Recent changes to Worldsim

Worldsim modified by Tomassino Ferrauto

Tomassino Ferrauto — Fri, 20 Nov 2015 10:22:24 -0000

Worldsim modified by Tomassino Ferrauto

Tomassino Ferrauto — Tue, 17 Nov 2015 13:59:51 -0000

Worldsim modified by Tomassino Ferrauto

Tomassino Ferrauto — Sat, 14 Nov 2015 08:53:33 -0000

--- v10
+++ v11
@@ -9,22 +9,19 @@
 The Worldsim Library
 =======

-The Worldsim library enable to create objects with different basic shapes (e.g.boxes, spheres, cylinders etc.) that can be combined to create more complex objects. The elementary objects forming complex objects can be connected either through fixed joints, that do not allow relative motions of the parts, either through joints that allow traslation or rotation of the elemantary parts with respect to defined axes. Objects combined through joints can be used to create articulated entities. This library is also at the basis of the Arena component. 
+The *Worldsim* library allows to create objects with different basic shapes (e.g. boxes, spheres, cylinders etc.) that can be combined to create more complex objects. The elements forming complex objects can be connected either through fixed joints, that do not allow relative motions of the parts, or through joints that allow traslation or rotation of the parts with respect to defined axes. Objects combined through joints can be used to create articulated entities. This library is also at the basis of the *Arena* component.

-In this page we show a portion of the source code of WorldsimShowcase plugin that creates the objects shown in the picture below. The function of the different instructions is commented on the source code itself. 
+In this page we show a portion of the source code of the **WorldsimShowcase** plugin that creates the objects shown in the picture below. The function of the different instructions is commented on the source code itself.

-*World* is main class of the WorldSim library that contains all information about the objects sostituting the world (type, position, matherial etc.). Worldsim is based on the [Newton Dynamics]([http://www.newtondynamics.com/]) open source physics engine, wrapped in an object oriented API. *wVector* is the class used to represent tridimensional vectors and points. *wMatrix* is the class used to represent 4x4 rotational and traslational matrices. For detailed informations about the World, wVector and wMatix classes refer to the [API documentation]([APIDoc])
+*Worldsim* is based on the [Newton Dynamics]([http://www.newtondynamics.com/]) open source physics engine, wrapped in an object oriented API. *World* is the main class of the *Worldsim* library and it contains all information about the objects sostituting the world (type, position, material etc.). Throughout the library (and also in other parts of FARSA), *wVector* is the class used to represent tridimensional vectors and points, while *wMatrix* is the class used to represent 4x4 rotational and traslational matrices. For detailed informations about the *World*, *wVector* and *wMatix* classes refer to the [API documentation]([APIDoc]).

-The only aspect of the World component that can be configured through a parameter is the timestep, i.e. the frequency with which the position and the state of the physical objects constituing the environment and the robot are updated. 
-
-In experimental plugins based on the EvoRobotExperiment class, the *World* class is created automatically. In the case of other type of experimental plugins, instead, it should be created manually as in WorldsimShowcase plugin.
+In experimental plugins based on the EvoRobotExperiment class, the *World* instance is created automatically and the timestep can be configured though a configuration parameter. In the case of other types of experimental plugins, instead, it should be created manually as in **WorldsimShowcase** plugin.

