From tk at edam.speech.cs.cmu.edu  Wed May  2 15:20:08 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 2 May 2007 15:20:08 -0400
Subject: [TeamTalk 41]:  [578] src: New import of modified moast code
Message-ID: <200705021920.l42JK8ID023665@edam.speech.cs.cmu.edu>

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Added: AUTHORS
===================================================================

Added: CVS/Entries
===================================================================
--- CVS/Entries	                        (rev 0)
+++ CVS/Entries	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,11 @@
+/AUTHORS/1.1.1.1/Wed Oct 12 20:50:32 2005//
+/ChangeLog/1.1.1.1/Wed Oct 12 20:50:32 2005//
+/Makefile.am/1.4/Fri Sep 22 12:54:06 2006//
+/Makefile.local/1.3/Wed Jun 21 19:38:13 2006//
+/NEWS/1.1.1.1/Wed Oct 12 20:50:32 2005//
+/README/1.2/Wed Jun 21 19:38:13 2006//
+/acinclude.m4/1.8/Mon Feb 26 16:46:55 2007//
+/bootstrap/1.3/Fri Sep  1 18:12:41 2006//
+/build/1.1/Tue Jan 10 16:09:13 2006//
+/configure.ac/1.18/Tue Feb 27 14:51:53 2007//
+D

Added: CVS/Entries.Log
===================================================================
--- CVS/Entries.Log	                        (rev 0)
+++ CVS/Entries.Log	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,7 @@
+A D/bin////
+A D/data////
+A D/doc////
+A D/etc////
+A D/include////
+A D/lib////
+A D/src////

Added: CVS/Repository
===================================================================
--- CVS/Repository	                        (rev 0)
+++ CVS/Repository	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1 @@
+devel

Added: CVS/Root
===================================================================
--- CVS/Root	                        (rev 0)
+++ CVS/Root	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1 @@
+:pserver:anonymous at moast.cvs.sourceforge.net:/cvsroot/moast

Added: ChangeLog
===================================================================

Added: Makefile.am
===================================================================
--- Makefile.am	                        (rev 0)
+++ Makefile.am	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,2 @@
+SUBDIRS = include src lib bin etc
+EXTRA_DIST = include doc 

Added: Makefile.local
===================================================================
--- Makefile.local	                        (rev 0)
+++ Makefile.local	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,30 @@
+# This gets us our local stuff, namely building the NML source, then
+# the "all" target last.
+# Leave out "doc" as a default.
+local : ini nml java swig all
+
+# this builds the INI file (for version, at least)
+ini :
+	(cd etc && $(MAKE) -f Makefile.local $@)
+
+# this builds the NML source
+nml :
+	(cd src/nml && $(MAKE) -f Makefile.local $@)
+	(cd etc && $(MAKE) -f Makefile.local $@)
+
+# this builds Java support
+java :
+	(cd src/java && $(MAKE) -f Makefile.local $@)
+
+# this builds the SWIG files
+swig :
+	(cd src/tools && $(MAKE) -f Makefile.local $@)
+
+# this builds the Doxygen documentation
+doc :
+	(cd doc && $(MAKE) -f Makefile.local $@)
+
+# this gets us the usual stuff
+include Makefile
+
+.PHONY : local ini nml swig doc

Added: NEWS
===================================================================

Added: README
===================================================================
--- README	                        (rev 0)
+++ README	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,11 @@
+
+cd /usr/local/moast/devel/include
+
+for file in `all the NML headers` ; do
+	java -jar /usr/local/rcslib/bin/CodeGenCmdLine.jar generate_for_java=true amMisJA.hh
+done
+
+javac -classpath /usr/local/rcslib/bin/rcs.jar *.java
+
+jar -cvf moast.jar *.class
+

Added: acinclude.m4
===================================================================
--- acinclude.m4	                        (rev 0)
+++ acinclude.m4	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,623 @@
+AC_DEFUN([AC_HAVE_RCSLIB],
+	[AC_MSG_CHECKING([for RCS library])]
+	RCSLIB_DIR=`echo $RCSLIB_DIR`
+	if test x$RCSLIB_DIR = x ; then
+	for dir in /usr/local/rcslib /usr/rcslib /local/rcslib ; do
+	if test -d $dir -o -L $dir ; then RCSLIB_DIR=$dir ; break ; fi
+	done
+	fi
+	if test x$RCSLIB_DIR = x ; then
+	[AC_MSG_ERROR([not found, set RCSLIB_DIR environment variable and try again])]
+	else
+	[AC_MSG_RESULT([$RCSLIB_DIR])]
+dnl put HAVE_RCSLIB in config.h
+	[AC_DEFINE(HAVE_RCSLIB,
+		1, [Define non-zero if you have the RCS Library.])]
+dnl add needed libraries
+	[AC_CHECK_LIB(socket, main)]
+	[AC_CHECK_LIB(wsock32, main)]
+	[AC_CHECK_LIB(rt, main)]
+	[AC_CHECK_LIB(posix4, main)]
+	[AC_CHECK_LIB(nsl, main)]
+dnl put RCSLIB_DIR in Makefile
+	[AC_SUBST(RCSLIB_DIR)]
+dnl put RCSLIB_DIR into variable file for use by shell scripts
+	echo RCSLIB_DIR=$RCSLIB_DIR > rcslib_dir
+	fi
+	)
+
+AC_DEFUN([AC_HAVE_MYSQL],
+# look for <mysql/mysql.h>, but define HAVE_MYSQL_H instead of
+# HAVE_MYSQL_MYSQL_H, since code will include <mysql.h> and CFLAGS will
+# specify something like -I/usr/include/mysql
+	[AC_CHECK_HEADER([mysql/mysql.h], [AC_DEFINE(HAVE_MYSQL_H, 1, Define to 1 if you have the <mysql.h> header file.)] mysql=true, mysql=false)]
+	[AM_CONDITIONAL(HAVE_MYSQL_H, test x$mysql = xtrue)]
+# check for mysql_config, which if it exists will return CFLAGS and LIBS
+	[AC_CHECK_PROGS(MYSQL_CONFIG, mysql_config)]
+	[AM_CONDITIONAL(HAVE_MYSQL, test x$MYSQL_CONFIG != x)]
+	if test x$MYSQL_CONFIG = x ; then
+		MYSQL_CFLAGS=""
+		MYSQL_LIBS=""
+	else
+		MYSQL_CFLAGS=`mysql_config --cflags`
+		MYSQL_LIBS=`mysql_config --libs`
+	fi
+	[AC_SUBST(MYSQL_CFLAGS)]
+	[AC_SUBST(MYSQL_LIBS)]
+	)
+
+AC_DEFUN([AC_HAVE_GTK],
+	[AC_CHECK_PROGS(PKG_CONFIG, pkg-config)]
+	if test x$PKG_CONFIG != x ; then
+		[AC_MSG_CHECKING([for gtk+-2.0])]
+		GTK_VERSION=`pkg-config --modversion gtk+-2.0`
+		if test x$GTK_VERSION != x ; then
+			GTK_CFLAGS=`pkg-config --cflags gtk+-2.0`
+			GTK_LIBS=`pkg-config --libs gtk+-2.0`
+			[AC_MSG_RESULT([$GTK_VERSION])]
+		else
+			[AC_MSG_RESULT([no])]
+		fi
+	else
+		GTK_VERSION=""
+		GTK_CFLAGS=""
+		GTK_LIBS=""
+	fi
+	[AC_SUBST(GTK_VERSION)]
+	[AC_SUBST(GTK_CFLAGS)]
+	[AC_SUBST(GTK_LIBS)]
+	[AM_CONDITIONAL(HAVE_GTK, test x$GTK_VERSION != x)]
+	)
+
+AC_DEFUN([AC_CHECK_MATH],
+	[AC_CHECK_DECL(floorf,,
+		AH_TEMPLATE([floorf], [Math function 'floor' for floats])
+		AC_DEFINE([floorf(x)], [((float) floor((double) (x)))]),
+		[#include <math.h>])]
+	[AC_CHECK_DECL(sqrtf,,
+		AH_TEMPLATE([sqrtf], [Math function 'sqrt' for floats])
+		AC_DEFINE([sqrtf(x)], [((float) sqrt((double) (x)))]),
+		[#include <math.h>])]
+	)
+
+AC_DEFUN([ACX_TK_INCLUDE],
+    [AC_MSG_CHECKING([for Tk headers])]
+    [AC_ARG_WITH(,
+	    [  --with-tkinclude=<path to Tk headers>  Specify path to Tk headers],
+	    dirs=$withval,dirs="/usr/include /usr/include/tcl8.4 /usr/include/tcl8.3")]
+    for dir in $dirs ; do
+	if test -f $dir/tk.h ; then tkinclude_dir=$dir ; break; fi
+    done
+    if test x$tkinclude_dir = x ; then
+	[AC_MSG_RESULT([not found in $dirs, try --with-tkinclude=<path to Tk headers>])]
+    else
+	TK_INCLUDE_DIR=$tkinclude_dir
+dnl put HAVE_TK_INCLUDE in config.h
+	[AC_DEFINE(HAVE_TK_INCLUDE,
+		1, [Define non-zero if you have Tk headers.])]
+dnl put TK_INCLUDE_DIR in Makefile
+	[AC_SUBST(TK_INCLUDE_DIR)]
+	[AC_MSG_RESULT([$TK_INCLUDE_DIR])]
+    fi
+    [AM_CONDITIONAL(HAVE_TK_INCLUDE, test x$tkinclude_dir != x)]
+)
+
+AC_DEFUN([ACX_TCL_LIB],
+    [AC_MSG_CHECKING([for Tcl library])]
+    [AC_ARG_WITH(,
+	    [  --with-tcllib=<path to Tcl library>  Specify path to Tcl library],
+	    dirs=$withval,dirs="/usr/lib")]
+    [AC_ARG_WITH(,
+	    [  --with-tcllink=<link name of Tcl library>  Specify link name of Tcl library],
+	    names=$withval,names="tcl tcl8.4 tcl84 tcl8.3 tcl83")]
+    for dir in $dirs ; do
+	for name in $names ; do
+		if test -f $dir/lib"$name".a ; then tcllink="-L$dir -l$name"; break; fi
+		if test -f $dir/lib"$name".so ; then tcllink="-L$dir -l$name"; break; fi
+	done
+    done
+    if test x"$tcllink" = x ; then
+	[AC_MSG_RESULT([none of lib"$names".a,so found in $dirs, try --with-tcllib=<path to Tcl library, --with-tcllink=<link name of Tcl library>])]
+    else
+	TCL_LINK="$tcllink"
+dnl put TCL_LINK in Makefile
+	[AC_SUBST(TCL_LINK)]
+	[AC_MSG_RESULT([$TCL_LINK])]
+    fi
+    [AM_CONDITIONAL(HAVE_TCL_LIB, test x"$tcllink" != x)]
+)
+
+AC_DEFUN([ACX_TK_LIB],
+    [AC_MSG_CHECKING([for Tk library])]
+    [AC_ARG_WITH(,
+	    [  --with-tklib=<path to Tk library>  Specify path to Tk library],
+	    dirs=$withval,dirs="/usr/lib")]
+    [AC_ARG_WITH(,
+	    [  --with-tklink=<link name of Tk library>  Specify link name of Tk library],
+	    names=$withval,names="tk tk8.4 tk84 tk8.3 tk83")]
+    for dir in $dirs ; do
+	for name in $names ; do
+		if test -f $dir/lib"$name".a ; then tklink="-L$dir -l$name"; break; fi
+		if test -f $dir/lib"$name".so ; then tklink="-L$dir -l$name"; break; fi
+	done
+    done
+    if test x"$tklink" = x ; then
+	[AC_MSG_RESULT([none of lib"$names".a,so found in $dirs, try --with-tklib=<path to Tk library, --with-tklink=<link name of Tk library>])]
+    else
+	TK_LINK="$tklink"
+dnl put TK_LINK in Makefile
+	[AC_SUBST(TK_LINK)]
+	[AC_MSG_RESULT([$TK_LINK])]
+    fi
+    [AM_CONDITIONAL(HAVE_TK_LIB, test x"$tklink" != x)]
+)
+
+AC_DEFUN([AC_HAVE_TCL_DEVEL],
+	[AC_CHECK_HEADERS([tcl.h], tcl=true, tcl=false)]
+	[AM_CONDITIONAL(HAVE_TCL_DEVEL, test x$tcl = xtrue)]
+	)
+
+AC_DEFUN([AC_HAVE_PERL_DEVEL],
+	[AC_MSG_CHECKING([for perl devel])]
+	dir=""
+	if test x$LOCATE != x ; then
+	if test x$GREP != x ; then
+	for file in `locate perl.h | grep CORE` ; do
+		dir=`dirname $file`
+	done
+	fi
+	fi
+	if test x$dir = x ; then
+		PERL_FLAGS=""
+		[AC_MSG_RESULT([no])]
+	else
+		PERL_FLAGS="-D_GNU_SOURCE -I$dir"
+		[AC_MSG_RESULT([$dir])]
+	fi
+	[AC_SUBST(PERL_FLAGS)]
+	[AM_CONDITIONAL(HAVE_PERL_DEVEL, test "x$PERL_FLAGS" != x)]
+	)
+
+AC_DEFUN([AC_HAVE_PYTHON_DEVEL],
+	[AC_MSG_CHECKING([for python devel])]
+	dir=""
+	if test x$LOCATE != x ; then
+	if test x$GREP != x ; then
+	for file in `locate Python.h | grep python` ; do
+		dir=`dirname $file`
+	done
+	fi
+	fi
+	if test x$dir = x ; then
+		PYTHON_FLAGS=""
+		[AC_MSG_RESULT([no])]
+	else
+		PYTHON_FLAGS="-I$dir"
+		[AC_MSG_RESULT([$dir])]
+	fi
+	[AC_SUBST(PYTHON_FLAGS)]
+	[AM_CONDITIONAL(HAVE_PYTHON_DEVEL, test "x$PYTHON_FLAGS" != x)]
+	)
+
+dnl @synopsis ACX_PTHREAD([ACTION-IF-FOUND[, ACTION-IF-NOT-FOUND]])
+dnl
+dnl This macro figures out how to build C programs using POSIX threads.
+dnl It sets the PTHREAD_LIBS output variable to the threads library and
+dnl linker flags, and the PTHREAD_CFLAGS output variable to any special
+dnl C compiler flags that are needed. (The user can also force certain
+dnl compiler flags/libs to be tested by setting these environment
+dnl variables.)
+dnl
+dnl Also sets PTHREAD_CC to any special C compiler that is needed for
+dnl multi-threaded programs (defaults to the value of CC otherwise).
+dnl (This is necessary on AIX to use the special cc_r compiler alias.)
+dnl
+dnl NOTE: You are assumed to not only compile your program with these
+dnl flags, but also link it with them as well. e.g. you should link
+dnl with $PTHREAD_CC $CFLAGS $PTHREAD_CFLAGS $LDFLAGS ... $PTHREAD_LIBS
+dnl $LIBS
+dnl
+dnl If you are only building threads programs, you may wish to use
+dnl these variables in your default LIBS, CFLAGS, and CC:
+dnl
+dnl        LIBS="$PTHREAD_LIBS $LIBS"
+dnl        CFLAGS="$CFLAGS $PTHREAD_CFLAGS"
+dnl        CC="$PTHREAD_CC"
+dnl
+dnl In addition, if the PTHREAD_CREATE_JOINABLE thread-attribute
+dnl constant has a nonstandard name, defines PTHREAD_CREATE_JOINABLE to
+dnl that name (e.g. PTHREAD_CREATE_UNDETACHED on AIX).
+dnl
+dnl ACTION-IF-FOUND is a list of shell commands to run if a threads
+dnl library is found, and ACTION-IF-NOT-FOUND is a list of commands to
+dnl run it if it is not found. If ACTION-IF-FOUND is not specified, the
+dnl default action will define HAVE_PTHREAD.
+dnl
+dnl Please let the authors know if this macro fails on any platform, or
+dnl if you have any other suggestions or comments. This macro was based
+dnl on work by SGJ on autoconf scripts for FFTW (www.fftw.org) (with
+dnl help from M. Frigo), as well as ac_pthread and hb_pthread macros
+dnl posted by Alejandro Forero Cuervo to the autoconf macro repository.
+dnl We are also grateful for the helpful feedback of numerous users.
+dnl
+dnl @category InstalledPackages
+dnl @author Steven G. Johnson <stevenj at alum.mit.edu>
+dnl @version 2005-01-14
+dnl @license GPLWithACException
+
+AC_DEFUN([ACX_PTHREAD], [
+AC_REQUIRE([AC_CANONICAL_HOST])
+AC_LANG_SAVE
+AC_LANG_CPLUSPLUS
+acx_pthread_ok=no
+
+# We used to check for pthread.h first, but this fails if pthread.h
+# requires special compiler flags (e.g. on True64 or Sequent).
+# It gets checked for in the link test anyway.
+
+# First of all, check if the user has set any of the PTHREAD_LIBS,
+# etcetera environment variables, and if threads linking works using
+# them:
+if test x"$PTHREAD_LIBS$PTHREAD_CXXFLAGS" != x; then
+        save_CXXFLAGS="$CXXFLAGS"
+        CXXFLAGS="$CXXFLAGS $PTHREAD_CXXFLAGS"
+        save_LIBS="$LIBS"
+        LIBS="$PTHREAD_LIBS $LIBS"
+        AC_MSG_CHECKING([for pthread_join in LIBS=$PTHREAD_LIBS with CXXFLAGS=$PTHREAD_CXXFLAGS])
+        AC_TRY_LINK_FUNC(pthread_join, acx_pthread_ok=yes)
+        AC_MSG_RESULT($acx_pthread_ok)
+        if test x"$acx_pthread_ok" = xno; then
+                PTHREAD_LIBS=""
+                PTHREAD_CXXFLAGS=""
+        fi
+        LIBS="$save_LIBS"
+        CXXFLAGS="$save_CXXFLAGS"
+fi
+
+# We must check for the threads library under a number of different
+# names; the ordering is very important because some systems
+# (e.g. DEC) have both -lpthread and -lpthreads, where one of the
+# libraries is broken (non-POSIX).
+
+# Create a list of thread flags to try.  Items starting with a "-" are
+# C compiler flags, and other items are library names, except for "none"
+# which indicates that we try without any flags at all, and "pthread-config"
+# which is a program returning the flags for the Pth emulation library.
+
+acx_pthread_flags="pthreads none -Kthread -kthread lthread -pthread -pthreads -mthreads pthread --thread-safe -mt pthread-config"
+
+# The ordering *is* (sometimes) important.  Some notes on the
+# individual items follow:
+
+# pthreads: AIX (must check this before -lpthread)
+# none: in case threads are in libc; should be tried before -Kthread and
+#       other compiler flags to prevent continual compiler warnings
+# -Kthread: Sequent (threads in libc, but -Kthread needed for pthread.h)
+# -kthread: FreeBSD kernel threads (preferred to -pthread since SMP-able)
+# lthread: LinuxThreads port on FreeBSD (also preferred to -pthread)
+# -pthread: Linux/gcc (kernel threads), BSD/gcc (userland threads)
+# -pthreads: Solaris/gcc
+# -mthreads: Mingw32/gcc, Lynx/gcc
+# -mt: Sun Workshop C (may only link SunOS threads [-lthread], but it
+#      doesn't hurt to check since this sometimes defines pthreads too;
+#      also defines -D_REENTRANT)
+# pthread: Linux, etcetera
+# --thread-safe: KAI C++
+# pthread-config: use pthread-config program (for GNU Pth library)
+
+case "${host_cpu}-${host_os}" in
+        *solaris*)
+
+        # On Solaris (at least, for some versions), libc contains stubbed
+        # (non-functional) versions of the pthreads routines, so link-based
+        # tests will erroneously succeed.  (We need to link with -pthread or
+        # -lpthread.)  (The stubs are missing pthread_cleanup_push, or rather
+        # a function called by this macro, so we could check for that, but
+        # who knows whether they'll stub that too in a future libc.)  So,
+        # we'll just look for -pthreads and -lpthread first:
+
+        acx_pthread_flags="-pthread -pthreads pthread -mt $acx_pthread_flags"
+        ;;
+esac
+
+if test x"$acx_pthread_ok" = xno; then
+for flag in $acx_pthread_flags; do
+
+        case $flag in
+                none)
+                AC_MSG_CHECKING([whether pthreads work without any flags])
+                ;;
+
+                -*)
+                AC_MSG_CHECKING([whether pthreads work with $flag])
+                PTHREAD_CXXFLAGS="$flag"
+                ;;
+
+		pthread-config)
+		AC_CHECK_PROG(acx_pthread_config, pthread-config, yes, no)
+		if test x"$acx_pthread_config" = xno; then continue; fi
+		PTHREAD_CXXFLAGS="`pthread-config --cflags`"
+		PTHREAD_LIBS="`pthread-config --ldflags` `pthread-config --libs`"
+		;;
+
+                *)
+                AC_MSG_CHECKING([for the pthreads library -l$flag])
+                PTHREAD_LIBS="-l$flag"
+                ;;
+        esac
+
+        save_LIBS="$LIBS"
+        save_CXXFLAGS="$CXXFLAGS"
+        LIBS="$PTHREAD_LIBS $LIBS"
+        CXXFLAGS="$CXXFLAGS $PTHREAD_CXXFLAGS"
+
+        # Check for various functions.  We must include pthread.h,
+        # since some functions may be macros.  (On the Sequent, we
+        # need a special flag -Kthread to make this header compile.)
+        # We check for pthread_join because it is in -lpthread on IRIX
+        # while pthread_create is in libc.  We check for pthread_attr_init
+        # due to DEC craziness with -lpthreads.  We check for
+        # pthread_cleanup_push because it is one of the few pthread
+        # functions on Solaris that doesn't have a non-functional libc stub.
+        # We try pthread_create on general principles.
+        AC_TRY_LINK([#include <pthread.h>],
+                    [pthread_t th; pthread_join(th, 0);
+                     pthread_attr_init(0); pthread_cleanup_push(0, 0);
+                     pthread_create(0,0,0,0); pthread_cleanup_pop(0); ],
+                    [acx_pthread_ok=yes])
+
+        LIBS="$save_LIBS"
+        CXXFLAGS="$save_CXXFLAGS"
+
+        AC_MSG_RESULT($acx_pthread_ok)
+        if test "x$acx_pthread_ok" = xyes; then
+                break;
+        fi
+
+        PTHREAD_LIBS=""
+        PTHREAD_CXXFLAGS=""
+done
+fi
+
+# Various other checks:
+if test "x$acx_pthread_ok" = xyes; then
+        save_LIBS="$LIBS"
+        LIBS="$PTHREAD_LIBS $LIBS"
+        save_CXXFLAGS="$CXXFLAGS"
+        CXXFLAGS="$CXXFLAGS $PTHREAD_CXXFLAGS"
+
+        # Detect AIX lossage: JOINABLE attribute is called UNDETACHED.
+	AC_MSG_CHECKING([for joinable pthread attribute])
+	attr_name=unknown
+	for attr in PTHREAD_CREATE_JOINABLE PTHREAD_CREATE_UNDETACHED; do
+	    AC_TRY_LINK([#include <pthread.h>], [int attr=$attr;],
+                        [attr_name=$attr; break])
+	done
+        AC_MSG_RESULT($attr_name)
+        if test "$attr_name" != PTHREAD_CREATE_JOINABLE; then
+            AC_DEFINE_UNQUOTED(PTHREAD_CREATE_JOINABLE, $attr_name,
+                               [Define to necessary symbol if this constant
+                                uses a non-standard name on your system.])
+        fi
+
+        AC_MSG_CHECKING([if more special flags are required for pthreads])
+        flag=no
+        case "${host_cpu}-${host_os}" in
+            *-aix* | *-freebsd* | *-darwin*) flag="-D_THREAD_SAFE";;
+            *solaris* | *-osf* | *-hpux*) flag="-D_REENTRANT";;
+        esac
+        AC_MSG_RESULT(${flag})
+        if test "x$flag" != xno; then
+            PTHREAD_CXXFLAGS="$flag $PTHREAD_CXXFLAGS"
+        fi
+
+        LIBS="$save_LIBS"
+        CXXFLAGS="$save_CXXFLAGS"
+
+        # More AIX lossage: must compile with cc_r
+        AC_CHECK_PROG(PTHREAD_CXX, cc_r, cc_r, ${CXX})
+else
+        PTHREAD_CXX="$CXX"
+fi
+
+AC_SUBST(PTHREAD_LIBS)
+AC_SUBST(PTHREAD_CXXFLAGS)
+AC_SUBST(PTHREAD_CXX)
+
+# Finally, execute ACTION-IF-FOUND/ACTION-IF-NOT-FOUND:
+if test x"$acx_pthread_ok" = xyes; then
+        ifelse([$1],,AC_DEFINE(HAVE_PTHREAD,1,[Define if you have POSIX threads libraries and header files.]),[$1])
+        :
+else
+        acx_pthread_ok=no
+        $2
+fi
+AC_LANG_RESTORE
+])dnl ACX_PTHREAD
+
+# Configure paths for SDL
+# Sam Lantinga 9/21/99
+# stolen from Manish Singh
+# stolen back from Frank Belew
+# stolen from Manish Singh
+# Shamelessly stolen from Owen Taylor
+
+dnl AM_PATH_SDL([MINIMUM-VERSION, [ACTION-IF-FOUND [, ACTION-IF-NOT-FOUND]]])
+dnl Test for SDL, and define SDL_CFLAGS and SDL_LIBS
+dnl
+AC_DEFUN([AM_PATH_SDL],
+[dnl 
+dnl Get the cflags and libraries from the sdl-config script
+dnl
+AC_ARG_WITH(sdl-prefix,[  --with-sdl-prefix=PFX   Prefix where SDL is installed (optional)],
+            sdl_prefix="$withval", sdl_prefix="")
+AC_ARG_WITH(sdl-exec-prefix,[  --with-sdl-exec-prefix=PFX Exec prefix where SDL is installed (optional)],
+            sdl_exec_prefix="$withval", sdl_exec_prefix="")
+AC_ARG_ENABLE(sdltest, [  --disable-sdltest       Do not try to compile and run a test SDL program],
+		    , enable_sdltest=yes)
+
+  if test x$sdl_exec_prefix != x ; then
+    sdl_args="$sdl_args --exec-prefix=$sdl_exec_prefix"
+    if test x${SDL_CONFIG+set} != xset ; then
+       SDL_CONFIG=$sdl_exec_prefix/bin/sdl-config
+    fi
+  fi
+  if test x$sdl_prefix != x ; then
+    sdl_args="$sdl_args --prefix=$sdl_prefix"
+    if test x${SDL_CONFIG+set} != xset ; then
+       SDL_CONFIG=$sdl_prefix/bin/sdl-config
+    fi
+  fi
+
+  if test "x$prefix" != xNONE; then
+    PATH="$prefix/bin:$prefix/usr/bin:$PATH"
+  fi
+  AC_PATH_PROG(SDL_CONFIG, sdl-config, no, [$PATH])
+  min_sdl_version=ifelse([$1], ,0.11.0,$1)
+  AC_MSG_CHECKING(for SDL - version >= $min_sdl_version)
+  no_sdl=""
+  if test "$SDL_CONFIG" = "no" ; then
+    no_sdl=yes
+  else
+    SDL_CFLAGS=`$SDL_CONFIG $sdlconf_args --cflags`
+    SDL_LIBS=`$SDL_CONFIG $sdlconf_args --libs`
+
+    sdl_major_version=`$SDL_CONFIG $sdl_args --version | \
+           sed 's/\([[0-9]]*\).\([[0-9]]*\).\([[0-9]]*\)/\1/'`
+    sdl_minor_version=`$SDL_CONFIG $sdl_args --version | \
+           sed 's/\([[0-9]]*\).\([[0-9]]*\).\([[0-9]]*\)/\2/'`
+    sdl_micro_version=`$SDL_CONFIG $sdl_config_args --version | \
+           sed 's/\([[0-9]]*\).\([[0-9]]*\).\([[0-9]]*\)/\3/'`
+    if test "x$enable_sdltest" = "xyes" ; then
+      ac_save_CFLAGS="$CFLAGS"
+      ac_save_CXXFLAGS="$CXXFLAGS"
+      ac_save_LIBS="$LIBS"
+      CFLAGS="$CFLAGS $SDL_CFLAGS"
+      CXXFLAGS="$CXXFLAGS $SDL_CFLAGS"
+      LIBS="$LIBS $SDL_LIBS"
+dnl
+dnl Now check if the installed SDL is sufficiently new. (Also sanity
+dnl checks the results of sdl-config to some extent
+dnl
+      rm -f conf.sdltest
+      AC_TRY_RUN([
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "SDL.h"
+
+char*
+my_strdup (char *str)
+{
+  char *new_str;
+  
+  if (str)
+    {
+      new_str = (char *)malloc ((strlen (str) + 1) * sizeof(char));
+      strcpy (new_str, str);
+    }
+  else
+    new_str = NULL;
+  
+  return new_str;
+}
+
+int main (int argc, char *argv[])
+{
+  int major, minor, micro;
+  char *tmp_version;
+
+  /* This hangs on some systems (?)
+  system ("touch conf.sdltest");
+  */
+  { FILE *fp = fopen("conf.sdltest", "a"); if ( fp ) fclose(fp); }
+
+  /* HP/UX 9 (%@#!) writes to sscanf strings */
+  tmp_version = my_strdup("$min_sdl_version");
+  if (sscanf(tmp_version, "%d.%d.%d", &major, &minor, &micro) != 3) {
+     printf("%s, bad version string\n", "$min_sdl_version");
+     exit(1);
+   }
+
+   if (($sdl_major_version > major) ||
+      (($sdl_major_version == major) && ($sdl_minor_version > minor)) ||
+      (($sdl_major_version == major) && ($sdl_minor_version == minor) && ($sdl_micro_version >= micro)))
+    {
+      return 0;
+    }
+  else
+    {
+      printf("\n*** 'sdl-config --version' returned %d.%d.%d, but the minimum version\n", $sdl_major_version, $sdl_minor_version, $sdl_micro_version);
+      printf("*** of SDL required is %d.%d.%d. If sdl-config is correct, then it is\n", major, minor, micro);
+      printf("*** best to upgrade to the required version.\n");
+      printf("*** If sdl-config was wrong, set the environment variable SDL_CONFIG\n");
+      printf("*** to point to the correct copy of sdl-config, and remove the file\n");
+      printf("*** config.cache before re-running configure\n");
+      return 1;
+    }
+}
+
+],, no_sdl=yes,[echo $ac_n "cross compiling; assumed OK... $ac_c"])
+       CFLAGS="$ac_save_CFLAGS"
+       CXXFLAGS="$ac_save_CXXFLAGS"
+       LIBS="$ac_save_LIBS"
+     fi
+  fi
+  if test "x$no_sdl" = x ; then
+     AC_MSG_RESULT(yes)
+     ifelse([$2], , :, [$2])     
+  else
+     AC_MSG_RESULT(no)
+     if test "$SDL_CONFIG" = "no" ; then
+       echo "*** The sdl-config script installed by SDL could not be found"
+       echo "*** If SDL was installed in PREFIX, make sure PREFIX/bin is in"
+       echo "*** your path, or set the SDL_CONFIG environment variable to the"
+       echo "*** full path to sdl-config."
+     else
+       if test -f conf.sdltest ; then
+        :
+       else
+          echo "*** Could not run SDL test program, checking why..."
+          CFLAGS="$CFLAGS $SDL_CFLAGS"
+          CXXFLAGS="$CXXFLAGS $SDL_CFLAGS"
+          LIBS="$LIBS $SDL_LIBS"
+          AC_TRY_LINK([
+#include <stdio.h>
+#include "SDL.h"
+
+int main(int argc, char *argv[])
+{ return 0; }
+#undef  main
+#define main K_and_R_C_main
+],      [ return 0; ],
+        [ echo "*** The test program compiled, but did not run. This usually means"
+          echo "*** that the run-time linker is not finding SDL or finding the wrong"
+          echo "*** version of SDL. If it is not finding SDL, you'll need to set your"
+          echo "*** LD_LIBRARY_PATH environment variable, or edit /etc/ld.so.conf to point"
+          echo "*** to the installed location  Also, make sure you have run ldconfig if that"
+          echo "*** is required on your system"
+	  echo "***"
+          echo "*** If you have an old version installed, it is best to remove it, although"
+          echo "*** you may also be able to get things to work by modifying LD_LIBRARY_PATH"],
+        [ echo "*** The test program failed to compile or link. See the file config.log for the"
+          echo "*** exact error that occured. This usually means SDL was incorrectly installed"
+          echo "*** or that you have moved SDL since it was installed. In the latter case, you"
+          echo "*** may want to edit the sdl-config script: $SDL_CONFIG" ])
+          CFLAGS="$ac_save_CFLAGS"
+          CXXFLAGS="$ac_save_CXXFLAGS"
+          LIBS="$ac_save_LIBS"
+       fi
+     fi
+     SDL_CFLAGS=""
+     SDL_LIBS=""
+     ifelse([$3], , :, [$3])
+  fi
+  AC_SUBST(SDL_CFLAGS)
+  AC_SUBST(SDL_LIBS)
+  rm -f conf.sdltest
+])
+
+AC_DEFUN([ACX_HAVE_SDL],
+	[AM_PATH_SDL([1.2.8], have_sdl=true)]
+	[AM_CONDITIONAL(HAVE_SDL, test x$have_sdl != x)]
+)

Added: bin/CVS/Entries
===================================================================
--- bin/CVS/Entries	                        (rev 0)
+++ bin/CVS/Entries	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,21 @@
+/Makefile.am/1.47/Mon Apr 30 17:04:16 2007//
+/Makefile.local/1.2/Wed Oct 19 20:21:55 2005//
+/arda.arc/1.1.1.1/Wed Oct 12 20:50:32 2005//
+/ipc-clear/1.2/Wed Dec 20 15:28:05 2006//
+/navPlot/1.2/Wed Nov 29 21:19:07 2006//
+/ppm.tcl/1.1.1.1/Wed Oct 12 20:50:32 2005//
+/primSpPlot/1.1/Wed Mar 15 21:54:05 2006//
+/run/1.23/Wed Apr 25 15:07:44 2007//
+/runDrone/1.1.1.1/Wed Oct 12 20:50:32 2005//
+/runJoy/1.5/Mon Apr 30 18:42:28 2007//
+/runSub/1.5/Wed Jan 31 18:36:10 2007//
+/runVehicle/1.10/Thu Dec 14 16:16:52 2006//
+/say/1.1.1.1/Wed Oct 12 20:50:32 2005//
+/spPlot/1.5/Wed Aug  2 21:42:31 2006//
+/splash/1.1.1.1/Wed Oct 12 20:50:32 2005//
+/subBot.dat/1.1/Tue Jan  9 18:46:20 2007//
+/subabs.dat/1.2/Thu Dec 14 19:47:27 2006//
+/subpt.dat/1.4/Wed Nov 29 21:19:07 2006//
+/symPlot/1.1/Wed Mar 15 21:54:05 2006//
+/wp.dat/1.4/Mon Feb 26 18:55:42 2007//
+D

Added: bin/CVS/Repository
===================================================================
--- bin/CVS/Repository	                        (rev 0)
+++ bin/CVS/Repository	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1 @@
+devel/bin

Added: bin/CVS/Root
===================================================================
--- bin/CVS/Root	                        (rev 0)
+++ bin/CVS/Root	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1 @@
+:pserver:anonymous at moast.cvs.sourceforge.net:/cvsroot/moast

Added: bin/Makefile.am
===================================================================
--- bin/Makefile.am	                        (rev 0)
+++ bin/Makefile.am	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,258 @@
+bin_PROGRAMS = moastNmlSvr simWare servoShell primSPMain primMisMain primMobMain primShell segmentTest exampleUtmConvert gpsToSerial amSPMain amMisMain amMobMain amShell vehSPMain vehMobPLMain vehShell sectShell sectMobPL exampleDijkTabs exampleDijkHeap exampleDijkHeapN exampleAStarHeapA exampleAStarHeapB exampleAStarHeapNA exampleAStarHeapNB exampleScrollMap spPlay moastErrorLog nmlPrint inifind exampleVisGraph vehDrone nmlConvert spqrConvert slamStub trafficShell
+
+
+INCLUDES = -I$(RCSLIB_DIR)/include
+
+moastNmlSvr_SOURCES = ../src/nml/moastNmlSvr.cc 
+moastNmlSvr_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+servoShell_SOURCES = ../src/servo/servoShell.cc 
+servoShell_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+slamStub_SOURCES = ../src/sim/simWare/slamStub.cc
+slamStub_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+# bin_PROGRAMS += simpleSim
+# simpleSim_SOURCES = ../src/sim/simpleSim/simpleSim.cc ../src/sim/simpleSim/simpleMobSim.cc ../src/sim/simpleSim/simpleMisSim.cc ../src/sim/simpleSim/simpleSPSim.cc ../src/sim/simpleSim/simpleSim.hh
+# simpleSim_CXX = $(PTHREAD_CXX)
+# simpleSim_CXXFLAGS = $(CXXFLAGS) $(PTHREAD_CXXFLAGS)
+# simpleSim_LIBS = $(PTHREAD_LIBS) $(LIBS)
+# simpleSim_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+simWare_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+simWare_CXX = $(PTHREAD_CXX)
+simWare_CXXFLAGS = $(CXXFLAGS) $(PTHREAD_CXXFLAGS)
+simWare_LIBS = $(PTHREAD_LIBS) $(LIBS)
+simWare_SOURCES =  ../src/sim/simWare/simWare.cc ../src/sim/simWare/swBaseSkin.hh ../src/sim/simWare/swKBTypes.hh \
+	../src/sim/simWare/swKBUtils.hh      ../src/sim/simWare/swKBUtils.cc  \
+	../src/sim/simWare/simWareKB.hh       ../src/sim/simWare/simWareKB.cc    \
+	../src/sim/simWare/swKBWorld.hh       ../src/sim/simWare/swKBWorld.cc    \
+	../src/sim/simWare/swKBBot.hh         ../src/sim/simWare/swKBBot.cc      \
+	../src/sim/simWare/swKBSen.hh         ../src/sim/simWare/swKBSen.cc      \
+	../src/sim/simWare/swKBEff.hh         ../src/sim/simWare/swKBEff.cc      \
+	../src/sim/simWare/swKBMis.hh         ../src/sim/simWare/swKBMis.cc      \
+	../src/sim/simWare/swKBMsg.hh         ../src/sim/simWare/swKBMsg.cc      \
+	../src/sim/simWare/usarInfSkin.hh     ../src/sim/simWare/usarInfSkin.cc  \
+	../src/sim/simWare/moastSupSkin.hh    ../src/sim/simWare/moastSupSkin.cc \
+	../src/sim/simWare/swServoNodeBase.hh ../src/sim/simWare/swServoNodeBase.cc \
+	../src/sim/simWare/swServoMob.hh      ../src/sim/simWare/swServoMob.cc \
+	../src/sim/simWare/swServoSP.hh      ../src/sim/simWare/swServoSP.cc \
+	../src/sim/simWare/swServoMis.hh      ../src/sim/simWare/swServoMis.cc
+
+bin_PROGRAMS += simpleSimWare
+simpleSimWare_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+simpleSimWare_CXX = $(PTHREAD_CXX)
+simpleSimWare_CXXFLAGS = $(CXXFLAGS) $(PTHREAD_CXXFLAGS) -DSIMPLESIM
+simpleSimWare_LIBS = $(PTHREAD_LIBS) $(LIBS)
+simpleSimWare_SOURCES =  \
+../src/sim/simWare/simWare.cc ../src/sim/simWare/swBaseSkin.hh \
+../src/sim/simWare/swKBTypes.hh \
+../src/sim/simWare/swKBUtils.hh      ../src/sim/simWare/swKBUtils.cc \
+../src/sim/simWare/simWareKB.hh ../src/sim/simWare/simWareKB.cc \
+../src/sim/simWare/swKBWorld.hh ../src/sim/simWare/swKBWorld.cc \
+../src/sim/simWare/swKBBot.hh ../src/sim/simWare/swKBBot.cc \
+../src/sim/simWare/swKBSen.hh ../src/sim/simWare/swKBSen.cc \
+../src/sim/simWare/swKBEff.hh ../src/sim/simWare/swKBEff.cc \
+../src/sim/simWare/swKBMis.hh ../src/sim/simWare/swKBMis.cc \
+../src/sim/simWare/swKBMsg.hh ../src/sim/simWare/swKBMsg.cc \
+../src/sim/simWare/simpleSimInfSkin.hh ../src/sim/simWare/simpleSimInfSkin.cc \
+../src/sim/simWare/moastSupSkin.hh ../src/sim/simWare/moastSupSkin.cc \
+../src/sim/simWare/swServoNodeBase.hh ../src/sim/simWare/swServoNodeBase.cc \
+../src/sim/simWare/swServoMob.hh ../src/sim/simWare/swServoMob.cc \
+../src/sim/simWare/swServoSP.hh ../src/sim/simWare/swServoSP.cc \
+../src/sim/simWare/swServoMis.hh ../src/sim/simWare/swServoMis.cc 
+
+bin_PROGRAMS += trafficSimWare
+trafficSimWare_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+trafficSimWare_CXX = $(PTHREAD_CXX)
+trafficSimWare_CXXFLAGS = $(CXXFLAGS) $(PTHREAD_CXXFLAGS) #-DTRAFFICSIM
+trafficSimWare_LIBS = $(PTHREAD_LIBS) $(LIBS)
+trafficSimWare_SOURCES =  \
+../src/sim/simWare/trafficSim.cc ../src/sim/simWare/swBaseSkin.hh \
+../src/sim/simWare/swKBTypes.hh \
+../src/sim/simWare/swKBUtils.hh      ../src/sim/simWare/swKBUtils.cc \
+../src/sim/simWare/simWareKB.hh ../src/sim/simWare/simWareKB.cc \
+../src/sim/simWare/swKBWorld.hh ../src/sim/simWare/swKBWorld.cc \
+../src/sim/simWare/swKBBot.hh ../src/sim/simWare/swKBBot.cc \
+../src/sim/simWare/swKBSen.hh ../src/sim/simWare/swKBSen.cc \
+../src/sim/simWare/swKBEff.hh ../src/sim/simWare/swKBEff.cc \
+../src/sim/simWare/swKBMis.hh ../src/sim/simWare/swKBMis.cc \
+../src/sim/simWare/swKBMsg.hh ../src/sim/simWare/swKBMsg.cc \
+../src/sim/simWare/usarInfSkin.hh ../src/sim/simWare/usarInfSkin.cc \
+../src/sim/simWare/trafficSupSkin.hh ../src/sim/simWare/trafficSupSkin.cc \
+../src/sim/simWare/swTraffic.hh ../src/sim/simWare/swTraffic.cc 
+
+segmentTest_SOURCES = ../src/tools/segmentTools/cluster.cc ../src/tools/segmentTools/test.cc ../src/tools/segmentTools/chainHull.cc ../src/tools/segmentTools/cluster.hh ../src/tools/segmentTools/vectorWM.cc ../src/tools/segmentTools/vectorWm.hh
+segmentTest_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleUtmConvert_SOURCES = ../src/tools/exampleUtmConvert.cc
+exampleUtmConvert_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleAStarHeapA_SOURCES = ../src/tools/exampleAStarHeapA.cc
+exampleAStarHeapA_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleAStarHeapB_SOURCES = ../src/tools/exampleAStarHeapB.cc
+exampleAStarHeapB_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleAStarHeapNA_SOURCES = ../src/tools/exampleAStarHeapNA.cc
+exampleAStarHeapNA_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleAStarHeapNB_SOURCES = ../src/tools/exampleAStarHeapNB.cc
+exampleAStarHeapNB_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleDijkTabs_SOURCES = ../src/tools/exampleDijkTabs.cc
+exampleDijkTabs_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleDijkHeap_SOURCES = ../src/tools/exampleDijkHeap.cc
+exampleDijkHeap_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleDijkHeapN_SOURCES = ../src/tools/exampleDijkHeapN.cc
+exampleDijkHeapN_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleScrollMap_SOURCES = ../src/tools/exampleScrollMap.cc ../src/tools/exampleScrollMap.hh ../src/tools/exampleCell.hh
+exampleScrollMap_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+gpsToSerial_SOURCES = ../src/tools/gpsToSerial.cc ../src/tools/gpsToSerial.hh
+gpsToSerial_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+nmlConvert_SOURCES = ../src/tools/nmlConvert.cc
+nmlConvert_LDADD = 
+
+primSPMain_SOURCES = ../src/prim/primSPMain.cc
+primSPMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+primMobMain_SOURCES = ../src/prim/primMobMain.cc
+primMobMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+primMisMain_SOURCES = ../src/prim/primMisMain.cc
+primMisMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+primShell_SOURCES = ../src/prim/primShell.cc
+primShell_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+amSPMain_SOURCES = ../src/am/amSPMain.cc ../src/am/amSPMap.cc ../include/amSPCell.hh 
+amSPMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+amMisMain_SOURCES = ../src/am/amMisMain.cc
+amMisMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+amMobMain_SOURCES = ../src/am/amMobMain.cc ../src/am/amMobMain.hh
+amMobMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+amShell_SOURCES = ../src/am/amShell.cc
+amShell_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+vehSPMain_SOURCES = ../src/vehicle/vehSPMain.cc
+vehSPMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+vehMobPLMain_SOURCES = ../src/vehicle/vehMobPLMain.cc ../src/vehicle/vehMobPlWm.cc ../src/vehicle/vehMobPLEngine.cc ../src/vehicle/vehMobPlWm.hh ../src/vehicle/vehMobPLEngine.hh ../src/vehicle/vehMobMap.cc ../src/vehicle/vehMobMap.hh ../src/vehicle/vehMobCell.hh 
+vehMobPLMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm $(X_LIBS) -lX11
+
+vehShell_SOURCES = ../src/vehicle/vehShell.cc
+vehShell_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+sectShell_SOURCES = ../src/section/sectShell.cc
+sectShell_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+sectMobPL_SOURCES = ../src/section/sectMobPL.cc ../src/section/rcsSectMobPlEngine.cc ../src/section/rcsSectMobPlEngine.hh ../../../TeamTalk/Agents/boeingLib/boeing/boeing_map_server.cc ../../../TeamTalk/Agents/boeingLib/boeing/boeing_map_server.h ../../../TeamTalk/Agents/boeingLib/boeing/boeing_map_packet.cc ../../../TeamTalk/Agents/boeingLib/boeing/boeing_map_packet.h ../../../TeamTalk/Agents/boeingLib/coralshared/timer.cc ../../../TeamTalk/Agents/boeingLib/coralshared/timer.h ../../../TeamTalk/Agents/boeingLib/coralshared/udpsocket.cc ../../../TeamTalk/Agents/boeingLib/coralshared/udpsocket.h ../../../TeamTalk/Agents/boeingLib/coralshared/error_check.cc ../../../TeamTalk/Agents/boeingLib/coralshared/error_check.h
+sectMobPL_CPPFLAGS = -I../../../TeamTalk/Agents/boeingLib/boeing -I../../../TeamTalk/Agents/boeingLib/coralshared
+sectMobPL_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+trafficShell_SOURCES = ../src/sim/simWare/trafficShell.cc
+trafficShell_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+spPlay_SOURCES = ../src/tools/spPlay.cc 
+spPlay_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+inifind_SOURCES = ../src/tools/inifind.cc
+inifind_LDADD = -L$(RCSLIB_DIR)/lib -lrcs
+
+moastErrorLog_SOURCES = ../src/tools/moastErrorLog.cc 
+moastErrorLog_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+nmlPrint_SOURCES = ../src/tools/nmlPrint.cc 
+nmlPrint_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+spqrConvert_SOURCES = ../src/tools/spqrConvert.cc 
+spqrConvert_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleVisGraph_SOURCES = ../src/tools/exampleVisGraph.cc
+exampleVisGraph_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+vehDrone_SOURCES = ../src/tools/vehDrone.cc
+vehDrone_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+EXTRA_DIST = run ipc-clear splash ../src/nml/moast.diag ../src/nml/moastDiag.csh runVehicle ../src/common/scrollingMap.cc 
+# Extras if we have X Windows
+
+if HAVE_X
+
+bin_PROGRAMS += joystick 
+joystick_SOURCES = ../src/tools/joystick.cc
+joystick_CXXFLAGS = $(AM_CXXFLAGS) $(X_CFLAGS)
+joystick_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm $(X_LIBS) -lX11
+endif
+
+# Extras if we have wish
+
+if HAVE_WISH
+
+bin_PROGRAMS += tksplash
+tksplash_SOURCES = ../src/tools/tksplash.tcl
+tksplash_DEPENDENCIES = ../src/tools/tksplash.tcl
+tksplash_LINK = cp ../src/tools/tksplash.tcl ./tksplash ; echo
+
+endif
+
+# Extras if we have GTK
+
+if HAVE_GTK
+
+INCLUDES += @GTK_CFLAGS@
+bin_PROGRAMS += servoGui gtksplash displayGraph imageview notifier
+bin_PROGRAMS += gtksplash displayGraph imageview notifier
+servoGui_SOURCES = ../src/servo/servoGui.cc
+servoGui_CXXFLAGS = @GTK_CFLAGS@ $(AM_CXXFLAGS)
+servoGui_LDADD = @GTK_LIBS@ ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+gtksplash_SOURCES = ../src/tools/gtksplash.c
+gtksplash_CFLAGS = @GTK_CFLAGS@ $(AM_CFLAGS)
+gtksplash_LDADD = @GTK_LIBS@
+displayGraph_SOURCES = ../src/tools/displayGraph.cc
+displayGraph_CFLAGS = @GTK_CFLAGS@ $(AM_CXXFLAGS)
+displayGraph_LDADD = @GTK_LIBS@
+imageview_SOURCES = ../src/tools/imageView/callbacks.c ../src/tools/imageView/interface.c ../src/tools/imageView/main.c ../src/tools/imageView/support.c ../src/tools/imageView/callbacks.h ../src/tools/imageView/interface.h ../src/tools/imageView/support.h
+imageview_CFLAGS = @GTK_CFLAGS@ $(AM_CFLAGS)
+imageview_LDADD = @GTK_LIBS@
+notifier_CFLAGS = @GTK_CFLAGS@ $(AM_CFLAGS)
+notifier_SOURCES = ../src/tools/notifier/notifier.cc ../src/tools/notifier/support.cc ../src/tools/notifier/callbacks.cc ../src/tools/notifier/interface.cc ../src/tools/notifier/callbacks.hh ../src/tools/notifier/interface.hh ../src/tools/notifier/support.hh
+notifier_CXXFLAGS = $(AM_CXXFLAGS) $(X_CFLAGS)
+notifier_LDADD = @GTK_LIBS@ ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+endif
+
+# Extras if we have MySQL
+
+if HAVE_MYSQL
+
+INCLUDES += @MYSQL_CFLAGS@
+bin_PROGRAMS += exampleMySql
+exampleMySql_SOURCES = ../src/tools/exampleMySql.cc
+exampleMySql_LDADD = @MYSQL_LIBS@ ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+vehMobPLMain_LDADD += @MYSQL_LIBS@ ../lib/libmoastMySQL.a
+vehMobPLMain_CXXFLAGS = -DHAVE_MYSQL @MYSQL_CFLAGS@
+endif
+
+# Extras if we have SDL Simple DirectMedia Layer for joystick
+
+if HAVE_SDL
+
+INCLUDES += @SDL_CFLAGS@
+bin_PROGRAMS += joySDL robojoy
+
+joySDL_SOURCES = ../src/tools/joySDL.cc
+joySDL_LDADD = @SDL_LIBS@ ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+robojoy_SOURCES = ../src/tools/robojoy.cc
+robojoy_LDADD = @SDL_LIBS@ ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+endif

Added: bin/Makefile.local
===================================================================
--- bin/Makefile.local	                        (rev 0)
+++ bin/Makefile.local	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1 @@
+include Makefile

Added: bin/arda.arc
===================================================================
--- bin/arda.arc	                        (rev 0)
+++ bin/arda.arc	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,16 @@
+# y x
+55 51 1.0 20
+#49 49 49.7 55.1 1.5 1.0 20
+31.6 55.2 1.0 20
+31.6 74.2 12.6 74.2 -1.5 1.0 20
+12.6 90.0 1.0 20
+22 95 1.0 20
+24.4 111.5 1.0 20
+32.5 119 1.0 20
+34 98 1.0 20
+
+
+
+#55.0164 125.349 2.0 20
+#55.0164 158.725 2.0 20
+#74.028 158.725 74.028 177.736 -1.5 2.0 20

Added: bin/ipc-clear
===================================================================
--- bin/ipc-clear	                        (rev 0)
+++ bin/ipc-clear	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,75 @@
+#!/bin/sh
+
+# 
+# 'ipc-clear' removes semaphores and shared memory that may be lying around
+# 
+
+OS=`uname`
+
+if [ $OS = Linux ] ; then
+
+for key in `ipcs -m | awk '{print $1}'` ; do
+  if [ "$key" = "0x00000000" ] ; then continue ; fi
+  if [ "$key" = "------" ] ; then continue ; fi
+  if [ "$key" = "key" ] ; then continue ; fi
+  echo -n removing shared memory $key...
+  ipcrm -M $key
+  echo done
+done
+
+for key in `ipcs -s | awk '{print $1}'` ; do
+  if [ "$key" = "0x00000000" ] ; then continue ; fi
+  if [ "$key" = "------" ] ; then continue ; fi
+  if [ "$key" = "key" ] ; then continue ; fi
+  echo -n removing semaphore $key...
+  ipcrm -S $key
+  echo done
+done
+
+for key in `ipcs -q | awk '{print $1}'` ; do
+  if [ "$key" = "0x00000000" ] ; then continue ; fi
+  if [ "$key" = "------" ] ; then continue ; fi
+  if [ "$key" = "key" ] ; then continue ; fi
+  echo -n removing message queue $key...
+  ipcrm -Q $key
+  echo done
+done
+
+elif [ $OS = SunOS ] ; then
+
+# go for entries like "m 4900 0x0000077d ..."
+
+clear=`ipcs | awk -e '$1 ~ /m/ && $3 ~ /0x/ {print $3}'`
+for id in $clear ; do
+  echo ipcrm -M $id
+  ipcrm -M $id
+done
+
+# go for entries like "s 327680 0x0000077e ..."
+
+clear=`ipcs | awk -e '$1 ~ /s/ && $3 ~ /0x/ {print $3}'`
+for id in $clear ; do
+  echo ipcrm -S $id
+  ipcrm -S $id
+done
+
+# go for entries like "m4900000 0x0000077d ..."
+
+clear=`ipcs | awk -e '$1 ~ /m/ && $2 ~ /0x/ {print $2}'`
+for id in $clear ; do
+  echo ipcrm -M $id
+  ipcrm -M $id
+done
+
+# go for entries like "s3276800 0x0000077e ..."
+
+clear=`ipcs | awk -e '$1 ~ /s/ && $2 ~ /0x/ {print $2}'`
+for id  in $clear ; do
+  echo ipcrm -S $id
+  ipcrm -S $id
+done
+
+fi
+
+exit 0
+


Property changes on: bin/ipc-clear
___________________________________________________________________
Name: svn:executable
   + 

Added: bin/navPlot
===================================================================
--- bin/navPlot	                        (rev 0)
+++ bin/navPlot	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,19 @@
+#!/bin/sh
+# run this until ^C, then it will plot the data
+
+cd `dirname $0`
+
+export CONFIG_NML=../etc/moast.nml
+
+finished=0
+trap "finished=1" SIGINT
+
+\rm -f out.dat
+while test $finished -eq 0 ; do
+    ./nmlPrint -n 1 -b navDataExt -p nmlPrint --notime >> out.dat
+done
+
+# splot the XYZ relative position
+if test -s out.dat ; then echo "splot 'out.dat' using 5:6:7" | gnuplot -persist; fi
+
+exit 0


Property changes on: bin/navPlot
___________________________________________________________________
Name: svn:executable
   + 

Added: bin/ppm.tcl
===================================================================
--- bin/ppm.tcl	                        (rev 0)
+++ bin/ppm.tcl	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,30 @@
+#!/bin/sh
+# the next line restarts using wish \
+exec wish "$0" "$@"
+
+if {$argc < 1} {
+  puts stderr "syntax: ppm.tcl <image file>"
+  exit
+}
+
+set img [lindex $argv 0]
+
+if {! [file exists $img]} {
+  puts stderr "can't find file $img"
+  exit
+}
+
+if {[catch {image create photo image1 -file $img}]} {
+  puts stderr "bad image file $img"
+  exit
+}
+
+label .label -image image1
+pack .label
+
+while {1} {
+    update idletasks
+    image delete image1
+    catch {image create photo image1 -file $img}
+    after 100
+}


Property changes on: bin/ppm.tcl
___________________________________________________________________
Name: svn:executable
   + 

Added: bin/primSpPlot
===================================================================
--- bin/primSpPlot	                        (rev 0)
+++ bin/primSpPlot	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,16 @@
+#!/bin/sh
+# pipe this output to gnuplot, e.g.,
+# ./symPlot | gnuplot
+
+export CONFIG_NML=../etc/moast.nml
+
+finished=0
+trap "finished=1" SIGINT
+
+\rm -f out
+while test $finished -eq 0 ; do
+  ./nmlPrint -b primSPLinescan -p nmlPrint --block --notime > out
+  if test -s out ; then echo plot \[\] \'out\' w lp lt 1 lw 2 pt 5; fi
+done
+
+exit 0


Property changes on: bin/primSpPlot
___________________________________________________________________
Name: svn:executable
   + 

Added: bin/run
===================================================================
--- bin/run	                        (rev 0)
+++ bin/run	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,161 @@
+#!/bin/sh
+#
+# USERS EDIT THIS AREA
+#
+# set up to use ackerman steering
+#export USE_ACKERMAN=2
+
+# set up to use the submarine
+#export USE_NAUTIC=1.0
+
+#set SECT=yes to run section, VEH, AM, prim, and servo, else SECT=no
+SECT=yes
+
+# if SECT=no, set VEH=yes to run vehicle, AM, prim, and servo, else VEH=no
+VEH=no
+
+# if VEH=no, set AM=yes to run AM, prim, and servo, else AM=no
+AM=no
+
+# if AM=no, set PRIM=yes to run prim, and servo, else PRIM=no
+PRIM=yes
+
+# set USARSIM=yes to run usarSim, else USARSIM=no to run simpleSim
+USARSIM=yes
+#
+# END OF USER EDIT AREA
+#
+
+echo `dirname $0`/..
+if [ $# = 0 ]; then
+ ID=1
+else
+ ID=$1
+fi
+if [ $# -le 1 ]; then
+ PLATFORM=2
+else
+ PLATFORM=$2
+fi
+if [ $# -le 2 ]; then
+ STARTLOC=1
+else
+ STARTLOC=$3
+fi
+#
+#are we on cygwin?
+CYGWIN=no
+case `uname -s` in 
+CYGWIN*) CYGWIN=yes
+;;
+esac
+
+CONFIG_NML=../etc/moast.nml ; export CONFIG_NML
+CONFIG_INI=../etc/moast.ini ; export CONFIG_INI
+
+TOP=servoShell
+if [ x$PRIM = xyes ] ; then TOP=primShell ; fi
+if [ x$AM = xyes ] ; then PRIM=yes; TOP=amShell ; fi
+if [ x$VEH = xyes ] ; then AM=yes; PRIM=yes; TOP=vehShell ; fi
+if [ x$SECT = xyes ] ; then VEH=yes; AM=yes; PRIM=yes; TOP=sectShell ; fi
+pid1=0
+pid2=0
+pid3=0
+pid4=0
+pid5=0
+pid6=0
+pid7=0
+pid8=0
+pid9=0
+pid10=0
+
+kill1=9
+kill2=INT
+kill3=9
+kill4=9
+kill5=9
+kill6=INT
+kill7=9
+kill8=9
+kill9=9
+kill10=9
+
+./ipc-clear
+
+./splash $CONFIG_INI &
+
+echo "Starting server..."
+if [ x$CYGWIN = xyes ] ; then
+   nice -n'-10' ./moastNmlSvr &
+else
+   ./moastNmlSvr &
+fi
+pid1=$!
+sleep 3
+
+if [ x$USARSIM = xyes ] ; then
+  echo "Starting usarsim..."
+  if [ x$CYGWIN = xyes ] ; then
+      nice -n'-10'  ./simWare -i$ID -s$STARTLOC -p$PLATFORM &
+      kill2=HUP
+  else
+      ./simWare -i$ID -s$STARTLOC -p$PLATFORM &
+      kill2=HUP
+  fi
+else
+  echo "Starting simpleSimWare..."
+  ./simpleSimWare -i$ID -s$STARTLOC -p$PLATFORM &
+fi
+pid2=$!
+sleep 5
+
+./slamStub -i$ID&
+pid3=$!
+sleep 1
+
+if [ x$PRIM = xyes ] ; then
+  echo "Starting prim..."
+  sleep 2
+  ./primMobMain -d$ID&
+  pid4=$!
+  ./primSPMain -d$ID&
+  pid5=$!
+  #./primMisMain -d$ID&
+  #pid6=$!
+fi
+
+if [ x$AM = xyes ] ; then
+    echo "Starting am..."
+  ./amMobMain -d$ID&
+  pid7=$!
+  ./amSPMain -z.1 -d$ID&
+  pid8=$!
+fi
+
+if [ x$VEH = xyes ] ; then
+  echo "Starting vehicle..."
+  ./vehMobPLMain -i -g1 -r.1 -d$ID&
+#  ./vehMobPLMain -i -g3 -r.1 -d$ID&
+  pid9=$!
+fi
+
+if [ x$SECT = xyes ] ; then
+  echo "Starting section..."
+  ./sectMobPL -r.1&
+  pid10=$!
+fi
+
+./$TOP
+
+if [ ! $pid10 = 0 ] ; then kill -$kill10 $pid10 ; fi
+if [ ! $pid9 = 0 ] ; then kill -$kill9 $pid9 ; fi
+if [ ! $pid8 = 0 ] ; then kill -$kill8 $pid8 ; fi
+if [ ! $pid7 = 0 ] ; then kill -$kill7 $pid7 ; fi
+if [ ! $pid6 = 0 ] ; then kill -$kill6 $pid6 ; fi
+if [ ! $pid5 = 0 ] ; then kill -$kill5 $pid5 ; fi
+if [ ! $pid4 = 0 ] ; then kill -$kill4 $pid4 ; fi
+if [ ! $pid3 = 0 ] ; then kill -$kill3 $pid3 ; fi
+if [ ! $pid2 = 0 ] ; then kill -$kill2 $pid2 ; fi
+if [ ! $pid1 = 0 ] ; then kill -$kill1 $pid1 ; fi
+
+exit 0


Property changes on: bin/run
___________________________________________________________________
Name: svn:executable
   + 

Added: bin/runDrone
===================================================================
--- bin/runDrone	                        (rev 0)
+++ bin/runDrone	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,86 @@
+#!/bin/sh
+
+# set SERVER=yes to run nml server, else SERVER=no
+SERVER=no
+
+# set PRIM=yes to run prim, else PRIM=no
+PRIM=yes
+
+# set USARSIM=yes to run usarSim, else USARSIM=no to run oldUsarSim
+USARSIM=yes
+
+CONFIG_NML=../etc/moast.nml ; export CONFIG_NML
+CONFIG_INI=../etc/moast.ini ; export CONFIG_INI
+
+TOP=servoGui
+
+pid1=0
+pid2=0
+pid3=0
+pid4=0
+pid5=0
+pid6=0
+pid7=0
+
+kill1=INT
+kill2=INT
+kill3=INT
+kill4=INT
+kill5=INT
+kill6=INT
+kill7=INT
+
+if [ x$SERVER = xyes ] ; then
+   ./moastNmlSvr &	
+   sleep 2
+fi
+pid1=$!
+
+if [ x$USARSIM = xyes ] ; then
+  kill2=HUP
+  ./usarSim -hbugs-220.mxnet.mel.nist.gov -i2&
+#  ./oldUsarSim -x-2928 -y1164 -z128 -h bugs-220.mxnet.mel.nist.gov -w DM-NistDay &
+else
+    ./simpleSim &
+fi
+pid2=$!
+
+if [ x$PRIM = xyes ] ; then
+    sleep 2
+    kill3=HUP
+    ./primMobMain -d2&
+  pid3=$!
+fi
+
+./vehDrone -d2 -v&
+pid4=$!
+
+sleep 5
+if [ x$USARSIM = xyes ] ; then
+  kill5=HUP
+  ./usarSim -hbugs-220.mxnet.mel.nist.gov -i3&
+#  ./oldUsarSim -x-2928 -y1164 -z128 -h bugs-220.mxnet.mel.nist.gov -w DM-NistDay &
+else
+    ./simpleSim &
+fi
+pid5=$!
+
+if [ x$PRIM = xyes ] ; then
+    sleep 2
+    kill6=HUP
+    ./primMobMain -d3&
+  pid6=$!
+fi
+
+./vehDrone -d3 -v
+pid7=$!
+
+if [ ! $pid7 = 0 ] ; then kill -$kill7 $pid7 ; fi
+if [ ! $pid6 = 0 ] ; then kill -$kill6 $pid6 ; fi
+if [ ! $pid5 = 0 ] ; then kill -$kill5 $pid5 ; fi
+if [ ! $pid4 = 0 ] ; then kill -$kill4 $pid4 ; fi
+if [ ! $pid3 = 0 ] ; then kill -$kill3 $pid3 ; fi
+if [ ! $pid2 = 0 ] ; then kill -$kill2 $pid2 ; fi
+if [ ! $pid1 = 0 ] ; then kill -$kill1 $pid1 ; fi
+
+exit 0


Property changes on: bin/runDrone
___________________________________________________________________
Name: svn:executable
   + 

Added: bin/runJoy
===================================================================
--- bin/runJoy	                        (rev 0)
+++ bin/runJoy	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,170 @@
+#!/bin/sh
+#user set these for simulation
+ID=1
+#P2DX
+#PLATFORM=1; JOYMODE=1
+#P2AT
+#PLATFORM=2; JOYMODE=1
+#ATRVJr
+#PLATFORM=3; JOYMODE=1
+#ATRVJrBig
+#PLATFORM=4; JOYMODE=1
+#HUMMER
+#PLATFORM=5; JOYMODE=2
+#Submarine
+#PLATFORM=6; JOYMODE=3
+#Zerg
+PLATFORM=7; JOYMODE=1
+#Talon
+#PLATFORM=8; JOYMODE=1
+#TeleMax
+#PLATFORM=9; JOYMODE=1
+#AirRobot
+PLATFORM=10; JOYMODE=4
+#STARTLOC=1
+STARTLOC=2
+#done with user area
+#
+#are we on cygwin?
+CYGWIN=no
+case `uname -s` in 
+CYGWIN*) CYGWIN=yes
+;;
+esac
+
+echo `dirname $0`/..
+# set up to use ackerman steering
+#export USE_ACKERMAN=2
+
+# set up to use the submarine
+#USE_NAUTIC=1.0 ; export USE_NAUTIC
+
+#set SECT=yes to run section, VEH, AM, prim, and servo, else SECT=no
+SECT=no
+
+# if SECT=no, set VEH=yes to run vehicle, AM, prim, and servo, else VEH=no
+VEH=no
+
+# if VEH=no, set AM=yes to run AM, prim, and servo, else AM=no
+AM=yes
+
+# if AM=no, set PRIM=yes to run prim, and servo, else PRIM=no
+PRIM=no
+
+# set USARSIM=yes to run usarSim, else USARSIM=no to run simpleSim
+USARSIM=yes
+
+CONFIG_NML=../etc/moast.nml ; export CONFIG_NML
+CONFIG_INI=../etc/moast.ini ; export CONFIG_INI
+
+TOP=servoShell
+if [ x$PRIM = xyes ] ; then TOP=primShell ; fi
+if [ x$AM = xyes ] ; then PRIM=yes; TOP=amShell ; fi
+if [ x$VEH = xyes ] ; then AM=yes; PRIM=yes; TOP=vehShell ; fi
+if [ x$SECT = xyes ] ; then VEH=yes; AM=yes; PRIM=yes; TOP=sectShell ; fi
+pid1=0
+pid2=0
+pid3=0
+pid4=0
+pid5=0
+pid6=0
+pid7=0
+pid8=0
+pid9=0
+pid10=0
+pid11=0
+
+kill1=9
+kill2=9
+kill3=9
+kill4=9
+kill5=9
+kill6=INT
+kill7=9
+kill8=9
+kill9=9
+kill10=9
+kill11=9
+
+./ipc-clear
+
+./splash $CONFIG_INI &
+
+echo "Starting server..."
+if [ x$CYGWIN = xyes ] ; then
+   nice -n'-10' ./moastNmlSvr &
+else
+   ./moastNmlSvr &
+fi
+pid1=$!
+sleep 3
+
+if [ x$USARSIM = xyes ] ; then
+  echo "Starting usarsim..."
+  if [ x$CYGWIN = xyes ] ; then
+      nice -n'-10'  ./simWare -i$ID -s$STARTLOC -p$PLATFORM &
+  else
+      ./simWare -i$ID -s$STARTLOC -p$PLATFORM &
+fi
+  pid2=$!
+  kill2=HUP
+  sleep 5
+  ./slamStub &
+  pid3=$!
+  sleep 1
+
+else
+  ./simpleSim &
+  pid2=$!
+fi
+
+if [ x$PRIM = xyes ] ; then
+  echo "Starting prim..."
+  sleep 2
+  ./primMobMain &
+  pid4=$!
+  ./primSPMain &
+  pid5=$!
+  ./primMisMain &
+  pid6=$!
+fi
+
+if [ x$AM = xyes ] ; then
+    echo "Starting am..."
+  ./amMobMain &
+  pid7=$!
+  ./amSPMain -z.1&
+  pid8=$!
+fi
+
+if [ x$VEH = xyes ] ; then
+  echo "Starting vehicle..."
+#  ./vehMobPLMain -i -g1 -r.2 &
+  ./vehMobPLMain -i -g3 -r.1 &
+  pid9=$!
+fi
+
+if [ x$SECT = xyes ] ; then
+  echo "Starting section..."
+  ./sectMobPL &
+  pid10=$!
+fi
+
+./joySDL -d1 -x3 -y3 -z3 -w3 -m$JOYMODE&
+pid11=$!
+
+./$TOP
+
+if [ ! $pid11 = 0 ] ; then kill -$kill11 $pid11 ; fi
+if [ ! $pid10 = 0 ] ; then kill -$kill10 $pid10 ; fi
+if [ ! $pid9 = 0 ] ; then kill -$kill9 $pid9 ; fi
+if [ ! $pid8 = 0 ] ; then kill -$kill8 $pid8 ; fi
+if [ ! $pid7 = 0 ] ; then kill -$kill7 $pid7 ; fi
+if [ ! $pid6 = 0 ] ; then kill -$kill6 $pid6 ; fi
+if [ ! $pid5 = 0 ] ; then kill -$kill5 $pid5 ; fi
+if [ ! $pid4 = 0 ] ; then kill -$kill4 $pid4 ; fi
+if [ ! $pid3 = 0 ] ; then kill -$kill3 $pid3 ; fi
+if [ ! $pid2 = 0 ] ; then kill -$kill2 $pid2 ; fi
+if [ ! $pid1 = 0 ] ; then kill -$kill1 $pid1 ; fi
+
+exit 0


Property changes on: bin/runJoy
___________________________________________________________________
Name: svn:executable
   + 

Added: bin/runSub
===================================================================
--- bin/runSub	                        (rev 0)
+++ bin/runSub	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,143 @@
+#!/bin/sh
+#
+#are we on cygwin?
+CYGWIN=no
+case `uname -s` in 
+    CYGWIN*) 
+	CYGWIN=yes
+;;
+esac
+echo $CYGWIN
+
+cd `dirname $0`
+
+#set SECT=yes to run section, VEH, AM, prim, and servo, else SECT=no
+SECT=no
+
+# if SECT=no, set VEH=yes to run vehicle, AM, prim, and servo, else VEH=no
+VEH=no
+
+# if VEH=no, set AM=yes to run AM, prim, and servo, else AM=no
+AM=no
+
+# if AM=no, set PRIM=yes to run prim, and servo, else PRIM=no
+PRIM=yes
+
+# set USARSIM=yes to run usarSim, else USARSIM=no to run simpleSim
+USARSIM=yes
+
+CONFIG_NML=../etc/moast.nml ; export CONFIG_NML
+CONFIG_INI=../etc/moast.ini ; export CONFIG_INI
+
+# use the submarine
+export USE_NAUTIC=1.0
+
+TOP=servoShell
+if [ x$PRIM = xyes ] ; then TOP=primShell ; fi
+if [ x$AM = xyes ] ; then PRIM=yes; TOP=amShell ; fi
+if [ x$VEH = xyes ] ; then AM=yes; PRIM=yes; TOP=vehShell ; fi
+if [ x$SECT = xyes ] ; then VEH=yes; AM=yes; PRIM=yes; TOP=sectShell ; fi
+pid1=0
+pid2=0
+pid2a=0
+pid3=0
+pid4=0
+pid5=0
+pid6=0
+pid7=0
+pid8=0
+pid9=0
+pid10=0
+
+kill1=9
+kill2=9
+kill2a=9
+kill3=9
+kill4=9
+kill5=9
+kill6=INT
+kill7=9
+kill8=9
+kill9=9
+kill10=9
+
+./ipc-clear > /dev/null 2>&1
+
+./splash $CONFIG_INI &
+
+echo "Starting server..."
+if [ x$CYGWIN = xyes ] ; then
+   nice -n'-10' ./moastNmlSvr &
+else
+   ./moastNmlSvr &
+fi
+sleep 2
+pid1=$!
+
+if [ x$USARSIM = xyes ] ; then
+  echo "Starting usarsim..."
+#  ./usarSim -i1 &
+if [ x$CYGWIN = xyes ] ; then
+   nice -n'-10'  ./simWare -i1 -s1 -p6 &
+else
+     ./simWare -i1 -s2 -p6 &
+fi
+  pid2=$!
+  sleep 5
+  ./slamStub &
+  pid2a=$!
+  sleep 1
+  kill2=HUP
+else
+  ./simpleSim &
+fi
+
+if [ x$PRIM = xyes ] ; then
+  echo "Starting prim..."
+  sleep 2
+  ./primMobMain &
+  pid3=$!
+  ./primSPMain &
+  pid4=$!
+  ./primMisMain &
+  pid5=$!
+fi
+
+if [ x$AM = xyes ] ; then
+    echo "Starting am..."
+  ./amMobMain &
+  pid6=$!
+  ./amSPMain -z.1&
+  pid7=$!
+fi
+
+if [ x$VEH = xyes ] ; then
+  echo "Starting vehicle..."
+  ./vehMobPLMain -i -g3 -r.2&
+  pid8=$!
+fi
+
+if [ x$SECT = xyes ] ; then
+  echo "Starting section..."
+  ./sectMobPL &
+  pid9=$!
+fi
+
+./joySDL -d1 -m3 -x2 -y2 -z2 -w4 &
+pid10=$!
+
+./$TOP
+
+if [ ! $pid10 = 0 ] ; then kill -$kill10 $pid10 ; fi
+if [ ! $pid9 = 0 ] ; then kill -$kill9 $pid9 ; fi
+if [ ! $pid8 = 0 ] ; then kill -$kill8 $pid8 ; fi
+if [ ! $pid7 = 0 ] ; then kill -$kill7 $pid7 ; fi
+if [ ! $pid6 = 0 ] ; then kill -$kill6 $pid6 ; fi
+if [ ! $pid5 = 0 ] ; then kill -$kill5 $pid5 ; fi
+if [ ! $pid4 = 0 ] ; then kill -$kill4 $pid4 ; fi
+if [ ! $pid3 = 0 ] ; then kill -$kill3 $pid3 ; fi
+if [ ! $pid2a = 0 ] ; then kill -$kill2a $pid2a ; fi
+if [ ! $pid2 = 0 ] ; then kill -$kill2 $pid2 ; fi
+if [ ! $pid1 = 0 ] ; then kill -$kill1 $pid1 ; fi
+
+exit 0


Property changes on: bin/runSub
___________________________________________________________________
Name: svn:executable
   + 

Added: bin/runVehicle
===================================================================
--- bin/runVehicle	                        (rev 0)
+++ bin/runVehicle	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,128 @@
+#!/bin/sh
+#
+# USERS EDIT THIS AREA
+#
+# set up to use ackerman steering
+#export USE_ACKERMAN=2
+
+# set up to use the submarine
+#export USE_NAUTIC=1.0
+# set VEH=yes to run vehicle, AM, prim, and servo, else VEH=no
+VEH=yes
+
+# if VEH=no, set AM=yes to run AM, prim, and servo, else AM=no
+AM=no
+
+# if AM=no, set PRIM=yes to run prim, and servo, else PRIM=no
+PRIM=yes
+
+# set USARSIM=yes to run usarSim, else USARSIM=no to run simpleSim
+USARSIM=yes
+#
+# END OF USER EDIT AREA
+#
+
+if [ $# = 0 ]; then
+ vehID=2
+else
+ vehID=$1
+fi
+if [ $# -le 1 ]; then
+ PLATFORM=2
+else
+ PLATFORM=$2
+fi
+if [ $# -le 2 ]; then
+ STARTLOC=2
+else
+ STARTLOC=$3
+fi
+
+#are we on cygwin?
+CYGWIN=no
+case `uname -s` in 
+CYGWIN*) CYGWIN=yes
+;;
+esac
+
+CONFIG_NML=../etc/moast.nml ; export CONFIG_NML
+CONFIG_INI=../etc/moast.ini ; export CONFIG_INI
+
+TOP=servoShell
+if [ x$PRIM = xyes ] ; then TOP=primShell ; fi
+if [ x$AM = xyes ] ; then PRIM=yes; TOP=amShell ; fi
+if [ x$VEH = xyes ] ; then AM=yes; PRIM=yes; TOP=vehShell ; fi
+pid1=0
+pid2=0
+pid3=0
+pid4=0
+pid5=0
+pid6=0
+pid7=0
+pid8=0
+pid9=0
+
+kill1=9
+kill2=9
+kill3=9
+kill4=9
+kill5=9
+kill6=9
+kill7=9
+kill8=9
+kill9=9
+
+./splash $CONFIG_INI &
+
+if [ x$USARSIM = xyes ] ; then
+  echo "Starting usarsim..."
+  if [ x$CYGWIN = xyes ] ; then
+      nice -n'-10'  ./simWare -i$vehID -s$STARTLOC -p$PLATFORM &
+  else
+      ./simWare -i$vehID -s$STARTLOC -p$PLATFORM &
+fi
+  pid1=$!
+  kill1=HUP
+  sleep 5
+  ./slamStub -i$vehID&
+  pid2=$!
+  sleep 1
+
+else
+  ./simpleSim &
+  pid1=$!
+fi
+
+if [ x$PRIM = xyes ] ; then
+  ./primMobMain -d$vehID&
+  pid3=$!
+  ./primSPMain -d$vehID&
+  pid4=$!
+fi
+
+if [ x$AM = xyes ] ; then
+  sleep 2
+  ./amMobMain -d$vehID&
+  pid5=$!
+  ./amSPMain -z.1 -d$vehID&
+  pid6=$!
+fi
+
+if [ x$VEH = xyes ] ; then
+  ./vehMobPLMain -i -g1 -r.2 -d$vehID&
+  pid7=$!
+fi
+
+./$TOP -d$vehID
+
+if [ ! $pid9 = 0 ] ; then kill -$kill9 $pid9 ; fi
+if [ ! $pid8 = 0 ] ; then kill -$kill8 $pid8 ; fi
+if [ ! $pid7 = 0 ] ; then kill -$kill7 $pid7 ; fi
+if [ ! $pid6 = 0 ] ; then kill -$kill6 $pid6 ; fi
+if [ ! $pid5 = 0 ] ; then kill -$kill5 $pid5 ; fi
+if [ ! $pid4 = 0 ] ; then kill -$kill4 $pid4 ; fi
+if [ ! $pid3 = 0 ] ; then kill -$kill3 $pid3 ; fi
+if [ ! $pid2 = 0 ] ; then kill -$kill2 $pid2 ; fi
+if [ ! $pid1 = 0 ] ; then kill -$kill1 $pid1 ; fi
+
+exit 0


