[simspark-cvs] simspark/simulations/parts/rsg/jointtest hinge2thing.rsg,NONE,1.1 hingething.rsg,NONE,1.1 rotorlayer.rsg,NONE,1.1 rotorthing.rsg,NONE,1.1 simspark.rsg,NONE,1.1 sliderthing.rsg,NONE,1.1 universalthing.rsg,NONE,1.1

[Markus R. <rol...@us...>]

Update of /cvsroot/simspark/simspark/simulations/parts/rsg/jointtest
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv30762/rsg/jointtest

Added Files:
	hinge2thing.rsg hingething.rsg rotorlayer.rsg rotorthing.rsg 
	simspark.rsg sliderthing.rsg universalthing.rsg 
Log Message:
- added rsg and ros example files


--- NEW FILE: universalthing.rsg ---
; -*- mode: lisp; -*-

(RubySceneGraph 0 1)
(
 
 (node Transform
       (setName top)
       (setLocalPos 0 0 4)
       (importScene rsg/boxspheres/sphere.rsg 1 1 matRed)
       )

 (node Transform
       (setName mid)
       (setLocalPos 0 0 2)
       (importScene rsg/boxspheres/box.rsg 1 1 2 2 matYellow)
       )

 (node Transform
       (setName bottom)
       (setLocalPos 0 0 0)
       (importScene rsg/boxspheres/sphere.rsg 1 1 matGreen)
       )

 (node UniversalJoint
       (attach ../top/sphereBody ../mid/boxBody)
       (setAnchor 0 0 1)
       (setLowStopDeg 0 -30)
       (setHighStopDeg 0 30)
       (setLowStopDeg 1 -45)
       (setHighStopDeg 1 45)
       )

 (node UniversalJoint
       (attach ../bottom/sphereBody ../mid/boxBody)
       (setAnchor 0 0 3)
       (setLowStopDeg 0 -30)
       (setHighStopDeg 0 30)
       (setLowStopDeg 1 -45)
       (setHighStopDeg 1 45)
       )
)
--- NEW FILE: hinge2thing.rsg ---
; -*- mode: lisp; -*-

(RubySceneGraph 0 1)
(

 (node Transform
       (setName chassis)
       (setLocalPos 0 0 0.5)
       (importScene rsg/boxspheres/box.rsg 1 3 0.8 10 matRed)
       )

 (node Transform
       (setName leftBack)
       (setLocalPos -0.5 -1.5 0)
       (importScene rsg/boxspheres/sphere.rsg 0.4 2 matWhite)
       (node Hinge2Joint
	     (attach ../sphereBody ../../chassis/boxBody)
	     (setAnchor 0 0 0)
	     )
       )

 (node Transform
       (setName leftFront)
       (setLocalPos -0.5 +1.5 0)
       (importScene rsg/boxspheres/sphere.rsg 0.4 2 matWhite)
       (node Hinge2Joint
	     (attach ../sphereBody ../../chassis/boxBody)
	     (setAnchor 0 0 0)
	     )
       )

 (node Transform
       (setName rightBack)
       (setLocalPos 0.5 -1.5 0)
       (importScene rsg/boxspheres/sphere.rsg 0.4 2 matWhite)
       (node Hinge2Joint
	     (attach ../sphereBody ../../chassis/boxBody)
	     (setAnchor 0 0 0)
	     )
       )

 (node Transform
       (setName rightFront)
       (setLocalPos 0.5 +1.5 0)
       (importScene rsg/boxspheres/sphere.rsg 0.4 2 matWhite)
       (node Hinge2Joint
	     (attach ../sphereBody ../../chassis/boxBody)
	     (setAnchor 0 0 0)
	     )
       ) 
)

--- NEW FILE: rotorlayer.rsg ---
; -*- mode: lisp; -*-
(RubySceneGraph 0 1)
(
 (template $velocity $force)
 (node Transform
       (setLocalPos 0 -15 1)
       (importScene rsg/jointtest/rotorthing.rsg 10 $force $force)
       )

 (node Transform
       (setLocalPos -11 -15 1)
       (importScene rsg/jointtest/rotorthing.rsg 10 $force $force)
       )

 (node Transform
       (setLocalPos +11 -15 1)
       (importScene rsg/jointtest/rotorthing.rsg 10 $force $force)
       )

 (node Transform
       (setLocalPos 0 -26 1)
       (importScene rsg/jointtest/rotorthing.rsg 10 $force $force)
       )

 (node Transform
       (setLocalPos -11 -26 1)
       (importScene rsg/jointtest/rotorthing.rsg 10 $force $force)
       )

 (node Transform
       (setLocalPos +11 -26 1)
       (importScene rsg/jointtest/rotorthing.rsg 10 $force $force)
       )

(node Transform
       (setLocalPos 0 -37 1)
       (importScene rsg/jointtest/rotorthing.rsg 10 $force $force)
       )

 (node Transform
       (setLocalPos -11 -37 1)
       (importScene rsg/jointtest/rotorthing.rsg 10 $force $force)
       )

 (node Transform
       (setLocalPos +11 -37 1)
       (importScene rsg/jointtest/rotorthing.rsg 10 $force $force)
       )
)
--- NEW FILE: simspark.rsg ---
; -*- mode: lisp; -*-
(RubySceneGraph 0 1)