 [[img src=worldsim-example.png width=60%]]

-
 ~~~~~~~
 :::C++
-// In the function, m_world is the instance of the World class
+// In the followin function, m_world is the instance of the World class
 void WorldsimShowcase::createShowcase()
 {
    // Creating a static object. Static objects are not influenced by external forces, including gravity
@@ -85,7 +82,7 @@
    mtr = wMatrix::yaw(M_PI_2);
    mtr.w_pos = wVector(0.5, 0.0, 0.65);
    hCylinder->setMatrix(mtr);
-   // Setting a slow initial velocity so that the cylinder does not vertical (that is an unstable
+   // Setting a slow initial velocity so that the cylinder does not remain vertical (that is an unstable
    // equilibrium point)
    hCylinder->setOmega(wVector(0.0, 1.0, 0.0));
    hCylinder->setColor(QColor(190, 255, 0));

Worldsim modified by Tomassino Ferrauto

Tomassino Ferrauto — Fri, 13 Nov 2015 10:32:07 -0000

Worldsim modified by Tomassino Ferrauto

Tomassino Ferrauto — Thu, 12 Nov 2015 10:37:04 -0000

Worldsim modified by Tomassino Ferrauto

Tomassino Ferrauto — Thu, 12 Nov 2015 10:22:08 -0000

--- v7
+++ v8
@@ -1,3 +1,11 @@
+[Prev: The Arena Component]([ArenaComponent]) | [Up: Customizing the environment]([CustomizeEnvironment]) | [Next: Using robots]([CustomizingRobots])
+ -------|--------|----------
+        |        |
+
+**Table of contents**
+
+[TOC]
+
 The Worldsim Library
 =======

Worldsim modified by Stefano Nolfi

Stefano Nolfi — Wed, 28 Oct 2015 13:53:12 -0000

--- v6
+++ v7
@@ -1,13 +1,15 @@
-The Worldsim Component
+The Worldsim Library
 =======

-The Worldsim component enable to create object with different basic shapes (e.g.boxes, spheres, cylinders etc.) that can be combined to create more complex objects. The elementary objects forming complex objects can be connected either through fixed joints, that do not allow relative motions of the parts, either through joints that allow traslation or rotation of the elemantary parts with respect to defined axes. Objects combined through joints can be used to create articulated entities. 
+The Worldsim library enable to create objects with different basic shapes (e.g.boxes, spheres, cylinders etc.) that can be combined to create more complex objects. The elementary objects forming complex objects can be connected either through fixed joints, that do not allow relative motions of the parts, either through joints that allow traslation or rotation of the elemantary parts with respect to defined axes. Objects combined through joints can be used to create articulated entities. This library is also at the basis of the Arena component. 

 In this page we show a portion of the source code of WorldsimShowcase plugin that creates the objects shown in the picture below. The function of the different instructions is commented on the source code itself. 

-*World* is main class of the WorldSim component that contains all information about the objects sostituting the world (type, position, matherial etc.). Worldsim is based on the [Newton Dynamics]([http://www.newtondynamics.com/]) open source physics engine, wrapped in an object oriented API. *wVector* is the class used to represent tridimensional vectors and points. *wMatrix* is the class used to represent 4x4 rotational and traslational matrices. For detailed informations about the World, wVector and wMatix classes refer to the [API documentation]([APIDoc])
+*World* is main class of the WorldSim library that contains all information about the objects sostituting the world (type, position, matherial etc.). Worldsim is based on the [Newton Dynamics]([http://www.newtondynamics.com/]) open source physics engine, wrapped in an object oriented API. *wVector* is the class used to represent tridimensional vectors and points. *wMatrix* is the class used to represent 4x4 rotational and traslational matrices. For detailed informations about the World, wVector and wMatix classes refer to the [API documentation]([APIDoc])

 The only aspect of the World component that can be configured through a parameter is the timestep, i.e. the frequency with which the position and the state of the physical objects constituing the environment and the robot are updated. 
+
+In experimental plugins based on the EvoRobotExperiment class, the *World* class is created automatically. In the case of other type of experimental plugins, instead, it should be created manually as in WorldsimShowcase plugin.

 [[img src=worldsim-example.png width=60%]]

Worldsim modified by Stefano Nolfi

Stefano Nolfi — Wed, 28 Oct 2015 11:34:03 -0000

--- v5
+++ v6
@@ -1,15 +1,16 @@
-The Worldsim library
+The Worldsim Component
 =======

-The Worldsim library contains everything that is needed to run a physical simulation. It is based on the [Newton Dynamics]([http://www.newtondynamics.com/]) open source physics engine, wrapped in an object oriented API. The library allows the creation of bodies with physical properties. Basic shapes like boxes, spheres, cylinders, ... can be combined together to create complex objects. It is also possible to link objects together using joints, so to create articulated mechanisms.
+The Worldsim component enable to create object with different basic shapes (e.g.boxes, spheres, cylinders etc.) that can be combined to create more complex objects. The elementary objects forming complex objects can be connected either through fixed joints, that do not allow relative motions of the parts, either through joints that allow traslation or rotation of the elemantary parts with respect to defined axes. Objects combined through joints can be used to create articulated entities. 
+
+In this page we show a portion of the source code of WorldsimShowcase plugin that creates the objects shown in the picture below. The function of the different instructions is commented on the source code itself. 
+
+*World* is main class of the WorldSim component that contains all information about the objects sostituting the world (type, position, matherial etc.). Worldsim is based on the [Newton Dynamics]([http://www.newtondynamics.com/]) open source physics engine, wrapped in an object oriented API. *wVector* is the class used to represent tridimensional vectors and points. *wMatrix* is the class used to represent 4x4 rotational and traslational matrices. For detailed informations about the World, wVector and wMatix classes refer to the [API documentation]([APIDoc])
+
+The only aspect of the World component that can be configured through a parameter is the timestep, i.e. the frequency with which the position and the state of the physical objects constituing the environment and the robot are updated. 

 [[img src=worldsim-example.png width=60%]]

-Before showing an example of what it is possible to create using the library, it is important to introduce the classes modelling 3D vectors and 4x4 rotation matrices, as they are used extensively within FARSA: *wVector* is the class representing tridimensional vectors and points, while *wMatrix* is the class modelling 4x4 matrices that can represent both rotations and traslations. Both classes support the most common operations either via member functions or via operators overloading. Refer to the [API documentation]([APIDoc]) for details.
-
-The main class in the Worldsim library is *World*. This class models the simulated world: it contains all the objects, allows setting global properties (e.g. the timestep), performs the simulated steps, keeps the database of materials and so on.
-
-The WorldsimShowcase plugin shows some of the features of the Worldsim library. Refer to the [API documentation]([APIDoc]) for the complete description of all the classes. The function below, taken from the plugin, creates the object that populate the simulated world.

