std::vector<Plane_3> correctPlanes(const std::vector<Plane_3> &planes,
const std::vector<EdgeInfo> &data)
{
bool doEdgeScaling = (getenv("DISABLE_EDGE_SCALING") == nullptr);
EdgeCorrector *EC = new EdgeCorrector(doEdgeScaling, planes, data);
Ipopt::IpoptApplication *app = IpoptApplicationFactory();
/* Intialize the IpoptApplication and process the options */
if (app->Initialize() != Ipopt::Solve_Succeeded)
{
MAIN_PRINT("*** Error during initialization!");
exit(EXIT_FAILURE);
}
setParameters(app->Options());
/* Ask Ipopt to solve the problem */
auto status = app->OptimizeTNLP(EC);
if (status != Ipopt::Solve_Succeeded
&& status != Ipopt::Solved_To_Acceptable_Level)
{
MAIN_PRINT("** The problem FAILED!");
exit(EXIT_FAILURE);
}
MAIN_PRINT("*** The problem solved!");
return EC->getResultingPlanes();
}
SContour *SContour::convexify()
{
DEBUG_START;
ASSERT(!!plane.norm && "nu is null vector");
/*
* TODO: This is a temporal workaround. In future we need to perform
* convexification so that to remember what points are vertices of
* convex hull.
*/
auto points = getPoints();
auto pointsMapped = mapPointsToOXYplane(points, plane.norm);
std::vector<Point_2> hull;
convex_hull_2(pointsMapped.begin(), pointsMapped.end(),
std::back_inserter(hull));
if ((int) hull.size() != (int) points.size())
{
ASSERT(hull.size() < points.size());
MAIN_PRINT(COLOUR_RED
"Warning: contour #%d is non-convex, its hull "
"contains %d of %d of its points"
COLOUR_NORM, id, (int) hull.size(),
(int) points.size());
}
/* TODO: Add automatic conversion from Vector3d to Vector_3 !!! */
auto extremePoints = mapPointsFromOXYplane(hull,
Vector_3(plane.norm.x, plane.norm.y,
plane.norm.z));
SContour *contour = new SContour(extremePoints, plane);
contour->id = id;
contour->poly = poly;
#ifndef NDEBUG
for (int iSide = 0; iSide < contour->ns; ++iSide)
{
SideOfContour *side = &contour->sides[iSide];
ASSERT(qmod(side->A1 - side->A2) > 0);
}
#endif /* NDEBUG */
DEBUG_END;
return contour;
}
Error Main::setup2() {
OS::get_singleton()->initialize(video_mode,video_driver_idx,audio_driver_idx);
if (init_use_custom_pos) {
OS::get_singleton()->set_window_position(init_custom_pos);
}
register_core_singletons();
MAIN_PRINT("Main: Setup Logo");
bool show_logo=true;
#ifdef JAVASCRIPT_ENABLED
show_logo=false;
#endif
if (init_screen!=-1) {
OS::get_singleton()->set_current_screen(init_screen);
}
if (init_windowed) {
//do none..
} else if (init_maximized) {
OS::get_singleton()->set_window_maximized(true);
} else if (init_fullscreen) {
OS::get_singleton()->set_window_fullscreen(true);
}
MAIN_PRINT("Main: Load Remaps");
path_remap->load_remaps();
if (show_logo) { //boot logo!
