dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

share/doc/dart/tutorials/tutorial_collisions/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 <dart/gui/osg/osg.hpp>
+
+#include <dart/dart.hpp>
+
+#include <random>
+
+[[maybe_unused]] const double default_shape_density = 1000;  // kg/m^3
+[[maybe_unused]] const double default_shape_height = 0.1;    // m
+[[maybe_unused]] const double default_shape_width = 0.03;    // m
+[[maybe_unused]] const double default_skin_thickness = 1e-3; // m
+
+[[maybe_unused]] const double default_start_height = 0.4; // m
+
+[[maybe_unused]] const double minimum_start_v = 2.5; // m/s
+[[maybe_unused]] const double maximum_start_v = 4.0; // m/s
+[[maybe_unused]] const double default_start_v = 3.5; // m/s
+
+[[maybe_unused]] const double minimum_launch_angle
+    = dart::math::toRadian(30.0); // rad
+[[maybe_unused]] const double maximum_launch_angle
+    = dart::math::toRadian(70.0); // rad
+[[maybe_unused]] const double default_launch_angle
+    = dart::math::toRadian(45.0); // rad
+
+[[maybe_unused]] const double maximum_start_w
+    = 6 * dart::math::constantsd::pi(); // rad/s
+[[maybe_unused]] const double default_start_w
+    = 3 * dart::math::constantsd::pi(); // rad/s
+
+[[maybe_unused]] const double ring_spring_stiffness = 0.5;
+[[maybe_unused]] const double ring_damping_coefficient = 0.05;
+[[maybe_unused]] const double default_damping_coefficient = 0.001;
+
+const double default_ground_width = 2;
+const double default_wall_thickness = 0.1;
+const double default_wall_height = 1;
+[[maybe_unused]] const double default_spawn_range
+    = 0.9 * default_ground_width / 2;
+
+[[maybe_unused]] const double default_restitution = 0.6;
+
+[[maybe_unused]] const double default_vertex_stiffness = 1000.0;
+[[maybe_unused]] const double default_edge_stiffness = 1.0;
+[[maybe_unused]] const double default_soft_damping = 5.0;
+
+using namespace dart::dynamics;
+using namespace dart::simulation;
+using namespace dart::gui;
+using namespace dart::gui::osg;
+
+void setupRing(const SkeletonPtr& /*ring*/)
+{
+  // Set the spring and damping coefficients for the degrees of freedom
+  // Lesson 4a
+
+  // Compute the joint angle needed to form a ring
+  // Lesson 4b
+
+  // Set the BallJoints so that they have the correct rest position angle
+  // Lesson 4b
+
+  // Set the Joints to be in their rest positions
+  // Lesson 4c
+}
+
+class CollisionsEventHandler : public ::osgGA::GUIEventHandler
+{
+public:
+  CollisionsEventHandler(
+      const WorldPtr& world,
+      const SkeletonPtr& ball,
+      const SkeletonPtr& softBody,
+      const SkeletonPtr& hybridBody,
+      const SkeletonPtr& rigidChain,
+      const SkeletonPtr& rigidRing)
+    : mWorld(world),
+      mRandomize(true),
+      mRD(),
+      mMT(mRD()),
+      mDistribution(-1.0, std::nextafter(1.0, 2.0)),
+      mOriginalBall(ball),
+      mOriginalSoftBody(softBody),
+      mOriginalHybridBody(hybridBody),
+      mOriginalRigidChain(rigidChain),
+      mOriginalRigidRing(rigidRing),
+      mSkelCount(0)
+  {
+  }
+
+  bool handle(
+      const ::osgGA::GUIEventAdapter& ea, ::osgGA::GUIActionAdapter&) override
+  {
+    if (ea.getEventType() == ::osgGA::GUIEventAdapter::KEYDOWN) {
+      switch (ea.getKey()) {
+        case '1':
+          addObject(mOriginalBall->cloneSkeleton());
+          return true;
+        case '2':
+          addObject(mOriginalSoftBody->cloneSkeleton());
+          return true;
+        case '3':
+          addObject(mOriginalHybridBody->cloneSkeleton());
+          return true;
+        case '4':
+          addObject(mOriginalRigidChain->cloneSkeleton());
+          return true;
+        case '5':
+          addRing(mOriginalRigidRing->cloneSkeleton());
+          return true;
