double RobotController::onAction(ActionEvent &evt)
{
LOG_MSG(("\ncurrent time : %f", evt.time()));
static int cnt = 0;
try {
const char *name = myname();
SimObj *obj = getObj(name);
obj->dump();
if (!obj->dynamics()) {
double angle = 2*PI*cnt*0.01;
double xx = 5*sin(angle);
double yy = 0.5;
double zz = 5*cos(angle);
LOG_MSG(("pos (%f, %f, %f)", xx, yy, zz));
obj->setPosition(xx, yy, zz);
obj->setAxisAndAngle(0.0, 1.0, 0.0, angle);
}
obj->dump();
} catch(SimObj::NoAttributeException &) {
} catch(SimObj::AttributeReadOnlyException &) {
} catch(SimObj::Exception &) {
}
cnt++;
return 0.1;
}
double DetectEntitiesController::onAction(ActionEvent &evt)
{
std::vector<std::string> agents;
std::vector<std::string>::iterator i;
static int count = 0;
// LOG_MSG(("bear onAction(count=%d)\n", count));
bool b = detectEntities(agents);
if (b)
{
int n = agents.size();
if (n>0)
{
LOG_MSG(("%d entities detected", n));
for (int i=0; i<n; i++)
{
std::string name = agents[i];
LOG_MSG(("[%d] (%s)", i, name.c_str()));
}
}
}
else
{
LOG_MSG(("detectEntities failed"));
}
try {
SimObj *o = getObj(myname());
if (o && !o->dynamics())
{
double deg = count * 10.0;
double rad = -3.141592/180*deg;
o->setAxisAndAngle(0.0, 1.0, 0.0, rad);
}
} catch(SimObj::NoAttributeException &) {
} catch(SimObj::AttributeReadOnlyException &) {
} catch(SimObj::Exception &) {
}
count++;
return 2.0;
}
void SetAttrController::onRecvMessage(RecvMessageEvent &evt)
{
double x, y, z;
LOG_MSG(("message from : %s", evt.getSender()));
int n = evt.getSize();
for (int i=0; i<n; i++) {
LOG_MSG(("[%d] (%s)", i, evt.getString(i)));
}
SimObj *o = getObj(myname());
if (n>0 && o && !o->dynamics()) {
const char *cmd = evt.getString(0);
if (cmd) {
if (strcmp(cmd, "p")==0) {
// ----------------------------
// position set (x, y, z)
// ----------------------------
const char *param = evt.getString(1);
if (param) {
LOG_MSG(("set position (param=%s)", param));
if (parseVector3(param, x, y, z)) {
LOG_MSG(("(%f, %f, %f)", x, y, z));
o->setPosition(x, y, z);
}
}
} else if (strcmp(cmd, "vp")==0) {
// ----------------------------
// view pos
// ----------------------------
const char *param = evt.getString(1);
if (param) {
LOG_MSG(("set view position (param=%s)", param));
if (parseVector3(param, x, y, z)) {
LOG_MSG(("(%f, %f, %f)", x, y, z));
o->vpx(x);
o->vpy(y);
o->vpz(z);
}
}
} else if (strcmp(cmd, "vv")==0) {
// ----------------------------
// view vector
// ----------------------------
const char *param = evt.getString(1);
if (param) {
LOG_MSG(("set view vector (param=%s)", param));
if (parseVector3(param, x, y, z)) {
LOG_MSG(("(%f, %f, %f)", x, y, z));
o->vvx(x);
o->vvy(y);
o->vvz(z);
}
}
} else if (strcmp(cmd, "lep")==0) {
// ----------------------------
// left eye pos
// ----------------------------
const char *param = evt.getString(1);
if (param) {
LOG_MSG(("set left eye position (param=%s)", param));
if (parseVector3(param, x, y, z)) {
LOG_MSG(("(%f, %f, %f)", x, y, z));
o->lepx(x);
o->lepy(y);
o->lepz(z);
}
}
} else if (strcmp(cmd, "lev")==0) {
// ----------------------------
// left eye vector
// ----------------------------
const char *param = evt.getString(1);
if (param) {
LOG_MSG(("set left eye vector (param=%s)", param));
if (parseVector3(param, x, y, z)) {
LOG_MSG(("(%f, %f, %f)", x, y, z));
o->levx(x);
o->levy(y);
o->levz(z);
}
}
} else if (strcmp(cmd, "rep")==0) {
// ----------------------------
// right eye pos
// ----------------------------
const char *param = evt.getString(1);
if (param) {
LOG_MSG(("set right eye position (param=%s)", param));
if (parseVector3(param, x, y, z)) {
LOG_MSG(("(%f, %f, %f)", x, y, z));
o->repx(x);
o->repy(y);
o->repz(z);
}
}
} else if (strcmp(cmd, "rev")==0) {
// ----------------------------
// right eye vector
// ----------------------------
const char *param = evt.getString(1);
if (param) {
LOG_MSG(("set right eye vector (param=%s)", param));
if (parseVector3(param, x, y, z)) {
LOG_MSG(("(%f, %f, %f)", x, y, z));
o->revx(x);
o->revy(y);
o->revz(z);
}
}
}
}
}
}