int main(int argc, char **argv) {
try {
// Pick an "unusual" port since we are going to be talking to ourselves, not a broker.
std::string url = argc > 1 ? argv[1] : "127.0.0.1:8888/examples";
hello_world_direct hwd(url);
proton::container(hwd).run();
return 0;
} catch (const std::exception& e) {
std::cerr << e.what() << std::endl;
}
return 1;
}
int main(int argc, char* argv[])
{
Mat<float> hwd((float)4,3,1);
BoxShape box( NULL, hwd);
Mat<float> pointsB1[8];
for(int i=8;i--;) pointsB1[i] = Mat<float>(0.0f,3,1);
//register the position of the 8 points composing b1:
Mat<float> min1((float)0,3,1);
Mat<float> max1((float)0,3,1);
min1.set( -box.getHeight()/2.0f, 1,1);
min1.set( -box.getWidth()/2.0f, 2,1);
min1.set( -box.getDepth()/2.0f, 3,1);
max1.set( -min1.get(1,1), 1,1);
max1.set( -min1.get(2,1), 2,1);
max1.set( -min1.get(3,1), 3,1);
int col = 0;
for(int pm1=2;pm1--;)
{
for(int pm2=2;pm2--;)
{
for(int pm3=2;pm3--;)
{
pointsB1[col].set( pm1*( min1.get(1,1) ) + (1-pm1)*( max1.get(1,1) ), 1,1);
pointsB1[col].set( pm2*( min1.get(2,1) ) + (1-pm2)*( max1.get(2,1) ), 2,1);
pointsB1[col].set( pm3*( min1.get(3,1) ) + (1-pm3)*( max1.get(3,1) ), 3,1);
col++;
}
}
}
for(int i=8;i--;) pointsB1[i].afficher();
return 0;
}
void EtatEngine::init()
{
//let's create the Elements that we need.
Mat<float> hwd(500.0f,3,1);
Mat<float> t((float)0,3,1);
ConstraintsList cl;
//--------------------------------
//create the elements :
//map : ground :
//ground :
t.set( -hwd.get(3,1)/2,3,1);
env->addElement( env->fabriques->fabriquer(ELFObstacle, std::string("ground"), new se3(t), hwd ) );
//
//sa position est bien à l'origine..
//resetting :
t *= 0.0f;
hwd = Mat<float>(1.0f,3,1);
//--------------------------------
//Gunvarrel :
float offset = 30.0f;
hwd *= 10.0f;
hwd.set(20.0f,3,1);
t.set( hwd.get(2,1)/2+1.0f, 3,1);
t.set( hwd.get(1,1),1,1);
se3 obs_se3(t);
t.set( 0.0f,1,1);
t.set( hwd.get(3,1)/2, 3,1);
float roll = +PI/2-0.1f;
float pitch = 0.0f;
float yaw = 0.0f;
Quat q = Euler2Qt(roll,pitch,yaw);
//Quat q;
//q.x = sin(-PI/4);
//q.w = cos(-PI/4);
//std::cout << " Quat : " << q.x << " : " << q.y << " : " << q.z << " : " << q.w << std::endl;
//Qt2Euler(q, &roll, &pitch, &yaw);
//std::cout << " Quat2Euler results : " << roll << " : " << pitch << " : " << yaw << std::endl;
obs_se3.setOrientation( q );
env->addElement( new ElementMobile(std::string("OBS"), new se3(obs_se3), hwd) );
t.set( t.get(3,1)+2.0f+offset, 3,1);
env->addElement( new ElementMobile(std::string("picBAS"), new se3(t), hwd) );
t.set( t.get(3,1)+hwd.get(3,1)+2.0f, 3,1);
t.set( t.get(2,1)+0.0f, 2,1);
env->addElement( new ElementMobile(std::string("picHAUT"), new se3(t), hwd) );
//constraints :
Mat<float> AnchorAL(0.0f,3,1);
AnchorAL.set( hwd.get(3,1)/2+1.0f, 3,1);
//Mat<float> HJAxis(0.0f,3,1);
//HJAxis.set( 1.0f, 1,1);
Mat<float> AnchorBL(0.0f,3,1);
AnchorBL.set( -hwd.get(3,1)/2-1.0f, 3,1);
