1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100
|
/*
* Copyright (c) 2011-2021, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <dart/dart.hpp>
#include <dart/gui/osg/osg.hpp>
#include <dart/utils/urdf/urdf.hpp>
#include <dart/utils/utils.hpp>
#include "AtlasSimbiconEventHandler.hpp"
#include "AtlasSimbiconWidget.hpp"
#include "AtlasSimbiconWorldNode.hpp"
int main()
{
// Create a world
dart::simulation::WorldPtr world(new dart::simulation::World);
// Load ground and Atlas robot and add them to the world
dart::utils::DartLoader urdfLoader;
auto ground = urdfLoader.parseSkeleton("dart://sample/sdf/atlas/ground.urdf");
auto atlas = dart::utils::SdfParser::readSkeleton(
"dart://sample/sdf/atlas/atlas_v3_no_head.sdf");
world->addSkeleton(ground);
world->addSkeleton(atlas);
// Set initial configuration for Atlas robot
atlas->setPosition(0, -0.5 * dart::math::constantsd::pi());
// Set gravity of the world
world->setGravity(Eigen::Vector3d(0.0, -9.81, 0.0));
// Wrap a WorldNode around it
osg::ref_ptr<AtlasSimbiconWorldNode> node
= new AtlasSimbiconWorldNode(world, atlas);
// Create a Viewer and set it up with the WorldNode
osg::ref_ptr<dart::gui::osg::ImGuiViewer> viewer
= new dart::gui::osg::ImGuiViewer();
viewer->addWorldNode(node);
// Enable shadow
node->showShadow();
// Add control widget for atlas
viewer->getImGuiHandler()->addWidget(
std::make_shared<AtlasSimbiconWidget>(viewer, node));
// Pass in the custom event handler
viewer->addEventHandler(new AtlasSimbiconEventHandler(node));
// Set the dimensions for the window
viewer->setUpViewInWindow(0, 0, 1280, 960);
// Set the window name
viewer->realize();
osgViewer::Viewer::Windows windows;
viewer->getWindows(windows);
windows.front()->setWindowName("Atlas Simbicon");
// Adjust the viewpoint of the Viewer
viewer->getCameraManipulator()->setHomePosition(
::osg::Vec3d(5.14, 3.28, 6.28) * 2.0,
::osg::Vec3d(1.00, 0.00, 0.00),
::osg::Vec3d(0.00, 0.1, 0.00));
// We need to re-dirty the CameraManipulator by passing it into the viewer
// again, so that the viewer knows to update its HomePosition setting
viewer->setCameraManipulator(viewer->getCameraManipulator());
// Begin running the application loop
viewer->run();
}
|