forked from P33a/SimTwo
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathuPSI_ODERobotsPublished.pas
574 lines (555 loc) · 37.1 KB
/
uPSI_ODERobotsPublished.pas
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
unit uPSI_ODERobotsPublished;
{
This file has been generated by UnitParser v0.7, written by M. Knight
and updated by NP. v/d Spek and George Birbilis.
Source Code from Carlo Kok has been used to implement various sections of
UnitParser. Components of ROPS are used in the construction of UnitParser,
code implementing the class wrapper is taken from Carlo Kok's conv utility
}
interface
uses
SysUtils
,Classes
,uPSComponent
,uPSRuntime
,uPSCompiler
;
type
(*----------------------------------------------------------------------------*)
TPSImport_ODERobotsPublished = class(TPSPlugin)
protected
procedure CompileImport1(CompExec: TPSScript); override;
procedure ExecImport1(CompExec: TPSScript; const ri: TPSRuntimeClassImporter); override;
end;
{ compile-time registration functions }
procedure SIRegister_ODERobotsPublished(CL: TPSPascalCompiler);
{ run-time registration functions }
procedure RIRegister_ODERobotsPublished_Routines(S: TPSExec);
procedure Register;
implementation
uses
Graphics
,Types
,ODERobots
,PathFinder
,dynmatrix
,GLKeyboard
,ODEGL
,GLVectorFileObjects
,GLGeometryBB
,GLColor
,GLVectorGeometry
,GLVectorTypes
,ODERobotsPublished
;
procedure Register;
begin
RegisterComponents('Pascal Script', [TPSImport_ODERobotsPublished]);
end;
(* === compile-time registration functions === *)
(*----------------------------------------------------------------------------*)
procedure SIRegister_ODERobotsPublished(CL: TPSPascalCompiler);
begin
CL.AddTypeS('TAxisPoint', 'record pos : double; speed : double; final_time : '
+'double; end');
CL.AddTypeS('TAxisState', 'record pos : double; vel : double; Torque : double'
+'; Vm : double; Im : double; end');
CL.AddTypeS('TState2D', 'record x : double; y : double; angle : double; end');
CL.AddTypeS('TPoint3D', 'record x : double; y : double; z : double; end');
CL.AddTypeS('TSpringDef', 'record K : double; ZeroPos : double; end');
CL.AddTypeS('TMotorPars', 'record Ri : double; Li : double; Ki : double; Vmax'
+' : double; Imax : double; GearRatio : double; simple : boolean; active : b'
+'oolean; end');
CL.AddTypeS('TMotorControllerPars', 'record Ki : double; Kd : double; Kp : do'
+'uble; Kf : double; end');
CL.AddTypeS('TFrictionDef', 'record Bv : double; Fc : double; CoulombLimit : '
+'double; end');
CL.AddTypeS('TRGBAColor', 'record Red : integer; Green : integer; Blue : inte'
+'ger; alpha : integer; end');
CL.AddTypeS('TExtents', 'record Min : TPoint3D; Max : TPoint3D; end');
CL.AddTypeS('THistogram', 'record binUpperLimit : array of double; binHeight '
+': array of integer; end');
CL.AddTypeS('TFace', 'record vertice0 : TPoint3D; vertice1 : TPoint3D; vertic'
+'e2 : TPoint3D; center : TPoint3D; normal : TPoint3D; area : double; neighb'
+'ors : array of integer; end');
CL.AddTypeS('TTriangles', 'array of TFace');
CL.AddTypeS('TPaintVisuals', '( pmPaint, pmHeatmap, pmResult )');
CL.AddDelphiFunction('Procedure SetFireScale( x, y, z : double)');
CL.AddDelphiFunction('Procedure SetFirePosition( x, y, z : double)');
CL.AddDelphiFunction('Procedure StartFire');
CL.AddDelphiFunction('Procedure StopFire');
CL.AddDelphiFunction('Procedure StopSolidFire( R, I : integer)');
CL.AddDelphiFunction('Procedure StartSolidFire( R, I : integer)');
CL.AddDelphiFunction('Function GetSceneConstant( constantName : string; defaultValue : double) : double');
CL.AddDelphiFunction('Procedure SetRobotPos( R : integer; x, y, z, teta : double)');
CL.AddDelphiFunction('Function GetRobotIndex( ID : string) : integer');
CL.AddDelphiFunction('Function GetRobotPos2D( R : integer) : TState2D');
CL.AddDelphiFunction('Function GetRobotVel2D( R : integer) : TState2D');
CL.AddDelphiFunction('Function GetRobotCenterOfMass( R : integer) : TPoint3D');
CL.AddDelphiFunction('Function GetSolidIndex( R : integer; ID : string) : integer');
CL.AddDelphiFunction('Procedure SetSolidMass( R, i : integer; nmass : double)');
CL.AddDelphiFunction('Function GetSolidMass( R, i : integer) : double');
CL.AddDelphiFunction('Function GetSolidCenterOfMass( R, i : integer) : TPoint3D');
CL.AddDelphiFunction('Procedure SetSolidPos( R, i : integer; x, y, z : double)');
CL.AddDelphiFunction('Procedure SetSolidPosMat( R, i : integer; P : Matrix)');
CL.AddDelphiFunction('Procedure SetSolidRotationMat( R, i : integer; Rot : Matrix)');
CL.AddDelphiFunction('Procedure SetSolidLinearVel( R, i : integer; x, y, z : double)');
