simspark-devel — Discussion about Spark development

[simspark-devel] Design question

[<ah...@un...>]

Hi yet again :P


Joschka and I keep running into the same problem over and over again
considering the design of the physical abstraction layer. Our current
approach involves engine-specific stuff being restricted to the leaves of
the dependency tree. However, there is lots of ODE-specific code in
"body.cpp" and "collider.cpp" - 550 and 300 lines, respectively.

According to our current design, this code does not belong in those
classes because they should be abstract and not engine-specific. So,
generally, we would move this code to the ODE-specific subclasses
(OdeRigid, OdeStatic...). However, since this code will be the same for
all ODE-specific subclasses of Body, I would copy and paste lots of
redundant code.
A possible solution would be creating specific subclasses for Body,
putting the old code in OdeBody and equivalent code in BulletBody. In this
case, OdeRigid would have to inherit from both the abstract Rigid class
and the sepcific OdeBody class. Multiple inheritance is generallty frowned
upon. PAL, by the way, uses multiple inheritance a lot.
I have an idea in my head that involves creating two separate files,
odebody.h and bulletbody.h, and declaring a class Body in both of them. At
compile time, bulletbody would be hidden from the compiler if ODE is used,
and vice versa. All subclasses would then inherit from Body and
automatically inherit the engine-specific code that way. This would kind
of throw the idea of an abstract physics layer overboard, since the class
would be neutrally be called "Body", but is actually engine-specific.

So, we have a few ideas on how to deal with this, but all of them seem to
be very flawed. That's why we want to ask what you guys think (especially
Ben and Hedayat, since you seem to be most interested in the abstract
physics layer). I'll also return to the drawing board for the time being -
the new design looks good on paper, but once you start trying to implement
it, you realise the problems. Coming up with a good design that deals with
all the problems I mentioned so far will probably be the hardest and most
time-consuming part of my work.


thanks,

Andreas

Re: [simspark-devel] Abstract Physics Layer

[<ah...@un...>]

Hi again,


I think it would be possible to switch between Bullet and ODE at runtime.
I actually had that idea floating around in my head, but one of our goals
is to make Simspark work on systems that have Bullet xor ODE installed. To
enable switching at runtime, both OdeBox and BulletBox (and all the other
specific classes) had to be compiled, and that obviously only works if
both Bullet and ODE are installed. Maybe that would be tolerable, but once
you add more physics engines (that might cost money) this would become a
massive problem. I currently plan to decide on which engine to use at
compile time and then hide the other engine[s] from the compiler with
defines to make it work. I do, however, have very limited knowledge of C++
(they teach Java at the university of Koblenz), so if there is a way to
enable switching at runtime while still making it work on systems that
have only one of the engines installed, I just dont know about it.
We do, however, not plan to make different versions. Naming the current
simulator OdeSimspark and making a separate BulletSimspark based on that
would be way easier than what I am currently doing. Not having different
Simspark versions for every engine is the whole point of the abstract
physics layer.


To Ben:
The design is not completely final. I think the Material is not a class in
the current version (at least I haven't seen it). We will, however, add
other classes to the layout if it proves to be necessary or at least
reasonable. Outsourcing material properties to a separate class could be a
good idea, and I'll keep it in mind.

To Hedayat:
I already had some "fun" with the Touchperceptorhandler yesterday. After
changing the layout of oxygen, it wouldn't compile anymore. After 1-2
hours, I decided to just leave it for now and commented it out of
CMakeLists. It's pointless to make it work right now, especially because
I'll probably change oxygen's layout another 20 times until I'm done ;)
Tending to the plugins when oxygen is final and I have a better
understanding of Simspark and the physics engines seems to be a way better
idea. When I get to it, I'll probably create an abstract layer on top of
the ODE-specific plugins as well (that's what I tried to do with the
Touchperceptorhandler yesterday, anyway).


Andreas

[simspark-devel] 假期答复

[<ym...@ho...>]

您好!<br>
 <br>
您的邮件已收到!<br>
 <br>
感谢您的来信!<br>
 <br>
祝您工作愉快!<br>
 <br>
杨茂超!<br>
 <br>
 <br>
 <br>
 <br>
 <br>

[simspark-devel] Fwd: Abstract Physics Layer

[Ben <lgp...@16...>]

---------- Forwarded message ----------
From: Ben <lgp...@16...>
Date: 2009/11/5
Subject: Re: [simspark-devel] Abstract Physics Layer
To: ah...@un...


Hi, Andreas,

  I'm so exciting to do a reply when hearing the message of abstract physics
layer that
progress has been made in Simpark by the great contribution of you and
Joschka. I only got
some experience in last year when I tried to integrate PAL into our
simulator. I have some
agreements and suggestions as following.

 1. Collision Handling is really a trick issue for the reason that the
designs of different engines
    have no standards(especially ODE is hard to be compatible with others).
For instance, I
    remember that the 'dJointFeedBack' of ODE is really hard to handle.

 2. I've looked the tree of physical classes. May be there is a missing of
class 'Material' which
    descripts the property of physical objects such as frictions, bounds,
etc.

 3. Switching between different physical engines in compile time like well,
is there a consideration
    of switching in run time? Obviously, the simulator will be more
efficiency when the engine has
    been built-in since switching in run time will have some cost in virtual
functions. However, switching
    in run time get two clear advantages: we need not to maintain lots of
versions; it is more convenient
    and flexible.
Hope useful!

Regards
Ben
2009/11/5 <ah...@un...>

Hello,
>
>
> I'm the guy who volunteered for implementing an abstract physics layer in
> Simspark. Actually, it's the project I decided to work on while I spend a
> term in Japan.
>
> Joschka and I spent a lot of time talking about the design during the last
> few weeks and I've already started working on an abstract physics layer
> that has some basic functionality with ODE. This is much harder than I
> expected, especially because ODE is currently very deeply rooted in
> Simspark, but I'll try my best. After that, I plan to get the same basic
> functionality with Bullet and allow switching between both physics engines
> at compile time. When this is done, adding more functionality
> incrementally should be relatively easy.
>
> Our current approach is to build a new dependency tree that does not
> specialize in either engine (see
> http://www.uni-koblenz.de/~aheld/newDesign.png). Most of these classes
> will be abstract. In addition to all these classes, there will be
> non-abstract classes derived from them (e.g. OdeBox and BulletBox derived
> from Box). Following the advice of Oliver Obst, we've also added an
> abstract physics server and specific physics servers for each engines
> (i.e. OdePhysicsserver, ...). These servers will be responsible for
> creating objects.
>
> A practical example: Right now, an RSG file could contain "(nd Box". Upon
> this, an OdeBox is created and added to the scenegraph.
> In our approach, we will first create a physicsserver for the physics
> engine we decided to use and later tell that physicsserver to create a
> Box. The call will look something like "Box* myBox = new [...]Box()" with
> "[...]" being the name of the physics engine we use. After this, all
> methods necessary to deal with a Box will be readily available in the
> abstract class, and delegated to the derived class by the compiler. This
> allows us to deal with the many inconsistencies between the two physics
> engines internally.
>
> Another big challenge we are currently faced with is the handling of
> collisions. Bullet does most of this internally, whereas ODE requires the
> management of collisions by the user. Thus, all collision handling methods
> are highly ODE-specific and there is not really a way to change this. The
> collision handling is currently done by the Collider class, which should
> be engine-independent in the final implementation.
> To solve this, I've moved all the collision handling methods to the
> ContactJointHandler class, which will remain ODE-specific. The
> OdePhysicsServer will attach a ContactJointHandler to every Collider
> Object (this should not cause any unwanted side-effects, and I think I've
> read a comment somewhere that every Collider object automatically receives
> a ContactJointHandler in the case of a collision, regardless). Bullet
> objects will not receive any ContactJointHandlers for obvious reasons.
>
> We're still pretty early in development, and we will welcome any other
> suggestions on how to deal with the problems described above.
>
> kind regards,
> Andreas
>
>
>
>
> ------------------------------------------------------------------------------
> Let Crystal Reports handle the reporting - Free Crystal Reports 2008 30-Day
> trial. Simplify your report design, integration and deployment - and focus
> on
> what you do best, core application coding. Discover what's new with
> Crystal Reports now.  http://p.sf.net/sfu/bobj-july
> _______________________________________________
> Simspark Generic Physical MAS Simulator
> simspark-devel mailing list
> sim...@li...
> https://lists.sourceforge.net/lists/listinfo/simspark-devel
>

[simspark-devel] Abstract Physics Layer

[<ah...@un...>]

Hello,


I'm the guy who volunteered for implementing an abstract physics layer in
Simspark. Actually, it's the project I decided to work on while I spend a
term in Japan.

Joschka and I spent a lot of time talking about the design during the last
few weeks and I've already started working on an abstract physics layer
that has some basic functionality with ODE. This is much harder than I
expected, especially because ODE is currently very deeply rooted in
Simspark, but I'll try my best. After that, I plan to get the same basic
functionality with Bullet and allow switching between both physics engines
at compile time. When this is done, adding more functionality
incrementally should be relatively easy.

Our current approach is to build a new dependency tree that does not
specialize in either engine (see
http://www.uni-koblenz.de/~aheld/newDesign.png). Most of these classes
will be abstract. In addition to all these classes, there will be
non-abstract classes derived from them (e.g. OdeBox and BulletBox derived
from Box). Following the advice of Oliver Obst, we've also added an
abstract physics server and specific physics servers for each engines
(i.e. OdePhysicsserver, ...). These servers will be responsible for
creating objects.

