void GameInterface::initGUI()
{
int* option= &((XMLScene*) scene)->option;
GLUI_Panel* viewPanel= addPanel("View Points",1);
viewPanel->set_alignment(1);
GLUI_RadioGroup* group = addRadioGroupToPanel(viewPanel,&((XMLScene*) scene)->viewPoint,16);
addRadioButtonToGroup(group,"Lateral");
addRadioButtonToGroup(group,"Upper");
GLUI_Panel *gameModePanel = addPanel("Game", 1);
gameModePanel->set_alignment(0);
GLUI_Listbox* themeListBox =addListboxToPanel(gameModePanel,"Theme: ",option,8);
themeListBox->add_item (0, "Classic");
themeListBox->add_item (1, "Minecraft");
themeListBox->add_item (2, "Dragon Ball");
GLUI_Button* undo = addButtonToPanel(gameModePanel,"Undo",12);
addColumnToPanel(gameModePanel);
GLUI_Listbox* gameModeListbox=addListboxToPanel(gameModePanel,"Game Mode", &((XMLScene*) scene)->data->newGameMode,9);
gameModeListbox->add_item(1,"PVP");
gameModeListbox->add_item(2,"Player vs PC");
gameModeListbox->add_item(3,"PC vs PC");
GLUI_Button* redo = addButtonToPanel(gameModePanel,"Redo",13);
addColumnToPanel(gameModePanel);
GLUI_Panel* difficultiesPanel=addPanelToPanel(gameModePanel,"Difficulties",1);
difficultiesPanel->set_alignment(0);
GLUI_Listbox* difficulty1Listbox=addListboxToPanel(difficultiesPanel,"Computer 1", &((XMLScene*) scene)->data->newDifficulties[0],10);
difficulty1Listbox->add_item(1,"Normal");
difficulty1Listbox->add_item(2,"Hard");
GLUI_Button* restart = addButtonToPanel(gameModePanel,"Restart",14);
GLUI_Listbox* difficulty2Listbox=addListboxToPanel(difficultiesPanel,"Computer 2", &((XMLScene*) scene)->data->newDifficulties[1],11);
difficulty2Listbox->add_item(1,"Normal");
difficulty2Listbox->add_item(2,"Hard");
GLUI_Button* gameMovie = addButtonToPanel(gameModePanel,"Game Movie",15);
}
GLUI_Listbox *GLUI::add_listbox_to_panel( GLUI_Panel *panel,
char *name, int *value_ptr,
int id,
GLUI_Update_CB callback )
{
GLUI_Listbox *control;
control = new GLUI_Listbox;
if ( control ) {
control->set_ptr_val( value_ptr );
control->user_id = id;
control->set_name( name );
control->callback = callback;
add_control( panel, control );
control->init_live();
return control;
}
else {
return NULL;
}
}
void TPinterface::initGUI() {
// Check CGFinterface.h and GLUI documentation for the types of controls available
GLUI_Panel *varPanel = addPanel("Lights", 1);
// You could also pass a reference to a variable from the scene class, if public
addCheckboxToPanel(varPanel, "light0", &on0, 0);
addCheckboxToPanel(varPanel, "light1", &on1, 1);
addCheckboxToPanel(varPanel, "light2", &on2, 2);
addCheckboxToPanel(varPanel, "light3", &on3, 3);
addCheckboxToPanel(varPanel, "light4", &on4, 4);
addButtonToPanel(varPanel, "Clock", 5);
GLUI_RadioGroup* wireframeGroup = addRadioGroupToPanel(varPanel,&radioStatus, 6);
addRadioButtonToGroup(wireframeGroup, "Textured");
addRadioButtonToGroup(wireframeGroup, "Wireframed");
GLUI_Listbox* listBox = addListboxToPanel(varPanel,"Textures",&listStatus, 7);
listBox->add_item(0, "Default");
listBox->add_item(1, "Earth");
}
void TPinterface::initGUI()
{
// Check CGFinterface.h and GLUI documentation for the types of controls available
//GLUI_Panel *varPanel= addPanel("Group", 1);
//addSpinnerToPanel(varPanel, "Val 1(interface)", 2, &testVar, 1);
// You could also pass a reference to a variable from the scene class, if public
//addSpinnerToPanel(varPanel, "Val 2(scene)", 2, &(((LightingScene*) scene)->sceneVar), 2);
//addColumn ();
GLUI_Panel *varLuz= addPanel("Luzes", 2);
addCheckboxToPanel(varLuz, "Luz 1",&((LightingScene *) scene)->state1,NULL);
addCheckboxToPanel(varLuz, "Luz 2",&((LightingScene *) scene)->state2,NULL);
addCheckboxToPanel(varLuz, "Luz 3",&((LightingScene *) scene)->state3,NULL);
addCheckboxToPanel(varLuz, "Luz 4",&((LightingScene *) scene)->state4,NULL);
addColumn ();
GLUI_Panel *varClock= addPanel("Relogio", 3);
addStaticText("Relógio");
addButton ("Pause/Start",1);
addColumn ();
GLUI_Panel *vartext= addPanel("Texturas",4);
GLUI_Listbox *textvar =addListboxToPanel(vartext,"Texturas",&((LightingScene *) scene)->statetext,NULL);
textvar->add_item (1, "Default");
textvar->add_item (2, "Sky");
textvar->add_item (3, "Space");
textvar->set_int_val (3);
addColumn();
GLUI_Panel *varwire= addPanel("Wireframe",5);
GLUI_RadioGroup *group=addRadioGroupToPanel(varwire,&((LightingScene *) scene)->wire);
addRadioButtonToGroup(group,"Normal");
addRadioButtonToGroup(group,"Wireframe");
addColumn();
}
void GameInterface::initGUI()
{
int* option= &((XMLScene*) scene)->option;
/*
GLUI_Panel *varPanel1 = addPanel("Cameras", 1);
int* camera = &((XMLScene*) scene)->camera;
GLUI_Listbox *texturesListbox =addListboxToPanel(varPanel1,"Camera: ",camera,7);
unsigned int size=((XMLScene*) scene)->file->sceneCameras.size();
for(unsigned int i = 0;i<size;i++)
{
texturesListbox->add_item (i, ((XMLScene*) scene)->file->sceneCameras[i].first);
}
//addColumn();
GLUI_Panel *varPanel2 = addPanel("Draw Mode", 1);
varPanel2->set_alignment(0);
GLUI_RadioGroup* radioGroup = addRadioGroupToPanel(varPanel2,&((XMLScene*) scene)->drawmode,3);
addRadioButtonToGroup(radioGroup,"Fill");
addRadioButtonToGroup(radioGroup,"Line");
addRadioButtonToGroup(radioGroup,"Point");
addColumn();
*/
GLUI_Panel *gameModePanel = addPanel("Game", 1);
