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mink3d | ||||||||||
Download player |
mink3d is an interactive program with extensive 3D graphics that
simulates and demonstrates 3D collition detection.
The program opens a window divided into four quadrants. The bottom left
is the work space. It contains two polytopes; a robot and an
obstacle. You can select the robot or the obstacle by moving the
cursor and placing it above the robot or the obstacle respectively. Once
a polytope is selected, it can translated by clicking the right and left
mouse buttons simultaneously and moving the cursor while the buttons are
pressed, or it can be rotated by clicking the left mouse and moving the
cursor horizontaly while the button is pressed. The bootom right quadrant is
the auxiliary space it shows the reflected robot and the obstacle. The
top left quadrant is the configuration space. It shows the origin
and the Minkowski sum of the reflected robot and the obstacle. The top right
quadrant shows the folded unit-cube of the cubical Gaussian map. The blue
segments originate from the robot and the red segments originate from the
obstacle.
Type the command below to run the program.
-h print this help message -d <directory> add <directory> to search list -v <level> set verbose level -m toggle the Minkowski operands between the robot and the reflected robot. Default is reflected robot. <model> is the name of a file in VRML format that must contain two Shape nodes that represent the robot and the obstacle. The Geometry node of the Shape node that represents the robot must be named "robot", and similarly the Geometry node of the Shape node that represents the obstacle must be named "obstacle", see list of input files. Naturally, all these input files are valid inputs for the player as well. The input files available for download contain ROUTE statements that enable the toggling of the boolean state of the fields of the robot, the obstacle, and their Minkowski sum CubicalGaussianMap nodes. The table below describes the mapping between the keys and the fields they control used as a convention in all input files.
Last modified: December 30 2004. |