ruisebastiao · May 21, 2019 13:37
diff --git a/vrep-customscript-1 b/vrep-customscript-1
 -- This is a customization script. It is intended to be used to customize a scene in
 -- various ways, mainly when simulation is not running. When simulation is running,
 -- do not use customization scripts, but rather child scripts if possible

 -- if you wish to execute code contained in an external file instead,
 -- use the require-directive, e.g.:
 --
 -- require 'myExternalFile'
 --
 -- Above will look for <V-REP executable path>/myExternalFile.lua or
 -- <V-REP executable path>/lua/myExternalFile.lua
 -- (the file can be opened in this editor with the popup menu over
 -- the file name)

 get_shapes=function(baseObject,shapetype)

 index=0
 shapeHandle=sim.getObjects(index,shapetype)
 shapeHandles = {}    
 count=0

 while shapeHandle ~= -1
 do
    parentHandle=sim.getObjectParent(shapeHandle)
 --   if parentHandle ~= -1 and string.find(sim.getObjectName(shapeHandle), "node") then
   --     childshape=sim.getObjectChild(shapeHandle,0)
 --       if childshape >=0 then
   --         shapeHandles[count]=shapeHandle
     --       count=count+1
     --   end
   -- end

    if parentHandle ~= -1 and parentHandle==baseObject then
        --childshape=sim.getObjectChild(shapeHandle,0)
        --if childshape >=0 then
            shapeHandles[count]=shapeHandle
            count=count+1
       -- end
    end


    shapeHandle=sim.getObjects(index,shapetype)
        
    index=index+1
    
   
 end
 return shapeHandles,count
 end


 make_convex=function()

 sim.addStatusbarMessage('Making convex')

 index=0
 shapeHandle=sim.getObjects(index,sim.object_shape_type)
 shapeHandles = {}    
 count=0

 while shapeHandle ~= -1
 do
    parentHandle=sim.getObjectParent(shapeHandle)
    if parentHandle ~= -1 and sim.getObjectName(parentHandle)=='pipete_convoyer' then
        if sim.getObjectChild(shapeHandle,0)<0 then
            shapeHandles[count]=shapeHandle
            count=count+1
        end
    end


    shapeHandle=sim.getObjects(index,sim.object_shape_type)
        
    index=index+1
    
 end

 sim.addStatusbarMessage('shapes count: '..count)

 for i=0,count-1 do
    shape=shapeHandles[i]
    name=sim.getObjectName(shape)
    sim.addStatusbarMessage('processing shape: '..name)
    object = sim.convexDecompose(shape, 8+16, 
    {100,3000, 3000, 0, 0, 100000, 20, 4, 4, 64},
    {1, 3, 0.5, 0.0, 0.0, 0.0025, 0.05, 0.05, 0.00125, 0.0001})
    sim.setObjectParent(object,shape,true)
    sim.setObjectInt32Parameter(object,10,1)
 end

 end

 function firstToUpper(str)
    return (str:gsub("^%l", string.upper))
 end

 set_convoyer_dummies=function()

    sim.addStatusbarMessage('Setting convoyer dummies')

    shapeHandles,count=get_shapes(sim.getObjectHandle("pipetePath"),sim.object_shape_type)
    path=sim.getObjectHandle('pipetePath')


    


    for i=0,count-1 do
        node=shapeHandles[i]
        nodename=sim.getObjectName(node)
        
        dummyname='dummy'..nodename
    

        sim.addStatusbarMessage('processing node: '..nodename)

        local savedState=sim.getInt32Parameter(sim.intparam_error_report_mode)
        sim.setInt32Parameter(sim.intparam_error_report_mode,0)

        dummynode=sim.getObjectHandle(dummyname)
        sim.addStatusbarMessage('dummynode: '..dummynode)
        sim.setInt32Parameter(sim.intparam_error_report_mode,savedState)
        if dummynode<0 and false then
            sim.addStatusbarMessage('creating dummy: '..dummyname)
            dummynode=sim.createDummy(0.001)
            sim.setObjectName(dummynode,dummyname)
        