gameModePanel->set_alignment(0);
GLUI_Listbox* themeListBox =addListboxToPanel(gameModePanel,"Theme: ",option,8);
themeListBox->add_item (0, "Classic");
themeListBox->add_item (1, "Minecraft");
GLUI_Button* undo = addButtonToPanel(gameModePanel,"Undo",12);
addColumnToPanel(gameModePanel);
GLUI_Listbox* gameModeListbox=addListboxToPanel(gameModePanel,"Game Mode", &((XMLScene*) scene)->data->gameMode,9);
gameModeListbox->add_item(1,"PVP");
gameModeListbox->add_item(2,"Player vs PC");
gameModeListbox->add_item(3,"PC vs PC");
GLUI_Button* redo = addButtonToPanel(gameModePanel,"Redo",13);
addColumnToPanel(gameModePanel);
GLUI_Panel* difficultiesPanel=addPanelToPanel(gameModePanel,"Difficulties",1);;
difficultiesPanel->set_alignment(0);
GLUI_Listbox* difficulty1Listbox=addListboxToPanel(difficultiesPanel,"Computer 1", &((XMLScene*) scene)->data->difficulties[0],10);
difficulty1Listbox->add_item(1,"Normal");
difficulty1Listbox->add_item(2,"Hard");
GLUI_Button* restart = addButtonToPanel(gameModePanel,"Restart",14);
GLUI_Listbox* difficulty2Listbox=addListboxToPanel(difficultiesPanel,"Computer 2", &((XMLScene*) scene)->data->difficulties[1],11);
difficulty2Listbox->add_item(1,"Normal");
difficulty2Listbox->add_item(2,"Hard");
GLUI_Button* gameFilm = addButtonToPanel(gameModePanel,"Game Film",15);
}
void TPinterface::initGUI()
{
GLUI_Panel *lightPanel= addPanel("Lights",1);
for(unsigned int i=0;i<((LightingScene*) scene)->lightState.size();i++){
char name[30]="";
std::string s = ((LightingScene*) scene)->lights[i]->getID();
sprintf(name, "%s", s.c_str());
addCheckboxToPanel(lightPanel,name,&(((LightingScene*) scene)->lightState[i]),0);
}
addColumn();
GLUI_Panel *cameraPanel= addPanel("Cameras",1);
if(((LightingScene*) scene)->cameras.size()<5){
GLUI_RadioGroup *radioCameras=addRadioGroupToPanel(cameraPanel,&((LightingScene*) scene)->camera,1);
for(unsigned int i=0;i<((LightingScene*) scene)->cameras.size();i++){
char name[30]="";
std::string s =((LightingScene*) scene)->cameras[i]->getID();
sprintf(name, "%s", s.c_str());
addRadioButtonToGroup(radioCameras,name);
}
}
else{
GLUI_Listbox *listbox = addListboxToPanel(cameraPanel,"Cameras",&((LightingScene*) scene)->camera,2);
for(unsigned int i=0;i<2;i++){
char name[30]="";
std::string s =((LightingScene*) scene)->cameras[i]->getID();
sprintf(name, "%s", s.c_str());
listbox->add_item(i,name);
((LightingScene*) scene)->camera= listbox->get_int_val();
}
}
addColumn();
GLUI_Panel *drawmodePanel= addPanel("Drawmode",1);
GLUI_RadioGroup *radioDrawmode=addRadioGroupToPanel(drawmodePanel,&((LightingScene*) scene)->drawmode,3);
addRadioButtonToGroup(radioDrawmode,"Point");
addRadioButtonToGroup(radioDrawmode,"Line");
addRadioButtonToGroup(radioDrawmode,"Fill");
addColumn();
GLUI_Panel *themesPanel= addPanel("Themes",1);
GLUI_Listbox *themeslistbox = addListboxToPanel(themesPanel,"Themes",&((LightingScene*) scene)->app,4);
themeslistbox->add_item(0, "classic");
themeslistbox->add_item(1, "mario");
themeslistbox->add_item(2, "dragon ball");
themeslistbox->add_item(3, "angry birds");
}
int main(int argc, char** argv)
{
// Place a communicator at serialport (Default COM1)
communicator = new Communicator(serialport);
// Hide joints
settings.drawJoints=0;
// Set startup view position
settings.viewCenter=b2Vec2(35,16);
simulatorPageCount = 0;
while (g_simulatorPageEntries[simulatorPageCount].createFcn != NULL)
{
++simulatorPageCount;
}
simulatorPageIndex = b2Clamp(simulatorPageIndex, 0, simulatorPageCount-1);
simulatorPageSelection = simulatorPageIndex;
entry = g_simulatorPageEntries + simulatorPageIndex;
simulatorPage = entry->createFcn(communicator);
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE);
glutInitWindowSize(width, height);
char title[32];
sprintf(title, "Educational simulator for control-system development");
mainWindow = glutCreateWindow(title);
//glutSetOption (GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
glutDisplayFunc(SimulationLoop);
GLUI_Master.set_glutReshapeFunc(Resize);
GLUI_Master.set_glutKeyboardFunc(Keyboard);
GLUI_Master.set_glutSpecialFunc(KeyboardSpecial);
GLUI_Master.set_glutMouseFunc(Mouse);
#ifdef FREEGLUT
glutMouseWheelFunc(MouseWheel);
#endif
glutMotionFunc(MouseMotion);
glutKeyboardUpFunc(KeyboardUp);
glui = GLUI_Master.create_glui_subwindow( mainWindow,
GLUI_SUBWINDOW_RIGHT );
glui->add_statictext("Simulator-page:");
GLUI_Listbox* simulatorPageList =
glui->add_listbox("", &simulatorPageSelection);
int32 simulatorPageCount = 0;
SimulatorPageEntry* e = g_simulatorPageEntries;
while (e->createFcn)
{
simulatorPageList->add_item(simulatorPageCount, e->name);
++simulatorPageCount;
++e;
}
glui->add_separator();
glui->add_edittext( "Serialport:", GLUI_EDITTEXT_TEXT, serialport );
glui->add_button("Apply", 0, (GLUI_Update_CB)SetSerialPort);
glui->add_separator();
glui->add_button("Pause", 0, Pause);
glui->add_button("Single Step", 0, SingleStep);
glui->add_button("Restart", 0, Restart);
glui->add_button("Quit", 0,(GLUI_Update_CB)Exit);
glui->add_separator();
glui->add_button("Help", 0,(GLUI_Update_CB)Help);
glui->add_button("About", 0,(GLUI_Update_CB)About);
glui->set_main_gfx_window( mainWindow );
// Use a timer to control the frame rate.
