void run() {
foldnodeplot.reset(new PlotPoints());
env->add(foldnodeplot);
folddirplot.reset(new PlotLines(3));
env->add(folddirplot);
pickplot.reset(new PlotSpheres());
env->add(pickplot);
tofoldplot.reset(new PlotPoints());
env->add(tofoldplot);
destplot.reset(new PlotPoints());
env->add(destplot);
pickedNode = pickedNode2 = NULL;
setupScene();
initStandardCloth();
facepicker.reset(new SoftBodyFacePicker(*this, viewer.getCamera(), cloth->softBody.get()));
facepicker->setPickCallback(boost::bind(&CustomScene::pickCallback, this, _1));
addVoidKeyCallback('f', boost::bind(&CustomScene::doFold, this));
addVoidKeyCallback('g', boost::bind(&CustomScene::doRandomFolds, this, 3));
addVoidKeyCallback('h', boost::bind(&CustomScene::pickUpAndDrop, this));
addVoidKeyCallback('s', boost::bind(&CustomScene::saveCloth, this));
addVoidKeyCallback('l', boost::bind(&CustomScene::loadCloth, this));
addPreDrawCallback(boost::bind(&CustomScene::markFolds, this));
addPreDrawCallback(boost::bind(&CustomScene::drawPick, this));
addPreDrawCallback(boost::bind(&CustomScene::markNodesToFold, this));
startViewer();
setSyncTime(false);
startFixedTimestepLoop(BulletConfig::dt);
}
void ScreenSharingViewer::onDataReceived(const QString &inData)
{
std::string data = inData.toStdString();
LOG4CPLUS_INFO(msLogger, "ENTER: ScreenSharingViewer::dataReceived(), data : " + data);
if (!data.compare(0, 1, getMessageTypeStr(iviLink::SCR_SHARING_START) ) )
{
LOG4CPLUS_INFO(msLogger, "case : data starts with iviLink::SCR_SHARING_START");
}
else if (!data.compare(0, 1, getMessageTypeStr(iviLink::SCR_SHARING_SERVER_ADDRESS) ) )
{
LOG4CPLUS_INFO(msLogger, "case : data starts with iviLink::SCR_SHARING_SERVER_ADDRESS");
mServerAddress = data.substr(1);
LOG4CPLUS_INFO(msLogger, "mServerAddress : " + mServerAddress);
if (!startedByUser)
{
if (QMessageBox::Ok == QMessageBox::question(this, "Incoming Screen Sharing Request"
,"Do you want to start Screen Sharing Session?",
QMessageBox::Cancel, QMessageBox::Ok) )
{
sendData(getMessageTypeStr(iviLink::SCR_SHARING_START_ACK) );
LOG4CPLUS_INFO(msLogger, "dialog : OK : start viewer");
sleep(4);
hide();
startViewer();
}
else
sendData(getMessageTypeStr(iviLink::SCR_SHARING_EXIT) );
LOG4CPLUS_INFO(msLogger, "dialog : Cancel : quit");
qApp->quit();
}
}
else if (!data.compare(0, 1, getMessageTypeStr(iviLink::SCR_SHARING_START_ACK) ) )
{
LOG4CPLUS_INFO(msLogger, "case : iviLink::SCR_SHARING_START_ACK : start viewer");
isConnectedWithServer = true;
hide();
startViewer();
}
else if (!data.compare(0, 1, getMessageTypeStr(iviLink::SCR_SHARING_EXIT) ) )
{
LOG4CPLUS_INFO(msLogger, "case : iviLink::SCR_SHARING_EXIT : quit");
system(viewerKiller.c_str() );
qApp->quit();
}
}
void CustomScene::run() {
viewer.addEventHandler(new CustomKeyHandler(*this));
const float dt = BulletConfig::dt;
const float table_height = .5;
const float table_thickness = .05;
table.reset(new BoxObject(0, GeneralConfig::scale * btVector3(.75,.75,table_thickness/2),
btTransform(btQuaternion(0, 0, 0, 1), GeneralConfig::scale * btVector3(1.25, 0, table_height-table_thickness/2))));
env->add(table);
cloth = createCloth(GeneralConfig::scale * 0.25, GeneralConfig::scale * btVector3(1, 0, 1), 31);
env->add(cloth);
const float radius = 0.1;
sphere.reset(new SphereObject(1, GeneralConfig::scale * radius,
btTransform(btQuaternion(0, 0, 0, 1), GeneralConfig::scale * btVector3(1.1, 0, table_height + radius))));
env->add(sphere);
startViewer();
stepFor(dt, 0.5);
BulletInstance::Ptr bullet2(new BulletInstance);
OSGInstance::Ptr osg2(new OSGInstance);
osg->root->addChild(osg2->root.get());
Fork::Ptr fork(new Fork(env, bullet2, osg2));
registerFork(fork);
cout << "environment copied" << endl;
SphereObject::Ptr sphere2 = boost::static_pointer_cast<SphereObject> (fork->forkOf(sphere));
// apply force in second world on sphere for 0.5 secs
for (int i = 0; i < 0.5/dt; ++i) {
sphere2->rigidBody->applyCentralForce(GeneralConfig::scale * btVector3(-30, -30, 0));
