Update of /cvsroot/opal/web/files
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv15832/files
Added Files:
example.xml
Log Message:
added example xml file
--- NEW FILE: example.xml ---
<?xml version="1.0" ?>
<OpalBlueprint>
<Solid>
<Name value="object1"/>
<Enabled value="true"/>
<Static value="false"/>
<Sleeping value="false"/>
<Sleepiness value="0.5"/>
<LinearDamping value="0.15"/>
<AngularDamping value="0.15"/>
<LinearVelocity x="0.0" y="0.0" z="0.0"/>
<AngularVelocity x="0.0" y="0.0" z="0.0"/>
<Offset>
<Transform type="translate" x="5.0" y="0.2" z="5.5"/>
<Transform type="rotate" angle="45.0" x="1.0" y="0.0" z="0.0"/>
</Offset>
<Shape type="box">
<Dimensions x="0.4" y="0.4" z="2.0"/>
<Material hardness="0.5" friction="0.5" bounciness="0.5" density="0.5"/>
<Offset>
<Transform type="translate" x="5.0" y="0.2" z="5.5"/>
<Transform type="euler" x="0.0" y="-77.0" z="0.0"/>
</Offset>
</Shape>
</Solid>
<Solid>
<Name value="object2"/>
<Offset>
<Transform type="matrix" _00="1.0" _01="0.0" _02="0.0" _03="0.0" _10="0.0" _11="1.0" _12="0.0" _13="0.0" _20="0.0" _21="0.0" _22="1.0" _23="0.0" _30="0.0" _31="0.0" _32="0.0" _33="1.0"/>
</Offset>
<Shape type="sphere">
<Dimensions radius="3.0"/>
</Shape>
<Shape type="capsule">
<Dimensions radius="4.0"/>
<Dimensions length="8.0"/>
</Shape>
</Solid>
<Solid>
<Name value="ground1"/>
<Static value="true"/>
<Shape type="plane">
<Dimensions a="0.0" b="1.0" c="0.0" d="0.0"/>
</Shape>
</Solid>
<Solid>
<Name value="ray1"/>
<Static value="true"/>
<Shape type="ray">
<Dimensions originx="2.0" originy="5.0" originz="9.0" dirx="1.0" diry="0.0" dirz="0.0"/>
</Shape>
</Solid>
<Joint>
<Name value="myJoint1"/>
<Type value="hinge"/>
<References solid0="object1" solid1="object2"/>
<Enabled value="true"/>
<Anchor x="0.5" y="0.0" z="2.0"/>
<BreakMode value="threshold"/>
<BreakThresh value="100.0"/>
<AccumThresh value="0.0"/>
<AccumDamage value="0.0"/>
<Axis>
<AxisNum value="0"/>
<Direction x="1.5" y="1.5" z="0.0"/>
<LimitsEnabled value="true"/>
<LimitLow value="-35.0"/>
<LimitHigh value="95.0"/>
<LimitHardness value="0.5"/>
<LimitBounciness value="0.5"/>
</Axis>
</Joint>
<Joint>
<Type value="universal"/>
<References solid0="object1" solid1="object2"/>
<BreakMode value="accumulated"/>
<Axis>
<AxisNum value="0"/>
<Direction x="1.5" y="1.5" z="0.0"/>
</Axis>
<Axis>
<AxisNum value="1"/>
<Direction x="-10.0" y="0.0" z="30.0"/>
</Axis>
</Joint>
<Joint>
<Type value="ball"/>
<References solid0="object1" solid1="object2"/>
<BreakMode value="unbreakable"/>
<Axis>
<AxisNum value="0"/>
<Direction x="1.5" y="1.5" z="0.0"/>
</Axis>
<Axis>
<AxisNum value="2"/>
<Direction x="-10.0" y="0.0" z="30.0"/>
</Axis>
</Joint>
<Joint>
<Type value="slider"/>
<References solid0="object1" solid1="object2"/>
<Axis>
<Direction x="-10.0" y="0.0" z="30.0"/>
</Axis>
</Joint>
<Joint>
<Type value="hinge2"/>
<References solid0="object1" solid1="object2"/>
<Axis>
<AxisNum value="0"/>
<Direction x="1.5" y="1.5" z="0.0"/>
</Axis>
<Axis>
<AxisNum value="1"/>
<Direction x="-10.0" y="0.0" z="30.0"/>
</Axis>
</Joint>
<Joint>
<Type value="fixed"/>
<References solid0="object1" solid1="object2"/>
</Joint>
<Motor>
<Type value="attractor"/>
<References solid0="object1" solid1="object2"/>
<Strength value="1.0"/>
<Exponent value="1.0"/>
</Motor>
<Motor>
<Name value="gear1"/>
<Type value="geared"/>
<References joint="myJoint1"/>
<JointAxisNum value="0"/>
<MaxTorque value="30.0"/>
<MaxVelocity value="2000.0"/>
<Throttle value="0.0"/>
</Motor>
<Motor>
<Name value="servo1"/>
<Type value="servo"/>
<References joint="myJoint1"/>
<JointAxisNum value="0"/>
<Mode value="desiredAngle"/>
<DesiredAngle value="45.0"/>
<MaxTorque value="100.0"/>
<RestoreSpeed value="5.0"/>
</Motor>
<Motor>
<Name value="servo2"/>
<Type value="servo"/>
<References joint="myJoint1"/>
<JointAxisNum value="0"/>
<Mode value="desiredVel"/>
<DesiredVel value="20.0"/>
<MaxTorque value="100.0"/>
</Motor>
<Motor>
<Name value="spring1"/>
<Type value="spring"/>
<References solid="object1"/>
<Mode value="linearAndAngular"/>
<DesiredPos x="10.0" y="-15.0" z="20.0"/>
<DesiredForward x="0.0" y="0.0" z="-1.0"/>
<DesiredUp x="0.0" y="1.0" z="0.0"/>
<DesiredRight x="1.0" y="0.0" z="0.0"/>
<LinearKd value="1.0"/>
<LinearKs value="1.0"/>
<AngularKd value="1.0"/>
<AngularKs value="1.0"/>
</Motor>
<Motor>
<Name value="spring2"/>
<Type value="spring"/>
<References solid="object1"/>
<Mode value="linear"/>
<DesiredPos x="10.0" y="-15.0" z="20.0"/>
<LinearKd value="1.0"/>
<LinearKs value="1.0"/>
</Motor>
<Motor>
<Name value="spring3"/>
<Type value="spring"/>
<References solid="object1"/>
<Mode value="angular"/>
<DesiredForward x="0.0" y="0.0" z="-1.0"/>
<DesiredUp x="0.0" y="1.0" z="0.0"/>
<DesiredRight x="1.0" y="0.0" z="0.0"/>
<AngularKd value="1.0"/>
<AngularKs value="1.0"/>
</Motor>
<Motor>
<Type value="thruster"/>
<References solid="object2"/>
<ForceType value="localForceAtLocalPos"/>
<ForceVec x="0.0" y="10.0" z="0.0"/>
<ForcePos x="1.0" y="0.0" z="0.0"/>
</OpalBlueprint>
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