glutTimerFunc(framePeriod, Timer, 0);
glutMainLoop();
return 0;
}
void main(int argc, char* argv[])
{
figinit();
/****************************************/
/* Initialize GLUT and create window */
/****************************************/
glutInitDisplayMode( GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH );
glutInitWindowPosition( 50, 50 );
glutInitWindowSize( 800, 600 );
main_window = glutCreateWindow( "GLUI Example 5" );
glutDisplayFunc( myGlutDisplay );
GLUI_Master.set_glutReshapeFunc( myGlutReshape );
GLUI_Master.set_glutKeyboardFunc( myGlutKeyboard );
GLUI_Master.set_glutSpecialFunc( NULL );
GLUI_Master.set_glutMouseFunc( myGlutMouse );
glutMotionFunc( myGlutMotion );
/****************************************/
/* Set up OpenGL lights */
/****************************************/
glEnable(GL_LIGHTING);
glEnable( GL_NORMALIZE );
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_AMBIENT, light0_ambient);
glLightfv(GL_LIGHT0, GL_DIFFUSE, light0_diffuse);
glLightfv(GL_LIGHT0, GL_POSITION, light0_position);
glEnable(GL_LIGHT1);
glLightfv(GL_LIGHT1, GL_AMBIENT, light1_ambient);
glLightfv(GL_LIGHT1, GL_DIFFUSE, light1_diffuse);
glLightfv(GL_LIGHT1, GL_POSITION, light1_position);
/****************************************/
/* Enable z-buferring */
/****************************************/
glEnable(GL_DEPTH_TEST);
/****************************************/
/* Here's the GLUI code */
/****************************************/
printf( "GLUI version: %3.2f\n", GLUI_Master.get_version() );
/*** Create the side subwindow ***/
glui = GLUI_Master.create_glui_subwindow( main_window,
GLUI_SUBWINDOW_LEFT );
obj_panel = glui->add_rollout( "Properties", false );
/***** Control for object params *****/
checkbox =
glui->add_checkbox_to_panel( obj_panel, "Wireframe", &wireframe, 1,
control_cb );
spinner = glui->add_spinner_to_panel( obj_panel, "Segments:",
GLUI_SPINNER_INT, &segments);
spinner->set_int_limits( 3, 60 );
spinner->set_alignment( GLUI_ALIGN_RIGHT );
GLUI_Spinner *scale_spinner =
glui->add_spinner_to_panel( obj_panel, "Scale:",
GLUI_SPINNER_FLOAT, &scale);
scale_spinner->set_float_limits( .2f, 4.0 );
scale_spinner->set_alignment( GLUI_ALIGN_RIGHT );
/******** Add some controls for lights ********/
GLUI_Rollout *roll_lights = glui->add_rollout( "Lights", false );
GLUI_Panel *light0 = glui->add_panel_to_panel( roll_lights, "Light 1" );
GLUI_Panel *light1 = glui->add_panel_to_panel( roll_lights, "Light 2" );
glui->add_checkbox_to_panel( light0, "Enabled", &light0_enabled,
LIGHT0_ENABLED_ID, control_cb );
light0_spinner =
glui->add_spinner_to_panel( light0, "Intensity:", GLUI_SPINNER_FLOAT,
&light0_intensity, LIGHT0_INTENSITY_ID,
control_cb );
light0_spinner->set_float_limits( 0.0, 1.0 );
glui->add_checkbox_to_panel( light1, "Enabled", &light1_enabled,
LIGHT1_ENABLED_ID, control_cb );
light1_spinner =
glui->add_spinner_to_panel( light1, "Intensity:", GLUI_SPINNER_FLOAT,
&light1_intensity, LIGHT1_INTENSITY_ID,
control_cb );
light1_spinner->set_float_limits( 0.0, 1.0 );
/*** Add another rollout ***/
GLUI_Rollout *options = glui->add_rollout( "Options", true );
glui->add_checkbox_to_panel( options, "Draw sphere", &show_sphere );
glui->add_checkbox_to_panel( options, "Draw torus", &show_torus );
glui->add_checkbox_to_panel( options, "Draw axes", &show_axes );
glui->add_checkbox_to_panel( options, "Draw text", &show_text );
/**** Add listbox ****/
glui->add_statictext( "" );
GLUI_Listbox *list = glui->add_listbox( "Text:", &curr_string );
int i;
for( i=0; i<4; i++ )
list->add_item( i, string_list[i] );
/**** Add listbox ****/
glui->add_statictext( "" );
GLUI_Listbox *headwear = glui->add_listbox( "HeadWear:", &curr_string );
for( i=0; i< CategorySize[0]; i++ )
headwear->add_item( i, CategoryPtr[0][i].FirstLine->Comment );
/**** Add listbox ****/
glui->add_statictext( "" );
GLUI_Listbox *heads = glui->add_listbox( "Head:", &curr_string );
for( i=0; i< CategorySize[1]; i++ )
heads->add_item( i, CategoryPtr[1][i].FirstLine->Comment );
/**** Add listbox ****/
glui->add_statictext( "" );
GLUI_Listbox *neckwear = glui->add_listbox( "NeckWear:", &curr_string );
for( i=0; i< CategorySize[2]; i++ )
neckwear->add_item( i, CategoryPtr[2][i].FirstLine->Comment );
/**** Add listbox ****/
glui->add_statictext( "" );
GLUI_Listbox *torso = glui->add_listbox( "Torso:", &curr_string );
for( i=0; i< CategorySize[3]; i++ )
torso->add_item( i, CategoryPtr[3][i].FirstLine->Comment );
glui->add_statictext( "" );
/*** Disable/Enable buttons ***/
glui->add_button( "Disable movement", DISABLE_ID, control_cb );
glui->add_button( "Enable movement", ENABLE_ID, control_cb );
glui->add_button( "Hide", HIDE_ID, control_cb );
glui->add_button( "Show", SHOW_ID, control_cb );
glui->add_statictext( "" );
/****** A 'quit' button *****/
glui->add_button( "Quit", 0,(GLUI_Update_CB)exit );
/**** Link windows to GLUI, and register idle callback ******/
glui->set_main_gfx_window( main_window );
#if 0
/*** Create the bottom subwindow ***/
glui2 = GLUI_Master.create_glui_subwindow( main_window,
GLUI_SUBWINDOW_BOTTOM );
glui2->set_main_gfx_window( main_window );
GLUI_Rotation *view_rot = glui2->add_rotation( "Objects", view_rotate );
view_rot->set_spin( 1.0 );
glui2->add_column( false );
GLUI_Rotation *sph_rot = glui2->add_rotation( "Sphere", sphere_rotate );
sph_rot->set_spin( .98 );
glui2->add_column( false );
GLUI_Rotation *tor_rot = glui2->add_rotation( "Torus", torus_rotate );
tor_rot->set_spin( .98 );
glui2->add_column( false );
GLUI_Rotation *lights_rot = glui2->add_rotation( "Blue Light", lights_rotation );
lights_rot->set_spin( .82 );
glui2->add_column( false );
GLUI_Translation *trans_xy =
glui2->add_translation( "Objects XY", GLUI_TRANSLATION_XY, obj_pos );
trans_xy->set_speed( .005 );
glui2->add_column( false );
GLUI_Translation *trans_x =
glui2->add_translation( "Objects X", GLUI_TRANSLATION_X, obj_pos );
trans_x->set_speed( .005 );
glui2->add_column( false );
GLUI_Translation *trans_y =
glui2->add_translation( "Objects Y", GLUI_TRANSLATION_Y, &obj_pos[1] );
trans_y->set_speed( .005 );
glui2->add_column( false );
GLUI_Translation *trans_z =
glui2->add_translation( "Objects Z", GLUI_TRANSLATION_Z, &obj_pos[2] );
trans_z->set_speed( .005 );
#endif
/**** We register the idle callback with GLUI, *not* with GLUT ****/
GLUI_Master.set_glutIdleFunc( myGlutIdle );
/**** Regular GLUT main loop ****/
glutMainLoop();
}
int main(int argc, char** argv)
{
entry = g_testEntries + testIndex;
test = entry->createFcn();
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE);
glutInitWindowSize(width, height);
char title[32];
sprintf(title, "Box2D Version %d.%d.%d", b2_version.major, b2_version.minor, b2_version.revision);
mainWindow = glutCreateWindow(title);
//glutSetOption (GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
glutDisplayFunc(SimulationLoop);
GLUI_Master.set_glutReshapeFunc(Resize);
GLUI_Master.set_glutKeyboardFunc(Keyboard);
GLUI_Master.set_glutSpecialFunc(KeyboardSpecial);
GLUI_Master.set_glutMouseFunc(Mouse);
glutMouseWheelFunc(MouseWheel);
glutMotionFunc(MouseMotion);
glui = GLUI_Master.create_glui_subwindow( mainWindow,
GLUI_SUBWINDOW_RIGHT );
glui->add_statictext("Tests");
GLUI_Listbox* testList =
glui->add_listbox("", &testSelection);
glui->add_separator();
GLUI_Spinner* iterationSpinner =
glui->add_spinner("Iterations", GLUI_SPINNER_INT, &settings.iterationCount);
iterationSpinner->set_int_limits(1, 100);
GLUI_Spinner* hertzSpinner =
glui->add_spinner("Hertz", GLUI_SPINNER_FLOAT, &settings.hz);
hertzSpinner->set_float_limits(5.0f, 200.0f);
glui->add_checkbox("Position Correction", &settings.enablePositionCorrection);
glui->add_checkbox("Warm Starting", &settings.enableWarmStarting);
glui->add_checkbox("Time of Impact", &settings.enableTOI);
glui->add_separator();
GLUI_Panel* drawPanel = glui->add_panel("Draw");
glui->add_checkbox_to_panel(drawPanel, "Shapes", &settings.drawShapes);
glui->add_checkbox_to_panel(drawPanel, "Joints", &settings.drawJoints);
glui->add_checkbox_to_panel(drawPanel, "Core Shapes", &settings.drawCoreShapes);
glui->add_checkbox_to_panel(drawPanel, "AABBs", &settings.drawAABBs);
glui->add_checkbox_to_panel(drawPanel, "OBBs", &settings.drawOBBs);
glui->add_checkbox_to_panel(drawPanel, "Pairs", &settings.drawPairs);
glui->add_checkbox_to_panel(drawPanel, "Contact Points", &settings.drawContactPoints);
glui->add_checkbox_to_panel(drawPanel, "Contact Normals", &settings.drawContactNormals);
glui->add_checkbox_to_panel(drawPanel, "Contact Forces", &settings.drawContactForces);
glui->add_checkbox_to_panel(drawPanel, "Friction Forces", &settings.drawFrictionForces);
glui->add_checkbox_to_panel(drawPanel, "Center of Masses", &settings.drawCOMs);
glui->add_checkbox_to_panel(drawPanel, "Statistics", &settings.drawStats);
int32 testCount = 0;
TestEntry* e = g_testEntries;
while (e->createFcn)
{
testList->add_item(testCount, e->name);
++testCount;
++e;
}
glui->add_button("Pause", 0, Pause);
glui->add_button("Single Step", 0, SingleStep);
glui->add_button("Quit", 0,(GLUI_Update_CB)exit);
glui->set_main_gfx_window( mainWindow );
// Use a timer to control the frame rate.