String boot_logo_path=GLOBAL_DEF("application/boot_splash",String());
bool boot_logo_scale=GLOBAL_DEF("application/boot_splash_fullsize",true);
Globals::get_singleton()->set_custom_property_info("application/boot_splash",PropertyInfo(Variant::STRING,"application/boot_splash",PROPERTY_HINT_FILE,"*.png"));
Image boot_logo;
boot_logo_path = boot_logo_path.strip_edges();
if (boot_logo_path!=String() /*&& FileAccess::exists(boot_logo_path)*/) {
print_line("Boot splash path: "+boot_logo_path);
Error err = boot_logo.load(boot_logo_path);
}
if (!boot_logo.empty()) {
OS::get_singleton()->_msec_splash=OS::get_singleton()->get_ticks_msec();
Color clear = GLOBAL_DEF("render/default_clear_color",Color(0.3,0.3,0.3));
VisualServer::get_singleton()->set_default_clear_color(clear);
Color boot_bg = GLOBAL_DEF("application/boot_bg_color", clear);
VisualServer::get_singleton()->set_boot_image(boot_logo, boot_bg,boot_logo_scale);
#ifndef TOOLS_ENABLED
//no tools, so free the boot logo (no longer needed)
// Globals::get_singleton()->set("application/boot_logo",Image());
#endif
} else {
#ifndef NO_DEFAULT_BOOT_LOGO
MAIN_PRINT("Main: Create bootsplash");
Image splash(boot_splash_png);
MAIN_PRINT("Main: ClearColor");
VisualServer::get_singleton()->set_default_clear_color(boot_splash_bg_color);
MAIN_PRINT("Main: Image");
VisualServer::get_singleton()->set_boot_image(splash, boot_splash_bg_color,false);
#endif
MAIN_PRINT("Main: DCC");
VisualServer::get_singleton()->set_default_clear_color(GLOBAL_DEF("render/default_clear_color",Color(0.3,0.3,0.3)));
MAIN_PRINT("Main: END");
}
Image icon(app_icon_png);
OS::get_singleton()->set_icon(icon);
}
GLOBAL_DEF("application/icon",String());
Globals::get_singleton()->set_custom_property_info("application/icon",PropertyInfo(Variant::STRING,"application/icon",PROPERTY_HINT_FILE,"*.png,*.webp"));
if (bool(GLOBAL_DEF("display/emulate_touchscreen",false))) {
if (!OS::get_singleton()->has_touchscreen_ui_hint() && Input::get_singleton()) {
//only if no touchscreen ui hint, set emulation
InputDefault *id = Input::get_singleton()->cast_to<InputDefault>();
if (id)
id->set_emulate_touch(true);
}
}
MAIN_PRINT("Main: Load Remaps");
MAIN_PRINT("Main: Load Scene Types");
register_scene_types();
register_server_types();
GLOBAL_DEF("display/custom_mouse_cursor",String());
GLOBAL_DEF("display/custom_mouse_cursor_hotspot",Vector2());
Globals::get_singleton()->set_custom_property_info("display/custom_mouse_cursor",PropertyInfo(Variant::STRING,"display/custom_mouse_cursor",PROPERTY_HINT_FILE,"*.png,*.webp"));
if (String(Globals::get_singleton()->get("display/custom_mouse_cursor"))!=String()) {
//print_line("use custom cursor");
Ref<Texture> cursor=ResourceLoader::load(Globals::get_singleton()->get("display/custom_mouse_cursor"));
if (cursor.is_valid()) {
// print_line("loaded ok");
Vector2 hotspot = Globals::get_singleton()->get("display/custom_mouse_cursor_hotspot");
Input::get_singleton()->set_custom_mouse_cursor(cursor,hotspot);
}
}
#ifdef TOOLS_ENABLED
EditorNode::register_editor_types();
ObjectTypeDB::register_type<PCKPacker>(); // todo: move somewhere else
#endif
MAIN_PRINT("Main: Load Scripts, Modules, Drivers");
register_module_types();
register_driver_types();
ScriptServer::init_languages();
MAIN_PRINT("Main: Load Translations");
translation_server->setup(); //register translations, load them, etc.
