bool URE::init(Path& pathToGlobalConfigFile)
{
resetEngine();
Log::getInstance()<<INFO_LOG_LEVEL<<"initializing URE ...\n";
Log::getInstance()<<DEBUG_LOG_LEVEL<<"The Config Path is"<< pathToGlobalConfigFile.string() <<"\n";
mConfig = new Config();
mLoader= new Loader();
mLoader->loadGlobalConfig(*mConfig,pathToGlobalConfigFile);
#ifdef FLEWNIT_USE_GLFW
mWindowManager = new GLFWWindowManager();
#else
# ifdef FLEWNIT_USE_XCB
assert(0 && "Sorry, XCB Windowmanager not implemented");
# else
# ifdef FLEWNIT_USE_SDL
assert(0 && "Sorry, SDL Windowmanager not implemented");
# else
assert(0 && "You have to specifiy window manager with cmake!");
# endif
# endif
#endif
mInputManager = new InputManager();
mFPSCounter = new FPSCounter();
mParallelComputeManager = new ParallelComputeManager();
mSimulationResourceManager = new SimulationResourceManager();
mCLProgramManager = new CLProgramManager(
ConfigCaster::cast<bool>( mConfig->root().get("generalSettings",0).
get("useCacheUsingOpenCLImplementation",0) )
);
if(mConfig->root().childExists("generalSettings",0))
{
mDoValidateSimulationStepResults = ConfigCaster::cast<bool>
(mConfig->root().get("generalSettings",0).get("doValidateSimulationStepResults",0) );
mDoProfileAndOptimizeSettings = ConfigCaster::cast<bool>
(mConfig->root().get("generalSettings",0).get("doProfileAndOptimizeSettings",0) );
mDoProfilePerformance = ConfigCaster::cast<bool>
(mConfig->root().get("generalSettings",0).get("doProfilePerformance",0) );
mDoDebugDraw = ConfigCaster::cast<bool>
(mConfig->root().get("generalSettings",0).get("doDebugDraw",0) );
}
if(mConfig->root().childExists("simulators",0))
{
ConfigStructNode& simulatorsConfigNode = mConfig->root().get("simulators",0);
//BOOST_FOREACH( ConfigMap::value_type & singleSimulatorConfigNode, simulatorsConfigNode.getChildren() )
for(unsigned int i = 0 ; i < simulatorsConfigNode.get("Simulator").size() ;i++)
{
mSimulators.push_back(
SimulatorInterface::create(
simulatorsConfigNode.get("Simulator")[i]
)
);
// assert("no double definition of a simulator allowed" && singleSimulatorConfigNode.second.size()== 1 );
// mSimulators[singleSimulatorConfigNode.first] =
// SimulatorInterface::create(singleSimulatorConfigNode.second[0]);
}
}
else
{
assert("no simulators defined in config" && 0);
}
//DEBUG:
getSimulator(VISUAL_SIM_DOMAIN)->toLightingSimulator()->testStuff();
//load the scene before the pipeline are initialized so that the pipelines have some
//world objects/materials/geometry to grab for shader/kernel generation
mLoader->loadScene();
BOOST_FOREACH(SimulatorInterface* simulator, mSimulators)
{
simulator->initPipeLine();
}
BOOST_FOREACH(SimulatorInterface* simulator, mSimulators)
{
simulator->validatePipeLine();
}
// BOOST_FOREACH( SimulatorMap::value_type & simPair, mSimulators)
// {
// simPair.second -> initPipeLine();
// }
//
// BOOST_FOREACH( SimulatorMap::value_type & simPair, mSimulators)
// {
// simPair.second -> validatePipeLine();
// }
mCLProgramManager->getInstance().buildProgramsAndCreateKernels();
#if (FLEWNIT_TRACK_MEMORY || FLEWNIT_DO_PROFILING)
Profiler::getInstance().updateMemoryTrackingInfo();
#endif
Log::getInstance()<<INFO_LOG_LEVEL<<"initializing done!\n";
//hack
mCorrectlyInitializedGuard = true;
return mCorrectlyInitializedGuard;
}
Environment *SimulatorResult::getEnvironment() {
return getSimulator()->getEnvironment();
}
Visualizer *SimulatorResult::getVisualizer() {
return getSimulator()->getDisplay();
}
void MyApplication::createScene()
{
setUpdateMode(SimulationEngine::SIMULATE_REAL_TIME_MULTIPLE, 1);
//// Set to capture frames at 29.97 fps.
//engine.setUpdateMode(SIMULATE_CONSTANT_CHUNK, 0.0333667);
// Use feet for this simulation.
getSimulator()->setGravity(opal::Vec3r(0, -30, 0));
getSimulator()->setStepSize(gPhysicsStepSize);
// Make sure we get notified at the end of each step.
getSimulator()->addPostStepEventHandler(&gPostStepEventHandler);
Ogre::OverlayManager::getSingleton().getByName("Verve/Debug")->hide();
Ogre::OverlayManager::getSingleton().getByName("Core/DebugOverlay")->hide();
// Setup camera.
getCamera()->setPosition(opal::Point3r(0, 25, 25));
getCamera()->lookAt(opal::Point3r(0, (opal::real)0.1, 0));
setCameraMoveSpeed(1);
// Main static arena.