A practical example: Right now, an RSG file could contain "(nd Box". Upon
this, an OdeBox is created and added to the scenegraph.
In our approach, we will first create a physicsserver for the physics
engine we decided to use and later tell that physicsserver to create a
Box. The call will look something like "Box* myBox = new [...]Box()" with
"[...]" being the name of the physics engine we use. After this, all
methods necessary to deal with a Box will be readily available in the
abstract class, and delegated to the derived class by the compiler. This
allows us to deal with the many inconsistencies between the two physics
engines internally.

Another big challenge we are currently faced with is the handling of
collisions. Bullet does most of this internally, whereas ODE requires the
management of collisions by the user. Thus, all collision handling methods
are highly ODE-specific and there is not really a way to change this. The
collision handling is currently done by the Collider class, which should
be engine-independent in the final implementation.
To solve this, I've moved all the collision handling methods to the
ContactJointHandler class, which will remain ODE-specific. The
OdePhysicsServer will attach a ContactJointHandler to every Collider
Object (this should not cause any unwanted side-effects, and I think I've
read a comment somewhere that every Collider object automatically receives
a ContactJointHandler in the case of a collision, regardless). Bullet
objects will not receive any ContactJointHandlers for obvious reasons.

We're still pretty early in development, and we will welcome any other
suggestions on how to deal with the problems described above.

kind regards,
Andreas

Re: [simspark-devel] Maintenance Committee 2010...

[Hedayat V. <hed...@ai...>]

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<span>Hi Marian,<br>
<br>
<style type="text/css">blockquote {color: navy !important; background-color: RGB(245,245,245) !important; padding: 0 15 10 15 !important; margin: 15 0 0 0; border-left: #1010ff 2px solid;}  blockquote blockquote {color: maroon !important; background-color: RGB(235,235,235) !important; border-left-color:maroon !important}  blockquote blockquote blockquote {color: green !important; background-color: RGB(225,225,225) !important; border-left-color:teal !important}  blockquote blockquote blockquote blockquote {color: purple !important; background-color: RGB(215,215,215) !important; border-left-color: purple !important}  blockquote blockquote blockquote blockquote blockquote {color: teal !important; background-color: RGB(205,205,205) !important; border-left-color: green !important}</style><i><b>"Ing.
Marian Buchta" <a class="moz-txt-link-rfc2396E" href="mailto:mar...@gm...">&lt;mar...@gm...&gt;</a></b></i> wrote on ‫جمعه
۳۰ اكتبر ۰۹، ۰۰:۴۹:۳۷‬:</span>
<blockquote   style="border-left: 2px solid rgb(16, 16, 255); color: navy; background-color: rgb(245, 245, 245); padding-left: 15px;"   cite="mid:4ae...@mx..." type="cite">
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  <p class="MsoNormal"><span   style="font-size: 11pt; font-family: &quot;Calibri&quot;,&quot;sans-serif&quot;; color: rgb(31, 73, 125);">Hi
all.<o:p></o:p></span></p>
  <p class="MsoNormal"><span   style="font-size: 11pt; font-family: &quot;Calibri&quot;,&quot;sans-serif&quot;; color: rgb(31, 73, 125);">At
first  thx Hedayat for created document. I wrote to my
former professor in school about this document. Maybe we can recruit
another
students to the project :). It’s small chance, but I try.</span></p>
  </div>
</blockquote>
:) Thanks. That would be great!<br>
<br>
Cheers,<br>
Hedayat<br>
<br>
<blockquote   style="border-left: 2px solid rgb(16, 16, 255); color: navy; background-color: rgb(245, 245, 245); padding-left: 15px;"   cite="mid:4ae...@mx..." type="cite">
  <div class="Section1">
  <p class="MsoNormal"><span   style="font-size: 11pt; font-family: &quot;Calibri&quot;,&quot;sans-serif&quot;; color: rgb(31, 73, 125);"><o:p></o:p></span></p>
  <p class="MsoNormal"><span   style="font-size: 11pt; font-family: &quot;Calibri&quot;,&quot;sans-serif&quot;; color: rgb(31, 73, 125);"><o:p> </o:p></span></p>
  <p class="MsoNormal"><span   style="font-size: 11pt; font-family: &quot;Calibri&quot;,&quot;sans-serif&quot;; color: rgb(31, 73, 125);">Best
Regards<o:p></o:p></span></p>
  <p class="MsoNormal"><span   style="font-size: 11pt; font-family: &quot;Calibri&quot;,&quot;sans-serif&quot;; color: rgb(31, 73, 125);">Marian<o:p></o:p></span></p>
  <p class="MsoNormal"><span   style="font-size: 11pt; font-family: &quot;Calibri&quot;,&quot;sans-serif&quot;; color: rgb(31, 73, 125);"><o:p> </o:p></span></p>
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  <p class="MsoNormal"><b><span   style="font-size: 10pt; font-family: &quot;Tahoma&quot;,&quot;sans-serif&quot;; color: windowtext;">From:</span></b><span   style="font-size: 10pt; font-family: &quot;Tahoma&quot;,&quot;sans-serif&quot;; color: windowtext;">
Hedayat Vatankhah
[<a class="moz-txt-link-freetext" href="mailto:hed...@ai...">mailto:hed...@ai...</a>] <br>
  <b>Sent:</b> Thursday, October 29, 2009 8:23 PM<br>
  <b>To:</b> Simspark Devel ML<br>
  <b>Subject:</b> [simspark-devel] Maintenance Committee 2010...<o:p></o:p></span></p>
  </div>
  </div>
  <p class="MsoNormal"><o:p> </o:p></p>
  <p style="margin: 0cm 0cm 0.0001pt;">Hi again!<br>
I've created a document to be used as the main way of organizing MC
2010. You
can find it at [1]. Notice that it is not necessarily correct, so
please feel
free to make changes as appropriate. <br>
Some MC members have not selected any subject to work on yet; they can
pick up
whatever they like but considering our priorities is suggested. <br>
Also, I still hope to see some activity from other old MC members. Add
your
name if I've missed that! :)<o:p></o:p></p>
  <p style="margin: 0cm 0cm 0.0001pt;"><br>
Good luck,<br>
Hedayat<o:p></o:p></p>
  <p style="margin: 0cm 0cm 0.0001pt;"><o:p> </o:p></p>
  <p style="margin: 0cm 0cm 0.0001pt;">[1] <a moz-do-not-send="true"   href="http://simspark.sourceforge.net/wiki/index.php/Maintenance_Committee_2010">http://simspark.sourceforge.net/wiki/index.php/Maintenance_Committee_2010</a><o:p></o:p></p>
  <p class="MsoNormal"><br>
  </p>
  </div>
  <br>
</blockquote>
</body>
</html>

Re: [simspark-devel] Maintenance Committee 2010...

[Ing. M. B. <mar...@gm...>]

Hi all.

At first  thx Hedayat for created document. I wrote to my former professor in school about this document. Maybe we can recruit another students to the project :). It’s small chance, but I try.

 

Best Regards

Marian

 

From: Hedayat Vatankhah [mailto:hed...@ai...] 
Sent: Thursday, October 29, 2009 8:23 PM
To: Simspark Devel ML
Subject: [simspark-devel] Maintenance Committee 2010...

 

Hi again!
I've created a document to be used as the main way of organizing MC 2010. You can find it at [1]. Notice that it is not necessarily correct, so please feel free to make changes as appropriate. 
Some MC members have not selected any subject to work on yet; they can pick up whatever they like but considering our priorities is suggested. 
Also, I still hope to see some activity from other old MC members. Add your name if I've missed that! :)


Good luck,
Hedayat

 

[1] http://simspark.sourceforge.net/wiki/index.php/Maintenance_Committee_2010



__________ Information from ESET NOD32 Antivirus, version of virus signature database 4539 (20091024) __________

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[simspark-devel] Maintenance Committee 2010...

[Hedayat V. <hed...@ai...>]

<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html>
<head>
  <meta http-equiv="content-type" content="text/html; charset=UTF-8">
</head>
<body style="direction: ltr;" text="#000000" bgcolor="#ffffff">
<p style="margin-bottom: 0cm; margin-top: 0pt;">Hi again!<br>
I've created a document to be used as the main way of organizing MC
2010. You can find it at [1]. Notice that it is not necessarily
correct, so please feel free to make changes as appropriate. <br>
Some MC members have not selected any subject to work on yet; they can
pick up whatever they like but considering our priorities is suggested.
<br>
Also, I still hope to see some activity from other old MC members. Add
your name if I've missed that! :)<br>
</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"><br>
Good luck,<br>
Hedayat<br>
</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"><br>
</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">[1]
<a class="moz-txt-link-freetext" href="http://simspark.sourceforge.net/wiki/index.php/Maintenance_Committee_2010">http://simspark.sourceforge.net/wiki/index.php/Maintenance_Committee_2010</a><br>
</p>
</body>
</html>

[simspark-devel] The order of receiving commands and sending senses

[Hedayat V. <hed...@ai...>]

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Hi all,<br>
In the current form, the simulator works likes this:<br>
- sending senses to agents<br>
- receiving commands from agents<br>
- simulating one cycle (which takes the most processing time)<br>
<br>
This causes an nondeterministic behavior: if the agent sends commands
right after receiving senses, and there is no latency in this period,
the simulator will run the commands in the same cycle. But, if for some
reason the commands reach the server with some latency, these commands
will be received and executed in the next cycle. This could be one of
the main reasons that some agents behave differently when they connect
to a remote server instead of a local one. When using a local
simulator, most of the commands will reach the server in the same cycle
as received senses, but when running over a network they'll be executed
in the next cycle (because of network latency). <br>
I think this behavior is not desirable, and trying to maintain fairness
between agents in a multi-threaded architecture would be hard. My
suggestion is to swap the order of sending senses and receiving
commands, so that the received commands will be always run in the next
cycle:<br>
<br>
- receiving commands from agents<br>
- sending senses to agents<br>
- simulating one cycle (which takes the most processing time)<br>
<br>
Is there any reason to maintain the current behavior instead of my
suggestion?<br>
<br>
Have fun,<br>
Hedayat<br>
</body>
</html>

Re: [simspark-devel] MC 2010

[Hedayat V. <hed...@ai...>]

Hi Joschka!