if (locale!="") {
translation_server->set_locale(locale);
}
translation_server->load_translations();
_start_success=true;
locale=String();
MAIN_PRINT("Main: Done");
return OK;
}
Error Main::setup(const char *execpath,int argc, char *argv[],bool p_second_phase) {
RID_OwnerBase::init_rid();
OS::get_singleton()->initialize_core();
ObjectTypeDB::init();
MAIN_PRINT("Main: Initialize CORE");
register_core_types();
register_core_driver_types();
MAIN_PRINT("Main: Initialize Globals");
Thread::_main_thread_id = Thread::get_caller_ID();
globals = memnew( Globals );
input_map = memnew( InputMap );
path_remap = memnew( PathRemap );
translation_server = memnew( TranslationServer );
performance = memnew( Performance );
globals->add_singleton(Globals::Singleton("Performance",performance));
MAIN_PRINT("Main: Parse CMDLine");
/* argument parsing and main creation */
List<String> args;
List<String> main_args;
for(int i=0;i<argc;i++) {
args.push_back(String::utf8(argv[i]));
}
List<String>::Element *I=args.front();
I=args.front();
while (I) {
I->get()=unescape_cmdline(I->get().strip_escapes());
// print_line("CMD: "+I->get());
I=I->next();
}
I=args.front();
video_mode = OS::get_singleton()->get_default_video_mode();
String video_driver="";
String audio_driver="";
String game_path=".";
String debug_mode;
String debug_host;
String main_pack;
bool quiet_stdout=false;
int rtm=-1;
String remotefs;
String remotefs_pass;
String screen = "";
List<String> pack_list;
Vector<String> breakpoints;
bool use_custom_res=true;
bool force_res=false;
I=args.front();
packed_data = PackedData::get_singleton();
if (!packed_data)
packed_data = memnew(PackedData);
#ifdef MINIZIP_ENABLED
//XXX: always get_singleton() == 0x0
zip_packed_data = ZipArchive::get_singleton();
//TODO: remove this temporary fix
if (!zip_packed_data) {
zip_packed_data = memnew(ZipArchive);
}
packed_data->add_pack_source(zip_packed_data);
#endif
bool editor=false;
while(I) {
List<String>::Element *N=I->next();
if (I->get() == "-noop") {
// no op
} else if (I->get()=="-h" || I->get()=="--help" || I->get()=="/?") { // resolution
goto error;
} else if (I->get()=="-r") { // resolution
if (I->next()) {
String vm=I->next()->get();
if (vm.find("x")==-1) { // invalid parameter format
OS::get_singleton()->print("Invalid -r argument: %s\n",vm.utf8().get_data());
goto error;
}
int w=vm.get_slice("x",0).to_int();
int h=vm.get_slice("x",1).to_int();
if (w==0 || h==0) {
OS::get_singleton()->print("Invalid -r resolution, x and y must be >0\n");
goto error;
}
video_mode.width=w;
video_mode.height=h;
force_res=true;
N=I->next()->next();
} else {
OS::get_singleton()->print("Invalid -p argument, needs resolution\n");
goto error;
}
} else if (I->get()=="-p") { // position
if (I->next()) {
String vm=I->next()->get();
if (vm.find("x")==-1) { // invalid parameter format
OS::get_singleton()->print("Invalid -p argument: %s\n",vm.utf8().get_data());
goto error;
}
int x=vm.get_slice("x",0).to_int();
int y=vm.get_slice("x",1).to_int();
init_custom_pos=Point2(x,y);
init_use_custom_pos=true;
N=I->next()->next();
} else {
OS::get_singleton()->print("Invalid -r argument, needs position\n");
goto error;
}
} else if (I->get()=="-mx") { // video driver
init_maximized=true;
} else if (I->get()=="-w") { // video driver
init_windowed=true;
} else if (I->get()=="-vd") { // video driver
if (I->next()) {
video_driver=I->next()->get();
N=I->next()->next();
} else {
OS::get_singleton()->print("Invalid -cd argument, needs driver name\n");
goto error;
}
} else if (I->get()=="-lang") { // language
if (I->next()) {
locale=I->next()->get();
N=I->next()->next();
} else {
