void AddGround()
{
// create a large horizontal plane, at zero elevation.
HeightFieldEntity ground = new HeightFieldEntity(
"simple ground", // name
"03RamieSc.dds", // texture image
new MaterialProperties("ground",
0.2f, // restitution
0.5f, // dynamic friction
0.5f) // static friction
);
SimulationEngine.GlobalInstancePort.Insert(ground);
}
/// <summary>
/// 加上地面
/// </summary>
void AddGround()
{
// 产生一个宽广的地面
HeightFieldEntity ground = new HeightFieldEntity(
"simple ground",
"03RamieSc.dds",
new MaterialProperties("ground",
0.2f, // restitution
0.5f, // dynamic friction
0.5f) // static friction
);
SimulationEngine.GlobalInstancePort.Insert(ground);
}
private void AddGround()
{
HeightFieldEntity ground = new HeightFieldEntity("Simple Ground ", "03RamieSc.dds", new MaterialProperties("ground", .2f, .99f, .99f));
SimulationEngine.GlobalInstancePort.Insert(ground);
}
private VisualEntity CreateEntity(Vector3 entityPosition, VisualEntity entityParent, Entities entityType)
{
VisualEntity e = null;
#region Create Entity
switch (entityType)
{
case Entities.HeightFieldEntity:
{
e = new HeightFieldEntity("ground", "03RamieSc.dds", new
MaterialProperties("ground", 0.8f, 0.5f, 0.8f));
} break;
case Entities.SkyDomeEntity:
{
e = new SkyDomeEntity("skydome.dds", "sky_diff.dds");
SimulationEngine.GlobalInstancePort.Insert(e);
} break;
case Entities.LightSourceEntity:
{
var lightEntity = new LightSourceEntity();
e = lightEntity;
lightEntity.State.Name = "LightSourceEntity";
lightEntity.Type = LightSourceEntityType.Directional;
lightEntity.Color = new Vector4(.8f, .8f, .8f, 1);
lightEntity.State.Pose.Position = new Vector3(0, 1, 0);
lightEntity.Direction = new Vector3(0, -1, 0);
e.Flags = e.Flags | VisualEntityProperties.DisableRendering;
} break;
case Entities.MotorBaseWithDrive:
{
e = new MotorBaseWithDrive(entityPosition);
e.State.Name = "MotorBaseWithDrive";
MakeNameUnique(e);
} break;
case Entities.SimulatedBrightnessSensorEntity:
{
if (entityParent == null)
{
ShowEntityRequiresParentError(entityType.ToString() + " requires parent");
}
else
{
e = new SimulatedBrightnessSensorEntity(32, 32, 2.0f * (float)Math.PI / 180.0f);
e.State.Name = "SimulatedBrightnessSensorEntity";
MakeNameUnique(e);
entityParent.InsertEntity(e);
}
} break;
case Entities.SimulatedColorSensorEntity:
{
if (entityParent == null)
{
ShowEntityRequiresParentError(entityType.ToString() + " requires parent");
}
else
{
e = new SimulatedColorSensorEntity(32, 32, 2.0f * (float)Math.PI / 180.0f);
e.State.Name = "SimulatedColorSensorEntity";
MakeNameUnique(e);
entityParent.InsertEntity(e);
}
} break;
case Entities.SimulatedCompassEntity:
{
if (entityParent == null)
{
ShowEntityRequiresParentError(entityType.ToString() + " requires parent");
}
else
{
e = new SimulatedCompassEntity();
e.State.Name = "SimulatedCompassEntity";
MakeNameUnique(e);
