gint main(gint argc, gchar* argv[]){
char* hw = "`r```````````.H.e.l.l.o. .w.o.r.l.di";
char* fib = "```s``s``sii`ki\n"
"`k.*``s``s`ks\n"
"``s`k`s`ks``s``s`ks``s`k`s`kr``s`k`sikk\n"
"`k``s`ksk";
/*
* http://www.madore.org/~david/programs/unlambda/
*/
World* world;
UnlambdaEval* ue;
GOptionContext *context;
GError *error = NULL;
context = g_option_context_new("This line is appeared after Uagese's command line");
g_option_context_set_summary(context, "This line is appeared before options");
g_option_context_set_description(context, "This line is appeared after options");
if(!g_option_context_parse(context, &argc, &argv, &error)){
g_printerr("option parsing failed: %s\n", error->message);
return 1;
}
world = CreateWorld(MAXOBJECTS);
setWorld(world);
ue = NewUnlambdaEval(world);
printf("%s\n", fib);
//eval(hw);
UnlambdaEval_eval(ue, fib);
DeleteWorld(world);
return 0;
}
/*
* Cleanup
*/
int CGuiThread::ExitInstance()
{
UpdateRegistry();
CloseSockets(); // buggy old clients do not close sockets on exit. So we imitate closing manually
UnloadPlugins();
DeleteWorld();
return CWinThread::ExitInstance();
}
/**
* @function DoLoad
* @brief Load world from RSDH file
*/
void GRIPFrame::DoLoad(string filename, bool savelastload)
{
continueSimulation = false;
size_t numPages = tabView->GetPageCount();
if (mWorld) {
// fire SceneUnloaded hooks
for(size_t i=0; i< numPages; i++) {
GRIPTab* tab = (GRIPTab*)tabView->GetPage(i);
tab->GRIPEventSceneUnloaded();
}
// delete the world
DeleteWorld();
}
dart::utils::DartLoader dl;
mWorld = dl.parseWorld( filename.c_str() );
// NULL World
if( !mWorld ) {
std::cout<< "[GRIP] World pointer null. Try again with a good URDF file"<<std::endl;
return;
}
else if(mWorld->getNumSkeletons() == 0) {
std::cout<< "[GRIP] Empty world? Neither robots nor objects loaded. Try again loading a world urdf"<< std::endl;
return;
}
// Add floor
dart::dynamics::Skeleton* ground = new dart::dynamics::Skeleton();
ground->setName("ground");
dart::dynamics::BodyNode* node = new dart::dynamics::BodyNode("ground");
node->setMass(1.0);
dart::dynamics::Shape* shape = new dart::dynamics::BoxShape(Eigen::Vector3d(10.0, 10.0, 0.0001));
shape->setColor(Eigen::Vector3d(0.5, 0.5, 1.0));
node->addCollisionShape(shape);
dart::dynamics::Joint* joint = new dart::dynamics::WeldJoint();
joint->setName("groundJoint");
joint->setTransformFromParentBodyNode(Eigen::Isometry3d::Identity());
joint->setTransformFromChildBodyNode(Eigen::Isometry3d::Identity());
node->setParentJoint(joint);
ground->addBodyNode(node);
ground->setMobile(false);
mWorld->addSkeleton(ground);
// Compile OpenGL displaylists
for(int i=0; i < mWorld->getNumSkeletons(); i++) {
viewer->renderer.compileList(mWorld->getSkeleton(i));
}
// UpdateTreeView();
cout << "--(v) Done Parsing World information (v)--" << endl;
treeView->CreateFromWorld();
cout << "--(v) Done Updating TreeView (v)--" << endl;
SetStatusText(wxT("--(i) Done Loading and updating the View (i)--"));
/// Extract path to executable & save "lastload" there
if (savelastload) {
cout << "--(i) Saving " << filename << " to .lastload file (i)--" << endl;
wxString filename_string(filename.c_str(), wxConvUTF8);
saveText(filename_string,".lastload");
}
selectedTreeNode = 0;
treeView->ExpandAll();
updateAllTabs();
// fire SceneLoaded hooks
for(size_t i=0; i< numPages; i++) {
GRIPTab* tab = (GRIPTab*)tabView->GetPage(i);
tab->GRIPEventSceneLoaded();
}
viewer->DrawGLScene();
}
/**
* @function OnClose
* @brief
* @date 2011-10-13
*/
void GRIPFrame::OnClose(wxCommandEvent& WXUNUSED(event)){
DeleteWorld();
//viewer->UpdateCamera();
//exit(0);
//DeleteWorld();
}
CWorldInfo::~CWorldInfo()
{
DeleteWorld(m_pWorld, m_dwCookie);
SAFERELEASE(m_pWorld);
}