// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
setCameraHomePos(Pos(-16.4509, 15.6927, 12.5683), Pos(-133.688, -26.4496, 0));
setCameraMode(Static);
global.odeConfig.setParam("noise",0.05);
global.odeConfig.setParam("realtimefactor",2);
// global.odeConfig.setParam("gravity", 0);
Playground* playground;
if(env==ElipticBasin){
playground = new Playground(odeHandle, osgHandle,
osg::Vec3(20, 0.2, height+1.f), 2);
}else{
playground = new Playground(odeHandle, osgHandle,
osg::Vec3(20, 0.2, height+0.3f), 1);
}
playground->setColor(Color(.1,0.7,.1));
playground->setTexture("");
playground->setPosition(osg::Vec3(0,0,0.01f)); // playground positionieren und generieren
global.obstacles.push_back(playground);
int numpassive=0;
switch(env){
case ThreeBump:
{
TerrainGround* terrainground =
new TerrainGround(odeHandle, osgHandle.changeColor(Color(1.0f,1.0,1.0)),
"terrains/macrospheresLMH_64.ppm","terrains/macrospheresTex_256.ppm",
20, 20, height, OSGHeightField::LowMidHigh);
terrainground->setPose(osg::Matrix::translate(0, 0, 0.1));
global.obstacles.push_back(terrainground);
addRobot(odeHandle, osgHandle, global, 0);
addRobot(odeHandle, osgHandle, global, 1);
numpassive=4;
}
break;
case SingleBasin:
// at Radius 3.92 height difference of 0.5 and at 6.2 height difference of 1
// ./start -single -track -f 2 -r 1297536669
case ElipticBasin:
// ./start -eliptic -f 5 -track -r 1297628680
{
TerrainGround* terrainground =
new TerrainGround(odeHandle, osgHandle.changeColor(Color(1.0f,1.0f,1.0f)),
// "terrains/dip128_flat.ppm","terrains/dip128_flat_texture.ppm",
"terrains/dip128.ppm","terrains/dip128_texture.ppm",
20, env == SingleBasin ? 20 : 40, height, OSGHeightField::Red);
terrainground->setPose(osg::Matrix::translate(0, 0, 0.1));
global.obstacles.push_back(terrainground);
addRobot(odeHandle, osgHandle, global, 3);
}
break;
}
// add passive spheres as obstacles
// - create pointer to sphere (with odehandle, osghandle and
// optional parameters radius and mass,where the latter is not used here) )
// - set Pose(Position) of sphere
// - set a texture for the sphere
// - add sphere to list of obstacles
for (int i=0; i< numpassive; i+=1){
PassiveSphere* s1 = new PassiveSphere(odeHandle, osgHandle, 0.5,0.1);
s1->setPosition(osg::Vec3(-8+2*i,-2,height+0.5));
s1->setTexture("Images/dusty.rgb");
global.obstacles.push_back(s1);
}
}
/**
* starting function (executed once at the beginning of the simulation loop)
*/
virtual void start(const lpzrobots::OdeHandle& odeHandle,
const lpzrobots::OsgHandle& osgHandle,
lpzrobots::GlobalData& global) {
// set initial camera position
setCameraHomePos(
lpzrobots::Pos(-0.0114359, 6.66848, 0.922832),
lpzrobots::Pos(178.866, -7.43884, 0));
// set simulation parameters
global.odeConfig.setParam("controlinterval", 10);
global.odeConfig.setParam("simstepsize", 0.01);
global.odeConfig.setParam("noise", sim_noise);
// declare terrain params
double terrain_roughness;
double terrain_slip;
double terrain_hardness;
double terrain_elasticity;
double terrain_height;
Color terrain_color;
int terrain_type = terrain_type_g;
// define individual terrain parameters here
switch(terrain_type) {
case 1: // concrete
setTitle("concrete");
terrain_roughness = 10.0;
terrain_slip = 0.0;
terrain_hardness = 100.0;
terrain_elasticity = 0.0;
terrain_height = 0.0;
