Don Burnette

I am wondering to what extent underwater entities have been implemented in robotics studio simulation.

For instance, is it possible to fill something with "water" Are there paramaters you can set about your environment to make the density of the medium act like that of water

Is are there any entities already that model the physics of a thurster or any sort or propeller type engine (once again, I want to put it in water).

Essentially, when it comes down to it, how feasible is it to simulate a submarine robot using robotics studio

Thanks,

Don



Re: Microsoft Robotics - Simulation Underwater Simulation

KyleJ - MSFT

I'm not aware of anyone who's done an underwater simulation (speak up if you have one!).

It should be possible to do a basic simulation. There is no builtin-in support for thrusters and no way to specify the viscosity of the environment. You would have to model forces on the submarine based on thrust and water resistance against important parts of the model.

Sounds like a great project!

-Kyle





Re: Microsoft Robotics - Simulation Underwater Simulation

Don

Is it possible to exert an artificial force on some point of a given entity manually from code Like if I "kick" a thruster in one direction, to emulate the propeller spinning, is this possible And if so, where can I find a tutorial on how to do that

Thanks,

Don





Re: Microsoft Robotics - Simulation Underwater Simulation

Eric Fritzinger

There is a function that might do what you describe.

VisualEntity.PhysicsEntity.ApplyForceAtLocalPosition(Vector3 force, Vector3 position)

I've never used it, but it might be just what you're looking for.




Re: Microsoft Robotics - Simulation Underwater Simulation

Don

That just might do the trick, we could model a whole bunch of those forces and have them move along with the sub in order to emulate thrust and drag and things of that nature. Of course we'd have to model it ourselves but that shouldn't be too bad.

Also, where can I find documentation on what classes and methods are available Like how did you find VisualEntity.PhysicsEntity.ApplyForceAtLocalPosition. Where do I go to investigate the entire VisualEntity class

Thanks,

Don





Re: Microsoft Robotics - Simulation Underwater Simulation

George Chrysanthakopoulos

Indeed the ApplyForce, ApplyTorque routines on your PhysicsEntity field, (initialized after your Entities Initialize is called) is what you should use. Our wiki also contains some sample code on this.

http://channel9.msdn.com/wiki/default.aspx/Channel9.SimulationInfo

The visualEntity class should be available in the VisualStudio documentation, if you have installed our help files.

thanx

g





Re: Microsoft Robotics - Simulation Underwater Simulation

Eric Fritzinger

I found the functions by just browsing through intellisense in the MS VS IDE. That's about it really.

If you want to make your own VisualEntity object that can be inserted into the world, I posted a bare-bones example of a custom entity in "Developing new simulated robot entity".

Good luck! =)


Edit: edited to put the link in there.




Re: Microsoft Robotics - Simulation Underwater Simulation

Don

Thank you for the advice. That example by Eric is quite helpful and I definitely think this is now possible.

I cannot however find any of those classes or namespaces in my visual studio documentation. I was under the impression that I had installed everything possible to install regarding MSRS. Could you please tell me where I can download the help files

THanks,

Don





Re: Microsoft Robotics - Simulation Underwater Simulation

jprevost

Were you ever sucessful in finding an anwer to this question I am in a project at our university and have the exact same challenge.

Thanks,

Jeff





Re: Microsoft Robotics - Simulation Underwater Simulation

jprevost

Kyle,

It seems the underwater theme is growing more common. Do you know if someone has sucessfully implemented an underwater simulation If so, what resources could you point me to

Thanks,

Jeff