Merge pull request #87 from NASA-Tensegrity-Robotics-Toolkit/NullGround

Merging in tgEmptyGround and associated files. Cleanup of comments in the terrain library generally. Closes #86

src/core/terrain/CMakeLists.txt

@@ -3,8 +3,9 @@ project(terrain)
 add_library( ${PROJECT_NAME} SHARED
 tgBulletGround.cpp
 tgBoxGround.cpp
+tgEmptyGround.cpp
 tgPlaneGround.cpp
-#tgCraterGround.cpp
+tgCraterGround.cpp
 tgHillyGround.cpp
 )
 

src/core/terrain/tgBoxGround.h

@@ -111,4 +111,4 @@ class tgBoxGround : public tgBulletGround
 };
 
 
-#endif  // TG_WORLDIMPL_H
+#endif  // TG_BOX_GROUND_H

src/core/terrain/tgCraterGround.h

@@ -26,13 +26,6 @@
  * $Id$
  */
 
-/**
- * \dir core/terrain
- * @brief The terrain library gives terrain options for the world.
- * 
- * Allows for a variety of terrain. As of version 1.0.0, a box ground
- * which can be rotated into a slope is supported in tgCraterGround
- */
 #include "tgBulletGround.h"
 
 #include "LinearMath/btScalar.h"

src/core/terrain/tgEmptyGround.cpp

@@ -0,0 +1,49 @@
+/*
+ * 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.
+*/
+
+/**
+ * @file tgEmptyGround.cpp
+ * @brief Contains the implementation of class tgBoxGround
+ * @author Brian Mirletz
+ * $Id$
+ */
+
+//This Module
+#include "tgEmptyGround.h"
+
+//Bullet Physics
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+
+// The C++ Standard Library
+#include <cassert>
+
+tgEmptyGround::tgEmptyGround() 
+{
+
+}
+
+btRigidBody* tgEmptyGround::getGroundRigidBody() const
+{
+    btRigidBody* const pGroundBody = NULL;
+
+    // This should never be called
+    assert(false);
+
+    return pGroundBody;
+}  
+

src/core/terrain/tgEmptyGround.h

@@ -0,0 +1,61 @@
+/*
+ * 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.
+*/
+
+#ifndef TG_EMPTY_GROUND_H
+#define TG_EMPTY_GROUND_H
+
+/**
+ * @file tgEmptyGround.h
+ * @brief Contains the definition of class tgEmptyGround.
+ * @author Brian Mirletz
+ * $Id$
+ */
+
+#include "tgBulletGround.h"
+
+// Forward declarations
+class btRigidBody;
+
+/**
+ * An empty ground implementation. tgWorldBulletPhysicsImpl checks if
+ * this class is present with a tgCast call, and skips calling
+ * getGroundRigidBody if it is.
+ */
+class tgEmptyGround : public tgBulletGround
+{
+public:
+
+    /**
+     * Default construction that uses the default values of config
+     * Does nothing
+     */
+    tgEmptyGround();
+
+    /** Clean up the implementation. The base class holds nothing. */
+    virtual ~tgEmptyGround() { }
+
+    /**
+     * This should never be called. Will fail an assertation
+     * @todo consider making it an exception instead.
+     */
+    virtual btRigidBody* getGroundRigidBody() const;
+
+};
+
+
+#endif  // TG_EMPTY_GROUND_H

src/core/terrain/tgHillyGround.h

@@ -26,13 +26,6 @@
  * $Id$
  */
 
-/**
- * \dir core/terrain
- * @brief The terrain library gives terrain options for the world.
- * 
- * Allows for a variety of terrain. As of version 1.0.0, a box ground
- * which can be rotated into a slope is supported in tgHillyGround
- */
 #include "tgBulletGround.h"
 
 #include "LinearMath/btScalar.h"

src/core/terrain/tgPlaneGround.h

@@ -26,13 +26,6 @@
  * $Id$
  */
 
-/**
- * \dir core/terrain
- * @brief The terrain library gives terrain options for the world.
- * 
- * Allows for a variety of terrain. As of version 1.0.0, a box ground
- * which can be rotated into a slope is supported in tgBoxGround
- */
 #include "tgBulletGround.h"
 
 #include "LinearMath/btScalar.h"

src/core/tgWorldBulletPhysicsImpl.cpp

@@ -28,7 +28,9 @@
 #include "tgWorldBulletPhysicsImpl.h"
 // This application
 #include "tgWorld.h"
+#include "tgCast.h"
 #include "terrain/tgBulletGround.h"
+#include "terrain/tgEmptyGround.h"
 // The Bullet Physics library
 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
 #include "BulletCollision/BroadphaseCollision/btDbvtBroadphase.h"
@@ -109,9 +111,12 @@ tgWorldBulletPhysicsImpl::tgWorldBulletPhysicsImpl(const tgWorld::Config& config
     // Gravitational acceleration is down on the Y axis
     const btVector3 gravityVector(0, -config.gravity, 0);
     m_pDynamicsWorld->setGravity(gravityVector);
-
-	m_pDynamicsWorld->addRigidBody(ground->getGroundRigidBody());
-
+
+	if (!tgCast::cast<tgBulletGround, tgEmptyGround>(ground) && ground != NULL)
+	{
+		m_pDynamicsWorld->addRigidBody(ground->getGroundRigidBody());
+	}
+
     #if (1) /// @todo This is a line from the old BasicLearningApp.cpp that we're not using. Investigate further
         m_pDynamicsWorld->getSolverInfo().m_splitImpulse = true;
     #endif	

src/core/tgWorldBulletPhysicsImpl.h

@@ -54,6 +54,9 @@ class tgWorldBulletPhysicsImpl : public tgWorldImpl
   /** 
    * The only constructor.
    * @param[in] gravity the gravitational acceleration in m/sec^2
+   * @param[in] ground - a container class that holds a rigid body and
+   * collsion object for the ground. tgEmptyGround can be used to create
+   * a ground free simulation
    */
   tgWorldBulletPhysicsImpl(const tgWorld::Config& config,
                            tgBulletGround* ground);

src/dev/btietz/boxFeet/AppNestedBoxTetrahedrons.cpp

@@ -32,6 +32,7 @@
 #include "core/tgSimViewGraphics.h"
 #include "core/tgSimulation.h"
 #include "core/tgWorld.h"
+#include "core/terrain/tgEmptyGround.h"
 // The C++ Standard Library
 #include <iostream>
 
@@ -45,9 +46,11 @@ int main(int argc, char** argv)
 {
     std::cout << "AppNestedBoxTest" << std::endl;
 
+	tgEmptyGround* ground = new tgEmptyGround();
+
     // First create the world
     const tgWorld::Config config(981); // gravity, cm/sec^2
-    tgWorld world(config); 
+    tgWorld world(config, ground); 
 
     // Second create the view
     const double stepSize = 1.0/1000.0; //Seconds