diff --git a/Assets/MainAssets/Scripts/Agents/ControlSim/Simulations.cs b/Assets/MainAssets/Scripts/Agents/ControlSim/Simulations.cs
index f193729afd86061731051bcf5c3579884c2760ed..2b41446bbc7bc1520a12293cb190410a0334c94b 100644
--- a/Assets/MainAssets/Scripts/Agents/ControlSim/Simulations.cs
+++ b/Assets/MainAssets/Scripts/Agents/ControlSim/Simulations.cs
@@ -208,7 +208,7 @@ public class SimManager {
{
++i;
++in_sim_id;
- sim.updateAgentState(in_sim_id, posList[i], (a.Position - posList[i]) / deltaTime);
+ sim.updateAgentState(i, posList[i], (a.Position - posList[i]) / deltaTime);
}
sim.doStep(deltaTime);
diff --git a/Assets/MainAssets/Scripts/Managers/CrowdBotSim_TrialManager.cs b/Assets/MainAssets/Scripts/Managers/CrowdBotSim_TrialManager.cs
index ce778850394a16002bb3da8cb9b979e4cf243a70..fce084b648aceb1764663bdab0007e98bcd71504 100644
--- a/Assets/MainAssets/Scripts/Managers/CrowdBotSim_TrialManager.cs
+++ b/Assets/MainAssets/Scripts/Managers/CrowdBotSim_TrialManager.cs
@@ -332,97 +332,6 @@ public class CrowdBotSim_TrialManager : MonoBehaviour, TrialManager {
}
- ///// <summary>
- ///// Method used to initialize the VirtualHumans
- ///// </summary>
- ///// <returns>True if the VirtualHumans are well initialized, otherwise False</returns>
- //private bool initializeAgents()
- //{
-
- // if (agentsList == null)
- // {
- // agentsList = new List<Agent>();
- // }
- // else
- // {
- // /* Cleaning old virtual humans */
- // foreach (Agent currentAgent in agentsList)
- // {
- // GameObject.DestroyImmediate(currentAgent.gameObject); // Dangerous function but mandatory since the GraphicPlayer can't wait the end of the current frame to store the activehumans (Start function) at the beginning of a level, so using Destroy instead will make it store old virtualhumans from the previous level that will be clean at the end of the frame.
- // }
- // agentsList.Clear();
- // }
-
-
- // int i = 0;
- // foreach (TrialAgent a in LoaderConfig.agentsInfo)
- // {
- // ++i;
- // GameObject currentAgentGameObject = null;
-
- // foreach (GameObject currentAgentInModel in agentModels)
- // {
-
- // if (currentAgentInModel.name == a.mesh)
- // {
- // currentAgentGameObject = (GameObject)GameObject.Instantiate(currentAgentInModel);
- // currentAgentGameObject.name = i.ToString() + " - " + currentAgentGameObject.name;
- // break;
- // }
- // }
-
- // if (currentAgentGameObject == null)
- // {
- // ToolsDebug.logFatalError("Error, unknown mesh " + a.mesh);
- // Application.Quit();
- // }
- // Agent currentAgent = currentAgentGameObject.GetComponent<Agent>();
- // currentAgent.initAgent(a);
- // currentAgent.gameObject.SetActive(true);
- // currentAgent.gameObject.tag = "VirtualHumanActive";
-
- // }
-
-
-
-
- // // virtualHumanListForSimulationWatcher.Add(currentVirtualHumanGameObject);
- // // VirtualHuman.GameObject = currentVirtualHumanGameObject;
- // // VirtualHuman.GraphicObject = VirtualHuman.GameObject.GetComponent<GraphicVirtualHuman>();
- // // VirtualHuman.Behavior = controlLawGenerator.setControlModule(VirtualHuman.BehaviorXelement, currentVirtualHumanGameObject);
-
- // // VirtualHuman.GameObject.SetActive(true);
- // // VirtualHuman.GraphicObject.SetPositionAndRotation(VirtualHuman.PositionAndRotation);
- // // VirtualHuman.GraphicObject.AnimationOffset = VirtualHuman.AnimationOffset;
- // // VirtualHuman.GraphicObject.idleAnimationIndex = VirtualHuman.IdleAnimationIdex;
- // // VirtualHuman.GraphicObject.IdColor = TableColor[i - 1];
- // // InvertColorDict[TableColor[i - 1]] = i - 1;
- // // VirtualHuman.GameObject.tag = "VirtualHumanActive";
