void Apex::LoadDynamicTriangleMesh(int numVerts, PxVec3* verts, ObjectInfo info)
{
PxRigidDynamic* meshActor = mPhysics->createRigidDynamic(PxTransform::createIdentity());
PxShape* meshShape, *convexShape;
if(meshActor)
{
//meshActor->setRigidDynamicFlag(PxRigidDynamicFlag::eKINEMATIC, true);
PxTriangleMeshDesc meshDesc;
meshDesc.points.count = numVerts;
meshDesc.points.stride = sizeof(PxVec3);
meshDesc.points.data = verts;
//meshDesc.triangles.count = numInds/3.;
//meshDesc.triangles.stride = 3*sizeof(int);
//meshDesc.triangles.data = inds;
PxToolkit::MemoryOutputStream writeBuffer;
bool status = mCooking->cookTriangleMesh(meshDesc, writeBuffer);
if(!status)
return;
PxToolkit::MemoryInputData readBuffer(writeBuffer.getData(), writeBuffer.getSize());
PxTriangleMeshGeometry triGeom;
triGeom.triangleMesh = mPhysics->createTriangleMesh(readBuffer);
//triGeom.scale = PxMeshScale(PxVec3(info.sx,info.sy,info.sz),physx::PxQuat::createIdentity());
meshShape = meshActor->createShape(triGeom, *defaultMaterial);
//meshShape->setLocalPose(PxTransform(PxVec3(info.x,info.y,info.z)));
meshShape->setFlag(PxShapeFlag::eUSE_SWEPT_BOUNDS, true);
PxConvexMeshDesc convexDesc;
convexDesc.points.count = numVerts;
convexDesc.points.stride = sizeof(PxVec3);
convexDesc.points.data = verts;
convexDesc.flags = PxConvexFlag::eCOMPUTE_CONVEX;
if(!convexDesc.isValid())
return;
PxToolkit::MemoryOutputStream buf;
if(!mCooking->cookConvexMesh(convexDesc, buf))
return;
PxToolkit::MemoryInputData input(buf.getData(), buf.getSize());
PxConvexMesh* convexMesh = mPhysics->createConvexMesh(input);
PxConvexMeshGeometry convexGeom = PxConvexMeshGeometry(convexMesh);
convexShape = meshActor->createShape(convexGeom, *defaultMaterial);
//convexShape->setLocalPose(PxTransform(PxVec3(info.x,info.y,info.z)));
//convexShape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
convexShape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, true);
meshShape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
meshActor->setRigidDynamicFlag(PxRigidDynamicFlag::eKINEMATIC, false);
meshActor->setGlobalPose(PxTransform(PxVec3(info.x,info.y,info.z), PxQuat(info.ry, PxVec3(0.0f,1.0f,0.0f))));
mScene[mCurrentScene]->addActor(*meshActor);
dynamicActors.push_back(meshActor);
}
}
PxRigidDynamic* Vehicle::createVehicleActor(const PxVehicleChassisData& chassisData,
PxMaterial** wheelMaterials, PxConvexMesh** wheelConvexMeshes, const PxU32 numWheels,
PxMaterial** chassisMaterials, PxConvexMesh** chassisConvexMeshes, const PxU32 numChassisMeshes, PxPhysics& physics, PxVec3 initPos)
{
//We need a rigid body actor for the vehicle.
//Don't forget to add the actor to the scene after setting up the associated vehicle.
PxRigidDynamic* vehActor = physics.createRigidDynamic(PxTransform(initPos));
vehActor->setRigidBodyFlag(PxRigidBodyFlag::eENABLE_CCD, true);
//Wheel and chassis simulation filter data.
PxFilterData wheelSimFilterData;
wheelSimFilterData.word0 = COLLISION_FLAG_WHEEL;
wheelSimFilterData.word1 = COLLISION_FLAG_WHEEL_AGAINST;
PxFilterData chassisSimFilterData;
chassisSimFilterData.word0 = COLLISION_FLAG_CHASSIS;
chassisSimFilterData.word1 = COLLISION_FLAG_CHASSIS_AGAINST;
//Wheel and chassis query filter data.