CL.AddDelphiFunction('Procedure SetSolidAngularVel( R, i : integer; x, y, z : double)');
CL.AddDelphiFunction('Function GetSolidPos( R, i : integer) : TPoint3D');
CL.AddDelphiFunction('Function GetSolidLinearVel( R, i : integer) : TPoint3D');
CL.AddDelphiFunction('Function GetSolidPosMat( R, i : integer) : Matrix');
CL.AddDelphiFunction('Function GetSolidLinearVelMat( R, i : integer) : Matrix');
CL.AddDelphiFunction('Function GetSolidRotMat( R, i : integer) : Matrix');
CL.AddDelphiFunction('Function GetSolidAgularVelMat( R, i : integer) : Matrix');
CL.AddDelphiFunction('function GetSolidTag(R, i: integer): string');
CL.AddDelphiFunction('procedure SetSolidTag(R, i: integer; newTag: string)');
CL.AddDelphiFunction('function GetShellTag(R, i: integer): string');
CL.AddDelphiFunction('procedure SetShellTag(R, i: integer; newTag: string)');
CL.AddDelphiFunction('Function GetRobotX( R : integer) : double');
CL.AddDelphiFunction('Function GetRobotY( R : integer) : double');
CL.AddDelphiFunction('Function GetRobotTheta( R : integer) : double');
CL.AddDelphiFunction('Function GetRobotVx( R : integer) : double');
CL.AddDelphiFunction('Function GetRobotVy( R : integer) : double');
CL.AddDelphiFunction('Function GetRobotW( R : integer) : double');
CL.AddDelphiFunction('Function GetSolidX( R, i : integer) : double');
CL.AddDelphiFunction('Function GetSolidY( R, i : integer) : double');
CL.AddDelphiFunction('Function GetSolidZ( R, i : integer) : double');
CL.AddDelphiFunction('Function GetSolidTheta( R, i : integer) : double');
CL.AddDelphiFunction('Function GetSolidVx( R, i : integer) : double');
CL.AddDelphiFunction('Function GetSolidVy( R, i : integer) : double');
CL.AddDelphiFunction('Function GetSolidVz( R, i : integer) : double');
CL.AddDelphiFunction('Function GetSolidColor( R, i : integer) : TRGBAColor');
CL.AddDelphiFunction('Procedure SetSolidColor( R, I : integer; Red, Green, Blue : byte)');
CL.AddDelphiFunction('Function GetSolidCanvas( R, i : integer) : TCanvas');
CL.AddDelphiFunction('function GetObstacleCanvas(i: integer): TCanvas;');
CL.AddDelphiFunction('Procedure SolidCanvasClear( R, i : integer)');
CL.AddDelphiFunction('Function GetPaintGunMinDist( i : integer) : double');
CL.AddDelphiFunction('Function GetPaintTargetExtents( i : integer) : TExtents');
CL.AddDelphiFunction('Procedure ResetPaintTargetPaint( i : integer)');
CL.AddDelphiFunction('Procedure SetPaintTargetPaintMode( i : integer; paintMode : TPaintVisuals)');
CL.AddDelphiFunction('Procedure SetSprayGunOn( i : integer)');
CL.AddDelphiFunction('Procedure SetSprayGunOff( i : integer)');
CL.AddDelphiFunction('Function CalculateSprayThicknessHistogram( i : integer; numberOfBins : integer) : THistogram');
CL.AddDelphiFunction('Function CalculateAvgSprayThickness( i : integer) : double');
CL.AddDelphiFunction('Function CalculateSDSprayThickness( i : integer) : double');
CL.AddDelphiFunction('Function CalculatePosAvgSprayThickness( i : integer) : double');
CL.AddDelphiFunction('Function CalculatePosSDSprayThickness( i : integer) : double');
CL.AddDelphiFunction('Function CalculatePosMinSprayThickness( i : integer) : double');
CL.AddDelphiFunction('Function CalculateMinSprayThickness( i : integer) : double');
CL.AddDelphiFunction('Function CalculateMaxSprayThickness( i : integer) : double');
CL.AddDelphiFunction('Function CalculateSprayCoverage( i : integer) : double');
CL.AddDelphiFunction('Function GetPaintTargetTriangles( i : integer) : TTriangles');
CL.AddDelphiFunction('Procedure SetResultTrianglesColor( i : integer; colors : array of TPoint3D)');
CL.AddDelphiFunction('Procedure SetSolidSurfaceFriction( R, i : integer; mu, mu2 : double)');
CL.AddDelphiFunction('Procedure SetSolidForce( R, i : integer; Fx, Fy, Fz : double)');
CL.AddDelphiFunction('Function GetSolidSize( R, i : integer) : TPoint3D');
CL.AddDelphiFunction('Procedure SetSolidSize( R, i : integer; x, y, z : double)');
CL.AddDelphiFunction('Function GetGlobalSensorIndex( ID : string) : integer');
CL.AddDelphiFunction('Function GetGlobalSensorVal( i : integer) : double');
CL.AddDelphiFunction('Function GetGlobalSensorValues( i : integer) : Matrix');
CL.AddDelphiFunction('Procedure SetGlobalSensorVin( i : integer; Vin : byte)');
CL.AddDelphiFunction('Procedure SetSensorVin( R, i : integer; Vin : byte)');
CL.AddDelphiFunction('Function GetSensorIndex( R : integer; ID : string) : integer');
CL.AddDelphiFunction('Function GetSensorVal( R, i : integer) : double');
CL.AddDelphiFunction('Procedure SetSensorColor( R, i : integer; Red, Green, Blue : byte)');
CL.AddDelphiFunction('Function GetSensorValues( R, i : integer) : Matrix');
