Classes | |
| class | OdeAgent |
| Specialised agent for ode robots. More... | |
| class | AngularMotor |
| Abstract angular motor class. More... | |
| class | AngularMotor1Axis |
| Angular motor for OneAxisJoints. More... | |
| class | AngularMotor2Axis |
| Angular motor for TwoAxisJoints. More... | |
| class | AngularMotor3AxisEuler |
| Angular motor for Ball Joints with Euler control. More... | |
| class | AngularMotorNAxis |
| Angular motor for arbitrary Joints with custom axis (up to 3). More... | |
| class | DummyMotor |
| class | Motor |
| Abstact base class for attachable motors. More... | |
| class | OneAxisServo |
| general servo motor to achieve position control More... | |
| class | OneAxisServoCentered |
| general servo motor to achieve position control with zero position centered More... | |
| class | OneAxisServoVel |
| general servo motor to achieve position control that that internally controls the velocity of the motor (much more stable) with centered zero position More... | |
| class | PID |
| class | Speaker |
| class | TwoAxisServo |
| general servo motor for 2 axis joints More... | |
| class | TwoAxisServoCentered |
| general servo motor for 2 axis joints with zero position centered More... | |
| class | TwoAxisServoVel |
| general servo motor to achieve position control for 2 axis joints that that internally controls the velocity of the motor (much more stable) with centered zero position More... | |
| class | AbstractGround |
| class | AbstractObstacle |
| Abstract class (interface) for obstacles. More... | |
| class | ClosedPlayground |
| class | PolyLine |
| class | ComplexPlayground |
| Playground that uses xfig file with polylines linetype 0 is normal line linetype 1 is border thickness is used as well, thickness is multiplied with wallthickness. More... | |
| class | MeshGround |
| class | MeshObstacle |
| class | OctaPlayground |
| class | PassiveBox |
| (Passive) box as obstacle More... | |
| class | PassiveCapsule |
| (Passive) capsule as obstacle More... | |
| class | PassiveMesh |
| (Passive) mesh as obstacle More... | |
| class | PassiveSphere |
| (Passive) sphere as obstacle More... | |
| class | Playground |
| class | TerrainGround |
| Class provides an terrain based on HeightFields. More... | |
| class | OdeConfig |
| The class $name holds the configurable parameters of the simulation environment. More... | |
| class | MoveEarthySkyWithEyePointTransform |
| class | Base |
| class | BoundingShape |
| class for reading bounding shape description files (.bbox) and to create appropriate geoms More... | |
| class | CameraManipulator |
| CameraManipulator is a MatrixManipulator which provides a flying camera updating of the camera position & orientation. More... | |
| class | CameraManipulatorFollow |
| CameraManipulatorFollow is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More... | |
| class | CameraManipulatorRace |
| CameraManipulatorRace is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More... | |
| class | CameraManipulatorTV |
| CameraManipulatorTV is a MatrixManipulator which provides Flying simulator-like updating of the camera position & orientation. More... | |
| struct | Indices |
| struct | Vertex |
| class | HeightField |
| Height field primitive. More... | |
| class | HUDStatisticsManager |
| manages all the stuff displaying statistics on the graphics window. More... | |
| class | Joint |
| class | OneAxisJoint |
| class | TwoAxisJoint |
| class | FixedJoint |
| class | HingeJoint |
| class | Hinge2Joint |
| class | UniversalJoint |
| class | BallJoint |
| class | SliderJoint |
| class | MotionBlurOperation |
