(_ClientName, _NewQueueSize). var oldpos=position(0.0,0.0,0.0), oldrot=rotation(0.0,1.0,0.0,0.0). /*** local_processing(Request) :- remote_data > 2, Request = [ask, update, [User]], client_ident(User). ***/ local_processing(Request) :- Request = [ask, update, [User]], client_ident(User). local_processing(Request) :- queue_length(client_name, Length), Length > 0, %% format('Local queue processing~n'), get_queue(client_name, Message), Request = Message. local_processing(Request) :- %% queue_empty(client_name), %% format('Local field processing of ~w~n', [client_name]), get_field(client_name, position, Position), get_field(client_name, rotation, Rotation), %% oldpos \= Position, %% oldpos := Position, position_resolution(oldpos, Position), Request = [tell, position_and_rotation, [User,Position,Rotation]], client_ident(User). local_processing(Request) :- sleep(200), local_processing(Request). position_resolution(OldPos, NewPos) :- OldPos = position(XO,YO,ZO), NewPos = position(XN,YN,ZN), distance3D(XO,YO,ZO, XN,YN,ZN, Dist), Dist > 1.0 , % format('~w *****: position updated : ~w~n', [this, NewPos]), oldpos := NewPos . client_exit(Message) :- %% format('~w : check for unregister answer : ~w~n', [this,Message]), Message = [reply, unregister, _], !, %% format('~w : received unregister answer~n', [this]), true. client_exit(Message) :- Message = shutdown, format('~n~w : ~w server shutdown (broken pipe)~n', [this, server_host]). client_ident(User) :- User = user(client_host, client_name). set_score_board(Score) :- Score = score(_Team1:_Team2 / Score1:Score2), number_chars(Score1, Chars1), number_chars(Score2, Chars2), %% format('chars1 = ~q~n', [Chars1]), %% format('chars2 = ~q~n', [Chars2]), %% atom_list_concat(Chars1, Atom1), %% atom_list_concat(Chars2, Atom2), %% or : atom_chars(Atom1, Chars1), atom_chars(Atom2, Chars2), %% format('Atom1 = ~q~n', [Atom1]), %% format('Atom2 = ~q~n', [Atom2]), atom_list_concat([Atom1, ':', Atom2], TheScore), setMFString(scorePlate1, score, [TheScore]), setMFString(scorePlate2, score, [TheScore]). :-end_object wsclient. :-object ball_client : [common_process_client]. var steps. var time_limit = 0. var ball_name = unknown. var ballSleepTime = 300. var stepUnit = 1.5. ball_client(BallName, TimeLimit) :- time_limit := TimeLimit, ball_name := BallName, format('~w thread active.~n',[BallName]), next_activity(BallName). next_activity(_Name) :- repeat, get_queue(ball_name, Data), ball_activity(Data), get_clock(TimeLimit), % format('playing time = ~w seconds.~n', [TimeLimit]), TimeLimit > time_limit, !, game_score <- showGameScore. ball_activity(Mesg) :- Mesg = [ball_position, Data], Data = [Ball, position(X,Y,Z)], !, % format('~nBALL_POSITION MESSAGE RECEIVED : ~w~n~n', [position(X,Y,Z)]), setPosition(Ball, X, Y, Z). ball_activity(Mesg) :- Mesg = [kick_ball, Data], Data = [_Name, BallName, X,Y,Z,R1, KickBallForce, KickBallForceY], !, %% format('Ball activity = ~w~n', [Mesg]), kickedwithStaticStartRF(BallName,translation,X,Y,Z,R1, KickBallForce,KickBallForceY). ball_activity(Mesg) :- Mesg = [move_ball, Data], Data = [Ball, X,Y,Z, X2,Y2,Z2, Dist], !, move_to_position(Ball,translation, stepUnit,ballSleepTime, X,Y,Z,X2,Y2,Z2,Dist). ball_activity(Data) :- format('~nBall ~w activity error : ~w~n', [ball_name, Data]). %% 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, %% format('KICK STEP = ~w~n', [steps]), % counter <-incr(kick_ball_step_counter), 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, !. kickedwithStaticStart(_,_,_,_,_,_,_,_,_). %% 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(_,_,_,_,_,_,_,_). fallToGround(Ball,Field):- getSFVec3f(Ball,Field,X,_Y,Z), setSFVec3f(Ball,Field,X,0.25,Z). :- end_object ball_client. :-object soccerPlayerClientAgent : [common_process_client]. var steps. var time_limit = 0. var player_name = unknown. var runSleepTime = 1000. var runStep = 2. var xold, zold. soccerPlayerClientAgent(PlayerName, TimeLimit) :- setSFInt32(PlayerName, whichChoice, 0), time_limit := TimeLimit, player_name := PlayerName, format('~w thread active.~n',[PlayerName]), setDescription('WASP SOCCER (C)Zhisheng Huang 2000-2004, Vrije University Amsterdam'), player_activity(PlayerName, ball). player_activity(PlayerName, Ball) :- repeat, get_queue(PlayerName, Data), player_activity(Data), get_clock(TimeLimit), look_at_ball(PlayerName,Ball), TimeLimit > time_limit, !. player_activity(Mesg) :- Mesg = [move_player, Data], Data = [user(_Host,Player), X,Y,Z, X2,Y2,Z2, Dist], !, move_to_position(Player,set_position, runStep, runSleepTime, X,Y,Z,X2,Y2,Z2,Dist). player_activity(Mesg) :- Mesg = [run_and_trace, Data], Data = [user(_ServerHost,Player), Ball,X,Y,Z,KickableDistance,Dist,Runstep,RunSleepTime], !, run_and_trace(Player,Ball,X,Y,Z,KickableDistance,Dist,Runstep,RunSleepTime ). player_activity(Data) :- format('~nPlayer ~w activity error : ~w~n', [player_name, Data]). %run_and_trace(+Player,+Ball,+X,+Y,+Z,+kickableDistance,+RunableDist,+runstep,+runSleepTime). run_and_trace(Player,Ball,X,Y,Z,KickableDistance,Dist,Runstep,RunSleepTime):- xold := X, zold := Z, repeat, %% format('RUN_AND_TRACE 1 : ~w~n', [position(xold,zold)]), % counter <-incr(run_and_trace_step_counter), 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 ****** : ~w~n', [position(xold,zold)]), xold := Xnew, zold := Znew, distance2d(Xnew,Znew,X1,Z1,DistBall), end_of_run_and_trace(DistBall, KickableDistance, Dist), !. run_and_trace(_Player,_Ball,_X,_Y,_Z,_KickableDist,_Dist,_Runstep,_RunSleepTime). end_of_run_and_trace(BallDist, KickDist, _Dist) :- BallDist =< KickDist, !. end_of_run_and_trace(BallDist, _KickDist, Dist) :- BallDist > Dist. :-end_object soccerPlayerClientAgent. :-object soccerPlayerUser_client : [common_process_client]. var time_limit = 5000. var client_name = null. var kickableDistance = 3.0. var kickBallForce = 10.0. var kickBallForceY =6.0. soccerPlayerUser_client(Name, TimeLimit, ClientName) :- time_limit := TimeLimit, client_name := ClientName, format('The user ~w thread is active (name=~w).~n', [Name,ClientName]), activity(Name). activity(Name) :- repeat, sleep(500), get_clock(Time), %% format('The player ~w thread ~w seconds ~n', [Name, Time]), getViewpointPositionEx(Name, XA,YA,ZA), getViewpointOrientationEx(Name, XR,YR,ZR,R1), R2 is R1 + 3.1416, set_field(client_name, position, position(XA,YA,ZA)), set_field(client_name, rotation, rotation(XR,YR,ZR,R2)), near_ball_then_kick(Name,ball), Time > time_limit, !. var old_ball_pos = unknown. var old_kick_time = -10. near_ball_then_kick(Agent, Ball):- getViewpointPositionEx(Agent,X,Y,Z), %% local_host(Host, _), Host = 'a computer', TellData = [user(Host,client_name), position(X,Y,Z)], TellMessage = [tell, position, TellData], getPosition(Ball,X1,Y1,Z1), %% X < X1, distance2d(X,Z,X1,Z1,Dist), %% format('DIST = ~w, KICK DIST = ~w,~n', [Dist,kickableDistance]), Dist < kickableDistance, ball_time_check(position(X1,Y1,Z1)), !, getViewpointOrientationEx(Agent,_,_,_,R), R1 is sign(X1 - X) * R -1.5708, Data = [client_name, Ball, X1,Y1,Z1,R1, kickBallForce, kickBallForceY], KickMessage = [tell, kick_ball, Data], %% format('KICK MESSAGE = ~w~n', [KickMessage]), set_queue(client_name, TellMessage), set_queue(client_name, KickMessage). near_ball_then_kick(_, _). ball_time_check(_Position) :- get_time(NewKickTime), NewKickTime > old_kick_time + 3, old_kick_time := NewKickTime, !. ball_time_check(Position) :- old_ball_pos \= Position, old_ball_pos := Position. :- end_object soccerPlayerUser_client. :-object game_score_client : [bcilib]. var score1. var score2. var team1. var team2. 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. getTeamScore(Team, Score):- Team = team1, Score := score1. getTeamScore(Team, Score):- Team = team2, Score := score2. setTeamScore(Team, Score):- Team = team1, score1:=Score. setTeamScore(Team, Score):- Team = team2, score2:=Score. showGameScore :- getGameScore(Team1, Team2, Score1, Score2), format('game score: ~w:~w---~w:~w~n',[Team1,Team2,Score1,Score2]), number_chars(Score1,Score1C), number_chars(Score2,Score2C), atom_chars(Score1A,Score1C), atom_chars(Score2A,Score2C), atom_list_concat([Score1A, ':', Score2A], TheScore), setMFString(scorePlate1,score,[TheScore]), setMFString(scorePlate2,score,[TheScore]). :-end_object game_score_client. :-object common_process_client : [bcilib]. 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) :- getSFVec3f(Player,position, X,_,Z), getPosition(Ball, X1,_,Z1), X =\= X1, !, %% RS: added Xdif is X-X1, Zdif is Z1-Z, R is atan(Zdif/Xdif) - sign(X-X1)*1.5708, setRotation(Player,0.0, 1.0, 0.0, R). look_at_ball(_,_). %% RS: catch ball? look_at_position(Player,X1,Z1) :- getSFVec3f(Player,position, X,_,Z), X =\= X1, !, %% RS: added Xdif is X-X1, Zdif is Z1-Z, R is atan(Zdif/Xdif) - sign(X-X1)*1.5708, setRotation(Player,0.0, 1.0, 0.0, R). look_at_position(_,_,_). %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, % counter <-incr(move_position_step_counter), sleep(SleepTime), Steps is Dist//StepUnit-steps+1, Xnew is X - Xstep*Steps, Znew is Z - Zstep*Steps, setSFVec3f(Object,Field,Xnew,Y,Znew), %% format('move_to_position: steps = ~w, pos = ~w~n', [steps, pos(Xnew,Y,Znew)]), -- steps, steps < 1, !. getViewpointPositionEx(_,X,Y,Z) :- getSFVec3f(proxSensor,position,X,Y,Z). getViewpointOrientationEx(_,X,Y,Z,R):- getSFRotation(proxSensor,orientation,X,Y,Z,R). get_clock(Time) :- get_field(wsclient, clock, Time). set_clock(Time) :- set_field(wsclient, clock, Time). :-end_object common_process_client. :-object wsclock_pulse_client: [common_process_client]. wsclock_pulse_client:- format('wsclock pulse thread active~n'), repeat, sleep(5000), get_clock(Time), Left is Time - 5, set_clock(Left), %% format('Game Time: ~w seconds left~n',[Left]), Left < 1, !. :-end_object wsclock_pulse_client.