1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
|
/*
* 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"
#include <dart/gui/GLFuncs.hpp>
using namespace dart;
using namespace math;
using namespace dynamics;
using namespace gui;
using namespace dart::constraint;
void MyWindow::timeStepping()
{
mWorld->getSkeleton(1)->getBodyNode("h_spine")->addExtForce(mForce);
// mController->setConstrForces(mWorld->getConstraintHandler()->getTotalConstraintForce(1));
mController->computeTorques(
mWorld->getSkeleton(1)->getPositions(),
mWorld->getSkeleton(1)->getVelocities());
mWorld->getSkeleton(1)->setForces(mController->getTorques());
mWorld->step();
// for perturbation test
mImpulseDuration--;
if (mImpulseDuration <= 0)
{
mImpulseDuration = 0;
mForce.setZero();
}
}
void MyWindow::drawSkels()
{
for (unsigned int i = 0; i < mWorld->getNumSkeletons(); i++)
drawSkeleton(mWorld->getSkeleton(i).get());
// draw arrow
if (mImpulseDuration > 0)
{
Eigen::Vector3d poa
= mWorld->getSkeleton(1)->getBodyNode("h_spine")->getTransform()
* Eigen::Vector3d(0.0, 0.0, 0.0);
Eigen::Vector3d start = poa - mForce / 10.0;
double len = mForce.norm() / 10.0;
drawArrow3D(start, mForce, len, 0.05, 0.1);
}
}
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 'p': // playBack
mPlay = !mPlay;
if (mPlay)
mSimulating = false;
break;
case '[': // step backward
if (!mSimulating)
{
mPlayFrame--;
if (mPlayFrame < 0)
mPlayFrame = 0;
glutPostRedisplay();
}
break;
case ']': // step forwardward
if (!mSimulating)
{
mPlayFrame++;
if (mPlayFrame >= mWorld->getRecording()->getNumFrames())
mPlayFrame = 0;
glutPostRedisplay();
}
break;
case 'v': // show or hide markers
mShowMarkers = !mShowMarkers;
break;
case '1':
mForce[0] = 40;
mImpulseDuration = 100.0;
std::cout << "push forward" << std::endl;
break;
case '2':
mForce[0] = -40;
mImpulseDuration = 100.0;
std::cout << "push backward" << std::endl;
break;
case '3':
mForce[2] = 50;
mImpulseDuration = 100.0;
std::cout << "push right" << std::endl;
break;
case '4':
mForce[2] = -50;
mImpulseDuration = 100.0;
std::cout << "push left" << std::endl;
break;
case 'h':
mHarnessOn = !mHarnessOn;
if (mHarnessOn)
{
BodyNode* bd = mWorld->getSkeleton(1)->getBodyNode("h_pelvis");
mWeldJoint = std::make_shared<WeldJointConstraint>(bd);
mWorld->getConstraintSolver()->addConstraint(mWeldJoint);
}
else
{
mWorld->getConstraintSolver()->removeConstraint(mWeldJoint);
}
break;
default:
Win3D::keyboard(key, x, y);
}
glutPostRedisplay();
}
|
