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class Zerg extends SkidSteeredRobot config(USARBot); defaultproperties { //---Wheel information. Since the Zerg has four wheels, we have four of these definitions // The next four definitions will create a 4-wheel skid steer Zerg where all the wheels are locked (cannot be steered) // Number=0 indicates that this wheel is the first JointPart defined in USARBot.ini (ORDER MATTERS!) // Power=Left_Powered tells USARSim to spin this wheel using the left throttle // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked) Wheels(0)=(Number=0,PowerType=Left_Powered); // Number=1 indicates that this wheel is the second JointPart defined in USARBot.ini (ORDER MATTERS!) // Power=Right_Powered tells USARSim to spin this wheel using the right throttle // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked) Wheels(1)=(Number=1,PowerType=Right_Powered); // Number=2 indicates that this wheel is the third JointPart defined in USARBot.ini (ORDER MATTERS!) // Power=Left_Powered tells USARSim to spin this wheel using the left throttle // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked) Wheels(2)=(Number=2,PowerType=Left_Powered); // Number=3 indicates that this wheel is the fourth JointPart defined in USARBot.ini (ORDER MATTERS!) // Power=Right_Powered tells USARSim to spin this wheel using the right throttle // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked) Wheels(3)=(Number=3,PowerType=Right_Powered); //--- //--Other Robot's Properties StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.Zerg.ZergBody' DrawScale=4.762 DrawScale3D=(X=1.0,Y=1.0,Z=1.0) AmbientGlow=128 // Configuration Parameters. Note: these variables need to be correspond to your robot's model. WheelRadius=0.0606 // Wheel Radius, in unreal units. Note: Value is in meters Dimensions=(X=0.3112,Y=0.4154,Z=0.1211) // X=Length=0.3112m, Y=Width=0.4154m, Z=Height=0.1211m maxSpinSpeed=6.2832 // Maximum wheel's spin speed is 6.2832 rad/sec = 360 deg/sec Begin Object Class=KarmaParamsRBFull Name=KParams0 KInertiaTensor(0)=0.010000 KInertiaTensor(3)=0.02000 KInertiaTensor(5)=0.03000 KCOMOffset=(X=0.000000,Z=0.000000) KLinearDamping=0.500000 KAngularDamping=50.00000 KStartEnabled=True bHighDetailOnly=False bClientOnly=False bKDoubleTickRate=True KFriction=1.600000 Name="KParams0" End Object KParams=KarmaParamsRBFull'USARBot.Zerg.KParams0' //-- } |
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