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/*
* Copyright (c) 2011-2022, 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() {}
MyWindow::~MyWindow() {}
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)
{
switch (_key)
{
case ' ': // use space key to play or stop the motion
mSimulating = !mSimulating;
if (mSimulating)
mPlay = false;
break;
case 'q': // Spawn a cube
case 'Q': { // Spawn a cube
Eigen::Vector3d position = Eigen::Vector3d(
dart::math::Random::uniform(-1.0, 1.0),
dart::math::Random::uniform(0.5, 1.0),
dart::math::Random::uniform(-1.0, 1.0));
Eigen::Vector3d size = Eigen::Vector3d(
dart::math::Random::uniform(0.1, 0.5),
dart::math::Random::uniform(0.1, 0.5),
dart::math::Random::uniform(0.1, 0.5));
spawnCube(position, size);
break;
}
case 'w': // Spawn a cube
case 'W': { // Spawn a cube
if (mWorld->getNumSkeletons() > 1)
mWorld->removeSkeleton(
mWorld->getSkeleton(mWorld->getNumSkeletons() - 1));
break;
}
default:
Win3D::keyboard(_key, _x, _y);
}
glutPostRedisplay();
}
void MyWindow::spawnCube(
const Eigen::Vector3d& _position,
const Eigen::Vector3d& _size,
double _mass)
{
dart::dynamics::SkeletonPtr newCubeSkeleton
= dart::dynamics::Skeleton::create();
dart::dynamics::BodyNode::Properties body;
body.mName = "cube_link";
body.mInertia.setMass(_mass);
body.mInertia.setMoment(
dart::dynamics::BoxShape::computeInertia(_size, _mass));
dart::dynamics::ShapePtr newBoxShape(new dart::dynamics::BoxShape(_size));
dart::dynamics::FreeJoint::Properties joint;
joint.mName = "cube_joint";
joint.mT_ParentBodyToJoint = Eigen::Translation3d(_position);
auto pair
= newCubeSkeleton->createJointAndBodyNodePair<dart::dynamics::FreeJoint>(
nullptr, joint, body);
auto shapeNode = pair.second->createShapeNodeWith<
dart::dynamics::VisualAspect,
dart::dynamics::CollisionAspect,
dart::dynamics::DynamicsAspect>(newBoxShape);
shapeNode->getVisualAspect()->setColor(
dart::math::Random::uniform<Eigen::Vector3d>(0.0, 1.0));
mWorld->addSkeleton(newCubeSkeleton);
}
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