| a class that enables motion blur for the scenegraph should be called in the main simulation loop More... | |
| class | MotionBlurDrawCallback |
| a class that enables motion blur for the scenegraph should be called in the main simulation loop More... | |
| class | OSGHeightField |
| Graphical HeightField. More... | |
| class | TextureDescr |
| holds texture file and repeat information. More... | |
| class | OSGPrimitive |
| Interface class for graphic primitives like spheres, boxes, and meshes, which can be drawn by OSG. More... | |
| class | OSGDummy |
| A dummy graphical object, which has no representation in the graphical world. More... | |
| class | OSGPlane |
| Graphical plane (represented as a large thin box, because OSG does not draw planes). More... | |
| class | OSGBox |
| Graphical box. More... | |
| class | OSGBoxTex |
| Graphical box with Textures. More... | |
| class | OSGSphere |
| Graphical sphere. More... | |
| class | OSGCapsule |
| Graphical capsule (a cylinder with round ends). More... | |
| class | OSGCylinder |
| Graphical cylinder. More... | |
| class | OSGMesh |
| Graphical Mesh or arbitrary OSG model. More... | |
| class | Primitive |
| Interface class for primitives represented in the physical and graphical world. More... | |
| class | Plane |
| Plane primitive. More... | |
| class | Box |
| Box primitive. More... | |
| class | Sphere |
| Sphere primitive. More... | |
| class | Capsule |
| Capsule primitive. More... | |
| class | Cylinder |
| Cylinder primitive. More... | |
| class | Ray |
| Ray primitive The actual visual representation can have different length than the ray object. More... | |
| class | Mesh |
| Mesh primitive. More... | |
| class | Transform |
| Primitive for transforming a geom (primitive without body) in respect to a body (primitive with body). More... | |
| class | DummyPrimitive |
| Dummy Primitive which returns 0 for geom and body. More... | |
| class | Substance |
| Physical substance definition, used for collision detection/treatment What we need is mu, slip and kp,kd parameter for the collision Definition of substance parameters:. More... | |
| class | AddSensors2RobotAdapter |
| Robot adapter to add sensors and also motors to robots without the need to modify the robot itself. More... | |
| struct | ArmConf |
| class | Arm |
| struct | Arm2SegmConf |
| class | Arm2Segm |
| struct | repSlider |
| struct | AtomConf |
| struct | TableLine |
| class | AtomComponent |
| AtomComponent. More... | |
| class | Barrel2Masses |
| A barrel-like robot with 2 internal masses, which can slide on their orthogonal axes. More... | |
| class | Barrel2Masses2nd |
| A barrel-like robot with 2 internal masses, which can slide on their orthogonal axes. More... | |
| class | CaterPillar |
| This is a class, which models a snake like robot. More... | |
| struct | _ComponentConf |
| class | Component |
| This is the abstract base class of the component system. More... | |
| struct | CaterPillarConf |
| class | DefaultCaterPillar |
| This is a class, which models a snake like robot. More... | |
| struct | WheelieConf |
| class | DefaultWheelie |
| This is a class, which models a snake like robot. More... | |
| struct | DiscusConf |
| configuration object for the Discus robot. More... | |
| class | Discus |
| A spherical robot with 3 internal masses, which can slide on their orthogonal axes. More... | |
| class | ForcedSphereConf |
| class | ForcedSphere |
| class | Formel1 |
| Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body. More... | |
| struct | FourWheeledConf |
| class | FourWheeled |
| Robot is based on nimm4 with 4 wheels and a capsule like body. More... | |
| struct | HandConf |
| class | Hand |