fork->env->step(dt, BulletConfig::maxSubSteps, BulletConfig::internalTimeStep);
step(dt);
idleFor(dt);
}
startFixedTimestepLoop(dt);
}
void run() {
foldnodeplot.reset(new PlotPoints());
env->add(foldnodeplot);
folddirplot.reset(new PlotLines(3));
env->add(folddirplot);
pickplot.reset(new PlotSpheres());
env->add(pickplot);
pickedNode = NULL;
leftManipAxes.reset(new PlotAxes);
env->add(leftManipAxes);
rightManipAxes.reset(new PlotAxes);
env->add(rightManipAxes);
// load the robot
pr2m.reset(new PR2Manager(*this));
if (FlatteningConfig::useFakeGripper) {
TelekineticGripper::Ptr fakeLeft(new TelekineticGripper(pr2m->pr2Left));
fakeLeft->setTransform(pr2m->pr2Left->getTransform());
env->add(fakeLeft);
gleft.reset(new GenManip(fakeLeft));
TelekineticGripper::Ptr fakeRight(new TelekineticGripper(pr2m->pr2Right));
fakeRight->setTransform(pr2m->pr2Right->getTransform());
gright.reset(new GenManip(fakeRight));
env->add(fakeRight);
pr2m->pr2->setTransform(btTransform(btQuaternion::getIdentity(), btVector3(0, 0, -100))); // out of view
} else {
gleft.reset(new GenManip(pr2m->pr2Left));
gright.reset(new GenManip(pr2m->pr2Right));
}
// create the table
const float table_height = .5;
const float table_thickness = .05;
tableExtents = GeneralConfig::scale * btVector3(.75,.75,table_thickness/2);
tableTrans = btTransform(btQuaternion(0, 0, 0, 1), GeneralConfig::scale * btVector3(0.8, 0, table_height-table_thickness/2));
BoxObject::Ptr table(new BoxObject(0, tableExtents, tableTrans));
table->rigidBody->setFriction(0.1);
env->add(table);
cout << "table margin: " << table->rigidBody->getCollisionShape()->getMargin() << endl;
// put the table in openrave
/*
OpenRAVE::KinBodyPtr raveTable = OpenRAVE::RaveCreateKinBody(rave->env);
raveTable->SetName("table");
vector<OpenRAVE::AABB> v;
v.push_back(OpenRAVE::AABB(util::toRaveTransform(table_trans, 1./pr2m->pr2->scale).trans, 1./pr2m->pr2->scale * util::toRaveVector(table_extents)));
raveTable->InitFromBoxes(v, true);
rave->env->AddKinBody(raveTable);
*/
#if 0
OpenRAVE::ViewerBasePtr raveViewer = OpenRAVE::RaveCreateViewer(rave->env, "qtcoin");
rave->env->AddViewer(raveViewer);
raveViewer->main(true);
#endif
const int resx = 45, resy = 31;
// const btScalar lenx = GeneralConfig::scale * 0.7, leny = GeneralConfig::scale * 0.5;
const btScalar lenx = GeneralConfig::scale * 0.7/2, leny = GeneralConfig::scale * 0.5/2;
// const btVector3 clothcenter = GeneralConfig::scale * btVector3(0.5, 0, table_height+0.01);
const btVector3 clothcenter = GeneralConfig::scale * btVector3(0.3, 0.1, table_height+0.01);
// cloth = makeSelfCollidingTowel(clothcenter, lenx, leny, resx, resy, env->bullet->softBodyWorldInfo);
cloth.reset(new Cloth(resx, resy, lenx, leny, clothcenter, env->bullet->softBodyWorldInfo));
env->add(cloth);
facepicker.reset(new SoftBodyFacePicker(*this, viewer.getCamera(), cloth->softBody.get()));
facepicker->setPickCallback(boost::bind(&CustomScene::pickCallback, this, _1));
sbgripperleft.reset(new GenPR2SoftGripper(pr2m->pr2, gleft, true));
sbgripperleft->setGrabOnlyOnContact(true);
sbgripperleft->setTarget(cloth);
GenPR2SoftGripperAction leftAction(pr2m->pr2, gleft->baseManip()->manip, sbgripperleft);
leftAction.setTarget(cloth);
leftAction.setExecTime(1.);
addVoidKeyCallback('a', boost::bind(&CustomScene::runGripperAction, this, leftAction));
addVoidKeyCallback('c', boost::bind(&CustomScene::graspPickedNode, this));
addVoidKeyCallback('f', boost::bind(&CustomScene::greedyFlattenSingle, this));
addVoidKeyCallback('F', boost::bind(&CustomScene::deepFlattenSingle, this));
addVoidKeyCallback('g', boost::bind(&CustomScene::liftCloth, this));
addPreDrawCallback(boost::bind(&CustomScene::markFolds, this));
addPreDrawCallback(boost::bind(&CustomScene::drawPick, this));
addPreDrawCallback(boost::bind(&CustomScene::drawManipAxes, this));
addPreDrawCallback(boost::bind(&GenPR2SoftGripper::dbgDraw, sbgripperleft.get(), this));
startViewer();
startFixedTimestepLoop(BulletConfig::dt);
}
