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ODERobotsPublished.pas
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unit ODERobotsPublished;
{$MODE Delphi}
interface
uses Graphics, Types, ODERobots, PathFinder, dynmatrix, GLKeyboard, ODEGL,
GLVectorFileObjects, GLGeometryBB, GLColor, GLVectorGeometry, GLVectorTypes;
type
TAxisPoint = record
pos: double;
speed: double;
final_time: double;
end;
TAxisState = record
pos: double;
vel: double;
Torque: double;
Vm: double;
Im: double;
end;
TState2D = record
x: double;
y: double;
angle: double;
end;
TPoint3D = record
x: double;
y: double;
z: double;
end;
TSpringDef = record
K: double;
ZeroPos: double;
end;
TMotorPars = record
Ri: double;
Li: double;
Ki: double;
Vmax: double;
Imax: double;
GearRatio: double;
simple: boolean;
active: boolean;
end;
TMotorControllerPars = record
Ki: double;
Kd: double;
Kp: double;
Kf: double;
end;
TFrictionDef = record
Bv: double;
Fc: double;
CoulombLimit: double;
end;
TRGBAColor = record
Red: integer;
Green: integer;
Blue: integer;
alpha: integer;
end;
TExtents = record
Min: TPoint3D;
Max: TPoint3D;
end;
THistogram = record
binUpperLimit: array of double; //the first lower limit is 0
binHeight: array of integer;
end;
TFaceVertexs = array [0..2] of TPoint3D;
TFace = record
//TODO: solve:
//vertices: TFaceVertexs;
vertice0: TPoint3D;
vertice1: TPoint3D;
vertice2: TPoint3D;
center: TPoint3D;
normal: TPoint3D;
area: double;
neighbors: array of integer;
end;
TTriangles = array of TFace;
{delete this example:
TArrayOfPoints = array of TPoint3D;
TVertexs = record
V: TArrayOfPoints;
//V: array[0..20] of TPoint3D;//Vertices
//N: array[0..2000] of TPoint3D;//Normals
//C: array[0..2000] of TPoint3D;//Colors
count: integer;
end;
}
TPaintVisuals = (pmPaint, pmHeatmap, pmResult);
procedure SetFireScale(x, y, z: double);
procedure SetFirePosition(x, y, z: double);
procedure StartFire;
procedure StopFire;
procedure StopSolidFire(R, I: integer);
procedure StartSolidFire(R, I: integer);
function GetSceneConstant(constantName: string; defaultValue: double): double;
procedure SetRobotPos(R: integer; x, y, z, teta: double);
function GetRobotIndex(ID: string): integer;
function GetRobotPos2D(R: integer): TState2D;
function GetRobotVel2D(R: integer): TState2D;
function GetRobotCenterOfMass(R: integer): TPoint3D;
function GetSolidIndex(R: integer; ID: string): integer;
procedure SetSolidMass(R, i: integer; nmass: double);
function GetSolidMass(R, i: integer): double;
function GetSolidCenterOfMass(R, i: integer): TPoint3D;
procedure SetSolidPos(R, i: integer; x, y, z: double);
procedure SetSolidPosMat(R, i: integer; P: Matrix);
procedure SetSolidRotationMat(R, i: integer; Rot: Matrix);
procedure SetSolidLinearVel(R, i: integer; x, y, z: double);
procedure SetSolidAngularVel(R, i: integer; x, y, z: double);
function GetSolidPos(R, i: integer): TPoint3D;
function GetSolidLinearVel(R, i: integer): TPoint3D;
function GetSolidTag(R, i: integer): string;
