rcssmonitor3d-kerosin.rb

ROBOCUP 仿真3D server 源码

#
# rcssmonitor3D-kerosin.rb
#

# setup spark rendering support
sparkSetupRendering()

# create a default camera
sparkAddFPSCamera(
		  $scenePath+'camera', 
		  x = 0, 
		  y = -40, 
		  z = 5,
		  maxSpeed = 15.0,
		  accel = 40.0,
		  drag = 4
		  )

# setup the CommServer
new('rcssmonitor3d/CommServer', $serverPath+'comm')

# configure the Simulation server
simulationServer = get($serverPath+'simulation')
simulationServer.setSimStep(0.05)

# receive and parse data from the soccer server
simulationServer.initControlNode('MonitorClientControl')

# handle custom input events (kickoff etc.)
simulationServer.initControlNode('MonitorInputControl')

#
# collection of callbacks and helper functions
#

# create a transform node and a node of class <className>
def addVisual(className, nodeName, x, y, z)
  transform = new('oxygen/Transform', $scenePath+nodeName)
  transform.setLocalPos(x,y,z)
  new('kerosin/'+className,$scenePath+nodeName+'/'+'visual')
end

def addSphere(nodeName, radius, material)
  transform = new('oxygen/Transform', $scenePath+nodeName)
  sphere = new('kerosin/Sphere',$scenePath+nodeName+'/visual')
  sphere.setRadius(radius)
  sphere.setMaterial(material)
end  

# called from the monitor to create an agent named <nodeName>
def addAgentN(nodeName)
  addSphere(nodeName,Soccer.AgentRadius,'matAgentN')
end

def addAgentL(nodeName)
  addSphere(nodeName,Soccer.AgentRadius,'matAgentL')
end

def addAgentR(nodeName)
  addSphere(nodeName,Soccer.AgentRadius,'matAgentR')
end

# called from the monitor to create a ball
def addBall(nodeName)
  addSphere(nodeName,Soccer.BallRadius,'matBall')
end

# called from the monitor to create a flag
def addFlag(nodeName)
  addSphere(nodeName,1.0,'matFlag')
end

# called from the monitor to create the playing field after the
# dimensions are received
def addField()
  # create the green
  fieldThickness = 0.5

  transform = new('oxygen/Transform', $scenePath+'field')
  transform.setLocalPos(0.0,0.0,-fieldThickness/2.0)

  field = new('kerosin/Box',$scenePath+'field/visual')
  field.setMaterial('matGround')

  field.setExtents(110.0,73.0,0.2)
end  

# add a light
transform = new('oxygen/Transform', $scenePath+'lightTrans')
transform.setLocalPos(0, 0, 50)
light = new('kerosin/Light', $scenePath+'lightTrans/light')
light.setDiffuse(1.0, 1.0, 1.0, 1.0)
light.setSpecular(0.1, 0.1, 0.1, 1.0)
light.setAmbient(0.5, 0.5, 0.5, 1.0)

# create custom materials
material = new('kerosin/MaterialSolid', $serverPath+'material/matAgentN');
material.setDiffuse(1.0,1.0,0.0,1.0)

material = new('kerosin/MaterialSolid', $serverPath+'material/matAgentL');
material.setDiffuse(1.0,0.0,0.0,1.0)

material = new('kerosin/MaterialSolid', $serverPath+'material/matAgentR');
material.setDiffuse(0.0,0.0,1.0,1.0)

material = new('kerosin/MaterialSolid', $serverPath+'material/matBall');
material.setDiffuse(1.0,1.0,1.0,1.0)

material = new('kerosin/MaterialSolid', $serverPath+'material/matFlag');
material.setDiffuse(1.0,0.0,0.0,1.0)

material = new('kerosin/MaterialSolid', $serverPath+'material/matGround');
material.setDiffuse(0.0,0.1,0.0,1.0)

addVisual('Axis','myAxis',0.0,0.0,0.0)