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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 <iostream>
#include <dart/dart.hpp>
#include <dart/gui/osg/osg.hpp>
#include "Helpers.hpp"
#include "InputHandler.hpp"
#include "WamWorld.hpp"
int main()
{
// Create the world.
dart::simulation::WorldPtr world(new dart::simulation::World);
// Create an Wam arm
SkeletonPtr wam = createWam();
setStartupConfiguration(wam);
setupEndEffectors(wam);
world->addSkeleton(wam);
// Create the ground
world->addSkeleton(createGround());
::osg::ref_ptr<WamWorld> node = new WamWorld(world, wam);
dart::gui::osg::Viewer viewer;
viewer.allowSimulation(false);
viewer.addWorldNode(node);
enableDragAndDrops(viewer, wam);
viewer.addEventHandler(new InputHandler(&viewer, node, wam, world));
std::cout << viewer.getInstructions() << std::endl;
std::cout
<< "Alt + Click: Try to translate a body without changing its "
"orientation\n"
<< "Ctrl + Click: Try to rotate a body without changing its "
"translation\n"
<< "Shift + Click: Move a body using only its parent joint\n"
<< "1: Toggle the interactive target of an EndEffector\n"
<< "P: Print the current joint values\n"
<< "T: Reset the robot to its relaxed posture\n"
<< "The blue/red ball is the robot's center of mass.\n"
<< "\n"
<< "Note that this is purely kinematic. Physical simulation is not "
"allowed in this app.\n"
<< std::endl;
// Set up the window
viewer.setUpViewInWindow(0, 0, 1280, 960);
// Set up the default viewing position
viewer.getCameraManipulator()->setHomePosition(
::osg::Vec3(5.34, 3.00, 1.91),
::osg::Vec3(0.00, 0.00, 0.50),
::osg::Vec3(-0.00, -0.00, 0.98));
// Reset the camera manipulator so that it starts in the new viewing position
viewer.setCameraManipulator(viewer.getCameraManipulator());
viewer.run();
}
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