-
-
-
- // // /* Set RVO and other responsive systems */
- // // if (VirtualHuman.Behavior.getBehaviorType() == BehaviorType.responsive)
- // // {
- // // _isRVOUsed = true;
- // // RVOManager.addAgent(currentVirtualHumanGameObject);
- // // }
- // // else if (VirtualHuman.Behavior.getBehaviorType() == BehaviorType.unresponsive)
- // // {
- // // RVOManager.addBlindAgent(currentVirtualHumanGameObject);
- // // }
- // //}
-
- // //if (currentXPManager != null)
- // // virtualHumanListForSimulationWatcher.AddRange(currentXPManager.getRecordedObjects());
-
- // //this.GetComponent<simulationWatcher>().VirtualHumans = virtualHumanListForSimulationWatcher;
- // //this.GetComponent<simulationWatcher>().InvertColorDict = InvertColorDict;
- // //this.GetComponent<simulationWatcher>().InitDictGaze();
-
- // return true;
- //}
-
// Use this for initialization
void Start () {
if (agentsList==null)
diff --git a/Assets/Robots/RobotsModels/3d models/Qolo/wheelJoyUnitPlus.STL b/Assets/Robots/RobotsModels/3d models/Qolo/wheelJoyUnitPlus.STL
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new file mode 100644
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diff --git a/Assets/Robots/RobotsModels/3d models/wheelJoyUnitPlus.prefab b/Assets/Robots/RobotsModels/3d models/Qolo/wheelJoyUnitPlus.prefab
similarity index 97%
rename from Assets/Robots/RobotsModels/3d models/wheelJoyUnitPlus.prefab
rename to Assets/Robots/RobotsModels/3d models/Qolo/wheelJoyUnitPlus.prefab
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similarity index 100%
rename from Assets/Robots/RobotsModels/3d models/wheelJoyUnitPlus.prefab.meta
rename to Assets/Robots/RobotsModels/3d models/Qolo/wheelJoyUnitPlus.prefab.meta
diff --git a/Assets/Robots/RobotsModels/Cuybot_with_sensors.prefab b/Assets/Robots/RobotsModels/Cuybot_with_sensors.prefab
index c9bb630ddf404f251a5573954a8130215aa6498b..6ad0c478f7c0f5c80054f152e61eb596a049a681 100644
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diff --git a/Assets/Robots/RobotsModels/Qolo_sensors.prefab.meta b/Assets/Robots/RobotsModels/Qolo_sensors.prefab.meta
new file mode 100644
index 0000000000000000000000000000000000000000..a3c0190392827f21d2740590f157b2c328b133ec
--- /dev/null
+++ b/Assets/Robots/RobotsModels/Qolo_sensors.prefab.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 63546cc7828dd0ea4b007c226d952460
+PrefabImporter:
+ externalObjects: {}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs b/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs
index ad1eab9a1b04bb7deda894c23212d545d622f01f..d3de8f9e87421304c737b3c033dbbae5e7aa805b 100644
--- a/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs
+++ b/Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/TwistSubscriber.cs
@@ -24,6 +24,9 @@ namespace RosSharp.RosBridgeClient
{
public Transform SubscribedTransform;
+ public bool is_forced_based = false;
+
+ private Rigidbody rigidbody;
private float previousRealTime;
private Vector3 linearVelocity;
private Vector3 angularVelocity;
@@ -32,6 +35,7 @@ namespace RosSharp.RosBridgeClient
protected override void Start()
{
base.Start();
+ rigidbody = SubscribedTransform.GetComponent<Rigidbody>();
}
protected override void ReceiveMessage(Messages.Geometry.Twist message)
@@ -56,10 +60,20 @@ namespace RosSharp.RosBridgeClient
// float deltaTime = Time.realtimeSinceStartup - previousRealTime;
float deltaTime = ToolsTime.DeltaTime;
- SubscribedTransform.Translate(linearVelocity * deltaTime);
- SubscribedTransform.Rotate(Vector3.forward, angularVelocity.x * deltaTime);
