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;
// Enable collision checking
aa_rx_cl_init();
// Initialize scene graph
struct aa_rx_sg *scenegraph = aa_rx_dl_sg__scenegraph(NULL);
aa_rx_sg_init(scenegraph);
aa_rx_sg_cl_init(scenegraph);
// setup window
struct aa_rx_win * win = baxter_demo_setup_window(scenegraph);
struct aa_gl_globals *globals = aa_rx_win_gl_globals(win);
aa_gl_globals_set_show_visual(globals, 0);
aa_gl_globals_set_show_collision(globals, 1);
struct display_cx cx = {0};
cx.win = win;
cx.scenegraph = scenegraph;
cx.i_q = aa_rx_sg_config_id(scenegraph, "left_s0");
cx.cl = aa_rx_cl_create( scenegraph );
{
aa_rx_frame_id n = aa_rx_sg_frame_count(scenegraph);
aa_rx_frame_id m = aa_rx_sg_config_count(scenegraph);
double q[m];
AA_MEM_ZERO(q,m);
double TF_rel[7*n];
double TF_abs[7*n];
aa_rx_sg_tf(scenegraph, m, q,
n,
TF_rel, 7,
TF_abs, 7 );
struct aa_rx_cl_set *allowed = aa_rx_cl_set_create( scenegraph );
int col = aa_rx_cl_check( cx.cl, n, TF_abs, 7, allowed );
aa_rx_cl_allow_set( cx.cl, allowed );
aa_rx_cl_set_destroy( allowed );
}
aa_rx_win_set_display( win, display, &cx );
aa_rx_win_display_loop(win);
// Cleanup
aa_rx_cl_destroy( cx.cl );
aa_rx_sg_destroy(scenegraph);
aa_rx_win_destroy(win);
SDL_Quit();
return 0;
}
static void* fun( void *arg )
{
fprintf(stderr, "+ worker thread starting\n");
struct aa_rx_win * win = (struct aa_rx_win * ) arg;
struct aa_rx_sg *sg0 = aa_rx_dl_sg__scenegraph (NULL);
for( size_t i = 0; i < 102400; i ++ ) {
struct aa_rx_sg *sg1 = aa_rx_dl_sg__scenegraph(NULL);
aa_rx_sg_init(sg1); /* initialize scene graph internal structures */
aa_rx_win_sg_gl_init(win, sg1); /* Initialize scene graph GL-rendering objects */
aa_rx_win_set_sg(win, sg1);
aa_rx_sg_destroy(sg0);
sg0 = sg1;
}
fprintf(stderr, "- worker thread finished\n");
}
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;
}