dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

share/doc/dart/examples/simulation_event_handler/SimulationEventHandler.hpp

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+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/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.
+ */
+
+#ifndef EXAMPLES_SIMULATIONEVENTHANDLER_SIMULATIONEVENTHANDLER_HPP_
+#define EXAMPLES_SIMULATIONEVENTHANDLER_SIMULATIONEVENTHANDLER_HPP_
+
+#include <dart/gui/osg/osg.hpp>
+
+#include <dart/dart.hpp>
+
+#include <osgGA/GUIEventHandler>
+
+/// \brief Comprehensive event handler for rigid body physics simulation
+///
+/// This class replaces MyWindow.cpp functionality and provides:
+/// - Force application on rigid bodies
+/// - Keyboard interaction for simulation control
+/// - Arrow visualization for applied forces
+/// - Time stepping logic
+class SimulationEventHandler : public osgGA::GUIEventHandler
+{
+public:
+  /// \brief Constructor
+  /// \param world The physics world to control
+  /// \param viewer The OSG viewer for visualization
+  explicit SimulationEventHandler(
+      dart::simulation::WorldPtr world,
+      dart::gui::osg::Viewer* viewer = nullptr);
+
+  /// \brief Destructor
+  virtual ~SimulationEventHandler() = default;
+
+  /// \brief Handle GUI events (keyboard input, etc.)
+  bool handle(
+      const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter& aa) override;
+
+  /// \brief Update simulation state (called each frame)
+  void update();
+
+  /// \brief Set the time step for the simulation
+  void setTimeStep(double timeStep)
+  {
+    mTimeStep = timeStep;
+  }
+
+  /// \brief Get the current time step
+  double getTimeStep() const
+  {
+    return mTimeStep;
+  }
+
+  /// \brief Enable/disable force visualization arrows
+  void setShowForceArrows(bool show)
+  {
+    mShowForceArrows = show;
+  }
+
+  /// \brief Check if force arrows are shown
+  bool getShowForceArrows() const
+  {
+    return mShowForceArrows;
+  }
+
+  /// \brief Set the magnitude of applied forces
+  void setForceMagnitude(double magnitude)
+  {
+    mForceMagnitude = magnitude;
+  }
+
+  /// \brief Get the force magnitude
+  double getForceMagnitude() const
+  {
+    return mForceMagnitude;
+  }
+
+protected:
+  /// \brief Apply force to the selected rigid body
+  /// \param force The force vector to apply (in world coordinates)
+  void applyForceToSelectedBody(const Eigen::Vector3d& force);
+
+  /// \brief Apply torque to the selected rigid body
+  /// \param torque The torque vector to apply (in world coordinates)
+  void applyTorqueToSelectedBody(const Eigen::Vector3d& torque);
+
+  /// \brief Update force visualization arrows
+  void updateForceArrows();
+
+  /// \brief Create and add force arrow visualization
+  /// \param bodyNode The body node to attach arrow to
+  /// \param force The force vector to visualize
+  void addForceArrow(
+      dart::dynamics::BodyNodePtr bodyNode, const Eigen::Vector3d& force);
+
+  /// \brief Clear all force arrows
+  void clearForceArrows();
+
+  /// \brief Select the next rigid body in the world
+  void selectNextBody();
+
+  /// \brief Select the previous rigid body in the world
+  void selectPreviousBody();
+
+  /// \brief Reset the simulation to initial state
+  void resetSimulation();
+
+  /// \brief Step the simulation forward one time step
+  void stepSimulation();
+
+  /// \brief Toggle simulation play/pause
+  void toggleSimulation();
+
+  /// \brief Print current simulation state
+  void printSimulationState();
+
+  /// \brief Print usage instructions
+  void printInstructions();
+
+  /// \brief Get all rigid bodies (bodies with FreeJoint or similar)
+  std::vector<dart::dynamics::BodyNodePtr> getRigidBodies();
+
+private:
+  /// The physics world
+  dart::simulation::WorldPtr mWorld;
+
+  /// The OSG viewer for visualization
+  dart::gui::osg::Viewer* mViewer;
+
+  /// Currently selected body node for force application
+  dart::dynamics::BodyNodePtr mSelectedBody;
+
+  /// Index of currently selected body
+  std::size_t mSelectedBodyIndex;
+
+  /// List of all rigid bodies in the world
+  std::vector<dart::dynamics::BodyNodePtr> mRigidBodies;
+
+  /// Simulation time step
+  double mTimeStep;
+
+  /// Whether simulation is running
+  bool mSimulationRunning;
+
+  /// Force magnitude for applied forces
+  double mForceMagnitude;
+
+  /// Torque magnitude for applied torques
+  double mTorqueMagnitude;
+
+  /// Whether to show force arrows
+  bool mShowForceArrows;
+
+  /// Current applied forces for visualization
+  std::vector<std::pair<dart::dynamics::BodyNodePtr, Eigen::Vector3d>>
+      mAppliedForces;
+
+  /// Current applied torques for visualization
+  std::vector<std::pair<dart::dynamics::BodyNodePtr, Eigen::Vector3d>>
+      mAppliedTorques;
+
+  /// Arrow visualization nodes
+  std::vector<::osg::ref_ptr<::osg::Group>> mForceArrowNodes;
+
+  /// Arrow visualization nodes for torques
+  std::vector<::osg::ref_ptr<::osg::Group>> mTorqueArrowNodes;
+
+  /// Frame counter for arrow updates
+  std::size_t mFrameCounter;
+
+  /// Arrow update frequency (frames)
+  static constexpr std::size_t ARROW_UPDATE_FREQUENCY = 5;
+
+  /// Default time step
+  static constexpr double DEFAULT_TIME_STEP = 0.001;
+
+  /// Default force magnitude
+  static constexpr double DEFAULT_FORCE_MAGNITUDE = 100.0;
+
+  /// Default torque magnitude
+  static constexpr double DEFAULT_TORQUE_MAGNITUDE = 50.0;
+};
+
+#endif // EXAMPLES_SIMULATIONEVENTHANDLER_SIMULATIONEVENTHANDLER_HPP_

