File	Date	Author	Commit
CMakeModules	2013-12-02	Francesco Mannella	[aa3e1b] Merge branch 'dev'
autom4te.cache	2013-12-02	Francesco Mannella	[aa3e1b] Merge branch 'dev'
docs	2016-02-04	Francesco Mannella	[d560f5] docs
examples	2015-07-29	Francesco Mannella	[1f16a8] modified PD motor to real PID
src	2015-07-29	Francesco Mannella	[1f16a8] modified PD motor to real PID
AUTHORS	2011-11-09	Francesco Mannella	[79f0ea] First release
CMakeLists.txt	2015-07-29	Francesco Mannella	[1f16a8] modified PD motor to real PID
COPYING	2011-11-09	Francesco Mannella	[79f0ea] First release
ChangeLog	2011-11-09	Francesco Mannella	[79f0ea] First release
Doxyfile	2013-12-11	Francesco Mannella	[f64bdc] Merge branch 'master' into dev
INSTALL	2013-08-30	Francesco Mannella	[c15362] last
Makefile.am	2011-11-09	Francesco Mannella	[79f0ea] First release
Makefile.in	2013-11-08	Francesco Mannella	[f434c2] Merge branch 'master' into dev
NEWS	2011-11-09	Francesco Mannella	[79f0ea] First release
README	2013-12-11	Francesco Mannella	[f64bdc] Merge branch 'master' into dev
aclocal.m4	2013-11-08	Francesco Mannella	[f434c2] Merge branch 'master' into dev
autogen.sh	2013-08-30	Francesco Mannella	[f03120] upgraded to bullet 2.81
bumprelease.sh	2013-12-10	Francesco Mannella	[2382f3] Merge branch 'master' into dev
config.guess	2013-10-10	Francesco Mannella	[198860] Automake structure added
config.h.in	2013-10-10	Francesco Mannella	[198860] Automake structure added
config.sub	2013-10-30	Francesco Mannella	[d8d6c9] Modifing documentation ... working
configure	2013-12-02	Francesco Mannella	[aa3e1b] Merge branch 'dev'
configure.ac	2013-12-10	Francesco Mannella	[2382f3] Merge branch 'master' into dev
depcomp	2013-10-30	Francesco Mannella	[d8d6c9] Modifing documentation ... working
install-sh	2013-10-10	Francesco Mannella	[198860] Automake structure added
ltmain.sh	2013-10-30	Francesco Mannella	[d8d6c9] Modifing documentation ... working
missing	2013-10-10	Francesco Mannella	[198860] Automake structure added

Read Me

CENSLIB - Computational Embodied
Neuroscience Simulation Library

CENSLIB is 3D simulation C++
library allowing to easily build robots
and environments using 3D graphics plus
collision detection and physic dynamics.
OpenGL graphics library and Bullet
Physics library are used in an
encapsulated mode.

The examples directory contains some
examples of use of the library.

A complete reference to the library can
be derived from the code ("doxygen
Doxyfile").

############################################
## DEPENDENCIES ############################
############################################

Supporting libraries are the Eigen2
linear algebra library, used for data
manipulation within the graphics module and
the Magick++ library, used in order
to manipulate screenshots of simulations
as pixmaps. 

On a debian distribution install these
packages through this command:

sudo apt-get install libgl1-mesa-dev libglu1-mesa-dev freeglut3-dev \
       libmagick++-dev libeigen2-dev libboost-regex-dev \
       libboost-system-dev libboost-filesystem-dev libxmu-dev libxi-dev

then install bullet 2.82 release. On a
terminal:

svn checkout http://bullet.googlecode.com/svn/tags/bullet-2.82/ bullet
cd bullet; mkdir cmake_build; cd cmake_build
cmake -D INSTALL_EXTRA_LIBS=ON ..
make 
sudo make install


Now download the latest CENSLIB version
from here, untar, build and install it:

tar xzvf censlib-<release-number>.tar.gz
cd CENSLIB
mkdir build; cd build
../configure
make
sudo make install


############################################
## USAGE ###################################
############################################

The following command Compiles and links
an example.cpp source file:

c++ -O2 -o example example.cpp \
   -I/usr/local/include/CENS \
   -I/usr/local/include/bullet -I/usr/include/eigen2 \
   -I/usr/include/ImageMagick \
   -lCENS-1.1 \
   -lBulletWorldImporter -lBulletFileLoader \
   -lBulletSoftBody -lBulletDynamics \
   -lBulletCollision -lLinearMath \
   -lboost_regex -lboost_system -lboost_filesystem\
   -lGL -lGLU -lglut \
   -lMagick++