#include <MyWindow.hpp>

Inheritance diagram for MyWindow:

Collaboration diagram for MyWindow:

Public Member Functions
void	drawWorld () const override

void	keyboard (unsigned char _key, int _x, int _y) override

void	spawnCube (const Eigen::Vector3d &_position=Eigen::Vector3d(0.0, 1.0, 0.0), const Eigen::Vector3d &_size=Eigen::Vector3d(0.1, 0.1, 0.1), double _mass=0.1)

	MyWindow (Controller *_controller)
	Constructor.

virtual	~MyWindow ()
	Destructor.

void	timeStepping () override

void	drawSkels () override

void	keyboard (unsigned char _key, int _x, int _y) override

void	timeStepping () override

void	drawWorld () const override

void	keyboard (unsigned char _key, int _x, int _y) override

void	setController (Controller *_controller)

	MyWindow (dart::dynamics::SkeletonPtr _skel)
	The constructor - set the position of the skeleton.

void	draw () override
	Draw the skeleton.

void	keyboard (unsigned char _key, int _x, int _y) override
	Move the joints with the {1,2,3} keys and '-' to change direction.

	MyWindow (const WorldPtr &world)

void	keyboard (unsigned char key, int x, int y) override

void	drawWorld () const override

void	timeStepping () override

void	timeStepping () override

void	drawWorld () const override

void	keyboard (unsigned char _key, int _x, int _y) override

void	timeStepping () override

void	drawSkels () override

void	keyboard (unsigned char key, int x, int y) override

void	setController (Controller *_controller)

void	timeStepping () override

void	keyboard (unsigned char key, int x, int y) override

void	drawWorld () const override

	MyWindow (Controller *_controller)
	Default constructor.

virtual	~MyWindow ()
	Destructor.

void	timeStepping () override

void	drawWorld () const override

void	keyboard (unsigned char _key, int _x, int _y) override

void	timeStepping () override

void	timeStepping () override

void	drawWorld () const override

void	keyboard (unsigned char _key, int _x, int _y) override

void	timeStepping () override

	MyWindow ()
	Constructor.

virtual	~MyWindow ()
	Destructor.

void	timeStepping () override

void	keyboard (unsigned char key, int x, int y) override

void	drawWorld () const override

void	spawnBox (const Eigen::Isometry3d &_T, const Eigen::Vector3d &_size=Eigen::Vector3d(0.1, 0.1, 0.1), double _mass=10)
	Spawn a box into the world.

void	spawnEllipsoid (const Eigen::Isometry3d &_T, const Eigen::Vector3d &_radii=Eigen::Vector3d(0.1, 0.1, 0.1), double _mass=10)
	Spawn a ellipsoid into the world.

void	spawnCylinder (const Eigen::Isometry3d &_T, double _radius=0.05, double _height=0.10, double _mass=10)
	Spawn a cylinder into the world.

void	timeStepping () override

void	keyboard (unsigned char key, int x, int y) override

void	drawWorld () const override

void	timeStepping () override

void	drawWorld () const override

void	keyboard (unsigned char _key, int _x, int _y) override

	MyWindow (const WorldPtr &world)
	Constructor.

void	keyboard (unsigned char key, int x, int y) override
	Handle keyboard input.

void	timeStepping () override

	MyWindow (const WorldPtr &world)
	Constructor.

void	keyboard (unsigned char key, int x, int y) override
	Handle keyboard input.

void	timeStepping () override

	MyWindow (const WorldPtr &world, const SkeletonPtr &ball, const SkeletonPtr &softBody, const SkeletonPtr &hybridBody, const SkeletonPtr &rigidChain, const SkeletonPtr &rigidRing)

void	keyboard (unsigned char key, int x, int y) override

void	drawWorld () const override

void	displayTimer (int _val) override

	MyWindow (const WorldPtr &world, const SkeletonPtr &ball, const SkeletonPtr &softBody, const SkeletonPtr &hybridBody, const SkeletonPtr &rigidChain, const SkeletonPtr &rigidRing)

void	keyboard (unsigned char key, int x, int y) override

void	drawWorld () const override

void	displayTimer (int _val) override

	MyWindow (const WorldPtr &world)

void	attemptToCreateDomino (double)

void	deleteLastDomino ()

void	keyboard (unsigned char key, int x, int y) override

void	timeStepping () override

	MyWindow (const WorldPtr &world)

void	attemptToCreateDomino (double angle)

void	deleteLastDomino ()

void	keyboard (unsigned char key, int x, int y) override

void	timeStepping () override

	MyWindow (WorldPtr world)
	Constructor.