+        case 'd':
+          if (mWorld->getNumSkeletons() > 2)
+            removeSkeleton(mWorld->getSkeleton(2));
+          std::cout << "Remaining objects: " << mWorld->getNumSkeletons() - 2
+                    << std::endl;
+          return true;
+        case 'r':
+          mRandomize = !mRandomize;
+          std::cout << "Randomization: " << (mRandomize ? "on" : "off")
+                    << std::endl;
+          return true;
+        default:
+          return false;
+      }
+    }
+    return false;
+  }
+
+protected:
+  /// Add an object to the world and toss it at the wall
+  bool addObject(const SkeletonPtr& /*object*/)
+  {
+    // Set the starting position for the object
+    // Lesson 3a
+
+    // Add the object to the world
+    // Lesson 3b
+
+    // Compute collisions
+    // Lesson 3c
+
+    // Refuse to add the object if it is in collision
+    // Lesson 3c
+
+    // Create reference frames for setting the initial velocity
+    // Lesson 3d
+
+    // Set the velocities of the reference frames so that we can easily give the
+    // Skeleton the linear and angular velocities that we want
+    // Lesson 3e
+
+    // Use the reference frames to set the velocity of the Skeleton's root
+    // Lesson 3f
+
+    return true;
+  }
+
+  /// Add a ring to the world, and create a BallJoint constraint to ensure that
+  /// it stays in a ring shape
+  void addRing(const SkeletonPtr& ring)
+  {
+    setupRing(ring);
+
+    if (!addObject(ring))
+      return;
+
+    // Create a closed loop to turn the chain into a ring
+    // Lesson 5
+  }
+
+  /// Remove a Skeleton and get rid of the constraint that was associated with
+  /// it, if one existed
+  void removeSkeleton(const SkeletonPtr& skel)
+  {
+    for (std::size_t i = 0; i < mJointConstraints.size(); ++i) {
+      const dart::constraint::DynamicJointConstraintPtr& constraint
+          = mJointConstraints[i];
+
+      if (constraint->getBodyNode1()->getSkeleton() == skel
+          || constraint->getBodyNode2()->getSkeleton() == skel) {
+        mWorld->getConstraintSolver()->removeConstraint(constraint);
+        mJointConstraints.erase(mJointConstraints.begin() + i);
+        break; // There should only be one constraint per skeleton
+      }
+    }
+
+    mWorld->removeSkeleton(skel);
+  }
+
+  WorldPtr mWorld;
+
+  /// Flag to keep track of whether or not we are randomizing the tosses
+  bool mRandomize;
+
+  // std library objects that allow us to generate high-quality random numbers
+  std::random_device mRD;
+  std::mt19937 mMT;
+  std::uniform_real_distribution<double> mDistribution;
+
+  /// History of the active JointConstraints so that we can properly delete them
+  /// when a Skeleton gets removed
+  std::vector<dart::constraint::DynamicJointConstraintPtr> mJointConstraints;
+
+  /// A blueprint Skeleton that we will use to spawn balls
+  SkeletonPtr mOriginalBall;
+
+  /// A blueprint Skeleton that we will use to spawn soft bodies
+  SkeletonPtr mOriginalSoftBody;
+
+  /// A blueprint Skeleton that we will use to spawn hybrid bodies
+  SkeletonPtr mOriginalHybridBody;
+
+  /// A blueprint Skeleton that we will use to spawn rigid chains
+  SkeletonPtr mOriginalRigidChain;
+
+  /// A blueprint Skeleton that we will use to spawn rigid rings
+  SkeletonPtr mOriginalRigidRing;
+
+  /// Keep track of how many Skeletons we spawn to ensure we can give them all
+  /// unique names
+  std::size_t mSkelCount;
+};
+
+class CustomWorldNode : public RealTimeWorldNode
+{
+public:
+  CustomWorldNode(const WorldPtr& world, CollisionsEventHandler* /*handler*/)
+    : RealTimeWorldNode(world)
+  {
+  }
+};
+
+/// Add a rigid body with the specified Joint type to a chain
+template <class JointType>
+BodyNode* addRigidBody(