- SubscribedTransform.Rotate(Vector3.up, angularVelocity.y * deltaTime);
- SubscribedTransform.Rotate(Vector3.left, angularVelocity.z * deltaTime);
+ if(is_forced_based)
+ {
+ if(deltaTime > 0)
+ rigidbody.AddForce( Quaternion.Inverse(rigidbody.rotation) * (linearVelocity - rigidbody.velocity) * rigidbody.mass / deltaTime );
+ // rigidbody.angularVelocity = angularVelocity * deltaTime;
+ }
+ else
+ {
+ SubscribedTransform.Translate(linearVelocity * deltaTime);
+ SubscribedTransform.Rotate(Vector3.forward, angularVelocity.x * deltaTime);
+ SubscribedTransform.Rotate(Vector3.up, angularVelocity.y * deltaTime);
+ SubscribedTransform.Rotate(Vector3.left, angularVelocity.z * deltaTime);
+ }
+
previousRealTime = Time.realtimeSinceStartup;
diff --git a/Assets/Scenes/Tests/testQoloNew.meta b/Assets/Scenes/Tests/testQoloNew.meta
new file mode 100644
index 0000000000000000000000000000000000000000..ee4412c3a6790a4c8d4be6fa61166ade5ef9b8b4
--- /dev/null
+++ b/Assets/Scenes/Tests/testQoloNew.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 3ab99d713114bb41b848959907631a79
+folderAsset: yes
+DefaultImporter:
+ externalObjects: {}
+ userData:
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diff --git a/Assets/Scenes/Tests/testQoloNew.unity b/Assets/Scenes/Tests/testQoloNew.unity
new file mode 100644
index 0000000000000000000000000000000000000000..8de58d1e8ae28263124f026c603b723e1a0a5f48
--- /dev/null
+++ b/Assets/Scenes/Tests/testQoloNew.unity
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diff --git a/Assets/cuybotFix.cs b/Assets/cuybotFix.cs
new file mode 100644
index 0000000000000000000000000000000000000000..1931261f962149e796a4c81da9bad2d89fd25b42
--- /dev/null
+++ b/Assets/cuybotFix.cs
@@ -0,0 +1,12 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class cuybotFix : MonoBehaviour
+{
+ // Update is called once per frame
+ void Start()
+ {
+ gameObject.GetComponent<Rigidbody>().centerOfMass = new Vector3(0.07f, 0.05f,0);
+ }
+}
diff --git a/Assets/cuybotFix.cs.meta b/Assets/cuybotFix.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..4951324da9b91fe90e5f89fb78e9068dfe71d6d5
--- /dev/null
+++ b/Assets/cuybotFix.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Scenario/Tutos/Tuto1/trial.xml b/Scenario/Tutos/Tuto1/trial.xml
index 3eabeae62069251ee448099c53d199546bfedac9..9ba881f5b5d2e011a018495845622d70e2749e1d 100644
--- a/Scenario/Tutos/Tuto1/trial.xml
+++ b/Scenario/Tutos/Tuto1/trial.xml
@@ -27,25 +27,34 @@
</controlLaw>
</TrialRegularRobot>
</robot>
+ <robot>
+ <TrialRegularRobot mesh="Qolo_sensors" radius="1">
+ <Position x="1.89" y="1.68" z="0.01" />
+ <Rotation x="0" y="0" z="333.401581" />
+ <controlLaw>
+ <LawFake />
+ </controlLaw>
+ </TrialRegularRobot>
+ </robot>
</robots>
<agents>
<agent>
- <TrialRegularAgent mesh="f016" radius="0.33" visualVariation="6" animationOffset="0.5519543" heightOffset="0.01831677">
- <Position x="-2.06220436" y="-8.42717" z="0.02" />
- <Rotation x="-0" y="0" z="240.868164" />
+ <TrialRegularAgent mesh="f007" radius="0.33" visualVariation="0" animationOffset="0.234372854" heightOffset="-0.0281794183">
+ <Position x="6.17257452" y="3.9718" z="0.02" />
+ <Rotation x="0" y="-0" z="171.944977" />
<controlLaw>
- <LawGoals speedCurrent="0" speedDefault="1.21955955" accelerationMax="0.7719325" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+ <LawGoals speedCurrent="0" speedDefault="1.24004722" accelerationMax="0.89694345" angularSpeed="36000" reachedDist="0.5" isLooping="true">
<Goals>
- <Goal x="1.27449512" y="-4.28772163" z="0.01" />
- <Goal x="9.246088" y="-8.475124" z="0.01" />
- <Goal x="9.147608" y="-0.00325679779" z="0.01" />