CL.AddDelphiFunction('Function GetThingIndex( ID : string) : integer');
CL.AddDelphiFunction('Function GetThingsCount : integer');
CL.AddDelphiFunction('Function GetThingColor( T, c : integer) : TRGBAColor');
CL.AddDelphiFunction('Procedure SetThingColor( T, c : integer; Red, Green, Blue : byte)');
CL.AddDelphiFunction('Function GetThingPos( T : integer) : TPoint3D');
CL.AddDelphiFunction('Procedure SetThingPos( T : integer; x, y, z : double)');
CL.AddDelphiFunction('Function GetThingRotMat( T : integer) : Matrix');
CL.AddDelphiFunction('Procedure SetThingRotationMat( T : integer; Rot : Matrix)');
CL.AddDelphiFunction('Function GetThingAgularVelMat( T : integer) : Matrix');
CL.AddDelphiFunction('Function GetThingSize( T : integer) : TPoint3D');
CL.AddDelphiFunction('Procedure SetThingSize( T : integer; x, y, z : double)');
CL.AddDelphiFunction('Function AddThingBox( ID : string; mass, posx, posY, posZ, sizeX, sizeY, sizeZ : double; rgb24 : integer) : integer');
CL.AddDelphiFunction('Function AddThingSphere( ID : string; mass, posX, posY, posZ, radius : double; rgb24 : integer) : integer');
CL.AddDelphiFunction('Function AddThingCylinder( ID : string; mass, posx, posY, posZ, radius, len : double; rgb24 : integer) : integer');
CL.AddDelphiFunction('Function DeleteThing( ID : string) : integer');
CL.AddDelphiFunction('Procedure MeshThing( ID, MeshFile, MeshShadowFile : string; MeshScale : double; MeshCastsShadows : boolean)');
CL.AddDelphiFunction('Procedure SetThingForce( T : integer; Fx, Fy, Fz : double)');
CL.AddDelphiFunction('Procedure SetThingForceAtRelPos( T : integer; Fx, Fy, Fz, Px, Py, Pz : double)');
CL.AddDelphiFunction('Procedure SetThingRelForce( T : integer; Fx, Fy, Fz : double)');
CL.AddDelphiFunction('Procedure SetThingRelForceAtRelPos( T : integer; Fx, Fy, Fz, Px, Py, Pz : double)');
CL.AddDelphiFunction('Procedure SetThingSurfaceMu( T : integer; mu, mu2 : double)');
CL.AddDelphiFunction('Function GetThingSpeed( T : integer) : TPoint3D');
CL.AddDelphiFunction('Procedure SetThingSpeed( T : integer; vx, vy, vz : double)');
CL.AddDelphiFunction('Procedure SetThingLinearVel( T : integer; x, y, z : double)');
CL.AddDelphiFunction('Procedure SetThingAngularVel( T : integer; x, y, z : double)');
CL.AddDelphiFunction('Function GetThingAngularVel( T : integer) : TPoint3D');
CL.AddDelphiFunction('Procedure ClearThings');
CL.AddDelphiFunction('Function GetShellPos( R, i : integer) : TPoint3D');
CL.AddDelphiFunction('Procedure SetShellColor( R, i : integer; Red, Green, Blue : byte)');
CL.AddDelphiFunction('Function GetShellColor( R, i : integer) : TRGBAColor');
CL.AddDelphiFunction('Function GetObstacleIndex( ID : string) : integer');
CL.AddDelphiFunction('Procedure SetObstacleColor( I : integer; Red, Green, Blue : byte)');
CL.AddDelphiFunction('Function GetObstacleColor( I : integer) : TRGBAColor');
CL.AddDelphiFunction('Function GetObstaclePos( T : integer) : TPoint3D');
CL.AddDelphiFunction('Procedure SetObstaclePos( T : integer; x, y, z : double)');
CL.AddDelphiFunction('Function GetObstacleRotMat( T : integer) : Matrix');
CL.AddDelphiFunction('Procedure SetObstacleRotationMat( T : integer; Rot : Matrix)');
CL.AddDelphiFunction('Function AddOBstacleBox( ID : string; posx, posY, posZ, sizeX, sizeY, sizeZ : double; rgb24 : integer) : integer');
CL.AddDelphiFunction('Function DeleteObstacle( ID : string) : integer');
CL.AddDelphiFunction('Procedure ClearObstacles');
CL.AddDelphiFunction('Function GetAxisOdo( R, i : integer) : integer');
CL.AddDelphiFunction('Function GetAxisState( R, i : integer) : TAxisState');
CL.AddDelphiFunction('Function GetAxisPos( R, i : integer) : double');
CL.AddDelphiFunction('Function GetAxisSpeed( R, i : integer) : double');
CL.AddDelphiFunction('Function GetAxisTorque( R, i : integer) : double');
CL.AddDelphiFunction('Function GetAxisI( R, i : integer) : double');
CL.AddDelphiFunction('Function GetAxisU( R, i : integer) : double');
CL.AddDelphiFunction('Function GetAxisUIPower( R, i : integer) : double');
CL.AddDelphiFunction('Function GetAxisTWPower( R, i : integer) : double');
CL.AddDelphiFunction('Function GetAxisStateRef( R, i : integer) : TAxisState');
CL.AddDelphiFunction('Function GetAxisPosRef( R, i : integer) : double');
CL.AddDelphiFunction('Function GetAxisSpeedRef( R, i : integer) : double');
CL.AddDelphiFunction('Function GetAxisMotorSpeed( R, i : integer) : double');
CL.AddDelphiFunction('Function GetAxisMotorPos( R, i : integer) : double');
CL.AddDelphiFunction('Function GetAxisMotorPosDeg( R, i : integer) : double');
CL.AddDelphiFunction('Function GetAxisEnergy( R, i : integer) : double');
CL.AddDelphiFunction('Procedure ResetAxisEnergy( R, i : integer)');