procedure SetSolidTag(R, i: integer; newTag: string);
//Matrix versions
function GetSolidPosMat(R, i: integer): Matrix;
function GetSolidLinearVelMat(R, i: integer): Matrix;
function GetSolidRotMat(R, i: integer): Matrix;
function GetSolidAgularVelMat(R, i: integer): Matrix;
// Flat Functions
function GetRobotX(R: integer): double;
function GetRobotY(R: integer): double;
function GetRobotTheta(R: integer): double;
function GetRobotVx(R: integer): double;
function GetRobotVy(R: integer): double;
function GetRobotW(R: integer): double;
// Flat Regular
function GetSolidX(R, i: integer): double;
function GetSolidY(R, i: integer): double;
function GetSolidZ(R, i: integer): double;
function GetSolidTheta(R, i: integer): double;
function GetSolidVx(R, i: integer): double;
function GetSolidVy(R, i: integer): double;
function GetSolidVz(R, i: integer): double;
function GetSolidColor(R, i: integer): TRGBAColor;
procedure SetSolidColor(R, I: integer; Red, Green, Blue: byte);
function GetSolidCanvas(R, i: integer): TCanvas;
procedure SolidCanvasClear(R, i: integer);
//function GetSolidBitmap(R, i: integer): TBitmap;
//procedure SolidCanvasDrawText(R, i: integer; x, y: integer; txt: string);
function GetPaintGunMinDist(i: integer): double;
function GetPaintTargetExtents(i: integer): TExtents;
procedure ResetPaintTargetPaint(i: integer);
procedure SetPaintTargetPaintMode(i:integer; paintMode: TPaintVisuals);
procedure SetSprayGunOn(i: integer);
procedure SetSprayGunOff(i: integer);
function CalculateSprayThicknessHistogram(i: integer; numberOfBins: integer): THistogram;
function CalculateAvgSprayThickness(i: integer): double;
function CalculateSDSprayThickness(i: integer): double;
function CalculatePosAvgSprayThickness(i: integer): double;
function CalculatePosSDSprayThickness(i: integer): double;
function CalculatePosMinSprayThickness(i: integer): double;
function CalculateMinSprayThickness(i: integer): double;
function CalculateMaxSprayThickness(i: integer): double;
function CalculateSprayCoverage(i: integer): double;
function GetPaintTargetTriangles(i: integer): TTriangles;
procedure SetResultTrianglesColor(i: integer; colors: array of TPoint3D);
procedure SetSolidSurfaceFriction(R, i: integer; mu, mu2: double);
procedure SetSolidForce(R, i: integer; Fx, Fy, Fz: double);
function GetSolidSize(R, i: integer): TPoint3D;
procedure SetSolidSize(R, i: integer; x, y, z: double);
function GetGlobalSensorIndex(ID: string): integer;
function GetGlobalSensorVal(i: integer): double;
function GetGlobalSensorValues(i: integer): Matrix;
procedure SetGlobalSensorVin(i: integer; Vin: byte);
procedure SetSensorVin(R, i: integer; Vin: byte);
function GetSensorIndex(R: integer;ID: string): integer;
function GetSensorVal(R, i: integer): double;
procedure SetSensorColor(R, i: integer; Red, Green, Blue: byte);
function GetSensorValues(R, i: integer): Matrix;
function GetThingIndex(ID: string): integer;
function GetThingsCount: integer;
