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
--]]