NTRT Simulator  v1.1
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AppHillyMuscleNP.cpp
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1 /*
2 * Copyright © 2012, United States Government, as represented by the
3 * Administrator of the National Aeronautics and Space Administration.
4 * All rights reserved.
5 *
6 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
7 * under the Apache License, Version 2.0 (the "License");
8 * you may not use this file except in compliance with the License.
9 * You may obtain a copy of the License at
10 * http://www.apache.org/licenses/LICENSE-2.0.
11 *
12 * Unless required by applicable law or agreed to in writing,
13 * software distributed under the License is distributed on an
14 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
15 * either express or implied. See the License for the specific language
16 * governing permissions and limitations under the License.
17 */
24 // This application
25 #include "hillyMuscleNP.h"
26 // This library
30 #include "core/tgModel.h"
31 #include "core/tgSimViewGraphics.h"
32 #include "core/tgSimulation.h"
33 #include "core/tgWorld.h"
34 #include "tgcreator/tgUtil.h"
35 
36 // The Bullet Physics Library
37 #include "LinearMath/btVector3.h"
38 #include "LinearMath/btQuaternion.h"
39 // The C++ Standard Library
40 #include <iostream>
47 int main(int argc, char** argv)
48 {
49 
50  std::cout << "AppMuscleNPTest" << std::endl;
51 #if (0)
52  // First create the ground and world. Specify ground rotation in radians
53  const double yaw = 0.0;
54  const double pitch = 0.0;
55  const double roll = 0.0;
56  const tgBoxGround::Config groundConfig(btVector3(yaw, pitch, roll));
57 
58  // the world will delete this
59  tgBoxGround* ground = new tgBoxGround(groundConfig);
60 #else
61  btVector3 eulerAngles = btVector3(0.0, 0.0, 0.0);
62  btScalar friction = 0.5;
63  btScalar restitution = 0.0;
64  // Size doesn't affect hilly terrain
65  btVector3 size = btVector3(0.0, 0.1, 0.0);
66  btVector3 origin = btVector3(0.0, 0.0, 0.0);
67  size_t nx = 100;
68  size_t ny = 100;
69  double margin = 0.5;
70  double triangleSize = 5.0;
71  double waveHeight = 3.0;
72  double offset = 0.0;
73  tgHillyGround::Config groundConfig(eulerAngles, friction, restitution,
74  size, origin, nx, ny, margin, triangleSize,
75  waveHeight, offset);
76 
77  tgHillyGround* ground = new tgHillyGround(groundConfig);
78 
79 #endif
80  const tgWorld::Config config(98.1); // gravity, cm/sec^2
81  tgWorld world(config, ground);
82 
83  // Second create the view
84  const double timestep_physics = 1.0/1000.0; // seconds
85  const double timestep_graphics = 1.f/1000.f; // seconds
86  tgSimViewGraphics view(world, timestep_physics, timestep_graphics);
87 
88  // Third create the simulation
89  tgSimulation simulation(view);
90 
91 
92  // Fourth create the models with their controllers and add the models to the
93  // simulation
94  hillyMuscleNP* const myModel = new hillyMuscleNP();
95  // Add the model to the world
96  simulation.addModel(myModel);
97  simulation.run();
98  return 0;
99 }
Contains the definition of class tgHillyGround.
void addModel(tgModel *pModel)
Contains the definition of class tgSimulation.
Contains the definition of class tgModel.
Contains the definition of class tgSimViewGraphics.
Contains the definition of class tgWorld $Id$.
void run() const
Contains the definition of class tgBoxGround.
For testing MuscleNP contacts.
Contains the definition of class tgUtil and overloaded operator<<() free functions.
Contains the definition of class tgEmptyGround.
int main(int argc, char **argv)