コード例 #1
0
ファイル: NxRobot.cpp プロジェクト: roboime/legacy-roboime
void NxRobot::cloneRobot(int indexNewScene, int indexNewRobot, NxVec3 newPosition, int indexNewTeam)
{
    NxRobot* nxRobotSource = Simulation::gScenes[this->indexScene]->allRobots->getRobotByIdByTeam(this->id, this->idTeam);

    NxActor* robotActor = Simulation::cloneActor(nxRobotSource->getActor(),indexNewScene);
    //NxBounds3 bodyBounds;
    //robotShapes[0]->getWorldBounds(bodyBounds);

    NxVehicleDesc vehicleDesc;

    vehicleDesc.position				= NxVec3(robotActor->getGlobalPosition());
    vehicleDesc.mass					= robotActor->getMass();
    //vehicleDesc.motorForce				= 70000;
    //vehicleDesc.maxVelocity				= 300.f;
    //vehicleDesc.cameraDistance			= 8.0f;
    vehicleDesc.centerOfMass.set(robotActor->getCMassLocalPosition());
    //vehicleDesc.differentialRatio = 3.42f;
    //vehicleDesc.transmissionEfficiency
    vehicleDesc.actor = robotActor;

    //Motor descricao
    //NxVehicleMotorDesc motorsDesc[4];
    //for(NxU32 i=0;i<4;i++)
    //{
    //motorsDesc[i].setToCorvette();
    //vehicleDesc.motorsDesc.push_back(&motorsDesc[i]);
    //}

    //Roda (Wheel) descricao
    int numberWheels = nxRobotSource->getNbWheels();
    NxWheelDesc* wheelDesc = new NxWheelDesc[numberWheels];
    for(NxU32 i=0; i<numberWheels; i++)
    {
        //NxActor* wheelModel = Simulation::getActorWheel(indexSourceScene,indexNewRobot,i);
        //NxActorDesc wheelActorDesc;
        //wheelModel->saveToDesc(wheelActorDesc);
        //Simulation::gScenes[0]->releaseActor(*wheelModel);

        //NxShape*const* wheelShapes = actorWheel->getShapes();
        //NxBounds3 wheelBounds;
        //wheelShapes[0]->getWorldBounds(wheelBounds);

        const NxWheel* wheel = nxRobotSource->getWheel(i);
        NxWheelShape* wheelShape = ((NxWheel2*)wheel)->getWheelShape();
        //wheelDesc[i].wheelApproximation = 10;
        wheelDesc[i].wheelOrientation = wheelShape->getGlobalOrientation();
        wheelDesc[i].position.set(wheelShape->getGlobalPosition()-robotActor->getGlobalPosition());
        //wheelDesc[i].position.z = 0;
        wheelDesc[i].id = i;
        wheelDesc[i].wheelFlags = ((NxWheel*)wheel)->getWheelFlags();
        wheelDesc[i].wheelRadius = wheel->getRadius();
        //wheelDesc[i].wheelWidth = 100;
        wheelDesc[i].wheelSuspension = wheelShape->getSuspensionTravel();
        wheelDesc[i].springRestitution = 0;
        wheelDesc[i].springDamping = 0;
        wheelDesc[i].springBias = 0.0f;
        wheelDesc[i].maxBrakeForce = 100;
        wheelDesc[i].frictionToFront = 0.1f;//0.1f;
        wheelDesc[i].frictionToSide = 0;//0.02f;//
        wheelDesc[i].inverseWheelMass = wheelShape->getInverseWheelMass(); //TODO: CONFIGURAR PARÂMETRO

        //Angulo das Rodas (Omni)
        wheelDesc[i].angWheelRelRobot = ((NxWheel2*)wheel)->angWheelRelRobot;

        vehicleDesc.robotWheels.pushBack(&wheelDesc[i]);
    }

    //Criar robot, vehicle base
    NxRobot* robot = (NxRobot*)NxRobot::createVehicle(Simulation::gScenes[indexNewScene], &vehicleDesc);
    //NxRobot* robot = (NxRobot*)NxRobot::createVehicle(gScenes[indexSourceScene], &vehicleDesc);
    robot->setId(indexNewRobot);
    robot->setIdTeam(indexNewTeam);
    robot->indexScene = indexNewScene;
    robot->bodyRadius = nxRobotSource->bodyRadius;

