CnoidSprPlugin

Choreonoid Springhead Plugin

• This plugin enables using Springhead as a physics engine of Choreonoid.

Requirements

• git client (if you want to clone the repository of Springhead and/or Choreonoid)
• python3 (current Springhead build system uses python)
• Visual Studio (if you want to build Springhead and/or Choreonoid on Windows. VS2015 recommended)

Springhead Installation

• Clone from https://github.com/sprphys/Springhead or download zip.
• Common Settings
  • Edit SprDefs.h and comment out the following lines:
    • #define USE_GLUI
    • #include "UseClosedSrcOrNot.h"
    • #include USE_LAPACK
• On Linux
  • Open terminal, move to Springhead/core, type make. This should produce core/lib/libSpringhead.a
  • Copy or move this file to Springhead/generated/lib/linux/ directory. (This step will be automated in near future)
• On Windows
  • Open core/src/Springhead**.*.sln on Visual Studio (14.0 for VS2015)
  • Build with Debug/Release, x64 configurations. This should produce Springhead**.*[D]x64.lib in generated/lib/x64 directory (lib with D is debug build).

Build Choreonoid

• Clone from https://github.com/s-nakaoka/choreonoid or download zip.
• Run CMake GUI
  • Check BUILD_SPRINGHEAD_PLUGIN
  • Set SPRINGHEAD_DIR to your Springhead top directory.
  • Configure and Generate.
• On Linux
  • Move to build directory and type make
• On Visual Studio
  • Open build/Choreonoid.sln on Visual Studio and build all.
  • Build INSTALL. Note that you must run VS as admin.

Usage

• T.B.D.