int main(int argc, char* argv[])
{
srand((unsigned int)time(NULL));
SDL_Init(SDL_INIT_JOYSTICK);
if(SDL_NumJoysticks() > 0)
{
// Setup the joystick.
std::cout << "========================================" << std::endl;
std::cout << "Initializing game controller: " << SDL_JoystickName(0)
<< std::endl;
gGamePad = SDL_JoystickOpen(0);
std::cout << SDL_JoystickNumAxes(gGamePad) << " axes" << std::endl;
std::cout << SDL_JoystickNumBalls(gGamePad) << " trackballs" << std::endl;
std::cout << SDL_JoystickNumHats(gGamePad) << " hats" << std::endl;
std::cout << SDL_JoystickNumButtons(gGamePad) << " buttons" << std::endl;
std::cout << "========================================" << std::endl;
}
else
{
std::cout << "========================================" << std::endl;
std::cout << "No game controller detected" << std::endl;
std::cout << "========================================" << std::endl;
}
//Ogre::Overlay* trialOverlay;
///// The current amount of elapsed time within a trial.
//Ogre::Real mCurrentTrialTime;
///// The length of each trial in seconds.
//Ogre::Real mTrialLength;
///// The rewards received during a single trial, in rewards per step.
//verve::real mAvgRewardPerStep;
if (!gEngine.init())
{
return 0;
}
gEngine.setUpdateMode(SimulationEngine::SIMULATE_REAL_TIME_MULTIPLE, 1);
//// Set to capture frames at 29.97 fps.
//engine.setUpdateMode(SIMULATE_CONSTANT_CHUNK, 0.0333667);
// Use feet for this simulation.
gEngine.getSimulator()->setGravity(opal::Vec3r(0, -30, 0));
gEngine.getSimulator()->setStepSize(gPhysicsStepSize);
// Make sure we get notified at the end of each step.
gEngine.getSimulator()->addPostStepEventHandler(&gPostStepEventHandler);
// Create the robot.
opal::Matrix44r robotTransform;
robotTransform.translate(0, 1, 0);
gRobot = new Robot(gEngine, 5);
gRobot->init("../data/blueprints/robot1.xml", "Plastic/LightBlue",
0.5, robotTransform, 2);
gRobot->resetBodyAndCreateNewAgent();
gRobot->resetBodyAndSTM();
gRobot->randomizeState();
gRobot->getFLMotor()->setMaxTorque((opal::real)2);
gRobot->getFRMotor()->setMaxTorque((opal::real)2);
gRobot->getFLMotor()->setMaxVelocity(1000);
gRobot->getFRMotor()->setMaxVelocity(1000);
// Create the car.
opal::Matrix44r carTransform;
carTransform.translate(-12, 2, 4);
gCar = new Car(gEngine);
gCar->init("../data/blueprints/car1.xml", "Plastic/Blue", 1,
carTransform, 1);
//DataFile dataFile(mNumTrialsPerRun);
//updateOverlayData(trial);
//mAvgRewardPerStep = 0;
//mCurrentTrialTime = 0;
gAgentDebugger = new AgentVisualDebugger(gEngine.getSceneManager());
gAgentDebugger->setAgent(gRobot->getAgent());
gAgentDebugger->setDisplayEnabled(false);
Ogre::OverlayManager::getSingleton().getByName("Verve/Debug")->hide();
Ogre::OverlayManager::getSingleton().getByName("Core/DebugOverlay")->hide();
// Setup camera.
gEngine.getCamera()->setPosition(opal::Point3r(0, 25, 25));
gEngine.getCamera()->lookAt(opal::Point3r(0, (opal::real)0.1, 0));
gEngine.setCameraMoveSpeed(15);
setupEnvironment();
mainLoop();
delete gRobot;
delete gCar;
delete gAgentDebugger;
return 0;
}
void handleInput(Ogre::Real elapsedRealTime)
{
// This variable can be used to keep keys from repeating too fast.
static Ogre::Real toggleTimer = 0;
if (toggleTimer >= 0)
{
toggleTimer -= elapsedRealTime;
}
OIS::Keyboard* keyboard = gEngine.getKeyboard();
if (keyboard->isKeyDown(OIS::KC_W))
{
gCar->forward();
}
else if (keyboard->isKeyDown(OIS::KC_S))
{
gCar->reverse();
}
else
{
gCar->idle();
}
if (keyboard->isKeyDown(OIS::KC_A))
{
gCar->setSteering(-1);
}
else if (keyboard->isKeyDown(OIS::KC_D))
{
gCar->setSteering(1);
}
else
{
gCar->setSteering(0);
}
// If available, get data from the game controller.
if (gGamePad)
{
// Update the game controller state.
SDL_JoystickUpdate();
Ogre::Real joy0X = (Ogre::Real)SDL_JoystickGetAxis(gGamePad, 0) /
(Ogre::Real)32768;
Ogre::Real joy0Y = (Ogre::Real)SDL_JoystickGetAxis(gGamePad, 1) /
(Ogre::Real)32768;
Ogre::Real joy1X = (Ogre::Real)SDL_JoystickGetAxis(gGamePad, 4) /
(Ogre::Real)32768;
Ogre::Real joy1Y = (Ogre::Real)SDL_JoystickGetAxis(gGamePad, 3) /
(Ogre::Real)32768;
if (fabs(joy0Y) > 0.1)
{
gCar->setThrottle(-joy0Y);
}
else
{
gCar->idle();
}
if (fabs(joy0X) > 0.1)
{
gCar->setSteering(joy0X);
}
else
{
gCar->setSteering(0);
}
if (joy1X > 0.2 || joy1X < -0.2)
{
Ogre::Degree rotAroundY = -Ogre::Degree(joy1X);
gEngine.getCamera()->yawRelative(rotAroundY.valueDegrees());
}
if (joy1Y > 0.2 || joy1Y < -0.2)
{
Ogre::Degree rotAroundX = -Ogre::Degree(joy1Y);
gEngine.getCamera()->pitchRelative(rotAroundX.valueDegrees());
}
}
// Toggle GUI.
if (keyboard->isKeyDown(OIS::KC_G) && toggleTimer <= 0)
{
Ogre::Overlay* debugOverlay = Ogre::OverlayManager::getSingleton().
getByName("Verve/Debug");
if (debugOverlay->isVisible())
{
debugOverlay->hide();
gAgentDebugger->setDisplayEnabled(false);
}
else
{
debugOverlay->show();
gAgentDebugger->setDisplayEnabled(true);
}
toggleTimer = 0.5;
}
}
