[Go to list] 
 
C# Simulation Programming - Create Simulation Environment with SPL


1. Create SPL simulation script
  1. Launch "SPL script editor for the MSRDS".

  2. Add below script on the editor.

       
    StartSimulationEngine  "SimState/basicsim.xml"


AddNewEntity    wall1  	/Position:-0.5  0.25  -2.5
AddBoxShape  	/Dimensions:3.0  0.5  0.5  	/Mass:1.0	/Texture:"WoodFloor.jpg"

AddNewEntity    wall2  	/Position:-0.5  0.25  2.5
AddBoxShape  	/Dimensions:3.0  0.5  0.5  	/Mass:1.0	/Texture:"WoodFloor.jpg"

AddNewEntity    wall3  	/Position:-2.5  0.25  0
AddBoxShape  	/Dimensions:0.5  0.5  4.5  	/Mass:1.0	/Texture:"WoodFloor.jpg"

AddNewEntity    wall4  	/Position:2.5  0.25  0
AddBoxShape  	/Dimensions:0.5  0.5  4.5  	/Mass:1.0	/Texture:"WoodFloor.jpg"



AddDifferentialDriveEntity    myrobot

AddBumperEntity    bumper1	/ParentEntity:myrobot
	/FrontPosition:0    0.1    -0.3
	/RearPosition:0    0.1    0.3

AddLaserRangeFinderEntity    lrf1	/Position:0  0.4  0	/ParentEntity:myrobot

FlushScript  

wait 10000
SaveSceneAs    "SimState/boxsim.xml"
    		  


  3. Save script.



2. Execute C# project
  1. Press "F5" key or click "Run" icon.



  2. This script will generate sim state file named "boxsim.xml" under the "SimState" directory.
[Go to list]