int main(int argc, char *argv[])
{
(void)argc;
(void)argv;
struct aa_rx_win * win =
aa_rx_win_default_create ( "Sync Test", SCREEN_WIDTH, SCREEN_HEIGHT );
struct aa_rx_sg *sg0 = aa_rx_dl_sg__scenegraph (NULL);
aa_rx_sg_init(sg0); /* initialize scene graph internal structures */
aa_rx_win_sg_gl_init(win, sg0); /* Initialize scene graph GL-rendering objects */
aa_rx_win_set_sg(win, sg0); /* Set the scenegraph for the window */
// start display
aa_rx_win_start(win);
int n_thread = 10;
pthread_t thread[n_thread];
for( size_t i = 0; i < n_thread; i ++ ) {
pthread_create( thread + i, NULL, fun, win );
}
for( size_t i = 0; i < n_thread; i ++ ) {
pthread_join(thread[i], NULL );
}
// Cleanup
aa_rx_win_join(win);
aa_rx_win_destroy(win);
SDL_Quit();
return 0;
}
int main(int argc, char *argv[])
{
(void)argc;
(void)argv;
struct aa_rx_win * win =
aa_rx_win_default_create ( "UR10 Demo", SCREEN_WIDTH, SCREEN_HEIGHT );
printf("OpenGL Version: %s\n", glGetString(GL_VERSION));
// Initialize scene graph
struct aa_rx_sg *scenegraph = aa_rx_dl_sg__ur(NULL);
aa_rx_sg_init(scenegraph); /* initialize scene graph internal structures */
aa_rx_win_set_sg(win, scenegraph); /* Set the scenegraph for the window */
// start display
aa_rx_win_start(win);
// Cleanup
aa_rx_win_join(win);
aa_rx_sg_destroy(scenegraph);
aa_rx_win_destroy(win);
SDL_Quit();
return 0;
}
int main(int argc, char *argv[])
{
(void)argc; (void)argv;
// Enable collision checking
aa_rx_cl_init();
// Initialize scene graph
struct aa_rx_sg *scenegraph = aa_rx_dl_sg__scenegraph(NULL);
aa_rx_sg_init(scenegraph);
aa_rx_sg_cl_init(scenegraph);
// setup window
struct aa_rx_win * win = baxter_demo_setup_window(scenegraph);
struct aa_gl_globals *globals = aa_rx_win_gl_globals(win);
aa_gl_globals_set_show_visual(globals, 0);
aa_gl_globals_set_show_collision(globals, 1);
struct display_cx cx = {0};
cx.win = win;
cx.scenegraph = scenegraph;
cx.i_q = aa_rx_sg_config_id(scenegraph, "left_s0");
cx.cl = aa_rx_cl_create( scenegraph );
{
aa_rx_frame_id n = aa_rx_sg_frame_count(scenegraph);
aa_rx_frame_id m = aa_rx_sg_config_count(scenegraph);
double q[m];
AA_MEM_ZERO(q,m);
double TF_rel[7*n];
double TF_abs[7*n];
aa_rx_sg_tf(scenegraph, m, q,
n,
TF_rel, 7,
TF_abs, 7 );
struct aa_rx_cl_set *allowed = aa_rx_cl_set_create( scenegraph );
int col = aa_rx_cl_check( cx.cl, n, TF_abs, 7, allowed );
aa_rx_cl_allow_set( cx.cl, allowed );
aa_rx_cl_set_destroy( allowed );
}
aa_rx_win_set_display( win, display, &cx );
aa_rx_win_display_loop(win);
// Cleanup
aa_rx_cl_destroy( cx.cl );
aa_rx_sg_destroy(scenegraph);
aa_rx_win_destroy(win);
SDL_Quit();
return 0;
}
void Init(void)
{
scenegraph = aa_rx_sg_create();
// box
{
aa_rx_sg_add_frame_fixed( scenegraph,
"", "box",
aa_tf_quat_ident, aa_tf_vec_ident );
struct aa_rx_geom_opt *box_opt = aa_rx_geom_opt_create();
aa_rx_geom_opt_set_color3( box_opt, 1, 0, 0);
aa_rx_geom_opt_set_specular3( box_opt, .3, .3, .3);
double d[3] = {.1, .1, .1};
aa_rx_geom_attach( scenegraph, "box", aa_rx_geom_box(box_opt, d) );
aa_rx_geom_opt_destroy(box_opt);
}
// cylinder
{
aa_rx_sg_add_frame_fixed( scenegraph,
"", "cylinder",
aa_tf_quat_ident, aa_tf_vec_ident );
struct aa_rx_geom_opt *opt = aa_rx_geom_opt_create();
aa_rx_geom_opt_set_color3( opt, 0, 0, 1);
aa_rx_geom_opt_set_specular3( opt, .3, .3, .3);
aa_rx_geom_attach( scenegraph, "cylinder",
aa_rx_geom_cylinder(opt, .2, .1) );
aa_rx_geom_opt_destroy(opt);
}
// grid
{
aa_rx_sg_add_frame_fixed( scenegraph,
