/* jvm needs to be fetched once, jni env needs to be fetched once per thread */
static JNIEnv* get_jni_env(void)
{
static JavaVM *jvm = NULL;
if (g_once_init_enter(&jvm)) {
JavaVM *vm;
vm = get_java_vm();
init_jni(vm);
g_once_init_leave(&jvm, vm);
}
g_return_val_if_fail(jvm, NULL);
return get_jni_env_from_jvm(jvm);
}
com_tf_thinkdroid_renderer_NativeShader::init(
android_graphics_Shader_p pShader1
) {
JPP_PROLOGUE()
JNIEnv* pEnv = fastiva_jni_getEnv();
if (gShader_class == 0) {
init_jni(pEnv);
}
/*
get__paint() 대신에 pPaint2 를 사용하면 오류가 발생한다??
*/
SkShader* skShader = (SkShader*)pEnv->GetIntField((jobject)pShader1, gShader_nativeInstanceID);
//A0:;
SkSafeRef(skShader);
this->set__shader((SkShader*)skShader);
return ;
}
com_tf_thinkdroid_renderer_NativeXfermode::init(
android_graphics_Xfermode_p pXfermode1
) {
JPP_PROLOGUE()
JNIEnv* pEnv = fastiva_jni_getEnv();
if (gXfermode_class == 0) {
init_jni(pEnv);
}
/*
get__paint() 대신에 pPaint2 를 사용하면 오류가 발생한다??
*/
SkXfermode* skXfermode = (SkXfermode*)pEnv->GetIntField((jobject)pXfermode1, gXfermode_nativeInstanceID);
//A0:;
SkSafeRef(skXfermode);
this->set__xfermode(skXfermode);
return ;
}
/*
* Simulation initialization
*/
Loop_inputs* init_simulation()
{
// -- Variables declaration -- //
int i;
int model_state_size;
double *ystart;
MBSdataStruct *MBSdata = NULL;
LocalDataStruct *lds = NULL;
Loop_inputs *loop_inputs = NULL;
#if defined(JNI) & defined (REAL_TIME)
JNI_struct* jni_struct = NULL;
#endif
#ifdef WRITE_FILES
Write_files *write_files;
#endif
#ifdef YARP
void* RobotranYarp_interface = NULL;
#endif
struct timeval seed_time;
// -- Seed for random -- //
gettimeofday(&seed_time, NULL);
srand(seed_time.tv_usec * seed_time.tv_sec);
// -- Variables initialization -- //
MBSdata = loadMBSdata_xml(MBS_FILE);
if(MBSdata == NULL)
{
printf("error while loading MBSdata \n");
}
#ifdef PRINT_REPORT
else
{
printf("MBSdata successfully loaded \n");
}
#endif
// LocalDataStruct initialization
#if !defined ACCELRED
lds = initLocalDataStruct(MBSdata);
#else
lds = NULL;
#endif
if(lds == NULL)
{
printf("error while initializing LocalDataStruct\n");
}
#ifdef PRINT_REPORT
else
{
printf("LocalDataStruct successfully initialized\n");
}
#endif
// Yarp Initialization
#ifdef YARP
RobotranYarp_interface = yarp_init();
if(RobotranYarp_interface == NULL)
{
printf("******************\nSomething went wrong during YARP initialization... what to do here?\n******************\n");
}
#endif
// Model initialization
if(user_initialization(MBSdata, lds))
{
printf("error in user_initialization\n");
}
#ifdef PRINT_REPORT
else
{
printf("Model successfully initialized\n");
}
#endif
// Integrator parameters initialization
model_state_size = 2*MBSdata->nqu + MBSdata->Nux;
#ifdef PRINT_REPORT
printf("model_state_size: %d\n", model_state_size);
#endif
ystart = dvector(1,model_state_size);
#ifdef WRITE_FILES
write_files = init_write_files(NB_SIMU_STEPS, MBSdata->njoint);
#endif
// Simulation state initialization
for(i=1; i<=MBSdata->nqu; i++)
{
ystart[i] = MBSdata->q[MBSdata->qu[i]];
ystart[i+MBSdata->nqu] = MBSdata->qd[MBSdata->qu[i]];
}
for(i=1; i<=MBSdata->Nux; i++)
{
ystart[i+2*MBSdata->nqu] = MBSdata->ux[i];
}
// JNI visualization
#if defined(JNI) & defined (REAL_TIME)
jni_struct = init_jni(MBSdata);
#endif
// initialize the inputs of the simulation loop
loop_inputs = (Loop_inputs*) malloc(sizeof(Loop_inputs));
// absolute initial time of the simulation
time_get(&(loop_inputs->init_t_sec), &(loop_inputs->init_t_usec));
loop_inputs->nvar = model_state_size;
loop_inputs->nstep = NB_SIMU_STEPS;
loop_inputs->x1 = TSIM_INIT;
loop_inputs->x2 = TSIM_END;
loop_inputs->ystart = ystart;
loop_inputs->lds = lds;
loop_inputs->MBSdata = MBSdata;
#ifdef WRITE_FILES
loop_inputs->write_files = write_files;
#endif
// Real-time constraiints
#ifdef REAL_TIME
loop_inputs->real_time = init_real_time(loop_inputs->init_t_sec, loop_inputs->init_t_usec);
#endif
// SDL window
#if defined(SDL) & defined (REAL_TIME)
loop_inputs->screen_sdl = configure_screen_sdl(loop_inputs->init_t_sec, loop_inputs->init_t_usec);
#endif
#if defined(JNI) & defined (REAL_TIME)
loop_inputs->jni_struct = jni_struct;
update_jni(loop_inputs->jni_struct, MBSdata, loop_inputs->real_time, MBSdata->q+1);
#endif
#ifdef YARP
loop_inputs->RobotranYarp_interface = RobotranYarp_interface;
#endif
// Running model integration
#ifdef PRINT_REPORT
printf("Running integration of the model...\n");
#endif
return loop_inputs;
}
