Empire

Overview

Empire is a project with the ultimate goal of recreating Boston Dynamics' robot dog, Spot.
The project is divided into four main phases:

• Develop a 3D engine to visualize the robot dog
• Implement a physics engine for the dog’s training environment
• Program the robot dog (motor controls, data acquisition, etc.)
• Integrate an AI (Soft Actor-Critic in this case) into the dog to teach it how to walk

Running the Project

First, ensure that the precompiled libraries GLFW and GLM are installed on your machine.
Next, run the following commands:

g++ -std=c++20 ... src/core/main.cpp src/maths/utils.cpp src/three/main.cpp src/opengl/main.cpp src/lib/glad.o -o main

./main

Note: The ... represents the flags for linking GLFW and GLM to the project.
Example: -F/Library/Frameworks -framework GLFW -L/opt/homebrew/include etc

Examples

3D Engine

A cube intersecting a plane

A skeletal UV sphere