Property changes on: bin/runVehicle
___________________________________________________________________
Name: svn:executable
   + 

Added: bin/say
===================================================================
--- bin/say	                        (rev 0)
+++ bin/say	2007-05-02 19:20:07 UTC (rev 578)
@@ -0,0 +1,18 @@
+#!/bin/sh
+
+# syntax: say <file.ini>
+
+if [ ! $# = 1 ] ; then echo need .ini file ; exit 1 ; fi
+

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Wed May  2 15:22:57 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 2 May 2007 15:22:57 -0400
Subject: [TeamTalk 42]:  [579] Removed file/folder
Message-ID: <200705021922.l42JMvEu023679@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070502/ee8c260e/attachment-0001.html
-------------- next part --------------
Deleted: AUTHORS
===================================================================

Deleted: ChangeLog
===================================================================

Deleted: Makefile.am
===================================================================
--- Makefile.am	2007-05-02 19:20:07 UTC (rev 578)
+++ Makefile.am	2007-05-02 19:22:57 UTC (rev 579)
@@ -1,2 +0,0 @@
-SUBDIRS = include src lib bin etc
-EXTRA_DIST = include doc 

Deleted: Makefile.local
===================================================================
--- Makefile.local	2007-05-02 19:20:07 UTC (rev 578)
+++ Makefile.local	2007-05-02 19:22:57 UTC (rev 579)
@@ -1,30 +0,0 @@
-# This gets us our local stuff, namely building the NML source, then
-# the "all" target last.
-# Leave out "doc" as a default.
-local : ini nml java swig all
-
-# this builds the INI file (for version, at least)
-ini :
-	(cd etc && $(MAKE) -f Makefile.local $@)
-
-# this builds the NML source
-nml :
-	(cd src/nml && $(MAKE) -f Makefile.local $@)
-	(cd etc && $(MAKE) -f Makefile.local $@)
-
-# this builds Java support
-java :
-	(cd src/java && $(MAKE) -f Makefile.local $@)
-
-# this builds the SWIG files
-swig :
-	(cd src/tools && $(MAKE) -f Makefile.local $@)
-
-# this builds the Doxygen documentation
-doc :
-	(cd doc && $(MAKE) -f Makefile.local $@)
-
-# this gets us the usual stuff
-include Makefile
-
-.PHONY : local ini nml swig doc

Deleted: NEWS
===================================================================

Deleted: README
===================================================================
--- README	2007-05-02 19:20:07 UTC (rev 578)
+++ README	2007-05-02 19:22:57 UTC (rev 579)
@@ -1,11 +0,0 @@
-
-cd /usr/local/moast/devel/include
-
-for file in `all the NML headers` ; do
-	java -jar /usr/local/rcslib/bin/CodeGenCmdLine.jar generate_for_java=true amMisJA.hh
-done
-
-javac -classpath /usr/local/rcslib/bin/rcs.jar *.java
-
-jar -cvf moast.jar *.class
-

Deleted: acinclude.m4
===================================================================
--- acinclude.m4	2007-05-02 19:20:07 UTC (rev 578)
+++ acinclude.m4	2007-05-02 19:22:57 UTC (rev 579)
@@ -1,623 +0,0 @@
-AC_DEFUN([AC_HAVE_RCSLIB],
-	[AC_MSG_CHECKING([for RCS library])]
-	RCSLIB_DIR=`echo $RCSLIB_DIR`
-	if test x$RCSLIB_DIR = x ; then
-	for dir in /usr/local/rcslib /usr/rcslib /local/rcslib ; do
-	if test -d $dir -o -L $dir ; then RCSLIB_DIR=$dir ; break ; fi
-	done
-	fi
-	if test x$RCSLIB_DIR = x ; then
-	[AC_MSG_ERROR([not found, set RCSLIB_DIR environment variable and try again])]
-	else
-	[AC_MSG_RESULT([$RCSLIB_DIR])]
-dnl put HAVE_RCSLIB in config.h
-	[AC_DEFINE(HAVE_RCSLIB,
-		1, [Define non-zero if you have the RCS Library.])]
-dnl add needed libraries
-	[AC_CHECK_LIB(socket, main)]
-	[AC_CHECK_LIB(wsock32, main)]
-	[AC_CHECK_LIB(rt, main)]
-	[AC_CHECK_LIB(posix4, main)]
-	[AC_CHECK_LIB(nsl, main)]
-dnl put RCSLIB_DIR in Makefile
-	[AC_SUBST(RCSLIB_DIR)]
-dnl put RCSLIB_DIR into variable file for use by shell scripts
-	echo RCSLIB_DIR=$RCSLIB_DIR > rcslib_dir
-	fi
-	)
-
-AC_DEFUN([AC_HAVE_MYSQL],
-# look for <mysql/mysql.h>, but define HAVE_MYSQL_H instead of
-# HAVE_MYSQL_MYSQL_H, since code will include <mysql.h> and CFLAGS will
-# specify something like -I/usr/include/mysql
-	[AC_CHECK_HEADER([mysql/mysql.h], [AC_DEFINE(HAVE_MYSQL_H, 1, Define to 1 if you have the <mysql.h> header file.)] mysql=true, mysql=false)]
-	[AM_CONDITIONAL(HAVE_MYSQL_H, test x$mysql = xtrue)]
-# check for mysql_config, which if it exists will return CFLAGS and LIBS
-	[AC_CHECK_PROGS(MYSQL_CONFIG, mysql_config)]
-	[AM_CONDITIONAL(HAVE_MYSQL, test x$MYSQL_CONFIG != x)]
-	if test x$MYSQL_CONFIG = x ; then
-		MYSQL_CFLAGS=""
-		MYSQL_LIBS=""
-	else
-		MYSQL_CFLAGS=`mysql_config --cflags`
-		MYSQL_LIBS=`mysql_config --libs`
-	fi
-	[AC_SUBST(MYSQL_CFLAGS)]
-	[AC_SUBST(MYSQL_LIBS)]
-	)
-
-AC_DEFUN([AC_HAVE_GTK],
-	[AC_CHECK_PROGS(PKG_CONFIG, pkg-config)]
-	if test x$PKG_CONFIG != x ; then
-		[AC_MSG_CHECKING([for gtk+-2.0])]
-		GTK_VERSION=`pkg-config --modversion gtk+-2.0`
-		if test x$GTK_VERSION != x ; then
-			GTK_CFLAGS=`pkg-config --cflags gtk+-2.0`
-			GTK_LIBS=`pkg-config --libs gtk+-2.0`
-			[AC_MSG_RESULT([$GTK_VERSION])]
-		else
-			[AC_MSG_RESULT([no])]
-		fi
-	else
-		GTK_VERSION=""
-		GTK_CFLAGS=""
-		GTK_LIBS=""
-	fi
-	[AC_SUBST(GTK_VERSION)]
-	[AC_SUBST(GTK_CFLAGS)]
-	[AC_SUBST(GTK_LIBS)]
-	[AM_CONDITIONAL(HAVE_GTK, test x$GTK_VERSION != x)]
-	)
-
-AC_DEFUN([AC_CHECK_MATH],
-	[AC_CHECK_DECL(floorf,,
-		AH_TEMPLATE([floorf], [Math function 'floor' for floats])
-		AC_DEFINE([floorf(x)], [((float) floor((double) (x)))]),
-		[#include <math.h>])]
-	[AC_CHECK_DECL(sqrtf,,
-		AH_TEMPLATE([sqrtf], [Math function 'sqrt' for floats])
-		AC_DEFINE([sqrtf(x)], [((float) sqrt((double) (x)))]),
-		[#include <math.h>])]
-	)
-
-AC_DEFUN([ACX_TK_INCLUDE],
-    [AC_MSG_CHECKING([for Tk headers])]
-    [AC_ARG_WITH(,
-	    [  --with-tkinclude=<path to Tk headers>  Specify path to Tk headers],
-	    dirs=$withval,dirs="/usr/include /usr/include/tcl8.4 /usr/include/tcl8.3")]
-    for dir in $dirs ; do
-	if test -f $dir/tk.h ; then tkinclude_dir=$dir ; break; fi
-    done
-    if test x$tkinclude_dir = x ; then
-	[AC_MSG_RESULT([not found in $dirs, try --with-tkinclude=<path to Tk headers>])]
-    else
-	TK_INCLUDE_DIR=$tkinclude_dir
-dnl put HAVE_TK_INCLUDE in config.h
-	[AC_DEFINE(HAVE_TK_INCLUDE,
-		1, [Define non-zero if you have Tk headers.])]
-dnl put TK_INCLUDE_DIR in Makefile
-	[AC_SUBST(TK_INCLUDE_DIR)]
-	[AC_MSG_RESULT([$TK_INCLUDE_DIR])]
-    fi
-    [AM_CONDITIONAL(HAVE_TK_INCLUDE, test x$tkinclude_dir != x)]
-)
-
-AC_DEFUN([ACX_TCL_LIB],
-    [AC_MSG_CHECKING([for Tcl library])]
-    [AC_ARG_WITH(,
-	    [  --with-tcllib=<path to Tcl library>  Specify path to Tcl library],
-	    dirs=$withval,dirs="/usr/lib")]
-    [AC_ARG_WITH(,
-	    [  --with-tcllink=<link name of Tcl library>  Specify link name of Tcl library],
-	    names=$withval,names="tcl tcl8.4 tcl84 tcl8.3 tcl83")]
-    for dir in $dirs ; do
-	for name in $names ; do
-		if test -f $dir/lib"$name".a ; then tcllink="-L$dir -l$name"; break; fi
-		if test -f $dir/lib"$name".so ; then tcllink="-L$dir -l$name"; break; fi
-	done
-    done
-    if test x"$tcllink" = x ; then
-	[AC_MSG_RESULT([none of lib"$names".a,so found in $dirs, try --with-tcllib=<path to Tcl library, --with-tcllink=<link name of Tcl library>])]
-    else
-	TCL_LINK="$tcllink"
-dnl put TCL_LINK in Makefile
-	[AC_SUBST(TCL_LINK)]
-	[AC_MSG_RESULT([$TCL_LINK])]
-    fi
-    [AM_CONDITIONAL(HAVE_TCL_LIB, test x"$tcllink" != x)]
-)
-
-AC_DEFUN([ACX_TK_LIB],
-    [AC_MSG_CHECKING([for Tk library])]
-    [AC_ARG_WITH(,
-	    [  --with-tklib=<path to Tk library>  Specify path to Tk library],
-	    dirs=$withval,dirs="/usr/lib")]
-    [AC_ARG_WITH(,
-	    [  --with-tklink=<link name of Tk library>  Specify link name of Tk library],
-	    names=$withval,names="tk tk8.4 tk84 tk8.3 tk83")]
-    for dir in $dirs ; do
-	for name in $names ; do
-		if test -f $dir/lib"$name".a ; then tklink="-L$dir -l$name"; break; fi
-		if test -f $dir/lib"$name".so ; then tklink="-L$dir -l$name"; break; fi
-	done
-    done
-    if test x"$tklink" = x ; then
-	[AC_MSG_RESULT([none of lib"$names".a,so found in $dirs, try --with-tklib=<path to Tk library, --with-tklink=<link name of Tk library>])]
-    else
-	TK_LINK="$tklink"
-dnl put TK_LINK in Makefile
-	[AC_SUBST(TK_LINK)]
-	[AC_MSG_RESULT([$TK_LINK])]
-    fi
-    [AM_CONDITIONAL(HAVE_TK_LIB, test x"$tklink" != x)]
-)
-
-AC_DEFUN([AC_HAVE_TCL_DEVEL],
-	[AC_CHECK_HEADERS([tcl.h], tcl=true, tcl=false)]
-	[AM_CONDITIONAL(HAVE_TCL_DEVEL, test x$tcl = xtrue)]
-	)
-
-AC_DEFUN([AC_HAVE_PERL_DEVEL],
-	[AC_MSG_CHECKING([for perl devel])]
-	dir=""
-	if test x$LOCATE != x ; then
-	if test x$GREP != x ; then
-	for file in `locate perl.h | grep CORE` ; do
-		dir=`dirname $file`
-	done
-	fi
-	fi
-	if test x$dir = x ; then
-		PERL_FLAGS=""
-		[AC_MSG_RESULT([no])]
-	else
-		PERL_FLAGS="-D_GNU_SOURCE -I$dir"
-		[AC_MSG_RESULT([$dir])]
-	fi
-	[AC_SUBST(PERL_FLAGS)]
-	[AM_CONDITIONAL(HAVE_PERL_DEVEL, test "x$PERL_FLAGS" != x)]
-	)
-
-AC_DEFUN([AC_HAVE_PYTHON_DEVEL],
-	[AC_MSG_CHECKING([for python devel])]
-	dir=""
-	if test x$LOCATE != x ; then
-	if test x$GREP != x ; then
-	for file in `locate Python.h | grep python` ; do
-		dir=`dirname $file`
-	done
-	fi
-	fi
-	if test x$dir = x ; then
-		PYTHON_FLAGS=""
-		[AC_MSG_RESULT([no])]
-	else
-		PYTHON_FLAGS="-I$dir"
-		[AC_MSG_RESULT([$dir])]
-	fi
-	[AC_SUBST(PYTHON_FLAGS)]
-	[AM_CONDITIONAL(HAVE_PYTHON_DEVEL, test "x$PYTHON_FLAGS" != x)]
-	)
-
-dnl @synopsis ACX_PTHREAD([ACTION-IF-FOUND[, ACTION-IF-NOT-FOUND]])
-dnl
-dnl This macro figures out how to build C programs using POSIX threads.
-dnl It sets the PTHREAD_LIBS output variable to the threads library and
-dnl linker flags, and the PTHREAD_CFLAGS output variable to any special
-dnl C compiler flags that are needed. (The user can also force certain
-dnl compiler flags/libs to be tested by setting these environment
-dnl variables.)
-dnl
-dnl Also sets PTHREAD_CC to any special C compiler that is needed for
-dnl multi-threaded programs (defaults to the value of CC otherwise).
-dnl (This is necessary on AIX to use the special cc_r compiler alias.)
-dnl
-dnl NOTE: You are assumed to not only compile your program with these
-dnl flags, but also link it with them as well. e.g. you should link
-dnl with $PTHREAD_CC $CFLAGS $PTHREAD_CFLAGS $LDFLAGS ... $PTHREAD_LIBS
-dnl $LIBS
-dnl
-dnl If you are only building threads programs, you may wish to use
-dnl these variables in your default LIBS, CFLAGS, and CC:
-dnl
-dnl        LIBS="$PTHREAD_LIBS $LIBS"
-dnl        CFLAGS="$CFLAGS $PTHREAD_CFLAGS"
-dnl        CC="$PTHREAD_CC"
-dnl
-dnl In addition, if the PTHREAD_CREATE_JOINABLE thread-attribute
-dnl constant has a nonstandard name, defines PTHREAD_CREATE_JOINABLE to
-dnl that name (e.g. PTHREAD_CREATE_UNDETACHED on AIX).
-dnl
-dnl ACTION-IF-FOUND is a list of shell commands to run if a threads
-dnl library is found, and ACTION-IF-NOT-FOUND is a list of commands to
-dnl run it if it is not found. If ACTION-IF-FOUND is not specified, the
-dnl default action will define HAVE_PTHREAD.
-dnl
-dnl Please let the authors know if this macro fails on any platform, or
-dnl if you have any other suggestions or comments. This macro was based
-dnl on work by SGJ on autoconf scripts for FFTW (www.fftw.org) (with
-dnl help from M. Frigo), as well as ac_pthread and hb_pthread macros
-dnl posted by Alejandro Forero Cuervo to the autoconf macro repository.
-dnl We are also grateful for the helpful feedback of numerous users.
-dnl
-dnl @category InstalledPackages
-dnl @author Steven G. Johnson <stevenj at alum.mit.edu>
-dnl @version 2005-01-14
-dnl @license GPLWithACException
-
-AC_DEFUN([ACX_PTHREAD], [
-AC_REQUIRE([AC_CANONICAL_HOST])
-AC_LANG_SAVE
-AC_LANG_CPLUSPLUS
-acx_pthread_ok=no
-
-# We used to check for pthread.h first, but this fails if pthread.h
-# requires special compiler flags (e.g. on True64 or Sequent).
-# It gets checked for in the link test anyway.
-
-# First of all, check if the user has set any of the PTHREAD_LIBS,
-# etcetera environment variables, and if threads linking works using
-# them:
-if test x"$PTHREAD_LIBS$PTHREAD_CXXFLAGS" != x; then
-        save_CXXFLAGS="$CXXFLAGS"
-        CXXFLAGS="$CXXFLAGS $PTHREAD_CXXFLAGS"
-        save_LIBS="$LIBS"
-        LIBS="$PTHREAD_LIBS $LIBS"
-        AC_MSG_CHECKING([for pthread_join in LIBS=$PTHREAD_LIBS with CXXFLAGS=$PTHREAD_CXXFLAGS])
-        AC_TRY_LINK_FUNC(pthread_join, acx_pthread_ok=yes)
-        AC_MSG_RESULT($acx_pthread_ok)
-        if test x"$acx_pthread_ok" = xno; then
-                PTHREAD_LIBS=""
-                PTHREAD_CXXFLAGS=""
-        fi
-        LIBS="$save_LIBS"
-        CXXFLAGS="$save_CXXFLAGS"
-fi
-
-# We must check for the threads library under a number of different
-# names; the ordering is very important because some systems
-# (e.g. DEC) have both -lpthread and -lpthreads, where one of the
-# libraries is broken (non-POSIX).
-
-# Create a list of thread flags to try.  Items starting with a "-" are
-# C compiler flags, and other items are library names, except for "none"
-# which indicates that we try without any flags at all, and "pthread-config"
-# which is a program returning the flags for the Pth emulation library.
-
-acx_pthread_flags="pthreads none -Kthread -kthread lthread -pthread -pthreads -mthreads pthread --thread-safe -mt pthread-config"
-
-# The ordering *is* (sometimes) important.  Some notes on the
-# individual items follow:
-
-# pthreads: AIX (must check this before -lpthread)
-# none: in case threads are in libc; should be tried before -Kthread and
-#       other compiler flags to prevent continual compiler warnings
-# -Kthread: Sequent (threads in libc, but -Kthread needed for pthread.h)
-# -kthread: FreeBSD kernel threads (preferred to -pthread since SMP-able)
-# lthread: LinuxThreads port on FreeBSD (also preferred to -pthread)
-# -pthread: Linux/gcc (kernel threads), BSD/gcc (userland threads)
-# -pthreads: Solaris/gcc
-# -mthreads: Mingw32/gcc, Lynx/gcc
-# -mt: Sun Workshop C (may only link SunOS threads [-lthread], but it
-#      doesn't hurt to check since this sometimes defines pthreads too;
-#      also defines -D_REENTRANT)
-# pthread: Linux, etcetera
-# --thread-safe: KAI C++
-# pthread-config: use pthread-config program (for GNU Pth library)
-
-case "${host_cpu}-${host_os}" in
-        *solaris*)
-
-        # On Solaris (at least, for some versions), libc contains stubbed
-        # (non-functional) versions of the pthreads routines, so link-based
-        # tests will erroneously succeed.  (We need to link with -pthread or
-        # -lpthread.)  (The stubs are missing pthread_cleanup_push, or rather
-        # a function called by this macro, so we could check for that, but
-        # who knows whether they'll stub that too in a future libc.)  So,
-        # we'll just look for -pthreads and -lpthread first:
-
-        acx_pthread_flags="-pthread -pthreads pthread -mt $acx_pthread_flags"
-        ;;
-esac
-
-if test x"$acx_pthread_ok" = xno; then
-for flag in $acx_pthread_flags; do
-
-        case $flag in
-                none)
-                AC_MSG_CHECKING([whether pthreads work without any flags])
-                ;;
-
-                -*)
-                AC_MSG_CHECKING([whether pthreads work with $flag])
-                PTHREAD_CXXFLAGS="$flag"
-                ;;
-
-		pthread-config)
-		AC_CHECK_PROG(acx_pthread_config, pthread-config, yes, no)
-		if test x"$acx_pthread_config" = xno; then continue; fi
-		PTHREAD_CXXFLAGS="`pthread-config --cflags`"
-		PTHREAD_LIBS="`pthread-config --ldflags` `pthread-config --libs`"
-		;;
-
-                *)
-                AC_MSG_CHECKING([for the pthreads library -l$flag])
-                PTHREAD_LIBS="-l$flag"
-                ;;
-        esac
-
-        save_LIBS="$LIBS"
-        save_CXXFLAGS="$CXXFLAGS"
-        LIBS="$PTHREAD_LIBS $LIBS"
-        CXXFLAGS="$CXXFLAGS $PTHREAD_CXXFLAGS"
-
-        # Check for various functions.  We must include pthread.h,
-        # since some functions may be macros.  (On the Sequent, we
-        # need a special flag -Kthread to make this header compile.)
-        # We check for pthread_join because it is in -lpthread on IRIX
-        # while pthread_create is in libc.  We check for pthread_attr_init
-        # due to DEC craziness with -lpthreads.  We check for
-        # pthread_cleanup_push because it is one of the few pthread
-        # functions on Solaris that doesn't have a non-functional libc stub.
-        # We try pthread_create on general principles.
-        AC_TRY_LINK([#include <pthread.h>],
-                    [pthread_t th; pthread_join(th, 0);
-                     pthread_attr_init(0); pthread_cleanup_push(0, 0);
-                     pthread_create(0,0,0,0); pthread_cleanup_pop(0); ],
-                    [acx_pthread_ok=yes])
-
-        LIBS="$save_LIBS"
-        CXXFLAGS="$save_CXXFLAGS"
-
-        AC_MSG_RESULT($acx_pthread_ok)
-        if test "x$acx_pthread_ok" = xyes; then
-                break;
-        fi
-
-        PTHREAD_LIBS=""
-        PTHREAD_CXXFLAGS=""
-done
-fi
-
-# Various other checks:
-if test "x$acx_pthread_ok" = xyes; then
-        save_LIBS="$LIBS"
-        LIBS="$PTHREAD_LIBS $LIBS"
-        save_CXXFLAGS="$CXXFLAGS"
-        CXXFLAGS="$CXXFLAGS $PTHREAD_CXXFLAGS"
-
-        # Detect AIX lossage: JOINABLE attribute is called UNDETACHED.
-	AC_MSG_CHECKING([for joinable pthread attribute])
-	attr_name=unknown
-	for attr in PTHREAD_CREATE_JOINABLE PTHREAD_CREATE_UNDETACHED; do
-	    AC_TRY_LINK([#include <pthread.h>], [int attr=$attr;],
-                        [attr_name=$attr; break])
-	done
-        AC_MSG_RESULT($attr_name)
-        if test "$attr_name" != PTHREAD_CREATE_JOINABLE; then
-            AC_DEFINE_UNQUOTED(PTHREAD_CREATE_JOINABLE, $attr_name,
-                               [Define to necessary symbol if this constant
-                                uses a non-standard name on your system.])
-        fi
-
-        AC_MSG_CHECKING([if more special flags are required for pthreads])
-        flag=no
-        case "${host_cpu}-${host_os}" in
-            *-aix* | *-freebsd* | *-darwin*) flag="-D_THREAD_SAFE";;
-            *solaris* | *-osf* | *-hpux*) flag="-D_REENTRANT";;
-        esac
-        AC_MSG_RESULT(${flag})
-        if test "x$flag" != xno; then
-            PTHREAD_CXXFLAGS="$flag $PTHREAD_CXXFLAGS"
-        fi
-
-        LIBS="$save_LIBS"
-        CXXFLAGS="$save_CXXFLAGS"
-
-        # More AIX lossage: must compile with cc_r
-        AC_CHECK_PROG(PTHREAD_CXX, cc_r, cc_r, ${CXX})
-else
-        PTHREAD_CXX="$CXX"
-fi
-
-AC_SUBST(PTHREAD_LIBS)
-AC_SUBST(PTHREAD_CXXFLAGS)
-AC_SUBST(PTHREAD_CXX)
-
-# Finally, execute ACTION-IF-FOUND/ACTION-IF-NOT-FOUND:
-if test x"$acx_pthread_ok" = xyes; then
-        ifelse([$1],,AC_DEFINE(HAVE_PTHREAD,1,[Define if you have POSIX threads libraries and header files.]),[$1])
-        :
-else
-        acx_pthread_ok=no
-        $2
-fi
-AC_LANG_RESTORE
-])dnl ACX_PTHREAD
-
-# Configure paths for SDL
-# Sam Lantinga 9/21/99
-# stolen from Manish Singh
-# stolen back from Frank Belew
-# stolen from Manish Singh
-# Shamelessly stolen from Owen Taylor
-
-dnl AM_PATH_SDL([MINIMUM-VERSION, [ACTION-IF-FOUND [, ACTION-IF-NOT-FOUND]]])
-dnl Test for SDL, and define SDL_CFLAGS and SDL_LIBS
-dnl
-AC_DEFUN([AM_PATH_SDL],
-[dnl 
-dnl Get the cflags and libraries from the sdl-config script
-dnl
-AC_ARG_WITH(sdl-prefix,[  --with-sdl-prefix=PFX   Prefix where SDL is installed (optional)],
-            sdl_prefix="$withval", sdl_prefix="")
-AC_ARG_WITH(sdl-exec-prefix,[  --with-sdl-exec-prefix=PFX Exec prefix where SDL is installed (optional)],
-            sdl_exec_prefix="$withval", sdl_exec_prefix="")
-AC_ARG_ENABLE(sdltest, [  --disable-sdltest       Do not try to compile and run a test SDL program],
-		    , enable_sdltest=yes)
-
-  if test x$sdl_exec_prefix != x ; then
-    sdl_args="$sdl_args --exec-prefix=$sdl_exec_prefix"
-    if test x${SDL_CONFIG+set} != xset ; then
-       SDL_CONFIG=$sdl_exec_prefix/bin/sdl-config
-    fi
-  fi
-  if test x$sdl_prefix != x ; then
-    sdl_args="$sdl_args --prefix=$sdl_prefix"
-    if test x${SDL_CONFIG+set} != xset ; then
-       SDL_CONFIG=$sdl_prefix/bin/sdl-config
-    fi
-  fi
-
-  if test "x$prefix" != xNONE; then
-    PATH="$prefix/bin:$prefix/usr/bin:$PATH"
-  fi
-  AC_PATH_PROG(SDL_CONFIG, sdl-config, no, [$PATH])
-  min_sdl_version=ifelse([$1], ,0.11.0,$1)
-  AC_MSG_CHECKING(for SDL - version >= $min_sdl_version)
-  no_sdl=""
-  if test "$SDL_CONFIG" = "no" ; then
-    no_sdl=yes
-  else
-    SDL_CFLAGS=`$SDL_CONFIG $sdlconf_args --cflags`
-    SDL_LIBS=`$SDL_CONFIG $sdlconf_args --libs`
-
-    sdl_major_version=`$SDL_CONFIG $sdl_args --version | \
-           sed 's/\([[0-9]]*\).\([[0-9]]*\).\([[0-9]]*\)/\1/'`
-    sdl_minor_version=`$SDL_CONFIG $sdl_args --version | \
-           sed 's/\([[0-9]]*\).\([[0-9]]*\).\([[0-9]]*\)/\2/'`
-    sdl_micro_version=`$SDL_CONFIG $sdl_config_args --version | \
-           sed 's/\([[0-9]]*\).\([[0-9]]*\).\([[0-9]]*\)/\3/'`
-    if test "x$enable_sdltest" = "xyes" ; then
-      ac_save_CFLAGS="$CFLAGS"
-      ac_save_CXXFLAGS="$CXXFLAGS"
-      ac_save_LIBS="$LIBS"
-      CFLAGS="$CFLAGS $SDL_CFLAGS"
-      CXXFLAGS="$CXXFLAGS $SDL_CFLAGS"
-      LIBS="$LIBS $SDL_LIBS"
-dnl
-dnl Now check if the installed SDL is sufficiently new. (Also sanity
-dnl checks the results of sdl-config to some extent
-dnl
-      rm -f conf.sdltest
-      AC_TRY_RUN([
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include "SDL.h"
-
-char*
-my_strdup (char *str)
-{
-  char *new_str;
-  
-  if (str)
-    {
-      new_str = (char *)malloc ((strlen (str) + 1) * sizeof(char));
-      strcpy (new_str, str);
-    }
-  else
-    new_str = NULL;
-  
-  return new_str;
-}
-
-int main (int argc, char *argv[])
-{
-  int major, minor, micro;
-  char *tmp_version;
-
-  /* This hangs on some systems (?)
-  system ("touch conf.sdltest");
-  */
-  { FILE *fp = fopen("conf.sdltest", "a"); if ( fp ) fclose(fp); }
-
-  /* HP/UX 9 (%@#!) writes to sscanf strings */
-  tmp_version = my_strdup("$min_sdl_version");
-  if (sscanf(tmp_version, "%d.%d.%d", &major, &minor, &micro) != 3) {
-     printf("%s, bad version string\n", "$min_sdl_version");
-     exit(1);
-   }
-
-   if (($sdl_major_version > major) ||
-      (($sdl_major_version == major) && ($sdl_minor_version > minor)) ||
-      (($sdl_major_version == major) && ($sdl_minor_version == minor) && ($sdl_micro_version >= micro)))
-    {
-      return 0;
-    }
-  else
-    {
-      printf("\n*** 'sdl-config --version' returned %d.%d.%d, but the minimum version\n", $sdl_major_version, $sdl_minor_version, $sdl_micro_version);
-      printf("*** of SDL required is %d.%d.%d. If sdl-config is correct, then it is\n", major, minor, micro);
-      printf("*** best to upgrade to the required version.\n");
-      printf("*** If sdl-config was wrong, set the environment variable SDL_CONFIG\n");
-      printf("*** to point to the correct copy of sdl-config, and remove the file\n");
-      printf("*** config.cache before re-running configure\n");
-      return 1;
-    }
-}
-
-],, no_sdl=yes,[echo $ac_n "cross compiling; assumed OK... $ac_c"])
-       CFLAGS="$ac_save_CFLAGS"
-       CXXFLAGS="$ac_save_CXXFLAGS"
-       LIBS="$ac_save_LIBS"
-     fi
-  fi
-  if test "x$no_sdl" = x ; then
-     AC_MSG_RESULT(yes)
-     ifelse([$2], , :, [$2])     
-  else
-     AC_MSG_RESULT(no)
-     if test "$SDL_CONFIG" = "no" ; then
-       echo "*** The sdl-config script installed by SDL could not be found"
-       echo "*** If SDL was installed in PREFIX, make sure PREFIX/bin is in"
-       echo "*** your path, or set the SDL_CONFIG environment variable to the"
-       echo "*** full path to sdl-config."
-     else
-       if test -f conf.sdltest ; then
-        :
-       else
-          echo "*** Could not run SDL test program, checking why..."
-          CFLAGS="$CFLAGS $SDL_CFLAGS"
-          CXXFLAGS="$CXXFLAGS $SDL_CFLAGS"
-          LIBS="$LIBS $SDL_LIBS"
-          AC_TRY_LINK([
-#include <stdio.h>
-#include "SDL.h"
-
-int main(int argc, char *argv[])
-{ return 0; }
-#undef  main
-#define main K_and_R_C_main
-],      [ return 0; ],
-        [ echo "*** The test program compiled, but did not run. This usually means"
-          echo "*** that the run-time linker is not finding SDL or finding the wrong"
-          echo "*** version of SDL. If it is not finding SDL, you'll need to set your"
-          echo "*** LD_LIBRARY_PATH environment variable, or edit /etc/ld.so.conf to point"
-          echo "*** to the installed location  Also, make sure you have run ldconfig if that"
-          echo "*** is required on your system"
-	  echo "***"
-          echo "*** If you have an old version installed, it is best to remove it, although"
-          echo "*** you may also be able to get things to work by modifying LD_LIBRARY_PATH"],
-        [ echo "*** The test program failed to compile or link. See the file config.log for the"
-          echo "*** exact error that occured. This usually means SDL was incorrectly installed"
-          echo "*** or that you have moved SDL since it was installed. In the latter case, you"
-          echo "*** may want to edit the sdl-config script: $SDL_CONFIG" ])
-          CFLAGS="$ac_save_CFLAGS"
-          CXXFLAGS="$ac_save_CXXFLAGS"
-          LIBS="$ac_save_LIBS"
-       fi
-     fi
-     SDL_CFLAGS=""
-     SDL_LIBS=""
-     ifelse([$3], , :, [$3])
-  fi
-  AC_SUBST(SDL_CFLAGS)
-  AC_SUBST(SDL_LIBS)
-  rm -f conf.sdltest
-])
-
-AC_DEFUN([ACX_HAVE_SDL],
-	[AM_PATH_SDL([1.2.8], have_sdl=true)]
-	[AM_CONDITIONAL(HAVE_SDL, test x$have_sdl != x)]
-)

Deleted: bootstrap
===================================================================
--- bootstrap	2007-05-02 19:20:07 UTC (rev 578)
+++ bootstrap	2007-05-02 19:22:57 UTC (rev 579)
@@ -1,7 +0,0 @@
-#!/bin/sh -x
-
-# if [ ! -f ./libtool ] ; then libtoolize --copy ; fi
-
-aclocal && autoheader && automake --add-missing --copy && autoconf && ./configure CFLAGS="-g -Wall -O0" CXXFLAGS="-g -Wall -O0"
-
-exit 0

Deleted: build
===================================================================
--- build	2007-05-02 19:20:07 UTC (rev 578)
+++ build	2007-05-02 19:22:57 UTC (rev 579)
@@ -1,5 +0,0 @@
-#!/bin/sh
-
-make -f Makefile.local
-
-exit $?

Deleted: configure.ac
===================================================================
--- configure.ac	2007-05-02 19:20:07 UTC (rev 578)
+++ configure.ac	2007-05-02 19:22:57 UTC (rev 579)
@@ -1,105 +0,0 @@
-#                                               -*- Autoconf -*-
-# Process this file with autoconf to produce a configure script.
-
-AC_INIT(moast, 3.0)
-AC_CONFIG_SRCDIR(src/common/acmRandom.c)
-AM_INIT_AUTOMAKE
-AM_CONFIG_HEADER(include/config.h)
-
-# Compute the canonical host-system type variable, 'host', and its
-# three individual parts 'host_cpu', 'host_vendor', and 'host_os'.
-AC_CANONICAL_HOST
-if test x$host_os = xcygwin ; then
-   AC_DEFINE(HAVE_CYGWIN, 1, [Define non-zero if you have Cygwin.])
-fi
-
-# Checks for programs.
-AC_PROG_CXX
-AC_PROG_CC
-# AC_PROG_LIBTOOL
-AC_PROG_RANLIB
-AC_CHECK_PROGS(JAVA, java)
-AM_CONDITIONAL(HAVE_JAVA, test x$JAVA != x)
-AC_CHECK_PROGS(WISH, wish)
-AM_CONDITIONAL(HAVE_WISH, test x$WISH != x)
-AC_CHECK_PROGS(SWIG, swig)
-AM_CONDITIONAL(HAVE_SWIG, test x$SWIG != x)
-AC_CHECK_PROGS(LOCATE, locate)
-AC_CHECK_PROGS(GREP, grep)
-
-# Checks for RCS library.
-AC_HAVE_RCSLIB
-
-# Checks for X devel.
-# Defines X_CFLAGS, X_LFLAGS or X_DISPLAY_MISSING
-AC_PATH_XTRA
-AM_CONDITIONAL(HAVE_X, test x$X_DISPLAY_MISSING = x)
-
-# Checks for header files.
-AC_HEADER_STDC
-AC_CHECK_HEADERS([float.h stddef.h stdlib.h string.h])
-AC_CHECK_HEADERS([readline/readline.h])
-AC_CHECK_HEADERS([getopt.h], getopt=true, getopt=false)
-AC_CHECK_HEADERS([fcntl.h])
-AC_CHECK_HEADERS([netdb.h])
-AC_CHECK_HEADERS([netinet/in.h])
-AC_CHECK_HEADERS([sys/socket.h])
-AC_CHECK_HEADERS([termios.h])
-AM_CONDITIONAL(HAVE_GETOPT_H, test x$getopt = xtrue)
-
-# Checks for typedefs, structures, and compiler characteristics.
-AC_C_CONST
-AC_TYPE_SIZE_T
-AC_TYPE_SIGNAL
-AC_HEADER_STDBOOL
-AC_STRUCT_TM
-
-# Checks for particular math symbols.
-AC_CHECK_MATH
-
-# Checks for library functions.
-AC_FUNC_MALLOC
-AC_CHECK_FUNCS([strchr])
-AC_CHECK_FUNCS([gethostbyname])
-AC_CHECK_FUNCS([memset])
-AC_CHECK_FUNCS([socket])
-AC_CHECK_FUNCS([strstr])
-AC_CHECK_FUNCS([strtoul])
-
-AC_SEARCH_LIBS(tputs, [termcap])
-AC_SEARCH_LIBS(readline, [readline])
-
-# Checks for pthread support.
-ACX_PTHREAD
-
-# Checks for GTK.
-AC_HAVE_GTK
-
-# Checks for MySQL.
-AC_HAVE_MYSQL
-
-# Checks for Tk headers and library. 
-ACX_TK_INCLUDE
-ACX_TCL_LIB
-ACX_TK_LIB
-
-# Checks for Perl devel.
-AC_HAVE_PERL_DEVEL
-
-# Checks for Python devel.
-AC_HAVE_PYTHON_DEVEL
-
-# Checks for SDL.
-ACX_HAVE_SDL
-
-AC_CONFIG_FILES([Makefile
-	lib/Makefile
-	include/Makefile
-	bin/Makefile
-	etc/Makefile
-	src/Makefile
-	src/nml/Makefile
-	src/java/Makefile
-	src/tools/Makefile])
-
-AC_OUTPUT

From tk at edam.speech.cs.cmu.edu  Wed May  2 15:24:13 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 2 May 2007 15:24:13 -0400
Subject: [TeamTalk 43]:  [580] tags/moast/: Created folder remotely
Message-ID: <200705021924.l42JOD0r023689@edam.speech.cs.cmu.edu>

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From tk at edam.speech.cs.cmu.edu  Wed May  2 15:24:54 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 2 May 2007 15:24:54 -0400
Subject: [TeamTalk 44]:  [581] tags/moast/: Removed file/folder
Message-ID: <200705021924.l42JOsos023699@edam.speech.cs.cmu.edu>

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From tk at edam.speech.cs.cmu.edu  Wed May  2 15:25:09 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 2 May 2007 15:25:09 -0400
Subject: [TeamTalk 45]:  [582] moast/: Created folder remotely
Message-ID: <200705021925.l42JP9AC023709@edam.speech.cs.cmu.edu>

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From tk at edam.speech.cs.cmu.edu  Wed May  2 15:25:46 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 2 May 2007 15:25:46 -0400
Subject: [TeamTalk 46]:  [583] moast: New import of modified moast code
Message-ID: <200705021925.l42JPkLC023719@edam.speech.cs.cmu.edu>

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Added: moast/AUTHORS
===================================================================

Added: moast/CVS/Entries
===================================================================
--- moast/CVS/Entries	                        (rev 0)
+++ moast/CVS/Entries	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,11 @@
+/AUTHORS/1.1.1.1/Wed Oct 12 20:50:32 2005//
+/ChangeLog/1.1.1.1/Wed Oct 12 20:50:32 2005//
+/Makefile.am/1.4/Fri Sep 22 12:54:06 2006//
+/Makefile.local/1.3/Wed Jun 21 19:38:13 2006//
+/NEWS/1.1.1.1/Wed Oct 12 20:50:32 2005//
+/README/1.2/Wed Jun 21 19:38:13 2006//
+/acinclude.m4/1.8/Mon Feb 26 16:46:55 2007//
+/bootstrap/1.3/Fri Sep  1 18:12:41 2006//
+/build/1.1/Tue Jan 10 16:09:13 2006//
+/configure.ac/1.18/Tue Feb 27 14:51:53 2007//
+D

Added: moast/CVS/Entries.Log
===================================================================
--- moast/CVS/Entries.Log	                        (rev 0)
+++ moast/CVS/Entries.Log	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,7 @@
+A D/bin////
+A D/data////
+A D/doc////
+A D/etc////
+A D/include////
+A D/lib////
+A D/src////

Added: moast/CVS/Repository
===================================================================
--- moast/CVS/Repository	                        (rev 0)
+++ moast/CVS/Repository	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1 @@
+devel

Added: moast/CVS/Root
===================================================================
--- moast/CVS/Root	                        (rev 0)
+++ moast/CVS/Root	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1 @@
+:pserver:anonymous at moast.cvs.sourceforge.net:/cvsroot/moast

Added: moast/ChangeLog
===================================================================

Added: moast/Makefile.am
===================================================================
--- moast/Makefile.am	                        (rev 0)
+++ moast/Makefile.am	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,2 @@
+SUBDIRS = include src lib bin etc
+EXTRA_DIST = include doc 

Added: moast/Makefile.local
===================================================================
--- moast/Makefile.local	                        (rev 0)
+++ moast/Makefile.local	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,30 @@
+# This gets us our local stuff, namely building the NML source, then
+# the "all" target last.
+# Leave out "doc" as a default.
+local : ini nml java swig all
+
+# this builds the INI file (for version, at least)
+ini :
+	(cd etc && $(MAKE) -f Makefile.local $@)
+
+# this builds the NML source
+nml :
+	(cd src/nml && $(MAKE) -f Makefile.local $@)
+	(cd etc && $(MAKE) -f Makefile.local $@)
+
+# this builds Java support
+java :
+	(cd src/java && $(MAKE) -f Makefile.local $@)
+
+# this builds the SWIG files
+swig :
+	(cd src/tools && $(MAKE) -f Makefile.local $@)
+
+# this builds the Doxygen documentation
+doc :
+	(cd doc && $(MAKE) -f Makefile.local $@)
+
+# this gets us the usual stuff
+include Makefile
+
+.PHONY : local ini nml swig doc

Added: moast/NEWS
===================================================================

Added: moast/README
===================================================================
--- moast/README	                        (rev 0)
+++ moast/README	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,11 @@
+
+cd /usr/local/moast/devel/include
+
+for file in `all the NML headers` ; do
+	java -jar /usr/local/rcslib/bin/CodeGenCmdLine.jar generate_for_java=true amMisJA.hh
+done
+
+javac -classpath /usr/local/rcslib/bin/rcs.jar *.java
+
+jar -cvf moast.jar *.class
+

Added: moast/acinclude.m4
===================================================================
--- moast/acinclude.m4	                        (rev 0)
+++ moast/acinclude.m4	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,623 @@
+AC_DEFUN([AC_HAVE_RCSLIB],
+	[AC_MSG_CHECKING([for RCS library])]
+	RCSLIB_DIR=`echo $RCSLIB_DIR`
+	if test x$RCSLIB_DIR = x ; then
+	for dir in /usr/local/rcslib /usr/rcslib /local/rcslib ; do
+	if test -d $dir -o -L $dir ; then RCSLIB_DIR=$dir ; break ; fi
+	done
+	fi
+	if test x$RCSLIB_DIR = x ; then
+	[AC_MSG_ERROR([not found, set RCSLIB_DIR environment variable and try again])]
+	else
+	[AC_MSG_RESULT([$RCSLIB_DIR])]
+dnl put HAVE_RCSLIB in config.h
+	[AC_DEFINE(HAVE_RCSLIB,
+		1, [Define non-zero if you have the RCS Library.])]
+dnl add needed libraries
+	[AC_CHECK_LIB(socket, main)]
+	[AC_CHECK_LIB(wsock32, main)]
+	[AC_CHECK_LIB(rt, main)]
+	[AC_CHECK_LIB(posix4, main)]
+	[AC_CHECK_LIB(nsl, main)]
+dnl put RCSLIB_DIR in Makefile
+	[AC_SUBST(RCSLIB_DIR)]
+dnl put RCSLIB_DIR into variable file for use by shell scripts
+	echo RCSLIB_DIR=$RCSLIB_DIR > rcslib_dir
+	fi
+	)
+
+AC_DEFUN([AC_HAVE_MYSQL],
+# look for <mysql/mysql.h>, but define HAVE_MYSQL_H instead of
+# HAVE_MYSQL_MYSQL_H, since code will include <mysql.h> and CFLAGS will
+# specify something like -I/usr/include/mysql
+	[AC_CHECK_HEADER([mysql/mysql.h], [AC_DEFINE(HAVE_MYSQL_H, 1, Define to 1 if you have the <mysql.h> header file.)] mysql=true, mysql=false)]
+	[AM_CONDITIONAL(HAVE_MYSQL_H, test x$mysql = xtrue)]
+# check for mysql_config, which if it exists will return CFLAGS and LIBS
+	[AC_CHECK_PROGS(MYSQL_CONFIG, mysql_config)]
+	[AM_CONDITIONAL(HAVE_MYSQL, test x$MYSQL_CONFIG != x)]
+	if test x$MYSQL_CONFIG = x ; then
+		MYSQL_CFLAGS=""
+		MYSQL_LIBS=""
+	else
+		MYSQL_CFLAGS=`mysql_config --cflags`
+		MYSQL_LIBS=`mysql_config --libs`
+	fi
+	[AC_SUBST(MYSQL_CFLAGS)]
+	[AC_SUBST(MYSQL_LIBS)]
+	)
+
+AC_DEFUN([AC_HAVE_GTK],
+	[AC_CHECK_PROGS(PKG_CONFIG, pkg-config)]
+	if test x$PKG_CONFIG != x ; then
+		[AC_MSG_CHECKING([for gtk+-2.0])]
+		GTK_VERSION=`pkg-config --modversion gtk+-2.0`
+		if test x$GTK_VERSION != x ; then
+			GTK_CFLAGS=`pkg-config --cflags gtk+-2.0`
+			GTK_LIBS=`pkg-config --libs gtk+-2.0`
+			[AC_MSG_RESULT([$GTK_VERSION])]
+		else
+			[AC_MSG_RESULT([no])]
+		fi
+	else
+		GTK_VERSION=""
+		GTK_CFLAGS=""
+		GTK_LIBS=""
+	fi
+	[AC_SUBST(GTK_VERSION)]
+	[AC_SUBST(GTK_CFLAGS)]
+	[AC_SUBST(GTK_LIBS)]
+	[AM_CONDITIONAL(HAVE_GTK, test x$GTK_VERSION != x)]
+	)
+
+AC_DEFUN([AC_CHECK_MATH],
+	[AC_CHECK_DECL(floorf,,
+		AH_TEMPLATE([floorf], [Math function 'floor' for floats])
+		AC_DEFINE([floorf(x)], [((float) floor((double) (x)))]),
+		[#include <math.h>])]
+	[AC_CHECK_DECL(sqrtf,,
+		AH_TEMPLATE([sqrtf], [Math function 'sqrt' for floats])
+		AC_DEFINE([sqrtf(x)], [((float) sqrt((double) (x)))]),
+		[#include <math.h>])]
+	)
+
+AC_DEFUN([ACX_TK_INCLUDE],
+    [AC_MSG_CHECKING([for Tk headers])]
+    [AC_ARG_WITH(,
+	    [  --with-tkinclude=<path to Tk headers>  Specify path to Tk headers],
+	    dirs=$withval,dirs="/usr/include /usr/include/tcl8.4 /usr/include/tcl8.3")]
+    for dir in $dirs ; do
+	if test -f $dir/tk.h ; then tkinclude_dir=$dir ; break; fi
+    done
+    if test x$tkinclude_dir = x ; then
+	[AC_MSG_RESULT([not found in $dirs, try --with-tkinclude=<path to Tk headers>])]
+    else
+	TK_INCLUDE_DIR=$tkinclude_dir
+dnl put HAVE_TK_INCLUDE in config.h
+	[AC_DEFINE(HAVE_TK_INCLUDE,
+		1, [Define non-zero if you have Tk headers.])]
+dnl put TK_INCLUDE_DIR in Makefile
+	[AC_SUBST(TK_INCLUDE_DIR)]
+	[AC_MSG_RESULT([$TK_INCLUDE_DIR])]
+    fi
+    [AM_CONDITIONAL(HAVE_TK_INCLUDE, test x$tkinclude_dir != x)]
+)
+
+AC_DEFUN([ACX_TCL_LIB],
+    [AC_MSG_CHECKING([for Tcl library])]
+    [AC_ARG_WITH(,
+	    [  --with-tcllib=<path to Tcl library>  Specify path to Tcl library],
+	    dirs=$withval,dirs="/usr/lib")]
+    [AC_ARG_WITH(,
+	    [  --with-tcllink=<link name of Tcl library>  Specify link name of Tcl library],
+	    names=$withval,names="tcl tcl8.4 tcl84 tcl8.3 tcl83")]
+    for dir in $dirs ; do
+	for name in $names ; do
+		if test -f $dir/lib"$name".a ; then tcllink="-L$dir -l$name"; break; fi
+		if test -f $dir/lib"$name".so ; then tcllink="-L$dir -l$name"; break; fi
+	done
+    done
+    if test x"$tcllink" = x ; then
+	[AC_MSG_RESULT([none of lib"$names".a,so found in $dirs, try --with-tcllib=<path to Tcl library, --with-tcllink=<link name of Tcl library>])]
+    else
+	TCL_LINK="$tcllink"
+dnl put TCL_LINK in Makefile
+	[AC_SUBST(TCL_LINK)]
+	[AC_MSG_RESULT([$TCL_LINK])]
+    fi
+    [AM_CONDITIONAL(HAVE_TCL_LIB, test x"$tcllink" != x)]
+)
+
+AC_DEFUN([ACX_TK_LIB],
+    [AC_MSG_CHECKING([for Tk library])]
+    [AC_ARG_WITH(,
+	    [  --with-tklib=<path to Tk library>  Specify path to Tk library],
+	    dirs=$withval,dirs="/usr/lib")]
+    [AC_ARG_WITH(,
+	    [  --with-tklink=<link name of Tk library>  Specify link name of Tk library],
+	    names=$withval,names="tk tk8.4 tk84 tk8.3 tk83")]
+    for dir in $dirs ; do
+	for name in $names ; do
+		if test -f $dir/lib"$name".a ; then tklink="-L$dir -l$name"; break; fi
+		if test -f $dir/lib"$name".so ; then tklink="-L$dir -l$name"; break; fi
+	done
+    done
+    if test x"$tklink" = x ; then
+	[AC_MSG_RESULT([none of lib"$names".a,so found in $dirs, try --with-tklib=<path to Tk library, --with-tklink=<link name of Tk library>])]
+    else
+	TK_LINK="$tklink"
+dnl put TK_LINK in Makefile
+	[AC_SUBST(TK_LINK)]
+	[AC_MSG_RESULT([$TK_LINK])]
+    fi
+    [AM_CONDITIONAL(HAVE_TK_LIB, test x"$tklink" != x)]
+)
+
+AC_DEFUN([AC_HAVE_TCL_DEVEL],
+	[AC_CHECK_HEADERS([tcl.h], tcl=true, tcl=false)]
+	[AM_CONDITIONAL(HAVE_TCL_DEVEL, test x$tcl = xtrue)]
+	)
+
+AC_DEFUN([AC_HAVE_PERL_DEVEL],
+	[AC_MSG_CHECKING([for perl devel])]
+	dir=""
+	if test x$LOCATE != x ; then
+	if test x$GREP != x ; then
+	for file in `locate perl.h | grep CORE` ; do
+		dir=`dirname $file`
+	done
+	fi
+	fi
+	if test x$dir = x ; then
+		PERL_FLAGS=""
+		[AC_MSG_RESULT([no])]
+	else
+		PERL_FLAGS="-D_GNU_SOURCE -I$dir"
+		[AC_MSG_RESULT([$dir])]
+	fi
+	[AC_SUBST(PERL_FLAGS)]
+	[AM_CONDITIONAL(HAVE_PERL_DEVEL, test "x$PERL_FLAGS" != x)]
+	)
+
+AC_DEFUN([AC_HAVE_PYTHON_DEVEL],
+	[AC_MSG_CHECKING([for python devel])]
+	dir=""
+	if test x$LOCATE != x ; then
+	if test x$GREP != x ; then
+	for file in `locate Python.h | grep python` ; do
+		dir=`dirname $file`
+	done
+	fi
+	fi
+	if test x$dir = x ; then
+		PYTHON_FLAGS=""
+		[AC_MSG_RESULT([no])]
+	else
+		PYTHON_FLAGS="-I$dir"
+		[AC_MSG_RESULT([$dir])]
+	fi
+	[AC_SUBST(PYTHON_FLAGS)]
+	[AM_CONDITIONAL(HAVE_PYTHON_DEVEL, test "x$PYTHON_FLAGS" != x)]
+	)
+
+dnl @synopsis ACX_PTHREAD([ACTION-IF-FOUND[, ACTION-IF-NOT-FOUND]])
+dnl
+dnl This macro figures out how to build C programs using POSIX threads.
+dnl It sets the PTHREAD_LIBS output variable to the threads library and
+dnl linker flags, and the PTHREAD_CFLAGS output variable to any special
+dnl C compiler flags that are needed. (The user can also force certain
+dnl compiler flags/libs to be tested by setting these environment
+dnl variables.)
+dnl
+dnl Also sets PTHREAD_CC to any special C compiler that is needed for
+dnl multi-threaded programs (defaults to the value of CC otherwise).
+dnl (This is necessary on AIX to use the special cc_r compiler alias.)
+dnl
+dnl NOTE: You are assumed to not only compile your program with these
+dnl flags, but also link it with them as well. e.g. you should link
+dnl with $PTHREAD_CC $CFLAGS $PTHREAD_CFLAGS $LDFLAGS ... $PTHREAD_LIBS
+dnl $LIBS
+dnl
+dnl If you are only building threads programs, you may wish to use
+dnl these variables in your default LIBS, CFLAGS, and CC:
+dnl
+dnl        LIBS="$PTHREAD_LIBS $LIBS"
+dnl        CFLAGS="$CFLAGS $PTHREAD_CFLAGS"
+dnl        CC="$PTHREAD_CC"
+dnl
+dnl In addition, if the PTHREAD_CREATE_JOINABLE thread-attribute
+dnl constant has a nonstandard name, defines PTHREAD_CREATE_JOINABLE to
+dnl that name (e.g. PTHREAD_CREATE_UNDETACHED on AIX).
+dnl
+dnl ACTION-IF-FOUND is a list of shell commands to run if a threads
+dnl library is found, and ACTION-IF-NOT-FOUND is a list of commands to
+dnl run it if it is not found. If ACTION-IF-FOUND is not specified, the
+dnl default action will define HAVE_PTHREAD.
+dnl
+dnl Please let the authors know if this macro fails on any platform, or
+dnl if you have any other suggestions or comments. This macro was based
+dnl on work by SGJ on autoconf scripts for FFTW (www.fftw.org) (with
+dnl help from M. Frigo), as well as ac_pthread and hb_pthread macros
+dnl posted by Alejandro Forero Cuervo to the autoconf macro repository.
+dnl We are also grateful for the helpful feedback of numerous users.
+dnl
+dnl @category InstalledPackages
+dnl @author Steven G. Johnson <stevenj at alum.mit.edu>
+dnl @version 2005-01-14
+dnl @license GPLWithACException
+
+AC_DEFUN([ACX_PTHREAD], [
+AC_REQUIRE([AC_CANONICAL_HOST])
+AC_LANG_SAVE
+AC_LANG_CPLUSPLUS
+acx_pthread_ok=no
+
+# We used to check for pthread.h first, but this fails if pthread.h
+# requires special compiler flags (e.g. on True64 or Sequent).
+# It gets checked for in the link test anyway.
+
+# First of all, check if the user has set any of the PTHREAD_LIBS,
+# etcetera environment variables, and if threads linking works using
+# them:
+if test x"$PTHREAD_LIBS$PTHREAD_CXXFLAGS" != x; then
+        save_CXXFLAGS="$CXXFLAGS"
+        CXXFLAGS="$CXXFLAGS $PTHREAD_CXXFLAGS"
+        save_LIBS="$LIBS"
+        LIBS="$PTHREAD_LIBS $LIBS"
+        AC_MSG_CHECKING([for pthread_join in LIBS=$PTHREAD_LIBS with CXXFLAGS=$PTHREAD_CXXFLAGS])
+        AC_TRY_LINK_FUNC(pthread_join, acx_pthread_ok=yes)
+        AC_MSG_RESULT($acx_pthread_ok)
+        if test x"$acx_pthread_ok" = xno; then
+                PTHREAD_LIBS=""
+                PTHREAD_CXXFLAGS=""
+        fi
+        LIBS="$save_LIBS"
+        CXXFLAGS="$save_CXXFLAGS"
+fi
+
+# We must check for the threads library under a number of different
+# names; the ordering is very important because some systems
+# (e.g. DEC) have both -lpthread and -lpthreads, where one of the
+# libraries is broken (non-POSIX).
+
+# Create a list of thread flags to try.  Items starting with a "-" are
+# C compiler flags, and other items are library names, except for "none"
+# which indicates that we try without any flags at all, and "pthread-config"
+# which is a program returning the flags for the Pth emulation library.
+
+acx_pthread_flags="pthreads none -Kthread -kthread lthread -pthread -pthreads -mthreads pthread --thread-safe -mt pthread-config"
+
+# The ordering *is* (sometimes) important.  Some notes on the
+# individual items follow:
+
+# pthreads: AIX (must check this before -lpthread)
+# none: in case threads are in libc; should be tried before -Kthread and
+#       other compiler flags to prevent continual compiler warnings
+# -Kthread: Sequent (threads in libc, but -Kthread needed for pthread.h)
+# -kthread: FreeBSD kernel threads (preferred to -pthread since SMP-able)
+# lthread: LinuxThreads port on FreeBSD (also preferred to -pthread)
+# -pthread: Linux/gcc (kernel threads), BSD/gcc (userland threads)
+# -pthreads: Solaris/gcc
+# -mthreads: Mingw32/gcc, Lynx/gcc
+# -mt: Sun Workshop C (may only link SunOS threads [-lthread], but it
+#      doesn't hurt to check since this sometimes defines pthreads too;
+#      also defines -D_REENTRANT)
+# pthread: Linux, etcetera
+# --thread-safe: KAI C++
+# pthread-config: use pthread-config program (for GNU Pth library)
+
+case "${host_cpu}-${host_os}" in
+        *solaris*)
+
+        # On Solaris (at least, for some versions), libc contains stubbed
+        # (non-functional) versions of the pthreads routines, so link-based
+        # tests will erroneously succeed.  (We need to link with -pthread or
+        # -lpthread.)  (The stubs are missing pthread_cleanup_push, or rather
+        # a function called by this macro, so we could check for that, but
+        # who knows whether they'll stub that too in a future libc.)  So,
+        # we'll just look for -pthreads and -lpthread first:
+
+        acx_pthread_flags="-pthread -pthreads pthread -mt $acx_pthread_flags"
+        ;;
+esac
+
+if test x"$acx_pthread_ok" = xno; then
+for flag in $acx_pthread_flags; do
+
+        case $flag in
+                none)
+                AC_MSG_CHECKING([whether pthreads work without any flags])
+                ;;
+
+                -*)
+                AC_MSG_CHECKING([whether pthreads work with $flag])
+                PTHREAD_CXXFLAGS="$flag"
+                ;;
+
+		pthread-config)
+		AC_CHECK_PROG(acx_pthread_config, pthread-config, yes, no)
+		if test x"$acx_pthread_config" = xno; then continue; fi
+		PTHREAD_CXXFLAGS="`pthread-config --cflags`"
+		PTHREAD_LIBS="`pthread-config --ldflags` `pthread-config --libs`"
+		;;
+
+                *)
+                AC_MSG_CHECKING([for the pthreads library -l$flag])
+                PTHREAD_LIBS="-l$flag"
+                ;;
+        esac
+
+        save_LIBS="$LIBS"
+        save_CXXFLAGS="$CXXFLAGS"
+        LIBS="$PTHREAD_LIBS $LIBS"
+        CXXFLAGS="$CXXFLAGS $PTHREAD_CXXFLAGS"
+
+        # Check for various functions.  We must include pthread.h,
+        # since some functions may be macros.  (On the Sequent, we
+        # need a special flag -Kthread to make this header compile.)
+        # We check for pthread_join because it is in -lpthread on IRIX
+        # while pthread_create is in libc.  We check for pthread_attr_init
+        # due to DEC craziness with -lpthreads.  We check for
+        # pthread_cleanup_push because it is one of the few pthread
+        # functions on Solaris that doesn't have a non-functional libc stub.
+        # We try pthread_create on general principles.
+        AC_TRY_LINK([#include <pthread.h>],
+                    [pthread_t th; pthread_join(th, 0);
+                     pthread_attr_init(0); pthread_cleanup_push(0, 0);
+                     pthread_create(0,0,0,0); pthread_cleanup_pop(0); ],
+                    [acx_pthread_ok=yes])
+
+        LIBS="$save_LIBS"
+        CXXFLAGS="$save_CXXFLAGS"
+
+        AC_MSG_RESULT($acx_pthread_ok)
+        if test "x$acx_pthread_ok" = xyes; then
+                break;
+        fi
+
+        PTHREAD_LIBS=""
+        PTHREAD_CXXFLAGS=""
+done
+fi
+
+# Various other checks:
+if test "x$acx_pthread_ok" = xyes; then
+        save_LIBS="$LIBS"
+        LIBS="$PTHREAD_LIBS $LIBS"
+        save_CXXFLAGS="$CXXFLAGS"
+        CXXFLAGS="$CXXFLAGS $PTHREAD_CXXFLAGS"
+
+        # Detect AIX lossage: JOINABLE attribute is called UNDETACHED.
+	AC_MSG_CHECKING([for joinable pthread attribute])
+	attr_name=unknown
+	for attr in PTHREAD_CREATE_JOINABLE PTHREAD_CREATE_UNDETACHED; do
+	    AC_TRY_LINK([#include <pthread.h>], [int attr=$attr;],
+                        [attr_name=$attr; break])
+	done
+        AC_MSG_RESULT($attr_name)
+        if test "$attr_name" != PTHREAD_CREATE_JOINABLE; then
+            AC_DEFINE_UNQUOTED(PTHREAD_CREATE_JOINABLE, $attr_name,
+                               [Define to necessary symbol if this constant
+                                uses a non-standard name on your system.])
+        fi
+
+        AC_MSG_CHECKING([if more special flags are required for pthreads])
+        flag=no
+        case "${host_cpu}-${host_os}" in
+            *-aix* | *-freebsd* | *-darwin*) flag="-D_THREAD_SAFE";;
+            *solaris* | *-osf* | *-hpux*) flag="-D_REENTRANT";;
+        esac
+        AC_MSG_RESULT(${flag})
+        if test "x$flag" != xno; then
+            PTHREAD_CXXFLAGS="$flag $PTHREAD_CXXFLAGS"
+        fi
+
+        LIBS="$save_LIBS"
+        CXXFLAGS="$save_CXXFLAGS"
+
+        # More AIX lossage: must compile with cc_r
+        AC_CHECK_PROG(PTHREAD_CXX, cc_r, cc_r, ${CXX})
+else
+        PTHREAD_CXX="$CXX"
+fi
+
+AC_SUBST(PTHREAD_LIBS)
+AC_SUBST(PTHREAD_CXXFLAGS)
+AC_SUBST(PTHREAD_CXX)
+
+# Finally, execute ACTION-IF-FOUND/ACTION-IF-NOT-FOUND:
+if test x"$acx_pthread_ok" = xyes; then
+        ifelse([$1],,AC_DEFINE(HAVE_PTHREAD,1,[Define if you have POSIX threads libraries and header files.]),[$1])
+        :
+else
+        acx_pthread_ok=no
+        $2
+fi
+AC_LANG_RESTORE
+])dnl ACX_PTHREAD
+
+# Configure paths for SDL
+# Sam Lantinga 9/21/99
+# stolen from Manish Singh
+# stolen back from Frank Belew
+# stolen from Manish Singh
+# Shamelessly stolen from Owen Taylor
+
+dnl AM_PATH_SDL([MINIMUM-VERSION, [ACTION-IF-FOUND [, ACTION-IF-NOT-FOUND]]])
+dnl Test for SDL, and define SDL_CFLAGS and SDL_LIBS
+dnl
+AC_DEFUN([AM_PATH_SDL],
+[dnl 
+dnl Get the cflags and libraries from the sdl-config script
+dnl
+AC_ARG_WITH(sdl-prefix,[  --with-sdl-prefix=PFX   Prefix where SDL is installed (optional)],
+            sdl_prefix="$withval", sdl_prefix="")
+AC_ARG_WITH(sdl-exec-prefix,[  --with-sdl-exec-prefix=PFX Exec prefix where SDL is installed (optional)],
+            sdl_exec_prefix="$withval", sdl_exec_prefix="")
+AC_ARG_ENABLE(sdltest, [  --disable-sdltest       Do not try to compile and run a test SDL program],
+		    , enable_sdltest=yes)
+
+  if test x$sdl_exec_prefix != x ; then
+    sdl_args="$sdl_args --exec-prefix=$sdl_exec_prefix"
+    if test x${SDL_CONFIG+set} != xset ; then
+       SDL_CONFIG=$sdl_exec_prefix/bin/sdl-config
+    fi
+  fi
+  if test x$sdl_prefix != x ; then
+    sdl_args="$sdl_args --prefix=$sdl_prefix"
+    if test x${SDL_CONFIG+set} != xset ; then
+       SDL_CONFIG=$sdl_prefix/bin/sdl-config
+    fi
+  fi
+
+  if test "x$prefix" != xNONE; then
+    PATH="$prefix/bin:$prefix/usr/bin:$PATH"
+  fi
+  AC_PATH_PROG(SDL_CONFIG, sdl-config, no, [$PATH])
+  min_sdl_version=ifelse([$1], ,0.11.0,$1)
+  AC_MSG_CHECKING(for SDL - version >= $min_sdl_version)
+  no_sdl=""
+  if test "$SDL_CONFIG" = "no" ; then
+    no_sdl=yes
+  else
+    SDL_CFLAGS=`$SDL_CONFIG $sdlconf_args --cflags`
+    SDL_LIBS=`$SDL_CONFIG $sdlconf_args --libs`
+
+    sdl_major_version=`$SDL_CONFIG $sdl_args --version | \
+           sed 's/\([[0-9]]*\).\([[0-9]]*\).\([[0-9]]*\)/\1/'`
+    sdl_minor_version=`$SDL_CONFIG $sdl_args --version | \
+           sed 's/\([[0-9]]*\).\([[0-9]]*\).\([[0-9]]*\)/\2/'`
+    sdl_micro_version=`$SDL_CONFIG $sdl_config_args --version | \
+           sed 's/\([[0-9]]*\).\([[0-9]]*\).\([[0-9]]*\)/\3/'`
+    if test "x$enable_sdltest" = "xyes" ; then
+      ac_save_CFLAGS="$CFLAGS"
+      ac_save_CXXFLAGS="$CXXFLAGS"
+      ac_save_LIBS="$LIBS"
+      CFLAGS="$CFLAGS $SDL_CFLAGS"
+      CXXFLAGS="$CXXFLAGS $SDL_CFLAGS"
+      LIBS="$LIBS $SDL_LIBS"
+dnl
+dnl Now check if the installed SDL is sufficiently new. (Also sanity
+dnl checks the results of sdl-config to some extent
+dnl
+      rm -f conf.sdltest
+      AC_TRY_RUN([
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "SDL.h"
+
+char*
+my_strdup (char *str)
+{
+  char *new_str;
+  
+  if (str)
+    {
+      new_str = (char *)malloc ((strlen (str) + 1) * sizeof(char));
+      strcpy (new_str, str);
+    }
+  else
+    new_str = NULL;
+  
+  return new_str;
+}
+
+int main (int argc, char *argv[])
+{
+  int major, minor, micro;
+  char *tmp_version;
+
+  /* This hangs on some systems (?)
+  system ("touch conf.sdltest");
+  */
+  { FILE *fp = fopen("conf.sdltest", "a"); if ( fp ) fclose(fp); }
+
+  /* HP/UX 9 (%@#!) writes to sscanf strings */
+  tmp_version = my_strdup("$min_sdl_version");
+  if (sscanf(tmp_version, "%d.%d.%d", &major, &minor, &micro) != 3) {
+     printf("%s, bad version string\n", "$min_sdl_version");
+     exit(1);
+   }
+
+   if (($sdl_major_version > major) ||
+      (($sdl_major_version == major) && ($sdl_minor_version > minor)) ||
+      (($sdl_major_version == major) && ($sdl_minor_version == minor) && ($sdl_micro_version >= micro)))
+    {
+      return 0;
+    }
+  else
+    {
+      printf("\n*** 'sdl-config --version' returned %d.%d.%d, but the minimum version\n", $sdl_major_version, $sdl_minor_version, $sdl_micro_version);
+      printf("*** of SDL required is %d.%d.%d. If sdl-config is correct, then it is\n", major, minor, micro);
+      printf("*** best to upgrade to the required version.\n");
+      printf("*** If sdl-config was wrong, set the environment variable SDL_CONFIG\n");
+      printf("*** to point to the correct copy of sdl-config, and remove the file\n");
+      printf("*** config.cache before re-running configure\n");
+      return 1;
+    }
+}
+
+],, no_sdl=yes,[echo $ac_n "cross compiling; assumed OK... $ac_c"])
+       CFLAGS="$ac_save_CFLAGS"
+       CXXFLAGS="$ac_save_CXXFLAGS"
+       LIBS="$ac_save_LIBS"
+     fi
+  fi
+  if test "x$no_sdl" = x ; then
+     AC_MSG_RESULT(yes)
+     ifelse([$2], , :, [$2])     
+  else
+     AC_MSG_RESULT(no)
+     if test "$SDL_CONFIG" = "no" ; then
+       echo "*** The sdl-config script installed by SDL could not be found"
+       echo "*** If SDL was installed in PREFIX, make sure PREFIX/bin is in"
+       echo "*** your path, or set the SDL_CONFIG environment variable to the"
+       echo "*** full path to sdl-config."
+     else
+       if test -f conf.sdltest ; then
+        :
+       else
+          echo "*** Could not run SDL test program, checking why..."
+          CFLAGS="$CFLAGS $SDL_CFLAGS"
+          CXXFLAGS="$CXXFLAGS $SDL_CFLAGS"
+          LIBS="$LIBS $SDL_LIBS"
+          AC_TRY_LINK([
+#include <stdio.h>
+#include "SDL.h"
+
+int main(int argc, char *argv[])
+{ return 0; }
+#undef  main
+#define main K_and_R_C_main
+],      [ return 0; ],
+        [ echo "*** The test program compiled, but did not run. This usually means"
+          echo "*** that the run-time linker is not finding SDL or finding the wrong"
+          echo "*** version of SDL. If it is not finding SDL, you'll need to set your"
+          echo "*** LD_LIBRARY_PATH environment variable, or edit /etc/ld.so.conf to point"
+          echo "*** to the installed location  Also, make sure you have run ldconfig if that"
+          echo "*** is required on your system"
+	  echo "***"
+          echo "*** If you have an old version installed, it is best to remove it, although"
+          echo "*** you may also be able to get things to work by modifying LD_LIBRARY_PATH"],
+        [ echo "*** The test program failed to compile or link. See the file config.log for the"
+          echo "*** exact error that occured. This usually means SDL was incorrectly installed"
+          echo "*** or that you have moved SDL since it was installed. In the latter case, you"
+          echo "*** may want to edit the sdl-config script: $SDL_CONFIG" ])
+          CFLAGS="$ac_save_CFLAGS"
+          CXXFLAGS="$ac_save_CXXFLAGS"
+          LIBS="$ac_save_LIBS"
+       fi
+     fi
+     SDL_CFLAGS=""
+     SDL_LIBS=""
+     ifelse([$3], , :, [$3])
+  fi
+  AC_SUBST(SDL_CFLAGS)
+  AC_SUBST(SDL_LIBS)
+  rm -f conf.sdltest
+])
+
+AC_DEFUN([ACX_HAVE_SDL],
+	[AM_PATH_SDL([1.2.8], have_sdl=true)]
+	[AM_CONDITIONAL(HAVE_SDL, test x$have_sdl != x)]
+)

Added: moast/bin/CVS/Entries
===================================================================
--- moast/bin/CVS/Entries	                        (rev 0)
+++ moast/bin/CVS/Entries	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,21 @@
+/Makefile.am/1.47/Mon Apr 30 17:04:16 2007//
+/Makefile.local/1.2/Wed Oct 19 20:21:55 2005//
+/arda.arc/1.1.1.1/Wed Oct 12 20:50:32 2005//
+/ipc-clear/1.2/Wed Dec 20 15:28:05 2006//
+/navPlot/1.2/Wed Nov 29 21:19:07 2006//
+/ppm.tcl/1.1.1.1/Wed Oct 12 20:50:32 2005//
+/primSpPlot/1.1/Wed Mar 15 21:54:05 2006//
+/run/1.23/Wed Apr 25 15:07:44 2007//
+/runDrone/1.1.1.1/Wed Oct 12 20:50:32 2005//
+/runJoy/1.5/Mon Apr 30 18:42:28 2007//
+/runSub/1.5/Wed Jan 31 18:36:10 2007//
+/runVehicle/1.10/Thu Dec 14 16:16:52 2006//
+/say/1.1.1.1/Wed Oct 12 20:50:32 2005//
+/spPlot/1.5/Wed Aug  2 21:42:31 2006//
+/splash/1.1.1.1/Wed Oct 12 20:50:32 2005//
+/subBot.dat/1.1/Tue Jan  9 18:46:20 2007//
+/subabs.dat/1.2/Thu Dec 14 19:47:27 2006//
+/subpt.dat/1.4/Wed Nov 29 21:19:07 2006//
+/symPlot/1.1/Wed Mar 15 21:54:05 2006//
+/wp.dat/1.4/Mon Feb 26 18:55:42 2007//
+D

Added: moast/bin/CVS/Repository
===================================================================
--- moast/bin/CVS/Repository	                        (rev 0)
+++ moast/bin/CVS/Repository	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1 @@
+devel/bin

Added: moast/bin/CVS/Root
===================================================================
--- moast/bin/CVS/Root	                        (rev 0)
+++ moast/bin/CVS/Root	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1 @@
+:pserver:anonymous at moast.cvs.sourceforge.net:/cvsroot/moast

