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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 code incorporates portions of Open Dynamics Engine
* (Copyright (c) 2001-2004, Russell L. Smith. All rights
* reserved.) and portions of FCL (Copyright (c) 2011, Willow
* Garage, Inc. All rights reserved.), which were released under
* the same BSD license as below
*
* 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 <iostream>
#include <dart/dart.hpp>
#include <dart/utils/utils.hpp>
#include "MyWindow.hpp"
int main(int argc, char* argv[])
{
// load a skeleton file
// create and initialize the world
dart::simulation::WorldPtr myWorld = dart::utils::SkelParser::readWorld(
"dart://sample/skel/softBodies.skel");
assert(myWorld != nullptr);
for (std::size_t i = 0; i < myWorld->getNumSkeletons(); ++i)
{
dart::dynamics::SkeletonPtr skel = myWorld->getSkeleton(i);
for (std::size_t j = 0; j < skel->getNumBodyNodes(); ++j)
{
dart::dynamics::BodyNode* bn = skel->getBodyNode(j);
Eigen::Vector3d color = dart::Color::Random();
auto shapeNodes = bn->getShapeNodesWith<dart::dynamics::VisualAspect>();
for (auto shapeNode : shapeNodes)
shapeNode->getVisualAspect(true)->setColor(color);
}
}
// create a window and link it to the world
MyWindow window;
window.setWorld(myWorld);
std::cout << "space bar: simulation on/off" << std::endl;
std::cout << "'p': playback/stop" << std::endl;
std::cout << "'[' and ']': play one frame backward and forward" << std::endl;
std::cout << "'v': visualization on/off" << std::endl;
std::cout << "'1'--'6': programmed interaction" << std::endl;
glutInit(&argc, argv);
window.initWindow(640, 480, "Soft Bodies");
glutMainLoop();
return 0;
}
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