void Update_Sim()
{
if (simulation_Running)//Check if simulation is paused
{
Agx_Simulation.StepForward();
//Check if a button has been pressed
//CheckInputs();
if (simulationTime >= 2) //Wait for robot to settle on terrain
{
if (!Dynamics.Control(robot, simulationTime)) //Movement
{
Debug.Log("wrong command");
}
}
robot.Update();
if (Visualization.enabled)
{
Update_Vis();
}
simulationTime += Time.deltaTime;
}
//Else:
//Start the canvas overlay to modify and create new modules
}
// Update is called once per frame
void Update_Sim()
{
//Update physics:
Agx_Simulation.StepForward();
//Update the robot:
robot.Update();
//Update the visualization:
{
//Frames:
FrameDemoVis[0].transform.position = AgxHelper(robot.modules[0].frames[0].position);
FrameDemoVis[0].transform.rotation = (AgxHelper(robot.modules[0].frames[0].quatRotation));
FrameDemoVis[1].transform.position = AgxHelper(robot.modules[0].frames[1].position);
FrameDemoVis[1].transform.rotation = (AgxHelper(robot.modules[0].frames[1].quatRotation));
//Scene object:
sceneobjvis.transform.position = AgxHelper(sceneobj.position);
}
robot.modules[0].joint.SetAngle(2);
}
void Update_Sim()
{
if (simulation_Running)//Check if simulation is paused
{
//Debug.Log(robot.modules[0].position.x+","+robot.modules[0].position.y+","+robot.modules[0].position.z);
Agx_Simulation.StepForward();
//Check if a button has been pressed
//CheckInputs();
if (simulationTime >= 2) //Wait for robot to settle on terrain
{
if (!Dynamics.Control(robot, simulationTime, dynamicVariables)) //Movement
{
Debug.Log("wrong command");
}
}
robot.Update();
//Update scene objects
foreach (SceneObject so in sceneObjects)
{
so.Update();
}
/*
* //distancesensor
* string distances = "";
* foreach (DistanceSensor ds in robot.sensorModules[0].distanceSensors)
* {
* ds.CalculateDistance(sceneObjects);
* distances += ds.GetSensorDistance().ToString()+",";Debug.Log("working");
* }
*
* if(distances !="")
* Debug.Log(distances);
*/
//Update visualization
if (Visualization.enabled)
{
Update_Vis(robot);
}
//Debug.Log(robot.sensorModules[0].forceSensor.forceValue);
simulationTime += Time.deltaTime;
}
//calculate distances
foreach (SensorModule mod in robot.sensorModules)
{
foreach (DistanceSensor ds in mod.distanceSensors)
{
ds.CalculateDistance(sceneObjects);
}
}
//IF Analytics checked, saveData.(if count = 10, count = 0 and saveData?)
if (Analytics_Visualization.Enabled)
{
int result = Analytics_Visualization.SaveData(robot, Time.time);
switch (result)
{
case 0: break;
case 1: break;
case 2: break;
case 3: break;
case 4: break;
case 5: break;
case 6: Debug.Log("Read/Write error(folder not existing)"); break;
case 7: Debug.Log("No Filename"); break;
default: Debug.Log("Unspecified Error"); break;
}
}
}