//Optional: cars don't drive on other cars.
PxFilterData wheelQryFilterData;
wheelQryFilterData.word0 = FilterGroup::eWHEEL;
setupNonDrivableSurface(wheelQryFilterData);
PxFilterData chassisQryFilterData;
chassisQryFilterData.word0 = FilterGroup::eVEHICLE;
setupNonDrivableSurface(chassisQryFilterData);
//Add all the wheel shapes to the actor.
for (PxU32 i = 0; i < numWheels; i++)
{
PxConvexMeshGeometry geom(wheelConvexMeshes[i]);
PxShape* wheelShape = vehActor->createShape(geom, *wheelMaterials[i]);
wheelShape->setQueryFilterData(wheelQryFilterData);
wheelShape->setSimulationFilterData(wheelSimFilterData);
wheelShape->setLocalPose(PxTransform(PxIdentity));
}
//Add the chassis shapes to the actor.
for (PxU32 i = 0; i < numChassisMeshes; i++)
{
PxShape* chassisShape = vehActor->createShape
(PxConvexMeshGeometry(chassisConvexMeshes[i]), *chassisMaterials[i]);
chassisShape->setQueryFilterData(chassisQryFilterData);
chassisShape->setSimulationFilterData(chassisSimFilterData);
chassisShape->setLocalPose(PxTransform(PxIdentity));
}
vehActor->setMass(chassisData.mMass);
vehActor->setMassSpaceInertiaTensor(chassisData.mMOI);
vehActor->setCMassLocalPose(PxTransform(chassisData.mCMOffset, PxQuat(PxIdentity)));
return vehActor;
}
PxGeometry& Camera::getPixelFrustum(FDreal pixelXSize, FDreal pixelYSize) {
if (pixelFrustum.isValid()) {
return pixelFrustum;
}
Vector3 proj1(-pixelXSize / 2, -pixelYSize / 2, 1);
Vector3 proj2(-pixelXSize / 2, pixelYSize / 2, 1);
Vector3 proj3(pixelXSize / 2, -pixelYSize / 2, 1);
Vector3 proj4(pixelXSize / 2, pixelYSize / 2, 1);
fdmath::Matrix44 projInverse;
fdmath::gluInvertMatrix44(projection, projInverse);
FDreal len = -100.0f;
Vector3 view1 = projInverse.transform(proj1).getNormalized() * len;
Vector3 view2 = projInverse.transform(proj2).getNormalized() * len;
Vector3 view3 = projInverse.transform(proj3).getNormalized() * len;
Vector3 view4 = projInverse.transform(proj4).getNormalized() * len;
static const PxVec3 convexVerts[] = {PxVec3(0,0,0), view1,
view2, view3, view4};
PhysicsSystem* physics = FreeThread__getWorld().