opal::Blueprint arenaBlueprint;
opal::loadFile(arenaBlueprint, "../data/blueprints/arena1.xml");
opal::BlueprintInstance arenaBPInstance;
getSimulator()->instantiateBlueprint(arenaBPInstance,
arenaBlueprint, opal::Matrix44r(), 1);
createPhysicalEntity("staticEnvironment", "Plastic/Gray",
arenaBPInstance.getSolid("staticEnvironment"));
createPhysicalEntity("toy1", "Plastic/Green",
arenaBPInstance.getSolid("toy1"));
createPhysicalEntity("toy2", "Plastic/Green",
arenaBPInstance.getSolid("toy2"));
createPhysicalEntity("toy3", "Plastic/Green",
arenaBPInstance.getSolid("toy3"));
// Seesaw.
opal::Blueprint seesawBP;
opal::loadFile(seesawBP, "../data/blueprints/seesaw.xml");
opal::BlueprintInstance seesawBPInstance;
opal::Matrix44r seesawTransform;
seesawTransform.translate(8, 0, 0);
getSimulator()->instantiateBlueprint(seesawBPInstance,
seesawBP, seesawTransform, 1);
createPhysicalEntity("seesawSupport", "Plastic/Black",
seesawBPInstance.getSolid("seesawSupport"));
createPhysicalEntity("seesawPanel", "Plastic/Orange",
seesawBPInstance.getSolid("seesawPanel"));
// Add an initial torque to bring one end of the seesaw to the
// ground.
seesawBPInstance.getJoint("seesawHinge")->addTorque(0, 100, 0, true);
// Merry-go-round.
createPhysicalEntity("merryGoRound", "Plastic/Yellow",
arenaBPInstance.getSolid("merryGoRound"));
// Curtains.
opal::Blueprint curtainsBP;
opal::loadFile(curtainsBP, "../data/blueprints/blockCurtain.xml");
opal::BlueprintInstance curtainsBPInstance;
opal::Matrix44r curtainsTransform;
curtainsTransform.rotate(45, 0, 1, 0);
curtainsTransform.translate(-10, 0, 0);
getSimulator()->instantiateBlueprint(curtainsBPInstance,
curtainsBP, curtainsTransform, 1);
createPhysicalEntity("curtainBase", "Plastic/Red",
curtainsBPInstance.getSolid("curtainBase"));
createPhysicalEntity("curtainPiece0", "Plastic/Black",
curtainsBPInstance.getSolid("curtainPiece0"));
createPhysicalEntity("curtainPiece1", "Plastic/Black",
curtainsBPInstance.getSolid("curtainPiece1"));
createPhysicalEntity("curtainPiece2", "Plastic/Black",
curtainsBPInstance.getSolid("curtainPiece2"));
createPhysicalEntity("curtainPiece3", "Plastic/Black",
curtainsBPInstance.getSolid("curtainPiece3"));
createPhysicalEntity("curtainPiece4", "Plastic/Black",
curtainsBPInstance.getSolid("curtainPiece4"));
createPhysicalEntity("curtainPiece5", "Plastic/Black",
curtainsBPInstance.getSolid("curtainPiece5"));
//// Ragdoll.
//opal::Blueprint ragdollBP;
//opal::loadFile(ragdollBP, "../data/blueprints/ragdoll.xml");
//opal::BlueprintInstance ragdollBPInstance;
//opal::Matrix44r ragdollTransform;
//ragdollTransform.translate(10, 5, 0);
//getSimulator()->instantiateBlueprint(ragdollBPInstance,
// ragdollBP, ragdollTransform, 2);
//for (unsigned int i = 0; i < ragdollBPInstance.getNumSolids(); ++i)
//{
// opal::Solid* s = ragdollBPInstance.getSolid(i);
// createPhysicalEntity(s->getName(), "Plastic/Red", s);
//}
//// TESTING: Simple goal box.
//opal::Solid* boxSolid = getSimulator()->createSolid();
//boxSolid->setStatic(false);
//boxSolid->setSleepiness(0);
//boxSolid->setPosition(15.5, 10, -7);
//opal::BoxShapeData data;
//data.dimensions.set(1.5, 1.5, 1.5);
//data.material.friction = 0.1;
//data.material.density = 0.5;
//boxSolid->addShape(data);
//createPhysicalEntity("goal box", "Plastic/Green", boxSolid);
//// TESTING: Make a volume sensor to detect the goal.
//opal::VolumeSensorData goalSensorData;
//goalSensorData.solid = gRobot->getChassis();
//goalSensorData.transform.makeTranslation(0, 0, -2);
//gGoalSensor = getSimulator()->createVolumeSensor();
//gGoalSensor->init(goalSensorData);
//gGoalSensorVolume = getSimulator()->createSolid();
//gGoalSensorVolume->setStatic(true);
////opal::Matrix44r m = gRobot->getChassis()->getTransform();
////m.translate(0, 0, -2);
//opal::Matrix44r m;
//m.translate(0, 100, 0);
//gGoalSensorVolume->setTransform(m);
//opal::BoxShapeData sensorVolumeShape;
//sensorVolumeShape.dimensions.set(2, 1, 2);
////getSimulator()->setupContactGroup(5, false);
////sensorVolumeShape.contactGroup = 5;
//sensorVolumeShape.material.density = 0.01;
//gGoalSensorVolume->addShape(sensorVolumeShape);
////createPhysicalEntityBox("goal sensor", "Translucent/Blue", boxDim,
//// gGoalSensorVolume);
//opal::JointData fixedJointData;
//fixedJointData.setType(opal::FIXED_JOINT);
//fixedJointData.solid0 = gRobot->getChassis();
//fixedJointData.solid1 = gGoalSensorVolume;
//opal::Joint* fixedJoint = getSimulator()->createJoint();
//fixedJoint->init(fixedJointData);
}
