private BumperArrayEntity CreateBumperArray()
{
// Create a bumper array entity with two bumpers
BoxShape leftBumper = new BoxShape(
new BoxShapeProperties("front left",
0.001f,
new Pose(new Vector3(-0.036f, 0.03f, -0.09f)),
new Vector3(0.07f, 0.03f, 0.06f)
)
);
leftBumper.State.DiffuseColor = new Vector4(0.1f, 0.1f, 0.1f, 1.0f);
BoxShape rightBumper = new BoxShape(
new BoxShapeProperties("front right",
0.001f,
new Pose(new Vector3(0.036f, 0.03f, -0.09f)),
new Vector3(0.07f, 0.03f, 0.06f)
)
);
rightBumper.State.DiffuseColor = new Vector4(0.1f, 0.1f, 0.1f, 1.0f);
// The physics engine will issue contact notifications only
// if we enable them per shape
leftBumper.State.EnableContactNotifications = true;
rightBumper.State.EnableContactNotifications = true;
// put some force filtering so we only get notified for significant bumps
//frontBumper.State.ContactFilter = new ContactNotificationFilter(1,1);
//rearBumper.State.ContactFilter = new ContactNotificationFilter(1, 1);
BumperArrayEntity
bumperArray = new BumperArrayEntity(leftBumper, rightBumper);
// entity name, must match manifest partner name
bumperArray.State.Name = "ScribblerBumpers";
// start simulated bumper service
//bumper.Contract.CreateService(
// ConstructorPort,
// Microsoft.Robotics.Simulation.Partners.CreateEntityPartner(
// "http://localhost/" + bumperArray.State.Name));
return(bumperArray);
}
void AddScribblerRobot(Vector3 position)
{
ScribblerRobot robotBaseEntity = CreateScribblerMotorBase(ref position);
// Create bumper array entity and start simulated bumper service
BumperArrayEntity bumperArray = CreateBumperArray();
// insert as child of motor base
robotBaseEntity.InsertEntity(bumperArray);
// create Camera Entity ans start SimulatedWebcam service
CameraEntity camera = CreateCamera();
// insert as child of motor base
robotBaseEntity.InsertEntity(camera);
// Finaly insert the motor base and its two children
// to the simulation
SimulationEngine.GlobalInstancePort.Insert(robotBaseEntity);
}
private BumperArrayEntity CreateBumperArray()
{
// Create a bumper array entity with two bumpers
// TT -- I changed the thickness of the bumpers to try to
// reduce the problem where both front and back seem
// to trigger when it "climbs" a wall. Moving the
// bumper up higher on the robot did not work because
// it simply got stuck on the wall!
// TT Jul-2007 - There is some problem with the bumpers
// not being recognised during collisions. Put them back
// the way they were before.
BoxShape frontBumper = new BoxShape(
new BoxShapeProperties("front",
0.001f,
new Pose(new Vector3(0, 0.05f, -0.25f)),
new Vector3(0.40f, 0.03f, 0.03f)
//new Vector3(0.40f, 0.01f, 0.03f)
)
);
// TT - From Oct CTP
frontBumper.State.DiffuseColor = new Vector4(0.1f, 0.1f, 0.1f, 1.0f);
BoxShape rearBumper = new BoxShape(
new BoxShapeProperties("rear",
0.001f,
new Pose(new Vector3(0, 0.05f, 0.25f)),
new Vector3(0.40f, 0.03f, 0.03f)
//new Vector3(0.40f, 0.01f, 0.03f)
)
);
// TT - From Oct CTP
rearBumper.State.DiffuseColor = new Vector4(0.1f, 0.1f, 0.1f, 1.0f);
// The physics engine will issue contact notifications only
// if we enable them per shape
frontBumper.State.EnableContactNotifications = true;
rearBumper.State.EnableContactNotifications = true;
BumperArrayEntity
bumperArray = new BumperArrayEntity(frontBumper, rearBumper);
// entity name, must match manifest partner name
// TT Dec-2006 - Remove slash for V1.0
bumperArray.State.Name = "P3DXBumpers";
// start simulated bumper service
// TT Dec-2006 - Subtle change for V1.0
//CreateService(
// bumper.Contract.Identifier,
// Microsoft.Robotics.Simulation.Partners.CreateEntityPartner(
// "http://localhost" + bumperArray.State.Name));
bumper.Contract.CreateService(
ConstructorPort,
Microsoft.Robotics.Simulation.Partners.CreateEntityPartner(
"http://localhost/" + bumperArray.State.Name));
return bumperArray;
}
private BumperArrayEntity CreateLegoNxtBumper()
{
// create a little bumper shape that models the NXT bumper
BoxShape frontBumper = new BoxShape(
new BoxShapeProperties(
"front", 0.001f, //mass
new Pose(new Vector3(0, 0.063f, -0.09f)), //position
new Vector3(0.023f, 0.023f, 0.045f)));
// The physics engine will issue contact notifications only
// if we enable them per shape
frontBumper.State.EnableContactNotifications = true;
BumperArrayEntity
bumperArray = new BumperArrayEntity(frontBumper);
// entity name, must match manifest partner name
bumperArray.State.Name = "LegoNXTBumpers";
// start simulated bumper service
CreateService(
bumper.Contract.Identifier,
Microsoft.Robotics.Simulation.Partners.CreateEntityPartner(
"http://localhost/" + bumperArray.State.Name));
return bumperArray;
}
private BumperArrayEntity CreateBumperArray()
{
// Create a bumper array entity with two bumpers
BoxShape leftBumper = new BoxShape(
new BoxShapeProperties("front left",
0.001f,
new Pose(new Vector3(-0.036f, 0.03f, -0.09f)),
new Vector3(0.07f, 0.03f, 0.06f)
)
);
leftBumper.State.DiffuseColor = new Vector4(0.1f, 0.1f, 0.1f, 1.0f);
BoxShape rightBumper = new BoxShape(
new BoxShapeProperties("front right",
0.001f,
new Pose(new Vector3(0.036f, 0.03f, -0.09f)),
new Vector3(0.07f, 0.03f, 0.06f)
)
);
rightBumper.State.DiffuseColor = new Vector4(0.1f, 0.1f, 0.1f, 1.0f);
// The physics engine will issue contact notifications only
// if we enable them per shape
leftBumper.State.EnableContactNotifications = true;
rightBumper.State.EnableContactNotifications = true;
// put some force filtering so we only get notified for significant bumps
//frontBumper.State.ContactFilter = new ContactNotificationFilter(1,1);
//rearBumper.State.ContactFilter = new ContactNotificationFilter(1, 1);
BumperArrayEntity
bumperArray = new BumperArrayEntity(leftBumper, rightBumper);
// entity name, must match manifest partner name
bumperArray.State.Name = "ScribblerBumpers";
// start simulated bumper service
//bumper.Contract.CreateService(
// ConstructorPort,
// Microsoft.Robotics.Simulation.Partners.CreateEntityPartner(
// "http://localhost/" + bumperArray.State.Name));
return bumperArray;
}