getSystem<PhysicsSystem>();
PxConvexMeshDesc convexDesc;
convexDesc.points.count = 5;
convexDesc.points.stride = sizeof(PxVec3);
convexDesc.points.data = convexVerts;
convexDesc.flags = PxConvexFlag::eCOMPUTE_CONVEX;
convexDesc.vertexLimit = 256;
PxDefaultMemoryOutputStream buf;
if (!physics->cooking->cookConvexMesh(convexDesc, buf)) {
FD_THROW(GenericException("Unable to cook convex pixel mesh!"));
}
PxDefaultMemoryInputData input(buf.getData(), buf.getSize());
PxConvexMesh* convexMesh = physics->physics->createConvexMesh(input);
pixelFrustum = PxConvexMeshGeometry(convexMesh);
return pixelFrustum;
}
void rm3d::ai::WheelbotModule::init (const PxTransform& transform) {
this->executionDelay = 0;
WheelbotSimBase *rsim = (WheelbotSimBase *) this->sim;
this->firstStep = true;
vector<PxVec3> bodyVecs;
vector<PxVec3> wheelVecs;
float wheelRadiusInc = wheelbotWheelRadius/pointsPerRadius;
float circleIncCountWheel = 0.0;
bodyVecs.push_back(PxVec3(wheelbotHalfWidth, wheelbotHalfHeight, wheelbotHalfDepth));
bodyVecs.push_back(PxVec3(wheelbotHalfWidth, wheelbotHalfHeight, -wheelbotHalfDepth));
bodyVecs.push_back(PxVec3(wheelbotHalfWidth, -wheelbotHalfHeight, wheelbotHalfDepth));
bodyVecs.push_back(PxVec3(wheelbotHalfWidth, -wheelbotHalfHeight, -wheelbotHalfDepth));
bodyVecs.push_back(PxVec3(-wheelbotHalfWidth, wheelbotHalfHeight, wheelbotHalfDepth));
bodyVecs.push_back(PxVec3(-wheelbotHalfWidth, wheelbotHalfHeight, -wheelbotHalfDepth));
bodyVecs.push_back(PxVec3(-wheelbotHalfWidth, -wheelbotHalfHeight, wheelbotHalfDepth));
bodyVecs.push_back(PxVec3(-wheelbotHalfWidth, -wheelbotHalfHeight, -wheelbotHalfDepth));
while (circleIncCountWheel <= wheelbotWheelRadius) {
if (circleIncCountWheel == 0) {
wheelVecs.push_back(PxVec3(0,wheelbotWheelRadius,wheelbotHalfWheelDepth));
wheelVecs.push_back(PxVec3(0,wheelbotWheelRadius,-wheelbotHalfWheelDepth));
wheelVecs.push_back(PxVec3(0,-wheelbotWheelRadius,wheelbotHalfWheelDepth));
wheelVecs.push_back(PxVec3(0,-wheelbotWheelRadius,-wheelbotHalfWheelDepth));
} else if (circleIncCountWheel == wheelbotWheelRadius) {
wheelVecs.push_back(PxVec3(wheelbotWheelRadius,0,wheelbotHalfWheelDepth));
wheelVecs.push_back(PxVec3(wheelbotWheelRadius,0,-wheelbotHalfWheelDepth));
wheelVecs.push_back(PxVec3(-wheelbotWheelRadius,0,wheelbotHalfWheelDepth));
wheelVecs.push_back(PxVec3(-wheelbotWheelRadius,0,-wheelbotHalfWheelDepth));
} else {
wheelVecs.push_back(PxVec3(wheelbotWheelRadius - circleIncCountWheel,sqrt(powf(wheelbotWheelRadius,2.0) - powf(wheelbotWheelRadius - circleIncCountWheel, 2.0)),-wheelbotHalfWheelDepth));
wheelVecs.push_back(PxVec3(wheelbotWheelRadius - circleIncCountWheel,-sqrt(powf(wheelbotWheelRadius,2.0) - powf(wheelbotWheelRadius - circleIncCountWheel, 2.0)),-wheelbotHalfWheelDepth));
wheelVecs.push_back(PxVec3(-wheelbotWheelRadius + circleIncCountWheel,sqrt(powf(wheelbotWheelRadius,2.0) - powf(-wheelbotWheelRadius + circleIncCountWheel, 2.0)),-wheelbotHalfWheelDepth));