Added: moast/bin/Makefile.am
===================================================================
--- moast/bin/Makefile.am	                        (rev 0)
+++ moast/bin/Makefile.am	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,258 @@
+bin_PROGRAMS = moastNmlSvr simWare servoShell primSPMain primMisMain primMobMain primShell segmentTest exampleUtmConvert gpsToSerial amSPMain amMisMain amMobMain amShell vehSPMain vehMobPLMain vehShell sectShell sectMobPL exampleDijkTabs exampleDijkHeap exampleDijkHeapN exampleAStarHeapA exampleAStarHeapB exampleAStarHeapNA exampleAStarHeapNB exampleScrollMap spPlay moastErrorLog nmlPrint inifind exampleVisGraph vehDrone nmlConvert spqrConvert slamStub trafficShell
+
+
+INCLUDES = -I$(RCSLIB_DIR)/include
+
+moastNmlSvr_SOURCES = ../src/nml/moastNmlSvr.cc 
+moastNmlSvr_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+servoShell_SOURCES = ../src/servo/servoShell.cc 
+servoShell_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+slamStub_SOURCES = ../src/sim/simWare/slamStub.cc
+slamStub_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+# bin_PROGRAMS += simpleSim
+# simpleSim_SOURCES = ../src/sim/simpleSim/simpleSim.cc ../src/sim/simpleSim/simpleMobSim.cc ../src/sim/simpleSim/simpleMisSim.cc ../src/sim/simpleSim/simpleSPSim.cc ../src/sim/simpleSim/simpleSim.hh
+# simpleSim_CXX = $(PTHREAD_CXX)
+# simpleSim_CXXFLAGS = $(CXXFLAGS) $(PTHREAD_CXXFLAGS)
+# simpleSim_LIBS = $(PTHREAD_LIBS) $(LIBS)
+# simpleSim_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+simWare_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+simWare_CXX = $(PTHREAD_CXX)
+simWare_CXXFLAGS = $(CXXFLAGS) $(PTHREAD_CXXFLAGS)
+simWare_LIBS = $(PTHREAD_LIBS) $(LIBS)
+simWare_SOURCES =  ../src/sim/simWare/simWare.cc ../src/sim/simWare/swBaseSkin.hh ../src/sim/simWare/swKBTypes.hh \
+	../src/sim/simWare/swKBUtils.hh      ../src/sim/simWare/swKBUtils.cc  \
+	../src/sim/simWare/simWareKB.hh       ../src/sim/simWare/simWareKB.cc    \
+	../src/sim/simWare/swKBWorld.hh       ../src/sim/simWare/swKBWorld.cc    \
+	../src/sim/simWare/swKBBot.hh         ../src/sim/simWare/swKBBot.cc      \
+	../src/sim/simWare/swKBSen.hh         ../src/sim/simWare/swKBSen.cc      \
+	../src/sim/simWare/swKBEff.hh         ../src/sim/simWare/swKBEff.cc      \
+	../src/sim/simWare/swKBMis.hh         ../src/sim/simWare/swKBMis.cc      \
+	../src/sim/simWare/swKBMsg.hh         ../src/sim/simWare/swKBMsg.cc      \
+	../src/sim/simWare/usarInfSkin.hh     ../src/sim/simWare/usarInfSkin.cc  \
+	../src/sim/simWare/moastSupSkin.hh    ../src/sim/simWare/moastSupSkin.cc \
+	../src/sim/simWare/swServoNodeBase.hh ../src/sim/simWare/swServoNodeBase.cc \
+	../src/sim/simWare/swServoMob.hh      ../src/sim/simWare/swServoMob.cc \
+	../src/sim/simWare/swServoSP.hh      ../src/sim/simWare/swServoSP.cc \
+	../src/sim/simWare/swServoMis.hh      ../src/sim/simWare/swServoMis.cc
+
+bin_PROGRAMS += simpleSimWare
+simpleSimWare_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+simpleSimWare_CXX = $(PTHREAD_CXX)
+simpleSimWare_CXXFLAGS = $(CXXFLAGS) $(PTHREAD_CXXFLAGS) -DSIMPLESIM
+simpleSimWare_LIBS = $(PTHREAD_LIBS) $(LIBS)
+simpleSimWare_SOURCES =  \
+../src/sim/simWare/simWare.cc ../src/sim/simWare/swBaseSkin.hh \
+../src/sim/simWare/swKBTypes.hh \
+../src/sim/simWare/swKBUtils.hh      ../src/sim/simWare/swKBUtils.cc \
+../src/sim/simWare/simWareKB.hh ../src/sim/simWare/simWareKB.cc \
+../src/sim/simWare/swKBWorld.hh ../src/sim/simWare/swKBWorld.cc \
+../src/sim/simWare/swKBBot.hh ../src/sim/simWare/swKBBot.cc \
+../src/sim/simWare/swKBSen.hh ../src/sim/simWare/swKBSen.cc \
+../src/sim/simWare/swKBEff.hh ../src/sim/simWare/swKBEff.cc \
+../src/sim/simWare/swKBMis.hh ../src/sim/simWare/swKBMis.cc \
+../src/sim/simWare/swKBMsg.hh ../src/sim/simWare/swKBMsg.cc \
+../src/sim/simWare/simpleSimInfSkin.hh ../src/sim/simWare/simpleSimInfSkin.cc \
+../src/sim/simWare/moastSupSkin.hh ../src/sim/simWare/moastSupSkin.cc \
+../src/sim/simWare/swServoNodeBase.hh ../src/sim/simWare/swServoNodeBase.cc \
+../src/sim/simWare/swServoMob.hh ../src/sim/simWare/swServoMob.cc \
+../src/sim/simWare/swServoSP.hh ../src/sim/simWare/swServoSP.cc \
+../src/sim/simWare/swServoMis.hh ../src/sim/simWare/swServoMis.cc 
+
+bin_PROGRAMS += trafficSimWare
+trafficSimWare_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+trafficSimWare_CXX = $(PTHREAD_CXX)
+trafficSimWare_CXXFLAGS = $(CXXFLAGS) $(PTHREAD_CXXFLAGS) #-DTRAFFICSIM
+trafficSimWare_LIBS = $(PTHREAD_LIBS) $(LIBS)
+trafficSimWare_SOURCES =  \
+../src/sim/simWare/trafficSim.cc ../src/sim/simWare/swBaseSkin.hh \
+../src/sim/simWare/swKBTypes.hh \
+../src/sim/simWare/swKBUtils.hh      ../src/sim/simWare/swKBUtils.cc \
+../src/sim/simWare/simWareKB.hh ../src/sim/simWare/simWareKB.cc \
+../src/sim/simWare/swKBWorld.hh ../src/sim/simWare/swKBWorld.cc \
+../src/sim/simWare/swKBBot.hh ../src/sim/simWare/swKBBot.cc \
+../src/sim/simWare/swKBSen.hh ../src/sim/simWare/swKBSen.cc \
+../src/sim/simWare/swKBEff.hh ../src/sim/simWare/swKBEff.cc \
+../src/sim/simWare/swKBMis.hh ../src/sim/simWare/swKBMis.cc \
+../src/sim/simWare/swKBMsg.hh ../src/sim/simWare/swKBMsg.cc \
+../src/sim/simWare/usarInfSkin.hh ../src/sim/simWare/usarInfSkin.cc \
+../src/sim/simWare/trafficSupSkin.hh ../src/sim/simWare/trafficSupSkin.cc \
+../src/sim/simWare/swTraffic.hh ../src/sim/simWare/swTraffic.cc 
+
+segmentTest_SOURCES = ../src/tools/segmentTools/cluster.cc ../src/tools/segmentTools/test.cc ../src/tools/segmentTools/chainHull.cc ../src/tools/segmentTools/cluster.hh ../src/tools/segmentTools/vectorWM.cc ../src/tools/segmentTools/vectorWm.hh
+segmentTest_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleUtmConvert_SOURCES = ../src/tools/exampleUtmConvert.cc
+exampleUtmConvert_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleAStarHeapA_SOURCES = ../src/tools/exampleAStarHeapA.cc
+exampleAStarHeapA_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleAStarHeapB_SOURCES = ../src/tools/exampleAStarHeapB.cc
+exampleAStarHeapB_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleAStarHeapNA_SOURCES = ../src/tools/exampleAStarHeapNA.cc
+exampleAStarHeapNA_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleAStarHeapNB_SOURCES = ../src/tools/exampleAStarHeapNB.cc
+exampleAStarHeapNB_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleDijkTabs_SOURCES = ../src/tools/exampleDijkTabs.cc
+exampleDijkTabs_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleDijkHeap_SOURCES = ../src/tools/exampleDijkHeap.cc
+exampleDijkHeap_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleDijkHeapN_SOURCES = ../src/tools/exampleDijkHeapN.cc
+exampleDijkHeapN_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleScrollMap_SOURCES = ../src/tools/exampleScrollMap.cc ../src/tools/exampleScrollMap.hh ../src/tools/exampleCell.hh
+exampleScrollMap_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+gpsToSerial_SOURCES = ../src/tools/gpsToSerial.cc ../src/tools/gpsToSerial.hh
+gpsToSerial_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+nmlConvert_SOURCES = ../src/tools/nmlConvert.cc
+nmlConvert_LDADD = 
+
+primSPMain_SOURCES = ../src/prim/primSPMain.cc
+primSPMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+primMobMain_SOURCES = ../src/prim/primMobMain.cc
+primMobMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+primMisMain_SOURCES = ../src/prim/primMisMain.cc
+primMisMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+primShell_SOURCES = ../src/prim/primShell.cc
+primShell_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+amSPMain_SOURCES = ../src/am/amSPMain.cc ../src/am/amSPMap.cc ../include/amSPCell.hh 
+amSPMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+amMisMain_SOURCES = ../src/am/amMisMain.cc
+amMisMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+amMobMain_SOURCES = ../src/am/amMobMain.cc ../src/am/amMobMain.hh
+amMobMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+amShell_SOURCES = ../src/am/amShell.cc
+amShell_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+vehSPMain_SOURCES = ../src/vehicle/vehSPMain.cc
+vehSPMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+vehMobPLMain_SOURCES = ../src/vehicle/vehMobPLMain.cc ../src/vehicle/vehMobPlWm.cc ../src/vehicle/vehMobPLEngine.cc ../src/vehicle/vehMobPlWm.hh ../src/vehicle/vehMobPLEngine.hh ../src/vehicle/vehMobMap.cc ../src/vehicle/vehMobMap.hh ../src/vehicle/vehMobCell.hh 
+vehMobPLMain_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm $(X_LIBS) -lX11
+
+vehShell_SOURCES = ../src/vehicle/vehShell.cc
+vehShell_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+sectShell_SOURCES = ../src/section/sectShell.cc
+sectShell_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+sectMobPL_SOURCES = ../src/section/sectMobPL.cc ../src/section/rcsSectMobPlEngine.cc ../src/section/rcsSectMobPlEngine.hh ../../../TeamTalk/Agents/boeingLib/boeing/boeing_map_server.cc ../../../TeamTalk/Agents/boeingLib/boeing/boeing_map_server.h ../../../TeamTalk/Agents/boeingLib/boeing/boeing_map_packet.cc ../../../TeamTalk/Agents/boeingLib/boeing/boeing_map_packet.h ../../../TeamTalk/Agents/boeingLib/coralshared/timer.cc ../../../TeamTalk/Agents/boeingLib/coralshared/timer.h ../../../TeamTalk/Agents/boeingLib/coralshared/udpsocket.cc ../../../TeamTalk/Agents/boeingLib/coralshared/udpsocket.h ../../../TeamTalk/Agents/boeingLib/coralshared/error_check.cc ../../../TeamTalk/Agents/boeingLib/coralshared/error_check.h
+sectMobPL_CPPFLAGS = -I../../../TeamTalk/Agents/boeingLib/boeing -I../../../TeamTalk/Agents/boeingLib/coralshared
+sectMobPL_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+trafficShell_SOURCES = ../src/sim/simWare/trafficShell.cc
+trafficShell_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+spPlay_SOURCES = ../src/tools/spPlay.cc 
+spPlay_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+inifind_SOURCES = ../src/tools/inifind.cc
+inifind_LDADD = -L$(RCSLIB_DIR)/lib -lrcs
+
+moastErrorLog_SOURCES = ../src/tools/moastErrorLog.cc 
+moastErrorLog_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+nmlPrint_SOURCES = ../src/tools/nmlPrint.cc 
+nmlPrint_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+spqrConvert_SOURCES = ../src/tools/spqrConvert.cc 
+spqrConvert_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+exampleVisGraph_SOURCES = ../src/tools/exampleVisGraph.cc
+exampleVisGraph_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+vehDrone_SOURCES = ../src/tools/vehDrone.cc
+vehDrone_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+EXTRA_DIST = run ipc-clear splash ../src/nml/moast.diag ../src/nml/moastDiag.csh runVehicle ../src/common/scrollingMap.cc 
+# Extras if we have X Windows
+
+if HAVE_X
+
+bin_PROGRAMS += joystick 
+joystick_SOURCES = ../src/tools/joystick.cc
+joystick_CXXFLAGS = $(AM_CXXFLAGS) $(X_CFLAGS)
+joystick_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm $(X_LIBS) -lX11
+endif
+
+# Extras if we have wish
+
+if HAVE_WISH
+
+bin_PROGRAMS += tksplash
+tksplash_SOURCES = ../src/tools/tksplash.tcl
+tksplash_DEPENDENCIES = ../src/tools/tksplash.tcl
+tksplash_LINK = cp ../src/tools/tksplash.tcl ./tksplash ; echo
+
+endif
+
+# Extras if we have GTK
+
+if HAVE_GTK
+
+INCLUDES += @GTK_CFLAGS@
+bin_PROGRAMS += servoGui gtksplash displayGraph imageview notifier
+bin_PROGRAMS += gtksplash displayGraph imageview notifier
+servoGui_SOURCES = ../src/servo/servoGui.cc
+servoGui_CXXFLAGS = @GTK_CFLAGS@ $(AM_CXXFLAGS)
+servoGui_LDADD = @GTK_LIBS@ ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+gtksplash_SOURCES = ../src/tools/gtksplash.c
+gtksplash_CFLAGS = @GTK_CFLAGS@ $(AM_CFLAGS)
+gtksplash_LDADD = @GTK_LIBS@
+displayGraph_SOURCES = ../src/tools/displayGraph.cc
+displayGraph_CFLAGS = @GTK_CFLAGS@ $(AM_CXXFLAGS)
+displayGraph_LDADD = @GTK_LIBS@
+imageview_SOURCES = ../src/tools/imageView/callbacks.c ../src/tools/imageView/interface.c ../src/tools/imageView/main.c ../src/tools/imageView/support.c ../src/tools/imageView/callbacks.h ../src/tools/imageView/interface.h ../src/tools/imageView/support.h
+imageview_CFLAGS = @GTK_CFLAGS@ $(AM_CFLAGS)
+imageview_LDADD = @GTK_LIBS@
+notifier_CFLAGS = @GTK_CFLAGS@ $(AM_CFLAGS)
+notifier_SOURCES = ../src/tools/notifier/notifier.cc ../src/tools/notifier/support.cc ../src/tools/notifier/callbacks.cc ../src/tools/notifier/interface.cc ../src/tools/notifier/callbacks.hh ../src/tools/notifier/interface.hh ../src/tools/notifier/support.hh
+notifier_CXXFLAGS = $(AM_CXXFLAGS) $(X_CFLAGS)
+notifier_LDADD = @GTK_LIBS@ ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+endif
+
+# Extras if we have MySQL
+
+if HAVE_MYSQL
+
+INCLUDES += @MYSQL_CFLAGS@
+bin_PROGRAMS += exampleMySql
+exampleMySql_SOURCES = ../src/tools/exampleMySql.cc
+exampleMySql_LDADD = @MYSQL_LIBS@ ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+vehMobPLMain_LDADD += @MYSQL_LIBS@ ../lib/libmoastMySQL.a
+vehMobPLMain_CXXFLAGS = -DHAVE_MYSQL @MYSQL_CFLAGS@
+endif
+
+# Extras if we have SDL Simple DirectMedia Layer for joystick
+
+if HAVE_SDL
+
+INCLUDES += @SDL_CFLAGS@
+bin_PROGRAMS += joySDL robojoy
+
+joySDL_SOURCES = ../src/tools/joySDL.cc
+joySDL_LDADD = @SDL_LIBS@ ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+robojoy_SOURCES = ../src/tools/robojoy.cc
+robojoy_LDADD = @SDL_LIBS@ ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
+
+endif

Added: moast/bin/Makefile.local
===================================================================
--- moast/bin/Makefile.local	                        (rev 0)
+++ moast/bin/Makefile.local	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1 @@
+include Makefile

Added: moast/bin/arda.arc
===================================================================
--- moast/bin/arda.arc	                        (rev 0)
+++ moast/bin/arda.arc	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,16 @@
+# y x
+55 51 1.0 20
+#49 49 49.7 55.1 1.5 1.0 20
+31.6 55.2 1.0 20
+31.6 74.2 12.6 74.2 -1.5 1.0 20
+12.6 90.0 1.0 20
+22 95 1.0 20
+24.4 111.5 1.0 20
+32.5 119 1.0 20
+34 98 1.0 20
+
+
+
+#55.0164 125.349 2.0 20
+#55.0164 158.725 2.0 20
+#74.028 158.725 74.028 177.736 -1.5 2.0 20

Added: moast/bin/ipc-clear
===================================================================
--- moast/bin/ipc-clear	                        (rev 0)
+++ moast/bin/ipc-clear	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,75 @@
+#!/bin/sh
+
+# 
+# 'ipc-clear' removes semaphores and shared memory that may be lying around
+# 
+
+OS=`uname`
+
+if [ $OS = Linux ] ; then
+
+for key in `ipcs -m | awk '{print $1}'` ; do
+  if [ "$key" = "0x00000000" ] ; then continue ; fi
+  if [ "$key" = "------" ] ; then continue ; fi
+  if [ "$key" = "key" ] ; then continue ; fi
+  echo -n removing shared memory $key...
+  ipcrm -M $key
+  echo done
+done
+
+for key in `ipcs -s | awk '{print $1}'` ; do
+  if [ "$key" = "0x00000000" ] ; then continue ; fi
+  if [ "$key" = "------" ] ; then continue ; fi
+  if [ "$key" = "key" ] ; then continue ; fi
+  echo -n removing semaphore $key...
+  ipcrm -S $key
+  echo done
+done
+
+for key in `ipcs -q | awk '{print $1}'` ; do
+  if [ "$key" = "0x00000000" ] ; then continue ; fi
+  if [ "$key" = "------" ] ; then continue ; fi
+  if [ "$key" = "key" ] ; then continue ; fi
+  echo -n removing message queue $key...
+  ipcrm -Q $key
+  echo done
+done
+
+elif [ $OS = SunOS ] ; then
+
+# go for entries like "m 4900 0x0000077d ..."
+
+clear=`ipcs | awk -e '$1 ~ /m/ && $3 ~ /0x/ {print $3}'`
+for id in $clear ; do
+  echo ipcrm -M $id
+  ipcrm -M $id
+done
+
+# go for entries like "s 327680 0x0000077e ..."
+
+clear=`ipcs | awk -e '$1 ~ /s/ && $3 ~ /0x/ {print $3}'`
+for id in $clear ; do
+  echo ipcrm -S $id
+  ipcrm -S $id
+done
+
+# go for entries like "m4900000 0x0000077d ..."
+
+clear=`ipcs | awk -e '$1 ~ /m/ && $2 ~ /0x/ {print $2}'`
+for id in $clear ; do
+  echo ipcrm -M $id
+  ipcrm -M $id
+done
+
+# go for entries like "s3276800 0x0000077e ..."
+
+clear=`ipcs | awk -e '$1 ~ /s/ && $2 ~ /0x/ {print $2}'`
+for id  in $clear ; do
+  echo ipcrm -S $id
+  ipcrm -S $id
+done
+
+fi
+
+exit 0
+


Property changes on: moast/bin/ipc-clear
___________________________________________________________________
Name: svn:executable
   + 

Added: moast/bin/navPlot
===================================================================
--- moast/bin/navPlot	                        (rev 0)
+++ moast/bin/navPlot	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,19 @@
+#!/bin/sh
+# run this until ^C, then it will plot the data
+
+cd `dirname $0`
+
+export CONFIG_NML=../etc/moast.nml
+
+finished=0
+trap "finished=1" SIGINT
+
+\rm -f out.dat
+while test $finished -eq 0 ; do
+    ./nmlPrint -n 1 -b navDataExt -p nmlPrint --notime >> out.dat
+done
+
+# splot the XYZ relative position
+if test -s out.dat ; then echo "splot 'out.dat' using 5:6:7" | gnuplot -persist; fi
+
+exit 0


Property changes on: moast/bin/navPlot
___________________________________________________________________
Name: svn:executable
   + 

Added: moast/bin/ppm.tcl
===================================================================
--- moast/bin/ppm.tcl	                        (rev 0)
+++ moast/bin/ppm.tcl	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,30 @@
+#!/bin/sh
+# the next line restarts using wish \
+exec wish "$0" "$@"
+
+if {$argc < 1} {
+  puts stderr "syntax: ppm.tcl <image file>"
+  exit
+}
+
+set img [lindex $argv 0]
+
+if {! [file exists $img]} {
+  puts stderr "can't find file $img"
+  exit
+}
+
+if {[catch {image create photo image1 -file $img}]} {
+  puts stderr "bad image file $img"
+  exit
+}
+
+label .label -image image1
+pack .label
+
+while {1} {
+    update idletasks
+    image delete image1
+    catch {image create photo image1 -file $img}
+    after 100
+}


Property changes on: moast/bin/ppm.tcl
___________________________________________________________________
Name: svn:executable
   + 

Added: moast/bin/primSpPlot
===================================================================
--- moast/bin/primSpPlot	                        (rev 0)
+++ moast/bin/primSpPlot	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,16 @@
+#!/bin/sh
+# pipe this output to gnuplot, e.g.,
+# ./symPlot | gnuplot
+
+export CONFIG_NML=../etc/moast.nml
+
+finished=0
+trap "finished=1" SIGINT
+
+\rm -f out
+while test $finished -eq 0 ; do
+  ./nmlPrint -b primSPLinescan -p nmlPrint --block --notime > out
+  if test -s out ; then echo plot \[\] \'out\' w lp lt 1 lw 2 pt 5; fi
+done
+
+exit 0


Property changes on: moast/bin/primSpPlot
___________________________________________________________________
Name: svn:executable
   + 

Added: moast/bin/run
===================================================================
--- moast/bin/run	                        (rev 0)
+++ moast/bin/run	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,161 @@
+#!/bin/sh
+#
+# USERS EDIT THIS AREA
+#
+# set up to use ackerman steering
+#export USE_ACKERMAN=2
+
+# set up to use the submarine
+#export USE_NAUTIC=1.0
+
+#set SECT=yes to run section, VEH, AM, prim, and servo, else SECT=no
+SECT=yes
+
+# if SECT=no, set VEH=yes to run vehicle, AM, prim, and servo, else VEH=no
+VEH=no
+
+# if VEH=no, set AM=yes to run AM, prim, and servo, else AM=no
+AM=no
+
+# if AM=no, set PRIM=yes to run prim, and servo, else PRIM=no
+PRIM=yes
+
+# set USARSIM=yes to run usarSim, else USARSIM=no to run simpleSim
+USARSIM=yes
+#
+# END OF USER EDIT AREA
+#
+
+echo `dirname $0`/..
+if [ $# = 0 ]; then
+ ID=1
+else
+ ID=$1
+fi
+if [ $# -le 1 ]; then
+ PLATFORM=2
+else
+ PLATFORM=$2
+fi
+if [ $# -le 2 ]; then
+ STARTLOC=1
+else
+ STARTLOC=$3
+fi
+#
+#are we on cygwin?
+CYGWIN=no
+case `uname -s` in 
+CYGWIN*) CYGWIN=yes
+;;
+esac
+
+CONFIG_NML=../etc/moast.nml ; export CONFIG_NML
+CONFIG_INI=../etc/moast.ini ; export CONFIG_INI
+
+TOP=servoShell
+if [ x$PRIM = xyes ] ; then TOP=primShell ; fi
+if [ x$AM = xyes ] ; then PRIM=yes; TOP=amShell ; fi
+if [ x$VEH = xyes ] ; then AM=yes; PRIM=yes; TOP=vehShell ; fi
+if [ x$SECT = xyes ] ; then VEH=yes; AM=yes; PRIM=yes; TOP=sectShell ; fi
+pid1=0
+pid2=0
+pid3=0
+pid4=0
+pid5=0
+pid6=0
+pid7=0
+pid8=0
+pid9=0
+pid10=0
+
+kill1=9
+kill2=INT
+kill3=9
+kill4=9
+kill5=9
+kill6=INT
+kill7=9
+kill8=9
+kill9=9
+kill10=9
+
+./ipc-clear
+
+./splash $CONFIG_INI &
+
+echo "Starting server..."
+if [ x$CYGWIN = xyes ] ; then
+   nice -n'-10' ./moastNmlSvr &
+else
+   ./moastNmlSvr &
+fi
+pid1=$!
+sleep 3
+
+if [ x$USARSIM = xyes ] ; then
+  echo "Starting usarsim..."
+  if [ x$CYGWIN = xyes ] ; then
+      nice -n'-10'  ./simWare -i$ID -s$STARTLOC -p$PLATFORM &
+      kill2=HUP
+  else
+      ./simWare -i$ID -s$STARTLOC -p$PLATFORM &
+      kill2=HUP
+  fi
+else
+  echo "Starting simpleSimWare..."
+  ./simpleSimWare -i$ID -s$STARTLOC -p$PLATFORM &
+fi
+pid2=$!
+sleep 5
+
+./slamStub -i$ID&
+pid3=$!
+sleep 1
+
+if [ x$PRIM = xyes ] ; then
+  echo "Starting prim..."
+  sleep 2
+  ./primMobMain -d$ID&
+  pid4=$!
+  ./primSPMain -d$ID&
+  pid5=$!
+  #./primMisMain -d$ID&
+  #pid6=$!
+fi
+
+if [ x$AM = xyes ] ; then
+    echo "Starting am..."
+  ./amMobMain -d$ID&
+  pid7=$!
+  ./amSPMain -z.1 -d$ID&
+  pid8=$!
+fi
+
+if [ x$VEH = xyes ] ; then
+  echo "Starting vehicle..."
+  ./vehMobPLMain -i -g1 -r.1 -d$ID&
+#  ./vehMobPLMain -i -g3 -r.1 -d$ID&
+  pid9=$!
+fi
+
+if [ x$SECT = xyes ] ; then
+  echo "Starting section..."
+  ./sectMobPL -r.1&
+  pid10=$!
+fi
+
+./$TOP
+
+if [ ! $pid10 = 0 ] ; then kill -$kill10 $pid10 ; fi
+if [ ! $pid9 = 0 ] ; then kill -$kill9 $pid9 ; fi
+if [ ! $pid8 = 0 ] ; then kill -$kill8 $pid8 ; fi
+if [ ! $pid7 = 0 ] ; then kill -$kill7 $pid7 ; fi
+if [ ! $pid6 = 0 ] ; then kill -$kill6 $pid6 ; fi
+if [ ! $pid5 = 0 ] ; then kill -$kill5 $pid5 ; fi
+if [ ! $pid4 = 0 ] ; then kill -$kill4 $pid4 ; fi
+if [ ! $pid3 = 0 ] ; then kill -$kill3 $pid3 ; fi
+if [ ! $pid2 = 0 ] ; then kill -$kill2 $pid2 ; fi
+if [ ! $pid1 = 0 ] ; then kill -$kill1 $pid1 ; fi
+
+exit 0


Property changes on: moast/bin/run
___________________________________________________________________
Name: svn:executable
   + 

Added: moast/bin/runDrone
===================================================================
--- moast/bin/runDrone	                        (rev 0)
+++ moast/bin/runDrone	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,86 @@
+#!/bin/sh
+
+# set SERVER=yes to run nml server, else SERVER=no
+SERVER=no
+
+# set PRIM=yes to run prim, else PRIM=no
+PRIM=yes
+
+# set USARSIM=yes to run usarSim, else USARSIM=no to run oldUsarSim
+USARSIM=yes
+
+CONFIG_NML=../etc/moast.nml ; export CONFIG_NML
+CONFIG_INI=../etc/moast.ini ; export CONFIG_INI
+
+TOP=servoGui
+
+pid1=0
+pid2=0
+pid3=0
+pid4=0
+pid5=0
+pid6=0
+pid7=0
+
+kill1=INT
+kill2=INT
+kill3=INT
+kill4=INT
+kill5=INT
+kill6=INT
+kill7=INT
+
+if [ x$SERVER = xyes ] ; then
+   ./moastNmlSvr &	
+   sleep 2
+fi
+pid1=$!
+
+if [ x$USARSIM = xyes ] ; then
+  kill2=HUP
+  ./usarSim -hbugs-220.mxnet.mel.nist.gov -i2&
+#  ./oldUsarSim -x-2928 -y1164 -z128 -h bugs-220.mxnet.mel.nist.gov -w DM-NistDay &
+else
+    ./simpleSim &
+fi
+pid2=$!
+
+if [ x$PRIM = xyes ] ; then
+    sleep 2
+    kill3=HUP
+    ./primMobMain -d2&
+  pid3=$!
+fi
+
+./vehDrone -d2 -v&
+pid4=$!
+
+sleep 5
+if [ x$USARSIM = xyes ] ; then
+  kill5=HUP
+  ./usarSim -hbugs-220.mxnet.mel.nist.gov -i3&
+#  ./oldUsarSim -x-2928 -y1164 -z128 -h bugs-220.mxnet.mel.nist.gov -w DM-NistDay &
+else
+    ./simpleSim &
+fi
+pid5=$!
+
+if [ x$PRIM = xyes ] ; then
+    sleep 2
+    kill6=HUP
+    ./primMobMain -d3&
+  pid6=$!
+fi
+
+./vehDrone -d3 -v
+pid7=$!
+
+if [ ! $pid7 = 0 ] ; then kill -$kill7 $pid7 ; fi
+if [ ! $pid6 = 0 ] ; then kill -$kill6 $pid6 ; fi
+if [ ! $pid5 = 0 ] ; then kill -$kill5 $pid5 ; fi
+if [ ! $pid4 = 0 ] ; then kill -$kill4 $pid4 ; fi
+if [ ! $pid3 = 0 ] ; then kill -$kill3 $pid3 ; fi
+if [ ! $pid2 = 0 ] ; then kill -$kill2 $pid2 ; fi
+if [ ! $pid1 = 0 ] ; then kill -$kill1 $pid1 ; fi
+
+exit 0


Property changes on: moast/bin/runDrone
___________________________________________________________________
Name: svn:executable
   + 

Added: moast/bin/runJoy
===================================================================
--- moast/bin/runJoy	                        (rev 0)
+++ moast/bin/runJoy	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,170 @@
+#!/bin/sh
+#user set these for simulation
+ID=1
+#P2DX
+#PLATFORM=1; JOYMODE=1
+#P2AT
+#PLATFORM=2; JOYMODE=1
+#ATRVJr
+#PLATFORM=3; JOYMODE=1
+#ATRVJrBig
+#PLATFORM=4; JOYMODE=1
+#HUMMER
+#PLATFORM=5; JOYMODE=2
+#Submarine
+#PLATFORM=6; JOYMODE=3
+#Zerg
+PLATFORM=7; JOYMODE=1
+#Talon
+#PLATFORM=8; JOYMODE=1
+#TeleMax
+#PLATFORM=9; JOYMODE=1
+#AirRobot
+PLATFORM=10; JOYMODE=4
+#STARTLOC=1
+STARTLOC=2
+#done with user area
+#
+#are we on cygwin?
+CYGWIN=no
+case `uname -s` in 
+CYGWIN*) CYGWIN=yes
+;;
+esac
+
+echo `dirname $0`/..
+# set up to use ackerman steering
+#export USE_ACKERMAN=2
+
+# set up to use the submarine
+#USE_NAUTIC=1.0 ; export USE_NAUTIC
+
+#set SECT=yes to run section, VEH, AM, prim, and servo, else SECT=no
+SECT=no
+
+# if SECT=no, set VEH=yes to run vehicle, AM, prim, and servo, else VEH=no
+VEH=no
+
+# if VEH=no, set AM=yes to run AM, prim, and servo, else AM=no
+AM=yes
+
+# if AM=no, set PRIM=yes to run prim, and servo, else PRIM=no
+PRIM=no
+
+# set USARSIM=yes to run usarSim, else USARSIM=no to run simpleSim
+USARSIM=yes
+
+CONFIG_NML=../etc/moast.nml ; export CONFIG_NML
+CONFIG_INI=../etc/moast.ini ; export CONFIG_INI
+
+TOP=servoShell
+if [ x$PRIM = xyes ] ; then TOP=primShell ; fi
+if [ x$AM = xyes ] ; then PRIM=yes; TOP=amShell ; fi
+if [ x$VEH = xyes ] ; then AM=yes; PRIM=yes; TOP=vehShell ; fi
+if [ x$SECT = xyes ] ; then VEH=yes; AM=yes; PRIM=yes; TOP=sectShell ; fi
+pid1=0
+pid2=0
+pid3=0
+pid4=0
+pid5=0
+pid6=0
+pid7=0
+pid8=0
+pid9=0
+pid10=0
+pid11=0
+
+kill1=9
+kill2=9
+kill3=9
+kill4=9
+kill5=9
+kill6=INT
+kill7=9
+kill8=9
+kill9=9
+kill10=9
+kill11=9
+
+./ipc-clear
+
+./splash $CONFIG_INI &
+
+echo "Starting server..."
+if [ x$CYGWIN = xyes ] ; then
+   nice -n'-10' ./moastNmlSvr &
+else
+   ./moastNmlSvr &
+fi
+pid1=$!
+sleep 3
+
+if [ x$USARSIM = xyes ] ; then
+  echo "Starting usarsim..."
+  if [ x$CYGWIN = xyes ] ; then
+      nice -n'-10'  ./simWare -i$ID -s$STARTLOC -p$PLATFORM &
+  else
+      ./simWare -i$ID -s$STARTLOC -p$PLATFORM &
+fi
+  pid2=$!
+  kill2=HUP
+  sleep 5
+  ./slamStub &
+  pid3=$!
+  sleep 1
+
+else
+  ./simpleSim &
+  pid2=$!
+fi
+
+if [ x$PRIM = xyes ] ; then
+  echo "Starting prim..."
+  sleep 2
+  ./primMobMain &
+  pid4=$!
+  ./primSPMain &
+  pid5=$!
+  ./primMisMain &
+  pid6=$!
+fi
+
+if [ x$AM = xyes ] ; then
+    echo "Starting am..."
+  ./amMobMain &
+  pid7=$!
+  ./amSPMain -z.1&
+  pid8=$!
+fi
+
+if [ x$VEH = xyes ] ; then
+  echo "Starting vehicle..."
+#  ./vehMobPLMain -i -g1 -r.2 &
+  ./vehMobPLMain -i -g3 -r.1 &
+  pid9=$!
+fi
+
+if [ x$SECT = xyes ] ; then
+  echo "Starting section..."
+  ./sectMobPL &
+  pid10=$!
+fi
+
+./joySDL -d1 -x3 -y3 -z3 -w3 -m$JOYMODE&
+pid11=$!
+
+./$TOP
+
+if [ ! $pid11 = 0 ] ; then kill -$kill11 $pid11 ; fi
+if [ ! $pid10 = 0 ] ; then kill -$kill10 $pid10 ; fi
+if [ ! $pid9 = 0 ] ; then kill -$kill9 $pid9 ; fi
+if [ ! $pid8 = 0 ] ; then kill -$kill8 $pid8 ; fi
+if [ ! $pid7 = 0 ] ; then kill -$kill7 $pid7 ; fi
+if [ ! $pid6 = 0 ] ; then kill -$kill6 $pid6 ; fi
+if [ ! $pid5 = 0 ] ; then kill -$kill5 $pid5 ; fi
+if [ ! $pid4 = 0 ] ; then kill -$kill4 $pid4 ; fi
+if [ ! $pid3 = 0 ] ; then kill -$kill3 $pid3 ; fi
+if [ ! $pid2 = 0 ] ; then kill -$kill2 $pid2 ; fi
+if [ ! $pid1 = 0 ] ; then kill -$kill1 $pid1 ; fi
+
+exit 0


Property changes on: moast/bin/runJoy
___________________________________________________________________
Name: svn:executable
   + 

Added: moast/bin/runSub
===================================================================
--- moast/bin/runSub	                        (rev 0)
+++ moast/bin/runSub	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,143 @@
+#!/bin/sh
+#
+#are we on cygwin?
+CYGWIN=no
+case `uname -s` in 
+    CYGWIN*) 
+	CYGWIN=yes
+;;
+esac
+echo $CYGWIN
+
+cd `dirname $0`
+
+#set SECT=yes to run section, VEH, AM, prim, and servo, else SECT=no
+SECT=no
+
+# if SECT=no, set VEH=yes to run vehicle, AM, prim, and servo, else VEH=no
+VEH=no
+
+# if VEH=no, set AM=yes to run AM, prim, and servo, else AM=no
+AM=no
+
+# if AM=no, set PRIM=yes to run prim, and servo, else PRIM=no
+PRIM=yes
+
+# set USARSIM=yes to run usarSim, else USARSIM=no to run simpleSim
+USARSIM=yes
+
+CONFIG_NML=../etc/moast.nml ; export CONFIG_NML
+CONFIG_INI=../etc/moast.ini ; export CONFIG_INI
+
+# use the submarine
+export USE_NAUTIC=1.0
+
+TOP=servoShell
+if [ x$PRIM = xyes ] ; then TOP=primShell ; fi
+if [ x$AM = xyes ] ; then PRIM=yes; TOP=amShell ; fi
+if [ x$VEH = xyes ] ; then AM=yes; PRIM=yes; TOP=vehShell ; fi
+if [ x$SECT = xyes ] ; then VEH=yes; AM=yes; PRIM=yes; TOP=sectShell ; fi
+pid1=0
+pid2=0
+pid2a=0
+pid3=0
+pid4=0
+pid5=0
+pid6=0
+pid7=0
+pid8=0
+pid9=0
+pid10=0
+
+kill1=9
+kill2=9
+kill2a=9
+kill3=9
+kill4=9
+kill5=9
+kill6=INT
+kill7=9
+kill8=9
+kill9=9
+kill10=9
+
+./ipc-clear > /dev/null 2>&1
+
+./splash $CONFIG_INI &
+
+echo "Starting server..."
+if [ x$CYGWIN = xyes ] ; then
+   nice -n'-10' ./moastNmlSvr &
+else
+   ./moastNmlSvr &
+fi
+sleep 2
+pid1=$!
+
+if [ x$USARSIM = xyes ] ; then
+  echo "Starting usarsim..."
+#  ./usarSim -i1 &
+if [ x$CYGWIN = xyes ] ; then
+   nice -n'-10'  ./simWare -i1 -s1 -p6 &
+else
+     ./simWare -i1 -s2 -p6 &
+fi
+  pid2=$!
+  sleep 5
+  ./slamStub &
+  pid2a=$!
+  sleep 1
+  kill2=HUP
+else
+  ./simpleSim &
+fi
+
+if [ x$PRIM = xyes ] ; then
+  echo "Starting prim..."
+  sleep 2
+  ./primMobMain &
+  pid3=$!
+  ./primSPMain &
+  pid4=$!
+  ./primMisMain &
+  pid5=$!
+fi
+
+if [ x$AM = xyes ] ; then
+    echo "Starting am..."
+  ./amMobMain &
+  pid6=$!
+  ./amSPMain -z.1&
+  pid7=$!
+fi
+
+if [ x$VEH = xyes ] ; then
+  echo "Starting vehicle..."
+  ./vehMobPLMain -i -g3 -r.2&
+  pid8=$!
+fi
+
+if [ x$SECT = xyes ] ; then
+  echo "Starting section..."
+  ./sectMobPL &
+  pid9=$!
+fi
+
+./joySDL -d1 -m3 -x2 -y2 -z2 -w4 &
+pid10=$!
+
+./$TOP
+
+if [ ! $pid10 = 0 ] ; then kill -$kill10 $pid10 ; fi
+if [ ! $pid9 = 0 ] ; then kill -$kill9 $pid9 ; fi
+if [ ! $pid8 = 0 ] ; then kill -$kill8 $pid8 ; fi
+if [ ! $pid7 = 0 ] ; then kill -$kill7 $pid7 ; fi
+if [ ! $pid6 = 0 ] ; then kill -$kill6 $pid6 ; fi
+if [ ! $pid5 = 0 ] ; then kill -$kill5 $pid5 ; fi
+if [ ! $pid4 = 0 ] ; then kill -$kill4 $pid4 ; fi
+if [ ! $pid3 = 0 ] ; then kill -$kill3 $pid3 ; fi
+if [ ! $pid2a = 0 ] ; then kill -$kill2a $pid2a ; fi
+if [ ! $pid2 = 0 ] ; then kill -$kill2 $pid2 ; fi
+if [ ! $pid1 = 0 ] ; then kill -$kill1 $pid1 ; fi
+
+exit 0


Property changes on: moast/bin/runSub
___________________________________________________________________
Name: svn:executable
   + 

Added: moast/bin/runVehicle
===================================================================
--- moast/bin/runVehicle	                        (rev 0)
+++ moast/bin/runVehicle	2007-05-02 19:25:45 UTC (rev 583)
@@ -0,0 +1,128 @@
+#!/bin/sh
+#
+# USERS EDIT THIS AREA
+#
+# set up to use ackerman steering
+#export USE_ACKERMAN=2
+
+# set up to use the submarine
+#export USE_NAUTIC=1.0
+# set VEH=yes to run vehicle, AM, prim, and servo, else VEH=no
+VEH=yes
+
+# if VEH=no, set AM=yes to run AM, prim, and servo, else AM=no
+AM=no
+
+# if AM=no, set PRIM=yes to run prim, and servo, else PRIM=no
+PRIM=yes
+
+# set USARSIM=yes to run usarSim, else USARSIM=no to run simpleSim
+USARSIM=yes
+#
+# END OF USER EDIT AREA
+#
+
+if [ $# = 0 ]; then
+ vehID=2
+else
+ vehID=$1
+fi
+if [ $# -le 1 ]; then
+ PLATFORM=2
+else
+ PLATFORM=$2
+fi
+if [ $# -le 2 ]; then
+ STARTLOC=2
+else
+ STARTLOC=$3
+fi
+
+#are we on cygwin?
+CYGWIN=no
+case `uname -s` in 
+CYGWIN*) CYGWIN=yes
+;;
+esac
+
+CONFIG_NML=../etc/moast.nml ; export CONFIG_NML
+CONFIG_INI=../etc/moast.ini ; export CONFIG_INI
+
+TOP=servoShell
+if [ x$PRIM = xyes ] ; then TOP=primShell ; fi
+if [ x$AM = xyes ] ; then PRIM=yes; TOP=amShell ; fi
+if [ x$VEH = xyes ] ; then AM=yes; PRIM=yes; TOP=vehShell ; fi
+pid1=0
+pid2=0
+pid3=0
+pid4=0
+pid5=0
+pid6=0
+pid7=0
+pid8=0
+pid9=0
+
+kill1=9
+kill2=9
+kill3=9
+kill4=9
+kill5=9
+kill6=9
+kill7=9
+kill8=9
+kill9=9
+
+./splash $CONFIG_INI &
+
+if [ x$USARSIM = xyes ] ; then
+  echo "Starting usarsim..."
+  if [ x$CYGWIN = xyes ] ; then
+      nice -n'-10'  ./simWare -i$vehID -s$STARTLOC -p$PLATFORM &
+  else
+      ./simWare -i$vehID -s$STARTLOC -p$PLATFORM &
+fi
+  pid1=$!
+  kill1=HUP
+  sleep 5
+  ./slamStub -i$vehID&
+  pid2=$!
+  sleep 1
+
+else
+  ./simpleSim &
+  pid1=$!
+fi
+
+if [ x$PRIM = xyes ] ; then
+  ./primMobMain -d$vehID&
+  pid3=$!
+  ./primSPMain -d$vehID&
+  pid4=$!
+fi
+
+if [ x$AM = xyes ] ; then
+  sleep 2
+  ./amMobMain -d$vehID&
+  pid5=$!
+  ./amSPMain -z.1 -d$vehID&
+  pid6=$!
+fi
+
+if [ x$VEH = xyes ] ; then
+  ./vehMobPLMain -i -g1 -r.2 -d$vehID&
+  pid7=$!
+fi
+
+./$TOP -d$vehID
+
+if [ ! $pid9 = 0 ] ; then kill -$kill9 $pid9 ; fi
+if [ ! $pid8 = 0 ] ; then kill -$kill8 $pid8 ; fi
+if [ ! $pid7 = 0 ] ; then kill -$kill7 $pid7 ; fi
+if [ ! $pid6 = 0 ] ; then kill -$kill6 $pid6 ; fi
+if [ ! $pid5 = 0 ] ; then kill -$kill5 $pid5 ; fi
+if [ ! $pid4 = 0 ] ; then kill -$kill4 $pid4 ; fi
+if [ ! $pid3 = 0 ] ; then kill -$kill3 $pid3 ; fi
+if [ ! $pid2 = 0 ] ; then kill -$kill2 $pid2 ; fi

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Wed May  9 16:26:46 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 9 May 2007 16:26:46 -0400
Subject: [TeamTalk 47]: [584] TeamTalk: 1) removed robot messages from
	skeleton
Message-ID: <200705092026.l49KQkCi009979@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Modified: TeamTalk/Configurations/DesktopConfiguration/TeamTalk-hub-desktop-skeleton.pgm
===================================================================
--- TeamTalk/Configurations/DesktopConfiguration/TeamTalk-hub-desktop-skeleton.pgm	2007-05-02 19:25:45 UTC (rev 583)
+++ TeamTalk/Configurations/DesktopConfiguration/TeamTalk-hub-desktop-skeleton.pgm	2007-05-09 20:26:45 UTC (rev 584)
@@ -137,31 +137,31 @@
 LOG_IN: :inframe
 LOG_OUT: :outframe
 
-PROGRAM: robot_message
+;;PROGRAM: robot_message
 
 ;;RULE: :goal | --> PenDecoder.speak
 ;;IN: :robot_name :speaktext
 ;;OUT:
 
-RULE: :type = "location" --> PenDecoder.set_bot
-IN: :robot_name :x :y :r
-OUT: 
+;;RULE: :type = "location" --> PenDecoder.set_bot
+;;IN: :robot_name :x :y :r
+;;OUT: 
 
-RULE: :type = "goal" --> PenDecoder.set_goal
-IN: :robot_name :relative :x :y
-OUT:
+;;RULE: :type = "goal" --> PenDecoder.set_goal
+;;IN: :robot_name :relative :x :y
+;;OUT:
 
-RULE: :type = "halt" --> PenDecoder.set_halt
-IN: :robot_name
-OUT:
+;;RULE: :type = "halt" --> PenDecoder.set_halt
+;;IN: :robot_name
+;;OUT:
 
-RULE: :type = "follow" --> PenDecoder.set_follow
-IN: :robot_name :followee
-OUT:
+;;RULE: :type = "follow" --> PenDecoder.set_follow
+;;IN: :robot_name :followee
+;;OUT:
 
-RULE: :type = "cover" --> PenDecoder.set_cover
-IN: :robot_name :x :y
-OUT:
+;;RULE: :type = "cover" --> PenDecoder.set_cover
+;;IN: :robot_name :x :y
+;;OUT:
 
 PROGRAM: restart_decoder
 

Modified: TeamTalk/Configurations/DesktopConfiguration/TeamTalk-hub-desktop-template.pgm
===================================================================
--- TeamTalk/Configurations/DesktopConfiguration/TeamTalk-hub-desktop-template.pgm	2007-05-02 19:25:45 UTC (rev 583)
+++ TeamTalk/Configurations/DesktopConfiguration/TeamTalk-hub-desktop-template.pgm	2007-05-09 20:26:45 UTC (rev 584)
@@ -260,7 +260,7 @@
 IN: :name :voice
 OUT:
 
-PROGRAM: map_message
-RULE: --> PenDecoder.map_update
-IN: :type :x_size :y_size :resolution :encoded_map
-OUT:
+;;PROGRAM: map_message
+;;RULE: --> PenDecoder.map_update
+;;IN: :type :x_size :y_size :resolution :encoded_map
+;;OUT:

Modified: TeamTalk/Resources/Grammar/TeamTalkTask-template.gra
===================================================================
--- TeamTalk/Resources/Grammar/TeamTalkTask-template.gra	2007-05-02 19:25:45 UTC (rev 583)
+++ TeamTalk/Resources/Grammar/TeamTalkTask-template.gra	2007-05-09 20:26:45 UTC (rev 584)
@@ -153,14 +153,10 @@
 	([MoveToGoal])
 ;
 
-[CLYDEJOINBASHFUL]
-	(*clyde join bashful)
+[Join]
+	(*[RobotName] join [RobotName])
 ;
 
-[BASHFULJOINCLYDE]
-	(*bashful join clyde)
-;
-
 #[MoveVectorCardinal]
 #	(*[RobotName] MOVE *[CardinalDirection] [AbsoluteDistance])
 #	(*[RobotName] MOVE [CardinalDirection])

From tk at edam.speech.cs.cmu.edu  Thu May 10 10:27:42 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 10:27:42 -0400
Subject: [TeamTalk 48]:  [585] usarsim/: Created folder remotely
Message-ID: <200705101427.l4AERgGi013266@edam.speech.cs.cmu.edu>

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From tk at edam.speech.cs.cmu.edu  Thu May 10 10:28:43 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 10:28:43 -0400
Subject: [TeamTalk 49]:  [586] usarsim/Doc/: Created folder remotely
Message-ID: <200705101428.l4AEShIS013276@edam.speech.cs.cmu.edu>

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From tk at edam.speech.cs.cmu.edu  Thu May 10 10:30:13 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 10:30:13 -0400
Subject: [TeamTalk 50]:  [589] usarsim/USARBotAPI/: Created folder remotely
Message-ID: <200705101430.l4AEUDm2013309@edam.speech.cs.cmu.edu>

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From tk at edam.speech.cs.cmu.edu  Thu May 10 10:29:15 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 10:29:15 -0400
Subject: [TeamTalk 51]:  [587] usarsim/Tools/: Created folder remotely
Message-ID: <200705101429.l4AETFnS013286@edam.speech.cs.cmu.edu>

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From tk at edam.speech.cs.cmu.edu  Thu May 10 10:30:38 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 10:30:38 -0400
Subject: [TeamTalk 52]:  [590] usarsim/USARMisPkg/: Created folder remotely
Message-ID: <200705101430.l4AEUcxn013319@edam.speech.cs.cmu.edu>

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From tk at edam.speech.cs.cmu.edu  Thu May 10 10:29:42 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 10:29:42 -0400
Subject: [TeamTalk 53]:  [588] usarsim/USARBot/: Created folder remotely
Message-ID: <200705101429.l4AETgvs013296@edam.speech.cs.cmu.edu>

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From tk at edam.speech.cs.cmu.edu  Thu May 10 10:31:10 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 10:31:10 -0400
Subject: [TeamTalk 54]:  [591] usarsim/USARModels/: Created folder remotely
Message-ID: <200705101431.l4AEVA3e013334@edam.speech.cs.cmu.edu>

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From tk at edam.speech.cs.cmu.edu  Thu May 10 10:31:30 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 10:31:30 -0400
Subject: [TeamTalk 55]: [592] usarsim/USARVictims/: Created folder remotely
Message-ID: <200705101431.l4AEVU43013344@edam.speech.cs.cmu.edu>

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From tk at edam.speech.cs.cmu.edu  Thu May 10 10:34:32 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 10:34:32 -0400
Subject: [TeamTalk 56]:  [593] usarsim/Doc: Importing usarsim documentation
Message-ID: <200705101434.l4AEYWFF013354@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Added: usarsim/Doc/CVS/Entries
===================================================================
--- usarsim/Doc/CVS/Entries	                        (rev 0)
+++ usarsim/Doc/CVS/Entries	2007-05-10 14:34:32 UTC (rev 593)
@@ -0,0 +1,3 @@
+/IUB_README.txt/1.1/Wed Dec 28 16:55:10 2005//
+/SampleRobotDescription.doc/1.1/Mon Jan 23 15:38:44 2006//
+D

Added: usarsim/Doc/CVS/Repository
===================================================================
--- usarsim/Doc/CVS/Repository	                        (rev 0)
+++ usarsim/Doc/CVS/Repository	2007-05-10 14:34:32 UTC (rev 593)
@@ -0,0 +1 @@
+usarsim/Doc

Added: usarsim/Doc/CVS/Root
===================================================================
--- usarsim/Doc/CVS/Root	                        (rev 0)
+++ usarsim/Doc/CVS/Root	2007-05-10 14:34:32 UTC (rev 593)
@@ -0,0 +1 @@
+:pserver:anonymous at usarsim.cvs.sourceforge.net:/cvsroot/usarsim

Added: usarsim/Doc/IUB_README.txt
===================================================================
--- usarsim/Doc/IUB_README.txt	                        (rev 0)
+++ usarsim/Doc/IUB_README.txt	2007-05-10 14:34:32 UTC (rev 593)
@@ -0,0 +1,21 @@
+How to Install
+==============
+Extract the package to your UT2004 directory and recompile USARBot.
+
+
+Notes
+=====
+Known bug: The camera does not behave properly when rotated. Shall be fixed
+soon.
+
+Credits
+=======
+Developed by:
+Stefan Markov
+Ivan Delchev
+Mentar Mahmudi
+
+at IUB, 2005 under the supervision of Prof. Stefano Carpin.
+
+Please send bugs to:
+s.markov at iu-bremen.de
\ No newline at end of file

Added: usarsim/Doc/SampleRobotDescription.doc
===================================================================
(Binary files differ)


Property changes on: usarsim/Doc/SampleRobotDescription.doc
___________________________________________________________________
Name: svn:executable
   + 
Name: svn:mime-type
   + application/octet-stream

From tk at edam.speech.cs.cmu.edu  Thu May 10 10:35:14 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 10:35:14 -0400
Subject: [TeamTalk 57]:  [594] usarsim/Doc/CVS/: Removed file/folder
Message-ID: <200705101435.l4AEZEm6013364@edam.speech.cs.cmu.edu>

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From tk at edam.speech.cs.cmu.edu  Thu May 10 10:56:52 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 10:56:52 -0400
Subject: [TeamTalk 58]:  [595] usarsim: ignore CVS files
Message-ID: <200705101456.l4AEuqQd013390@edam.speech.cs.cmu.edu>

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-------------- next part --------------

Property changes on: usarsim
___________________________________________________________________
Name: svn:ignore
   + CVS



Property changes on: usarsim/Doc
___________________________________________________________________
Name: svn:ignore
   + CVS



Property changes on: usarsim/Tools
___________________________________________________________________
Name: svn:ignore
   + CVS



Property changes on: usarsim/USARBot
___________________________________________________________________
Name: svn:ignore
   + CVS



Property changes on: usarsim/USARBotAPI
___________________________________________________________________
Name: svn:ignore
   + CVS



Property changes on: usarsim/USARMisPkg
___________________________________________________________________
Name: svn:ignore
   + CVS



Property changes on: usarsim/USARModels
___________________________________________________________________
Name: svn:ignore
   + CVS



Property changes on: usarsim/USARVictims
___________________________________________________________________
Name: svn:ignore
   + CVS


From tk at edam.speech.cs.cmu.edu  Thu May 10 11:04:15 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 11:04:15 -0400
Subject: [TeamTalk 59]: [596] usarsim/: Ignore many of the purely UT2004
	directories
Message-ID: <200705101504.l4AF4F9H013409@edam.speech.cs.cmu.edu>

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Property changes on: usarsim
___________________________________________________________________
Name: svn:ignore
   - CVS

   + CVS
Animations
Benchmark
ForceFeedback
Help
KarmaData
Manual
Music
Prefabs
Sounds
Speech
StaticMeshes
Textures
Web


From tk at edam.speech.cs.cmu.edu  Thu May 10 11:05:46 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 11:05:46 -0400
Subject: [TeamTalk 60]:  [597] usarsim/Tools: Import usarsim tools
Message-ID: <200705101505.l4AF5kD9013419@edam.speech.cs.cmu.edu>

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Added: usarsim/Tools/CVS/Entries
===================================================================
--- usarsim/Tools/CVS/Entries	                        (rev 0)
+++ usarsim/Tools/CVS/Entries	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1,6 @@
+D/ImageSrv////
+D/SimpleUI////
+D/Usar_UI////
+D/WSS////
+D/player////
+D/pyro////

Added: usarsim/Tools/CVS/Repository
===================================================================
--- usarsim/Tools/CVS/Repository	                        (rev 0)
+++ usarsim/Tools/CVS/Repository	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1 @@
+usarsim/Tools

Added: usarsim/Tools/CVS/Root
===================================================================
--- usarsim/Tools/CVS/Root	                        (rev 0)
+++ usarsim/Tools/CVS/Root	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1 @@
+:pserver:anonymous at usarsim.cvs.sourceforge.net:/cvsroot/usarsim

Added: usarsim/Tools/ImageSrv/CVS/Entries
===================================================================
--- usarsim/Tools/ImageSrv/CVS/Entries	                        (rev 0)
+++ usarsim/Tools/ImageSrv/CVS/Entries	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1,30 @@
+/FreeImage.dll/1.1/Fri Feb 17 17:16:21 2006/-kb/
+/Hook.dll/1.1/Fri Feb 17 17:16:21 2006/-kb/
+/ImageSrv.aps/1.3/Tue Jan  9 15:04:25 2007/-kb/
+/ImageSrv.clw/1.3/Tue Jan  9 15:04:26 2007//
+/ImageSrv.cpp/1.1/Fri Feb 17 17:16:21 2006//
+/ImageSrv.dsp/1.2/Tue Jan  9 15:04:26 2007//
+/ImageSrv.dsw/1.1/Fri Feb 17 17:16:21 2006//
+/ImageSrv.h/1.1/Fri Feb 17 17:16:21 2006//
+/ImageSrv.ncb/1.3/Tue Jan  9 15:04:26 2007/-kb/
+/ImageSrv.opt/1.3/Tue Jan  9 15:04:26 2007/-kb/
+/ImageSrv.plg/1.3/Tue Jan  9 15:04:26 2007//
+/ImageSrv.rc/1.3/Mon Feb 12 17:42:29 2007//
+/ImageSrvDlg.cpp/1.4/Mon Feb 12 17:42:29 2007//
+/ImageSrvDlg.h/1.3/Tue Jan  9 15:04:27 2007//
+/Info.html/1.1/Fri Feb 17 17:16:21 2006//
+/InfoDlg.cpp/1.1/Fri Feb 17 17:16:21 2006//
+/InfoDlg.h/1.1/Fri Feb 17 17:16:21 2006//
+/ListenSocket.cpp/1.2/Tue Jan  9 15:04:27 2007//
+/ListenSocket.h/1.1/Fri Feb 17 17:16:21 2006//
+/ReadMe.txt/1.3/Tue Jan  9 15:04:27 2007//
+/StdAfx.cpp/1.1/Fri Feb 17 17:16:21 2006//
+/StdAfx.h/1.1/Fri Feb 17 17:16:21 2006//
+/VideoSocket.cpp/1.3/Tue Jan  9 15:04:27 2007//
+/VideoSocket.h/1.1/Fri Feb 17 17:16:21 2006//
+/resource.h/1.3/Mon Feb 12 17:42:30 2007//
+/webbrowser2.cpp/1.1/Fri Feb 17 17:16:21 2006//
+/webbrowser2.h/1.1/Fri Feb 17 17:16:21 2006//
+D/FreeImage////
+D/Hook////
+D/res////

Added: usarsim/Tools/ImageSrv/CVS/Repository
===================================================================
--- usarsim/Tools/ImageSrv/CVS/Repository	                        (rev 0)
+++ usarsim/Tools/ImageSrv/CVS/Repository	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1 @@
+usarsim/Tools/ImageSrv

Added: usarsim/Tools/ImageSrv/CVS/Root
===================================================================
--- usarsim/Tools/ImageSrv/CVS/Root	                        (rev 0)
+++ usarsim/Tools/ImageSrv/CVS/Root	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1 @@
+:pserver:anonymous at usarsim.cvs.sourceforge.net:/cvsroot/usarsim

Added: usarsim/Tools/ImageSrv/FreeImage/CVS/Entries
===================================================================
--- usarsim/Tools/ImageSrv/FreeImage/CVS/Entries	                        (rev 0)
+++ usarsim/Tools/ImageSrv/FreeImage/CVS/Entries	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1,5 @@
+/FIIO_Mem.cpp/1.1/Fri Feb 17 17:16:21 2006//
+/FIIO_Mem.h/1.1/Fri Feb 17 17:16:21 2006//
+/FreeImage.h/1.1/Fri Feb 17 17:16:21 2006//
+/FreeImage.lib/1.1/Fri Feb 17 17:16:21 2006/-kb/
+D

Added: usarsim/Tools/ImageSrv/FreeImage/CVS/Repository
===================================================================
--- usarsim/Tools/ImageSrv/FreeImage/CVS/Repository	                        (rev 0)
+++ usarsim/Tools/ImageSrv/FreeImage/CVS/Repository	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1 @@
+usarsim/Tools/ImageSrv/FreeImage

Added: usarsim/Tools/ImageSrv/FreeImage/CVS/Root
===================================================================
--- usarsim/Tools/ImageSrv/FreeImage/CVS/Root	                        (rev 0)
+++ usarsim/Tools/ImageSrv/FreeImage/CVS/Root	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1 @@
+:pserver:anonymous at usarsim.cvs.sourceforge.net:/cvsroot/usarsim

Added: usarsim/Tools/ImageSrv/FreeImage/FIIO_Mem.cpp
===================================================================
--- usarsim/Tools/ImageSrv/FreeImage/FIIO_Mem.cpp	                        (rev 0)
+++ usarsim/Tools/ImageSrv/FreeImage/FIIO_Mem.cpp	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1,146 @@
+/*--------------------------------------------------------------------------*\
+|| fiio_mem.cpp by Ryan Rubley <ryan at lostreality.org>                       ||
+||                                                                          ||
+|| (v1.02) 4-28-2004                                                        ||
+|| FreeImageIO to memory                                                    ||
+||                                                                          ||
+\*--------------------------------------------------------------------------*/
+
+#include <string.h>
+#include <stdlib.h>
+#include "fiio_mem.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+FIBITMAP *
+FreeImage_LoadFromMem(FREE_IMAGE_FORMAT fif, fiio_mem_handle *handle, int flags) {
+	FreeImageIO io;
+	SetMemIO(&io);
+	
+	if (handle && handle->data) {
+		handle->curpos = 0;
+		return FreeImage_LoadFromHandle(fif, &io, (fi_handle)handle, flags);
+	}
+
+	return NULL;
+}
+
+BOOL
+FreeImage_SaveToMem(FREE_IMAGE_FORMAT fif, FIBITMAP *dib, fiio_mem_handle *handle, int flags) {
+	FreeImageIO io;
+	SetMemIO(&io);
+
+	if (handle) {
+		handle->filelen = 0;
+		handle->curpos = 0;
+		return FreeImage_SaveToHandle(fif, dib, &io, (fi_handle)handle, flags);
+	}
+
+	return FALSE;
+}
+
+// ----------------------------------------------------------
+
+void
+SetMemIO(FreeImageIO *io) {
+	io->read_proc  = fiio_mem_ReadProc;
+	io->seek_proc  = fiio_mem_SeekProc;
+	io->tell_proc  = fiio_mem_TellProc;
+	io->write_proc = fiio_mem_WriteProc;
+}
+
+// ----------------------------------------------------------
+
+#define FIIOMEM(member) (((fiio_mem_handle *)handle)->member)
+
+unsigned _stdcall
+fiio_mem_ReadProc(void *buffer, unsigned size, unsigned count, fi_handle handle) {
+	unsigned x;
+	for( x=0; x<count; x++ ) {
+		//if there isnt size bytes left to read, set pos to eof and return a short count
+		if( FIIOMEM(filelen)-FIIOMEM(curpos) < (long)size ) {
+			FIIOMEM(curpos) = FIIOMEM(filelen);
+			break;
+		}
+		//copy size bytes count times
+		memcpy( buffer, (char *)FIIOMEM(data) + FIIOMEM(curpos), size );
+		FIIOMEM(curpos) += size;
+		buffer = (char *)buffer + size;
+	}
+	return x;
+}
+
+unsigned _stdcall
+fiio_mem_WriteProc(void *buffer, unsigned size, unsigned count, fi_handle handle) {
+	void *newdata;
+	long newdatalen;
+	//double the data block size if we need to
+	while( FIIOMEM(curpos)+(long)(size*count) >= FIIOMEM(datalen) ) {
+		//if we are at or above 1G, we cant double without going negative
+		if( FIIOMEM(datalen) & 0x40000000 ) {
+			//max 2G
+			if( FIIOMEM(datalen) == 0x7FFFFFFF ) {
+				return 0;
+			}
+			newdatalen = 0x7FFFFFFF;
+		} else if( FIIOMEM(datalen) == 0 ) {
+			//default to 4K if nothing yet
+			newdatalen = 4096;
+		} else {
+			//double size
+			newdatalen = FIIOMEM(datalen) << 1;
+		}
+		newdata = realloc( FIIOMEM(data), newdatalen );
+		if( !newdata ) {
+			return 0;
+		}
+		FIIOMEM(data) = newdata;
+		FIIOMEM(datalen) = newdatalen;
+	}
+	memcpy( (char *)FIIOMEM(data) + FIIOMEM(curpos), buffer, size*count );
+	FIIOMEM(curpos) += size*count;
+	if( FIIOMEM(curpos) > FIIOMEM(filelen) ) {
+		FIIOMEM(filelen) = FIIOMEM(curpos);
+	}
+	return count;
+}
+
+int _stdcall
+fiio_mem_SeekProc(fi_handle handle, long offset, int origin) {
+	switch(origin) { //0 to filelen-1 are 'inside' the file
+	default:
+	case SEEK_SET: //can fseek() to 0-7FFFFFFF always
+		if( offset >= 0 ) {
+			FIIOMEM(curpos) = offset;
+			return 0;
+		}
+		break;
+
+	case SEEK_CUR:
+		if( FIIOMEM(curpos)+offset >= 0 ) {
+			FIIOMEM(curpos) += offset;
+			return 0;
+		}
+		break;
+
+	case SEEK_END:
+		if( FIIOMEM(filelen)+offset >= 0 ) {
+			FIIOMEM(curpos) = FIIOMEM(filelen)+offset;
+			return 0;
+		}
+		break;
+	}
+
+	return -1;
+}
+
+long _stdcall
+fiio_mem_TellProc(fi_handle handle) {
+	return FIIOMEM(curpos);
+}
+
+#ifdef __cplusplus
+}
+#endif

Added: usarsim/Tools/ImageSrv/FreeImage/FIIO_Mem.h
===================================================================
--- usarsim/Tools/ImageSrv/FreeImage/FIIO_Mem.h	                        (rev 0)
+++ usarsim/Tools/ImageSrv/FreeImage/FIIO_Mem.h	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1,74 @@
+/*--------------------------------------------------------------------------*\
+|| fiio_mem.h by Ryan Rubley <ryan at lostreality.org>                         ||
+||                                                                          ||
+|| (v1.02) 4-28-2004                                                        ||
+|| FreeImageIO to memory                                                    ||
+||                                                                          ||
+\*--------------------------------------------------------------------------*/
+
+#ifndef _FIIO_MEM_H_
+#define _FIIO_MEM_H_
+
+#include "freeimage.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct fiio_mem_handle_s {
+	long filelen,datalen,curpos;
+	void *data;
+} fiio_mem_handle;
+
+/* it is up to the user to create a fiio_mem_handle and init datalen and data
+ * filelen will be pre-set to 0 by SaveToMem
+ * curpos will be pre-set to 0 by SaveToMem and LoadFromMem
+ * IMPORTANT: data should be set to NULL and datalen to 0,
+ *            unless the user wants to manually malloc a larger buffer
+ */
+FIBITMAP *FreeImage_LoadFromMem(FREE_IMAGE_FORMAT fif, fiio_mem_handle *handle, int flags);
+BOOL FreeImage_SaveToMem(FREE_IMAGE_FORMAT fif, FIBITMAP *dib, fiio_mem_handle *handle, int flags);
+
+void SetMemIO(FreeImageIO *io);
+unsigned _stdcall fiio_mem_ReadProc(void *buffer, unsigned size, unsigned count, fi_handle handle);
+unsigned _stdcall fiio_mem_WriteProc(void *buffer, unsigned size, unsigned count, fi_handle handle);
+int _stdcall fiio_mem_SeekProc(fi_handle handle, long offset, int origin);
+long _stdcall fiio_mem_TellProc(fi_handle handle);
+
+/*** Example Usage ***
+
+//variables
+FIBITMAP *bitmap, *bitmap2;
+fiio_mem_handle fmh;
+
+//important initialization
+fmh.data = NULL;
+fmh.datalen = 0;
+
+//load a regular file
+bitmap = FreeImage_Load(FIF_PNG, "sample.png");
+
+//save the file to memory
+FreeImage_SaveToMem(FIF_PNG, bitmap, &fmh, 0);
+
+//at this point, fmh.data contains the entire PNG data in memory
+//fmh.datalen is the amount of space malloc'd for the image in memory,
+//but only fmh.filelen amount of that space is actually used.
+
+//its easy load an image from memory as well
+bitmap2 = FreeImage_LoadFromMem(FIF_PNG, &fmh, 0);
+//you could also have image data in memory via some other method, and just set
+//fmh.data to point to it, and set both fmh.datalen and fmh.filelen to the
+//size of that data, then FreeImage_LoadFromMem could load the image from that
+//memory
+
+//make sure to free the data since SaveToMem will cause it to be malloc'd
+free(fmh.data);
+
+*/
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

