void CAccess::createGui()
{
QWidget* pMainWindow = (QWidget*)simGetMainWindow(1);
mtbRobotDialog=new CMtbRobotDialog(pMainWindow); // The plugin dialog
simAddModuleMenuEntry("",1,&mtbRobotDialog->dialogMenuItemHandle);
simSetModuleMenuItemState(mtbRobotDialog->dialogMenuItemHandle,1,"MTB Robot Properties");
}
void CAccess::createGui()
{
#ifdef _WIN32 // only the Windows version has a dialog!
k3Dialog=new CK3Dialog(); // The plugin dialog
k3Dialog->Create(IDD_K3_DIALOG,CWnd::FromHandle((HWND)simGetMainWindow(0)));
simAddModuleMenuEntry("",1,&k3Dialog->dialogMenuItemHandle);
simSetModuleMenuItemState(k3Dialog->dialogMenuItemHandle,1,"Khepera III Properties");
#endif // _WIN32
}
// This is the plugin start routine (called just once, just after the plugin was loaded):
VREP_DLLEXPORT unsigned char v_repStart(void* reservedPointer,int reservedInt)
{
// Dynamically load and bind V-REP functions:
// ******************************************
// 1. Figure out this plugin's directory:
char curDirAndFile[1024];
#ifdef _WIN32
_getcwd(curDirAndFile, sizeof(curDirAndFile));
#elif defined (__linux) || defined (__APPLE__)
getcwd(curDirAndFile, sizeof(curDirAndFile));
#endif
std::string currentDirAndPath(curDirAndFile);
// 2. Append the V-REP library's name:
std::string temp(currentDirAndPath);
#ifdef _WIN32
temp+="/v_rep.dll";
#elif defined (__linux)
temp+="/libv_rep.so";
#elif defined (__APPLE__)
temp+="/libv_rep.dylib";
#endif /* __linux || __APPLE__ */
// 3. Load the V-REP library:
vrepLib=loadVrepLibrary(temp.c_str());
if (vrepLib==NULL)
{
std::cout << "Error, could not find or correctly load the V-REP library. Cannot start 'Collada' plugin.\n";
return(0); // Means error, V-REP will unload this plugin
}
if (getVrepProcAddresses(vrepLib)==0)
{
std::cout << "Error, could not find all required functions in the V-REP library. Cannot start 'Collada' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// ******************************************
// Check the version of V-REP:
// ******************************************
int vrepVer;
simGetIntegerParameter(sim_intparam_program_version,&vrepVer);
if (vrepVer<20604) // if V-REP version is smaller than 2.06.04
{
std::cout << "Sorry, your V-REP copy is somewhat old. Cannot start 'Collada' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// ******************************************
// Check if V-REP runs in headless mode:
// ******************************************
if (simGetBooleanParameter(sim_boolparam_headless)>0)
{
std::cout << "V-REP runs in headless mode. Cannot start 'Collada' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// ******************************************
QWidget* pMainWindow = (QWidget*)simGetMainWindow(1);
colladaDialog=new CColladaDialog(pMainWindow); // The plugin dialog
simAddModuleMenuEntry("",1,&colladaDialog->dialogMenuItemHandle);
simSetModuleMenuItemState(colladaDialog->dialogMenuItemHandle,1,"COLLADA import/export...");
return(PLUGIN_VERSION); // initialization went fine, we return the version number of this plugin (can be queried with simGetModuleName)
}
// This is the plugin start routine (called just once, just after the plugin was loaded):
VREP_DLLEXPORT unsigned char v_repStart(void* reservedPointer,int reservedInt)
{
// Dynamically load and bind V-REP functions:
// ******************************************
// 1. Figure out this plugin's directory:
char curDirAndFile[1024];
#ifdef _WIN32
_getcwd(curDirAndFile, sizeof(curDirAndFile));
#elif defined (__linux) || defined (__APPLE__)
getcwd(curDirAndFile, sizeof(curDirAndFile));
#endif
std::string currentDirAndPath(curDirAndFile);
// 2. Append the V-REP library's name:
