void MyController::onCollision(CollisionEvent &evt) {
Colli = true;
counter ++ ;
SimObj *target = getObj("box_001");
SimObj *toolName = getObj("TShapeTool_001");
if(Colli && counter == 1 )
{
toolName->getLinearVelocity(toolVelAtHit);
target->getLinearVelocity(targetVelAtHit);
cout << "The tool velocity is " << toolVelAtHit.x() << " , " << toolVelAtHit.z() << endl;
cout << "The target velocity is " << targetVelAtHit.x() << " , " << targetVelAtHit.z() << endl;
myfile << toolVelAtHit.x() << " , " << toolVelAtHit.z() << " , " ;
myfile << targetVelAtHit.x() << " , " << targetVelAtHit.z() << " , " ;
Colli = false;
}
}
double MyController::onAction(ActionEvent &evt) {
SimObj *obj = getObj(myname()); //obtaining handle to the agent
obj->setLinearVelocity(0,0,100); //apply the linear velocity 20[m/s] in Z axis
Vector3d currentVelocity;
obj->getLinearVelocity(currentVelocity);
if (myfile.is_open() && (evt.time() < 15) )
{
myfile << currentVelocity.x() << " , " << currentVelocity.z() << "\n" ;
}
if(evt.time() > 15)
{
exit(0);
}
return 0.00001;
}