为了解决水中机器人竞赛URWPGSim2D仿真平台1.0版本中无法进行比赛场地的自适应缩放,以及不便于实时提供碰撞检测所需的实体坐标信息等问题,提出一种机器鱼仿真平台场地与动态实体的实时绘制方法.设计比赛场地与动态实体绘制的实现思路,并根据实体机器鱼的游动模型设计仿真机器鱼的外观及运动形态,使仿真平台中的场地以及所有的动态实体的大小都可根据实体机器鱼比赛场地的尺寸进行等比例缩放及显示.同时,新平台中还提供了动态实体、静态实体的实时位置信息,以便平台中其他模块的调用,并且针对碰撞检测的需要提供了各个实体边缘位置的坐标数据.实践结果证明:该方法能将实体机器鱼的比赛场景实时、逼真地表现在URWPGSim2D仿真平台2.0中.%In order to solve the problem of underwater robot contest URWPGSim2D robot simulation platform 1.0 release can not be the venue of the adaptive scaling and real-time collision detection is not easy to entities required to coordinate information and other issues, presents a simulation platform for space robotic fish with real-time dynamic entities rendering method. Designed the venue and the realization of dynamic physical rendering ideas, and design robot fish appearance and movement patterns according to the physical machine fish swimming simulation model, so that the site and to all the dynamic entity size of simulation platform can be according to the physical machine fish venue size scaling and display. At the same time, the new platform also provides a dynamic entity, a static entity, real-time location information for calls to other modules in the platform, and the need for collision detection to provide the coordinates of each edge of the data entity. Practice results show: the method can be physical machine fish game scene real-time, fidelity to appearances in URWPGSim2D simulation platform 2.
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