void	changeDirection ()

void	applyForce (std::size_t index)

void	changeRestPosition (double)

void	changeStiffness (double)

void	changeDamping (double)

void	addConstraint ()
	Add a constraint to attach the final link to the world.

void	removeConstraint ()
	Remove any existing constraint, allowing the pendulum to flail freely.

void	keyboard (unsigned char key, int x, int y) override
	Handle keyboard input.

void	timeStepping () override

	MyWindow (WorldPtr world)
	Constructor.

void	changeDirection ()

void	applyForce (std::size_t index)

void	changeRestPosition (double delta)

void	changeStiffness (double delta)

void	changeDamping (double delta)

void	addConstraint ()
	Add a constraint to attach the final link to the world.

void	removeConstraint ()
	Remove any existing constraint, allowing the pendulum to flail freely.

void	keyboard (unsigned char key, int x, int y) override
	Handle keyboard input.

void	timeStepping () override

Public Member Functions inherited from dart::gui::glut::SimWindow
virtual void	drawSkeletons () const

virtual void	drawEntities ()

void	setWorld (dart::simulation::WorldPtr _world)

void	saveWorld ()
	Save world in 'tempWorld.txt'.

void	plot (Eigen::VectorXd &_data)
	Plot _data in a 2D window.

Public Member Functions inherited from dart::gui::glut::Win3D
void	initWindow (int _w, int _h, const char *_name) override

void	resize (int _w, int _h) override

void	render () override

void	click (int _button, int _state, int _x, int _y) override

void	drag (int _x, int _y) override

virtual void	initGL ()

virtual void	initLights ()

Public Attributes
dart::dynamics::SkeletonPtr	skel
	Hardcoded skeleton.

int	ts

HumanArmJointLimitConstraintPtr	constraint_larm

HumanArmJointLimitConstraintPtr	constraint_rarm

HumanLegJointLimitConstraintPtr	constraint_lleg

HumanLegJointLimitConstraintPtr	constraint_rleg

Protected Member Functions
bool	addObject (const SkeletonPtr &)
	Add an object to the world and toss it at the wall.

void	addRing (const SkeletonPtr &ring)
	Add a ring to the world, and create a BallJoint constraint to ensure that it stays in a ring shape.

void	removeSkeleton (const SkeletonPtr &skel)
	Remove a Skeleton and get rid of the constraint that was associated with it, if one existed.

bool	addObject (const SkeletonPtr &object)
	Add an object to the world and toss it at the wall.

void	addRing (const SkeletonPtr &ring)
	Add a ring to the world, and create a BallJoint constraint to ensure that it stays in a ring shape.

void	removeSkeleton (const SkeletonPtr &skel)
	Remove a Skeleton and get rid of the constraint that was associated with it, if one existed.

Protected Member Functions inherited from dart::gui::glut::SimWindow
virtual void	drawSkeleton (const dynamics::Skeleton *skeleton, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true) const

virtual void	drawEntity (const dynamics::Entity *entity, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true) const

virtual void	drawBodyNode (const dynamics::BodyNode *bodyNode, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true, bool recursive=false) const

virtual void	drawShapeFrame (const dynamics::ShapeFrame *shapeFrame, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true) const

virtual void	drawShape (const dynamics::Shape *shape, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5)) const

virtual void	drawPointMasses (const std::vector< dynamics::PointMass *> pointMasses, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true) const

virtual void	drawMarker (const dynamics::Marker *marker, const Eigen::Vector4d &color=Eigen::Vector4d::Constant(0.5), bool useDefaultColor=true) const

Protected Member Functions inherited from dart::gui::glut::Window
virtual void	specKey (int _key, int _x, int _y)

virtual void	move (int _x, int _y)

virtual void	simTimer (int _val)

virtual bool	screenshot ()

Protected Attributes
std::unique_ptr< Controller >	mController

int	mForceCountDown
	Number of iterations before clearing a force entry. More...

bool	mPositiveSign
	Whether a force should be applied in the positive or negative direction.

bool	mRandomize
	Flag to keep track of whether or not we are randomizing the tosses.

std::random_device	mRD

std::mt19937	mMT

std::uniform_real_distribution< double >	mDistribution

std::vector< dart::dynamics::JointConstraintPtr >	mJointConstraints
	History of the active JointConstraints so that we can properly delete them when a Skeleton gets removed.

SkeletonPtr	mOriginalBall
	A blueprint Skeleton that we will use to spawn balls.

