From mboxrd@z Thu Jan 1 00:00:00 1970 X-Spam-Checker-Version: SpamAssassin 3.4.5-pre1 (2020-06-20) on ip-172-31-74-118.ec2.internal X-Spam-Level: X-Spam-Status: No, score=-1.9 required=3.0 tests=BAYES_00,MSGID_SHORT autolearn=no autolearn_force=no version=3.4.5-pre1 Date: 24 Sep 91 11:29:21 GMT From: ajpo!wellerd@sei.cmu.edu (David Weller) Subject: Request for robotic simulation assistance Message-ID: <802@ajpo.sei.cmu.edu> List-Id: Real-time simulation of robotics requires contact detection to perform dextrous "pick and place" operations. In order to avoid visual image pass-through of objects, this "detection of contact" must be considered before the presented image is updated. Ada and OOD concepts are being used to accomplish the actual implementation of this task. Polyhedrons are classified as either moving or static and compared to determine if contact has occurred. Our algorithm is two-stage: Possible collisions are determined by sphere-to- sphere checking in the base coordinate frame, then edge-to-face checking reveals the point(s) of contact, if it exists. Is there a more convenient form for collision detection between objects in a graphical environment? Additionally, our approach rests heavily on sequential forms -- there is no tasking in our simple model. Is it prudent to build a graphical simulation of objects as "tasks", particularly when real-time detection of collision (or collision avoidance) amongst all objects is important? There is also the outside chance that our simulation will work in a distributed environment -- will this impact design decisions? (We're not asking you to do grunt work for us, we're just trying to eliminate "deja vu" -- if somebody's already done this in Ada from an OO mindset, we'd like to talk just to avoid mistakes and pitfalls) All replies gratefully received, public or private. Flames are not classified as replies -- please send to /dev/null AdvTHANKSance. D. Weller ---------------------------------------------------------------------- Mandatory .sig to eat bandwidth: "Even barbarians like chocolate-chip cookies" ----------------------------------------------------------------------