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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/gui/osg/osg.hpp>
using namespace dart::dynamics;
int main()
{
dart::simulation::WorldPtr world(new dart::simulation::World);
Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());
tf.translation() = Eigen::Vector3d(4, -4, 0);
dart::gui::osg::InteractiveFramePtr frame(
new dart::gui::osg::InteractiveFrame(
Frame::World(), "interactive frame", tf, 2.0));
world->addSimpleFrame(frame);
tf.translation() = Eigen::Vector3d(-4, 4, 0);
SimpleFramePtr draggable(new SimpleFrame(frame.get(), "draggable", tf));
draggable->setShape(std::make_shared<BoxShape>(Eigen::Vector3d(1, 1, 1)));
draggable->getVisualAspect(true)->setColor(Eigen::Vector3d(0.9, 0.0, 0.0));
world->addSimpleFrame(draggable);
tf.translation() = Eigen::Vector3d(8.0, 0.0, 0.0);
SimpleFramePtr x_marker(new SimpleFrame(Frame::World(), "X", tf));
std::shared_ptr<BoxShape> x_shape(
new BoxShape(Eigen::Vector3d(0.2, 0.2, 0.2)));
x_marker->setShape(x_shape);
x_marker->getVisualAspect(true)->setColor(Eigen::Vector3d(0.9, 0.0, 0.0));
world->addSimpleFrame(x_marker);
tf.translation() = Eigen::Vector3d(0.0, 8.0, 0.0);
SimpleFramePtr y_marker(new SimpleFrame(Frame::World(), "Y", tf));
std::shared_ptr<BoxShape> y_shape(
new BoxShape(Eigen::Vector3d(0.2, 0.2, 0.2)));
y_marker->setShape(y_shape);
y_marker->getVisualAspect(true)->setColor(Eigen::Vector3d(0.0, 0.9, 0.0));
world->addSimpleFrame(y_marker);
tf.translation() = Eigen::Vector3d(0.0, 0.0, 8.0);
SimpleFramePtr z_marker(new SimpleFrame(Frame::World(), "Z", tf));
std::shared_ptr<BoxShape> z_shape(
new BoxShape(Eigen::Vector3d(0.2, 0.2, 0.2)));
z_marker->setShape(z_shape);
z_marker->getVisualAspect(true)->setColor(Eigen::Vector3d(0.0, 0.0, 0.9));
world->addSimpleFrame(z_marker);
::osg::ref_ptr<dart::gui::osg::WorldNode> node
= new dart::gui::osg::WorldNode(world);
dart::gui::osg::Viewer viewer;
viewer.addWorldNode(node);
viewer.enableDragAndDrop(frame.get());
viewer.enableDragAndDrop(draggable.get());
viewer.addInstructionText("\nCtrl + Left-click: Rotate the box\n");
std::cout << viewer.getInstructions() << std::endl;
viewer.setUpViewInWindow(0, 0, 640, 480);
viewer.getCameraManipulator()->setHomePosition(
::osg::Vec3(20.0, 17.0, 17.0),
::osg::Vec3(0.0, 0.0, 0.0),
::osg::Vec3(0, 0, 1));
viewer.setCameraManipulator(viewer.getCameraManipulator());
viewer.run();
}
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