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[simspark-svn] SF.net SVN: simspark:[33] trunk
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From: <he...@us...> - 2009-01-22 17:16:03
|
Revision: 33
http://simspark.svn.sourceforge.net/simspark/?rev=33&view=rev
Author: hedayat
Date: 2009-01-22 17:15:41 +0000 (Thu, 22 Jan 2009)
Log Message:
-----------
Committing simspark-utilities
NOTICE:
1. there is no autoconf support in this package.
2. samplesim and monitorspark currently do not work. They need work, I just committed them to make the structure available; also anybody interested can work on them!
Added Paths:
-----------
trunk/simspark-utilities/
trunk/simspark-utilities/AUTHORS
trunk/simspark-utilities/CMakeLists.txt
trunk/simspark-utilities/COPYING
trunk/simspark-utilities/ChangeLog
trunk/simspark-utilities/README
trunk/simspark-utilities/cmake/
trunk/simspark-utilities/cmake/FindSpark.cmake
trunk/simspark-utilities/data/
trunk/simspark-utilities/data/CMakeLists.txt
trunk/simspark-utilities/data/bindings.rb
trunk/simspark-utilities/data/rsg/
trunk/simspark-utilities/data/rsg/agent/
trunk/simspark-utilities/data/rsg/agent/ball.rsg
trunk/simspark-utilities/data/rsg/agent/buggy.rsg
trunk/simspark-utilities/data/rsg/agent/leggedsphere.rsg
trunk/simspark-utilities/data/rsg/agent/samplesim.rsg
trunk/simspark-utilities/gendot/
trunk/simspark-utilities/gendot/CMakeLists.txt
trunk/simspark-utilities/gendot/gendot.rb
trunk/simspark-utilities/gendot/include.dot
trunk/simspark-utilities/gendot/main.cpp
trunk/simspark-utilities/monitorspark/
trunk/simspark-utilities/monitorspark/CMakeLists.txt
trunk/simspark-utilities/monitorspark/main.cpp
trunk/simspark-utilities/monitorspark/monitorspark.rb
trunk/simspark-utilities/sampleagent/
trunk/simspark-utilities/sampleagent/CMakeLists.txt
trunk/simspark-utilities/sampleagent/behavior.h
trunk/simspark-utilities/sampleagent/carbehavior.cpp
trunk/simspark-utilities/sampleagent/carbehavior.h
trunk/simspark-utilities/sampleagent/leggedspherebehavior.cpp
trunk/simspark-utilities/sampleagent/leggedspherebehavior.h
trunk/simspark-utilities/sampleagent/main.cpp
trunk/simspark-utilities/samplesim/
trunk/simspark-utilities/samplesim/CMakeLists.txt
trunk/simspark-utilities/samplesim/main.cpp
trunk/simspark-utilities/samplesim/samplesim.rb
Added: trunk/simspark-utilities/CMakeLists.txt
===================================================================
--- trunk/simspark-utilities/CMakeLists.txt (rev 0)
+++ trunk/simspark-utilities/CMakeLists.txt 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,48 @@
+cmake_minimum_required(VERSION 2.6)
+
+project(simspark-utilities CXX C)
+set(PACKAGE_VERSION "0.1")
+
+########## check for headerfiles/libraries ##########
+set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/)
+find_package(Spark REQUIRED)
+find_package(Boost REQUIRED)
+
+########## add extra flags ##########
+set(CMAKE_BUILD_TYPE Debug CACHE STRING "Release or Debug build type")
+add_definitions(-DHAVE_CONFIG_H)
+if (UNIX)
+ set(CMAKE_CXX_FLAGS "-Wno-deprecated")
+ set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g -W -Wall -Woverloaded-virtual")
+ set(CMAKE_CXX_FLAGS_RELEASE "-O2 -DNDEBUG")
+endif (UNIX)
+
+set(BINDIR "bin" CACHE PATH "The directory to install binaries into.")
+set(LIBDIR "lib" CACHE PATH "The directory to install libraries into.")
+set(DATADIR "share" CACHE PATH "The directory to install data files into.")
+set(INCLUDEDIR "include" CACHE PATH "The directory to install includes into.")
+set(RPATH_DIRECTORIES ${SPARK_LIB_DIR})
+set(CMAKE_SHARED_MODULE_PREFIX "")
+
+mark_as_advanced(BINDIR LIBDIR DATADIR INCLUDEDIR)
+
+########## add subdirectories ############
+add_subdirectory(data)
+add_subdirectory(gendot)
+add_subdirectory(monitorspark)
+add_subdirectory(samplesim)
+add_subdirectory(sampleagent)
+
+
+########### install files ###############
+install(FILES AUTHORS ChangeLog COPYING README
+ DESTINATION ${DATADIR}/doc/${CMAKE_PROJECT_NAME})
+
+########### CPack section #############
+set(CPACK_SOURCE_GENERATOR TGZ)
+set(CPACK_SOURCE_IGNORE_FILES /CVS/ /[.]svn/ /.*[.]o /[.].*)
+set(CPACK_PACKAGE_VERSION ${PACKAGE_VERSION})
+set(CPACK_SOURCE_PACKAGE_FILE_NAME
+ ${CMAKE_PROJECT_NAME}-${CPACK_PACKAGE_VERSION})
+
+include(CPack)
Property changes on: trunk/simspark-utilities/CMakeLists.txt
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: trunk/simspark-utilities/COPYING
===================================================================
--- trunk/simspark-utilities/COPYING (rev 0)
+++ trunk/simspark-utilities/COPYING 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,340 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 2, June 1991
+
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.
+ 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The licenses for most software are designed to take away your
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+ <signature of Ty Coon>, 1 April 1989
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+This General Public License does not permit incorporating your program into
+proprietary programs. If your program is a subroutine library, you may
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+Public License instead of this License.