Added: usarsim/Tools/ImageSrv/FreeImage/FreeImage.h
===================================================================
--- usarsim/Tools/ImageSrv/FreeImage/FreeImage.h	                        (rev 0)
+++ usarsim/Tools/ImageSrv/FreeImage/FreeImage.h	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1,695 @@
+// ==========================================================
+// FreeImage 3
+//
+// Design and implementation by
+// - Floris van den Berg (flvdberg at wxs.nl)
+// - Herv\xE9 Drolon (drolon at infonie.fr)
+//
+// Contributors:
+// - Adam Gates (radad at xoasis.com)
+// - Alex Kwak
+// - Alexander Dymerets (sashad at te.net.ua)
+// - Detlev Vendt (detlev.vendt at brillit.de)
+// - Jan L. Nauta (jln at magentammt.com)
+// - Jani Kajala (janik at remedy.fi)
+// - Juergen Riecker (j.riecker at gmx.de)
+// - Karl-Heinz Bussian (khbussian at moss.de)
+// - Laurent Rocher (rocherl at club-internet.fr)
+// - Luca Piergentili (l.pierge at terra.es)
+// - Machiel ten Brinke (brinkem at uni-one.nl)
+// - Markus Loibl (markus.loibl at epost.de)
+// - Martin Weber (martweb at gmx.net)
+// - Matthias Wandel (mwandel at rim.net)
+// - Michal Novotny (michal at etc.cz)
+// - Ryan Rubley (ryan at lostreality.org)
+// - Volker G\xE4rtner (volkerg at gmx.at)
+//
+// This file is part of FreeImage 3
+//
+// COVERED CODE IS PROVIDED UNDER THIS LICENSE ON AN "AS IS" BASIS, WITHOUT WARRANTY
+// OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, WITHOUT LIMITATION, WARRANTIES
+// THAT THE COVERED CODE IS FREE OF DEFECTS, MERCHANTABLE, FIT FOR A PARTICULAR PURPOSE
+// OR NON-INFRINGING. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE COVERED
+// CODE IS WITH YOU. SHOULD ANY COVERED CODE PROVE DEFECTIVE IN ANY RESPECT, YOU (NOT
+// THE INITIAL DEVELOPER OR ANY OTHER CONTRIBUTOR) ASSUME THE COST OF ANY NECESSARY
+// SERVICING, REPAIR OR CORRECTION. THIS DISCLAIMER OF WARRANTY CONSTITUTES AN ESSENTIAL
+// PART OF THIS LICENSE. NO USE OF ANY COVERED CODE IS AUTHORIZED HEREUNDER EXCEPT UNDER
+// THIS DISCLAIMER.
+//
+// Use at your own risk!
+// ==========================================================
+
+#ifndef FREEIMAGE_H
+#define FREEIMAGE_H
+
+// Compiler options ---------------------------------------------------------
+
+#if defined(FREEIMAGE_LIB) || !defined(WIN32)
+#define DLL_API
+#define DLL_CALLCONV
+#else
+#define WIN32_LEAN_AND_MEAN
+#define DLL_CALLCONV __stdcall
+// The following ifdef block is the standard way of creating macros which make exporting 
+// from a DLL simpler. All files within this DLL are compiled with the FREEIMAGE_EXPORTS
+// symbol defined on the command line. this symbol should not be defined on any project
+// that uses this DLL. This way any other project whose source files include this file see 
+// DLL_API functions as being imported from a DLL, wheras this DLL sees symbols
+// defined with this macro as being exported.
+#ifdef FREEIMAGE_EXPORTS
+#define DLL_API __declspec(dllexport)
+#else
+#define DLL_API __declspec(dllimport)
+#endif // FREEIMAGE_EXPORTS
+#endif // FREEIMAGE_LIB || !WIN32
+
+// Some versions of gcc may have BYTE_ORDER or __BYTE_ORDER defined
+// If your big endian system isn't being detected, add an OS specific check
+#if (defined(BYTE_ORDER) && BYTE_ORDER==BIG_ENDIAN) || \
+	(defined(__BYTE_ORDER) && __BYTE_ORDER==__BIG_ENDIAN) || \
+	defined(__APPLE__)
+#define FREEIMAGE_BIGENDIAN
+#endif // BYTE_ORDER
+
+// For C compatility --------------------------------------------------------
+
+#ifdef __cplusplus
+#define FI_DEFAULT(x)	= x
+#define FI_ENUM(x)      enum x
+#define FI_STRUCT(x)	struct x
+#else
+#define FI_DEFAULT(x)
+#define FI_ENUM(x)      typedef int x; enum x
+#define FI_STRUCT(x)	typedef struct x x; struct x
+#endif
+
+// Bitmap types -------------------------------------------------------------
+
+FI_STRUCT (FIBITMAP) { void *data; };
+FI_STRUCT (FIMULTIBITMAP) { void *data; };
+
+// Types used in the library (directly copied from Windows) -----------------
+
+#ifndef _WINDOWS_
+#define _WINDOWS_
+
+#ifndef FALSE
+#define FALSE 0
+#endif
+#ifndef TRUE
+#define TRUE 1
+#endif
+#ifndef NULL
+#define NULL 0
+#endif
+
+#ifndef SEEK_SET
+#define SEEK_SET  0
+#define SEEK_CUR  1
+#define SEEK_END  2
+#endif
+
+typedef long BOOL;
+typedef unsigned char BYTE;
+typedef unsigned short WORD;
+typedef unsigned long DWORD;
+typedef long LONG;
+
+#ifdef WIN32
+#pragma pack(push, 1)
+#else
+#pragma pack(1)
+#endif // WIN32
+
+typedef struct tagRGBQUAD {
+#ifdef FREEIMAGE_BIGENDIAN
+  BYTE rgbRed;
+  BYTE rgbGreen;
+  BYTE rgbBlue;
+#else
+  BYTE rgbBlue;
+  BYTE rgbGreen;
+  BYTE rgbRed;
+#endif // FREEIMAGE_BIGENDIAN
+  BYTE rgbReserved;
+} RGBQUAD;
+
+typedef struct tagRGBTRIPLE {
+#ifdef FREEIMAGE_BIGENDIAN
+  BYTE rgbtRed;
+  BYTE rgbtGreen;
+  BYTE rgbtBlue;
+#else
+  BYTE rgbtBlue;
+  BYTE rgbtGreen;
+  BYTE rgbtRed;
+#endif // FREEIMAGE_BIGENDIAN
+} RGBTRIPLE;
+
+#ifdef WIN32
+#pragma pack(pop)
+#else
+#pragma pack()
+#endif // WIN32
+
+typedef struct tagBITMAPINFOHEADER{
+  DWORD biSize;
+  LONG  biWidth; 
+  LONG  biHeight; 
+  WORD  biPlanes; 
+  WORD  biBitCount;
+  DWORD biCompression; 
+  DWORD biSizeImage; 
+  LONG  biXPelsPerMeter; 
+  LONG  biYPelsPerMeter; 
+  DWORD biClrUsed; 
+  DWORD biClrImportant;
+} BITMAPINFOHEADER, *PBITMAPINFOHEADER; 
+
+typedef struct tagBITMAPINFO { 
+  BITMAPINFOHEADER bmiHeader; 
+  RGBQUAD          bmiColors[1];
+} BITMAPINFO, *PBITMAPINFO;
+
+#endif // _WINDOWS_
+
+// Indexes for byte arrays, masks and shifts for treating pixels as words ---
+// These coincide with the order of RGBQUAD and RGBTRIPLE -------------------
+
+#ifndef FREEIMAGE_BIGENDIAN
+// Little Endian (x86 / MS Windows, Linux) : BGR(A) order
+#define FI_RGBA_RED				2
+#define FI_RGBA_GREEN			1
+#define FI_RGBA_BLUE			0
+#define FI_RGBA_ALPHA			3
+#define FI_RGBA_RED_MASK		0x00FF0000
+#define FI_RGBA_GREEN_MASK		0x0000FF00
+#define FI_RGBA_BLUE_MASK		0x000000FF
+#define FI_RGBA_ALPHA_MASK		0xFF000000
+#define FI_RGBA_RED_SHIFT		16
+#define FI_RGBA_GREEN_SHIFT		8
+#define FI_RGBA_BLUE_SHIFT		0
+#define FI_RGBA_ALPHA_SHIFT		24
+#else
+// Big Endian (PPC / Linux, MaxOSX) : RGB(A) order
+#define FI_RGBA_RED				0
+#define FI_RGBA_GREEN			1
+#define FI_RGBA_BLUE			2
+#define FI_RGBA_ALPHA			3
+#define FI_RGBA_RED_MASK		0xFF000000
+#define FI_RGBA_GREEN_MASK		0x00FF0000
+#define FI_RGBA_BLUE_MASK		0x0000FF00
+#define FI_RGBA_ALPHA_MASK		0x000000FF
+#define FI_RGBA_RED_SHIFT		24
+#define FI_RGBA_GREEN_SHIFT		16
+#define FI_RGBA_BLUE_SHIFT		8
+#define FI_RGBA_ALPHA_SHIFT		0
+#endif // FREEIMAGE_BIGENDIAN
+
+#define FI_RGBA_RGB_MASK		(FI_RGBA_RED_MASK|FI_RGBA_GREEN_MASK|FI_RGBA_BLUE_MASK)
+
+// The 16bit macros only include masks and shifts, since each color element is not byte aligned
+
+#define FI16_555_RED_MASK		0x7C00
+#define FI16_555_GREEN_MASK		0x03E0
+#define FI16_555_BLUE_MASK		0x001F
+#define FI16_555_RED_SHIFT		10
+#define FI16_555_GREEN_SHIFT	5
+#define FI16_555_BLUE_SHIFT		0
+#define FI16_565_RED_MASK		0xF800
+#define FI16_565_GREEN_MASK		0x07E0
+#define FI16_565_BLUE_MASK		0x001F
+#define FI16_565_RED_SHIFT		11
+#define FI16_565_GREEN_SHIFT	5
+#define FI16_565_BLUE_SHIFT		0
+
+// ICC profile support ------------------------------------------------------
+
+#define FIICC_DEFAULT			0x00
+#define FIICC_COLOR_IS_CMYK		0x01
+
+FI_STRUCT (FIICCPROFILE) { 
+	WORD    flags;	// info flag
+	DWORD	size;	// profile's size measured in bytes
+	void   *data;	// points to a block of contiguous memory containing the profile
+};
+
+// Important enums ----------------------------------------------------------
+
+/** I/O image format identifiers.
+*/
+FI_ENUM(FREE_IMAGE_FORMAT) {
+	FIF_UNKNOWN = -1,
+	FIF_BMP		= 0,
+	FIF_ICO		= 1,
+	FIF_JPEG	= 2,
+	FIF_JNG		= 3,
+	FIF_KOALA	= 4,
+	FIF_LBM		= 5,
+	FIF_IFF = FIF_LBM,
+	FIF_MNG		= 6,
+	FIF_PBM		= 7,
+	FIF_PBMRAW	= 8,
+	FIF_PCD		= 9,
+	FIF_PCX		= 10,
+	FIF_PGM		= 11,
+	FIF_PGMRAW	= 12,
+	FIF_PNG		= 13,
+	FIF_PPM		= 14,
+	FIF_PPMRAW	= 15,
+	FIF_RAS		= 16,
+	FIF_TARGA	= 17,
+	FIF_TIFF	= 18,
+	FIF_WBMP	= 19,
+	FIF_PSD		= 20,
+	FIF_CUT		= 21,
+	FIF_XBM		= 22,
+	FIF_XPM		= 23,
+	FIF_DDS		= 24
+};
+
+/** Image type used in FreeImage.
+*/
+FI_ENUM(FREE_IMAGE_TYPE) {
+	FIT_UNKNOWN = 0,	// unknown type
+	FIT_BITMAP  = 1,	// standard image			: 1-, 4-, 8-, 16-, 24-, 32-bit
+	FIT_UINT16	= 2,	// array of unsigned short	: unsigned 16-bit
+	FIT_INT16	= 3,	// array of short			: signed 16-bit
+	FIT_UINT32	= 4,	// array of unsigned long	: unsigned 32-bit
+	FIT_INT32	= 5,	// array of long			: signed 32-bit
+	FIT_FLOAT	= 6,	// array of float			: 32-bit IEEE floating point
+	FIT_DOUBLE	= 7,	// array of double			: 64-bit IEEE floating point
+	FIT_COMPLEX	= 8		// array of FICOMPLEX		: 2 x 64-bit IEEE floating point
+};
+
+/** Data structure for COMPLEX type (complex number)
+*/
+typedef struct tagFreeImageComplex {
+    /// real part
+	double r;
+	/// imaginary part
+    double i;
+} FICOMPLEX;
+
+/** Image color type used in FreeImage.
+*/
+FI_ENUM(FREE_IMAGE_COLOR_TYPE) {
+	FIC_MINISWHITE = 0,		// min value is white
+    FIC_MINISBLACK = 1,		// min value is black
+    FIC_RGB        = 2,		// RGB color model
+    FIC_PALETTE    = 3,		// color map indexed
+	FIC_RGBALPHA   = 4,		// RGB color model with alpha channel
+	FIC_CMYK       = 5		// CMYK color model
+};
+
+/** Color quantization algorithms.
+Constants used in FreeImage_ColorQuantize.
+*/
+FI_ENUM(FREE_IMAGE_QUANTIZE) {
+    FIQ_WUQUANT = 0,		// Xiaolin Wu color quantization algorithm
+    FIQ_NNQUANT = 1			// NeuQuant neural-net quantization algorithm by Anthony Dekker
+};
+
+/** Dithering algorithms.
+Constants used FreeImage_Dither.
+*/
+FI_ENUM(FREE_IMAGE_DITHER) {
+    FID_FS			= 0,	// Floyd & Steinberg error diffusion
+	FID_BAYER4x4	= 1,	// Bayer ordered dispersed dot dithering (order 2 dithering matrix)
+	FID_BAYER8x8	= 2,	// Bayer ordered dispersed dot dithering (order 3 dithering matrix)
+	FID_CLUSTER6x6	= 3,	// Ordered clustered dot dithering (order 3 - 6x6 matrix)
+	FID_CLUSTER8x8	= 4,	// Ordered clustered dot dithering (order 4 - 8x8 matrix)
+	FID_CLUSTER16x16= 5		// Ordered clustered dot dithering (order 8 - 16x16 matrix)
+};
+
+/** Upsampling / downsampling filters. 
+Constants used in FreeImage_Rescale.
+*/
+FI_ENUM(FREE_IMAGE_FILTER) {
+	FILTER_BOX		  = 0,	// Box, pulse, Fourier window, 1st order (constant) b-spline
+	FILTER_BICUBIC	  = 1,	// Mitchell & Netravali's two-param cubic filter
+	FILTER_BILINEAR   = 2,	// Bilinear filter
+	FILTER_BSPLINE	  = 3,	// 4th order (cubic) b-spline
+	FILTER_CATMULLROM = 4,	// Catmull-Rom spline, Overhauser spline
+	FILTER_LANCZOS3	  = 5	// Lanczos3 filter
+};
+
+/** Color channels.
+Constants used in color manipulation routines.
+*/
+FI_ENUM(FREE_IMAGE_COLOR_CHANNEL) {
+	FICC_RGB	= 0,	// Use red, green and blue channels
+	FICC_RED	= 1,	// Use red channel
+	FICC_GREEN	= 2,	// Use green channel
+	FICC_BLUE	= 3,	// Use blue channel
+	FICC_ALPHA	= 4,	// Use alpha channel
+	FICC_BLACK	= 5,	// Use black channel
+	FICC_REAL	= 6,	// Complex images: use real part
+	FICC_IMAG	= 7,	// Complex images: use imaginary part
+	FICC_MAG	= 8,	// Complex images: use magnitude
+	FICC_PHASE	= 9		// Complex images: use phase
+};
+
+// File IO routines ---------------------------------------------------------
+
+#ifndef FREEIMAGE_IO
+#define FREEIMAGE_IO
+
+typedef void* fi_handle;
+typedef unsigned (DLL_CALLCONV *FI_ReadProc) (void *buffer, unsigned size, unsigned count, fi_handle handle);
+typedef unsigned (DLL_CALLCONV *FI_WriteProc) (void *buffer, unsigned size, unsigned count, fi_handle handle);
+typedef int (DLL_CALLCONV *FI_SeekProc) (fi_handle handle, long offset, int origin);
+typedef long (DLL_CALLCONV *FI_TellProc) (fi_handle handle);
+
+#ifdef WIN32
+#pragma pack(push, 1)
+#else
+#pragma pack(1)
+#endif // WIN32
+
+FI_STRUCT(FreeImageIO) {
+	FI_ReadProc  read_proc;     // pointer to the function used to read data
+    FI_WriteProc write_proc;    // pointer to the function used to write data
+    FI_SeekProc  seek_proc;     // pointer to the function used to seek
+    FI_TellProc  tell_proc;     // pointer to the function used to aquire the current position
+};
+
+#ifdef WIN32
+#pragma pack(pop)
+#else
+#pragma pack()
+#endif // WIN32
+
+#endif // FREEIMAGE_IO
+
+// Plugin routines ----------------------------------------------------------
+
+#ifndef PLUGINS
+#define PLUGINS
+
+typedef const char *(DLL_CALLCONV *FI_FormatProc) ();
+typedef const char *(DLL_CALLCONV *FI_DescriptionProc) ();
+typedef const char *(DLL_CALLCONV *FI_ExtensionListProc) ();
+typedef const char *(DLL_CALLCONV *FI_RegExprProc) ();
+typedef void *(DLL_CALLCONV *FI_OpenProc)(FreeImageIO *io, fi_handle handle, BOOL read);
+typedef void (DLL_CALLCONV *FI_CloseProc)(FreeImageIO *io, fi_handle handle, void *data);
+typedef int (DLL_CALLCONV *FI_PageCountProc)(FreeImageIO *io, fi_handle handle, void *data);
+typedef int (DLL_CALLCONV *FI_PageCapabilityProc)(FreeImageIO *io, fi_handle handle, void *data);
+typedef FIBITMAP *(DLL_CALLCONV *FI_LoadProc)(FreeImageIO *io, fi_handle handle, int page, int flags, void *data);
+typedef BOOL (DLL_CALLCONV *FI_SaveProc)(FreeImageIO *io, FIBITMAP *dib, fi_handle handle, int page, int flags, void *data);
+typedef BOOL (DLL_CALLCONV *FI_ValidateProc)(FreeImageIO *io, fi_handle handle);
+typedef const char *(DLL_CALLCONV *FI_MimeProc) ();
+typedef BOOL (DLL_CALLCONV *FI_SupportsExportBPPProc)(int bpp);
+typedef BOOL (DLL_CALLCONV *FI_SupportsExportTypeProc)(FREE_IMAGE_TYPE type);
+typedef BOOL (DLL_CALLCONV *FI_SupportsICCProfilesProc)();
+
+FI_STRUCT (Plugin) {
+	FI_FormatProc format_proc;
+	FI_DescriptionProc description_proc;
+	FI_ExtensionListProc extension_proc;
+	FI_RegExprProc regexpr_proc;
+	FI_OpenProc open_proc;
+	FI_CloseProc close_proc;
+	FI_PageCountProc pagecount_proc;
+	FI_PageCapabilityProc pagecapability_proc;
+	FI_LoadProc load_proc;
+	FI_SaveProc save_proc;
+	FI_ValidateProc validate_proc;
+	FI_MimeProc mime_proc;
+	FI_SupportsExportBPPProc supports_export_bpp_proc;
+	FI_SupportsExportTypeProc supports_export_type_proc;
+	FI_SupportsICCProfilesProc supports_icc_profiles_proc;
+};
+
+typedef void (DLL_CALLCONV *FI_InitProc)(Plugin *plugin, int format_id);
+
+#endif // PLUGINS
+
+
+// Load / Save flag constants -----------------------------------------------
+
+#define BMP_DEFAULT         0
+#define BMP_SAVE_RLE        1
+#define CUT_DEFAULT         0
+#define DDS_DEFAULT			0
+#define ICO_DEFAULT         0
+#define ICO_MAKEALPHA		1		// convert to 32bpp and create an alpha channel from the AND-mask when loading
+#define IFF_DEFAULT         0
+#define JPEG_DEFAULT        0
+#define JPEG_FAST           1
+#define JPEG_ACCURATE       2
+#define JPEG_QUALITYSUPERB  0x80
+#define JPEG_QUALITYGOOD    0x100
+#define JPEG_QUALITYNORMAL  0x200
+#define JPEG_QUALITYAVERAGE 0x400
+#define JPEG_QUALITYBAD     0x800
+#define KOALA_DEFAULT       0
+#define LBM_DEFAULT         0
+#define MNG_DEFAULT         0
+#define PCD_DEFAULT         0
+#define PCD_BASE            1		// load the bitmap sized 768 x 512
+#define PCD_BASEDIV4        2		// load the bitmap sized 384 x 256
+#define PCD_BASEDIV16       3		// load the bitmap sized 192 x 128
+#define PCX_DEFAULT         0
+#define PNG_DEFAULT         0
+#define PNG_IGNOREGAMMA		1		// avoid gamma correction
+#define PNM_DEFAULT         0
+#define PNM_SAVE_RAW        0       // If set the writer saves in RAW format (i.e. P4, P5 or P6)
+#define PNM_SAVE_ASCII      1       // If set the writer saves in ASCII format (i.e. P1, P2 or P3)
+#define PSD_DEFAULT         0
+#define RAS_DEFAULT         0
+#define TARGA_DEFAULT       0
+#define TARGA_LOAD_RGB888   1       // If set the loader converts RGB555 and ARGB8888 -> RGB888.
+#define TIFF_DEFAULT        0
+#define TIFF_CMYK			0x0001	// reads/stores tags for separated CMYK (use | to combine with compression flags)
+#define TIFF_PACKBITS       0x0100  // save using PACKBITS compression
+#define TIFF_DEFLATE        0x0200  // save using DEFLATE compression (a.k.a. ZLIB compression)
+#define TIFF_ADOBE_DEFLATE  0x0400  // save using ADOBE DEFLATE compression
+#define TIFF_NONE           0x0800  // save without any compression
+#define WBMP_DEFAULT        0
+#define XBM_DEFAULT			0
+#define XPM_DEFAULT			0
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// Init / Error routines ----------------------------------------------------
+
+DLL_API void DLL_CALLCONV FreeImage_Initialise(BOOL load_local_plugins_only FI_DEFAULT(FALSE));
+DLL_API void DLL_CALLCONV FreeImage_DeInitialise();
+
+// Version routines ---------------------------------------------------------
+
+DLL_API const char *DLL_CALLCONV FreeImage_GetVersion();
+DLL_API const char *DLL_CALLCONV FreeImage_GetCopyrightMessage();
+
+// Message output functions -------------------------------------------------
+
+DLL_API void DLL_CALLCONV FreeImage_OutputMessageProc(int fif, const char *fmt, ...);
+
+typedef void (*FreeImage_OutputMessageFunction)(FREE_IMAGE_FORMAT fif, const char *msg);
+DLL_API void DLL_CALLCONV FreeImage_SetOutputMessage(FreeImage_OutputMessageFunction omf);
+
+// Allocate / Clone / Unload routines ---------------------------------------
+
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_Allocate(int width, int height, int bpp, unsigned red_mask FI_DEFAULT(0), unsigned green_mask FI_DEFAULT(0), unsigned blue_mask FI_DEFAULT(0));
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_AllocateT(FREE_IMAGE_TYPE type, int width, int height, int bpp FI_DEFAULT(8), unsigned red_mask FI_DEFAULT(0), unsigned green_mask FI_DEFAULT(0), unsigned blue_mask FI_DEFAULT(0));
+DLL_API FIBITMAP * DLL_CALLCONV FreeImage_Clone(FIBITMAP *dib);
+DLL_API void DLL_CALLCONV FreeImage_Unload(FIBITMAP *dib);
+
+// Load / Save routines -----------------------------------------------------
+
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_Load(FREE_IMAGE_FORMAT fif, const char *filename, int flags FI_DEFAULT(0));
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_LoadFromHandle(FREE_IMAGE_FORMAT fif, FreeImageIO *io, fi_handle handle, int flags FI_DEFAULT(0));
+DLL_API BOOL DLL_CALLCONV FreeImage_Save(FREE_IMAGE_FORMAT fif, FIBITMAP *dib, const char *filename, int flags FI_DEFAULT(0));
+DLL_API BOOL DLL_CALLCONV FreeImage_SaveToHandle(FREE_IMAGE_FORMAT fif, FIBITMAP *dib, FreeImageIO *io, fi_handle handle, int flags FI_DEFAULT(0));
+
+// Plugin Interface ---------------------------------------------------------
+
+DLL_API FREE_IMAGE_FORMAT DLL_CALLCONV FreeImage_RegisterLocalPlugin(FI_InitProc proc_address, const char *format FI_DEFAULT(0), const char *description FI_DEFAULT(0), const char *extension FI_DEFAULT(0), const char *regexpr FI_DEFAULT(0));
+DLL_API FREE_IMAGE_FORMAT DLL_CALLCONV FreeImage_RegisterExternalPlugin(const char *path, const char *format FI_DEFAULT(0), const char *description FI_DEFAULT(0), const char *extension FI_DEFAULT(0), const char *regexpr FI_DEFAULT(0));
+DLL_API int DLL_CALLCONV FreeImage_GetFIFCount();
+DLL_API int DLL_CALLCONV FreeImage_SetPluginEnabled(FREE_IMAGE_FORMAT fif, BOOL enable);
+DLL_API int DLL_CALLCONV FreeImage_IsPluginEnabled(FREE_IMAGE_FORMAT fif);
+DLL_API FREE_IMAGE_FORMAT DLL_CALLCONV FreeImage_GetFIFFromFormat(const char *format);
+DLL_API FREE_IMAGE_FORMAT DLL_CALLCONV FreeImage_GetFIFFromMime(const char *mime);
+DLL_API const char *DLL_CALLCONV FreeImage_GetFormatFromFIF(FREE_IMAGE_FORMAT fif);
+DLL_API const char *DLL_CALLCONV FreeImage_GetFIFExtensionList(FREE_IMAGE_FORMAT fif);
+DLL_API const char *DLL_CALLCONV FreeImage_GetFIFDescription(FREE_IMAGE_FORMAT fif);
+DLL_API const char * DLL_CALLCONV FreeImage_GetFIFRegExpr(FREE_IMAGE_FORMAT fif);
+DLL_API FREE_IMAGE_FORMAT DLL_CALLCONV FreeImage_GetFIFFromFilename(const char *filename);
+DLL_API BOOL DLL_CALLCONV FreeImage_FIFSupportsReading(FREE_IMAGE_FORMAT fif);
+DLL_API BOOL DLL_CALLCONV FreeImage_FIFSupportsWriting(FREE_IMAGE_FORMAT fif);
+DLL_API BOOL DLL_CALLCONV FreeImage_FIFSupportsExportBPP(FREE_IMAGE_FORMAT fif, int bpp);
+DLL_API BOOL DLL_CALLCONV FreeImage_FIFSupportsExportType(FREE_IMAGE_FORMAT fif, FREE_IMAGE_TYPE type);
+DLL_API BOOL DLL_CALLCONV FreeImage_FIFSupportsICCProfiles(FREE_IMAGE_FORMAT fif);
+
+// Multipaging interface ----------------------------------------------------
+
+DLL_API FIMULTIBITMAP * DLL_CALLCONV FreeImage_OpenMultiBitmap(FREE_IMAGE_FORMAT fif, const char *filename, BOOL create_new, BOOL read_only, BOOL keep_cache_in_memory FI_DEFAULT(FALSE));
+DLL_API BOOL DLL_CALLCONV FreeImage_CloseMultiBitmap(FIMULTIBITMAP *bitmap, int flags FI_DEFAULT(0));
+DLL_API int DLL_CALLCONV FreeImage_GetPageCount(FIMULTIBITMAP *bitmap);
+DLL_API void DLL_CALLCONV FreeImage_AppendPage(FIMULTIBITMAP *bitmap, FIBITMAP *data);
+DLL_API void DLL_CALLCONV FreeImage_InsertPage(FIMULTIBITMAP *bitmap, int page, FIBITMAP *data);
+DLL_API void DLL_CALLCONV FreeImage_DeletePage(FIMULTIBITMAP *bitmap, int page);
+DLL_API FIBITMAP * DLL_CALLCONV FreeImage_LockPage(FIMULTIBITMAP *bitmap, int page);
+DLL_API void DLL_CALLCONV FreeImage_UnlockPage(FIMULTIBITMAP *bitmap, FIBITMAP *page, BOOL changed);
+DLL_API BOOL DLL_CALLCONV FreeImage_MovePage(FIMULTIBITMAP *bitmap, int target, int source);
+DLL_API BOOL DLL_CALLCONV FreeImage_GetLockedPageNumbers(FIMULTIBITMAP *bitmap, int *pages, int *count);
+
+// Filetype request routines ------------------------------------------------
+
+DLL_API FREE_IMAGE_FORMAT DLL_CALLCONV FreeImage_GetFileType(const char *filename, int size FI_DEFAULT(0));
+DLL_API FREE_IMAGE_FORMAT DLL_CALLCONV FreeImage_GetFileTypeFromHandle(FreeImageIO *io, fi_handle handle, int size FI_DEFAULT(0));
+
+// Image type request routine -----------------------------------------------
+
+DLL_API FREE_IMAGE_TYPE DLL_CALLCONV FreeImage_GetImageType(FIBITMAP *dib);
+
+// FreeImage info routines --------------------------------------------------
+
+DLL_API BOOL DLL_CALLCONV FreeImage_IsLittleEndian();
+
+// Pixel access routines ----------------------------------------------------
+
+DLL_API BYTE *DLL_CALLCONV FreeImage_GetBits(FIBITMAP *dib);
+DLL_API BYTE *DLL_CALLCONV FreeImage_GetScanLine(FIBITMAP *dib, int scanline);
+
+DLL_API BOOL DLL_CALLCONV FreeImage_GetPixelIndex(FIBITMAP *dib, unsigned x, unsigned y, BYTE *value);
+DLL_API BOOL DLL_CALLCONV FreeImage_GetPixelColor(FIBITMAP *dib, unsigned x, unsigned y, RGBQUAD *value);
+DLL_API BOOL DLL_CALLCONV FreeImage_SetPixelIndex(FIBITMAP *dib, unsigned x, unsigned y, BYTE *value);
+DLL_API BOOL DLL_CALLCONV FreeImage_SetPixelColor(FIBITMAP *dib, unsigned x, unsigned y, RGBQUAD *value);
+
+// DIB info routines --------------------------------------------------------
+
+DLL_API unsigned DLL_CALLCONV FreeImage_GetColorsUsed(FIBITMAP *dib);
+DLL_API unsigned DLL_CALLCONV FreeImage_GetBPP(FIBITMAP *dib);
+DLL_API unsigned DLL_CALLCONV FreeImage_GetWidth(FIBITMAP *dib);
+DLL_API unsigned DLL_CALLCONV FreeImage_GetHeight(FIBITMAP *dib);
+DLL_API unsigned DLL_CALLCONV FreeImage_GetLine(FIBITMAP *dib);
+DLL_API unsigned DLL_CALLCONV FreeImage_GetPitch(FIBITMAP *dib);
+DLL_API unsigned DLL_CALLCONV FreeImage_GetDIBSize(FIBITMAP *dib);
+DLL_API RGBQUAD *DLL_CALLCONV FreeImage_GetPalette(FIBITMAP *dib);
+DLL_API unsigned DLL_CALLCONV FreeImage_GetDotsPerMeterX(FIBITMAP *dib);
+DLL_API unsigned DLL_CALLCONV FreeImage_GetDotsPerMeterY(FIBITMAP *dib);
+DLL_API BITMAPINFOHEADER *DLL_CALLCONV FreeImage_GetInfoHeader(FIBITMAP *dib);
+DLL_API BITMAPINFO *DLL_CALLCONV FreeImage_GetInfo(FIBITMAP *dib);
+DLL_API FREE_IMAGE_COLOR_TYPE DLL_CALLCONV FreeImage_GetColorType(FIBITMAP *dib);
+
+DLL_API unsigned DLL_CALLCONV FreeImage_GetRedMask(FIBITMAP *dib);
+DLL_API unsigned DLL_CALLCONV FreeImage_GetGreenMask(FIBITMAP *dib);
+DLL_API unsigned DLL_CALLCONV FreeImage_GetBlueMask(FIBITMAP *dib);
+
+DLL_API unsigned DLL_CALLCONV FreeImage_GetTransparencyCount(FIBITMAP *dib);
+DLL_API BYTE * DLL_CALLCONV FreeImage_GetTransparencyTable(FIBITMAP *dib);
+DLL_API void DLL_CALLCONV FreeImage_SetTransparent(FIBITMAP *dib, BOOL enabled);
+DLL_API void DLL_CALLCONV FreeImage_SetTransparencyTable(FIBITMAP *dib, BYTE *table, int count);
+DLL_API BOOL DLL_CALLCONV FreeImage_IsTransparent(FIBITMAP *dib);
+
+DLL_API BOOL DLL_CALLCONV FreeImage_HasBackgroundColor(FIBITMAP *dib);
+DLL_API BOOL DLL_CALLCONV FreeImage_GetBackgroundColor(FIBITMAP *dib, RGBQUAD *bkcolor);
+DLL_API BOOL DLL_CALLCONV FreeImage_SetBackgroundColor(FIBITMAP *dib, RGBQUAD *bkcolor);
+
+
+// ICC profile routines -----------------------------------------------------
+
+DLL_API FIICCPROFILE *DLL_CALLCONV FreeImage_GetICCProfile(FIBITMAP *dib);
+DLL_API FIICCPROFILE *DLL_CALLCONV FreeImage_CreateICCProfile(FIBITMAP *dib, void *data, long size);
+DLL_API void DLL_CALLCONV FreeImage_DestroyICCProfile(FIBITMAP *dib);
+
+// Line conversion routines -------------------------------------------------
+
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine1To8(BYTE *target, BYTE *source, int width_in_pixels);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine4To8(BYTE *target, BYTE *source, int width_in_pixels);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine16To8_555(BYTE *target, BYTE *source, int width_in_pixels);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine16To8_565(BYTE *target, BYTE *source, int width_in_pixels);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine24To8(BYTE *target, BYTE *source, int width_in_pixels);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine32To8(BYTE *target, BYTE *source, int width_in_pixels);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine1To16_555(BYTE *target, BYTE *source, int width_in_pixels, RGBQUAD *palette);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine4To16_555(BYTE *target, BYTE *source, int width_in_pixels, RGBQUAD *palette);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine8To16_555(BYTE *target, BYTE *source, int width_in_pixels, RGBQUAD *palette);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine16_565_To16_555(BYTE *target, BYTE *source, int width_in_pixels);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine24To16_555(BYTE *target, BYTE *source, int width_in_pixels);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine32To16_555(BYTE *target, BYTE *source, int width_in_pixels);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine1To16_565(BYTE *target, BYTE *source, int width_in_pixels, RGBQUAD *palette);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine4To16_565(BYTE *target, BYTE *source, int width_in_pixels, RGBQUAD *palette);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine8To16_565(BYTE *target, BYTE *source, int width_in_pixels, RGBQUAD *palette);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine16_555_To16_565(BYTE *target, BYTE *source, int width_in_pixels);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine24To16_565(BYTE *target, BYTE *source, int width_in_pixels);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine32To16_565(BYTE *target, BYTE *source, int width_in_pixels);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine1To24(BYTE *target, BYTE *source, int width_in_pixels, RGBQUAD *palette);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine4To24(BYTE *target, BYTE *source, int width_in_pixels, RGBQUAD *palette);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine8To24(BYTE *target, BYTE *source, int width_in_pixels, RGBQUAD *palette);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine16To24_555(BYTE *target, BYTE *source, int width_in_pixels);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine16To24_565(BYTE *target, BYTE *source, int width_in_pixels);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine32To24(BYTE *target, BYTE *source, int width_in_pixels);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine1To32(BYTE *target, BYTE *source, int width_in_pixels, RGBQUAD *palette);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine4To32(BYTE *target, BYTE *source, int width_in_pixels, RGBQUAD *palette);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine8To32(BYTE *target, BYTE *source, int width_in_pixels, RGBQUAD *palette);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine16To32_555(BYTE *target, BYTE *source, int width_in_pixels);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine16To32_565(BYTE *target, BYTE *source, int width_in_pixels);
+DLL_API void DLL_CALLCONV FreeImage_ConvertLine24To32(BYTE *target, BYTE *source, int width_in_pixels);
+
+// Smart conversion routines ------------------------------------------------
+
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_ConvertTo8Bits(FIBITMAP *dib);
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_ConvertTo16Bits555(FIBITMAP *dib);
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_ConvertTo16Bits565(FIBITMAP *dib);
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_ConvertTo24Bits(FIBITMAP *dib);
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_ConvertTo32Bits(FIBITMAP *dib);
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_ColorQuantize(FIBITMAP *dib, FREE_IMAGE_QUANTIZE quantize);
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_Threshold(FIBITMAP *dib, BYTE T);
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_Dither(FIBITMAP *dib, FREE_IMAGE_DITHER algorithm);
+
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_ConvertFromRawBits(BYTE *bits, int width, int height, int pitch, unsigned bpp, unsigned red_mask, unsigned green_mask, unsigned blue_mask, BOOL topdown FI_DEFAULT(FALSE));
+DLL_API void DLL_CALLCONV FreeImage_ConvertToRawBits(BYTE *bits, FIBITMAP *dib, int pitch, unsigned bpp, unsigned red_mask, unsigned green_mask, unsigned blue_mask, BOOL topdown FI_DEFAULT(FALSE));
+
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_ConvertToStandardType(FIBITMAP *src, BOOL scale_linear FI_DEFAULT(TRUE));
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_ConvertToType(FIBITMAP *src, FREE_IMAGE_TYPE dst_type, BOOL scale_linear FI_DEFAULT(TRUE));
+
+
+// ZLib interface -----------------------------------------------------------
+
+DLL_API DWORD DLL_CALLCONV FreeImage_ZLibCompress(BYTE *target, DWORD target_size, BYTE *source, DWORD source_size);
+DLL_API DWORD DLL_CALLCONV FreeImage_ZLibUncompress(BYTE *target, DWORD target_size, BYTE *source, DWORD source_size);
+
+// --------------------------------------------------------------------------
+// Image manipulation toolkit -----------------------------------------------
+// --------------------------------------------------------------------------
+
+// rotation and flipping
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_RotateClassic(FIBITMAP *dib, double angle);
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_RotateEx(FIBITMAP *dib, double angle, double x_shift, double y_shift, double x_origin, double y_origin, BOOL use_mask);
+DLL_API BOOL DLL_CALLCONV FreeImage_FlipHorizontal(FIBITMAP *dib);
+DLL_API BOOL DLL_CALLCONV FreeImage_FlipVertical(FIBITMAP *dib);
+
+// upsampling / downsampling
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_Rescale(FIBITMAP *dib, int dst_width, int dst_height, FREE_IMAGE_FILTER filter);
+
+// color manipulation routines (point operations)
+DLL_API BOOL DLL_CALLCONV FreeImage_AdjustCurve(FIBITMAP *dib, BYTE *LUT, FREE_IMAGE_COLOR_CHANNEL channel);
+DLL_API BOOL DLL_CALLCONV FreeImage_AdjustGamma(FIBITMAP *dib, double gamma);
+DLL_API BOOL DLL_CALLCONV FreeImage_AdjustBrightness(FIBITMAP *dib, double percentage);
+DLL_API BOOL DLL_CALLCONV FreeImage_AdjustContrast(FIBITMAP *dib, double percentage);
+DLL_API BOOL DLL_CALLCONV FreeImage_Invert(FIBITMAP *dib);
+DLL_API BOOL DLL_CALLCONV FreeImage_GetHistogram(FIBITMAP *dib, DWORD *histo, FREE_IMAGE_COLOR_CHANNEL channel FI_DEFAULT(FICC_BLACK));
+
+// channel processing routines
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_GetChannel(FIBITMAP *dib, FREE_IMAGE_COLOR_CHANNEL channel);
+DLL_API BOOL DLL_CALLCONV FreeImage_SetChannel(FIBITMAP *dib, FIBITMAP *dib8, FREE_IMAGE_COLOR_CHANNEL channel);
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_GetComplexChannel(FIBITMAP *src, FREE_IMAGE_COLOR_CHANNEL channel);
+DLL_API BOOL DLL_CALLCONV FreeImage_SetComplexChannel(FIBITMAP *dst, FIBITMAP *src, FREE_IMAGE_COLOR_CHANNEL channel);
+
+// copy / paste / composite routines
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_Copy(FIBITMAP *dib, int left, int top, int right, int bottom);
+DLL_API BOOL DLL_CALLCONV FreeImage_Paste(FIBITMAP *dst, FIBITMAP *src, int left, int top, int alpha);
+DLL_API FIBITMAP *DLL_CALLCONV FreeImage_Composite(FIBITMAP *fg, BOOL useFileBkg FI_DEFAULT(FALSE), RGBQUAD *appBkColor FI_DEFAULT(NULL), FIBITMAP *bg FI_DEFAULT(NULL));
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // FREEIMAGE_H

Added: usarsim/Tools/ImageSrv/FreeImage/FreeImage.lib
===================================================================
(Binary files differ)


Property changes on: usarsim/Tools/ImageSrv/FreeImage/FreeImage.lib
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: usarsim/Tools/ImageSrv/FreeImage.dll
===================================================================
(Binary files differ)


Property changes on: usarsim/Tools/ImageSrv/FreeImage.dll
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: usarsim/Tools/ImageSrv/Hook/CVS/Entries
===================================================================
--- usarsim/Tools/ImageSrv/Hook/CVS/Entries	                        (rev 0)
+++ usarsim/Tools/ImageSrv/Hook/CVS/Entries	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1,10 @@
+/Hook.cpp/1.2/Tue Feb 21 21:50:29 2006//
+/Hook.dsp/1.3/Tue Jan  9 15:04:24 2007//
+/Hook.h/1.2/Tue Feb 21 21:50:29 2006//
+/Hook.plg/1.3/Tue Jan  9 15:04:25 2007//
+/ReadMe.txt/1.1/Fri Feb 17 17:16:21 2006//
+/StdAfx.cpp/1.1/Fri Feb 17 17:16:21 2006//
+/StdAfx.h/1.1/Fri Feb 17 17:16:21 2006//
+/detours.h/1.1/Fri Feb 17 17:16:21 2006//
+/detours.lib/1.1/Fri Feb 17 17:16:21 2006/-kb/
+D

Added: usarsim/Tools/ImageSrv/Hook/CVS/Repository
===================================================================
--- usarsim/Tools/ImageSrv/Hook/CVS/Repository	                        (rev 0)
+++ usarsim/Tools/ImageSrv/Hook/CVS/Repository	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1 @@
+usarsim/Tools/ImageSrv/Hook

Added: usarsim/Tools/ImageSrv/Hook/CVS/Root
===================================================================
--- usarsim/Tools/ImageSrv/Hook/CVS/Root	                        (rev 0)
+++ usarsim/Tools/ImageSrv/Hook/CVS/Root	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1 @@
+:pserver:anonymous at usarsim.cvs.sourceforge.net:/cvsroot/usarsim

Added: usarsim/Tools/ImageSrv/Hook/Hook.cpp
===================================================================
--- usarsim/Tools/ImageSrv/Hook/Hook.cpp	                        (rev 0)
+++ usarsim/Tools/ImageSrv/Hook/Hook.cpp	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1,310 @@
+// Hook.cpp : Defines the entry point for the DLL application.
+//
+
+#include "stdafx.h"
+#include <stdio.h>
+#include <d3d8.h>
+#include <D3dx8core.h>
+#include <wingdi.h>
+#include "detours.h"
+#include "Hook.h"
+
+#pragma data_seg("SHARED")
+IDirect3DDevice8* pDevice = NULL;
+FrameData fData = {FRAME_OK,0,0,0,0,"\0"};
+#pragma data_seg()
+#pragma comment(linker, "/section:SHARED,RWS")
+
+//#pragma warning(disable:4100)   // Trampolines don't use formal parameters.
+
+//////////////////////////////////////////////////////
+// Utilities
+//
+#define SAFERELEASE(x) if (x) { x->Release(); x = NULL; x; }
+
+BYTE lastSeq = 0;
+
+HRESULT copyFrameBuff()
+{
+	LPDIRECT3DSURFACE8 lpSurface = NULL;
+	IDirect3DSurface8* lpd3dsBackBuffer = NULL;
+	D3DSURFACE_DESC fDesc;
+    D3DLOCKED_RECT LockedRect;
+	HRESULT hr;   
+	
+	hr = pDevice->GetBackBuffer(0,D3DBACKBUFFER_TYPE_MONO, &lpd3dsBackBuffer);   
+	if (FAILED(hr)){
+		MessageBox(NULL,"couldn't get backbuffer","DLL",MB_OK);
+		return hr;
+	}
+	
+	lpd3dsBackBuffer->GetDesc(&fDesc);
+	if (fData.width!=fDesc.Width||fData.height!=fDesc.Height) {
+		fData.width = fDesc.Width;
+		fData.height = fDesc.Height;
+		if (fData.width*fData.height>640*480)
+			return E_OUTOFMEMORY;
+	}
+
+	hr = pDevice->CreateImageSurface(fData.width, fData.height, fDesc.Format, &lpSurface);
+	if (FAILED(hr)) {
+		MessageBox(NULL,"couldn't create ImageSurface","DLL",MB_OK);
+		SAFERELEASE(lpd3dsBackBuffer);
+		return hr;
+	}
+	
+	hr = D3DXLoadSurfaceFromSurface(lpSurface,NULL,NULL,lpd3dsBackBuffer,NULL,NULL,D3DX_FILTER_NONE,0);
+	if (FAILED(hr)) {
+		MessageBox(NULL,"couldn't copy surface","DLL",MB_OK);
+		SAFERELEASE(lpd3dsBackBuffer);
+		return hr;
+	}
+	SAFERELEASE(lpd3dsBackBuffer);
+
+	//D3DXSaveSurfaceToFile("test.bmp",D3DXIFF_BMP,lpSurface,NULL,NULL);
+	hr = lpSurface->LockRect(&LockedRect, NULL, D3DLOCK_READONLY);
+	if (FAILED(hr)) {
+		MessageBox(NULL,"couldn't copy surface","DLL",MB_OK);
+		SAFERELEASE(lpSurface);
+		return hr;
+	}
+
+    LPDWORD lpSrc;
+	LPBYTE lpDes = fData.data;
+	int append = (fData.width*3)%sizeof(DWORD);
+	append = append?sizeof(DWORD)-append:0;
+	fData.size = (fData.width*3+append)*fData.height;
+	// read pixels beginning with the bottom scan line
+	for (int y = fData.height - 1; y >= 0; y--)
+	{
+		// calculate address of the current source scan line
+		lpSrc = reinterpret_cast<LPDWORD>(LockedRect.pBits) + y * fData.width;
+		for (int x = 0; x < fData.width; x++)
+		{
+			// store the source pixel in the bitmap bits array
+			*reinterpret_cast<LPDWORD>(lpDes) = *lpSrc;
+			lpSrc++;        // increment source pointer by 1 DWORD
+			lpDes += 3;     // increment destination pointer by 3 bytes
+		}
+		lpDes += append; // Keep data in DWORD boundary
+	}
+
+	lpSurface->UnlockRect();
+	SAFERELEASE(lpSurface);
+	return hr;
+}
+
+//////////////////////////////////////////////////////////////// 
+// Detour Class.
+//
+class CDetour // add ": public CTarget" to enable access member variables... 
+{
+  public:
+    HRESULT WINAPI CreateDevice(UINT Adapter,
+						 D3DDEVTYPE DeviceType,
+						 HWND  hFocusWindow,
+						 DWORD BehaviorFlags,
+						 D3DPRESENT_PARAMETERS* pPresentationParameters,
+						 IDirect3DDevice8** ppReturnedDeviceInterface
+						 )
+	{
+		HRESULT hr=CreateDevice_Tramp(Adapter,DeviceType,hFocusWindow,BehaviorFlags,pPresentationParameters,ppReturnedDeviceInterface);
+		
+		pDevice=*ppReturnedDeviceInterface;
+		void * pvtbl;
+		memcpy(&pvtbl,*ppReturnedDeviceInterface,sizeof(pvtbl));
+		PBYTE tmp = (PBYTE)pvtbl+0x3c;
+	
+	    HRESULT (WINAPI CDetour::* pfDetour)(CONST RECT* pSourceRect,
+						   CONST RECT* pDestRect,
+					       HWND hDestWindowOverride,
+					       CONST RGNDATA* pDirtyRegion
+					      ) = &CDetour::Present;
+	    HRESULT (WINAPI CDetour::* pfTrampoline)(CONST RECT* pSourceRect,
+						   CONST RECT* pDestRect,
+					       HWND hDestWindowOverride,
+					       CONST RGNDATA* pDirtyRegion
+					      ) = &CDetour::Present_Tramp;
+	    
+		DetourFunctionWithEmptyTrampoline(*(PBYTE*)&pfTrampoline,
+	                                      *(PBYTE*)tmp,
+	                                      *(PBYTE*)&pfDetour);
+		return hr;
+	}
+
+	
+    HRESULT WINAPI Present(CONST RECT* pSourceRect,
+				    CONST RECT* pDestRect,
+				    HWND hDestWindowOverride,
+				    CONST RGNDATA* pDirtyRegion
+				   )
+	{
+		//TakeScreenshot(pDevice);
+		/*
+		if (!bReady) {
+			if (!FAILED(copyFrameBuff()))
+				bReady = TRUE;
+		}
+		*/
+		if (fData.sequence!=lastSeq) {
+			lastSeq = fData.sequence;
+			fData.state = FRAME_PENDING;
+			if (FAILED(copyFrameBuff()))
+				fData.state = FRAME_ERROR;
+			else
+				fData.state = FRAME_OK;
+		}
+		/*
+		// Obtain adapter number and device window
+		D3DDEVICE_CREATION_PARAMETERS dcp;
+		pDevice->GetCreationParameters(&dcp);
+		LPD3DXFONT pFont;
+		RECT rc;
+		GetClientRect(dcp.hFocusWindow, &rc);
+
+		HDC hDC = CreateCompatibleDC( NULL );
+		INT nHeight = -MulDiv( 12,(INT)GetDeviceCaps(hDC, LOGPIXELSY), 72 );
+    	HFONT hFont = CreateFont( nHeight, 0, 0, 0, FW_BOLD, FALSE,
+                          FALSE, FALSE, DEFAULT_CHARSET, OUT_DEFAULT_PRECIS,
+                          CLIP_DEFAULT_PRECIS, ANTIALIASED_QUALITY,
+                          VARIABLE_PITCH, "Arial" );
+		
+		char str[16];
+		sprintf(str,"Frames:%d\0",fCount++);
+		D3DXCreateFont(pDevice, hFont, &pFont);
+		pFont->Begin();
+		pFont->DrawText(str,strlen(str),&rc,DT_BOTTOM,D3DCOLOR_ARGB(255,255,255,0)); 
+		pFont->End();
+		SAFERELEASE(pFont);
+		DeleteDC( hDC );
+    	DeleteObject( hFont );
+		*/
+		return Present_Tramp(pSourceRect,pDestRect,hDestWindowOverride,pDirtyRegion);
+	}
+
+    HRESULT WINAPI Present_Tramp(CONST RECT* pSourceRect,
+					      CONST RECT* pDestRect,
+				          HWND hDestWindowOverride,
+				          CONST RGNDATA* pDirtyRegion
+				         );
+
+	HRESULT WINAPI CreateDevice_Tramp(UINT Adapter,
+						 	   D3DDEVTYPE DeviceType,
+						 	   HWND  hFocusWindow,
+						 	   DWORD BehaviorFlags,
+						 	   D3DPRESENT_PARAMETERS* pPresentationParameters,
+						 	   IDirect3DDevice8** ppReturnedDeviceInterface
+						 	  );
+    // Class shouldn't have any member variables or virtual functions.
+};
+
+DETOUR_TRAMPOLINE_EMPTY(HRESULT WINAPI CDetour::Present_Tramp(CONST RECT* pSourceRect,
+												       CONST RECT* pDestRect,
+												       HWND hDestWindowOverride,
+												       CONST RGNDATA* pDirtyRegion
+												      ));
+
+DETOUR_TRAMPOLINE_EMPTY(HRESULT WINAPI CDetour::CreateDevice_Tramp(UINT Adapter,
+													  	    D3DDEVTYPE DeviceType,
+													  	    HWND  hFocusWindow,
+													  	    DWORD BehaviorFlags,
+													  	    D3DPRESENT_PARAMETERS* pPresentationParameters,
+													  	    IDirect3DDevice8** ppReturnedDeviceInterface
+													  	   ));
+// End Class
+///////////////////////////////////////////////////////////////////
+
+DETOUR_TRAMPOLINE(IDirect3D8* WINAPI Real_Direct3DCreate8(UINT SDKVersion ),
+				  Direct3DCreate8);
+
+/////////////////////////////////////////////////////////////
+// Detours
+//
+IDirect3D8* WINAPI Mine_Direct3DCreate8(
+	UINT SDKVersion
+	)
+{
+    IDirect3D8* pd3d;
+    pd3d=Real_Direct3DCreate8(SDKVersion);
+
+	void * pvtbl;
+	memcpy(&pvtbl,pd3d,sizeof(pvtbl));
+	PBYTE tmp = (PBYTE)pvtbl+0x3c;
+	
+    HRESULT (WINAPI CDetour::* pf_d_CreateDevice)(UINT Adapter,
+									 	   D3DDEVTYPE DeviceType,
+									 	   HWND  hFocusWindow,
+									 	   DWORD BehaviorFlags,
+									 	   D3DPRESENT_PARAMETERS* pPresentationParameters,
+									 	   IDirect3DDevice8** ppReturnedDeviceInterface
+									 	  ) = &CDetour::CreateDevice;
+									 	  
+    HRESULT (WINAPI CDetour::* pf_t_CreateDevice)(UINT Adapter,
+									 	   D3DDEVTYPE DeviceType,
+									 	   HWND  hFocusWindow,
+									 	   DWORD BehaviorFlags,
+									 	   D3DPRESENT_PARAMETERS* pPresentationParameters,
+									 	   IDirect3DDevice8** ppReturnedDeviceInterface
+									 	  ) = &CDetour::CreateDevice_Tramp;
+    
+	DetourFunctionWithEmptyTrampoline(*(PBYTE*)&pf_t_CreateDevice,
+                                      *(PBYTE*)tmp,
+                                      *(PBYTE*)&pf_d_CreateDevice);
+	return pd3d;
+}
+
+/////////////////////////////////////////////////////////////
+// TrampolineWith
+//
+VOID TrampolineWith(VOID)
+{
+	DetourFunctionWithTrampoline((PBYTE)Real_Direct3DCreate8,
+                                 (PBYTE)Mine_Direct3DCreate8);
+}
+
+VOID TrampolineRemove(VOID)
+{
+    DetourRemove((PBYTE)Real_Direct3DCreate8,
+          	     (PBYTE)Mine_Direct3DCreate8);
+}
+
+////////////////////////////////////////////////////////////
+// DllMain
+//
+BOOL APIENTRY DllMain( HANDLE hModule, 
+                       DWORD  ul_reason_for_call, 
+                       LPVOID lpReserved
+					 )
+{
+    switch (ul_reason_for_call)
+	{
+		case DLL_PROCESS_ATTACH:
+			TrampolineWith();
+			break;
+		case DLL_THREAD_ATTACH:
+		case DLL_THREAD_DETACH:
+			break;
+		case DLL_PROCESS_DETACH:
+			TrampolineRemove();
+			break;
+    }
+    return TRUE;
+}
+
+
+HOOK_API IDirect3DDevice8* getD3DDevice()
+{
+	return pDevice;
+}
+
+
+HOOK_API FrameData* getFrameData()
+{
+	int time=0;
+	while ((fData.state==FRAME_PENDING)&&time<100) {
+		Sleep(5);
+		time+=5;
+	}
+	if (fData.state==FRAME_OK) return &fData;
+	else return NULL;
+}

Added: usarsim/Tools/ImageSrv/Hook/Hook.dsp
===================================================================
--- usarsim/Tools/ImageSrv/Hook/Hook.dsp	                        (rev 0)
+++ usarsim/Tools/ImageSrv/Hook/Hook.dsp	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1,125 @@
+# Microsoft Developer Studio Project File - Name="Hook" - Package Owner=<4>
+# Microsoft Developer Studio Generated Build File, Format Version 6.00
+# ** DO NOT EDIT **
+
+# TARGTYPE "Win32 (x86) Dynamic-Link Library" 0x0102
+
+CFG=Hook - Win32 Debug
+!MESSAGE This is not a valid makefile. To build this project using NMAKE,
+!MESSAGE use the Export Makefile command and run
+!MESSAGE 
+!MESSAGE NMAKE /f "Hook.mak".
+!MESSAGE 
+!MESSAGE You can specify a configuration when running NMAKE
+!MESSAGE by defining the macro CFG on the command line. For example:
+!MESSAGE 
+!MESSAGE NMAKE /f "Hook.mak" CFG="Hook - Win32 Debug"
+!MESSAGE 
+!MESSAGE Possible choices for configuration are:
+!MESSAGE 
+!MESSAGE "Hook - Win32 Release" (based on "Win32 (x86) Dynamic-Link Library")
+!MESSAGE "Hook - Win32 Debug" (based on "Win32 (x86) Dynamic-Link Library")
+!MESSAGE 
+
+# Begin Project
+# PROP AllowPerConfigDependencies 0
+# PROP Scc_ProjName ""
+# PROP Scc_LocalPath ""
+CPP=cl.exe
+MTL=midl.exe
+RSC=rc.exe
+
+!IF  "$(CFG)" == "Hook - Win32 Release"
+
+# PROP BASE Use_MFC 0
+# PROP BASE Use_Debug_Libraries 0
+# PROP BASE Output_Dir "Release"
+# PROP BASE Intermediate_Dir "Release"
+# PROP BASE Target_Dir ""
+# PROP Use_MFC 0
+# PROP Use_Debug_Libraries 0
+# PROP Output_Dir "Release"
+# PROP Intermediate_Dir "Release"
+# PROP Ignore_Export_Lib 0
+# PROP Target_Dir ""
+# ADD BASE CPP /nologo /MT /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "HOOK_EXPORTS" /Yu"stdafx.h" /FD /c
+# ADD CPP /nologo /MT /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "HOOK_EXPORTS" /Yu"stdafx.h" /FD /c
+# ADD BASE MTL /nologo /D "NDEBUG" /mktyplib203 /win32
+# ADD MTL /nologo /D "NDEBUG" /mktyplib203 /win32
+# ADD BASE RSC /l 0x409 /d "NDEBUG"
+# ADD RSC /l 0x409 /d "NDEBUG"
+BSC32=bscmake.exe
+# ADD BASE BSC32 /nologo
+# ADD BSC32 /nologo
+LINK32=link.exe
+# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /dll /machine:I386
+# ADD LINK32 detours.lib d3dx8.lib d3d8.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /dll /incremental:yes /machine:I386
+
+!ELSEIF  "$(CFG)" == "Hook - Win32 Debug"
+
+# PROP BASE Use_MFC 0
+# PROP BASE Use_Debug_Libraries 1
+# PROP BASE Output_Dir "Debug"
+# PROP BASE Intermediate_Dir "Debug"
+# PROP BASE Target_Dir ""
+# PROP Use_MFC 0
+# PROP Use_Debug_Libraries 1
+# PROP Output_Dir "Debug"
+# PROP Intermediate_Dir "Debug"
+# PROP Ignore_Export_Lib 0
+# PROP Target_Dir ""
+# ADD BASE CPP /nologo /MTd /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "HOOK_EXPORTS" /Yu"stdafx.h" /FD /GZ /c
+# ADD CPP /nologo /MTd /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "HOOK_EXPORTS" /Yu"stdafx.h" /FD /GZ /c
+# ADD BASE MTL /nologo /D "_DEBUG" /mktyplib203 /win32
+# ADD MTL /nologo /D "_DEBUG" /mktyplib203 /win32
+# ADD BASE RSC /l 0x409 /d "_DEBUG"
+# ADD RSC /l 0x409 /d "_DEBUG"
+BSC32=bscmake.exe
+# ADD BASE BSC32 /nologo
+# ADD BSC32 /nologo
+LINK32=link.exe
+# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /dll /debug /machine:I386 /pdbtype:sept
+# ADD LINK32 detours.lib d3dx8.lib d3d8.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /dll /debug /machine:I386 /pdbtype:sept
+# SUBTRACT LINK32 /pdb:none
+
+!ENDIF 
+
+# Begin Target
+
+# Name "Hook - Win32 Release"
+# Name "Hook - Win32 Debug"
+# Begin Group "Source Files"
+
+# PROP Default_Filter "cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
+# Begin Source File
+
+SOURCE=.\Hook.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\StdAfx.cpp
+# ADD CPP /Yc"stdafx.h"
+# End Source File
+# End Group
+# Begin Group "Header Files"
+
+# PROP Default_Filter "h;hpp;hxx;hm;inl"
+# Begin Source File
+
+SOURCE=.\Hook.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\StdAfx.h
+# End Source File
+# End Group
+# Begin Group "Resource Files"
+
+# PROP Default_Filter "ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe"
+# End Group
+# Begin Source File
+
+SOURCE=.\ReadMe.txt
+# End Source File
+# End Target
+# End Project

Added: usarsim/Tools/ImageSrv/Hook/Hook.h
===================================================================
--- usarsim/Tools/ImageSrv/Hook/Hook.h	                        (rev 0)
+++ usarsim/Tools/ImageSrv/Hook/Hook.h	2007-05-10 15:05:45 UTC (rev 597)
@@ -0,0 +1,37 @@
+
+// The following ifdef block is the standard way of creating macros which make exporting 
+// from a DLL simpler. All files within this DLL are compiled with the HOOK_EXPORTS
+// symbol defined on the command line. this symbol should not be defined on any project
+// that uses this DLL. This way any other project whose source files include this file see 
+// HOOK_API functions as being imported from a DLL, wheras this DLL sees symbols
+// defined with this macro as being exported.
+#ifdef HOOK_EXPORTS
+#define HOOK_API __declspec(dllexport)
+#else
+#define HOOK_API __declspec(dllimport)
+#endif
+
+typedef struct FrameData_t {
+	BYTE state;
+	BYTE sequence;
+	USHORT width;
+	USHORT height;
+	UINT size;
+	BYTE data[640*480*3+1];
+} FrameData;
+
+#define FRAME_PENDING 0
+#define FRAME_OK 1
+#define FRAME_ERROR 2
+
+// This class is exported from the Hook.dll
+class HOOK_API CHook {
+public:
+	CHook(void);
+	// TODO: add your methods here.
+};
+
+extern "C" {
+	HOOK_API IDirect3DDevice8* getD3DDevice(void);
+	HOOK_API FrameData* getFrameData(void);
+}

Added: usarsim/Tools/ImageSrv/Hook/Hook.plg
===================================================================

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Thu May 10 11:23:26 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 11:23:26 -0400
Subject: [TeamTalk 61]:  [598] usarsim/USARBot: Import usarsim usarbot
Message-ID: <200705101523.l4AFNQqf013444@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070510/d1c708a8/attachment-0001.html
-------------- next part --------------
Added: usarsim/USARBot/Classes/AIBOCamera.uc
===================================================================
--- usarsim/USARBot/Classes/AIBOCamera.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/AIBOCamera.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,13 @@
+/* AIBO Camera
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class AIBOCamera extends RobotCamera config (USARBot);
+
+var config int CameraXres, CameraYres;
+
+defaultproperties
+{
+    CameraXres=208
+    CameraYres=160
+	CameraDefFov=0.9948377 // 57 deg
+}

Added: usarsim/USARBot/Classes/ATRVJr.uc
===================================================================
--- usarsim/USARBot/Classes/ATRVJr.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/ATRVJr.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,72 @@
+class ATRVJr extends SkidSteeredRobot config(USARBot);
+
+defaultproperties
+{
+  //---Wheel information.  Since the ATRVJr has four wheels, we have four of these definitions
+  // The next four definitions will create a 4-wheel skid steer ATRVJr where all the wheels are locked (cannot be steered)
+
+    // Number=0 indicates that this wheel is the first JointPart defined in USARBot.ini (ORDER MATTERS!)
+    // Power=Right_Powered tells USARSim to spin this wheel using the right throttle
+    // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked)
+    Wheels(0)=(Number=0,PowerType=Right_Powered);
+
+    // Number=1 indicates that this wheel is the second JointPart defined in USARBot.ini (ORDER MATTERS!)
+    // Power=Left_Powered tells USARSim to spin this wheel using the left throttle
+    // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked)
+    Wheels(1)=(Number=1,PowerType=Left_Powered);
+
+    // Number=2 indicates that this wheel is the third JointPart defined in USARBot.ini (ORDER MATTERS!)
+    // Power=Left_Powered tells USARSim to spin this wheel using the right throttle
+    // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked)
+    Wheels(2)=(Number=2,PowerType=Right_Powered);
+
+    // Number=3 indicates that this wheel is the fourth JointPart defined in USARBot.ini (ORDER MATTERS!)
+    // Power=Left_Powered tells USARSim to spin this wheel using the left throttle
+    // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked)
+    Wheels(3)=(Number=3,PowerType=Left_Powered);
+  //---
+
+  //--Other Robot's Properties
+    bDebug=false
+    StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.ATRVJr.ATRVJrBody'
+    DrawScale=4.762
+    DrawScale3D=(X=1.0,Y=1.0,Z=1.0)
+
+    ChassisMass=1.000000
+
+    // Configuration Parameters. Note: these variables need to be correspond to your robot's model.
+    WheelRadius=0.1922                      // Wheel Radius, in unreal units. Note: Value is in meters
+    Dimensions=(X=0.7744,Y=0.6318,Z=0.5754) // X=Length=0.7744m, Y=Width=0.6318m, Z=Height=0.5754m
+    maxSpinSpeed=5.2                     // Maximum wheel's spin speed is 1/0.1922 = 5.2 rad/sec
+
+    TireRollFriction=15.000000
+    TireLateralFriction=15.0
+    TireRollSlip=0.0600
+    TireLateralSlip=0.0600000
+    TireMinSlip=0.005000
+    TireSlipRate=0.00500000
+    TireSoftness=0.000020
+    TireAdhesion=0.000000
+    TireRestitution=0.000000
+
+    Begin Object Class=KarmaParamsRBFull Name=KParams0
+        KActorGravScale=2.58
+        bKNonSphericalInertia=True
+        KInertiaTensor(0)=0.061
+        KInertiaTensor(3)=0.078
+        KInertiaTensor(5)=0.083
+        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KLinearDamping=0.0
+        KAngularDamping=0.0
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KStartEnabled=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKDoubleTickRate=True
+        KFriction=0.9
+        Name="KParams0"
+    End Object
+    KParams=KarmaParamsRBFull'USARBot.ATRVJr.KParams0'
+  //--
+}
\ No newline at end of file

Added: usarsim/USARBot/Classes/AccelerationSensor.uc
===================================================================
--- usarsim/USARBot/Classes/AccelerationSensor.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/AccelerationSensor.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,35 @@
+/* Simplistic Acceleration Sensor for AIBO robots
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class AccelerationSensor extends Sensor config (USARBot);
+
+var vector lastVelocity;
+var float lastTime;
+
+function String GetData()
+{
+    local string outstring;
+	local vector vel;
+	local float time;
+	local vector accel;
+
+	vel = platform.Velocity;
+	time = Level.TimeSeconds;
+
+	accel = (vel - lastVelocity) / (time - lastTime);
+	accel = accel << platform.Rotation;
+
+	lastVelocity = vel;
+	lastTime = time;
+	if(converter != none)
+        accel = converter.VelocityVectorFromUU(accel);
+
+    outstring="{Name "$ItemName$"} {Acceleration "$accel.X$","$accel.Y$","$accel.Z$"}";
+
+	return outstring;
+}
+
+defaultproperties
+{
+	ItemType="Accel"
+}

Added: usarsim/USARBot/Classes/AckermanSteeredRobot.uc
===================================================================
--- usarsim/USARBot/Classes/AckermanSteeredRobot.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/AckermanSteeredRobot.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,227 @@
+class AckermanSteeredRobot extends GroundVehicle config(USARBot);
+
+// Structure to hold both the wheel index and the wheel's maximum steer angle
+struct SteerData
+{
+    var int WheelNumber;
+    var float maxSteer;
+};
+
+// Programming variables
+var float FrontSteerSpeed, RearSteerSpeed, FrontSteerTorque, RearSteerTorque;
+var float cachedVelocity, cachedFrontSteering, cachedRearSteering;
+var bool gotRobotInfo;
+var array<int> PoweredWheels;
+var array<SteerData> FrontSteerWheels, RearSteerWheels;
+
+function ProcessCarInput()
+{
+    local float InputVelocity,InputFrontSteering,InputRearSteering;
+    local bool isCommandNormalized, noNeedToUpdateSpeed, noNeedToUpdateFrontSteer, noNeedToUpdateRearSteer;
+    local int i;
+
+    // Variable Initialization
+    noNeedToUpdateSpeed = true;
+    noNeedToUpdateFrontSteer = true;
+    noNeedToUpdateRearSteer = true;
+
+    Super.ProcessCarInput();
+
+    // This section gets/sets various information about the robot (Note: this code only runs once)
+    if(!gotRobotInfo)
+    {
+        // Get information about the robot's wheels
+        for(i=0; i<Wheels.length; i++)
+        {
+            if(Wheels[i].PowerType == Left_Powered || Wheels[i].PowerType == Right_Powered) // Get all the powered wheels into a dynamic array
+            {
+                PoweredWheels.Insert(PoweredWheels.length, 1);            // Make space in the dynamic array to add a powered wheel
+                PoweredWheels[PoweredWheels.length-1] = Wheels[i].Number; // Store the index number of the part in the dynamic array
+            }
+
+            if(Wheels[i].SteerType == Front_Steered) // Get all the front steered wheels into a dynamic array
+            {
+                FrontSteerWheels.Insert(FrontSteerWheels.length, 1);                            // Make space in the dynamic array to add a front-steered wheel
+                FrontSteerWheels[FrontSteerWheels.length-1].WheelNumber = Wheels[i].Number;     // Store the index number of the part in the dynamic array
+                FrontSteerWheels[FrontSteerWheels.length-1].maxSteer = Wheels[i].MaxSteerAngle; // Store the maximum steering angle in the dynamic array
+
+                JointParts[Wheels[i].Number].bSteeringLocked = false; //Make sure the wheel is not locked (so that it can be steered)
+            }
+            else if(Wheels[i].SteerType == Rear_Steered) // Get all the rear steered wheels into a dynamic array
+            {
+                RearSteerWheels.Insert(RearSteerWheels.length, 1);                            // Make space in the dynamic array to add a rear-steered wheel
+                RearSteerWheels[RearSteerWheels.length-1].WheelNumber = Wheels[i].Number;     // Store the index number of the part in the dynamic array
+                RearSteerWheels[RearSteerWheels.length-1].maxSteer = Wheels[i].MaxSteerAngle; // Store the maximum steering angle in the dynamic array
+
+                JointParts[Wheels[i].Number].bSteeringLocked = false; //Make sure the wheel is not locked (so that it can be steered)
+            }
+            else
+            {
+                JointParts[Wheels[i].Number].bSteeringLocked = true; //Make sure the wheel is locked (so that it cannot be steered)
+            }
+        }
+
+        // Initialize the controller's properties
+        USARRemoteBot(Controller).Normalized = false;
+        USARRemoteBot(Controller).Speed = 0.0;
+        USARRemoteBot(Controller).FrontSteer = 0.0;
+        USARRemoteBot(Controller).RearSteer = 0.0;
+        
+        gotRobotInfo=true;
+
+        // Section used for debugging purposes to see if the correct joints have been saved in the dynamic arrays
+        if(bDebug)
+        {
+            for(i=0; i<PoweredWheels.Length; i++) Log("Powered Wheel #" $ i+1 $ ": " $ PoweredWheels[i]);
+
+            for(i=0; i<FrontSteerWheels.Length; i++) Log("Front Steered Wheel #" $ i+1 $ ": " $ FrontSteerWheels[i].WheelNumber);
+
+            for(i=0; i<RearSteerWheels.Length; i++) Log("Rear Steered Wheel #" $ i+1 $ ": " $ RearSteerWheels[i].WheelNumber);
+        }
+    }
+
+    // Here, we deal with the robot's movement
+    if (USARRemoteBot(Controller).bNewThrottle)
+    {
+        isCommandNormalized = USARRemoteBot(Controller).Normalized; // Get the Normalized value from the controller
+        InputVelocity = USARRemoteBot(Controller).Speed;            // Get the wheel's spin speed value from the controller
+        InputFrontSteering = USARRemoteBot(Controller).FrontSteer;  // Get the front steer value from the controller
+        InputRearSteering = USARRemoteBot(Controller).RearSteer;    // Get the rear steer value from the controller
+
+        // If a normalized drive command was received (e.g. the speed value is between -100 and 100)
+        if (isCommandNormalized)
+        {
+            if(InputVelocity < -100)     InputVelocity = Converter.SpinSpeedToUU(-maxSpinSpeed);                       // If the controller's value is less than -100, we use the negative of the robot's maximum spin speed
+	    else if(InputVelocity > 100) InputVelocity = Converter.SpinSpeedToUU(maxSpinSpeed);                        // If the controller's value is more than 100, we use the robot's maximum spin speed
+	    else                         InputVelocity = (InputVelocity/100) * Converter.SpinSpeedToUU(maxSpinSpeed);  // If the controller's value is between -100 and 100, we use a percentage of the maximum spin speed
+        }
+        // If a non-normalized drive command was received (e.g. the speed is an absolute values, in radians per second)
+        else
+        {
+            if(InputVelocity < -maxSpinSpeed)     InputVelocity = Converter.SpinSpeedToUU(-maxSpinSpeed); // If the controller's value is less than -(maxSpinSpeed), we use the negative of the robot's maximum spin speed
+	    else if(InputVelocity > maxSpinSpeed) InputVelocity = Converter.SpinSpeedToUU(maxSpinSpeed);  // If the controller's value is more than maxSpinSpeed, we use the robot's maximum spin speed
+	    else                                  InputVelocity = Converter.SpinSpeedToUU(InputVelocity); // Otherwise, we use the controller's value
+	}
+
+        // Here, we physically spin the appropriate wheels
+        if((PoweredWheels.length!=0) && (cachedVelocity != InputVelocity))
+        {
+            // Spin the appropriate wheels
+            for(i=0; i<PoweredWheels.length; i++)
+            {
+                setSpinSpeed(PoweredWheels[i], InputVelocity);
+            }
+
+            bNewCommand = true;
+        }
+
+        // Here, we turn the appropiate front-steered wheels, taking into account whether or not the drive command issued is normalized
+        if((FrontSteerWheels.length!=0) && (cachedFrontSteering != InputFrontSteering))
+        {
+            for(i=0; i<FrontSteerWheels.length; i++)
+            {
+                // If a normalized drive command was received (e.g. the front-steer value is between -100 and 100)
+                if (isCommandNormalized)
+                {
+                    if(InputFrontSteering < -100)     setAngle(FrontSteerWheels[i].WheelNumber,Converter.AngleToUU(-FrontSteerWheels[i].maxSteer));
+                    else if(InputFrontSteering > 100) setAngle(FrontSteerWheels[i].WheelNumber,Converter.AngleToUU(FrontSteerWheels[i].maxSteer));
+                    else                              setAngle(FrontSteerWheels[i].WheelNumber,((InputFrontSteering/100) * Converter.AngleToUU(FrontSteerWheels[i].maxSteer)));
+                }
+                // If a non-normalized drive command was received (e.g. the front-steer is an absolute values, in radians)
+                else
+                {
+                    if(InputFrontSteering < -FrontSteerWheels[i].maxSteer)     setAngle(FrontSteerWheels[i].WheelNumber,Converter.AngleToUU(-FrontSteerWheels[i].maxSteer));
+                    else if(InputFrontSteering > FrontSteerWheels[i].maxSteer) setAngle(FrontSteerWheels[i].WheelNumber,Converter.AngleToUU(FrontSteerWheels[i].maxSteer));
+                    else                                                       setAngle(FrontSteerWheels[i].WheelNumber,Converter.AngleToUU(InputFrontSteering));
+                }
+            }
+
+            bNewCommand = true;
+        }
+
+        // Here, we turn the appropiate rear-steered wheels, taking into account whether or not the drive command issued is normalized
+        if((RearSteerWheels.length!=0) && (cachedRearSteering!=InputRearSteering))
+        {
+            for(i=0; i<RearSteerWheels.length; i++)
+            {
+                // If a normalized drive command was received (e.g. the rear-steer value is between -100 and 100)
+                if (isCommandNormalized)
+                {
+                    if(InputRearSteering < -100)     setAngle(RearSteerWheels[i].WheelNumber,Converter.AngleToUU(-RearSteerWheels[i].maxSteer));
+                    else if(InputRearSteering > 100) setAngle(RearSteerWheels[i].WheelNumber,Converter.AngleToUU(RearSteerWheels[i].maxSteer));
+                    else                             setAngle(RearSteerWheels[i].WheelNumber,(InputRearSteering/100) * Converter.AngleToUU(RearSteerWheels[i].maxSteer));
+                }
+                // If a non-normalized drive command was received (e.g. the rear-steer is an absolute values, in radians)
+                else
+                {
+                    if(InputRearSteering < -RearSteerWheels[i].maxSteer)     setAngle(RearSteerWheels[i].WheelNumber,Converter.AngleToUU(-RearSteerWheels[i].maxSteer));
+                    else if(InputRearSteering > RearSteerWheels[i].maxSteer) setAngle(RearSteerWheels[i].WheelNumber,Converter.AngleToUU(RearSteerWheels[i].maxSteer));
+                    else                                                     setAngle(RearSteerWheels[i].WheelNumber,Converter.AngleToUU(InputRearSteering));
+                }
+            }
+
+            bNewCommand = true;
+        }
+
+        for(i=1; i<PoweredWheels.length; i++)    noNeedToUpdateSpeed = noNeedToUpdateSpeed && (JointsControl[PoweredWheels[0]].value == JointsControl[PoweredWheels[i]].value);
+
+        for(i=1; i<FrontSteerWheels.length; i++) noNeedToUpdateFrontSteer = noNeedToUpdateFrontSteer && (JointsControl[FrontSteerWheels[0].WheelNumber].steer == JointsControl[FrontSteerWheels[i].WheelNumber].steer);
+
+        for(i=1; i<RearSteerWheels.length; i++)  noNeedToUpdateRearSteer = noNeedToUpdateRearSteer && (JointsControl[RearSteerWheels[0].WheelNumber].steer == JointsControl[FrontSteerWheels[i].WheelNumber].steer);
+
+
+        if((PoweredWheels.length!=0) && noNeedToUpdateSpeed) cachedVelocity=JointsControl[PoweredWheels[0]].value;
+        else                                                 cachedVelocity=1000000; // a big value to force updating
+
+        if((FrontSteerWheels.length!=0) && noNeedToUpdateFrontSteer) cachedFrontSteering=JointsControl[FrontSteerWheels[0].WheelNumber].steer;
+        else                                                         cachedFrontSteering=1000000; // a big value to force updating
+
+        if((RearSteerWheels.length!=0) && noNeedToUpdateRearSteer) cachedRearSteering=JointsControl[RearSteerWheels[0].WheelNumber].steer;
+        else                                                       cachedRearSteering=1000000; // a big value to force updating
+
+    }
+}
+
+/*
+   Code which might be used to regulate the speed and torque of the steering
+*/
+/*
+simulated function Tick(float Delta)
+{
+    local KCarWheelJoint Joint;
+    local int i;
+
+    Super.Tick(Delta);
+
+    // Here, we set the steering speed and steering torque of the front wheels
+    for(i=0; i<FrontSteerWheels.Length; i++)
+    {
+        Joint=KCarWheelJoint(Joints[FrontSteerWheels[i].WheelNumber]);
+        Joint.KMaxSteerSpeed = FrontSteerSpeed;
+        Joint.KMaxSteerTorque = FrontSteerTorque;
+        Joint.KUpdateConstraintParams();
+    }
+
+    // Here, we set the steering speed and steering torque of the rear wheels
+    for(i=0; i<RearSteerWheels.Length; i++)
+    {
+        Joint=KCarWheelJoint(Joints[FrontSteerWheels[i].WheelNumber]);
+        Joint.KMaxSteerSpeed = RearSteerSpeed;
+        Joint.KMaxSteerTorque = RearSteerTorque;
+        Joint.KUpdateConstraintParams();
+    }
+}*/
+
+
+//*********************************************************************************************************************
+// DEFAULT PROPERTIES
+// DO NOT change these properties since they are used to initialize programming variables
+//*********************************************************************************************************************
+defaultproperties
+{
+    gotRobotInfo = false
+    FrontSteerSpeed = SteerSpeed
+    RearSteerSpeed = SteerSpeed
+    FrontSteerTorque = SteerTorque
+    RearSteerTorque = SteerTorque
+}
\ No newline at end of file

Added: usarsim/USARBot/Classes/Action_SetAnim.uc
===================================================================
--- usarsim/USARBot/Classes/Action_SetAnim.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/Action_SetAnim.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,34 @@
+/* PLEASE NOTE: This action will only work for Pawns extended from the VictimPawn class !! */
+
+class ACTION_SetAnim extends ScriptedAction;
+
+var(Action) name BaseAnim;
+
+function bool InitActionFor(ScriptedController C)
+{
+    // play appropriate animation
+    PawnPlayBaseAnim(C);
+    return false;
+}
+
+function bool PawnPlayBaseAnim(ScriptedController C)
+{
+    if ( BaseAnim == '' )
+        return false;
+
+    C.bControlAnimations = true;
+    VictimPawn(C.Pawn).SetAnimAction(BaseAnim);
+    return true;
+}
+
+function string GetActionString()
+{
+    return ActionString at BaseAnim;
+}
+
+defaultproperties
+{
+    ActionString="set animation"
+    bValidForTrigger=False
+}
+


Property changes on: usarsim/USARBot/Classes/Action_SetAnim.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARBot/Classes/AerialVehicle.uc
===================================================================
--- usarsim/USARBot/Classes/AerialVehicle.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/AerialVehicle.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,76 @@
+/*
+NOTE: The messages still need to be developed!
+*/
+
+class AerialVehicle extends KRobot config(USARBot);
+
+var float maxAltitudeVelocity, maxLinearVelocity, maxLateralVelocity, maxRotationalVelocity;
+
+function ProcessCarInput()
+{
+    Super.ProcessCarInput();
+
+    // Return robot GEO information
+    if(USARRemoteBot(Controller).GeoType == "Robot")
+        USARRemoteBot(Controller).myConnection.SendLine(getRobotGeo());
+
+    // Return robot CONF Information
+    if(USARRemoteBot(Controller).ConfType == "Robot")
+        USARRemoteBot(Controller).myConnection.SendLine(getRobotConf());
+}
+
+function timer()
+{
+    local string outstring;
+    local float time;
+
+    Super.timer();
+
+    time = Level.TimeSeconds;
+
+    outstring = "STA {Type AerialVehicle} {Time "$time$"}"$
+                   " {LightToggle "$bHeadlightOn$"}"$
+		   " {LightIntensity "$HeadlightItensity$"}"$
+		   " {Battery "$(batteryLife-myLife)$"}"$
+   		   " {View "$ViewNum$"}";
+
+    USARRemoteBot(Controller).myConnection.SendLine(outstring);
+}
+
+function string getRobotGeo()
+{
+    local string tmpStr;
+
+    // This is all the information that we need to send out
+    local string geoType;
+    local string geoName;
+    local string geoDimensions;
+    local string geoCOG;
+
+    geoType = "AerialVehicle";
+    Divide(string(self.class), ".", tmpStr, geoName);
+    geoDimensions = converter.FloatString(Dimensions.X) $ "," $ converter.FloatString(Dimensions.Y) $ "," $ converter.FloatString(Dimensions.Z);
+    geoCOG = converter.Str_LengthFromUU(KarmaParamsRBFull(KParams).KCOMOffset.X * 50) $ "," $ converter.Str_LengthFromUU(KarmaParamsRBFull(KParams).KCOMOffset.Y * 50) $ "," $ converter.Str_LengthFromUU(KarmaParamsRBFull(KParams).KCOMOffset.Z * 50);
+
+    return "GEO {Type " $ geoType $ "} {Name " $ geoName $ "} {Dimensions " $ geoDimensions $ "} {COG " $ geoCOG $ "}";
+}
+
+function string getRobotConf()
+{
+    local string tmpStr;
+
+    // This is all the information that we need to send out
+    local string confType;
+    local string confName;
+    local string confSteeringType;
+    local string confMass;
+
+    confType = "AerialVehicle";
+    Divide(string(self.class), ".", tmpStr, confName);
+
+    if(ClassIsChildOf(self.Class,class'RotaryWingRobot'))  confSteeringType = "RotaryWing";
+
+    confMass = converter.FloatString(Weight);
+
+    return "CONF {Type " $ confType $ "} {Name " $ confName $ "} {SteeringType " $ confSteeringType $ "} {Mass " $ confMass $ "}";
+}
\ No newline at end of file

Added: usarsim/USARBot/Classes/AirRobot.uc
===================================================================
--- usarsim/USARBot/Classes/AirRobot.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/AirRobot.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,41 @@
+class AirRobot extends RotaryWingRobot config(USARBot);
+
+//*********************************************************************************************************************
+// DEFAULT PROPERTIES
+//*********************************************************************************************************************
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.AirRobot.AirRobotBody'
+    DrawScale=1
+    
+    // Maximum velocities for the AirRobot
+    maxAltitudeVelocity = 5; // Maximum Up/Down (altitude) velocity, in meters/sec
+    maxLinearVelocity = 5; // Maximum Front/Back (tilt) velocity, in meters/sec
+    maxLateralVelocity = 5; // Maximum Left/Right (roll) velocity, in meters/sec
+    maxRotationalVelocity = 1.5708; // Maximum Rotational (yaw) velocity, in rads/sec
+
+    // Dimensions
+    Dimensions=(X=0.99968,Y=0.99934,Z=0.19382) // X=Length=0.99968m, Y=Width=0.99934m, Z=Height=0.19382m.
+
+    Begin Object Class=KarmaParamsRBFull Name=KParams0
+        KActorGravScale=2.58
+        KMaxAngularSpeed = 100
+        KMaxSpeed = 25000
+        KLinearDamping = 1
+        KAngularDamping = 20
+        KCOMOffset=(X=0.0108,Y=0.0102,Z=0.5)
+        KInertiaTensor(0)=0.0864 // ((0.99968/2)^2+(0.19382/2)^2)/3 = 0.0864. See Dimensions...
+        KInertiaTensor(3)=0.0864 // ((0.99934/2)^2+(0.19382/2)^2)/3 = 0.0864. See Dimensions...
+        KInertiaTensor(5)=0.1665 // ((0.99968/2)^2+(0.99934/2)^2)/3 = 0.1665. See Dimensions...
+        KStartEnabled=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKDoubleTickRate=True
+        bKStayUpright=False
+        bDestroyOnWorldPenetrate=True
+        bDoSafetime=True
+        KFriction=0.5
+        KImpactThreshold=700.000000
+     End Object
+     KParams=KarmaParamsRBFull'USARBot.AirRobot.KParams0'
+}

Added: usarsim/USARBot/Classes/AmbientSource.uc
===================================================================
--- usarsim/USARBot/Classes/AmbientSource.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/AmbientSource.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,85 @@
+// ============================================
+// The base class for all the ambient classes
+// ============================================
+class AmbientSource extends Actor
+	abstract placeable;
+
+// the name of the source, e.g. source1, source2 ...
+var() string SourceName;
+// the type of the source, e.g. gas
+var() string SourceType;
+
+// the converter class used by the game
+var() string ConverterClass;
+var USARConverter converter;
+
+// 1) create the converter and use it to convert the parameters
+// 2) register the source, so we can quickly and easily find the the sources
+// 3) disable the Bump and Touch event since ambient source are untouchable.
+event PreBeginPlay()
+{
+	local class<USARConverter> cClass;
+
+	cClass = class<USARConverter>(DynamicLoadObject(ConverterClass, class'Class'));
+	converter = new cClass;
+	ConvertParam(converter);
+
+	Register();
+
+	Disable('Bump');
+	Disable('Touch');
+}
+
+// Register to the game
+function Register()
+{
+	local USARDeathMatch UsarGame;
+	local int Index;
+
+	UsarGame = USARDeathMatch(Level.Game);
+	Index = UsarGame.Sources.length;
+	UsarGame.Sources.Insert(Index, 1);
+	UsarGame.Sources[Index] = self;
+}
+
+// Unregister from the game
+function Unregister()
+{
+	local USARDeathMatch UsarGame;
+	local int i;
+	
+	UsarGame = USARDeathMatch(Level.Game);
+	for (i = 0; i < UsarGame.Sources.length; i++) {
+		if (UsarGame.Sources[i] == self) {
+			UsarGame.Sources.Remove(i, 1);
+			break;
+		}
+	}
+}
+
+function ConvertParam(USARConverter converter)
+{
+}
+
+function bool isType(String type) 
+{
+	return (Caps(SourceType)==Caps(type));
+}
+
+function bool isName(String name) 
+{
+	return (Caps(SourceName)==Caps(name));
+}
+
+event Destroyed()
+{
+	Unregister();
+}
+
+defaultproperties
+{
+	RemoteRole=ROLE_None
+	bHidden=True
+	ConverterClass="USARBot.USARConverter"
+	Texture=Texture'Engine.S_LookTarget'
+}
\ No newline at end of file