+    const SkeletonPtr& /*chain*/,
+    const std::string& /*name*/,
+    Shape::ShapeType /*type*/,
+    BodyNode* /*parent*/ = nullptr)
+{
+  // Set the Joint properties
+  // Lesson 1a
+
+  // Create the Joint and Body pair
+  // Lesson 1b
+  BodyNode* bn = nullptr;
+
+  // Make the shape based on the requested Shape type
+  // Lesson 1c
+
+  // Setup the inertia for the body
+  // Lesson 1d
+
+  // Set the coefficient of restitution to make the body more bouncy
+  // Lesson 1e
+
+  // Set damping to make the simulation more stable
+  // Lesson 1f
+
+  return bn;
+}
+
+enum SoftShapeType
+{
+  SOFT_BOX = 0,
+  SOFT_CYLINDER,
+  SOFT_ELLIPSOID
+};
+
+/// Add a soft body with the specified Joint type to a chain
+template <class JointType>
+BodyNode* addSoftBody(
+    const SkeletonPtr& /*chain*/,
+    const std::string& /*name*/,
+    SoftShapeType /*type*/,
+    BodyNode* /*parent*/ = nullptr)
+{
+  // Set the Joint properties
+  // Lesson 2a
+
+  // Set the properties of the soft body
+  // Lesson 2b
+
+  // Create the Joint and Body pair
+  // Lesson 2c
+  SoftBodyNode* bn = nullptr;
+
+  // Zero out the inertia for the underlying BodyNode
+  // Lesson 2d
+
+  // Make the shape transparent
+  // Lesson 2e
+
+  return bn;
+}
+
+void setAllColors(const SkeletonPtr& object, const Eigen::Vector3d& color)
+{
+  // Set the color of all the shapes in the object
+  object->setColor(color);
+}
+
+SkeletonPtr createBall()
+{
+  SkeletonPtr ball = Skeleton::create("rigid_ball");
+
+  // Give the ball a body
+  addRigidBody<FreeJoint>(ball, "rigid ball", Shape::ELLIPSOID);
+
+  setAllColors(ball, dart::Color::Red());
+
+  return ball;
+}
+
+SkeletonPtr createRigidChain()
+{
+  SkeletonPtr chain = Skeleton::create("rigid_chain");
+
+  // Add bodies to the chain
+  BodyNode* bn = addRigidBody<FreeJoint>(chain, "rigid box 1", Shape::BOX);
+  bn = addRigidBody<BallJoint>(chain, "rigid cyl 2", Shape::CYLINDER, bn);
+  bn = addRigidBody<BallJoint>(chain, "rigid box 3", Shape::BOX, bn);
+
+  setAllColors(chain, dart::Color::Orange());
+
+  return chain;
+}
+
+SkeletonPtr createRigidRing()
+{
+  SkeletonPtr ring = Skeleton::create("rigid_ring");
+
+  // Add bodies to the ring
+  BodyNode* bn = addRigidBody<FreeJoint>(ring, "rigid box 1", Shape::BOX);
+  bn = addRigidBody<BallJoint>(ring, "rigid cyl 2", Shape::CYLINDER, bn);
+  bn = addRigidBody<BallJoint>(ring, "rigid box 3", Shape::BOX, bn);
+  bn = addRigidBody<BallJoint>(ring, "rigid cyl 4", Shape::CYLINDER, bn);
+  bn = addRigidBody<BallJoint>(ring, "rigid box 5", Shape::BOX, bn);
+  bn = addRigidBody<BallJoint>(ring, "rigid cyl 6", Shape::CYLINDER, bn);
+
+  setAllColors(ring, dart::Color::Blue());
+
+  return ring;
+}
+
+SkeletonPtr createSoftBody()
+{
+  SkeletonPtr soft = Skeleton::create("soft");
+
+  // Add a soft body
+  /*BodyNode* bn =*/addSoftBody<FreeJoint>(soft, "soft box", SOFT_BOX);
+
+  // Add a rigid collision geometry and inertia
+  // Lesson 2f
+
+  setAllColors(soft, dart::Color::Fuchsia());
+
+  return soft;
+}
+
+SkeletonPtr createHybridBody()
+{
+  SkeletonPtr hybrid = Skeleton::create("hybrid");
+
+  // Add a soft body
+  /*BodyNode* bn =*/addSoftBody<FreeJoint>(
+      hybrid, "soft sphere", SOFT_ELLIPSOID);
+
+  // Add a rigid body attached by a WeldJoint
+  // Lesson 2g
+
+  setAllColors(hybrid, dart::Color::Green());
+
+  return hybrid;
+}
+
+SkeletonPtr createGround()
+{
+  SkeletonPtr ground = Skeleton::create("ground");
+
+  BodyNode* bn = ground->createJointAndBodyNodePair<WeldJoint>().second;
+
+  std::shared_ptr<BoxShape> shape = std::make_shared<BoxShape>(Eigen::Vector3d(
+      default_ground_width, default_ground_width, default_wall_thickness));
+  auto shapeNode
+      = bn->createShapeNodeWith<VisualAspect, CollisionAspect, DynamicsAspect>(
