int init()
{
ASSERT(initSDL());
ASSERT(initGL() == 1);
ASSERT(create_mesh(mesh, N, M, SCREEN_WIDTH, SCREEN_HEIGHT));
ASSERT(init_simulation());
resize_window(SCREEN_WIDTH, SCREEN_HEIGHT);
#ifdef OPENMP
omp_set_num_treads(MAX_THREADS);
#endif
ASSERT(init_simulation());
int size = (N+2)*(M+2);
velocity_vectors = new Vector[size];
velocity_indices = new GLuint [size*2];
for(int i = 0; i < size*2; i++){
velocity_indices[i] = i;
}
for(int i = 0; i < size; i++){
velocity_vectors[i].p0.x = mesh.vertices[i].x;
velocity_vectors[i].p0.y = mesh.vertices[i].y;
velocity_vectors[i].p1.x = mesh.vertices[i].x;
velocity_vectors[i].p1.y = mesh.vertices[i].y;
}
return (TRUE);
}
static void
init_sensor (ModeInfo *mi)
{
sonar_configuration *sp = &sps[MI_SCREEN(mi)];
if (sp->ssd) abort();
if (!ping_arg || !*ping_arg ||
!strcmp(ping_arg, "default") ||
!!strcmp (ping_arg, "simulation"))
sp->ssd = init_ping (MI_DISPLAY (mi), &sp->error, ping_arg,
ping_timeout, resolve_p, times_p, debug_p);
/* Disavow privs. This was already done in init_ping(), but
we might not have called that at all, so do it again. */
setuid(getuid());
if (!sp->ssd)
sp->ssd = init_simulation (MI_DISPLAY (mi), &sp->error,
team_a_name, team_b_name,
team_a_count, team_b_count,
debug_p);
if (!sp->ssd)
abort();
}
int main(int argc, char** argv)
{
if(argc < 2 || argc > 3)
usage(argv[0]);
FILE* outfile;
if(argc < 3)
outfile = stdout;
else
{
outfile = fopen(argv[2], "w");
if(outfile == NULL)
{
perror("Error opening output file");
return EXIT_FAILURE;
}
}
FILE* infile = fopen(argv[1], "r");
if(infile == NULL)
{
fclose(outfile);
perror("Error opening input file");
return EXIT_FAILURE;
}
System* system = load_system(infile);
if(system == NULL)
{
fclose(outfile);
fclose(infile);
printf("Loading input file failed.\n");
return EXIT_FAILURE;
}
init_simulation(system);
simulate(outfile, system);
free(system);
fclose(outfile);
fclose(infile);
}
void main_simulation()
#endif
{
// inputs
double fitness;
#ifdef OPTI
double *optiParams;
#endif
Loop_inputs *loop_inputs;
// initialization
loop_inputs = init_simulation();
// optimization init
#ifdef OPTI
optiParams = (double*) malloc(NB_PARAMS_TO_OPTIMIZE*sizeof(double));
get_real_params_to_opt(optiNorms, optiParams);
erase_for_opti(optiParams, loop_inputs->MBSdata);
free(optiParams);
#endif
// -- Simbody -- //
#ifdef SIMBODY
// / Create the system. Define all "system" objects - system, matterm forces, tracker, contactForces.
MultibodySystem system;
SimbodyMatterSubsystem matter(system);
ContactTrackerSubsystem tracker(system);
CompliantContactSubsystem contactForces(system, tracker);
system.setUpDirection(+ZAxis); // that is for visualization only. The default direction is +X
SimbodyVariables simbodyVariables;
// set all the mechanical parameters of the contact
simbodyVariables.p_system = &system;
simbodyVariables.p_matter = &matter;
simbodyVariables.p_tracker = &tracker;
simbodyVariables.p_contactForces = &contactForces;
// cout<<"BoxInd in Main = "<<BoxInd<<" -- should be default \n";
//init_Simbody(&simbodyVariables);
init_Simbody(&simbodyVariables, loop_inputs->MBSdata->user_IO->simbodyBodies);
//it is "system" commands. We cannot avoid them.
system.realizeTopology();
State state = system.getDefaultState();
simbodyVariables.p_state = &state;
//it is "system" command. We cannot avoid them.
