text: /*
   * Copyright (c) 2011-2021, 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/dart.hpp>
  
  using namespace dart::dynamics;
  
  int main()
  {
    dart::simulation::WorldPtr world(new dart::simulation::World);
  
    Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());
  
    tf.translation() = Eigen::Vector3d(4, -4, 0);
    dart::gui::osg::InteractiveFramePtr frame(
        new dart::gui::osg::InteractiveFrame(
            Frame::World(), "interactive frame", tf, 2.0));
    world->addSimpleFrame(frame);
  
    tf.translation() = Eigen::Vector3d(-4, 4, 0);
    SimpleFramePtr draggable(new SimpleFrame(frame.get(), "draggable", tf));
    draggable->setShape(std::make_shared<BoxShape>(Eigen::Vector3d(1, 1, 1)));
    draggable->getVisualAspect(true)->setColor(Eigen::Vector3d(0.9, 0.0, 0.0));
    world->addSimpleFrame(draggable);
  
    tf.translation() = Eigen::Vector3d(8.0, 0.0, 0.0);
    SimpleFramePtr x_marker(new SimpleFrame(Frame::World(), "X", tf));
    std::shared_ptr<BoxShape> x_shape(
        new BoxShape(Eigen::Vector3d(0.2, 0.2, 0.2)));
    x_marker->setShape(x_shape);
    x_marker->getVisualAspect(true)->setColor(Eigen::Vector3d(0.9, 0.0, 0.0));
    world->addSimpleFrame(x_marker);
  
    tf.translation() = Eigen::Vector3d(0.0, 8.0, 0.0);
    SimpleFramePtr y_marker(new SimpleFrame(Frame::World(), "Y", tf));
    std::shared_ptr<BoxShape> y_shape(
        new BoxShape(Eigen::Vector3d(0.2, 0.2, 0.2)));
    y_marker->setShape(y_shape);
    y_marker->getVisualAspect(true)->setColor(Eigen::Vector3d(0.0, 0.9, 0.0));
    world->addSimpleFrame(y_marker);
  
    tf.translation() = Eigen::Vector3d(0.0, 0.0, 8.0);
    SimpleFramePtr z_marker(new SimpleFrame(Frame::World(), "Z", tf));
    std::shared_ptr<BoxShape> z_shape(
        new BoxShape(Eigen::Vector3d(0.2, 0.2, 0.2)));
    z_marker->setShape(z_shape);
    z_marker->getVisualAspect(true)->setColor(Eigen::Vector3d(0.0, 0.0, 0.9));
    world->addSimpleFrame(z_marker);
  
    ::osg::ref_ptr<dart::gui::osg::WorldNode> node
        = new dart::gui::osg::WorldNode(world);
  
    dart::gui::osg::Viewer viewer;
    viewer.addWorldNode(node);
    viewer.enableDragAndDrop(frame.get());
    viewer.enableDragAndDrop(draggable.get());
  
    viewer.addInstructionText("\nCtrl + Left-click: Rotate the box\n");
    std::cout << viewer.getInstructions() << std::endl;
  
    viewer.setUpViewInWindow(0, 0, 640, 480);
  
    viewer.getCameraManipulator()->setHomePosition(
        ::osg::Vec3(20.0, 17.0, 17.0),
        ::osg::Vec3(0.0, 0.0, 0.0),
        ::osg::Vec3(0, 0, 1));
    viewer.setCameraManipulator(viewer.getCameraManipulator());
  
    viewer.run();
  }
  