entityParent.InsertEntity(e);
}
} break;
case Entities.SimulatedGPSEntity:
{
if (entityParent == null)
{
ShowEntityRequiresParentError(entityType.ToString() + " requires parent");
}
else
{
e = new SimulatedGPSEntity();
e.State.Name = "SimulatedGPSEntity";
MakeNameUnique(e);
entityParent.InsertEntity(e);
}
} break;
case Entities.SimulatedIREntity:
{
if (entityParent == null)
{
ShowEntityRequiresParentError(entityType.ToString() + " requires parent");
}
else
{
e = new SimulatedIREntity(new Pose(entityPosition));
e.State.Name = "SimulatedIREntity";
e.State.Flags |= EntitySimulationModifiers.DisableCollisions;
MakeNameUnique(e);
entityParent.InsertEntity(e);
}
} break;
case Entities.SimulatedLRFEntity:
{
if (entityParent == null)
{
ShowEntityRequiresParentError(entityType.ToString() + " requires parent");
}
else
{
e = new SimulatedLRFEntity(new Pose(entityPosition));
e.State.Name = "SimulatedLRFEntity";
e.State.Flags |= EntitySimulationModifiers.DisableCollisions;
MakeNameUnique(e);
entityParent.InsertEntity(e);
}
} break;
case Entities.SimulatedSonarEntity:
{
if (entityParent == null)
{
ShowEntityRequiresParentError(entityType.ToString() + " requires parent");
}
else
{
e = new SimulatedSonarEntity(new Pose(entityPosition));
e.State.Name = "SimulatedSonarEntity";
e.State.Flags |= EntitySimulationModifiers.DisableCollisions;
MakeNameUnique(e);
entityParent.InsertEntity(e);
}
} break;
case Entities.SimulatedWebcamEntity:
{
if (entityParent == null)
{
ShowEntityRequiresParentError(entityType.ToString() + " requires parent");
}
else
{
e = new SimulatedWebcamEntity(entityPosition,
320, 240, 45.0f * (float)Math.PI / 180.0f);
e.State.Name = "SimulatedWebcamEntity";
MakeNameUnique(e);
entityParent.InsertEntity(e);
}
} break;
}
#endregion
return(e);
}
public VisualEntity CreateEntity(Vector3 entityPosition, VisualEntity entityParent, Entities entityType)
{
VisualEntity e = null;
#region Create Entity
switch (entityType)
{
case Entities.HeightFieldEntity:
{
e = new HeightFieldEntity("ground", "03RamieSc.dds", new
MaterialProperties("ground", 0.8f, 0.5f, 0.8f));
} break;
case Entities.SkyDomeEntity:
{
e = new SkyDomeEntity("skydome.dds", "sky_diff.dds");
SimulationEngine.GlobalInstancePort.Insert(e);
} break;
case Entities.LightSourceEntity:
{
var lightEntity = new LightSourceEntity();
e = lightEntity;
lightEntity.State.Name = "LightSourceEntity";
lightEntity.Type = LightSourceEntityType.Directional;
lightEntity.Color = new Vector4(.8f, .8f, .8f, 1);
lightEntity.State.Pose.Position = new Vector3(0, 1, 0);
lightEntity.Direction = new Vector3(0, -1, 0);
e.Flags = e.Flags | VisualEntityProperties.DisableRendering;
} break;
case Entities.MotorBaseWithDrive:
{
e = new MotorBaseWithDrive(entityPosition);
e.State.Name = "MotorBaseWithDrive";
MakeNameUnique(e);
//Inserting Actual Rover instead of Simple Simulatd Robot.
