Boxes Example

Summary

• Goal: spawn a grid of rigid boxes over a ground plane and visualize them.
• Concepts/APIs: dynamics::Skeleton, simulation::World, collision::BulletCollisionDetector, gui::Viewer.
• Expected output: an OSG viewer with colored boxes falling onto a gray ground.
• Controls: press space to toggle simulation.

Notes

• Requires DART built with Bullet collision (DART_BUILD_COLLISION_BULLET=ON).

This project is dependent on DART. Please make sure a proper version of DART is installed before building this project.

Build Instructions

From this directory:

$ mkdir build
$ cd build
$ cmake ..
$ make

Execute Instructions

Launch the executable from the build directory above:

$ ./{generated_executable}

Follow the instructions detailed in the console.