Added: trunk/simspark-utilities/cmake/FindSpark.cmake
===================================================================
--- trunk/simspark-utilities/cmake/FindSpark.cmake (rev 0)
+++ trunk/simspark-utilities/cmake/FindSpark.cmake 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,145 @@
+# - Find Spark
+# Find the native Spark includes and libraries
+#
+# SPARK_INCLUDE_DIR - where to find spark include files
+# SPARK_LIB_DIR - where to find spark libraries
+# SPARK_LIBRARIES - List of libraries when using spark.
+# SPARK_FOUND - True if spark found.
+# SALT_INCLUDE_DIR - where to find salt include files
+# SALT_LIBRARIES - List of libraries when using salt.
+# SALT_FOUND - True if salt found.
+# ZEITGEIST_INCLUDE_DIR - where to find zeitgeist include files
+# ZEITGEIST_LIBRARIES - List of libraries when using zeitgeist.
+# ZEITGEIST_FOUND - True if zeitgeist found.
+# OXYGEN_INCLUDE_DIR - where to find oxygen include files
+# OXYGEN_LIBRARIES - List of libraries when using oxygen.
+# OXYGEN_FOUND - True if oxygen found.
+# KEROSIN_INCLUDE_DIR - where to find kerosin include files
+# KEROSIN_LIBRARIES - List of libraries when using kerosin.
+# KEROSIN_FOUND - True if kerosin found.
+
+# Spark section
+IF (SPARK_INCLUDE_DIR)
+ # Already in cache, be silent
+ SET(SPARK_FIND_QUIETLY TRUE)
+ENDIF (SPARK_INCLUDE_DIR)
+
+FIND_PATH(SPARK_INCLUDE_DIR spark/spark.h PATH_SUFFIXES simspark)
+
+SET(SPARK_NAMES spark spark_debug)
+FIND_LIBRARY(SPARK_LIBRARY NAMES ${SPARK_NAMES} PATH_SUFFIXES simspark )
+GET_FILENAME_COMPONENT(SPARK_LIB_DIR ${SPARK_LIBRARY} PATH)
+
+# handle the QUIETLY and REQUIRED arguments and set SPARK_FOUND to TRUE if
+# all listed variables are TRUE
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(SPARK DEFAULT_MSG SPARK_LIBRARY
+ SPARK_INCLUDE_DIR)
+
+IF(SPARK_FOUND)
+ SET( SPARK_LIBRARIES ${SPARK_LIBRARY} )
+ELSE(SPARK_FOUND)
+ SET( SPARK_LIBRARIES )
+ENDIF(SPARK_FOUND)
+
+MARK_AS_ADVANCED( SPARK_LIBRARY SPARK_INCLUDE_DIR )
+
+# Salt section
+IF (SALT_INCLUDE_DIR)
+ # Already in cache, be silent
+ SET(SALT_FIND_QUIETLY TRUE)
+ENDIF (SALT_INCLUDE_DIR)
+
+FIND_PATH(SALT_INCLUDE_DIR salt/salt.h PATH_SUFFIXES simspark)
+
+SET(SALT_NAMES salt salt_debug)
+FIND_LIBRARY(SALT_LIBRARY NAMES ${SALT_NAMES} PATH_SUFFIXES simspark )
+
+# handle the QUIETLY and REQUIRED arguments and set SALT_FOUND to TRUE if
+# all listed variables are TRUE
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(SALT DEFAULT_MSG SALT_LIBRARY
+ SALT_INCLUDE_DIR)
+
+IF(SALT_FOUND)
+ SET( SALT_LIBRARIES ${SALT_LIBRARY} )
+ELSE(SALT_FOUND)
+ SET( SALT_LIBRARIES )
+ENDIF(SALT_FOUND)
+
+MARK_AS_ADVANCED( SALT_LIBRARY SALT_INCLUDE_DIR )
+
+# Zeitgeist section
+IF (ZEITGEIST_INCLUDE_DIR)
+ # Already in cache, be silent
+ SET(ZEITGEIST_FIND_QUIETLY TRUE)
+ENDIF (ZEITGEIST_INCLUDE_DIR)
+
+FIND_PATH(ZEITGEIST_INCLUDE_DIR zeitgeist/zeitgeist.h PATH_SUFFIXES simspark)
+
+SET(ZEITGEIST_NAMES zeitgeist zeitgeist_debug)
+FIND_LIBRARY(ZEITGEIST_LIBRARY NAMES ${ZEITGEIST_NAMES} PATH_SUFFIXES simspark)
+
+# handle the QUIETLY and REQUIRED arguments and set ZEITGEIST_FOUND to TRUE if
+# all listed variables are TRUE
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(ZEITGEIST DEFAULT_MSG ZEITGEIST_LIBRARY
+ ZEITGEIST_INCLUDE_DIR)
+
+IF(ZEITGEIST_FOUND)
+ SET( ZEITGEIST_LIBRARIES ${ZEITGEIST_LIBRARY} )
+ELSE(ZEITGEIST_FOUND)
+ SET( ZEITGEIST_LIBRARIES )
+ENDIF(ZEITGEIST_FOUND)
+
+MARK_AS_ADVANCED( ZEITGEIST_LIBRARY ZEITGEIST_INCLUDE_DIR )
+
+# Oxygen section
+IF (OXYGEN_INCLUDE_DIR)
+ # Already in cache, be silent
+ SET(OXYGEN_FIND_QUIETLY TRUE)
+ENDIF (OXYGEN_INCLUDE_DIR)
+
+FIND_PATH(OXYGEN_INCLUDE_DIR oxygen/oxygen.h PATH_SUFFIXES simspark)
+
+SET(OXYGEN_NAMES oxygen oxygen_debug)
+FIND_LIBRARY(OXYGEN_LIBRARY NAMES ${OXYGEN_NAMES} PATH_SUFFIXES simspark )
+
+# handle the QUIETLY and REQUIRED arguments and set OXYGEN_FOUND to TRUE if
+# all listed variables are TRUE
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(OXYGEN DEFAULT_MSG OXYGEN_LIBRARY
+ OXYGEN_INCLUDE_DIR)
+
+IF(OXYGEN_FOUND)
+ SET( OXYGEN_LIBRARIES ${OXYGEN_LIBRARY} )
+ELSE(OXYGEN_FOUND)
+ SET( OXYGEN_LIBRARIES )
+ENDIF(OXYGEN_FOUND)
+
+MARK_AS_ADVANCED( OXYGEN_LIBRARY OXYGEN_INCLUDE_DIR )
+
+# Kerosin section
+IF (KEROSIN_INCLUDE_DIR)
+ # Already in cache, be silent
+ SET(KEROSIN_FIND_QUIETLY TRUE)
+ENDIF (KEROSIN_INCLUDE_DIR)
+
