void start()
{
// Set a camera
static float xyz[3] = {0.0,-2.0,1.0}; // View position (x, y, z [m])
static float hpr[3] = {90.0,0.0,0.0}; // View direction head, pitch, roll[°]
dsSetViewpoint (xyz,hpr);// Set a view point
}
static void updatecam()
{
xyz[0] = platpos[0] + 3.3;
xyz[1] = platpos[1] - 1.8;
xyz[2] = platpos[2] + 2;
dsSetViewpoint (xyz, hpr);
}
static void start()
{
static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
dsSetViewpoint (xyz,hpr);
printf ("Press 'e' to start/stop occasional error.\n");
}
static void start() {
//static float xyz[3] = { 0.2,5.2,1.0};
static float xyz[3] = { 1.0,1.5,1.0};
static float hpr[3] = { 270,0,0};
dsSetViewpoint(xyz,hpr); // 視点，視線の設定
dsSetSphereQuality(3); // 球の品質設定
}
void start()
{
static float xyz[3] = {1.5, -1.5, 0.8}; // View position (x, y, z) [m]
static float hpr[3] = {136.0, 0.0, 0.0}; // View direction （head,pitch,roll)
dsSetViewpoint (xyz,hpr); // Set a view point
dsSetSphereQuality(3);
// ********** Pre-compute a simple trajectory wrt Fixed Leg *************************************
double t0 = 0.0, t1 = 2.0; // Time (initial & final)
bool FixedLeg = RIGHT;
Math::TPoint3D Pq1, Pq2, Pf1, Pf2;
Pq1.x=0.0; Pq1.y=0.0; Pq1.z=(L3+L4+L5+L6+L7+L8); Pq1.vx=0; Pq1.vy=0; Pq1.vz=0; // Hips wrt Fixed Leg: Initial Point
Pq2.x=0.0; Pq2.y=-L1; Pq2.z=(L3+L4+L5+L6+L7+L8)-L1/4; Pq2.vx=0; Pq2.vy=0; Pq2.vz=0; // Hips wrt Fixed Leg: Final Point
//Pq2.x=0.0; Pq2.y=0.0; Pq2.z=(L3+L4+L5+L6+L7+L8)-0.05; Pq2.vx=0; Pq2.vy=0; Pq2.vz=0; // Hips: Final Point
Pf1.x=0.0; Pf1.y=2*L1; Pf1.z=0; Pf1.vx=0; Pf1.vy=0; Pf1.vz=0; // Floating Leg wrt Fixed Leg: Initial Point
Pf2.x=0.0; Pf2.y=2*L1; Pf2.z=0; Pf2.vx=0; Pf2.vy=0; Pf2.vz=0; // Floating Leg wrt Fixed Leg: Final Point
Traj::rComputeHipsMotion(PreComputedAngleL, PreComputedAngleR, target_angleL, target_angleR,
Pq1,Pq2,Pf1,Pf2,t0,t1,TLENG,FixedLeg);
printf("\nAngles: Pre-computed \n");
}
/*** スタート関数 ***/
static void start()
{
float xyz[3] = { 1.7f, -1.4f, 0.4f};
float hpr[3] = { 144.0f, -4.0f, 0.0f};
dsSetViewpoint(xyz,hpr);
dsSetSphereQuality(3);
}
/* ------------------------
* スタート関数
------------------------ */
static void start()
{
float xyz[3] = { 0.2, 2.5, 4.00}; /* カメラ座標 */
float hpr[3] = { 90.0, -90.0, 0.0}; /* カメラ方向 */
dsSetViewpoint(xyz,hpr);
dsSetSphereQuality(3);
}
static void start()
{
// initial camera position
static float xyz[3] = {1, 1, 0.5};
static float hpr[3] = {225, 0, 0};
dsSetViewpoint (xyz,hpr);
}
static void start()
{
dAllocateODEDataForThread(dAllocateMaskAll);
static float xyz[3] = {14.6117f,-6.4433f,9.3700f};
static float hpr[3] = {140.5000f,-20.5000f,0.0000f};
dsSetViewpoint (xyz,hpr);
}
static void start()
{
dAllocateODEDataForThread(dAllocateMaskAll);
static float xyz[3] = {2.4807,-1.8023,2.7600};
static float hpr[3] = {141.5000,-18.5000,0.0000};
dsSetViewpoint (xyz,hpr);
}
static void start()
{
dAllocateODEDataForThread(dAllocateMaskAll);
static float xyz[3] = {-8,-9,3};
static float hpr[3] = {45.0000f,-27.5000f,0.0000f};
dsSetViewpoint (xyz,hpr);
}
static void start()
{
static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
dsSetViewpoint (xyz,hpr);
printf ("Press 'q,a,z' to control one axis of lmotor connectiong two bodies. (q is +,a is 0, z is -)\n");
printf ("Press 'w,e,r' to control one axis of lmotor connectiong first body with world. (w is +,e is 0, r is -)\n");
}
static void start()
{
