Scoring volume definition used by arena presets and projectile checks. More...

#include <goal_structure.hpp>

Public Types
enum class	Shape { kBox , kSphere , /home/runner/work/JSim/JSim/vendordep/src/main/driver/include/frcsim/field/goal_structure.hpp , kCustom }
	Built-in geometry modes for goal containment tests. More...
enum class	AcceptedType { kAny , kBall , kCustom1 , kCustom2 , kCustom3 , kCustom4 }
	Supported gamepiece type filters for scoring validation. More...

Public Member Functions
bool	contains (const Vector3 &position_m) const
	Test whether a position is contained within this goal's volume.
bool	velocityAllowed (const Vector3 &velocity_mps) const
	Test whether a velocity satisfies score acceptance constraints.

Public Attributes
Shape	shape {Shape::kBox}
Vector3	center_m {}
	Goal center position in world coordinates (meters).
Vector3	half_extents_m {0.2, 0.2, 0.2}
	Half-extent dimensions used when shape is kBox (meters).
double	radius_m {0.25}
	Sphere radius used when shape is kSphere (meters).
AcceptedType	accepted_type {AcceptedType::kBall}
	Filter for accepted gamepiece types (allows selective scoring).
bool	require_positive_vertical_velocity {false}
	When true, scoring requires upward (+Z) velocity unless custom validator overrides.
std::function< bool(const Vector3 &)>	custom_position_checker {}
	Optional custom position test for complex geometry in kCustom mode.
std::function< bool(const Vector3 &)>	custom_velocity_validator {}
	Optional custom validator for velocity constraints during scoring.

Detailed Description

Scoring volume definition used by arena presets and projectile checks.

Member Enumeration Documentation

◆ AcceptedType

enum class frcsim::GoalStructure::AcceptedType

strong

Supported gamepiece type filters for scoring validation.

Enumerator
kAny
kBall
kCustom1
kCustom2
kCustom3
kCustom4

Examples: /home/runner/work/JSim/JSim/vendordep/src/main/driver/include/frcsim/field/goal_structure.hpp.

◆ Shape

enum class frcsim::GoalStructure::Shape

strong

Built-in geometry modes for goal containment tests.

Enumerator
kBox
kSphere
/home/runner/work/JSim/JSim/vendordep/src/main/driver/include/frcsim/field/goal_structure.hpp	User-defined shape handled by custom_position_checker. To use this mode, set shape to kCustom and provide custom_position_checker. GoalStructure goal{}; goal.shape = GoalStructure::Shape::kCustom; goal.center_m = Vector3(5.0, 2.0, 1.6); goal.custom_position_checker = [c = goal.center_m](const Vector3& p) { // Example: accept points inside a simple vertical "capsule-like" scoring zone. const Vector3 d = p - c; const double radial = std::sqrt(d.x * d.x + d.y * d.y); return radial <= 0.35 && d.z >= -0.25 && d.z <= 0.45; }; frcsim::GoalStructure Scoring volume definition used by arena presets and projectile checks. Definition goal_structure.hpp:15 frcsim::GoalStructure::shape Shape shape Definition goal_structure.hpp:52 frcsim::GoalStructure::custom_position_checker std::function< bool(const Vector3 &)> custom_position_checker Optional custom position test for complex geometry in kCustom mode. Definition goal_structure.hpp:66 frcsim::GoalStructure::Shape::kCustom @ kCustom Definition goal_structure.hpp:38 frcsim::GoalStructure::center_m Vector3 center_m Goal center position in world coordinates (meters). Definition goal_structure.hpp:54 frcsim::Vector3 3D vector utility used throughout JSim physics. Definition vector.hpp:22 frcsim::Vector3::z double z Z component. Definition vector.hpp:28 frcsim::Vector3::x double x X component. Definition vector.hpp:24 frcsim::Vector3::y double y Y component. Definition vector.hpp:26
kCustom