+FIND_PATH(KEROSIN_INCLUDE_DIR kerosin/kerosin.h PATH_SUFFIXES simspark)
+
+SET(KEROSIN_NAMES kerosin kerosin_debug)
+FIND_LIBRARY(KEROSIN_LIBRARY NAMES ${KEROSIN_NAMES} PATH_SUFFIXES simspark )
+
+# handle the QUIETLY and REQUIRED arguments and set KEROSIN_FOUND to TRUE if
+# all listed variables are TRUE
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(KEROSIN DEFAULT_MSG KEROSIN_LIBRARY
+ KEROSIN_INCLUDE_DIR)
+
+IF(KEROSIN_FOUND)
+ SET( KEROSIN_LIBRARIES ${KEROSIN_LIBRARY} )
+ELSE(KEROSIN_FOUND)
+ SET( KEROSIN_LIBRARIES )
+ENDIF(KEROSIN_FOUND)
+
+MARK_AS_ADVANCED( KEROSIN_LIBRARY KEROSIN_INCLUDE_DIR )
Added: trunk/simspark-utilities/data/CMakeLists.txt
===================================================================
--- trunk/simspark-utilities/data/CMakeLists.txt (rev 0)
+++ trunk/simspark-utilities/data/CMakeLists.txt 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,5 @@
+########### install files ###############
+
+install(DIRECTORY rsg ./
+ DESTINATION ${DATADIR}/${CMAKE_PROJECT_NAME}
+ PATTERN ".svn" EXCLUDE)
Property changes on: trunk/simspark-utilities/data/CMakeLists.txt
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: trunk/simspark-utilities/data/bindings.rb
===================================================================
--- trunk/simspark-utilities/data/bindings.rb (rev 0)
+++ trunk/simspark-utilities/data/bindings.rb 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,30 @@
+#
+# bindings.rb sets up a mapping from input constants used by the
+# inputserver to application defined command constants.
+#
+inputServer = get('/sys/server/input');
+
+if (inputServer == nil)
+ print "(bindings.rb) no InputServer present\n";
+else
+ print "(bindings.rb) setting up bindings\n";
+
+ inputServer.bindCommand('axist', Command.Timer);
+ inputServer.bindCommand('axisx', Command.MouseX);
+ inputServer.bindCommand('axisy', Command.MouseY);
+ inputServer.bindCommand('mouse_left', Command.Mouselook);
+ inputServer.bindCommand('mouse_right',Command.Up);
+ inputServer.bindCommand('pagedown', Command.Down);
+ inputServer.bindCommand('kp_minus', Command.Down);
+ inputServer.bindCommand('kp_plus',Command.Up);
+ inputServer.bindCommand('pageup', Command.Up);
+ inputServer.bindCommand('q', Command.Quit)
+ inputServer.bindCommand('a', Command.Left)
+ inputServer.bindCommand('left', Command.Left)
+ inputServer.bindCommand('d', Command.Right)
+ inputServer.bindCommand('right', Command.Right)
+ inputServer.bindCommand('w', Command.Forward)
+ inputServer.bindCommand('up', Command.Forward)
+ inputServer.bindCommand('s', Command.Backward)
+ inputServer.bindCommand('down', Command.Backward)
+end
Added: trunk/simspark-utilities/data/rsg/agent/ball.rsg
===================================================================
--- trunk/simspark-utilities/data/rsg/agent/ball.rsg (rev 0)
+++ trunk/simspark-utilities/data/rsg/agent/ball.rsg 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,56 @@
+; -*- mode: lisp; -*-
+
+(RSG 0 1)
+(
+ (def $Radius (eval Soccer.BallRadius))
+ (def $Material matOrange)
+ (def $Mass (eval Soccer.BallMass))
+
+ (nd Ball
+ (setLocalPos 0.0 0.0 $Radius)
+ (setName Ball)
+
+ (nd StaticMesh
+ (load 'models/soccerball.obj')
+ (setScale $Radius $Radius $Radius)
+ )
+
+ (nd Body
+ (setName physics)
+
+ (setSphereTotal $Mass $Radius)
+ (nd DragController
+ (setAngularDrag 0.00005)
+ (setLinearDrag 0.01)
+ )
+ )
+
+ (nd SphereCollider
+ (setName geometry)
+ (setRadius $Radius)
+
+ (nd RecorderHandler
+ (setName recorder)
+ )
+
+ (nd ContactJointHandler
+ (setContactBounceMode true)
+ (setContactBounceValue 0.8)
+ (setMinBounceVel 0.8)
+
+ (setContactSlipMode true)
+ (setContactSlip 0.6)
+
+ (setContactSoftERPMode true)
+ (setContactSoftERP 0.5)
+
+ (setContactSoftCFMMode true)
+ (setContactSoftCFM 0.05)
+ )
+ )
+
+ (nd ObjectState
+ (setPerceptName B)
+ )
+ )
+)
Added: trunk/simspark-utilities/data/rsg/agent/buggy.rsg
===================================================================
--- trunk/simspark-utilities/data/rsg/agent/buggy.rsg (rev 0)
+++ trunk/simspark-utilities/data/rsg/agent/buggy.rsg 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,105 @@
+; -*- mode: lisp; -*-
+
+;
+; this file constructs a simple buggy, the connected agent controlls
+; one joint motor
+;
+
+(RSG 0 1)
+(
+ ; install a perceptor to receive the current simulation time
+ (nd TimePerceptor)
+
