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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.
*/
#ifndef EXAMPLES_JOINTCONSTRAINTS_MYWINDOW_HPP_
#define EXAMPLES_JOINTCONSTRAINTS_MYWINDOW_HPP_
#include <Eigen/Dense>
#include <dart/dart.hpp>
#include <dart/gui/gui.hpp>
#include <stdarg.h>
#include "Controller.hpp"
class MyWindow : public dart::gui::glut::SimWindow
{
public:
MyWindow() : SimWindow()
{
mForce = Eigen::Vector3d::Zero();
mController = nullptr;
mWeldJoint = nullptr;
mImpulseDuration = 0;
mHarnessOn = false;
}
virtual ~MyWindow() {}
void timeStepping() override;
void drawSkels() override;
// void displayTimer(int _val) override;
// void draw() override;
void keyboard(unsigned char key, int x, int y) override;
void setController(Controller* _controller)
{
mController = _controller;
}
private:
Eigen::Vector3d mForce;
Controller* mController;
dart::constraint::WeldJointConstraintPtr mWeldJoint;
int mImpulseDuration;
bool mHarnessOn;
};
#endif // EXAMPLES_JOINTCONSTRAINTS_MYWINDOW_HPP_
/*
#include <stdarg.h>
#include "Controller.hpp"
#include "dynamics/SkeletonDynamics.hpp"
#include "integration/EulerIntegrator.hpp"
#include "integration/RK4Integrator.hpp"
#include "yui/Win3D.hpp"
class MyWindow : public yui::Win3D, public integration::IntegrableSystem {
public:
// MyWindow(dynamics::SkeletonDynamics* _m1, dynamics::SkeletonDynamics*
_m2) MyWindow(dynamics::SkeletonDynamics* _mList = 0, ...): Win3D() {
mBackground[0] = 1.0;
mBackground[1] = 1.0;
mBackground[2] = 1.0;
mBackground[3] = 1.0;
mSim = false;
mPlay = false;
mSimFrame = 0;
mPlayFrame = 0;
mShowMarkers = true;
mImpulseDuration = 0;
mPersp = 45.f;
mTrans[1] = 300.f;
mGravity = Eigen::Vector3d(0.0, -9.8, 0.0);
mTimeStep = 1.0/1000.0;
mForce = Eigen::Vector3d::Zero();
if (_mList) {
mSkels.push_back(_mList);
va_list ap;
va_start(ap, _mList);
while (true) {
dynamics::SkeletonDynamics *skel = va_arg(ap,
dynamics::SkeletonDynamics*); if(skel) mSkels.push_back(skel); else break;
}
va_end(ap);
}
int sumNDofs = 0;
mIndices.push_back(sumNDofs);
for (unsigned int i = 0; i < mSkels.size(); i++) {
int nDofs = mSkels[i]->getNumDofs();
sumNDofs += nDofs;
mIndices.push_back(sumNDofs);
}
initDyn();
}
virtual void draw();
virtual void keyboard(unsigned char key, int x, int y);
virtual void displayTimer(int _val);
// Needed for integration
virtual Eigen::VectorXd getState();
virtual Eigen::VectorXd evalDeriv();
virtual void setState(const Eigen::VectorXd &state);
protected:
int mSimFrame;
bool mSim;
int mPlayFrame;
bool mPlay;
bool mShowMarkers;
integration::EulerIntegrator mIntegrator;
// integration::RK4Integrator mIntegrator;
std::vector<Eigen::VectorXd> mBakedStates;
std::vector<dynamics::SkeletonDynamics*> mSkels;
dynamics::ContactDynamics *mCollisionHandle;
std::vector<Eigen::VectorXd> mDofVels;
std::vector<Eigen::VectorXd> mDofs;
double mTimeStep;
Eigen::Vector3d mGravity;
Eigen::Vector3d mForce;
std::vector<int> mIndices;
Controller *mController;
int mImpulseDuration;
void initDyn();
void setConfig();
void bake();
};
#endif
*/
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