/**
* The entry point.
* @param[in] argc the number of command-line arguments
* @param[in] argv argv[0] is the executable name; argv[1], if supplied, is the
* suffix for the controller
* @return 0
*/
int main(int argc, char** argv)
{
std::cout << "AppTetraSpineHT" << std::endl;
// First create the world
const tgWorld::Config config(981); // gravity, cm/sec^2
;
#if (1)
btVector3 eulerAngles = btVector3(0.0, 0.0, 0.0);
btScalar friction = 0.5;
btScalar restitution = 0.0;
btVector3 size = btVector3(500.0, 1.5, 500.0);
btVector3 origin = btVector3(0.0, 0.0, 0.0);
size_t nx = 50;
size_t ny = 50;
double margin = 0.2;
double triangleSize = 12;
double waveHeight = 5.0;
double offset = 0.0;
tgHillyGround::Config groundConfig(eulerAngles, friction, restitution,
size, origin, nx, ny, margin, triangleSize,
waveHeight, offset);
tgHillyGround* ground = new tgHillyGround(groundConfig);
tgWorld world(config, ground);
#else
tgWorld world(config);
#endif
// Second create the view
const double stepSize = 1.0/500.0; // Seconds
const double renderRate = 1.0/60.0; // Seconds
tgSimViewGraphics view(world, stepSize, renderRate);
// Third create the simulation
tgSimulation simulation(view);
// Fourth create the models with their controllers and add the models to the
// simulation
const int segments = 6;
TetraSpineCollisions* myModel =
new TetraSpineCollisions(segments);
colSpineSine* const myControl =
new colSpineSine();
myModel->attach(myControl);
/*
tgCPGLogger* const myLogger =
new tgCPGLogger("logs/CPGValues.txt");
myControl->attach(myLogger);
*/
// Add obstacles
btVector3 wallOrigin(0.0, 0.0, 50.0);
Wall* myWall = new Wall(wallOrigin);
simulation.addModel(myModel);
simulation.addModel(myWall);
int i = 0;
while (i < 1)
{
simulation.run(240000);
//simulation.reset();
i++;
}
/// @todo Does the model assume ownership of the controller?
/** No - a single controller could be attached to multiple subjects
* However, having this here causes a segfault, since there is a call
* to onTeardown() when the simulation is deleted
*/
#if (0)
delete myControl;
#endif
//Teardown is handled by delete, so that should be automatic
return 0;
}
/**
* The entry point.
* @param[in] argc the number of command-line arguments
* @param[in] argv argv[0] is the executable name; argv[1], if supplied, is the
* suffix for the controller
* @return 0
*/
int main(int argc, char** argv)
{
std::cout << "AppFlemonsSpineContact" << std::endl;
// First create the world
const tgWorld::Config config(981); // gravity, cm/sec^2
#if (1)
btVector3 eulerAngles = btVector3(0.0, 0.0, 0.0);
btScalar friction = 0.5;
btScalar restitution = 0.0;
btVector3 size = btVector3(500.0, 0.5, 500.0);
btVector3 origin = btVector3(0.0, 0.0, 0.0);
size_t nx = 100;
size_t ny = 100;
double margin = 0.5;
double triangleSize = 5.0;
double waveHeight = 3.0;
double offset = 0.0;
tgHillyGround::Config groundConfig(eulerAngles, friction, restitution,
size, origin, nx, ny, margin, triangleSize,
waveHeight, offset);
tgHillyGround* ground = new tgHillyGround(groundConfig);
tgWorld world(config, ground);
#else
tgWorld world(config);
#endif
// Second create the view
const double stepSize = 1.0/1000.0; // Seconds
const double renderRate = 1.0/60.0; // Seconds
tgSimView view(world, stepSize, renderRate);
// Third create the simulation
tgSimulation simulation(view);
// Fourth create the models with their controllers and add the models to the
// simulation
const int segments = 6;
FlemonsSpineModelContact* myModel =
new FlemonsSpineModelContact(segments);
/* Required for setting up learning file input/output. */
const std::string suffix((argc > 1) ? argv[1] : "default");
const int segmentSpan = 3;
const int numMuscles = 8;
const int numParams = 2;
const int segNumber = 0; // For learning results
const double controlTime = .01;
const double lowPhase = -1 * M_PI;
const double highPhase = M_PI;
const double lowAmplitude = 0.0;
const double highAmplitude = 300.0;
const double kt = 0.0;
const double kp = 1000.0;
const double kv = 200.0;
const bool def = true;
// Overridden by def being true
const double cl = 10.0;
const double lf = 0.0;
const double hf = 30.0;
// Feedback parameters
const double ffMin = -0.5;
const double ffMax = 10.0;
const double afMin = 0.0;
const double afMax = 200.0;
const double pfMin = -0.5;
const double pfMax = 6.28;
SpineFeedbackControl::Config control_config(segmentSpan,
numMuscles,
numMuscles,
numParams,
segNumber,
controlTime,
lowAmplitude,
highAmplitude,
lowPhase,
highPhase,
kt,
kp,
kv,
def,
cl,
lf,
hf,
ffMin,
ffMax,
afMin,
afMax,
pfMin,
pfMax
);
SpineFeedbackControl* const myControl =
new SpineFeedbackControl(control_config, suffix, "bmirletz/TetrahedralComplex_Contact/");
myModel->attach(myControl);
simulation.addModel(myModel);
int i = 0;
while (i < 30000)
{
try
{
simulation.run(30000);
simulation.reset();
i++;
}
catch (std::runtime_error e)
{
simulation.reset();
}
}
/// @todo Does the model assume ownership of the controller?
/** No - a single controller could be attached to multiple subjects
* However, having this here causes a segfault, since there is a call
* to onTeardown() when the simulation is deleted
*/
#if (0)
delete myControl;
#endif
//Teardown is handled by delete, so that should be automatic
return 0;
}