Core

The core directory contains all of the necessary components for modeling and simulation. This includes:

• the world tgWorld,
• simulation control in tgSimulation,
• views of the simulation: tgSimView and tgSimViewGraphics
• rendering functions tgBulletRenderer, based on tgModelVisitor
• the base class for models tgModel,
• components of models such as tgRod, tgBox, tgSphere, and tgSpringCable
• actuators such as tgBasicActuator and tgKinematicActuator
• the ability to tag models and components with tgTags and tgTaggable
• basic components of controllers tgSubject and tgObserver

A quick note about the cable colors in the files under core:

In NTRTsim, the cables have different colors depending on the tensions that are applied in each cable (equivalently, the amount of "stretch" of each cable, given its current length and rest length.

Briefly, here are the colors. More information can be found in the tgBulletRenderer.cpp file, under the render() functions.

For tgSpringCableActuator:

• Blue = slack (no tension)
• Yellow/Red = in tension. More red = higher tension.

For tgCompressionSpringActuator:

• Blue = slack (no tension)
• Red = in tension. Note that this color does not scale, like tgSpringCableActutaor.
• Green = in compression, the spring is "pushing."

Version

1.2.0