// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
setCameraHomePos(Pos(-16.4509, 15.6927, 12.5683), Pos(-133.688, -26.4496, 0));
setCameraMode(Static);
global.odeConfig.setParam("noise",0.05);
global.odeConfig.setParam("realtimefactor",2);
// global.odeConfig.setParam("gravity", 0);
Playground* playground;
if(env==ElipticBasin){
playground = new Playground(odeHandle, osgHandle,
osg::Vec3(20, 0.2, height+1.f), 2);
}else{
playground = new Playground(odeHandle, osgHandle,
osg::Vec3(20, 0.2, height+0.3f), 1);
}
playground->setColor(Color(.1,0.7,.1));
playground->setTexture("");
playground->setPosition(osg::Vec3(0,0,0.01f)); // playground positionieren und generieren
global.obstacles.push_back(playground);
int numpassive=0;
switch(env){
case ThreeBump:
{
TerrainGround* terrainground =
new TerrainGround(odeHandle, osgHandle.changeColor(Color(1.0f,1.0,1.0)),
"terrains/macrospheresLMH_64.ppm","terrains/macrospheresTex_256.ppm",
20, 20, height, OSGHeightField::LowMidHigh);
terrainground->setPose(osg::Matrix::translate(0, 0, 0.1));
global.obstacles.push_back(terrainground);
addRobot(odeHandle, osgHandle, global, 0);
addRobot(odeHandle, osgHandle, global, 1);
numpassive=4;
}
break;
case SingleBasin:
// at Radius 3.92 height difference of 0.5 and at 6.2 height difference of 1
// ./start -single -track -f 2 -r 1297536669
case ElipticBasin:
// ./start -eliptic -f 5 -track -r 1297628680
{
TerrainGround* terrainground =
new TerrainGround(odeHandle, osgHandle.changeColor(Color(1.0f,1.0f,1.0f)),
// "terrains/dip128_flat.ppm","terrains/dip128_flat_texture.ppm",
"terrains/dip128.ppm","terrains/dip128_texture.ppm",
20, env == SingleBasin ? 20 : 40, height, OSGHeightField::Red);
terrainground->setPose(osg::Matrix::translate(0, 0, 0.1));
global.obstacles.push_back(terrainground);
addRobot(odeHandle, osgHandle, global, 3);
}
break;
}
// add passive spheres as obstacles
// - create pointer to sphere (with odehandle, osghandle and
// optional parameters radius and mass,where the latter is not used here) )
// - set Pose(Position) of sphere
// - set a texture for the sphere
// - add sphere to list of obstacles
for (int i=0; i< numpassive; i+=1){
PassiveSphere* s1 = new PassiveSphere(odeHandle, osgHandle, 0.5,0.1);
s1->setPosition(osg::Vec3(-8+2*i,-2,height+0.5));
s1->setTexture("Images/dusty.rgb");
global.obstacles.push_back(s1);
}
}
// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
// first: position(x,y,z) second: view(alpha,beta,gamma)
// gamma=0;
// alpha == horizontal angle
// beta == vertical angle
setCameraHomePos(Pos(-0.18, 20.36, 13.63), Pos(-179.93, -34.37, 0));
// initialization
// - set noise to 0.1
global.odeConfig.noise=0.1;
global.odeConfig.setParam("controlinterval", 10);
// use Playground as boundary:
// - create pointer to playground (odeHandle contains things like world and space the
// playground should be created in; odeHandle is generated in simulation.cpp)
// - setting geometry for each wall of playground:
// setGeometry(double length, double width, double height)
// - setting initial position of the playground: setPosition(double x, double y, double z)
// - push playground in the global list of obstacles(globla list comes from simulation.cpp)
bool labyrint=false;
bool squarecorridor=false;
bool normalplayground=true;
bool boxes = true;
if(normalplayground){
// Playground* playground = new Playground(odeHandle, osgHandle, osg::Vec3(12, 0.2, 0.5));
Playground* playground = new Playground(odeHandle, osgHandle, osg::Vec3(17, 0.2, 1.0));
playground->setPosition(osg::Vec3(0,0,0.05)); // playground positionieren und generieren
// register playground in obstacles list
global.obstacles.push_back(playground);
}
if(squarecorridor){
Playground* playground = new Playground(odeHandle, osgHandle,osg::Vec3(15, 0.2, 1.2 ), 1);
playground->setGroundColor(Color(255/255.0,200/255.0,0/255.0));
playground->setGroundTexture("Images/really_white.rgb");
playground->setColor(Color(255/255.0,200/255.0,21/255.0, 0.1));
playground->setPosition(osg::Vec3(0,0,0.1));
playground->setTexture("");
global.obstacles.push_back(playground);
// // inner playground
playground = new Playground(odeHandle, osgHandle,osg::Vec3(10, 0.2, 1.2), 1, false);
playground->setColor(Color(255/255.0,200/255.0,0/255.0, 0.1));
playground->setPosition(osg::Vec3(0,0,0.1));