Added: usarsim/USARBot/Classes/BallHSensor.uc
===================================================================
--- usarsim/USARBot/Classes/BallHSensor.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/BallHSensor.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,259 @@
+/* Ball Helper Sensor for AIBO robots
+ * It locates the ball in 3D, calculates its 2D position on the screen
+ * and its radius in pixels, reports distance of the ball center from
+ * the camera and if it's visible or not. It also calculates ball occlusions
+ * by sampling ball outline and checking the visibility of each sample.
+ * This test is called "corona test" and reports to the controller a
+ * number that codes in each bit the corresponding sample visibility.
+ * The corona is always aligned with the Y axis of the screen and it
+ * adapts to perspective distortions of the ball.
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class BallHSensor extends Sensor config(USARBot);
+
+const RAD2DEG = 57.2957795;
+
+//Cameras in USARSim hove no resolution information
+//so I'm hardwiring here AIBO cam resolution. This
+//should be changed in the future.
+var config int CameraXres;
+var config int CameraYres;
+var config float BallRadiusUU;
+var config byte BallSamples;
+var array<vector> CoronaSamples;
+var config float LODhalf, LODcenter;
+var int uuLODhalf, uuLODcenter;
+var Soccerball KBall;
+
+function PostNetBeginPlay()
+{
+    local float CoronaStep;
+    local float CoronaTime;
+    local int i;
+
+	Super.PostNetBeginPlay();
+
+    //Take a reference to the ball
+    if(Role == ROLE_Authority)
+    	foreach AllActors(class'SoccerBall',KBall) break;
+
+    if(KBall != none)
+    {
+        if((BallSamples % 2) != 0)
+            BallSamples++;
+        CoronaSamples.Insert(0,BallSamples);
+        CoronaStep = 2*PI / BallSamples;
+
+        //Counter-Clockwise circle from noon + CoronaStep
+        //This allows to get a clockwise (from noon) corona coding
+        for(i=0; i < BallSamples; i++)
+        {
+            CoronaTime = PI/2 + CoronaStep * (i+1);
+            CoronaSamples[i].Y = BallRadiusUU * Cos(CoronaTime);
+            CoronaSamples[i].Z = BallRadiusUU * Sin(CoronaTime);
+        }
+    }
+}
+
+function ConvertParam(USARConverter converter)
+{
+    if (converter!=NONE)
+    {
+        uuLODhalf = converter.LengthToUU(LODhalf);
+        uuLODcenter = converter.LengthToUU(LODcenter);
+    }
+    else
+    {
+        uuLODhalf = LODhalf;
+        uuLODcenter = LODcenter;
+    }
+}
+
+function String GetData()
+{
+	local string outstring, visStr;
+	//BallCamDir is the vector pointing from the camera to the ball
+	//BallCamPos is the ball position in camera coordinates
+    local vector BallPos, CamLoc, BallCamDir, BallCamPos;
+    local rotator CamRot;
+    local float ballDist;
+    local int x2d,y2d,r;        //2D X and Y positions, r = ball radius in pixel
+    local int x2dMod, y2dMod;   //x2d and y2d ABS values
+    local int halfResX, halfResY;
+    local byte outerZone;       // bits string used to compute ball zone
+    local float K, K1, cornerRadius;
+    local bool visible;         //TRUE if the ball is visible
+    local int i;
+    //Occlusione testing variables
+    local Actor HitObj;
+    local vector HitLoc, HitNorm;
+    local int HiddenCount, CoronaCode, DoubleCode;
+    local vector CoronaSample, CoronaCamDir;
+
+    if(KBall != none)
+    {
+        BallPos = KBall.Location;
+        CamLoc = Location;  //This sensor should be attached at the same camera position
+        CamRot = Rotation;  //This sensor should be attached at the same camera position
+        BallCamDir = BallPos - CamLoc;
+
+        //We're going into camera coordinates (inverse transform)
+        BallCamPos = BallCamDir << CamRot;
+
+        //if < 0 than the ball is behind the AIBO and is not visible
+        if(BallCamPos.X > 0)
+        {
+            ballDist = VSize(BallCamPos);
+
+            halfResX =  CameraXres/2;
+            halfResY =  CameraYres/2;
+
+            //Computes perspective transformation constant
+            K = float(halfResX)/(Tan(KRobot(Platform).CameraZoom[0]/(2*RAD2DEG)));
+            K1= K / BallCamPos.X;
+            //Make perspective transformation
+            x2dMod = int(K1 * BallCamPos.Y);
+            y2dMod = int(K1 * BallCamPos.Z);
+
+            //(0,0) is up left
+            x2d =halfResX + x2dMod;
+            y2d =halfResY - y2dMod;
+
+            //find ball radius in pixels
+            r = int(K1 * BallRadiusUU);
+
+            //Take 2D position ABS value
+            if(x2dMod < 0)
+                x2dMod = -x2dMod;
+            if(y2dMod < 0 )
+                y2dMod = -y2dMod;
+
+            //Determine ball zone with a bit mapping
+            if(x2dMod > halfResX)
+                outerZone = 1;
+            if(y2dMod > halfResY)
+                outerZone = outerZone | 2;
+
+            //Check visibility
+            switch(outerZone)
+            {
+                case 0: //center visible
+                    visible = true;
+                    break;
+                case 1: //center Right
+                    if(x2dMod < (halfResX + r))
+                        visible = true;
+                    break;
+                case 2: //center Down
+                    if(y2dMod < (halfResY + r))
+                        visible = true;
+                    break;
+                case 3: //center at Corner
+                    cornerRadius = Square(x2dMod - halfResX) + Square(y2dMod - halfResY);
+                    if(cornerRadius < r*r)
+                        visible = true;
+            }
+        }
+
+        //Now we do occlusion test
+        if(visible)
+        {
+            //Manages LODcenter (ball very far)
+            if(ballDist > uuLODcenter)
+            {
+                //*5 in start vector is used to avoid self-collision with AIBO head
+                BallCamDir = Normal(BallCamDir);
+                HitObj = Trace(HitLoc, HitNorm, BallPos, CamLoc + BallCamDir*5,true);
+                if(HitObj.IsA('SoccerBall'))
+                    CoronaCode = 2**BallSamples -1;
+                else
+                    visible = false;
+            }
+            //Manages LODhalf or ball near
+            else
+            {
+                //*5 in start vector is used to avoid self-collision with AIBO head
+                //BallCamDir = Normal(BallCamDir);
+                for(i=0; i < BallSamples; i++)
+                {
+                    //Assumes the sample is visible
+                    CoronaCode = CoronaCode << 1;
+                    CoronaCode = CoronaCode | 1;
+
+                    //Align the corona to Y axis of the screen.
+                    //That means that we build the corona around the ball
+                    //in local camera coordinates. Then we transform these
+                    //coordinates in world reference (see later).
+                    //Local transform:
+                    CoronaSample = CoronaSamples[i] >> rotator(BallCamPos);
+                    CoronaSample += BallCamPos;
+
+                     //Check sample visibility (I'm recycling x2dMod and y2dMod vars)
+                    x2dMod = int(K * CoronaSample.Y / CoronaSample.X);
+                    y2dMod = int(K * CoronaSample.Z / CoronaSample.X);
+                    if((x2dMod < -halfResX || x2dMod > halfResX) || (y2dMod < -halfResY || y2dMod > halfResY))
+                    {
+                        HiddenCount++;
+                        CoronaCode = CoronaCode ^ 1;    //XOR
+                    }
+                    else    //If sample is visible check collisions
+                    {
+                        //Corona transformed in World reference
+                        CoronaSample = CoronaSample >> CamRot;
+                        CoronaSample += CamLoc;
+
+                        //Avoids collisions with ground (Trace() ray hits the ground)
+                        //TODO: This control assumes that the ball is always at Z >= 0
+                        //      A more general solutions should be implemented.
+                        if(CoronaSample.Z < 0)
+                            CoronaSample.Z = -CoronaSample.Z;
+
+                       //Make collision test for current sample
+                        CoronaCamDir = Normal(CoronaSample - CamLoc);
+                        HitObj = Trace(HitLoc, HitNorm, CoronaSample, CamLoc + CoronaCamDir*5,true);
+                        if(HitObj != none)
+                            if(!HitObj.IsA('SoccerBall'))
+                            {
+                                CoronaCode = CoronaCode ^ 1;    //XOR
+                                HiddenCount++;
+                            }
+                    }
+
+                    //Manages LODhalf
+                    if(ballDist > uuLODhalf)
+                    {
+                        i++;
+                        DoubleCode = CoronaCode & 1;
+                        if(DoubleCode == 0)
+                            HiddenCount++;
+                        CoronaCode = CoronaCode << 1;
+                        CoronaCode = CoronaCode | DoubleCode;
+                    }
+                }
+
+                if(HiddenCount == BallSamples)
+                    visible = false;
+            }
+        }// end of occlusione test
+
+        //OK, at last we're ready to build output string
+        if(visible)
+            visStr="}{Visible true}{Pos2D "$x2d$","$y2d$"}{Radius "$r$"}{Dist "$converter.Str_LengthFromUU(ballDist)$"}{Corona "$CoronaCode$"}";
+        else
+            visStr="}{Visible false}{Pos2D 0,0}{Radius 0}{Dist 0}{Corona 0}";
+
+       	outstring="{Name "$ItemName$"}"$"{Pos3D "$converter.Str_LengthVectorFromUU(BallPos)$visStr;
+    }
+	return outstring;
+}
+
+defaultproperties
+{
+	ItemType="Helper"
+    CameraXres=208  //pixel
+    CameraYres=160  //pixel
+    BallRadiusUU=10 //unreal units
+    BallSamples=12  //Corona samples for occlusion test (must be an even number)
+    LODhalf=0.8     //meter, distance at which halve corona samples
+    LODcenter=2     //meter, distance at which consider only ball center
+}

Added: usarsim/USARBot/Classes/CO2Sensor.uc
===================================================================
--- usarsim/USARBot/Classes/CO2Sensor.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/CO2Sensor.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,18 @@
+// ===============================================================
+// USARBot.CO2Sensor
+// 
+// The Carbon Dioxide detector
+// ref: http://www.citytech.com/PDF-Datasheets/ircelco2.pdf
+// ===============================================================
+
+class CO2Sensor extends GasSensor config(USARBot);
+
+defaultproperties
+{
+     GasType="CO2"
+     ItemType="CO2Sensor"
+     ValidRange=(Min=0,Max=2) // Detecting range 0~2%
+     Noise=0.0005 // 0.05%
+     Resoluation=0.0001 // 0.01%
+     OutputCurve=(Points=((InVal=0.0,OutVal=0.0),(InVal=100,OutVal=100)))
+}
\ No newline at end of file

Added: usarsim/USARBot/Classes/COSensor.uc
===================================================================
--- usarsim/USARBot/Classes/COSensor.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/COSensor.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,18 @@
+// ===============================================================
+// USARBot.COSensor
+// 
+// The Carbon Monoxide detector
+// ref: http://www.citytech.com/PDF-Datasheets/cap07.pdf
+// ===============================================================
+
+class COSensor extends GasSensor config(USARBot);
+
+defaultproperties
+{
+     GasType="CO"
+     ItemType="COSensor"
+     ValidRange=(Min=0,Max=0.0004) // Detecting range 0~400ppm
+     Noise=0.002 // 2%
+     Resoluation=0.000004 // 4 ppm
+     OutputCurve=(Points=((InVal=0.0,OutVal=0.04),(InVal=100,OutVal=100)))
+}
\ No newline at end of file

Added: usarsim/USARBot/Classes/ComStation.uc
===================================================================
--- usarsim/USARBot/Classes/ComStation.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/ComStation.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,50 @@
+class ComStation extends KRobot config(USARBot);
+
+// Programming Variable
+var bool init;
+
+function ProcessCarInput()
+{
+    // Here, we get the radar to continously spin
+    if(!init)
+    {
+        USARRemoteBot(Controller).JName[USARRemoteBot(Controller).JointControlIdx] = "Radar";
+        USARRemoteBot(Controller).JOrder[USARRemoteBot(Controller).JointControlIdx] = 1;
+        USARRemoteBot(Controller).JValue[USARRemoteBot(Controller).JointControlIdx] = converter.SpinSpeedToUU(3);
+        USARRemoteBot(Controller).JointControlIdx++;
+        init=true;
+    }
+
+    Super.ProcessCarInput();
+}
+
+//*********************************************************************************************************************
+// DEFAULT PROPERTIES
+//*********************************************************************************************************************
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.ComStation.ComBuilding'
+    DrawScale=1
+    init=false
+    
+    Begin Object Class=KarmaParamsRBFull Name=KParams0
+        KActorGravScale=2.58
+        bKNonSphericalInertia=True
+        KInertiaTensor(0)=5
+        KInertiaTensor(3)=5
+        KInertiaTensor(5)=5
+        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KLinearDamping=0
+        KAngularDamping=10000
+        KMaxAngularSpeed=0
+        KMaxSpeed=25000
+        KStartEnabled=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKDoubleTickRate=True
+        KFriction=0.9
+        bKStayUpright=True
+        Name="KParams0"
+    End Object
+    KParams=KarmaParamsRBFull'USARBot.ComStation.KParams0'
+}
\ No newline at end of file

Added: usarsim/USARBot/Classes/ControlSurface.uc
===================================================================
--- usarsim/USARBot/Classes/ControlSurface.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/ControlSurface.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,21 @@
+class ControlSurface extends USARTire;
+
+var float maxAngle;
+var float Area;
+
+defaultproperties
+{
+    Begin Object Class=KarmaParamsRBFull Name=KParams0
+        KMass=0.00
+        KActorGravScale=0.00
+        KInertiaTensor(0)=1.800000
+        KInertiaTensor(3)=1.800000
+        KInertiaTensor(5)=1.800000
+        KLinearDamping=0.000000
+        KAngularDamping=0.000000
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKDoubleTickRate=True
+    End Object
+    KParams=KarmaParamsRBFull'USARBot.ControlSurface.KParams0'
+}
\ No newline at end of file

Added: usarsim/USARBot/Classes/Cooper.uc
===================================================================
--- usarsim/USARBot/Classes/Cooper.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/Cooper.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,83 @@
+class Cooper extends AckermanSteeredRobot config(USARBot);
+
+//*********************************************************************************************************************
+// DEFAULT PROPERTIES
+//*********************************************************************************************************************
+defaultproperties
+{
+  //---Wheel information.  Since the Cooper has four wheels, we have four of these definitions
+  // The next four definitions will create a front-wheel-drive Cooper where the two front wheels can be steered with a maximum of 35 degrees
+
+    // Number=0 indicates that this wheel is the first JointPart defined in USARBot.ini (ORDER MATTERS!)
+    // Power=Left_Powered tells USARSim to spin this wheel (for ackerman-steered vehicles, there is no difference between Left_Powered and Right_Powered)
+    // SteerType=Front_Steered tells USARSim to steer this wheel with the "FrontSteer" variable from the DRIVE command
+    // MaxSteerAngle=0.610865 makes this wheel have a maximum turn angle between -35 degrees and +35 degrees (0.61086 radian = 35 degrees)
+    Wheels(0)=(Number=0,PowerType=Left_Powered,SteerType=Front_Steered,MaxSteerAngle=0.610865);
+
+    // Number=1 indicates that this wheel is the second JointPart defined in USARBot.ini (ORDER MATTERS!)
+    // Power=Left_Powered tells USARSim to spin this wheel (for ackerman-steered vehicles, there is no difference between Left_Powered and Right_Powered)
+    // SteerType=Front_Steered tells USARSim to steer this wheel with the "FrontSteer" variable from the DRIVE command
+    // MaxSteerAngle=0.610865 makes this wheel  have a maximum turn angle between -35 degrees to +35 degrees (0.61086 radian = 35 degrees)
+    Wheels(1)=(Number=1,PowerType=Left_Powered,SteerType=Front_Steered,MaxSteerAngle=0.610865);
+
+    // Number=2 indicates that this wheel is the third JointPart defined in USARBot.ini (ORDER MATTERS!)
+    // Power=Not_Powered tells USARSim to NOT power this wheel: the wheel spins freely, without being driven by a motor
+    // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked)
+    Wheels(2)=(Number=2,PowerType=Not_Powered);
+
+    // Number=3 indicates that this wheel is the fourth JointPart defined in USARBot.ini (ORDER MATTERS!)
+    // Power=Not_Powered tells USARSim to NOT power this wheel: the wheel spins freely, without being driven by a motor
+    // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked)
+    Wheels(3)=(Number=3,PowerType=Not_Powered);
+  //---
+
+  //--Other Robot's Properties
+    StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.Cooper.CooperBody'
+    DrawScale=1.00
+    
+    // Configuration Parameters. Note: these variables need to be correspond to your robot's model.
+    //WheelRadius=0.3727                   // Wheel Radius, in unreal units. Note: Value is in meters
+    //Dimensions=(X=3.686,Y=1.799,Z=2.059) // X=Length=3.686m, Y=Width=1.799m, Z=Height=2.059m
+    maxSpinSpeed=100                     // Maximum wheel's spin speed is 100 rad/sec = 134.172 kph = 83.37 mph
+
+    bDebug=false
+    DrawScale3D=(X=1.0,Y=1.0,Z=1.0)
+    ChassisMass=1
+
+    MaxTorque=60.0
+    MotorTorque=20.0
+    MotorSpeed=0.1745 // rad per second
+
+    // Properties related to the steering of the hummer
+    SteerPropGap=1000.000000
+    SteerTorque=1000.000000
+    SteerSpeed=15000.000000
+
+    TireRollFriction=15.000000
+    TireLateralFriction=15.000000
+    TireRollSlip=0.0600
+    TireLateralSlip=0.0600000
+    TireMinSlip=0.001000
+    TireSlipRate=0.00100000
+    TireSoftness=0.000020
+    TireAdhesion=0.000000
+    TireRestitution=0.000000
+
+    Begin Object Class=KarmaParamsRBFull Name=KParams0
+        KInertiaTensor(0)=0.10000
+        KInertiaTensor(3)=0.20000
+        KInertiaTensor(5)=0.4000
+        KCOMOffset=(X=0,Y=0,Z=-0.5)
+        KLinearDamping=0.500000
+        KAngularDamping=100.00000
+        KStartEnabled=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKDoubleTickRate=True
+        KFriction=1.600000
+        Name="KParams0"
+        KMaxSpeed=10000
+    End Object
+    KParams=KarmaParamsRBFull'USARBot.Cooper.KParams0'
+  //---
+}
\ No newline at end of file

Added: usarsim/USARBot/Classes/ERS.uc
===================================================================
--- usarsim/USARBot/Classes/ERS.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/ERS.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,96 @@
+/* AIBO robot
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class ERS extends LeggedRobot config(USARBot);
+
+var int loAngleLimit[15];
+var int hiAngleLimit[15];
+
+function ProcessCarInput()
+{
+	local int nJoints;
+
+	Super.ProcessCarInput();
+
+	//Limit joints order 0 angles
+	for(nJoints=0; nJoints < JointsControl.length; nJoints++)
+		if((JointsControl[nJoints].state == 1) && (JointsControl[nJoints].order == 0))
+		{
+			if(JointsControl[nJoints].value < loAngleLimit[nJoints])
+			{
+				JointsControl[nJoints].value = loAngleLimit[nJoints];
+				continue;
+			}
+			if(JointsControl[nJoints].value > hiAngleLimit[nJoints])
+				JointsControl[nJoints].value = hiAngleLimit[nJoints];
+		}
+}
+
+defaultproperties
+{
+    DrawScale=1
+	bDebug=false
+	MaxNetUpdateInterval=0.5
+
+	//Low Joint Angle Limits
+	loAngleLimit(0)=-21845
+	loAngleLimit(1)=-2730
+	loAngleLimit(2)=-5461
+	loAngleLimit(3)=-24576
+	loAngleLimit(4)=-2730
+	loAngleLimit(5)=-5461
+	loAngleLimit(6)=-21845
+	loAngleLimit(7)=-2730
+	loAngleLimit(8)=-5461
+	loAngleLimit(9)=-24576
+	loAngleLimit(10)=-2730
+	loAngleLimit(11)=-5461
+	loAngleLimit(12)=-14563
+	loAngleLimit(13)=-16930
+	loAngleLimit(14)=-3640
+	//High Joint Angle Limits
+	hiAngleLimit(0)=24576
+	hiAngleLimit(1)=16930
+	hiAngleLimit(2)=23119
+	hiAngleLimit(3)=21845
+	hiAngleLimit(4)=16930
+	hiAngleLimit(5)=23119
+	hiAngleLimit(6)=24576
+	hiAngleLimit(7)=16930
+	hiAngleLimit(8)=23119
+	hiAngleLimit(9)=21845
+	hiAngleLimit(10)=16930
+	hiAngleLimit(11)=23119
+	hiAngleLimit(12)=546
+	hiAngleLimit(13)=16930
+	hiAngleLimit(14)=9102
+
+	StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.ERS7.ERS7Body'
+
+    //Parameters of chassis. (KMass is defined in USAR.INI)
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKNonSphericalInertia=true
+        KActorGravScale=2.58
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.0
+        KAngularDamping=0.0
+        KFriction=0.8
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+
+}

Added: usarsim/USARBot/Classes/ERSirEdge.uc
===================================================================
--- usarsim/USARBot/Classes/ERSirEdge.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/ERSirEdge.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,26 @@
+/* Far IR Sensor for AIBO robots
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+
+class ERSirEdge extends IR2Sensor config (USARBot);
+
+function String GetData()
+{
+    local float range;
+    local string outstring;
+
+    range = GetRange() + 0.0179; //Distance Compensation
+    curRot=Rotation;
+	outstring="{Name "$ItemName$" Range "$converter.FloatString(range)$"}";
+	return outstring;
+}
+
+defaultproperties
+{
+	HiddenSensor=true
+	MaxRange=1.5 //1.5m
+	MinRange=0
+	OutputCurve=(Points=((InVal=0,OutVal=0.0021),(InVal=0.0021,OutVal=0.0021),(InVal=1.5,OutVal=1.5)))
+	OutputNoise=(Points=((InVal=0,OutVal=0),(InVal=1.5,OutVal=0.1)))
+}
+

Added: usarsim/USARBot/Classes/ERSirFar.uc
===================================================================
--- usarsim/USARBot/Classes/ERSirFar.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/ERSirFar.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,14 @@
+/* Far IR Sensor for AIBO robots
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class ERSirFar extends IR2Sensor config (USARBot);
+
+defaultproperties
+{
+	HiddenSensor=true
+	MaxRange=1.5 //1.5m
+	MinRange=0
+	OutputCurve=(Points=((InVal=0,OutVal=0.2),(InVal=0.2,OutVal=0.2),(InVal=1.5,OutVal=1.5)))
+	OutputNoise=(Points=((InVal=0,OutVal=0),(InVal=0.2,OutVal=0),(InVal=0.85,OutVal=0.1),(InVal=1.5,OutVal=0)))
+}
+

Added: usarsim/USARBot/Classes/ERSirNear.uc
===================================================================
--- usarsim/USARBot/Classes/ERSirNear.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/ERSirNear.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,13 @@
+/* Near IR Sensor for AIBO robots
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class ERSirNear extends IR2Sensor config (USARBot);
+
+defaultproperties
+{
+	HiddenSensor=true
+	MaxRange=0.5 //0.5m
+	MinRange=0
+	OutputCurve=(Points=((InVal=0,OutVal=0.05),(InVal=0.05,OutVal=0.05),(InVal=0.5,OutVal=0.5)))
+	OutputNoise=(Points=((InVal=0,OutVal=0),(InVal=0.05,OutVal=0),(InVal=0.276,OutVal=0.1),(InVal=0.5,OutVal=0)))
+}

Added: usarsim/USARBot/Classes/ERSpaw.uc
===================================================================
--- usarsim/USARBot/Classes/ERSpaw.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/ERSpaw.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,61 @@
+///////////////////////////////////////////////////////////////////////////
+// Simple Touch sensor for AIBO paws based on RangeSensor
+// Mapping:
+// Contact = true  if (0 < range <= MaxRange)
+// Contact = false if (range > MaxRange)
+//
+// by Marco Zaratti - marco.zaratti at gmail.com
+///////////////////////////////////////////////////////////////////////////
+
+class ERSpaw extends RangeSensor config (USARBot);
+
+function ConvertParam(USARConverter converter)
+{
+    if (converter!=NONE) {
+        uuMaxRange = converter.LengthToUU(MaxRange);
+        uuMinRange = converter.LengthToUU(MinRange);
+    }
+    else {
+        uuMaxRange = MaxRange;
+        uuMinRange = MinRange;
+    }
+}
+
+function float GetRange()
+{
+    local vector HitLocation,HitNormal;
+    local float range;
+
+	if (Trace(HitLocation, HitNormal, Location + uuMaxRange*vector(curRot), Location, true)==NONE)
+		return 0;
+	else
+	{
+		range = VSize(HitLocation-Location);
+		if (converter!=None)
+			range=converter.LengthFromUU(range);
+    }
+
+	if (range <= MaxRange)
+		return 1;
+
+	return 0;
+}
+
+function String GetData()
+{
+    local string outstring;
+    curRot=Rotation;
+    if(GetRange() > 0)
+    	outstring="{Name "$ItemName$" Touch true}";
+    else
+        outstring="{Name "$ItemName$" Touch false}";
+	return outstring;
+}
+
+defaultproperties
+{
+	bUseGroup=True
+	ItemType="Touch"
+	MaxRange=0.0248 //2.48cm
+	MinRange=0
+}

Added: usarsim/USARBot/Classes/Effecter.uc
===================================================================
--- usarsim/USARBot/Classes/Effecter.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/Effecter.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,43 @@
+class Effecter extends Item abstract;
+
+function String GetConfHead()
+{
+	local string outstring;
+
+	outstring="CONF {Type "$ItemType$"}";
+
+	return outstring;
+}
+
+function String GetConfData()
+{
+	return "{Name "$ItemName$"}";
+}
+
+function string GetGeoHead()
+{
+	local string outstring;
+
+	outstring="GEO {Type "$ItemType$"}";
+
+	return outstring;
+}
+
+function string GetGeoData()
+{
+	local string outstring;
+
+	if (converter==None)
+		outstring="{Name "$ItemName$" Location "$(Location-Base.Location)$" Orientation "$(Rotation-Base.Rotation)$" Mount "$ItemMount$"}";
+	else 
+		outstring="{Name "$ItemName$" Location "$(converter.Str_LengthVectorFromUU(Location-Base.Location))
+		                       $" Orientation "$(converter.Str_RotatorFromUU(Rotation-Base.Rotation))
+		                             $" Mount "$ItemMount$"}";
+	return outstring;
+}
+
+defaultproperties
+{
+	ItemType="Effecter"
+	bHidden=true
+}
\ No newline at end of file

Added: usarsim/USARBot/Classes/EncoderSensor.uc
===================================================================
--- usarsim/USARBot/Classes/EncoderSensor.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/EncoderSensor.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,173 @@
+class EncoderSensor extends sensor config (USARBot);
+
+/**
+    This class simulates the encoder sensor.
+
+    The added config params are:
+	  Resolution:   The resoulution of the encoder defined in UU.
+
+	The returned value is:
+	  Tick: The data range is (-65535/uuResolution)~(65535/uuResolution).
+	        Positive value means clockwise direction. It's the controller's
+	        resposible to count how many circles the part has rotated.
+*/
+
+var USARRemoteBot rBot;
+
+var config float Resolution;
+
+var int uuResolution;
+var string tickData;
+var int myTick;
+var vector axis1,axis2;
+var int lastAng, curAng;
+var int lastBaseAng, curBaseAng;
+var float totalAng, myAng, baseAng;
+var Actor parBase;
+
+function Init(String SName, Actor parent, vector position, rotator direction, KVehicle platform, name mount)
+{
+	Super.Init(SName, parent, position, direction, platform, mount);
+
+	axis1 = vector(direction); // the turning axis
+	axis2 = vector(direction+rot(16384,0,0));
+
+	if (parent.Owner!=None)
+		parBase = parent.Owner;
+	else if (parent.Base!=None)
+		parBase = parent.Base;
+	else
+		parBase = None;
+}
+
+function ConvertParam(USARConverter converter)
+{
+    if (converter!=None)
+        uuResolution = converter.AngleToUU(Resolution);
+    else
+        uuResolution = Resolution;
+}
+
+function int getTick()
+{
+	local vector newAxis1,newAxis2,lastAxis;
+	local Quat relQ, curQ;
+	local float difAng,difCos,difSign;
+
+	// my angle
+	curQ = base.KGetRBQuaternion();
+	newAxis1 = QuatRotateVector(curQ,axis1);
+	newAxis2 = QuatRotateVector(curQ,axis2);
+
+	relQ = QuatFindBetween(newAxis1,axis1);
+	lastAxis = QuatRotateVector(relQ,newAxis2);
+
+	difCos = lastAxis Dot axis2;
+	difCos = int((difCos*10000+5))/10000.0;
+	if (difCos>1.0) difCos = 1.0;
+	if (difCos<-1.0) difCos = -1.0;
+
+	difSign = (lastAxis Cross axis2) Dot axis1;
+	if (difSign<0) difSign=-1.0;
+	else difSign=1.0;
+
+	curAng = difSign * ACos(difCos)*32768/PI;
+	difAng = curAng - lastAng;
+	lastAng = curAng;
+	if (difAng>=32768)
+		difAng = difAng - 65535;
+	else if (difAng<-32768)
+		difAng = difAng + 65535;
+
+	myAng += difAng;
+
+	// base's angle
+	if (parBase!=None) {
+		curQ = parBase.KGetRBQuaternion();
+		newAxis1 = QuatRotateVector(curQ,axis1);
+		newAxis2 = QuatRotateVector(curQ,axis2);
+
+		relQ = QuatFindBetween(newAxis1,axis1);
+		lastAxis = QuatRotateVector(relQ,newAxis2);
+
+		difCos = lastAxis Dot axis2;
+		difCos = int((difCos*10000+5))/10000.0;
+		if (difCos>1.0) difCos = 1.0;
+		if (difCos<-1.0) difCos = -1.0;
+
+		difSign = (lastAxis Cross axis2) Dot axis1;
+		if (difSign<0) difSign=-1.0;
+		else difSign=1.0;
+
+		curBaseAng = difSign * ACos(difCos)*32768/PI;
+		difAng = curBaseAng - lastBaseAng;
+		lastBaseAng = curBaseAng;
+		if (difAng>=32768)
+			difAng = difAng - 65535;
+		else if (difAng<-32768)
+			difAng = difAng + 65535;
+
+		baseAng += difAng;
+}
+
+	totalAng = normalAngle(myAng - baseAng);
+	if (totalAng!=(myAng - baseAng)) {
+		myAng = normalAngle(myAng);
+		baseAng = normalAngle(baseAng);
+	}
+
+	//log(ItemName@"dif:"$myAng at baseAng@totalAng at base.Rotation@base.Owner.Rotation);
+
+	totalAng += RandRange(-Noise, Noise)*totalAng;
+	myTick = int(normalAngle(totalAng)/uuResolution);
+	return myTick;
+}
+
+function float normalAngle(float ang) {
+	if (ang>65536) ang-=65536;
+	if (ang<-65536) ang+=65536;
+	return ang;
+}
+
+function string Set(String opcode, String args)
+{
+	if(Caps(opcode)=="RESET") {
+		myAng = 0;
+		baseAng = 0;
+		totalAng = 0;
+		myTick = 0;
+		return "OK";
+	}
+	return "Failed";
+	}
+
+function String GetData()
+{
+	local string outstring;
+
+	outstring = "{Name "$ItemName$" Tick "$getTick()$"}";
+
+	return outstring;
+}
+
+function String GetConfData()
+{
+    local string outstring;
+	outstring = Super.GetConfData();
+	outstring = outstring@"{Resolution "$converter.FloatString(Resolution)$"}";
+	return outstring;
+}
+
+defaultproperties
+{
+//Scaled with 4.762 at Mon Sep 25 14:21:52 EDT 2006
+	bUseGroup=True
+	ItemType="Encoder"
+	HiddenSensor=false
+	Resolution=0.01745 // in rad. It equals 1 deg
+	DrawScale=0.0047620004
+	DrawScale3D=(X=0.001)
+	StaticMesh=StaticMesh'USARSim_VehicleParts_Meshes.Sensors.Sensor'
+	Noise=0.001
+	Mass=0.001
+}

Added: usarsim/USARBot/Classes/ExpPath.uc
===================================================================
--- usarsim/USARBot/Classes/ExpPath.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/ExpPath.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,60 @@
+class ExpPath extends Object config(ExpPath);
+
+var config array<int> path;
+var int next;
+var int offX;
+var int offY;
+var float scaleX;
+var float scaleY;
+
+function int getValue(int i) {
+	if (i>path.length) i=i%path.length;
+	return path[i];
+}
+
+function int nextValue() {
+	next+=1;
+	if (next>=path.length) next=0;
+	return path[next];
+}
+
+function setOffset(int x0, int y0) {
+	offX=x0;
+	offY=y0;
+}
+
+function setScale(int w, int h) {
+	local int i,mx,my;
+	for (i=0;i<path.length;i+=2) {
+		if (mx<abs(path[i]-path[0])) mx=abs(path[i]-path[0]);
+		if (my<abs(path[i+1]-path[1])) my=abs(path[i+1]-path[1]);
+	}
+	if (mx>0) scaleX=w/((mx+offX-path[0])*2.0);
+	if (my>0) scaleY=h/((mx+offX-path[1])*2.0);
+}
+
+function nextPoint(out int X, out int Y) {
+	X=(nextValue()-path[0])*scaleX+offX;
+	Y=(nextValue()-path[1])*scaleY+offY;
+}
+
+function dump() {
+	local int i;
+	log("<<<dump");
+	log("offX="$offX@"offY="$offY);
+	log("scaleX="$scaleX@"scaleY="$scaleY);
+	for (i=0;i<path.length;i+=2) log("("$path[i]@path[i+1]$")");
+	log("dump>>>");
+}
+
+defaultproperties {
+	next=-1
+	offX=0
+	offY=0
+	scaleX=1.0
+	scaleY=1.0
+	path(0)=0
+	path(1)=10
+	path(2)=0
+	path(3)=20
+}
\ No newline at end of file

Added: usarsim/USARBot/Classes/FPSLog.uc
===================================================================
--- usarsim/USARBot/Classes/FPSLog.uc	                        (rev 0)
+++ usarsim/USARBot/Classes/FPSLog.uc	2007-05-10 15:23:25 UTC (rev 598)
@@ -0,0 +1,224 @@
+///////////////////////////////////////////////////////////
+// FPSLog UnrealScript Class created by
+// by Marco Zaratti - marco.zaratti at gmail.com
+//
+//--Abstract-----------------------------------------------
+// This class is an Actor placeable in a map that logs
+// frame rate in "FPSStats.txt" in /UserLog dir.
+// It is useful to trace performance graphs. "FPSStats.txt"
+// may be imported in Excel (for instance) where a graph
+// can be created in just few mouse clicks.
+//---------------------------------------------------------
+//
+//--How To Use---------------------------------------------
+// Just place the Actor FPSLog in your map.
+// FPSStats.txt is written when UT Client is closed and its
+// output looks like (for each sample):
+//
+// time, FPS, delta (=1/FPS), counter
+//
+// time: is the total time passed
+// FPS: is the frame rate
+// delta: is the the last frame computation time (=1/FPS)
+// counter: is e generic counter increased and decreased by
+//          triggering or untriggering FPSLog
+//
+// counter may be used to count the number of robots in the map
+// or for any other purpose. To count the number of robots you

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Thu May 10 11:24:00 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 11:24:00 -0400
Subject: [TeamTalk 62]: [599] usarsim/USARBotAPI: Import usarsim usarbotapi
Message-ID: <200705101524.l4AFO0NK013454@edam.speech.cs.cmu.edu>

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Added: usarsim/USARBotAPI/Classes/BotConnection.uc
===================================================================
--- usarsim/USARBotAPI/Classes/BotConnection.uc	                        (rev 0)
+++ usarsim/USARBotAPI/Classes/BotConnection.uc	2007-05-10 15:24:00 UTC (rev 599)
@@ -0,0 +1,882 @@
+class BotConnection extends TcpLink
+	config(USARBotAPI);
+
+
+var string ReceivedData;
+var array<string> ReceivedArgs;
+var array<string> ReceivedVals;
+
+//used to store info inside function where local wont work
+//set property text dosent seem to work with a local
+var actor tempActor;
+var bool tempBool;
+
+
+var BotServer Parent;
+var RemoteBot theBot;
+
+// set true for verbose debug logs
+var config bool bDebug;
+
+
+// set true for iterative mode
+var config bool bIterative;
+
+
+// delay between visionUpdates
+var config float visionTime;
+var config bool bVision;
+
+var	int attrNum;
+
+// delimeters for strings sent to clients. set to match those of the server
+// as = identifies the start of an attribute
+var string as;
+// ae = attribute end
+var string ae;
+// ib = item break
+var string ib;
+
+//------------Message Types---------------------------
+// Each message appears on a seperate line. The first item
+//  of each message is the type identifier. It is a three
+//  letter code identifing what the message contains.
+// Used types are:
+//  (Asynchronous messages)
+//  FIN - game ended
+//  FAL - bot just hit a dropoff
+//  NFO - info about gametype. cue to register self
+//  AIN - added inventory. Bot got new inventory item
+//  VMS - recieved message from global chat channel
+//  VMT - recieved message from team chat channel
+//  VMG - recieved tokenized message
+//  ZCF - foot changed zones
+//  ZCH - head changed zones
+//  ZCB - bot changed zones
+//  CWP - changed weapon
+//  WAL - collided with a wall
+//  BMP - bumped another actor
+//  HRP - hear pickup
+//  HRN - hear noise
+//  SEE - see player - !!!DEPRICATED
+//  PRJ - incoming projectile
+//  KIL - some other player died
+//  DIE - bot died
+//  DAM - took damage
+//  HIT - hurt another player
+//  PTH - a series of nodes in response to a getpath call
+//  RCH - a bool result of a checkreach call
+// (Synchronous messages)
+//  PLR - see another player
+//  INV - see an inventory item (or weapon)
+//  NAV - see a navigation point
+//  DOM - see a domination point
+//  FLG - see a flag
+//  MOV - see a mover
+//  END - end of a vision batch
+//  BEG - begin of a vision batch
+//  SLF - random information about bots state
+//  GAM - random information about game state
+//--------------------------------------------------
+
+
+
+function PostBeginPlay()
+{
+    Parent = BotServer(Owner);
+	ib = Parent.ib;
+	as = Parent.as;
+	ae = Parent.ae;
+
+    if(bDebug)
+    	log("Spawned BotConnection");
+}
+
+//Socket established
+event Accepted()
+{
+	local string gameInfoStr, levelName;
+	local int i;
+
+    if(bDebug)
+    	log("Accepted BotConnection" @ self);
+
+ 	//no clean way to do this since gametypes are not derived from
+ 	//a common ancestor
+	switch(Parent.gameClass)
+	{
+		/*case "BotTeamGamePlus":
+			gameInfoStr = BotTeamGamePlus(Level.Game).GetGameInfo();
+			break;*/
+		case "BotDeathMatch":
+			gameInfoStr = BotDeathMatch(Level.Game).GetGameInfo();
+			break;
+		/*case "BotDomination":
+			gameInfoStr = BotDomination(Level.Game).GetGameInfo();
+			break;
+		case "BotCTF":
+			gameInfoStr = BotCTF(Level.Game).GetGameInfo();
+			break;*/
+	}
+
+	levelName = string(Level);
+	i = InStr(Caps(levelName), ".LEVELINFO");
+	if(i != -1)
+	levelName = Left(levelName, i);
+
+	SendLine("NFO" $ib$as$ "Gametype" $ib$ Parent.gameClass $ae$ib$as$
+		"Level" $ib$ levelName $ae$ gameInfoStr);
+	gotoState('monitoring','WaitingForInit');
+}
+
+//InitRecieved from client
+event InitRecieved()
+{
+local string clientName;
+local string teamString;
+local int teamNum;
+local vector startLocation;
+local rotator startRotation;
+local string className;
+
+  clientName = GetArgVal("Name");
+  teamString = GetArgVal("Team");
+  ParseVector(startLocation,"Location");
+  ParseRot(startRotation);
+  className = GetArgVal("ClassName");
+
+  if( teamString == "" )
+  	teamNum = 255;
+  else
+  	teamNum = int(teamString);
+
+ 	//no clean way to do this since gametypes are not derived from
+ 	//a common ancestor that has AddRemoteBot
+
+	if(bDebug)
+		log("InitRecieved");
+
+	//switch(Parent.gameClass)
+	//{
+	//	case "BotTeamGamePlus":
+			/*theBot = BotTeamGamePlus(Level.Game).AddRemoteBot(self, clientName, teamNum, startLocation, startRotation);
+			break;*/
+	//	case "BotDeathMatch":
+			theBot = BotDeathMatch(Level.Game).AddRemoteBot(self, clientName, teamNum, startLocation, startRotation, className);
+			//theBot = BotDeathMatchPlus(Level.Game).AddRemoteBot(self, clientName);
+	//		break;
+		/*case "BotDomination":
+			theBot = BotDomination(Level.Game).AddRemoteBot(self, clientName, teamNum, startLocation, startRotation);
+			break;
+		case "BotCTF":
+			theBot = BotCTF(Level.Game).AddRemoteBot(self, clientName, teamNum, startLocation, startRotation);
+			break;	*/
+	//}
+
+	// broadcast a welcome message.
+	//Level.Game.BroadcastMessage( theBot.PlayerReplicationInfo.PlayerName$Level.Game.EnteredMessage, false );	  // FIXME
+
+	if(bDebug)
+    		if(theBot != None) log("added bot, now running");
+    		else log("ERROR ADDING BOT");
+
+    gotoState('monitoring','Running');
+}
+
+
+
+//Closed on other end
+event Closed()
+{
+    local Pawn tempPawn;
+
+    if ( theBot != None && theBot.Pawn != None ) {
+        theBot.SetLocation(theBot.Pawn.Location);
+        theBot.Pawn.RemoteRole = ROLE_SimulatedProxy;
+        theBot.Pawn.UnPossessed();
+        tempPawn = theBot.Pawn;
+        theBot.Pawn = None;
+        tempPawn.Destroy();
+    }
+
+    if(theBot != None) {
+        theBot.Destroy();
+    }
+
+    Destroy();
+}
+
+//Recieve info - parse into lines and call RecievedLine
+event ReceivedText( string Text )
+{
+	local int i;
+	local string S;
+
+    if(bDebug)
+    	log("Recieved - "$Text);
+
+	ReceivedData = ReceivedData $ Text;
+
+	// remove a LF which arrived in a new packet
+	// and thus didn't get cleaned up by the code below
+	if(Left(ReceivedData, 1) == Chr(10))
+		ReceivedData = Mid(ReceivedData, 1);
+	i = InStr(ReceivedData, Chr(13));
+	while(i != -1)
+	{
+		S = Left(ReceivedData, i);
+		i++;
+		// check for any LF following the CR.
+		if(Mid(ReceivedData, i, 1) == Chr(10))
+			i++;
+
+		ReceivedData = Mid(ReceivedData, i);
+
+		ReceivedLine(S);
+
+		if(LinkState != STATE_Connected)
+			return;
+
+		i = InStr(ReceivedData, Chr(13));
+	}
+}
+
+
+
+
+
+//Here is where we handle incoming commands
+/* Commands expected to look like:
+{RUN {Argument value} {Arg value}...}
+Currently had coded to take no more than 9 args
+Command type and arguments can be
+any length, but first space terminates the name. Values can
+have spaces or any other kind of character.
+*/
+function ReceivedLine(string S)
+{
+	local string cmdType, argBody, rem;
+	local int endloc, wordsplit;
+    local name curBotState;
+
+    if(bDebug)
+    	log(S);
+
+	if( theBot != none ) {
+    	curBotState = theBot.GetStateName();
+    	if( curBotState == 'Dying' || curBotState == 'GameEnded')
+        	return;
+	}
+
+	wordsplit = InStr(S,ib);
+	if( wordsplit == -1)
+		wordsplit = Len(S);
+
+	cmdType = left(S,wordsplit);
+	rem = mid(S,InStr(S,as));
+	attrNum = 0;
+
+	//iterate through attr/val pairs, storring them in the
+	//parallel arrays RecievedArgs and RecievedVals
+	while(rem != "")
+	{
+		endloc = InStr(rem,ae);
+		argBody = mid(rem,1,(endloc - 1));
+
+		wordsplit = InStr(argBody,ib);
+		ReceivedArgs[attrNum] = left(argBody,wordsplit);
+		ReceivedVals[attrNum] = mid(argBody,(wordsplit + 1));
+
+		rem = mid(rem,1); //advance
+		rem = mid(rem,InStr(rem,as));
+		attrNum++;
+	}
+
+   	cmdType = Caps(cmdType);
+
+	ProcessAction(cmdType);
+}
+
+
+function string GetArgVal(string argName)
+{
+	local int i;
+	while (i < attrNum && ReceivedArgs[i] != "")
+	{
+		if (ReceivedArgs[i] ~= argName)
+			return ReceivedVals[i];
+		i++;
+	}
+
+	return "";
+}
+
+function ParseVector(out vector v, string vecName)
+{
+    local int i;
+    local string rem;
+    local string delim;
+
+    delim = ib;
+
+	rem = GetArgVal(vecName);
+	if(rem != "")
+	{
+        if( InStr(rem,delim) == -1 )
+        	delim = ",";
+        i = InStr(rem,delim);
+        v.X = float(left(rem,i));
+        rem = mid(rem,i+1);
+        i = InStr(rem,delim);
+        v.Y = float(left(rem,i));
+        v.Z = float(mid(rem,i+1));
+	}
+	else
+	{
+		v.x = float( GetArgVal("x") );
+		v.y = float( GetArgVal("y") );
+		v.z = float( GetArgVal("z") );
+	}
+}
+
+function ParseRotAsVec(out vector vec)
+{
+    local int i;
+    local string rem;
+    local string delim;
+
+    delim = ib;
+
+	rem = GetArgVal("Rotation");
+	if(rem != "")
+	{
+        if( InStr(rem,delim) == -1 )
+        	delim = ",";
+        i = InStr(rem,delim);
+        vec.X = float(left(rem,i));
+        rem = mid(rem,i+1);
+        i = InStr(rem,delim);
+        vec.Y = float(left(rem,i));
+        vec.Z = float(mid(rem,i+1));
+	}
+	else
+	{
+		vec.Y = float( GetArgVal("pitch") );
+		vec.Z = float( GetArgVal("yaw") );
+		vec.X = float( GetArgVal("roll") );
+	}
+}
+
+function ParseRot(out rotator rot)
+{
+    local int i;
+    local string rem;
+    local string delim;
+
+    delim = ib;
+
+	rem = GetArgVal("Rotation");
+	if(rem != "")
+	{
+        if( InStr(rem,delim) == -1 )
+        	delim = ",";
+        i = InStr(rem,delim);
+        rot.Pitch = float(left(rem,i));
+        rem = mid(rem,i+1);
+        i = InStr(rem,delim);
+        rot.Yaw = float(left(rem,i));
+        rot.Roll = float(mid(rem,i+1));
+	}
+	else
+	{
+		rot.Pitch = float( GetArgVal("pitch") );
+		rot.Yaw = float( GetArgVal("yaw") );
+		rot.Roll = float( GetArgVal("roll") );
+	}
+}
+
+function ProcessAction(string cmdType)
+{
+    local int i;
+    local vector v, v2;
+    local bool boolResult;
+    local string target, id, outBuf, focusTarg;
+    local rotator r, r2;
+    local float speed;
+    local float accel;
+
+    if(bDebug)
+		log("comandType:"@cmdType);
+
+    if (bIterative)
+    	Level.Pauser=None;
+
+
+   	switch(cmdType)
+   	{
+	case "TEST":
+	    theBot.GotoState('Startup', 'Test');
+	    break;
+	case "INIT":
+	    InitRecieved();
+	    break;
+	case "INCH":
+	    //test function
+	    /* must deal with target, focus and destination */
+	    theBot.StopWaiting();
+	    theBot.myDestination = (100 * vector(theBot.Pawn.Rotation)) + theBot.Pawn.Location;
+	    theBot.GotoState('Startup', 'Move');
+	    break;
+	case "SETWALK":
+	    target = GetArgVal("Walk");
+	    SetPropertyText("tempBool",target);
+	    theBot.Pawn.bIsWalking = tempBool;
+	    break;
+	case "SETPHYS":
+	    target = GetArgVal("Physics");
+	    switch(target) {
+	    case "Walking":
+		theBot.Pawn.SetPhysics(PHYS_Walking);
+		log("Setting Physics Walking");
+		if(theBot.Physics == PHYS_Walking)
+		    {
+			log("Bot already walking");
+		    }
+		break;
+	    case "Falling":
+		theBot.Pawn.SetPhysics(PHYS_Falling);
+		break;
+	    case "Swimming":
+		theBot.Pawn.SetPhysics(PHYS_Swimming);
+		break;
+	    case "Flying":
+		theBot.Pawn.SetPhysics(PHYS_Flying);
+		log("Setting Physics Flying");
+		if(theBot.Pawn.Physics == PHYS_Flying)
+		    {
+			log("Bot already flying");
+		    }
+		break;
+	    case "Rotating":
+		theBot.Pawn.SetPhysics(PHYS_Rotating);
+		break;
+	    case "Projectile":
+		theBot.Pawn.SetPhysics(PHYS_Projectile);
+		break;
+	    case "NONE":
+	    case "":
+		theBot.Pawn.SetPhysics(PHYS_None);
+		break;
+	    }
+	    break;
+	case "STOP":
+	    theBot.GotoState('Startup', 'Begin');
+	    break;
+	case "JUMP":
+	    theBot.RemoteJump();
+	    break;
+	case "DRM" : // May be we need to deal with time stamp to make time compensation. 02/06/17
+	case "RUN" :
+	case "SPIN": //jjwang 02/06/01
+	    if	(theBot.botDR==none) {
+		theBot.botDR = new class'DeadReckoning';
+		theBot.botDR.init(theBot.Pawn);
+	    }
+	    theBot.botDR.SetT(Level.TimeSeconds);
+
+	    //	SPIN
+	    if (GetArgVal("Rotation")!="") {
+		ParseRot(r);
+		theBot.botDR.SetRP(r);
+	    }
+	    if (GetArgVal("Rate")!="") {
+		ParseVector(v,"Rate");
+		r.Pitch = v.x;
+		r.Yaw = v.y;
+		r.Roll = v.z;
+		theBot.botDR.SetRV(r);
+	    }
+	    if (GetArgVal("AcRate")!="") {
+		ParseVector(v,"AcRate");
+		r.Pitch = v.x;
+		r.Yaw = v.y;
+		r.Roll = v.z;
+		theBot.botDR.SetRA(r);
+	    }
+
+	    // RUN
+	    if (GetArgVal("Location")!="") {
+		ParseVector(v2,"Location");
+		theBot.botDR.setLP(v2); // joe
+		//theBot.Pawn.SetLocation(v2); //joe
+	    }
+	    if (GetArgVal("Velocity")!="") {
+		ParseVector(v,"Velocity");
+		theBot.botDR.setLV(v);
+		theBot.botDR.setLA(vect(0,0,0));
+	    }
+	    if (GetArgVal("Acceleration")!="") {
+		ParseVector(v,"Acceleration");
+		theBot.botDR.SetLA(v);
+	    }
+
+	    // Used for replication DR. 02/06/27
+	    theBot.start.DR_T = theBot.botDR.start.DR_T;
+	    theBot.start.DR_P = theBot.botDR.start.DR_P;
+	    theBot.start.DR_V = theBot.botDR.start.DR_V;
+	    theBot.start.DR_A = theBot.botDR.start.DR_A;
+	    theBot.start.DR_RP = theBot.botDR.start.DR_RP;
+	    theBot.start.DR_RV = theBot.botDR.start.DR_RV;
+	    theBot.start.DR_RA = theBot.botDR.start.DR_RA;
+	    theBot.start.PreK = theBot.botDR.PreK;
+	    theBot.start.bLFilter = theBot.botDR.bLFilter;
+	    theBot.start.bRFilter = theBot.botDR.bRFilter;
+
+	    if (!theBot.isDR) {
+		log("STARTING DR");
+		theBot.isDR = true;
+		theBot.GotoState('Startup', 'DRM');
+	    }
+	    break;
+	case "RUNTO":
+	    speed = float(GetArgVal("Speed"));
+	    if(speed != 0.0)
+		{
+		    if(theBot.Physics == PHYS_Flying)
+			{
+			    theBot.pawn.airspeed = speed;
+			}
+		    else if(theBot.Physics == PHYS_Swimming)
+			{
+			    theBot.pawn.waterspeed = speed;
+			}
+		    else
+			{
+			    theBot.pawn.groundspeed = speed;
+			}
+		}
+	    accel = float(GetArgVal("Accel"));
+	    if(accel != 0.0)
+		{
+		    theBot.pawn.AccelRate = accel;
+		}
+	    target = GetArgVal("Target");
+	    if(target == "")
+		{
+		    ParseVector(v,"Location");
+		    theBot.myDestination = v;
+		    theBot.RemoteDestination = none;
+		    theBot.GotoState('Startup', 'Move');
+		}
+	    else
+		{
+		    SetPropertyText("tempActor",target);
+
+		    if( tempActor != none &&
+			theBot.FastTrace(tempActor.Location) &&
+			theBot.inFront(tempActor.Location) )
+		    	{
+			    //theBot.RemoteDestination = none;
+			    //zero out myDestination
+			    theBot.myDestination = tempActor.Location;
+			    theBot.GotoState('Startup', 'Move');
+			}
+		}
+	    break;
+		case "STRAFE":
+			speed = float(GetArgVal("Speed"));
+                        if(speed != 0.0)
+                        {
+                                if(theBot.Pawn.Physics == PHYS_Flying)
+                                {
+                                        theBot.pawn.airspeed = speed;
+                                }
+				else if(theBot.Physics == PHYS_Swimming)
+				{
+					theBot.pawn.waterspeed = speed;
+				}
+                                else
+                                {
+                                        theBot.pawn.groundspeed = speed;
+                                }
+                        }
+			accel = float(GetArgVal("Accel"));
+			if(accel != 0.0)
+			{
+				theBot.pawn.AccelRate = accel;
+			}
+			ParseVector(v,"Location");
+			theBot.myDestination = v;
+			focusTarg = GetArgVal("Target");
+			if(focusTarg == "")
+			{
+				ParseVector(v2,"Focus");
+				theBot.myFocus = v2;
+				theBot.RemoteFocus = none;
+		    }
+		    else
+		    {
+		    	SetPropertyText("tempActor",focusTarg);
+		    	if( tempActor != none &&
+		    		theBot.FastTrace(tempActor.Location) &&
+		    		theBot.inFront(tempActor.Location) )
+		    	{
+			    	theBot.RemoteFocus = tempActor;
+					//zero out myFocus
+					theBot.myFocus = v2;
+				}
+		    }
+			theBot.StopWaiting();
+	        theBot.GotoState('Startup', 'Strafe');
+	        break;
+     	case "SHOOT":
+			target = GetArgVal("Target");
+			ParseVector(v,"Location");
+			theBot.SetPropertyText("Enemy",target);
+			theBot.SetPropertyText("RemoteEnemy",target);
+			theBot.StopWaiting();
+			theBot.myTarget = v;
+
+			target = GetArgVal("Alt");
+			SetPropertyText("tempBool",target);
+			theBot.RemoteFireWeapon(tempBool);
+	        break;
+     	case "CHANGEWEAPON":
+			target = GetArgVal("ID");
+			if( target ~= "best" )
+			{
+				theBot.SwitchToBestWeapon();
+			}
+			else
+			{
+				SetPropertyText("tempActor",target);
+
+				if(tempActor != none)
+				{
+					theBot.pawn.PendingWeapon = Weapon(tempActor);
+					if ( theBot.pawn.Weapon == None )
+						theBot.ChangedWeapon();
+					else if ( theBot.pawn.Weapon != theBot.pawn.PendingWeapon )
+						theBot.pawn.Weapon.PutDown();
+				}
+			}
+	        break;
+     	case "STOPSHOOT":
+			theBot.StopWaiting();
+			theBot.HaltFiring();
+	        break;
+     	case "CHECKREACH":
+			target = GetArgVal("Target");
+		    id = GetArgVal("id");
+			if(target == "")
+			{
+				ParseVector(v,"Location");
+		    	boolResult = theBot.pointReachable(v);
+			    sendLine("RCH" $ib$as$ "ID" $ib$ id $ae$ib$as$ "Reachable" $ib$ boolResult
+			    	$ae$ib$as$ "From" $ib$ theBot.Location $ae);
+		    }
+		    else
+		    {
+		    	SetPropertyText("tempActor",target);
+		    	if( tempActor != none &&
+		    		theBot.FastTrace(tempActor.Location) &&
+		    		theBot.inFront(tempActor.Location) )
+		    	{
+			    	boolResult = theBot.actorReachable(tempActor);
+				    sendLine("RCH" $ib$as$ "ID" $ib$ id $ae$ib$as$ "Reachable" $ib$ boolResult
+				    	$ae$ib$as$ "From" $ib$ theBot.Location $ae$ib$as$ "To" $ib$ tempActor.Location $ae);
+				}
+		    }
+    		break;
+     	case "TURNTO":
+	    target = GetArgVal("Target");
+	    if(target == "")
+		{
+		    ParseRot(r);
+		    if(r.Yaw == 0 && r.Pitch == 0 && r.Roll == 0)
+			{
+			    //no target or rotation defined
+			    ParseVector(v,"Location");
+			    theBot.myFocus = v;
+			    theBot.RemoteFocus = none;
+			}
+		    else
+			{
+			  //no target, yes rotation
+			  theBot.myRotation = r;
+			  theBot.FocalPoint = theBot.Pawn.Location + ( vector(r) * 1000);
+			  //theBot.myFocus = vect(0,0,0);
+			  theBot.RemoteFocus = none;
+		    	}
+		}
+	    else
+		{
+		    //target defined
+		    SetPropertyText("tempActor",target);
+		    if( tempActor != none &&
+			theBot.FastTrace(tempActor.Location) &&
+			theBot.inFront(tempActor.Location) )
+		    	{
+			    theBot.RemoteFocus = tempActor;
+			    //zero out myFocus
+			    theBot.myFocus = v;
+			}
+		}
+	    if (GetArgVal("RotationRate")!="") {
+                ParseRot(r2);
+		theBot.myRotationRate = r2;
+	    }
+	    theBot.StopWaiting();
+	    theBot.GotoState('Startup', 'Turning');
+	    break;
+     	case "ROTATE":
+	    target = GetArgVal("Axis");
+	    r = theBot.Pawn.Rotation;
+	    i = int(GetArgVal("Amount"));
+	    if(target == "Vertical")
+		    {
+			r.Pitch = r.Pitch + i;
+		    }
+		else
+		    {
+			r.Yaw = r.Yaw + i;
+		    }
+	        if (GetArgVal("RotationRate")!="") {
+                    ParseRot(r2);
+		    theBot.myRotationRate = r2;
+	        }
+		theBot.myRotation = r;
+		theBot.myFocus = theBot.Pawn.Location + ( vector(r) * 1000 );
+		theBot.RemoteFocus = none;
+		theBot.StopWaiting();
+		theBot.GotoState('Startup', 'Turning');
+    		break;
+	case "TRACK":
+	    target = GetArgVal("Target");
+	    if(target != "")
+		{
+		    SetPropertyText("tempActor",target);
+		    if( theBot.FastTrace(tempActor.Location) && theBot.inFront(tempActor.Location) )
+		    	{
+			    theBot.RemoteFocus = tempActor;
+			    theBot.StopWaiting();
+			    theBot.GotoState('Startup', 'Tracking');
+		        }
+		}
+	    break;
+     	case "GETPATH":
+     		//clear the old path
+		    for ( i=0; i<16; i++ )
+			{
+				if ( theBot.RouteCache[i] == None )
+					break;
+				else
+				{
+					theBot.RouteCache[i] = None;
+				}
+			}
+			ParseVector(v,"Location");
+		    theBot.FindPathTo(v);
+		    id = GetArgVal("id");
+		    outBuf = "PTH"$ib$as$"ID"$ib$id$ae;
+		    for ( i=0; i<16; i++ )
+			{
+				if ( theBot.RouteCache[i] == None )
+					break;
+				else
+				{
+    				outBuf = outBuf$ib$as$i$ib$theBot.RouteCache[i]$ib$theBot.RouteCache[i].Location$ae;
+				}
+			}
+			SendLine(outBuf);
+    		break;
+     	case "MESSAGE":
+     		//Note - currently only allow messages under 256 chars
+			target = GetArgVal("Text");
+			boolResult = bool(GetArgVal("Global"));
+			if(target != "")
+			{
+				// @ preceding message makes it global. dont ask. not my code
+		/*		if(boolResult)
+					theBot.BroadcastLocalizedMessage("@"$target);
+				else
+					theBot.BroadcastLocalizedMessage(target); */
+			// FIXME
+		    }
+		    break;
+     	case "PING":
+     		SendLine("PONG");
+		    break;
+    }
+}
+
+
+
+
+//Send a line to the client
+function SendLine(string Text, optional bool bNoCRLF)
+{
+    if(bDebug)
+    	log("    Sending: "$Text);
+	if(bNoCRLF)
+		SendText(Text);
+	else
+		SendText(Text$Chr(13)$Chr(10));
+}
+
+
+//Concat two strings togeather with our list bookends
+function string MakeItem(string first, string second)
+{
+	return (as$first$ib$second$ae);
+}
+
+
+//fire right up into the loop for sending updates
+auto state monitoring
+{
+Begin:
+WaitingForInit:
+	sleep(0.1);
+	goto 'WaitingForInit';
+Running:
+  if(bVision && Level.Pauser == None && theBot != none && !theBot.IsInState('GameEnded') && !theBot.IsInState('Dying'))
+  {
+		SendLine("BEG" $ib$as$ "Time" $ib$ Level.TimeSeconds $ae);
+	 	//no clean way to do this since gametypes are not derived from
+	 	//a common ancestor that has AddRemoteBot
+		//switch(Parent.gameClass)
+		//{
+		/*	case "BotTeamGamePlus":
+				sendLine( BotTeamGamePlus(Level.Game).GetGameStatus() );
+				break;*/
+		//	case "BotDeathMatch":
+				sendLine( BotDeathMatch(Level.Game).GetGameStatus() );
+		//		break;
+			/*case "BotDomination":
+				sendLine( BotDomination(Level.Game).GetGameStatus() );
+				break;
+			case "BotCTF":
+				sendLine( BotCTF(Level.Game).GetGameStatus(theBot) );
+				break;	*/
+		//}
+	  	theBot.checkSelf();
+	  	theBot.checkVision();
+		SendLine("END" $ib$as$ "Time" $ib$ Level.TimeSeconds $ae);
+  }
+  if (bIterative)
+  	Level.Pauser=theBot.playerReplicationInfo;
+
+  sleep(visionTime);
+  goto 'Running';
+}
+
+defaultproperties
+{
+     bDebug=true
+     bVision=true
+     visionTime=0.100000
+     as="{"
+     ae="}"
+     ib=" "
+}

Added: usarsim/USARBotAPI/Classes/BotDeathMatch.uc
===================================================================
--- usarsim/USARBotAPI/Classes/BotDeathMatch.uc	                        (rev 0)
+++ usarsim/USARBotAPI/Classes/BotDeathMatch.uc	2007-05-10 15:24:00 UTC (rev 599)
@@ -0,0 +1,210 @@
+class BotDeathMatch extends DeathMatch
+	config(USARBotAPI);
+
+var class<VizServer>	VizServerClass;
+var VizServer           theVizServer;
+var class<BotServer>	BotServerClass;
+var BotServer 	    	theBotServer;
+var bool 	 	        bServerLoaded;
+var class<RemoteBotInfo> RemoteBotConfigClass;
+var class<RemoteBot>    RemoteBotClass;
+var RemoteBotInfo       RemoteBotConfig;
+var int 		        NumRemoteBots;
+var ComServer			theComServer;
+var class<ComServer>	ComServerClass;
+
+
+function PostBeginPlay()
+{
+	Super.PostBeginPlay();
+
+	if(!bServerLoaded)
+	{
+	    theVizServer = spawn(VizServerClass, self);
+	    theVizServer.gameClass = "BotDeathMatch";
+	    
+	    theBotServer = spawn(BotServerClass);
+	    theBotServer.gameClass = "BotDeathMatch";
+		
+		theComServer = spawn(ComServerClass,self);
+	    theComServer.gameClass = "BotDeathMatch";
+		
+	    bServerLoaded = true;
+	}
+	RemoteBotConfig = spawn(RemoteBotConfigClass);
+}
+
+function RemoteBot AddRemoteBot(BotConnection theConnection, string clientName, int teamNum, vector startLocation, rotator startRotation, string className)
+{
+	local RemoteBot NewBot;
+	local NavigationPoint startSpot;
+
+	startSpot = FindPlayerStart(NewBot);
+
+	newBot = Spawn(RemoteBotClass, self, ,startLocation, startRotation);
+
+	newBot.bIsPlayer = true;
+	newBot.bHidden = false;
+	if ( NewBot != None ) {
+		NewBot.myConnection = theConnection;
+		NewBot.as = theConnection.as;
+		NewBot.ae = theConnection.ae;
+		NewBot.ib = theConnection.ib;
+		NewBot.PlayerReplicationInfo.PlayerID = CurrentID++;
+		NumRemoteBots++;
+		NumPlayers++;
+		if(clientName == "") {
+		    newBot.PlayerReplicationInfo.PlayerName = "Unnamed_Bot_" $ NumRemoteBots;
+		} else {
+		    newBot.PlayerReplicationInfo.PlayerName = clientName;
+		}
+
+		if(className != "") {
+			newBot.PawnClass = class<Pawn>(DynamicLoadObject(className, class'Class'));
+		} else if(newBot.PawnClass == None) {
+			log("newBot.PawnClass is None");
+			newBot.PawnClass = class<Pawn>(DynamicLoadObject("xGame.xPawn", class'Class'));
+		}
+
+		SpawnPlayer(newBot, startLocation, startRotation);
+	} else {
+	    log("NewBot was none");
+	}
+
+	return NewBot;
+}
+
+function SpawnPlayer(RemoteBot newBot, optional vector startLocation, optional rotator startRotation) {
+	local NavigationPoint startSpot;
+
+	if(NewBot == None) {
+		log("NewBot was none");
+		return;
+	}
+	if(NewBot.Pawn != None) {
+	    log("Already had pawn");
+	    return;
+	}
+
+	startSpot = FindPlayerStart(NewBot);
+
+	if(startLocation == vect(0,0,0)) {
+	    NewBot.Pawn = Spawn(GetDefaultPlayerClass(NewBot),,,StartSpot.Location,StartSpot.Rotation);
+	} else {
+	    NewBot.Pawn = Spawn(NewBot.PawnClass,,,startLocation,startRotation);
+	}
+	log("PawnClass: "$NewBot.PawnClass);
+
+	if ( NewBot.Pawn == None )
+	{
+	   	log("Couldn't spawn player of type "$NewBot.PawnClass$" at "$StartSpot);
+	   	return;
+	} else {
+		log("Spawned player of type "$NewBot.PawnClass$" at "$StartSpot);
+	}
+
+	NewBot.Pawn.Anchor = startSpot;
+	NewBot.Pawn.LastStartSpot = PlayerStart(startSpot);
+	NewBot.Pawn.LastStartTime = Level.TimeSeconds;
+	NewBot.PreviousPawnClass = NewBot.Pawn.Class;
+
+	NewBot.Possess(NewBot.Pawn);
+	NewBot.PawnClass = NewBot.Pawn.Class;
+
+	NewBot.Squad = spawn(DeathMatch(Level.Game).DMSquadClass);
+	if(NewBot.Squad == None) log("NewBot.Squad == None");
+
+	NewBot.Pawn.PlayTeleportEffect(true, true);
+	//	NewBot.ClientSetRotation(NewBot.Pawn.Rotation);
+	AddDefaultInventory(NewBot.Pawn);
+	TriggerEvent( StartSpot.Event, StartSpot, NewBot.Pawn );
+	BroadcastLocalizedMessage(GameMessageClass, 1, NewBot.PlayerReplicationInfo);
+	NewBot.GotoState('StartUp', 'Begin');
+}
+
+function string GetGameStatus()
+{
+	local string ib, as, ae;
+	local string outStr;
+	local Controller P;
+	
+	ib = theBotServer.ib;
+	as = theBotServer.as;
+	ae = theBotServer.ae;
+	
+	outStr = "GAM";
+			
+	outStr = ( outStr $ib$as$ "PlayerScores" );
+	for ( P=Level.ControllerList; P!=None; P=P.NextController )
+	{
+		if( !P.PlayerReplicationInfo.bIsSpectator )
+			outStr = ( outStr $ib$as$ P $ib$ P.PlayerReplicationInfo.Score $ae );
+	}
+	
+	outStr = ( outStr $ae );				
+					
+	return outStr;
+}
+
+function string GetGameInfo()
+{
+	local string ib, as, ae;
+	local string outStr;
+	
+	ib = theBotServer.ib;
+	as = theBotServer.as;
+	ae = theBotServer.ae;
+	
+	//outStr = (ib$as$ "FragLimit" $ib$ $ae$ib$as$ "TimeLimit" $ib$ $ae);	
+	outStr = (ib$as$ "TimeLimit" $ib$ TimeLimit $ae);	
+					
+	return outStr;
+}
+
+function RestartPlayer( Controller aPlayer )
+{
+    if(aPlayer.IsA('RemoteBot')) {
+	 	if(aPlayer.IsInState('Dying')) {
+		    log("BOTRESTRTPLAYER"@aPlayer);
+	    	SpawnPlayer(RemoteBot(aPlayer));	
+		}
+    } else if (aPlayer.IsA('Player')){
+		log("RESTARTPLAYER"@aPlayer);
+		Super.RestartPlayer(aPlayer);
+    }
+}
+
+function Killed( Controller Killer, Controller Killed, Pawn KilledPawn, class<DamageType> damageType )
+{
+    local string ib, as, ae;
+	
+	ib = theBotServer.ib;
+	as = theBotServer.as;
+	ae = theBotServer.ae;
+
+	Killer.PlayerReplicationInfo.Score += 1.0;
+
+	if(!Killed.IsA('RemoteBot')) {
+	    Super.Killed(Killer, Killed, KilledPawn, damageType);
+	} else 	if(Killed != None) 
+	    RemoteBot(Killed).myConnection.SendLine("DIE" $ib$as$ "Killer" $ib$ Killer $ae$ib$as$
+						    "DamageType" $ib$ damageType $ae);
+}
+
+defaultproperties
+{
+	 BotServerClass=USARBotAPI.BotServer
+	 VizServerClass=USARBotAPI.VizServer
+	 ComServerClass=USARBotAPI.ComServer
+	 RemoteBotConfigClass=USARBotAPI.RemoteBotInfo
+	 RemoteBotClass=USARBotAPI.RemoteBot;	 
+     NetWait=0
+     CountDown=0
+     DefaultEnemyRosterClass="XGame.xDMRoster"
+     bPauseable=True
+     AutoAim=0.930000
+     GameSpeed=1.500000
+     MaxPlayers=16
+     GameName="Remote Bot DeathMatch"
+     PlayerControllerClassName="USARBotAPI.ViewTestPlayerController"
+}

Added: usarsim/USARBotAPI/Classes/BotServer.uc
===================================================================
--- usarsim/USARBotAPI/Classes/BotServer.uc	                        (rev 0)
+++ usarsim/USARBotAPI/Classes/BotServer.uc	2007-05-10 15:24:00 UTC (rev 599)
@@ -0,0 +1,96 @@
+class BotServer extends TcpLink
+	config(USARBotAPI);
+
+
+var config int ListenPort;
+var config int MaxConnections;
+
+var string gameClass;
+var bool bBound;
+var config bool bDebug;
+
+var int ConnectionCount;
+
+
+
+// configurable delimeters for strings sent to clients
+// currently of form (with multiple possible attributes):
+// "type"$ib$"identifier"$ib$as$"attrname1"$ib$"attrvalue1"$ae
+
+// as = identifies the start of an attribute
+var string as;
+// ae = attribute end
+var string ae;
+// ib = item break
+var string ib;
+
+
+
+//shouldn't happen
+event ReceivedText( string Text )
+{
+    if(bDebug)
+    	log("RecievedTest in Server - "$Text);
+}
+
+
+
+function BeginPlay()
+{
+	Super.BeginPlay();
+    if(!bBound)
+    {
+		BindPort( ListenPort );
+		if(bDebug)
+    		log("BotServer bound to port "$ListenPort);
+		Listen();
+        bBound = true;
+    }
+}
+
+//should never happen - accepted connections should be forwarded to a botconnection
+event Accepted()
+{
+    if(bDebug)
+    	log("Accepted connection in BotServer");
+}
+
+//called everytime a new botconnection is spawned
+event GainedChild( Actor C )
+{
+	Super.GainedChild(C);
+	ConnectionCount++;
+
+    //BotConnection(C).Parent = self;
+	// if too many connections, close down listen.
+	if(MaxConnections > 0 && ConnectionCount > MaxConnections && LinkState == STATE_Listening)
+	{
+		if(bDebug)
+    		Log("BotServer: Too many connections - closing down Listen.");
+		Close();
+	}
+}
+
+event LostChild( Actor C )
+{
+	Super.LostChild(C);
+	ConnectionCount--;
+
+	// if closed due to too many connections, start listening again.
+	if(ConnectionCount <= MaxConnections && LinkState != STATE_Listening)
+	{
+		if(bDebug)
+    		Log("BotServer: Listening again - connections have been closed.");
+		Listen();
+	}
+}
+
+defaultproperties
+{
+     ListenPort=3000
+     MaxConnections=64
+     as="{"
+     ae="}"
+     ib=" "
+     AcceptClass=Class'USARBotAPI.BotConnection'
+}

Added: usarsim/USARBotAPI/Classes/ComConnection.uc
===================================================================
--- usarsim/USARBotAPI/Classes/ComConnection.uc	                        (rev 0)
+++ usarsim/USARBotAPI/Classes/ComConnection.uc	2007-05-10 15:24:00 UTC (rev 599)
@@ -0,0 +1,107 @@
+class ComConnection extends Actor config(USARComServer);
+
+var ComLink link1,link2;
+var bool bInit;
+var class<ComLink> CLclass;
+var config bool bDebug;
+
+function setUp(string id1,string id2)
+{
+	if(!bInit)
+	{
+		//Spawn two ComLink objects
+		link1=spawn(CLclass,self);
+		if(link1!=None)
+		{
+			link1.setUp(id1);
+		}
+		link2=spawn(CLclass,self);
+		if(link2!=None)
+		{
+			link2.setUp(id2);
+		}
+		
+		if(link1!=None && link2!=None)
+			bInit=true;
+		else
+		{
+			if(bDebug)
+				log("ComConnection : Cannot spawn ComLink classes");
+		}
+	}
+}
+
+//Process the requests sent by the robot
+function processMessage(string cmd, int Count, byte M[255], string id)
+{	
+	//Processing the command
+	switch(cmd)
+	{
+		case "SEND":
+			if(!(ComServer(Owner).isReachable(link1.id,link2.id)))
+			{
+				if(bDebug) log("ComConnection: Lost connectivity between "$link1.id$" and "$link2.id);
+				if(id==link1.id)
+				{
+					//link1.SendText("Fail: Lost connectivity between "$link1.id$" and "$link2.id$";");
+				}
+				else
+				{
+					//link2.SendText("Fail: Lost connectivity between "$link1.id$" and "$link2.id$";");
+				}
+				link1.Close();
+				link2.Close();
+				link1.bInit=false;
+				link2.bInit=false;
+				break;
+			}
+			if(id==link1.id)
+			{
+				if(link2.bInit==true)
+					link2.SendBinary(Count,M);
+				//link1.SendText("OK;");
+			}
+			else
+			{
+				if(link1.bInit==true)
+					link1.SendBinary(Count,M);
+				//link2.SendText("OK;");
+			}
+			break;
+		case "CLOSE":
+			if(link1.bInit==true)
+			{
+				if (bDebug) log("ComConnection: Closing connection to "$link1.id);
+				link1.Close();
+				link1.bInit=false;
+			}
+			if(link2.bInit==true)
+			{
+				if (bDebug) log("ComConnection: Closing connection to "$link2.id);
+				link2.Close();
+				link2.bInit=false;
+			}
+			break;
+		//These should not occur
+		case "REGISTER":
+		case "LISTEN":
+		case "OPEN":
+		default:
+			if(bDebug) log("ComConnection: Unknown message - "$cmd);
+			if(id==link1.id)
+			{
+				Link1.SendText("Fail: Unknown message;");
+			}
+			else
+			{
+				Link2.SendText("Fail: Unknown message;");
+			}
+	}
+}
+
+defaultproperties
+{
+	CLclass=USARBotApi.ComLink
+	bInit=false
+	bDebug=true
+}
\ No newline at end of file

