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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;
int main()
{
auto shape
= std::make_shared<dynamics::BoxShape>(Eigen::Vector3d(0.3, 0.3, 0.3));
// Create a box-shaped rigid body
auto skeleton = dynamics::Skeleton::create();
auto jointAndBody
= skeleton->createJointAndBodyNodePair<dynamics::FreeJoint>();
auto body = jointAndBody.second;
body->createShapeNodeWith<
dynamics::VisualAspect,
dynamics::CollisionAspect,
dynamics::DynamicsAspect>(shape);
// Create a world and add the rigid body
auto world = simulation::World::create();
world->addSkeleton(skeleton);
// Wrap a WorldNode around it
::osg::ref_ptr<gui::osg::RealTimeWorldNode> node
= new gui::osg::RealTimeWorldNode(world);
// Create a Viewer and set it up with the WorldNode
auto viewer = gui::osg::Viewer();
viewer.addWorldNode(node);
viewer.addInstructionText("Press space to start free falling the box.\n");
std::cout << viewer.getInstructions() << std::endl;
// Set up the window to be 640x480
viewer.setUpViewInWindow(0, 0, 640, 480);
// Adjust the viewpoint of the Viewer
viewer.getCameraManipulator()->setHomePosition(
::osg::Vec3(2.57f, 3.14f, 1.64f),
::osg::Vec3(0.00f, 0.00f, 0.00f),
::osg::Vec3(-0.24f, -0.25f, 0.94f));
// We need to re-dirty the CameraManipulator by passing it into the viewer
// again, so that the viewer knows to update its HomePosition setting
viewer.setCameraManipulator(viewer.getCameraManipulator());
// Begin running the application loop
viewer.run();
return 0;
}
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