Prototype Manifest Infrared Detector MSRS Visual Simulation Environment VSE VSE VSE

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1 4 Microsoft Robotics Studio MSRS 3D 2 Visual Programming Language VPL VPL Decentralized Software Services DSS 2 Partner Service MSRS DSS Microsoft Robotics Studio 81

2 Prototype Manifest Infrared Detector MSRS Visual Simulation Environment VSE VSE VSE

3 4 4-1 VSE Pixel Vertex Shaders vertex shader VS_2_0 pixel shader PS_2_0 DirectX version 9 MSRS VSE Basic Simulation Environment Help About Microsoft Visual Simulation Environment 4-2 Tip MSRS com/wiki/default.aspx/channel9.simulationfaq VSE Microsoft Robotics Studio 83

4 4-2 About Microsoft Visual Simulation Environment MSRS VSE MSRS VSE DirectX 9 Help About Microsoft Visual Simulation Environment AGEIA PhysX Card MSRS AGEIA PhysX AGEIA PhysX MSRS AGEIA AGEIA PhysX 299 Radio Shack Fry s Electronics TigerDirect.com

5 4 Tip PhysX No physics hardware present, using software physics. AGEIA AGEIA PhysX Windows Vista AGEIA PhysX AGEIA PhysX Card PhysX VSE Frames per second FPS VSE FPS 58 Note LCD 59 CRT 60 Basic Simulation Environment MSRS FPS 58FPS FPS View Status Bar Simulation Environment with Terrain FPS Microsoft Robotics Studio 85

6 FPS Simulation Environment with Terrain 4-3 Render 4-3 MSRS Simulation Environment with Terrain Render No Rendering Simple Dashboard Log Messages 86 DssNode Manifest VSE 2 Manifest Manifest Partner

7 4 <Partner> <Contract> simulationengine.html </Contract> <Service>IRobot.Create.Simulation.xml</Service> <Name>StateService</Name> </Partner> Tip DSS DssInfo Microsoft Robotics Studio Command Prompt MSRS, version 1.5 DssInfo C:\Microsoft Robotics Studio 1.5 \bin\simulationengine.proxy.dll PortSet Microsoft Robotics Studio Run Dss Node Simulation Engine Service MSRS Microsoft Robotics Studio Visual Simulation Environment VSE MSRS MSRS 1.5 Basic simulation environment VSE \samples\ SimulationTutorials\Tutorial1 Tutorial1 IRobot Create simulation irobot Create Manifest irobot.create.simulation. Manifest.xml SimpleDashboard.Manifest.xml MSRS Simple Dashboard \samples\misc\simpledashboard Simple Dashboard Microsoft Robotics Studio 87

8 KUKA LBR3 Arm simulation Tutorial 4 KUKA LBR3 Simple Dashboard \samples\simulationtutorial4 KUKA LBR3 Arm Tip KUKA educational_framework/ KUKA KUKA LEGO NXT Tribot simulation LEGO NXT Tribot \samples\ SimulationTutorials\Tutorial6 MSRS1.5 aspx Multiple simulated robots Tutorial 2 Pioneer 3DX LEGO NXT Tribot Simple Dashboard Drive Services \samples\simulationtutorials\tutorial2 Pioneer 3DX simulation Pioneer 3DX Pioneer 3DX Simple Dashboard Simulation environment with terrain Pioneer 3DX 88

9 4 Mesh Mesh Object File \samples\ SimulationTutorials\Tutorial5 Note MSRS \samples\simulation- Tutorials Tutorials Tutorials MSRS Help MSRS DssNode Manifest VSE VSE 3D Tip MSRS Visual Studio Solution File MSRS Strong Name Signing Microsoft Robotics Studio 1.5 Visual Simulation Environment Properties Manifest irobot Create simulation Manifest IRobot.Create.Simulation.Manifest.xml SimpleDashboard.manifest.xml Visual Studio Simple Dashboard MSRS Simple Dashboard Windows 4-4 DSS Microsoft Robotics Studio 89

