Function main

tutorials/tutorial_multi_pendulum_finished/main.cpp:413–456

}

int main(int argc, char* argv[])
{
  // Create an empty Skeleton with the name "pendulum"
  SkeletonPtr pendulum = Skeleton::create("pendulum");

  // Add each body to the last BodyNode in the pendulum
  BodyNode* bn = makeRootBody(pendulum, "body1");
  bn = addBody(pendulum, bn, "body2");
  bn = addBody(pendulum, bn, "body3");
  bn = addBody(pendulum, bn, "body4");
  bn = addBody(pendulum, bn, "body5");

  // Set the initial position of the first DegreeOfFreedom so that the pendulum
  // starts to swing right away
  pendulum->getDof(1)->setPosition(dart::math::toRadian(120.0));

  // Create a world and add the pendulum to the world
  WorldPtr world = World::create();
  world->addSkeleton(pendulum);

  // Create a window for rendering the world and handling user input
  MyWindow window(world);

  // Print instructions
  std::cout << "space bar: simulation on/off" << std::endl;
  std::cout << "'p': replay simulation" << std::endl;
  std::cout << "'1' -> '9': apply torque to a pendulum body" << std::endl;
  std::cout << "'-': Change sign of applied joint torques" << std::endl;
  std::cout << "'q': Increase joint rest positions" << std::endl;
  std::cout << "'a': Decrease joint rest positions" << std::endl;
  std::cout << "'w': Increase joint spring stiffness" << std::endl;
  std::cout << "'s': Decrease joint spring stiffness" << std::endl;
  std::cout << "'e': Increase joint damping" << std::endl;
  std::cout << "'d': Decrease joint damping" << std::endl;
  std::cout << "'r': add/remove constraint on the end of the chain"
            << std::endl;
  std::cout << "'f': switch between applying joint torques and body forces"
            << std::endl;

  // Initialize glut, initialize the window, and begin the glut event loop
  glutInit(&argc, argv);
  window.initWindow(640, 480, "Multi-Pendulum Tutorial");
  glutMainLoop();
}