static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
dAllocateODEDataForThread(dAllocateMaskAll);
dsSetViewpoint (xyz,hpr);
}
static void start()
{
dAllocateODEDataForThread(dAllocateMaskAll);
static float xyz[3] = { -6, 8, 6};
static float hpr[3] = { -65.0f, -27.0f, 0.0f};
dsSetViewpoint (xyz,hpr);
}
static void start()
{
// static float xyz[3] = {-5.0575, 8.4513, 14.300};
// static float hpr[3] = {-57.0000, -42.5000, 0.000};
static float xyz[3] = { -4.0068, 8.0185, 2.8900 };
static float hpr[3] = { -84.000, -20.5000, 0.0000 };
//xyz[ZZ] = initz*1.75;
dsSetViewpoint(xyz, hpr);
}
static void start()
{
dAllocateODEDataForThread(dAllocateMaskAll);
static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
dsSetViewpoint (xyz,hpr);
printf ("Press 'e' to start/stop occasional error.\n");
}
static void start()
{
static float xyz[3] = {4.777f, -2.084f, 2.18f};
static float hpr[3] = {153.0f, -14.5f, 0.0f};
dsSetViewpoint (xyz,hpr);
printf ("SPACE to reset\n");
printf ("A to tilt the tops.\n");
printf ("T to toggle showing the contact points.\n");
printf ("1 to save the current state to 'state.dif'.\n");
}
static void start()
{
static float xyz[3] = {0.8317f,-0.9817f,0.8000f};
static float hpr[3] = {121.0000f,-27.5000f,0.0000f};
dsSetViewpoint (xyz,hpr);
printf ("Press:\t'a' to increase speed.\n"
"\t'z' to decrease speed.\n"
"\t',' to steer left.\n"
"\t'.' to steer right.\n"
"\t' ' to reset speed and steering.\n");
}
/**
* @brief Iniciar simulacao com alguns parametros
*
* Funcao executada apenas no inicio da simulacao
*
*/
void start()
{
// Initialize ODE
dInitODE();
// Set initial viewpoint for drawstuff
float xyz[3] = {0, 0, 125*SC};
float hpr[3] = {90, -90, 0};
dsSetViewpoint(xyz,hpr);
}
// start simulation - set viewpoint
void start()
{
// view point for JEMRMS
//static float xyz[3] = {10, 4, -2.0};//{1.0382f*10,-1.0811f*10,1.4700f*3};
//static float hpr[3] = {-130.0000f, 0.000f, 180.0000f};
// ordinary view point
static float xyz[3] = {0.75,0.9, 0.5};
static float hpr[3] = {-125.0000f,-20.0000f,0.0000f};
dsSetViewpoint (xyz,hpr);
}
/*** 視点の設定 ***/
void dmSetCamera(double x, double y, double z, double roll, double pitch, double yaw)
{
float xyz[3], hpr[3];
xyz[0] = (float) x;
xyz[1] = (float) y;
xyz[2] = (float) z;
hpr[0] = (float) yaw;
hpr[1] = (float) pitch;
hpr[2] = (float) roll;
dsSetViewpoint(xyz, hpr);
}
// start simulation - set viewpoint (camera)
static void start()
{
// Original View
static float xyz[3] = {3.0f, -3.0f, 8.0f};
static float hpr[3] = {136.000f,-50.0000f,0.0000f};
// Top Down View
// static float xyz[3] = {0.0f,-8.0f,1.0f};
// static float hpr[3] = {90.0f,0.0f,0.0f};
dBodyAddForce(sphere0,50,0,0);
dBodyAddForce(sphere1,-300,0,0);
dBodyAddForce(sphere2,-10,0,0);
dsSetViewpoint (xyz,hpr);
}
static void start()
{
dAllocateODEDataForThread(dAllocateMaskAll);
static float xyz[3] = {0.8317f,-0.9817f,0.8000f};
static float hpr[3] = {121.0000f,-27.5000f,0.0000f};
dsSetViewpoint (xyz,hpr);
// printf ("Press:\t'1' to save the current state to 'state.dif'.\n");
// envs->Mode_View_Set_Back();
envs->Mode_View_Set_Side();
Setup_Auto_Evolve(); // for Governor's Institute of VT students
}
/*** Setting of point of view and camera gaze ***/
void start()
{
#ifndef NOVIZ
xyz[0] = 1.0f;
xyz[1] = -1.2f;
xyz[2] = 0.5f; // point of view[m]
hpr[0] = 121.0f;
hpr[1] = -10.0f;
hpr[2] = 0.0f; // gaze[°]
dsSetViewpoint(xyz,hpr); // set point of view and gaze