CL.AddDelphiFunction('Procedure SetMotorPars( R, i : integer; aMotorPars : TMotorPars)');
CL.AddDelphiFunction('Function GetMotorPars( R, i : integer) : TMotorPars');
CL.AddDelphiFunction('Procedure SetMotorControllerPars( R, i : integer; nKi, nKd, nKp, nKf : double)');
CL.AddDelphiFunction('Function GetMotorControllerPars( R, i : integer) : TMotorControllerPars');
CL.AddDelphiFunction('Procedure SetMotorControllerMode( R, i : integer; newMode : string)');
CL.AddDelphiFunction('Function GetMotorControllerMode( R, i : integer) : string');
CL.AddDelphiFunction('Procedure SetMotorControllerState( R, i : integer; newState : boolean)');
CL.AddDelphiFunction('Function GetMotorControllerState( R, i : integer) : boolean');
CL.AddDelphiFunction('Procedure SetMotorActive( R, i : integer; nState : boolean)');
CL.AddDelphiFunction('Function IsMotorActive( R, i : integer) : boolean');
CL.AddDelphiFunction('Procedure SetFrictionDef( R, i : integer; nBv, nFc, nCoulombLimit : double)');
CL.AddDelphiFunction('Function GetFrictionDef( R, i : integer) : TFrictionDef');
CL.AddDelphiFunction('Procedure SetBeltSpeed( R, i : integer; nSpeed : double)');
CL.AddDelphiFunction('Function GetBeltSpeed( R, i : integer) : double');
CL.AddDelphiFunction('Procedure SetAxisSpring( R, i : integer; k, ZeroPos : double)');
CL.AddDelphiFunction('Procedure SetAxisStateRef( R, i : integer; aState : TAxisState)');
CL.AddDelphiFunction('Procedure SetAxisPosRef( R, i : integer; aPos : double)');
CL.AddDelphiFunction('Procedure SetAxisSpeedRef( R, i : integer; aSpeed : double)');
CL.AddDelphiFunction('Procedure SetAxisVoltageRef( R, i : integer; aVoltage : double)');
CL.AddDelphiFunction('Procedure SetAxisTorqueRef( R, i : integer; aTorque : double)');
CL.AddDelphiFunction('Function GetAxisPosDeg( R, i : integer) : double');
CL.AddDelphiFunction('Function GetAxisSpeedDeg( R, i : integer) : double');
CL.AddDelphiFunction('Function GetAxisPosRefDeg( R, i : integer) : double');
CL.AddDelphiFunction('Function GetAxisSpeedRefDeg( R, i : integer) : double');
CL.AddDelphiFunction('Function Deg( angle : double) : double');
CL.AddDelphiFunction('Function Rad( angle : double) : double');
CL.AddDelphiFunction('Function GetAxisIndex( R : integer; ID : string; i : integer) : integer');
CL.AddDelphiFunction('Procedure LoadJointWayPoints( r : integer; JointPointsFileName : string)');
CL.AddDelphiFunction('Procedure SaveJointWayPoints( r : integer; JointPointsFileName : string)');
CL.AddDelphiFunction('Function CountJointWayPoints( R, i : integer) : integer');
CL.AddDelphiFunction('Function GetJointWayPoint( R, i, idx : integer) : TAxisPoint');
CL.AddDelphiFunction('Procedure SetJointWayPoint( R, i, idx : integer; apos, aspeed, atime : double)');
CL.AddDelphiFunction('Function GetAxisTrajPoint( R, i, idx : integer) : TAxisPoint');
CL.AddDelphiFunction('Procedure SetAxisTrajPoint( R, i, idx : integer; LP : TAxisPoint)');
CL.AddDelphiFunction('Procedure AddAxisTrajPoint( R, i : integer; LP : TAxisPoint)');
CL.AddDelphiFunction('Procedure DelAxisTrajPoint( R, i, idx : integer)');
CL.AddDelphiFunction('Function CountAxisTrajPoints( R, i : integer) : integer');
CL.AddDelphiFunction('Procedure ClearAxisTrajPoints( R, i : integer)');
CL.AddDelphiFunction('Procedure SetTrailColor( T : integer; Red, Green, Blue : byte)');
CL.AddDelphiFunction('Procedure AddTrailNode( T : integer; x, y, z : double)');
CL.AddDelphiFunction('Procedure DelTrailNode( T : integer)');
CL.AddDelphiFunction('Procedure ClearTrail( T : integer)');
CL.AddDelphiFunction('Function KeyPressed( k : integer) : Boolean');
CL.AddConstantN('VK_LBUTTON','LongInt').SetInt( 1);
CL.AddConstantN('VK_RBUTTON','LongInt').SetInt( 2);
CL.AddConstantN('VK_CANCEL','LongInt').SetInt( 3);
CL.AddConstantN('VK_MBUTTON','LongInt').SetInt( 4);
CL.AddConstantN('VK_BACK','LongInt').SetInt( 8);
CL.AddConstantN('VK_TAB','LongInt').SetInt( 9);
CL.AddConstantN('VK_CLEAR','LongInt').SetInt( 12);
CL.AddConstantN('VK_RETURN','LongInt').SetInt( 13);
CL.AddConstantN('VK_SHIFT','LongWord').SetUInt( $10);
CL.AddConstantN('VK_CONTROL','LongInt').SetInt( 17);
CL.AddConstantN('VK_MENU','LongInt').SetInt( 18);
CL.AddConstantN('VK_PAUSE','LongInt').SetInt( 19);
CL.AddConstantN('VK_CAPITAL','LongInt').SetInt( 20);
CL.AddConstantN('VK_KANA','LongInt').SetInt( 21);
CL.AddConstantN('VK_HANGUL','LongInt').SetInt( 21);
CL.AddConstantN('VK_JUNJA','LongInt').SetInt( 23);
CL.AddConstantN('VK_FINAL','LongInt').SetInt( 24);
CL.AddConstantN('VK_HANJA','LongInt').SetInt( 25);
CL.AddConstantN('VK_KANJI','LongInt').SetInt( 25);
CL.AddConstantN('VK_CONVERT','LongInt').SetInt( 28);
