void DiagrammarInterface::LaunchWorld() {
glSetCurrentContextPPAPI(context_.pp_resource());
world_.Read(CreateJsonObject("/http/path_simple.json"));
world_.Start();
drawer_ = new NaClDrawer(world_);
SimulationLoop();
}
int main(int argc, char* argv[]) {
omp_set_nested(1);
stepMode = true;
GPUSystem = new System(1);
GPUSystem->mTimeStep = .001;
GPUSystem->mEndTime = 35;
GPUSystem->mNumObjects = 1;
GPUSystem->mIterations = 100;
GPUSystem->mTolerance = 1e-5;
GPUSystem->mOmegaContact = .9;
GPUSystem->mOmegaBilateral = .2;
GPUSystem->mUseOGL = 1;
float mMu = .5;
float mWallMu = .5;
if (argc == 2) {
numY = atoi(argv[1]);
} else {
cout << "ARGS: number of particle layers in y direction" << endl;
exit(1);
}
float container_R = 10.0, container_T = .1;
ChQuaternion<> quat(1, 0, 0, 0);
ChVector<> lpos(0, 0, 0);
CHBODYSHAREDPTR L = CHBODYSHAREDPTR(new CHBODY);
CHBODYSHAREDPTR R = CHBODYSHAREDPTR(new CHBODY);
CHBODYSHAREDPTR F = CHBODYSHAREDPTR(new CHBODY);
CHBODYSHAREDPTR B = CHBODYSHAREDPTR(new CHBODY);
CHBODYSHAREDPTR BTM = CHBODYSHAREDPTR(new CHBODY);
CHBODYSHAREDPTR FREE = CHBODYSHAREDPTR(new CHBODY);
ChQuaternion<> quat2(1, 0, 0, 0);
quat2.Q_from_AngAxis(PI / 6.0, ChVector<> (1, 0, 0));
//GPUSystem->InitObject(L, 100000, ChVector<> (-container_R, 0, 0), quat, mWallMu, mWallMu, 0, true, true, -20, -20);
//GPUSystem->InitObject(R, 100000, ChVector<> (container_R, 0, 0), quat, mWallMu, mWallMu, 0, true, true, -20, -20);
//GPUSystem->InitObject(F, 100000, ChVector<> (0, 0, -container_R), quat, mWallMu, mWallMu, 0, true, true, -20, -20);
//GPUSystem->InitObject(B, 100000, ChVector<> (0, 0, container_R), quat, mWallMu, mWallMu, 0, true, true, -20, -20);
GPUSystem->InitObject(BTM, 1, ChVector<> (0, -container_R, 0), quat, mWallMu, mWallMu, 0, true, true, -1000, -20000);
//GPUSystem->AddCollisionGeometry(L, BOX, ChVector<> (container_T, container_R, container_R), lpos, quat);
//GPUSystem->AddCollisionGeometry(R, BOX, ChVector<> (container_T, container_R, container_R), lpos, quat);
//GPUSystem->AddCollisionGeometry(F, BOX, ChVector<> (container_R, container_R, container_T), lpos, quat);
//GPUSystem->AddCollisionGeometry(B, BOX, ChVector<> (container_R, container_R, container_T), lpos, quat);
GPUSystem->AddCollisionGeometry(BTM, BOX, ChVector<> (container_R, container_T, container_R), lpos, quat);
//GPUSystem->FinalizeObject(L);
//GPUSystem->FinalizeObject(R);
//GPUSystem->FinalizeObject(F);
//GPUSystem->FinalizeObject(B);
GPUSystem->FinalizeObject(BTM);
((ChLcpSolverGPU*) (GPUSystem->mSystem->GetLcpSolverSpeed()))->SetContactFactor(.6);
GPUSystem->Setup();
SimulationLoop(argc, argv);
return 0;
}
void Game::Update(float delta)
{
if (mPause) return;
if (start == 0)
startTimer();
// Process any commands received from clients
processCommands();
// Run physics update loop
SimulationLoop(delta);
}
