/*
 * Copyright (c) 2011-2022, The DART development contributors
 * All rights reserved.
 *
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 *   https://github.com/dartsim/dart/blob/master/LICENSE
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 *   without modification, are permitted provided that the following
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 *     notice, this list of conditions and the following disclaimer.
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 *     disclaimer in the documentation and/or other materials provided
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#include <dart/dart.hpp>
#include <dart/gui/osg/osg.hpp>
#include <dart/utils/urdf/urdf.hpp>
#include <dart/utils/utils.hpp>

#include "AtlasSimbiconEventHandler.hpp"
#include "AtlasSimbiconWidget.hpp"
#include "AtlasSimbiconWorldNode.hpp"

int main()
{
  // Create a world
  dart::simulation::WorldPtr world(new dart::simulation::World);

  // Load ground and Atlas robot and add them to the world
  dart::utils::DartLoader urdfLoader;
  auto ground = urdfLoader.parseSkeleton("dart://sample/sdf/atlas/ground.urdf");
  auto atlas = dart::utils::SdfParser::readSkeleton(
      "dart://sample/sdf/atlas/atlas_v3_no_head.sdf");
  world->addSkeleton(ground);
  world->addSkeleton(atlas);

  // Set initial configuration for Atlas robot
  atlas->setPosition(0, -0.5 * dart::math::constantsd::pi());

  // Set gravity of the world
  world->setGravity(Eigen::Vector3d(0.0, -9.81, 0.0));

  // Wrap a WorldNode around it
  osg::ref_ptr<AtlasSimbiconWorldNode> node
      = new AtlasSimbiconWorldNode(world, atlas);

  // Create a Viewer and set it up with the WorldNode
  osg::ref_ptr<dart::gui::osg::ImGuiViewer> viewer
      = new dart::gui::osg::ImGuiViewer();
  viewer->addWorldNode(node);

  // Enable shadow
  node->showShadow();

  // Add control widget for atlas
  viewer->getImGuiHandler()->addWidget(
      std::make_shared<AtlasSimbiconWidget>(viewer, node));

  // Pass in the custom event handler
  viewer->addEventHandler(new AtlasSimbiconEventHandler(node));

  // Set the dimensions for the window
  viewer->setUpViewInWindow(0, 0, 1280, 960);

  // Set the window name
  viewer->realize();
  osgViewer::Viewer::Windows windows;
  viewer->getWindows(windows);
  windows.front()->setWindowName("Atlas Simbicon");

  // Adjust the viewpoint of the Viewer
  viewer->getCameraManipulator()->setHomePosition(
      ::osg::Vec3d(5.14, 3.28, 6.28) * 2.0,
      ::osg::Vec3d(1.00, 0.00, 0.00),
      ::osg::Vec3d(0.00, 0.1, 0.00));
  // 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();
}