wheelVecs.push_back(PxVec3(-wheelbotWheelRadius + circleIncCountWheel,-sqrt(powf(wheelbotWheelRadius,2.0) - powf(-wheelbotWheelRadius + circleIncCountWheel, 2.0)),-wheelbotHalfWheelDepth));
wheelVecs.push_back(PxVec3(wheelbotWheelRadius - circleIncCountWheel,sqrt(powf(wheelbotWheelRadius,2.0) - powf(wheelbotWheelRadius - circleIncCountWheel, 2.0)),wheelbotHalfWheelDepth));
wheelVecs.push_back(PxVec3(wheelbotWheelRadius - circleIncCountWheel,-sqrt(powf(wheelbotWheelRadius,2.0) - powf(wheelbotWheelRadius - circleIncCountWheel, 2.0)),wheelbotHalfWheelDepth));
wheelVecs.push_back(PxVec3(-wheelbotWheelRadius + circleIncCountWheel,sqrt(powf(wheelbotWheelRadius,2.0) - powf(-wheelbotWheelRadius + circleIncCountWheel, 2.0)),wheelbotHalfWheelDepth));
wheelVecs.push_back(PxVec3(-wheelbotWheelRadius + circleIncCountWheel,-sqrt(powf(wheelbotWheelRadius,2.0) - powf(-wheelbotWheelRadius + circleIncCountWheel, 2.0)),wheelbotHalfWheelDepth));
}
circleIncCountWheel += wheelRadiusInc;
}
//Convex mesh for inner shapes
WheelbotSimBase * simulator = (WheelbotSimBase *) sim;
PxConvexMesh *bodyMesh = rm3d::SimulationUtility::GenerateConvex(*(simulator->getSimulationPhysics()),*simulator->getSimulationCooking(), bodyVecs.size(), &bodyVecs[0]);
PxConvexMesh *wheelMesh = rm3d::SimulationUtility::GenerateConvex(*(simulator->getSimulationPhysics()),*simulator->getSimulationCooking(), wheelVecs.size(), &wheelVecs[0]);
bodyMaterial = simulator->getSimulationPhysics()->createMaterial(wheelbotStaticFrictionBody,wheelbotDynamicFrictionBody,wheelbotRestitutionBody);
wheelMaterial = simulator->getSimulationPhysics()->createMaterial(wheelbotStaticFrictionWheel,wheelbotDynamicFrictionWheel,wheelbotRestitutionWheel);
wheelbot = simulator->getSimulationPhysics()->createArticulation();
body = wheelbot->createLink(NULL, transform);
bodyShape = body->createShape(PxConvexMeshGeometry(bodyMesh), *bodyMaterial);
bodyShape->setLocalPose(PxTransform(PxVec3(0), PxQuat(PxHalfPi, PxVec3(1,0,0))));
leftFrontWheel = wheelbot->createLink(body, transform*PxTransform(PxVec3(wheelbotHalfWidth,0,-wheelbotHalfHeight - wheelbotWheelDepth/2.0),
PxQuat(0, PxVec3(0,1,0))));
leftFrontWheelShape = leftFrontWheel->createShape(PxConvexMeshGeometry(wheelMesh),*wheelMaterial);
leftBackWheel = wheelbot->createLink(body,transform*PxTransform(PxVec3(-wheelbotHalfWidth,0,-wheelbotHalfHeight - wheelbotWheelDepth/2.0),
PxQuat(0, PxVec3(0,1,0))));
leftBackWheelShape = leftBackWheel->createShape(PxConvexMeshGeometry(wheelMesh),*wheelMaterial);
rightFrontWheel = wheelbot->createLink(body, transform*PxTransform(PxVec3(wheelbotHalfWidth,0,wheelbotHalfHeight + wheelbotWheelDepth/2.0),
PxQuat(0, PxVec3(0,1,0))));
rightFrontWheelShape = rightFrontWheel->createShape(PxConvexMeshGeometry(wheelMesh),*wheelMaterial);
