Method timeStepping

tutorials/tutorial_biped/main.cpp:182–218

  }

  void timeStepping() override
  {
    mController->clearForces();

    // Lesson 3
    mController->addSPDForces();

    // Lesson 4
    mController->addAnkleStrategyForces();

    // Lesson 6
    mController->setWheelCommands();

    // Apply body forces based on user input, and color the body shape red
    if (mForceCountDown > 0) {
      BodyNode* bn = mWorld->getSkeleton("biped")->getBodyNode("h_abdomen");
      bn->setColor(dart::Color::Red());

      if (mPositiveSign)
        bn->addExtForce(
            default_force * Eigen::Vector3d::UnitX(),
            bn->getCOM(),
            false,
            false);
      else
        bn->addExtForce(
            -default_force * Eigen::Vector3d::UnitX(),
            bn->getCOM(),
            false,
            false);

      --mForceCountDown;
    }

    // Step the simulation forward
    SimWindow::timeStepping();
  }

protected:
  std::unique_ptr<Controller> mController;