"", "grid",
aa_tf_quat_ident, aa_tf_vec_ident );
struct aa_rx_geom_opt *grid_opt = aa_rx_geom_opt_create();
aa_rx_geom_opt_set_color3( grid_opt, .5, .5, .5);
double dim[2] = {1,1};
double delta[2] = {.05, .05};
aa_rx_geom_attach( scenegraph, "grid",
aa_rx_geom_grid(grid_opt, dim, delta, 2.5e-3) );
aa_rx_geom_opt_destroy(grid_opt);
}
aa_rx_sg_init(scenegraph);
aa_rx_sg_gl_init(scenegraph);
}
static void* fun( void *arg )
{
fprintf(stderr, "+ worker thread starting\n");
struct aa_rx_win * win = (struct aa_rx_win * ) arg;
struct aa_rx_sg *sg0 = aa_rx_dl_sg__scenegraph (NULL);
for( size_t i = 0; i < 102400; i ++ ) {
struct aa_rx_sg *sg1 = aa_rx_dl_sg__scenegraph(NULL);
aa_rx_sg_init(sg1); /* initialize scene graph internal structures */
aa_rx_win_sg_gl_init(win, sg1); /* Initialize scene graph GL-rendering objects */
aa_rx_win_set_sg(win, sg1);
aa_rx_sg_destroy(sg0);
sg0 = sg1;
}
fprintf(stderr, "- worker thread finished\n");
}
int main(int argc, char *argv[])
{
int visual = 1;
int collision = 0;
/* Parse Options */
{
int c;
opterr = 0;
while( (c = getopt( argc, argv, "?c")) != -1 ) {
switch(c) {
case 'c':
visual = 0;
collision = 1;
break;
case '?':
puts("Usage: COMMAND [OPTIONS] \n"
"Viewer for Amino scene graphs"
"\n"
"Options:\n"
" -c view collision geometry\n"
"\n"
"\n"
"Report bugs to " PACKAGE_BUGREPORT "\n" );
exit(EXIT_SUCCESS);
break;
}
}
}
/* Initialize scene graph */
struct aa_rx_sg *scenegraph = NAME( NULL);
assert(scenegraph);
aa_rx_sg_init(scenegraph); /* initialize scene graph internal structures */
/* Center configurations */
size_t m = aa_rx_sg_config_count(scenegraph);
double q[m];
for(size_t i = 0; i < m; i ++ ) {
double min=0,max=0;
aa_rx_sg_get_limit_pos(scenegraph,(aa_rx_config_id)i,&min,&max);
q[i] = (max + min)/2;
}
/* setup window */
struct aa_rx_win * win =
aa_rx_win_default_create ( "Amino: AARX-View", SCREEN_WIDTH, SCREEN_HEIGHT );
aa_rx_win_set_sg(win, scenegraph); /* Set the scenegraph for the window */
aa_rx_win_set_config(win, m, q);
struct aa_gl_globals *globals = aa_rx_win_gl_globals(win);
aa_gl_globals_set_show_visual(globals, visual);
aa_gl_globals_set_show_collision(globals, collision);
/* start display */
aa_rx_win_start(win);
/* Cleanup */
aa_rx_win_join(win);
aa_rx_sg_destroy(scenegraph);
aa_rx_win_destroy(win);
SDL_Quit();
return 0;
}
int main(int argc, char *argv[])
{
const char *name="scenegraph";
const char *plugin=NULL;
const char *end_effector=NULL;
int visual = 1;
int collision = 0;
int print_config = 0;
int print_frame = 0;
/* Parse Options */
{
int c;
opterr = 0;
while( (c = getopt( argc, argv, "n:e:?cQF")) != -1 ) {
switch(c) {
case 'n':
name = optarg;
break;
case 'c':
visual = 0;
collision = 1;
break;
case 'e':
end_effector = optarg;
break;
case 'Q':
print_config = 1;
break;
case 'F':
print_frame = 1;
break;
case '?':
puts("Usage: aarx-view [OPTIONS] PLUGIN_NAME\n"
"Viewer for Amino scene graphs"
"\n"
"Options:\n"
" -n NAME scene graph name (default: scenegraph)\n"
" -e NAME name of an end-effector to control\n"
" -Q Print configuration names and exit\n"
" -F Print frame names and exit\n"
" -c view collision geometry\n"
"\n"
"\n"
"Report bugs to " PACKAGE_BUGREPORT "\n" );
exit(EXIT_SUCCESS);
break;
default:
plugin=optarg;
}
}
while( optind < argc ) {
plugin = argv[optind++];
}
}
if( NULL == plugin ) {
fprintf(stderr,
"ERROR: scene graph plugin not specified. "
"See `aarx-view -?` for options\n");
exit(EXIT_FAILURE);
}