 ~~~~~~~
 :::C++

Worldsim modified by Tomassino Ferrauto

Tomassino Ferrauto — Wed, 21 Oct 2015 11:47:05 -0000

--- v4
+++ v5
@@ -5,11 +5,11 @@

 [[img src=worldsim-example.png width=60%]]

-Before showing an example of what it is possible to create using the library, it is important to introduce the classes modelling 3D vectors and 4x4 rotation matrices, as they are used extensively within FARSA: *wVector* is the class representing tridimensional vectors and points, while *wMatrix* is the class modelling 4x4 matrices that can represent both rotations and traslations. Both classes support the most common operations either via member functions or via operators overloading. Refer to the API documentation for details.
+Before showing an example of what it is possible to create using the library, it is important to introduce the classes modelling 3D vectors and 4x4 rotation matrices, as they are used extensively within FARSA: *wVector* is the class representing tridimensional vectors and points, while *wMatrix* is the class modelling 4x4 matrices that can represent both rotations and traslations. Both classes support the most common operations either via member functions or via operators overloading. Refer to the [API documentation]([APIDoc]) for details.

 The main class in the Worldsim library is *World*. This class models the simulated world: it contains all the objects, allows setting global properties (e.g. the timestep), performs the simulated steps, keeps the database of materials and so on.