+          shape);
+  shapeNode->getVisualAspect()->setColor(Eigen::Vector3d(1.0, 1.0, 1.0));
+
+  return ground;
+}
+
+SkeletonPtr createWall()
+{
+  SkeletonPtr wall = Skeleton::create("wall");
+
+  BodyNode* bn = wall->createJointAndBodyNodePair<WeldJoint>().second;
+
+  std::shared_ptr<BoxShape> shape = std::make_shared<BoxShape>(Eigen::Vector3d(
+      default_wall_thickness, default_ground_width, default_wall_height));
+  auto shapeNode
+      = bn->createShapeNodeWith<VisualAspect, CollisionAspect, DynamicsAspect>(
+          shape);
+  shapeNode->getVisualAspect()->setColor(Eigen::Vector3d(0.8, 0.8, 0.8));
+
+  Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());
+  tf.translation() = Eigen::Vector3d(
+      (default_ground_width + default_wall_thickness) / 2.0,
+      0.0,
+      (default_wall_height - default_wall_thickness) / 2.0);
+  bn->getParentJoint()->setTransformFromParentBodyNode(tf);
+
+  shapeNode->getDynamicsAspect()->setRestitutionCoeff(0.2);
+
+  return wall;
+}
+
+int main()
+{
+  WorldPtr world = std::make_shared<World>();
+  world->addSkeleton(createGround());
+  world->addSkeleton(createWall());
+
+  // Create event handler
+  auto handler = new CollisionsEventHandler(
+      world,
+      createBall(),
+      createSoftBody(),
+      createHybridBody(),
+      createRigidChain(),
+      createRigidRing());
+
+  // Create a WorldNode and wrap it around the world
+  ::osg::ref_ptr<CustomWorldNode> node = new CustomWorldNode(world, handler);
+
+  // Create a Viewer and set it up with the WorldNode
+  auto viewer = Viewer();
+  viewer.addWorldNode(node);
+  viewer.addEventHandler(handler);
+
+  // Print instructions
+  viewer.addInstructionText("space bar: simulation on/off\n");
+  viewer.addInstructionText("'1': toss a rigid ball\n");
+  viewer.addInstructionText("'2': toss a soft body\n");
+  viewer.addInstructionText("'3': toss a hybrid soft/rigid body\n");
+  viewer.addInstructionText("'4': toss a rigid chain\n");
+  viewer.addInstructionText("'5': toss a ring of rigid bodies\n");
+  viewer.addInstructionText("'d': delete the oldest object\n");
+  viewer.addInstructionText("'r': toggle randomness\n");
+  viewer.addInstructionText(
+      "\nWarning: Let objects settle before tossing a new one, or the "
+      "simulation could explode.\n");
+  viewer.addInstructionText(
+      "         If the simulation freezes, you may need to force quit the "
+      "application.\n");
+  std::cout << viewer.getInstructions() << std::endl;
+
+  // Set up the window to be 640x480
+  viewer.setUpViewInWindow(0, 0, 640, 480);
+
+  // Adjust the viewpoint of the Viewer
+  viewer.getCameraManipulator()->setHomePosition(
+      ::osg::Vec3(3.0f, 2.0f, 2.0f),
+      ::osg::Vec3(0.0f, 0.0f, 0.0f),
+      ::osg::Vec3(0.0f, 0.0f, 1.0f));
+
+  // We need to re-dirty the CameraManipulator by passing it into the viewer
+  // again, so that the viewer knows to update its HomePosition setting
+  viewer.setCameraManipulator(viewer.getCameraManipulator());
+
+  // Begin running the application loop
+  viewer.run();
+
+  return 0;
+}

share/doc/dart/tutorials/tutorial_collisions_finished/CMakeLists.txt

@@ -0,0 +1,19 @@
+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_tutorial_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/tutorials/tutorial_collisions_finished/README

@@ -0,0 +1,18 @@
+This project is dependent on DART. Please make sure a proper version of DART is 
+installed before building this project.
+
+1. Build Instructions
+
+ * From this directory:
+  $ mkdir build
+  $ cd build
+  $ cmake ..
+  $ make
+
+2. Execute Instructions
+
+ * Launch the executable from the build directory above:
+  $ ./{generated_executable}
+
+ * Follow the instructions detailed in the console.
+