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3.Basketball machine by (MTB_Robot)

使用老師的ik程式，使Mtb_robot放球到最終的位置(x=1.002,y=0)

但是把MTB_robot放到籃球機的場景裡，不能直接在程式裡打ik(1.002,0)，因為MTB_robot沒有在座標原點上，所以要減掉MTB_robot的座標(0.7496,-2.3502)，得出(0.2506,2.3502)，才會移動到正確的座標。

操作說明

鍵盤操作

conveyorBelt 程式:

function sysCall_init() 
    pathHandle=sim.getObjectHandle("Path")
    forwarder=sim.getObjectHandle('conveyorForwarder')
    sim.setPathTargetNominalVelocity(pathHandle,0) -- for backward compatibility
end

function sysCall_cleanup() 
 
end 

function sysCall_actuation() 
    beltVelocity=sim.getScriptSimulationParameter(sim.handle_self,"conveyorBeltVelocity")
    local dt=sim.getSimulationTimeStep()
    local pos=sim.getPathPosition(pathHandle)
    pos=pos+beltVelocity*dt*10
    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])
end

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