-The WorldsimShowcase plugin shows some of the features of the Worldsim library. Refer to the API documentation for the complete description of all the classes. The function below, taken from the plugin, creates the object that populate the simulated world.
+The WorldsimShowcase plugin shows some of the features of the Worldsim library. Refer to the [API documentation]([APIDoc]) for the complete description of all the classes. The function below, taken from the plugin, creates the object that populate the simulated world.

 ~~~~~~~
 :::C++

Worldsim modified by Tomassino Ferrauto

Tomassino Ferrauto — Fri, 09 Oct 2015 14:40:56 -0000

--- v3
+++ v4
@@ -1,4 +1,134 @@
 The Worldsim library
 =======

-QUQUIQI
+The Worldsim library contains everything that is needed to run a physical simulation. It is based on the [Newton Dynamics]([http://www.newtondynamics.com/]) open source physics engine, wrapped in an object oriented API. The library allows the creation of bodies with physical properties. Basic shapes like boxes, spheres, cylinders, ... can be combined together to create complex objects. It is also possible to link objects together using joints, so to create articulated mechanisms.
+
+[[img src=worldsim-example.png width=60%]]
+
+Before showing an example of what it is possible to create using the library, it is important to introduce the classes modelling 3D vectors and 4x4 rotation matrices, as they are used extensively within FARSA: *wVector* is the class representing tridimensional vectors and points, while *wMatrix* is the class modelling 4x4 matrices that can represent both rotations and traslations. Both classes support the most common operations either via member functions or via operators overloading. Refer to the API documentation for details.
+
+The main class in the Worldsim library is *World*. This class models the simulated world: it contains all the objects, allows setting global properties (e.g. the timestep), performs the simulated steps, keeps the database of materials and so on.
+
+The WorldsimShowcase plugin shows some of the features of the Worldsim library. Refer to the API documentation for the complete description of all the classes. The function below, taken from the plugin, creates the object that populate the simulated world.
+
+~~~~~~~
+:::C++
+// In the function, m_world is the instance of the World class
+void WorldsimShowcase::createShowcase()
+{
+   // Creating a static object. Static objects are not influenced by external forces, including gravity
+   // All objects are created by default at the center of the world and have a standard texture
+   PhyBox* table = new PhyBox(2.0, 2.0, 0.1, m_world);
+   table->setStatic(true);
+   table->setColor(Qt::white);
+
+   // Creating various objects and putting them above the table. They will fall by gravity when the
+   // simulation starts
+
+   // A sphere.
+   PhySphere* sphere = new PhySphere(0.2, m_world);
+   sphere->setMass(0.1);
+   sphere->setTexture("");
+   sphere->setColor(Qt::red);
+   sphere->setPosition(0.0, 0.0, 1.0);
+
+   // A cone. The cone is rotated so that the tip is pointing downward
+   PhyCone* cone = new PhyCone(0.1, 0.4, m_world);
+   cone->setMass(0.2);
+   cone->setColor(Qt::yellow);
+   wMatrix mtr = wMatrix::yaw(M_PI_2); // rotation by pi/2 radiants around the Y axis
+   mtr.w_pos = wVector(0.0, 0.5, 1.5); // setting position in the transformation matrix
+   cone->setMatrix(mtr);
+
+   // A cylinder. The cylinder has an initial angular velocity along its axis. We also display
+   // its frame of reference. Note that there is no floor, so if the object falls from the table
+   // it will keep falling beyound the lower boundary of the world (that is only graphical)
+   PhyCylinder* cylinder = new PhyCylinder(0.15, 0.3, m_world);
+   cylinder->setMass(1.0);
+   cylinder->setColor(Qt::green);
+   cylinder->setOmega(wVector(10.0, 0.0, 0.0));
+   cylinder->setPosition(0.0, -0.5, 0.7);
+   cylinder->drawLocalAxes(true);
+
