CoppeliaSim 传送带系统脚本 - 随机生成物品并控制运动

function sysCall_init() 
    sensor=sim.getObjectHandle('conveyorBelt_sensor')
    pathHandle=sim.getObjectHandle('Path')
    forwarder=sim.getObjectHandle('conveyorForwarder')
    sim.setPathTargetNominalVelocity(pathHandle,0) -- for backward compatibility
    tick=0
    counter=1
    cubicSize={0.05,0.05,0.05}
    cubicSize_s={0.05,0.04,0.05}
    cubicWeight=0.2
    shapeType_Cubic=0
    red={1.00,0.29,0.21}
    green={0.28,1,0.21}
    math.randomseed(tostring(os.time()):reverse():sub(1, 7))
    greenBigCounter=18
    greenSmallCounter=9
    redBigCounter=18
    redSmallCounter=9
    smallCounter=18
    bigCounter=36
    totalCounter=bigCounter+smallCounter
    poseMatrix=sim.getObjectMatrix(forwarder,-1)
    poseMatrix[4]=poseMatrix[4]+0.4
    poseMatrix[12]=poseMatrix[12]+0.15
    
end

function sysCall_cleanup() 
 
end 

function sysCall_actuation() 
    beltVelocity=sim.getScriptSimulationParameter(sim.handle_self,"conveyorBeltVelocity")
    ss=sim.readProximitySensor(sensor)
    --sim.addStatusbarMessage(string.format("ss=%f",ss))
    if sim.readProximitySensor(sensor)>0 or sim.getIntegerSignal('getdata')==1 then
        beltVelocity=0
    end
    local dt=sim.getSimulationTimeStep()
    local pos=sim.getPathPosition(pathHandle)
    pos=pos+beltVelocity*dt
    sim.setPathPosition(pathHandle,pos) -- update the path's intrinsic position
    
    
    -- Here we "fake" the transportation pads with a single static rectangle that we dynamically reset
    -- at each simulation pass (while not forgetting to set its initial velocity vector) :
    
    local relativeLinearVelocity={-beltVelocity,0,0}
    -- Reset the dynamic rectangle from the simulation (it will be removed and added again)
    sim.resetDynamicObject(forwarder)
    -- Compute the absolute velocity vector:
    local m=sim.getObjectMatrix(forwarder,-1)
    m[4]=0 -- Make sure the translation component is discarded
    m[8]=0 -- Make sure the translation component is discarded
    m[12]=0 -- Make sure the translation component is discarded
    local absoluteLinearVelocity=sim.multiplyVector(m,relativeLinearVelocity)
    -- Now set the initial velocity of the dynamic rectangle:
    sim.setObjectFloatParameter(forwarder,sim.shapefloatparam_init_velocity_x,absoluteLinearVelocity[1])
    sim.setObjectFloatParameter(forwarder,sim.shapefloatparam_init_velocity_y,absoluteLinearVelocity[2])
    sim.setObjectFloatParameter(forwarder,sim.shapefloatparam_init_velocity_z,absoluteLinearVelocity[3])
    tick=tick+1
    cubicHandles={}
    if (tick%4==0)and(totalCounter>0)and(beltVelocity>0) then
        if(math.random(bigCounter+smallCounter)<=smallCounter) then
            cubicHandles[counter]=sim.createPureShape(shapeType_Cubic,14,cubicSize_s,cubicWeight,nil)
            smallCounter=smallCounter-1
            if(math.random(redSmallCounter+greenSmallCounter)<=redSmallCounter) then
                sim.setShapeColor(cubicHandles[counter],nil,sim.colorcomponent_ambient_diffuse,red)
                redSmallCounter=redSmallCounter-1
            else
                sim.setShapeColor(cubicHandles[counter],nil,sim.colorcomponent_ambient_diffuse,green)
                greenSmallCounter=greenSmallCounter-1
            end
        else
            cubicHandles[counter]=sim.createPureShape(shapeType_Cubic,14,cubicSize,cubicWeight,nil)
            bigCounter=bigCounter-1
            if(math.random(redBigCounter+greenBigCounter)<=redBigCounter) then
                sim.setShapeColor(cubicHandles[counter],nil,sim.colorcomponent_ambient_diffuse,red)
                redBigCounter=redBigCounter-1
            else
                sim.setShapeColor(cubicHandles[counter],nil,sim.colorcomponent_ambient_diffuse,green)
                greenBigCounter=greenBigCounter-1
            end
        end
        --sim.setObjectSpecialProperty(cubicHandles[counter],sim.objectspecialproperty_renderable )
        sim.setObjectSpecialProperty(cubicHandles[counter],(sim.objectspecialproperty_detectable_all+sim.objectspecialproperty_renderable))
        totalCounter=totalCounter-1
        --sim.addStatusbarMessage(string.format("x=%f,y=%f,z=%f",poseMatrix[4],poseMatrix[8],poseMatrix[12]))
        local CubicMatrix=poseMatrix
        CubicMatrix[8]=poseMatrix[8]+0.05*math.random()-0.03
        --CubicMatrix[8]=poseMatrix[8]+0.02*math.random()-0.01
        if(CubicMatrix[8]>-2.0000e-01) then
            CubicMatrix[8] = -2.0000e-01
        end
        if(CubicMatrix[8]<-3.0000e-01) then
            CubicMatrix[8] = -3.0000e-01
        end
        sim.setObjectMatrix(cubicHandles[counter],-1,poseMatrix)
        counter=counter+1
    end
end 

功能说明:

该脚本主要实现了一个传送带系统，包括以下功能：

1. 获取传送带的速度参数，并根据该参数控制传送带的运动。
2. 在传送带上随机生成不同大小、不同颜色的立方体物体，模拟物品在传送带上的运动。
3. 使用传感器检测是否有物品到达传送带的末端，如果有则停止传送带的运动。
4. 在物品到达末端时，将其从场景中移除。
5. 控制传送带上物品的生成速率和比例，以及不同颜色物品的数量比例。
6. 控制物品生成的位置和随机偏移量，以模拟物品在传送带上的运动轨迹。
7. 使用动态物体模拟传送带上的运动，以及动态重置物体的位置和速度。

总的来说，该脚本实现了比较完整的传送带系统，并且可以通过参数控制不同的生成速率和比例，具有一定的灵活性和可定制性。