(
 ; add lights
 (node Transform
       (setLocalPos -10 10 20)
       (node 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
 (node Transform
       (setLocalPos 0 0 -1)
       (importScene rsg/boxspheres/arena.rsg)
       )

 ; add a platform
 (node Transform
       (setLocalPos 0 25 20)
       (setLocalRotation 30 0 0)
       (importScene rsg/boxspheres/staticbox.rsg 15 80 0.2 matGreen)
       )


 ; add some rotors
 (importScene rsg/jointtest/rotorlayer.rsg 200 300)
 (node Transform
      (setLocalPos 0 -20 15)
      (importScene rsg/boxspheres/layer.rsg 1 0.01)
      )
    
  ; add some bodies connected with joints
 (node Transform
       (setLocalPos -2 40 32)
       (importScene rsg/jointtest/hinge2thing.rsg)
       )

 (node Transform
       (setLocalPos -4 40 31)
       (importScene rsg/jointtest/hinge2thing.rsg)
       )

 (node Transform
       (setLocalPos 0 39 30)
       (importScene rsg/jointtest/hinge2thing.rsg)
       )

 (node Transform
       (setLocalPos -2 33 32)
       (importScene rsg/jointtest/hinge2thing.rsg)
       )

 (node Transform
       (setLocalPos -4 36 29)
       (importScene rsg/jointtest/hinge2thing.rsg)
       )

 (node Transform
       (setLocalPos 0 34 30)
       (importScene rsg/jointtest/hinge2thing.rsg)
       )

 (node Transform 
       (setLocalRotation 45 0 0)
       (setLocalPos 0 0 20)
       (importScene rsg/jointtest/hingething.rsg)
       )


 (node Transform 
       (setLocalRotation 45 0 0)
       (setLocalPos 0 0 30)
       (importScene rsg/jointtest/hingething.rsg)
       )


 (node Transform 
       (setLocalRotation 45 0 0)
       (setLocalPos 10 10 10)
       (importScene rsg/jointtest/sliderthing.rsg)
       )

 (node Transform 
       (setLocalPos -10 -10 10)
       (setLocalRotation 45 0 0)
       (importScene rsg/jointtest/universalthing.rsg)
       )
 )
--- NEW FILE: hingething.rsg ---
; -*- mode: lisp; -*-

(RubySceneGraph 0 1)
(
 (node Transform
       (setName mid)
       (setLocalPos 0 0 0)
       (importScene rsg/boxspheres/box.rsg 8 1 2 2 matYellow)
       )

 (node Transform
       (setName right)
       (setLocalPos 4.6 0 0)
       (importScene rsg/boxspheres/box.rsg 1 3 5.5 2 matBlue)
       )

 (node Transform
       (setName left)
       (setLocalPos -4.6 0 0)
       (importScene rsg/boxspheres/box.rsg 1 3 5 2 matRed)
       )

 (node HingeJoint
       (attach ../mid/boxBody ../right/boxBody)
       (setAnchor 3 0 0)
       (setLowStopDeg 0 -40)
       (setHighStopDeg 0 +40)
       )

 (node HingeJoint
       (attach ../mid/boxBody ../left/boxBody)
       (setAnchor -3 0 0)
       (setLowStopDeg 0 -40)
       (setHighStopDeg 0 +40)
       )
 )
--- NEW FILE: rotorthing.rsg ---
; -*- mode: lisp; -*-
(RubySceneGraph 0 1)
(
 (template $size $velocity $force)	
 (node Transform	
       (setName blue)
       (importScene rsg/boxspheres/box.rsg $size 1 1 2 matBlue)
       )

 (node Transform
       (setName red)
       (importScene rsg/boxspheres/box.rsg 1 $size 1 2 matRed)
       )

 (node FixedJoint
       (attach ../blue/boxBody ../red/boxBody)
       )

 (node HingeJoint
       (attach ../blue/boxBody)
       (setAnchor 0 0 0)
       (setAngularMotorVelocity 0 $velocity)
       (setMaxMotorForce 0 $force)
       )
 )
--- NEW FILE: sliderthing.rsg ---
; -*- mode: lisp; -*-

(RubySceneGraph 0 1)
(
 
 (node Transform
       (setName top)
       (setLocalPos 0 0 6)
       (importScene rsg/boxspheres/sphere.rsg 1 1 matRed)
       )

 (node Transform
       (setName mid)
       (setLocalPos 0 0 4)
       (importScene rsg/boxspheres/box.rsg 2 1 2 2 matYellow)
       )

 (node Transform
       (setName bottom)
       (setLocalPos 0 0 0)
       (importScene rsg/boxspheres/sphere.rsg 1 1 matGreen)
       )

 (node SliderJoint
       (attach ../top/sphereBody ../mid/boxBody)
       (setLowStopPos 0 1)
       (setHighStopPos 0 1.5)
       )

 (node SliderJoint
       (attach ../bottom/sphereBody ../mid/boxBody)
       (setLowStopPos 0 1)
       (setHighStopPos 0 1.5)
       )

)