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MyWindow.cpp
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MyWindow.cpp
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/*
* Copyright (c) 2014-2016, 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 "apps/softBodies/MyWindow.h"
#define FORCE_ON_RIGIDBODY 25.0;
#define FORCE_ON_VERTEX 1.00;
MyWindow::MyWindow()
: SoftSimWindow()
{
mForceOnRigidBody = Eigen::Vector3d::Zero();
mForceOnVertex = Eigen::Vector3d::Zero();
mImpulseDuration = 0.0;
}
MyWindow::~MyWindow()
{
}
void MyWindow::timeStepping()
{
dart::dynamics::SkeletonPtr Skeleton = mWorld->getSkeleton(1);
dart::dynamics::SoftBodyNode* softBodyNode = Skeleton->getSoftBodyNode(0);
softBodyNode->addExtForce(mForceOnRigidBody);
mWorld->step();
// for perturbation test
mImpulseDuration--;
if (mImpulseDuration <= 0)
{
mImpulseDuration = 0;
mForceOnRigidBody.setZero();
}
mForceOnVertex /= 2.0;
}
void MyWindow::drawWorld() const
{
glEnable(GL_LIGHTING);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
Eigen::Vector4d color;
color << 0.5, 0.8, 0.6, 1.0;
drawSkeleton(mWorld->getSkeleton(0).get(), color, false);
// draw arrow
if (mImpulseDuration > 0)
{
dart::dynamics::SkeletonPtr Skeleton =
static_cast<dart::dynamics::SkeletonPtr>(mWorld->getSkeleton(1));
dart::dynamics::SoftBodyNode* softBodyNode = Skeleton->getSoftBodyNode(0);
softBodyNode->addExtForce(mForceOnRigidBody);
Eigen::Vector3d poa
= softBodyNode->getTransform() * Eigen::Vector3d(0.0, 0.0, 0.0);
Eigen::Vector3d start = poa - mForceOnRigidBody / 25.0;
double len = mForceOnRigidBody.norm() / 25.0;
dart::gui::drawArrow3D(start, mForceOnRigidBody, len, 0.025, 0.05);
}
SimWindow::drawWorld();
}
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 'n':
mShowPointMasses = !mShowPointMasses;
break;
case 'm':
mShowMeshs = !mShowMeshs;
break;
case '1': // upper right force
mForceOnRigidBody[0] = -FORCE_ON_RIGIDBODY;
mImpulseDuration = 100;
break;
case '2': // upper right force
mForceOnRigidBody[0] = FORCE_ON_RIGIDBODY;
mImpulseDuration = 100;
break;
case '3': // upper right force
mForceOnRigidBody[1] = -FORCE_ON_RIGIDBODY;
mImpulseDuration = 100;
break;
case '4': // upper right force
mForceOnRigidBody[1] = FORCE_ON_RIGIDBODY;
mImpulseDuration = 100;
break;
case '5': // upper right force
mForceOnRigidBody[2] = -FORCE_ON_RIGIDBODY;
mImpulseDuration = 100;
break;
case '6': // upper right force
mForceOnRigidBody[2] = FORCE_ON_RIGIDBODY;
mImpulseDuration = 100;
break;
default:
Win3D::keyboard(key, x, y);
}
glutPostRedisplay();
}