Added: usarsim/USARBotAPI/Classes/ComLink.uc
===================================================================
--- usarsim/USARBotAPI/Classes/ComLink.uc	                        (rev 0)
+++ usarsim/USARBotAPI/Classes/ComLink.uc	2007-05-10 15:24:00 UTC (rev 599)
@@ -0,0 +1,327 @@
+class ComLink extends TcpLink config(USARComServer);
+
+var string id;
+var string PartMsg;
+var string MsgEnd;
+var bool bInit;
+var config bool bDebug;
+var int RPort;
+
+
+//Variables to process the binary message
+var bool bNewMsg;
+var int mLen;
+var string sLen;
+var int mProc;
+var byte Msg[255];
+var int aProc;
+var string Com;
+var byte C[5];
+
+
+function setUp(string iden)
+{
+	if(!bInit)
+	{
+		id=iden;
+		bInit=true;
+		LinkMode=MODE_Binary;
+	}
+}
+
+function Connect(string Ip, string Port)
+{
+	RPort=int(Port);
+	if(bDebug)
+		log("ComLink: Connect is resolving IP address "$Ip);
+	Resolve(Ip);
+}
+
+event Resolved(IpAddr Addr)
+{
+	if(bDebug)
+		log("ComLink: IP address resolved");
+	Addr.Port=RPort;
+	BindPort();
+	Open(Addr);
+}
+
+event ResolveFailed()
+{
+  if(bDebug) log("ComLink: Could not resolve IP address");
+}
+
+event Opened()
+{
+	if(bDebug)
+		log("ComLink: "$id$" Connected to "$IpAddrToString(RemoteAddr));
+}
+
+function bool Open(IpAddr Addr)
+{
+	if(bDebug)
+		log("ComLink: "$id$" Connecting to "$IpAddrToString(Addr));
+	return super.Open(Addr);
+}
+
+event ReceivedLine(string Line)
+{
+	if(bInit)
+	{
+		ComConnection(Owner).processMessage(Line,0,Msg,id);
+	}
+}
+
+event ReceivedText( string Text )
+{
+	local int i;
+	local string M;
+	
+	i=0;
+	if(bDebug)
+    	log("ComLink: Recieved Text in Server - "$Text);
+		
+	i=InStr(Text,MsgEnd);
+	if(i==-1)				//Incomplete message
+	{
+		PartMsg$=Text;
+	}
+	else
+	{
+		M=PartMsg$Left(Text,i+1);
+		PartMsg=Mid(Text,i+1);
+		ReceivedLine(M);
+	}
+}
+
+//convert the byte array to a string (SEND, CLOSE or ERR)
+function string getCommand(byte B[5])
+{
+	if(B[0]==83 && B[1]==69 && B[2]==78 && B[3]==68 && B[4]==32)
+	{
+		return "SEND";
+	}
+	else if(B[0]==67 && B[1]==76 && B[2]==79 && B[3]==83 && B[4]==69)
+	{
+		return "CLOSE";
+	}
+	else
+	{
+		return "ERR";
+	}
+}
+
+//If you recieve a binary message
+event ReceivedBinary( int Count, byte B[255] )
+{
+	local int ctr;
+	local string m;
+	ctr=0;
+	
+	if(bDebug)
+	{
+		m="";
+		while(ctr<Count)
+		{
+			m=m$string(B[ctr]);
+			ctr++;
+		}
+		ctr=0;
+		log("ComLink: Recived "$m);
+	}
+	
+	while(ctr<Count)
+	{
+		//The command part of the message
+		if(mProc<5)
+		{
+			C[mProc]=B[ctr];
+			ctr++;
+			mProc++;
+		}
+		//If the command part has just been processed
+		if(mProc==5)
+		{
+			Com=getCommand(C);
+			if(bDebug) log("ComLink: command received is "$Com);
+		}
+		
+		//If the command part has been processed
+		if(mProc>=5)
+		{
+			switch(Com)
+			{
+				case "SEND": 
+					//Get the size
+					if(mLen<0)
+					{
+						while(ctr<Count)
+						{
+							if(B[ctr]==32) break;
+							sLen=sLen$string(int(B[ctr])-48);
+							ctr++;
+						}
+						if(ctr<Count)
+						{
+							mLen=int(sLen);
+							if(bDebug) log("ComLink: Message length is "$sLen$" converted to "$mLen);
+							aProc=0;
+							ctr++;
+						}
+					}
+					//Get the message
+					if(mLen>=0)
+					{
+						while(aProc<mLen && ctr<Count)
+						{
+							Msg[aProc]=B[ctr];
+							ctr++;
+							aProc++;
+							//If the message buffer is full
+							if(aProc==255)
+							{
+								//Process message
+								if(bDebug) log("ComLink: message of size "$aProc$" being sent");
+								ComConnection(Owner).processMessage(Com,aProc,Msg,id);
+								mLen=mLen-aProc;
+								aProc=0;
+							}
+						}
+						if(ctr<Count)
+						{
+							if(bDebug) log("ComLink: message of size "$aProc$" being sent");
+							ComConnection(Owner).processMessage(Com,aProc,Msg,id);
+							ctr++;
+							mProc=0;
+							aProc=0;
+							mLen=-1;
+							sLen="";
+							Com="None";
+						}
+					}
+					break;
+				case "CLOSE":
+				//Go to the next semicolon
+					while(ctr<Count)
+					{
+						if(B[ctr]==59) break;
+						ctr++;
+						mProc++;
+					}
+					//If this is the semi colon
+					if(ctr<Count)
+					{
+						//Process message
+						ComConnection(Owner).processMessage(Com,0,B,id);
+						ctr++;
+						mProc=0;
+						Com="None";
+					}
+					break;
+				case "ERR":
+				//Go to the next semicolon
+					while(B[ctr]!=59 && ctr<Count)
+					{
+						ctr++;
+						mProc++;
+					}
+					//If this is the semi colon
+					if(ctr<Count)
+					{
+						//Process message
+						
+						//ComConnection(Owner).processMessage(Com,0,B,id);
+						ctr++;
+						mProc=0;
+						Com="None";
+					}
+					break;
+			}
+		}
+	}	
+		
+		/*
+		//If the command type is SEND the get the message into the byte array
+		if(Com=="SEND" && B[ctr]!=59 && mProc>4)
+		{
+			Msg[aProc]=B[ctr];
+			aProc=aProc+1;
+		}
+		
+		//if the message buffer is full
+		if(Com=="SEND" && aProc==255)
+		{
+			ComConnection(Owner).processMessage(Com,aProc,Msg,id);
+			aProc=0;
+		}
+	
+		mProc=mProc+1;
+		bNewMsg=false;
+		//End of message
+		if(Com!="SEND" && B[ctr]==59)
+		{
+			//Process message
+			if(bInit)
+				ComConnection(Owner).processMessage(Com,0,Msg,id);
+			//Reset counters
+			mLen=0;
+			mProc=0;
+			aProc=0;
+			bNewMsg=true;
+			Com="NONE";
+		}
+		if(Com=="SEND" && B[ctr]==59 && mProc>=mLen)
+		{
+			//Process message
+			if(bInit)
+				ComConnection(Owner).processMessage(Com,aProc,Msg,id);
+			//Reset counters
+			mLen=0;
+			mProc=0;
+			aProc=0;
+			bNewMsg=true;
+			Com="NONE";
+		}
+		ctr=ctr+1;
+	}
+	*/
+}
+
+//Should never be called
+function processMessage(string Msg, string id)
+{
+	if (bDebug)
+		log("ComLink "$id$" - Incorrect owner");
+}
+
+//Closed on other end
+event Closed()
+{
+	
+	//Process message
+	if(bInit)
+	{
+		if(bDebug)
+		{
+			log("ComLink: Robot "$id$" closed the connection");
+		}
+		bInit=false;
+		ComConnection(Owner).processMessage("CLOSE",0,Msg,id);
+	}
+}
+
+defaultproperties
+{
+	id=""
+	bInit=false
+	PartMsg=""
+	MsgEnd=";"
+	bDebug=true
+	RPort=""
+	bNewMsg=true
+	mLen=-1;
+	sLen="";
+	mProc=0
+	aProc=0
+	Com=""
+}
\ No newline at end of file

Added: usarsim/USARBotAPI/Classes/ComServer.uc
===================================================================
--- usarsim/USARBotAPI/Classes/ComServer.uc	                        (rev 0)
+++ usarsim/USARBotAPI/Classes/ComServer.uc	2007-05-10 15:24:00 UTC (rev 599)
@@ -0,0 +1,447 @@
+class ComServer extends TcpLink
+		config(USARComServer);
+
+
+var config int ListenPort;
+
+var string gameClass;
+var bool bBound;
+var config bool bDebug;
+
+var int ConnectionCount;
+
+var array<string> ParsedMessg;
+var string MsgSplit;
+var string MsgEnd;
+var string PartMsg;
+
+struct StrPair {
+	var string str1;
+	var string str2;
+};
+
+// The names and IP's of robots registered
+var array<StrPair> RegRobots;
+var int numReg;
+// The name and port of robots which are listening
+var array<StrPair> Listening;
+var int numListen;
+//Connections between two robots set up by the server
+var array<ComConnection> Connected;
+var int numCon;
+
+//Variables controlling the dropping of packets
+var config float ePdo;
+var config float eDo;
+var config float eN;
+var config float eCutoff;
+var config float eAttenFac;
+var config float eMaxObs;
+
+//Check if a robot is registered with the server
+function bool isRegistered(string name)
+{
+	local int i;
+	i=0;
+	while(i<numReg)
+	{
+		if(name==RegRobots[i].str1)
+		{
+			return true;
+		}
+		i++;
+	}
+	return false;
+}
+
+//Check if a robot is listening
+function bool isListening(string name)
+{
+	local int i;
+	i=0;
+	while(i<numListen)
+	{
+		if(name==Listening[i].str1)
+		{
+			return true;
+		}
+		i++;
+	}
+	return false;
+}
+
+//Check if a robot is listening at a specific port
+function bool isListening2(string name, string port)
+{
+	local int i;
+	i=0;
+	while(i<numListen)
+	{
+		if(name==Listening[i].str1 && port==Listening[i].str2)
+		{
+			return true;
+		}
+		i++;
+	}
+	return false;
+}
+
+//Get the index of the robot listening at the specific port
+function int getListenerNum(string name, string port)
+{
+	local int i;
+	i=0;
+	while(i<numListen)
+	{
+		if(name==Listening[i].str1 && port==Listening[i].str2)
+		{
+			return i;
+		}
+		i++;
+	}
+	return -1;
+}
+
+//Get the IP of the robot
+function string getRobotIP(string name)
+{
+	local int i;
+	i=0;
+	while(i<numReg)
+	{
+		if(name==RegRobots[i].str1)
+		{
+			return RegRobots[i].str2;
+		}
+		i++;
+	}
+	return "";
+}
+
+//Get the port the robot is listening at
+function string getRobotPort(string name)
+{
+	local int i;
+	i=0;
+	while(i<numListen)
+	{
+		if(name==Listening[i].str1)
+		{
+			return Listening[i].str2;
+		}
+		i++;
+	}
+	return "";
+}
+
+//Get Signal Strength
+function float getSigStrength(string r1,string r2)
+{
+	if (bDebug) log("ComServer: Cannot calculate signal strength");
+	return 1;
+}
+
+//Check for connectivity
+function bool isReachable(string r1,string r2)
+{
+	if(bDebug)
+		log("ComServer: Cannot get robot information");
+	return true;
+}
+
+function BeginPlay()
+{
+	local bool temp;
+	Super.BeginPlay();
+	LinkMode=MODE_Text;
+    if(!bBound)
+    {
+		BindPort( ListenPort );
+		if(bDebug)
+    		log("ComServer bound to port "$ListenPort);
+		temp=Listen();
+		if(temp)
+			bBound = true;
+		else
+		{
+			if(bDebug)
+				log("ComServer: Not able to listen");
+		}
+    }
+}
+
+function HandleLine(string Line,TCPLink ep)
+{
+    //Parsing the message
+	local string cmdType;
+	local int attrNum, i;
+	local bool b1,b2;
+	local float ss;
+   
+	if(bDebug)
+    	log("ComServer: Recieved Message - "$Line);
+
+	//Removing end of message delim
+	i=InStr(Line,MsgEnd);
+	if(i == -1)
+	{
+		i=Len(Line);
+		if(bDebug)
+			log("ComServer: Recieved Message does not terminate well - "$Line);
+	}
+	Line=left(Line,i);
+	
+	if(bDebug)
+		log("ComServer: After removing end of message limiter - "$Line);
+
+	//Splitting message	
+	attrNum=Split(Line,MsgSplit,ParsedMessg);
+	if(bDebug)
+		log("ComServer: Message contained "@attrNum$" words");
+	
+	cmdType=ParsedMessg[0];
+   	cmdType = Caps(cmdType);
+	
+	//Processing the command
+	switch(cmdType)
+	{
+		case "REGISTER":
+			//Checking for correct message length
+			if(attrNum!=3)
+			{
+				if(bDebug) log("ComServer: Incorrect message length in "$Line);
+				ep.SendText("Fail: Incorrect Message;");
+				break;
+			}
+			//Checking if a robot with the same name is registered
+			if(isRegistered(ParsedMessg[1]))
+			{
+				if(bDebug) log("ComServer: Robot with name "$ParsedMessg[1]$" already registerd");
+				ep.SendText("Fail: Robot with name "$ParsedMessg[1]$" already registered;");
+				break;
+			}
+			//Registering
+			RegRobots.insert(numReg,1);
+			RegRobots[numReg].str1$=ParsedMessg[1];
+			RegRobots[numReg].str2$=ParsedMessg[2];
+			if(bDebug)
+			{
+				log("ComServer: "$RegRobots[numReg].str1$" registered with IP "$RegRobots[numReg].str2);
+				log("ComServer: "$(numReg+1)$" robots registered");
+			}
+			numReg++;
+			ep.SendText("OK;");
+			break;
+		case "LISTEN":
+			//Checking for correct message length
+			if(attrNum!=3)
+			{
+				if(bDebug) log("ComServer: Incorrect message length in "$Line);
+				ep.SendText("Fail: Incorrect Message;");
+				break;
+			}
+			//Checking if the robot is registered
+			if(!isRegistered(ParsedMessg[1]))
+			{
+				if(bDebug) log("ComServer: Robot "$ParsedMessg[1]$" not registered");
+				ep.SendText("Fail: Robot "$ParsedMessg[1]$" not registered;");
+				break;
+			}
+			//Checking if a robot with the same name is listening at the same port
+			if(isListening(ParsedMessg[1]))
+			{
+				if(getRobotPort(ParsedMessg[1])==ParsedMessg[2])
+				{
+					if(bDebug) log("ComServer: Robot with name "$ParsedMessg[1]$" already listening at port "$ParsedMessg[2]);
+					ep.SendText("Fail: Robot with name "$ParsedMessg[1]$" already listening at port "$ParsedMessg[2]$";");
+					break;
+				}
+			}
+			//Adding to listening list
+			Listening.insert(numListen,1);
+			Listening[numListen].str1$=ParsedMessg[1];
+			Listening[numListen].str2$=ParsedMessg[2];
+			if(bDebug)
+			{
+				log("ComServer: "$Listening[numListen].str1$" listening at port "$Listening[numListen].str2);
+				log("ComServer: "$(numListen+1)$" robots listening");
+			}
+			numListen++;
+			ep.SendText("OK;");
+			break;
+		case "OPEN":
+			//Checking for correct message length
+			if(attrNum!=5)
+			{
+				if(bDebug) log("ComServer: Incorrect message length in "$Line);
+				ep.SendText("Fail: Incorrect Message;");
+				break;
+			}
+			//Check if host is listening on specified port
+			if(!isListening2(ParsedMessg[3],ParsedMessg[4]))
+			{
+				if(bDebug) log("ComServer: "$ParsedMessg[3]$" not listening on port "$ParsedMessg[4]);
+				ep.SendText("Fail: "$ParsedMessg[3]$" not listening on port "$ParsedMessg[4]$";");
+				break;
+			}
+			//Check for connectivity
+			if(!isReachable(ParsedMessg[1],ParsedMessg[3]))
+			{
+				if(bDebug) log("ComServer: Cannot connect to "$ParsedMessg[3]);
+				ep.SendText("Fail: Cannot connect to "$ParsedMessg[3]$";");
+				break;
+			}
+			//Try setting up the needed connections
+			Connected.insert(numCon,1);
+			Connected[numCon]=spawn(class'ComConnection',self);
+			Connected[numCon].setUp(ParsedMessg[1],ParsedMessg[3]);
+			
+			Connected[numCon].link1.Connect(getRobotIP(ParsedMessg[1]),ParsedMessg[2]);
+			Connected[numCon].link2.Connect(getRobotIP(ParsedMessg[3]),ParsedMessg[4]);
+			
+			//Checking if the connection was established
+			b1=(Connected[numCon].link1.LinkState==STATE_Connecting || Connected[numCon].link1.LinkState==STATE_Connected);
+			b2=(Connected[numCon].link2.LinkState==STATE_Connecting || Connected[numCon].link2.LinkState==STATE_Connected);
+			//If the connection was established
+			if(b1 && b2)
+			{
+				//Remove listening robot
+				i=getListenerNum(ParsedMessg[3],ParsedMessg[4]);
+				Listening.remove(i,1);
+				numListen--;
+				if(bDebug)
+				{
+					log("ComServer: "$ParsedMessg[1]$" connected to "$ParsedMessg[3]);
+					log("ComServer: "$(numCon+1)$" connections created");
+				}
+				ep.SendText("OK;");
+				numCon++;
+			}
+			else
+			{
+				Connected.remove(numCon,1);
+				if(bDebug)	log("ComServer: "$ParsedMessg[1]$" could not connect to "$ParsedMessg[3]);
+				ep.SendText("Fail: Could not establish connection;");
+			}
+			break;
+		//Command to get signal strength between two robots
+		case "GETSS":
+			//Checking for correct message length
+			if(attrNum!=3)
+			{
+				if(bDebug) log("ComServer: Incorrect message length in "$Line);
+				ep.SendText("Fail: Incorrect Message;");
+				break;
+			}
+			ss=getSigStrength(ParsedMessg[1],ParsedMessg[2]);
+			if(bDebug) log("ComServer: Signal strength between "$ParsedMessg[1]$" and "$ParsedMessg[2]$" is "$ss);
+			if (ss>0) 
+			{
+				ep.SendText("Fail: Could not calculate signal strength;");
+			}
+			else
+			{
+				ep.SendText("OK:"$ss$";");
+			}
+			break;
+		//These cases should not occur here
+		case "SEND":
+		case "CLOSE":
+		default:
+			if(bDebug) log("ComServer: Unknown message - "$Line);
+			ep.SendText("Fail: Unknown message;");
+	}
+}
+
+//If you recieve text instead of by line
+event ReceivedText( string Text )
+{
+	local int i;
+	local string Msg;
+	
+	i=0;
+    if(bDebug)
+    	log("ComServer: Recieved Text in Server - "$Text);
+		
+	i=InStr(Text,MsgEnd);
+	if(i==-1)				//Incomplete message
+	{
+		PartMsg$=Text;		//Concatenate
+	}
+	else
+	{
+		Msg=PartMsg$Left(Text,i+1);
+		PartMsg=Mid(Text,i+1);
+		HandleLine(Msg,Self);
+	}
+}
+
+//If you recieve a binary message
+event ReceivedBinary( int Count, byte B[255] )
+{
+	if(bDebug)
+		log("ComServer: Recieved some binary message (should not occur)");
+}
+
+//Whena connection is accepted
+event Accepted()
+{
+	if(bDebug)
+		log("ComServer: Connected to "$IpAddrToString(RemoteAddr));
+}
+
+//Closed on other end
+event Closed()
+{
+	local bool temp;
+	if(LinkState!=STATE_Listening && LinkState!=STATE_Connecting && LinkState!=STATE_Connected)
+	{
+		temp=Listen();
+	}
+	if(bDebug)
+	{
+		log(temp);
+		log(LinkState);
+		log("ComServer: Old connection closed, listening for new connections");
+	}
+}
+
+//called everytime a new botconnection is spawned
+event GainedChild( Actor C )
+{
+	local ComServerCon con;
+	con=ComServerCon(C);
+	con.MessageHandler=Self;
+	con.bInit=true;
+	if (bDebug) log("ComServer: New connection Initialized");
+}
+
+event LostChild( Actor C )
+{
+	local ComServerCon con;
+	con=ComServerCon(C);
+	con.MessageHandler=None;
+	con.bInit=false;
+	if (bDebug) log("ComServer: Old connection de-initialized");
+}
+
+defaultproperties
+{
+	AcceptClass=USARBotApi.ComServerCon
+     ListenPort=5874
+	 bBound=false
+	 bDebug=true
+	 ConnectionCount=0
+	 MsgSplit=" "
+	 MsgEnd=";"
+	 numReg=0
+	 numListen=0
+	 numCon=0
+	 PartMsg=""
+	 ePdo=-49.67
+	 eDo=2
+	 eN=1.09
+	 eCutoff=-93
+	 eAttenFac=6.625
+	 eMaxObs=5
+}

Added: usarsim/USARBotAPI/Classes/ComServerCon.uc
===================================================================
--- usarsim/USARBotAPI/Classes/ComServerCon.uc	                        (rev 0)
+++ usarsim/USARBotAPI/Classes/ComServerCon.uc	2007-05-10 15:24:00 UTC (rev 599)
@@ -0,0 +1,70 @@
+class ComServerCon extends TcpLink;
+
+var bool bInit;
+var ComServer MessageHandler;
+var config bool bDebug;
+var string MsgEnd;
+var string PartMsg;
+
+
+event ReceivedLine( string Line )
+{
+	if(bInit==False)
+	{
+		if (bDebug) log("ComServerCon: Not initialized");
+	}
+	else
+	{
+		if(MessageHandler==None)
+		{
+			if (bDebug) log("ComServerCon: No message handler");
+		}
+		else
+		{
+			MessageHandler.HandleLine(Line,Self);
+		}
+	}
+}
+
+event ReceivedText( string Text )
+{
+	local int i;
+	local string Msg;
+	if(bInit==false)
+	{
+		if(bDebug) log("ComServerCon: Not Initialized");
+	}
+	else
+	{
+		i=0;
+		if(bDebug)
+			log("ComServerCon: Recieved Text in Server - "$Text);
+		
+		i=InStr(Text,MsgEnd);
+		if(i==-1)				//Incomplete message
+		{
+			PartMsg$=Text;		//Concatenate
+		}
+		else
+		{
+			Msg=PartMsg$Left(Text,i+1);
+			PartMsg=Mid(Text,i+1);
+			if(MessageHandler==None)
+			{
+				if (bDebug) log("ComServerCon: No message handler");
+			}
+			else
+			{
+				MessageHandler.HandleLine(Msg,Self);
+			}
+		}
+	}
+}
+
+defaultproperties
+{
+	bInit=false
+	MessageHandler=None
+	bDebug=true
+	MsgEnd=";"
+}
\ No newline at end of file

Added: usarsim/USARBotAPI/Classes/DeadReckoning.uc
===================================================================
--- usarsim/USARBotAPI/Classes/DeadReckoning.uc	                        (rev 0)
+++ usarsim/USARBotAPI/Classes/DeadReckoning.uc	2007-05-10 15:24:00 UTC (rev 599)
@@ -0,0 +1,343 @@
+//=============================================================================
+// Dead Reckoning.
+//=============================================================================
+class DeadReckoning extends Object config(USARBotAPI);
+
+//-----------------------------------------------------------------------------
+// Structurs.
+
+struct DRMovement {
+	var float DR_T;
+	
+	var vector DR_P;
+	var vector DR_V;
+	var vector DR_A;
+
+	var rotator DR_RP;
+	var rotator DR_RV;
+	var rotator DR_RA;
+};
+
+struct Inf {
+	var rotator RotationRate;
+	var bool bRotateToDesired;
+	var bool bRollToDesired;
+	//var bool bCarriedItem;
+	var float NetPriority;
+};
+
+//-----------------------------------------------------------------------------
+// Variables.
+var DRMovement start;
+var DRMovement current;
+var DRMovement cache;
+var float deltatime;
+var Inf oldInf;
+var bool bRunning;
+var bool bLFilter;
+var bool bRFilter;
+var Pawn owner;
+
+var config int PreK;
+var config int MaxErr;
+
+var bool bNewBase;
+var bool bLocked;
+var bool bAutoTurn;
+
+//-----------------------------------------------------------------------------
+// Functions.
+
+function Save(Pawn owner) {
+	oldInf.RotationRate = owner.RotationRate;
+	oldInf.bRotateToDesired = owner.bRotateToDesired;
+	oldInf.bRollToDesired = owner.bRollToDesired;
+	//oldInf.bCarriedItem = owner.bCarriedItem;
+	oldInf.NetPriority = owner.NetPriority;
+}
+
+function Restore(Pawn owner) {
+	owner.RotationRate = oldInf.RotationRate;
+	owner.bRotateToDesired = oldInf.bRotateToDesired;
+	owner.bRollToDesired = oldInf.bRollToDesired;
+	//owner.bCarriedItem = oldInf.bCarriedItem;
+	owner.NetPriority = oldInf.NetPriority;
+}
+
+function SetT(float time) {
+	CurL(time);
+	CurR(time);
+
+	current.DR_P = owner.Location;
+	start.DR_P = current.DR_P;
+	start.DR_V = current.DR_V;
+	start.DR_A = current.DR_A;
+	current.DR_RP = owner.Rotation;
+	start.DR_RP = current.DR_RP;
+	start.DR_RV = current.DR_RV;
+	start.DR_RA = current.DR_RA;
+	start.DR_T = time;
+	bNewBase=true;
+	bLocked=false;
+	if (current.DR_RV.Pitch==0 && current.DR_RV.Yaw==0 && current.DR_RV.Roll==0 &&
+		current.DR_RA.Pitch==0 && current.DR_RA.Yaw==0 && current.DR_RA.Roll==0)
+		bAutoTurn=true;
+	//if(oldInf.NetPriority>0) owner.NetPriority = oldInf.NetPriority;
+}
+
+function SetDT(float dt) {
+	deltatime = dt;
+	//current.DR_V = current.DR_V + current.DR_A * dt * 0.5; // init
+	//current.DR_RV = current.DR_RV + current.DR_RA * dt * 0.5; // init
+}
+
+function SetLP(vector p) {
+	start.DR_P = p;
+	current.DR_P = p;	
+	bLFilter = true;
+}
+
+function SetLV(vector v) {
+	start.DR_V = v;
+	current.DR_V = v;	
+}
+
+function SetLA(vector a) {
+	start.DR_A = a;
+	current.DR_A = a;	
+}
+
+function SetRP(rotator p) {
+	start.DR_RP = p;
+	current.DR_RP = p;	
+	bRFilter = false;
+	bAutoTurn=false;
+	//bRFilter = true;
+}
+
+function SetRV(rotator v) {
+	start.DR_RV = v;
+	current.DR_RV = v;	
+	bAutoTurn=false;
+}
+
+function SetRA(rotator a) {
+	start.DR_RA = a;
+	current.DR_RA = a;	
+	bAutoTurn=false;
+}
+
+function SetL(vector p, vector v, vector a) {
+	start.DR_P = p;
+	start.DR_V = v;
+	start.DR_A = a;
+	current.DR_P = p;
+	current.DR_V = v;
+	current.DR_A = a;
+}
+
+function SetR(rotator p, rotator v, rotator a) {
+	start.DR_RP = p;
+	start.DR_RV = v;
+	start.DR_RA = a;
+	current.DR_RP = p;
+	current.DR_RV = v;
+	current.DR_RA = a;
+}
+
+function bool setCache() {
+	if (!bLocked) {
+		cache.DR_P = current.DR_P;
+		cache.DR_V = current.DR_V;
+		cache.DR_A = current.DR_A;
+		return true;
+	}
+	return false;
+}
+
+function bool Recover() {
+	if (!bLocked) {
+		current.DR_V = cache.DR_V;
+		current.DR_A = cache.DR_A;
+		return true;
+	}
+	return false;
+}
+
+function Locked() {
+	bLocked=true;
+}
+
+function UnLocked() {
+	bLocked=false;
+}
+
+function bool isLocked() {
+	return bLocked;
+}
+
+function NewBase(bool b) {
+	bNewBase=b;
+}
+
+function bool isNewBase() {
+	return bNewBase;
+}
+
+function CurL(float t) {
+	local float dt,tmp;
+	dt = t - start.DR_T;
+	tmp = dt*dt*0.5;
+	current.DR_P = start.DR_P + start.DR_V * dt + start.DR_A * tmp;
+	current.DR_V = start.DR_V + start.DR_A * dt;
+}
+
+function CurR(float t) {
+	local float dt,tmp;
+	dt = t - start.DR_T;
+	tmp = dt*dt*0.5;
+	current.DR_RP = start.DR_RP + start.DR_RV * dt + start.DR_RA * tmp;
+	current.DR_RV = start.DR_RV + start.DR_RA * dt;
+}
+
+function vector PreLP(float t) {
+	local float dt,tmp;
+	dt = t - start.DR_T;
+	tmp = dt*dt*0.5;
+	return (start.DR_P + start.DR_V * dt + start.DR_A * tmp);
+}
+
+function rotator PreRP(float t) {
+	local float dt,tmp;
+	dt = t - start.DR_T;
+	tmp = dt*dt*0.5;
+	return (start.DR_RP + start.DR_RV * dt + start.DR_RA * tmp);
+}
+
+function GetL( ) {
+	current.DR_V = current.DR_V + current.DR_A * deltatime;
+	current.DR_P = current.DR_P + current.DR_V * deltatime;
+}
+
+function GetR( ) {
+	current.DR_RV = current.DR_RV + current.DR_RA * deltatime;
+	current.DR_RP = current.DR_RP + current.DR_RV * deltatime;
+}
+
+function vector FGetL( ) {
+	local int i;
+	local vector v,p;
+	
+	if (current.DR_V.x==0 && current.DR_V.y==0 && current.DR_V.z==0 &&
+	    current.DR_A.x==0 && current.DR_A.y==0 && current.DR_A.z==0 ) // This means we need to forcely relocate a bot
+		return current.DR_P;
+		
+	GetL();
+	v = current.DR_V;
+	p = current.DR_P;
+	for (i=1;i<PreK;i++) {
+		v += current.DR_A * deltatime;
+		p += v * deltatime;
+	}
+	return (p-owner.Location)/PreK+owner.Location;
+}
+
+function rotator FGetR( ) {
+	local int i;
+	local rotator rv,rp;
+
+	if (current.DR_RV.pitch==0 && current.DR_RV.yaw==0 && current.DR_RV.roll==0 &&
+	    current.DR_RA.pitch==0 && current.DR_RA.yaw==0 && current.DR_RA.roll==0 ) // This means we need to forcely relocate a bot
+		return current.DR_RP;
+
+	GetR();
+	rv = current.DR_RV;
+	rp = current.DR_RP;
+	for (i=1;i<PreK;i++) {
+		rv += current.DR_RA * deltatime;
+		rp += rv * deltatime;
+	}
+	return (rp-owner.Rotation)/PreK+owner.Rotation;
+}
+
+
+function bool Step(float dt) {
+	log("Step()");
+	if (bRunning) {
+		deltatime = dt;
+		GetR();
+		owner.RotationRate=rot(0,0,0);
+		owner.DesiredRotation = current.DR_RP;
+		owner.SetRotation(current.DR_RP);
+		GetL();
+		return owner.SetLocation(current.DR_P);
+	}
+}
+
+function bool IsRunning() {
+//	log("DeadReckoning running:"$bRunning$" rp("$current.DR_RP$") rv("$current.DR_RV$") ra("$current.DR_RA$") p("$current.DR_P$") v("$current.DR_V$") a("$current.DR_A$")");
+	return bRunning;
+}
+
+function init(Pawn act) {
+	owner = act;
+	SetL(act.Location,act.Velocity,act.Acceleration);
+	SetRP(act.Rotation);
+}
+
+function Stop() {
+	bRunning = false;
+	bLFilter = false;
+	bRFilter = false;
+	// Reset all the args.
+	SetL(owner.Location,vect(0,0,0),vect(0,0,0));
+	SetR(owner.Rotation,rot(0,0,0),rot(0,0,0));
+	Restore(owner);
+}
+
+function Begin() {
+	bRunning = true;
+	bAutoTurn=true;
+	Save(owner);
+	owner.RotationRate=rot(0,0,0);
+	owner.bRotateToDesired=true;
+	owner.bRollToDesired=true;
+	//owner.NetPriority=2.0; // Because we can control remotebot from client, we set the NetPriority lower.
+	owner.bCollideWorld=true; // Should I set this?
+	// Hack 10JAN03
+	//owner.bCarriedItem = true; // Disable replicate Location and Rotation between S/C
+		/*
+		Region.Zone.ZoneGravity.z=0;
+		Region.Zone.ZoneGroundFriction=0;
+		Region.Zone.ZoneFluidFriction=0;
+		AirControl = 0;
+		*/
+}
+
+function bool Correct(float time) {
+	local rotator dr;
+	CurR(time);
+	dr = owner.Rotation-current.DR_RP;
+	if (bRFilter&& (dr.pitch*dr.pitch+dr.yaw*dr.yaw+dr.roll*dr.roll)<MaxErr*MaxErr*10000) {
+		bRFilter=false;
+		owner.RotationRate=rot(0,0,0);
+		owner.DesiredRotation = current.DR_RP;
+		owner.SetRotation(current.DR_RP);
+	}
+
+	CurL(time);
+	if (bLFilter&&VSize(owner.Location-current.DR_P)<MaxErr) {
+		bLFilter=false;
+		owner.SetLocation(current.DR_P);
+	}
+
+	if (VSize(owner.Location-current.DR_P)>1) return false;
+	//bRunning=true;
+	return true;
+}
+
+defaultproperties
+{
+     PreK=15
+     MaxErr=20
+}

Added: usarsim/USARBotAPI/Classes/GPSStart.uc
===================================================================
--- usarsim/USARBotAPI/Classes/GPSStart.uc	                        (rev 0)
+++ usarsim/USARBotAPI/Classes/GPSStart.uc	2007-05-10 15:24:00 UTC (rev 599)
@@ -0,0 +1,30 @@
+//=============================================================================
+// GPSStart
+//=============================================================================
+// this is not yet functional;
+// TCF 12/14/06
+
+class GPSStart extends Actor;
+
+// Lat and Longitude of the origin in microdegrees
+var(GPS) int LatitudeOrigin;
+var(GPS) int LongitudeOrigin;
+var(GPS) int MetersPerDegreeLat;
+var(GPS) int MetersPerDegreeLon;
+var(GPS) float GPSavailability;  // 1.0=always; 0=never
+var(GPS) int MeanDropOutTime;  //  seconds
+var(GPS) string RNDFfile;
+var(GPS) string MDFfile;
+
+defaultproperties
+{
+     LatitudeOrigin=38872104  // 38.872104 degrees North
+     LongitudeOrigin=-77202840 // 77.20284 degrees West
+     MetersPerDegreeLat=111000
+     MetersPerDegreeLon=87822
+     RNDFfile="Sample_RNDF.txt"
+     MDFfile="Sample_MDF.txt"
+     GPSavailability = 0.1
+     MeanDropOutTime=60
+}
+


Property changes on: usarsim/USARBotAPI/Classes/GPSStart.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARBotAPI/Classes/MyInteraction.uc
===================================================================
--- usarsim/USARBotAPI/Classes/MyInteraction.uc	                        (rev 0)
+++ usarsim/USARBotAPI/Classes/MyInteraction.uc	2007-05-10 15:24:00 UTC (rev 599)
@@ -0,0 +1,120 @@
+class MyInteraction extends Interaction;
+
+var bool bDrawEnemy;
+var bool bDrawFriendly;
+var bool bControlPawn;
+var PlayerController OldController;
+var Pawn myPawn;
+
+function Initialize()
+{
+    Log("Interaction Initialized");
+}
+
+/*function bool KeyEvent(EInputKey Key, EInputAction Action, FLOAT Delta )
+{
+    log(Action);
+    if (Action == IST_Press)
+    ViewportOwner.Actor.ClientMessage("Key PRESSED:" @ Key);
+    if (Action == IST_Release)
+    ViewportOwner.Actor.ClientMessage("Key RELEASED:" @ Key);
+    if (Action == IST_Hold)
+    ViewportOwner.Actor.ClientMessage("Key HELD:" @ Key);
+    if (Action == IST_Axis)
+    ViewportOwner.Actor.ClientMessage("Key AXIS:" @ Key);
+
+    return false;
+}*/
+

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Thu May 10 11:24:55 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 11:24:55 -0400
Subject: [TeamTalk 63]: [600] usarsim/USARMisPkg: Import usarsim usarmispkg
Message-ID: <200705101524.l4AFOtko013464@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070510/ef251296/attachment.html
-------------- next part --------------
Added: usarsim/USARMisPkg/Classes/AirRobotCameraBase.uc
===================================================================
--- usarsim/USARMisPkg/Classes/AirRobotCameraBase.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/AirRobotCameraBase.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class AirRobotCameraBase extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.AirRobotCameraBase'
+}
\ No newline at end of file

Added: usarsim/USARMisPkg/Classes/AirRobotCameraPanTilt.uc
===================================================================
--- usarsim/USARMisPkg/Classes/AirRobotCameraPanTilt.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/AirRobotCameraPanTilt.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1 @@
+class AirRobotCameraPanTilt extends MisPkgInfo config(USARMisPkg);
\ No newline at end of file

Added: usarsim/USARMisPkg/Classes/AirRobotCameraTilt.uc
===================================================================
--- usarsim/USARMisPkg/Classes/AirRobotCameraTilt.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/AirRobotCameraTilt.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class AirRobotCameraTilt extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.AirRobotCameraTilt'
+}
\ No newline at end of file

Added: usarsim/USARMisPkg/Classes/CameraBase.uc
===================================================================
--- usarsim/USARMisPkg/Classes/CameraBase.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/CameraBase.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class CameraBase extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.CameraBase'
+}

Added: usarsim/USARMisPkg/Classes/CameraPan.uc
===================================================================
--- usarsim/USARMisPkg/Classes/CameraPan.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/CameraPan.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class CameraPan extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.CameraPan'
+}

Added: usarsim/USARMisPkg/Classes/CameraPanTilt.uc
===================================================================
--- usarsim/USARMisPkg/Classes/CameraPanTilt.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/CameraPanTilt.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1 @@
+class CameraPanTilt extends MisPkgInfo config(USARMisPkg);
\ No newline at end of file

Added: usarsim/USARMisPkg/Classes/CameraTilt.uc
===================================================================
--- usarsim/USARMisPkg/Classes/CameraTilt.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/CameraTilt.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class CameraTilt extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.CameraTilt'
+}

Added: usarsim/USARMisPkg/Classes/PGCameraBase.uc
===================================================================
--- usarsim/USARMisPkg/Classes/PGCameraBase.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/PGCameraBase.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class PGCameraBase extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.PGCameraBase'
+}

Added: usarsim/USARMisPkg/Classes/PGCameraPan.uc
===================================================================
--- usarsim/USARMisPkg/Classes/PGCameraPan.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/PGCameraPan.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class PGCameraPan extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.PGCameraPan'
+}

Added: usarsim/USARMisPkg/Classes/PGCameraPanTilt.uc
===================================================================
--- usarsim/USARMisPkg/Classes/PGCameraPanTilt.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/PGCameraPanTilt.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1 @@
+class PGCameraPanTilt extends MisPkgInfo config(USARMisPkg);
\ No newline at end of file

Added: usarsim/USARMisPkg/Classes/PGCameraTilt.uc
===================================================================
--- usarsim/USARMisPkg/Classes/PGCameraTilt.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/PGCameraTilt.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class PGCameraTilt extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.PGCameraTilt'
+}

Added: usarsim/USARMisPkg/Classes/TalonArm.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TalonArm.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TalonArm.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1 @@
+class TalonArm extends MisPkgInfo config(USARMisPkg);
\ No newline at end of file

Added: usarsim/USARMisPkg/Classes/TalonGripperBase.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TalonGripperBase.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TalonGripperBase.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class TalonGripperBase extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.TalonGripperBase'
+}
\ No newline at end of file

Added: usarsim/USARMisPkg/Classes/TalonLeftFinger.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TalonLeftFinger.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TalonLeftFinger.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class TalonLeftFinger extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.TalonLeftFinger'
+}
\ No newline at end of file

Added: usarsim/USARMisPkg/Classes/TalonLowerArm.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TalonLowerArm.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TalonLowerArm.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class TalonLowerArm extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.TalonLowerArm'
+}

Added: usarsim/USARMisPkg/Classes/TalonRightFinger.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TalonRightFinger.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TalonRightFinger.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class TalonRightFinger extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.TalonRightFinger'
+}
\ No newline at end of file

Added: usarsim/USARMisPkg/Classes/TalonUpperArm.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TalonUpperArm.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TalonUpperArm.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class TalonUpperArm extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.TalonUpperArm'
+}
\ No newline at end of file

Added: usarsim/USARMisPkg/Classes/TeleMaxArm.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TeleMaxArm.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TeleMaxArm.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1 @@
+class TeleMaxArm extends MisPkgInfo config(USARMisPkg);
\ No newline at end of file

Added: usarsim/USARMisPkg/Classes/TeleMaxGripperTilt.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TeleMaxGripperTilt.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TeleMaxGripperTilt.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class TeleMaxGripperTilt extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.TeleMaxGripperTilt'
+}

Added: usarsim/USARMisPkg/Classes/TeleMaxGripperTurn.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TeleMaxGripperTurn.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TeleMaxGripperTurn.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class TeleMaxGripperTurn extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.TeleMaxGripperTurn'
+}

Added: usarsim/USARMisPkg/Classes/TeleMaxLATilt.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TeleMaxLATilt.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TeleMaxLATilt.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class TeleMaxLATilt extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.TeleMaxLATilt'
+}

Added: usarsim/USARMisPkg/Classes/TeleMaxLATurn.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TeleMaxLATurn.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TeleMaxLATurn.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class TeleMaxLATurn extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.TeleMaxLATurn'
+}

Added: usarsim/USARMisPkg/Classes/TeleMaxLFinger.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TeleMaxLFinger.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TeleMaxLFinger.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class TeleMaxLFinger extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.TeleMaxLFinger'
+}

Added: usarsim/USARMisPkg/Classes/TeleMaxLFingerBase.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TeleMaxLFingerBase.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TeleMaxLFingerBase.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class TeleMaxLFingerBase extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.TeleMaxLFingerBase'
+}

Added: usarsim/USARMisPkg/Classes/TeleMaxRFinger.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TeleMaxRFinger.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TeleMaxRFinger.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class TeleMaxRFinger extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.TeleMaxRFinger'
+}

Added: usarsim/USARMisPkg/Classes/TeleMaxRFingerBase.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TeleMaxRFingerBase.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TeleMaxRFingerBase.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class TeleMaxRFingerBase extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.TeleMaxRFingerBase'
+}

Added: usarsim/USARMisPkg/Classes/TeleMaxTelescope.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TeleMaxTelescope.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TeleMaxTelescope.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class TeleMaxTelescope extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.TeleMaxTelescope'
+}

Added: usarsim/USARMisPkg/Classes/TeleMaxTurret.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TeleMaxTurret.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TeleMaxTurret.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class TeleMaxTurret extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.TeleMaxTurret'
+}

Added: usarsim/USARMisPkg/Classes/TeleMaxUATilt.uc
===================================================================
--- usarsim/USARMisPkg/Classes/TeleMaxUATilt.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/TeleMaxUATilt.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class TeleMaxUATilt extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.TeleMaxUATilt'
+}

Added: usarsim/USARMisPkg/Classes/UnderwaterCameraBase.uc
===================================================================
--- usarsim/USARMisPkg/Classes/UnderwaterCameraBase.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/UnderwaterCameraBase.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class UnderwaterCameraBase extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.UnderwaterCameraBase'
+}
\ No newline at end of file

Added: usarsim/USARMisPkg/Classes/UnderwaterCameraPan.uc
===================================================================
--- usarsim/USARMisPkg/Classes/UnderwaterCameraPan.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/UnderwaterCameraPan.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class UnderwaterCameraPan extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.UnderwaterCameraPan'
+}

Added: usarsim/USARMisPkg/Classes/UnderwaterCameraPanTilt.uc
===================================================================
--- usarsim/USARMisPkg/Classes/UnderwaterCameraPanTilt.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/UnderwaterCameraPanTilt.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1 @@
+class UnderwaterCameraPanTilt extends MisPkgInfo config(USARMisPkg);
\ No newline at end of file

Added: usarsim/USARMisPkg/Classes/UnderwaterCameraTilt.uc
===================================================================
--- usarsim/USARMisPkg/Classes/UnderwaterCameraTilt.uc	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/UnderwaterCameraTilt.uc	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,6 @@
+class UnderwaterCameraTilt extends MisPkgLinkInfo config(USARMisPkg);
+
+defaultproperties
+{
+    ModelClass=class'USARModels.UnderwaterCameraTilt'
+}
\ No newline at end of file

Added: usarsim/USARMisPkg/Classes/make.bat
===================================================================
--- usarsim/USARMisPkg/Classes/make.bat	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/make.bat	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,8 @@
+cd ..\..\System
+move USARBotAPI.u USARBotAPIu.bak
+move USARBot.u USARBotu.bak
+move USARModels.u USARModels.bak
+move USARVictims.u USARVictimsu.bak 
+move USARMisPkg.u USARMisPkgu.bak
+ucc make -ini=USARSim.ini
+pause
\ No newline at end of file

Added: usarsim/USARMisPkg/Classes/make.sh
===================================================================
--- usarsim/USARMisPkg/Classes/make.sh	                        (rev 0)
+++ usarsim/USARMisPkg/Classes/make.sh	2007-05-10 15:24:55 UTC (rev 600)
@@ -0,0 +1,9 @@
+#!/bin/sh
+
+cd ../../System
+rm -f USARBotAPI.u
+rm -f USARBot.u
+rm -f USARModels.u
+rm -f USARVictims.u
+rm -f USARMisPkg.u
+~/crossover/bin/wine.sh UCC.exe make -ini=USARSim.ini

From tk at edam.speech.cs.cmu.edu  Thu May 10 11:25:28 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 11:25:28 -0400
Subject: [TeamTalk 64]: [601] usarsim/USARModels: Import usarsim usarmodels
Message-ID: <200705101525.l4AFPSRX013474@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070510/3132904a/attachment-0001.html
-------------- next part --------------
Added: usarsim/USARModels/Classes/AirRobotCameraBase.uc
===================================================================
--- usarsim/USARModels/Classes/AirRobotCameraBase.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/AirRobotCameraBase.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,30 @@
+class AirRobotCameraBase extends KDPart;
+
+defaultproperties
+{
+    Type='Pan-Tilt'
+    StaticMesh=StaticMesh'USARSim_VehicleParts_Meshes.AirRobot.AirRobotCameraBase'
+    DrawScale=1.0
+    
+    Begin Object Class=KarmaParamsRBFull Name=KParams0
+        KMass=0.00
+        KActorGravScale=0.00
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+    	KInertiaTensor(0)=0.4
+        KInertiaTensor(1)=0
+        KInertiaTensor(2)=0
+        KInertiaTensor(3)=0.4
+        KInertiaTensor(4)=0
+        KInertiaTensor(5)=0.4
+        KLinearDamping=0.0
+        KAngularDamping=0.0
+        KFriction=0.0
+        KRestitution=0.3
+    End Object
+    KParams=KarmaParamsRBFull'USARModels.AirRobotCameraBase.KParams0'
+}
\ No newline at end of file

Added: usarsim/USARModels/Classes/AirRobotCameraTilt.uc
===================================================================
--- usarsim/USARModels/Classes/AirRobotCameraTilt.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/AirRobotCameraTilt.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,30 @@
+class AirRobotCameraTilt extends KDPart;
+
+defaultproperties
+{
+    Type='Pan-Tilt'
+    StaticMesh=StaticMesh'USARSim_VehicleParts_Meshes.AirRobot.AirRobotCameraTilt'
+    DrawScale=1.0
+    
+    Begin Object Class=KarmaParamsRBFull Name=KParams0
+        KMass=0.00
+        KActorGravScale=0.00
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+    	KInertiaTensor(0)=0.4
+        KInertiaTensor(1)=0
+        KInertiaTensor(2)=0
+        KInertiaTensor(3)=0.4
+        KInertiaTensor(4)=0
+        KInertiaTensor(5)=0.4
+        KLinearDamping=0.0
+        KAngularDamping=0.0
+        KFriction=0.0
+        KRestitution=0.3
+    End Object
+    KParams=KarmaParamsRBFull'USARModels.AirRobotCameraTilt.KParams0'
+}
\ No newline at end of file

Added: usarsim/USARModels/Classes/AirRobotPropeller.uc
===================================================================
--- usarsim/USARModels/Classes/AirRobotPropeller.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/AirRobotPropeller.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,10 @@
+class AirRobotPropeller extends Propeller;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.AirRobot.AirRobotPropeller'
+    DrawScale=1
+
+    // Propeller's properties
+    Pitch=0.75                // Propeller Pitch in meters
+}

Added: usarsim/USARModels/Classes/AtrvLTire.uc
===================================================================
--- usarsim/USARModels/Classes/AtrvLTire.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/AtrvLTire.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+class AtrvLTire extends USARTire;
+
+defaultproperties
+{
+//Scaled with 4.762 at Mon Sep 25 14:21:49 EDT 2006
+	//DrawScale=0.063
+	StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.ATRVJr.ATRVJrLeftTire'
+	DrawScale=0.35238802
+}

Added: usarsim/USARModels/Classes/AtrvRTire.uc
===================================================================
--- usarsim/USARModels/Classes/AtrvRTire.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/AtrvRTire.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+class AtrvRTire extends USARTire;
+
+defaultproperties
+{
+//Scaled with 4.762 at Mon Sep 25 14:21:49 EDT 2006
+	//DrawScale=0.063
+	StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.ATRVJr.ATRVJrRightTire'
+	DrawScale=0.35238802
+}

Added: usarsim/USARModels/Classes/Box1m.uc
===================================================================
--- usarsim/USARModels/Classes/Box1m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Box1m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Box1m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Box1m'
+}

Added: usarsim/USARModels/Classes/Box2m.uc
===================================================================
--- usarsim/USARModels/Classes/Box2m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Box2m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Box2m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Box2m'
+}

Added: usarsim/USARModels/Classes/CameraBase.uc
===================================================================
--- usarsim/USARModels/Classes/CameraBase.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/CameraBase.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+class CameraBase extends KDPart;
+
+defaultproperties
+{
+//Scaled with 4.762 at Mon Sep 25 14:21:50 EDT 2006
+	Type='Pan-Tilt'
+	StaticMesh=StaticMesh'USARSim_VehicleParts_Meshes.ATRVJr.ATRVJrCameraBase'
+	DrawScale=4.762
+}

Added: usarsim/USARModels/Classes/CameraPan.uc
===================================================================
--- usarsim/USARModels/Classes/CameraPan.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/CameraPan.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+class CameraPan extends KDPart;
+
+defaultproperties
+{
+//Scaled with 4.762 at Mon Sep 25 14:21:51 EDT 2006
+	Type='Pan-Tilt'
+	StaticMesh=StaticMesh'USARSim_VehicleParts_Meshes.ATRVJr.ATRVJrCameraPanFrame'
+	DrawScale=4.762
+}

Added: usarsim/USARModels/Classes/CameraTilt.uc
===================================================================
--- usarsim/USARModels/Classes/CameraTilt.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/CameraTilt.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+class CameraTilt extends KDPart;
+
+defaultproperties
+{
+//Scaled with 4.762 at Mon Sep 25 14:21:51 EDT 2006
+	Type='Pan-Tilt'
+	StaticMesh=StaticMesh'USARSim_VehicleParts_Meshes.ATRVJr.ATRVJrCameraTiltFrame'
+	DrawScale=4.762
+}

Added: usarsim/USARModels/Classes/ComDish.uc
===================================================================
--- usarsim/USARModels/Classes/ComDish.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/ComDish.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,7 @@
+class ComDish extends KDPart;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.ComStation.ComDish'
+    DrawScale=1
+}

Added: usarsim/USARModels/Classes/ComRadar.uc
===================================================================
--- usarsim/USARModels/Classes/ComRadar.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/ComRadar.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,21 @@
+class ComRadar extends KDPart;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.ComStation.ComRadar'
+    DrawScale=1
+
+    Begin Object Class=KarmaParamsRBFull Name=KParams0
+        KMass=0.00
+        KActorGravScale=0.00
+        KInertiaTensor(0)=1.800000
+        KInertiaTensor(3)=1.800000
+        KInertiaTensor(5)=1.800000
+        KLinearDamping=0.000000
+        KAngularDamping=0.000000
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKDoubleTickRate=True
+    End Object
+    KParams=KarmaParamsRBFull'USARBot.ComRadar.KParams0'
+}

Added: usarsim/USARModels/Classes/CooperTireLeft.uc
===================================================================
--- usarsim/USARModels/Classes/CooperTireLeft.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/CooperTireLeft.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,22 @@
+class CooperTireLeft extends USARTire;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.Cooper.CooperLeftTire'
+    DrawScale=1.2
+
+    Begin Object Class=KarmaParamsRBFull Name=KParams0
+        KInertiaTensor(0)=1.800000
+        KInertiaTensor(3)=1.800000
+        KInertiaTensor(5)=1.800000
+        KLinearDamping=0.000000
+        KAngularDamping=0.000000
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKDoubleTickRate=True
+        Name="KParams0"
+        KMass=0.002
+        KMaxSpeed=100000
+    End Object
+    KParams=KarmaParamsRBFull'USARModels.CooperTireLeft.KParams0'
+}
\ No newline at end of file

Added: usarsim/USARModels/Classes/CooperTireRight.uc
===================================================================
--- usarsim/USARModels/Classes/CooperTireRight.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/CooperTireRight.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,22 @@
+class CooperTireRight extends USARTire;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.Cooper.CooperRightTire'
+    DrawScale=1.2
+
+    Begin Object Class=KarmaParamsRBFull Name=KParams0
+        KInertiaTensor(0)=1.800000
+        KInertiaTensor(3)=1.800000
+        KInertiaTensor(5)=1.800000
+        KLinearDamping=0.000000
+        KAngularDamping=0.000000
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKDoubleTickRate=True
+        Name="KParams0"
+        KMass=0.002
+        KMaxSpeed=100000
+    End Object
+    KParams=KarmaParamsRBFull'USARModels.CooperTireRight.KParams0'
+}
\ No newline at end of file

Added: usarsim/USARModels/Classes/ERSfc.uc
===================================================================
--- usarsim/USARModels/Classes/ERSfc.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/ERSfc.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,35 @@
+/* AIBO Legs: Front joint 3 (left & right)
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class ERSfc extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.ERS7.ERS7FrontLegsC'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKNonSphericalInertia=true
+        KMass=0.073
+        KActorGravScale=1
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.0
+        KAngularDamping=0.0
+        KFriction=1
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/ERSha.uc
===================================================================
--- usarsim/USARModels/Classes/ERSha.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/ERSha.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,34 @@
+/* AIBO Head: tilt 1 (Neck)
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class ERSha extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.ERS7.ERS7Neck'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        KMass=0.015
+        KActorGravScale=1
+//Uncomment and define these when using RBfull karma params
+//       KInertiaTensor(0)=0.4
+//       KInertiaTensor(1)=0
+//       KInertiaTensor(2)=0
+//       KInertiaTensor(3)=0.4
+//       KInertiaTensor(4)=0
+//       KInertiaTensor(5)=0.4
+//       KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.0
+        KAngularDamping=0.0
+        KFriction=0.0
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/ERShb.uc
===================================================================
--- usarsim/USARModels/Classes/ERShb.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/ERShb.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,34 @@
+/* AIBO Head: pan
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class ERShb extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.ERS7.ERS7Dummy'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        KMass=0.01
+        KActorGravScale=1
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.0
+        KAngularDamping=0.0
+        KFriction=0.0
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/ERShc.uc
===================================================================
--- usarsim/USARModels/Classes/ERShc.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/ERShc.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,35 @@
+/* AIBO Head: tilt 2 (Head)
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class ERShc extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.ERS7.ERS7head'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+//        bKNonSphericalInertia=true
+        KMass=0.190
+        KActorGravScale=1
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.0
+        KAngularDamping=0.0
+        KFriction=0.5
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/ERSla.uc
===================================================================
--- usarsim/USARModels/Classes/ERSla.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/ERSla.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,35 @@
+/* AIBO Legs: Left joint 1 (same for front & rear)
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class ERSla extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.ERS7.ERS7LeftLegsA'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKNonSphericalInertia=true
+        KMass=0.05
+        KActorGravScale=1
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.0
+        KAngularDamping=0.0
+        KFriction=0.0
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/ERSlb.uc
===================================================================
--- usarsim/USARModels/Classes/ERSlb.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/ERSlb.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,35 @@
+/* AIBO Legs: Left joint 2 (same for front & rear)
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class ERSlb extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.ERS7.ERS7LeftLegsB'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKNonSphericalInertia=true
+        KMass=0.073
+        KActorGravScale=1
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.000000
+        KAngularDamping=0.0
+        KFriction=0.5
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/ERSra.uc
===================================================================
--- usarsim/USARModels/Classes/ERSra.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/ERSra.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,35 @@
+/* AIBO Legs: Right joint 1 (same for front & rear)
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class ERSra extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.ERS7.ERS7RightLegsA'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKNonSphericalInertia=true
+        KMass=0.05
+        KActorGravScale=1
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.0
+        KAngularDamping=0.0
+        KFriction=0.0
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/ERSrb.uc
===================================================================
--- usarsim/USARModels/Classes/ERSrb.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/ERSrb.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,35 @@
+/* AIBO Legs: Right joint 2 (same for front & rear)
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class ERSrb extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.ERS7.ERS7RightLegsB'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKNonSphericalInertia=true
+        KMass=0.073
+        KActorGravScale=1
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.0
+        KAngularDamping=0.0
+        KFriction=0.5
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/ERSrc.uc
===================================================================
--- usarsim/USARModels/Classes/ERSrc.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/ERSrc.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,35 @@
+/* AIBO Legs: Rear joint 3 (left & right)
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class ERSrc extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.ERS7.ERS7RearLegsC'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKNonSphericalInertia=true
+        KMass=0.073
+        KActorGravScale=1
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.0
+        KAngularDamping=0.0
+        KFriction=1
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/Hokuyo.uc
===================================================================
--- usarsim/USARModels/Classes/Hokuyo.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Hokuyo.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,17 @@
+class Hokuyo extends RangeScanner config (USARBot);
+
+
+defaultproperties
+
+{
+
+	HiddenSensor=false
+
+	DrawScale=4.762
+
+    //DrawScale=0.525
+
+	StaticMesh=StaticMesh'USARSim_VehicleParts_Meshes.Sensors.Hokuyo'
+
+}
+


Property changes on: usarsim/USARModels/Classes/Hokuyo.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARModels/Classes/HummerTireLeft.uc
===================================================================
--- usarsim/USARModels/Classes/HummerTireLeft.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/HummerTireLeft.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,22 @@
+class HummerTireLeft extends USARTire;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.Hummer.HummerLeftTire'
+    DrawScale=4.762
+    
+    Begin Object Class=KarmaParamsRBFull Name=KParams0
+        KInertiaTensor(0)=1.800000
+        KInertiaTensor(3)=1.800000
+        KInertiaTensor(5)=1.800000
+        KLinearDamping=0.000000
+        KAngularDamping=0.000000
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKDoubleTickRate=True
+        Name="KParams0"
+        KMass=0.002
+        KMaxSpeed=100000
+    End Object
+    KParams=KarmaParamsRBFull'USARModels.HummerTireLeft.KParams0'
+}
\ No newline at end of file

Added: usarsim/USARModels/Classes/HummerTireRight.uc
===================================================================
--- usarsim/USARModels/Classes/HummerTireRight.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/HummerTireRight.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,22 @@
+class HummerTireRight extends USARTire;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.Hummer.HummerRightTire'
+    DrawScale=4.762
+
+    Begin Object Class=KarmaParamsRBFull Name=KParams0
+        KInertiaTensor(0)=1.800000
+        KInertiaTensor(3)=1.800000
+        KInertiaTensor(5)=1.800000
+        KLinearDamping=0.000000
+        KAngularDamping=0.000000
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKDoubleTickRate=True
+        Name="KParams0"
+        KMass=0.002
+        KMaxSpeed=100000
+    End Object
+    KParams=KarmaParamsRBFull'USARModels.HummerTireRight.KParams0'
+}
\ No newline at end of file

Added: usarsim/USARModels/Classes/Kurt3DScannerSides.uc
===================================================================
--- usarsim/USARModels/Classes/Kurt3DScannerSides.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Kurt3DScannerSides.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,45 @@
+class Kurt3DScannerSides extends KDPart;
+
+
+defaultproperties
+
+{
+
+    StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.Kurt3D.Kurt3DScannerSides'
+
+    DrawScale=1.0
+
+    Begin Object Class=KarmaParams Name=KarmaParams1
+
+         KStartEnabled=True
+
+         bKDoubleTickRate=True
+
+         bHighDetailOnly=False
+
+         bClientOnly=False
+
+         bKNonSphericalInertia=true
+
+         KMass=1.5
+
+         KMaxAngularSpeed=100
+
+         KMaxSpeed=25000
+
+         KLinearDamping=0.000000
+
+         KAngularDamping=0.200000
+
+         KFriction=0.8
+
+         KRestitution=0.0
+
+         Name="KarmaParams1"
+
+    End Object
+
+    KParams=KarmaParams 'KarmaParams1'
+
+}
+


Property changes on: usarsim/USARModels/Classes/Kurt3DScannerSides.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARModels/Classes/KurtStructure.uc
===================================================================
--- usarsim/USARModels/Classes/KurtStructure.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/KurtStructure.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,32 @@
+class KurtStructure extends KDPart;
+
+
+defaultproperties
+
+{
+
+     StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.Kurt2D.Kurt2DLaptopStructure'
+
+     DrawScale=1.0
+
+     Begin Object Class=KarmaParamsRBFull Name=KarmaParams1
+
+         KLinearDamping=0.700000
+
+         KAngularDamping=0.900000
+
+         bHighDetailOnly=False
+
+         bClientOnly=False
+
+         bKDoubleTickRate=True
+
+         KFriction=0.900000
+
+     End Object
+
+     KParams=KarmaParamsRBFull'USARBot.KurtStructure.KarmaParams1'
+
+
+}
+


Property changes on: usarsim/USARModels/Classes/KurtStructure.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARModels/Classes/KurtTireL.uc
===================================================================
--- usarsim/USARModels/Classes/KurtTireL.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/KurtTireL.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,13 @@
+class KurtTireL extends USARTire;
+
+
+defaultproperties
+
+{
+
+     DrawScale=1.0
+
+     StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.Kurt2D.Kurt2DLeftTire'
+
+}
+


Property changes on: usarsim/USARModels/Classes/KurtTireL.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARModels/Classes/KurtTireOutdoor.uc
===================================================================
--- usarsim/USARModels/Classes/KurtTireOutdoor.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/KurtTireOutdoor.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,13 @@
+class KurtTireOutdoor extends USARTire;
+
+
+defaultproperties
+
+{
+
+     DrawScale=1.0
+
+     StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.Kurt3D.Kurt3DTire'
+
+}
+


Property changes on: usarsim/USARModels/Classes/KurtTireOutdoor.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARModels/Classes/KurtTireR.uc
===================================================================
--- usarsim/USARModels/Classes/KurtTireR.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/KurtTireR.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,14 @@
+class KurtTireR extends USARTire;
+
+
+defaultproperties
+
+{
+
+     DrawScale=1.0
+
+     StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.Kurt2D.Kurt2DRightTire'
+
+
+}
+


Property changes on: usarsim/USARModels/Classes/KurtTireR.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARModels/Classes/LisaTireBig.uc
===================================================================
--- usarsim/USARModels/Classes/LisaTireBig.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/LisaTireBig.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,8 @@
+class LisaTireBig extends USARTire;
+
+defaultproperties
+{
+//Scaled with 4.762 at Mon Sep 25 14:21:49 EDT 2006
+	//DrawScale=0.042000
+	DrawScale=0.2381
+}


Property changes on: usarsim/USARModels/Classes/LisaTireBig.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARModels/Classes/LisaTireSmall.uc
===================================================================
--- usarsim/USARModels/Classes/LisaTireSmall.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/LisaTireSmall.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,11 @@
+class LisaTireSmall extends USARTire;
+
+defaultproperties
+{
+//Scaled with 4.762 at Mon Sep 25 14:21:49 EDT 2006
+	//DrawScale=0.042000
+	//DrawScale=0.2381
+	DrawScale=0.11905
+	//RollFriction=0.0
+	//LateralFriction=0.0
+}


Property changes on: usarsim/USARModels/Classes/LisaTireSmall.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARModels/Classes/P2ATTire.uc
===================================================================
--- usarsim/USARModels/Classes/P2ATTire.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/P2ATTire.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,24 @@
+class P2ATTire extends USARTire;
+
+defaultproperties
+{
+//Scaled with 4.762 at Mon Sep 25 14:21:49 EDT 2006
+	//DrawScale=0.042000
+	DrawScale=0.2381
+    Begin Object Class=KarmaParamsRBFull Name=KParams0
+        bKNonSphericalInertia=True
+        KInertiaTensor(0)=0.0049
+        KInertiaTensor(3)=0.008
+        KInertiaTensor(5)=0.0049
+        KLinearDamping=0
+        KAngularDamping=0
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KActorGravScale=2.58
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKDoubleTickRate=True
+        Name="KParams0"
+    End Object
+    KParams=KarmaParamsRBFull'USARModels.P2ATTire.KParams0'
+}

Added: usarsim/USARModels/Classes/P2DXDummy.uc
===================================================================
--- usarsim/USARModels/Classes/P2DXDummy.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/P2DXDummy.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,16 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class P2DXDummy extends WCObject;
+
+defaultproperties
+{
+    bUnlit=true //this is true only because P2DXDummy has some problem with dynamic lighting
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Dummies.P2DX'
+    Begin Object Class=KarmaParamsCollision Name=KParams0
+        KFriction=0.5
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/P2DXSmallTire.uc
===================================================================
--- usarsim/USARModels/Classes/P2DXSmallTire.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/P2DXSmallTire.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,7 @@
+class P2DXSmallTire extends USARTire;
+
+defaultproperties
+{
+//Scaled with 4.762 at Mon Sep 25 14:21:51 EDT 2006
+	DrawScale=0.060001202
+}

Added: usarsim/USARModels/Classes/P2DXTire.uc
===================================================================
--- usarsim/USARModels/Classes/P2DXTire.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/P2DXTire.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,24 @@
+class P2DXTire extends USARTire;
+
+defaultproperties
+{
+//Scaled with 4.762 at Mon Sep 25 14:21:51 EDT 2006
+	//DrawScale=0.03175
+	DrawScale=0.185718
+    Begin Object Class=KarmaParamsRBFull Name=KParams0
+        bKNonSphericalInertia=True
+        KInertiaTensor(0)=0.0035
+        KInertiaTensor(3)=0.0066
+        KInertiaTensor(5)=0.0035
+        KLinearDamping=0.0
+        KAngularDamping=0.0
+        KActorGravScale=2.58
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKDoubleTickRate=True
+        Name="KParams0"
+    End Object
+    KParams=KarmaParamsRBFull'USARModels.P2DXTire.KParams0'
+}

Added: usarsim/USARModels/Classes/PGCameraBase.uc
===================================================================
--- usarsim/USARModels/Classes/PGCameraBase.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/PGCameraBase.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+class PGCameraBase extends KDPart;
+
+defaultproperties
+{
+//Scaled with 4.762 at Mon Sep 25 14:21:51 EDT 2006
+	Type='Pan-Tilt'
+	StaticMesh=StaticMesh'USARSim_VehicleParts_Meshes.Zerg.ZergCameraBase'
+	DrawScale=0.871446
+}

Added: usarsim/USARModels/Classes/PGCameraPan.uc
===================================================================
--- usarsim/USARModels/Classes/PGCameraPan.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/PGCameraPan.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+class PGCameraPan extends KDPart;
+
+defaultproperties
+{
+//Scaled with 4.762 at Mon Sep 25 14:21:51 EDT 2006
+	Type='Pan-Tilt'
+	StaticMesh=StaticMesh'USARSim_VehicleParts_Meshes.Zerg.ZergCameraPan'
+	DrawScale=0.871446
+}

Added: usarsim/USARModels/Classes/PGCameraTilt.uc
===================================================================
--- usarsim/USARModels/Classes/PGCameraTilt.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/PGCameraTilt.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+class PGCameraTilt extends KDPart;
+
+defaultproperties
+{
+//Scaled with 4.762 at Mon Sep 25 14:21:51 EDT 2006
+	Type='Pan-Tilt'
+	StaticMesh=StaticMesh'USARSim_VehicleParts_Meshes.Zerg.ZergCameraTilt'
+	DrawScale=0.871446
+}

Added: usarsim/USARModels/Classes/Panel1m1m.uc
===================================================================
--- usarsim/USARModels/Classes/Panel1m1m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Panel1m1m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Panel1m1m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Panel1_1_2'
+}

Added: usarsim/USARModels/Classes/PanelL1m1m.uc
===================================================================
--- usarsim/USARModels/Classes/PanelL1m1m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/PanelL1m1m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class PanelL1m1m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Panel1_1_2L'
+}

Added: usarsim/USARModels/Classes/Pillar10c05m.uc
===================================================================
--- usarsim/USARModels/Classes/Pillar10c05m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Pillar10c05m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Pillar10c05m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Pillar10_50'
+}

Added: usarsim/USARModels/Classes/Pillar10c1m.uc
===================================================================
--- usarsim/USARModels/Classes/Pillar10c1m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Pillar10c1m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Pillar10c1m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Pillar10_100'
+}

Added: usarsim/USARModels/Classes/Pillar10c2m.uc
===================================================================
--- usarsim/USARModels/Classes/Pillar10c2m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Pillar10c2m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Pillar10c2m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Pillar10_200'
+}

Added: usarsim/USARModels/Classes/Pillar20c05m.uc
===================================================================
--- usarsim/USARModels/Classes/Pillar20c05m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Pillar20c05m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Pillar20c05m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Pillar20_50'
+}

Added: usarsim/USARModels/Classes/Pillar20c1m.uc
===================================================================
--- usarsim/USARModels/Classes/Pillar20c1m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Pillar20c1m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Pillar20c1m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Pillar20_100'
+}

Added: usarsim/USARModels/Classes/Pillar20c2m.uc
===================================================================
--- usarsim/USARModels/Classes/Pillar20c2m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Pillar20c2m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Pillar20c2m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Pillar20_200'
+}

Added: usarsim/USARModels/Classes/Pillar30c05m.uc
===================================================================
--- usarsim/USARModels/Classes/Pillar30c05m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Pillar30c05m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Pillar30c05m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Pillar30_50'
+}

Added: usarsim/USARModels/Classes/Pillar30c1m.uc
===================================================================
--- usarsim/USARModels/Classes/Pillar30c1m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Pillar30c1m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Pillar30c1m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Pillar30_100'
+}

Added: usarsim/USARModels/Classes/Pillar30c2m.uc
===================================================================
--- usarsim/USARModels/Classes/Pillar30c2m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Pillar30c2m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Pillar30c2m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Pillar30_200'
+}

Added: usarsim/USARModels/Classes/Pillar40c05m.uc
===================================================================
--- usarsim/USARModels/Classes/Pillar40c05m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Pillar40c05m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Pillar40c05m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Pillar40_50'
+}

Added: usarsim/USARModels/Classes/Pillar40c1m.uc
===================================================================
--- usarsim/USARModels/Classes/Pillar40c1m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Pillar40c1m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Pillar40c1m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Pillar40_100'
+}

Added: usarsim/USARModels/Classes/Pillar40c2m.uc
===================================================================
--- usarsim/USARModels/Classes/Pillar40c2m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Pillar40c2m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Pillar40c2m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Pillar40_200'
+}

Added: usarsim/USARModels/Classes/Pillar50c05m.uc
===================================================================
--- usarsim/USARModels/Classes/Pillar50c05m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Pillar50c05m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Pillar50c05m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Pillar50_50'
+}

Added: usarsim/USARModels/Classes/Pillar50c1m.uc
===================================================================
--- usarsim/USARModels/Classes/Pillar50c1m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Pillar50c1m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Pillar50c1m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Pillar50_100'
+}

Added: usarsim/USARModels/Classes/Pillar50c2m.uc
===================================================================
--- usarsim/USARModels/Classes/Pillar50c2m.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Pillar50c2m.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Pillar50c2m extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Pillar50_200'
+}

Added: usarsim/USARModels/Classes/Pinger.uc
===================================================================
--- usarsim/USARModels/Classes/Pinger.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Pinger.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,14 @@
+class Pinger extends RangeScanner config (USARBot);
+
+defaultproperties
+{
+//Scaled with 4.762 at Mon Sep 25 14:21:52 EDT 2006
+	HiddenSensor=false
+	DrawScale=4.762
+	MaxRange=50.000000
+	OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=50.000000,OutVal=50.000000)))
+    ScanInterval=1.0
+    Resolution=0.01745
+    ScanFov=0.01745
+	StaticMesh=StaticMesh'USARSim_VehicleParts_Meshes.Sensors.LMS200'
+}


Property changes on: usarsim/USARModels/Classes/Pinger.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARModels/Classes/QRIOBack.uc
===================================================================
--- usarsim/USARModels/Classes/QRIOBack.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/QRIOBack.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,36 @@
+/* QRIO Back
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class QRIOBack extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+	bBlockActors=false
+	bBlockKarma=false
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.QRIO.QRIOBackB'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKNonSphericalInertia=true
+        KMass=0.178
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.000000
+        KAngularDamping=0.200000
+        KFriction=0.0
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/QRIODummy.uc
===================================================================
--- usarsim/USARModels/Classes/QRIODummy.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/QRIODummy.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,39 @@
+// This object is used 9 times to add DOF to joints
+// Its collision is set to false because more dummy boxes
+// may be present in the same space and therefore should not
+// collide.
+// by Marco Zaratti - marco.zaratti at gmail.com
+
+class QRIODummy extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+	bBlockActors=false
+	bBlockKarma=false
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.QRIO.QRIODummy'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKNonSphericalInertia=true
+        KMass=0.01
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.000000
+        KAngularDamping=0.200000
+        KFriction=0.0
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/QRIOHead.uc
===================================================================
--- usarsim/USARModels/Classes/QRIOHead.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/QRIOHead.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,34 @@
+/* QRIO Head
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class QRIOHead extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.QRIO.QRIOHead'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKNonSphericalInertia=true
+        KMass=0.164
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.000000
+        KAngularDamping=0.200000
+        KFriction=0.8
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/QRIOLAB.uc
===================================================================
--- usarsim/USARModels/Classes/QRIOLAB.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/QRIOLAB.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,34 @@
+/* QRIO Left Arm B
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class QRIOLAB extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.QRIO.QRIOLArmB'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKNonSphericalInertia=true
+        KMass=0.0894
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.000000
+        KAngularDamping=0.200000
+        KFriction=0.8
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/QRIOLAC.uc
===================================================================
--- usarsim/USARModels/Classes/QRIOLAC.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/QRIOLAC.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,34 @@
+/* QRIO Left Arm C
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class QRIOLAC extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.QRIO.QRIOLArmC'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKNonSphericalInertia=true
+        KMass=0.0924
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.000000
+        KAngularDamping=0.200000
+        KFriction=0.8
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/QRIOLEC.uc
===================================================================
--- usarsim/USARModels/Classes/QRIOLEC.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/QRIOLEC.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,34 @@
+/* QRIO Left&Right Leg C
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class QRIOLEC extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.QRIO.QRIOLegC'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKNonSphericalInertia=true
+        KMass=0.129
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.000000
+        KAngularDamping=0.200000
+        KFriction=0.8
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/QRIOLED.uc
===================================================================
--- usarsim/USARModels/Classes/QRIOLED.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/QRIOLED.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,34 @@
+/* QRIO Left&Right Leg D
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class QRIOLED extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.QRIO.QRIOLegD'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKNonSphericalInertia=true
+        KMass=0.119
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.000000
+        KAngularDamping=0.200000
+        KFriction=0.8
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/QRIOLEF.uc
===================================================================
--- usarsim/USARModels/Classes/QRIOLEF.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/QRIOLEF.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,34 @@
+/* QRIO Left&Right Leg F
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class QRIOLEF extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.QRIO.QRIOLegF'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKNonSphericalInertia=true
+        KMass=0.0488
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.000000
+        KAngularDamping=0.200000
+        KFriction=0.8
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/QRIORAB.uc
===================================================================
--- usarsim/USARModels/Classes/QRIORAB.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/QRIORAB.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,34 @@
+/* QRIO Right Arm B
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class QRIORAB extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.QRIO.QRIORArmB'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKNonSphericalInertia=true
+        KMass=0.0894
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.000000
+        KAngularDamping=0.200000
+        KFriction=0.8
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/QRIORAC.uc
===================================================================
--- usarsim/USARModels/Classes/QRIORAC.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/QRIORAC.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,34 @@
+/* QRIO Right Arm C
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class QRIORAC extends KDPart;
+
+defaultproperties
+{
+    DrawScale=1
+    StaticMesh=StaticMesh'USARSim_LeggedRobots_Meshes.QRIO.QRIORArmC'
+    Begin Object Class=KarmaParams Name=KParams0
+        KStartEnabled=True
+        bKDoubleTickRate=True
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKNonSphericalInertia=true
+        KMass=0.0924
+//Uncomment and define these when using RBfull karma params
+//        KInertiaTensor(0)=0.4
+//        KInertiaTensor(1)=0
+//        KInertiaTensor(2)=0
+//        KInertiaTensor(3)=0.4
+//        KInertiaTensor(4)=0
+//        KInertiaTensor(5)=0.4
+//        KCOMOffset=(X=0.0,Y=0.0,Z=0.0)
+        KMaxAngularSpeed=100
+        KMaxSpeed=25000
+        KLinearDamping=0.000000
+        KAngularDamping=0.200000
+        KFriction=0.8
+        KRestitution=0.0
+        Name="KParams0"
+    End Object
+    KParams=KarmaParams'KParams0'
+}

