int main(int argc,char* argv[]) {
RagdollDemo demoApp;
demoApp.create_draw_file = false;
keep_input_files = false;
int i;
for (i=1; i < argc; i++) {
if (!strcmp(argv[i], "-d")) {
demoApp.create_draw_file = true;
}
else if (!strcmp(argv[i], "-k")) {
keep_input_files = true;
}
}
demoApp.initPhysics();
#ifdef GRAPHICS
demoApp.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
return glutmain(argc, argv, 640, 640, "Bullet Physics Demo. http://bulletphysics.com",&demoApp);
#else
while (1) {
demoApp.clientMoveAndDisplay();
i = i + 1;
}
#endif
}
int main(int argc,char* argv[])
{
RagdollDemo demoApp;
demoApp.initPhysics();
demoApp.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&demoApp);
}
virtual double computeError(const double* pVector)
{
RagdollDemo simulation;
m_pNN->setWeights(pVector);
simulation.SetPolicy(m_pNN);
float height = 0;
int i;
for(i = 0; i < 240; i++)
{
simulation.advanceTime(1.0f / 60);
height = std::max(height, simulation.getRagDoll(0)->getLowestPoint());
}
return -(double)height;
}
