Diff of Samples/Dynamics simulation

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#contents

* Maing of world file [#n81a6833]
This section explains how to make world file to let object fall with gravity.

** Directory configuration [#r3d7f776]
The initial directory configuration is shown in the following figure.

 sigverse-<version>
       |
       |---bin
       |---include
       |     +----sigverse       
       +---shared 
             +----sigverse
                     |----data
                     |     |----xml
                     |     +----shape
                     |----etc
                     |----jar
                     +----samples  

This time, we create a new directory under sigverse-<version>/bin to use this directory as working space.

** Making of controller of the agent [#ld9ff52a]

Move to the following directory to create new working space.

 $ cd ~/sigverse-<version>/bin
 $ mkdir NewWorld
 $ cd NewWorld

Create MoveController.cpp with text editor such as emacs, vi and so on.

 $ emacs MoveController.cpp

MoveController.cpp
 
 #include "Controller.h"
 #include "Logger.h"
 
 //Statement of MoveController which is subclass of Controller.
 class MoveController : public Controller {
 public:
 
   //Statement of usage of onAction which is called periodically.
   double onAction(ActionEvent&);
 };
 
 
 double MoveController::onAction(ActionEvent &evt) {
   return 5.0;      //次にonActionが呼ばれるまでの時間を返します。
 }
 
 //自身のインスタンスをSIGVerseに返します。
 extern "C" Controller * createController() {
      return new MoveController;
 }

If you see Japanese code or strange character code, please delete those strange characters.

This controller doesn't control anything. Idle function onAction is called every 5 seconds.


** Compile [#i712b58f]
The following Makefile is recommended to compile the controller.

// emacs make.sh

//make.sh
// #!/bin/sh
 
// #SIGVerseソースの場所を指定します。
// export SIG_SRC="/home/<username>/sigverse-201003/include/sigverse"

// #コンパイルを行います。
// make clean
// make

 $ emacs Makefile

Makefile
 #SIGVerse server source tree
 SIG_SRC  = /home/<username>/sigverse-<version>/include/sigverse
 
 #Specifying of object file
 OBJS     = MoveController.so
 
 all: $(OBJS)
 
 #compilation rule
 ./%.so: ./%.cpp
         g++ -DCONTROLLER -DNDEBUG -DUSE_ODE -I$(SIG_SRC) -I$(SIG_SRC)/comm/controller  -fPIC -shared -o $@   $<

You should replace <username> as your account ID, <version> as the version number respectively.
Before the g++ in the above Makefile should be TAB (not space). Be careful on that point.

Execute make to compile the controller
 $ make
The compilation is successful if you can see MoveController.so

 $ ls
 Makefile  MoveController.cpp  MoveController.so
 
** Creation of the world file [#v5bbeb72]
Create a world file in sigverse-<version>/share/sigverse/data/xml

 $ cd ~/sigverse-<version>/share/sigverse/data/xml
 $ emacs NewWorld.xml

NewWorld.xml
 <?xml version="1.0" encoding="utf8"?>
 <world name="newworld">
 
 <!--重力の設定-->
   <gravity x="0.0" y="-9.8" z="0.0"/>  
  
 <!--エージェントToy_Dのインスタンス作成-->
   <instanciate class="seToy_D.xml">
 
 <!--エージェント名-->
         <set-attr-value name="name" value="Toy_D"/>  
 
 <!--C++言語の指定-->
         <set-attr-value name="language" value="c++"/> 
 
 <!--作成したコントローラの指定-->
         <set-attr-value name="implementation"
 value="./NewWorld/MoveController.so"/>
 
 <!--動力学演算フラグ-->
         <set-attr-value name="dynamics" value="true"/>
  
 <!--エージェントの最初の位置(x,y,z)-->
         <set-attr-value name="x" value="0.0"/>
         <set-attr-value name="y" value="18.0"/>
         <set-attr-value name="z" value="5.0"/>
  
  </instanciate>

In this process, this world file defines "dynamics" as "true" to execute dynamics simulation.

** Start the simulation [#vc9852fe]

 $ cd ~/sigverse-<version>/bin
 $ ./sigserver.sh -w NewWorld.xml -p 9001
       :
       :
 [SYS]  waiting for connection...
 [SYS]  Controller attached to "Toy_D"
 [SYS]  127.0.0.1 connected
 [SYS]  Toy_D : dataport
 [SYS]  127.0.0.1 connected

You should specify the created world file with -w option.

Since the world file specified the new controller, controller is attached automatically on the agent "Toy_D" without execution of sigrunac.
Next, input target host name and port number to connect to the SIGVerse server. Click the "Connect to SimServer" button.

#ref(toy_1.jpg)

You can see the agent Toy_D stands at the position (0.0, 18.0, 5.0) which is defined in the world file. Y axis indicates vertical direction in SIGVerse.

Next click the Send button after changing the state of frame SIM_CTRL_CMD as START to start the simulation.

#ref(toy_2.jpg)

You can see the agent Toy_D is falling down and bouncing on the floor.

*Put force on the agent [#xebe42b6]
Change the controller MoveController.cpp to put outer force on the agent.

 $ cd NewWorld
 $ emacs MoveController.cpp

Add the following 2 lines after 
 double MoveController::onAction(ActionEvent &evt) {

 SimObj *obj = getObj(myname());  //Get object ID of agent itself
 obj->setForce(0,0,300);          //Put force on the z axis, quantity is 300.

Compile and execute
 $ make
 $ cd ..
 $ ./sigserver.sh -w NewWorld.xml -p 9001

You can see the agent is moving every 5 seconds with receiving outer force on z sxis.

#ref(toy_3.jpg)

You can use setAccel and setTorque not only setForce.

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RIGHT:[[Next>Agent control]]