cl.insert( cl.end(), ConstraintInfo(std::string("picBAS"),std::string("picHAUT"), CTBallAndSocketJoint, operatorL(AnchorAL,AnchorBL) ) );
//resetting :
t = Mat<float>(0.0f,3,1);
hwd = Mat<float>(10.0f,3,1);
hwd.set( 20.0f, 3,1);
//--------------------------------
t.set(50.0f,2,1);
//HEAD :
float headZ = 150.0f;
t.set( headZ, 3,1);
env->addElement( new ElementMobile(std::string("Gunvarrel-HEAD"), new se3(t), hwd) );
//--------------------------------
//CHEST_HIGH :
roll = +PI/2-0.001f;
pitch = 0.0f;
yaw = 0.0f;
q = Euler2Qt(roll,pitch,yaw);
t.set( t.get(3,1)-hwd.get(3,1)/2-hwd.get(2,1)/2-2.0f, 3,1);
se3 poseCHESTHIGH(t);
poseCHESTHIGH.setOrientation( q );
env->addElement( new ElementMobile(std::string("Gunvarrel-CHEST_HIGH"), new se3(poseCHESTHIGH), hwd) );
//--------------------------------
//Constraint : HEAD - CHEST_HIGH:
AnchorAL = Mat<float>(0.0f,3,1);
AnchorAL.set( -hwd.get(3,1)/2-1.0f, 3,1);
AnchorBL = Mat<float>(0.0f,3,1);
AnchorBL.set( -hwd.get(2,1)/2-1.0f, 2,1);
cl.insert( cl.end(), ConstraintInfo(std::string("Gunvarrel-HEAD"),std::string("Gunvarrel-CHEST_HIGH"), CTBallAndSocketJoint, operatorL(AnchorAL,AnchorBL) ) );
//CHEST_LOW :
t.set( t.get(3,1)-hwd.get(3,1)/2-hwd.get(2,1)/2-2.0f, 3,1);
env->addElement( new ElementMobile(std::string("Gunvarrel-CHEST_LOW"), new se3(t), hwd) );
//--------------------------------
//Constraint : CHEST_HIGH - CHEST_LOW:
AnchorAL = Mat<float>(0.0f,3,1);
AnchorAL.set( hwd.get(2,1)/2+1.0f, 2,1);
AnchorBL = Mat<float>(0.0f,3,1);
AnchorBL.set( hwd.get(3,1)/2+1.0f, 3,1);
cl.insert( cl.end(), ConstraintInfo(std::string("Gunvarrel-CHEST_HIGH"),std::string("Gunvarrel-CHEST_LOW"), CTBallAndSocketJoint, operatorL(AnchorAL,AnchorBL) ) );
//BASSIN :
t.set( t.get(3,1)-hwd.get(3,1)/2-hwd.get(2,1)/2-6.0f, 3,1);
se3 poseBASSIN(t);
poseBASSIN.setOrientation( q );
env->addElement( new ElementMobile(std::string("Gunvarrel-BASSIN"), new se3(poseBASSIN), hwd) );
//--------------------------------
//Constraint : CHEST_LOW - BASSIN:
AnchorAL = Mat<float>(0.0f,3,1);
AnchorAL.set( -hwd.get(3,1)/2-0.0f, 3,1);
AnchorAL.afficher();
AnchorBL = Mat<float>(0.0f,3,1);
AnchorBL.set( -hwd.get(2,1)/2-6.0f, 2,1);
cl.insert( cl.end(), ConstraintInfo(std::string("Gunvarrel-CHEST_LOW"),std::string("Gunvarrel-BASSIN"), CTBallAndSocketJoint, operatorL(AnchorAL,AnchorBL) ) );
//LEGR_HIGH :
t.set( t.get(3,1)-hwd.get(3,1)/2-hwd.get(2,1)/2-6.0f, 3,1);
t.set( t.get(2,1)-hwd.get(3,1)/2+hwd.get(2,1)/2-2.0f, 2,1);
env->addElement( new ElementMobile(std::string("Gunvarrel-LEGR_HIGH"), new se3(t), hwd) );
//--------------------------------
//Constraint : BASSIN - LEGR_HIGH:
AnchorAL = Mat<float>(0.0f,3,1);
AnchorAL.set( hwd.get(2,1)/2+0.0f, 2,1);
AnchorAL.set( -hwd.get(3,1)/2+hwd.get(2,1)/2-2.0f, 3,1);
//the rotation of the bassin has put y in z and z in -y. Thus the right is pointing in the direction of -z.