CL.AddConstantN('VK_NONCONVERT','LongInt').SetInt( 29);
CL.AddConstantN('VK_ACCEPT','LongInt').SetInt( 30);
CL.AddConstantN('VK_MODECHANGE','LongInt').SetInt( 31);
CL.AddConstantN('VK_ESCAPE','LongInt').SetInt( 27);
CL.AddConstantN('VK_SPACE','LongWord').SetUInt( $20);
CL.AddConstantN('VK_PRIOR','LongInt').SetInt( 33);
CL.AddConstantN('VK_NEXT','LongInt').SetInt( 34);
CL.AddConstantN('VK_END','LongInt').SetInt( 35);
CL.AddConstantN('VK_HOME','LongInt').SetInt( 36);
CL.AddConstantN('VK_LEFT','LongInt').SetInt( 37);
CL.AddConstantN('VK_UP','LongInt').SetInt( 38);
CL.AddConstantN('VK_RIGHT','LongInt').SetInt( 39);
CL.AddConstantN('VK_DOWN','LongInt').SetInt( 40);
CL.AddConstantN('VK_SELECT','LongInt').SetInt( 41);
CL.AddConstantN('VK_PRINT','LongInt').SetInt( 42);
CL.AddConstantN('VK_EXECUTE','LongInt').SetInt( 43);
CL.AddConstantN('VK_SNAPSHOT','LongInt').SetInt( 44);
CL.AddConstantN('VK_INSERT','LongInt').SetInt( 45);
CL.AddConstantN('VK_DELETE','LongInt').SetInt( 46);
CL.AddConstantN('VK_HELP','LongInt').SetInt( 47);
CL.AddConstantN('VK_LWIN','LongInt').SetInt( 91);
CL.AddConstantN('VK_RWIN','LongInt').SetInt( 92);
CL.AddConstantN('VK_APPS','LongInt').SetInt( 93);
CL.AddConstantN('VK_NUMPAD0','LongInt').SetInt( 96);
CL.AddConstantN('VK_NUMPAD1','LongInt').SetInt( 97);
CL.AddConstantN('VK_NUMPAD2','LongInt').SetInt( 98);
CL.AddConstantN('VK_NUMPAD3','LongInt').SetInt( 99);
CL.AddConstantN('VK_NUMPAD4','LongInt').SetInt( 100);
CL.AddConstantN('VK_NUMPAD5','LongInt').SetInt( 101);
CL.AddConstantN('VK_NUMPAD6','LongInt').SetInt( 102);
CL.AddConstantN('VK_NUMPAD7','LongInt').SetInt( 103);
CL.AddConstantN('VK_NUMPAD8','LongInt').SetInt( 104);
CL.AddConstantN('VK_NUMPAD9','LongInt').SetInt( 105);
CL.AddConstantN('VK_MULTIPLY','LongInt').SetInt( 106);
CL.AddConstantN('VK_ADD','LongInt').SetInt( 107);
CL.AddConstantN('VK_SEPARATOR','LongInt').SetInt( 108);
CL.AddConstantN('VK_SUBTRACT','LongInt').SetInt( 109);
CL.AddConstantN('VK_DECIMAL','LongInt').SetInt( 110);
CL.AddConstantN('VK_DIVIDE','LongInt').SetInt( 111);
CL.AddConstantN('VK_F1','LongInt').SetInt( 112);
CL.AddConstantN('VK_F2','LongInt').SetInt( 113);
CL.AddConstantN('VK_F3','LongInt').SetInt( 114);
CL.AddConstantN('VK_F4','LongInt').SetInt( 115);
CL.AddConstantN('VK_F5','LongInt').SetInt( 116);
CL.AddConstantN('VK_F6','LongInt').SetInt( 117);
CL.AddConstantN('VK_F7','LongInt').SetInt( 118);
CL.AddConstantN('VK_F8','LongInt').SetInt( 119);
CL.AddConstantN('VK_F9','LongInt').SetInt( 120);
CL.AddConstantN('VK_F10','LongInt').SetInt( 121);
CL.AddConstantN('VK_F11','LongInt').SetInt( 122);
CL.AddConstantN('VK_F12','LongInt').SetInt( 123);
CL.AddConstantN('VK_F13','LongInt').SetInt( 124);
CL.AddConstantN('VK_F14','LongInt').SetInt( 125);
CL.AddConstantN('VK_F15','LongInt').SetInt( 126);
CL.AddConstantN('VK_F16','LongInt').SetInt( 127);
CL.AddConstantN('VK_F17','LongInt').SetInt( 128);
CL.AddConstantN('VK_F18','LongInt').SetInt( 129);
CL.AddConstantN('VK_F19','LongInt').SetInt( 130);
CL.AddConstantN('VK_F20','LongInt').SetInt( 131);
CL.AddConstantN('VK_F21','LongInt').SetInt( 132);
CL.AddConstantN('VK_F22','LongInt').SetInt( 133);
CL.AddConstantN('VK_F23','LongInt').SetInt( 134);
CL.AddConstantN('VK_F24','LongInt').SetInt( 135);
CL.AddConstantN('VK_NUMLOCK','LongInt').SetInt( 144);
CL.AddConstantN('VK_SCROLL','LongInt').SetInt( 145);
CL.AddConstantN('VK_LSHIFT','LongInt').SetInt( 160);
CL.AddConstantN('VK_RSHIFT','LongInt').SetInt( 161);
CL.AddConstantN('VK_LCONTROL','LongInt').SetInt( 162);
CL.AddConstantN('VK_RCONTROL','LongInt').SetInt( 163);
CL.AddConstantN('VK_LMENU','LongInt').SetInt( 164);
CL.AddConstantN('VK_RMENU','LongInt').SetInt( 165);
CL.AddConstantN('VK_PROCESSKEY','LongInt').SetInt( 229);
CL.AddConstantN('VK_ATTN','LongInt').SetInt( 246);
CL.AddConstantN('VK_CRSEL','LongInt').SetInt( 247);
CL.AddConstantN('VK_EXSEL','LongInt').SetInt( 248);
CL.AddConstantN('VK_EREOF','LongInt').SetInt( 249);
CL.AddConstantN('VK_PLAY','LongInt').SetInt( 250);
CL.AddConstantN('VK_ZOOM','LongInt').SetInt( 251);
CL.AddConstantN('VK_NONAME','LongInt').SetInt( 252);
CL.AddConstantN('VK_PA1','LongInt').SetInt( 253);
CL.AddConstantN('VK_OEM_CLEAR','LongInt').SetInt( 254);
end;
(* === run-time registration functions === *)
(*----------------------------------------------------------------------------*)
procedure RIRegister_ODERobotsPublished_Routines(S: TPSExec);
begin
S.RegisterDelphiFunction(@SetFireScale, 'SetFireScale', cdRegister);
S.RegisterDelphiFunction(@SetFirePosition, 'SetFirePosition', cdRegister);
S.RegisterDelphiFunction(@StartFire, 'StartFire', cdRegister);