OS::get_singleton()->print("Invalid -lang argument, needs language code\n");
goto error;
}
} else if (I->get()=="-rfs") { // language
if (I->next()) {
remotefs=I->next()->get();
N=I->next()->next();
} else {
goto error;
}
} else if (I->get()=="-rfs_pass") { // language
if (I->next()) {
remotefs_pass=I->next()->get();
N=I->next()->next();
} else {
goto error;
}
} else if (I->get()=="-rthread") { // language
if (I->next()) {
if (I->next()->get()=="safe")
rtm=OS::RENDER_THREAD_SAFE;
else if (I->next()->get()=="unsafe")
rtm=OS::RENDER_THREAD_UNSAFE;
else if (I->next()->get()=="separate")
rtm=OS::RENDER_SEPARATE_THREAD;
N=I->next()->next();
} else {
goto error;
}
} else if (I->get()=="-ad") { // video driver
if (I->next()) {
audio_driver=I->next()->get();
N=I->next()->next();
} else {
goto error;
}
} else if (I->get()=="-f") { // fullscreen
//video_mode.fullscreen=false;
init_fullscreen=true;
} else if (I->get()=="-e" || I->get()=="-editor") { // fonud editor
editor=true;
} else if (I->get()=="-nowindow") { // fullscreen
OS::get_singleton()->set_no_window_mode(true);
} else if (I->get()=="-quiet") { // fullscreen
quiet_stdout=true;
} else if (I->get()=="-v") { // fullscreen
OS::get_singleton()->_verbose_stdout=true;
} else if (I->get()=="-path") { // resolution
if (I->next()) {
String p = I->next()->get();
if (OS::get_singleton()->set_cwd(p)==OK) {
//nothing
} else {
game_path=I->next()->get(); //use game_path instead
}
N=I->next()->next();
} else {
goto error;
}
} else if (I->get()=="-bp") { // /breakpoints
if (I->next()) {
String bplist = I->next()->get();
breakpoints= bplist.split(",");
N=I->next()->next();
} else {
goto error;
}
} else if (I->get()=="-fdelay") { // resolution
if (I->next()) {
OS::get_singleton()->set_frame_delay(I->next()->get().to_int());
N=I->next()->next();
} else {
goto error;
}
} else if (I->get()=="-timescale") { // resolution
if (I->next()) {
OS::get_singleton()->set_time_scale(I->next()->get().to_double());
N=I->next()->next();
} else {
goto error;
}
} else if (I->get() == "-pack") {
if (I->next()) {
pack_list.push_back(I->next()->get());
N = I->next()->next();
} else {
goto error;
};
} else if (I->get() == "-main_pack") {
if (I->next()) {
main_pack=I->next()->get();
N = I->next()->next();
} else {
goto error;
};
} else if (I->get()=="-debug" || I->get()=="-d") {
debug_mode="local";
} else if (I->get()=="-debugcol" || I->get()=="-dc") {
debug_collisions=true;
} else if (I->get()=="-debugnav" || I->get()=="-dn") {
debug_navigation=true;
} else if (I->get()=="-editor_scene") {
if (I->next()) {
Globals::get_singleton()->set("editor_scene",game_path=I->next()->get());
} else {
goto error;
}
} else if (I->get()=="-rdebug") {
if (I->next()) {
debug_mode="remote";
debug_host=I->next()->get();
if (debug_host.find(":")==-1) { //wrong host
OS::get_singleton()->print("Invalid debug host string\n");
goto error;
}
N=I->next()->next();
} else {
goto error;
}
} else {
//test for game path
bool gpfound=false;
if (!I->get().begins_with("-") && game_path=="") {
DirAccess* da = DirAccess::open(I->get());
if (da!=NULL) {
game_path=I->get();
gpfound=true;
memdelete(da);
}
}
if (!gpfound) {
main_args.push_back(I->get());
}
}
I=N;
}
GLOBAL_DEF("debug/max_remote_stdout_chars_per_second",2048);
if (debug_mode == "remote") {
ScriptDebuggerRemote *sdr = memnew( ScriptDebuggerRemote );
uint16_t debug_port = GLOBAL_DEF("debug/remote_port",6007);
if (debug_host.find(":")!=-1) {
debug_port=debug_host.get_slicec(':',1).to_int();
debug_host=debug_host.get_slicec(':',0);
}
Error derr = sdr->connect_to_host(debug_host,debug_port);
if (derr!=OK) {
memdelete(sdr);
} else {
script_debugger=sdr;
}
} else if (debug_mode=="local") {
