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* Robot3D Physical realistic 3D simulator for robots
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* @license GNU Lesser General Public License
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* @author Anne C. van Rossum
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#include <dtUtil/log.h>
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#include <dtDAL/librarymanager.h>
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#include <srCore/export.h>
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#include <srCore/simulationEntryPoint.h>
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#include <srCore/robotCreator.h>
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#include <srCore/robot/robotActorBase.h>
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#include <srCore/loadComponents.h>
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/************************************************************************************************
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***********************************************************************************************/
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#define TIME_SCALE 0.1 //1
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#define GRAVITY 200 //n*(5cm)/s²
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/************************************************************************************************
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* Default strings / names / paths
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***********************************************************************************************/
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std::string DEFAULT_COMPONENT_PATH = "../data/components";
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std::string DEFAULT_STAGEPROJECT_PATH = "../data/StageProject";
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/************************************************************************************************
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***********************************************************************************************/
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using namespace srCore;
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/************************************************************************************************
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***********************************************************************************************/
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* This function is obligated by the Delta3D library. It makes it possible to dynamically load the
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extern "C" ROBOT_EXPORT dtGame::GameEntryPoint* CreateGameEntryPoint() {
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return new SimulationEntryPoint();
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* This function is obligated by the Delta3D library. It makes it possible to dynamically unload the
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extern "C" ROBOT_EXPORT void DestroyGameEntryPoint(dtGame::GameEntryPoint* entryPoint) {
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/************************************************************************************************
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* Implementation of SimulationEntryPoint
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***********************************************************************************************/
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* The constructor of the Robot3D simulator. It sets the default log level to LOG_INFO and
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* displays a welcome message.
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SimulationEntryPoint::SimulationEntryPoint() {
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dtUtil::Log::GetInstance().SetLogLevel(dtUtil::Log::LOG_INFO);
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LOG_ALWAYS("Welcome to the Robot3D simulator");
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osg::DisplaySettings::instance()->setNumMultiSamples(4);
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* Destroy the entire Robot3D simulator.
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* @todo Check what can be deallocated...
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SimulationEntryPoint::~SimulationEntryPoint() {
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LOG_INFO("Unload everything...");
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* The start up routine. It loads a predefined XML configuration file and initiates the simulator
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* with the data found in it. It is not the idea that this function needs to know the different types
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* of robot, sensor, and actuator classes that can be defined. This needs to be registered by the
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void SimulationEntryPoint::OnStartup(dtGame::GameApplication &app)
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// app.GetGameManager()->DebugStatisticsTurnOn(true,true,1,true,"gameManagerDebugInfo.txt");
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bool withRobotControlEnabled = true;
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bool withGUI = false;
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bool freeCamState = true;
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std::ostringstream msg; msg.clear(); msg.str("");
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dtUtil::Log::GetInstance().SetLogLevel(dtUtil::Log::LOG_INFO);
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LOG_INFO("Beginning of Robot3D simulator startup");
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app.GetWindow()->SetWindowTitle("Robot3D Simulation");
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app.GetWindow()->ShowCursor(false);
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// Set stage project path
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std::string stageprojectPath=app.GetConfigPropertyValue("StageProject", DEFAULT_STAGEPROJECT_PATH);
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SimulationUtils::setStageProjectPath(stageprojectPath);
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msg.clear(); msg.str("");
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msg << "Set StageProject path to: " << SimulationUtils::getStageProjectPath();
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// Register new message types
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SimulationMessageType::RegisterMessageTypes( app.GetGameManager()->GetMessageFactory() );
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LOG_WARNING("Load actors explicitly from libRobot3D.so library");
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dtDAL::LibraryManager::GetInstance().LoadActorRegistry("Robot3D");
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dtAudio::AudioManager::Instantiate();