            sim.setObjectParent(dummynode,path,true)
                            
            nodepos=sim.getObjectPosition(node,path)

    
            nodeclosestpos=sim.getClosestPositionOnPath(path,nodepos)
    

            sim.addStatusbarMessage('shapeclosepos: '..nodeclosestpos)

            nodeposonpath=sim.getPositionOnPath(path,nodeclosestpos)
            nodecloseorient=sim.getOrientationOnPath(path,nodeclosestpos)

            sim.setObjectPosition(dummynode,-1,nodeposonpath)
            sim.setObjectOrientation(dummynode,-1,nodecloseorient)


            sim.setObjectParent(node,dummynode,true)
        else
         sim.setObjectInt32Parameter(dummynode,10,0)

        end

  --      
    --    if dummyShape>-1 then
      --      sim.addStatusbarMessage('processing shape: '..name)
            --shapepos=sim.getObjectPosition(shape,-1)
            --sim.setObjectPosition(dummy,-1,shapepos)
        --    sim.removeObject(dummyShape)
            
       -- end

        --local extracted = string.match(name, "node(.*)")       

        --local nodenumber = tonumber(extracted)

       -- if nodenumber>170 then
        --    sim.addStatusbarMessage('processing shape: '..name)
      --      sim.setObjectInt32Parameter(shape,10,1)
      --  end
    --sim.setObjectSpecialProperty(shape,0)
    --sim.setObjectParent(shape,pipetePath,true)
   
   

    

   -- dummy=sim.createDummy(0.001)
   -- sim.setObjectName(dummy,'dummyNode'..extracted)


   -- sim.setObjectParent(dummy,path,true)


 --    nodepos=sim.getObjectPosition(node,-1)
  --  sim.setObjectPosition(dummy,-1,nodepos)
    
    end

  


 end

 show_by_filter=function()

 end

 filter_by_parents=function()


 sim.addStatusbarMessage('Setting physics')
 -- Put some initialization code here:
 sim.setThreadSwitchTiming(2) -- Default timing for automatic thread switching


 index=0
 shapeHandle=sim.getObjects(index,sim.object_shape_type)
 shapeHandles = {}    
 count=0

 while shapeHandle ~= -1
 do
    parentHandle=sim.getObjectParent(shapeHandle)
    if parentHandle ~= -1 and string.find(sim.getObjectName(shapeHandle), "node") then
        childshape=sim.getObjectChild(shapeHandle,0)
        if childshape >=0 then
            shapeHandles[count]=shapeHandle
            count=count+1
        end
    end


    shapeHandle=sim.getObjects(index,sim.object_shape_type)
        
    index=index+1
    
 end

 sim.addStatusbarMessage('child shapes count: '..count)

 pipetePath=sim.getObjectHandle("pipetePath")



 for i=0,count-1 do
    shape=shapeHandles[i]
    name=sim.getObjectName(shape)
    sim.addStatusbarMessage('processing shape: '..name)


    --sim.setObjectSpecialProperty(shape,0)
    --sim.setObjectParent(shape,pipetePath,true)
   
 end




 end

 show_hide_nodes=function()

 shapeHandles,count=get_shapes(sim.getObjectHandle("pipetePath"),sim.handle_all)
    sim.addStatusbarMessage('shapes: '..count)
    for i=0,count-1 do
        shape=shapeHandles[i]
        name=sim.getObjectName(shape)
    
    --    local extracted = string.match(name, "node(.*)")

        

      --  local nodenumber = tonumber(extracted)

