void CGUIFontTTFGL::LastEnd()
{
#ifdef HAS_GL
glPushClientAttrib(GL_CLIENT_VERTEX_ARRAY_BIT);
glColorPointer (4, GL_UNSIGNED_BYTE, sizeof(SVertex), (char*)&m_vertex[0] + offsetof(SVertex, r));
glVertexPointer (3, GL_FLOAT , sizeof(SVertex), (char*)&m_vertex[0] + offsetof(SVertex, x));
glTexCoordPointer(2, GL_FLOAT , sizeof(SVertex), (char*)&m_vertex[0] + offsetof(SVertex, u));
glEnableClientState(GL_COLOR_ARRAY);
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glDrawArrays(GL_QUADS, 0, m_vertex.size());
glPopClientAttrib();
glActiveTexture(GL_TEXTURE1);
glBindTexture(GL_TEXTURE_2D, 0);
glDisable(GL_TEXTURE_2D);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, 0);
glDisable(GL_TEXTURE_2D);
#else
// GLES 2.0 version.
g_Windowing.EnableGUIShader(SM_FONTS);
CreateStaticVertexBuffers();
GLint posLoc = g_Windowing.GUIShaderGetPos();
GLint colLoc = g_Windowing.GUIShaderGetCol();
GLint tex0Loc = g_Windowing.GUIShaderGetCoord0();
GLint modelLoc = g_Windowing.GUIShaderGetModel();
// Enable the attributes used by this shader
glEnableVertexAttribArray(posLoc);
glEnableVertexAttribArray(colLoc);
glEnableVertexAttribArray(tex0Loc);
if (m_vertex.size() > 0)
{
// Deal with vertices that had to use software clipping
std::vector<SVertex> vecVertices( 6 * (m_vertex.size() / 4) );
SVertex *vertices = &vecVertices[0];
for (size_t i=0; i<m_vertex.size(); i+=4)
{
*vertices++ = m_vertex[i];
*vertices++ = m_vertex[i+1];
*vertices++ = m_vertex[i+2];
*vertices++ = m_vertex[i+1];
*vertices++ = m_vertex[i+3];
*vertices++ = m_vertex[i+2];
}
vertices = &vecVertices[0];
glVertexAttribPointer(posLoc, 3, GL_FLOAT, GL_FALSE, sizeof(SVertex), (char*)vertices + offsetof(SVertex, x));
// Normalize color values. Does not affect Performance at all.
glVertexAttribPointer(colLoc, 4, GL_UNSIGNED_BYTE, GL_TRUE, sizeof(SVertex), (char*)vertices + offsetof(SVertex, r));
glVertexAttribPointer(tex0Loc, 2, GL_FLOAT, GL_FALSE, sizeof(SVertex), (char*)vertices + offsetof(SVertex, u));
glDrawArrays(GL_TRIANGLES, 0, vecVertices.size());
}
if (m_vertexTrans.size() > 0)
{
// Deal with the vertices that can be hardware clipped and therefore translated
// Bind our pre-calculated array to GL_ELEMENT_ARRAY_BUFFER
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_elementArrayHandle);
// Store currect scissor
CRect scissor = g_graphicsContext.StereoCorrection(g_graphicsContext.GetScissors());
for (size_t i = 0; i < m_vertexTrans.size(); i++)
{
// Apply the clip rectangle
CRect clip = g_Windowing.ClipRectToScissorRect(m_vertexTrans[i].clip);
if (!clip.IsEmpty())
{
// intersect with current scissor
clip.Intersect(scissor);
// skip empty clip
if (clip.IsEmpty())
continue;
g_Windowing.SetScissors(clip);
}
// Apply the translation to the currently active (top-of-stack) model view matrix
glMatrixModview.Push();
glMatrixModview.Get().Translatef(m_vertexTrans[i].translateX, m_vertexTrans[i].translateY, m_vertexTrans[i].translateZ);
glUniformMatrix4fv(modelLoc, 1, GL_FALSE, glMatrixModview.Get());
// Bind the buffer to the OpenGL context's GL_ARRAY_BUFFER binding point
glBindBuffer(GL_ARRAY_BUFFER, (GLuint) m_vertexTrans[i].vertexBuffer->bufferHandle);
// Do the actual drawing operation, split into groups of characters no
// larger than the pre-determined size of the element array
for (size_t character = 0; m_vertexTrans[i].vertexBuffer->size > character; character += ELEMENT_ARRAY_MAX_CHAR_INDEX)
{
size_t count = m_vertexTrans[i].vertexBuffer->size - character;
count = std::min<size_t>(count, ELEMENT_ARRAY_MAX_CHAR_INDEX);
// Set up the offsets of the various vertex attributes within the buffer
// object bound to GL_ARRAY_BUFFER
glVertexAttribPointer(posLoc, 3, GL_FLOAT, GL_FALSE, sizeof(SVertex), (GLvoid *) (character*sizeof(SVertex)*4 + offsetof(SVertex, x)));
