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Merge pull request #208 from NASA-Tensegrity-Robotics-Toolkit/fixLibs…

…ForSpineTest

Fix libs for spine test and contact cable test
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brtietz committed Feb 10, 2017
2 parents 3aca032 + 58c5df8 commit d45b49400b114731b74b636ccb8c27940a7f8eea
@@ -58,7 +58,7 @@ int main(int argc, char** argv)
// Second create the view
const double timestep_physics = 1.0/500.0; // seconds
const double timestep_graphics = 1.f/120.f; // seconds
tgSimView view(world, timestep_physics, timestep_graphics);
tgSimViewGraphics view(world, timestep_physics, timestep_graphics);
// Third create the simulation
tgSimulation simulation(view);
@@ -58,26 +58,22 @@ void ContactCableDemo::setup(tgWorld& world)
tgStructure s;
s.addNode(-2, 2, 0);
s.addNode(0, 2, 0);
s.addNode(0, 2, 0);
s.addNode(0, 4, 0);
s.addNode(0, 12, 0);
s.addNode(0, 14, 0);
s.addNode(0, 2, 0); // 0
s.addNode(0, 4, 0); // 1
s.addNode(0, 12, 0); // 2
s.addNode(0, 14, 0); // 3
// Free rod to which we will apply motion
s.addNode(-1, 6, 5);
s.addNode(1, 6, 5);
// Static rod that the others will run into
s.addNode(-1, 8, 5); // 4
s.addNode(1, 8, 5); // 5
//s.addPair(0, 1, "rod");
s.addPair(0, 1, "rod");
s.addPair(2, 3, "box");
s.addPair(4, 5, "box");
s.addPair(6, 7, "rod");
s.addPair(4, 5, "rod");
//s.addPair(1, 2, "muscle");
s.addPair(3, 4, "muscle");
s.addPair(1, 2, "muscle");
s.move(btVector3(0, 0, 0));
@@ -109,7 +105,7 @@ void ContactCableDemo::setup(tgWorld& world)
btRigidBody* body2 = allRods[1]->getPRigidBody();
// Apply initial impulse
btVector3 impulse(0.5, 0.0, 0.5);
btVector3 impulse(0.4, 0.0, 0.4);
body->applyCentralImpulse(impulse);
body2->applyCentralImpulse(impulse);
@@ -37,8 +37,7 @@ link_directories(${ENV_LIB_DIR} ${OPENGL_LIB} ${OPENGL_FG_LIB})
subdirs(
ICRA2015Tests
MuscleNP
# SpineTests * Test has been disabled. See BuildBot build 494 for the error details. See issue #200 (https://github.com/NASA-Tensegrity-Robotics-Toolkit/NTRTsim/issues/200 -- Perry
SpineTests
TimestepIndependence
#HillTest // * Test has been disabled. See BuildBot build 335 for the error details. See issue #163 (https://github.com/NASA-Tensegrity-Robotics-Toolkit/NTRTsim/issues/163 -- Perry
@@ -9,6 +9,5 @@ add_executable(WorldConf_Spines_test
target_link_libraries(WorldConf_Spines_test ${ENV_LIB_DIR}/libgtest.a pthread
${NTRT_BUILD_DIR}/core/libcore.so
${NTRT_BUILD_DIR}/helpers/libFileHelpers.so
${NTRT_BUILD_DIR}/examples/learningSpines/liblearningSpines.so
${NTRT_BUILD_DIR}/dev/btietz/kinematicString/libKinematicString.so
${NTRT_BUILD_DIR}/examples/learningSpines/liblearningSpines.so
${NTRT_BUILD_DIR}/examples/learningSpines/TetrahedralComplex/libTetrahedralComplex.so)

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