On ۰۹/۱۰/۱۶  02:21, Joschka Boedecker wrote:
> Hi Hedayat,
>
> On Sep 19, 2009, at 3:34 AM, Hedayat Vatankhah wrote:
>
>>
>> Well, we should organize MC for 2010. Beside old members, we have some
>> volunteers. So, let me say welcome to new members: Welcome to RoboCup 3D
>> Simulation Server Maintenance Committee!
>>
>
> Thanks for starting the organization!
:)

>
>>
>> Except the new members, I would like to hear from the old members to see
>> who is available in 2010!
>
> I won't have much time to work on things myself much, but I have a new 
> student (from Koblenz University in Germany) called Andreas Held 
> (cc'd) who wants to work on refactoring the physics integration in 
> order to support multiple engines. I'll help him along the way.
That's great.

>
>>
>> First, let me summarize our plan for 2009 (items which someone decided
>> to do):
>>
>>
>> * Implementing a physical abstraction layer for simspark, so that it can
>> use different physical engines.
>
> Right, that's the one Andreas volunteered for :-) We'll post some 
> design proposals once we get to it.
I'm eager to see them ASAP!


>> * Implementing support for OGRE as a rendering engine
>
> If enough time remains (while he is here in Osaka), Andreas signaled 
> he might be interested to work on that one, too, but our focus will be 
> on the physics part for now.
Nice! Yes, the physical abstraction layer have a higher priority for now.

>> * Implementing PhysX physical engine support (in addition to ODE)
>
> Andreas and myself are working on the integration of the Bullet 
> physics engine, but if there would be someone willing to also 
> integrate PhysX, it would be awesome!
It would be great to have someone with PhysX knowledge specially when we 
are on the design proposal. We might have such person already (I'll ask 
to see if he'd like to work on this).

>
>>
>> Also, this is the complete list of our TODO for 2009:
>>
>>
>> * PAL integration
>
> We took a look at PAL and decided it would probably not be the right 
> choice for us. Quite a bit of desirable functionality seems to be 
> missing in order to support a long list of engines (most of which we 
> probably wouldn't use). We thought we would be better off writing our 
> own code, but I would be interested to hear whether anybody has 
> comments on that.
Oops! I wonder why I put this item in the list!! ;) Yes, you're right. 
Once I looked at PAL myself and found it not much interesting, as it 
covered each engine to some extent (If I remember correctly, it didn't 
support all ODE features we use). But we might be able to use the code 
as a guide for finding common ground between different engines.


>
> Cheers,
> Joschka

Thanks,
Hedayat

Re: [simspark-devel] MC 2010

[Joschka B. <jos...@am...>]

Hi Hedayat,

On Sep 19, 2009, at 3:34 AM, Hedayat Vatankhah wrote:

>
> Well, we should organize MC for 2010. Beside old members, we have some
> volunteers. So, let me say welcome to new members: Welcome to  
> RoboCup 3D
> Simulation Server Maintenance Committee!
>

Thanks for starting the organization!

>
> Except the new members, I would like to hear from the old members to  
> see
> who is available in 2010!

I won't have much time to work on things myself much, but I have a new  
student (from Koblenz University in Germany) called Andreas Held  
(cc'd) who wants to work on refactoring the physics integration in  
order to support multiple engines. I'll help him along the way.

>
> First, let me summarize our plan for 2009 (items which someone decided
> to do):
>
>
> * Implementing a physical abstraction layer for simspark, so that it  
> can
> use different physical engines.

Right, that's the one Andreas volunteered for :-) We'll post some  
design proposals once we get to it.

> * Implementing support for OGRE as a rendering engine

If enough time remains (while he is here in Osaka), Andreas signaled  
he might be interested to work on that one, too, but our focus will be  
on the physics part for now.

> * Implementing PhysX physical engine support (in addition to ODE)

Andreas and myself are working on the integration of the Bullet  
physics engine, but if there would be someone willing to also  
integrate PhysX, it would be awesome!

>
> Also, this is the complete list of our TODO for 2009:
>
>
> * PAL integration

We took a look at PAL and decided it would probably not be the right  
choice for us. Quite a bit of desirable functionality seems to be  
missing in order to support a long list of engines (most of which we  
probably wouldn't use). We thought we would be better off writing our  
own code, but I would be interested to hear whether anybody has  
comments on that.

Cheers,
Joschka

Re: [simspark-devel] MC 2010

[Hedayat V. <hed...@gm...>]

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Hi!<br>
<br>
On ۰۹/۱۰/۱۴  08:34, Khashayar wrote:
<blockquote
 cite="mid:d39...@ma..."
 type="cite">Dear Hedayat 
  <div><br>
  </div>
  <div>I read the plan and also wish list for 2010 competitions, I
didn't found anything about parallelization / multi treading server
which I think might have the most effect on server speed , the ideas
mentioned are most  emphasized and related to graphic which makes outer
beauty !! <br>
  </div>
</blockquote>
?!!! Where did you read the plan and wish list for 2010?!! We've not
created it yet! Also notice that we create plans based on what
contributors will do, not on what is required (However, we encourage
contributors to work on most important things, but nobody is forced to
work on something he doesn't like!). <br>
Also notice that it was mentioned in the road map discussions, the most
important thing for now is to increase the performance of the server,
so this is certainly on our wish list.<br>
<br>
Also notice that I've mentioned "Performance improvement" as part of
our TODO for 2009 (available below). Also, I've noted that each
volunteer can provide new proposals. I wonder if you've read my
previous e-mail completely and precisely. <br>
Finally, Player integration, which I'd like to do, almost certainly
needs a multi-threaded server; so I'm personally interested in this
area. And if you'd like to know, I've started thinking about a good
multi-threaded architecture and I'm going to start implementing that.<br>
<br>
<blockquote
 cite="mid:d39...@ma..."
 type="cite">
  <div><br>
  </div>
  <div>According to Teams session in Graz I think Maintenance Committee
have to provide a server which allows more agents play the game, so
that we can have 5 Vs 5 games, isn't it true?     </div>
  <div><br>
  </div>
  <div>Anyway, I like to contribute in 2010 server maintenance ;) and
want to know if there is still any chance for multiTreading?</div>
</blockquote>
<br>
To make things more clear, it is ALWAYS possible to implement ANY
improvement in the server. Yes, certainly there is such chance, and as
I mentioned before, I'm working on it too. But specially since I do not
have much free time, it would be nice if we can work on it together.
I'm interested to know about your ideas and plans in this regard.<br>
<br>
If you've not read the below message completely, please do so and start
by joining simspark-devel mailing list. Please do the discussions there.<br>
<br>
Good luck,<br>
Hedayat<br>
<blockquote
 cite="mid:d39...@ma..."
 type="cite">
  <div> </div>
  <div><br>
  </div>
  <div>Bests</div>
  <div>Khashayar </div>
  <div><br>
  <div class="gmail_quote">On Tue, Oct 13, 2009 at 10:50 PM, Hedayat
Vatankhah <span dir="ltr">&lt;<a moz-do-not-send="true"
 href="mailto:hed...@gm...">hed...@gm...</a>&gt;</span>
wrote:<br>
  <blockquote class="gmail_quote"
 style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">Hi
again,<br>
Everybody who is willing to help in MC 2010 (except Marian Buchta and
Zhou Yanjun who expressed their interest before) please let me know
until 20th of October.<br>
    <br>
Thanks again,<br>
Hedayat Vatankhah<br>
Co-chair of RCSS3D Maintenance Committee<br>
    <br>
On ۰۹/۰۹/۱۸  11:04, Hedayat Vatankhah wrote:<br>
    <blockquote class="gmail_quote"
 style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
Hi all,<br>
      <br>
Sorry for my late email. I was too busy for some time, and finally I
found a little break! :)<br>
      <br>
Well, we should organize MC for 2010. Beside old members, we have some
volunteers. So, let me say welcome to new members: Welcome to RoboCup
3D Simulation Server Maintenance Committee!<br>
      <br>
Also, new members please subscribe to our list: simspark-devel
available here:<br>
      <br>
 <a moz-do-not-send="true"
 href="https://lists.sourceforge.net/lists/listinfo/simspark-devel"
 target="_blank">https://lists.sourceforge.net/lists/listinfo/simspark-devel</a><br>
      <br>
      <br>
Except the new members, I would like to hear from the old members to
see who is available in 2010! Everybody, please let us know a little
about yourself, your suggestions for MC 2010, and anything else.<br>
      <br>
      <br>
First, let me summarize our plan for 2009 (items which someone decided
to do):<br>
      <br>
      <br>
* Implementing a physical abstraction layer for simspark, so that it
can use different physical engines.<br>
* Implementing support for OGRE as a rendering engine<br>
* Implementing PhysX physical engine support (in addition to ODE)<br>
* Implementing a pixel camera sensor<br>
* New binary agent-server protocol (by integrating with Player project)<br>
* Adding an agent-server sync mode to simspark, so that agents can
control simulation cycles.<br>
      <br>
Among those, only the implementation of pixel camera sensor have been
done by Yuan. Unfortunately, other items are not implemented yet. :(<br>
      <br>
      <br>
Also, this is the complete list of our TODO for 2009:<br>
      <br>
      <br>
* PAL integration<br>
* Review network message handling code (ensure fairness)<br>
* GUI for our simulator (possibly based on RsgEdit + ZigoratAssistant,
incl. easy construction of new robots and simulations, moving robots on
the field, etc.)<br>
* New interface for different rendering engines<br>
* nvidia PhysX engine Implementation<br>
* OGRE 3D implementation<br>
* Profiling + performance improvement<br>
* New network protocols (agent + monitor)<br>
* OpenGL camera perceptor<br>
      <br>
      <br>
And our wishlist:<br>
      <br>
* Documentation (User/Developer/Wiki)<br>
* More Humanoid models, e.g. HOAP-2, VStone 4G, Bioloid<br>
* More sensors/actuators, better noise models for accelerometer/gyro,
vision, etc.<br>
* Re-integrate Offside<br>
* Integrate Coach (e.g. UTUtd 3D Dev implementation for
rcssserver3d-0.5.2)<br>
* Webots importer<br>
* COLLADA importer (maybe using FCOLLADA)<br>
* Gazebo model importer<br>
* Player integration<br>
* Trainer plugin for the GUI<br>
* Motion editor plugin for the GUI (e.g. for the new HMDP effector)<br>
* Nice 3D visualization (possibly based on ZigoratAssistant)<br>
* Support multiple locations for resources; Implement a list of paths
that FileServer::LocateResource checks<br>
* Webpage<br>
      <br>
I want to know who will (or at least hopes to) contribute to our
simulator in this year. Also, if you'd like to work on a specific area
(either from the above list or a new proposal from yourself), please
let us know.<br>
      <br>
      <br>
Then, I think it is nice to have a document for 2010 (like the one
Joschka set up last year in google), and I'll do it soon. But before
then, let us know who is available this year! :) (If you'd like to
help, but you are not sure if you'll have enough time, still let me
know).<br>
      <br>
      <br>
Thanks,<br>
      <br>
Good luck<br>
      <br>
Hedayat<br>
      <br>
    </blockquote>
    <br>
  </blockquote>
  </div>
  <br>
  <br clear="all">
  <br>
-- <br>
Khashayar<br>
  </div>
</blockquote>
</body>
</html>

