This release comes with a number of bug fixes and also adds some new features
to enhance managing games and also to add more challenges to games, most notably
adding noise to the beam effector. The changes are:
Added new rule requiring that the ball must either touch an opponent, or
touch a teammate outside the center circle, before a team taking a
kickoff can score.
Penalty shootout kickoffs are direct now.
Added noise to the beam effector with the amount of noise added controlled
by the BeamNoiseXY (in meters) and BeamNoiseAngle (in degrees)
values in naosoccersim.rb. Noise is added to beam X and Y values from
a uniform distribution within the range [-BeamNoiseXY, BeamNoiseXY]
and to beam angle values from a uniform distribution within the range
Added new training command parser commands for setting the game time and
score. They are the following commands: (time <time>) (score (left <score>) (right <score>))
Added penalty shootout mode where a goal is awarded to the left team
(penalty kicker) if the right team's player (penalty goalie) leaves the
Fixing a bug with free kicks where as soon as the ball was touched,
and the playmode transitioned from freekick to play on, the ball was
still moved back to the location of the freekick preventing the ball from
being directly kicked out of a free kick. Also ensuring that the ball
position for free kicks is updated correctly as this wasn't happening
right after the ball was placed back at the center of the field after
a goal was scored.
Fixing a bug where a player would be incorrectly called for double
touching the ball on a kickoff if the player first kicked the ball
directly in the opponent's goal from a kickoff, resulting in no goal
being awarded a nd the opposing team being given a kickoff, and then is
the next player to touch the ball in the PlayOn playmode after a dropball
when the opponent doesn't take their kickoff.
Fixing a bug where rules such as too many players in their own penalty
area was not being enforced.