function GetThingColor(T, c: integer): TRGBAColor;
procedure SetThingColor(T, c: integer; Red, Green, Blue: byte);
function GetThingPos(T: integer): TPoint3D;
procedure SetThingPos(T: integer; x, y, z: double);
function GetThingRotMat(T: integer): Matrix;
procedure SetThingRotationMat(T: integer; Rot: Matrix);
function GetThingAgularVelMat(T: integer): Matrix;
function GetThingSize(T: integer): TPoint3D;
procedure SetThingSize(T: integer; x, y, z: double);
function AddThingBox(ID: string; mass, posx, posY, posZ, sizeX, sizeY, sizeZ: double; rgb24: integer): integer;
function AddThingSphere(ID: string; mass, posX, posY, posZ, radius: double; rgb24: integer): integer;
function AddThingCylinder(ID: string; mass, posx, posY, posZ, radius, len: double; rgb24: integer): integer;
function DeleteThing(ID: string): integer;
procedure MeshThing(ID, MeshFile, MeshShadowFile: string; MeshScale: double; MeshCastsShadows: boolean);
procedure SetThingForce(T: integer; Fx, Fy, Fz: double);
procedure SetThingForceAtRelPos(T: integer; Fx, Fy, Fz, Px, Py, Pz: double);
procedure SetThingRelForce(T: integer; Fx, Fy, Fz: double);
procedure SetThingRelForceAtRelPos(T: integer; Fx, Fy, Fz, Px, Py, Pz: double);
procedure SetThingSurfaceMu(T: integer; mu, mu2: double);
function GetThingSpeed(T: integer): TPoint3D;
procedure SetThingSpeed(T: integer; vx, vy, vz: double);
procedure SetThingLinearVel(T: integer; x, y, z: double);
procedure SetThingAngularVel(T: integer; x, y, z: double);
function GetThingAngularVel(T: integer): TPoint3D;
procedure ClearThings;
procedure SetShellTag(R, i: integer; NewTag: string);
function GetShellTag(R, i: integer): string;
function GetShellPos(R, i: integer): TPoint3D;
procedure SetShellColor(R, i: integer; Red, Green, Blue: byte);
function GetShellColor(R, i: integer): TRGBAColor;
function GetObstacleIndex(ID: string): integer;
procedure SetObstacleColor(I: integer; Red, Green, Blue: byte);
function GetObstacleColor(I: integer): TRGBAColor;
function GetObstaclePos(T: integer): TPoint3D;
procedure SetObstaclePos(T: integer; x, y, z: double);
function GetObstacleRotMat(T: integer): Matrix;
procedure SetObstacleRotationMat(T: integer; Rot: Matrix);
function AddOBstacleBox(ID: string; posx, posY, posZ, sizeX, sizeY, sizeZ: double; rgb24: integer): integer;
function DeleteObstacle(ID: string): integer;
procedure ClearObstacles;
function GetObstacleCanvas(i: integer): TCanvas;
function GetAxisOdo(R, i: integer): integer;
function GetAxisState(R, i: integer): TAxisState;
function GetAxisPos(R, i: integer): double;
function GetAxisSpeed(R, i: integer): double;
function GetAxisTorque(R, i: integer): double;
function GetAxisI(R, i: integer): double;
function GetAxisU(R, i: integer): double;
function GetAxisUIPower(R, i: integer): double;
function GetAxisTWPower(R, i: integer): double;
function GetAxisStateRef(R, i: integer): TAxisState;
function GetAxisPosRef(R, i: integer): double;
function GetAxisSpeedRef(R, i: integer): double;