[simspark-devel] Fwd: Re: MC 2010

[Hedayat V. <hed...@ai...>]

<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html>
<head>

<meta http-equiv="content-type" content="text/html; charset=UTF-8">
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<br>
<br>
-------- Original Message --------
<table class="moz-email-headers-table" border="0" cellpadding="0"   cellspacing="0">
  <tbody>
    <tr>
      <th nowrap="nowrap" valign="BASELINE" align="RIGHT">Subject: </th>
      <td>Re: MC 2010</td>
    </tr>
    <tr>
      <th nowrap="nowrap" valign="BASELINE" align="RIGHT">Date: </th>
      <td>Tue, 13 Oct 2009 22:50:09 +0330</td>
    </tr>
    <tr>
      <th nowrap="nowrap" valign="BASELINE" align="RIGHT">From: </th>
      <td>Hedayat Vatankhah <a class="moz-txt-link-rfc2396E" href="mailto:hed...@gm...">&lt;hed...@gm...&gt;</a></td>
    </tr>
    <tr>
      <th nowrap="nowrap" valign="BASELINE" align="RIGHT">To: </th>
      <td>Simspark Devel ML <a class="moz-txt-link-rfc2396E" href="mailto:sim...@li...">&lt;sim...@li...&gt;</a></td>
    </tr>
    <tr>
      <th nowrap="nowrap" valign="BASELINE" align="RIGHT">CC: </th>
      <td>macazishi <a class="moz-txt-link-rfc2396E" href="mailto:mac...@si...">&lt;mac...@si...&gt;</a>, Khashayar
<a class="moz-txt-link-rfc2396E" href="mailto:kh....@gm...">&lt;kh....@gm...&gt;</a>, soorosh hoseinalipoor
<a class="moz-txt-link-rfc2396E" href="mailto:soo...@ho...">&lt;soo...@ho...&gt;</a>, Takenori KUBO
<a class="moz-txt-link-rfc2396E" href="mailto:tk...@gm...">&lt;tk...@gm...&gt;</a>, hojjat nikan <a class="moz-txt-link-rfc2396E" href="mailto:hoj...@gm...">&lt;hoj...@gm...&gt;</a></td>
    </tr>
  </tbody>
</table>
<br>
<br>
<pre>Hi again,
Everybody who is willing to help in MC 2010 (except Marian Buchta and 
Zhou Yanjun who expressed their interest before) please let me know 
until 20th of October.

Thanks again,
Hedayat Vatankhah
Co-chair of RCSS3D Maintenance Committee

On ۰۹/۰۹/۱۸  11:04, Hedayat Vatankhah wrote:
&gt; Hi all,
&gt;
&gt; Sorry for my late email. I was too busy for some time, and finally I 
&gt; found a little break! :)
&gt;
&gt; Well, we should organize MC for 2010. Beside old members, we have some 
&gt; volunteers. So, let me say welcome to new members: Welcome to RoboCup 
&gt; 3D Simulation Server Maintenance Committee!
&gt;
&gt; Also, new members please subscribe to our list: simspark-devel 
&gt; available here:
&gt;
&gt;  <a class="moz-txt-link-freetext" href="https://lists.sourceforge.net/lists/listinfo/simspark-devel">https://lists.sourceforge.net/lists/listinfo/simspark-devel</a>
&gt;
&gt;
&gt; Except the new members, I would like to hear from the old members to 
&gt; see who is available in 2010! Everybody, please let us know a little 
&gt; about yourself, your suggestions for MC 2010, and anything else.
&gt;
&gt;
&gt; First, let me summarize our plan for 2009 (items which someone decided 
&gt; to do):
&gt;
&gt;
&gt; * Implementing a physical abstraction layer for simspark, so that it 
&gt; can use different physical engines.
&gt; * Implementing support for OGRE as a rendering engine
&gt; * Implementing PhysX physical engine support (in addition to ODE)
&gt; * Implementing a pixel camera sensor
&gt; * New binary agent-server protocol (by integrating with Player project)
&gt; * Adding an agent-server sync mode to simspark, so that agents can 
&gt; control simulation cycles.
&gt;
&gt; Among those, only the implementation of pixel camera sensor have been 
&gt; done by Yuan. Unfortunately, other items are not implemented yet. :(
&gt;
&gt;
&gt; Also, this is the complete list of our TODO for 2009:
&gt;
&gt;
&gt; * PAL integration
&gt; * Review network message handling code (ensure fairness)
&gt; * GUI for our simulator (possibly based on RsgEdit + ZigoratAssistant, 
&gt; incl. easy construction of new robots and simulations, moving robots 
&gt; on the field, etc.)
&gt; * New interface for different rendering engines
&gt; * nvidia PhysX engine Implementation
&gt; * OGRE 3D implementation
&gt; * Profiling + performance improvement
&gt; * New network protocols (agent + monitor)
&gt; * OpenGL camera perceptor
&gt;
&gt;
&gt; And our wishlist:
&gt;
&gt; * Documentation (User/Developer/Wiki)
&gt; * More Humanoid models, e.g. HOAP-2, VStone 4G, Bioloid
&gt; * More sensors/actuators, better noise models for accelerometer/gyro, 
&gt; vision, etc.
&gt; * Re-integrate Offside
&gt; * Integrate Coach (e.g. UTUtd 3D Dev implementation for 
&gt; rcssserver3d-0.5.2)
&gt; * Webots importer
&gt; * COLLADA importer (maybe using FCOLLADA)
&gt; * Gazebo model importer
&gt; * Player integration
&gt; * Trainer plugin for the GUI
&gt; * Motion editor plugin for the GUI (e.g. for the new HMDP effector)
&gt; * Nice 3D visualization (possibly based on ZigoratAssistant)
&gt; * Support multiple locations for resources; Implement a list of paths 
&gt; that FileServer::LocateResource checks
&gt; * Webpage
&gt;
&gt; I want to know who will (or at least hopes to) contribute to our 
&gt; simulator in this year. Also, if you'd like to work on a specific area 
&gt; (either from the above list or a new proposal from yourself), please 
&gt; let us know.
&gt;
&gt;
&gt; Then, I think it is nice to have a document for 2010 (like the one 
&gt; Joschka set up last year in google), and I'll do it soon. But before 
&gt; then, let us know who is available this year! :) (If you'd like to 
&gt; help, but you are not sure if you'll have enough time, still let me 
&gt; know).
&gt;
&gt;
&gt; Thanks,
&gt;
&gt; Good luck
&gt;
&gt; Hedayat
&gt;

</pre>
</body>
</html>

Re: [simspark-devel] MC 2010

[Hedayat V. <hed...@gm...>]

Hi again,
Everybody who is willing to help in MC 2010 (except Marian Buchta and 
Zhou Yanjun who expressed their interest before) please let me know 
until 20th of October.