SkeletonPtr	mOriginalSoftBody
	A blueprint Skeleton that we will use to spawn soft bodies.

SkeletonPtr	mOriginalHybridBody
	A blueprint Skeleton that we will use to spawn hybrid bodies.

SkeletonPtr	mOriginalRigidChain
	A blueprint Skeleton that we will use to spawn rigid chains.

SkeletonPtr	mOriginalRigidRing
	A blueprint Skeleton that we will use to spawn rigid rings.

std::size_t	mSkelCount
	Keep track of how many Skeletons we spawn to ensure we can give them all unique names.

SkeletonPtr	mFirstDomino
	Base domino. Used to clone new dominoes.

SkeletonPtr	mFloor
	Floor of the scene.

std::vector< SkeletonPtr >	mDominoes
	History of the dominoes that have been created.

std::vector< double >	mAngles
	History of the angles that the user has specified.

double	mTotalAngle
	Sum of all angles so far.

bool	mHasEverRun
	Set to true the first time spacebar is pressed.

int	mPushCountDown
	The manipulator will attempt to push on the first domino while the value of this is greater than zero.

std::shared_ptr< ArrowShape >	mArrow
	An arrow shape that we will use to visualize applied forces.

SkeletonPtr	mPendulum
	The pendulum that we will be perturbing.

dart::dynamics::BallJointConstraint *	mBallConstraint
	Pointer to the ball constraint that we will be turning on and off.

std::vector< int >	mForceCountDown
	Number of iterations before clearing a force entry.

bool	mBodyForce
	True if 1-9 should be used to apply a body force. More...

dart::dynamics::BallJointConstraintPtr	mBallConstraint
	Pointer to the ball constraint that we will be turning on and off.

Protected Attributes inherited from dart::gui::glut::SimWindow
simulation::WorldPtr	mWorld

int	mPlayFrame

bool	mPlay

bool	mSimulating

bool	mShowPointMasses
	If true, render point masses of soft bodies.

bool	mShowMarkers
	If true, render markers.

std::vector< GraphWindow * >	mGraphWindows
	Array of graph windows.

Protected Attributes inherited from dart::gui::glut::Win3D
Trackball	mTrackBall

Eigen::Vector3d	mTrans

Eigen::Vector3d	mEye

Eigen::Vector3d	mUp

float	mZoom

float	mPersp

bool	mRotate

bool	mTranslate

bool	mZooming

Protected Attributes inherited from dart::gui::glut::Window
int	mWinWidth

int	mWinHeight

int	mMouseX

int	mMouseY

double	mDisplayTimeout

bool	mMouseDown

bool	mMouseDrag

bool	mCapture

double	mBackground [4]

gui::RenderInterface *	mRI

std::vector< unsigned char >	mScreenshotTemp

std::vector< unsigned char >	mScreenshotTemp2

Protected Attributes inherited from dart::gui::glut::SoftSimWindow
bool	mShowPointMasses

bool	mShowMeshs

Additional Inherited Members
Static Public Member Functions inherited from dart::gui::glut::Window
static void	reshape (int _w, int _h)

static void	keyEvent (unsigned char _key, int _x, int _y)

static void	specKeyEvent (int _key, int _x, int _y)

static void	mouseClick (int _button, int _state, int _x, int _y)

static void	mouseDrag (int _x, int _y)

static void	mouseMove (int _x, int _y)

static void	refresh ()

static void	refreshTimer (int _val)

static void	runTimer (int _val)

static Window *	current ()

Static Public Attributes inherited from dart::gui::glut::Window
static std::vector< Window * >	mWindows

static std::vector< int >	mWinIDs

Detailed Description

class MyWindow

MyWindow.

Member Data Documentation

◆ mBodyForce

bool MyWindow::mBodyForce

protected

True if 1-9 should be used to apply a body force.

Otherwise, 1-9 will be used to apply a joint torque.

◆ mForceCountDown

std::vector< int > MyWindow::mForceCountDown

protected

Number of iterations before clearing a force entry.

The first domino will be pushed by a disembodied force while the value of this is greater than zero.

The documentation for this class was generated from the following files:

examples/deprecated_examples/glut_add_delete_skels/MyWindow.hpp
examples/deprecated_examples/glut_human_joint_limits/humanJointLimits.cpp
tutorials/tutorial_biped/main.cpp
examples/deprecated_examples/glut_add_delete_skels/MyWindow.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Data Documentation

◆ mBodyForce

◆ mForceCountDown