glutTimerFunc(framePeriod, Timer, 0);
glutMainLoop();
return 0;
}
int main(int argc, char** argv)
{
//#define CHECK_FPU_EXCEPTIONS 1
#ifdef CHECK_FPU_EXCEPTIONS
int cw = _control87(0, 0);
// Set the exception masks off, turn exceptions on
cw &= ~(EM_ZERODIVIDE | EM_INVALID);
printf("control87 = %#x\n", cw);
// Set the control word
_control87(cw, MCW_EM);
#endif //CHECK_FPU_EXCEPTIONS
setDefaultSettings();
int bulletVersion = btGetVersion();
printf("Bullet version %d\n",bulletVersion);
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE |GLUT_DEPTH | GLUT_STENCIL);
glutInitWindowSize(width, height);
mainWindow = glutCreateWindow("http://bulletphysics.com");
#ifdef BT_USE_FREEGLUT
glutSetOption (GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
#endif
entry = g_demoEntries + testIndex;
demo = CreatDemo(entry);
glutDisplayFunc(SimulationLoop);
GLUI_Master.set_glutReshapeFunc(Resize);
GLUI_Master.set_glutKeyboardFunc(Keyboard);
GLUI_Master.set_glutSpecialFunc(KeyboardSpecial);
GLUI_Master.set_glutSpecialUpFunc(KeyboardSpecialUp);
GLUI_Master.set_glutMouseFunc(Mouse);
glutMotionFunc(MouseMotion);
glui = GLUI_Master.create_glui_subwindow( mainWindow,
GLUI_SUBWINDOW_RIGHT );
glui->add_statictext("Tests");
GLUI_Listbox* testList =
glui->add_listbox("", &testSelection);
glui->add_button("Next Scene", 0,(GLUI_Update_CB)NextScene);
glui->add_separator();
GLUI_Spinner* iterationSpinner =
glui->add_spinner("Iterations", GLUI_SPINNER_INT, &iterationCount);
iterationSpinner->set_int_limits(1, 250);
/* GLUI_Spinner* hertzSpinner =
glui->add_spinner("Hertz", GLUI_SPINNER_FLOAT, &hz);
hertzSpinner->set_float_limits(5.0f, 200.0f);
*/
glui->add_checkbox("DisableDeactivation", &gDebugNoDeactivation);
glui->add_checkbox("Split Impulse", &gUseSplitImpulse);
GLUI_Spinner* spinner = 0;
spinner = glui->add_spinner("ERP", GLUI_SPINNER_FLOAT, &gErp);
// spinner->set_float_limits(0.f,1.f);
// spinner = glui->add_spinner("ERP2", GLUI_SPINNER_FLOAT, &gErp2);
spinner->set_float_limits(0.f,1.f);
spinner = glui->add_spinner("Slop", GLUI_SPINNER_FLOAT, &gSlop);
spinner->set_float_limits(0.f,1.f);
// spinner = glui->add_spinner("WSP", GLUI_SPINNER_FLOAT,&gWarmStartingParameter);
// spinner->set_float_limits (0.f,1.0);
glui->add_checkbox("Warmstarting", &gUseWarmstarting);
glui->add_checkbox("Randomize Constraints", &gRandomizeConstraints);
glui->add_button("Reset Defaults", 0,(GLUI_Update_CB)setDefaultSettingsAndSync);
glui->add_separator();
GLUI_Panel* drawPanel = glui->add_panel("Debug Draw");
glui->add_checkbox_to_panel(drawPanel, "AABBs", &gDrawAabb);
glui->add_checkbox_to_panel(drawPanel, "Wireframe", &gWireFrame);
glui->add_checkbox_to_panel(drawPanel, "Contacts", &gDebugContacts);
glui->add_checkbox_to_panel(drawPanel, "Textures", &gDrawTextures);
glui->add_checkbox_to_panel(drawPanel, "Shadows", &gDrawShadows);
glui->add_checkbox_to_panel(drawPanel, "Clusters", &gDrawClusters);
int testCount = 0;
btDemoEntry* e = g_demoEntries;
while (e->createFcn)
{
testList->add_item(testCount, e->name);
++testCount;
++e;
}
glui->add_separator();
glui->add_button("Toggle Pause", 0,(GLUI_Update_CB)TogglePause);
glui->add_button("Single Step", 0,(GLUI_Update_CB)SingleSimulationStep);
glui->add_button("Reset Scene", 0,(GLUI_Update_CB)ResetScene);
glui->add_button("Restart Scene", 0,(GLUI_Update_CB)RestartScene);
glui->add_separator();
// glui->add_button("Exit", 0,(GLUI_Update_CB)exit);
glui->set_main_gfx_window( mainWindow );
// Use a timer to control the frame rate.
