Abstract
A generic robot modelling and simulation platform - BITBot is developed with a multi-view WYSWYG (What you see what you get) visual interface to prototype, manipulate and display high quality and high speed rendered 3D images of robots and environment. A uniform scene graph management system is provided by encapsulating both OpenGL and Direct3D graphic rendering libraries. The open, scalable and modular-designed frame structure makes it possible and practical for more robot simulation functions to be plugged in as special modules. Modules communicate with each other through a message mechanism based event handling system. The platform is an object-oriented implementation and OMS (object management system) is designed to manage all the objects in the platform. The 3D bodies or parts of robots can be modelled, modified, imported and exported independent of the intelligence; this enables flexible robot simulation, multi-chained robot and even multi-robot together with environment simulation.
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