terrain_color = Color(156.0/255.0,159.0/255.0,166.0/255.0);
break;
case 2: // mud
setTitle("mud");
terrain_roughness = 0.5;
terrain_slip = 5.0;
terrain_hardness = 0.5;
terrain_elasticity = 0.5;
terrain_height = 0.02;
terrain_color = Color(100.0/255.0,100.0/255.0,100.0/255.0);
break;
case 3: // ice
setTitle("ice");
terrain_roughness = 0.0;
terrain_slip = 100.0;
terrain_hardness = 100.0;
terrain_elasticity = 0.0;
terrain_height = 0.0;
terrain_color = Color(215.0/255.0,227.0/255.0,255.0/255.0);
break;
case 4: // sand
setTitle("sand");
terrain_roughness = 1.0;
terrain_slip = 0.1;
terrain_hardness = 30.0;
terrain_elasticity = 0.0;
terrain_height = 0.02;
terrain_color = Color(242.0/255.0,238.0/255.0,124.0/255.0);
break;
case 5: // gravel
setTitle("gravel");
terrain_roughness = 7.0;
terrain_slip = 0.1;
terrain_hardness = 100.0;
terrain_elasticity = 0.0;
terrain_height = 0.03;
terrain_color = Color(115.0/255.0,127.0/255.0,156.0/255.0);
break;
case 6: // grass
setTitle("grass");
terrain_roughness = 5.0;
terrain_slip = 0.0;
terrain_hardness = 30.0;
terrain_elasticity = 0.6;
terrain_height = 0.05;
terrain_color = Color(35.0/255.0,150.0/255.0,20.0/255.0);
break;
case 7: // swamp
setTitle("swamp");
terrain_roughness = 0.0;
terrain_slip = 5.0;
terrain_hardness = 0.0;
terrain_elasticity = 0.0;
terrain_height = 0.1;
terrain_color = Color(50.0/255.0,75.0/255.0,50.0/255.0);
break;
case 8: // rock
setTitle("rock");
terrain_roughness = 10.0;
terrain_slip = 0.0;
terrain_hardness = 100.0;
terrain_elasticity = 0.0;
terrain_height = 0.1;
terrain_color = Color(110.0/255.0,90.0/255.0,60.0/255.0);
break;
case 9: // tiles
setTitle("tiles");
terrain_roughness = 5.0;
terrain_slip = 30.0;
terrain_hardness = 100.0;
terrain_elasticity = 0.0;
terrain_height = 0.0;
terrain_color = Color(250.0/255.0,200.0/255.0,150.0/255.0);
break;
case 10: // snow
setTitle("snow");
terrain_roughness = 0.0;
terrain_slip = 80.0;
terrain_hardness = 20.0;
terrain_elasticity = 0.0;
terrain_height = 0.02;
terrain_color = Color(255.0/255.0,255.0/255.0,255.0/255.0);
break;
case 11: // rubber
setTitle("rubber");
terrain_roughness = 8.0;
terrain_slip = 0.0;
terrain_hardness = 80.0;
terrain_elasticity = 2.0;
terrain_height = 0.0;
terrain_color = Color(0.0/255.0,0.0/255.0,0.0/255.0);
break;
case 12: // carpet
setTitle("carpet");
terrain_roughness = 3.0;
terrain_slip = 0.0;
terrain_hardness = 40.0;
terrain_elasticity = 0.3;
terrain_height = 0.02;
terrain_color = Color(135.0/255.0,100.0/255.0,150.0/255.0);
break;
case 13: // wood
setTitle("wood");
terrain_roughness = 6.0;
terrain_slip = 0.0;
terrain_hardness = 80.0;
terrain_elasticity = 0.2;
terrain_height = 0.02;
terrain_color = Color(90.0/255.0,65.0/255.0,0.0/255.0);
break;
case 14: // plastic
setTitle("plastic");
terrain_roughness = 1.0;
terrain_slip = 2.0;
terrain_hardness = 60.0;
terrain_elasticity = 0.5;
terrain_height = 0.0;
terrain_color = Color(150.0/255.0,250.0/255.0,190.0/255.0);
break;
case 15: // foam
setTitle("foam");
terrain_roughness = 5.0;
terrain_slip = 0.0;
terrain_hardness = 0.0;
terrain_elasticity = 0.7;
terrain_height = 0.05;
terrain_color = Color(220.0/255.0,230.0/255.0,150.0/255.0);
break;
default:
setTitle("default");
terrain_roughness = 10.0;
terrain_slip = 0.0;
terrain_hardness = 100.0;
terrain_elasticity = 0.0;
terrain_height = 0.0;
terrain_color = Color(255.0/255.0,255.0/255.0,255.0/255.0);