Added: usarsim/USARModels/Classes/Ramp1m1m10d.uc
===================================================================
--- usarsim/USARModels/Classes/Ramp1m1m10d.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Ramp1m1m10d.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Ramp1m1m10d extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Ramp1_1_10'
+}

Added: usarsim/USARModels/Classes/Ramp1m2m10d.uc
===================================================================
--- usarsim/USARModels/Classes/Ramp1m2m10d.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/Ramp1m2m10d.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+/*
+ * by Marco Zaratti - marco.zaratti at gmail.com
+*/
+class Ramp1m2m10d extends WCObject;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Objects_Meshes.Objects.Ramp1_2_10'
+}

Added: usarsim/USARModels/Classes/S300_scanner.uc
===================================================================
--- usarsim/USARModels/Classes/S300_scanner.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/S300_scanner.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,9 @@
+class S300_scanner extends RangeScanner config (USARBot);
+
+defaultproperties
+{
+	HiddenSensor=false
+	DrawScale=4.762
+    //DrawScale=0.525
+	StaticMesh=StaticMesh'USARSim_VehicleParts_Meshes.Sensors.S300_scanner'
+}


Property changes on: usarsim/USARModels/Classes/S300_scanner.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARModels/Classes/SICKLMS.uc
===================================================================
--- usarsim/USARModels/Classes/SICKLMS.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/SICKLMS.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,14 @@
+class SICKLMS extends RangeScanner config (USARBot);
+
+simulated event Destroyed()
+{
+	super.Destroyed();
+}
+
+defaultproperties
+{
+//Scaled with 4.762 at Mon Sep 25 14:21:52 EDT 2006
+	HiddenSensor=false
+	DrawScale=4.762
+	StaticMesh=StaticMesh'USARSim_VehicleParts_Meshes.Sensors.LMS200'
+}

Added: usarsim/USARModels/Classes/SICKLMSr.uc
===================================================================
--- usarsim/USARModels/Classes/SICKLMSr.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/SICKLMSr.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,8 @@
+class SICKLMSr extends SICKLMS config (USARBot);
+
+defaultproperties
+{
+//Scaled with 4.762 at Mon Sep 25 14:21:51 EDT 2006
+	DrawScale=4.762
+	DrawScale3D=(x=1,y=1,z=-1.0)
+}

Added: usarsim/USARModels/Classes/SedanTireLeft.uc
===================================================================
--- usarsim/USARModels/Classes/SedanTireLeft.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/SedanTireLeft.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,22 @@
+class SedanTireLeft extends USARTire;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.Sedan.SedanLeftTire'
+    DrawScale=4.762
+
+    Begin Object Class=KarmaParamsRBFull Name=KParams0
+        KInertiaTensor(0)=1.800000
+        KInertiaTensor(3)=1.800000
+        KInertiaTensor(5)=1.800000
+        KLinearDamping=0.000000
+        KAngularDamping=0.000000
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKDoubleTickRate=True
+        Name="KParams0"
+        KMass=0.002
+        KMaxSpeed=100000
+    End Object
+    KParams=KarmaParamsRBFull'USARModels.SedanTireLeft.KParams0'
+}
\ No newline at end of file

Added: usarsim/USARModels/Classes/SedanTireRight.uc
===================================================================
--- usarsim/USARModels/Classes/SedanTireRight.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/SedanTireRight.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,22 @@
+class SedanTireRight extends USARTire;
+
+defaultproperties
+{
+    StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.Sedan.SedanRightTire'
+    DrawScale=4.762
+
+    Begin Object Class=KarmaParamsRBFull Name=KParams0
+        KInertiaTensor(0)=1.800000
+        KInertiaTensor(3)=1.800000
+        KInertiaTensor(5)=1.800000
+        KLinearDamping=0.000000
+        KAngularDamping=0.000000
+        bHighDetailOnly=False
+        bClientOnly=False
+        bKDoubleTickRate=True
+        Name="KParams0"
+        KMass=0.002
+        KMaxSpeed=100000
+    End Object
+    KParams=KarmaParamsRBFull'USARModels.SedanTireRight.KParams0'
+}
\ No newline at end of file

Added: usarsim/USARModels/Classes/SoryuCar.uc
===================================================================
--- usarsim/USARModels/Classes/SoryuCar.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/SoryuCar.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,21 @@
+class SoryuCar extends KDPart;
+
+defaultproperties
+{
+	Type='Part'
+	StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.Soryu.SoryuCar'
+	DrawScale=0.23810
+	
+	Begin Object Class=KarmaParamsRBFull Name=KarmaParams1
+		KLinearDamping=0.700000
+		KAngularDamping=0.000000
+		KRestitution=0.0
+		bHighDetailOnly=False
+		bClientOnly=false
+		bKDoubleTickRate=True
+		KFriction=2.500000
+		KMass=2.0
+		Name="KarmaParams1"
+	End Object	
+	KParams=KarmaParamsRBFull'USARBot.SoryuCar.KarmaParams1'	
+}

Added: usarsim/USARModels/Classes/SoryuCarJoint.uc
===================================================================
--- usarsim/USARModels/Classes/SoryuCarJoint.uc	                        (rev 0)
+++ usarsim/USARModels/Classes/SoryuCarJoint.uc	2007-05-10 15:25:27 UTC (rev 601)
@@ -0,0 +1,22 @@
+class SoryuCarJoint extends KDPart;
+
+defaultproperties
+{
+	Type='Part'
+	StaticMesh=StaticMesh'USARSim_Vehicles_Meshes.Soryu.SoryuJoint'
+	DrawScale=0.23810
+	
+	Begin Object Class=KarmaParamsRBFull Name=KarmaParams1
+		KLinearDamping=0.700000
+		KAngularDamping=0.000000
+		KRestitution=0.0
+		bHighDetailOnly=False
+		bClientOnly=false
+		bKDoubleTickRate=True
+		//bKDoubleTickRate=False

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Thu May 10 11:26:06 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 11:26:06 -0400
Subject: [TeamTalk 65]: [602] usarsim/USARVictims: Import usarsim usarvictims
Message-ID: <200705101526.l4AFQ6Go013484@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070510/8386d256/attachment-0001.html
-------------- next part --------------
Added: usarsim/USARVictims/Classes/AfroBurnsA.uc
===================================================================
--- usarsim/USARVictims/Classes/AfroBurnsA.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/AfroBurnsA.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,25 @@
+Class AfroBurnsA extends VictimPawn;
+
+defaultproperties
+{
+    DrawScale=1.8
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericMale'
+    Skins(0)=Texture'SEERS_Wounded.cloth_white_shirt_Cuts'
+    Skins(1)=Texture'SEERS_Wounded.Afro_skin_Burns'
+    Skins(2)=Texture'SEERSTexturesSG.Afro_hair'    
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GMHead',Offset=(X=40))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=-5))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=5))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GMChest',Offset=(X=70,Y=-20))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GMPelvis',Offset=(X=20))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=5))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=-5))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GMCalf',Offset=(X=55,Z=5))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GMCalf',Offset=(X=55,Z=-5))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+}
\ No newline at end of file


Property changes on: usarsim/USARVictims/Classes/AfroBurnsA.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/AfroCuts.uc
===================================================================
--- usarsim/USARVictims/Classes/AfroCuts.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/AfroCuts.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class AfroCuts extends VictimPawn;
+
+defaultproperties
+{
+    DrawScale=1.8
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericMale'
+    Skins(0)=Texture'SEERS_Wounded.Cloth_gray_Cuts'
+    Skins(1)=Texture'SEERS_Wounded.Afro_skin_Burns'
+    Skins(2)=Texture'SEERSTexturesSG.Afro_hair'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GMHead',Offset=(X=40))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=-5))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=5))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GMChest',Offset=(X=70,Y=-20))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GMPelvis',Offset=(X=20))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=5))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=-5))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GMCalf',Offset=(X=55,Z=5))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GMCalf',Offset=(X=55,Z=-5))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+}
+


Property changes on: usarsim/USARVictims/Classes/AfroCuts.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/AmyBurnFace.uc
===================================================================
--- usarsim/USARVictims/Classes/AmyBurnFace.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/AmyBurnFace.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class AmyBurnFace extends VictimPawn;
+
+defaultproperties
+{
+    Drawscale=1.65
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericFemale'
+    Skins(0)=Texture'SEERS_girls.RedNwhiteFemale'
+    Skins(1)=Texture'SEERS_girls.AmyFaceBurned'
+    Skins(2)=Texture'SEERS_girls.ghair'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GFHead',Offset=(X=30,Y=2,Z=0))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GFUpperArm',Offset=(X=40,Y=0,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GFUpperArm',Offset=(X=40,Y=0,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GFForeArm',Offset=(X=40,Y=2,Z=0))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GFForeArm',Offset=(X=40,Y=2,Z=0))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GFHand',Offset=(X=32,Y=0,Z=-4))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GFHand',Offset=(X=32,Y=0,Z=4))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GFChest',Offset=(X=60,Y=-20,Z=0))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GFPelvis',Offset=(X=0,Y=4,Z=0))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GFThigh',Offset=(X=84,Y=0,Z=3))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GFThigh',Offset=(X=84,Y=0,Z=-3))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GFCalf',Offset=(X=65,Y=6,Z=1))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GFCalf',Offset=(X=65,Y=6,Z=1))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GFFoot',Offset=(X=15,Y=-24,Z=0))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GFFoot',Offset=(X=15,Y=-24,Z=0))
+}
+


Property changes on: usarsim/USARVictims/Classes/AmyBurnFace.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/Bebe.uc
===================================================================
--- usarsim/USARVictims/Classes/Bebe.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/Bebe.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+class Bebe extends VictimPawn;
+
+defaultproperties
+{
+    Drawscale=1.65
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericFemale'
+    Skins(0)=Texture'SEERSTextures.bebe_smoked_cloth'
+    Skins(1)=Texture'SEERSTextures.smoked_skin_bebe'
+    Skins(2)=Texture'SEERS_girls.ghair'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GFHead',Offset=(X=30,Y=2,Z=0))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GFUpperArm',Offset=(X=40,Y=0,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GFUpperArm',Offset=(X=40,Y=0,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GFForeArm',Offset=(X=40,Y=2,Z=0))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GFForeArm',Offset=(X=40,Y=2,Z=0))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GFHand',Offset=(X=32,Y=0,Z=-4))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GFHand',Offset=(X=32,Y=0,Z=4))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GFChest',Offset=(X=60,Y=-20,Z=0))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GFPelvis',Offset=(X=0,Y=4,Z=0))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GFThigh',Offset=(X=84,Y=0,Z=3))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GFThigh',Offset=(X=84,Y=0,Z=-3))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GFCalf',Offset=(X=65,Y=6,Z=1))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GFCalf',Offset=(X=65,Y=6,Z=1))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GFFoot',Offset=(X=15,Y=-24,Z=0))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GFFoot',Offset=(X=15,Y=-24,Z=0))
+}
+


Property changes on: usarsim/USARVictims/Classes/Bebe.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/BeckyForeheadBleed.uc
===================================================================
--- usarsim/USARVictims/Classes/BeckyForeheadBleed.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/BeckyForeheadBleed.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class BeckyForeheadBleed extends VictimPawn;
+
+defaultproperties
+{
+    Drawscale=1.65
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericFemale'
+    Skins(0)=Texture'SEERS_girls.RedNwhiteFemale'
+    Skins(1)=Texture'SEERS_girls.BeckyFaceCuts'
+    Skins(2)=Texture'SEERS_girls.ghair'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GFHead',Offset=(X=30,Y=2,Z=0))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GFUpperArm',Offset=(X=40,Y=0,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GFUpperArm',Offset=(X=40,Y=0,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GFForeArm',Offset=(X=40,Y=2,Z=0))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GFForeArm',Offset=(X=40,Y=2,Z=0))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GFHand',Offset=(X=32,Y=0,Z=-4))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GFHand',Offset=(X=32,Y=0,Z=4))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GFChest',Offset=(X=60,Y=-20,Z=0))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GFPelvis',Offset=(X=0,Y=4,Z=0))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GFThigh',Offset=(X=84,Y=0,Z=3))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GFThigh',Offset=(X=84,Y=0,Z=-3))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GFCalf',Offset=(X=65,Y=6,Z=1))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GFCalf',Offset=(X=65,Y=6,Z=1))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GFFoot',Offset=(X=15,Y=-24,Z=0))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GFFoot',Offset=(X=15,Y=-24,Z=0))
+}
+


Property changes on: usarsim/USARVictims/Classes/BeckyForeheadBleed.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/David5_.uc
===================================================================
--- usarsim/USARVictims/Classes/David5_.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/David5_.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class David5_ extends VictimPawn;
+
+defaultproperties
+{
+    DrawScale=1.8
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericMale'
+    Skins(0)=Texture'SEERS_Wounded.cloth_white_shirt_Cuts'
+    Skins(1)=Texture'SEERS_Wounded.Mark_skin_Cut'
+    Skins(2)=Texture'SEERSTexturesSG.hair'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GMHead',Offset=(X=40))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=-5))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=5))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GMChest',Offset=(X=70,Y=-20))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GMPelvis',Offset=(X=20))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=5))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=-5))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GMCalf',Offset=(X=55,Z=5))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GMCalf',Offset=(X=55,Z=-5))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+}
+


Property changes on: usarsim/USARVictims/Classes/David5_.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/DennisBlue.uc
===================================================================
--- usarsim/USARVictims/Classes/DennisBlue.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/DennisBlue.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class DennisBlue extends VictimPawn;
+
+defaultproperties
+{
+    DrawScale=1.8
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericMale'
+    Skins(0)=Texture'SEERSTexturesSG.Cloth_blue'
+    Skins(1)=Texture'SEERSTexturesSG.Dennis_skin'
+    Skins(2)=Texture'SEERSTexturesSG.hair_beye'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GMHead',Offset=(X=40))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=-5))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=5))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GMChest',Offset=(X=70,Y=-20))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GMPelvis',Offset=(X=20))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=5))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=-5))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GMCalf',Offset=(X=55,Z=5))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GMCalf',Offset=(X=55,Z=-5))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+}
+


Property changes on: usarsim/USARVictims/Classes/DennisBlue.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/DennisBurnedA.uc
===================================================================
--- usarsim/USARVictims/Classes/DennisBurnedA.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/DennisBurnedA.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class DennisBurnedA extends VictimPawn;
+
+defaultproperties
+{
+    DrawScale=1.8
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericMale'
+    Skins(0)=Texture'SEERS_Wounded.cloth_khaki_Cuts'
+    Skins(1)=Texture'SEERS_Wounded.Dennis_skin_Burn'
+    Skins(2)=Texture'SEERSTexturesSG.hair'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GMHead',Offset=(X=40))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=-5))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=5))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GMChest',Offset=(X=70,Y=-20))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GMPelvis',Offset=(X=20))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=5))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=-5))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GMCalf',Offset=(X=55,Z=5))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GMCalf',Offset=(X=55,Z=-5))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+}
+


Property changes on: usarsim/USARVictims/Classes/DennisBurnedA.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/DennisBurnedB.uc
===================================================================
--- usarsim/USARVictims/Classes/DennisBurnedB.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/DennisBurnedB.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class DennisBurnedB extends VictimPawn;
+
+defaultproperties
+{
+    DrawScale=1.8
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericMale'
+    Skins(0)=Texture'SEERS_Wounded.Cloth_blue_Cuts2'
+    Skins(1)=Texture'SEERS_Wounded.Dennis_skin_Burn'
+    Skins(2)=Texture'SEERSTexturesSG.hair'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GMHead',Offset=(X=40))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=-5))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=5))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GMChest',Offset=(X=70,Y=-20))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GMPelvis',Offset=(X=20))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=5))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=-5))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GMCalf',Offset=(X=55,Z=5))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GMCalf',Offset=(X=55,Z=-5))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+}
+


Property changes on: usarsim/USARVictims/Classes/DennisBurnedB.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/DennisCuts.uc
===================================================================
--- usarsim/USARVictims/Classes/DennisCuts.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/DennisCuts.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class DennisCuts extends VictimPawn;
+
+defaultproperties
+{
+    DrawScale=1.8
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericMale'
+    Skins(0)=Texture'SEERS_Wounded.Cloth_gray_Cuts'
+    Skins(1)=Texture'SEERS_Wounded.Dennis_skin_Cuts'
+    Skins(2)=Texture'SEERSTexturesSG.hair_beye'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GMHead',Offset=(X=40))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=-5))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=5))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GMChest',Offset=(X=70,Y=-20))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GMPelvis',Offset=(X=20))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=5))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=-5))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GMCalf',Offset=(X=55,Z=5))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GMCalf',Offset=(X=55,Z=-5))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+}
+


Property changes on: usarsim/USARVictims/Classes/DennisCuts.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/DennisGray.uc
===================================================================
--- usarsim/USARVictims/Classes/DennisGray.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/DennisGray.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class DennisGray extends VictimPawn;
+
+defaultproperties
+{
+    DrawScale=1.8
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericMale'
+    Skins(0)=Texture'SEERSTexturesSG.Cloth_gray'
+    Skins(1)=Texture'SEERSTexturesSG.Dennis_skin'
+    Skins(2)=Texture'SEERSTexturesSG.hair'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GMHead',Offset=(X=40))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=-5))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=5))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GMChest',Offset=(X=70,Y=-20))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GMPelvis',Offset=(X=20))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=5))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=-5))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GMCalf',Offset=(X=55,Z=5))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GMCalf',Offset=(X=55,Z=-5))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+}
+


Property changes on: usarsim/USARVictims/Classes/DennisGray.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/DennisWhite.uc
===================================================================
--- usarsim/USARVictims/Classes/DennisWhite.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/DennisWhite.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class DennisWhite extends VictimPawn;
+
+defaultproperties
+{
+    DrawScale=1.8
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericMale'
+    Skins(0)=Texture'SEERSTexturesSG.cloth_white_shirt_pants'
+    Skins(1)=Texture'SEERSTexturesSG.Dennis_skin'
+    Skins(2)=Texture'SEERSTexturesSG.hair_beye'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GMHead',Offset=(X=40))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=-5))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=5))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GMChest',Offset=(X=70,Y=-20))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GMPelvis',Offset=(X=20))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=5))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=-5))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GMCalf',Offset=(X=55,Z=5))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GMCalf',Offset=(X=55,Z=-5))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+}
+


Property changes on: usarsim/USARVictims/Classes/DennisWhite.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/GFCalf.uc
===================================================================
--- usarsim/USARVictims/Classes/GFCalf.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GFCalf.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Female (GF) calf.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericFemale' SkeletalMesh.
+*************************************************************************************/
+class GFCalf extends VicColActor;
+
+defaultproperties
+{
+    DrawScale=1.65
+    DrawScale3D=(X=60,Y=29,Z=22)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GFChest.uc
===================================================================
--- usarsim/USARVictims/Classes/GFChest.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GFChest.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Female (GF) chest.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericFemale' SkeletalMesh.
+*************************************************************************************/
+class GFChest extends VicColActor;
+
+defaultproperties
+{
+    DrawScale=1.65
+    DrawScale3D=(X=58,Y=40,Z=40)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GFFoot.uc
===================================================================
--- usarsim/USARVictims/Classes/GFFoot.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GFFoot.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Female (GF) foot.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericFemale' SkeletalMesh.
+*************************************************************************************/
+class GFFoot extends VicColActor;
+
+defaultproperties
+{
+    DrawScale=1.65
+    DrawScale3D=(X=13,Y=38,Z=18)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GFForeArm.uc
===================================================================
--- usarsim/USARVictims/Classes/GFForeArm.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GFForeArm.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Female (GF) forearm.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericFemale' SkeletalMesh.
+*************************************************************************************/
+class GFForeArm extends VicColActor;
+
+defaultproperties
+{
+    DrawScale=1.65
+    DrawScale3D=(X=30,Y=12,Z=12)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GFHand.uc
===================================================================
--- usarsim/USARVictims/Classes/GFHand.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GFHand.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Female (GF) hand.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericFemale' SkeletalMesh.
+*************************************************************************************/
+class GFHand extends VicColActor;
+
+defaultproperties
+{
+    DrawScale=1.65
+    DrawScale3D=(X=30,Y=8,Z=30)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GFHead.uc
===================================================================
--- usarsim/USARVictims/Classes/GFHead.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GFHead.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Female (GF) head.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericFemale' SkeletalMesh.
+*************************************************************************************/
+class GFHead extends VicColActor;
+
+defaultproperties
+{
+    DrawScale=1.65
+    DrawScale3D=(X=40,Y=35,Z=25)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GFPelvis.uc
===================================================================
--- usarsim/USARVictims/Classes/GFPelvis.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GFPelvis.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Female (GF) pelvis.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericFemale' SkeletalMesh.
+*************************************************************************************/
+class GFPelvis extends VicColActor;
+
+defaultproperties
+{
+    DrawScale=1.65
+    DrawScale3D=(X=25,Y=38,Z=56)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GFThigh.uc
===================================================================
--- usarsim/USARVictims/Classes/GFThigh.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GFThigh.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Female (GF) thigh.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericFemale' SkeletalMesh.
+*************************************************************************************/
+class GFThigh extends VicColActor;
+
+defaultproperties
+{
+    DrawScale=1.65
+    DrawScale3D=(X=40,Y=30,Z=28)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GFUpperArm.uc
===================================================================
--- usarsim/USARVictims/Classes/GFUpperArm.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GFUpperArm.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Female (GF) upperarm.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericFemale' SkeletalMesh.
+*************************************************************************************/
+class GFUpperArm extends VicColActor;
+
+defaultproperties
+{
+    DrawScale=1.65
+    DrawScale3D=(X=30,Y=14,Z=12)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GMCalf.uc
===================================================================
--- usarsim/USARVictims/Classes/GMCalf.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GMCalf.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Male (GM) calf.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericMale' SkeletalMesh.
+*************************************************************************************/
+class GMCalf extends VicColActor;
+
+defaultproperties
+{
+	DrawScale=1.35
+	DrawScale3D=(X=55,Y=25,Z=25)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GMChest.uc
===================================================================
--- usarsim/USARVictims/Classes/GMChest.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GMChest.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Male (GM) chest.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericMale' SkeletalMesh.
+*************************************************************************************/
+class GMChest extends VicColActor;
+
+defaultproperties
+{
+	DrawScale=1.35
+	DrawScale3D=(X=70,Y=30,Z=50)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GMFoot.uc
===================================================================
--- usarsim/USARVictims/Classes/GMFoot.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GMFoot.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Male (GM) foot.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericMale' SkeletalMesh.
+*************************************************************************************/
+class GMFoot extends VicColActor;
+
+defaultproperties
+{
+	DrawScale=1.35
+	DrawScale3D=(X=15,Y=50,Z=20)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GMForeArm.uc
===================================================================
--- usarsim/USARVictims/Classes/GMForeArm.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GMForeArm.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Male (GM) forearm.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericMale' SkeletalMesh.
+*************************************************************************************/
+class GMForeArm extends VicColActor;
+
+defaultproperties
+{
+	DrawScale=1.35
+	DrawScale3D=(X=40,Y=12,Z=18)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GMHand.uc
===================================================================
--- usarsim/USARVictims/Classes/GMHand.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GMHand.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Male (GM) hand.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericMale' SkeletalMesh.
+*************************************************************************************/
+class GMHand extends VicColActor;
+
+defaultproperties
+{
+    DrawScale=1.35
+    DrawScale3D=(X=40,Y=8,Z=30)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GMHead.uc
===================================================================
--- usarsim/USARVictims/Classes/GMHead.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GMHead.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Male (GM) head.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericMale' SkeletalMesh.
+*************************************************************************************/
+class GMHead extends VicColActor;
+
+defaultproperties
+{
+    DrawScale=1.35
+    DrawScale3D=(X=40,Y=25,Z=25)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GMPelvis.uc
===================================================================
--- usarsim/USARVictims/Classes/GMPelvis.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GMPelvis.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Male (GM) pelvis.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericMale' SkeletalMesh.
+*************************************************************************************/
+class GMPelvis extends VicColActor;
+
+defaultproperties
+{
+    DrawScale=1.35
+    DrawScale3D=(X=20,Y=40,Z=40)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GMThigh.uc
===================================================================
--- usarsim/USARVictims/Classes/GMThigh.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GMThigh.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Male (GM) thigh.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericMale' SkeletalMesh.
+*************************************************************************************/
+class GMThigh extends VicColActor;
+
+defaultproperties
+{
+	DrawScale=1.35
+	DrawScale3D=(X=70,Y=30,Z=30)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GMUpperArm.uc
===================================================================
--- usarsim/USARVictims/Classes/GMUpperArm.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GMUpperArm.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,11 @@
+/*************************************************************************************
+    Box collision for a Generic Male (GM) upperarm.  This class should ONLY be used
+  on victim pawns that have a 'UDN_CharacterModels_K.GenericMale' SkeletalMesh.
+*************************************************************************************/
+class GMUpperArm extends VicColActor;
+
+defaultproperties
+{
+	DrawScale=1.35
+	DrawScale3D=(X=40,Y=15,Z=20)
+}
\ No newline at end of file

Added: usarsim/USARVictims/Classes/GenericFemale.uc
===================================================================
--- usarsim/USARVictims/Classes/GenericFemale.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GenericFemale.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class GenericFemale extends VictimPawn;
+
+defaultproperties
+{
+    Drawscale=1.65
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericFemale'
+    Skins(0)=Texture'SEERS_girls.RedNwhiteFemale'
+    Skins(1)=Texture'SEERS_gWounded.AmyFaceBurned'
+    Skins(2)=Texture'SEERS_girls.ghair'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GFHead',Offset=(X=30,Y=2,Z=0))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GFUpperArm',Offset=(X=40,Y=0,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GFUpperArm',Offset=(X=40,Y=0,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GFForeArm',Offset=(X=40,Y=2,Z=0))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GFForeArm',Offset=(X=40,Y=2,Z=0))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GFHand',Offset=(X=32,Y=0,Z=-4))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GFHand',Offset=(X=32,Y=0,Z=4))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GFChest',Offset=(X=60,Y=-20,Z=0))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GFPelvis',Offset=(X=0,Y=4,Z=0))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GFThigh',Offset=(X=84,Y=0,Z=3))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GFThigh',Offset=(X=84,Y=0,Z=-3))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GFCalf',Offset=(X=65,Y=6,Z=1))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GFCalf',Offset=(X=65,Y=6,Z=1))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GFFoot',Offset=(X=15,Y=-24,Z=0))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GFFoot',Offset=(X=15,Y=-24,Z=0))
+}
+


Property changes on: usarsim/USARVictims/Classes/GenericFemale.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/GenericFemale4Skin.uc
===================================================================
--- usarsim/USARVictims/Classes/GenericFemale4Skin.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/GenericFemale4Skin.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,27 @@
+Class GenericFemale4Skin extends VictimPawn;
+
+defaultproperties
+{
+    Drawscale=1.65
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericFemale'
+    Skins(0)=Texture'SEERS_girls.RedNwhiteFemale'
+    Skins(1)=Texture'SEERS_girls.AmyFace'
+    Skins(2)=Texture'SEERS_girls.ghair'
+    Skins(3)=Texture'SEERS_gWounded.PuncturedShoulderCloth'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GFHead',Offset=(X=30,Y=2,Z=0))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GFUpperArm',Offset=(X=40,Y=0,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GFUpperArm',Offset=(X=40,Y=0,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GFForeArm',Offset=(X=40,Y=2,Z=0))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GFForeArm',Offset=(X=40,Y=2,Z=0))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GFHand',Offset=(X=32,Y=0,Z=-4))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GFHand',Offset=(X=32,Y=0,Z=4))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GFChest',Offset=(X=60,Y=-20,Z=0))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GFPelvis',Offset=(X=0,Y=4,Z=0))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GFThigh',Offset=(X=84,Y=0,Z=3))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GFThigh',Offset=(X=84,Y=0,Z=-3))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GFCalf',Offset=(X=65,Y=6,Z=1))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GFCalf',Offset=(X=65,Y=6,Z=1))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GFFoot',Offset=(X=15,Y=-24,Z=0))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GFFoot',Offset=(X=15,Y=-24,Z=0))
+}
+


Property changes on: usarsim/USARVictims/Classes/GenericFemale4Skin.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/Henry18_.uc
===================================================================
--- usarsim/USARVictims/Classes/Henry18_.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/Henry18_.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class Henry18_ extends VictimPawn;
+
+defaultproperties
+{
+    DrawScale=1.8
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericMale'
+    Skins(0)=Texture'SEERS_Wounded.LacsNSchrapnel'
+    Skins(1)=Texture'SEERSTexturesSG.Mark_skin'
+    Skins(2)=Texture'SEERSTexturesSG.hair'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GMHead',Offset=(X=40))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=-5))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=5))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GMChest',Offset=(X=70,Y=-20))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GMPelvis',Offset=(X=20))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=5))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=-5))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GMCalf',Offset=(X=55,Z=5))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GMCalf',Offset=(X=55,Z=-5))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+}
+


Property changes on: usarsim/USARVictims/Classes/Henry18_.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/James7_.uc
===================================================================
--- usarsim/USARVictims/Classes/James7_.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/James7_.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class James7_ extends VictimPawn;
+
+defaultproperties
+{
+    DrawScale=1.8
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericMale'
+    Skins(0)=Texture'SEERS_Wounded.RUChest_LFemur'
+    Skins(1)=Texture'SEERS_Wounded.RSkullFracture'
+    Skins(2)=Texture'SEERSTexturesSG.Afro_hair'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GMHead',Offset=(X=40))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=-5))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=5))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GMChest',Offset=(X=70,Y=-20))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GMPelvis',Offset=(X=20))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=5))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=-5))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GMCalf',Offset=(X=55,Z=5))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GMCalf',Offset=(X=55,Z=-5))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+}
+


Property changes on: usarsim/USARVictims/Classes/James7_.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/Jennifer6_.uc
===================================================================
--- usarsim/USARVictims/Classes/Jennifer6_.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/Jennifer6_.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class Jennifer6_ extends VictimPawn;
+
+defaultproperties
+{
+    Drawscale=1.65
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericFemale'
+    Skins(0)=Texture'SEERS_girls.BruisedNeckFemale'
+    Skins(1)=Texture'SEERS_girls.BeckyFace'
+    Skins(2)=Texture'SEERS_girls.ghair'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GFHead',Offset=(X=30,Y=2,Z=0))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GFUpperArm',Offset=(X=40,Y=0,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GFUpperArm',Offset=(X=40,Y=0,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GFForeArm',Offset=(X=40,Y=2,Z=0))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GFForeArm',Offset=(X=40,Y=2,Z=0))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GFHand',Offset=(X=32,Y=0,Z=-4))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GFHand',Offset=(X=32,Y=0,Z=4))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GFChest',Offset=(X=60,Y=-20,Z=0))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GFPelvis',Offset=(X=0,Y=4,Z=0))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GFThigh',Offset=(X=84,Y=0,Z=3))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GFThigh',Offset=(X=84,Y=0,Z=-3))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GFCalf',Offset=(X=65,Y=6,Z=1))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GFCalf',Offset=(X=65,Y=6,Z=1))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GFFoot',Offset=(X=15,Y=-24,Z=0))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GFFoot',Offset=(X=15,Y=-24,Z=0))
+}
+


Property changes on: usarsim/USARVictims/Classes/Jennifer6_.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/Jonathan22_.uc
===================================================================
--- usarsim/USARVictims/Classes/Jonathan22_.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/Jonathan22_.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class Jonathan22_ extends VictimPawn;
+
+defaultproperties
+{
+    DrawScale=1.8
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericMale'
+    Skins(0)=Texture'SEERS_Wounded.cloth_white_shirt_Cuts'
+    Skins(1)=Texture'SEERS_Wounded.BloodyEye'
+    Skins(2)=Texture'SEERSTexturesSG.hair_beye'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GMHead',Offset=(X=40))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=-5))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=5))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GMChest',Offset=(X=70,Y=-20))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GMPelvis',Offset=(X=20))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=5))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=-5))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GMCalf',Offset=(X=55,Z=5))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GMCalf',Offset=(X=55,Z=-5))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+}
+


Property changes on: usarsim/USARVictims/Classes/Jonathan22_.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/Lauren29_.uc
===================================================================
--- usarsim/USARVictims/Classes/Lauren29_.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/Lauren29_.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class Lauren29_ extends VictimPawn;
+
+defaultproperties
+{
+    Drawscale=1.65
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericFemale'
+    Skins(0)=Texture'SEERS_gWounded.ShrapnelChest'
+    Skins(1)=Texture'SEERS_girls.SusanFace'
+    Skins(2)=Texture'SEERS_girls.ghair'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GFHead',Offset=(X=30,Y=2,Z=0))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GFUpperArm',Offset=(X=40,Y=0,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GFUpperArm',Offset=(X=40,Y=0,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GFForeArm',Offset=(X=40,Y=2,Z=0))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GFForeArm',Offset=(X=40,Y=2,Z=0))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GFHand',Offset=(X=32,Y=0,Z=-4))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GFHand',Offset=(X=32,Y=0,Z=4))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GFChest',Offset=(X=60,Y=-20,Z=0))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GFPelvis',Offset=(X=0,Y=4,Z=0))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GFThigh',Offset=(X=84,Y=0,Z=3))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GFThigh',Offset=(X=84,Y=0,Z=-3))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GFCalf',Offset=(X=65,Y=6,Z=1))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GFCalf',Offset=(X=65,Y=6,Z=1))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GFFoot',Offset=(X=15,Y=-24,Z=0))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GFFoot',Offset=(X=15,Y=-24,Z=0))
+}
+


Property changes on: usarsim/USARVictims/Classes/Lauren29_.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/Lauren2_.uc
===================================================================
--- usarsim/USARVictims/Classes/Lauren2_.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/Lauren2_.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class Lauren2_ extends VictimPawn;
+
+defaultproperties
+{
+    Drawscale=1.65
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericFemale'
+    Skins(0)=Texture'SEERS_gWounded.ShrapnelChest'
+    Skins(1)=Texture'SEERS_girls.AmyFace'
+    Skins(2)=Texture'SEERS_girls.ghair'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GFHead',Offset=(X=30,Y=2,Z=0))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GFUpperArm',Offset=(X=40,Y=0,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GFUpperArm',Offset=(X=40,Y=0,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GFForeArm',Offset=(X=40,Y=2,Z=0))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GFForeArm',Offset=(X=40,Y=2,Z=0))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GFHand',Offset=(X=32,Y=0,Z=-4))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GFHand',Offset=(X=32,Y=0,Z=4))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GFChest',Offset=(X=60,Y=-20,Z=0))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GFPelvis',Offset=(X=0,Y=4,Z=0))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GFThigh',Offset=(X=84,Y=0,Z=3))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GFThigh',Offset=(X=84,Y=0,Z=-3))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GFCalf',Offset=(X=65,Y=6,Z=1))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GFCalf',Offset=(X=65,Y=6,Z=1))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GFFoot',Offset=(X=15,Y=-24,Z=0))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GFFoot',Offset=(X=15,Y=-24,Z=0))
+}
+


Property changes on: usarsim/USARVictims/Classes/Lauren2_.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/MarkBlue.uc
===================================================================
--- usarsim/USARVictims/Classes/MarkBlue.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/MarkBlue.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class MarkBlue extends VictimPawn;
+
+defaultproperties
+{
+    DrawScale=1.8
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericMale'
+    Skins(0)=Texture'SEERSTexturesSG.Cloth_blue'
+    Skins(1)=Texture'SEERSTexturesSG.Mark_skin'
+    Skins(2)=Texture'SEERSTexturesSG.hair_beye'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GMHead',Offset=(X=40))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=-5))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=5))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GMChest',Offset=(X=70,Y=-20))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GMPelvis',Offset=(X=20))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=5))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=-5))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GMCalf',Offset=(X=55,Z=5))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GMCalf',Offset=(X=55,Z=-5))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+}
+


Property changes on: usarsim/USARVictims/Classes/MarkBlue.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/MarkBurnedA.uc
===================================================================
--- usarsim/USARVictims/Classes/MarkBurnedA.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/MarkBurnedA.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class MarkBurnedA extends VictimPawn;
+
+defaultproperties
+{
+    DrawScale=1.8
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericMale'
+    Skins(0)=Texture'SEERS_Wounded.Cloth_blue_Cuts'
+    Skins(1)=Texture'SEERS_Wounded.Mark_skin_Cut2'
+    Skins(2)=Texture'SEERSTexturesSG.hair_beye'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GMHead',Offset=(X=40))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=-5))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=5))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GMChest',Offset=(X=70,Y=-20))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GMPelvis',Offset=(X=20))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=5))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=-5))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GMCalf',Offset=(X=55,Z=5))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GMCalf',Offset=(X=55,Z=-5))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+}
+


Property changes on: usarsim/USARVictims/Classes/MarkBurnedA.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/MarkBurnedB.uc
===================================================================
--- usarsim/USARVictims/Classes/MarkBurnedB.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/MarkBurnedB.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,26 @@
+Class MarkBurnedB extends VictimPawn;
+
+defaultproperties
+{
+    DrawScale=1.8
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericMale'
+    Skins(0)=Texture'SEERS_Wounded.cloth_white_shirtpants_blood'
+    Skins(1)=Texture'SEERS_Wounded.Mark_skin_Cut2'
+    Skins(2)=Texture'SEERSTexturesSG.hair'
+    SegCols(0)=(SegName="Bip02 Head",ColClass=class'GMHead',Offset=(X=40))
+    SegCols(1)=(SegName="Bip02 L UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=-5))
+    SegCols(2)=(SegName="Bip02 R UpperArm",ColClass=class'GMUpperArm',Offset=(X=40,Z=5))
+    SegCols(3)=(SegName="Bip02 L Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=-5))
+    SegCols(4)=(SegName="Bip02 R Forearm",ColClass=class'GMForeArm',Offset=(X=40,Z=5))
+    SegCols(5)=(SegName="Bip02 L Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(6)=(SegName="Bip02 R Hand",ColClass=class'GMHand',Offset=(X=40))
+    SegCols(7)=(SegName="Bip02 Spine",ColClass=class'GMChest',Offset=(X=70,Y=-20))
+    SegCols(8)=(SegName="Bip02 Pelvis",ColClass=class'GMPelvis',Offset=(X=20))
+    SegCols(9)=(SegName="Bip02 L Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=5))
+    SegCols(10)=(SegName="Bip02 R Thigh",ColClass=class'GMThigh',Offset=(X=70,Z=-5))
+    SegCols(11)=(SegName="Bip02 L Calf",ColClass=class'GMCalf',Offset=(X=55,Z=5))
+    SegCols(12)=(SegName="Bip02 R Calf",ColClass=class'GMCalf',Offset=(X=55,Z=-5))
+    SegCols(13)=(SegName="Bip02 L Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+    SegCols(14)=(SegName="Bip02 R Foot",ColClass=class'GMFoot',Offset=(X=30,Y=-40))
+}
+


Property changes on: usarsim/USARVictims/Classes/MarkBurnedB.uc
___________________________________________________________________
Name: svn:executable
   + 

Added: usarsim/USARVictims/Classes/MarkCuts.uc
===================================================================
--- usarsim/USARVictims/Classes/MarkCuts.uc	                        (rev 0)
+++ usarsim/USARVictims/Classes/MarkCuts.uc	2007-05-10 15:26:06 UTC (rev 602)
@@ -0,0 +1,25 @@
+Class MarkCuts extends VictimPawn;
+
+defaultproperties
+{
+    DrawScale=1.8
+    Mesh=SkeletalMesh'UDN_CharacterModels_K.GenericMale'

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Thu May 10 11:41:30 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 11:41:30 -0400
Subject: [TeamTalk 66]:  [603] usarsim/Tools: removed CVS files
Message-ID: <200705101541.l4AFfUvj013509@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070510/fbc9bf7b/attachment.html
-------------- next part --------------
Deleted: usarsim/Tools/pyro/.cvsignore
===================================================================
--- usarsim/Tools/pyro/.cvsignore	2007-05-10 15:26:06 UTC (rev 602)
+++ usarsim/Tools/pyro/.cvsignore	2007-05-10 15:41:30 UTC (rev 603)
@@ -1,29 +0,0 @@
-.pyrohist
-__init__.py
-__init__.pyc
-compile.py
-compile.pyc
-configure.py
-configure.pyc
-Makefile
-Makefile.bak
-Makefile.cfg
-Makefile.src
-README
-.idlerc
-CVS
-ai
-brain
-build
-camera
-docs
-engine
-general
-geometry
-html
-lib
-map
-simulators
-tools
-vision
-*.pyc
\ No newline at end of file

Deleted: usarsim/Tools/pyro/gui/.cvsignore
===================================================================
--- usarsim/Tools/pyro/gui/.cvsignore	2007-05-10 15:26:06 UTC (rev 602)
+++ usarsim/Tools/pyro/gui/.cvsignore	2007-05-10 15:41:30 UTC (rev 603)
@@ -1,23 +0,0 @@
-inspector.py
-__init__.py.bak
-__init__.pyc
-console.py
-console.pyc
-Curses.py
-Curses.pyc
-drawable.py
-drawable.pyc
-GL.py
-GL.py.bak
-GL.pyc
-GL_View.py
-GL_View.pyc
-inspector.pyc
-TK.py
-TK.pyc
-3DArray
-CVS
-canvas
-plot
-renderer
-viewer
\ No newline at end of file

Deleted: usarsim/Tools/pyro/plugins/.cvsignore
===================================================================
--- usarsim/Tools/pyro/plugins/.cvsignore	2007-05-10 15:26:06 UTC (rev 602)
+++ usarsim/Tools/pyro/plugins/.cvsignore	2007-05-10 15:41:30 UTC (rev 603)
@@ -1,7 +0,0 @@
-__init__.py
-__init__.pyc
-CVS
-brains
-maps
-services
-views
\ No newline at end of file

Deleted: usarsim/Tools/pyro/plugins/robots/.cvsignore
===================================================================
--- usarsim/Tools/pyro/plugins/robots/.cvsignore	2007-05-10 15:26:06 UTC (rev 602)
+++ usarsim/Tools/pyro/plugins/robots/.cvsignore	2007-05-10 15:41:30 UTC (rev 603)
@@ -1,27 +0,0 @@
-Player1BlobCamera.pyc
-__init__.py
-__init__.pyc
-Aria.py
-Aria.pyc
-B21R.py
-B21R.pyc
-B21RSimulated.py
-B21RSimulated.pyc
-Khepera.py
-Khepera.pyc
-KheperaSimulated.py
-KheperaSimulated.pyc
-Player1.py
-Player1.pyc
-Player1BlobCamera.py
-Player2.py
-Player2.pyc
-PyroSimRobot.py
-PyroSimRobot.pyc
-Saphira.py
-Saphira.pyc
-SimpleRobot.py
-SimpleRobot.pyc
-USARBot.py.bak
-USARBot.pyc
-CVS
\ No newline at end of file

Deleted: usarsim/Tools/pyro/plugins/robots/USARBot/.cvsignore
===================================================================
--- usarsim/Tools/pyro/plugins/robots/USARBot/.cvsignore	2007-05-10 15:26:06 UTC (rev 602)
+++ usarsim/Tools/pyro/plugins/robots/USARBot/.cvsignore	2007-05-10 15:41:30 UTC (rev 603)
@@ -1 +0,0 @@
-*.pyc
\ No newline at end of file

Deleted: usarsim/Tools/pyro/plugins/worlds/.cvsignore
===================================================================
--- usarsim/Tools/pyro/plugins/worlds/.cvsignore	2007-05-10 15:26:06 UTC (rev 602)
+++ usarsim/Tools/pyro/plugins/worlds/.cvsignore	2007-05-10 15:41:30 UTC (rev 603)
@@ -1,3 +0,0 @@
-Aria
-Khepera
-Stage
\ No newline at end of file

Deleted: usarsim/Tools/pyro/robot/.cvsignore
===================================================================
--- usarsim/Tools/pyro/robot/.cvsignore	2007-05-10 15:26:06 UTC (rev 602)
+++ usarsim/Tools/pyro/robot/.cvsignore	2007-05-10 15:41:30 UTC (rev 603)
@@ -1,29 +0,0 @@
-saphira.pyc
-__init__.py
-__init__.pyc
-aria.emergent
-aria.py
-aria.pyc
-ariaSimple.py
-ariaSimple.pyc
-armor.py
-armor.pyc
-b21r.py
-b21r.pyc
-handyboard.py
-handyboard.pyc
-khepera.py
-khepera.pyc
-player.py
-player.pyc
-playerbase.py
-playerbase.pyc
-playerpuck.py
-playerpuck.pyc
-saphira.py
-service.py
-service.pyc
-usarbot.py.bak
-usarbot.pyc
-CVS
-sensor
\ No newline at end of file

Deleted: usarsim/Tools/pyro/robot/driver/.cvsignore
===================================================================
--- usarsim/Tools/pyro/robot/driver/.cvsignore	2007-05-10 15:26:06 UTC (rev 602)
+++ usarsim/Tools/pyro/robot/driver/.cvsignore	2007-05-10 15:41:30 UTC (rev 603)
@@ -1,25 +0,0 @@
-test.py
-__init__.py
-__init__.pyc
-client.py
-client.pyc
-player.py
-player.pyc
-ppmessage.py
-ppmessage.pyc
-SimDriverFile.py
-SimDriverFile.pyc
-simple.py
-simple.pyc
-test.pyc
-utbot.py.bak
-utbot.pyc
-CVS
-armor
-b21r
-grid
-khepera
-saphira
-simsim
-testc
-video
\ No newline at end of file

Deleted: usarsim/Tools/pyro/robot/usarbot/.cvsignore
===================================================================
--- usarsim/Tools/pyro/robot/usarbot/.cvsignore	2007-05-10 15:26:06 UTC (rev 602)
+++ usarsim/Tools/pyro/robot/usarbot/.cvsignore	2007-05-10 15:41:30 UTC (rev 603)
@@ -1 +0,0 @@
-*.pyc
\ No newline at end of file

Deleted: usarsim/Tools/pyro/system/.cvsignore
===================================================================
--- usarsim/Tools/pyro/system/.cvsignore	2007-05-10 15:26:06 UTC (rev 602)
+++ usarsim/Tools/pyro/system/.cvsignore	2007-05-10 15:41:30 UTC (rev 603)
@@ -1,16 +0,0 @@
-version.py
-__init__.py.bak
-__init__.pyc
-ClientServer.py
-ClientServer.pyc
-config.py
-config.pyc
-log.py
-log.pyc
-SerialConnection.py
-SerialConnection.pyc
-share.py
-share.pyc
-version.py.bak
-version.pyc
-CVS
\ No newline at end of file

From tk at edam.speech.cs.cmu.edu  Thu May 10 11:53:14 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 11:53:14 -0400
Subject: [TeamTalk 67]:  [604] usarsim:
Message-ID: <200705101553.l4AFrEuZ013527@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070510/94248032/attachment.html
-------------- next part --------------

Property changes on: usarsim/Doc
___________________________________________________________________
Name: svn:ignore
   - CVS

   + CVS
.cvsignore



Property changes on: usarsim/Tools
___________________________________________________________________
Name: svn:ignore
   - CVS

   + CVS
.cvsignore



Property changes on: usarsim/Tools/ImageSrv
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/ImageSrv/FreeImage
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/ImageSrv/Hook
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/ImageSrv/res
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



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___________________________________________________________________
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   + CVS
.cvsignore



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___________________________________________________________________
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   + CVS
.cvsignore



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___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



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___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/Usar_UI/res
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/WSS
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/player
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/player/server
___________________________________________________________________
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   + CVS
.cvsignore



Property changes on: usarsim/Tools/player/server/drivers
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   + CVS
.cvsignore



Property changes on: usarsim/Tools/player/server/drivers/usarsim
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/player/server/drivers/usarsim/doc
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/player/server/drivers/usarsim/lib
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/player/server/drivers/usarsim/src
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/pyro
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/pyro/bin
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/pyro/gui
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/pyro/gui/widgets
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/pyro/gui/widgets/TKwidgets
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/pyro/plugins
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/pyro/plugins/robots
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/pyro/plugins/robots/USARBot
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/pyro/plugins/services
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/pyro/plugins/services/USARBot
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/pyro/plugins/simulators
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/pyro/plugins/worlds
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/pyro/plugins/worlds/USARSim.py
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/pyro/robot
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/pyro/robot/driver
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/pyro/robot/usarbot
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/Tools/pyro/system
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/USARBot
___________________________________________________________________
Name: svn:ignore
   - CVS

   + CVS
.cvsignore



Property changes on: usarsim/USARBot/Classes
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/USARBotAPI
___________________________________________________________________
Name: svn:ignore
   - CVS

   + CVS
.cvsignore



Property changes on: usarsim/USARBotAPI/Classes
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/USARMisPkg
___________________________________________________________________
Name: svn:ignore
   - CVS

   + CVS
.cvsignore



Property changes on: usarsim/USARMisPkg/Classes
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/USARModels
___________________________________________________________________
Name: svn:ignore
   - CVS

   + CVS
.cvsignore



Property changes on: usarsim/USARModels/Classes
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore



Property changes on: usarsim/USARVictims
___________________________________________________________________
Name: svn:ignore
   - CVS

   + CVS
.cvsignore



Property changes on: usarsim/USARVictims/Classes
___________________________________________________________________
Name: svn:ignore
   + CVS
.cvsignore


From tk at edam.speech.cs.cmu.edu  Thu May 10 12:37:28 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 12:37:28 -0400
Subject: [TeamTalk 68]:  [605] usarsim/Maps/: Created folder remotely
Message-ID: <200705101637.l4AGbSN2013577@edam.speech.cs.cmu.edu>

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URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070510/99354132/attachment.html
-------------- next part --------------


From tk at edam.speech.cs.cmu.edu  Thu May 10 12:37:50 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 12:37:50 -0400
Subject: [TeamTalk 69]:  [606] usarsim/System/: Created folder remotely
Message-ID: <200705101637.l4AGboZ1013587@edam.speech.cs.cmu.edu>

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From tk at edam.speech.cs.cmu.edu  Thu May 10 12:40:12 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 12:40:12 -0400
Subject: [TeamTalk 70]: [607] usarsim/Maps/DM-compWorldDay2_250.ut2: Adding
 new version of compWorldDay2 with parking-lot victims removed
Message-ID: <200705101640.l4AGeCQc013600@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Added: usarsim/Maps/DM-compWorldDay2_250.ut2
===================================================================
(Binary files differ)


Property changes on: usarsim/Maps/DM-compWorldDay2_250.ut2
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

From tk at edam.speech.cs.cmu.edu  Thu May 10 12:54:45 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 12:54:45 -0400
Subject: [TeamTalk 71]: [608] usarsim/System/make.csh: Add UT server
	makefile for linux
Message-ID: <200705101654.l4AGsjkE013623@edam.speech.cs.cmu.edu>

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URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070510/78a86e24/attachment.html
-------------- next part --------------
Added: usarsim/System/make.csh
===================================================================
--- usarsim/System/make.csh	                        (rev 0)
+++ usarsim/System/make.csh	2007-05-10 16:54:44 UTC (rev 608)
@@ -0,0 +1,18 @@
+#!/bin/sh
+
+LINUX_DIR=../../ut2004-linux/System
+
+touch mark
+mv USARBotAPI.u USARBotAPI.u.bak
+mv USARBot.u USARBot.u.bak
+mv USARModels.u USARModels.u.bak
+mv USARVictims.u USARVictims.u.bak
+mv USARMisPkg.u USARMisPkg.u.bak
+wine UCC.exe make -ini=USARSim.ini
+
+for file in `find . -type f -newer mark | grep -v "bak$"`
+do
+echo "Got new file $file"
+mv -f $LINUX_DIR/$file $LINUX_DIR/$file.bak
+cp $file $LINUX_DIR/$file
+done


Property changes on: usarsim/System/make.csh
___________________________________________________________________
Name: svn:executable
   + 

From tk at edam.speech.cs.cmu.edu  Thu May 10 13:31:41 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 13:31:41 -0400
Subject: [TeamTalk 72]: [609] usarsim/System: Added batch files for starting
 server a little easier .
Message-ID: <200705101731.l4AHVfhi013697@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Added: usarsim/System/usar_sx.bat
===================================================================
--- usarsim/System/usar_sx.bat	                        (rev 0)
+++ usarsim/System/usar_sx.bat	2007-05-10 17:31:41 UTC (rev 609)
@@ -0,0 +1,2 @@
+ucc server %1%?game=USARBot.USARDeathMatch?TimeLimit=0?GameStats=False -ini=USARSim.ini -log=usar_server.log
+pause

Added: usarsim/System/usar_sx.csh
===================================================================
--- usarsim/System/usar_sx.csh	                        (rev 0)
+++ usarsim/System/usar_sx.csh	2007-05-10 17:31:41 UTC (rev 609)
@@ -0,0 +1,3 @@
+#!/usr/local/bin/tcsh
+
+ucc server $1?game=USARBot.USARDeathMatch?TimeLimit=0?GameStats=False -ini=USARSim.ini -log=usar_server.log


Property changes on: usarsim/System/usar_sx.csh
___________________________________________________________________
Name: svn:executable
   + *

From tk at edam.speech.cs.cmu.edu  Thu May 10 13:34:29 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 13:34:29 -0400
Subject: [TeamTalk 73]: [610] usarsim/System/usar_sx.csh: Fixed executable
	name.
Message-ID: <200705101734.l4AHYTaF013709@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Modified: usarsim/System/usar_sx.csh
===================================================================
--- usarsim/System/usar_sx.csh	2007-05-10 17:31:41 UTC (rev 609)
+++ usarsim/System/usar_sx.csh	2007-05-10 17:34:28 UTC (rev 610)
@@ -1,3 +1,3 @@
 #!/usr/local/bin/tcsh
 
-ucc server $1?game=USARBot.USARDeathMatch?TimeLimit=0?GameStats=False -ini=USARSim.ini -log=usar_server.log
+./ucc-bin server $1?game=USARBot.USARDeathMatch?TimeLimit=0?GameStats=False -ini=USARSim.ini -log=usar_server.log

From tk at edam.speech.cs.cmu.edu  Thu May 10 18:39:31 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 18:39:31 -0400
Subject: [TeamTalk 74]:  [611] usarsim/Tools/ImageSrv:
Message-ID: <200705102239.l4AMdV4x014359@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Deleted: usarsim/Tools/ImageSrv/Hook/Hook.dsp
===================================================================
--- usarsim/Tools/ImageSrv/Hook/Hook.dsp	2007-05-10 17:34:28 UTC (rev 610)
+++ usarsim/Tools/ImageSrv/Hook/Hook.dsp	2007-05-10 22:39:29 UTC (rev 611)
@@ -1,125 +0,0 @@
-# Microsoft Developer Studio Project File - Name="Hook" - Package Owner=<4>
-# Microsoft Developer Studio Generated Build File, Format Version 6.00
-# ** DO NOT EDIT **
-
-# TARGTYPE "Win32 (x86) Dynamic-Link Library" 0x0102
-
-CFG=Hook - Win32 Debug
-!MESSAGE This is not a valid makefile. To build this project using NMAKE,
-!MESSAGE use the Export Makefile command and run
-!MESSAGE 
-!MESSAGE NMAKE /f "Hook.mak".
-!MESSAGE 
-!MESSAGE You can specify a configuration when running NMAKE
-!MESSAGE by defining the macro CFG on the command line. For example:
-!MESSAGE 
-!MESSAGE NMAKE /f "Hook.mak" CFG="Hook - Win32 Debug"
-!MESSAGE 
-!MESSAGE Possible choices for configuration are:
-!MESSAGE 
-!MESSAGE "Hook - Win32 Release" (based on "Win32 (x86) Dynamic-Link Library")
-!MESSAGE "Hook - Win32 Debug" (based on "Win32 (x86) Dynamic-Link Library")
-!MESSAGE 
-
-# Begin Project
-# PROP AllowPerConfigDependencies 0
-# PROP Scc_ProjName ""
-# PROP Scc_LocalPath ""
-CPP=cl.exe
-MTL=midl.exe
-RSC=rc.exe
-
-!IF  "$(CFG)" == "Hook - Win32 Release"
-
-# PROP BASE Use_MFC 0
-# PROP BASE Use_Debug_Libraries 0
-# PROP BASE Output_Dir "Release"
-# PROP BASE Intermediate_Dir "Release"
-# PROP BASE Target_Dir ""
-# PROP Use_MFC 0
-# PROP Use_Debug_Libraries 0
-# PROP Output_Dir "Release"
-# PROP Intermediate_Dir "Release"
-# PROP Ignore_Export_Lib 0
-# PROP Target_Dir ""
-# ADD BASE CPP /nologo /MT /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "HOOK_EXPORTS" /Yu"stdafx.h" /FD /c
-# ADD CPP /nologo /MT /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "HOOK_EXPORTS" /Yu"stdafx.h" /FD /c
-# ADD BASE MTL /nologo /D "NDEBUG" /mktyplib203 /win32
-# ADD MTL /nologo /D "NDEBUG" /mktyplib203 /win32
-# ADD BASE RSC /l 0x409 /d "NDEBUG"
-# ADD RSC /l 0x409 /d "NDEBUG"
-BSC32=bscmake.exe
-# ADD BASE BSC32 /nologo
-# ADD BSC32 /nologo
-LINK32=link.exe
-# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /dll /machine:I386
-# ADD LINK32 detours.lib d3dx8.lib d3d8.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /dll /incremental:yes /machine:I386
-
-!ELSEIF  "$(CFG)" == "Hook - Win32 Debug"
-
-# PROP BASE Use_MFC 0
-# PROP BASE Use_Debug_Libraries 1
-# PROP BASE Output_Dir "Debug"
-# PROP BASE Intermediate_Dir "Debug"
-# PROP BASE Target_Dir ""
-# PROP Use_MFC 0
-# PROP Use_Debug_Libraries 1
-# PROP Output_Dir "Debug"
-# PROP Intermediate_Dir "Debug"
-# PROP Ignore_Export_Lib 0
-# PROP Target_Dir ""
-# ADD BASE CPP /nologo /MTd /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "HOOK_EXPORTS" /Yu"stdafx.h" /FD /GZ /c
-# ADD CPP /nologo /MTd /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "HOOK_EXPORTS" /Yu"stdafx.h" /FD /GZ /c
-# ADD BASE MTL /nologo /D "_DEBUG" /mktyplib203 /win32
-# ADD MTL /nologo /D "_DEBUG" /mktyplib203 /win32
-# ADD BASE RSC /l 0x409 /d "_DEBUG"
-# ADD RSC /l 0x409 /d "_DEBUG"
-BSC32=bscmake.exe
-# ADD BASE BSC32 /nologo
-# ADD BSC32 /nologo
-LINK32=link.exe
-# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /dll /debug /machine:I386 /pdbtype:sept
-# ADD LINK32 detours.lib d3dx8.lib d3d8.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /dll /debug /machine:I386 /pdbtype:sept
-# SUBTRACT LINK32 /pdb:none
-
-!ENDIF 
-
-# Begin Target
-
-# Name "Hook - Win32 Release"
-# Name "Hook - Win32 Debug"
-# Begin Group "Source Files"
-
-# PROP Default_Filter "cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
-# Begin Source File
-
-SOURCE=.\Hook.cpp
-# End Source File
-# Begin Source File
-
-SOURCE=.\StdAfx.cpp
-# ADD CPP /Yc"stdafx.h"
-# End Source File
-# End Group
-# Begin Group "Header Files"
-
-# PROP Default_Filter "h;hpp;hxx;hm;inl"
-# Begin Source File
-
-SOURCE=.\Hook.h
-# End Source File
-# Begin Source File
-
-SOURCE=.\StdAfx.h
-# End Source File
-# End Group
-# Begin Group "Resource Files"
-
-# PROP Default_Filter "ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe"
-# End Group
-# Begin Source File
-
-SOURCE=.\ReadMe.txt
-# End Source File
-# End Target
-# End Project

Added: usarsim/Tools/ImageSrv/Hook/Hook.vcproj
===================================================================
--- usarsim/Tools/ImageSrv/Hook/Hook.vcproj	                        (rev 0)
+++ usarsim/Tools/ImageSrv/Hook/Hook.vcproj	2007-05-10 22:39:29 UTC (rev 611)
@@ -0,0 +1,286 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="8.00"
+	Name="Hook"
+	ProjectGUID="{2AB17BA3-5929-48C1-AB59-B0DCC5A4FA17}"
+	RootNamespace="Hook"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Release|Win32"
+			OutputDirectory=".\Release"
+			IntermediateDirectory=".\Release"
+			ConfigurationType="2"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC60.vsprops"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+				PreprocessorDefinitions="NDEBUG"
+				MkTypLibCompatible="true"
+				SuppressStartupBanner="true"
+				TargetEnvironment="1"
+				TypeLibraryName=".\Release/Hook.tlb"
+				HeaderFileName=""
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="2"
+				InlineFunctionExpansion="1"
+				PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS;_USRDLL;HOOK_EXPORTS"
+				StringPooling="true"
+				RuntimeLibrary="0"
+				EnableFunctionLevelLinking="true"
+				UsePrecompiledHeader="2"
+				PrecompiledHeaderThrough="stdafx.h"
+				PrecompiledHeaderFile=".\Release/Hook.pch"
+				AssemblerListingLocation=".\Release/"
+				ObjectFile=".\Release/"
+				ProgramDataBaseFileName=".\Release/"
+				WarningLevel="3"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="NDEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLinkerTool"
+				AdditionalDependencies="detours.lib d3dx8.lib d3d8.lib odbc32.lib odbccp32.lib"
+				OutputFile=".\Release/Hook.dll"
+				LinkIncremental="2"
+				SuppressStartupBanner="true"
+				ProgramDatabaseFile=".\Release/Hook.pdb"
+				ImportLibrary=".\Release/Hook.lib"
+				TargetMachine="1"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCManifestTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+				SuppressStartupBanner="true"
+				OutputFile=".\Release/Hook.bsc"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCWebDeploymentTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Debug|Win32"
+			OutputDirectory=".\Debug"
+			IntermediateDirectory=".\Debug"
+			ConfigurationType="2"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC60.vsprops"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+				PreprocessorDefinitions="_DEBUG"
+				MkTypLibCompatible="true"
+				SuppressStartupBanner="true"
+				TargetEnvironment="1"
+				TypeLibraryName=".\Debug/Hook.tlb"
+				HeaderFileName=""
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				PreprocessorDefinitions="WIN32;_DEBUG;_WINDOWS;_USRDLL;HOOK_EXPORTS"
+				MinimalRebuild="true"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="1"
+				UsePrecompiledHeader="2"
+				PrecompiledHeaderThrough="stdafx.h"
+				PrecompiledHeaderFile=".\Debug/Hook.pch"
+				AssemblerListingLocation=".\Debug/"
+				ObjectFile=".\Debug/"
+				ProgramDataBaseFileName=".\Debug/"
+				WarningLevel="3"
+				SuppressStartupBanner="true"
+				DebugInformationFormat="4"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="_DEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLinkerTool"
+				AdditionalDependencies="detours.lib d3dx8.lib d3d8.lib odbc32.lib odbccp32.lib"
+				OutputFile=".\Debug/Hook.dll"
+				LinkIncremental="2"
+				SuppressStartupBanner="true"
+				GenerateDebugInformation="true"
+				ProgramDatabaseFile=".\Debug/Hook.pdb"
+				ImportLibrary=".\Debug/Hook.lib"
+				TargetMachine="1"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCManifestTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+				SuppressStartupBanner="true"
+				OutputFile=".\Debug/Hook.bsc"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCWebDeploymentTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<Filter
+			Name="Source Files"
+			Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
+			>
+			<File
+				RelativePath="Hook.cpp"
+				>
+				<FileConfiguration
+					Name="Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+			</File>
+			<File
+				RelativePath="StdAfx.cpp"
+				>
+				<FileConfiguration
+					Name="Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						PreprocessorDefinitions=""
+						UsePrecompiledHeader="1"
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						PreprocessorDefinitions=""
+						UsePrecompiledHeader="1"
+					/>
+				</FileConfiguration>
+			</File>
+		</Filter>
+		<Filter
+			Name="Header Files"
+			Filter="h;hpp;hxx;hm;inl"
+			>
+			<File
+				RelativePath="Hook.h"
+				>
+			</File>
+			<File
+				RelativePath="StdAfx.h"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="Resource Files"
+			Filter="ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe"
+			>
+		</Filter>
+		<File
+			RelativePath="ReadMe.txt"
+			>
+		</File>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>

Deleted: usarsim/Tools/ImageSrv/Hook.dll
===================================================================
(Binary files differ)

Deleted: usarsim/Tools/ImageSrv/ImageSrv.dsp
===================================================================
--- usarsim/Tools/ImageSrv/ImageSrv.dsp	2007-05-10 17:34:28 UTC (rev 610)
+++ usarsim/Tools/ImageSrv/ImageSrv.dsp	2007-05-10 22:39:29 UTC (rev 611)
@@ -1,173 +0,0 @@
-# Microsoft Developer Studio Project File - Name="ImageSrv" - Package Owner=<4>
-# Microsoft Developer Studio Generated Build File, Format Version 6.00
-# ** DO NOT EDIT **
-
-# TARGTYPE "Win32 (x86) Application" 0x0101
-
-CFG=ImageSrv - Win32 Debug
-!MESSAGE This is not a valid makefile. To build this project using NMAKE,
-!MESSAGE use the Export Makefile command and run
-!MESSAGE 
-!MESSAGE NMAKE /f "ImageSrv.mak".
-!MESSAGE 
-!MESSAGE You can specify a configuration when running NMAKE
-!MESSAGE by defining the macro CFG on the command line. For example:
-!MESSAGE 
-!MESSAGE NMAKE /f "ImageSrv.mak" CFG="ImageSrv - Win32 Debug"
-!MESSAGE 
-!MESSAGE Possible choices for configuration are:
-!MESSAGE 
-!MESSAGE "ImageSrv - Win32 Release" (based on "Win32 (x86) Application")
-!MESSAGE "ImageSrv - Win32 Debug" (based on "Win32 (x86) Application")
-!MESSAGE 
-
-# Begin Project
-# PROP AllowPerConfigDependencies 0
-# PROP Scc_ProjName ""
-# PROP Scc_LocalPath ""
-CPP=cl.exe
-MTL=midl.exe
-RSC=rc.exe
-
-!IF  "$(CFG)" == "ImageSrv - Win32 Release"
-
-# PROP BASE Use_MFC 5
-# PROP BASE Use_Debug_Libraries 0
-# PROP BASE Output_Dir "Release"
-# PROP BASE Intermediate_Dir "Release"
-# PROP BASE Target_Dir ""
-# PROP Use_MFC 5
-# PROP Use_Debug_Libraries 0
-# PROP Output_Dir "Release"
-# PROP Intermediate_Dir "Release"
-# PROP Ignore_Export_Lib 0
-# PROP Target_Dir ""
-# ADD BASE CPP /nologo /MT /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_WINDOWS" /Yu"stdafx.h" /FD /c
-# ADD CPP /nologo /MT /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_WINDOWS" /D "_MBCS" /Yu"stdafx.h" /FD /c
-# ADD BASE MTL /nologo /D "NDEBUG" /mktyplib203 /win32
-# ADD MTL /nologo /D "NDEBUG" /mktyplib203 /win32
-# ADD BASE RSC /l 0x409 /d "NDEBUG"
-# ADD RSC /l 0x409 /d "NDEBUG"
-BSC32=bscmake.exe
-# ADD BASE BSC32 /nologo
-# ADD BSC32 /nologo
-LINK32=link.exe
-# ADD BASE LINK32 /nologo /subsystem:windows /machine:I386
-# ADD LINK32 hook/detours.lib FreeImage/FreeImage.lib /nologo /subsystem:windows /machine:I386
-
-!ELSEIF  "$(CFG)" == "ImageSrv - Win32 Debug"
-
-# PROP BASE Use_MFC 5
-# PROP BASE Use_Debug_Libraries 1
-# PROP BASE Output_Dir "Debug"
-# PROP BASE Intermediate_Dir "Debug"
-# PROP BASE Target_Dir ""
-# PROP Use_MFC 5
-# PROP Use_Debug_Libraries 1
-# PROP Output_Dir "Debug"
-# PROP Intermediate_Dir "Debug"
-# PROP Ignore_Export_Lib 0
-# PROP Target_Dir ""
-# ADD BASE CPP /nologo /MTd /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_WINDOWS" /Yu"stdafx.h" /FD /GZ /c
-# ADD CPP /nologo /MTd /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_WINDOWS" /D "_MBCS" /Yu"stdafx.h" /FD /GZ /c
-# ADD BASE MTL /nologo /D "_DEBUG" /mktyplib203 /win32
-# ADD MTL /nologo /D "_DEBUG" /mktyplib203 /win32
-# ADD BASE RSC /l 0x409 /d "_DEBUG"
-# ADD RSC /l 0x409 /d "_DEBUG"
-BSC32=bscmake.exe
-# ADD BASE BSC32 /nologo
-# ADD BSC32 /nologo
-LINK32=link.exe
-# ADD BASE LINK32 /nologo /subsystem:windows /debug /machine:I386 /pdbtype:sept
-# ADD LINK32 hook/detours.lib FreeImage/FreeImage.lib /nologo /subsystem:windows /debug /machine:I386 /pdbtype:sept
-
-!ENDIF 
-
-# Begin Target
-
-# Name "ImageSrv - Win32 Release"
-# Name "ImageSrv - Win32 Debug"
-# Begin Group "Source Files"
-
-# PROP Default_Filter "cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
-# Begin Source File
-
-SOURCE=.\ImageSrv.cpp
-# End Source File
-# Begin Source File
-
-SOURCE=.\ImageSrv.rc
-# End Source File
-# Begin Source File
-
-SOURCE=.\ImageSrvDlg.cpp
-# End Source File
-# Begin Source File
-
-SOURCE=.\ListenSocket.cpp
-# End Source File
-# Begin Source File
-
-SOURCE=.\StdAfx.cpp
-# ADD CPP /Yc"stdafx.h"
-# End Source File
-# Begin Source File
-
-SOURCE=.\VideoSocket.cpp
-# End Source File
-# End Group
-# Begin Group "Header Files"
-
-# PROP Default_Filter "h;hpp;hxx;hm;inl"
-# Begin Source File
-
-SOURCE=.\ImageSrv.h
-# End Source File
-# Begin Source File
-
-SOURCE=.\ImageSrvDlg.h
-# End Source File
-# Begin Source File
-
-SOURCE=.\ListenSocket.h
-# End Source File
-# Begin Source File
-
-SOURCE=.\Resource.h
-# End Source File
-# Begin Source File
-
-SOURCE=.\StdAfx.h
-# End Source File
-# Begin Source File
-
-SOURCE=.\VideoSocket.h
-# End Source File
-# End Group
-# Begin Group "Resource Files"
-
-# PROP Default_Filter "ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe"
-# Begin Source File
-
-SOURCE=.\res\ImageSrv.ico
-# End Source File
-# Begin Source File
-
-SOURCE=.\res\ImageSrv.rc2
-# End Source File
-# End Group
-# Begin Source File
-
-SOURCE=.\ReadMe.txt
-# End Source File
-# End Target
-# End Project
-# Section ImageSrv : {8856F961-340A-11D0-A96B-00C04FD705A2}
-# 	2:21:DefaultSinkHeaderFile:webbrowser2.h
-# 	2:16:DefaultSinkClass:CWebBrowser2
-# End Section
-# Section ImageSrv : {D30C1661-CDAF-11D0-8A3E-00C04FC9E26E}
-# 	2:5:Class:CWebBrowser2
-# 	2:10:HeaderFile:webbrowser2.h
-# 	2:8:ImplFile:webbrowser2.cpp
-# End Section

Deleted: usarsim/Tools/ImageSrv/ImageSrv.dsw
===================================================================
--- usarsim/Tools/ImageSrv/ImageSrv.dsw	2007-05-10 17:34:28 UTC (rev 610)
+++ usarsim/Tools/ImageSrv/ImageSrv.dsw	2007-05-10 22:39:29 UTC (rev 611)
@@ -1,42 +0,0 @@
-Microsoft Developer Studio Workspace File, Format Version 6.00
-# WARNING: DO NOT EDIT OR DELETE THIS WORKSPACE FILE!
-
-###############################################################################
-
-Project: "Hook"=".\Hook\Hook.dsp" - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-}}}
-
-###############################################################################
-
-Project: "ImageSrv"=".\ImageSrv.dsp" - Package Owner=<4>
-
-Package=<5>
-{{{
-}}}
-
-Package=<4>
-{{{
-}}}
-
-###############################################################################
-
-Global:
-
-Package=<5>
-{{{
-}}}
-
-Package=<3>
-{{{
-    {8856F961-340A-11D0-A96B-00C04FD705A2}
-}}}
-
-###############################################################################
-

Deleted: usarsim/Tools/ImageSrv/ImageSrv.ncb
===================================================================
(Binary files differ)

Added: usarsim/Tools/ImageSrv/ImageSrv.sln
===================================================================
--- usarsim/Tools/ImageSrv/ImageSrv.sln	                        (rev 0)
+++ usarsim/Tools/ImageSrv/ImageSrv.sln	2007-05-10 22:39:29 UTC (rev 611)
@@ -0,0 +1,26 @@
+?
+Microsoft Visual Studio Solution File, Format Version 9.00
+# Visual Studio 2005
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Hook", "Hook\Hook.vcproj", "{2AB17BA3-5929-48C1-AB59-B0DCC5A4FA17}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ImageSrv", "ImageSrv.vcproj", "{98D20A7B-7835-4898-84F4-E0CD380A2A92}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Win32 = Debug|Win32
+		Release|Win32 = Release|Win32
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{2AB17BA3-5929-48C1-AB59-B0DCC5A4FA17}.Debug|Win32.ActiveCfg = Debug|Win32
+		{2AB17BA3-5929-48C1-AB59-B0DCC5A4FA17}.Debug|Win32.Build.0 = Debug|Win32
+		{2AB17BA3-5929-48C1-AB59-B0DCC5A4FA17}.Release|Win32.ActiveCfg = Release|Win32
+		{2AB17BA3-5929-48C1-AB59-B0DCC5A4FA17}.Release|Win32.Build.0 = Release|Win32
+		{98D20A7B-7835-4898-84F4-E0CD380A2A92}.Debug|Win32.ActiveCfg = Debug|Win32
+		{98D20A7B-7835-4898-84F4-E0CD380A2A92}.Debug|Win32.Build.0 = Debug|Win32
+		{98D20A7B-7835-4898-84F4-E0CD380A2A92}.Release|Win32.ActiveCfg = Release|Win32
+		{98D20A7B-7835-4898-84F4-E0CD380A2A92}.Release|Win32.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

Added: usarsim/Tools/ImageSrv/ImageSrv.vcproj
===================================================================
--- usarsim/Tools/ImageSrv/ImageSrv.vcproj	                        (rev 0)
+++ usarsim/Tools/ImageSrv/ImageSrv.vcproj	2007-05-10 22:39:29 UTC (rev 611)
@@ -0,0 +1,390 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="8.00"
+	Name="ImageSrv"
+	ProjectGUID="{98D20A7B-7835-4898-84F4-E0CD380A2A92}"
+	Keyword="MFCProj"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Release|Win32"
+			OutputDirectory=".\Release"
+			IntermediateDirectory=".\Release"
+			ConfigurationType="1"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC60.vsprops"
+			UseOfMFC="1"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+				PreprocessorDefinitions="NDEBUG"
+				MkTypLibCompatible="true"
+				SuppressStartupBanner="true"
+				TargetEnvironment="1"
+				TypeLibraryName=".\Release/ImageSrv.tlb"
+				HeaderFileName=""
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="2"
+				InlineFunctionExpansion="1"
+				PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS"
+				StringPooling="true"
+				RuntimeLibrary="0"
+				EnableFunctionLevelLinking="true"
+				UsePrecompiledHeader="2"
+				PrecompiledHeaderThrough="stdafx.h"
+				PrecompiledHeaderFile=".\Release/ImageSrv.pch"
+				AssemblerListingLocation=".\Release/"
+				ObjectFile=".\Release/"
+				ProgramDataBaseFileName=".\Release/"
+				WarningLevel="3"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="NDEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLinkerTool"
+				AdditionalDependencies="hook/detours.lib FreeImage/FreeImage.lib"
+				OutputFile=".\Release/ImageSrv.exe"
+				LinkIncremental="1"
+				SuppressStartupBanner="true"
+				ProgramDatabaseFile=".\Release/ImageSrv.pdb"
+				SubSystem="2"
+				TargetMachine="1"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCManifestTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+				SuppressStartupBanner="true"
+				OutputFile=".\Release/ImageSrv.bsc"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCWebDeploymentTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Debug|Win32"
+			OutputDirectory=".\Debug"
+			IntermediateDirectory=".\Debug"
+			ConfigurationType="1"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC60.vsprops"
+			UseOfMFC="1"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+				PreprocessorDefinitions="_DEBUG"
+				MkTypLibCompatible="true"
+				SuppressStartupBanner="true"
+				TargetEnvironment="1"
+				TypeLibraryName=".\Debug/ImageSrv.tlb"
+				HeaderFileName=""
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				PreprocessorDefinitions="WIN32;_DEBUG;_WINDOWS"
+				MinimalRebuild="true"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="1"
+				UsePrecompiledHeader="2"
+				PrecompiledHeaderThrough="stdafx.h"
+				PrecompiledHeaderFile=".\Debug/ImageSrv.pch"
+				AssemblerListingLocation=".\Debug/"
+				ObjectFile=".\Debug/"
+				ProgramDataBaseFileName=".\Debug/"
+				WarningLevel="3"
+				SuppressStartupBanner="true"
+				DebugInformationFormat="4"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="_DEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLinkerTool"
+				AdditionalDependencies="hook/detours.lib FreeImage/FreeImage.lib"
+				OutputFile=".\Debug/ImageSrv.exe"
+				LinkIncremental="2"
+				SuppressStartupBanner="true"
+				GenerateDebugInformation="true"
+				ProgramDatabaseFile=".\Debug/ImageSrv.pdb"
+				SubSystem="2"
+				TargetMachine="1"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCManifestTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+				SuppressStartupBanner="true"
+				OutputFile=".\Debug/ImageSrv.bsc"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCWebDeploymentTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<Filter
+			Name="Source Files"
+			Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
+			>
+			<File
+				RelativePath="ImageSrv.cpp"
+				>
+				<FileConfiguration
+					Name="Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+			</File>
+			<File
+				RelativePath="ImageSrv.rc"
+				>
+				<FileConfiguration
+					Name="Release|Win32"
+					>
+					<Tool
+						Name="VCResourceCompilerTool"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Debug|Win32"
+					>
+					<Tool
+						Name="VCResourceCompilerTool"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+			</File>
+			<File
+				RelativePath="ImageSrvDlg.cpp"
+				>
+				<FileConfiguration
+					Name="Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+			</File>
+			<File
+				RelativePath="ListenSocket.cpp"
+				>
+				<FileConfiguration
+					Name="Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+			</File>
+			<File
+				RelativePath="StdAfx.cpp"
+				>
+				<FileConfiguration
+					Name="Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						PreprocessorDefinitions=""
+						UsePrecompiledHeader="1"
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						PreprocessorDefinitions=""
+						UsePrecompiledHeader="1"
+					/>
+				</FileConfiguration>
+			</File>
+			<File
+				RelativePath="VideoSocket.cpp"
+				>
+				<FileConfiguration
+					Name="Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+			</File>
+		</Filter>
+		<Filter
+			Name="Header Files"
+			Filter="h;hpp;hxx;hm;inl"
+			>
+			<File
+				RelativePath="ImageSrv.h"
+				>
+			</File>
+			<File
+				RelativePath="ImageSrvDlg.h"
+				>
+			</File>
+			<File
+				RelativePath="ListenSocket.h"
+				>
+			</File>
+			<File
+				RelativePath="Resource.h"
+				>
+			</File>
+			<File
+				RelativePath="StdAfx.h"
+				>
+			</File>
+			<File
+				RelativePath="VideoSocket.h"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="Resource Files"
+			Filter="ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe"
+			>
+			<File
+				RelativePath="res\ImageSrv.ico"
+				>
+			</File>
+			<File
+				RelativePath="res\ImageSrv.rc2"
+				>
+			</File>
+		</Filter>
+		<File
+			RelativePath="ReadMe.txt"
+			>
+		</File>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>

