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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 "InputHandler.hpp"
#include "WamWorld.hpp"
//==============================================================================
InputHandler::InputHandler(
dart::gui::osg::Viewer* viewer,
WamWorld* teleop,
const SkeletonPtr& wam,
const WorldPtr& world)
: mViewer(viewer), mWamWorld(teleop), mWam(wam), mWorld(world)
{
initialize();
}
//==============================================================================
void InputHandler::initialize()
{
mRestConfig = mWam->getPositions();
for (std::size_t i = 0; i < mWam->getNumEndEffectors(); ++i)
{
const InverseKinematicsPtr ik = mWam->getEndEffector(i)->getIK();
if (ik)
{
mDefaultBounds.push_back(ik->getErrorMethod().getBounds());
mDefaultTargetTf.push_back(ik->getTarget()->getRelativeTransform());
mConstraintActive.push_back(false);
mEndEffectorIndex.push_back(i);
}
}
}
//==============================================================================
bool InputHandler::handle(
const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter&)
{
if (!mWam)
return false;
if (::osgGA::GUIEventAdapter::KEYDOWN == ea.getEventType())
{
if (ea.getKey() == 'p' || ea.getKey() == 'P')
{
for (std::size_t i = 0; i < mWam->getNumDofs(); ++i)
std::cout << mWam->getDof(i)->getName() << ": "
<< mWam->getDof(i)->getPosition() << std::endl;
return true;
}
if (ea.getKey() == 't' || ea.getKey() == 'T')
{
mWam->setPositions(mRestConfig);
return true;
}
if ('1' <= ea.getKey() && ea.getKey() <= '9')
{
std::size_t index = ea.getKey() - '1';
if (index < mConstraintActive.size())
{
EndEffector* ee = mWam->getEndEffector(mEndEffectorIndex[index]);
const InverseKinematicsPtr& ik = ee->getIK();
if (ik && mConstraintActive[index])
{
mConstraintActive[index] = false;
ik->getErrorMethod().setBounds(mDefaultBounds[index]);
ik->getTarget()->setRelativeTransform(mDefaultTargetTf[index]);
mWorld->removeSimpleFrame(ik->getTarget());
}
else if (ik)
{
mConstraintActive[index] = true;
// Use the standard default bounds instead of our custom default
// bounds
ik->getErrorMethod().setBounds();
ik->getTarget()->setTransform(ee->getTransform());
mWorld->addSimpleFrame(ik->getTarget());
}
}
return true;
}
}
return false;
}
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