function GetAxisMotorSpeed(R, i: integer): double;
function GetAxisMotorPos(R, i: integer): double;
function GetAxisMotorPosDeg(R, i: integer): double;
function GetAxisEnergy(R, i: integer): double;
procedure ResetAxisEnergy(R, i: integer);
procedure SetMotorPars(R, i: integer; aMotorPars: TMotorPars);
function GetMotorPars(R, i: integer): TMotorPars;
procedure SetMotorControllerPars(R, i: integer; nKi, nKd, nKp, nKf: double);
function GetMotorControllerPars(R, i: integer): TMotorControllerPars;
procedure SetMotorControllerMode(R, i: integer; newMode: string);
function GetMotorControllerMode(R, i: integer): string;
procedure SetMotorControllerState(R, i: integer; newState: boolean);
function GetMotorControllerState(R, i: integer): boolean;
procedure SetMotorActive(R, i: integer; nState: boolean);
function IsMotorActive(R, i: integer): boolean;
procedure SetFrictionDef(R, i: integer; nBv, nFc, nCoulombLimit: double);
function GetFrictionDef(R, i: integer): TFrictionDef;
procedure SetBeltSpeed(R, i: integer; nSpeed: double);
function GetBeltSpeed(R, i: integer): double;
procedure SetAxisSpring(R, i: integer; k, ZeroPos: double);
procedure SetAxisStateRef(R, i: integer; aState: TAxisState);
procedure SetAxisPosRef(R, i: integer; aPos: double);
procedure SetAxisSpeedRef(R, i: integer; aSpeed: double);
procedure SetAxisVoltageRef(R, i: integer; aVoltage: double);
procedure SetAxisTorqueRef(R, i: integer; aTorque: double);
function GetAxisPosDeg(R, i: integer): double;
function GetAxisSpeedDeg(R, i: integer): double;
function GetAxisPosRefDeg(R, i: integer): double;
function GetAxisSpeedRefDeg(R, i: integer): double;
function Deg(angle: double): double;
function Rad(angle: double): double;
function GetAxisIndex(R: integer; ID: string; i: integer): integer;
procedure LoadJointWayPoints(r: integer; JointPointsFileName: string);
procedure SaveJointWayPoints(r: integer; JointPointsFileName: string);
//function CountAxisWayPoints(R, i: integer): integer;
//function GetAxisWayPoint(R, i, idx: integer): TAxisPoint;
function CountJointWayPoints(R, i: integer): integer;
function GetJointWayPoint(R, i, idx: integer): TAxisPoint;
procedure SetJointWayPoint(R, i, idx: integer; apos, aspeed, atime: double);
function GetAxisTrajPoint(R, i, idx: integer): TAxisPoint;
procedure SetAxisTrajPoint(R, i, idx: integer; LP: TAxisPoint);
procedure AddAxisTrajPoint(R, i: integer; LP: TAxisPoint);
procedure DelAxisTrajPoint(R, i, idx: integer);
function CountAxisTrajPoints(R, i: integer): integer;
procedure ClearAxisTrajPoints(R, i: integer);
procedure SetTrailColor(T: integer; Red, Green, Blue: byte);
procedure AddTrailNode(T: integer; x, y, z: double);
procedure DelTrailNode(T: integer);
procedure ClearTrail(T: integer);
{
getsolidindex
getsolidmass
function GetLinkWayPointPos(R, i, j: integer): double;
function GetLinkWayPointTime(R, i, j: integer): double;
function GetLinkWayPointW(R, i, j: integer): double;
