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| Figure 1. Box contact sensor. |
Contact sensors are body parts that can detect when any other part in the simulation intersects the volume of space. This means it can tell you if there
was a contact, but it can not give you any information about the magnitude of the contact force or where it
occurred. It is a binary sensor. All you know is that
something in the environment intersected with it. Contact sensors do not take participate in the dynamics of the simulation. They have no mass or density so they will
not effect the mass distributions of your biomechanical organism. An example of how to use this part is adding it to the surface of a leg in such a way that it extends slightly further
than the leg itself. When the leg reaches the ground the contact sensor will touch the ground just before the leg itself. Since the sensor does not deal with collisions it
will go through the ground and the leg will stop when the leg itself hits the surface. However, the sensor will be intersecting the ground so it will generate a signal that
it has contacted something.
You can use contact sensors as sensory input into your neural network control systems. As I mentioned they are binary, so when they are not contacting a surface they will
generate a signal of 0. When they are containing some surface the input value will be the number of surfaces it is contacting. So one way you could detect contacts using this
part is to draw a connection from the part to a neuron, and then configure your adapter using a linear gain with a slope of 10 nA. Then when a contact happens 10 nA will be injected
into your neuron causing it to depolarize and fire. This could let the network know that this sensor has detected a contact.
General Properties
To see a description of the properties common to all bodies follow
this link.
Note: Box Contact Sensor does not have the following common properties:
Density
Odor Sources
Food Source
Box Contact Sensor Properties
These properties are specific to box contact sensor only.
The height of the box contact sensor. This value can be directly entered by the user or they can
use the mouse by clicking on the appropriate side of the box and dragging it to
the desired height.
Default value: 10 cm
Acceptable range: any number greater than zero
The length of the box contact sensor. This value can be directly entered by the user
or they can use the mouse by clicking on the appropriate side of the box and
dragging it to the desired length.
Default value: 10 cm
Acceptable range: any number greater than zero
The width of the box contact sensor. This value can be directly entered by the user or
they can use the mouse by clicking on the appropriate side of the box and
dragging it to the desired width.
Default value: 10 cm
Acceptable range: any number greater than zero
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