glVertexAttribPointer(colLoc, 4, GL_UNSIGNED_BYTE, GL_TRUE, sizeof(SVertex), (GLvoid *) (character*sizeof(SVertex)*4 + offsetof(SVertex, r)));
glVertexAttribPointer(tex0Loc, 2, GL_FLOAT, GL_FALSE, sizeof(SVertex), (GLvoid *) (character*sizeof(SVertex)*4 + offsetof(SVertex, u)));
glDrawElements(GL_TRIANGLES, 6 * count, GL_UNSIGNED_SHORT, 0);
}
glMatrixModview.Pop();
}
// Restore the original scissor rectangle
g_Windowing.SetScissors(scissor);
// Restore the original model view matrix
glUniformMatrix4fv(modelLoc, 1, GL_FALSE, glMatrixModview.Get());
// Unbind GL_ARRAY_BUFFER and GL_ELEMENT_ARRAY_BUFFER
glBindBuffer(GL_ARRAY_BUFFER, 0);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
}
// Disable the attributes used by this shader
glDisableVertexAttribArray(posLoc);
glDisableVertexAttribArray(colLoc);
glDisableVertexAttribArray(tex0Loc);
g_Windowing.DisableGUIShader();
#endif
}
int main(int argc, char** argv)
{
::dama::XmlFactory damaFactory;
boost::shared_ptr< ::dama::DamaModel > model = damaFactory.create("data/tasks/config.xml");
::dama::Timer timer;
/** Configurations */
//model->debugMode = true;
::std::size_t numRuns = 1; // 200
// calculate numRuns seeds (with value in srand you can change the seed set)
srand(model->groupSeed);
// srand(time(NULL));
::std::vector < ::std::size_t > vecSeeds(numRuns, 0);
for(::std::size_t u=0; u<numRuns; ++u)
vecSeeds.at(u) = rand();
// write benchmark header
std::ofstream benchmarkHeader;
benchmarkHeader.open("DamaBenchmark.csv", std::ios::app);
// #iterations: not counted: if sample is unreachable from tree a or is exact a neighbor of tree a or if connected vertex is unreachable from tree b
benchmarkHeader << "date,robot,nr,seed,solved,tGlobal,tIK,tSampling,tNNSearch,tPropagate,tConnect,iterations,edges,vertices,totalQueries,freeQueries,solVertices,solLength,solLengthMan";
for(::std::size_t p=0; p<model->vecDamaPrim.size(); ++p)
benchmarkHeader << "," << model->vecDamaPrim.at(p)->getName() ;
benchmarkHeader << ::std::endl;
benchmarkHeader.close();
::std::vector <bool> vecSolved(numRuns, false);
::std::vector < ::rl::math::Real > vecTime(numRuns, 0);
::std::vector < ::std::size_t > vecIterations(numRuns, 0);
::std::vector < ::std::size_t > vecEdges(numRuns, 0);
::std::vector < ::std::size_t > vecVertices(numRuns, 0);
::std::vector < ::std::size_t > vecSolutionVertices(numRuns, 0);
::std::vector < ::rl::math::Real > vecSolutionLength(numRuns, 0);
::std::vector < ::rl::math::Real > vecSolutionLengthManipulation(numRuns, 0);
::std::vector < ::std::vector < ::std::size_t > > vecSolutionManipulationCount(numRuns, ::std::vector < ::std::size_t >(model->vecDamaPrim.size(), 0));
rl::plan::VectorList path;
::std::deque< ::std::string > actions;
/*std::cout << "start: " << (*model->dRrt->start).transpose() << std::endl;
std::cout << "goal: " << (*model->dRrt->goal).transpose() << std::endl;
std::cout << "goalDefined: ";
for(::std::size_t i=0; i<model->dRrt->goalDimDefined->size(); i++)
std::cout << model->dRrt->goalDimDefined->at(i) << "\t";
std::cout << std::endl;*/
for(::std::size_t u=0; u<numRuns; ++u)
{
path.clear();
actions.clear();
srand(0);
::std::size_t randSeedNumber = vecSeeds.at(u); //489012115 OR vecSeeds.at(u)
::boost::mt19937::result_type randSeed = static_cast< ::boost::mt19937::result_type >((double)randSeedNumber);
if(model->workspaceSampling)
model->dRrt->setConfig(false, false, false); // do NOT change this
model->dRrt->seed(randSeed);
model->dRrt->resetStatistics();
model->dRrt->duration = ::std::chrono::duration_cast< ::std::chrono::steady_clock::duration >( ::std::chrono::duration< double >(180.0)); //900.0 //300.0; //1200.0 //boost::lexical_cast< rl::math::Real >(::std::numeric_limits< double >::max());
// TODO: hierarchical version currently needs this to be redefined ...