S.RegisterDelphiFunction(@StopFire, 'StopFire', cdRegister);
S.RegisterDelphiFunction(@StopSolidFire, 'StopSolidFire', cdRegister);
S.RegisterDelphiFunction(@StartSolidFire, 'StartSolidFire', cdRegister);
S.RegisterDelphiFunction(@GetSceneConstant, 'GetSceneConstant', cdRegister);
S.RegisterDelphiFunction(@SetRobotPos, 'SetRobotPos', cdRegister);
S.RegisterDelphiFunction(@GetRobotIndex, 'GetRobotIndex', cdRegister);
S.RegisterDelphiFunction(@GetRobotPos2D, 'GetRobotPos2D', cdRegister);
S.RegisterDelphiFunction(@GetRobotVel2D, 'GetRobotVel2D', cdRegister);
S.RegisterDelphiFunction(@GetRobotCenterOfMass, 'GetRobotCenterOfMass', cdRegister);
S.RegisterDelphiFunction(@GetSolidIndex, 'GetSolidIndex', cdRegister);
S.RegisterDelphiFunction(@SetSolidMass, 'SetSolidMass', cdRegister);
S.RegisterDelphiFunction(@GetSolidMass, 'GetSolidMass', cdRegister);
S.RegisterDelphiFunction(@GetSolidCenterOfMass, 'GetSolidCenterOfMass', cdRegister);
S.RegisterDelphiFunction(@SetSolidPos, 'SetSolidPos', cdRegister);
S.RegisterDelphiFunction(@SetSolidPosMat, 'SetSolidPosMat', cdRegister);
S.RegisterDelphiFunction(@SetSolidRotationMat, 'SetSolidRotationMat', cdRegister);
S.RegisterDelphiFunction(@SetSolidLinearVel, 'SetSolidLinearVel', cdRegister);
S.RegisterDelphiFunction(@SetSolidAngularVel, 'SetSolidAngularVel', cdRegister);
S.RegisterDelphiFunction(@GetSolidPos, 'GetSolidPos', cdRegister);
S.RegisterDelphiFunction(@GetSolidLinearVel, 'GetSolidLinearVel', cdRegister);
S.RegisterDelphiFunction(@GetSolidPosMat, 'GetSolidPosMat', cdRegister);
S.RegisterDelphiFunction(@GetSolidLinearVelMat, 'GetSolidLinearVelMat', cdRegister);
S.RegisterDelphiFunction(@GetSolidRotMat, 'GetSolidRotMat', cdRegister);
S.RegisterDelphiFunction(@GetSolidAgularVelMat, 'GetSolidAgularVelMat', cdRegister);
S.RegisterDelphiFunction(@GetSolidTag, 'GetSolidTag', cdRegister);
S.RegisterDelphiFunction(@SetSolidTag, 'SetSolidTag', cdRegister);
S.RegisterDelphiFunction(@GetShellTag, 'GetShellTag', cdRegister);
S.RegisterDelphiFunction(@SetShellTag, 'SetShellTag', cdRegister);
S.RegisterDelphiFunction(@GetRobotX, 'GetRobotX', cdRegister);
S.RegisterDelphiFunction(@GetRobotY, 'GetRobotY', cdRegister);
S.RegisterDelphiFunction(@GetRobotTheta, 'GetRobotTheta', cdRegister);
S.RegisterDelphiFunction(@GetRobotVx, 'GetRobotVx', cdRegister);
S.RegisterDelphiFunction(@GetRobotVy, 'GetRobotVy', cdRegister);
S.RegisterDelphiFunction(@GetRobotW, 'GetRobotW', cdRegister);
S.RegisterDelphiFunction(@GetSolidX, 'GetSolidX', cdRegister);
S.RegisterDelphiFunction(@GetSolidY, 'GetSolidY', cdRegister);
S.RegisterDelphiFunction(@GetSolidZ, 'GetSolidZ', cdRegister);
S.RegisterDelphiFunction(@GetSolidTheta, 'GetSolidTheta', cdRegister);
S.RegisterDelphiFunction(@GetSolidVx, 'GetSolidVx', cdRegister);
S.RegisterDelphiFunction(@GetSolidVy, 'GetSolidVy', cdRegister);
S.RegisterDelphiFunction(@GetSolidVz, 'GetSolidVz', cdRegister);
S.RegisterDelphiFunction(@GetSolidColor, 'GetSolidColor', cdRegister);
S.RegisterDelphiFunction(@SetSolidColor, 'SetSolidColor', cdRegister);
S.RegisterDelphiFunction(@GetObstacleCanvas, 'GetObstacleCanvas', cdRegister);
S.RegisterDelphiFunction(@GetSolidCanvas, 'GetSolidCanvas', cdRegister);
S.RegisterDelphiFunction(@SolidCanvasClear, 'SolidCanvasClear', cdRegister);
S.RegisterDelphiFunction(@GetPaintGunMinDist, 'GetPaintGunMinDist', cdRegister);
S.RegisterDelphiFunction(@GetPaintTargetExtents, 'GetPaintTargetExtents', cdRegister);
S.RegisterDelphiFunction(@ResetPaintTargetPaint, 'ResetPaintTargetPaint', cdRegister);
S.RegisterDelphiFunction(@SetPaintTargetPaintMode, 'SetPaintTargetPaintMode', cdRegister);
S.RegisterDelphiFunction(@SetSprayGunOn, 'SetSprayGunOn', cdRegister);
S.RegisterDelphiFunction(@SetSprayGunOff, 'SetSprayGunOff', cdRegister);
S.RegisterDelphiFunction(@CalculateSprayThicknessHistogram, 'CalculateSprayThicknessHistogram', cdRegister);
S.RegisterDelphiFunction(@CalculateAvgSprayThickness, 'CalculateAvgSprayThickness', cdRegister);
S.RegisterDelphiFunction(@CalculateSDSprayThickness, 'CalculateSDSprayThickness', cdRegister);
S.RegisterDelphiFunction(@CalculatePosAvgSprayThickness, 'CalculatePosAvgSprayThickness', cdRegister);
S.RegisterDelphiFunction(@CalculatePosSDSprayThickness, 'CalculatePosSDSprayThickness', cdRegister);
S.RegisterDelphiFunction(@CalculatePosMinSprayThickness, 'CalculatePosMinSprayThickness', cdRegister);
S.RegisterDelphiFunction(@CalculateMinSprayThickness, 'CalculateMinSprayThickness', cdRegister);
S.RegisterDelphiFunction(@CalculateMaxSprayThickness, 'CalculateMaxSprayThickness', cdRegister);
S.RegisterDelphiFunction(@CalculateSprayCoverage, 'CalculateSprayCoverage', cdRegister);
