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;
}