10 Simple Dashboard Dashboard MSRS Dashboard 4-4 Simple Dashboard MSRS Miscellaneous Windows Tip Dashboard Dashboard VSE Dashboard DSS Dashboard Machine localhost Connect Service Directory Manifest Simulated Differential Drive Service irobot Create Pioneer 3DX Available Services Drive Service 90

11 4 Drive Tip Xbox 360 MSRS XInput Controller Service KUKA LBR3 Available Services Simulated LBR3 Arm Service Simple Dashboard KUKA LBR3 simulation Pioneer 3DX Simple Dashboard Log Log File MSRS Store XML DSS Note 0 Bytes Simple Dashboard MSRS Simple Dashboard Ben Axelrod Coroware Simple Dashboard Microsoft Robotics Studio 91

12 MSRS 4-5 Ben Axelrod Simple Dashboard Ben Axelrod Ben Axelrod 4-6 LEGO Mindstorms system 27 Axelrod 4-6 Ben Axelrod Coroware LEGO Mindstorms Novice Hall of Fame inventions/default.asp Microsoft, Iguana Robotics Inc. Coroware 92

13 Syracuse University Georgia Institute of Technology Axelrod LEGO Hall of Fame Axelrod Illinois Axelrod benaxelrod.com/robotvideo/index.html Simple Dashboard Localhost Value Direct Input Device Direct Input Device Dashboard Dashboard Dashboard MSRS \samples\misc SimpleDashboard SimpleDashboard Visual Studio Simple Dashboard Dashboard Microsoft Robotics Studio 93

14 Note SickLRF Visual Studio Simple- Dashboard VSE DSS 4-7 Render Exposure 0 Antialiasing Rotation Movement Scale 1 Translation Movement Scale Rotation Movement Scale Quality Level VSE VSE 94

15 4 4-7 Physics 9.81 MSRS Microsoft DirectX SDK Microsoft XNA Framework AGEIA PhysX SDK 3D 3D X Y Z MSRS Z 4-8 X Y Z Microsoft Robotics Studio 95

16 Y X Z 4-8 Z Y T i p Trevor Taylor MazeSimulator.htm Taylor Queensland University of Technology MSRS MSRS edu.au/~taylort2/msrs/ Entity Pioneer 3DX 96

17 第4章模擬如果希望看見加入大量物件在模擬中所造成的影響使用者可以利用任一個模擬教學課程及Web瀏覽器來快速的加入桌子物件至模擬中使用者可以執行Visual Simulation Environment資料夾中的Simulation Tutorial 2 當第一次執行此模擬一張桌子及兩台機器人將顯示於模擬場景中而當模擬執行中請打開Web瀏覽器且輸入下列網址 simulationtutorial2 Web瀏覽器將以XML的形式顯示模擬的狀態 State 而狀態將包含表示桌子張數的變數如果使用者持續點擊Web瀏覽器的重新整理按鈕此數值將會逐一增加而桌子將會從空中落下至模擬場景內見圖4-9 而當額外的實體加入模擬中其會造成模擬速度變慢且變成較低的FPS來呈現所以使用者必須試著減少模擬中實體的數目 MSRS包含許多實體類型參考表4-2所列出的實體類型清單讓使用者可以建造所需的實體但有一例外 MSRS不支援機器人硬體設備及複雜的障礙物 Tip VSE預設為不顯示狀態列如果想看見FPS設定使用者需要點擊功能表上的 View 且選擇 Status Bar 即使模擬場景中沒有什麼改變 FPS設定也會持續改變這是因為使用者監視器的更新速率及CPU可用資源所造成的狀態列也將會顯示模擬時間攝影機位置及焦點圖4-9 利用Web瀏覽器添加許多桌子物件於Simulation Tutorial 2中所造成的影響 Microsoft Robotics Studio程式開發 97

Microsoft Word - VRP物理引擎应用.doc

Microsoft Word - VRP物理引擎应用.doc 物理引擎介绍什么是物理引擎物理引擎和 3D 图形引擎是两个截然不同的引擎, 但是它们两者又有着密不可分的联系, 一起创造了虚拟现实的世界在虚拟现实世界中, 人们的需求已经从观看离线渲染的 3D 动画片的方式过渡到了使用实