S.RegisterDelphiFunction(@GetPaintTargetTriangles, 'GetPaintTargetTriangles', cdRegister);
S.RegisterDelphiFunction(@SetResultTrianglesColor, 'SetResultTrianglesColor', cdRegister);
S.RegisterDelphiFunction(@SetSolidSurfaceFriction, 'SetSolidSurfaceFriction', cdRegister);
S.RegisterDelphiFunction(@SetSolidForce, 'SetSolidForce', cdRegister);
S.RegisterDelphiFunction(@GetSolidSize, 'GetSolidSize', cdRegister);
S.RegisterDelphiFunction(@SetSolidSize, 'SetSolidSize', cdRegister);
S.RegisterDelphiFunction(@GetGlobalSensorIndex, 'GetGlobalSensorIndex', cdRegister);
S.RegisterDelphiFunction(@GetGlobalSensorVal, 'GetGlobalSensorVal', cdRegister);
S.RegisterDelphiFunction(@GetGlobalSensorValues, 'GetGlobalSensorValues', cdRegister);
S.RegisterDelphiFunction(@SetGlobalSensorVin, 'SetGlobalSensorVin', cdRegister);
S.RegisterDelphiFunction(@SetSensorVin, 'SetSensorVin', cdRegister);
S.RegisterDelphiFunction(@GetSensorIndex, 'GetSensorIndex', cdRegister);
S.RegisterDelphiFunction(@GetSensorVal, 'GetSensorVal', cdRegister);
S.RegisterDelphiFunction(@SetSensorColor, 'SetSensorColor', cdRegister);
S.RegisterDelphiFunction(@GetSensorValues, 'GetSensorValues', cdRegister);
S.RegisterDelphiFunction(@GetThingIndex, 'GetThingIndex', cdRegister);
S.RegisterDelphiFunction(@GetThingsCount, 'GetThingsCount', cdRegister);
S.RegisterDelphiFunction(@GetThingColor, 'GetThingColor', cdRegister);
S.RegisterDelphiFunction(@SetThingColor, 'SetThingColor', cdRegister);
S.RegisterDelphiFunction(@GetThingPos, 'GetThingPos', cdRegister);
S.RegisterDelphiFunction(@SetThingPos, 'SetThingPos', cdRegister);
S.RegisterDelphiFunction(@GetThingRotMat, 'GetThingRotMat', cdRegister);
S.RegisterDelphiFunction(@SetThingRotationMat, 'SetThingRotationMat', cdRegister);
S.RegisterDelphiFunction(@GetThingAgularVelMat, 'GetThingAgularVelMat', cdRegister);
S.RegisterDelphiFunction(@GetThingSize, 'GetThingSize', cdRegister);
S.RegisterDelphiFunction(@SetThingSize, 'SetThingSize', cdRegister);
S.RegisterDelphiFunction(@AddThingBox, 'AddThingBox', cdRegister);
S.RegisterDelphiFunction(@AddThingSphere, 'AddThingSphere', cdRegister);
S.RegisterDelphiFunction(@AddThingCylinder, 'AddThingCylinder', cdRegister);
S.RegisterDelphiFunction(@DeleteThing, 'DeleteThing', cdRegister);
S.RegisterDelphiFunction(@MeshThing, 'MeshThing', cdRegister);
S.RegisterDelphiFunction(@SetThingForce, 'SetThingForce', cdRegister);
S.RegisterDelphiFunction(@SetThingForceAtRelPos, 'SetThingForceAtRelPos', cdRegister);
S.RegisterDelphiFunction(@SetThingRelForce, 'SetThingRelForce', cdRegister);
S.RegisterDelphiFunction(@SetThingRelForceAtRelPos, 'SetThingRelForceAtRelPos', cdRegister);
S.RegisterDelphiFunction(@SetThingSurfaceMu, 'SetThingSurfaceMu', cdRegister);
S.RegisterDelphiFunction(@GetThingSpeed, 'GetThingSpeed', cdRegister);
S.RegisterDelphiFunction(@SetThingSpeed, 'SetThingSpeed', cdRegister);
S.RegisterDelphiFunction(@SetThingLinearVel, 'SetThingLinearVel', cdRegister);
S.RegisterDelphiFunction(@SetThingAngularVel, 'SetThingAngularVel', cdRegister);
S.RegisterDelphiFunction(@GetThingAngularVel, 'GetThingAngularVel', cdRegister);
S.RegisterDelphiFunction(@ClearThings, 'ClearThings', cdRegister);
S.RegisterDelphiFunction(@GetShellPos, 'GetShellPos', cdRegister);
S.RegisterDelphiFunction(@SetShellColor, 'SetShellColor', cdRegister);
S.RegisterDelphiFunction(@GetShellColor, 'GetShellColor', cdRegister);
S.RegisterDelphiFunction(@GetObstacleIndex, 'GetObstacleIndex', cdRegister);
S.RegisterDelphiFunction(@SetObstacleColor, 'SetObstacleColor', cdRegister);
S.RegisterDelphiFunction(@GetObstacleColor, 'GetObstacleColor', cdRegister);
S.RegisterDelphiFunction(@GetObstaclePos, 'GetObstaclePos', cdRegister);
S.RegisterDelphiFunction(@SetObstaclePos, 'SetObstaclePos', cdRegister);
S.RegisterDelphiFunction(@GetObstacleRotMat, 'GetObstacleRotMat', cdRegister);
S.RegisterDelphiFunction(@SetObstacleRotationMat, 'SetObstacleRotationMat', cdRegister);
S.RegisterDelphiFunction(@AddOBstacleBox, 'AddOBstacleBox', cdRegister);
S.RegisterDelphiFunction(@DeleteObstacle, 'DeleteObstacle', cdRegister);
S.RegisterDelphiFunction(@ClearObstacles, 'ClearObstacles', cdRegister);
S.RegisterDelphiFunction(@GetAxisOdo, 'GetAxisOdo', cdRegister);
S.RegisterDelphiFunction(@GetAxisState, 'GetAxisState', cdRegister);
S.RegisterDelphiFunction(@GetAxisPos, 'GetAxisPos', cdRegister);
S.RegisterDelphiFunction(@GetAxisSpeed, 'GetAxisSpeed', cdRegister);
S.RegisterDelphiFunction(@GetAxisTorque, 'GetAxisTorque', cdRegister);
S.RegisterDelphiFunction(@GetAxisI, 'GetAxisI', cdRegister);
S.RegisterDelphiFunction(@GetAxisU, 'GetAxisU', cdRegister);
