=====INSTALLATION FOR UNIX AND MAC OSX===== 1. Setup CMake Download CMake packages from http://www.cmake.org/. 2. Build third party library, ticpp, in /thirdparty/ticpp Go to /thirdparty/ticpp and type cmake . make Copy libticpp.a to /thirdparty/lib. 3. Build RTQL8 libraries and example apps Create a build directory under RTQL8, for example: mkdir build Go to /build and type the following commands: cmake .. make 4. (optional) Install RTQL8 Go to/build and type make install To change the install target, type cmake -DCMAKE_INSTALL_TARGET=target_dir 4. Test example apps If you successfully built RTQL8, eight apps should be generated in /build/bin (viewer, forwardSim, cubes, motionAnalysis, pdController, balance, ik, and hybrid). You can run any of these apps to test if RTQL8 is installed correctly. That's it! =====INSTALLATION FOR WINDOWS (MICROSFOT VISUAL STUDIO)===== 1. Setup CMake Download CMake packages from http://www.cmake.org/. 2. Generate solutions files (The following instructions have been tested for Windows 7 using the CMake UI tool.) Point the source code location to the root directory You can build the binaries anywhere, but we recommend creating a dedicated build folder in the root directory to house the Visual Studio project/solution/etc. files Run 'Configure' and select the appropriate compiler You may need to change the "CMAKE_INSTALL_PREFIX" value to that of the root directory Run 'Generate' 3. Build ticpp CMake should generate a build/solution file for ticpp, but depending on your compiler settings, it may not load properly (e.g. failing to generate a project file for Visual Studio 2012) You may need to rerun CMake (using the CMakeList.txt in /thirdparty/ticpp) to generate the correct project and solution files Use the solution file created by CMake to build ticpp.lib Rename ticpp.lib to libticpp.lib Copy libticpp.lib to /thirdparty/lib 4. Install GLUT in /thirdparty/glut-3.7.6 If you do not already have GLUT present on your machine, you will need to build it Copy glut32.lib to /thirdparty/lib Copy glut32.dll to /bin 5. Build RTQL8 libraries and example apps Use the solution files generated by CMake to build all the RTQL8 libraries and examples 6. Test example apps If you successfully built RTQL8, eight apps should be generated in /bin (viewer, forwardSim, cubes, motionAnalysis, pdController, balance, ik, and hybrid). You can run any of these apps to test if RTQL8 is installed correctly =====INSTALLATION DOXYGEN DOCUMENTS (OPTIONAL)===== 1. Setup Doxygen Download and install Doxygen from http://www.stack.nl/~dimitri/doxygen/. 2. Create html and latex Doxygen documents for RTQL8 Go to /bin and type the following commands: cmake .. make docs The documents are generated in /docs/html and /docs/latex =====LEARNING HOW TO USE RTQL8===== RTQL8 includes a comprehensive tutorial (RTQL8-tutorial.pdf ) to help you start. For someone who is also interested in the dynamics of multibody systems and collision routines, please read dynamics-tutorial.pdf and lcp-tutorial.pdf. rtql8-tutorial.pdf: This tutorial goes over the implementation of every example apps (except for viewer) provided in RTQL8 package. It is the most efficient way to learn how to write an app using RTQL8. dynamics-tutorial.pdf: For those who want to understand the dynamic libraries of RTQL8, this tutorial provides all the mathematics details you need. lcp-tutorial.pdf: This tutorial goes over the details of collision handling using LCP formulation.