}
if (terrain_noise) {
// Adding noise
terrain_roughness += fRand(-10.0*tn_std_prcnt, 10.0*tn_std_prcnt);
terrain_slip += fRand(-10.0*tn_std_prcnt, 10.0*tn_std_prcnt);
terrain_hardness += fRand(-100.0*tn_std_prcnt, 100.0*tn_std_prcnt);
terrain_elasticity += fRand(-2.0*tn_std_prcnt, 2.0*tn_std_prcnt);
terrain_height += fRand(-0.1*tn_std_prcnt, 0.1*tn_std_prcnt);
}
// limits
terrain_roughness = max(0.0, terrain_roughness);
terrain_slip = max(0.0, terrain_slip);
terrain_hardness = max(0.0, terrain_hardness);
terrain_elasticity = max(0.0, terrain_elasticity);
terrain_height = max(0.0, terrain_height);
cout << terrain_roughness << ", " << terrain_slip << ", " << terrain_hardness << ", " << terrain_elasticity << ", " << terrain_height << endl;
//**************Change Material substance*********//
//Substance roughterrainSubstance(1.0,0.0,/*100.0 friction*/100.0,0.0); //(roughness,slip,hardness,elasticity)
Substance roughterrainSubstance(terrain_roughness, terrain_slip, terrain_hardness, terrain_elasticity); //(roughness(0:smooth/1:rough), slip(0:friction/100:sliding), hardness(0:soft/100:hard), elasticity(0:hard/1:elastic))
OdeHandle oodeHandle = odeHandle;
oodeHandle.substance = roughterrainSubstance;
//**************Change Material substance*********//
TerrainGround* terrainground =
new TerrainGround(oodeHandle, osgHandle.changeColor(terrain_color),
"rough1.ppm","", /*AREA-SIZE-X->*/25, /*AREA-SIZE-Y->*/25, /*HEIGHT->*/terrain_height);
terrainground->setPose(osg::Matrix::translate(0, 0, 0.005));
global.obstacles.push_back(terrainground);
/* ########################## Add amosII robot ########################## */
lpzrobots::AmosIIConf myAmosIIConf = lpzrobots::AmosII::getDefaultConf(1.0 /*_scale*/,1 /*_useShoulder*/,1 /*_useFoot*/,1 /*_useBack*/);
myAmosIIConf.rubberFeet = true;
lpzrobots::OdeHandle rodeHandle = odeHandle;
rodeHandle.substance = lpzrobots::Substance(3.0, 0.0, 50.0, 0.8);
amos = new lpzrobots::AmosII(
rodeHandle,
osgHandle.changeColor(lpzrobots::Color(1, 1, 1)),
myAmosIIConf, "AmosII");
// define the usage of the individual legs
amos->setLegPosUsage(amos->L0, amos->LEG);
amos->setLegPosUsage(amos->L1, amos->LEG);
amos->setLegPosUsage(amos->L2, amos->LEG);
amos->setLegPosUsage(amos->R0, amos->LEG);
amos->setLegPosUsage(amos->R1, amos->LEG);
amos->setLegPosUsage(amos->R2, amos->LEG);
// put amos on a random position in the map
double init_pos_x = fRand(0.0, 5.0);
double init_pos_y = fRand(0.0, 5.0);
cout << init_pos_x << "," << init_pos_y;
amos->place(osg::Matrix::translate(init_pos_x, init_pos_y, 0.1));
controller = new EmptyController();
// create wiring
One2OneWiring* wiring = new One2OneWiring(new ColorUniformNoise());
// create agent and init it with controller, robot and wiring
lpzrobots::OdeAgent* agent = new lpzrobots::OdeAgent(global);
agent->init(controller, amos, wiring);
// create a fixed joint to hold the robot in the air at the beginning
robotfixator = new lpzrobots::FixedJoint(
amos->getMainPrimitive(),
global.environment);
robotfixator->init(odeHandle, osgHandle, false);
// inform global variable over everything that happened:
global.configs.push_back(amos);
global.agents.push_back(agent);
global.configs.push_back(controller);
// remove robotfixator
if (robotfixator) {
delete robotfixator;
robotfixator = NULL;
}
}
