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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/osg/osg.hpp>
//==============================================================================
class CustomWorldNode : public dart::gui::osg::RealTimeWorldNode
{
public:
CustomWorldNode(const dart::simulation::WorldPtr& world = nullptr)
: dart::gui::osg::RealTimeWorldNode(world)
{
// Set up the customized WorldNode
}
void customPreRefresh()
{
// Use this function to execute custom code before each time that the
// window is rendered. This function can be deleted if it does not need
// to be used.
}
void customPostRefresh()
{
// Use this function to execute custom code after each time that the
// window is rendered. This function can be deleted if it does not need
// to be used.
}
void customPreStep()
{
// Use this function to execute custom code before each simulation time
// step is performed. This function can be deleted if it does not need
// to be used.
}
void customPostStep()
{
// Use this function to execute custom code after each simulation time
// step is performed. This function can be deleted if it does not need
// to be used.
}
};
//==============================================================================
class CustomEventHandler : public osgGA::GUIEventHandler
{
public:
CustomEventHandler(/*Pass in any necessary arguments*/)
{
// Set up the customized event handler
}
virtual bool handle(
const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter&) override
{
if (ea.getEventType() == osgGA::GUIEventAdapter::KEYDOWN)
{
if (ea.getKey() == 'q')
{
std::cout << "Lowercase q pressed" << std::endl;
return true;
}
else if (ea.getKey() == 'Q')
{
std::cout << "Capital Q pressed" << std::endl;
return true;
}
else if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Left)
{
std::cout << "Left arrow key pressed" << std::endl;
return true;
}
else if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Right)
{
std::cout << "Right arrow key pressed" << std::endl;
return true;
}
}
else if (ea.getEventType() == osgGA::GUIEventAdapter::KEYUP)
{
if (ea.getKey() == 'q')
{
std::cout << "Lowercase q released" << std::endl;
return true;
}
else if (ea.getKey() == 'Q')
{
std::cout << "Capital Q released" << std::endl;
return true;
}
else if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Left)
{
std::cout << "Left arrow key released" << std::endl;
return true;
}
else if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Right)
{
std::cout << "Right arrow key released" << std::endl;
return true;
}
}
// The return value should be 'true' if the input has been fully handled
// and should not be visible to any remaining event handlers. It should be
// false if the input has not been fully handled and should be viewed by
// any remaining event handlers.
return false;
}
};
//==============================================================================
int main()
{
// Create a world
dart::simulation::WorldPtr world(new dart::simulation::World);
// Add a target object to the world
dart::gui::osg::InteractiveFramePtr target(
new dart::gui::osg::InteractiveFrame(dart::dynamics::Frame::World()));
world->addSimpleFrame(target);
// Wrap a WorldNode around it
osg::ref_ptr<CustomWorldNode> node = new CustomWorldNode(world);
// Create a Viewer and set it up with the WorldNode
dart::gui::osg::Viewer viewer;
viewer.addWorldNode(node);
// Active the drag-and-drop feature for the target
viewer.enableDragAndDrop(target.get());
// Pass in the custom event handler
viewer.addEventHandler(new CustomEventHandler);
// Set up the window to be 640x480
viewer.setUpViewInWindow(0, 0, 640, 480);
// Adjust the viewpoint of the Viewer
viewer.getCameraManipulator()->setHomePosition(
::osg::Vec3(2.57, 3.14, 1.64),
::osg::Vec3(0.00, 0.00, 0.00),
::osg::Vec3(-0.24, -0.25, 0.94));
// We need to re-dirty the CameraManipulator by passing it into the viewer
// again, so that the viewer knows to update its HomePosition setting
viewer.setCameraManipulator(viewer.getCameraManipulator());
// Begin running the application loop
viewer.run();
}
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