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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.
*/
#include <dart/dart.hpp>
#include <dart/utils/utils.hpp>
#include "MyWindow.hpp"
using namespace dart;
using namespace math;
using namespace dynamics;
using namespace simulation;
using namespace constraint;
int main(int argc, char* argv[])
{
// load a skeleton file
// create and initialize the world
dart::simulation::WorldPtr myWorld
= utils::SkelParser::readWorld("dart://sample/skel/chain.skel");
assert(myWorld != nullptr);
// create and initialize the world
Eigen::Vector3d gravity(0.0, -9.81, 0.0);
myWorld->setGravity(gravity);
myWorld->setTimeStep(1.0 / 2000);
int dof = myWorld->getSkeleton(0)->getNumDofs();
Eigen::VectorXd initPose(dof);
initPose.setZero();
initPose[20] = 3.14159 * 0.4;
initPose[23] = 3.14159 * 0.4;
initPose[26] = 3.14159 * 0.4;
initPose[29] = 3.14159 * 0.4;
myWorld->getSkeleton(0)->setPositions(initPose);
// create a ball joint constraint
BodyNode* bd1 = myWorld->getSkeleton(0)->getBodyNode("link 6");
BodyNode* bd2 = myWorld->getSkeleton(0)->getBodyNode("link 10");
bd1->getShapeNode(0)->getVisualAspect()->setColor(
Eigen::Vector3d(1.0, 0.0, 0.0));
bd2->getShapeNode(0)->getVisualAspect()->setColor(
Eigen::Vector3d(1.0, 0.0, 0.0));
Eigen::Vector3d offset(0.0, 0.025, 0.0);
Eigen::Vector3d jointPos = bd1->getTransform() * offset;
BallJointConstraintPtr cl
= std::make_shared<BallJointConstraint>(bd1, bd2, jointPos);
// WeldJointConstraint *cl = new WeldJointConstraint(bd1, bd2);
myWorld->getConstraintSolver()->addConstraint(cl);
// create a window and link it to the world
MyWindow window;
window.setWorld(myWorld);
glutInit(&argc, argv);
window.initWindow(640, 480, "Closed Loop");
glutMainLoop();
return 0;
}
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