void Entity_ungroupSelected(){
if ( GlobalSelectionSystem().countSelected() < 1 ) {
return;
}
UndoableCommand undo( "ungroupSelectedEntities" );
scene::Path world_path( makeReference( GlobalSceneGraph().root() ) );
world_path.push( makeReference( Map_FindOrInsertWorldspawn( g_map ) ) );
scene::Instance &instance = GlobalSelectionSystem().ultimateSelected();
scene::Path path = instance.path();
if ( !Node_isEntity( path.top() ) ) {
path.pop();
}
if ( Node_getEntity( path.top() ) != 0
&& node_is_group( path.top() ) ) {
if ( world_path.top().get_pointer() != path.top().get_pointer() ) {
parentBrushes( path.top(), world_path.top() );
Path_deleteTop( path );
}
}
}
void Entity_ungroupSelected()
{
UndoableCommand undo("ungroupSelectedEntities");
scene::Path world_path(makeReference(GlobalSceneGraph().root()));
world_path.push(makeReference(Map_FindOrInsertWorldspawn(g_map)));
GlobalSelectionSystem().foreachSelected(EntityUngroupVisitor(world_path));
}
void Entity_groupSelected(){
if ( GlobalSelectionSystem().countSelected() < 1 ) {
return;
}
UndoableCommand undo( "groupSelectedEntities" );
scene::Path world_path( makeReference( GlobalSceneGraph().root() ) );
world_path.push( makeReference( Map_FindOrInsertWorldspawn( g_map ) ) );
EntityFindSelected fse;
GlobalSceneGraph().traverse( fse );
if ( fse.groupPath ) {
GlobalSceneGraph().traverse( EntityGroupSelected( *fse.groupPath ) );
}
else
{
GlobalSceneGraph().traverse( EntityGroupSelected( world_path ) );
}
}
int
main(int ac, char* av[])
{
std::string sim_dir("");
std::string desc_path("description.txt");
std::string chain_path("chain.txt");
std::string sim_path("sim.txt");
std::string result_dir("results/");
std::string world_path("world.txt");
std::string result_path("results");
time_t nowt = time(0);
std::string now = boost::lexical_cast<std::string>(nowt);
std::string txt_end(".txt");
result_path = result_path + now + txt_end;
struct sim_settings sets = _DEFAULT_SETS;
boost::program_options::variables_map vm;
if (!parse_options(ac, av, vm, sets))
{
return 1;
}
/* Check to make sure the simulation directory and all of its components
* exist
*/
if ( (sets.sim_dir.length() == 0)
|| (! boost::filesystem::is_directory(sets.sim_dir)))
{
std::cerr << "The simululation directory ('"
<< sets.sim_dir
<< "') specified by --dir must exist!" << std::endl;
return 1;
}
/* Make sure the directory path ends with a path delimeter */
if (! (sets.sim_dir.at(sets.sim_dir.length()-1) == DELIMITER))
{
sets.sim_dir.push_back(DELIMITER);
}
sets.desc_path = sets.sim_dir + sets.desc_path;
sets.chain_path = sets.sim_dir + sets.chain_path;
sets.sim_path = sets.sim_dir + sets.sim_path;
sets.result_dir = sets.sim_dir + sets.result_dir;
sets.result_path = sets.result_dir + result_path;
sets.world_path = sets.sim_dir + world_path;
if (! boost::filesystem::is_regular_file(sets.desc_path))
{
std::cerr << "The description file does not exist. ("
<< sets.desc_path
<< ")" << std::endl;
return 1;
}
if (! boost::filesystem::is_regular_file(sets.chain_path))
{
std::cerr << "The chain file does not exist. ( " <<
sets.chain_path << ")" << std::endl;
return 1;
}
if (! boost::filesystem::is_regular_file(sets.sim_path))
{
std::cerr << "The simulation file does not exist. ( " <<
sets.sim_path << ")" << std::endl;
return 1;
}
/* Verify and (if needed) create the result directory */
if (! boost::filesystem::is_directory(sets.result_dir))
{
std::cerr << "The result directory doesn't exist yet...creating...";
try
{
boost::filesystem::create_directory(sets.result_dir);
std::cerr << "Last char is: "
<< sets.sim_dir.at(sets.sim_dir.length()-1) << std::endl;
}
catch (std::exception& e)
{
std::cerr << "Error: " << e.what() << std::endl;
return 1;
}
catch (...)
{
std::cerr << "Unknown error occured while creating directory" << std::endl;
return 1;
}
std::cout << "Success!" << std::endl;
}
/* If we're using collisions, make sure the world.txt file exists in
* the simulation directory.
*/
if (sets.collisions && (! boost::filesystem::is_regular_file(sets.world_path)))
{
std::cerr << "You asked to use collisions and the world file ("
<< sets.world_path << ") does not exist." << std::endl;
return 1;
}
Json::Value result_root;
boost::shared_ptr<ckbot::CK_ompl> rate_machine_p;
rate_machine_p = load_ckbot_rate_machine(sets, result_root);
if (!rate_machine_p) {
std::cerr << "Error loading the rate machine. Exiting." << std::endl;
return 1;
}
report_setup(&sets);
boost::shared_ptr<oc::SimpleSetup> ss_p;
ss_p = load_and_run_simulation(rate_machine_p, std::cout, sets, result_root);
if (!ss_p)
{
std::cerr << "Error loading simulation...exiting." << std::endl;
return 1;
}
/* Write the results to file in Json format */
std::ofstream result_file;
result_file.open((char*)sets.result_path.c_str());
result_file << result_root;
result_file.close();
return 0;
}