+ ; create the char chassis
+ (nd Transform
+ (setName chassis)
+ (setLocalPos 0 0 0.5)
+ (importScene rsg/boxspheres/box.rsg 1 3 0.8 10 matRed)
+
+ (nd Transform
+ (setLocalPos 0 1.3 0.55)
+ (nd Box
+ (setMaterial matBlue)
+ (setExtents 1 0.1 0.3)
+ )
+ )
+ )
+
+ ; install the left back tire, this tire is used to accelerate
+ (nd Transform
+ (setName leftBack)
+ (setLocalPos -0.5 -1.5 0)
+ (importScene rsg/boxspheres/sphere.rsg 0.4 2 matWhite)
+ (nd Transform
+ (setLocalRotation 0 180 0)
+
+ ; install the joint
+ (nd Hinge2Joint
+ (attach ../../sphereBody ../../../chassis/boxBody)
+ (setAnchor 0 0 0)
+
+ ; enable the joint motor
+ (setMaxMotorForce 1 4000)
+
+ ; install a perceptor to measure the tire movement
+ (nd Hinge2Perceptor
+ (setName lb)
+ )
+
+ ; install an effector to control the joint motor
+ (nd Hinge2Effector)
+ )
+
+ ; add some boxes to visualize the tire spin
+ (nd Box
+ (setExtents 1 0.1 0.1)
+ (setMaterial matBlue)
+ )
+
+ (nd Box
+ (setExtents 0.1 1 0.1)
+ (setMaterial matRed)
+ )
+
+ (nd Box
+ (setExtents 0.1 0.1 1)
+ (setMaterial matYellow)
+ )
+ )
+ )
+
+ ; install remaining passive wheels
+
+ (nd Transform
+ (setName leftFront)
+ (setLocalPos -0.5 +1.5 0)
+ (importScene rsg/boxspheres/sphere.rsg 0.4 2 matWhite)
+ (nd Hinge2Joint
+ (attach ../sphereBody ../../chassis/boxBody)
+ (setAnchor 0 0 0)
+ )
+ )
+
+ (nd Transform
+ (setName rightBack)
+ (setLocalPos 0.5 -1.5 0)
+ (importScene rsg/boxspheres/sphere.rsg 0.4 2 matWhite)
+ (nd Transform
+ (setLocalRotation 0 180 0)
+ (nd Hinge2Joint
+ (attach ../../sphereBody ../../../chassis/boxBody)
+ (setAnchor 0 0 0)
+ )
+ )
+ )
+
+ (nd Transform
+ (setName rightFront)
+ (setLocalPos 0.5 +1.5 0)
+ (importScene rsg/boxspheres/sphere.rsg 0.4 2 matWhite)
+ (nd Hinge2Joint
+ (attach ../sphereBody ../../chassis/boxBody)
+ (setAnchor 0 0 0)
+ )
+ )
+)
\ No newline at end of file
Added: trunk/simspark-utilities/data/rsg/agent/leggedsphere.rsg
===================================================================
--- trunk/simspark-utilities/data/rsg/agent/leggedsphere.rsg (rev 0)
+++ trunk/simspark-utilities/data/rsg/agent/leggedsphere.rsg 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,183 @@
+; -*- mode: lisp; -*-
+
+;
+; sphere with two legs (5DOF/leg)
+;
+
+(RSG 0 1)
+(
+ ; create the sphere
+ (nd Transform
+ (setName body)
+ (setLocalPos 0 4 3)
+ (importScene rsg/boxspheres/sphere.rsg 1.25 0.75 matRed)
+ )
+
+ ; attach left thigh
+ (nd Transform
+ (setName leftthigh)
+ (setLocalPos 1.25 4 2.25)
+ (importScene rsg/boxspheres/box.rsg 0.5 0.5 1.0 1.0 matGrey)
+
+ ; install the joint to connect to the body
+ (nd UniversalJoint
+ (attach ../boxBody ../../body/sphereBody)
+ (setAnchor 0 0 0)
+ (setAxis1 1.0 0.0 0.0) ; move around the x-axis
+ (setAxis2 0.0 1.0 0.0) ; move around the y-axis
+
+ ; enable the joint motors
+ (setMaxMotorForce 0 100)
+ (setMaxMotorForce 1 100)
+
+ ; install a perceptor
+ (nd UniversalJointPerceptor
+ (setName lefthip)
+ )
+
+ ; install an effector to control the joint motors
+ (nd UniversalJointEffector
+ (setName lhe)
+ )
+ )
+ )
+
+ ; attach left shank
+ (nd Transform
+ (setName leftshank)
+ (setLocalPos 1.25 4 1)
+ (importScene rsg/boxspheres/box.rsg 0.5 0.5 1.0 1.0 matGrey)
+
+ ; install the joint to connect to the body
+ (nd HingeJoint
+ (attach ../boxBody ../../leftthigh/boxBody)
+ (setAnchor 0 0 0)
+ (setAxis 0) ; move around the x-axis
+
+ ; enable the joint motor
+ (setMaxMotorForce 0 100)
+
+ ; install a perceptor
+ (nd HingePerceptor
+ (setName leftknee)
+ )
+
+ ; install an effector to control the joint motor
+ (nd HingeEffector
+ (setName lke)
+ )
+ )
+ )
+
+ ; attach left foot
+ (nd Transform
+ (setName leftfoot)
+ (setLocalPos 1.25 4 0.125)
+ (importScene rsg/boxspheres/box.rsg 1.0 1.25 0.25 1.0 matGrey)
+
+ ; install the joint to connect to the body
+ (nd UniversalJoint
+ (attach ../boxBody ../../leftshank/boxBody)
+ (setAnchor 0 0 0)
+ (setAxis1 1.0 0.0 0.0) ; move around the x-axis
+ (setAxis2 0.0 1.0 0.0) ; move around the y-axis
+
+ ; enable the joint motors
+ (setMaxMotorForce 0 100)
+ (setMaxMotorForce 1 100)
+
+ ; install a perceptor
+ (nd UniversalJointPerceptor
+ (setName leftankle)
+ )
+
+ ; install an effector to control the joint motors
+ (nd UniversalJointEffector
+ (setName lae)
+ )
+ )
+ )
+
+ ; attach right thigh
+ (nd Transform
+ (setName rightthigh)
+ (setLocalPos -1.25 4 2.25)