glutTimerFunc(framePeriod, Timer, 0);
glutMainLoop();
return 0;
}
void UpdateLinkListboxGUI()
{
link_listbox->set_int_val(cur_link);
UpdateLinkInfoGUI();
//driver_listbox->set_int_val(cur_driver);
}
int main(int argc, char **argv)
{
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);
glutInitWindowPosition(50, 50);
glutInitWindowSize(WIN_WIDTH, WIN_HEIGHT);
main_window = glutCreateWindow("OBJ Loader");
glutDisplayFunc(myGlutDisplay);
glutReshapeFunc(myGlutReshape);
glutMouseFunc(myGlutMouse);
glutMotionFunc(myGlutMotion);
initScene();
Objects.push_back(Object());
glui = GLUI_Master.create_glui("OBJ Loader GUI", 0, 600, 50);
GLUI_Panel *objPanel = glui->add_panel("");
GLUI_Panel *objPanel2 = glui->add_panel_to_panel(objPanel, "", 0);
objFileNameTextField = glui->add_edittext_to_panel(objPanel2, "Filename:",GLUI_EDITTEXT_TEXT,NULL,OBJ_TEXTFIELD,textCB);
objFileNameTextField->set_text("cow");
glui->add_button_to_panel(objPanel2, "Load", LOAD_BUTTON, buttonCB);
glui->add_button_to_panel(objPanel2, "Screenshot (or it didn't happen)", SCREENSHOT, buttonCB);
glui->add_column_to_panel(objPanel, 0);
GLUI_Panel *projPanel = glui->add_panel_to_panel(objPanel, "", 0);
GLUI_RadioGroup *projGroup = glui->add_radiogroup_to_panel(projPanel, (int*) &projType, -1, projCB);
glui->add_radiobutton_to_group(projGroup, "Orthographic");
glui->add_radiobutton_to_group(projGroup, "Perspective");
projGroup->set_int_val(ORTHO);
GLUI_Spinner *fovSpinner = glui->add_spinner_to_panel(projPanel, "FOV", GLUI_SPINNER_INT, &fov, FOV, projCB);
fovSpinner->set_int_limits(FOVMIN, FOVMAX);
fovSpinner->set_int_val(30);
glui->add_column_to_panel(projPanel, 0);
GLUI_Translation *scale = glui->add_translation_to_panel(projPanel, "Scale", GLUI_TRANSLATION_Y , &scaleFactor, -1, (GLUI_Update_CB) projCB);
scale->set_speed(0.005f);
GLUI_Panel *lightingPanel = glui->add_panel("", 0);
GLUI_Panel *objMaterialPanel = glui->add_panel_to_panel(lightingPanel, "Object material");
GLUI_Panel *objDiffusePanel = glui->add_panel_to_panel(objMaterialPanel, "Diffuse");
GLUI_Spinner *kdRedValue = glui->add_spinner_to_panel(objDiffusePanel, "Red", GLUI_SPINNER_FLOAT, &objectMat.diffuse[0], 0, colorCB);
kdRedValue->set_float_limits(0.f, 1.f);
kdRedValue->set_float_val(1.f);
GLUI_Spinner *kdGreenValue = glui->add_spinner_to_panel(objDiffusePanel, "Green", GLUI_SPINNER_FLOAT, &objectMat.diffuse[1], 0, colorCB);
kdGreenValue->set_float_limits(0.f, 1.f);
kdGreenValue->set_float_val(1.f);
GLUI_Spinner *kdBlueValue = glui->add_spinner_to_panel(objDiffusePanel, "Blue", GLUI_SPINNER_FLOAT, &objectMat.diffuse[2], 0, colorCB);
kdBlueValue->set_float_limits(0.f, 1.f);
kdBlueValue->set_float_val(1.f);
GLUI_Panel *objAmbientPanel = glui->add_panel_to_panel(objMaterialPanel, "Ambient");
GLUI_Spinner *kaRedValue = glui->add_spinner_to_panel(objAmbientPanel, "Red", GLUI_SPINNER_FLOAT, &objectMat.ambient[0], 0, colorCB);
kaRedValue->set_float_limits(0.f, 1.f);
kaRedValue->set_float_val(1.f);
GLUI_Spinner *kaGreenValue = glui->add_spinner_to_panel(objAmbientPanel, "Green", GLUI_SPINNER_FLOAT, &objectMat.ambient[1], 0, colorCB);
kaGreenValue->set_float_limits(0.f, 1.f);
kaGreenValue->set_float_val(1.f);
GLUI_Spinner *kaBlueValue = glui->add_spinner_to_panel(objAmbientPanel, "Blue", GLUI_SPINNER_FLOAT, &objectMat.ambient[2], 0, colorCB);
kaBlueValue->set_float_limits(0.f, 1.f);
kaBlueValue->set_float_val(1.f);
GLUI_Panel *objSpecularPanel = glui->add_panel_to_panel(objMaterialPanel, "Specular");
GLUI_Spinner *ksRedValue = glui->add_spinner_to_panel(objSpecularPanel, "Red", GLUI_SPINNER_FLOAT, &objectMat.specular[0], 0, colorCB);
ksRedValue->set_float_limits(0.f, 1.f);
ksRedValue->set_float_val(1.f);
GLUI_Spinner *ksGreenValue = glui->add_spinner_to_panel(objSpecularPanel, "Green", GLUI_SPINNER_FLOAT, &objectMat.specular[1], 0, colorCB);
ksGreenValue->set_float_limits(0.f, 1.f);
ksGreenValue->set_float_val(1.f);
GLUI_Spinner *ksBlueValue = glui->add_spinner_to_panel(objSpecularPanel, "Blue", GLUI_SPINNER_FLOAT, &objectMat.specular[2], 0, colorCB);
ksBlueValue->set_float_limits(0.f, 1.f);
ksBlueValue->set_float_val(1.f);
glui->add_column_to_panel(lightingPanel,0);
GLUI_Panel *lightPanel = glui->add_panel_to_panel(lightingPanel, "Light source");
GLUI_Panel *lightDiffusePanel = glui->add_panel_to_panel(lightPanel, "Diffuse");
GLUI_Spinner *ldRedValue = glui->add_spinner_to_panel(lightDiffusePanel, "Red", GLUI_SPINNER_FLOAT, &lightCoeffs.diffuse[0], -1, colorCB);
ldRedValue->set_float_limits(0.f, 1.f);
ldRedValue->set_float_val(1.f);
GLUI_Spinner *ldGreenValue = glui->add_spinner_to_panel(lightDiffusePanel, "Green", GLUI_SPINNER_FLOAT, &lightCoeffs.diffuse[1], -1, colorCB);
ldGreenValue->set_float_limits(0.f, 1.f);
ldGreenValue->set_float_val(1.f);
GLUI_Spinner *ldBlueValue = glui->add_spinner_to_panel(lightDiffusePanel, "Blue", GLUI_SPINNER_FLOAT, &lightCoeffs.diffuse[2], -1, colorCB);
ldBlueValue->set_float_limits(0.f, 1.f);
ldBlueValue->set_float_val(1.f);
GLUI_Panel *lightAmbientPanel = glui->add_panel_to_panel(lightPanel, "Ambient");
GLUI_Spinner *laRedValue = glui->add_spinner_to_panel(lightAmbientPanel, "Red", GLUI_SPINNER_FLOAT, &lightCoeffs.ambient[0], -1, colorCB);
laRedValue->set_float_limits(0.f, 1.f);
laRedValue->set_float_val(1.f);
GLUI_Spinner *laGreenValue = glui->add_spinner_to_panel(lightAmbientPanel, "Green", GLUI_SPINNER_FLOAT, &lightCoeffs.ambient[1], -1, colorCB);
laGreenValue->set_float_limits(0.f, 1.f);
laGreenValue->set_float_val(1.f);
GLUI_Spinner *laBlueValue = glui->add_spinner_to_panel(lightAmbientPanel, "Blue", GLUI_SPINNER_FLOAT, &lightCoeffs.ambient[2], -1, colorCB);