rightBackWheel = wheelbot->createLink(body, transform*PxTransform(PxVec3(-wheelbotHalfWidth,0,wheelbotHalfHeight + wheelbotWheelDepth/2.0),
PxQuat(0, PxVec3(0,1,0))));
rightBackWheelShape = rightBackWheel->createShape(PxConvexMeshGeometry(wheelMesh),*wheelMaterial);
this->bodyString = this->name + "Body";
this->frontLeftWheelString = this->name + "FL";
this->backLeftWheelString = this->name + "RL";
this->backRightWheelString = this->name + "RR";
this->frontRightWheelString = this->name + "FR";
//set names for shapes
body->setName(bodyString.c_str());
rightFrontWheel->setName(this->frontRightWheelString.c_str());
rightBackWheel->setName(this->backRightWheelString.c_str());
leftBackWheel->setName(this->backLeftWheelString.c_str());
leftFrontWheel->setName(this->frontLeftWheelString.c_str());
simulator->addColorToColorsDictionary(Color(70.0/256.0,70.0/256.0,70.0/256.0), this->bodyString);
simulator->addColorToColorsDictionary(Color(0,0,1), this->frontLeftWheelString);
simulator->addColorToColorsDictionary(Color(1,0,0), this->frontRightWheelString);
simulator->addColorToColorsDictionary(Color(0,1,0), this->backLeftWheelString);
simulator->addColorToColorsDictionary(Color(1,1,0), this->backRightWheelString);
PxRigidBodyExt::setMassAndUpdateInertia(*body, wheelbotBodyMass);
PxRigidBodyExt::setMassAndUpdateInertia(*leftFrontWheel, wheelbotWheelMass);
PxRigidBodyExt::setMassAndUpdateInertia(*rightFrontWheel, wheelbotWheelMass);
PxRigidBodyExt::setMassAndUpdateInertia(*leftBackWheel, wheelbotWheelMass);
PxRigidBodyExt::setMassAndUpdateInertia(*rightBackWheel, wheelbotWheelMass);
wheelbot->setSeparationTolerance(0.001f);
frontLeftJoint = leftFrontWheel->getInboundJoint();
frontRightJoint = rightFrontWheel->getInboundJoint();
backLeftJoint = leftBackWheel->getInboundJoint();
backRightJoint = rightBackWheel->getInboundJoint();
leftFrontWheel->getInboundJoint()->setParentPose(PxTransform(PxVec3(wheelbotHalfWidth,0,-wheelbotHalfHeight),PxQuat(-PxHalfPi,PxVec3(0,1,0))));
leftFrontWheel->getInboundJoint()->setChildPose(PxTransform(PxVec3(0,0,wheelbotWheelDepth/2.0),PxQuat(-PxHalfPi,PxVec3(0,1,0))));
rightFrontWheel->getInboundJoint()->setParentPose(PxTransform(PxVec3(wheelbotHalfWidth,0,wheelbotHalfHeight),PxQuat(-PxHalfPi,PxVec3(0,1,0))));
rightFrontWheel->getInboundJoint()->setChildPose(PxTransform(PxVec3(0,0,-wheelbotWheelDepth/2.0),PxQuat(-PxHalfPi,PxVec3(0,1,0))));
leftBackWheel->getInboundJoint()->setParentPose(PxTransform(PxVec3(-wheelbotHalfWidth,0,-wheelbotHalfHeight),PxQuat(-PxHalfPi,PxVec3(0,1,0))));
leftBackWheel->getInboundJoint()->setChildPose(PxTransform(PxVec3(0,0,wheelbotWheelDepth/2.0),PxQuat(-PxHalfPi,PxVec3(0,1,0))));
rightBackWheel->getInboundJoint()->setParentPose(PxTransform(PxVec3(-wheelbotHalfWidth,0,wheelbotHalfHeight),PxQuat(-PxHalfPi,PxVec3(0,1,0))));
rightBackWheel->getInboundJoint()->setChildPose(PxTransform(PxVec3(0,0,-wheelbotWheelDepth/2.0),PxQuat(-PxHalfPi,PxVec3(0,1,0))));
