NTRT Simulator  v1.1
 All Classes Namespaces Files Functions Variables Typedefs Friends Pages
AppCaterpillar.cpp
Go to the documentation of this file.
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 */
18 
26 // This application
27 #include "CaterpillarModel.h"
28 // This library
30 #include "core/tgModel.h"
31 #include "core/tgSimViewGraphics.h"
32 #include "core/tgSimulation.h"
33 #include "core/tgWorld.h"
34 // Bullet Physics
35 #include "LinearMath/btVector3.h"
36 // The C++ Standard Library
37 #include <iostream>
38 
45 int main(int argc, char** argv)
46 {
47  std::cout << "AppSUPERball" << std::endl;
48 
49  // First create the ground and world
50 
51  // Determine the angle of the ground in radians. All 0 is flat
52  const double yaw = 0.0;
53  const double pitch = 0.0;
54  const double roll = 0.0;
55  const tgBoxGround::Config groundConfig(btVector3(yaw, pitch, roll));
56  // the world will delete this
57  tgBoxGround* ground = new tgBoxGround(groundConfig);
58 
59  const tgWorld::Config config(98.1); // gravity, cm/sec^2 Use this to adjust length scale of world.
60  // Note, by changing the setting below from 981 to 98.1, we've
61  // scaled the world length scale to decimeters not cm.
62 
63  tgWorld world(config, ground);
64 
65  // Second create the view
66  const double timestep_physics = 1.0/1000.0; // Seconds
67  const double timestep_graphics = 1.f/60.f; // Seconds
68  tgSimViewGraphics view(world, timestep_physics, timestep_graphics);
69 
70  // Third create the simulation
71  tgSimulation simulation(view);
72 
73  // Fourth create the models with their controllers and add the models to the
74  // simulation
75  CaterpillarModel* const myModel = new CaterpillarModel();
76 
77  simulation.addModel(myModel);
78 
79  // Run until the user stops
80  simulation.run();
81 
82  //Teardown is handled by delete, so that should be automatic
83  return 0;
84 }
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 $Id$.
Contains the definition of class CaterpillarModel. $Id$.
void run() const
Contains the definition of class tgBoxGround.
int main(int argc, char **argv)