laBlueValue->set_float_limits(0.f, 1.f);
laBlueValue->set_float_val(1.f);
GLUI_Panel *lightSpecularPanel = glui->add_panel_to_panel(lightPanel, "Specular");
GLUI_Spinner *lsRedValue = glui->add_spinner_to_panel(lightSpecularPanel, "Red", GLUI_SPINNER_FLOAT, &lightCoeffs.specular[0], -1, colorCB);
lsRedValue->set_float_limits(0.f, 1.f);
lsRedValue->set_float_val(1.f);
GLUI_Spinner *lsGreenValue = glui->add_spinner_to_panel(lightSpecularPanel, "Green", GLUI_SPINNER_FLOAT, &lightCoeffs.specular[1], -1, colorCB);
lsGreenValue->set_float_limits(0.f, 1.f);
lsGreenValue->set_float_val(1.f);
GLUI_Spinner *lsBlueValue = glui->add_spinner_to_panel(lightSpecularPanel, "Blue", GLUI_SPINNER_FLOAT, &lightCoeffs.specular[2], -1, colorCB);
lsBlueValue->set_float_limits(0.f, 1.f);
lsBlueValue->set_float_val(1.f);
GLUI_Panel *texturingPanel = glui->add_panel("Texturing");
GLUI_Listbox *textureListbox = glui->add_listbox_to_panel(texturingPanel, "Texture", (int*)&texture, -1, textureCB);
textureListbox->add_item(NOTEXTURE, "No texture");
textureListbox->add_item(OSU, "OSU");
textureListbox->add_item(EARTH, "EARTH");
textureListbox->add_item(WOOD, "WOOD");
textureListbox->set_int_val(NOTEXTURE);
GLUI_Panel *texFiltersPanel = glui->add_panel_to_panel(texturingPanel, "", 0);
GLUI_Panel *minFilterPanel = glui->add_panel_to_panel(texFiltersPanel, "Minifying filter", 1);
GLUI_RadioGroup *minFilterGroup = glui->add_radiogroup_to_panel(minFilterPanel, (int*) &texMinFilter, -1, textureCB);
glui->add_radiobutton_to_group(minFilterGroup, "Linear");
glui->add_radiobutton_to_group(minFilterGroup, "Nearest");
minFilterGroup->set_int_val(LINEAR);
GLUI_Panel *magFilterPanel = glui->add_panel_to_panel(texFiltersPanel, "Magnifying filter", 1);
GLUI_RadioGroup *magFilterGroup = glui->add_radiogroup_to_panel(magFilterPanel, (int*) &texMagFilter, -1, textureCB);
glui->add_radiobutton_to_group(magFilterGroup, "Linear");
glui->add_radiobutton_to_group(magFilterGroup, "Nearest");
magFilterGroup->set_int_val(LINEAR);
glui->add_column_to_panel(texFiltersPanel, 0);
GLUI_Panel *texWrapSPanel = glui->add_panel_to_panel(texFiltersPanel, "Wrapping S", 1);
GLUI_RadioGroup *texWrapSGroup = glui->add_radiogroup_to_panel(texWrapSPanel, (int*) &texWrap_S, -1, textureCB);
glui->add_radiobutton_to_group(texWrapSGroup, "Repeat");
glui->add_radiobutton_to_group(texWrapSGroup, "Clamp to edge");
texWrapSGroup->set_int_val(CLAMPTOEDGE);
GLUI_Panel *texWrapTPanel = glui->add_panel_to_panel(texFiltersPanel, "Wrapping T", 1);
GLUI_RadioGroup *texWrapTGroup = glui->add_radiogroup_to_panel(texWrapTPanel, (int*) &texWrap_T, -1, textureCB);
glui->add_radiobutton_to_group(texWrapTGroup, "Repeat");
glui->add_radiobutton_to_group(texWrapTGroup, "Clamp to edge");
texWrapTGroup->set_int_val(CLAMPTOEDGE);
GLUI_Listbox *texEnvListbox = glui->add_listbox_to_panel(texturingPanel, "Environment", (int*)&texEnv, -1, textureCB);
texEnvListbox->add_item(REPLACE, "GL_REPLACE");
texEnvListbox->add_item(MODULATE, "GL_MODULATE");
texEnvListbox->add_item(DECAL, "GL_DECAL");
texEnvListbox->add_item(BLEND, "GL_BLEND");
texEnvListbox->set_int_val(MODULATE);
GLUI_Listbox *texGenListbox = glui->add_listbox_to_panel(texturingPanel, "UV Generation", (int*)&texGen, -1, textureCB);
texGenListbox->add_item(OBJECT, "Object Linear");
texGenListbox->add_item(EYE, "Eye Linear");
texGenListbox->add_item(SPHERE, "Sphere Map");
texGenListbox->set_int_val(OBJECT);
GLUI_Panel *shadingPanel = glui->add_panel("Shading");
GLUI_RadioGroup *shadingGroup = glui->add_radiogroup_to_panel(shadingPanel, (int*) &shadingModel, -1, shadingCB);
glui->add_radiobutton_to_group(shadingGroup, "Flat");
glui->add_radiobutton_to_group(shadingGroup, "Smooth");
shadingGroup->set_int_val(SMOOTH);
GLUI_Listbox *shaderListbox = glui->add_listbox_to_panel(shadingPanel, "Shader", (int*)&shader, -1, shadingCB);
shaderListbox->add_item(NOSHADER, "Fixed function");
shaderListbox->add_item(PASS_THROUGH, "Pass through");
shaderListbox->add_item(DIFFUSE, "Lambert illumination");
shaderListbox->add_item(PHONG, "Phong illumination");
shaderListbox->add_item(TOON, "Toon shading");
shaderListbox->add_item(PROCEDURAL, "Procedural texture");
shaderListbox->set_int_val(PASS_THROUGH);
glui->set_main_gfx_window(main_window);
// We register the idle callback with GLUI, *not* with GLUT
GLUI_Master.set_glutIdleFunc(NULL);
glui->sync_live();
glutMainLoop();
return EXIT_SUCCESS;
}
virtual bool Initialize()
{
cur_link=0;
cur_driver=0;
link_value = 0;
driver_value = 0;
draw_geom = 1;
draw_bbs = 0;
draw_com = 0;
draw_frame = 0;
draw_expanded = 0;
draw_self_collision_tests = 0;
hoverLink=hoverWidget=-1;
hoverPt.setZero();
pose_ik = 0;
if(!RobotViewProgram::Initialize()) return false;
self_colliding.resize(robot->links.size(),false);
UpdateConfig();
/*
//TEST: robot-to-robot IK test. only works for AL5Dx2
IKGoal test;
test.link = 8;
test.destLink = 16;
test.localPosition.set(0,0,0.05);
test.endPosition.set(0,0,0.05);
//test.SetFixedPosition(test.endPosition);
Matrix3 R;
R.setRotateZ(120);
test.SetFixedRotation(R);
vector<IKGoal> problem(1,test);
int iters=100;
bool res=SolveIK(*robot,problem,1e-3,iters);
printf("Solved IK: %d, %d iters, error %g\n",(int)res,iters,RobotIKError(*robot,test));
UpdateConfig();
*/
//setup GUI
glui = GLUI_Master.create_glui_subwindow(main_window,GLUI_SUBWINDOW_RIGHT);
glui->set_main_gfx_window(main_window);
GLUI_Panel* panel = glui->add_panel("Link controls");
link_spinner = glui->add_spinner_to_panel(panel,"Index",GLUI_SPINNER_INT,&cur_link,LINK_SPINNER_ID,ControlFunc);
link_spinner->set_int_limits(0,robot->links.size()-1,GLUI_LIMIT_WRAP);
