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 <iostream>
  #include <vector>
  
  #include <dart/dart.hpp>
  #include <dart/io/io.hpp>
  
  #include "MyWindow.hpp"
  
  int main(int argc, char* argv[])
  {
    // create and initialize the world
    dart::simulation::WorldPtr myWorld
        = dart::io::SkelParser::readWorld("dart://sample/skel/fullbody1.skel");
    assert(myWorld != nullptr);
  
    Eigen::Vector3d gravity(0.0, -9.81, 0.0);
    myWorld->setGravity(gravity);
  
    dart::dynamics::SkeletonPtr biped = myWorld->getSkeleton("fullbody1");
  
    biped->getDof("j_pelvis_rot_y")->setPosition(-0.20);
    biped->getDof("j_thigh_left_z")->setPosition(0.15);
    biped->getDof("j_shin_left")->setPosition(-0.40);
    biped->getDof("j_heel_left_1")->setPosition(0.25);
    biped->getDof("j_thigh_right_z")->setPosition(0.15);
    biped->getDof("j_shin_right")->setPosition(-0.40);
    biped->getDof("j_heel_right_1")->setPosition(0.25);
    biped->getDof("j_abdomen_2")->setPosition(0.00);
  
    // create controller
    Controller* myController = new Controller(biped, myWorld->getTimeStep());
  
    // create a window and link it to the world
    MyWindow window;
    window.setWorld(myWorld);
    window.setController(myController);
  
    std::cout << "space bar: simulation on/off" << std::endl;
    std::cout << "'p': playback/stop" << std::endl;
    std::cout << "'[' and ']': play one frame backward and forward" << std::endl;
    std::cout << "'v': visualization on/off" << std::endl;
    std::cout << "'1'--'4': programmed interaction" << std::endl;
  
    glutInit(&argc, argv);
    window.initWindow(640, 480, "Balance");
    glutMainLoop();
  
    return 0;
  }
  