MBsysC
======
The following instruction will give you the information for the specific
software and libraries that you will need to use the C/C++ version of
Robotran. However, we do not detail classic parts like the installation
of a compiler (because it is implicit within any C/C++ project).
Requirements
------------
To work properly (without real-time features), the two following
libraries are required:
- *MBsysC source code*: perform the MBS analyses (See the
`MBsysPad <./MBsysPad.html>`__ part of the tutorial)
- *Libxml2*: read the xml files to load your multibody model (.mbs
file)
- *Lapack*: perform numerical computations for coordinate partitioning
(may be installed already)
If the real-time features are needed, other libraries have to be
installed:
- *SDL 2.0*: display graphs and allow interactions (keyboard,
joystick,…) in real-time
- *Java* or *OpenGL*: display a 3D visualization of the system in
real-time (OpenGL is the defaut choice)
The *Java* visualization was developed earlier but seems to be less
compatible with modern OS (especially *Mac OS* since *Sierra* version).
The supporting CAD files are *VRML* files (*.wrl*).
The *OpenGL* visualization was developed at the end of 2016. The
supporting CAD files are *OBJ* files (*.obj*) and *VRML* files (*.wrl*).
Some new features are introduced in this version like shadow mapping. As
explained
`here `__,
you might have to update your drivers (but it is usually not necessary).
Moreover you will need `Cmake `__ in order to build
and compile your project. This software has to be installed for every
OS.
Since Robotran v1.26.0 and higher, the required minimum standard
compiler norm for MBsysC is ``C++11``. Please contact
``info@robotran.be`` in case of trouble.
.. container:: MacOS
For MacOS you need to follow the following steps.
.. rubric:: Installation of Command Line Tools
:name: installation-of-command-line-tools
Running Robotran *C* code on *MacOS* requires the *Command Line
Tools* available using
`XCode `__. We highly recommend
to install XCode. However, if you do not want to install it (several
Gb), an alternative is described
`here `__. To do
so, you also need to go
`here `__ and search for
*Command Line Tools*. Then, download the one corresponding to your OS
version (a *.dmg* file).
.. rubric:: Installation of Cmake
:name: installation-of-cmake-2
To install `CMake `__, go
`here `__.
First, install the Gui interface by dowloading either the Mac OS
*.dmg* file or the archive *cmake-x.x.x-Darwin-x86_64.tar.gz* from
*Binary distributions*. In the second case, decompress it and put
*CMake* in your *Applications* folder.
Secondly, install the Terminal tools (being able to run *CMake* from
the Terminal). Download *cmake-x.x.x-.tar.gz* from *Sources
Distributions* for Unix/Linux Sources. Then, decompress it and open
the Terminal (in *Applications/Utilities*).
Go inside the decompressed folder and run the *classical Terminal
install commands*:
::
cd cmake-x.x.x
./configure
make
sudo make install
.. rubric:: Installation of the libraries
:name: installation-of-the-libraries
**Lapack**
Lapack should be installed on your computer already.
If it is not the case, you will have to install it. For instance, you
can install Homebrew (https://brew.sh). Then Lapack can be installed
via the command ``brew install lapack``
**LibXml**
To install *LibXml 2*, you can go
`here `__ (Watch out ! This web link is
not working on *Safari* browser) and download the latest
*libxml2-x.x.x.tar.gz*. Then, run the *classical Terminal install
commands*.
Later, when you configure the project with CMake, check the includes
*INC* found for *Libxml2*. One of them should finish with */libxml*.
If this is not the case and the libxml headers are located inside
``/usr/bin/libxml 2.framework/Headers``, then create a folder
``libxml`` in ``/usr/bin/libxml 2.framework/Headers`` and copy all
the headers of ``/usr/bin/libxml 2.framework/Headers`` inside
``/usr/bin/libxml 2.framework/Headers/libxml``.
**SDL**
SDL is optional. It is required if you want to draw plots while
running simulation.
To install the `SDL `__ tools, there are two
methods. We advise you to use the first one, which is easier to
configure.
The first method is to download *SDL2-x.x.x.dmg*, found
`here `__ in *Runtime
Binaries*, to run it and to place *SDL2.framework* inside
*/Library/Frameworks/*. In a similar way, do the same with
*SDL2_ttf-x.x.x.dmg* found
`here `__ in *Runtime
Binaries*.
For the second method, you need to install three components, all
using the *classical installation way*:
- *freetype-x.x.tar.gz* (take the last version) found
`here `__
- *SDL2-x.x.x.tar.gz* found
`here `__
- *SDL2_ttf-x.x.x.tar.gz* found
`here `__
(`FreeType `__ installation required)
**OpenGL**
OpenGL is optional. It is required if you want to draw 3D animation
while running simulation.