      --  if nodenumber>170 then
            sim.addStatusbarMessage('processing shape: '..name)
            sim.setObjectInt32Parameter(shape,10,0)
        --end
    --sim.setObjectSpecialProperty(shape,0)
    --sim.setObjectParent(shape,pipetePath,true)
   
    end
 end


 function sysCall_init()
    -- do some initialization here
        
 end

 function sysCall_nonSimulation()
    -- is executed when simulation is not running
 end

 function sysCall_cleanup()
    -- do some clean-up here
 end

 function sysCall_beforeSimulation()

    set_convoyer_dummies()  
    --show_hide_nodes()

 end
 -- You can define additional system calls here:
 --[[
 function sysCall_beforeSimulation()
 end

 function sysCall_actuation()
 end

 function sysCall_sensing()
 end

 function sysCall_suspend()
 end

 function sysCall_suspended()
 end

 function sysCall_resume()
 end

 function sysCall_afterSimulation()
 end

 function sysCall_beforeInstanceSwitch()
 end

 function sysCall_afterInstanceSwitch()
 end

 function sysCall_dynCallback(inData)
 end

 function sysCall_jointCallback(inData)
    return outData
 end

 function sysCall_contactCallback(inData)
    return outData
 end

 function sysCall_beforeCopy(inData)
    for key,value in pairs(inData.objectHandles) do
        print("Object with handle "..key.." will be copied")
    end
 end

 function sysCall_afterCopy(inData)
    for key,value in pairs(inData.objectHandles) do
        print("Object with handle "..key.." was copied")
    end
 end

 function sysCall_beforeDelete(inData)
    for key,value in pairs(inData.objectHandles) do
        print("Object with handle "..key.." will be deleted")
    end
    -- inData.allObjects indicates if all objects in the scene will be deleted
 end

 function sysCall_afterDelete(inData)
    for key,value in pairs(inData.objectHandles) do
        print("Object with handle "..key.." was deleted")
    end
    -- inData.allObjects indicates if all objects in the scene were deleted
 end

 function sysCall_afterCreate(inData)
    for i=1,#inData.objectHandles,1 do
        print("Object with handle "..inData.objectHandles[i].." was created")
    end
 end

 function sysCall_beforeMainScript()
    -- Can be used to step a simulation in a custom manner.
    local outData={doNotRunMainScript=false} -- when true, then the main script won't be executed
    return outData
 end
 --]]
	-- This is a customization script. It is intended to be used to customize a scene in
	-- various ways, mainly when simulation is not running. When simulation is running,
	-- do not use customization scripts, but rather child scripts if possible

	-- if you wish to execute code contained in an external file instead,
	-- use the require-directive, e.g.:
	--
	-- require 'myExternalFile'
	--
	-- Above will look for <V-REP executable path>/myExternalFile.lua or
	-- <V-REP executable path>/lua/myExternalFile.lua
	-- (the file can be opened in this editor with the popup menu over
	-- the file name)

	get_shapes=function(baseObject,shapetype)

	index=0
	shapeHandle=sim.getObjects(index,shapetype)
	shapeHandles = {}
	count=0

	while shapeHandle ~= -1
	do
	parentHandle=sim.getObjectParent(shapeHandle)
	-- if parentHandle ~= -1 and string.find(sim.getObjectName(shapeHandle), "node") then
	-- childshape=sim.getObjectChild(shapeHandle,0)
	-- if childshape >=0 then
	-- shapeHandles[count]=shapeHandle
	-- count=count+1
	-- end
	-- end

	if parentHandle ~= -1 and parentHandle==baseObject then
	--childshape=sim.getObjectChild(shapeHandle,0)
	--if childshape >=0 then
	shapeHandles[count]=shapeHandle
	count=count+1
	-- end
	end


	shapeHandle=sim.getObjects(index,shapetype)

	index=index+1


	end
	return shapeHandles,count
	end


	make_convex=function()

	sim.addStatusbarMessage('Making convex')

	index=0
	shapeHandle=sim.getObjects(index,sim.object_shape_type)
	shapeHandles = {}
	count=0