link_listbox = glui->add_listbox_to_panel(panel,"Name",&cur_link,LINK_LISTBOX_ID,ControlFunc);
for(size_t i=0;i<robot->links.size();i++) {
char buf[256];
strcpy(buf,robot->linkNames[i].c_str());
link_listbox->add_item(i,buf);
}
link_value_spinner = glui->add_spinner_to_panel(panel,"Angle",GLUI_SPINNER_FLOAT,&link_value,LINK_VALUE_SPINNER_ID,ControlFunc);
link_info = glui->add_statictext_to_panel(panel,"Info");
UpdateLinkValueGUI();
UpdateLinkInfoGUI();
panel = glui->add_panel("Driver controls");
glui->add_checkbox_to_panel(panel,"Pose by IK",&pose_ik);
driver_spinner = glui->add_spinner_to_panel(panel,"Index",GLUI_SPINNER_INT,&cur_driver,DRIVER_SPINNER_ID,ControlFunc);
driver_spinner->set_int_limits(0,(int)robot->drivers.size()-1,GLUI_LIMIT_WRAP);
driver_listbox = glui->add_listbox_to_panel(panel,"Name",&cur_driver,DRIVER_LISTBOX_ID,ControlFunc);
for(size_t i=0;i<robot->drivers.size();i++) {
char buf[256];
strcpy(buf,robot->driverNames[i].c_str());
driver_listbox->add_item(i,buf);
}
driver_value_spinner = glui->add_spinner_to_panel(panel,"Angle",GLUI_SPINNER_FLOAT,&driver_value,DRIVER_VALUE_SPINNER_ID,ControlFunc);
driver_info = glui->add_statictext_to_panel(panel,"Info");
glui->add_checkbox("Draw geometry",&draw_geom);
glui->add_checkbox("Draw COM",&draw_com);
glui->add_checkbox("Draw frame",&draw_frame);
glui->add_checkbox("Draw bboxes",&draw_bbs);
glui->add_checkbox("Draw expanded",&draw_expanded,DRAW_EXPANDED_CHECKBOX_ID,ControlFunc);
glui->add_checkbox("Draw collision tests",&draw_self_collision_tests);
UpdateDriverValueGUI();
UpdateDriverInfoGUI();
return true;
}
void UpdateDriverListboxGUI()
{
driver_listbox->set_int_val(cur_driver);
//driver_listbox->set_int_val(cur_driver);
UpdateDriverInfoGUI();
}
int main(int argc, char** argv)
{
using namespace TestMain;
testCount = 0;
while (g_testEntries[testCount].createFcn != NULL)
{
++testCount;
}
testIndex = b2Clamp(testIndex, 0, testCount-1);
testSelection = testIndex;
entry = g_testEntries + testIndex;
if (entry && entry->createFcn) {
test = entry->createFcn();
testSelection = testIndex;
testIndex = -1;
}
glutInit(&argc, argv);
glutInitContextVersion(2, 0);
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE);
glutInitWindowSize(width, height);
char title[32];
sprintf(title, "Box2D Version %d.%d.%d", b2_version.major, b2_version.minor, b2_version.revision);
mainWindow = glutCreateWindow(title);
//glutSetOption (GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
glutDisplayFunc(SimulationLoop);
#if ENABLE_GLUI
GLUI_Master.set_glutReshapeFunc(Resize);
GLUI_Master.set_glutKeyboardFunc(Keyboard);
GLUI_Master.set_glutSpecialFunc(KeyboardSpecial);
GLUI_Master.set_glutMouseFunc(Mouse);
#else
{
glutReshapeFunc(Resize);
glutKeyboardFunc(Keyboard);
glutSpecialUpFunc(KeyboardSpecial);
glutMouseFunc(Mouse);
}
#endif // ENABLE_GLUI
#ifdef FREEGLUT
glutMouseWheelFunc(MouseWheel);
#endif
glutMotionFunc(MouseMotion);
glutKeyboardUpFunc(KeyboardUp);
#if ENABLE_GLUI
glui = GLUI_Master.create_glui_subwindow( mainWindow,
GLUI_SUBWINDOW_RIGHT );
glui->add_statictext("Tests");
GLUI_Listbox* testList =
glui->add_listbox("", &testSelection);
glui->add_separator();
GLUI_Spinner* velocityIterationSpinner =
glui->add_spinner("Vel Iters", GLUI_SPINNER_INT, &settings.velocityIterations);
velocityIterationSpinner->set_int_limits(1, 500);
GLUI_Spinner* positionIterationSpinner =
glui->add_spinner("Pos Iters", GLUI_SPINNER_INT, &settings.positionIterations);
positionIterationSpinner->set_int_limits(0, 100);
GLUI_Spinner* particleIterationSpinner =
glui->add_spinner("Pcl Iters", GLUI_SPINNER_INT, &settings.particleIterations);
particleIterationSpinner->set_int_limits(1, 100);
GLUI_Spinner* hertzSpinner =
glui->add_spinner("Hertz", GLUI_SPINNER_FLOAT, &settingsHz);
hertzSpinner->set_float_limits(5.0f, 200.0f);
glui->add_checkbox("Sleep", &settings.enableSleep);
glui->add_checkbox("Warm Starting", &settings.enableWarmStarting);
glui->add_checkbox("Time of Impact", &settings.enableContinuous);
glui->add_checkbox("Sub-Stepping", &settings.enableSubStepping);
glui->add_checkbox("Strict Particle/Body Contacts", &settings.strictContacts);
//glui->add_separator();
GLUI_Panel* drawPanel = glui->add_panel("Draw");
glui->add_checkbox_to_panel(drawPanel, "Shapes", &settings.drawShapes);
glui->add_checkbox_to_panel(drawPanel, "Particles", &settings.drawParticles);
glui->add_checkbox_to_panel(drawPanel, "Joints", &settings.drawJoints);
glui->add_checkbox_to_panel(drawPanel, "AABBs", &settings.drawAABBs);
glui->add_checkbox_to_panel(drawPanel, "Contact Points", &settings.drawContactPoints);
glui->add_checkbox_to_panel(drawPanel, "Contact Normals", &settings.drawContactNormals);
glui->add_checkbox_to_panel(drawPanel, "Contact Impulses", &settings.drawContactImpulse);
glui->add_checkbox_to_panel(drawPanel, "Friction Impulses", &settings.drawFrictionImpulse);
glui->add_checkbox_to_panel(drawPanel, "Center of Masses", &settings.drawCOMs);
glui->add_checkbox_to_panel(drawPanel, "Statistics", &settings.drawStats);
glui->add_checkbox_to_panel(drawPanel, "Profile", &settings.drawProfile);
int32 testCount = 0;
TestEntry* e = g_testEntries;
while (e->createFcn)
{
testList->add_item(testCount, e->name);
++testCount;
++e;
}
glui->add_button("Pause", 0, Pause);
glui->add_button("Single Step", 0, SingleStep);
glui->add_button("Restart", 0, Restart);
glui->add_button("Quit", 0,(GLUI_Update_CB)Exit);
glui->set_main_gfx_window( mainWindow );
#endif // ENABLE_GLUI
// Configure the fullscreen UI's viewport parameters.
fullscreenUI.SetViewParameters(&settings.viewCenter, &extents);
// Use a timer to control the frame rate.