frontLeftJoint->setSwingLimit(0.001,0.001);
frontRightJoint->setSwingLimit(0.001,0.001);
backLeftJoint->setSwingLimit(0.001,0.001);
backRightJoint->setSwingLimit(0.001,0.001);
frontLeftJoint->setSwingLimitEnabled(true);
frontRightJoint->setSwingLimitEnabled(true);
backLeftJoint->setSwingLimitEnabled(true);
backRightJoint->setSwingLimitEnabled(true);
frontLeftJoint->setTwistLimitEnabled(false);
frontRightJoint->setTwistLimitEnabled(false);
backLeftJoint->setTwistLimitEnabled(false);
backRightJoint->setTwistLimitEnabled(false);
//frontLeftJoint->setTargetOrientation(PxQuat(0,PxVec3(1,0,0)));
//frontRightJoint->setTargetOrientation(PxQuat(0,PxVec3(1,0,0)));
//backLeftJoint->setTargetOrientation(PxQuat(0,PxVec3(1,0,0)));
//backRightJoint->setTargetOrientation(PxQuat(0,PxVec3(1,0,0)));
frontLeftJoint->setExternalCompliance(.001);
frontLeftJoint->setInternalCompliance(.001);
frontRightJoint->setExternalCompliance(.001);
frontRightJoint->setInternalCompliance(.001);
backLeftJoint->setInternalCompliance(.001);
backLeftJoint->setExternalCompliance(.001);
backRightJoint->setInternalCompliance(.001);
backRightJoint->setExternalCompliance(.001);
frontLeftJoint->setSpring(0);
frontRightJoint->setSpring(0);
backLeftJoint->setSpring(0);
backRightJoint->setSpring(0);
frontLeftJoint->setDamping(2000);
frontRightJoint->setDamping(2000);
backLeftJoint->setDamping(2000);
backRightJoint->setDamping(2000);
frontLeftJoint->setTargetVelocity(PxVec3(0,0,0));
frontRightJoint->setTargetVelocity(PxVec3(0,0,0));
backLeftJoint->setTargetVelocity(PxVec3(0,0,0));
backRightJoint->setTargetVelocity(PxVec3(0,0,0));
wheelbot->setSolverIterationCounts(255);
simulator->getSimulationScene()->addArticulation(*wheelbot);
//Set names for rigid bodies (for coloring purposes)
this->currentState = new rm3d::ai::WheelbotState();
this->desiredState = new rm3d::ai::WheelbotState();
this->numDocks = 6;
this->docks = (rm3d::ai::Dock<PxShape*, PxShape*, PxArticulationLink*, PxFixedJoint*>**)new rm3d::ai::WheelbotDock*[this->numDocks];
for (int i=0; i<this->numDocks; i++) {
this->docks[i] = NULL;
}
for (int i=0; i<this->numActuatorsSensors; i++) {
this->sensors[i] = NULL;
this->actuators[i] = NULL;
this->percepts[i] = NULL;
this->actions[i] = NULL;
}
this->numLinks = 1;
this->links = new PxArticulationLink*[this->numLinks];
this->links[0] = body;
this->numJoints = 0;
this->joints = NULL;
this->mBody = wheelbot;
this->sensors[posOrientInt] = (rm3d::ai::Sensor *) new rm3d::ai::WheelbotPositionOrientationSensor(posOrientInt);
this->sensors[linearVelocitiesInt] = (rm3d::ai::Sensor *) new rm3d::ai::WheelbotLinearVelocitiesSensor(linearVelocitiesInt);
this->sensors[angularVelocitiesInt] = (rm3d::ai::Sensor *) new rm3d::ai::WheelbotAngularVelocitiesSensor(angularVelocitiesInt);
