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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 <dart/dart.hpp>
#include <dart/gui/gui.hpp>
using namespace dart::dynamics;
int main(int argc, char* argv[])
{
dart::simulation::WorldPtr myWorld(new dart::simulation::World);
Eigen::Isometry3d tf1(Eigen::Isometry3d::Identity());
tf1.translate(Eigen::Vector3d(0.1, -0.1, 0));
Eigen::Isometry3d tf2(Eigen::Isometry3d::Identity());
tf2.translate(Eigen::Vector3d(0, 0.1, 0));
tf2.rotate(
Eigen::AngleAxisd(dart::math::toRadian(45.0), Eigen::Vector3d(1, 0, 0)));
Eigen::Isometry3d tf3(Eigen::Isometry3d::Identity());
tf3.translate(Eigen::Vector3d(0, 0, 0.1));
tf3.rotate(
Eigen::AngleAxisd(dart::math::toRadian(60.0), Eigen::Vector3d(0, 1, 0)));
SimpleFramePtr F1(new SimpleFrame(Frame::World(), "F1", tf1));
F1->setShape(
std::shared_ptr<Shape>(new BoxShape(Eigen::Vector3d(0.05, 0.05, 0.02))));
SimpleFrame F2(F1.get(), "F2", tf2);
F2.setShape(
std::shared_ptr<Shape>(new BoxShape(Eigen::Vector3d(0.05, 0.05, 0.02))));
SimpleFrame F3(&F2, "F3", tf3);
F3.setShape(
std::shared_ptr<Shape>(new BoxShape(Eigen::Vector3d(0.05, 0.05, 0.02))));
// Note: Adding a Frame to the world will also cause all Entities that descend
// from that Frame to be rendered.
myWorld->addSimpleFrame(F1);
SimpleFramePtr A(new SimpleFrame(Frame::World(), "A"));
A->setShape(std::shared_ptr<Shape>(
new EllipsoidShape(Eigen::Vector3d(0.02, 0.02, 0.02))));
SimpleFrame A1(A.get(), "A1", F1->getTransform(A.get()));
A1.setShape(std::shared_ptr<Shape>(
new EllipsoidShape(Eigen::Vector3d(0.01, 0.01, 0.01))));
SimpleFrame A2(A.get(), "A2", F2.getTransform(A.get()));
A2.setShape(std::shared_ptr<Shape>(
new EllipsoidShape(Eigen::Vector3d(0.01, 0.01, 0.01))));
SimpleFrame A3(A.get(), "A3", F3.getTransform(A.get()));
A3.setShape(std::shared_ptr<Shape>(
new EllipsoidShape(Eigen::Vector3d(0.01, 0.01, 0.01))));
myWorld->addSimpleFrame(A);
SimpleFramePtr arrow(new SimpleFrame(Frame::World(), "arrow"));
arrow->setShape(std::shared_ptr<Shape>(new ArrowShape(
Eigen::Vector3d(0.1, -0.1, 0.0),
Eigen::Vector3d(0.1, 0.0, 0.0),
ArrowShape::Properties(0.002, 1.8),
Eigen::Vector4d(1.0, 0.5, 0.5, 1.0))));
myWorld->addSimpleFrame(arrow);
// CAREFUL: For a Frame that gets added to the world to be
// rendered correctly, it must be a child of the World Frame
// TODO(MXG): Fix this issue ^
dart::gui::glut::SimWindow window;
window.setWorld(myWorld);
glutInit(&argc, argv);
window.initWindow(640, 480, "Simple Frames");
glutMainLoop();
}
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