function GetLinkTrajPointPos(R, i, j: integer): double;
function GetLinkTrajPointTime(R, i, j: integer): double;
function GetLinkTrajPointW(R, i, j: integer): double;
}
{ TAxis = class
Friction: TFriction;
Motor: TMotor;
TrajectPoints, WayPoints: TAxisTrajList;
Odo: TOdoState;
ref: TAxisInputs;
torque: double;
}
{ TRobot = class
Solids: TSolidList;
Links: TSolidLinkList;
MainBody: TSolid;
Shells: TSolidList;
Wheels: TWheelList;
IRSensors: TSensorList;
Kind: TRobotKind;
SamplesCount, DecPeriodSamples: integer;
Name: string;
ForceMoved: boolean;
public
constructor Create;
destructor Destroy; override;
procedure SetXYZTeta(new_x, new_y, new_z, new_teta: double);}
function KeyPressed(k: integer): Boolean;
const
// Virtual Keys, Standard Set
VK_LBUTTON = 1;
VK_RBUTTON = 2;
VK_CANCEL = 3;
VK_MBUTTON = 4; // NOT contiguous with L & RBUTTON
VK_BACK = 8;
VK_TAB = 9;
VK_CLEAR = 12;
VK_RETURN = 13;
VK_SHIFT = $10;
VK_CONTROL = 17;
VK_MENU = 18;
VK_PAUSE = 19;
VK_CAPITAL = 20;
VK_KANA = 21;
VK_HANGUL = 21;
VK_JUNJA = 23;
VK_FINAL = 24;
VK_HANJA = 25;
VK_KANJI = 25;
VK_CONVERT = 28;
VK_NONCONVERT = 29;
VK_ACCEPT = 30;
VK_MODECHANGE = 31;
VK_ESCAPE = 27;
VK_SPACE = $20;
VK_PRIOR = 33;
VK_NEXT = 34;
VK_END = 35;
VK_HOME = 36;
VK_LEFT = 37;
VK_UP = 38;
VK_RIGHT = 39;
VK_DOWN = 40;
VK_SELECT = 41;
VK_PRINT = 42;
VK_EXECUTE = 43;
VK_SNAPSHOT = 44;
VK_INSERT = 45;
VK_DELETE = 46;
VK_HELP = 47;
//VK_0 thru VK_9 are the same as ASCII '0' thru '9' ($30 - $39)
//VK_A thru VK_Z are the same as ASCII 'A' thru 'Z' ($41 - $5A)
VK_LWIN = 91;
VK_RWIN = 92;
VK_APPS = 93;
VK_NUMPAD0 = 96;
VK_NUMPAD1 = 97;
VK_NUMPAD2 = 98;
VK_NUMPAD3 = 99;
VK_NUMPAD4 = 100;
VK_NUMPAD5 = 101;
VK_NUMPAD6 = 102;
VK_NUMPAD7 = 103;
VK_NUMPAD8 = 104;
VK_NUMPAD9 = 105;
VK_MULTIPLY = 106;
VK_ADD = 107;
VK_SEPARATOR = 108;
VK_SUBTRACT = 109;
VK_DECIMAL = 110;
VK_DIVIDE = 111;
VK_F1 = 112;
VK_F2 = 113;
VK_F3 = 114;
VK_F4 = 115;
VK_F5 = 116;
VK_F6 = 117;
VK_F7 = 118;
VK_F8 = 119;
VK_F9 = 120;
VK_F10 = 121;
VK_F11 = 122;
VK_F12 = 123;
VK_F13 = 124;
VK_F14 = 125;
VK_F15 = 126;
VK_F16 = 127;
VK_F17 = 128;
VK_F18 = 129;
VK_F19 = 130;
VK_F20 = 131;
VK_F21 = 132;
VK_F22 = 133;
VK_F23 = 134;
VK_F24 = 135;
VK_NUMLOCK = 144;
VK_SCROLL = 145;
//VK_L & VK_R - left and right Alt, Ctrl and Shift virtual keys.
//Used only as parameters to GetAsyncKeyState() and GetKeyState().
//No other API or message will distinguish left and right keys in this way.
VK_LSHIFT = 160;
VK_RSHIFT = 161;
VK_LCONTROL = 162;
VK_RCONTROL = 163;
VK_LMENU = 164;
VK_RMENU = 165;
VK_PROCESSKEY = 229;
VK_ATTN = 246;
VK_CRSEL = 247;
VK_EXSEL = 248;
VK_EREOF = 249;
VK_PLAY = 250;
VK_ZOOM = 251;
VK_NONAME = 252;
VK_PA1 = 253;
VK_OEM_CLEAR = 254;
implementation
uses Math, Viewer, odeimport, utils, Keyboard, GLObjects, SysUtils,
Classes, Dialogs;
function Deg(angle: double): double;
begin
Result := RadToDeg(angle);
end;
function Rad(angle: double): double;
begin
Result := DegToRad(angle);
end;