Thanks again,
Hedayat Vatankhah
Co-chair of RCSS3D Maintenance Committee

On ۰۹/۰۹/۱۸  11:04, Hedayat Vatankhah wrote:
> Hi all,
>
> Sorry for my late email. I was too busy for some time, and finally I 
> found a little break! :)
>
> Well, we should organize MC for 2010. Beside old members, we have some 
> volunteers. So, let me say welcome to new members: Welcome to RoboCup 
> 3D Simulation Server Maintenance Committee!
>
> Also, new members please subscribe to our list: simspark-devel 
> available here:
>
>  https://lists.sourceforge.net/lists/listinfo/simspark-devel
>
>
> Except the new members, I would like to hear from the old members to 
> see who is available in 2010! Everybody, please let us know a little 
> about yourself, your suggestions for MC 2010, and anything else.
>
>
> First, let me summarize our plan for 2009 (items which someone decided 
> to do):
>
>
> * Implementing a physical abstraction layer for simspark, so that it 
> can use different physical engines.
> * Implementing support for OGRE as a rendering engine
> * Implementing PhysX physical engine support (in addition to ODE)
> * Implementing a pixel camera sensor
> * New binary agent-server protocol (by integrating with Player project)
> * Adding an agent-server sync mode to simspark, so that agents can 
> control simulation cycles.
>
> Among those, only the implementation of pixel camera sensor have been 
> done by Yuan. Unfortunately, other items are not implemented yet. :(
>
>
> Also, this is the complete list of our TODO for 2009:
>
>
> * PAL integration
> * Review network message handling code (ensure fairness)
> * GUI for our simulator (possibly based on RsgEdit + ZigoratAssistant, 
> incl. easy construction of new robots and simulations, moving robots 
> on the field, etc.)
> * New interface for different rendering engines
> * nvidia PhysX engine Implementation
> * OGRE 3D implementation
> * Profiling + performance improvement
> * New network protocols (agent + monitor)
> * OpenGL camera perceptor
>
>
> And our wishlist:
>
> * Documentation (User/Developer/Wiki)
> * More Humanoid models, e.g. HOAP-2, VStone 4G, Bioloid
> * More sensors/actuators, better noise models for accelerometer/gyro, 
> vision, etc.
> * Re-integrate Offside
> * Integrate Coach (e.g. UTUtd 3D Dev implementation for 
> rcssserver3d-0.5.2)
> * Webots importer
> * COLLADA importer (maybe using FCOLLADA)
> * Gazebo model importer
> * Player integration
> * Trainer plugin for the GUI
> * Motion editor plugin for the GUI (e.g. for the new HMDP effector)
> * Nice 3D visualization (possibly based on ZigoratAssistant)
> * Support multiple locations for resources; Implement a list of paths 
> that FileServer::LocateResource checks
> * Webpage
>
> I want to know who will (or at least hopes to) contribute to our 
> simulator in this year. Also, if you'd like to work on a specific area 
> (either from the above list or a new proposal from yourself), please 
> let us know.
>
>
> Then, I think it is nice to have a document for 2010 (like the one 
> Joschka set up last year in google), and I'll do it soon. But before 
> then, let us know who is available this year! :) (If you'd like to 
> help, but you are not sure if you'll have enough time, still let me 
> know).
>
>
> Thanks,
>
> Good luck
>
> Hedayat
>

Re: [simspark-devel] �

[Hedayat V. <hed...@ai...>]

Hi Zhou Yanjun,

On ۰۹/۰۹/۲۷  07:09, mac...@si... wrote:
>
> Hi Hedayat,
>
> Sorry for my late reply. my grandpa passed away last week. I went back 
> to my hometown to
>
> attend the funeral and I just came to school yesterday. So I didn't 
> see your letter on time.
>
Sorry for that :(


> I am Zhou Yanjun, the current team leader of SEU-RedSun.I'm very 
> honored to become a member of
>
> Maintenance Committee. I love this game and have endless passion for 
> it. I want to do much
>
> more for the competition aside from coding for my own team. So I 
> applied to join the
>
> Maintenance Committee and I will try my best to make contribution here.:)
>
That's great. Welcome! :) I hope that we (MC members) can make it much 
better together. We really need people like you.

> As you have shown to us, only a small part of the items listed was 
> done last year. So I think
>
> this year we will have a lot to do. I will be the OC of China Open 
> 2009 held in Xi'an on
>
> 2009.11.20. I think I will have plenty of time to work for the 
> simulator after that match and
>
> I am very glad to do the work.
>
OK, I'll wait till then. But if there is any special area that you'd 
like to work in, please let us know.


Thanks a lot,
Hedayat


> Sincerely,
> Zhou Yanjun
>
>
> ----- ԭʼ�ʼ� -----
> �����ˣ�Hedayat Vatankhah <hed...@ai...>
> �ռ��ˣ�Simspark Devel ML <sim...@li...>,hojjat 
> nikan <hoj...@gm...>, macazishi 
> <mac...@si...>,Khashayar <kh....@gm...>,soorosh 
> hoseinalipoor <soo...@ho...>,Takenori KUBO <tk...@gm...>
> ���⣺MC 2010
> ���ڣ�2009-9-19 02:34:22
>
> Hi all,
>
> Sorry for my late email. I was too busy for some time, and finally I
> found a little break! :)
>
> Well, we should organize MC for 2010. Beside old members, we have some
> volunteers. So, let me say welcome to new members: Welcome to RoboCup 3D
> Simulation Server Maintenance Committee!
>
> Also, new members please subscribe to our list: simspark-devel available
> here:
>
> https://lists.sourceforge.net/lists/listinfo/simspark-devel
>
>
> Except the new members, I would like to hear from the old members to see
> who is available in 2010! Everybody, please let us know a little about
> yourself, your suggestions for MC 2010, and anything else.
>
>
> First, let me summarize our plan for 2009 (items which someone decided
> to do):
>
>
> * Implementing a physical abstraction layer for simspark, so that it can
> use different physical engines.
> * Implementing support for OGRE as a rendering engine
> * Implementing PhysX physical engine support (in addition to ODE)
> * Implementing a pixel camera sensor
> * New binary agent-server protocol (by integrating with Player project)
> * Adding an agent-server sync mode to simspark, so that agents can
> control simulation cycles.
>
> Among those, only the implementation of pixel camera sensor have been
> done by Yuan. Unfortunately, other items are not implemented yet. :(
>
>
> Also, this is the complete list of our TODO for 2009:
>
>
> * PAL integration
> * Review network message handling code (ensure fairness)
> * GUI for our simulator (possibly based on RsgEdit + ZigoratAssistant,
> incl. easy construction of new robots and simulations, moving robots on
> the field, etc.)
> * New interface for different rendering engines
> * nvidia PhysX engine Implementation
> * OGRE 3D implementation
> * Profiling + performance improvement
> * New network protocols (agent + monitor)
> * OpenGL camera perceptor
>
>
> And our wishlist:
>
> * Documentation (User/Developer/Wiki)
> * More Humanoid models, e.g. HOAP-2, VStone 4G, Bioloid
> * More sensors/actuators, better noise models for accelerometer/gyro,
> vision, etc.
> * Re-integrate Offside
> * Integrate Coach (e.g. UTUtd 3D Dev implementation for 
> rcssserver3d-0.5.2)
> * Webots importer
> * COLLADA importer (maybe using FCOLLADA)
> * Gazebo model importer
> * Player integration
> * Trainer plugin for the GUI
> * Motion editor plugin for the GUI (e.g. for the new HMDP effector)
> * Nice 3D visualization (possibly based on ZigoratAssistant)
> * Support multiple locations for resources; Implement a list of paths
> that FileServer::LocateResource checks
> * Webpage
>
> I want to know who will (or at least hopes to) contribute to our
> simulator in this year. Also, if you'd like to work on a specific area
> (either from the above list or a new proposal from yourself), please let
> us know.
>
>
> Then, I think it is nice to have a document for 2010 (like the one
> Joschka set up last year in google), and I'll do it soon. But before
> then, let us know who is available this year! :) (If you'd like to help,
> but you are not sure if you'll have enough time, still let me know).
>
>
> Thanks,
>
> Good luck
>
> Hedayat
>

Re: [simspark-devel] MC 2010

[Marian B. <mar...@gm...>]

Hi all.
School time is over and job is near. But in my free-time I would like to
contribute with Simspark Wiki (new or update previous articles) and keep or
improve compatibility in Windows platform. It's not much I know but at least
something :) . 

Best Regards
Marian Buchta
 

__________ Information from ESET NOD32 Antivirus, version of virus signature
database 4438 (20090918) __________

The message was checked by ESET NOD32 Antivirus.

http://www.eset.com
 

[simspark-devel] MC 2010

[Hedayat V. <hed...@ai...>]

Hi all,

Sorry for my late email. I was too busy for some time, and finally I 
found a little break! :)

Well, we should organize MC for 2010. Beside old members, we have some 
volunteers. So, let me say welcome to new members: Welcome to RoboCup 3D 
Simulation Server Maintenance Committee!