    //Dribbler and Kicker
    NxShape*const* robotShapes = robotActor->getShapes();
    for(int i=0; i<robotActor->getNbShapes(); i++) {
        const char* shapeName = robotShapes[i]->getName();
        if(shapeName) {
            char* dribblerName = new char[10];//"Driblador\0"
            dribblerName[9] = 0;
            memcpy(dribblerName, shapeName, strlen(dribblerName));

            if(strcmp(dribblerName, "Driblador") == 0) {
                robot->dribbler->dribblerShapes.push_back(robotShapes[i]);
            }
            delete dribblerName;
        }
    }
    robot->kicker->kickerShapeDesc = new NxBoxShapeDesc();
    NxShapeDesc* shapeDesc = nxRobotSource->kicker->kickerShapeDesc;
    robot->kicker->kickerShapeDesc->localPose = shapeDesc->localPose;
    ((NxBoxShapeDesc*)(robot->kicker->kickerShapeDesc))->dimensions = ((NxBoxShapeDesc*)shapeDesc)->dimensions;

    //Initial Pose
    robot->setInitialPose(robotActor->getGlobalPose());

    robotActor->putToSleep();

    //Transladando o robo
    robot->getActor()->setGlobalPosition(newPosition);

    string label;
    string plabel = "Robo";
    stringstream out;
    out << indexNewRobot;
    out << "-";
    out << indexNewTeam;
    //out << "-";
    //out << indexNewScene;
    label.append(plabel);
    label.append(out.str());
    char* arrayLabel = new char[label.size()+1];
    arrayLabel[label.size()]=0;
    memcpy(arrayLabel, label.c_str(), label.size());
    robotActor->setName(arrayLabel);
    //delete arrayLabel;
}
コード例 #2
0
ファイル: NxRobot.cpp プロジェクト: roboime/legacy-roboime
void Simulation::buildModelRobot(int indexRobot, int indexScene, int indexTeam)
{
    //Veiculo descricao
    //Body Descricao
    NxActor* robotActor = Simulation::getActorRobot(indexScene, indexRobot);
    //NxBounds3 bodyBounds;
    //robotShapes[0]->getWorldBounds(bodyBounds);
    NxVehicleDesc vehicleDesc;

    vehicleDesc.position				= NxVec3(robotActor->getGlobalPosition());
    float mass = 5.;
    vehicleDesc.mass					= mass;//robotActor->getMass(); //PLUGIN TAH COM PROBLEMA XML ERRADO
    //vehicleDesc.motorForce				= 70000;
    //vehicleDesc.maxVelocity				= 300.f;
    //vehicleDesc.cameraDistance			= 8.0f;
    vehicleDesc.centerOfMass.set(NxVec3(0,0,0));//robotActor->getCMassLocalPosition());
    //vehicleDesc.differentialRatio = 3.42f;
    //vehicleDesc.transmissionEfficiency
    vehicleDesc.actor = robotActor;
    vehicleDesc.actor->setMaxAngularVelocity(6.2);
    vehicleDesc.actor->setMass(mass);

    //TODO: LEVANTAR DAMPING
    float t = vehicleDesc.actor->getLinearDamping();
    float b = vehicleDesc.actor->getAngularDamping();
    //vehicleDesc.actor->setAngularDamping(0.5);
    //vehicleDesc.actor->setLinearDamping(0.5);

    //TODO: LEVANTAR CMASS E INERTIA TENSOR

    //vehicleDesc.actor->setCMassOffsetGlobalPosition(NxVec3(0, 0, 0));
    NxMat33 inertiaTensor = NxMat33(NxVec3(1294.4362, 3.14502, -66.954), NxVec3(3.14502, 1094.42351, -0.24279), NxVec3(-66.954, -0.24279, 1754.80511));
    vehicleDesc.actor->setCMassOffsetLocalPose( NxMat34( inertiaTensor, NxVec3(0,0,0) ) );
    //TODO: Diagonalizar inertiaTensor e passar para setMassSpaceInertiaTensor
    vehicleDesc.actor->setMassSpaceInertiaTensor(/*vehicleDesc.actor->getMassSpaceInertiaTensor()*1000.*/NxVec3(1764.3, 1284.9, 1094.4) );

    //Motor descricao
    //NxVehicleMotorDesc motorsDesc[4];
    //for(NxU32 i=0;i<4;i++)
    //{
    //motorsDesc[i].setToCorvette();
    //vehicleDesc.motorsDesc.push_back(&motorsDesc[i]);
    //}

    //Roda (Wheel) descricao
    int numberWheels = Simulation::getNumberWheels(indexScene, indexRobot);
    NxWheelDesc* wheelDesc = new NxWheelDesc[numberWheels];
    for(NxU32 i=0; i<numberWheels; i++)
    {
        //NxActor* wheelModel = Simulation::getActorWheel(indexScene,indexRobot,i);
        //NxActorDesc wheelActorDesc;
        //wheelModel->saveToDesc(wheelActorDesc);
        //Simulation::gScenes[0]->releaseActor(*wheelModel);
        NxActor* actorWheel = Simulation::getActorWheel(indexScene,indexRobot,i);//wheelModel;//Simulation::gScenes[0]->createActor(wheelActorDesc);
        //NxShape*const* wheelShapes = actorWheel->getShapes();
        //NxBounds3 wheelBounds;
        //wheelShapes[0]->getWorldBounds(wheelBounds);

