Including more robot models

[Mcpixel53]

Hello everyone,

I was wondering how to add a new model to Enki. I'm currently working on a simulator project for the robotics department of my university, using Enki as physics engine. A spin-off from the same university has created a robot called Robobo, and I would like to add it to the program for future simulations. In fact It would be nice to add the characterization of the sensors and actuators to the engine ( I guess there won't be a problem in case it is interesting to add it later to the main repository).

I have seen the texture map of the robots within the folder viewer, I observed that the models are defined by the "face_indicies" matrix, but I'm not sure about its structure.

I have access to different formats of the model of the Robobo, but I would rather prefer not to mess with OpenGL in the renderScene method by adding it on a different way than the one already implemented.

Could you tell me how exactly did you create the vertex matrix? Is there any converter to translate .obj or alike to that format? I guess that you didn't make every robot by hand.

Thanks in advance!

[stephanemagnenat]

The model for the viewer are not used at all in simulation. There were added using a tool, whose name I have forgotten, that translates 3D objects into CPP source. The placement of the different parts and their animations were done by hand.