script_debugger = memnew( ScriptDebuggerLocal );
}
if (remotefs!="") {
file_access_network_client=memnew(FileAccessNetworkClient);
int port;
if (remotefs.find(":")!=-1) {
port=remotefs.get_slicec(':',1).to_int();
remotefs=remotefs.get_slicec(':',0);
} else {
port=6010;
}
Error err = file_access_network_client->connect(remotefs,port,remotefs_pass);
if (err) {
OS::get_singleton()->printerr("Could not connect to remotefs: %s:%i\n",remotefs.utf8().get_data(),port);
goto error;
}
FileAccess::make_default<FileAccessNetwork>(FileAccess::ACCESS_RESOURCES);
}
if (script_debugger) {
//there is a debugger, parse breakpoints
for(int i=0;i<breakpoints.size();i++) {
String bp = breakpoints[i];
int sp=bp.find_last(":");
if (sp==-1) {
ERR_EXPLAIN("Invalid breakpoint: '"+bp+"', expected file:line format.");
ERR_CONTINUE(sp==-1);
}
script_debugger->insert_breakpoint(bp.substr(sp+1,bp.length()).to_int(),bp.substr(0,sp));
}
}
#ifdef TOOLS_ENABLED
if (editor) {
packed_data->set_disabled(true);
globals->set_disable_platform_override(true);
StreamPeerSSL::initialize_certs=false; //will be initialized by editor
}
#endif
if (globals->setup(game_path,main_pack)!=OK) {
#ifdef TOOLS_ENABLED
editor=false;
#else
OS::get_singleton()->print("error: Couldn't load game path '%s'\n",game_path.ascii().get_data());
goto error;
#endif
}
if (editor) {
main_args.push_back("-editor");
init_maximized=true;
use_custom_res=false;
}
if (bool(Globals::get_singleton()->get("application/disable_stdout"))) {
quiet_stdout=true;
}
if (bool(Globals::get_singleton()->get("application/disable_stderr"))) {
_print_error_enabled = false;
};
if (quiet_stdout)
_print_line_enabled=false;
OS::get_singleton()->set_cmdline(execpath, main_args);
#ifdef TOOLS_ENABLED
if (main_args.size()==0 && (!Globals::get_singleton()->has("application/main_loop_type")) && (!Globals::get_singleton()->has("application/main_scene") || String(Globals::get_singleton()->get("application/main_scene"))==""))
use_custom_res=false; //project manager (run without arguments)
#endif
input_map->load_from_globals();
if (video_driver=="") // specified in engine.cfg
video_driver=_GLOBAL_DEF("display/driver",Variant((const char*)OS::get_singleton()->get_video_driver_name(0)));
if (!force_res && use_custom_res && globals->has("display/width"))
video_mode.width=globals->get("display/width");
if (!force_res &&use_custom_res && globals->has("display/height"))
video_mode.height=globals->get("display/height");
if (use_custom_res && globals->has("display/fullscreen"))
video_mode.fullscreen=globals->get("display/fullscreen");
if (use_custom_res && globals->has("display/resizable"))
video_mode.resizable=globals->get("display/resizable");
if (use_custom_res && globals->has("display/borderless_window"))
video_mode.borderless_window = globals->get("display/borderless_window");
if (!force_res && use_custom_res && globals->has("display/test_width") && globals->has("display/test_height")) {
int tw = globals->get("display/test_width");
int th = globals->get("display/test_height");
if (tw>0 && th>0) {
video_mode.width=tw;
video_mode.height=th;
}
}
GLOBAL_DEF("display/width",video_mode.width);
GLOBAL_DEF("display/height",video_mode.height);
GLOBAL_DEF("display/fullscreen",video_mode.fullscreen);
GLOBAL_DEF("display/resizable",video_mode.resizable);
GLOBAL_DEF("display/borderless_window", video_mode.borderless_window);
GLOBAL_DEF("display/test_width",0);
GLOBAL_DEF("display/test_height",0);
OS::get_singleton()->_pixel_snap=GLOBAL_DEF("display/use_2d_pixel_snap",false);
OS::get_singleton()->_keep_screen_on=GLOBAL_DEF("display/keep_screen_on",true);
if (rtm==-1) {
rtm=GLOBAL_DEF("render/thread_model",OS::RENDER_THREAD_SAFE);