	while shapeHandle ~= -1
	do
	parentHandle=sim.getObjectParent(shapeHandle)
	if parentHandle ~= -1 and sim.getObjectName(parentHandle)=='pipete_convoyer' then
	if sim.getObjectChild(shapeHandle,0)<0 then
	shapeHandles[count]=shapeHandle
	count=count+1
	end
	end


	shapeHandle=sim.getObjects(index,sim.object_shape_type)

	index=index+1

	end

	sim.addStatusbarMessage('shapes count: '..count)

	for i=0,count-1 do
	shape=shapeHandles[i]
	name=sim.getObjectName(shape)
	sim.addStatusbarMessage('processing shape: '..name)
	object = sim.convexDecompose(shape, 8+16,
	{100,3000, 3000, 0, 0, 100000, 20, 4, 4, 64},
	{1, 3, 0.5, 0.0, 0.0, 0.0025, 0.05, 0.05, 0.00125, 0.0001})
	sim.setObjectParent(object,shape,true)
	sim.setObjectInt32Parameter(object,10,1)
	end

	end

	function firstToUpper(str)
	return (str:gsub("^%l", string.upper))
	end

	set_convoyer_dummies=function()

	sim.addStatusbarMessage('Setting convoyer dummies')

	shapeHandles,count=get_shapes(sim.getObjectHandle("pipetePath"),sim.object_shape_type)
	path=sim.getObjectHandle('pipetePath')





	for i=0,count-1 do
	node=shapeHandles[i]
	nodename=sim.getObjectName(node)

	dummyname='dummy'..nodename


	sim.addStatusbarMessage('processing node: '..nodename)

	local savedState=sim.getInt32Parameter(sim.intparam_error_report_mode)
	sim.setInt32Parameter(sim.intparam_error_report_mode,0)

	dummynode=sim.getObjectHandle(dummyname)
	sim.addStatusbarMessage('dummynode: '..dummynode)
	sim.setInt32Parameter(sim.intparam_error_report_mode,savedState)
	if dummynode<0 and false then
	sim.addStatusbarMessage('creating dummy: '..dummyname)
	dummynode=sim.createDummy(0.001)
	sim.setObjectName(dummynode,dummyname)

	sim.setObjectParent(dummynode,path,true)

	nodepos=sim.getObjectPosition(node,path)


	nodeclosestpos=sim.getClosestPositionOnPath(path,nodepos)


	sim.addStatusbarMessage('shapeclosepos: '..nodeclosestpos)

	nodeposonpath=sim.getPositionOnPath(path,nodeclosestpos)
	nodecloseorient=sim.getOrientationOnPath(path,nodeclosestpos)

	sim.setObjectPosition(dummynode,-1,nodeposonpath)
	sim.setObjectOrientation(dummynode,-1,nodecloseorient)


	sim.setObjectParent(node,dummynode,true)
	else
	sim.setObjectInt32Parameter(dummynode,10,0)

	end

	--
	-- if dummyShape>-1 then
	-- sim.addStatusbarMessage('processing shape: '..name)
	--shapepos=sim.getObjectPosition(shape,-1)
	--sim.setObjectPosition(dummy,-1,shapepos)
	-- sim.removeObject(dummyShape)

	-- end

	--local extracted = string.match(name, "node(.*)")

	--local nodenumber = tonumber(extracted)

	-- if nodenumber>170 then
	-- sim.addStatusbarMessage('processing shape: '..name)
	-- sim.setObjectInt32Parameter(shape,10,1)
	-- end
	--sim.setObjectSpecialProperty(shape,0)
	--sim.setObjectParent(shape,pipetePath,true)





	-- dummy=sim.createDummy(0.001)
	-- sim.setObjectName(dummy,'dummyNode'..extracted)


	-- sim.setObjectParent(dummy,path,true)