| Artificial Hand. More... | |
| class | HurlingSnake |
| Hurling snake is a string a beats. More... | |
| struct | MuscledArmConf |
| class | MuscledArm |
| struct | Bumper |
| struct | Nimm2Conf |
| class | Nimm2 |
| Robot that looks like a Nimm 2 Bonbon :-) 2 wheels and a cylinder like body. More... | |
| class | Nimm4 |
| Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a capsule like body. More... | |
| class | OdeRobot |
| Abstract class for ODE robots. More... | |
| class | PlattfussSchlange |
| This is a class, which models a snake like robot with flat ends and a big body in the middle. More... | |
| class | PrimitiveComponent |
| Component consisting of one Primitive. More... | |
| class | ReplayRobot |
| class | RobotComponent |
| This is a special class of the component system. More... | |
| struct | SchlangeConf |
| class | Schlange |
| This is a class, which models a snake like robot. More... | |
| class | SchlangeForce |
| This is a class, which models a snake like robot. More... | |
| class | SchlangeServo |
| This is a class, which models a snake like robot. More... | |
| class | SchlangeServo2 |
| This is a class, which models a snake like robot. More... | |
| class | SchlangeVelocity |
| This is a class, which models a snake like robot. More... | |
| class | ShortCircuit |
| class | SimpleComponent |
| A simple component is a special form of component. More... | |
| struct | SliderWheelieConf |
| class | SliderWheelie |
| This is a class, which models an annular robot. More... | |
| struct | SphererobotConf |
| class | Sphererobot |
| This is a class, which models a snake like robot. More... | |
| struct | Sphererobot3MassesConf |
| configuration object for the Sphererobot3Masses robot. More... | |
| class | Sphererobot3Masses |
| A spherical robot with 3 internal masses, which can slide on their orthogonal axes. More... | |
| class | TruckMesh |
| Robot that looks like a Nimm 2 Bonbon :-) 4 wheels and a truck mesh like body. More... | |
| struct | UwoConf |
| class | Uwo |
| UWO: Unknown Walk Object :-), looks like a plate with a lot of legs. More... | |
| struct | VierBeinerConf |
| class | VierBeiner |
| robot that should look like a dog More... | |
| class | Wheelie |
| This is a class, which models an annular robot. More... | |
| class | AxisOrientationSensor |
| Class for sensing the axis orienation of a primitive (robot). More... | |
| class | IRSensor |
| Class for IR sensors. More... | |
| class | RaySensor |
| Abstract class for Ray-based sensors. More... | |
| class | RaySensorBank |
| Class for a bank (collection) of ray sensors. More... | |
| class | RelativePositionSensor |
| Class for relative position sensing. More... | |
| class | Sensor |
| Abstract class for sensors that have no specific position at the robots skeleton. More... | |
| class | SoundSensor |
| Sound sensor with possible direction and frequency detection and also distance dependence. More... | |
| class | SpeedSensor |
| Class for speed sensing of robots. More... | |
| class | Simulation |
| class | Axis |
| class | CameraHandle |
| Class which holds all data used by CameraManipulators. More... | |
| class | Color |
| struct | COMMAND |
| class | IException |
| struct | GlobalData |
| Data structure holding all essential global information. More... | |
| class | VideoStream |
| struct | geomPairHash |
| class | OdeHandle |
| Data structure for accessing the ODE. More... | |
| class | OsgHandle |
| Data structure for accessing the ODE. More... | |
| class | Pos |
| class | SimulationTask |
| struct | SimulationTaskHandle |
| struct which holds all structural data for the simulations. More... | |
