[[SIGVerse(English)]]

&size(24){SIGVerse};

#contents
''Summary''



* What is SIGVerse? [#f00c31e6]

SIGVerse is a simulator system, which provides virtual environment closer to the real world compared to the existing ones. The objective of the SIGVerse is to be a platform to realize not only a virtual world for robot and physics simulation, but also sensory functions of both human beings and robots, and communication among agents.

&size(18){''System Architecture''};

The system consists of a simulation server for the virtual world, controller of agents and viewer of the virtual world.

&size(18){''Schematic Diagram''};

&size(18){''System Architecture''};
Physical Simulation in the virtual world

In the virtual world made up within the simulation server, agents (for example, human beings, robots and so on) and entities (for example, objects, such as a desk or/and an apple, which is not an agent) can be allocated. As the time moves in the virtual world, motion of agents and entities realized by applying external force as well as collision phenomena of agents and entities can be observed.

&size(18){''System Architecture''};
Control of the Agents and the Sensory Function by the Controller

Actions and behaviors of the agents can be control by attaching a controller to the agents. Agents are equipped with high or low order visual/auditory function. Communication among agents and actions according to the surrounding environment can be realized by utilizing these functions.

* Requirements [#d23a0c2e]

** Simulation Server [#t1b792c7]

    *  Language Used

      C++

    * OS

      Linux

    * Library Required(Versions used for development)

      gcc(4.1.2)

      xerces-c(2.7.0)

      ode(0.8)

      JDK(1.6.0)

** Viewer [#bdf17c2d]

    *  Language Used

      C++ (Visual C++ 2005)

    * OS

      Microsoft Windows XP, Windows Vista (32bit)

    * Library Required(Versions used for development)

      OGRE(1.4.9)

      JRE(1.6.0)

      Xj3D(1.0)

      OpenAL(1.1)

* Compilation and Installation [#lbe1ab7b]

** How to Compile the simulation server [#h1d49d1a]

Installation of Libraries

    * JDK6

      Install JDK6 to your system. The JDK6 can be downloaded from Sun's download page

    * xerces-c, xerces-c-devel

      Install the packages through a package management system of the designated distribution

    * ode

      Download ode-src-0.8.zip from ODE project page(sourceforge.net) then, compile and install as below.

            # cd /usr/local/src
            # unzip -x ode-src-0.8.zip
            # cd ode-0.8/
            #  ./configure --disable-tests --without-x --enable-double-precision
            --with-trimesh=opcode --enable-release --enable-shared
            # make
            # make install
            

      The simulation uses double-precision and the algorithm of trimesh uses OPCODE. Please configure with option --without-x if there is no X or glut-devel environment.

    * Xj3D

      Download Xj3D-1-0-linuxx86.jar from Xj3D download page, then install it to the system.

Compile

Initialization after extracting irwas-sim source packages

    % cat irwas-sim-XXX.tar.gz | tar zxvf -
    % cd irwas-sim-XXX
    % make init   # only for the first time

'make' after modifying JRELIBDIR of the srcs/simserver/Makefile.base according to the environment.

----- srcs/simserver/Makefile.base ----------------

...

#JRELIBDIR = `java-config -o`/jre/lib/amd64/server
JRELIBDIR = /usr/java/latest/jre/lib/amd64/server

...
---------------------------------------------------

    % make 

Configure X3DParser.cfg

X3DParser.cfg is a configuration file for X3D parser Xj3D. The simulation server call java implemented X3D parser, called Xj3D, from C++ through JNI.

jar files needed for simulation server execution are included in jar directory. Please change the value of java.class.path of srcs/server/X3DParser.cfg. <irwas-sim-dire> is the directory where the package was extracted <xj3d-dir> is the directory of Xj3D in full path.

----- srcs/server/X3DParser.cfg -------------------------------------------------------------

java.library.path=./

java.class.path=<irwas-sim-dir>/jar/X3DParser.jar:<xj3d-dir>jars/xj3d-all.jar
---------------------------------------------------------------------------------------------

** Install the viewer [#r1d8a046]

* How To Use [#x5afcaa2]

** Start the simulation server [#d4b98422]

** Start voice recognition service provider [#cfbcf2d1]

** Start the viewer [#o18cb30c]

** How to use the viewer [#u3ec2338]

* Create World File [#u550ef4f]

** coordinate system [#v5c343fe]

** Definition of Agent and Entity Class [#t8831c85]

** Configuration of the Agent and the Entity [#h3793008]

** World File [#b04bca0f]

* Control of the agent by a controller [#ud4323d3]

** Displacement Mode and Control Mode [#if130f5a]

** Create the controller [#z8cad858]

*** Create a controller to do nothing [#kb06c528]

*** Compile [#e74cd304]

*** Attach to an agent (Execute a test) [#u05241a2]

** A Sample of a controller [#laad5227]

** Reference [#n9930c41]





Last modified: Mon Feb 25 11:13:10 JST 2008
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