function GetSceneConstant(constantName: string; defaultValue: double): double;
var idx: integer;
begin
idx := WorldODE.Parser.VarsList.IndexOf(uppercase(constantName));
if idx >= 0 then begin
result:= pdouble(WorldODE.Parser.VarsList.Objects[idx])^;
end else begin
result := defaultValue;
end;
end;
function GetRobotIndex(ID: string): integer;
begin
result := WorldODE.Robots.IndexFromID(ID);
end;
procedure SetRobotPos(R: integer; x, y, z, teta: double);
begin
WorldODE.Robots[R].SetXYZTeta(x, y, z, teta);
end;
function GetRobotPos2D(R: integer): TState2D;
var v1, v2: TdVector3;
begin
result.x := 0;
result.y := 0;
result.angle := 0;
with WorldODE.Robots[R] do begin
if MainBody = nil then exit;
if MainBody.Body = nil then exit;
v1 := dBodyGetPosition(MainBody.Body)^;
Result.x := v1[0];
Result.y := v1[1];
dBodyGetRelPointPos(MainBody.Body, 1,0,0, v2);
Result.angle := atan2(v2[1]-v1[1], v2[0]-v1[0]);
end;
end;
function GetRobotVel2D(R: integer): TState2D;
var v1: TdVector3;
begin
result.x := 0;
result.y := 0;
result.angle := 0;
with WorldODE.Robots[R] do begin
if MainBody = nil then exit;
if MainBody.Body = nil then exit;
v1 := dBodyGetLinearVel(MainBody.Body)^;
Result.x := v1[0];
Result.y := v1[1];
v1 := dBodyGetAngularVel(MainBody.Body)^;
Result.angle := v1[2];
end;
end;
function GetRobotCenterOfMass(R: integer): TPoint3D;
var v0: TdVector3;
begin
v0 := WorldODE.Robots[R].CalcCenterOfMass;
result.x := v0[0];
result.y := v0[1];
result.z := v0[2];
end;
function TdVector3ToTPoint3D(v1: TdVector3): TPoint3D;
begin
Result.x := v1[0];
Result.y := v1[1];
Result.z := v1[2];
end;
function GetThingPos(T: integer): TPoint3D;
var v1: TdVector3;
begin
result.x := 0;
result.y := 0;
result.z := 0;
with WorldODE.Things[T] do begin
if Body = nil then exit;
v1 := dBodyGetPosition(Body)^;
Result.x := v1[0];
Result.y := v1[1];
Result.z := v1[2];
end;
end;
procedure SetThingPos(T: integer; x, y, z: double);
begin
WorldODE.Things[T].SetLinSpeed(0, 0, 0);
WorldODE.Things[T].SetPosition(x, y, z);
end;
function GetThingSize(T: integer): TPoint3D;
begin
WorldODE.Things[T].GetSize(result.x, result.y, result.z);
end;
procedure SetThingSize(T: integer; x, y, z: double);
begin
WorldODE.Things[T].SetSize(x, y, z);
end;
function GetThingRotMat(T: integer): Matrix;
var pR: PdMatrix3;
row, col: integer;
begin
result := Mzeros(3,3);
with WorldODE.Things[T] do begin
if Body = nil then exit;
pR := dBodyGetRotation(Body);
for row := 0 to 2 do begin
for col := 0 to 2 do begin
Msetv(Result, row, col, pR^[4*row+col]);
end;
end;
end;
end;
procedure SetThingRotationMat(T: integer; Rot: Matrix);
var RM: TdMatrix3;
row, col: integer;
begin
with WorldODE.Things[T] do begin
if Body = nil then exit;
for row := 0 to 2 do begin
for col := 0 to 2 do begin
RM[4*row+col] := MGetv(Rot, row, col);
end;
end;
dBodySetRotation(Body, RM);
end;
end;
function GetThingAgularVelMat(T: integer): Matrix;
var v: PdVector3;
begin
result := Mzeros(3,1);
with WorldODE.Things[T] do begin
if Body = nil then exit;
