int main(int argc, char *argv[]) { (void)argc; (void)argv; struct aa_rx_win * win = aa_rx_win_default_create ( "UR10 Demo", SCREEN_WIDTH, SCREEN_HEIGHT ); printf("OpenGL Version: %s\n", glGetString(GL_VERSION)); // Initialize scene graph struct aa_rx_sg *scenegraph = aa_rx_dl_sg__ur(NULL); aa_rx_sg_init(scenegraph); /* initialize scene graph internal structures */ aa_rx_win_set_sg(win, scenegraph); /* Set the scenegraph for the window */ // start display aa_rx_win_start(win); // Cleanup aa_rx_win_join(win); aa_rx_sg_destroy(scenegraph); aa_rx_win_destroy(win); SDL_Quit(); return 0; }
int main(int argc, char *argv[]) { (void)argc; (void)argv; struct aa_rx_win * win = aa_rx_win_default_create ( "Sync Test", SCREEN_WIDTH, SCREEN_HEIGHT ); struct aa_rx_sg *sg0 = aa_rx_dl_sg__scenegraph (NULL); aa_rx_sg_init(sg0); /* initialize scene graph internal structures */ aa_rx_win_sg_gl_init(win, sg0); /* Initialize scene graph GL-rendering objects */ aa_rx_win_set_sg(win, sg0); /* Set the scenegraph for the window */ // start display aa_rx_win_start(win); int n_thread = 10; pthread_t thread[n_thread]; for( size_t i = 0; i < n_thread; i ++ ) { pthread_create( thread + i, NULL, fun, win ); } for( size_t i = 0; i < n_thread; i ++ ) { pthread_join(thread[i], NULL ); } // Cleanup aa_rx_win_join(win); aa_rx_win_destroy(win); SDL_Quit(); return 0; }
int main(int argc, char *argv[]) { (void)argc; (void)argv; // Initialize scene graph struct aa_rx_sg *scenegraph = aa_rx_dl_sg__scenegraph(NULL); // setup window struct aa_rx_win * win = baxter_demo_setup_window(scenegraph); // start display aa_rx_win_start(win); // Cleanup aa_rx_win_join(win); aa_rx_sg_destroy(scenegraph); aa_rx_win_destroy(win); SDL_Quit(); return 0; }
int main(int argc, char *argv[]) { int visual = 1; int collision = 0; /* Parse Options */ { int c; opterr = 0; while( (c = getopt( argc, argv, "?c")) != -1 ) { switch(c) { case 'c': visual = 0; collision = 1; break; case '?': puts("Usage: COMMAND [OPTIONS] \n" "Viewer for Amino scene graphs" "\n" "Options:\n" " -c view collision geometry\n" "\n" "\n" "Report bugs to " PACKAGE_BUGREPORT "\n" ); exit(EXIT_SUCCESS); break; } } } /* Initialize scene graph */ struct aa_rx_sg *scenegraph = NAME( NULL); assert(scenegraph); aa_rx_sg_init(scenegraph); /* initialize scene graph internal structures */ /* Center configurations */ size_t m = aa_rx_sg_config_count(scenegraph); double q[m]; for(size_t i = 0; i < m; i ++ ) { double min=0,max=0; aa_rx_sg_get_limit_pos(scenegraph,(aa_rx_config_id)i,&min,&max); q[i] = (max + min)/2; } /* setup window */ struct aa_rx_win * win = aa_rx_win_default_create ( "Amino: AARX-View", SCREEN_WIDTH, SCREEN_HEIGHT ); aa_rx_win_set_sg(win, scenegraph); /* Set the scenegraph for the window */ aa_rx_win_set_config(win, m, q); struct aa_gl_globals *globals = aa_rx_win_gl_globals(win); aa_gl_globals_set_show_visual(globals, visual); aa_gl_globals_set_show_collision(globals, collision); /* start display */ aa_rx_win_start(win); /* Cleanup */ aa_rx_win_join(win); aa_rx_sg_destroy(scenegraph); aa_rx_win_destroy(win); SDL_Quit(); return 0; }