this->sensors[rangedMessageInt] = (rm3d::ai::Sensor *) new rm3d::ai::WheelbotRangedMessageSensor(rangedMessageInt, sim);
this->sensors[obstaclePoseInt] = (rm3d::ai::Sensor *) new rm3d::ai::WheelbotObstaclePoseSensor(obstaclePoseInt);
this->sensors[obstaclePropertiesInt] = (rm3d::ai::Sensor *) new rm3d::ai::WheelbotObstaclePropertiesSensor(obstaclePropertiesInt);
this->sensors[xAxisRaycastInt] = (rm3d::ai::Sensor *) new rm3d::ai::WheelbotXAxisRaycastSensor(xAxisRaycastInt, 0.3);
this->sensors[negxAxisRaycastInt] = (rm3d::ai::Sensor *) new rm3d::ai::WheelbotNegXAxisRaycastSensor(negxAxisRaycastInt, 1.0);
this->sensors[colorBlobInt] = (rm3d::ai::Sensor *) new rm3d::ai::WheelbotColorBlobSensor(colorBlobInt);
this->percepts[posOrientInt] = (rm3d::ai::Percept *)new rm3d::ai::WheelbotPositionOrientationPercept(0.0, posOrientInt);
this->percepts[linearVelocitiesInt] = (rm3d::ai::Percept *) new rm3d::ai::WheelbotLinearVelocityPercept(0.0, linearVelocitiesInt);
this->percepts[angularVelocitiesInt] = (rm3d::ai::Percept *) new rm3d::ai::WheelbotAngularVelocityPercept(0.0, angularVelocitiesInt);
this->percepts[rangedMessageInt] = (rm3d::ai::Percept *) new rm3d::ai::WheelbotMessagePercept(0.0, rangedMessageInt);
this->percepts[obstaclePoseInt] = (rm3d::ai::Percept *) new rm3d::ai::WheelbotObstaclePercept(0.0, obstaclePoseInt);
this->percepts[obstaclePropertiesInt] = (rm3d::ai::Percept *) new rm3d::ai::WheelbotObstaclePercept(0.0, obstaclePropertiesInt);
this->percepts[xAxisRaycastInt] = (rm3d::ai::Percept *) new rm3d::ai::WheelbotRaycastPercept(0.0, xAxisRaycastInt);
this->percepts[negxAxisRaycastInt] = (rm3d::ai::Percept *) new rm3d::ai::WheelbotRaycastPercept(0.0, negxAxisRaycastInt);
this->percepts[colorBlobInt] = (rm3d::ai::Percept *) new rm3d::ai::WheelbotFramePercept(0.0, colorBlobInt);
this->actuators[rangedMessageInt] = (rm3d::ai::Actuator *)new rm3d::ai::WheelbotRangedMessageActuator(rangedMessageInt, sim, 5.0);
this->actuators[flWheelInt] = (rm3d::ai::Actuator *) new rm3d::ai::WheelbotFrontLeftWheelActuator(flWheelInt);
this->actuators[frWheelInt] = (rm3d::ai::Actuator *) new rm3d::ai::WheelbotFrontRightWheelActuator(frWheelInt);
this->actuators[rlWheelInt] = (rm3d::ai::Actuator *) new rm3d::ai::WheelbotBackLeftWheelActuator(rlWheelInt);
this->actuators[rrWheelInt] = (rm3d::ai::Actuator *) new rm3d::ai::WheelbotBackRightWheelActuator(rrWheelInt);
this->actions[rangedMessageInt] = (rm3d::ai::Action *) new rm3d::ai::WheelbotMessageAction(rangedMessageInt);
this->actions[flWheelInt] = (rm3d::ai::Action *) new rm3d::ai::WheelbotWheelAction(flWheelInt);
this->actions[frWheelInt] = (rm3d::ai::Action *) new rm3d::ai::WheelbotWheelAction(frWheelInt);
this->actions[rlWheelInt] = (rm3d::ai::Action *) new rm3d::ai::WheelbotWheelAction(rlWheelInt);
this->actions[rrWheelInt] = (rm3d::ai::Action *) new rm3d::ai::WheelbotWheelAction(rrWheelInt);
this->model = (void *)new rm3d::ai::WheelbotModel(10);
}
