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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 "MyWindow.hpp"
MyWindow::MyWindow() : SimWindow()
{
mBackWheelVelocity = 0.0;
mSteeringWheelAngle = 0.0;
mK = 0.01;
mD = 0.005;
}
MyWindow::~MyWindow() {}
void MyWindow::timeStepping()
{
dart::dynamics::SkeletonPtr vehicle = mWorld->getSkeleton("car_skeleton");
assert(vehicle != 0);
std::size_t dof = vehicle->getNumDofs();
Eigen::VectorXd q = vehicle->getPositions();
Eigen::VectorXd dq = vehicle->getVelocities();
Eigen::VectorXd tau = Eigen::VectorXd::Zero(dof);
tau[6] = -mK * (q[6] - mSteeringWheelAngle) - mD * dq[6];
tau[8] = -mK * (q[8] - mSteeringWheelAngle) - mD * dq[8];
tau[7] = -mD * (dq[7] - mBackWheelVelocity);
tau[9] = -mD * (dq[9] - mBackWheelVelocity);
tau[10] = -mD * (dq[10] - mBackWheelVelocity);
tau[11] = -mD * (dq[11] - mBackWheelVelocity);
vehicle->setForces(tau);
mWorld->step();
}
void MyWindow::drawWorld() const
{
glEnable(GL_LIGHTING);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
SimWindow::drawWorld();
}
void MyWindow::keyboard(unsigned char _key, int _x, int _y)
{
using namespace dart::math::suffixes;
switch (_key)
{
case ' ': // use space key to play or stop the motion
mSimulating = !mSimulating;
if (mSimulating)
mPlay = false;
break;
case 'p': // playBack
mPlay = !mPlay;
if (mPlay)
mSimulating = false;
break;
case '[': // step backward
if (!mSimulating)
{
mPlayFrame--;
if (mPlayFrame < 0)
mPlayFrame = 0;
glutPostRedisplay();
}
break;
case ']': // step forwardward
if (!mSimulating)
{
mPlayFrame++;
if (mPlayFrame >= mWorld->getRecording()->getNumFrames())
mPlayFrame = 0;
glutPostRedisplay();
}
break;
case 'v': // show or hide markers
mShowMarkers = !mShowMarkers;
break;
case 'w': // move forward
mBackWheelVelocity = -420.0_deg;
break;
case 's': // stop
mBackWheelVelocity = 0.0_deg;
break;
case 'x': // move backward
mBackWheelVelocity = +420.0_deg;
break;
case 'a': // rotate steering wheels to left
mSteeringWheelAngle += +10_deg;
if (mSteeringWheelAngle > 30.0_deg)
mSteeringWheelAngle = 30.0_deg;
break;
case 'd': // rotate steering wheels to right
mSteeringWheelAngle += -10_deg;
if (mSteeringWheelAngle < -30.0_deg)
mSteeringWheelAngle = -30.0_deg;
break;
default:
Win3D::keyboard(_key, _x, _y);
}
glutPostRedisplay();
}
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