void PhysicsClientExample::initPhysics()
{
if (m_guiHelper && m_guiHelper->getParameterInterface())
{
int upAxis = 2;
m_guiHelper->setUpAxis(upAxis);
createButtons();
} else
{
MyCallback(CMD_LOAD_URDF, true, this);
MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
MyCallback(CMD_RESET_SIMULATION,true,this);
}
m_selectedBody = -1;
m_prevSelectedBody = -1;
m_physicsClientHandle = b3ConnectSharedMemory(m_sharedMemoryKey);
//m_physicsClientHandle = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
//m_physicsClientHandle = b3ConnectPhysicsDirect();
if (!b3CanSubmitCommand(m_physicsClientHandle))
{
b3Warning("Cannot connect to physics client");
}
}
int
main (int argc, char **argv)
{
IloEnv env;
try {
IloModel model(env, "example");
IloNumVarArray var(env);
IloRangeArray rng(env);
populatebycolumn (model, var, rng);
IloCplex cplex(model);
cplex.setOut(env.getNullStream());
cplex.setParam(IloCplex::Param::RootAlgorithm, IloCplex::Primal);
cplex.use(MyCallback(env));
cplex.solve();
env.out() << "Solution status = " << cplex.getStatus() << endl;
env.out() << "Solution value = " << cplex.getObjValue() << endl;
IloNumArray vals(env);
cplex.getValues(vals, var);
env.out() << "Values = " << vals << endl;
cplex.getSlacks(vals, rng);
env.out() << "Slacks = " << vals << endl;
cplex.getDuals(vals, rng);
env.out() << "Duals = " << vals << endl;
cplex.getReducedCosts(vals, var);
env.out() << "Reduced Costs = " << vals << endl;
cplex.exportModel("lpex4.lp");
}
catch (IloException& e) {
cerr << "Concert exception caught: " << e << endl;
}
catch (...) {
cerr << "Unknown exception caught" << endl;
}
env.end();
return 0;
} // END main
void PhysicsClientExample::initPhysics()
{
if (m_guiHelper && m_guiHelper->getParameterInterface())
{
int upAxis = 2;
m_guiHelper->setUpAxis(upAxis);
createButtons();
} else
{
MyCallback(CMD_LOAD_URDF, true, this);
MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
MyCallback(CMD_RESET_SIMULATION,true,this);
}
m_selectedBody = -1;
m_prevSelectedBody = -1;
if (m_options == eCLIENTEXAMPLE_SERVER)
{
m_canvas = m_guiHelper->get2dCanvasInterface();
if (m_canvas)
{
m_canvasIndex = m_canvas->createCanvas("Synthetic Camera",camVisualizerWidth, camVisualizerHeight);
for (int i=0;i<camVisualizerWidth;i++)
{
for (int j=0;j<camVisualizerHeight;j++)
{
unsigned char red=255;
unsigned char green=255;
unsigned char blue=255;
unsigned char alpha=255;
if (i==j)
{
red = 0;
green=0;
blue=0;
}
m_canvas->setPixel(m_canvasIndex,i,j,red,green,blue,alpha);
}
}
m_canvas->refreshImageData(m_canvasIndex);
}
m_isOptionalServerConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
}
m_physicsClientHandle = b3ConnectSharedMemory(m_sharedMemoryKey);
//m_physicsClientHandle = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
//m_physicsClientHandle = b3ConnectPhysicsDirect();
if (!b3CanSubmitCommand(m_physicsClientHandle))
{
b3Warning("Cannot connect to physics client");
}
}