+ (importScene rsg/boxspheres/box.rsg 0.5 0.5 1.0 1.0 matGrey)
+ (nd UniversalJoint
+ (attach ../boxBody ../../body/sphereBody)
+ (setAnchor 0 0 0)
+ (setAxis1 1.0 0.0 0.0) ; move around the x-axis
+ (setAxis2 0.0 1.0 0.0) ; move around the y-axis
+
+ ; enable the joint motors
+ (setMaxMotorForce 0 100)
+ (setMaxMotorForce 1 100)
+
+ ; install a perceptor
+ (nd UniversalJointPerceptor
+ (setName righthip)
+ )
+
+ ; install an effector to control the joint motors
+ (nd UniversalJointEffector
+ (setName rhe)
+ )
+ )
+ )
+
+ ; attach right shank
+ (nd Transform
+ (setName rightshank)
+ (setLocalPos -1.25 4 1)
+ (importScene rsg/boxspheres/box.rsg 0.5 0.5 1.0 1.0 matGrey)
+
+ ; install the joint to connect to the body
+ (nd HingeJoint
+ (attach ../boxBody ../../rightthigh/boxBody)
+ (setAnchor 0 0 0)
+ (setAxis 0) ; move around the x-axis
+
+ ; enable the joint motor
+ (setMaxMotorForce 0 100)
+
+ ; install a perceptor
+ (nd HingePerceptor
+ (setName rightknee)
+ )
+
+ ; install an effector to control the joint motor
+ (nd HingeEffector
+ (setName rke)
+ )
+ )
+ )
+
+ ; attach right foot
+ (nd Transform
+ (setName rightfoot)
+ (setLocalPos -1.25 4 0.125)
+ (importScene rsg/boxspheres/box.rsg 1.0 1.25 0.25 1.0 matGrey)
+
+ ; install the joint to connect to the body
+ (nd UniversalJoint
+ (attach ../boxBody ../../rightshank/boxBody)
+ (setAnchor 0 0 0)
+ (setAxis1 1.0 0.0 0.0) ; move around the x-axis
+ (setAxis2 0.0 1.0 0.0) ; move around the y-axis
+
+ ; enable the joint motors
+ (setMaxMotorForce 0 100)
+ (setMaxMotorForce 1 100)
+
+ ; install a perceptor
+ (nd UniversalJointPerceptor
+ (setName rightankle)
+ )
+
+ ; install an effector to control the joint motors
+ (nd UniversalJointEffector
+ (setName rae)
+ )
+ )
+ )
+)
Added: trunk/simspark-utilities/data/rsg/agent/samplesim.rsg
===================================================================
--- trunk/simspark-utilities/data/rsg/agent/samplesim.rsg (rev 0)
+++ trunk/simspark-utilities/data/rsg/agent/samplesim.rsg 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,20 @@
+; -*- mode: lisp; -*-
+
+(RSG 0 1)
+(
+; add lights
+ (nd Transform
+ (setLocalPos -10 10 10)
+ (nd Light
+ (setDiffuse 1.0 1.0 1.0 1.0)
+ (setSpecular 0.1 0.1 0.1 1.0)
+ (setAmbient 0.5 0.5 0.5 1.0)
+ )
+ )
+
+; create the arena
+(nd Transform
+ (setLocalPos 0 0 -2)
+ (importScene rsg/boxspheres/arena.rsg)
+ )
+)
\ No newline at end of file
Added: trunk/simspark-utilities/gendot/CMakeLists.txt
===================================================================
--- trunk/simspark-utilities/gendot/CMakeLists.txt (rev 0)
+++ trunk/simspark-utilities/gendot/CMakeLists.txt 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,18 @@
+########### next target ###############
+
+set(gendot_SRCS
+ main.cpp
+)
+
+include_directories(${SPARK_INCLUDE_DIR} ${SALT_INCLUDE_DIR}
+ ${ZEITGEIST_INCLUDE_DIR} ${OXYGEN_INCLUDE_DIR} ${KEROSIN_INCLUDE_DIR})
+
+add_executable(gendot ${gendot_SRCS})
+
+target_link_libraries(gendot ${SPARK_LIBRARIES} ${SALT_LIBRARIES}
+ ${ZEITGEIST_LIBRARIES} ${OXYGEN_LIBRARIES} ${KEROSIN_LIBRARIES})
+set_target_properties(gendot PROPERTIES INSTALL_RPATH "${RPATH_DIRECTORIES}")
+
+add_custom_target(zeitgeist.ps dot -Tps zeitgeist.dot -o zeitgeist.ps)
+add_custom_target(zeitgeist.gif dot -Tgif zeitgeist.dot -o zeitgeist.gif)
+add_custom_target(zeitgeist.dot ./gendot)
Property changes on: trunk/simspark-utilities/gendot/CMakeLists.txt
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: trunk/simspark-utilities/gendot/gendot.rb
===================================================================
--- trunk/simspark-utilities/gendot/gendot.rb (rev 0)
+++ trunk/simspark-utilities/gendot/gendot.rb 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,13 @@
+# import any additional plugins you want to include into the graph
+importBundle "soccer"
+importBundle "collisionperceptor"
+# importBundle "filesystemrar"
+importBundle "filesystemstd"
+# importBundle "filesystemzip"
+importBundle "forceeffector"
+importBundle "inputsdl"
+importBundle "monitortest"
+importBundle "perfectvisionperceptor"
+importBundle "sexpparser"
+# importBundle "soundsystembass"
+# importBundle "soundsystemfmod"
Added: trunk/simspark-utilities/gendot/include.dot
===================================================================
--- trunk/simspark-utilities/gendot/include.dot (rev 0)