+   // A compound object, made up of an elongated box with an ellipsoind on top. First we create the
+   // components, then we put them together. The position of the components will be used as the relative
+   // position in the compound object frame of reference. We also display the compound object frame of
+   // reference
+   PhyBox* box = new PhyBox(0.1, 0.1, 0.4, m_world);
+   box->setPosition(0.0, 0.0, 0.1);
+   PhyEllipsoid* ellipsoid = new PhyEllipsoid(0.2, 0.2, 0.1, m_world);
+   ellipsoid->setPosition(0.0, 0.0, 0.35);
+   PhyCompoundObject* compound = new PhyCompoundObject(QVector<PhyObject*>() << box << ellipsoid, m_world);
+   compound->setPosition(0.7, -0.7, 1.0);
+   compound->setColor(Qt::white);
+   compound->drawLocalAxes(true);
+
+   // An hinge joint between a box and a cylinder. The hinge has a lower and upper limit to its movement.
+   // We also apply an initial velocity to the cylinder
+   PhyBox* hBox = new PhyBox(0.4, 0.4, 0.1, m_world);
+   hBox->setMass(1.0);
+   hBox->setPosition(0.7, 0.0, 0.5);
+   hBox->setColor(QColor(255, 190, 0));
+   PhyCylinder* hCylinder = new PhyCylinder(0.05, 0.3, m_world);
+   hCylinder->setMass(0.1);
+   mtr = wMatrix::yaw(M_PI_2);
+   mtr.w_pos = wVector(0.5, 0.0, 0.65);
+   hCylinder->setMatrix(mtr);
+   // Setting a slow initial velocity so that the cylinder does not vertical (that is an unstable
+   // equilibrium point)
+   hCylinder->setOmega(wVector(0.0, 1.0, 0.0));
+   hCylinder->setColor(QColor(190, 255, 0));
+   PhyHinge* hinge = new PhyHinge(wVector(0.0, 1.0, 0.0), wVector(-0.2, 0.0, 0.0), hBox, hCylinder);
+   hinge->dofs()[0]->setLimits(-M_PI / 3.0, M_PI / 3.0);
+   // Allow free movement (otherwise a motor tries to keep the objects in their starting position)
+   hinge->dofs()[0]->switchOff();
+   hinge->dofs()[0]->enableLimits();
+
+   // A ball-and-socket joint. The box is jointed "to the world" (the first object is NULL)
+   PhyBox* bsBox = new PhyBox(0.4, 0.1, 0.1, m_world);
+   bsBox->setPosition(0.7, 0.7, 0.3);
+   bsBox->setColor(Qt::blue);
+   PhyBallAndSocket* bsJoint = new PhyBallAndSocket(wVector(0.5, 0.7, 0.3), NULL, bsBox);
+   // The ball-and-socket joint has no motor
+
+   // Creating an inclined plane to show collisions and materials
+   PhyBox* inclinedPlane = new PhyBox(0.5, 2.0, 0.1, m_world);
+   inclinedPlane->setStatic(true);
+   mtr = wMatrix::yaw(-M_PI / 8);
+   mtr.w_pos = wVector(-0.5, 0.0, 0.15);
+   inclinedPlane->setMatrix(mtr);
+
+   // Adding a new material to the world and setting it to be the material of the inclined plane
+   m_world->materials().createMaterial("inclinedPlaneMaterial");
+   inclinedPlane->setMaterial("inclinedPlaneMaterial");
+
+   // Adding a normal box that falls on the plane. The box has the standard material
+   PhyBox* matBox = new PhyBox(0.2, 0.2, 0.2, m_world);
+   mtr = wMatrix::yaw(-M_PI / 8);
+   mtr.w_pos = wVector(-0.5, 0.7, 0.35);
+   matBox->setMatrix(mtr);
+   matBox->setColor(Qt::white);
+
+   // Now creating a box with a custom material and setting the friction between the box and
+   // the inclined plane material to a low value
+   m_world->materials().createMaterial("boxMaterial");
+   m_world->materials().setFrictions("boxMaterial", "inclinedPlaneMaterial", 0.001, 0.001);
+   PhyBox* frictionBox = new PhyBox(0.2, 0.2, 0.2, m_world);
+   mtr = wMatrix::yaw(-M_PI / 8);
+   mtr.w_pos = wVector(-0.5, 0.0, 0.35);
+   frictionBox->setMatrix(mtr);
+   frictionBox->setColor(Qt::green);
+   frictionBox->setMaterial("boxMaterial");
+
+   // Finally creating a box with another custom materia that doesn't collide with the inclined
+   // plane material
+   m_world->materials().createMaterial("shadowBoxMaterial");
+   m_world->materials().enableCollision("shadowBoxMaterial", "inclinedPlaneMaterial", false);
+   PhyBox* shadowBox = new PhyBox(0.2, 0.2, 0.2, m_world);
+   mtr = wMatrix::yaw(-M_PI / 8);
+   mtr.w_pos = wVector(-0.5, -0.7, 0.35);
+   shadowBox->setMatrix(mtr);
+   shadowBox->setColor(Qt::red);
+   shadowBox->setMaterial("shadowBoxMaterial");
+}
+~~~~~~~