[simspark-cvs] simspark/simulations/parts/rsg/boxspheres arena.rsg,NONE,1.1 box.rsg,NONE,1.1 ccylinder.rsg,NONE,1.1 layer.rsg,NONE,1.1 row.rsg,NONE,1.1 simspark.rsg,NONE,1.1 sphere.rsg,NONE,1.1 staticbox.rsg,NONE,1.1 staticccylinder.rsg,NONE,1.1 staticsphere.rsg,NONE,1.1

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

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

Added Files:
	arena.rsg box.rsg ccylinder.rsg layer.rsg row.rsg simspark.rsg 
	sphere.rsg staticbox.rsg staticccylinder.rsg staticsphere.rsg 
Log Message:
- added rsg and ros example files


--- NEW FILE: layer.rsg ---
; -*- mode: lisp; -*-
(RubySceneGraph 0 1)
(
 (template $radius $density)

 (node Transform
       (setLocalPos -6 -4 0)
       (importScene rsg/boxspheres/row.rsg $radius $density)
       )
 (node Transform
       (setLocalPos -6 -2 0)
       (importScene rsg/boxspheres/row.rsg $radius $density)
       )
 (node Transform
       (setLocalPos -6 0 0)
       (importScene rsg/boxspheres/row.rsg $radius $density)
       )
 (node Transform
       (setLocalPos -6 2 0)
       (importScene rsg/boxspheres/row.rsg $radius $density)
       )
 (node Transform
       (setLocalPos -6 4 0)
       (importScene rsg/boxspheres/row.rsg $radius $density)
       )
 )

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

(RubySceneGraph 0 1)
(
 (template $radius $material)

 (node Sphere
       (setRadius $radius)
       (setMaterial $material)
       )

 (node SphereCollider
       (setRadius $radius)

       (node ContactJointHandler
	     (setContactBounceMode false)
	     )

       ) 
 )

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

(RubySceneGraph 0 1)
(
; create the base plane
 (node Transform
       (setLocalPos 0 0 -1)
       (node Box
	     (setMaterial matGreen)
	     (setExtents 100 100 4)
	     )
       (node PlaneCollider
	     (setParams 0 0 1.0 0)
	     (node ContactJointHandler
		   (setContactBounceMode false)
		   )
	     )
       )

; create left side
 (node Transform
       (setLocalPos -50 0 10)
       (node Box
	     (setMaterial matWhite)
	     (setExtents 1 100 20)
	     ) 
       (node PlaneCollider
	     (setParams 1.0 0 0 -49)
	     )
       )

; create back side
 (node Transform
       (setLocalPos 0 50 10)
       (node Box
	     (setMaterial matGrey)
	     (setExtents 100 1 20)
	     ) 
       (node PlaneCollider
	     (setParams 0 -1.0 0 -49)
	     )
       )

; create right side
 (node Transform
       (setLocalPos 50 0 10)
       (node Box
	     (setMaterial matWhite)
	     (setExtents 1 100 20)
	     ) 
       (node PlaneCollider
	     (setParams -1.0 0 0 -49)
	     )
       )

; create front side
 (node Transform
       (setLocalPos 0 -50 10)
       (node Box
	     (setMaterial matGrey)
	     (setExtents 100 1 20)
	     ) 
       (node PlaneCollider
	     (setParams 0 1.0 0 -49)
	     )
       )

)
--- NEW FILE: staticccylinder.rsg ---
; -*- mode: lisp; -*-

(RubySceneGraph 0 1)
(
 (template $radius $length $density $material)

 (node CCylinder
       (setParams $radius $length)
       (setMaterial $material)
       )
       
 (node CCylinderCollider
       (setParams $radius $length)
       )
 )



--- 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 boxes
 (node Transform
       (setLocalPos -8 0 30)
       (importScene rsg/boxspheres/box.rsg 3 4 5 2 matYellow)
       )

 (node Transform
       (setLocalPos -7 0 15)
       (importScene rsg/boxspheres/box.rsg 2 2 2 2 matRedGlow)
       (node Light
	     (setDiffuse 0.5 0 0 1)
	     (setSpecular 0.2 0.2 0.2 1)
	     (setAmbient 0 0 0 1.0)
	     )
       )

