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/*
* Copyright (c) 2011-2018, 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 <cmath>
#include <dart/collision/bullet/bullet.hpp>
#include <dart/collision/ode/ode.hpp>
#include <dart/dart.hpp>
#include <dart/gui/gui.hpp>
#include <dart/utils/utils.hpp>
#include "HumanArmJointLimitConstraint.hpp"
#include "HumanLegJointLimitConstraint.hpp"
using namespace dart::dynamics;
using namespace dart::simulation;
using namespace dart;
using namespace utils;
class MyWindow : public dart::gui::glut::SimWindow
{
public:
explicit MyWindow(const WorldPtr& world) : ts(0)
{
setWorld(world);
}
void keyboard(unsigned char key, int x, int y) override
{
switch (key)
{
default:
SimWindow::keyboard(key, x, y);
}
}
void drawWorld() const override
{
// Make sure lighting is turned on and that polygons get filled in
glEnable(GL_LIGHTING);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
SimWindow::drawWorld();
}
void timeStepping() override
{
if (ts == 0)
{
auto skel = mWorld->getSkeleton("human");
auto shldJointl = skel->getJoint("j_bicep_left");
auto elbowJointl = skel->getJoint("j_forearm_left");
constraint_larm = std::make_shared<HumanArmJointLimitConstraint>(
shldJointl, elbowJointl, false);
mWorld->getConstraintSolver()->addConstraint(constraint_larm);
auto shldJointr = skel->getJoint("j_bicep_right");
auto elbowJointr = skel->getJoint("j_forearm_right");
constraint_rarm = std::make_shared<HumanArmJointLimitConstraint>(
shldJointr, elbowJointr, true);
mWorld->getConstraintSolver()->addConstraint(constraint_rarm);
auto thighJointl = skel->getJoint("j_thigh_left");
auto shinJointl = skel->getJoint("j_shin_left");
auto ankleJointl = skel->getJoint("j_heel_left");
constraint_lleg = std::make_shared<HumanLegJointLimitConstraint>(
thighJointl, shinJointl, ankleJointl, false);
mWorld->getConstraintSolver()->addConstraint(constraint_lleg);
auto thighJointr = skel->getJoint("j_thigh_right");
auto shinJointr = skel->getJoint("j_shin_right");
auto ankleJointr = skel->getJoint("j_heel_right");
constraint_rleg = std::make_shared<HumanLegJointLimitConstraint>(
thighJointr, shinJointr, ankleJointr, true);
mWorld->getConstraintSolver()->addConstraint(constraint_rleg);
}
// Eigen::Vector3d force = Eigen::Vector3d(0,0,-4);
// Eigen::Vector3d location(0.0, -0.2, 0.0);
// mWorld->getSkeleton("human")->getBodyNode("l-lowerarm")->addExtForce(force,
// location, true, true);
SimWindow::timeStepping();
ts++;
}
int ts;
HumanArmJointLimitConstraintPtr constraint_larm;
HumanArmJointLimitConstraintPtr constraint_rarm;
HumanLegJointLimitConstraintPtr constraint_lleg;
HumanLegJointLimitConstraintPtr constraint_rleg;
};
int main(int argc, char* argv[])
{
WorldPtr world = SkelParser::readWorld(DART_DATA_PATH
"/skel/kima/kima_human_edited.skel");
assert(world != nullptr);
auto skel = world->getSkeleton("human");
for (auto joint : skel->getJoints())
{
joint->setLimitEnforcement(true);
}
// world->getSkeleton("arm")->enableSelfCollisionCheck();
// world->getSkeleton("arm")->disableAdjacentBodyCheck();
MyWindow window(world);
std::cout << "space bar: simulation on/off" << std::endl;
glutInit(&argc, argv);
window.initWindow(640, 480, "Simple Test");
glutMainLoop();
}
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