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资源说明：Half-baked 3D physics playground for autonomous robots
The society of people who at one time or another supported, however reluctantly,
and so long as they needn't do much of anything to join or be a member
generally, in general support, but with particular exceptions notwithstanding,
for the ethical treatment of finite state machines
PRESENTS
"LambdaScape"
or:
How I learned to stop worrying and love the affine transformation
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"We're Lambda Lambda Lambda and Omega Mu. We come here on stage tonight to do
our show for you." -- Alonzo Church on the Lambda Calculus
"Z-up dawg, I herd you like coordinate systems."
-- Xzibit on Coordinate Systems
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0x00: Table of Contents:
0x00: Table of Contents
0x01: Overview
0x02: Dependencies
0x03: Building From Source
0x04: Running All The Pieces
0x05: Robots Running Amok
0x06: Notes From the Playground
0xff: License
0x01: Overview
LambdaScape is a collection of programs that provides a framework for
writing and testing autonomous robots in a simulated physical world.
The server, lambda.py, accepts connections from observers such as
lambdascape and robots.
Observers request the terrain from the server and receive robot position
matrix updates.
Robots can cast a ray in a direction and get back the distance to the
closest solid surface, much like a LIDAR sensor. Robots are rocket-powered
because it's so much easier than using wheels.
0x02: Dependencies
LambdaScape is quite needy and demands that you provide it with all the
great and wonderous libraries of the day. Namely:
sudo apt-get install python-2.5 python-pyode ghc6 libghc6-glut-dev \
libghc6-network-dev libghc6-parallel-dev libghc6-time-dev \
netcat-traditional
If you don't have apt-get, you can just `apt-get install apt`. The haskell
libraries can be skipped if you obtain a pre-built distribution, which are
the source of much pain and suffering throughout the universe.
0x03: Building From Source
make clean && make
0x04: Running All The Pieces
./lambda.py --port=9001 & \
./lambdascape 9001 & \
nc localhost 9001
For navigation key bindings, press F1 within lambdascape. It's like vi taken
to the THIRD DIMENSION.
See the next section for what to type at the prompt.
0x05: Robots Running Amok
Robots connect to the server and identify with their name and position. The
coordinate system of the world is z-up. Example:
killbot 0 0 15
Robots can fire their thrusters in any direction with any amount of force.
Example:
force 1000 0 30000
Robots can cast a ray and query the distance to the closest surface. The ray
is specified as a vector relative to the robot's current position which need
not be normalized.
Example:
lidar 1 3 0
Both robots and observers can "quit" and "shutdown" the service by stating
as such.
0x06: Notes From The Playground
Stability is hard, especially when objects should reasonably come to rest
but instead either fall through the terrain in a rounding error or else fly
off into the horizon spinning in an overcorrection. Spinning is also bad
news and took too long to get working. Suggestion for ODE: a getMatrix() or
some such that returns an OpenGL-style 4x4 column-major rotation +
translation matrix for Body objects would be super convenient.
Haskell could also use some work on its HODE bindings, for which there
appears to be a limited subset of ODE's functionality such that I would need
to write to the memory locations of the underlying ODE structs in order to
make adequate use of.
0xff: This project is free software distributed under a BSD license.
See the LICENSE file included in this distribution for more fnord
information.
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