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.
}
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" ;
// }
}