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/*
* 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.
*/
/**
* @file Main.cpp
* @author Can Erdogan (rewritten by Michael X. Grey)
* @date Feb 02, 2013 (rewritten April 09, 2015)
* @brief This application shows the creation of a kinematic skeleton from
* scratch without the use of a model file. Run the program without arguments
* and you can use the buttons {1,2} to move the corresponding joints. The key
* '-' will make the joints move in the negative direction.
*/
#include <dart/dart.hpp>
#include "MyWindow.hpp"
int main(int argc, char* argv[])
{
// Create Left Leg skeleton
dart::dynamics::SkeletonPtr LeftLegSkel = dart::dynamics::Skeleton::create();
double mass = 1.0;
// BodyNode 1: Left Hip Yaw (LHY)
dart::dynamics::BodyNode::Properties body;
body.mName = "LHY";
dart::dynamics::ShapePtr shape(
new dart::dynamics::BoxShape(Eigen::Vector3d(0.3, 0.3, 1.0)));
body.mInertia.setMass(mass);
dart::dynamics::RevoluteJoint::Properties joint;
joint.mName = "LHY";
joint.mAxis = Eigen::Vector3d(0.0, 0.0, 1.0);
joint.mPositionLowerLimits[0] = -dart::math::constantsd::pi();
joint.mPositionUpperLimits[0] = dart::math::constantsd::pi();
// You can get the newly created Joint and BodyNode pointers like this
std::pair<dart::dynamics::Joint*, dart::dynamics::BodyNode*> pair
= LeftLegSkel->createJointAndBodyNodePair<dart::dynamics::RevoluteJoint>(
nullptr, joint, body);
pair.second->createShapeNodeWith<
dart::dynamics::VisualAspect,
dart::dynamics::CollisionAspect,
dart::dynamics::DynamicsAspect>(shape);
dart::dynamics::BodyNode* parent = pair.second;
// BodyNode 2: Left Hip Roll (LHR) whose parent is: LHY
body = dart::dynamics::BodyNode::Properties(); // create a fresh properties
// container
body.mName = "LHR";
shape = dart::dynamics::ShapePtr(
new dart::dynamics::BoxShape(Eigen::Vector3d(0.3, 0.3, 1.0)));
joint.mName = "LHR";
joint.mT_ParentBodyToJoint = Eigen::Translation3d(0.0, 0.0, 0.5);
// You can get the specific type of Joint Pointer instead of just a basic
// Joint pointer
std::pair<dart::dynamics::RevoluteJoint*, dart::dynamics::BodyNode*> pair1
= LeftLegSkel->createJointAndBodyNodePair<dart::dynamics::RevoluteJoint>(
parent, joint, body);
pair1.first->setAxis(Eigen::Vector3d(1.0, 0.0, 0.0));
auto shapeNode1 = pair1.second->createShapeNodeWith<
dart::dynamics::VisualAspect,
dart::dynamics::CollisionAspect,
dart::dynamics::DynamicsAspect>(shape);
shapeNode1->setRelativeTranslation(Eigen::Vector3d(0.0, 0.0, 0.5));
pair1.second->setLocalCOM(shapeNode1->getRelativeTranslation());
pair1.second->setMass(mass);
// BodyNode 3: Left Hip Pitch (LHP) whose parent is: LHR
body = dart::dynamics::BodyNode::Properties(); // create a fresh properties
// container
body.mName = "LHP";
shape = dart::dynamics::ShapePtr(
new dart::dynamics::BoxShape(Eigen::Vector3d(0.3, 0.3, 1.0)));
joint.mName = "LHP";
joint.mAxis = Eigen::Vector3d(0.0, 1.0, 0.0);
joint.mT_ParentBodyToJoint = Eigen::Translation3d(0.0, 0.0, 1.0);
// Or you can completely ignore the return value of this function
std::pair<dart::dynamics::RevoluteJoint*, dart::dynamics::BodyNode*> pair2
= LeftLegSkel->createJointAndBodyNodePair<dart::dynamics::RevoluteJoint>(
LeftLegSkel->getBodyNode(1), joint, body);
auto shapeNode2 = pair2.second->createShapeNodeWith<
dart::dynamics::VisualAspect,
dart::dynamics::CollisionAspect,
dart::dynamics::DynamicsAspect>(shape);
shapeNode2->setRelativeTranslation(Eigen::Vector3d(0.0, 0.0, 0.5));
pair2.second->setLocalCOM(shapeNode2->getRelativeTranslation());
pair2.second->setMass(mass);
// Window stuff
MyWindow window(LeftLegSkel);
glutInit(&argc, argv);
window.initWindow(640, 480, "Skeleton example");
glutMainLoop();
return 0;
}
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