AppContactCables.cpp

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/*
* Copyright © 2012, United States Government, as represented by the
* Administrator of the National Aeronautics and Space Administration.
* All rights reserved.
*
* The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
* under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
* http://www.apache.org/licenses/LICENSE-2.0.
*
* Unless required by applicable law or agreed to in writing,
* software distributed under the License is distributed on an
* "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
* either express or implied. See the License for the specific language
* governing permissions and limitations under the License.
*/
// This application
#include "ContactCableDemo.h"
// This library
#include "core/terrain/tgBoxGround.h"
#include "core/terrain/tgEmptyGround.h"
#include "core/tgModel.h"
#include "core/tgSimViewGraphics.h"
#include "core/tgSimulation.h"
#include "core/tgWorld.h"
#include "tgcreator/tgUtil.h"

// The Bullet Physics Library
#include "LinearMath/btVector3.h"
#include "LinearMath/btQuaternion.h"
// The C++ Standard Library
#include <iostream>
int main(int argc, char** argv)
{

                std::cout << "AppMuscleNPTest" << std::endl;
                
                // First create the ground and world. Specify ground rotation in radians
                tgEmptyGround* ground = new tgEmptyGround();

                const tgWorld::Config config(0.0); // gravity, cm/sec^2
                tgWorld world(config, ground);
                
                // Second create the view
                const double timestep_physics = 1.0/500.0; // seconds
                const double timestep_graphics = 1.f/120.f; // seconds
                tgSimViewGraphics view(world, timestep_physics, timestep_graphics);
                
                // Third create the simulation
                tgSimulation simulation(view);

                // Fourth create the models with their controllers and add the models to the
                // simulation
                ContactCableDemo* const myModel = new ContactCableDemo();
                // Add the model to the world
                simulation.addModel(myModel);
                
                double energyStart = myModel->getEnergy();
                btVector3 momentumStart = myModel->getMomentum();
                btVector3 velocityStart = myModel->getVelocityOfBody(2);

                simulation.run(4000);
                simulation.reset();
                
                double energyEnd = myModel->getEnergy();
                btVector3 momentumEnd = myModel->getMomentum();
                btVector3 velocityEnd = myModel->getVelocityOfBody(2);

                return 0;
}