S.RegisterDelphiFunction(@GetAxisUIPower, 'GetAxisUIPower', cdRegister);
S.RegisterDelphiFunction(@GetAxisTWPower, 'GetAxisTWPower', cdRegister);
S.RegisterDelphiFunction(@GetAxisStateRef, 'GetAxisStateRef', cdRegister);
S.RegisterDelphiFunction(@GetAxisPosRef, 'GetAxisPosRef', cdRegister);
S.RegisterDelphiFunction(@GetAxisSpeedRef, 'GetAxisSpeedRef', cdRegister);
S.RegisterDelphiFunction(@GetAxisMotorSpeed, 'GetAxisMotorSpeed', cdRegister);
S.RegisterDelphiFunction(@GetAxisMotorPos, 'GetAxisMotorPos', cdRegister);
S.RegisterDelphiFunction(@GetAxisMotorPosDeg, 'GetAxisMotorPosDeg', cdRegister);
S.RegisterDelphiFunction(@GetAxisEnergy, 'GetAxisEnergy', cdRegister);
S.RegisterDelphiFunction(@ResetAxisEnergy, 'ResetAxisEnergy', cdRegister);
S.RegisterDelphiFunction(@SetMotorPars, 'SetMotorPars', cdRegister);
S.RegisterDelphiFunction(@GetMotorPars, 'GetMotorPars', cdRegister);
S.RegisterDelphiFunction(@SetMotorControllerPars, 'SetMotorControllerPars', cdRegister);
S.RegisterDelphiFunction(@GetMotorControllerPars, 'GetMotorControllerPars', cdRegister);
S.RegisterDelphiFunction(@SetMotorControllerMode, 'SetMotorControllerMode', cdRegister);
S.RegisterDelphiFunction(@GetMotorControllerMode, 'GetMotorControllerMode', cdRegister);
S.RegisterDelphiFunction(@SetMotorControllerState, 'SetMotorControllerState', cdRegister);
S.RegisterDelphiFunction(@GetMotorControllerState, 'GetMotorControllerState', cdRegister);
S.RegisterDelphiFunction(@SetMotorActive, 'SetMotorActive', cdRegister);
S.RegisterDelphiFunction(@IsMotorActive, 'IsMotorActive', cdRegister);
S.RegisterDelphiFunction(@SetFrictionDef, 'SetFrictionDef', cdRegister);
S.RegisterDelphiFunction(@GetFrictionDef, 'GetFrictionDef', cdRegister);
S.RegisterDelphiFunction(@SetBeltSpeed, 'SetBeltSpeed', cdRegister);
S.RegisterDelphiFunction(@GetBeltSpeed, 'GetBeltSpeed', cdRegister);
S.RegisterDelphiFunction(@SetAxisSpring, 'SetAxisSpring', cdRegister);
S.RegisterDelphiFunction(@SetAxisStateRef, 'SetAxisStateRef', cdRegister);
S.RegisterDelphiFunction(@SetAxisPosRef, 'SetAxisPosRef', cdRegister);
S.RegisterDelphiFunction(@SetAxisSpeedRef, 'SetAxisSpeedRef', cdRegister);
S.RegisterDelphiFunction(@SetAxisVoltageRef, 'SetAxisVoltageRef', cdRegister);
S.RegisterDelphiFunction(@SetAxisTorqueRef, 'SetAxisTorqueRef', cdRegister);
S.RegisterDelphiFunction(@GetAxisPosDeg, 'GetAxisPosDeg', cdRegister);
S.RegisterDelphiFunction(@GetAxisSpeedDeg, 'GetAxisSpeedDeg', cdRegister);
S.RegisterDelphiFunction(@GetAxisPosRefDeg, 'GetAxisPosRefDeg', cdRegister);
S.RegisterDelphiFunction(@GetAxisSpeedRefDeg, 'GetAxisSpeedRefDeg', cdRegister);
S.RegisterDelphiFunction(@Deg, 'Deg', cdRegister);
S.RegisterDelphiFunction(@Rad, 'Rad', cdRegister);
S.RegisterDelphiFunction(@GetAxisIndex, 'GetAxisIndex', cdRegister);
S.RegisterDelphiFunction(@LoadJointWayPoints, 'LoadJointWayPoints', cdRegister);
S.RegisterDelphiFunction(@SaveJointWayPoints, 'SaveJointWayPoints', cdRegister);
S.RegisterDelphiFunction(@CountJointWayPoints, 'CountJointWayPoints', cdRegister);
S.RegisterDelphiFunction(@GetJointWayPoint, 'GetJointWayPoint', cdRegister);
S.RegisterDelphiFunction(@SetJointWayPoint, 'SetJointWayPoint', cdRegister);
S.RegisterDelphiFunction(@GetAxisTrajPoint, 'GetAxisTrajPoint', cdRegister);
S.RegisterDelphiFunction(@SetAxisTrajPoint, 'SetAxisTrajPoint', cdRegister);
S.RegisterDelphiFunction(@AddAxisTrajPoint, 'AddAxisTrajPoint', cdRegister);
S.RegisterDelphiFunction(@DelAxisTrajPoint, 'DelAxisTrajPoint', cdRegister);
S.RegisterDelphiFunction(@CountAxisTrajPoints, 'CountAxisTrajPoints', cdRegister);
S.RegisterDelphiFunction(@ClearAxisTrajPoints, 'ClearAxisTrajPoints', cdRegister);
S.RegisterDelphiFunction(@SetTrailColor, 'SetTrailColor', cdRegister);
S.RegisterDelphiFunction(@AddTrailNode, 'AddTrailNode', cdRegister);
S.RegisterDelphiFunction(@DelTrailNode, 'DelTrailNode', cdRegister);
S.RegisterDelphiFunction(@ClearTrail, 'ClearTrail', cdRegister);
S.RegisterDelphiFunction(@KeyPressed, 'KeyPressed', cdRegister);
end;
{ TPSImport_ODERobotsPublished }
(*----------------------------------------------------------------------------*)
procedure TPSImport_ODERobotsPublished.CompileImport1(CompExec: TPSScript);
begin
SIRegister_ODERobotsPublished(CompExec.Comp);
end;
(*----------------------------------------------------------------------------*)
procedure TPSImport_ODERobotsPublished.ExecImport1(CompExec: TPSScript; const ri: TPSRuntimeClassImporter);
begin
//RIRegister_ODERobotsPublished(ri);
RIRegister_ODERobotsPublished_Routines(CompExec.Exec); // comment it if no routines
end;
(*----------------------------------------------------------------------------*)
end.