+++ trunk/simspark-utilities/gendot/include.dot 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,8 @@
+# include.dot: include file for the gendot tool
+#
+size ="7.5,10";
+ratio = "1.01";
+rotate ="90";
+
+ edge [fontname="Helvetica",fontsize=10,labelfontname="Helvetica",color="black",labelfontsize=10];
+ node [fontname="Helvetica",fontsize=8,shape=box,height=0.2,width=0.4];
Added: trunk/simspark-utilities/gendot/main.cpp
===================================================================
--- trunk/simspark-utilities/gendot/main.cpp (rev 0)
+++ trunk/simspark-utilities/gendot/main.cpp 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,177 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: main.cpp,v 1.3 2004/04/09 21:06:31 fruit Exp $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include <zeitgeist/zeitgeist.h>
+#include <oxygen/oxygen.h>
+
+#ifdef HAVE_KEROSIN_H
+#include <kerosin/kerosin.h>
+#endif
+
+#include <iostream>
+#include <fstream>
+
+using namespace boost;
+using namespace oxygen;
+using namespace salt;
+using namespace std;
+using namespace zeitgeist;
+
+std::string outFile = "zeitgeist.dot";
+std::string inFile = "include.dot";
+
+void
+printHelp()
+{
+ cout << "\nusage: gendot [options]" << endl;
+ cout << "\noptions:" << endl;
+ cout << " -o\t name of the outfile, default zeitgeist.dot" << endl;
+ cout << " -i\t name of the dot include file, default include.dot" << endl;
+ cout << " -h\t print this help message" << endl;
+ cout << endl;
+ cout << "gendot generates a graphviz dot file showing the zeitgeist " << endl;
+ cout << "class hierarchy, including all classes that are visible at runtime. " << endl;
+ cout << "You can add additional classes using 'importbundle <bundle>'" << endl;
+ cout << "in the 'gendot.rb' file. To view the output as an ps-file invoke dot" << endl;
+ cout << "with 'dot -Tps zeitgeist.dot -o zeitgeist.ps'" << endl;
+ cout << "\n";
+}
+
+void
+processInput(int argc, char* argv[])
+{
+ for( int i = 0; i < argc; i++)
+ {
+ if( strcmp( argv[i], "-o" ) == 0 )
+ {
+ if( i+1 < argc)
+ {
+ outFile = argv[i+1];
+ ++i;
+ }
+ }
+ if( strcmp( argv[i], "-i" ) == 0 )
+ {
+ if( i+1 < argc)
+ {
+ inFile = argv[i+1];
+ ++i;
+ }
+ }
+ else if
+ (
+ ( strcmp( argv[i], "--help" ) == 0 ) ||
+ ( strcmp( argv[i], "-h" ) == 0 )
+ )
+ {
+ printHelp();
+ exit(0);
+ }
+ }
+}
+
+void
+printGreeting()
+{
+ cout << "zeitgeist gendot version 0.1" << endl
+ << "Universit\xE4t Koblenz." << endl
+ << "Copyright (C) 2004, "
+ << "The RoboCup Soccer Server Maintenance Group." << endl;
+}
+
+int
+main(int argc, char* argv[])
+{
+ printGreeting();
+ processInput(argc,argv);
+
+ Zeitgeist zg("." PACKAGE_NAME);
+ oxygen::Oxygen kOxygen(zg);
+#ifdef HAVE_KEROSIN_H
+ kerosin::Kerosin kerosin(zg);
+#endif
+
+ // require any additional classes in the gendot.rb
+ zg.GetCore()->GetScriptServer()->Run("gendot.rb");
+
+ shared_ptr<Leaf> classRoot = zg.GetCore()->Get("/classes");
+ if (classRoot.get() == 0)
+ {
+ cout << "ERROR: unable to get the class root node" << endl;
+ return 1;
+ }
+
+ ofstream out(outFile.c_str());
+ cout << "writing to " << outFile << endl;
+ out << "digraph G {" << endl;
+
+ // import the include file
+ ifstream header("include.dot");
+
+ while (! header.eof())
+ {
+ static char buffer[4095];
+ header.getline(buffer, sizeof(buffer));
+ out << buffer << endl;
+ }
+
+
+ // list all classes
+ Leaf::TLeafList classes;
+ classRoot->ListChildrenSupportingClass<Class>(classes,true);
+
+ for (
+ Leaf::TLeafList::iterator iter = classes.begin();
+ iter != classes.end();
+ ++iter
+ )
+ {
+ string name = (*iter)->GetFullPath();
+
+ // remove '/classes/' prefix
+ name.erase(name.begin(),name.begin()+9);
+
+ cout << "class " << name << endl;
+
+ shared_ptr<Class> theClass = shared_dynamic_cast<Class>(*iter);
+ if (theClass.get() == 0)
+ {
+ continue;
+ }
+
+ const Class::TStringList& baseClasses = theClass->GetBaseClasses();
+
+ out << "\"" << name << "\"";
+
+ for (
+ Class::TStringList::const_iterator baseIter = baseClasses.begin();
+ baseIter != baseClasses.end();
+ ++baseIter
+ )
+ {
+ out << " -> \"" << (*baseIter) << "\"";
+ }
+
+ out << ";" << endl;
+ }
+
+ out << "}" << endl;
+}
Property changes on: trunk/simspark-utilities/gendot/main.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: trunk/simspark-utilities/monitorspark/CMakeLists.txt