AnchorBL = Mat<float>(0.0f,3,1);
AnchorBL.set( hwd.get(3,1)/2+6.0f, 3,1);
cl.insert( cl.end(), ConstraintInfo(std::string("Gunvarrel-BASSIN"),std::string("Gunvarrel-LEGR_HIGH"), CTBallAndSocketJoint, operatorL(AnchorAL,AnchorBL) ) );
//LEGL_HIGH :
//t.set( t.get(3,1)-hwd.get(3,1)/2-hwd.get(2,1)/2-2.0f, 3,1);
t.set( t.get(2,1)+hwd.get(3,1)-hwd.get(2,1)+4.0f, 2,1);
env->addElement( new ElementMobile(std::string("Gunvarrel-LEGL_HIGH"), new se3(t), hwd) );
//--------------------------------
//Constraint : BASSIN - LEGL_HIGH:
AnchorAL = Mat<float>(0.0f,3,1);
AnchorAL.set( hwd.get(2,1)/2+0.0f, 2,1);
AnchorAL.set( hwd.get(3,1)/2-hwd.get(2,1)/2+2.0f, 3,1);
//the rotation of the bassin has put y in z and z in -y. Thus the right is pointing in the direction of -z.
AnchorBL = Mat<float>(0.0f,3,1);
AnchorBL.set( hwd.get(3,1)/2+6.0f, 3,1);
cl.insert( cl.end(), ConstraintInfo(std::string("Gunvarrel-BASSIN"),std::string("Gunvarrel-LEGL_HIGH"), CTBallAndSocketJoint, operatorL(AnchorAL,AnchorBL) ) );
//LEGL_LOW :
t.set( t.get(3,1)-hwd.get(3,1)-8.0f, 3,1);
env->addElement( new ElementMobile(std::string("Gunvarrel-LEGL_LOW"), new se3(t), hwd) );
//--------------------------------
//Constraint : LEGL_HIGH - LEGL_LOW:
AnchorAL = Mat<float>(0.0f,3,1);
AnchorAL.set( -hwd.get(3,1)/2-4.0f, 3,1);
AnchorAL.afficher();
//the rotation of the bassin has put y in z and z in -y. Thus the right is pointing in the direction of -z.