v := dBodyGetAngularVel(Body);
Msetv(Result, 0, 0, v^[0]);
Msetv(Result, 1, 0, v^[1]);
Msetv(Result, 2, 0, v^[2]);
end;
end;
function GetThingIndex(ID: string): integer;
begin
result := WorldODE.Things.IndexFromID(ID);
end;
function GetThingsCount: integer;
begin
result := WorldODE.Things.Count;
end;
function GetSolidIndex(R: integer; ID: string): integer;
begin
result := WorldODE.Robots[R].Solids.IndexFromID(ID);
end;
procedure SetSolidMass(R, i: integer; nmass: double);
var Bmass: TdMass;
begin
with WorldODE.Robots[R].Solids[i] do begin
if Body = nil then exit;
dBodygetMass(Body, Bmass);
Bmass.mass := nmass;
dBodySetMass(Body, @Bmass);
end;
end;
function GetSolidMass(R, i: integer): double;
var Bmass: TdMass;
begin
result := 0;
with WorldODE.Robots[R].Solids[i] do begin
if Body = nil then exit;
dBodyGetMass(Body, Bmass);
Result := Bmass.mass;
end;
end;
function GetSolidCenterOfMass(R, i: integer): TPoint3D;
var mass: TdMass;
begin
result.x := 0;
result.y := 0;
result.z := 0;
with WorldODE.Robots[R].Solids[i] do begin
if Body = nil then exit;
dBodyGetMass(Body, mass);
Result.x := mass.c[0];
Result.y := mass.c[1];
Result.z := mass.c[2];
end;
end;
procedure SetSolidPos(R, i: integer; x, y, z: double);
begin
with WorldODE.Robots[R].Solids[i] do begin
if Body = nil then exit;
dBodySetPosition(Body, x, y, z);
end;
end;
procedure SetSolidLinearVel(R, i: integer; x, y, z: double);
begin
with WorldODE.Robots[R].Solids[i] do begin
if Body = nil then exit;
dBodySetLinearVel(Body, x, y, z);
end;
end;
procedure SetSolidAngularVel(R, i: integer; x, y, z: double);
begin
with WorldODE.Robots[R].Solids[i] do begin
if Body = nil then exit;
dBodySetAngularVel(Body, x, y, z);
end;
end;
procedure SetSolidPosMat(R, i: integer; P: Matrix);
begin
SetSolidPos(R, i, Mgetv(P, 0, 0), Mgetv(P, 1, 0), Mgetv(P, 2, 0));
end;
procedure SetSolidRotationMat(R, i: integer; Rot: Matrix);
var RM: TdMatrix3;
row, col: integer;
begin
with WorldODE.Robots[R].Solids[i] do begin
if Body = nil then exit;
for row := 0 to 2 do begin
for col := 0 to 2 do begin
RM[4*row+col] := MGetv(Rot, row, col);
end;
end;
dBodySetRotation(Body, RM);
end;
end;
function GetSolidPos(R, i: integer): TPoint3D;
var v1: TdVector3;
begin
result.x := 0;
result.y := 0;
result.z := 0;
with WorldODE.Robots[R].Solids[i] do begin
if Body = nil then exit;
v1 := dBodyGetPosition(Body)^;
Result.x := v1[0];
Result.y := v1[1];
Result.z := v1[2];
end;
end;
function GetSolidLinearVel(R, i: integer): TPoint3D;
var v1: TdVector3;
begin
result.x := 0;
result.y := 0;
result.z := 0;
with WorldODE.Robots[R].Solids[i] do begin
if Body = nil then exit;
v1 := dBodyGetLinearVel(Body)^;
Result.x := v1[0];
Result.y := v1[1];
Result.z := v1[2];
end;
end;
function GetSolidPosMat(R, i: integer): Matrix;
var v: PdVector3;
begin
result := Mzeros(3,1);
if R < 0 then
raise Exception.Create('Invalid Robot Index: ' + IntToStr(R));
with WorldODE.Robots[R].Solids[i] do begin
if Body = nil then exit;
