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MyWindow.cpp
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MyWindow.cpp
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/*
* Copyright (c) 2015-2016, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* 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 "MyWindow.h"
using namespace std;
using namespace Eigen;
using namespace dart;
//==============================================================================
MyWindow::MyWindow()
: SimWindow()
{
}
//==============================================================================
MyWindow::~MyWindow()
{
}
//==============================================================================
void MyWindow::timeStepping()
{
mWorld->step();
}
//==============================================================================
void MyWindow::drawWorld() const
{
glEnable(GL_LIGHTING);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
SimWindow::drawWorld();
}
//==============================================================================
Isometry3d getRandomTransform()
{
Isometry3d T = Isometry3d::Identity();
const Vector3d rotation = math::randomVector<3>(-math::constantsd::pi(),
math::constantsd::pi());
const Vector3d position = Vector3d(math::random(-1.0, 1.0),
math::random( 0.5, 1.0),
math::random(-1.0, 1.0));
T.translation() = position;
T.linear() = math::expMapRot(rotation);
return T;
}
//==============================================================================
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;
glutTimerFunc(mDisplayTimeout, refreshTimer, 0);
}
break;
case 'p': // playBack
mPlay = !mPlay;
if (mPlay)
{
mSimulating = false;
glutTimerFunc(mDisplayTimeout, refreshTimer, 0);
}
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 'q': // Spawn a cube
case 'Q':
{
spawnBox(getRandomTransform(), math::randomVector<3>(0.05, 0.25));
break;
}
case 'w': // Spawn an ellipsoid
case 'W':
{
spawnEllipsoid(getRandomTransform(), math::randomVector<3>(0.05, 0.25));
break;
}
case 'e': // Spawn an cylinder
case 'E':
{
const double radius = math::random(0.05, 0.25);
const double height = math::random(0.1, 0.5);
spawnCylinder(getRandomTransform(), radius, height);
break;
}
case 'a': // Remove the skeleton added at last
case 'A':
{
if (mWorld->getNumSkeletons() > 1)
{
mWorld->removeSkeleton(
mWorld->getSkeleton(mWorld->getNumSkeletons() - 1));
}
break;
}
default:
Win3D::keyboard(key, x, y);
}
glutPostRedisplay();
}
//==============================================================================
void MyWindow::spawnBox(const Eigen::Isometry3d& _T,
const Eigen::Vector3d& _size,
double _mass)
{
dynamics::SkeletonPtr newSkeleton = dynamics::Skeleton::create();
dynamics::ShapePtr newShape(new dynamics::BoxShape(_size));
dynamics::BodyNode::Properties bodyProp;
bodyProp.mName = "box_link";
bodyProp.mInertia.setMass(_mass);
dynamics::FreeJoint::Properties jointProp;
jointProp.mName = "box_joint";
jointProp.mT_ParentBodyToJoint = _T;
auto pair = newSkeleton->createJointAndBodyNodePair<dynamics::FreeJoint>(
nullptr, jointProp, bodyProp);
auto shapeNode = pair.second->createShapeNodeWith<
dynamics::VisualAspect,
dynamics::CollisionAspect,
dynamics::DynamicsAspect>(newShape);
shapeNode->getVisualAspect()->setColor(math::randomVector<3>(0.0, 1.0));
mWorld->addSkeleton(newSkeleton);
}
//==============================================================================
void MyWindow::spawnEllipsoid(const Eigen::Isometry3d& _T,
const Eigen::Vector3d& _radii,
double _mass)
{
dynamics::SkeletonPtr newSkeleton = dynamics::Skeleton::create();
dynamics::ShapePtr newShape(new dynamics::EllipsoidShape(_radii));
dynamics::BodyNode::Properties bodyProp;
bodyProp.mName = "ellipsoid_link";
bodyProp.mInertia.setMass(_mass);
dynamics::FreeJoint::Properties jointProp;
jointProp.mName = "ellipsoid_joint";
jointProp.mT_ParentBodyToJoint = _T;
auto pair = newSkeleton->createJointAndBodyNodePair<dynamics::FreeJoint>(
nullptr, jointProp, bodyProp);
auto shapeNode = pair.second->createShapeNodeWith<
dynamics::VisualAspect,
dynamics::CollisionAspect,
dynamics::DynamicsAspect>(newShape);
shapeNode->getVisualAspect()->setColor(math::randomVector<3>(0.0, 1.0));
mWorld->addSkeleton(newSkeleton);
}
//==============================================================================
void MyWindow::spawnCylinder(const Eigen::Isometry3d& _T,
double _radius,
double _height,
double _mass)
{
dynamics::SkeletonPtr newSkeleton = dynamics::Skeleton::create();
dynamics::ShapePtr newShape(new dynamics::CylinderShape(_radius, _height));
dynamics::BodyNode::Properties bodyProp;
bodyProp.mName = "cylinder_link";
bodyProp.mInertia.setMass(_mass);
dynamics::FreeJoint::Properties jointProp;
jointProp.mName = "cylinder_joint";
jointProp.mT_ParentBodyToJoint = _T;
auto pair = newSkeleton->createJointAndBodyNodePair<dynamics::FreeJoint>(
nullptr, jointProp, bodyProp);
auto shapeNode = pair.second->createShapeNodeWith<
dynamics::VisualAspect,
dynamics::CollisionAspect,
dynamics::DynamicsAspect>(newShape);
shapeNode->getVisualAspect()->setColor(math::randomVector<3>(0.0, 1.0));
mWorld->addSkeleton(newSkeleton);
}