//AnchorBL = Mat<float>(0.0f,3,1);
//AnchorBL.set( hwd.get(3,1)/2+4.0f, 3,1);
Mat<float> HingeAxisAL(0.0f,3,1);
HingeAxisAL.set(1.0f,2,1);
cl.insert( cl.end(), ConstraintInfo(std::string("Gunvarrel-LEGL_HIGH"),std::string("Gunvarrel-LEGL_LOW"), CTHingeJoint, operatorL(HingeAxisAL,AnchorAL) ) );
//cl.insert( cl.end(), ConstraintInfo(std::string("Gunvarrel-LEGL_HIGH"),std::string("Gunvarrel-LEGL_LOW"), CTBallAndSocketJoint, operatorL(AnchorAL,AnchorBL) ) );
//LEGR_LOW :
//t.set( t.get(3,1)-hwd.get(3,1)/2-8.0f, 3,1);
t.set( t.get(2,1)-hwd.get(3,1)+hwd.get(2,1)-4.0f, 2,1);
env->addElement( new ElementMobile(std::string("Gunvarrel-LEGR_LOW"), new se3(t), hwd) );
//--------------------------------
//Constraint : LEGR_HIGH - LEGR_LOW:
AnchorAL = Mat<float>(0.0f,3,1);
AnchorAL.set( -hwd.get(3,1)/2-4.0f, 3,1);
//the rotation of the bassin has put y in z and z in -y. Thus the right is pointing in the direction of -z.
AnchorBL = Mat<float>(0.0f,3,1);
AnchorBL.set( hwd.get(3,1)/2+4.0f, 3,1);
HingeAxisAL = Mat<float>(0.0f,3,1);
HingeAxisAL.set(-1.0f,2,1);
//cl.insert( cl.end(), ConstraintInfo(std::string("Gunvarrel-LEGR_HIGH"),std::string("Gunvarrel-LEGR_LOW"), CTHingeJoint, operatorL(HingeAxisAL,AnchorAL) ) );
cl.insert( cl.end(), ConstraintInfo(std::string("Gunvarrel-LEGR_HIGH"),std::string("Gunvarrel-LEGR_LOW"), CTBallAndSocketJoint, operatorL(AnchorAL,AnchorBL) ) );
//FOOTR :
roll = 0.0f;
pitch = PI/2-0.001f;
yaw = 0.0f;
q = Euler2Qt(roll,pitch,yaw);
t.set( t.get(3,1)-hwd.get(3,1)/2-hwd.get(2,1)/2-4.0f, 3,1);
t.set( t.get(1,1)+hwd.get(3,1)/4, 1,1);
se3 poseFOOT(t);
poseFOOT.setOrientation( q );
env->addElement( new ElementMobile(std::string("Gunvarrel-FOOTR"), new se3(poseFOOT), hwd) );
//--------------------------------
//Constraint : FOOTR - LEGR_LOW:
AnchorAL = Mat<float>(0.0f,3,1);
AnchorAL.set( -hwd.get(3,1)/2-2.0f, 3,1);
AnchorBL = Mat<float>(0.0f,3,1);
AnchorBL.set( -hwd.get(2,1)/2-2.0f, 1,1);
AnchorBL.set( -hwd.get(3,1)/4, 3,1);
cl.insert( cl.end(), ConstraintInfo(std::string("Gunvarrel-LEGR_LOW"),std::string("Gunvarrel-FOOTR"), CTBallAndSocketJoint, operatorL(AnchorAL,AnchorBL) ) );
/*
//map : obstacles :
int nbrObstacle = 0;
//on veut changer sa position avec une hauteur un peu plus grande :
t.set(20.0f,3,1);
t.set(10.0f,1,1);
t.set(30.0f,2,1);
env->addElement( env->fabriques->fabriquer(ELFObstacle, std::string("obstacle")+std::to_string(nbrObstacle), new se3(t), hwd ) );
nbrObstacle++;
//--------------------------------
//map : orbe bonus :
//orbe bonus :
int nbrOrbeBonus = 0;
//on veut changer sa position avec une hauteur un peu plus grande :
t.set(20.0f,3,1);
t.set(30.0f,1,1);
t.set(30.0f,2,1);
env->addElement( env->fabriques->fabriquer(ELFOrbeBonus, std::string("orbebonus")+std::to_string(nbrOrbeBonus), new se3(t), hwd ) );
nbrOrbeBonus++;
*/
//--------------------------------
//-------------------------------
sim = new Simulation(env,cl);
}