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dtAudio::AudioManager::GetInstance().Config();
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std::string file = srCore::SimulationUtils::getSceneFile();
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file = app.GetConfigPropertyValue("ScenarioFile", "../data/scenarios/scene.xml");
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srCore::SimulationUtils::setSceneFile(file);
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msg.clear(); msg.str("");
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msg << "Reading \"scene.xml\" file: " << srCore::SimulationUtils::getSceneFile();
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} catch(std::runtime_error error) {
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LOG_ERROR("Configuration file does not exist!");
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appConfig.readConfigFile(srCore::SimulationUtils::getSceneFile());
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msg.clear(); msg.str("");
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msg << "Map: " << appConfig.getMap();
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msg.clear(); msg.str("");
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msg << "With Shadows: " << appConfig.getWithShadows();
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msg.clear(); msg.str("");
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msg << "With Detailed Models: " << appConfig.getWithDetailedModels();
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msg.clear(); msg.str("");
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msg << "Load robots...";
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for (unsigned int i=0; i< appConfig.getRobots().size(); i++)
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msg.clear(); msg.str("");
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msg << "Named " << appConfig.getRobots()[i].name << " with type " << appConfig.getRobots()[i].type;
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msg << " at position: [" << appConfig.getRobots()[i].pos.x() << "," <<
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appConfig.getRobots()[i].pos.y() << "," << appConfig.getRobots()[i].pos.z() << "]";
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msg << " oriented as: [" << appConfig.getRobots()[i].quat << "] " << " with joint angle: " << appConfig.getRobots()[i].jointAngles[0];
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msg.clear(); msg.str("");
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msg << "Load controllers...";
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for (unsigned int i=0; i< appConfig.getControllers().size(); i++)
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if (appConfig.getControllers().at(i).name == NULL) {
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LOG_WARNING("There seems to be something wrong with the vector with ControllerInitData");
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msg.clear(); msg.str("");
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msg << "A " << appConfig.getControllers()[i].type << " controller";
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if (strcmp(appConfig.getControllers()[i].name, "")) {
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msg << " named \"" << appConfig.getControllers()[i].name << "\"";
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if (strncmp(appConfig.getControllers()[i].type, "Input", strlen("Input")) == 0)
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withRobotControlEnabled = atof(appConfig.getControllers()[i].parameter);
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msg <<" withRobotControlEnabled="<< withRobotControlEnabled;
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if (strncmp(appConfig.getControllers()[i].type, "GUI", strlen("GUI")) == 0)
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if (strncmp(appConfig.getControllers()[i].type, "FreeCam", strlen("FreeCam")) == 0)
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robotFocus = atoi(appConfig.getControllers()[i].robot);
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camPos = appConfig.getControllers()[i].pos;
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msg << " at position: [" << camPos.x() << "," << camPos.y() << "," << camPos.z() << "]";
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else if (strncmp(appConfig.getControllers()[i].type, "FollowCam", strlen("FollowCam")) == 0)
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robotFocus = atoi(appConfig.getControllers()[i].robot);
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camPos = appConfig.getControllers()[i].pos;
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msg << " at position: [" << camPos.x() << "," << camPos.y() << "," << camPos.z() << "]";
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freeCamState = false;
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if (strcmp(appConfig.getControllers()[i].robot, ""))
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msg << " controlling robot \"" << appConfig.getControllers()[i].robot << "\" ";
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SimulationUtils::setDetailedGraphics(appConfig.getWithDetailedModels());
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SimulationUtils::setWithShadows(appConfig.getWithShadows());
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SimulationUtils::setCollisionGeometryDetails(appConfig.getCollisionGeometryDetails());
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SimulationUtils::setConnectorsAsJoints(appConfig.getConnectorsAsJoints());
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SimulationUtils::setWithWheels(appConfig.getRobotsWithWheels());
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//Load Map and apply Light
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LOG_INFO("Set context, load all information from StageProject directory");
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dtDAL::Project::GetInstance().SetContext(SimulationUtils::getStageProjectPath());
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//Set log level temporary to WARNING to get less log messages
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dtUtil::Log::LogMessageType lmt = dtUtil::Log::GetInstance().GetLogLevel();
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if (lmt < dtUtil::Log::LOG_WARNING)
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dtUtil::Log::GetInstance().SetLogLevel(dtUtil::Log::LOG_WARNING);
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dtDAL::Map &map = dtDAL::Project::GetInstance().GetMap(appConfig.getMap());
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dtUtil::Log::GetInstance().SetLogLevel(lmt);
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dtDAL::Project::GetInstance().LoadMapIntoScene(map, app.GetGameManager()->GetScene(), false);
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LOG_INFO("Map loaded");
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app.GetView(0)->GetDatabasePager()->SetTargetFrameRate(60); //20
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SetPhysicalParameters(app);
