Dummy's problems of following an open path

[anteto]

HELLO!

I created an open path and added a dummy to make the dummy move along the path. I found that the dummy does not stop after moving from the start of the path to the end of the path. Instead, it returns to the starting point and repeats the previous movement. May I ask How can we make the dummy move along the open path and stop at the end? Here is the code for dummy to follow the path, the code comes from official documents.

Code: Select all

function sysCall_init()
    objectToFollowPath=sim.getObjectHandle(sim.handle_self)
    path=sim.getObjectHandle('Path')
    pathData=sim.unpackDoubleTable(sim.readCustomDataBlock(path,'PATH'))
    local m=Matrix(#pathData//7,7,pathData)
    pathPositions=m:slice(1,1,m:rows(),3):data()
    pathQuaternions=m:slice(1,4,m:rows(),7):data()
    pathLengths,totalLength=sim.getPathLengths(pathPositions,3)
    velocity=0.02 -- m/s
    posAlongPath=0
    previousSimulationTime=0
    corout=coroutine.create(coroutineMain)
end

function sysCall_actuation()
    if coroutine.status(corout)~='dead' then
        local ok,errorMsg=coroutine.resume(corout)
        if errorMsg then
            error(debug.traceback(corout,errorMsg),2)
        end
    end
end

function coroutineMain()
    sim.setThreadAutomaticSwitch(false)
    while true do
        local t=sim.getSimulationTime()
        posAlongPath=posAlongPath+velocity*(t-previousSimulationTime)
        posAlongPath=posAlongPath % totalLength
        local pos=sim.getPathInterpolatedConfig(pathPositions,pathLengths,posAlongPath)
        local quat=sim.getPathInterpolatedConfig(pathQuaternions,pathLengths,
                                                 posAlongPath,nil,{2,2,2,2})
        sim.setObjectPosition(objectToFollowPath,path,pos)
        sim.setObjectQuaternion(objectToFollowPath,path,quat)
        previousSimulationTime=t
        sim.switchThread()
    end
end

CHEERS!

[coppelia]

Hello,

the position of the dummy along the path is held in variable posAlongPath. That variable is however made cyclic via the modulo operator:

Code: Select all

posAlongPath=posAlongPath % totalLength

So remove above line, and it won't operate in a cyclic manner anymore.

Cheers

[anteto]

hello！

thanks！you guys are really helpful！

cheers！