share/doc/dart/examples/simulation_event_handler/main.cpp

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+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/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 "SimulationEventHandler.hpp"
+
+#include <dart/gui/osg/osg.hpp>
+
+#include <dart/utils/utils.hpp>
+
+#include <dart/dart.hpp>
+
+#include <iostream>
+
+using namespace dart::common;
+using namespace dart::dynamics;
+using namespace dart::simulation;
+using namespace dart::gui::osg;
+using namespace dart::utils;
+using namespace dart::math;
+
+/// \brief Create a simple box rigid body
+SkeletonPtr createBox(
+    const std::string& name,
+    const Eigen::Vector3d& position = Eigen::Vector3d::Zero(),
+    const Eigen::Vector3d& size = Eigen::Vector3d(0.5, 0.5, 0.5),
+    const Eigen::Vector3d& color = Eigen::Vector3d(0.7, 0.7, 0.9),
+    double mass = 1.0)
+{
+  SkeletonPtr skeleton = Skeleton::create(name);
+
+  // Create the joint and body pair
+  std::pair<FreeJoint*, BodyNode*> pair
+      = skeleton->createJointAndBodyNodePair<FreeJoint>(nullptr);
+  FreeJoint* joint = pair.first;
+  BodyNode* body = pair.second;
+
+  // Set joint position
+  Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();
+  tf.translation() = position;
+  joint->setTransformFromParentBodyNode(tf);
+
+  // Set body properties
+  body->setName(name + "_body");
+
+  // Create shape
+  ShapePtr boxShape = std::make_shared<BoxShape>(size);
+
+  // Create shape node with visual, collision, and dynamics aspects
+  auto shapeNode = body->createShapeNodeWith<
+      VisualAspect,
+      CollisionAspect,
+      DynamicsAspect>(boxShape);
+
+  shapeNode->getVisualAspect()->setColor(color);
+
+  // Set mass properties
+  dart::dynamics::Inertia inertia;
+  inertia.setMass(mass);
+  inertia.setMoment(boxShape->computeInertia(mass));
+  body->setInertia(inertia);
+
+  return skeleton;
+}
+
+/// \brief Create a simple sphere rigid body
+SkeletonPtr createSphere(
+    const std::string& name,
+    const Eigen::Vector3d& position = Eigen::Vector3d::Zero(),
+    double radius = 0.25,
+    const Eigen::Vector3d& color = Eigen::Vector3d(0.9, 0.7, 0.7),
+    double mass = 1.0)
+{
+  SkeletonPtr skeleton = Skeleton::create(name);
+
+  // Create the joint and body pair
+  std::pair<FreeJoint*, BodyNode*> pair
+      = skeleton->createJointAndBodyNodePair<FreeJoint>(nullptr);
+  FreeJoint* joint = pair.first;
+  BodyNode* body = pair.second;
+
+  // Set joint position
+  Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();
+  tf.translation() = position;
+  joint->setTransformFromParentBodyNode(tf);
+
+  // Set body properties
+  body->setName(name + "_body");
+
+  // Create shape
+  ShapePtr sphereShape = std::make_shared<SphereShape>(radius);
+
+  // Create shape node with visual, collision, and dynamics aspects
+  auto shapeNode = body->createShapeNodeWith<
+      VisualAspect,
+      CollisionAspect,