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//----------------------Components----------------------------------------------------------------------------------------
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LOG_INFO("Creating components");
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//Add DefaultMessageProcessor
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dtGame::DefaultMessageProcessor *dmp = new dtGame::DefaultMessageProcessor("DefaultMessageProcessor");
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app.GetGameManager()->AddComponent(*dmp,dtGame::GameManager::ComponentPriority::HIGHEST);
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//Add Arena Component - doing all the important stuff
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dtCore::RefPtr<SimulationArenaComponent> arenaComp = new SimulationArenaComponent(SimulationArenaComponent::DEFAULT_NAME);
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app.GetGameManager()->AddComponent(*arenaComp, dtGame::GameManager::ComponentPriority::LOWEST);
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arenaComp->createRobotsFromSceneFile(appConfig);
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//Add all GUI elements
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LoadGUIComponents(app);
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//Add Camera Component
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dtCore::RefPtr<SimulationCameraController> cameraContr = new SimulationCameraController(
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"SimulationCameraController", camPos, freeCamState);
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app.GetGameManager()->AddComponent(*cameraContr, dtGame::GameManager::ComponentPriority::LOWER);
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cameraContr->init(guiComp->GetMouse(), guiComp->GetKeyboard());
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cameraContr->init(app.GetMouse(), app.GetKeyboard());
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#ifdef USE_SEPARATE_GUI
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cameraContr->setViewport(false);
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cameraContr->setViewport(true);
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//Add Input Component
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dtCore::RefPtr<SimulationInputComponent> inputComp = new SimulationInputComponent("SimulationInputComponent", withRobotControlEnabled);
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app.GetGameManager()->AddComponent(*inputComp, dtGame::GameManager::ComponentPriority::LOWER);
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//-----------------------------------------------------------------------------------------------------------------------
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if (SimulationUtils::getWithShadows()) {
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app.GetView(0)->GetOsgViewerView()->setSceneData(srCore::SimulationUtils::getShadowScene().get());
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app.GetView(0)->GetOsgViewerView()->init();
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std::vector<dtGame::GMComponent*> allComp;
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app.GetGameManager()->GetAllComponents(allComp);
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for (unsigned int i=0; i< allComp.size(); i++) {
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if (dynamic_cast<dtCore::Light*>(allComp[i])) {
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LOG_INFO("Found light (as component)");
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LOG_INFO("Load all plugins from ComponentPath");
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loadComp = new LoadComponents();
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std::string comp_path = app.GetConfigPropertyValue("ComponentPath", DEFAULT_COMPONENT_PATH);
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loadComp->SetLibPath(comp_path);
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loadComp->GetLibraries();
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loadComp->LoadLibs(app);
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LOG_INFO("End of Robot3D simulator startup");
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* Sets a bunch of parameters for the physics engine.
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* @todo Move Physics related stuff to a separate component. The component may be build on
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* dtPhysics, so it enables us to switch physics engines.
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void SimulationEntryPoint::SetPhysicalParameters(dtGame::GameApplication &app) {
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//Setting Collision NearCallback function
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// void* data = NULL;
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// app.GetScene()->SetUserCollisionCallback (SimulationUtils::NearCallback, data);
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//Setting PhysicsStepSize and TargetFrameRate for stabilizing the simulation environment:
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app.GetGameManager()->GetScene().SetPhysicsStepSize(0.05); //0.05
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// The Constraint Force Mixing is invented by the ODE guys. It allows for relaxing of the
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// constraint equation for joints. The original hard constraint is 0.
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// @see <a>http://opende.sourceforge.net/wiki/index.php/Manual_%28Concepts%29#Constraint_Force_Mixing_.28CFM.29</a>
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dWorldSetCFM(app.GetGameManager()->GetScene().GetWorldID(), 0.005); //0.05
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// The Error Reduction Parameter is also invented by the ODE guys. It is for example
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// possible to set the position of the multiple bodies that make up a robot in slightly
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// wrong relative locations. Each joint can apply a force to bring its bodies back into
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// the right positions.
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// <a>@see http://opende.sourceforge.net/wiki/index.php/Manual_%28Concepts%29#Joint_error_and_the_error_reduction_parameter_.28ERP.29</a>
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dWorldSetERP(app.GetGameManager()->GetScene().GetWorldID(), 0.9); //0.9
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app.GetGameManager()->GetScene().SetGravity(0.f, 0.f, -GRAVITY);
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// If you see a robot slowly sinking into the surface and then suddenly popping out in an
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// incredibly high speed, that speed is set by this parameter. Of course, we normally don't
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// want that to happen at all...