v := dBodyGetPosition(Body);
Msetv(Result, 0, 0, v^[0]);
Msetv(Result, 1, 0, v^[1]);
Msetv(Result, 2, 0, v^[2]);
end;
end;
function GetSolidLinearVelMat(R, i: integer): Matrix;
var v: PdVector3;
begin
result := Mzeros(3,1);
with WorldODE.Robots[R].Solids[i] do begin
if Body = nil then exit;
v := dBodyGetLinearVel(Body);
Msetv(Result, 0, 0, v^[0]);
Msetv(Result, 1, 0, v^[1]);
Msetv(Result, 2, 0, v^[2]);
end;
end;
function GetSolidAgularVelMat(R, i: integer): Matrix;
var v: PdVector3;
begin
result := Mzeros(3,1);
with WorldODE.Robots[R].Solids[i] do begin
if Body = nil then exit;
v := dBodyGetAngularVel(Body);
Msetv(Result, 0, 0, v^[0]);
Msetv(Result, 1, 0, v^[1]);
Msetv(Result, 2, 0, v^[2]);
end;
end;
function GetSolidRotMat(R, i: integer): Matrix;
var pR: PdMatrix3;
row, col: integer;
begin
result := Mzeros(3,3);
with WorldODE.Robots[R].Solids[i] do begin
if Body = nil then exit;
pR := dBodyGetRotation(Body);
for row := 0 to 2 do begin
for col := 0 to 2 do begin
Msetv(Result, row, col, pR^[4*row+col]);
end;
end;
end;
end;
procedure SetSolidTag(R, i: integer; NewTag: string);
begin
WorldODE.Robots[R].Solids[i].Tag := NewTag;
end;
function GetSolidTag(R, i: integer): string;
begin
result := WorldODE.Robots[R].Solids[i].Tag;
end;
function GetRobotX(R: integer): double;
var v1: TdVector3;
begin
result := 0;
with WorldODE.Robots[R] do begin
if MainBody = nil then exit;
if MainBody.Body = nil then exit;
v1 := dBodyGetPosition(MainBody.Body)^;
Result := v1[0];
end;
end;
function GetRobotY(R: integer): double;
var v1: TdVector3;
begin
result := 0;
with WorldODE.Robots[R] do begin
if MainBody = nil then exit;
if MainBody.Body = nil then exit;
v1 := dBodyGetPosition(MainBody.Body)^;
Result := v1[1];
end;
end;
function GetRobotTheta(R: integer): double;
var v1, v2: TdVector3;
begin
result := 0;
with WorldODE.Robots[R] do begin
if MainBody = nil then exit;
if MainBody.Body = nil then exit;
v1 := dBodyGetPosition(MainBody.Body)^;
dBodyGetRelPointPos(MainBody.Body, 1,0,0, v2);
Result := atan2(v2[1]-v1[1], v2[0]-v1[0]);
end;
end;
function GetRobotVx(R: integer): double;
var v1: TdVector3;
begin
result := 0;
with WorldODE.Robots[R] do begin
if MainBody = nil then exit;
if MainBody.Body = nil then exit;
v1 := dBodyGetLinearVel(MainBody.Body)^;
Result := v1[0];
end;
end;
function GetRobotVy(R: integer): double;
var v1: TdVector3;
begin
result := 0;
with WorldODE.Robots[R] do begin
if MainBody = nil then exit;
if MainBody.Body = nil then exit;
v1 := dBodyGetLinearVel(MainBody.Body)^;
Result := v1[1];
end;
end;
function GetRobotW(R: integer): double;
var v1: TdVector3;
begin
result := 0;
with WorldODE.Robots[R] do begin
if MainBody = nil then exit;
if MainBody.Body = nil then exit;
v1 := dBodyGetAngularVel(MainBody.Body)^;
Result := v1[2];
end;
end;
function GetSolidX(R, i: integer): double;
var v1: TdVector3;
begin
result := 0;
with WorldODE.Robots[R].Solids[i] do begin
if Body = nil then exit;
v1 := dBodyGetPosition(Body)^;