Also, new members please subscribe to our list: simspark-devel available 
here:

  https://lists.sourceforge.net/lists/listinfo/simspark-devel


Except the new members, I would like to hear from the old members to see 
who is available in 2010! Everybody, please let us know a little about 
yourself, your suggestions for MC 2010, and anything else.


First, let me summarize our plan for 2009 (items which someone decided 
to do):


* Implementing a physical abstraction layer for simspark, so that it can 
use different physical engines.
* Implementing support for OGRE as a rendering engine
* Implementing PhysX physical engine support (in addition to ODE)
* Implementing a pixel camera sensor
* New binary agent-server protocol (by integrating with Player project)
* Adding an agent-server sync mode to simspark, so that agents can 
control simulation cycles.

Among those, only the implementation of pixel camera sensor have been 
done by Yuan. Unfortunately, other items are not implemented yet. :(


Also, this is the complete list of our TODO for 2009:


* PAL integration
* Review network message handling code (ensure fairness)
* GUI for our simulator (possibly based on RsgEdit + ZigoratAssistant, 
incl. easy construction of new robots and simulations, moving robots on 
the field, etc.)
* New interface for different rendering engines
* nvidia PhysX engine Implementation
* OGRE 3D implementation
* Profiling + performance improvement
* New network protocols (agent + monitor)
* OpenGL camera perceptor


And our wishlist:

* Documentation (User/Developer/Wiki)
* More Humanoid models, e.g. HOAP-2, VStone 4G, Bioloid
* More sensors/actuators, better noise models for accelerometer/gyro, 
vision, etc.
* Re-integrate Offside
* Integrate Coach (e.g. UTUtd 3D Dev implementation for rcssserver3d-0.5.2)
* Webots importer
* COLLADA importer (maybe using FCOLLADA)
* Gazebo model importer
* Player integration
* Trainer plugin for the GUI
* Motion editor plugin for the GUI (e.g. for the new HMDP effector)
* Nice 3D visualization (possibly based on ZigoratAssistant)
* Support multiple locations for resources; Implement a list of paths 
that FileServer::LocateResource checks
* Webpage

I want to know who will (or at least hopes to) contribute to our 
simulator in this year. Also, if you'd like to work on a specific area 
(either from the above list or a new proposal from yourself), please let 
us know.


Then, I think it is nice to have a document for 2010 (like the one 
Joschka set up last year in google), and I'll do it soon. But before 
then, let us know who is available this year! :) (If you'd like to help, 
but you are not sure if you'll have enough time, still let me know).


Thanks,

Good luck

Hedayat

Re: [simspark-devel] Missing DLL's in packages on Windows

[Hedayat V. <hed...@ai...>]

<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html>
<head>
  <meta content="text/html; charset=UTF-8" http-equiv="Content-Type">
</head>
<body text="#000000" bgcolor="#ffffff">
<span>Hi Marian,<br>
<br>
<style type="text/css">blockquote {color: navy !important; background-color: RGB(245,245,245) !important; padding: 0 15 10 15 !important; margin: 15 0 0 0; border-left: #1010ff 2px solid;}  blockquote blockquote {color: maroon !important; background-color: RGB(235,235,235) !important; border-left-color:maroon !important}  blockquote blockquote blockquote {color: green !important; background-color: RGB(225,225,225) !important; border-left-color:teal !important}  blockquote blockquote blockquote blockquote {color: purple !important; background-color: RGB(215,215,215) !important; border-left-color: purple !important}  blockquote blockquote blockquote blockquote blockquote {color: teal !important; background-color: RGB(205,205,205) !important; border-left-color: green !important}</style><i><b>Marian
Buchta <a class="moz-txt-link-rfc2396E" href="mailto:mar...@gm...">&lt;mar...@gm...&gt;</a></b></i> wrote on ‫سه‌شنبه ۲۵ اوت
۰۹، ۱۸:۰۱:۴۷‬:</span>
<blockquote   style="border-left: 2px solid rgb(16, 16, 255); color: navy; background-color: rgb(245, 245, 245); padding-left: 15px;"   cite="mid:598...@ma..."   type="cite">Hi Hedayat,<br>
  <br>
  <div class="gmail_quote">On Tue, Aug 25, 2009 at 12:22 AM, Hedayat
Vatankhah <span dir="ltr">&lt;<a moz-do-not-send="true"   href="mailto:hed...@ai...">hed...@ai...</a>&gt;</span> wrote:<br>
  <blockquote class="gmail_quote"   style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
    <div text="#000000" bgcolor="#ffffff">Hi Marian,
    <div class="im"><br>
    <br>
On ۰۹/۰۸/۲۵  04:50, Marian Buchta wrote:
    <blockquote type="cite">
      <div>
      <p><span lang="EN-US">Hi all.</span></p>
      <p><span lang="EN-US">I installed Simspark and
Rcssserver3d from
[1] (for Windows). If I run rcssserver3d.cmd, I see error about missing
ruby
(etc. msvcrt-ruby18.dll) because package doesn’t include it.
Rcssserver3d
doesn’t need ruby library for compilation. But it need to run. In Linux
or Mac OS X is no problem with library. But Windows package
(rcssserver3d.exe)
should be include this library. I suggest insert this line into file
rcssserver3d/CMakeLists.txt
after line 22:</span></p>
      <p><span lang="EN-US">if(WIN32)</span></p>
      <p><span lang="EN-US">find_package(Ruby REQUIRED)</span></p>
      <p><span lang="EN-US">endif(WIN32)</span></p>
      <p><span lang="EN-US"> </span></p>
      <p><span lang="EN-US">The same case is project
Rsgedit. It need
freetype, devil and ruby libraries to run. In file
rsgedit/CMakeLists.txt after
line 13:</span></p>
      <p><span lang="EN-US">If(WIN32)</span></p>
      <p><span lang="EN-US">find_package(Freetype
REQUIRED)</span></p>
      <p><span lang="EN-US">find_package(DevIL REQUIRED)</span></p>
      <p><span lang="EN-US">find_package(Ruby REQUIRED)</span></p>
      <p><span lang="EN-US">endif(WIN32)</span></p>
      <p><span lang="EN-US"> </span></p>
      <p><span lang="EN-US">This modification is only for
NSIS
Installer, which created package from VS2008.</span></p>
      <p><span lang="EN-US">I think this is very graceful
solution how to
include missing dll’s into Windows package of projects.</span></p>
      <p><span lang="EN-US">So what do you say?</span></p>
      </div>
    </blockquote>
    </div>
Yes, you are right. I thought that I'm using a statically linked Ruby
since there were no .dll files in ruby's lib/ directory. But
surprisingly after release someone complained about missing ruby .dll
to me and I discovered that it is located in ruby's bin/ directory. :P<br>
    <br>
Adding these requirements is not enough, and we should add commands to
find and copy the .dll file(s) in appropriate directories. <br>
We can add the find_package() command and other needed commands in
rcssserver3d and others... but now I'm suspect that this is the best
way. TBH, these are all simspark dependencies and not applications'
(e.g. rcssserver3d). So, I am thinking about it, and it seems that
(IMHO) adding such required .dll files in a simspark installation's
directory (e.g. simspark/lib/thirdparty) (which you suggested before)
is a good solution. We'll need to add this new directory to the .cmd
files, but at least the .dll files and commands to include them in the
installer is only needed in simspark.<br>
    <br>
What do you think about it?<br>
    </div>
  </blockquote>
  <div><br>
Yes, very good idea. As you said, mainly required dlls are simspark
dependencies and should be in simspark installation's directory.
Simspark installer will be bigger, but rcssserver3d and rsgedit
installers will be smaller, because some dlls are the same in both
installers.<br>
  </div>
  </div>
</blockquote>
OK, I'll go for it soon. <br>
<br>
<blockquote   style="border-left: 2px solid rgb(16, 16, 255); color: navy; background-color: rgb(245, 245, 245); padding-left: 15px;"   cite="mid:598...@ma..."   type="cite">
  <div class="gmail_quote">
  <div><br>
Also a updated Simspark Wiki (part Windows) [1]. I modified Rsgedit
chapters. But I have one problem. During compilation project wxutils
created only DLL and not LIB file. But rsgedit project need this LIB.
Temporary solution is to create not dynamic but static library (delete
word SHARED in trunk\rsgedit\wxutil\CMakeLists.txt:138). I think the
problem is the same as [2]. I have question. Need rsgedit pthread
library (\rsgedit\src\CMakeLists.txt:53)? <br>
  </div>
  </div>
</blockquote>
For the first problem: I should look at it, but it might be the problem
you mentioned. You can see how it is solved for simspark libraries in
their header files (it is the same solution as noted in [1]). Probably
I have not done the same thing to wxutil files. <br>
About pthread library, I'm not sure! I don't remember if I've added it
myself for some reason or it is copied from the originam Makefile.am
file. :P<br>
<br>
Thanks,<br>
Hedayat<br>
<br>
<blockquote   style="border-left: 2px solid rgb(16, 16, 255); color: navy; background-color: rgb(245, 245, 245); padding-left: 15px;"   cite="mid:598...@ma..."   type="cite">
  <div class="gmail_quote">
  <div><br>
[1] <a moz-do-not-send="true"   href="http://simspark.sourceforge.net/wiki/index.php/Installation_on_Windows">http://simspark.sourceforge.net/wiki/index.php/Installation_on_Windows</a><br>
[2] <a moz-do-not-send="true"   href="http://www.mail-archive.com/cm...@cm.../msg02904.html">http://www.mail-archive.com/cm...@cm.../msg02904.html</a>
  <br>
  <br>
  </div>
  <blockquote class="gmail_quote"   style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
    <div text="#000000" bgcolor="#ffffff"><br>
    <br>
Thanks,<br>
Hedayat<br>
    <br>
    <blockquote type="cite">
      <div class="im">
      <div>
      <p><span lang="EN-US"></span></p>
      <p><span lang="EN-US"> </span></p>
      <p><span lang="EN-US">[1]</span><span lang="EN-US"> </span><span   lang="EN-US"><a moz-do-not-send="true"   href="http://sourceforge.net/projects/simspark/files/" target="_blank">http://sourceforge.net/projects/simspark/files/</a>
      </span></p>
      </div>
      <br>
      <br>
__________ Information from ESET NOD32 Antivirus, version of virus
signature database 4364 (20090824) __________<br>
      <br>
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      <br>
      <a moz-do-not-send="true" href="http://www.eset.com"   target="_blank">http://www.eset.com</a><br>
      </div>
      <pre><hr size="4" width="90%">
------------------------------------------------------------------------------
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      <pre><hr size="4" width="90%">
_______________________________________________
Simspark Generic Physical MAS Simulator
simspark-devel mailing list
<a moz-do-not-send="true"   href="mailto:sim...@li..." target="_blank">sim...@li...</a>
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  </pre>
    </blockquote>
    </div>
  </blockquote>
  <div><br>
Best Regards, <br>
Marian Buchta<br>
  </div>
  </div>
  <br>
</blockquote>
</body>
</html>