| class | SimulationTaskSupervisor |
| class | Sound |
| Object that represents a sound signal in the simulator. More... | |
| class | TaskedSimulation |
| class | TaskedSimulationCreator |
| Defines a method to construct a TaskedSimulation. More... | |
Typedefs | |
| typedef OneAxisServo | SliderServo |
| typedef OneAxisServo | HingeServo |
| typedef OneAxisServo | Hinge2Servo |
| typedef TwoAxisServo | UniversalServo |
| typedef int(*) | CollisionCallback (dSurfaceParameters ¶ms, GlobalData &globaldata, void *userdata, dContact *contacts, int numContacts, dGeomID o1, dGeomID o2, const Substance &s1, const Substance &s2) |
| function to be called at a collision event between the two geoms. | |
| typedef lpzrobots::_ComponentConf | ComponentConf |
| typedef lpzrobots::Bumper | Bumper |
| typedef bool(*) | commandfunc_t (GlobalData &globalData, char *, char *) |
| typedef std::vector< AbstractObstacle * > | ObstacleList |
| typedef std::vector< Configurable * > | ConfigList |
| typedef std::vector< OdeAgent * > | OdeAgentList |
| typedef std::list< Sound > | SoundList |
| typedef std::list< PlotOption > | PlotOptionList |
Enumerations | |
| enum | parts { base, base, shoulder1, shoulder2, upperArm, upperArm, foreArm, hand, hand } |
| enum | Motor_type { With_servo_motor, Without_servo_motor } |
| enum | IrSensor_Type { irDrawAll, irBack, irSide, irFront } |
| enum | GripMode { lateral, precision } |
| enum | parts { base, base, upperArm, upperArm, lowerArm, mainMuscle11, mainMuscle12, mainMuscle21, mainMuscle22, smallMuscle11, smallMuscle12, smallMuscle21, smallMuscle22, smallMuscle31, smallMuscle32, smallMuscle41, smallMuscle42, hand, hand, NUMParts } |
| enum | joints { HJ_BuA, HJ_uAlA, HJ_BmM11, HJ_lAmM12, HJ_BmM21, HJ_lAmM22, HJ_BsM11, HJ_uAsM12, HJ_BsM21, HJ_uAsM22, HJ_lAsM31, HJ_uAsM32, HJ_lAsM41, HJ_uAsM42, SJ_mM1, SJ_mM2, SJ_sM1, SJ_sM2, SJ_sM3, SJ_sM4, FJ_lAH, NUMJoints } |
Functions | |
| void | printCornerPointsXY (Box *box, FILE *f) |
| ref_ptr< Material > | getMaterial (const Color &c, Material::ColorMode mode=Material::DIFFUSE) |
| osg::Geode * | createRectangle (const OsgHandle &, const osg::Vec3 &v1, const osg::Vec3 &v2, const osg::Vec3 &v3, double repeatOnR, double repeatOnS) |
| void | addTexture (Geode *geode, const TextureDescr &tex) |
| Geode * | test () |
| osg::Matrix | osgPose (dGeomID geom) |
| returns the osg (4x4) pose matrix of the ode geom | |
| osg::Matrix | osgPose (dBodyID body) |
| returns the osg (4x4) pose matrix of the ode body | |
| osg::Matrix | osgPose (const double *position, const double *rotation) |
| converts a position vector and a rotation matrix from ode to osg 4x4 matrix | |
| void | odeRotation (const osg::Matrix &pose, dMatrix3 &odematrix) |
| converts the rotation component of pose into an ode rotation matrix | |
| int | dummyCallBack (dSurfaceParameters ¶ms, GlobalData &globaldata, void *userdata, dContact *contacts, int numContacts, dGeomID o1, dGeomID o2, const Substance &s1, const Substance &s2) |
| int | irCollCallback (dSurfaceParameters ¶ms, GlobalData &globaldata, void *userdata, dContact *contacts, int numContacts, dGeomID o1, dGeomID o2, const Substance &s1, const Substance &s2) |
| static void * | odeStep_run (void *p) |
| redirection function, because we can't call member function direct | |
| static void * | osgStep_run (void *p) |
| redirection function, because we can't call member function direct | |
| static void | printODEMessage (int num, const char *msg, va_list ap) |
| void | createNewDir (const char *base, char *newdir) |
| creates a new directory with the stem base, which is not yet there (using subsequent numbers) | |
