a bounding object map that has been matched on the previous one (the white line is surrounded by the bounding object) How to match a boundingObject on the walls? 1. The gray shaded ones can be used directly for boundingObject. Let's look at Extrusion, the box with rounded corners represents the geometry node, which can be used to implement the geometry field in the shape. You can find the answer by looking at the reference manual. The first idea is that the Extrusion model is too complicated to be a boundary model. So why can't it be so troublesome to use the same method on boundingObject.Īs shown in the figure, there is indeed no Extrusion node available. Recall that the earliest implementation of the wall was as simple as adding a shape node to the solid children node, then adding an Extrusion node to the geometry field, and finally marking the convex point at the cross-section. Set the translation field of the Transform node to, so that it matches the position of the first wall. Set the size of the Box to, so that it matches the size of a wall. Create a Material in th node Appearance and set its diffuseColor and specularColor to white.Now creat a Box as a geometry for this Shape node. Add a Shape to the unique children of the Transform. Add a Shape to the unique children of the Transform node in the children field. In this Group, insert a Transform node in the children field. The choice here is (in the original words, Select the boundingObject field of the wall and create a Group node that will contain the four walls. Remember that boundary obstacles can only be implemented with some simple models. It is achieved through the boundingObject field. The wall here needs to prevent the robot from passing through. Why is it easy to use Shape? No need to explainġ0. Seen from the cross section, this is a narrow rectangle folded at 90° three times.Ĥ.Select the children field and insert after a Shape node. Realize the shape of a wall, as shown in Figure 7.2. So later we will use boundingObject in the Solid domain to implement collision detection, which will be used soon Various node combinations can realize boundingObject, including: 1) Box 2) Cylinder 3) Sphere 4) IndexedFaceSet 5) Shape realized by the above model 6) Transform realized by the above model 7) Group composed of several child nodes, each child The nodes are all realized by the above model. Due to the high CPU requirements for collision detection, some simple geometric models are often used as boundingObject. In addition to the children domain boundingObject other domains can be specified. Continue to discuss the boundingObject domain below: If the boundingObject field is NULL, the entity can directly pass through the entity without collision detection. Here we focus on understanding the member class boundingObject (SFNode means that it is not currently implemented), and the boundary entity specifies the geometry of the collision detection. Robots and other equipment categories are its subcategories. The Solid class is the base class of collision detection entities. The Solid node represents the description of the physical properties of an entity such as shape and body shape. So the question is, why choose Solid here, let’s take a look at the introduction of the Solid classĭerived classes: DistanceSensor, Servo, Robot, Camera. Select the last Solid node in the scene tree window(which is the floor) and click on the insert after button. Let’s take a perceptual screenshot to let everyone intuitively feel what this wall looks like:ġ. Skip the explanation of color here, because I don't know it very well. I think most people can follow the guide to build the whole world step by step, but they don’t have a special understanding of the use of the components, such as why this component is used instead of other components. Take Webots guide.pdf as an example to create an environment with a floor, four obstacles and a surrounding wall.
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