Re: [simspark-devel] Missing DLL's in packages on Windows

[Marian B. <mar...@gm...>]

Hi Hedayat,

On Tue, Aug 25, 2009 at 12:22 AM, Hedayat Vatankhah <hed...@ai...>wrote:

>  Hi Marian,
>
> On ۰۹/۰۸/۲۵  04:50, Marian Buchta wrote:
>
>  Hi all.
>
> I installed Simspark and Rcssserver3d from [1] (for Windows). If I run
> rcssserver3d.cmd, I see error about missing ruby (etc. msvcrt-ruby18.dll)
> because package doesn’t include it. Rcssserver3d doesn’t need ruby library
> for compilation. But it need to run. In Linux or Mac OS X is no problem with
> library. But Windows package (rcssserver3d.exe) should be include this
> library. I suggest insert this line into file rcssserver3d/CMakeLists.txt
> after line 22:
>
> if(WIN32)
>
> find_package(Ruby REQUIRED)
>
> endif(WIN32)
>
>
>
> The same case is project Rsgedit. It need freetype, devil and ruby
> libraries to run. In file rsgedit/CMakeLists.txt after line 13:
>
> If(WIN32)
>
> find_package(Freetype REQUIRED)
>
> find_package(DevIL REQUIRED)
>
> find_package(Ruby REQUIRED)
>
> endif(WIN32)
>
>
>
> This modification is only for NSIS Installer, which created package from
> VS2008.
>
> I think this is very graceful solution how to include missing dll’s into
> Windows package of projects.
>
> So what do you say?
>
> Yes, you are right. I thought that I'm using a statically linked Ruby since
> there were no .dll files in ruby's lib/ directory. But surprisingly after
> release someone complained about missing ruby .dll to me and I discovered
> that it is located in ruby's bin/ directory. :P
>
> Adding these requirements is not enough, and we should add commands to find
> and copy the .dll file(s) in appropriate directories.
> We can add the find_package() command and other needed commands in
> rcssserver3d and others... but now I'm suspect that this is the best way.
> TBH, these are all simspark dependencies and not applications' (e.g.
> rcssserver3d). So, I am thinking about it, and it seems that (IMHO) adding
> such required .dll files in a simspark installation's directory (e.g.
> simspark/lib/thirdparty) (which you suggested before) is a good solution.
> We'll need to add this new directory to the .cmd files, but at least the
> .dll files and commands to include them in the installer is only needed in
> simspark.
>
> What do you think about it?
>

Yes, very good idea. As you said, mainly required dlls are simspark
dependencies and should be in simspark installation's directory. Simspark
installer will be bigger, but rcssserver3d and rsgedit installers will be
smaller, because some dlls are the same in both installers.

Also a updated Simspark Wiki (part Windows) [1]. I modified Rsgedit
chapters. But I have one problem. During compilation project wxutils created
only DLL and not LIB file. But rsgedit project need this LIB. Temporary
solution is to create not dynamic but static library (delete word SHARED in
trunk\rsgedit\wxutil\CMakeLists.txt:138). I think the problem is the same as
[2]. I have question. Need rsgedit pthread library
(\rsgedit\src\CMakeLists.txt:53)?

[1] http://simspark.sourceforge.net/wiki/index.php/Installation_on_Windows
[2] http://www.mail-archive.com/cm...@cm.../msg02904.html


>
> Thanks,
> Hedayat
>
>
>
> [1] http://sourceforge.net/projects/simspark/files/
>
>
> __________ Information from ESET NOD32 Antivirus, version of virus
> signature database 4364 (20090824) __________
>
> The message was checked by ESET NOD32 Antivirus.
>
> http://www.eset.com
>
> ------------------------------
>
> ------------------------------------------------------------------------------
> Let Crystal Reports handle the reporting - Free Crystal Reports 2008 30-Day
> trial. Simplify your report design, integration and deployment - and focus on
> what you do best, core application coding. Discover what's new with
> Crystal Reports now.  http://p.sf.net/sfu/bobj-july
>
> ------------------------------
>
> _______________________________________________
> Simspark Generic Physical MAS Simulator
> simspark-devel mailing lis...@li...https://lists.sourceforge.net/lists/listinfo/simspark-devel
>
>
Best Regards,
Marian Buchta

Re: [simspark-devel] Missing DLL's in packages on Windows

[Hedayat V. <hed...@ai...>]

<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html>
<head>
  <meta content="text/html; charset=UTF-8" http-equiv="Content-Type">
  <title></title>
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<body text="#000000" bgcolor="#ffffff">
Hi Marian,<br>
<br>
On ۰۹/۰۸/۲۵  04:50, Marian Buchta wrote:
<blockquote cite="mid:4a9...@mx..."   type="cite">
  <meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
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  <o:idmap v:ext="edit" data="1" />
 </o:shapelayout></xml><![endif]-->
  <div class="Section1">
  <p class="MsoNormal"><span lang="EN-US">Hi all.<o:p></o:p></span></p>
  <p class="MsoNormal"><span lang="EN-US">I installed Simspark and
Rcssserver3d from
[1] (for Windows). If I run rcssserver3d.cmd, I see error about missing
ruby
(etc. msvcrt-ruby18.dll) because package doesn’t include it.
Rcssserver3d
doesn’t need ruby library for compilation. But it need to run. In Linux
or Mac OS X is no problem with library. But Windows package
(rcssserver3d.exe)
should be include this library. I suggest insert this line into file
rcssserver3d/CMakeLists.txt
after line 22:<o:p></o:p></span></p>
  <p class="MsoNormal"><span lang="EN-US">if(WIN32)<o:p></o:p></span></p>
  <p class="MsoNormal"><span lang="EN-US">find_package(Ruby REQUIRED)<o:p></o:p></span></p>
  <p class="MsoNormal"><span lang="EN-US">endif(WIN32)<o:p></o:p></span></p>
  <p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
  <p class="MsoNormal"><span lang="EN-US">The same case is project
Rsgedit. It need
freetype, devil and ruby libraries to run. In file
rsgedit/CMakeLists.txt after
line 13:<o:p></o:p></span></p>
  <p class="MsoNormal"><span lang="EN-US">If(WIN32)<o:p></o:p></span></p>
  <p class="MsoNormal"><span lang="EN-US">find_package(Freetype
REQUIRED)<o:p></o:p></span></p>
  <p class="MsoNormal"><span lang="EN-US">find_package(DevIL REQUIRED)<o:p></o:p></span></p>
  <p class="MsoNormal"><span lang="EN-US">find_package(Ruby REQUIRED)<o:p></o:p></span></p>
  <p class="MsoNormal"><span lang="EN-US">endif(WIN32)<o:p></o:p></span></p>
  <p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
  <p class="MsoNormal"><span lang="EN-US">This modification is only for
NSIS
Installer, which created package from VS2008.<o:p></o:p></span></p>
  <p class="MsoNormal"><span lang="EN-US">I think this is very graceful
solution how to
include missing dll’s into Windows package of projects.<o:p></o:p></span></p>
  <p class="MsoNormal"><span lang="EN-US">So what do you say?</span></p>
  </div>
</blockquote>
Yes, you are right. I thought that I'm using a statically linked Ruby
since there were no .dll files in ruby's lib/ directory. But
surprisingly after release someone complained about missing ruby .dll
to me and I discovered that it is located in ruby's bin/ directory. :P<br>
<br>
Adding these requirements is not enough, and we should add commands to
find and copy the .dll file(s) in appropriate directories. <br>
We can add the find_package() command and other needed commands in
rcssserver3d and others... but now I'm suspect that this is the best
way. TBH, these are all simspark dependencies and not applications'
(e.g. rcssserver3d). So, I am thinking about it, and it seems that
(IMHO) adding such required .dll files in a simspark installation's
directory (e.g. simspark/lib/thirdparty) (which you suggested before)
is a good solution. We'll need to add this new directory to the .cmd
files, but at least the .dll files and commands to include them in the
installer is only needed in simspark.<br>
<br>
What do you think about it?<br>
<br>
<br>
Thanks,<br>
Hedayat<br>
<br>
<blockquote cite="mid:4a9...@mx..."   type="cite">
  <div class="Section1">
  <p class="MsoNormal"><span lang="EN-US"><o:p></o:p></span></p>
  <p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
  <p class="MsoNormal"><span lang="EN-US">[1]</span><span lang="EN-US">
  </span><span lang="EN-US"><a moz-do-not-send="true"   href="http://sourceforge.net/projects/simspark/files/">http://sourceforge.net/projects/simspark/files/</a>
  <o:p></o:p></span></p>
  </div>
  <br>
  <br>
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  <br>
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  <br>
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  <pre wrap=""><hr size="4" width="90%">
------------------------------------------------------------------------------
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_______________________________________________
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  </pre>
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[simspark-devel] Missing DLL's in packages on Windows