rl::math::Vector startCopy(*(model->dRrt->start));
model->dRrt->start = &startCopy;
rl::math::Vector goalCopy(*(model->dRrt->goal));
model->dRrt->goal = &goalCopy;
::std::vector < bool > goalDimDefinedCopy(*(model->dRrt->goalDimDefined));
model->dRrt->goalDimDefined = &goalDimDefinedCopy;
std::cout << "Start solving nr. " << (u+1) << "/" << numRuns << " with seed " << randSeedNumber << " ... " << std::endl;
timer.start();
vecSolved.at(u) = model->dRrt->solveAll(path, actions);
timer.stop();
if(vecSolved.at(u))
{
::std::string lastAction = "";
rl::plan::VectorList::iterator i = path.begin();
rl::plan::VectorList::iterator j = ++path.begin();
::std::deque< ::std::string >::iterator e = actions.begin();
for (; i != path.end() && j != path.end() && e != actions.end(); ++i, ++j, ++e)
{
::rl::math::Real tempRobotDist = model->cartesianRobotDistance(*i, *j);
vecSolutionLength.at(u) += tempRobotDist;
if(*e != ::dama::DamaPrimTransit::getInstance()->getName())
vecSolutionLengthManipulation.at(u) += tempRobotDist;
if(lastAction != *e)
{
for(::std::size_t p=0; p<vecSolutionManipulationCount.at(u).size(); ++p)
if(e->substr(0, model->vecDamaPrim.at(p)->getName().size()) == model->vecDamaPrim.at(p)->getName())
vecSolutionManipulationCount.at(u).at(p) ++;
}
lastAction = *e;
}
}
vecTime.at(u) = timer.elapsed();
vecIterations.at(u) = model->dRrt->getIterationCount();
vecEdges.at(u) = model->dRrt->getEdgeCount();
vecVertices.at(u) = model->dRrt->getVertexCount();
vecSolutionVertices.at(u) = path.size();
std::cout << "solved: " << vecSolved.at(u) << " \t time: " << vecTime.at(u) << " \t iterations: " << vecIterations.at(u) << " \t edges: " << vecEdges.at(u) << " \t vertices: " << vecVertices.at(u) << " \t vertices (solution): " << vecSolutionVertices.at(u) << " \t length: " << vecSolutionLength.at(u) << " \t length (manipulation only): " << vecSolutionLengthManipulation.at(u) << std::endl;
// Export statistics to benchmark file
std::ofstream benchmark;
benchmark.open("DamaBenchmark.csv", std::ios::app);
#if !QT_KRAMS
// Current date/time based on current system
time_t now = time(0);
// Convert now to tm struct for local timezone
tm* localtm = localtime(&now);
benchmark << asctime(localtm) << ",";
#else
benchmark << QDateTime::currentDateTime().toString("yyyy-MM-dd HH:mm:ss.zzz").toStdString() << ",";
#endif
benchmark << model->prefixName << ",";
benchmark << (u+1) << ",";
benchmark << randSeedNumber << ",";
benchmark << (vecSolved.at(u) ? "true" : "false") << ",";
benchmark << vecTime.at(u) << ",";
benchmark << model->timeIK << ",";
benchmark << model->dRrt->getTimeSampling() << ",";
benchmark << model->dRrt->getTimeNNSearch() << ",";
benchmark << model->dRrt->getTimePropagate() << ",";
benchmark << model->dRrt->getTimeConnect() << ",";
benchmark << vecIterations.at(u) << ",";
benchmark << vecEdges.at(u) << ",";
benchmark << vecVertices.at(u) << ",";
benchmark << model->getTotalQueries() << ",";
benchmark << model->getFreeQueries() << ",";
benchmark << vecSolutionVertices.at(u) << ",";
benchmark << vecSolutionLength.at(u) << ",";
benchmark << vecSolutionLengthManipulation.at(u) << ",";
for(::std::size_t p=0; p<vecSolutionManipulationCount.at(u).size(); ++p)
benchmark << vecSolutionManipulationCount.at(u).at(p) << ",";
benchmark << std::endl;
benchmark.close();
}
return EXIT_SUCCESS;
}