- <Goal x="2.91003561" y="-5.87628651" z="0.01" />
- <Goal x="3.204863" y="-4.025726" z="0.01" />
- <Goal x="3.943225" y="-0.632874966" z="0.01" />
- <Goal x="1.00544643" y="-0.296106339" z="0.01" />
- <Goal x="3.21825624" y="-0.5808997" z="0.01" />
- <Goal x="9.106195" y="-5.50787258" z="0.01" />
- <Goal x="5.93971872" y="-0.9270692" z="0.01" />
+ <Goal x="5.92028046" y="0.313546658" z="0.01" />
+ <Goal x="0.6286893" y="-5.949612" z="0.01" />
+ <Goal x="7.51975346" y="-4.384971" z="0.01" />
+ <Goal x="4.457498" y="0.7697568" z="0.01" />
+ <Goal x="3.65777731" y="-5.9120326" z="0.01" />
+ <Goal x="8.014078" y="-7.86088" z="0.01" />
+ <Goal x="5.90526867" y="-4.73005724" z="0.01" />
+ <Goal x="9.342247" y="-5.976475" z="0.01" />
+ <Goal x="6.68817329" y="0.8394408" z="0.01" />
+ <Goal x="2.10637188" y="-6.70826435" z="0.01" />
</Goals>
</LawGoals>
</controlLaw>
@@ -57,22 +66,22 @@
</TrialRegularAgent>
</agent>
<agent>
- <TrialRegularAgent mesh="m009" radius="0.33" visualVariation="5" animationOffset="0.520145833" heightOffset="-0.00413683057">
- <Position x="-1.73362064" y="-7.9742403" z="0.02" />
- <Rotation x="-0" y="0" z="197.082855" />
+ <TrialRegularAgent mesh="f001" radius="0.33" visualVariation="0" animationOffset="0.661273241" heightOffset="0.04949231">
+ <Position x="5.74906" y="3.77277637" z="0.02" />
+ <Rotation x="-0" y="0" z="327.3079" />
<controlLaw>
- <LawGoals speedCurrent="0" speedDefault="1.37812233" accelerationMax="0.757933736" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+ <LawGoals speedCurrent="0" speedDefault="1.29562843" accelerationMax="0.8821599" angularSpeed="36000" reachedDist="0.5" isLooping="true">
<Goals>
- <Goal x="1.27449512" y="-4.28772163" z="0.01" />
- <Goal x="9.246088" y="-8.475124" z="0.01" />
- <Goal x="9.147608" y="-0.00325679779" z="0.01" />
- <Goal x="2.91003561" y="-5.87628651" z="0.01" />
- <Goal x="3.204863" y="-4.025726" z="0.01" />
- <Goal x="3.943225" y="-0.632874966" z="0.01" />
- <Goal x="1.00544643" y="-0.296106339" z="0.01" />
- <Goal x="3.21825624" y="-0.5808997" z="0.01" />
- <Goal x="9.106195" y="-5.50787258" z="0.01" />
- <Goal x="5.93971872" y="-0.9270692" z="0.01" />
+ <Goal x="5.92028046" y="0.313546658" z="0.01" />
+ <Goal x="0.6286893" y="-5.949612" z="0.01" />
+ <Goal x="7.51975346" y="-4.384971" z="0.01" />
+ <Goal x="4.457498" y="0.7697568" z="0.01" />
+ <Goal x="3.65777731" y="-5.9120326" z="0.01" />
+ <Goal x="8.014078" y="-7.86088" z="0.01" />
+ <Goal x="5.90526867" y="-4.73005724" z="0.01" />
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+ <Goal x="2.10637188" y="-6.70826435" z="0.01" />
</Goals>
</LawGoals>
</controlLaw>
@@ -84,157 +93,157 @@
</TrialRegularAgent>
</agent>
<agent>
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- <Position x="-1.68808174" y="-8.327308" z="0.02" />
- <Rotation x="0" y="-0" z="170.234329" />
+ <TrialRegularAgent mesh="m001" radius="0.33" visualVariation="7" animationOffset="0.7303064" heightOffset="-0.0055134967">
+ <Position x="-1.87338066" y="-7.56605244" z="0.02" />
+ <Rotation x="0" y="-0" z="165.610123" />
<controlLaw>
- <LawGoals speedCurrent="0" speedDefault="1.401665" accelerationMax="0.8140795" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+ <LawGoals speedCurrent="0" speedDefault="1.46456409" accelerationMax="0.818980932" angularSpeed="36000" reachedDist="0.5" isLooping="true">
<Goals>
- <Goal x="1.27449512" y="-4.28772163" z="0.01" />
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- <Goal x="9.147608" y="-0.00325679779" z="0.01" />