From tk at edam.speech.cs.cmu.edu  Thu May 10 22:30:57 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 10 May 2007 22:30:57 -0400
Subject: [TeamTalk 75]:  [612] usarsim/Tools/ImageSrv:
Message-ID: <200705110230.l4B2Uv6i015152@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Deleted: usarsim/Tools/ImageSrv/Hook/Hook.plg
===================================================================
--- usarsim/Tools/ImageSrv/Hook/Hook.plg	2007-05-10 22:39:29 UTC (rev 611)
+++ usarsim/Tools/ImageSrv/Hook/Hook.plg	2007-05-11 02:30:57 UTC (rev 612)
@@ -1,33 +0,0 @@
-<html>
-<body>
-<pre>
-<h1>Build Log</h1>
-<h3>
---------------------Configuration: Hook - Win32 Release--------------------
-</h3>
-<h3>Command Lines</h3>
-Creating temporary file "C:\Documents and Settings\wjj\Local Settings\Temp\RSP1782.tmp" with contents
-[
-/nologo /MT /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "HOOK_EXPORTS" /Fp"Release/Hook.pch" /Yu"stdafx.h" /Fo"Release/" /Fd"Release/" /FD /c 
-"C:\Documents and Settings\wjj\work\USAR\ImageSrv\Hook\Hook.cpp"
-]
-Creating command line "cl.exe @"C:\Documents and Settings\wjj\Local Settings\Temp\RSP1782.tmp"" 
-Creating temporary file "C:\Documents and Settings\wjj\Local Settings\Temp\RSP1783.tmp" with contents
-[
-detours.lib d3dx8.lib d3d8.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /dll /incremental:yes /pdb:"Release/Hook.pdb" /machine:I386 /out:"Release/Hook.dll" /implib:"Release/Hook.lib" 
-".\Release\Hook.obj"
-".\Release\StdAfx.obj"
-]
-Creating command line "link.exe @"C:\Documents and Settings\wjj\Local Settings\Temp\RSP1783.tmp""
-<h3>Output Window</h3>
-Compiling...
-Hook.cpp
-Linking...
-
-
-
-<h3>Results</h3>
-Hook.dll - 0 error(s), 0 warning(s)
-</pre>
-</body>
-</html>

Deleted: usarsim/Tools/ImageSrv/ImageSrv.aps
===================================================================
(Binary files differ)

Deleted: usarsim/Tools/ImageSrv/ImageSrv.opt
===================================================================
(Binary files differ)

Deleted: usarsim/Tools/ImageSrv/ImageSrv.plg
===================================================================
--- usarsim/Tools/ImageSrv/ImageSrv.plg	2007-05-10 22:39:29 UTC (rev 611)
+++ usarsim/Tools/ImageSrv/ImageSrv.plg	2007-05-11 02:30:57 UTC (rev 612)
@@ -1,38 +0,0 @@
-<html>
-<body>
-<pre>
-<h1>Build Log</h1>
-<h3>
---------------------Configuration: ImageSrv - Win32 Release--------------------
-</h3>
-<h3>Command Lines</h3>
-Creating temporary file "C:\DOCUME~1\Marko\IMPOST~1\Temp\RSP26.tmp" with contents
-[
-/nologo /MT /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_WINDOWS" /D "_MBCS" /Fp"Release/ImageSrv.pch" /Yu"stdafx.h" /Fo"Release/" /Fd"Release/" /FD /c 
-"D:\Research\USARSim\Storage\ImageSrv\ImageSrvDlg.cpp"
-]
-Creating command line "cl.exe @C:\DOCUME~1\Marko\IMPOST~1\Temp\RSP26.tmp" 
-Creating temporary file "C:\DOCUME~1\Marko\IMPOST~1\Temp\RSP27.tmp" with contents
-[
-hook/detours.lib FreeImage/FreeImage.lib /nologo /subsystem:windows /incremental:no /pdb:"Release/ImageSrv.pdb" /machine:I386 /out:"Release/ImageSrv.exe" 
-.\Release\ImageSrv.obj
-.\Release\ImageSrvDlg.obj
-.\Release\ListenSocket.obj
-.\Release\StdAfx.obj
-.\Release\VideoSocket.obj
-.\Release\ImageSrv.res
-]
-Creating command line "link.exe @C:\DOCUME~1\Marko\IMPOST~1\Temp\RSP27.tmp"
-<h3>Output Window</h3>
-Compiling...
-ImageSrvDlg.cpp
-Linking...
-LINK : warning LNK4089: all references to "SHELL32.dll" discarded by /OPT:REF
-
-
-
-<h3>Results</h3>
-ImageSrv.exe - 0 error(s), 1 warning(s)
-</pre>
-</body>
-</html>

From tk at edam.speech.cs.cmu.edu  Fri May 11 11:38:17 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Fri, 11 May 2007 11:38:17 -0400
Subject: [TeamTalk 76]: [613] usarsim/Tools/ImageSrv/ImageSrv.exe: Added
 executable since directx incompatibilities hamper compilation.
Message-ID: <200705111538.l4BFcHno018610@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Added: usarsim/Tools/ImageSrv/ImageSrv.exe
===================================================================
(Binary files differ)


Property changes on: usarsim/Tools/ImageSrv/ImageSrv.exe
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

From tk at edam.speech.cs.cmu.edu  Tue May 15 09:57:31 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 15 May 2007 09:57:31 -0400
Subject: [TeamTalk 77]: [614] usarsim/System: Adding missing files from
	system directory.
Message-ID: <200705151357.l4FDvVV1030070@edam.speech.cs.cmu.edu>

An HTML attachment was scrubbed...
URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070515/8b32a0d6/attachment-0001.html
-------------- next part --------------
Added: usarsim/System/Hook.dll
===================================================================
(Binary files differ)


Property changes on: usarsim/System/Hook.dll
___________________________________________________________________
Name: svn:mime-type
   + application/octet-stream

Added: usarsim/System/USARBot.ini
===================================================================
--- usarsim/System/USARBot.ini	                        (rev 0)
+++ usarsim/System/USARBot.ini	2007-05-15 13:57:30 UTC (rev 614)
@@ -0,0 +1,791 @@
+[USARBot.USARConverter]
+C_MeterToUU=250
+;C_MeterToUU=52.5
+;C_AngleToDegree=1;
+;C_AngleToURot=182.0444444;
+C_AngleToDegree=57.2957795131;
+C_AngleToURot=10430.3783505;
+RightHand=true
+NumberPrecision=4
+
+[USARBot.Sensor]
+HiddenSensor=true
+
+[USARBot.OdometrySensor]
+HiddenSensor=true
+ScanInterval=0.2
+EncoderResolution=0.01
+;LeftTire=LeftMWheel
+;RightTire=RightMWheel
+
+[USARBot.GPSSensor]
+HiddenSensor=true
+
+[USARBot.INSSensor]
+Mean=0.1
+Sigma=0.05
+
+[USARBot.GroundTruth]
+ScanInterval=0.2
+bWithTimeStamp=True
+
+[USARBot.EncoderSensor]
+Noise=0.005
+Resolution=0.01745
+
+[USARBot.SonarSensor]
+HiddenSensor=true
+MaxRange=5
+BeamAngle=0.3491
+OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=5.000000,OutVal=5.000000)))
+bWithTimeStamp=True
+
+[USARBot.RangeScanner]
+HiddenSensor=False
+MaxRange=20.000000
+ScanInterval=.20
+Resolution=0.01745
+ScanFov=3.1415
+;ScanFov=0.018
+bPitch=false
+bYaw=true
+bWithTimeStamp=true
+OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=20.000000,OutVal=20.000000)))
+
+[USARModels.Hokuyo]
+HiddenSensor=False
+MaxRange=4.000000
+ScanInterval=0.4
+Resolution=0.0174533
+ScanFov=4.712389
+bPitch=false
+bYaw=true
+bWithTimeStamp=true
+OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=20.000000,OutVal=20.000000)))
+
+[USARModels.S300_scanner]
+HiddenSensor=False
+MaxRange=20.000000
+ScanInterval=0.2
+Resolution=0.0174533
+ScanFov=4.712389
+bPitch=false
+bYaw=true
+bWithTimeStamp=true
+OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=20.000000,OutVal=20.000000)))
+
+[USARBot.IRScanner]
+HiddenSensor=False
+MaxRange=20.000000
+MinRange=0.100000
+ScanInterval=1.0
+Resolution=0.01745
+ScanFov=3.1415
+bPitch=false
+bYaw=true
+OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=20.000000,OutVal=20.000000)))
+
+[USARBot.IRCamera]
+MaxRange=4.000000
+ScanInterval=1.0
+Fov=1.0472
+HorResolution=0.01534
+VerResolution=0.01150
+OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=4.000000,OutVal=4.000000)))
+
+[USARBot.RangeScanner3D]
+MaxRange=4.000000
+ScanInterval=0.5
+VerticalFOV=1.5708
+HorizontalFOV=1.7454
+VerticalResolution=0.07854
+HorizontalResolution=0.08727
+
+[USARBot.HumanMotionSensor]
+HiddenSensor=True
+MaxRange=4
+FOV=1.0472
+OutputCurve=(Points=((InVal=0.000000,OutVal=0.000000),(InVal=4.000000,OutVal=4.000000)))
+
+[USARBot.RobotCamera]
+CameraDefFov=0.7854 ; 45 deg
+CameraMinFov=0.3491 ; 20 deg
+CameraMaxFov=2.0944 ; 120 deg
+
+[USARBot.VictSensor]
+HiddenSensor=True
+Distance=6
+HorizontalFOV=0.6981317  ;40 degrees
+HorizontalStep=0.0698131 ;4 degrees
+VerticalFOV=0.6981317    ;40 degrees
+VerticalStep=0.0698131   ;4 degrees
+bWithTimeStamp=true
+bShowResults=false       ; Graphically show where the traces hit
+Mean=0.0
+Sigma=0.01
+
+[USARBot.RFIDSensor]
+bAlwaysReadRFIDmem=true
+
+[USARBot.RFIDReleaser]
+NumTags=5
+
+[USARBot.TouchSensor]
+Diameter=0.005
+
+[USARBot.CO2Sensor]
+ValidRange=(Min=0,Max=100)
+
+[USARBot.Gripper]
+;LeftFinger=LeftFinger
+;RightFinger=RightFinger
+MaxAngle=1.57
+
+[USARBot.ViewTestPlayerController]
+EnemyTurnSpeed=45000
+InputClass=Class'Engine.PlayerInput'
+bDebuggingVoiceChat=False
+bAutoDemoRec=False
+MidGameMenuClass=GUI2K4.UT2K4DisconnectOptionPage
+DemoMenuClass=GUI2K4.UT2K4DemoPlayback
+AdminMenuClass=GUI2K4.RemoteAdmin
+ChatPasswordMenuClass=GUI2K4.UT2K4ChatPassword
+
+[USARBot.KRobot]
+ChassisMass=2.000000
+TorqueCurve=(Points=())
+FlipTorque=350.000000
+FlipTime=3.000000
+msgTimer=0.2
+bDebug=False
+
+[USARBot.P2AT]
+bDebug=False
+Weight=14
+Payload=40
+ChassisMass=1.000000
+MotorTorque=40.0
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.20399979,X=0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.20399979,X=0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightRWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.20399979,X=-0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.20399979,X=-0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=0.12799986,Z=-0.21599978),PkgClass=Class'USARMisPkg.CameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
+HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="Headlight",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=-0.1917476,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F1",Position=(X=0.14499985,Y=-0.12999986,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F2",Position=(X=0.1849998,Y=-0.114999875,Z=-0.0),Direction=(Y=0.0,Z=-0.87264335,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F3",Position=(X=0.21999978,Y=-0.079999916,Z=-0.0),Direction=(Y=0.0,Z=-0.52356684,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F4",Position=(X=0.23999976,Y=-0.024999974,Z=-0.0),Direction=(Y=0.0,Z=-0.17449032,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F5",Position=(X=0.23999976,Y=0.024999974,Z=-0.0),Direction=(Y=0.0,Z=0.17449032,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F6",Position=(X=0.21999978,Y=0.079999916,Z=-0.0),Direction=(Y=0.0,Z=0.52356684,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F7",Position=(X=0.1849998,Y=0.114999875,Z=-0.0),Direction=(Y=0.0,Z=0.8743691,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F8",Position=(X=0.14499985,Y=0.12999986,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R1",Position=(X=-0.14499985,Y=0.12999986,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R2",Position=(X=-0.1849998,Y=0.114999875,Z=-0.0),Direction=(Y=0.0,Z=2.2689495,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R3",Position=(X=-0.21999978,Y=0.079999916,Z=-0.0),Direction=(Y=0.0,Z=2.618026,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R4",Position=(X=-0.23999976,Y=0.024999974,Z=-0.0),Direction=(Y=0.0,Z=2.9671025,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R5",Position=(X=-0.23999976,Y=-0.024999974,Z=-0.0),Direction=(Y=0.0,Z=-2.9671025,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R6",Position=(X=-0.21999978,Y=-0.079999916,Z=-0.0),Direction=(Y=0.0,Z=-2.618026,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R7",Position=(X=-0.1849998,Y=-0.114999875,Z=-0.0),Direction=(Y=0.0,Z=-2.2689495,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R8",Position=(X=-0.14499985,Y=-0.12999986,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=0.14399984,Y=0.0,Z=-0.0919999),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="INS",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+;Sensors=(ItemClass=class'USARBot.RFIDSensor',ItemName="RFID",Position=(X=0.0,Y=0.0,Z=0.0),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="Touch",Position=(X=0.26666638,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.CO2Sensor',ItemName="CO2",Position=(X=0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.StereoP2AT]
+bDebug=False
+Weight=14
+Payload=40
+ChassisMass=1.000000
+MotorTorque=40.0
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.20399979,X=0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.20399979,X=0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightRWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.20399979,X=-0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.P2ATTire',DrawScale3D=(X=1.0,Y=0.55,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.20399979,X=-0.13199987,Z=0.13104749),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=0.12799986,Z=-0.21599978),PkgClass=Class'USARMisPkg.CameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=-0.04,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0)) ; Left Eye
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.04,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))  ; Right Eye
+HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="Headlight",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=-0.1917476,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F1",Position=(X=0.14499985,Y=-0.12999986,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F2",Position=(X=0.1849998,Y=-0.114999875,Z=-0.0),Direction=(Y=0.0,Z=-0.87264335,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F3",Position=(X=0.21999978,Y=-0.079999916,Z=-0.0),Direction=(Y=0.0,Z=-0.52356684,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F4",Position=(X=0.23999976,Y=-0.024999974,Z=-0.0),Direction=(Y=0.0,Z=-0.17449032,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F5",Position=(X=0.23999976,Y=0.024999974,Z=-0.0),Direction=(Y=0.0,Z=0.17449032,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F6",Position=(X=0.21999978,Y=0.079999916,Z=-0.0),Direction=(Y=0.0,Z=0.52356684,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F7",Position=(X=0.1849998,Y=0.114999875,Z=-0.0),Direction=(Y=0.0,Z=0.8743691,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F8",Position=(X=0.14499985,Y=0.12999986,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R1",Position=(X=-0.14499985,Y=0.12999986,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R2",Position=(X=-0.1849998,Y=0.114999875,Z=-0.0),Direction=(Y=0.0,Z=2.2689495,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R3",Position=(X=-0.21999978,Y=0.079999916,Z=-0.0),Direction=(Y=0.0,Z=2.618026,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R4",Position=(X=-0.23999976,Y=0.024999974,Z=-0.0),Direction=(Y=0.0,Z=2.9671025,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R5",Position=(X=-0.23999976,Y=-0.024999974,Z=-0.0),Direction=(Y=0.0,Z=-2.9671025,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R6",Position=(X=-0.21999978,Y=-0.079999916,Z=-0.0),Direction=(Y=0.0,Z=-2.618026,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R7",Position=(X=-0.1849998,Y=-0.114999875,Z=-0.0),Direction=(Y=0.0,Z=-2.2689495,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="R8",Position=(X=-0.14499985,Y=-0.12999986,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=0.14399984,Y=0.0,Z=-0.0919999),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="INS",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+;Sensors=(ItemClass=class'USARBot.RFIDSensor',ItemName="RFID",Position=(X=0.0,Y=0.0,Z=0.0),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="Touch",Position=(X=0.26666638,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.CO2Sensor',ItemName="CO2",Position=(X=0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.P2DX]
+bDebug=false
+Weight=9
+Payload=20
+ChassisMass=2.000000
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.P2DXTire',DrawScale3D=(X=1.0,Y=0.36,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.16799982,X=0.039999958,Z=0.0999999),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.P2DXTire',DrawScale3D=(X=1.0,Y=0.36,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.16799982,X=0.039999958,Z=0.0999999),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RearWheel",PartClass=class'USARModels.P2DXSmallTire',DrawScale3D=(X=1.0,Y=0.5,Z=1.0),bSteeringLocked=False,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.0,X=-0.1919998,Z=0.167857),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=0.039999958,Z=-0.21599978),PkgClass=Class'USARMisPkg.CameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
+HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="CameraTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=-0.2876214,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F1",Position=(X=0.114999875,Y=-0.12999986,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F2",Position=(X=0.15499984,Y=-0.114999875,Z=-0.0),Direction=(Y=0.0,Z=-0.87264335,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F3",Position=(X=0.1899998,Y=-0.079999916,Z=-0.0),Direction=(Y=0.0,Z=-0.52356684,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F4",Position=(X=0.20999977,Y=-0.024999974,Z=-0.0),Direction=(Y=0.0,Z=-0.17449032,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F5",Position=(X=0.20999977,Y=0.024999974,Z=-0.0),Direction=(Y=0.0,Z=0.17449032,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F6",Position=(X=0.1899998,Y=0.079999916,Z=-0.0),Direction=(Y=0.0,Z=0.52356684,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F7",Position=(X=0.15499984,Y=0.114999875,Z=-0.0),Direction=(Y=0.0,Z=0.87264335,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="F8",Position=(X=0.114999875,Y=0.12999986,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=0.055999942,Y=0.0,Z=-0.0919999),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="INS",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.EncoderSensor',ItemName="ECLeft",Parent="LeftFWheel",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.EncoderSensor',ItemName="ECRight",Parent="RightFWheel",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.EncoderSensor',ItemName="ECTilt",Parent="CameraPanTilt_Link2",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.EncoderSensor',ItemName="ECPan",Parent="CameraPanTilt_Link1",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=1.5707964,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.RFIDSensor',ItemName="RFID",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Effecters=(ItemClass=class'USARBot.RFIDReleaser',ItemName="Gun",Parent="",Position=(Y=0.0,X=-0.1523808,Z=0.142857),Direction=(Y=0.0,Z=3.1415927,X=0.0))
+
+[USARBot.ATRVJr]
+bDebug=False
+Weight=50
+Payload=25
+ChassisMass=2.000000
+MotorTorque=100.0
+MaxTorque=150.0
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.AtrvRTire',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.2559997,X=0.1939998,Z=0.1919998),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.AtrvLTire',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.2559997,X=0.1939998,Z=0.1919998),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightRWheel",PartClass=class'USARModels.AtrvRTire',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.2559997,X=-0.1939998,Z=0.1919998),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.AtrvLTire',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.2559997,X=-0.1939998,Z=0.1919998),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=0.124,Z=-0.14),PkgClass=Class'USARMisPkg.CameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
+HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.079999916,Z=0.06399993),Direction=(Y=-0.1917476,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S1",Position=(X=0.33495012,Y=-0.104390375,Z=-0.0),Direction=(Y=0.0,Z=-0.52356684,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S2",Position=(X=0.34040916,Y=-0.049910426,Z=-0.0),Direction=(Y=0.0,Z=-0.26183134,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S3",Position=(X=0.3470606,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S4",Position=(X=0.34040916,Y=0.049910426,Z=-0.0),Direction=(Y=0.0,Z=0.26183134,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S5",Position=(X=0.33495012,Y=0.104390375,Z=-0.0),Direction=(Y=0.0,Z=0.52356684,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S6",Position=(X=0.23023024,Y=0.17499982,Z=-0.0),Direction=(Y=0.0,Z=0.7853982,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S7",Position=(X=0.17248991,Y=0.17859982,Z=-0.0),Direction=(Y=0.0,Z=1.0472295,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S8",Position=(X=0.117199875,Y=0.1810998,Z=-0.0),Direction=(Y=0.0,Z=1.308965,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S9",Position=(X=0.07226088,Y=0.1810998,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S10",Position=(X=-0.2951654,Y=0.1810998,Z=-0.0),Direction=(Y=0.0,Z=1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S11",Position=(X=-0.3470606,Y=0.15035984,Z=-0.0),Direction=(Y=0.0,Z=3.1415927,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S12",Position=(X=-0.3470606,Y=-0.15035984,Z=-0.0),Direction=(Y=0.0,Z=3.1415927,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S13",Position=(X=-0.2951654,Y=-0.1810998,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S14",Position=(X=0.07226088,Y=-0.1810998,Z=-0.0),Direction=(Y=0.0,Z=-1.5707964,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S15",Position=(X=0.117199875,Y=-0.1810998,Z=-0.0),Direction=(Y=0.0,Z=-1.308965,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S16",Position=(X=0.17248991,Y=-0.17859982,Z=-0.0),Direction=(Y=0.0,Z=-1.0472295,X=0.0))
+Sensors=(ItemClass=class'USARBot.SonarSensor',ItemName="S17",Position=(X=0.23023024,Y=-0.17499982,Z=-0.0),Direction=(Y=0.0,Z=-0.7853982,X=0.0))
+Sensors=(ItemClass=class'USARModels.SICKLMSr',ItemName="Scanner1",Position=(X=0.2759997,Y=0.0,Z=-0.06399993),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="Compass",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(X=0.0,Z=1.5664821,Y=0.0))
+Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.Zerg]
+ChassisMass=4.000000
+bDebug=False
+bMountByUU=False
+JointParts=(PartName="LeftFWheel",PartClass=Class'USARModels.ZergTire',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'Engine.KCarWheelJoint',bSuspensionLocked=True,Parent="None",ParentPos=(X=0.0949999,Y=-0.16999982,Z=-0.0),ParentAxis=(X=0.000000,Y=0.000000,Z=1.000000),SelfPos=(X=0.0,Y=0.0,Z=-0.0),SelfAxis=(X=0.000000,Y=0.000000,Z=1.000000))
+JointParts=(PartName="RightFWheel",PartClass=Class'USARModels.ZergTire',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'Engine.KCarWheelJoint',bSuspensionLocked=True,Parent="None",ParentPos=(X=0.0949999,Y=0.16999982,Z=-0.0),ParentAxis=(X=0.000000,Y=0.000000,Z=1.000000),SelfPos=(X=0.0,Y=0.0,Z=-0.0),SelfAxis=(X=0.000000,Y=0.000000,Z=1.000000))
+JointParts=(PartName="LeftRWheel",PartClass=Class'USARModels.ZergTire',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'Engine.KCarWheelJoint',bSuspensionLocked=True,Parent="None",ParentPos=(X=-0.0949999,Y=-0.16999982,Z=-0.0),ParentAxis=(X=0.000000,Y=0.000000,Z=1.000000),SelfPos=(X=0.0,Y=0.0,Z=-0.0),SelfAxis=(X=0.000000,Y=0.000000,Z=1.000000))
+JointParts=(PartName="RightRWheel",PartClass=Class'USARModels.ZergTire',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'Engine.KCarWheelJoint',bSuspensionLocked=True,Parent="None",ParentPos=(X=-0.0949999,Y=0.16999982,Z=-0.0),ParentAxis=(X=0.000000,Y=0.000000,Z=1.000000),SelfPos=(X=0.0,Y=0.0,Z=-0.0),SelfAxis=(X=0.000000,Y=0.000000,Z=1.000000))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=0.0380952,Z=-0.05728),PkgClass=Class'USARMisPkg.PGCameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.011999987,X=0.027999971,Z=-0.0),Direction=(X=0.0,Z=0.0,Y=0.0))
+;Sensors=(ItemClass=class'USARBot.RFIDSensor',ItemName="RFID",Position=(X=0,Y=0,Z=0),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="CameraPanTilt_Link2",Position=(Y=0.011999987,X=0.027999971,Z=-0.0),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.RangeScanner',ItemName="Scanner1",Position=(X=0.09333324,Y=0.0,Z=-0.0857142),Direction=(x=0.0,y=0.0,z=0.0))
+;Sensors=(ItemClass=class'USARBot.RangeScanner3D',ItemName="Scanner2",Position=(X=0,Y=0,Z=-0.04),Direction=(x=0,y=0,z=0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="Compass",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(X=0.0,Z=1.5664821,Y=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+;Effecters=(ItemClass=class'USARBot.RFIDReleaser',ItemName="Gun",Parent="",Position=(Y=0,X=-5,Z=0),Direction=(Y=0,Z=32768,X=0))
+
+[USARBot.Talon]
+ChassisMass=2.000000
+MotorTorque=450.0
+MaxTorque=450.0
+Weight=34
+Payload=45
+bDebug=False
+bMountByUU=False
+JointParts=(PartName="RightTrack",PartClass=class'USARModels.TalonTrack',DrawScale3D=(X=1.000000,Y=0.630000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0.3142854,Y=0.23104738,Z=-0.0190476),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftTrack",PartClass=class'USARModels.TalonTrack',DrawScale3D=(X=1.000000,Y=0.630000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(X=0.3142854,Y=-0.23104738,Z=-0.0190476),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="TalonArm",Location=(X=0.2752381,Y=0.0,Z=-0.00571429),PkgClass=Class'USARMisPkg.TalonArm')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="GCam",Parent="TalonArm_Link3",Position=(Y=0.0,X=-0.0380952,Z=-0.095238),Direction=(Y=0.0,Z=0.0,X=0.0))
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="ACam",Parent="TalonArm_Link2",Position=(X=0.0761904,Y=0.06285708,Z=-0.095238),Direction=(Y=0.0,Z=0.0,X=0.0))
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="FCam",Parent="",Position=(X=-0.29619017,Y=-0.15428557,Z=-0.19428551),Direction=(Y=0.0,Z=0.0,X=0.0))
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="RCam",Parent="",Position=(X=-0.32380918,Y=-0.03238092,Z=-0.22095215),Direction=(Y=0.0,Z=3.1415927,X=0.0))
+Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="",Position=(X=-0.29619017,Y=-0.15428557,Z=-0.19428551),Direction=(Y=0,Z=0,X=0))
+
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="Compass",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(X=0.0,Z=1.5664821,Y=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Effecters=(ItemClass=class'USARBot.Gripper',ItemName="Gripper",Parent="TalonArm_Link3",Position=(Y=0.0,X=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.TeleMax]
+ChassisMass=2.000000
+MotorTorque=300.0
+MaxTorque=300.0
+Weight=34
+Payload=45
+bDebug=False
+bMountByUU=False
+JointParts=(PartName="FRFlipper",PartClass=class'USARModels.TeleMaxFTrackFrame',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.19,Y=0.2,Z=0.0346),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Y=1),SelfAxis2=(Z=1))
+JointParts=(PartName="FRPrimWheel",PartClass=class'USARModels.TeleMaxPrimWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.02,Y=0,Z=0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="FRLowerAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.19,Y=0.0,Z=0.07),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="FRUpperAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.4466,Y=0.0,Z=-0.0884),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="FLFlipper",PartClass=class'USARModels.TeleMaxFTrackFrame',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.19,Y=-0.2,Z=0.0346),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Y=1),SelfAxis2=(Z=1))
+JointParts=(PartName="FLPrimWheel",PartClass=class'USARModels.TeleMaxPrimWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.02,Y=0,Z=0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="FLLowerAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.19,Y=0.0,Z=0.07),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="FLUpperAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="FLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.4466,Y=0.0,Z=-0.0884),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="RRFlipper",PartClass=class'USARModels.TeleMaxRTrackFrame',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=-0.19,Y=0.2,Z=0.0346),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Y=1),SelfAxis2=(Z=1))
+JointParts=(PartName="RRPrimWheel",PartClass=class'USARModels.TeleMaxPrimWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.02,Y=0,Z=0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="RRLowerAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.19,Y=0.0,Z=0.07),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="RRUpperAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.4466,Y=0.0,Z=-0.0884),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="RLFlipper",PartClass=class'USARModels.TeleMaxRTrackFrame',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=-0.19,Y=-0.2,Z=0.0346),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Y=1),SelfAxis2=(Z=1))
+JointParts=(PartName="RLPrimWheel",PartClass=class'USARModels.TeleMaxPrimWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.02,Y=0,Z=0),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="RLLowerAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.19,Y=0.0,Z=0.07),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+JointParts=(PartName="RLUpperAuxWheel",PartClass=class'USARModels.TeleMaxAuxWheel',DrawScale3D=(X=1,Y=1,Z=1),bSteeringLocked=True,bSuspensionLocked=true,Parent="RLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.4466,Y=0.0,Z=-0.0884),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(X=0,Y=0,Z=0),SelfAxis=(Z=1),SelfAxis2=(Y=1))
+MisPkgs=(PkgName="TeleMaxArm",Location=(Y=0.0,X=0.1742,Z=-0.0843),PkgClass=Class'USARMisPkg.TeleMaxArm')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="GCam",Parent="TeleMaxArm_Link6",Position=(X=0.076,Y=0.028,Z=-0.044),Direction=(Y=0.0,Z=0.0,X=0.0))
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="EFCam",Parent="TeleMaxArm_Link4",Position=(X=0.196,Y=-0.072,Z=0),Direction=(Y=-0.098175.0,Z=0.0,X=0.0))
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="ERCam",Parent="TeleMaxArm_Link4",Position=(X=-0.032,Y=-0.02,Z=0),Direction=(Y=0.0,Z=3.141593,X=0.0))
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="BCam",Parent="TeleMaxArm_Link1",Position=(X=0.056,Y=-0.008,Z=-0.236),Direction=(Y=-0.1963495,Z=0.0,X=0.0))
+Effecters=(ItemClass=class'USARBot.Gripper',ItemName="Gripper",Parent="TeleMaxArm_Link7",Position=(Y=0.0,X=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="Compass",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(X=0.0,Z=1.5664821,Y=0.0))
+Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="TeleMaxArm_Link4",Position=(X=0.196,Y=-0.072,Z=0),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARModels.TarantulaFrontTrack]
+MaxTTiresNum=8
+
+[USARModels.TarantulaRearTrack]
+MaxTTiresNum=8
+
+[USARBot.Tarantula]
+ChassisMass=2.000000
+MotorTorque=450.0
+MaxTorque=450.0
+MotorSpeed=0.349
+bDebug=False
+bMountByUU=False
+JointParts=(PartName="FRFlipper",PartClass=Class'USARModels.TarantulaArm',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'KDHinge',bSteeringLocked=False,bSuspensionLocked=True,BrakeTorque=25.0,Parent="",ParentPos=(X=0.1649522,Y=0.20295216,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.114285596),SelfAxis=(Y=1.0),SelfAxis2=(Z=1.0),PackageName="FFlip",PackageType="Flipper")
+JointParts=(PartName="FLFlipper",PartClass=Class'USARModels.TarantulaArm',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'KDHinge',bSteeringLocked=False,bSuspensionLocked=True,BrakeTorque=25.0,Parent="",ParentPos=(X=0.1649522,Y=-0.20295216,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.114285596),SelfAxis=(Y=1.0),SelfAxis2=(Z=1.0),PackageName="FFlip",PackageType="Flipper")
+JointParts=(PartName="RRFlipper",PartClass=Class'USARModels.TarantulaArm',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'KDHinge',bSteeringLocked=False,bSuspensionLocked=True,BrakeTorque=25.0,Parent="",ParentPos=(X=-0.1649522,Y=0.12295225,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=-0.114285596),SelfAxis=(Y=1.0),SelfAxis2=(Z=1.0),PackageName="RFlip",PackageType="Flipper")
+JointParts=(PartName="RLFlipper",PartClass=Class'USARModels.TarantulaArm',DrawScale3D=(X=1.000000,Y=1.000000,Z=1.000000),JointClass=Class'KDHinge',bSteeringLocked=False,bSuspensionLocked=True,BrakeTorque=25.0,Parent="",ParentPos=(X=-0.1649522,Y=-0.12295225,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=-0.114285596),SelfAxis=(Y=1.0),SelfAxis2=(Z=1.0),PackageName="RFlip",PackageType="Flipper")
+JointParts=(PartName="FRTrack",PartClass=class'USARModels.TarantulaFrontTrack',DrawScale3D=(X=1.000000,Y=0.500000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="FRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.114285596,Y=0.0,Z=-0.0),ParentAxis=(Z=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0))
+JointParts=(PartName="FLTrack",PartClass=class'USARModels.TarantulaFrontTrack',DrawScale3D=(X=1.000000,Y=0.500000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="FLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=0.114285596,Y=0.0,Z=-0.0),ParentAxis=(Z=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0))
+JointParts=(PartName="RRTrack",PartClass=class'USARModels.TarantulaRearTrack',DrawScale3D=(X=1.000000,Y=0.500000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="RRFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.114285596,Y=0.0,Z=-0.0),ParentAxis=(Z=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0))
+JointParts=(PartName="RLTrack",PartClass=class'USARModels.TarantulaRearTrack',DrawScale3D=(X=1.000000,Y=0.500000,Z=1.000000),bSteeringLocked=False,bSuspensionLocked=true,Parent="RLFlipper",JointClass=class'KCarWheelJoint',ParentPos=(X=-0.114285596,Y=0.0,Z=-0.0),ParentAxis=(Z=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0))
+;Sensors=(ItemClass=class'USARBot.RangeScanner',ItemName="Scanner1",Position=(X=0,Y=0,Z=-0.04),Direction=(x=0,y=0,z=0))
+;Sensors=(ItemClass=class'USARBot.RangeScanner3D',ItemName="TarantulaRangeScanner3D",Position=(X=0,Y=0,Z=-0.04),Direction=(x=0,y=0,z=0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="OdometrySensor",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(x=0.0,y=0.0,z=0.0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="INS",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(x=0.0,y=0.0,z=0.0))
+Sensors=(ItemClass=class'USARBot.RFIDSensor',ItemName="RFIDReader",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(x=0.0,y=0.0,z=0.0))
+Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="FR1",Parent="FRFlipper",Position=(X=0.0,Y=0.0,Z=0.057142798),Direction=(x=0.0,y=-1.5707964,z=0.0))
+Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="FR2",Parent="FRFlipper",Position=(X=0.0,Y=0.0,Z=-0.057142798),Direction=(x=0.0,y=-1.5707964,z=0.0))
+Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="FR3",Parent="FRFlipper",Position=(X=-0.21499978,Y=0.0,Z=0.028571399),Direction=(x=0.0,y=-1.5707964,z=0.0))
+Sensors=(ItemClass=class'USARBot.TouchSensor',ItemName="FR4",Parent="FRFlipper",Position=(X=-0.21499978,Y=0.0,Z=-0.028571399),Direction=(x=0.0,y=-1.5707964,z=0.0))
+Effecters=(ItemClass=class'USARBot.RFIDReleaser',ItemName="Gun",Position=(X=0.0,Y=0.0,Z=0.0095238),Direction=(x=0.0,y=0.0,z=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.Hummer]
+bDebug=False
+Weight=50
+Payload=25
+ChassisMass=100.000000
+MaxTorque=32000.0
+MotorTorque=2400.0
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.HummerTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7331802,X=1.3296367,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.HummerTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7171612,X=1.3296367,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightRWheel",PartClass=class'USARModels.HummerTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7331802,X=-1.3151034,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.HummerTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7171612,X=-1.3151034,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.00857142,X=0.7857136,Z=-1.047237),PkgClass=Class'USARMisPkg.CameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=1.8133314,Y=0.00857142,Z=-0.5523804),Direction=(Y=0.0,Z=0.0,X=0.0))
+HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="",Position=(Y=0.00857142,X=1.7238077,Z=-0.7485706),Direction=(Y=-0.479369,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.SnowStorm]
+bDebug=False
+Weight=50
+Payload=25
+ChassisMass=100.000000
+MaxTorque=32000.0
+MotorTorque=2400.0
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.HummerTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7331802,X=1.3296367,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.HummerTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7171612,X=1.3296367,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightRWheel",PartClass=class'USARModels.HummerTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7331802,X=-1.3151034,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.HummerTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7171612,X=-1.3151034,Z=-0.361),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.00857142,X=0.7857136,Z=-1.047237),PkgClass=Class'USARMisPkg.CameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="OdometrySensor",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(x=0.0,y=0.0,z=0.0))
+Sensors=(ItemClass=class'USARBot.GPSSensor',ItemName="GPS",Position=(X=0.0,Y=0.0,Z=-1.0),Direction=(x=0.0,y=0.0,z=0.0))
+Sensors=(ItemClass=class'USARBot.INSSensor',ItemName="Compass",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(X=0.0,Z=1.5664821,Y=0.0))
+Sensors=(ItemClass=class'USARModels.SICKLMS',ItemName="Scanner1",Position=(X=1.8133314,Y=0.00857142,Z=-0.5523804),Direction=(Y=0.0,Z=0.0,X=0.0))
+HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="",Position=(Y=0.00857142,X=1.7238077,Z=-0.7485706),Direction=(Y=-0.479369,Z=0.0,X=0.0))
+
+[USARBot.Sedan]
+bDebug=False
+Weight=50
+Payload=25
+ChassisMass=100.000000
+MaxTorque=32000.0
+MotorTorque=2400.0
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.SedanTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7047619,X=1.3238095,Z=-0.27),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.SedanTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7047619,X=1.3238095,Z=-0.27),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightRWheel",PartClass=class'USARModels.SedanTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.7047619,X=-1.2666667,Z=-0.27),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.SedanTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.7047619,X=-1.2666667,Z=-0.27),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=1.0857143,Z=-0.8857143),PkgClass=Class'USARMisPkg.CameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.Cooper]
+bDebug=False
+Weight=50
+Payload=25
+ChassisMass=100.000000
+MaxTorque=32000.0
+MotorTorque=2400.0
+bMountByUU=False
+JointParts=(PartName="RightFWheel",PartClass=class'USARModels.CooperTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.690016,X=1.408492,Z=0.349312),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftFWheel",PartClass=class'USARModels.CooperTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.688876,X=1.408492,Z=0.349312),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RightRWheel",PartClass=class'USARModels.CooperTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.690016,X=-1.080244,Z=0.349312),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftRWheel",PartClass=class'USARModels.CooperTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.688876,X=-1.080244,Z=0.349312),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.Submarine]
+bDebug=False
+Weight=50
+Payload=25
+ChassisMass=2.000000
+bMountByUU=False
+JointParts=(PartName="Propeller1",PartClass=class'USARModels.SubmarinePropeller',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.0,X=-4.266662,Z=-0.0),ParentAxis=(Z=1.0),ParentAxis2=(X=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(X=1.0))
+JointParts=(PartName="Rudder1",PartClass=class'USARModels.SubmarineRudder',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.0,X=-3.047616,Z=-0.0),ParentAxis=(Z=1.0),ParentAxis2=(X=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(X=1.0))
+JointParts=(PartName="SternPlane1",PartClass=class'USARModels.SubmarineSternPlane',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.0,X=-3.657139,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(X=1.0),SelfPos=(Z=-0.0),SelfAxis=(Y=1.0),SelfAxis2=(X=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=0.83809435,Z=-0.420571),PkgClass=Class'USARMisPkg.UnderwaterCameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link2",Position=(Y=0.0,X=0.06,Z=-0.0088),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARModels.Pinger',ItemName="Scanner1",Position=(X=-0.9904752,Y=0.0,Z=0.42476144),Direction=(Y=-1.5707964,Z=0.0,X=0.0))
+HeadLight=(ItemClass=class'USARBot.USARHeadLight',ItemName="HeadLight",Parent="",Position=(Y=0.0,X=2.0857122,Z=-0.0),Direction=(Y=-0.1917476,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.AirRobot]
+bDebug=False
+Weight=50
+Payload=25
+ChassisMass=1
+bMountByUU=False
+JointParts=(PartName="Counter_Propeller_1",PartClass=class'USARModels.AirRobotPropeller',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.1952,X=-0.1928,Z=-0.12588),ParentAxis=(X=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.0,Y=0.0,Z=0.0),SelfAxis=(X=1.0),SelfAxis2=(Z=1.0))
+JointParts=(PartName="Counter_Propeller_2",PartClass=class'USARModels.AirRobotPropeller',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.1912,X=-0.1928,Z=-0.12588),ParentAxis=(X=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.0,Y=0.0,Z=0.0),SelfAxis=(X=1.0),SelfAxis2=(Z=1.0))
+JointParts=(PartName="Propeller_1",PartClass=class'USARModels.AirRobotPropeller',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.1912,X=0.1928,Z=-0.12588),ParentAxis=(X=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.0,Y=0.0,Z=0.0),SelfAxis=(X=1.0),SelfAxis2=(Z=1.0))
+JointParts=(PartName="Propeller_2",PartClass=class'USARModels.AirRobotPropeller',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.1952,X=0.1928,Z=-0.12588),ParentAxis=(X=1.0),ParentAxis2=(Z=1.0),SelfPos=(X=0.0,Y=0.0,Z=0.0),SelfAxis=(X=1.0),SelfAxis2=(Z=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.0,X=0.0,Z=-0.09272),PkgClass=Class'USARMisPkg.AirRobotCameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt_Link1",Position=(Y=0.008,X=0.024,Z=-0.0008),Direction=(X=0.0,Z=0.0,Y=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.ERS]
+ChassisMass=0.630000
+MaxTorque=60.0
+MotorTorque=20.0
+MotorSpeed=2.79
+;MotorSpeed=6
+HingePropGap=1800.0
+TorqueCurve=(Points=)
+FlipTorque=350.0
+FlipTime=3.0
+msgTimer=0.2
+batteryLife=3600
+bDebug=False
+bDisplayTeamBeacon=False
+bDesiredBehindView=False
+MaxNetUpdateInterval=0.1
+TPCamDistance=600.0
+bMountByUU=False
+RobotSkins=(Name="",Skin=Texture'USARSim_LeggedRobots_Textures.ERS7.ERS7DefaultSkin',Comment="Default Texture")
+RobotSkins=(Name="RED",Skin=Texture'USARSim_LeggedRobots_Textures.ERS7.ERS7RedSkin',Comment="Red Texture")
+RobotSkins=(Name="BLUE",Skin=Texture'USARSim_LeggedRobots_Textures.ERS7.ERS7BlueSkin',Comment="Blue Texture")
+JointParts=(PartName="RFA",PartClass=Class'USARModels.ERSra',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent=,JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.065576,Y=0.040676,Z=0.0017480002),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="RFB",PartClass=Class'USARModels.ERSrb',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="RFA",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=0.022400001,Z=-0.0),ParentAxis=(X=1.0),ParentAxis2=(Y=1.0),SelfAxis=(X=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RFC",PartClass=Class'USARModels.ERSfc',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="RFB",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0072040004,Y=0.0047440003,Z=0.070360005),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="RRA",PartClass=Class'USARModels.ERSra',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent=,JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=-0.065576,Y=0.040000003,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(X=1.0),SelfAxis=(Y=1.0),SelfAxis2=(X=1.0))
+JointParts=(PartName="RRB",PartClass=Class'USARModels.ERSrb',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="RRA",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=0.020000001,Z=-0.0),ParentAxis=(X=1.0),ParentAxis2=(Y=1.0),SelfAxis=(X=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RRC",PartClass=Class'USARModels.ERSrc',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="RRB",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=-0.010956001,Y=0.0047440003,Z=0.069876),ParentAxis=(Y=1.0),ParentAxis2=(X=1.0),SelfAxis=(Y=1.0),SelfAxis2=(X=1.0))
+JointParts=(PartName="LFA",PartClass=Class'USARModels.ERSla',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent=,JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.065576,Y=-0.040676,Z=0.0017480002),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="LFB",PartClass=Class'USARModels.ERSlb',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="LFA",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=-0.022400001,Z=-0.0),ParentAxis=(X=-1.0),ParentAxis2=(Y=-1.0),SelfAxis=(X=-1.0),SelfAxis2=(Y=-1.0))
+JointParts=(PartName="LFC",PartClass=Class'USARModels.ERSfc',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="LFB",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0072040004,Y=-0.0047440003,Z=0.070360005),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="LRA",PartClass=Class'USARModels.ERSla',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent=,JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=-0.065576,Y=-0.040000003,Z=-0.0),ParentAxis=(Y=1.0),ParentAxis2=(X=1.0),SelfAxis=(Y=1.0),SelfAxis2=(X=1.0))
+JointParts=(PartName="LRB",PartClass=Class'USARModels.ERSlb',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="LRA",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=-0.020000001,Z=-0.0),ParentAxis=(X=-1.0),ParentAxis2=(Y=-1.0),SelfAxis=(X=-1.0),SelfAxis2=(Y=-1.0))
+JointParts=(PartName="LRC",PartClass=Class'USARModels.ERSrc',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="LRB",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=-0.010956001,Y=-0.0047440003,Z=0.069876),ParentAxis=(Y=1.0),ParentAxis2=(X=1.0),SelfAxis=(Y=1.0),SelfAxis2=(X=1.0))
+JointParts=(PartName="HA",PartClass=Class'USARModels.ERSha',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent=,JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.068624005,Y=0.0,Z=-0.017856002),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="HB",PartClass=Class'USARModels.ERShb',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="HA",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=0.0,Z=-0.080740005),ParentAxis=(Z=-1.0),ParentAxis2=(Y=-1.0),SelfAxis=(Z=-1.0),SelfAxis2=(Y=-1.0))
+JointParts=(PartName="HC",PartClass=Class'USARModels.ERShc',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),Parent="HB",JointClass=Class'USARBot.KDHinge',BrakeTorque=50.0,ParentPos=(X=0.0,Y=0.0,Z=-0.0),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+Sensors=(ItemClass=Class'USARBot.ERSirNear',Parent="HC",ItemName="IRN",Position=(X=0.084148005,Y=0.0040,Z=0.0040),direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=Class'USARBot.ERSirFar',Parent="HC",ItemName="IRF",Position=(X=0.084148005,Y=-0.0040,Z=0.0040),direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=Class'USARBot.ERSirEdge',Parent=,ItemName="EDG",Position=(X=0.116000004,Y=0.0,Z=0.0073400005),direction=(Y=-0.52356684,Z=0.0,X=0.0))
+;Sensors=(ItemClass=Class'USARBot.ERSpaw',Parent="RFC",ItemName="RFP",Position=(X=7.565,Y=0.0,Z=-12.652),direction=(Y=-16384,Z=0,X=0))
+;Sensors=(ItemClass=Class'USARBot.ERSpaw',Parent="LFC",ItemName="LFP",Position=(X=7.565,Y=0.0,Z=-12.652),direction=(Y=-16384,Z=0,X=0))
+;Sensors=(ItemClass=Class'USARBot.ERSpaw',Parent="RRC",ItemName="RRP",Position=(X=-4.956,Y=0.0,Z=-13.192),direction=(Y=-16384,Z=0,X=0))
+;Sensors=(ItemClass=Class'USARBot.ERSpaw',Parent="LRC",ItemName="LRP",Position=(X=-4.956,Y=0.0,Z=-13.192),direction=(Y=-16384,Z=0,X=0))
+Sensors=(ItemClass=Class'USARBot.AccelerationSensor',Parent=,ItemName="ACC",Position=(X=0.0,Y=0.0,Z=-0.0),direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=Class'USARBot.BallHSensor',Parent="HC",ItemName="BHS",Position=(X=0.076000005,Y=0.0,Z=0.016),direction=(Y=0.0,Z=0.0,X=0.0))
+Cameras=(ItemClass=Class'USARBot.AIBOCamera',Parent="HC",ItemName="Camera",Position=(X=0.076000005,Y=0.0,Z=0.016),direction=(Y=0.0,Z=0.0,X=0.0))
+Headlight=(ItemClass=None,Parent=,ItemName=,Position=(X=0.0,Y=0.0,Z=-0.0),direction=(Y=0.0,Z=0.0,X=0.0))
+
+[USARBot.QRIO]
+msgTimer=0.2
+ChassisMass=1.0
+MaxTorque=60.0
+MotorTorque=50.0
+MotorSpeed=1.92
+HingePropGap=1820
+bDesiredBehindView=False
+MaxNetUpdateInterval=0.1
+bMountByUU=False
+JointParts=(PartName="HT",PartClass=class'USARModels.QRIODummy',DrawScale3D=(X=0.2,Y=0.2,Z=0.2),BrakeTorque=50,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.0321,Y=0.0017000001,Z=-0.24400002),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="HP",PartClass=class'USARModels.QRIOHead',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="HT",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.0,Y=0.0,Z=-0.0),ParentAxis=(Z=-1.0),ParentAxis2=(Y=-1.0),SelfAxis=(Z=-1.0),SelfAxis2=(Y=-1.0))
+JointParts=(PartName="RAA",PartClass=class'USARModels.QRIODummy',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.032104,Y=0.208588,Z=-0.10398801),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="RAB",PartClass=class'USARModels.QRIORAB',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="RAA",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.0,Y=0.0,Z=-0.0),ParentAxis=(X=1.0),ParentAxis2=(Y=1.0),SelfAxis=(X=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="RAC",PartClass=class'USARModels.QRIORAC',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="RAB",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.023644,Y=-8.000001E-6,Z=0.189224),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))
+JointParts=(PartName="LAA",PartClass=class'USARModels.QRIODummy',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),BrakeTorque=50,Parent="",JointClass=class'USARBot.KDHinge',ParentPos=(X=0.032104,Y=-0.20522001,Z=-0.10399601),ParentAxis=(Y=-1.0),ParentAxis2=(X=-1.0),SelfAxis=(Y=-1.0),SelfAxis2=(X=-1.0))

@@ Diff output truncated at 60000 characters. @@

From tk at edam.speech.cs.cmu.edu  Tue May 15 12:10:53 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 15 May 2007 12:10:53 -0400
Subject: [TeamTalk 78]: [615] usarsim/System/make.bat: Suppress needless
	warnings.
Message-ID: <200705151610.l4FGAr5k030231@edam.speech.cs.cmu.edu>

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Modified: usarsim/System/make.bat
===================================================================
--- usarsim/System/make.bat	2007-05-15 13:57:30 UTC (rev 614)
+++ usarsim/System/make.bat	2007-05-15 16:10:53 UTC (rev 615)
@@ -1,7 +1,7 @@
-move USARBotAPI.u USARBotAPIu.bak
-move USARBot.u USARBotu.bak
-move USARModels.u USARModels.bak
-move USARVictims.u USARVictimsu.bak 
-move USARMisPkg.u USARMisPkgu.bak
-ucc make -ini=USARSim.ini
-pause
\ No newline at end of file
+IF EXIST USARBotAPI.u move /Y USARBotAPI.u USARBotAPIu.bak
+IF EXIST USARBot.u move /Y USARBot.u USARBotu.bak
+IF EXIST USARModels.u move /Y USARModels.u USARModelsu.bak
+IF EXIST USARVictims.u move /Y USARVictims.u USARVictimsu.bak 
+IF EXIST USARMisPkg.u move /Y USARMisPkg.u USARMisPkgu.bak
+ucc make -ini=USARSim.ini
+pause

From tk at edam.speech.cs.cmu.edu  Sun May 20 15:04:23 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Sun, 20 May 2007 15:04:23 -0400
Subject: [TeamTalk 79]:  [616] moast-bth/: Created folder remotely
Message-ID: <200705201904.l4KJ4NXk024267@edam.speech.cs.cmu.edu>

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From tk at edam.speech.cs.cmu.edu  Sun May 20 15:05:04 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Sun, 20 May 2007 15:05:04 -0400
Subject: [TeamTalk 80]:  [617] moast-bth: Moved remotely
Message-ID: <200705201905.l4KJ54lP024277@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Copied: moast-bth/moast (from rev 616, moast)

From tk at edam.speech.cs.cmu.edu  Sun May 20 15:06:10 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Sun, 20 May 2007 15:06:10 -0400
Subject: [TeamTalk 81]:  [618] Moved remotely
Message-ID: <200705201906.l4KJ6Ajx024287@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Copied: moast-bth/TeamTalkSimulator (from rev 617, TeamTalk/Agents/TeamTalkSimulator)

From tk at edam.speech.cs.cmu.edu  Sun May 20 16:26:07 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Sun, 20 May 2007 16:26:07 -0400
Subject: [TeamTalk 82]:  [619] Moved remotely
Message-ID: <200705202026.l4KKQ7Ld024638@edam.speech.cs.cmu.edu>

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Deleted: TeamTalk/Agents/fixdepend
===================================================================
--- TeamTalk/Agents/fixdepend	2007-05-20 19:06:10 UTC (rev 618)
+++ TeamTalk/Agents/fixdepend	2007-05-20 20:26:07 UTC (rev 619)
@@ -1,45 +0,0 @@
-#!/usr/bin/ruby
-
-# /* LICENSE: */
-
-dir = ARGV.shift.chomp("/")
-#dir.chomp!("/");
-
-obj_name = nil
-if(!ARGV[0].nil? && ARGV[0]=~/\.o$/)
-  obj_name = ARGV.shift
-end
-
-generated_h_files = ARGV
-
-line = $stdin.gets()
-parts = line.split(/:/)
-if(parts.size < 2)
-  exit 2
-end
-
-if(obj_name.nil?)
-  obj_name = File.join(dir,parts[0].strip())
-end
-dep_name = obj_name.clone()
-dep_name[-1,1] = "d"
-
-deps = parts[1]
-rest_of_file = $stdin.gets(nil)
-if(!rest_of_file.nil?)
-  deps += rest_of_file
-end
-
-print "#{obj_name} : #{deps}"
-
-deps.gsub!(%r%([^[:blank:]\\]\S+)%) {|filename|
-  if(generated_h_files.index(filename).nil?)
-    "$(wildcard #{filename})"
-  else
-    filename
-  end
-}
-
-print "\n#{dep_name} : #{deps}"
-
-exit 0

Copied: moast-bth/fixdepend (from rev 618, TeamTalk/Agents/fixdepend)
===================================================================
--- moast-bth/fixdepend	                        (rev 0)
+++ moast-bth/fixdepend	2007-05-20 20:26:07 UTC (rev 619)
@@ -0,0 +1,45 @@
+#!/usr/bin/ruby
+
+# /* LICENSE: */
+
+dir = ARGV.shift.chomp("/")
+#dir.chomp!("/");
+
+obj_name = nil
+if(!ARGV[0].nil? && ARGV[0]=~/\.o$/)
+  obj_name = ARGV.shift
+end
+
+generated_h_files = ARGV
+
+line = $stdin.gets()
+parts = line.split(/:/)
+if(parts.size < 2)
+  exit 2
+end
+
+if(obj_name.nil?)
+  obj_name = File.join(dir,parts[0].strip())
+end
+dep_name = obj_name.clone()
+dep_name[-1,1] = "d"
+
+deps = parts[1]
+rest_of_file = $stdin.gets(nil)
+if(!rest_of_file.nil?)
+  deps += rest_of_file
+end
+
+print "#{obj_name} : #{deps}"
+
+deps.gsub!(%r%([^[:blank:]\\]\S+)%) {|filename|
+  if(generated_h_files.index(filename).nil?)
+    "$(wildcard #{filename})"
+  else
+    filename
+  end
+}
+
+print "\n#{dep_name} : #{deps}"
+
+exit 0

From tk at edam.speech.cs.cmu.edu  Sun May 20 16:49:06 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Sun, 20 May 2007 16:49:06 -0400
Subject: [TeamTalk 83]:  [620] moast-bth: 1) Removed CVS entries from moast
Message-ID: <200705202049.l4KKn6dv025103@edam.speech.cs.cmu.edu>

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-------------- next part --------------

Property changes on: moast-bth
___________________________________________________________________
Name: svn:externals
   + PrimitiveComm ../TeamTalk/Agents/PrimitiveComm
boeingLib ../TeamTalk/Agents/boeingLib


From tk at edam.speech.cs.cmu.edu  Sun May 20 17:13:46 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Sun, 20 May 2007 17:13:46 -0400
Subject: [TeamTalk 84]: [621] moast-bth/: Fixed externals (need absolute
	urls)
Message-ID: <200705202113.l4KLDkvg025849@edam.speech.cs.cmu.edu>

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Property changes on: moast-bth
___________________________________________________________________
Name: svn:externals
   - PrimitiveComm ../TeamTalk/Agents/PrimitiveComm
boeingLib ../TeamTalk/Agents/boeingLib

   + PrimitiveComm http://edam.speech.cs.cmu.edu/repos/teamtalk/TeamTalk/Agents/PrimitiveComm
boeingLib http://edam.speech.cs.cmu.edu/repos/teamtalk/TeamTalk/Agents/boeingLib


From tk at edam.speech.cs.cmu.edu  Mon May 21 08:49:05 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 21 May 2007 08:49:05 -0400
Subject: [TeamTalk 85]: [622] moast-bth/fixdepend: fixed executable status
	of fixdepend
Message-ID: <200705211249.l4LCn5id029313@edam.speech.cs.cmu.edu>

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-------------- next part --------------

Property changes on: moast-bth/fixdepend
___________________________________________________________________
Name: svn:executable
   + *

From tk at edam.speech.cs.cmu.edu  Mon May 21 09:19:00 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 21 May 2007 09:19:00 -0400
Subject: [TeamTalk 86]: [623] moast-bth: Makefile path modifications to
 support change in directory structure.
Message-ID: <200705211319.l4LDJ0LR029349@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Modified: moast-bth/TeamTalkSimulator/Makefile
===================================================================
--- moast-bth/TeamTalkSimulator/Makefile	2007-05-21 12:49:04 UTC (rev 622)
+++ moast-bth/TeamTalkSimulator/Makefile	2007-05-21 13:19:00 UTC (rev 623)
@@ -1,5 +1,4 @@
-MOASTLIB_DIR = $(CARTOON_HOME)/moast/devel
-RCSLIB_DIR = $(CARTOON_HOME)/lib/rcslib
+MOASTLIB_DIR = ../moast
 BOEINGLIB_DIR = ../boeingLib
 PRIMITIVECOMM_DIR = ../PrimitiveComm
 
@@ -63,6 +62,6 @@
 # Clean rule
 clean:
 	$(MAKE) -C $(PRIMITIVECOMM_DIR) clean
-	rm -f *.o $(EXECUTABLES)
+	rm -f *.o *.d $(EXECUTABLES)
 
 force: ;
\ No newline at end of file

Modified: moast-bth/moast/bin/Makefile.am
===================================================================
--- moast-bth/moast/bin/Makefile.am	2007-05-21 12:49:04 UTC (rev 622)
+++ moast-bth/moast/bin/Makefile.am	2007-05-21 13:19:00 UTC (rev 623)
@@ -154,8 +154,8 @@
 sectShell_SOURCES = ../src/section/sectShell.cc
 sectShell_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
 
-sectMobPL_SOURCES = ../src/section/sectMobPL.cc ../src/section/rcsSectMobPlEngine.cc ../src/section/rcsSectMobPlEngine.hh ../../../TeamTalk/Agents/boeingLib/boeing/boeing_map_server.cc ../../../TeamTalk/Agents/boeingLib/boeing/boeing_map_server.h ../../../TeamTalk/Agents/boeingLib/boeing/boeing_map_packet.cc ../../../TeamTalk/Agents/boeingLib/boeing/boeing_map_packet.h ../../../TeamTalk/Agents/boeingLib/coralshared/timer.cc ../../../TeamTalk/Agents/boeingLib/coralshared/timer.h ../../../TeamTalk/Agents/boeingLib/coralshared/udpsocket.cc ../../../TeamTalk/Agents/boeingLib/coralshared/udpsocket.h ../../../TeamTalk/Agents/boeingLib/coralshared/error_check.cc ../../../TeamTalk/Agents/boeingLib/coralshared/error_check.h
-sectMobPL_CPPFLAGS = -I../../../TeamTalk/Agents/boeingLib/boeing -I../../../TeamTalk/Agents/boeingLib/coralshared
+sectMobPL_SOURCES = ../src/section/sectMobPL.cc ../src/section/rcsSectMobPlEngine.cc ../src/section/rcsSectMobPlEngine.hh ../../boeingLib/boeing/boeing_map_server.cc ../../boeingLib/boeing/boeing_map_server.h ../../boeingLib/boeing/boeing_map_packet.cc ../../boeingLib/boeing/boeing_map_packet.h ../../boeingLib/coralshared/timer.cc ../../boeingLib/coralshared/timer.h ../../boeingLib/coralshared/udpsocket.cc ../../boeingLib/coralshared/udpsocket.h ../../boeingLib/coralshared/error_check.cc ../../boeingLib/coralshared/error_check.h
+sectMobPL_CPPFLAGS = -I../../boeingLib/boeing -I../../boeingLib/coralshared
 sectMobPL_LDADD = ../lib/libmoast.a -L$(RCSLIB_DIR)/lib -lrcs -lposemath -lm
 
 trafficShell_SOURCES = ../src/sim/simWare/trafficShell.cc

From tk at edam.speech.cs.cmu.edu  Mon May 21 11:51:48 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Mon, 21 May 2007 11:51:48 -0400
Subject: [TeamTalk 87]:  [624] moast-bth: 1) create section buffers
Message-ID: <200705211551.l4LFpmPV031388@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Modified: moast-bth/TeamTalkSimulator/TeamTalkSimulator.cc
===================================================================
--- moast-bth/TeamTalkSimulator/TeamTalkSimulator.cc	2007-05-21 13:19:00 UTC (rev 623)
+++ moast-bth/TeamTalkSimulator/TeamTalkSimulator.cc	2007-05-21 15:51:48 UTC (rev 624)
@@ -395,7 +395,9 @@
   
   //clear ipc and start the moast nml server
   spawn(true, moast_bin, "ipc-clear");
-  NmlSvrPid = spawn(false, moast_bin, "moastNmlSvr");
+  vector<string> args;
+  args.push_back("-s");
+  NmlSvrPid = spawn(false, moast_bin, "moastNmlSvr", args);
   sleep(3);
 
   if(!peerfile.empty()) {
@@ -434,7 +436,7 @@
   if(robots.empty()) robots[name] = new Robot(&robots, name, 1);
   
   //initialize section control
-  vector<string> args;
+  args.clear();
   args.push_back("-r.2");
   SectMobPLPid = spawn(false, moast_bin, "sectMobPL", args);
   sleep(5);

Modified: moast-bth/TeamTalkSimulator/runSimulator.sh
===================================================================
--- moast-bth/TeamTalkSimulator/runSimulator.sh	2007-05-21 13:19:00 UTC (rev 623)
+++ moast-bth/TeamTalkSimulator/runSimulator.sh	2007-05-21 15:51:48 UTC (rev 624)
@@ -10,7 +10,7 @@
 echo " "
 echo "This script is running on `hostname` "
 
-MOAST=${CARTOON_HOME}/moast/devel
+MOAST=`pwd`/../moast
 export CONFIG_NML=${MOAST}/etc/moast.nml
 export CONFIG_INI=${MOAST}/etc/moast.ini
 ./TeamTalkSimulator --moast $MOAST --peerfile peerfile.txt

Modified: moast-bth/moast/src/nml/moastNmlSvr.cc
===================================================================
--- moast-bth/moast/src/nml/moastNmlSvr.cc	2007-05-21 13:19:00 UTC (rev 623)
+++ moast-bth/moast/src/nml/moastNmlSvr.cc	2007-05-21 15:51:48 UTC (rev 624)
@@ -65,6 +65,7 @@
       break;
     case 's':
       section = true;
+      break;
     default:
       printf("\nUsage: -n<buf num> -s nml_file\n");
       return 1;

Modified: moast-bth/moast/src/sim/simWare/simWare.cc
===================================================================
--- moast-bth/moast/src/sim/simWare/simWare.cc	2007-05-21 13:19:00 UTC (rev 623)
+++ moast-bth/moast/src/sim/simWare/simWare.cc	2007-05-21 15:51:48 UTC (rev 624)
@@ -244,7 +244,7 @@
 	}
     }
 
-  printf("\033[2J");
+  //printf("\033[2J");
   printf("=================================\n");
   printf("*****      SIMware          *****\n");
   printf("=================================\n");

From tk at edam.speech.cs.cmu.edu  Tue May 22 00:06:03 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 22 May 2007 00:06:03 -0400
Subject: [TeamTalk 88]: [625]
	moast-bth/TeamTalkSimulator/peerfile-example.txt:
Message-ID: <200705220406.l4M463on000672@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Added: moast-bth/TeamTalkSimulator/peerfile-example.txt
===================================================================
--- moast-bth/TeamTalkSimulator/peerfile-example.txt	                        (rev 0)
+++ moast-bth/TeamTalkSimulator/peerfile-example.txt	2007-05-22 04:06:01 UTC (rev 625)
@@ -0,0 +1,3 @@
+alphie 127.0.0.1:32787 callie safe
+bashful 127.0.0.1:32788 david dangerous
+

From tk at edam.speech.cs.cmu.edu  Tue May 22 14:39:52 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 22 May 2007 14:39:52 -0400
Subject: [TeamTalk 89]: [626] moast-bth: New top-level builds for building
 both moast and the teamtalk simulator.
Message-ID: <200705221839.l4MIdqiN006348@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Added: moast-bth/Makefile
===================================================================
--- moast-bth/Makefile	                        (rev 0)
+++ moast-bth/Makefile	2007-05-22 18:39:51 UTC (rev 626)
@@ -0,0 +1,9 @@
+all: force
+	$(MAKE) -C moast
+	$(MAKE) -C TeamTalkSimulator
+
+clean: force
+	$(MAKE) -C moast clean
+	$(MAKE) -C TeamTalkSimulator clean
+
+force: ;
\ No newline at end of file

Added: moast-bth/bootstrap
===================================================================
--- moast-bth/bootstrap	                        (rev 0)
+++ moast-bth/bootstrap	2007-05-22 18:39:51 UTC (rev 626)
@@ -0,0 +1,4 @@
+#!/bin/sh -x
+
+cd moast
+./bootstrap


Property changes on: moast-bth/bootstrap
___________________________________________________________________
Name: svn:executable
   + *

From tk at edam.speech.cs.cmu.edu  Wed May 23 17:43:14 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Wed, 23 May 2007 17:43:14 -0400
Subject: [TeamTalk 90]: [627]
 TeamTalk/Agents/PrimitiveComm/PrimitiveComm.vcproj: replaced win-netutils
 with netutils in primitivecomm build
Message-ID: <200705232143.l4NLhEeB010623@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Modified: TeamTalk/Agents/PrimitiveComm/PrimitiveComm.vcproj
===================================================================
--- TeamTalk/Agents/PrimitiveComm/PrimitiveComm.vcproj	2007-05-22 18:39:51 UTC (rev 626)
+++ TeamTalk/Agents/PrimitiveComm/PrimitiveComm.vcproj	2007-05-23 21:43:12 UTC (rev 627)
@@ -184,6 +184,10 @@
 				>
 			</File>
 			<File
+				RelativePath=".\netutils.cpp"
+				>
+			</File>
+			<File
 				RelativePath=".\robot_class.cpp"
 				>
 			</File>
@@ -211,10 +215,6 @@
 				RelativePath="..\boeingLib\coralshared\win32dep.cc"
 				>
 			</File>
-			<File
-				RelativePath=".\win_netutils.cpp"
-				>
-			</File>
 		</Filter>
 		<Filter
 			Name="Header Files"
@@ -266,6 +266,10 @@
 				>
 			</File>
 			<File
+				RelativePath=".\netutils.h"
+				>
+			</File>
+			<File
 				RelativePath=".\robot_class.h"
 				>
 			</File>
@@ -297,10 +301,6 @@
 				RelativePath="..\boeingLib\coralshared\win32dep.h"
 				>
 			</File>
-			<File
-				RelativePath=".\win_netutils.h"
-				>
-			</File>
 		</Filter>
 		<Filter
 			Name="Resource Files"

From tk at edam.speech.cs.cmu.edu  Thu May 24 12:02:33 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 24 May 2007 12:02:33 -0400
Subject: [TeamTalk 91]: [628] TeamTalk/Agents/Agents.sln: Re-added
	rarely-build projects.
Message-ID: <200705241602.l4OG2Xad025877@edam.speech.cs.cmu.edu>

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-------------- next part --------------
Modified: TeamTalk/Agents/Agents.sln
===================================================================
--- TeamTalk/Agents/Agents.sln	2007-05-23 21:43:12 UTC (rev 627)
+++ TeamTalk/Agents/Agents.sln	2007-05-24 16:02:31 UTC (rev 628)
@@ -12,31 +12,314 @@
 	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "TeamTalkDM", "TeamTalkDM\TeamTalkDM.vcproj", "{8AD2EDB1-F154-40E3-8317-6799592E8B34}"
+	ProjectSection(ProjectDependencies) = postProject
+		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63} = {538B76FD-E289-4CF7-A7FF-1ACB429B4F63}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "PrimitiveComm", "PrimitiveComm\PrimitiveComm.vcproj", "{4051C912-8C55-442F-9AF8-3F3AE9859776}"
 EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Helios3", "Helios3\Helios3.vcproj", "{93C8F5F8-6C43-4179-9B9F-A31AA6438513}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Kalliope", "Kalliope\Kalliope.vcproj", "{9CDBFBA5-F7EB-432F-A7CF-2E80322FE2ED}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Audio_Server", "MultiDecoder\Audio_Server\Audio_Server.vcproj", "{C31484B0-179B-432D-AE1E-75FB90591F23}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Sphinx_Engine", "MultiDecoder\Sphinx_Engine\Sphinx_Engine.vcproj", "{6A7673C4-08F4-4490-93A5-5F7211B406CF}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "NlgServer2", "NlgServer2\NlgServer2.vcproj", "{AB3C8BF7-BF9D-4A80-A956-E969B9D8542D}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "phoenix2", "Phoenix2\phoenix2.vcproj", "{7022E28A-B15B-4A61-876A-5962C8EC1219}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "RavenClaw", "Ravenclaw\RavenClaw.vcproj", "{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}"
+EndProject
 Global
+	GlobalSection(SourceCodeControl) = preSolution
+		SccNumberOfProjects = 7
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+		SccProjectName0 = \u0022$/CommonAgents-2005/Helios3\u0022,\u0020ZJACAAAA
+		SccLocalPath0 = Helios3
+		SccProvider0 = MSSCCI:Microsoft\u0020Visual\u0020SourceSafe
+		SccProjectUniqueName1 = Kalliope\\Kalliope.vcproj
+		SccProjectName1 = \u0022$/CommonAgents-2005/Kalliope\u0022,\u0020MLACAAAA
+		SccLocalPath1 = Kalliope
+		SccProvider1 = MSSCCI:Microsoft\u0020Visual\u0020SourceSafe
+		SccProjectUniqueName2 = MultiDecoder\\Audio_Server\\Audio_Server.vcproj
+		SccProjectName2 = \u0022$/CommonAgents-2005/MultiDecoder/Audio_Server\u0022,\u0020ONACAAAA
+		SccLocalPath2 = MultiDecoder\\Audio_Server
+		SccProvider2 = MSSCCI:Microsoft\u0020Visual\u0020SourceSafe
+		SccProjectUniqueName3 = MultiDecoder\\Sphinx_Engine\\Sphinx_Engine.vcproj
+		SccProjectName3 = \u0022$/CommonAgents-2005/MultiDecoder/Sphinx_Engine\u0022,\u0020BOACAAAA
+		SccLocalPath3 = MultiDecoder\\Sphinx_Engine
+		SccProvider3 = MSSCCI:Microsoft\u0020Visual\u0020SourceSafe
+		SccProjectUniqueName4 = NlgServer2\\NlgServer2.vcproj
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+		SccLocalPath4 = NlgServer2
+		SccProvider4 = MSSCCI:Microsoft\u0020Visual\u0020SourceSafe
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+		SccProjectName5 = \u0022$/CommonAgents-2005/Phoenix2\u0022,\u0020APACAAAA
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+		SccProvider5 = MSSCCI:Microsoft\u0020Visual\u0020SourceSafe
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+		SccLocalPath6 = Ravenclaw
+		SccProvider6 = MSSCCI:Microsoft\u0020Visual\u0020SourceSafe
+	EndGlobalSection
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Win32 = Debug|Win32
+		DebugGalaxy|Win32 = DebugGalaxy|Win32
+		DebugOAA|Win32 = DebugOAA|Win32
+		FestivalDebug|Win32 = FestivalDebug|Win32
+		FestivalRelease|Win32 = FestivalRelease|Win32
+		halfreleaseaudio|Win32 = halfreleaseaudio|Win32
 		Release|Win32 = Release|Win32
+		ReleaseGalaxy|Win32 = ReleaseGalaxy|Win32
+		ReleaseOAA|Win32 = ReleaseOAA|Win32
+		SwiftDebug|Win32 = SwiftDebug|Win32
+		SwiftRelease|Win32 = SwiftRelease|Win32
 	EndGlobalSection
 	GlobalSection(ProjectConfigurationPlatforms) = postSolution
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+		{538B76FD-E289-4CF7-A7FF-1ACB429B4F63}.SwiftRelease|Win32.ActiveCfg = ReleaseOAA|Win32
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 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

From tk at edam.speech.cs.cmu.edu  Thu May 24 13:34:12 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Thu, 24 May 2007 13:34:12 -0400
Subject: [TeamTalk 92]: [629]
 TeamTalk/Resources/Grammar/TeamTalkTask-template.gra: Templates vars should
 be on their own line.
Message-ID: <200705241734.l4OHYCpG025986@edam.speech.cs.cmu.edu>

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URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070524/130e2d4e/attachment-0001.html
-------------- next part --------------
Modified: TeamTalk/Resources/Grammar/TeamTalkTask-template.gra
===================================================================
--- TeamTalk/Resources/Grammar/TeamTalkTask-template.gra	2007-05-24 16:02:31 UTC (rev 628)
+++ TeamTalk/Resources/Grammar/TeamTalkTask-template.gra	2007-05-24 17:34:12 UTC (rev 629)
@@ -10,7 +10,8 @@
 
 [RobotName]
 	(everyone)
-%%RobotNames%%;
+%%RobotNames%%
+;
 
 [OBJ-Robot]
 	([RobotName])

From tk at edam.speech.cs.cmu.edu  Fri May 25 15:31:23 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Fri, 25 May 2007 15:31:23 -0400
Subject: [TeamTalk 93]:  [630] TeamTalk/: Added pythia as extern
Message-ID: <200705251931.l4PJVNWM030544@edam.speech.cs.cmu.edu>

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-------------- next part --------------

Property changes on: TeamTalk
___________________________________________________________________
Name: svn:externals
   - Tools http://edam.speech.cs.cmu.edu/repos/olympus/Tools

   + Tools http://edam.speech.cs.cmu.edu/repos/olympus/Tools
Pythia http://edam.speech.cs.cmu.edu/repos/olympus/Pythia


From tk at edam.speech.cs.cmu.edu  Tue May 29 17:31:16 2007
From: tk at edam.speech.cs.cmu.edu (tk@edam.speech.cs.cmu.edu)
Date: Tue, 29 May 2007 17:31:16 -0400
Subject: [TeamTalk 94]: [631] moast-bth/TeamTalkSimulator: Removed
	unnessesary executable flags
Message-ID: <200705292131.l4TLVGio016468@edam.speech.cs.cmu.edu>

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URL: http://mailman.srv.cs.cmu.edu/pipermail/teamtalk-developers/attachments/20070529/ab830bf3/attachment.html
-------------- next part --------------

Property changes on: moast-bth/TeamTalkSimulator/Makefile
___________________________________________________________________
Name: svn:executable
   - 


Property changes on: moast-bth/TeamTalkSimulator/TeamTalkSimulator.cc
___________________________________________________________________
Name: svn:executable
   - 


Property changes on: moast-bth/TeamTalkSimulator/imageClient.cc
___________________________________________________________________
Name: svn:executable
   - 


Property changes on: moast-bth/TeamTalkSimulator/imageClient.h
___________________________________________________________________
Name: svn:executable
   - 


Property changes on: moast-bth/TeamTalkSimulator/robot.cc
___________________________________________________________________
Name: svn:executable
   - 


Property changes on: moast-bth/TeamTalkSimulator/robot.h
___________________________________________________________________
Name: svn:executable
   -