void Simulator::init(Project &prj, BodyFactory &factory){
initWorld(prj, factory, *this, pairs);
initRTS(prj, receivers);
std::cout << "number of receivers:" << receivers.size() << std::endl;
m_totalTime = prj.totalTime();
m_logTimeStep = prj.logTimeStep();
m_kinematicsOnly = prj.kinematicsOnly();
OpenHRP::CollisionSequence& collisions = state.collisions;
collisions.length(pairs.size());
for(size_t colIndex=0; colIndex < pairs.size(); ++colIndex){
hrp::ColdetLinkPairPtr linkPair = pairs[colIndex];
hrp::Link *link0 = linkPair->link(0);
hrp::Link *link1 = linkPair->link(1);
OpenHRP::LinkPair& pair = collisions[colIndex].pair;
pair.charName1 = CORBA::string_dup(link0->body->name().c_str());
pair.charName2 = CORBA::string_dup(link1->body->name().c_str());
pair.linkName1 = CORBA::string_dup(link0->name.c_str());
pair.linkName2 = CORBA::string_dup(link1->name.c_str());
}
m_nextLogTime = 0;
appendLog();
}
int main(int argc, char *argv[])
{
RegionTable *rt;
int i;
initRTS(2,3,4,5);
rt = getRTS(0,0,0,0); i = getIndex(0,0,0,0);
printf("getRTS(0,0,0,0) = %d (%p)\n", i, rt);
rt = getRTS(0,0,0,1);
printf("getRTS(0,0,0,1) = %d (%p)\n", i, rt);
rt = getRTS(0,0,0,2);
printf("getRTS(0,0,0,2) = %d (%p)\n", i, rt);
rt = getRTS(0,0,0,3);
printf("getRTS(0,0,0,3) = %d (%p)\n", i, rt);
rt = getRTS(0,0,0,4);
printf("getRTS(0,0,0,4) = %d (%p)\n", i, rt);
rt = getRTS(0,0,1,0);
printf("getRTS(0,0,1,0) = %d (%p)\n", i, rt);
rt = getRTS(0,0,1,1);
printf("getRTS(0,0,1,1) = %d (%p)\n", i, rt);
rt = getRTS(1,2,3,4);
printf("getRTS(1,2,3,4) = %d (%p)\n", i, rt);
}