std::string temp(currentDirAndPath);
#ifdef _WIN32
temp+="/v_rep.dll";
#elif defined (__linux)
temp+="/libv_rep.so";
#elif defined (__APPLE__)
temp+="/libv_rep.dylib";
#endif /* __linux || __APPLE__ */
// 3. Load the V-REP library:
vrepLib=loadVrepLibrary(temp.c_str());
if (vrepLib==NULL)
{
std::cout << "Error, could not find or correctly load the V-REP library. Cannot start 'Urdf' plugin.\n";
return(0); // Means error, V-REP will unload this plugin
}
if (getVrepProcAddresses(vrepLib)==0)
{
std::cout << "Error, could not find all required functions in the V-REP library. Cannot start 'Urdf' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// ******************************************
// Check the version of V-REP:
// ******************************************
int vrepVer;
simGetIntegerParameter(sim_intparam_program_version,&vrepVer);
if (vrepVer<30001) // if V-REP version is smaller than 3.00.01
{
std::cout << "Sorry, your V-REP copy is somewhat old. Cannot start 'Urdf' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// ******************************************
// Check if V-REP runs in headless mode:
// ******************************************
if (simGetBooleanParameter(sim_boolparam_headless)>0)
{
std::cout << "V-REP runs in headless mode. Cannot start 'Urdf' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
// ******************************************
QWidget* pMainWindow = (QWidget*)simGetMainWindow(1);
urdfDialog=new CUrdfDialog(pMainWindow); // The plugin dialog
simAddModuleMenuEntry("",1,&urdfDialog->dialogMenuItemHandle);
simSetModuleMenuItemState(urdfDialog->dialogMenuItemHandle,1,"URDF import...");
int inputArgsTypes[] = {
10,
sim_lua_arg_string, // URDF contents
sim_lua_arg_bool, // assign collision links to layer 9
sim_lua_arg_bool, // assign joints to layer 10
sim_lua_arg_bool, // convex decompose
sim_lua_arg_bool, // create visual links if none
sim_lua_arg_bool, // show convex decomposition dialog
sim_lua_arg_bool, // center model above ground
sim_lua_arg_bool, // prepare model definition if feasible
sim_lua_arg_bool, // alternate local respondable masks
sim_lua_arg_bool // enable position control for revolute and prismatic joints
};
simRegisterCustomLuaFunction("simExtImportUrdf",
"string robot_name=simExtImportUrdf("
"string urdf,"
"bool hideCollisionLinks,"
"bool hideJoints,"
"bool convexDecomposeNonConvexCollidables,"
"bool createVisualIfNone,"
"bool showConvexDecompositionDlg,"
"bool centerAboveGround,"
"bool makeModel,"
"bool noSelfCollision,"
"bool positionCtrl"
")",
inputArgsTypes, v_repImportUrdfCallback);
int inputArgsTypesFile[] = {
10,
sim_lua_arg_string, // filenameAndPath
sim_lua_arg_bool, // assign collision links to layer 9
sim_lua_arg_bool, // assign joints to layer 10
sim_lua_arg_bool, // convex decompose
sim_lua_arg_bool, // create visual links if none
sim_lua_arg_bool, // show convex decomposition dialog
sim_lua_arg_bool, // center model above ground
sim_lua_arg_bool, // prepare model definition if feasible
sim_lua_arg_bool, // alternate local respondable masks
sim_lua_arg_bool // enable position control for revolute and prismatic joints
};
simRegisterCustomLuaFunction("simExtImportUrdfFile",
"string robot_name=simExtImportUrdf("
"string fileAndPath,"
"bool hideCollisionLinks,"
"bool hideJoints,"
"bool convexDecomposeNonConvexCollidables,"
"bool createVisualIfNone,"
"bool showConvexDecompositionDlg,"
"bool centerAboveGround,"
"bool makeModel,"
"bool noSelfCollision,"
"bool positionCtrl"
")",
inputArgsTypesFile, v_repImportUrdfCallback);
return(PLUGIN_VERSION); // initialization went fine, we return the version number of this plugin (can be queried with simGetModuleName)
}