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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 MyWindow.h
* @author Can Erdogan
* @date Feb 02, 2013
* @brief Simple example of a skeleton created from scratch.
*/
#include "MyWindow.hpp"
void MyWindow::draw()
{
glDisable(GL_LIGHTING);
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
drawSkeleton(skel.get());
}
void MyWindow::keyboard(unsigned char _key, int _x, int _y)
{
static bool inverse = false;
static const double dDOF = 0.1;
switch (_key)
{
case '-': {
inverse = !inverse;
}
break;
case '1':
case '2':
case '3': {
std::size_t dofIdx = _key - 49;
Eigen::VectorXd pose = skel->getPositions();
pose(dofIdx) = pose(dofIdx) + (inverse ? -dDOF : dDOF);
skel->setPositions(pose);
std::cout << "Updated pose DOF " << dofIdx << ": " << pose.transpose()
<< std::endl;
glutPostRedisplay();
}
break;
default:
Win3D::keyboard(_key, _x, _y);
}
glutPostRedisplay();
}
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