int main( int argc, char** argv ) {
cmnLogger::SetMask( CMN_LOG_ALLOW_ALL );
cmnLogger::SetMaskFunction( CMN_LOG_ALLOW_ALL );
cmnLogger::SetMaskDefaultLog( CMN_LOG_ALLOW_ALL );
if( argc != 3 ) {
std::cerr << "Usage: " << argv[0] << " can[?] PID" << std::endl;
return -1;
}
osaSocketCAN can( argv[1], osaCANBus::RATE_1000 );
if( can.Open() != osaCANBus::ESUCCESS ) {
std::cerr << argv[0] << ": Failed to open device " << argv[1] << std::endl;
return -1;
}
std::istringstream iss( argv[2] );
int pid;
iss >> pid;
osaPuck puck( (osaPuck::ID)pid, &can );
// Reset the firmware
if( puck.Reset() != osaPuck::ESUCCESS ) {
std::cerr << ": Failed to reset the puck." << std::endl;
return -1;
}
osaSleep( 1. );
// Ready the puck
if( puck.Ready() != osaPuck::ESUCCESS ) {
std::cerr << ": Failed to ready the puck." << std::endl;
return -1;
}
osaSleep( 1.0 );
// configure the puck
if( puck.InitializeMotor() != osaPuck::ESUCCESS ) {
std::cerr << argv[0] << ": Failed to initialize puck" << std::endl;
}
if( can.Close() != osaCANBus::ESUCCESS ) {
std::cerr << argv[0] << ": Failed to close device " << argv[1] << std::endl;
return -1;
}
return 0;
}
// Main ---------------------------------------------------------------------
int main(int argc, const char *argv[])
{
std::string vshader = argv[3];
std::string fshader = argv[4];
// RotateHelp boardrot(3);
// std::cout << "rotate angle: " << boardrot.rotate_angle(5) << std::endl;
glutStuff(argc, argv);
glewInit();
// GLuint h_program = initGPU(argv[3], argv[4]); // specify vshader and fshader
print_opengl_version();
init_shader_variables();
createMenu();
// objs.push_back(dragon);
// Bullet ---------------------------------------------------------------------
/* Bullet Settings */
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
btBroadphaseInterface* overlappingPairCache = new btDbvtBroadphase();
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
/* Bullet World */
dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver,collisionConfiguration);
dynamicsWorld->setGravity(btVector3(0,0,0));
// btContactSolverInfo& info = dynamicsWorld->getSolverInfo();
// Game Object ------------------------------------------------------------------
glm::mat4 identity = glm::mat4();
Obj ball(argv[1] , identity, tex3, dynamicsWorld, ConvexHull); // CH
Obj board(argv[2] , identity, tex2, dynamicsWorld, TriangleMesh); // CH
Obj paddle2("obj/Paddle.obj" , identity, tex3, dynamicsWorld, TriangleMesh);
Obj puck("obj/Puck.obj" , identity, tex4, dynamicsWorld, TriangleMesh);
ball.set_name("Ball");
board.set_name("Board");
paddle2.set_name("Paddle2");
puck.set_name("Puck");
objs.push_back(ball);
objs.push_back(board);
objs.push_back(paddle2);
objs.push_back(puck);
objs[Paddle2].move(10.0/getDT(), 10.0/getDT());
// Lighting --------------------------------------------------------------------
// light = new LightingTechnique();
// if ( ! light->Init( vshader.c_str(), fshader.c_str() ) ) { std::cerr << "LightingTechnique Init Failed "<< std::endl; }
// init_shader_variables(light);
// light->Enable(); // enable shader
// Pipeline --------------------------------------------------------------------
h_program = InitShader( vshader.c_str(), fshader.c_str() );
bind_shader_variables2(h_program);
init_shader_variables();
glutMainLoop();
return 0;
}
int main(int argc, char **argv) {
if (puck()) return 0;
return 1;
}
