SBAPI bool SBM_UpdateUsingDelta( SBMHANDLE sbmHandle, double deltaTimeInSeconds ) { if ( !SBM_HandleExists( sbmHandle ) ) { return false; } SmartBody::SBScene * scene = SmartBody::SBScene::getScene(); scene->getSimulationManager()->stepDt(deltaTimeInSeconds); scene->update(); SBM_SanityCheckCallbackQueues(sbmHandle); return true; }
int main_sb( int argc, char** argv ) { osg::ArgumentParser arguments( &argc, argv ); SmartBody::SBScene* scene = SmartBody::SBScene::getScene(); scene->setMediaPath( "./smartbody/" ); // data/ scene->addAssetPath( "motion", "ChrBrad" ); scene->addAssetPath( "mesh", "mesh"); scene->addAssetPath( "script", "scripts"); scene->loadAssets(); int numMotions = scene->getNumMotions(); std::cout << "Loaded motions: " << numMotions << std::endl; SmartBody::SBCharacter* character = scene->createCharacter( "mycharacter", "" ); SmartBody::SBSkeleton* skeleton = scene->createSkeleton( "ChrBrad.sk" ); character->setSkeleton( skeleton ); character->createStandardControllers(); SmartBody::SBSimulationManager* sim = scene->getSimulationManager(); sim->setupTimer(); osg::ref_ptr<osg::Group> root = new osg::Group; osgViewer::Viewer viewer; viewer.setCameraManipulator( new osgGA::TrackballManipulator ); viewer.addEventHandler( new osgGA::StateSetManipulator(viewer.getCamera()->getOrCreateStateSet()) ); viewer.addEventHandler( new osgViewer::StatsHandler ); viewer.addEventHandler( new osgViewer::WindowSizeHandler ); viewer.setSceneData( root.get() ); viewer.setUpViewOnSingleScreen( 1 ); std::string ret = scene->getBmlProcessor()->execBML( "mycharacter", "<body posture=\"ChrBrad@Idle01\"/>" ); sim->start(); while ( !viewer.done() ) { scene->update(); int numCharacters = scene->getNumCharacters(); if (numCharacters == 0) return true; sim->updateTimer(); viewer.frame(); } sim->stop(); return 0; }