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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 code incorporates portions of Open Dynamics Engine
* (Copyright (c) 2001-2004, Russell L. Smith. All rights
* reserved.) and portions of FCL (Copyright (c) 2011, Willow
* Garage, Inc. All rights reserved.), which were released under
* the same BSD license as below
*
* 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 "TinkertoyWidget.hpp"
#include "dart/external/imgui/imgui.h"
#include "TinkertoyWorldNode.hpp"
//==============================================================================
TinkertoyWidget::TinkertoyWidget(
dart::gui::osg::ImGuiViewer* viewer, TinkertoyWorldNode* node)
: mViewer(viewer),
mNode(node),
mGuiGravity(true),
mGravity(true),
mGuiHeadlights(true)
{
// Do nothing
}
//==============================================================================
void TinkertoyWidget::render()
{
ImGui::SetNextWindowPos(ImVec2(10, 20));
ImGui::SetNextWindowSize(ImVec2(360, 640));
ImGui::SetNextWindowBgAlpha(0.5f);
if (!ImGui::Begin(
"Tinkertoy Control",
nullptr,
ImGuiWindowFlags_NoResize | ImGuiWindowFlags_MenuBar
| ImGuiWindowFlags_HorizontalScrollbar))
{
// Early out if the window is collapsed, as an optimization.
ImGui::End();
return;
}
// Menu
if (ImGui::BeginMenuBar())
{
if (ImGui::BeginMenu("Menu"))
{
if (ImGui::MenuItem("Exit"))
mViewer->setDone(true);
ImGui::EndMenu();
}
if (ImGui::BeginMenu("Help"))
{
if (ImGui::MenuItem("About DART"))
mViewer->showAbout();
ImGui::EndMenu();
}
ImGui::EndMenuBar();
}
ImGui::Text("<TODO: Short description about this example>");
ImGui::Spacing();
if (ImGui::CollapsingHeader("Help"))
{
ImGui::PushTextWrapPos(ImGui::GetCursorPos().x + 320);
ImGui::Text("User Guid:\n");
ImGui::Text("%s", mViewer->getInstructions().c_str());
ImGui::Text("Left-click on a block to select it.\n");
ImGui::Text("Press [Backspace] to deselect.\n");
ImGui::Text("Press [Tab] to reset the camera view\n");
ImGui::Text("Press [`] to reset the orientation of the target\n");
ImGui::Text("\n --- While Simulation is Paused ---\n");
ImGui::Text(
"The selected block will be red; all other blocks will be yellow.\n");
ImGui::Text(
"Press [1] -> [3] to attach a new block to the selected block.\n");
ImGui::Text("[1]: Attach using a WeldJoint\n");
ImGui::Text("[2]: Attach using a RevoluteJoint\n");
ImGui::Text("[3]: Attach using a BallJoint\n");
ImGui::Text(
"The longitudinal direction of the new block will be along the x-axis "
"(Red) of the target.\n");
ImGui::Text(
"The joint axis will follow the z-axis (Blue) of the target when "
"making a RevolueJoint.\n");
ImGui::Text(
"Press [Delete] to permanently remove a block and all of its "
"children.\n");
ImGui::Text(
"Adding a block when nothing is currently selected will attach it to "
"the world, beginning a new tree.\n");
ImGui::Text("\n --- While Simulation is Active ---\n");
ImGui::Text(
"The selected block will be Fuchsia; all other blocks will be blue.\n");
ImGui::Text("Move around the target to pull on the selected block.\n");
ImGui::Text("Press [Up] or [Down] to adjust the pulling strength.\n");
ImGui::Text("Press [G] to toggle Gravity\n");
ImGui::Text(
"Blocks belonging to different trees can collide with each other "
"during simulation.\n");
ImGui::Text(
"Collisions between blocks belonging to the same tree will be "
"ignored.\n");
ImGui::PopTextWrapPos();
}
if (ImGui::CollapsingHeader("Simulation", ImGuiTreeNodeFlags_DefaultOpen))
{
int e = mViewer->isSimulating() ? 0 : 1;
if (mViewer->isAllowingSimulation())
{
if (ImGui::RadioButton("Play", &e, 0) && !mViewer->isSimulating())
mViewer->simulate(true);
ImGui::SameLine();
if (ImGui::RadioButton("Pause", &e, 1) && mViewer->isSimulating())
mViewer->simulate(false);
}
}
if (ImGui::CollapsingHeader("World Options", ImGuiTreeNodeFlags_DefaultOpen))
{
// Gravity
ImGui::Checkbox("Gravity On/Off", &mGuiGravity);
setGravity(mGuiGravity);
ImGui::Spacing();
// Headlights
mGuiHeadlights = mViewer->checkHeadlights();
ImGui::Checkbox("Headlights On/Off", &mGuiHeadlights);
mViewer->switchHeadlights(mGuiHeadlights);
}
if (ImGui::CollapsingHeader(
"Tinkertoy Options", ImGuiTreeNodeFlags_DefaultOpen))
{
ImGui::SliderFloat(
"Force Coeff",
&mNode->mForceCoeff,
MinForceCoeff,
MaxForceCoeff,
"%.1f");
ImGui::Spacing();
const auto reorient = ImGui::Button("Reorient Target");
if (reorient)
mNode->reorientTarget();
const auto clearTarget = ImGui::Button("Reset Target");
if (clearTarget)
mNode->clearPick();
const auto addWeld = ImGui::Button("Add a Weld-Joint Block");
if (addWeld)
mNode->addWeldJointBlock();
const auto addRevolute = ImGui::Button("Add a Revolute-Joint Block");
if (addRevolute)
mNode->addRevoluteJointBlock();
const auto addBall = ImGui::Button("Add a Ball-Joint Block");
if (addBall)
mNode->addBallJointBlock();
const auto deleteBlock = ImGui::Button("Delete Block");
if (deleteBlock)
mNode->deletePick();
}
ImGui::End();
}
//==============================================================================
void TinkertoyWidget::setGravity(bool gravity)
{
if (mGravity == gravity)
return;
mGravity = gravity;
if (mGravity)
mNode->getWorld()->setGravity(-9.81 * Eigen::Vector3d::UnitZ());
else
mNode->getWorld()->setGravity(Eigen::Vector3d::Zero());
}
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