int main(int argc, char *argv[])
{
(void)argc;
(void)argv;
struct aa_rx_win * win =
aa_rx_win_default_create ( "UR10 Demo", SCREEN_WIDTH, SCREEN_HEIGHT );
printf("OpenGL Version: %s\n", glGetString(GL_VERSION));
// Initialize scene graph
struct aa_rx_sg *scenegraph = aa_rx_dl_sg__ur(NULL);
aa_rx_sg_init(scenegraph); /* initialize scene graph internal structures */
aa_rx_win_set_sg(win, scenegraph); /* Set the scenegraph for the window */
// start display
aa_rx_win_start(win);
// Cleanup
aa_rx_win_join(win);
aa_rx_sg_destroy(scenegraph);
aa_rx_win_destroy(win);
SDL_Quit();
return 0;
}
int main(int argc, char *argv[])
{
(void)argc;
(void)argv;
struct aa_rx_win * win =
aa_rx_win_default_create ( "Sync Test", SCREEN_WIDTH, SCREEN_HEIGHT );
struct aa_rx_sg *sg0 = aa_rx_dl_sg__scenegraph (NULL);
aa_rx_sg_init(sg0); /* initialize scene graph internal structures */
aa_rx_win_sg_gl_init(win, sg0); /* Initialize scene graph GL-rendering objects */
aa_rx_win_set_sg(win, sg0); /* Set the scenegraph for the window */
// start display
aa_rx_win_start(win);
int n_thread = 10;
pthread_t thread[n_thread];
for( size_t i = 0; i < n_thread; i ++ ) {
pthread_create( thread + i, NULL, fun, win );
}
for( size_t i = 0; i < n_thread; i ++ ) {
pthread_join(thread[i], NULL );
}
// Cleanup
aa_rx_win_join(win);
aa_rx_win_destroy(win);
SDL_Quit();
return 0;
}
int main(int argc, char *argv[])
{
(void)argc; (void)argv;
// Initialize scene graph
struct aa_rx_sg *scenegraph = aa_rx_dl_sg__scenegraph(NULL);
// setup window
struct aa_rx_win * win = baxter_demo_setup_window(scenegraph);
// start display
aa_rx_win_start(win);
// Cleanup
aa_rx_win_join(win);
aa_rx_sg_destroy(scenegraph);
aa_rx_win_destroy(win);
SDL_Quit();
return 0;
}
int main(int argc, char *argv[])
{
int visual = 1;
int collision = 0;
/* Parse Options */
{
int c;
opterr = 0;
while( (c = getopt( argc, argv, "?c")) != -1 ) {
switch(c) {
case 'c':
visual = 0;
collision = 1;
break;
case '?':
puts("Usage: COMMAND [OPTIONS] \n"
"Viewer for Amino scene graphs"
"\n"
"Options:\n"
" -c view collision geometry\n"
"\n"
"\n"
"Report bugs to " PACKAGE_BUGREPORT "\n" );
exit(EXIT_SUCCESS);
break;
}
}
}
/* Initialize scene graph */
struct aa_rx_sg *scenegraph = NAME( NULL);
assert(scenegraph);
aa_rx_sg_init(scenegraph); /* initialize scene graph internal structures */
/* Center configurations */
size_t m = aa_rx_sg_config_count(scenegraph);
double q[m];
for(size_t i = 0; i < m; i ++ ) {
double min=0,max=0;
aa_rx_sg_get_limit_pos(scenegraph,(aa_rx_config_id)i,&min,&max);
q[i] = (max + min)/2;
}
/* setup window */
struct aa_rx_win * win =
aa_rx_win_default_create ( "Amino: AARX-View", SCREEN_WIDTH, SCREEN_HEIGHT );
aa_rx_win_set_sg(win, scenegraph); /* Set the scenegraph for the window */
aa_rx_win_set_config(win, m, q);
struct aa_gl_globals *globals = aa_rx_win_gl_globals(win);
aa_gl_globals_set_show_visual(globals, visual);
aa_gl_globals_set_show_collision(globals, collision);
/* start display */
aa_rx_win_start(win);
/* Cleanup */
aa_rx_win_join(win);
aa_rx_sg_destroy(scenegraph);
aa_rx_win_destroy(win);
SDL_Quit();
return 0;
}