[Marian B. <mar...@gm...>]

Hi all.

I installed Simspark and Rcssserver3d from [1] (for Windows). If I run
rcssserver3d.cmd, I see error about missing ruby (etc. msvcrt-ruby18.dll)
because package doesn't include it. Rcssserver3d doesn't need ruby library
for compilation. But it need to run. In Linux or Mac OS X is no problem with
library. But Windows package (rcssserver3d.exe) should be include this
library. I suggest insert this line into file rcssserver3d/CMakeLists.txt
after line 22:

if(WIN32)

find_package(Ruby REQUIRED)

endif(WIN32)

 

The same case is project Rsgedit. It need freetype, devil and ruby libraries
to run. In file rsgedit/CMakeLists.txt after line 13:

If(WIN32)

find_package(Freetype REQUIRED)

find_package(DevIL REQUIRED)

find_package(Ruby REQUIRED)

endif(WIN32)

 

This modification is only for NSIS Installer, which created package from
VS2008.

I think this is very graceful solution how to include missing dll's into
Windows package of projects.

So what do you say?

 

[1] http://sourceforge.net/projects/simspark/files/ 

Re: [simspark-devel] Current state of simspark (multi-threading, external monitor, timing and network)

[Hedayat V. <hed...@ai...>]

Hi Simon,

On ۰۹/۰۷/۲۹  08:12, Simon Raffeiner wrote:
> Dear Mr. Vatankhah,
>
> Am Mittwoch 29 Juli 2009 10:43:33 schrieben Sie:
>
>    
>>   1. Is there any problems with using external monitor and disabling
>> internal monitor by default? (Does it work fine on local machine and also
>> when running on a separate machine?)
>>      
>
> No problems in both cases (local and separate machine) so far.
>
>    
Thanks a lot for your response. So, it seems that we can disable the 
internal monitor by default. I will do it soon if nobody is against it.

Good luck,
Hedayat

Re: [simspark-devel] Current state of simspark (multi-threading, external monitor, timing and network)

[Simon R. <sra...@st...>]

Dear Mr. Vatankhah, 

Am Mittwoch 29 Juli 2009 10:43:33 schrieben Sie:

>  1. Is there any problems with using external monitor and disabling
> internal monitor by default? (Does it work fine on local machine and also
> when running on a separate machine?)

No problems in both cases (local and separate machine) so far.

-- 

mit freundlichen Grüßen/regards
Simon Raffeiner

University of Applied Sciences Offenburg, Germany
Computer Science Department, RoboCup Team

Re: [simspark-devel] Delete some cmake files?

[Hedayat V. <hed...@ai...>]

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On ۰۹/۰۷/۲۹  03:54, Marian Buchta wrote:
<blockquote   cite="mid:598...@ma..."   type="cite">Hi Hedayad,<br>
  <br>
  <div class="gmail_quote">On Mon, Jul 27, 2009 at 10:08 AM, Hedayat
Vatankhah <span dir="ltr">&lt;<a moz-do-not-send="true"   href="mailto:hed...@ai...">hed...@ai...</a>&gt;</span> wrote:<br>
  <blockquote class="gmail_quote"   style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
    <div text="#000000" bgcolor="#ffffff">Hi Marian,
    <div class="im"><br>
    </div>
    <div class="im"><br>
    <blockquote type="cite">
      <div class="gmail_quote">
      <div>Also I have question about directory bin. Actually all this
external libraries are copying into bin/ directory. I think this
directory is primary for executable files. Maybe it would be better
copy this files to the directory lib/ (etc. lib/others , lib/external
or else). What do you think?<br>
      </div>
      </div>
    </blockquote>
    </div>
Yes, that would be cleaner. But, a new directory means one more
directory to add to path :(, or maybe we might use the lib/ directory
itself... (IMHO, all of them has a 'dirty' part, and so they are almost
identical solutions for me).<br>
What's your opinions about it? <br>
    </div>
  </blockquote>
  <div><br>
It is also solution :), all dll's into one directory. If you do this
for rcssserver3d project ( \rcssserver3d\lib\rcssserver3d ---&gt;
rcssserver3d\lib\ ) I think it would be good do this also for simspark
( \simspark\lib\simspark\ ---&gt; \simspark\lib ) because of symmetry
:). Problem solved with the same number of paths.<br>
  </div>
  </div>
</blockquote>
Ooops! Sorry, I wanted to say lib/rcssserver3d, not lib/ :P So, these
are my suggestions:<br>
1. Leaving the external .dll files in bin/ directory. While the
directory name is bin/, this is not a weird thing in Windows!<br>
2. Moving those .dll files into lib/, lib/external or ... and add that
directory to PATH<br>
3. Moving .dlls into lib/rcssserver3d<br>
<br>
<blockquote   cite="mid:598...@ma..."   type="cite">
  <div class="gmail_quote">
  <div> </div>
  <blockquote class="gmail_quote"   style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
    <div text="#000000" bgcolor="#ffffff"><br>
    <br>
A bit off-topic: as of now, you should be able to install simspark and
rcssserver3d in any location you like when using the installer in
Windows.� <br>
    </div>
  </blockquote>
  <div><br>
Because installer create (without user choice) uninstall shortcut into
Start menu, maybe it would be great to create shortcut from script
files (e.g. rcssserver3d.cmd) to this menu.<br>
  </div>
  </div>
</blockquote>
But the user has the choice! During installation there is a page which
asks about the start menu entry name. At the bottom, there is an option
like this: Do not create shortcuts. If you check this option, no Start
menu entry will be added.<br>
Anyway, I wanted to add those .cmd files to start menu, but I faced 2
problems: <br>
1. The default CMake command for this
purpose(CPACK_PACKAGE_EXECUTABLES) adds .exe extension to the Start
menu shortcut! (I tried to add simspark.bat to start menu, and I found
that CPack has added it as simspark.bat.exe!!)<br>
2. Current .cmd files must be run from the bin/ directory, and do not
work outside it. But that's easy to solve. <br>
<br>
I've not investigated to see if it is possible to solve the first
problem using cmake commands. If not, it is possible to do that by
adding NSIS commands to CPACK_NSIS_EXTRA_INSTALL_COMMANDS and
CPACK_NSIS_EXTRA_UNINSTALL_COMMANDS. But it needs some time that I'm
not currently going to put on this issue. It would be nice if someone
do it. :)<br>
<br>
<blockquote   cite="mid:598...@ma..."   type="cite">
  <div class="gmail_quote">
  <div>�</div>
  <blockquote class="gmail_quote"   style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
    <div text="#000000" bgcolor="#ffffff"><br>
Thanks a lot,<br>
    <font color="#888888">Hedayat</font></div>
  </blockquote>
  <div><br>
Thank you :).<br>
Best Regards,<br>
Marian Buchta <br>
  </div>
  </div>
</blockquote>
<br>
Thanks,<br>
Hedayat<br>
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[simspark-devel] Current state of simspark (multi-threading, external monitor, timing and network)

[Hedayat V. <hed...@ai...>]

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Hi all,<br>
1. Is there any problems with using external monitor and disabling
internal monitor by default? (Does it work fine on local machine and
also when running on a separate machine?)<br>
<br>
2. Sander/Mart: What happened to the network code finally? Would you
please fix the current network handling code in simspark SVN?<br>
<br>
3. Current multi-threaded code has a small bug which I'll fix today,
and I think we can enable multi-threading by default. Would you please
test the latest simspark (in 2-3 hours from now) to see if it works
fine?<br>
<br>
4. It seems that the current timing in single threaded code is buggy.
I'll commit a fix. It would be nice if you can conduct some tests to
see if it really works fine. (In the current version I think most of
the cycles will last at least 0.04 instead of 0.02). (To verify, just
check what happens in the Step() function at the first run on the
simulation loop. I think no physical simulation happens in that cycle!
I should check it once more but I think replacing the while loop in
Step() with a do-while loop will fix it.)<br>
<br>
Thanks,<br>
Hedayat<br>
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