/* Initialize scene graph */
struct aa_rx_sg *scenegraph = aa_rx_dl_sg(plugin, name, NULL);
assert(scenegraph);
aa_rx_sg_init(scenegraph); /* initialize scene graph internal structures */
/* print things */
if( print_config || print_frame ) {
if( print_config ) {
for( aa_rx_config_id i = 0; i < aa_rx_sg_config_count(scenegraph); i ++ ) {
printf("config[%d]: %s\n", i, aa_rx_sg_config_name(scenegraph, i));
}
}
if( print_frame ) {
for( aa_rx_frame_id i = 0; i < aa_rx_sg_frame_count(scenegraph); i ++ ) {
printf("frame[%d]: %s\n", i, aa_rx_sg_frame_name(scenegraph, i));
}
}
exit(EXIT_SUCCESS);
}
/* Center configurations */
size_t m = aa_rx_sg_config_count(scenegraph);
double q[m];
for(size_t i = 0; i < m; i ++ ) {
double min=0,max=0;
aa_rx_sg_get_limit_pos(scenegraph,(aa_rx_config_id)i,&min,&max);
q[i] = (max + min)/2;
}
/* setup window */
struct aa_rx_win * win =
aa_rx_win_default_create ( "Amino: AARX-View", SCREEN_WIDTH, SCREEN_HEIGHT );
/* Set the scenegraph for the window */
struct aa_rx_sg_sub *sub = NULL;
if( end_effector ) {
aa_rx_frame_id id = aa_rx_sg_frame_id(scenegraph, end_effector);
if( AA_RX_FRAME_NONE == id ) {
fprintf(stderr, "Could not find frame `%s'\n", end_effector);
exit(EXIT_FAILURE);
}
sub = aa_rx_sg_chain_create( scenegraph, AA_RX_FRAME_ROOT, id);
aa_rx_win_set_sg_sub(win, sub);
} else {
aa_rx_win_set_sg(win, scenegraph);
}
aa_rx_win_set_config(win, m, q);
struct aa_gl_globals *globals = aa_rx_win_gl_globals(win);
aa_gl_globals_set_show_visual(globals, visual);
aa_gl_globals_set_show_collision(globals, collision);
/* start display */
aa_rx_win_run();
/* Cleanup */
aa_rx_sg_destroy(scenegraph);
aa_rx_win_destroy(win);
SDL_Quit();
return 0;
}
static struct aa_rx_sg *
create_sg(void)
{
// Initialize scene graph
struct aa_rx_sg * scenegraph = aa_rx_sg_create();
// Add a Box
{
static const double q[4] = {0.0, 0.0, 0.0, 1.0};
static const double v[3] = {0.0, 0.0, 0.05};
aa_rx_sg_add_frame_fixed(scenegraph, "", "boxframe", q, v);
struct aa_rx_geom_opt * opt = aa_rx_geom_opt_create();
aa_rx_geom_opt_set_color3(opt, 1.0, 0.0, 0.0);
aa_rx_geom_opt_set_specular3(opt, 0.3, 0.3, 0.3);
aa_rx_geom_opt_set_visual(opt, 1);
aa_rx_geom_opt_set_collision(opt, 1);
static const double dimension[3] = {0.1, 0.1, 0.1};
struct aa_rx_geom *geom = aa_rx_geom_box(opt, dimension);
aa_rx_geom_attach(scenegraph, "boxframe", geom);
aa_rx_geom_opt_destroy(opt);
}
// Add a Mesh
{
double v[3] = {0,0,-1e-3};
aa_rx_sg_add_frame_fixed(scenegraph, "", "mesh", aa_tf_quat_ident, v);
struct aa_rx_mesh * mesh = aa_rx_mesh_create();
#define F .5
static const float vertices[4*3] = { -F,-F,0,
-F,F,0,
F,-F,0,
F,F,0 };
static const float normals[4*3] = { 0,0,1,
0,0,1,
0,0,1,
0,0,1 };
static const unsigned indices [3*2] = {0, 1, 2,
3,1,2};
aa_rx_mesh_set_vertices(mesh, 4, vertices, 0);
aa_rx_mesh_set_normals(mesh, 4, normals, 0);
aa_rx_mesh_set_indices(mesh, 2, indices, 0);
struct aa_rx_geom * geom;
struct aa_rx_geom_opt * opt = aa_rx_geom_opt_create();
double d = .5;
aa_rx_geom_opt_set_color3(opt, d*.91, d*.96, d*.88);
aa_rx_geom_opt_set_alpha(opt, 1.0);
aa_rx_geom_opt_set_visual(opt, 1);
aa_rx_geom_opt_set_collision(opt, 0);
aa_rx_geom_opt_set_no_shadow(opt, 0);
aa_rx_mesh_set_texture(mesh, opt);
(geom) = (aa_rx_geom_mesh(opt, mesh));
aa_rx_geom_attach(scenegraph, "mesh", geom);
aa_rx_geom_opt_destroy(opt);
}
assert(scenegraph);
aa_rx_sg_init(scenegraph); /* initialize scene graph internal structures */
return scenegraph;
}