; add capped cylinder
 (node Transform
       (setLocalPos -4 0 20)
       (importScene rsg/boxspheres/ccylinder.rsg 1 3 2 matBlue)
       )

 (node Transform
       (setLocalPos -6 3 20)
       (importScene rsg/boxspheres/ccylinder.rsg 1 10 2 matWhite)
       )

; add two layer of spheres
(node Transform
      (setLocalPos 0 0 0.6)
      (importScene rsg/boxspheres/layer.rsg 1 1)
      )


(node Transform
      (setLocalPos 0 0 2)
      (importScene rsg/boxspheres/layer.rsg 1 1)
      )

)
--- NEW FILE: ccylinder.rsg ---
; -*- mode: lisp; -*-

(RubySceneGraph 0 1)
(
 (template $radius $length $density $material)

 (node CCylinder
       (setParams $radius $length)
       (setMaterial $material)
       )
       
 (node Body
       (setCappedCylinder $density $radius $length)
       )
	     
 (node CCylinderCollider
       (setParams $radius $length)
       )
 )



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

(RubySceneGraph 0 1)
(
 (template $lenX $lenY $lenZ $density $material)
 (node Box
       (setExtents $lenX $lenY $lenZ)
       (setMaterial $material)
       )

 (node Body
       (setName boxBody)
       (setBox $density $lenX $lenY $lenZ)
       (node DragController
	     (setAngularDrag 0.01)
	     (setLinearDrag 0.01)
	     )
       )

 (node BoxCollider
       (setBoxLengths $lenX $lenY $lenZ)
       (node ContactJointHandler
	     (setContactBounceMode false)

	     (setContactSlipMode true)
	     (setContactSlip 0.1 0.1)

	     (setContactSoftERPMode true)
	     (setContactSoftERP 0.5)

	     (setContactSoftCFM true)
	     (setContactSoftCFM 0.3)

	     )
       )
)
--- NEW FILE: sphere.rsg ---
; -*- mode: lisp; -*-

(RubySceneGraph 0 1)
(
 (template $radius $density $material)

 (node Sphere
       (setRadius $radius)
       (setMaterial $material)
       )

 (node Body
       (setName sphereBody)
       (setSphere $density $radius)
       (node DragController
	     (setAngularDrag 0.01)
	     (setLinearDrag 0.01)
	     )
)
       
 (node SphereCollider
       (setRadius $radius)

       (node ContactJointHandler
	     (setContactBounceMode false)

	     (setContactSlipMode true)
	     (setContactSlip 0.1 0.1)

	     (setContactSoftERPMode true)
	     (setContactSoftERP 0.5)

	     (setContactSoftCFM true)
	     (setContactSoftCFM 0.3)
	     )
       )
 )

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

(RubySceneGraph 0 1)
(
 (template $lenX $lenY $lenZ $material)
 (node Box
       (setExtents $lenX $lenY $lenZ)
       (setMaterial $material)
       )

 (node BoxCollider
       (setBoxLengths $lenX $lenY $lenZ)
       (node ContactJointHandler
	     (setContactBounceMode false)
	     )
       )
)
--- NEW FILE: row.rsg ---
; -*- mode: lisp; -*-
(RubySceneGraph 0 1)
(
 (template $radius $density)

 (node Transform
       (setLocalPos -6 0 0)
       (importScene rsg/boxspheres/sphere.rsg $radius $density matWhite)
       )
 (node Transform
       (setLocalPos -3 0 0)
       (importScene rsg/boxspheres/sphere.rsg $radius $density matYellow)
       )
 (node Transform
       (setLocalPos -0 0 0)
       (importScene rsg/boxspheres/sphere.rsg $radius $density matWhite)
       )
 (node Transform
       (setLocalPos +3 0 0)
       (importScene rsg/boxspheres/sphere.rsg $radius $density matYellow)
       )
 (node Transform
       (setLocalPos +6 0 0)
       (importScene rsg/boxspheres/sphere.rsg $radius $density matWhite)
       )
 )