system.realizeModel(state);
p_simbodyVariables = &simbodyVariables;
#endif
// loop
fitness = loop_simulation(loop_inputs);
// end of the simulation
finish_simulation(loop_inputs);
#ifdef OPTI
return fitness;
#else
#if defined(PRINT_REPORT)
printf("fitness: %f\n", fitness);
#endif
#endif
}
int main(int argc, char** argv)
{
if(argc != 2)
usage(argv[0]);
FILE* infile = fopen(argv[1], "r");
if(infile == NULL)
{
perror("Error opening input file");
return EXIT_FAILURE;
}
System* sys = load_system(infile);
if(sys == NULL)
{
printf("Loading input file failed\n");
return EXIT_FAILURE;
}
init_simulation(sys);
state.sys = sys;
state.views = malloc(sys->nplanets * sizeof(PlanetView));
for(int i = 0; i < sys->nplanets; i++)
state.views[i].radius = pow(sys->planets[i].mass / DENSITY_FACTOR, 1.0f/3.0f);
state.scale = 1.0f;
Vector* fst_pos = &sys->planets[0].position;
vector_copy(state.pos, *fst_pos);
state.pos[1] += 1.1f*get_planet_radius(0);
state.pos[0] -= get_planet_radius(0);
state.rot_x = 90.0f;
state.locked_planet = -1;
state.hours_per_sec = DEFAULT_SIMULATION_SPEED;
state.time_step = sys->time_step;
state.paused = true;
state.trails_enabled = true;
if(SDL_Init(SDL_INIT_VIDEO) < 0)
die("SDL initialization failed");
atexit(SDL_Quit);
const SDL_VideoInfo* videoInfo = SDL_GetVideoInfo();
if(!videoInfo)
die("Could not get video information");
int videoFlags = SDL_OPENGL | SDL_HWPALETTE | SDL_RESIZABLE | SDL_HWSURFACE | SDL_HWACCEL;
SDL_GL_SetAttribute(SDL_GL_DOUBLEBUFFER, 1);
SDL_GL_SetAttribute(SDL_GL_MULTISAMPLEBUFFERS, 1);
SDL_GL_SetAttribute(SDL_GL_MULTISAMPLESAMPLES, 4);
surface = SDL_SetVideoMode(SCREEN_WIDTH, SCREEN_HEIGHT, SCREEN_BPP, videoFlags);
if(!surface)
{
printf("Surface creation failed, trying to disable anti-aliasing...\n");
SDL_GL_SetAttribute(SDL_GL_MULTISAMPLEBUFFERS, 0);
SDL_GL_SetAttribute(SDL_GL_MULTISAMPLESAMPLES, 0);
surface = SDL_SetVideoMode(SCREEN_WIDTH, SCREEN_HEIGHT, SCREEN_BPP, videoFlags);
}
if(!surface)
die("Changing video mode failed");
init_gl();
init_viewport();
SDL_ShowCursor(0);
SDL_WM_GrabInput(SDL_GRAB_ON);
SDL_Event event;
while(SDL_PollEvent(&event))
; /* ignore spurious mouse events at startup */
bool window_is_active = true;
int step = 0;
while (true)
{
Uint32 next_update = SDL_GetTicks() + FRAME_INTERVAL;
while (SDL_PollEvent(&event))
{
switch(event.type)
{
case SDL_ACTIVEEVENT:
window_is_active = event.active.gain;
break;
case SDL_VIDEORESIZE:
surface = SDL_SetVideoMode(event.resize.w,
event.resize.h,
SCREEN_BPP, videoFlags);
if(!surface)
die("Lost video surface during resize");
init_viewport();
break;
case SDL_KEYDOWN:
handle_keypress(&event.key.keysym);
break;
case SDL_MOUSEMOTION:
handle_mouse(&event.motion);
break;
case SDL_QUIT:
goto out;
default:
break;
}
}
update();
if(window_is_active)
{
draw_scene();
glFlush();
SDL_GL_SwapBuffers();
}
if(!state.paused)
{
for(int i = 0; i < (state.hours_per_sec * 3600.0f / FRAME_INTERVAL) / state.time_step; i++)
{
if((step % TRAILS_INTERVAL) == 0)
update_trails();
simulate_one_step(sys, step++, state.time_step);
}
}
Sint32 delta = next_update - SDL_GetTicks();
if(delta > 0)
SDL_Delay(delta);
}
out:
return 0;
}