===================================================================
--- trunk/simspark-utilities/monitorspark/CMakeLists.txt (rev 0)
+++ trunk/simspark-utilities/monitorspark/CMakeLists.txt 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,22 @@
+########### next target ###############
+set(monitorspark_SRCS
+ main.cpp
+)
+
+include_directories(${SPARK_INCLUDE_DIR} ${SALT_INCLUDE_DIR}
+ ${ZEITGEIST_INCLUDE_DIR} ${OXYGEN_INCLUDE_DIR} ${KEROSIN_INCLUDE_DIR})
+
+add_executable(monitorspark ${monitorspark_SRCS})
+
+target_link_libraries(monitorspark ${SPARK_LIBRARIES} ${SALT_LIBRARIES}
+ ${ZEITGEIST_LIBRARIES} ${OXYGEN_LIBRARIES} ${KEROSIN_LIBRARIES})
+
+set_target_properties(monitorspark PROPERTIES
+ INSTALL_RPATH "${RPATH_DIRECTORIES}")
+
+install(TARGETS monitorspark DESTINATION ${BINDIR})
+
+
+########### install files ###############
+
+install(FILES monitorspark.rb DESTINATION ${DATADIR}/${CMAKE_PROJECT_NAME})
Property changes on: trunk/simspark-utilities/monitorspark/CMakeLists.txt
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: trunk/simspark-utilities/monitorspark/main.cpp
===================================================================
--- trunk/simspark-utilities/monitorspark/main.cpp (rev 0)
+++ trunk/simspark-utilities/monitorspark/main.cpp 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,153 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: main.cpp,v 1.7 2008/05/30 07:54:51 yxu Exp $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include <spark/spark.h>
+#include <zeitgeist/zeitgeist.h>
+#include <oxygen/simulationserver/simulationserver.h>
+#include <kerosin/renderserver/rendercontrol.h>
+#include <kerosin/inputserver/inputcontrol.h>
+
+using namespace spark;
+using namespace kerosin;
+using namespace oxygen;
+using namespace zeitgeist;
+using namespace salt;
+using namespace std;
+using namespace boost;
+
+class MonitorSpark : public Spark
+{
+public:
+ MonitorSpark(const std::string& relPathPrefix) :
+ Spark(relPathPrefix)
+ {};
+
+ /** called once after Spark finished it's init */
+ virtual bool InitApp(int argc, char** argv);
+
+ /** print command line options */
+ void PrintHelp();
+
+ /** print a greeting */
+ void PrintGreeting();
+
+ /** process command line options */
+ bool ProcessCmdLine(int argc, char* argv[]);
+};
+
+void MonitorSpark::PrintGreeting()
+{
+ GetLog()->Normal()
+ << "monitorspark, 0.1\n"
+ << "Koblenz University.\n"
+ << "Copyright (C) 2004, "
+ << "The RoboCup Soccer Server Maintenance Group.\n"
+ << "\nType '--help' for further information\n\n";
+}
+
+void MonitorSpark::PrintHelp()
+{
+ GetLog()->Normal()
+ << "\nusage: monitorspark [options]\n"
+ << "\noptions:\n"
+ << " --help\t print this message.\n"
+ << " --logfile\t logfilename\t plays the log file.\n"
+ << "\n";
+}
+
+bool MonitorSpark::ProcessCmdLine(int argc, char* argv[])
+{
+ for( int i = 0; i < argc; i++)
+ {
+ if( strcmp( argv[i], "--help" ) == 0 )
+ {
+ PrintHelp();
+ return false;
+ }
+ else if( strcmp( argv[i], "--logfile" ) == 0 && (i+1 == argc) )
+ {
+ PrintHelp();
+ return false;
+ }
+ }
+
+ return true;
+}
+
+bool MonitorSpark::InitApp(int argc, char** argv)
+{
+ GetSimulationServer()->SetSimStep(0.02);
+ PrintGreeting();
+
+ // process command line
+ if (! ProcessCmdLine(argc, argv))
+ {
+ return false;
+ }
+
+ // run initialization scripts
+
+ if(argc == 3 && strcmp( argv[1], "--logfile" ) == 0)
+ {
+ GetScriptServer()->Eval("$logPlayerMode = true");
+
+ char fileStr[80];
+ strcpy(fileStr, "$logPlayerFile = \"");
+ strcat(fileStr, argv[2]);
+ strcat(fileStr, "\"");
+ GetScriptServer()->Eval(fileStr);
+ }
+
+ GetScriptServer()->Run("monitorspark.rb");
+
+ // tell the inputControl node the loaction of our camera
+ shared_ptr<InputControl> inputCtr = GetInputControl();
+ if (inputCtr.get() != 0)
+ {
+ inputCtr->SetFPSController("/usr/scene/camera/physics/controller");
+ }
+
+ return true;
+}
+
+int main(int argc, char** argv)
+{
+ // the spark app framework instance
+ MonitorSpark spark("../../");
+
+ if (! spark.Init(argc, argv))
+ {
+ return 1;
+ }
+
+ spark.GetSimulationServer()->Run(argc,argv);
+
+ shared_ptr<RenderControl> renderCtr = spark.GetRenderControl();
+ if (renderCtr.get() != 0)
+ {
+ spark.GetLog()->Normal()
+ << "Average FPS: "
+ << renderCtr->GetFramesRendered() /
+ spark.GetSimulationServer()->GetTime()
+ << "\n";
+ }
+
+ return 0;
+}