if (rtm>=1) //hack for now
rtm=1;
}
if (rtm>=0 && rtm<3) {
if (editor) {
rtm=OS::RENDER_THREAD_SAFE;
}
OS::get_singleton()->_render_thread_mode=OS::RenderThreadMode(rtm);
}
/* Determine Video Driver */
if (audio_driver=="") { // specified in engine.cfg
audio_driver=GLOBAL_DEF("audio/driver",OS::get_singleton()->get_audio_driver_name(0));
}
for (int i=0;i<OS::get_singleton()->get_video_driver_count();i++) {
if (video_driver==OS::get_singleton()->get_video_driver_name(i)) {
video_driver_idx=i;
break;
}
}
if (video_driver_idx<0) {
OS::get_singleton()->alert( "Invalid Video Driver: "+video_driver );
video_driver_idx = 0;
//goto error;
}
for (int i=0;i<OS::get_singleton()->get_audio_driver_count();i++) {
if (audio_driver==OS::get_singleton()->get_audio_driver_name(i)) {
audio_driver_idx=i;
break;
}
}
if (audio_driver_idx<0) {
OS::get_singleton()->alert( "Invalid Audio Driver: "+audio_driver );
audio_driver_idx = 0;
//goto error;
}
{
String orientation = GLOBAL_DEF("display/orientation","landscape");
if (orientation=="portrait")
OS::get_singleton()->set_screen_orientation(OS::SCREEN_PORTRAIT);
else if (orientation=="reverse_landscape")
OS::get_singleton()->set_screen_orientation(OS::SCREEN_REVERSE_LANDSCAPE);
else if (orientation=="reverse_portrait")
OS::get_singleton()->set_screen_orientation(OS::SCREEN_REVERSE_PORTRAIT);
else if (orientation=="sensor_landscape")
OS::get_singleton()->set_screen_orientation(OS::SCREEN_SENSOR_LANDSCAPE);
else if (orientation=="sensor_portrait")
OS::get_singleton()->set_screen_orientation(OS::SCREEN_SENSOR_PORTRAIT);
else if (orientation=="sensor")
OS::get_singleton()->set_screen_orientation(OS::SCREEN_SENSOR);
else
OS::get_singleton()->set_screen_orientation(OS::SCREEN_LANDSCAPE);
}
OS::get_singleton()->set_iterations_per_second(GLOBAL_DEF("physics/fixed_fps",60));
OS::get_singleton()->set_target_fps(GLOBAL_DEF("application/target_fps",0));
if (!OS::get_singleton()->_verbose_stdout) //overrided
OS::get_singleton()->_verbose_stdout=GLOBAL_DEF("debug/verbose_stdout",false);
message_queue = memnew( MessageQueue );
Globals::get_singleton()->register_global_defaults();
if (p_second_phase)
return setup2();
return OK;
error:
video_driver="";
audio_driver="";
game_path="";
args.clear();
main_args.clear();
print_help(execpath);
if (performance)
memdelete(performance);
if (input_map)
memdelete(input_map);
if (translation_server)
memdelete( translation_server );
if (globals)
memdelete(globals);
if (script_debugger)
memdelete(script_debugger);
if (packed_data)
memdelete(packed_data);
if (file_access_network_client)
memdelete(file_access_network_client);
if(path_remap)
memdelete(path_remap);
// Note 1: *zip_packed_data live into *packed_data
// Note 2: PackedData::~PackedData destroy this.
//#ifdef MINIZIP_ENABLED
// if (zip_packed_data)
// memdelete( zip_packed_data );
//#endif
unregister_core_driver_types();
unregister_core_types();
OS::get_singleton()->_cmdline.clear();
if (message_queue)
memdelete( message_queue);
OS::get_singleton()->finalize_core();
locale=String();
return ERR_INVALID_PARAMETER;
}
Polyhedron_3 EdgeCorrector::run()
{
DEBUG_START;
std::map<int, int> halfedgesMap;
std::vector<SimpleEdge_3> edges = getEdges(initialP, halfedgesMap);
associateEdges(edges, SData);
printAssociatedEdges(initialP, edges, halfedgesMap);
std::vector<SimpleEdge_3> mainEdges = extractEdges(edges);
std::cout << "Number of extracted edges: " << mainEdges.size()
<< std::endl;
if (mainEdges.size() == 0)
{
DEBUG_END;
return initialP;
}
printColouredExtractedPolyhedron(initialP, mainEdges);
std::vector<Vector_3> u, U, points;
std::vector<double> h, H;
std::map<int, int> map;