//Needs to be tested
/*ColladaToMSRS e = new ColladaToMSRS(@"C:\.....\collada\rover.dae");
foreach (VisualEntity entity in e.Entities)
{
SimulationEngine.GlobalInstancePort.Insert(entity);
}*/
} break;
case Entities.SimulatedBrightnessSensorEntity:
{
if (entityParent == null)
{
ShowEntityRequiresParentError(entityType.ToString() + " requires parent");
}
else
{
e = new SimulatedBrightnessSensorEntity(32, 32, 2.0f * (float)Math.PI / 180.0f);
e.State.Name = "SimulatedBrightnessSensorEntity";
MakeNameUnique(e);
entityParent.InsertEntity(e);
}
} break;
case Entities.SimulatedColorSensorEntity:
{
if (entityParent == null)
{
ShowEntityRequiresParentError(entityType.ToString() + " requires parent");
}
else
{
e = new SimulatedColorSensorEntity(32, 32, 2.0f * (float)Math.PI / 180.0f);
e.State.Name = "SimulatedColorSensorEntity";
MakeNameUnique(e);
entityParent.InsertEntity(e);
}
} break;
case Entities.SimulatedCompassEntity:
{
if (entityParent == null)
{
ShowEntityRequiresParentError(entityType.ToString() + " requires parent");
}
else
{
e = new SimulatedCompassEntity();
e.State.Name = "SimulatedCompassEntity";
MakeNameUnique(e);
entityParent.InsertEntity(e);
}
} break;
case Entities.SimulatedGPSEntity:
{
if (entityParent == null)
{
ShowEntityRequiresParentError(entityType.ToString() + " requires parent");
}
else
{
e = new SimulatedGPSEntity();
e.State.Name = "SimulatedGPSEntity";
MakeNameUnique(e);
entityParent.InsertEntity(e);
}
} break;
case Entities.SimulatedIREntity:
{
if (entityParent == null)
{
ShowEntityRequiresParentError(entityType.ToString() + " requires parent");
}
else
{
e = new SimulatedIREntity(new Pose(entityPosition));
e.State.Name = "SimulatedIREntity";
e.State.Flags |= EntitySimulationModifiers.DisableCollisions;
MakeNameUnique(e);
entityParent.InsertEntity(e);
}
} break;
case Entities.SimulatedLRFEntity:
{
if (entityParent == null)
{
ShowEntityRequiresParentError(entityType.ToString() + " requires parent");
}
else
{
e = new SimulatedLRFEntity(new Pose(entityPosition));
e.State.Name = "SimulatedLRFEntity";
e.State.Flags |= EntitySimulationModifiers.DisableCollisions;
MakeNameUnique(e);
//EntityUIService newservice = new EntityUIService();
//newservice.AddBoeBot(new Vector3(1,0,1));
//CreateService(laserrangefinder.Contract.Identifier,
//Microsoft.Robotics.Simulation.Partners.CreateEntityPartner("http://localhost/" + e.State.Name));
entityParent.InsertEntity(e);
}
} break;
case Entities.SimulatedSonarEntity:
{
if (entityParent == null)
{
ShowEntityRequiresParentError(entityType.ToString() + " requires parent");
}
else
{
e = new SimulatedSonarEntity(new Pose(entityPosition));
e.State.Name = "SimulatedSonarEntity";
e.State.Flags |= EntitySimulationModifiers.DisableCollisions;
MakeNameUnique(e);
entityParent.InsertEntity(e);
}
} break;
case Entities.SimulatedWebcamEntity:
{
if (entityParent == null)
{
ShowEntityRequiresParentError(entityType.ToString() + " requires parent");
}
else
{
e = new SimulatedWebcamEntity(entityPosition,
320, 240, 45.0f * (float)Math.PI / 180.0f);
e.State.Name = "SimulatedWebcamEntity";
MakeNameUnique(e);
entityParent.InsertEntity(e);
}
} break;
}
#endregion
return e;
}
void AddGround()
{
// create a large horizontal plane, at zero elevation.
HeightFieldEntity ground = new HeightFieldEntity(
"simple ground", // name
"Wood_cherry.jpg", // texture image
new MaterialProperties("ground",
0.2f, // restitution
0.5f, // dynamic friction
0.5f) // static friction
);
SimulationEngine.GlobalInstancePort.Insert(ground);
}
public void AddGround(float WidthLength)
{
HeightFieldShapeProperties hf = new HeightFieldShapeProperties("height field",
100, // number of rows
WidthLength, // distance in meters, between rows
100, // number of columns
WidthLength, // distance in meters, between columns
1, // scale factor to multiple height values
-1000); // vertical extent of the height field. Should be set to large negative values
// create a material for the entire field. We could also specify material per sample.
hf.Material = new MaterialProperties("ground", 0.2f, 0.5f, 0.5f);
hf.Dimensions = new Vector3(5f, 5f, 5f);
// insert ground entity in simulation and specify a texture
HeightFieldEntity ground = new HeightFieldEntity(hf, "03RamieSc.dds");
this.Ground = ground;
SimulationEngine.GlobalInstancePort.Insert(ground);
}