+      DynamicsAspect>(sphereShape);
+
+  shapeNode->getVisualAspect()->setColor(color);
+
+  // Set mass properties
+  dart::dynamics::Inertia inertia;
+  inertia.setMass(mass);
+  inertia.setMoment(sphereShape->computeInertia(mass));
+  body->setInertia(inertia);
+
+  return skeleton;
+}
+
+/// \brief Create a ground plane
+SkeletonPtr createGround()
+{
+  SkeletonPtr ground = Skeleton::create("ground");
+
+  // Create the ground body with a WeldJoint (fixed to world)
+  std::pair<WeldJoint*, BodyNode*> pair
+      = ground->createJointAndBodyNodePair<WeldJoint>(nullptr);
+  BodyNode* groundBody = pair.second;
+
+  // Set ground position slightly below origin
+  Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();
+  tf.translation() = Eigen::Vector3d(0.0, 0.0, -0.05);
+  pair.first->setTransformFromParentBodyNode(tf);
+
+  groundBody->setName("ground_body");
+
+  // Create large box shape for ground
+  double groundSize = 10.0;
+  double groundHeight = 0.1;
+  ShapePtr groundShape = std::make_shared<BoxShape>(
+      Eigen::Vector3d(groundSize, groundSize, groundHeight));
+
+  // Create shape node
+  auto shapeNode = groundBody->createShapeNodeWith<
+      VisualAspect,
+      CollisionAspect,
+      DynamicsAspect>(groundShape);
+
+  shapeNode->getVisualAspect()->setColor(Eigen::Vector3d(0.3, 0.3, 0.3));
+
+  return ground;
+}
+
+/// \brief Custom world node that calls our event handler's update function
+class CustomWorldNode : public RealTimeWorldNode
+{
+public:
+  CustomWorldNode(const WorldPtr& world, SimulationEventHandler* handler)
+    : RealTimeWorldNode(world), mHandler(handler)
+  {
+  }
+
+  void customPreStep() override
+  {
+    if (mHandler) {
+      mHandler->update();
+    }
+  }
+
+protected:
+  SimulationEventHandler* mHandler;
+};
+
+int main()
+{
+  // Create the physics world
+  WorldPtr world = World::create();
+  world->setGravity(Eigen::Vector3d(0.0, 0.0, -9.81));
+  world->setTimeStep(0.001);
+
+  // Create some rigid bodies for testing
+  auto ground = createGround();
+  world->addSkeleton(ground);
+
+  auto box1 = createBox(
+      "box1",
+      Eigen::Vector3d(-1.0, 0.0, 2.0),
+      Eigen::Vector3d(0.4, 0.4, 0.4),
+      Eigen::Vector3d(0.8, 0.2, 0.2));
+  world->addSkeleton(box1);
+
+  auto box2 = createBox(
+      "box2",
+      Eigen::Vector3d(0.0, 0.0, 3.0),
+      Eigen::Vector3d(0.6, 0.3, 0.3),
+      Eigen::Vector3d(0.2, 0.8, 0.2));
+  world->addSkeleton(box2);
+
+  auto sphere1 = createSphere(
+      "sphere1",
+      Eigen::Vector3d(1.0, 0.0, 2.5),
+      0.3,
+      Eigen::Vector3d(0.2, 0.2, 0.8));
+  world->addSkeleton(sphere1);
+
+  auto box3 = createBox(
+      "box3",
+      Eigen::Vector3d(0.5, 1.0, 2.2),
+      Eigen::Vector3d(0.3, 0.5, 0.4),
+      Eigen::Vector3d(0.9, 0.9, 0.2));
+  world->addSkeleton(box3);
+
+  // Create OSG viewer
+  Viewer viewer;
+
+  // Create the simulation event handler
+  SimulationEventHandler* eventHandler