FixedTopology *FT = buildTopology(initialP, mainEdges, u, U, points, h,
H, map);
IpoptTopologicalCorrector *FTNLP = new IpoptTopologicalCorrector(
u, h, U, H, points, FT);
FTNLP->enableModeZfixed();
IpoptApplication *app = IpoptApplicationFactory();
/* Intialize the IpoptApplication and process the options */
if (app->Initialize() != Solve_Succeeded)
{
MAIN_PRINT("*** Error during initialization!");
return initialP;
}
app->Options()->SetStringValue("linear_solver", "ma57");
if (getenv("DERIVATIVE_TEST_FIRST"))
app->Options()->SetStringValue("derivative_test", "first-order");
else if (getenv("DERIVATIVE_TEST_SECOND"))
app->Options()->SetStringValue("derivative_test", "second-order");
else if (getenv("DERIVATIVE_TEST_ONLY_SECOND"))
app->Options()->SetStringValue("derivative_test", "only-second-order");
if (getenv("HESSIAN_APPROX"))
app->Options()->SetStringValue("hessian_approximation", "limited-memory");
/* Ask Ipopt to solve the problem */
auto status = app->OptimizeTNLP(FTNLP);
if (status != Solve_Succeeded && status != Solved_To_Acceptable_Level)
{
MAIN_PRINT("** The problem FAILED!");
DEBUG_END;
return initialP;
}
MAIN_PRINT("*** The problem solved!");
globalPCLDumper(PCL_DUMPER_LEVEL_DEBUG, "INSIDE_FT_NLP-initial.ply") << initialP;
Polyhedron_3 correctedP = obtainPolyhedron(initialP, map, FTNLP);
globalPCLDumper(PCL_DUMPER_LEVEL_DEBUG, "INSIDE_FT_NLP-from-planes.ply") << correctedP;
delete FTNLP;
DEBUG_END;
return correctedP;
}
Error Main::setup2() {
OS::get_singleton()->initialize(video_mode,video_driver_idx,audio_driver_idx);
register_core_singletons();
MAIN_PRINT("Main: Setup Logo");
bool show_logo=true;
#ifdef JAVASCRIPT_ENABLED
show_logo=false;
#endif
if (show_logo) { //boot logo!
Image boot_logo=GLOBAL_DEF("application/boot_logo",Image());
if (!boot_logo.empty()) {
Color clear = GLOBAL_DEF("render/default_clear_color",Color(0.3,0.3,0.3));
VisualServer::get_singleton()->set_default_clear_color(clear);
Color boot_bg = GLOBAL_DEF("application/boot_bg_color", clear);
VisualServer::get_singleton()->set_boot_image(boot_logo, boot_bg);
#ifndef TOOLS_ENABLED
//no tools, so free the boot logo (no longer needed)
Globals::get_singleton()->set("application/boot_logo",Image());
#endif
} else {
#ifndef NO_DEFAULT_BOOT_LOGO
MAIN_PRINT("Main: Create botsplash");
Image splash(boot_splash_png);
MAIN_PRINT("Main: ClearColor");
VisualServer::get_singleton()->set_default_clear_color(boot_splash_bg_color);
MAIN_PRINT("Main: Image");
VisualServer::get_singleton()->set_boot_image(splash, boot_splash_bg_color);
#endif
MAIN_PRINT("Main: DCC");
VisualServer::get_singleton()->set_default_clear_color(GLOBAL_DEF("render/default_clear_color",Color(0.3,0.3,0.3)));
MAIN_PRINT("Main: END");
}
Image icon(app_icon_png);
OS::get_singleton()->set_icon(icon);
}
GLOBAL_DEF("application/icon",String());
Globals::get_singleton()->set_custom_property_info("application/icon",PropertyInfo(Variant::STRING,"application/icon",PROPERTY_HINT_FILE,"*.png,*.webp"));
MAIN_PRINT("Main: Load Remaps");
path_remap->load_remaps();
MAIN_PRINT("Main: Load Scene Types");
register_scene_types();
register_server_types();
#ifdef TOOLS_ENABLED
EditorNode::register_editor_types();
ObjectTypeDB::register_type<PCKPacker>(); // todo: move somewhere else
#endif
MAIN_PRINT("Main: Load Scripts, Modules, Drivers");
register_module_types();
register_driver_types();
MAIN_PRINT("Main: Load Translations");
translation_server->setup(); //register translations, load them, etc.
if (locale!="") {
translation_server->set_locale(locale);
}
translation_server->load_translations();
_start_success=true;
locale=String();
MAIN_PRINT("Main: Done");
return OK;
}