First, install *GLM* by going
`here `__ and download the
source code (tar.gz). Then, use the following commands:
::
cd glm-x.x.x.x
mkdir build
cd build
cmake ..
make
sudo make install
Then, install *GLEW* by going
`here `__ and download the
last GLEW version. Use then the following lines:
::
cd glew-x.x.x
make
sudo make install
Finally, install *GLFW3* by going `here `__ and
click on the *Download GLFW* button. Then, use the following lines:
::
cd glfw-x.x.x
mkdir build
cd build
cmake ..
make
sudo make install
**Java (not mandatory)**
Using this
`link `__,
download *jdk-8uxx-macosx-x64.dmg*, execute it and follow the
instructions.
Compilation of the “User file generation” application and the MBsysC modules
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The **User file generation** application enables to generate
automatically user model files and the header containing element id
(body id, joint id, …). This application is independent of any project
and has to be compiled when installing or updating MBsysC. The
compilation of this application is **mandatory** to use all Robotran
functionality.
The compilation of the **MBsysC modules** will confirm that all
requirements are met. Compiling the modules allows you to enable the
separate build compilation option on project. This option allows you to
avoid compilation of all the source code for each project. This is not
the default behavior.
.. container:: MacOS
.. rubric:: Compiling in terminal
:name: compiling-in-terminal-1
Open a terminal in the *“MBS path”/MbsFiles/mbsysc/MBsysC* folder and
run the following commands:
::
mkdir build # create a folder named build
cd build # go in build folder
cmake .. # generate a Makefile
make # build the project
Updating
~~~~~~~~
Each version of MBsysC is attached to a version of
`MBsysPad <./MBsysPad.html>`__. Since version 1.6.3, MBsysPad will
detect by itself if it is up to date and ask you to update it when
needed. You will need to recompile the MBsysC modules and the “User file
generation” application at each new version.
Various
-------
How to get and use development version
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The development version of MBsysC is maintained on our `gitlab
website `__. This project is
accessible to everyone.
..
**WARNING:**
The development version is not stable, it could give wrong results.
Moreover the project template (the user files, the *CmakeLists.txt*
…) could be different from the one provided by MBsysPad when you
created your project. This can prevent the project compilation.
To use this version:
1. Download the gitlab project;
2. Extract the downloaded file;
3. Copy the contents of */MBsysC* folder where you want (**do not**
replace the content of *“MBS path”/MbsFiles/mbsysc/MBsysC* folder);
4. Compile the MBsysC modules and the “User file generation”
application;
5. Update the source path, either for all new project or for a specific
project;
6. You can delete the rest of downloaded files.
Updating source path for all new project
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Go to *Tools* and select *Edit preferences*. Check the box “*Specify a
custom MBsysC path*” and put in the text box unlocked the path to your
*MBsysC* folder. The path should stop before ``MBsysC``, it should look
like ``C:/Users/username/Documents/mbsysc`` (for windows, assuming
``MBSysC``\ is here ``C:/Users/username/Documents/mbsysc/MBsysC/``). To
check if your path is correct, copy-paste it the address bar of your
file explorer, you have to see the contents you just copy.
.. figure:: figure/MBsysC_Set_Source.png
:alt: Setting MBsysC source path to a specific MBsysC version
Setting MBsysC source path to a specific MBsysC version
After this operation all new created project will use the version of
*MBsysC* you specified. For older project you will have to update
manually the sources (see hereafter).
Updating source path for a specific project
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
You can update the sources of a project manually in different ways.
First way, by editing the *CmakeLists.txt* of your project: set the
variable ``TRIAL_PATHS_MBSYSC`` to the path to the development version.
For example:\ ``set(TRIAL_PATHS_MBSYSC /home/user/myfolder/)``. Then
compile you project as usual.
Second way, by the cmake gui interface: set the variable
``ROBOTRAN_SOURCE_DIR`` to the path to your *MBsysC* folder (included in
the path). Then compile you project as usual.
.. container:: MacOS
Third way, by the unix terminal: after the command ``cmake ../``, set
the variable to the robotran source directory with the following
command ``cmake . -DROBOTRAN_SOURCE_DIR=/home/user/myfolder``. Then
compile you project as usual.
..
REMARK:
If you delete and then recreate the build folder (or clean it) the
modification of the source is only permanent if the modification has
been done in the *CmakeLists.txt*.
How to modify MBsysC
~~~~~~~~~~~~~~~~~~~~
If you need to adapt *MBsysC* to your project, copy-paste the *“MBS
path”/MbsFiles/mbsysc* folder or the development version to another
location and make your modifications. Then update the path to the
sources for your project.
If your modifications could be useful to multiple users, you can share
them with the community either by `contacting
us `__ or via the `iMMC gitlab
website `__ (you will need
to ask specific access to create a fork for your modifications).
How to use add-on
~~~~~~~~~~~~~~~~~
We have to choose how to handle addons.