	-- nodepos=sim.getObjectPosition(node,-1)
	-- sim.setObjectPosition(dummy,-1,nodepos)

	end




	end

	show_by_filter=function()

	end

	filter_by_parents=function()


	sim.addStatusbarMessage('Setting physics')
	-- Put some initialization code here:
	sim.setThreadSwitchTiming(2) -- Default timing for automatic thread switching


	index=0
	shapeHandle=sim.getObjects(index,sim.object_shape_type)
	shapeHandles = {}
	count=0

	while shapeHandle ~= -1
	do
	parentHandle=sim.getObjectParent(shapeHandle)
	if parentHandle ~= -1 and string.find(sim.getObjectName(shapeHandle), "node") then
	childshape=sim.getObjectChild(shapeHandle,0)
	if childshape >=0 then
	shapeHandles[count]=shapeHandle
	count=count+1
	end
	end


	shapeHandle=sim.getObjects(index,sim.object_shape_type)

	index=index+1

	end

	sim.addStatusbarMessage('child shapes count: '..count)

	pipetePath=sim.getObjectHandle("pipetePath")



	for i=0,count-1 do
	shape=shapeHandles[i]
	name=sim.getObjectName(shape)
	sim.addStatusbarMessage('processing shape: '..name)


	--sim.setObjectSpecialProperty(shape,0)
	--sim.setObjectParent(shape,pipetePath,true)

	end




	end

	show_hide_nodes=function()

	shapeHandles,count=get_shapes(sim.getObjectHandle("pipetePath"),sim.handle_all)
	sim.addStatusbarMessage('shapes: '..count)
	for i=0,count-1 do
	shape=shapeHandles[i]
	name=sim.getObjectName(shape)

	-- local extracted = string.match(name, "node(.*)")



	-- local nodenumber = tonumber(extracted)

	-- if nodenumber>170 then
	sim.addStatusbarMessage('processing shape: '..name)
	sim.setObjectInt32Parameter(shape,10,0)
	--end
	--sim.setObjectSpecialProperty(shape,0)
	--sim.setObjectParent(shape,pipetePath,true)

	end
	end


	function sysCall_init()
	-- do some initialization here

	end

	function sysCall_nonSimulation()
	-- is executed when simulation is not running
	end

	function sysCall_cleanup()
	-- do some clean-up here
	end

	function sysCall_beforeSimulation()

	set_convoyer_dummies()
	--show_hide_nodes()

	end
	-- You can define additional system calls here:
	--[[
	function sysCall_beforeSimulation()
	end

	function sysCall_actuation()
	end

	function sysCall_sensing()
	end

	function sysCall_suspend()
	end

	function sysCall_suspended()
	end

	function sysCall_resume()
	end

	function sysCall_afterSimulation()
	end

	function sysCall_beforeInstanceSwitch()
	end

	function sysCall_afterInstanceSwitch()
	end

	function sysCall_dynCallback(inData)
	end

	function sysCall_jointCallback(inData)
	return outData
	end

	function sysCall_contactCallback(inData)
	return outData
	end

	function sysCall_beforeCopy(inData)
	for key,value in pairs(inData.objectHandles) do
	print("Object with handle "..key.." will be copied")
	end
	end

	function sysCall_afterCopy(inData)
	for key,value in pairs(inData.objectHandles) do
	print("Object with handle "..key.." was copied")
	end
	end

	function sysCall_beforeDelete(inData)
	for key,value in pairs(inData.objectHandles) do
	print("Object with handle "..key.." will be deleted")
	end
	-- inData.allObjects indicates if all objects in the scene will be deleted
	end

	function sysCall_afterDelete(inData)
	for key,value in pairs(inData.objectHandles) do
	print("Object with handle "..key.." was deleted")
	end
	-- inData.allObjects indicates if all objects in the scene were deleted
	end

	function sysCall_afterCreate(inData)
	for i=1,#inData.objectHandles,1 do
	print("Object with handle "..inData.objectHandles[i].." was created")
	end
	end

	function sysCall_beforeMainScript()
	-- Can be used to step a simulation in a custom manner.
	local outData={doNotRunMainScript=false} -- when true, then the main script won't be executed
	return outData
	end
	--]]