| void | showParams (const ConfigList &configs) |
| shows all parameters of all given configurable objects | |
| bool | com_list (GlobalData &globalData, char *, char *) |
| bool | com_show (GlobalData &globalData, char *, char *) |
| bool | com_store (GlobalData &globalData, char *, char *) |
| bool | com_load (GlobalData &globalData, char *, char *) |
| bool | com_set (GlobalData &globalData, char *, char *) |
| bool | com_help (GlobalData &globalData, char *, char *) |
| bool | com_quit (GlobalData &globalData, char *, char *) |
| char * | stripwhite (char *string) |
| COMMAND * | find_command (char *name) |
| bool | execute_line (GlobalData &globalData, char *line) |
| int | valid_argument (const char *caller, const char *arg) |
| void | showParam (const Configurable *config) |
| char * | dupstr (const char *s) |
| bool | handleConsole (GlobalData &globalData) |
| offers a console interface the possibility to change parameter of all configurable objects in globalData storeing and restoreing of controllers . | |
| char * | command_generator (const char *, int) |
| char ** | console_completion (const char *, int, int) |
| void | initializeConsole () |
| should be called at the start | |
| void | closeConsole () |
| should be called at the end (to store history) | |
| EXCEPTION_TEMPLATE (IndexOutOfBoundsException) | |
| EXCEPTION_TEMPLATE (InvalidArgumentException) | |
| EXCEPTION_TEMPLATE (DimensionMismatchException) | |
| osg::Matrix | osgRotate (const double &alpha, const double &beta, const double &gamma) |
| returns a rotation matrix (osg) with the given angles alpha, beta and gamma | |
| Matrix | osgMatrix2Matrixlib (const osg::Matrix &m) |
| converts osg matrix to matrix of matrixlib | |
| osg::Matrix | rotationMatrixFromAxisX (const Axis &axis) |
| returns a Rotation matrix that rotates the x-axis along with the given axis. | |
| osg::Matrix | rotationMatrixFromAxisZ (const Axis &axis) |
| returns a Rotation matrix that rotates the z-axis along with the given axis. | |
| double | getAngle (const osg::Vec3 &a, const osg::Vec3 &b) |
| returns the angle between two vectors (in rad) | |
| matrix::Matrix | odeRto3x3RotationMatrixT (const double R[12]) |
| converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib) | |
| matrix::Matrix | odeRto3x3RotationMatrix (const double R[12]) |
| converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib) | |
| Position | multMatrixPosition (const matrix::Matrix &r, Position &p) |
| Multiplies 3x3 matrix with position. | |
| Matrix | getRotationMatrix (const double &angle) |
| returns a rotation matrix with the given angle | |
| Matrix | getTranslationMatrix (const Position &p) |
| returns a translation matrix with the given Position | |
| Matrix | removeTranslationInMatrix (const matrix::Matrix &pose) |
| removes the translation in the matrix | |
| Matrix | removeRotationInMatrix (const matrix::Matrix &pose) |
| removes the rotation in the matrix | |
| double | getAngle (Position a, Position b) |
| returns the angle between two vectors | |
| template<typename T> | |
| T | normalize360 (T v) |
Variables | |
| char | fragmentShaderSource_noBaseTexture [] |
| char | fragmentShaderSource_withBaseTexture [] |
| static FILE * | ODEMessageFile = 0 |
| COMMAND | commands [] |
| typedef OneAxisServo SliderServo |
| typedef OneAxisServo HingeServo |
| typedef OneAxisServo Hinge2Servo |
| typedef TwoAxisServo UniversalServo |
| typedef int(*) CollisionCallback(dSurfaceParameters ¶ms, GlobalData &globaldata, void *userdata, dContact *contacts, int numContacts, dGeomID o1, dGeomID o2, const Substance &s1, const Substance &s2) |
function to be called at a collision event between the two geoms.