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dWorldSetContactMaxCorrectingVel(app.GetGameManager()->GetScene().GetWorldID(), 250); //200
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// This parameter tells how much the robots can sink into the ground, as described
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// by the ODE lib, increasing this to some small value (e.g. 0.001) can help prevent
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// jittering problems due to contacts being repeatedly made and broken.
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dWorldSetContactSurfaceLayer (app.GetGameManager()->GetScene().GetWorldID(), 0.005); //0.001 (0.003)
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app.GetGameManager()->ChangeTimeSettings(app.GetGameManager()->GetSimulationTime(), TIME_SCALE,
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app.GetGameManager()->GetSimulationClockTime());
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* Loads GUI components in the same dtCore::DeltaWin window, but using a different camera, a
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* different view and a different scene.
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* The GUI adds the information panel at the right. Where you will see information about the
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* selected robot, the output of its sensors and the input to its actuators. It also adds a
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* menu at the top to select certain components in the scene.
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* @todo Freecam state or not is not the business of the simulationguicomponent
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void SimulationEntryPoint::LoadGUIComponents(dtGame::GameApplication &app) {
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// The default application view contains everything
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dtCore::RefPtr<dtCore::View> appView = app.GetView();
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dtCore::RefPtr<dtCore::Camera> appCamera = app.GetCamera();
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dtCore::RefPtr<dtCore::Scene> appScene = app.GetScene();
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dtCore::RefPtr<dtCore::DeltaWin> appWindow = app.GetWindow();
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#ifdef USE_SEPARATE_GUI
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// In this case not everything is added to the default application view
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// The gui components are maintained in a separate guiView and guiScene and can be seen through a guiCamera
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// This makes it possible for robots NOT to notice them
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dtCore::RefPtr<dtCore::View> guiView;
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dtCore::RefPtr<dtCore::Camera> guiCamera;
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dtCore::RefPtr<dtCore::Scene> guiScene;
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//Create also a new view and a new scene
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LOG_INFO("Create a new view and a new scene for the GUI");
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guiView = new dtCore::View("GUI View");
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guiCamera = new dtCore::Camera("GUI Camera");
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guiScene = new dtCore::Scene("GUI Scene");
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// Set some default parameters
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dtCore::Transform transform(20.0f, -30.0f, 15.0f);
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guiCamera->SetTransform(transform);
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guiCamera->SetClearColor(0.f, 0.f, 0.f, 0.f);
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guiView->SetCamera(guiCamera);
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// Add the view to the application
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app.AddView(*guiView);
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guiCamera->SetWindow(appWindow);
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guiView->SetScene(guiScene);
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guiCamera->GetOSGCamera()->setClearMask( GL_DEPTH_BUFFER_BIT );
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//Load the CEGUI window layout
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LOG_INFO("Load CEGUI window layout");
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guiComp = new SimulationGUIComponent("SimulationGUIComponent", *appWindow,
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*guiView->GetKeyboard(), *guiView->GetMouse());
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// Create a new camera that sees the GUI
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LOG_INFO("Create a new camera that sees the GUI (the default one will only see the scene with robots)");
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guiScene->AddDrawable(guiComp->GetGUIDrawable());
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// Adjust render order, so the GUI is rendered after the overall scene
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app.GetView()->SetRenderOrder(1);
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guiView->SetRenderOrder(app.GetView()->GetRenderOrder() + 1);
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CEGUI::System::getSingleton().getGUISheet()->setAlpha(0.0f);
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// Add component to game manager for later retrieval
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app.GetGameManager()->AddComponent(*guiComp, dtGame::GameManager::ComponentPriority::LOWER);
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//Load the CEGUI window layout
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LOG_INFO("Load CEGUI window layout");
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guiComp = new SimulationGUIComponent("SimulationGUIComponent", *appWindow,
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*appView->GetKeyboard(), *appView->GetMouse());
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app.GetScene()->AddDrawable(guiComp->GetGUIDrawable());
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guiComp->GetGUIDrawable()->GetOSGNode()->setNodeMask(0x1);
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app.GetGameManager()->AddComponent(*guiComp, dtGame::GameManager::ComponentPriority::LOWER);
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removed
src/srCore/simulationEntryPoint.cpp