dsSetSphereQuality(3);
dsSetCapsuleQuality(7); // increase slows visualization
#endif
}
static void start()
{
static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
dsSetViewpoint (xyz,hpr);
printf ("To drop another object, press:\n");
printf (" b for box.\n");
printf (" s for sphere.\n");
printf (" c for cylinder.\n");
printf (" x for a composite object.\n");
printf ("To select an object, press space.\n");
printf ("To disable the selected object, press d.\n");
printf ("To enable the selected object, press e.\n");
}
//Fonction de demarrage de la simulation
void start(){
nb_pas_simulation = 0;
nb_noyades = 0;
//vue des deux blocs (0.1801,-4.8489,4.3100,92.0000,-10.0000,0.0000)
//vue au dessus du premier bloc (1.7989,0.0229,6.9900,90.0000,-90.5000,0.0000)
//vue de biais (0.1425,-0.9999,3.4700,68.5000,-23.0000,0.0000)
//vue du haut (-0.4781,-0.0360,5.0800,0.0000,-51.0000,0.0000)
//pour la vidéo -0.7500,0.6331,3.5700,-38.5000,-26.5000,0.0000
static float xyz[3] = {-0.7500,0.6331,3.5700};
static float hpr[3] = {-38.5000,-26.5000,0.0000};
dsSetViewpoint (xyz,hpr);
//printf("Début de la simulation...\n");
}
static void start()
{
static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
dsSetViewpoint (xyz,hpr);
printf ("To drop another object, press:\n");
printf (" b for box.\n");
printf (" s for sphere.\n");
printf (" c for cylinder.\n");
printf (" x for a composite object.\n");
printf ("To select an object, press space.\n");
printf ("To disable the selected object, press d.\n");
printf ("To enable the selected object, press e.\n");
printf ("To toggle showing the geom AABBs, press a.\n");
printf ("To toggle showing the contact points, press t.\n");
printf ("To toggle dropping from random position/orientation, press r.\n");
}
IoObject *IoDrawStuff_dsSetViewpoint(IoDrawStuff *self, IoObject *locals, IoMessage *m)
{
float *xyz;
float *hpr;
{
IoSeq *other = IoMessage_locals_vectorArgAt_(m, locals, 0);
xyz = IoSeq_floatPointerOfLength_(other, 3);
other = IoMessage_locals_vectorArgAt_(m, locals, 1);
hpr = IoSeq_floatPointerOfLength_(other, 3);
}
dsSetViewpoint(xyz, hpr);
return self;
}
// start simulation - set viewpoint
static void start()
{
dAllocateODEDataForThread(dAllocateMaskAll);
dsSetViewpoint (xyz,hpr);
printf ("This program demonstrates how the Piston joint works.\n");
printf ("A Piston joint enables the sliding of a body with respect to another body\n");
printf ("and the 2 bodies are free to rotate about the sliding axis.\n\n");
printf ("The yellow body is fixed to the world\n");
printf ("The yellow body and the blue body are attached by a Piston joint with\n");
printf ("the axis along the x direction.\n");
printf ("The purple object is a geometry obstacle.\n");
printKeyBoardShortCut();
}
static void start()
{
//dAllocateODEDataForThread(dAllocateMaskAll);
dsSetViewpoint (xyz,hpr);
printf ("To drop another object, press:\n");
printf (" b for box.\n");
printf (" s for sphere.\n");
printf (" c for capsule.\n");
printf (" y for cylinder.\n");
printf ("Press m to change the movement type\n");
printf ("Press space to reset the platform\n");
printf ("To toggle showing the geom AABBs, press a.\n");
printf ("To toggle showing the contact points, press t.\n");
printf ("To toggle dropping from random position/orientation, press r.\n");
printf ("To save the current state to 'state.dif', press 1.\n");
}