        //Para exportar modelo da roda do 3ds Max
        //	NxWhee
        //wheelDesc[i]
        //robot1Shapes[0]->isConvexMesh()->getConvexMesh().saveToDesc(convexMesh);
        //NxWheelShape* wheelShape = (NxWheelShape*)wheel;
        //NxTriangleMeshDesc meshDesc = *((NxTriangleMeshDesc*)(mesh->userData));
        //robot1Shapes[0]->isWheel()->

        //wheelDesc[i].wheelApproximation = 10;

        wheelDesc[i].wheelOrientation = actorWheel->getGlobalOrientation();
        wheelDesc[i].position.set(actorWheel->getGlobalPosition()-robotActor->getGlobalPosition());
        //wheelDesc[i].position.z = 0;
        wheelDesc[i].id = i;
        wheelDesc[i].wheelRadius = 27.6;
        //wheelDesc[i].wheelWidth = 100;
        wheelDesc[i].wheelSuspension = 0;
        wheelDesc[i].springRestitution = 0;
        wheelDesc[i].springDamping = 0;
        wheelDesc[i].springBias = 0.0f;
        wheelDesc[i].maxBrakeForce = 100;
        wheelDesc[i].frictionToFront = 0.1f;//0.1f;	//TODO: CONFIGURAR PARÂMETRO
        wheelDesc[i].frictionToSide = 0;//0.02f;	//TODO: CONFIGURAR PARÂMETRO
        wheelDesc[i].inverseWheelMass = 0.1;		//TODO: CONFIGURAR PARÂMETRO

        //Angulo das Rodas (Omni)
        NxVec3 wheelPosRel = actorWheel->getGlobalPosition() - robotActor->getGlobalPosition();
        wheelDesc[i].angWheelRelRobot = NxMath::atan2( wheelPosRel.y, wheelPosRel.x );

        vehicleDesc.robotWheels.pushBack(&wheelDesc[i]);
        Simulation::gScenes[indexScene]->scene->releaseActor(*actorWheel);

        //NxU32 flags = NX_WF_BUILD_LOWER_HALF;
        wheelDesc[i].wheelFlags = NX_WF_ACCELERATED | NX_WF_AFFECTED_BY_HANDBRAKE | NX_WF_USE_WHEELSHAPE | NX_WF_BUILD_LOWER_HALF;// |/*NX_WF_STEERABLE_INPUT |*/ flags;
    }

    //NxBall* teste = Simulation::gScenes[indexScene]->ball;

    //Criar robot, vehicle base
    NxRobot* robot = (NxRobot*)NxRobot::createVehicle(Simulation::gScenes[indexScene], &vehicleDesc);
    if(robot) {
        robot->setId(indexRobot);
        robot->setIdTeam(indexTeam);
        robot->indexScene = indexScene;

        //Dribbler and Kicker
        for(int i=0; i<robotActor->getNbShapes(); i++) {
            NxShape*const* robotShapes = robotActor->getShapes();
            const char* shapeName = robotShapes[i]->getName();
            if(shapeName) {
                char* dribblerName = new char[10];//"Driblador\0"
                dribblerName[9] = 0;
                memcpy(dribblerName, shapeName, strlen(dribblerName));

                char* kickerName = new char[9];//"Chutador\0"
                kickerName[8] = 0;
                memcpy(kickerName, shapeName, strlen(kickerName));

                if(strcmp(dribblerName, "Driblador") == 0) {
                    robot->dribbler->dribblerShapes.push_back(robotShapes[i]);
                }
                else if(strcmp(kickerName, "Chutador") == 0) {
                    robot->kicker->kickerShapeDesc = Simulation::copyShapeDesc(robotShapes[i]);
                    robotActor->releaseShape(*(robotShapes[i]));
                }
                delete dribblerName;
                delete kickerName;
            }
        }

        //Initial Pose
        robot->setInitialPose(robotActor->getGlobalPose());

        robotActor->putToSleep();

        //Mudar pose do robo
        //NxQuat q;
        //q.
        //q.fromAngleAxis(180.0f, NxVec3(0.0f, 1.0f, 0.0f));
        //robot->getActor()->setGlobalPose(pose);

        //Release no actor importado do 3ds Max
        //gScenes[0]->releaseActor(*robotActor);

        string label;
        string plabel = "Robo";
        stringstream out;
        out << indexRobot;
        out << "-";
        out << indexTeam;
        //out << "-";
        //out << indexScene;
        label.append(plabel);
        label.append(out.str());
        char* arrayLabel = new char[label.size()+1];
        arrayLabel[label.size()]=0;
        memcpy(arrayLabel, label.c_str(), label.size());
        robotActor->setName(arrayLabel);
        //delete arrayLabel;
    }
}