AppBigPuppy.cpp

/*
 * 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 "BigPuppy.h"

// Obstacles
#include "models/obstacles/tgBlockField.h"
#include "models/obstacles/tgStairs.h"

// This library
#include "core/terrain/tgBoxGround.h"
#include "core/terrain/tgHillyGround.h"
#include "core/tgModel.h"
#include "core/tgSimViewGraphics.h"
#include "core/tgSimulation.h"
#include "core/tgWorld.h"
// Bullet Physics
#include "LinearMath/btVector3.h"
// The C++ Standard Library
#include <iostream>

int main(int argc, char** argv)
{
    std::cout << "AppBigPuppy" << std::endl;

    // First create the ground and world. Specify ground rotation in radians

#ifdef SMALL_HILLS
    btVector3 eulerAngles = btVector3(0.0, 0.0, 0.0);
    btScalar friction = 0.5;
    btScalar restitution = 0.0;
    // Size doesn't affect hilly terrain
    btVector3 size = btVector3(0.0, 0.1, 0.0);
    btVector3 origin = btVector3(0.0, 0.0, 0.0);
    size_t nx = 100;
    size_t ny = 100;
    double margin = 0.5;
    double triangleSize = 4.0;
    double waveHeight = 2.0;
    double offset = 0.0;
    const tgHillyGround::Config hillyGroundConfig(eulerAngles, friction, restitution,
                                    size, origin, nx, ny, margin, triangleSize,
                                    waveHeight, offset);

    tgHillyGround* ground = new tgHillyGround(hillyGroundConfig);
#endif

#ifdef LARGE_HILLS
    btVector3 eulerAngles = btVector3(0.0, 0.0, 0.0);
    btScalar friction = 0.5;
    btScalar restitution = 0.0;
    // Size doesn't affect hilly terrain
    btVector3 size = btVector3(0.0, 0.1, 0.0);
    btVector3 origin = btVector3(0.0, 0.0, 0.0);
    size_t nx = 300;
    size_t ny = 300;
    double margin = 0.5;
    double triangleSize = 4.0;
    double waveHeight = 6.0;
    double offset = 0.0;
    const tgHillyGround::Config hillyGroundConfig(eulerAngles, friction, restitution,
                                    size, origin, nx, ny, margin, triangleSize,
                                    waveHeight, offset);

    tgHillyGround* ground = new tgHillyGround(hillyGroundConfig);
#endif

#ifdef BLOCKY_GROUND
     btVector3 origin = btVector3(0.0, 0.0, 0.0);
     btScalar friction = 0.5;
     btScalar restitution = 0.0;
     btVector3 minPos = btVector3(-500.0, 0.0, -500.0);
     btVector3 maxPos = btVector3(500.0, 0.0, 500.0);
     size_t nBlocks = 500;
     double blockLength = 20.0;
     double blockWidth = 20.0;
     double blockHeight = 20.0;

     tgBlockField::Config blockyGroundConfig(origin,friction,restitution,
                                     minPos,maxPos,nBlocks,blockLength,
                                     blockWidth,blockHeight);

     tgBlockField* myObstacle = new tgBlockField(blockyGroundConfig);

#endif

#ifdef STAIRS
    btVector3 origin = btVector3(-30.0, 10.0, -40.0);
    btScalar friction = 0.5;
    btScalar restitution = 0.0;
    size_t nStairs = 1;
    double stairWidth = 80.0;
    double stepWidth = 20.0;
    double stepHeight = 10.0;
    double angle = 0.0;
    
    tgStairs::Config stairsConfig(origin,friction,restitution,nStairs,stairWidth,stepWidth,stepHeight,angle);

    tgStairs* myStairs = new tgStairs(stairsConfig);
#endif

#ifdef FLAT_GROUND
    const double yaw = 0.0;
    const double pitch = 0.0;
    const double roll = 0.0;
    const tgBoxGround::Config groundConfig(btVector3(yaw, pitch, roll));
    // the world will delete this
    tgBoxGround* ground = new tgBoxGround(groundConfig);

#endif

    const tgWorld::Config config(981); // gravity, cm/sec^2 981
    tgWorld world(config, ground);

    // Second create the view
    const double timestep_physics = 0.001; // seconds
    const double timestep_graphics = 1.f/60.f; // seconds
    tgSimViewGraphics view(world, timestep_physics, timestep_graphics);

    // Third create the simulation
    tgSimulation simulation(view);

    BigPuppy* const myModel = new BigPuppy();

    // Add the model to the world
    simulation.addModel(myModel);

#ifdef BLOCKY_GROUND
    simulation.addModel(myObstacle);
#endif

#ifdef STAIRS
    simulation.addModel(myStairs);
#endif
    simulation.run();



    //Teardown is handled by delete, so that should be automatic
    return 0;
}