| params | surface parameter, which should be changed/calculated by this function | |
| globaldata | global information | |
| userdata | pointer to user data for this callback (stored in substance) | |
| contacts | array of contact information | |
| numContacts | length of contact information array | |
| o1 | geom corresponding to substance of this callback | |
| o2 | other geom | |
| s1 | substance of this callback | |
| s2 | other substance |
| typedef struct lpzrobots::_ComponentConf ComponentConf |
| typedef struct lpzrobots::Bumper Bumper |
| typedef bool(*) commandfunc_t(GlobalData &globalData, char *, char *) |
| typedef std::vector<AbstractObstacle*> ObstacleList |
| typedef std::vector<Configurable*> ConfigList |
| typedef std::vector<OdeAgent*> OdeAgentList |
| typedef std::list<PlotOption> PlotOptionList |
| enum parts |
| enum Motor_type |
| enum IrSensor_Type |
| enum GripMode |
| enum parts |
| enum joints |
| void lpzrobots::printCornerPointsXY | ( | Box * | box, | |
| FILE * | f | |||
| ) |
| ref_ptr< Material > getMaterial | ( | const Color & | c, | |
| Material::ColorMode | mode = Material::DIFFUSE | |||
| ) |
| osg::Geode * createRectangle | ( | const OsgHandle & | , | |
| const osg::Vec3 & | v1, | |||
| const osg::Vec3 & | v2, | |||
| const osg::Vec3 & | v3, | |||
| double | repeatOnR, | |||
| double | repeatOnS | |||
| ) |
| void addTexture | ( | Geode * | geode, | |
| const TextureDescr & | tex | |||
| ) |
| Geode* lpzrobots::test | ( | ) |
| osg::Matrix osgPose | ( | dGeomID | geom | ) |
returns the osg (4x4) pose matrix of the ode geom
| osg::Matrix osgPose | ( | dBodyID | body | ) |
returns the osg (4x4) pose matrix of the ode body
| osg::Matrix osgPose | ( | const double * | V, | |
| const double * | R | |||
| ) |
converts a position vector and a rotation matrix from ode to osg 4x4 matrix
| void odeRotation | ( | const osg::Matrix & | pose, | |
| dMatrix3 & | odematrix | |||
| ) |
converts the rotation component of pose into an ode rotation matrix
| int lpzrobots::dummyCallBack | ( | dSurfaceParameters & | params, | |
| GlobalData & | globaldata, | |||
| void * | userdata, | |||
| dContact * | contacts, | |||
| int | numContacts, | |||
| dGeomID | o1, | |||
| dGeomID | o2, | |||
| const Substance & | s1, | |||
| const Substance & | s2 | |||
| ) |
| int lpzrobots::irCollCallback | ( | dSurfaceParameters & | params, | |
| GlobalData & | globaldata, | |||
| void * | userdata, | |||
| dContact * | contacts, | |||
| int | numContacts, | |||
| dGeomID | o1, | |||
| dGeomID | o2, | |||
| const Substance & | s1, | |||
| const Substance & | s2 | |||
| ) |
| static void * odeStep_run | ( | void * | p | ) | [static] |
redirection function, because we can't call member function direct
| static void * osgStep_run | ( | void * | p | ) | [static] |
redirection function, because we can't call member function direct
| static void printODEMessage | ( | int | num, | |
| const char * | msg, | |||
| va_list | ap | |||
| ) | [static] |
| void createNewDir | ( | const char * | base, | |
| char * | newdir | |||
| ) |
creates a new directory with the stem base, which is not yet there (using subsequent numbers)
| void showParams | ( | const ConfigList & | configs | ) |
shows all parameters of all given configurable objects
| bool com_list | ( | GlobalData & | globalData, | |
| char * | , | |||
| char * | ||||
| ) |
| bool com_show | ( | GlobalData & | globalData, | |
| char * | , | |||
| char * | ||||
| ) |
| bool com_store | ( | GlobalData & | globalData, | |
| char * | , | |||
| char * | ||||
| ) |
| bool com_load | ( | GlobalData & | globalData, | |
| char * | , | |||
| char * | ||||
| ) |
| bool com_set | ( | GlobalData & | globalData, | |
| char * | , | |||
| char * | ||||
| ) |
| bool com_help | ( | GlobalData & | globalData, | |
| char * | , | |||
| char * | ||||
| ) |
| bool com_quit | ( | GlobalData & | globalData, | |
| char * | , | |||
| char * | ||||
| ) |
| char * stripwhite | ( | char * | string | ) |
| COMMAND * find_command | ( | char * | name | ) |
| bool execute_line | ( | GlobalData & | globalData, | |
| char * | line | |||
| ) |
| int valid_argument | ( | const char * | caller, | |
| const char * | arg | |||
| ) |
| void lpzrobots::showParam | ( | const Configurable * | config | ) |
| char* lpzrobots::dupstr | ( | const char * | s | ) |
| bool handleConsole | ( | GlobalData & | globalData | ) |
offers a console interface the possibility to change parameter of all configurable objects in globalData storeing and restoreing of controllers .
