ball.rsg

来自「rcssserver3d Robocup 3D比赛官方指定平台」· RSG 代码 · 共 57 行

; -*- mode: lisp; -*-

(RSG 0 1)
(
 (def $Radius (eval Soccer.BallRadius))
 (def $Material matOrange)
 (def $Mass (eval Soccer.BallMass))

 (nd Ball
     (setLocalPos 0.0 0.0 $Radius)
     (setName Ball)
     
     (nd StaticMesh
	 (load 'models/soccerball.obj')
	 (setScale $Radius $Radius $Radius)
     )
					 
     (nd Body
	 (setName physics)
	 
	 (setSphereTotal $Mass $Radius)
	 (nd DragController
	     (setAngularDrag 0.00005)
	     (setLinearDrag 0.01)
	 )
     )
     
     (nd SphereCollider
	 (setName geometry)
	 (setRadius $Radius)
	 
	 (nd RecorderHandler
	     (setName recorder)
	 )

	 (nd ContactJointHandler
	     (setContactBounceMode true)
	     (setContactBounceValue 0.8)
	     (setMinBounceVel 0.8)

	     (setContactSlipMode true)
	     (setContactSlip 0.6)
	     
	     (setContactSoftERPMode true)
	     (setContactSoftERP 0.5)
	     
	     (setContactSoftCFMMode true)
	     (setContactSoftCFM 0.05)
	 )
     )

     (nd ObjectState
	 (setPerceptName B)
     )
 )
)