playground->setTexture("");
global.obstacles.push_back(playground);
}
if(labyrint){
double radius=7.5;
Playground* playground = new Playground(odeHandle, osgHandle,osg::Vec3(radius*2+1, 0.2, 5 ), 1);
playground->setGroundColor(Color(255/255.0,200/255.0,0/255.0));
playground->setGroundTexture("Images/really_white.rgb");
playground->setColor(Color(255/255.0,200/255.0,21/255.0, 0.1));
playground->setPosition(osg::Vec3(0,0,0.1));
playground->setTexture("");
global.obstacles.push_back(playground);
int obstanz=30;
OsgHandle rotOsgHandle = osgHandle.changeColor(Color(255/255.0, 47/255.0,0/255.0));
OsgHandle gruenOsgHandle = osgHandle.changeColor(Color(0,1,0));
for(int i=0; i<obstanz; i++){
PassiveBox* s = new PassiveBox(odeHandle, (i%2)==0 ? rotOsgHandle : gruenOsgHandle,
osg::Vec3(random_minusone_to_one(0)+1.2,
random_minusone_to_one(0)+1.2 ,1),5);
s->setPose(osg::Matrix::translate(radius/(obstanz+10)*(i+10),0,i)
* osg::Matrix::rotate(2*M_PI/obstanz*i,0,0,1));
global.obstacles.push_back(s);
}
}
if(boxes) {
for (int i=0; i<= 2; i+=2){
PassiveBox* s1 = new PassiveBox(odeHandle, osgHandle, osg::Vec3(1,1,1), 0.4);
s1->setTexture("Images/dusty.rgb");
s1->setPosition(osg::Vec3(-5+i*5,0,0));
global.obstacles.push_back(s1);
Joint* fixator;
Primitive* p = s1->getMainPrimitive();
fixator = new FixedJoint(p, global.environment);
fixator->init(odeHandle, osgHandle);
s1 = new PassiveBox(odeHandle, osgHandle, osg::Vec3(1,1,1), 0.4);
s1->setTexture("Images/dusty.rgb");
s1->setPosition(osg::Vec3(0,-5+i*5,0));
global.obstacles.push_back(s1);
p = s1->getMainPrimitive();
fixator = new FixedJoint(p, global.environment);
fixator->init(odeHandle, osgHandle);
s1 = new PassiveBox(odeHandle, osgHandle, osg::Vec3(1,1,1), 0.4);
s1->setTexture("Images/dusty.rgb");
s1->setPosition(osg::Vec3(-3.5+i*3.5,-3.5+i*3.5,0));
global.obstacles.push_back(s1);
p = s1->getMainPrimitive();
fixator = new FixedJoint(p, global.environment);
fixator->init(odeHandle, osgHandle);
s1 = new PassiveBox(odeHandle, osgHandle, osg::Vec3(1,1,1), 0.4);
s1->setTexture("Images/dusty.rgb");
s1->setPosition(osg::Vec3(-3.5+i*3.5,3.5-i*3.5,0));
global.obstacles.push_back(s1);
p = s1->getMainPrimitive();
fixator = new FixedJoint(p, global.environment);
fixator->init(odeHandle, osgHandle);
}
}
// add passive spheres as obstacles
// - create pointer to sphere (with odehandle, osghandle and
// optional parameters radius and mass,where the latter is not used here) )
// - set Pose(Position) of sphere
// - set a texture for the sphere
// - add sphere to list of obstacles
for (int i=0; i < 0/*2*/; i++){
PassiveSphere* s1 = new PassiveSphere(odeHandle, osgHandle, 0.5);
s1->setPosition(osg::Vec3(-4.5+i*4.5,0,0));
s1->setTexture("Images/dusty.rgb");
global.obstacles.push_back(s1);
}
// use Nimm2 vehicle as robot:
// - get default configuration for nimm2
// - activate bumpers, cigar mode and infrared front sensors of the nimm2 robot
// - create pointer to nimm2 (with odeHandle, osg Handle and configuration)
// - place robot
Nimm2Conf c = Nimm2::getDefaultConf();
c.bumper = false;//true;
c.cigarMode = false;//true;
c.irFront = true;
c.irBack = true;
//c.irSide = true;
c.irRange = 1.2;//2;//3;
c.force=2;
c.speed=8;
OdeRobot* vehicle = new Nimm2(odeHandle, osgHandle, c, "Nimm2");
vehicle->place(Pos(0,0,0.5));
// vehicle->place(Pos(0,6.25,0));
// use Nimm4 vehicle as robot:
// - create pointer to nimm4 (with odeHandle and osg Handle and possible other settings, see nimm4.h)
// - place robot
//OdeRobot* vehicle = new Nimm4(odeHandle, osgHandle, "Nimm4");
//vehicle->place(Pos(0,1,0));
// create pointer to controller
// push controller in global list of configurables
AbstractController *controller = new LayeredController(10);
controller->setParam("eps",0.1);
controller->setParam("factor_a",0.1);
controller->setParam("eps_hebb",0.03);
global.configs.push_back(controller);
// create pointer to one2onewiring
One2OneWiring* wiring = new One2OneWiring(new ColorUniformNoise(0.1));
// create pointer to agent
// initialize pointer with controller, robot and wiring
// push agent in globel list of agents
OdeAgent* agent = new OdeAgent(global);
agent->init(controller, vehicle, wiring);
agent->setTrackOptions(TrackRobot(true, false, false, false, "hebbh" ,1));
global.agents.push_back(agent);
}
