コード例 #1
0
void MyController::onInit(InitEvent &evt) {  

  // handle of target and tool
  SimObj *toolName  = getObj("TShapeTool_7");
  SimObj *target = getObj("box_7");

  toolName->setMass(10.0); // mass of all the tools should be set uniformly
  
  target->getPosition(initTargetPos);  // initial target position
  target->getRotation(initTargetRotation); // initial target rotation in quaternion

  toolName->getPosition(initToolPos);  // initial tool position
  toolName->getRotation(initToolRotation); // initial tool rotation in quaternion

  isTargetAtRest = true;     // target and tool both are at rest initially.
  isToolAtRest = true;  
  insideTimer = true; 
  f_x = 0 ;
  f_z = 0 ;

  int xForceVariance = 4000;
  int zForceVariance = 4000;

  flag = true;
  Colli = false; 
  counterOfCollision = 0; 
  counterOfAction = 0; 


  // Reset the forces applied
  double r;
  r = ((double) rand() / (RAND_MAX)) ;
  f_x = r * int(xForceVariance);
  f_z = r * int(zForceVariance);

  forceOnTool_z = 8000 + f_z;
  forceOnTool_x = 0;

  forceOnTool.set(forceOnTool_x, 0 , forceOnTool_z);

  toolName->addForce(forceOnTool.x(), forceOnTool.y(), forceOnTool.z());
  toolName->getVelocity(appliedToolVel);

  myfile.flush(); // I have uncommented the file, because I want to overwrite the file.
  

}  
コード例 #2
0
void MyController::onInit(InitEvent &evt) {  

 
  SimObj *target = getObj("box_015");
  SimObj *toolName = getObj("TShapeTool_015");


  toolName->setMass(10.0);
  
  target->getPosition(initTargetPos);
  target->getRotation(initTargetRotation);

  toolName->getPosition(initToolPos);
  toolName->getRotation(initToolRotation);

  isTargetAtRest = true;   
  isToolAtRest = true;  
  f_x = 0 ;
  f_z = 0 ;

  int xForceVariance = 2000;
  int zForceVariance = 2000;


  // Reset the forces applied
  double r;
  r = ((double) rand() / (RAND_MAX)) ;
  f_x = r * int(xForceVariance);
  f_z = r * int(zForceVariance);

  flag = true;
  Colli = false; 
  counter = 0; 

  forceOnTool_x = 5000 + f_z;
  forceOnTool_z = 5000 + f_z;

  // cout << "The applied force " << forceOnTool_x <<  " , " << forceOnTool_z << endl;


  forceOnTool.set(forceOnTool_x, 0 , forceOnTool_z);
  tapWithTool(toolName, initToolRotation, forceOnTool);

  myfile.flush(); // I have uncommented the file, because I want to overwrite the file. 


//   if (myfile.is_open())
//   {
//      myfile << "Action" << " , " << "FunctionalFeature" << " , " ;
//      myfile << "forceOnTool_X" << " , " << "forceOnTool_Z " <<  " , ";
//      myfile << "toolVelAtHit_X" << " , " << "toolVelAtHit_Z" << " , ";  
//      myfile << "InitialToolPos_X" << " , " << "InitialToolPos_Z" << " , ";
//      myfile << "InitialTargetPos_X" << " , " << "InitialTargetPos_Z" << " , ";
//      myfile <<  "targetFinalPos_X" << " , " << "targetFinalPos_Z"  << " , ";
//      myfile << "targetDisplacement_X" << " , " << "targetDisplacement_Z";
//      myfile <<  "\n" ;

// }


}