Property changes on: trunk/simspark-utilities/monitorspark/main.cpp
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Added: svn:mime-type
+ text/plain
Added: trunk/simspark-utilities/monitorspark/monitorspark.rb
===================================================================
--- trunk/simspark-utilities/monitorspark/monitorspark.rb (rev 0)
+++ trunk/simspark-utilities/monitorspark/monitorspark.rb 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,46 @@
+#
+# monitorspark.rb
+#
+
+sparkSetupRendering()
+sparkSetupInput()
+
+if ($logPlayerMode == true)
+ sparkSetupMonitorLogPlayer()
+else
+ sparkSetupMonitor()
+end
+
+# let spark create a default camera
+sparkAddFPSCamera(
+ $scenePath+'camera',
+ x = -5,
+ y = -40,
+ z = 2,
+ vAngle = 10.0,
+ hAngle = 10.0,
+ maxSpeed = 15.0,
+ accel = 400.0,
+ drag = 4,
+ addCollider = false,
+ colliderRadius = 2.0
+ )
+
+# setup default input bindings
+run "bindings.rb"
+
+# setup default materials common to all simulations
+run "scripts/materials.rb"
+
+# source soccersim-monitor.rb to build a soccer monitor
+run "soccersim-monitor.rb"
+
+#
+# uncomment for logging setup (see spark.rb for reference)
+#
+
+sparkResetLogging()
+sparkLogAllToCerr()
+# sparkLogAllToFile('./spark.txt')
+# sparkLogDebugToCerr()
+
Added: trunk/simspark-utilities/sampleagent/CMakeLists.txt
===================================================================
--- trunk/simspark-utilities/sampleagent/CMakeLists.txt (rev 0)
+++ trunk/simspark-utilities/sampleagent/CMakeLists.txt 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,21 @@
+########### next target ###############
+
+set(sampleagent_SRCS
+ main.cpp
+ behavior.h
+ carbehavior.cpp
+ carbehavior.h
+ leggedspherebehavior.h
+ leggedspherebehavior.cpp
+)
+
+include_directories(${SPARK_INCLUDE_DIR} ${Boost_INCLUDE_DIR})
+add_executable(sampleagent ${sampleagent_SRCS})
+
+target_link_libraries(sampleagent ${SPARK_LIBRARIES} ${SALT_LIBRARIES}
+ ${ZEITGEIST_LIBRARIES} ${OXYGEN_LIBRARIES} ${KEROSIN_LIBRARIES})
+
+set_target_properties(sampleagent PROPERTIES
+ INSTALL_RPATH "${RPATH_DIRECTORIES}")
+
+install(TARGETS sampleagent DESTINATION ${BINDIR})
Property changes on: trunk/simspark-utilities/sampleagent/CMakeLists.txt
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Added: svn:mime-type
+ text/plain
Added: trunk/simspark-utilities/sampleagent/behavior.h
===================================================================
--- trunk/simspark-utilities/sampleagent/behavior.h (rev 0)
+++ trunk/simspark-utilities/sampleagent/behavior.h 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,37 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: behavior.h,v 1.1 2004/05/07 12:23:19 rollmark Exp $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef BEHAVIOR_H
+#define BEHAVIOR_H
+
+#include <string>
+
+class Behavior
+{
+public:
+ /** called once when the initially connected to the server */
+ virtual std::string Init() = 0;
+
+ /** called for every message received from the server; should
+ return an action string
+ */
+ virtual std::string Think(const std::string& message) = 0;
+};
+
+#endif // BEHAVIOR_H
Property changes on: trunk/simspark-utilities/sampleagent/behavior.h
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Added: svn:mime-type
+ text/plain
Added: trunk/simspark-utilities/sampleagent/carbehavior.cpp
===================================================================
--- trunk/simspark-utilities/sampleagent/carbehavior.cpp (rev 0)
+++ trunk/simspark-utilities/sampleagent/carbehavior.cpp 2009-01-22 17:15:41 UTC (rev 33)
@@ -0,0 +1,54 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: carbehavior.cpp,v 1.2 2008/03/27 21:11:53 rollmark Exp $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include "carbehavior.h"
+#include <iostream>
+#include <sstream>
+
+using namespace std;
+
+CarBehavior::CarBehavior()
+{
+}
+
+string CarBehavior::Init()
+{
+ // use the scene effector to build the agent
+ return "(scene rsg/agent/buggy.rsg)";
+}
+
+string CarBehavior::Think(const std::string& message)
+{
+ // demo: just drive forward and backward...
+
+ static int n = 0;
+ static float velocity = 100;
+
+ ++n;
+ if (n > 900)
+ {
+ velocity *= -1;
+ n = 0;
+ }
+
+ stringstream ss;
+ ss << "(hinge2 " << velocity << ")";
+
+ return ss.str();
+}
Property changes on: trunk/simspar...
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