.. also informs agents about changes
| char * command_generator | ( | const char * | , | |
| int | ||||
| ) |
| char ** console_completion | ( | const char * | , | |
| int | , | |||
| int | ||||
| ) |
| void initializeConsole | ( | ) |
should be called at the start
| void closeConsole | ( | ) |
should be called at the end (to store history)
| lpzrobots::EXCEPTION_TEMPLATE | ( | IndexOutOfBoundsException | ) |
| lpzrobots::EXCEPTION_TEMPLATE | ( | InvalidArgumentException | ) |
| lpzrobots::EXCEPTION_TEMPLATE | ( | DimensionMismatchException | ) |
| osg::Matrix osgRotate | ( | const double & | alpha, | |
| const double & | beta, | |||
| const double & | gamma | |||
| ) |
returns a rotation matrix (osg) with the given angles alpha, beta and gamma
| matrix::Matrix osgMatrix2Matrixlib | ( | const osg::Matrix & | m | ) |
converts osg matrix to matrix of matrixlib
| osg::Matrix rotationMatrixFromAxisX | ( | const Axis & | axis | ) |
returns a Rotation matrix that rotates the x-axis along with the given axis.
The other 2 axis (y,z) are ambiguous.
| osg::Matrix rotationMatrixFromAxisZ | ( | const Axis & | axis | ) |
returns a Rotation matrix that rotates the z-axis along with the given axis.
The other 2 axis (x,y) are ambiguous.
returns the angle between two vectors (in rad)
| matrix::Matrix odeRto3x3RotationMatrixT | ( | const double | R[12] | ) |
converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
| matrix::Matrix odeRto3x3RotationMatrix | ( | const double | R[12] | ) |
converts an ode rotation matrix into a 3x3 rotation matrix (matrixlib)
| matrix::Matrix getRotationMatrix | ( | const double & | angle | ) |
returns a rotation matrix with the given angle
| matrix::Matrix getTranslationMatrix | ( | const Position & | p | ) |
returns a translation matrix with the given Position
| matrix::Matrix removeTranslationInMatrix | ( | const Matrix & | pose | ) |
removes the translation in the matrix
| matrix::Matrix removeRotationInMatrix | ( | const Matrix & | pose | ) |
removes the rotation in the matrix
Initial value:
"uniform sampler2DShadow shadowTexture; \n" "uniform vec2 ambientBias; \n" "\n" "void main(void) \n" "{ \n" " ambientBias.x=0.8f; \n" " ambientBias.y=0.4f; \n" " gl_FragColor = gl_Color * (ambientBias.x + shadow2DProj( shadowTexture, gl_TexCoord[0] ) * ambientBias.y - 0.4f); \n" "}\n"
Initial value:
"uniform sampler2D baseTexture; \n" "uniform sampler2DShadow shadowTexture; \n" "uniform vec2 ambientBias; \n" "\n" "void main(void) \n" "{ \n" " vec4 color = gl_Color* texture2D( baseTexture, gl_TexCoord[0].xy ); \n" " gl_FragColor = color * (ambientBias.x + shadow2DProj( shadowTexture, gl_TexCoord[1]) * ambientBias.y); \n" "}\n"
FILE* ODEMessageFile = 0 [static] |
Initial value:
{
{ "param=val", com_set, "sets PARAM of all objects to VAL" },
{ "help", com_help, "Display this text" },
{ "?", com_help, "Synonym for `help'" },
{ "list", com_list, "Lists all objects and agents" },
{ "ls", com_list, "Synonym for `list'" },
{ "set", com_set, "syntax: set [OBJECTID] PARAM=VAL; sets parameter of Object (or all all objects) to value" },
{ "store", com_store, "Stores controller of AGENTID to FILE" },
{ "load", com_load, "Loads controller of AGENTID from FILE" },
{ "show", com_show, "[OBJECTID]: Lists paramters of OBJECTID or of all objects (if no id given)" },
{ "view", com_show, "Synonym for `show'" },
{ "quit", com_quit, "Quit program" },
{ (char *)NULL, (commandfunc_t)NULL, (char *)NULL }
}
1.4.7