+      = new SimulationEventHandler(world, &viewer);
+
+  // Create custom world node that will call our event handler's update
+  ::osg::ref_ptr<CustomWorldNode> worldNode
+      = new CustomWorldNode(world, eventHandler);
+
+  // Set up viewer
+  viewer.addWorldNode(worldNode);
+  viewer.addEventHandler(eventHandler);
+
+  // Configure the viewer
+  viewer.setUpViewInWindow(0, 0, 1280, 960);
+  viewer.getCameraManipulator()->setHomePosition(
+      ::osg::Vec3(5.0, 5.0, 3.0),
+      ::osg::Vec3(0.0, 0.0, 1.0),
+      ::osg::Vec3(0.0, 0.0, 1.0));
+  viewer.setCameraManipulator(viewer.getCameraManipulator());
+
+  // Add instructional text
+  viewer.addInstructionText("=== Simulation Event Handler Demo ===\n");
+  viewer.addInstructionText(
+      "This example demonstrates a comprehensive event handler\n");
+  viewer.addInstructionText("that replaces MyWindow.cpp functionality.\n\n");
+  viewer.addInstructionText("Press 'H' or '?' for detailed controls\n");
+  viewer.addInstructionText("Press Space to start/pause simulation\n");
+  viewer.addInstructionText("Use Tab to select different rigid bodies\n");
+  viewer.addInstructionText("Use arrow keys to apply forces\n");
+  viewer.addInstructionText("Use Q/W/E/A/Z/C for torques\n");
+  viewer.addInstructionText("Press 'V' to toggle force visualization\n");
+
+  std::cout << "\n=== Simulation Event Handler Demo ===" << std::endl;
+  std::cout << "World created with " << world->getNumSkeletons()
+            << " skeletons:" << std::endl;
+  for (std::size_t i = 0; i < world->getNumSkeletons(); ++i) {
+    std::cout << "  " << (i + 1) << ". " << world->getSkeleton(i)->getName()
+              << std::endl;
+  }
+  std::cout << "\nPress 'H' for help or start interacting!" << std::endl;
+
+  // Start the application
+  return viewer.run();
+}

share/doc/dart/examples/soft_bodies/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.22.1)
+
+get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
+
+project(${example_name})
+
+set(required_components utils-urdf gui-osg)
+set(required_libraries dart dart-utils-urdf dart-gui-osg)
+
+if(DART_IN_SOURCE_BUILD)
+  dart_build_example_in_source(${example_name} LINK_LIBRARIES ${required_libraries})
+  return()
+endif()
+
+find_package(DART 6.15.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+
+file(GLOB srcs "*.cpp" "*.hpp")
+add_executable(${example_name} ${srcs})
+target_link_libraries(${example_name} PUBLIC ${required_libraries})

share/doc/dart/examples/soft_bodies/README.md

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+This project is dependent on DART. Please make sure a proper version of DART is 
+installed before building this project.
+
+## Build Instructions
+
+From this directory:
+
+    $ mkdir build
+    $ cd build
+    $ cmake ..
+    $ make
+
+## Execute Instructions
+
+Launch the executable from the build directory above:
+
+    $ ./{generated_executable}
+
+Follow the instructions detailed in the console.
+