glutTimerFunc(framePeriod, Timer, 0);
glutMainLoop();
return 0;
}
int main(int argc, char** argv)
{
simulatorPageCount = 0;
while (g_testEntries[simulatorPageCount].createFcn != NULL)
{
++simulatorPageCount;
}
simulatorPageIndex = b2Clamp(simulatorPageIndex, 0, simulatorPageCount-1);
simulatorPageSelection = simulatorPageIndex;
entry = g_testEntries + simulatorPageIndex;
simulatorPage = entry->createFcn();
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE);
glutInitWindowSize(width, height);
char title[32];
sprintf(title, "Simulert plankesorteringsanlegg");
mainWindow = glutCreateWindow(title);
//glutSetOption (GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
glutDisplayFunc(SimulationLoop);
GLUI_Master.set_glutReshapeFunc(Resize);
GLUI_Master.set_glutKeyboardFunc(Keyboard);
GLUI_Master.set_glutSpecialFunc(KeyboardSpecial);
GLUI_Master.set_glutMouseFunc(Mouse);
#ifdef FREEGLUT
glutMouseWheelFunc(MouseWheel);
#endif
glutMotionFunc(MouseMotion);
glutKeyboardUpFunc(KeyboardUp);
glui = GLUI_Master.create_glui_subwindow( mainWindow,
GLUI_SUBWINDOW_RIGHT );
glui->add_statictext("Tests");
GLUI_Listbox* testList =
glui->add_listbox("", &simulatorPageSelection);
glui->add_separator();
GLUI_Spinner* velocityIterationSpinner =
glui->add_spinner("Vel Iters", GLUI_SPINNER_INT, &settings.velocityIterations);
velocityIterationSpinner->set_int_limits(1, 500);
GLUI_Spinner* positionIterationSpinner =
glui->add_spinner("Pos Iters", GLUI_SPINNER_INT, &settings.positionIterations);
positionIterationSpinner->set_int_limits(0, 100);
GLUI_Spinner* hertzSpinner =
glui->add_spinner("Hertz", GLUI_SPINNER_FLOAT, &settingsHz);
hertzSpinner->set_float_limits(5.0f, 200.0f);
glui->add_checkbox("Warm Starting", &settings.enableWarmStarting);
glui->add_checkbox("Time of Impact", &settings.enableContinuous);
glui->add_checkbox("Sub-Stepping", &settings.enableSubStepping);
//glui->add_separator();
GLUI_Panel* drawPanel = glui->add_panel("Draw");
glui->add_checkbox_to_panel(drawPanel, "Shapes", &settings.drawShapes);
glui->add_checkbox_to_panel(drawPanel, "Joints", &settings.drawJoints);
glui->add_checkbox_to_panel(drawPanel, "AABBs", &settings.drawAABBs);
glui->add_checkbox_to_panel(drawPanel, "Pairs", &settings.drawPairs);
glui->add_checkbox_to_panel(drawPanel, "Contact Points", &settings.drawContactPoints);
glui->add_checkbox_to_panel(drawPanel, "Contact Normals", &settings.drawContactNormals);
glui->add_checkbox_to_panel(drawPanel, "Contact Forces", &settings.drawContactForces);
glui->add_checkbox_to_panel(drawPanel, "Friction Forces", &settings.drawFrictionForces);
glui->add_checkbox_to_panel(drawPanel, "Center of Masses", &settings.drawCOMs);
glui->add_checkbox_to_panel(drawPanel, "Statistics", &settings.drawStats);
glui->add_checkbox_to_panel(drawPanel, "Profile", &settings.drawProfile);
int32 testCount = 0;
SimulatorPageEntry* e = g_testEntries;
while (e->createFcn)
{
testList->add_item(testCount, e->name);
++testCount;
++e;
}
glui->add_button("Pause", 0, Pause);
glui->add_button("Single Step", 0, SingleStep);
glui->add_button("Restart", 0, Restart);
glui->add_button("Quit", 0,(GLUI_Update_CB)Exit);
glui->add_separator();
glui->add_edittext( "Serialport:", GLUI_EDITTEXT_TEXT, serialport );
glui->add_button("Set serialport", 0, (GLUI_Update_CB)SetSerialport);
glui->set_main_gfx_window( mainWindow );
// Use a timer to control the frame rate.
glutTimerFunc(framePeriod, Timer, 0);
glutMainLoop();
return 0;
}
int main(int argc, char** argv)
{
testCount = 0;
while (g_testEntries[testCount].createFcn != NULL)
{
++testCount;
}
testIndex = b2Clamp(testIndex, 0, testCount-1);
testSelection = testIndex;
entry = g_testEntries + testIndex;
test = entry->createFcn();
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE);
glutInitWindowSize(width, height);
char title[32];
sprintf(title, "Box2D Version %d.%d.%d", b2_version.major, b2_version.minor, b2_version.revision);
mainWindow = glutCreateWindow(title);
//glutSetOption (GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
glutDisplayFunc(SimulationLoop);
/* int theConnection=0;
theConnection=setup_rlglue_network();
runEnvironmentEventLoop(theConnection);*/
GLUI_Master.set_glutReshapeFunc(Resize);
GLUI_Master.set_glutKeyboardFunc(Keyboard);
GLUI_Master.set_glutSpecialFunc(KeyboardSpecial);
GLUI_Master.set_glutMouseFunc(Mouse);
#ifdef FREEGLUT
glutMouseWheelFunc(MouseWheel);
#endif
glutMotionFunc(MouseMotion);
glui = GLUI_Master.create_glui_subwindow( mainWindow,
GLUI_SUBWINDOW_RIGHT );
glui->add_statictext("Tests");
GLUI_Listbox* testList =
glui->add_listbox("", &testSelection);
glui->add_separator();
GLUI_Spinner* velocityIterationSpinner =
glui->add_spinner("Vel Iters", GLUI_SPINNER_INT, &settings.velocityIterations);
velocityIterationSpinner->set_int_limits(1, 500);
GLUI_Spinner* positionIterationSpinner =
glui->add_spinner("Pos Iters", GLUI_SPINNER_INT, &settings.positionIterations);
positionIterationSpinner->set_int_limits(0, 100);
GLUI_Spinner* hertzSpinner =
glui->add_spinner("Hertz", GLUI_SPINNER_FLOAT, &settingsHz);
hertzSpinner->set_float_limits(5.0f, 200.0f);
glui->add_checkbox("Warm Starting", &settings.enableWarmStarting);
glui->add_checkbox("Time of Impact", &settings.enableContinuous);
//glui->add_separator();
GLUI_Panel* drawPanel = glui->add_panel("Draw");
glui->add_checkbox_to_panel(drawPanel, "Shapes", &settings.drawShapes);
glui->add_checkbox_to_panel(drawPanel, "Joints", &settings.drawJoints);
glui->add_checkbox_to_panel(drawPanel, "AABBs", &settings.drawAABBs);
glui->add_checkbox_to_panel(drawPanel, "Pairs", &settings.drawPairs);
glui->add_checkbox_to_panel(drawPanel, "Contact Points", &settings.drawContactPoints);
glui->add_checkbox_to_panel(drawPanel, "Contact Normals", &settings.drawContactNormals);
glui->add_checkbox_to_panel(drawPanel, "Contact Forces", &settings.drawContactForces);
glui->add_checkbox_to_panel(drawPanel, "Friction Forces", &settings.drawFrictionForces);
glui->add_checkbox_to_panel(drawPanel, "Center of Masses", &settings.drawCOMs);
glui->add_checkbox_to_panel(drawPanel, "Statistics", &settings.drawStats);
int32 testCount = 0;
TestEntry* e = g_testEntries;
while (e->createFcn)
{
testList->add_item(testCount, e->name);
++testCount;
++e;
}
glui->add_button("Pause", 0, Pause);
glui->add_button("Single Step", 0, SingleStep);
glui->add_button("Restart", 0, Restart);
glui->add_button("Quit", 0,(GLUI_Update_CB)exit);
glui->set_main_gfx_window( mainWindow );
// Use a timer to control the frame rate.
glutTimerFunc(framePeriod, Timer, 0);
////////////////////////////////////////////////////////////////////////////////////////////
/*const char *task_spec;
printf("\nThis is a RL Test program(Start)\n");
task_spec = RL_init();
printf("\nTASK SPEC : %s\n",task_spec);
printf("Starting offline demo\n----------------------------\nWill alternate learning for 25 episodes, then freeze policy and evaluate for 10 episodes.\n\n");
printf("After Episode\tMean Return\tStandard Deviation\n-------------------------------------------------------------------------\n");
oa = RL_start();
RL_agent_message("load_policy results.dat");
RL_agent_message("freeze learning");*/
const char* task_spec;
task_spec = env_init();
agent_init(task_spec);
////////////////////////////////////////////////////////////////////////////////////////////
/*
agent_message("load_policy results.dat");
agent_message("freeze learning");*/
glutMainLoop();
return 0;
}