RoboCup Simulator

64 bit

• perform the following actions to be able to compile for a 64bit system

1. sudo dpkg -i --force-architecture libphysx-*
2. sudo aptitude install libc6-dev-i386
3. sudo aptitude install g++-multilib
4. sudo aptitude install ia32-libs
5. if you don't have a libQtOpenGL library in /usr/lib32, get it from a 32bit deb
6. make symbolic links to libraries in /usr/lib32
   • ln -s libQtOpenGL.so.4 libQtOpenGL.so
   • ln -s libQtCore.so.4 libQtCore.so
   • ln -s libQtGui.so.4 libQtGui.so
   • ln -s libQtXml.so.4 libQtXml.so
   • ln -s libQtNetwork.so.4 libQtNetwork.so
   • ln -s libGLU.so.1 libGLU.so
   • ln -s libGL.so.1 libGL.so
   • ln -s libXext.so.6 libXext.so
   • ln -s libX11.so.6 libX11.so

Links

PhysX Documentation

Running the Simulator

1. Build components
   • soccer
   • SoccSim
2. Run System
   1. Execute "/SoccSim/bin/soccsim" - This will start the simulation engine, with a 3D wireframe view of the field and robots.
   2. Execute "/soccer/bin/soccer <-y|-b> -c ../config/sim.xml" - This starts the soccer control system, with your choice of yellow (-y) or blue (-b) teams, as well as a configuration file.