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- <Goal x="9.106195" y="-5.50787258" z="0.01" />
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+ <Goal x="8.374029" y="-3.933683" z="0.01" />
+ <Goal x="4.737962" y="-4.57165766" z="0.01" />
+ <Goal x="3.57905722" y="-8.104052" z="0.01" />
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+ <Goal x="7.97371769" y="0.5674648" z="0.01" />
</Goals>
</LawGoals>
</controlLaw>
<controlSim>
<VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
- <group groupID="0" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
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</VOGConfig>
</controlSim>
</TrialRegularAgent>
</agent>
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- <Position x="-1.97357082" y="-7.72227573" z="0.02" />
- <Rotation x="-0" y="0" z="216.823273" />
+ <TrialRegularAgent mesh="m017" radius="0.33" visualVariation="8" animationOffset="0.260776579" heightOffset="-0.0153020341">
+ <Position x="11.2177105" y="-7.04771233" z="0.02" />
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<controlLaw>
- <LawGoals speedCurrent="0" speedDefault="1.37777936" accelerationMax="0.9589965" angularSpeed="36000" reachedDist="0.5" isLooping="true">
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</LawGoals>
</controlLaw>
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<VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
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</VOGConfig>
</controlSim>
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- <group groupID="1" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
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- <LawGoals speedCurrent="0" speedDefault="1.10310817" accelerationMax="0.783372343" angularSpeed="36000" reachedDist="0.5" isLooping="true">
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- <group groupID="1" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
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- <Position x="5.29588127" y="4.79474545" z="0.02" />
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+ <TrialRegularAgent mesh="f011" radius="0.33" visualVariation="0" animationOffset="0.06290555" heightOffset="-0.0273588412">
+ <Position x="6.66817665" y="2.21973872" z="0.02" />
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<controlLaw>
- <LawGoals speedCurrent="0" speedDefault="1.44729018" accelerationMax="0.970017" angularSpeed="36000" reachedDist="0.5" isLooping="true">
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</LawGoals>
</controlLaw>
@@ -246,22 +255,22 @@
</TrialRegularAgent>
</agent>
<agent>
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- <Position x="10.3560705" y="4.773731" z="0.02" />
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+ <TrialRegularAgent mesh="f005" radius="0.33" visualVariation="2" animationOffset="0.484176934" heightOffset="0.000658828765">
+ <Position x="-1.19749641" y="-3.69265079" z="0.02" />
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<controlLaw>
- <LawGoals speedCurrent="0" speedDefault="1.122028" accelerationMax="0.696137846" angularSpeed="36000" reachedDist="0.5" isLooping="true">
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<Goals>
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</LawGoals>
</controlLaw>
@@ -273,22 +282,22 @@
</TrialRegularAgent>
</agent>
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<controlLaw>
- <LawGoals speedCurrent="0" speedDefault="1.3281585" accelerationMax="0.7101814" angularSpeed="36000" reachedDist="0.5" isLooping="true">
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