int main(int argc, char* argv[])
{
b3CommandLineArgs args(argc,argv);
b3Clock clock;
ExampleEntriesAll examples;
examples.initExampleEntries();
ExampleBrowserInterface* exampleBrowser = new DefaultBrowser(&examples);
bool init = exampleBrowser->init(argc,argv);
clock.reset();
if (init)
{
do
{
float deltaTimeInSeconds = clock.getTimeMicroseconds()/1000000.f;
clock.reset();
exampleBrowser->update(deltaTimeInSeconds);
} while (!exampleBrowser->requestedExit());
}
delete exampleBrowser;
return 0;
}
int main(int argc, char* argv[])
{
#ifndef _WIN32
struct sigaction action;
memset(&action, 0x0, sizeof(action));
action.sa_handler = cleanup;
static const int signos[] = { SIGHUP, SIGINT, SIGQUIT, SIGABRT, SIGSEGV, SIGPIPE, SIGTERM };
for (int ii(0); ii < sizeof(signos) / sizeof(*signos); ++ii) {
if (0 != sigaction(signos[ii], &action, NULL)) {
err(EXIT_FAILURE, "signal %d", signos[ii]);
}
}
#endif
{
b3CommandLineArgs args(argc, argv);
b3Clock clock;
args.GetCmdLineArgument("minUpdateTimeMicroSecs",gMinUpdateTimeMicroSecs);
ExampleEntriesAll examples;
examples.initExampleEntries();
OpenGLExampleBrowser* exampleBrowser = new OpenGLExampleBrowser(&examples);
sExampleBrowser = exampleBrowser;//for <CTRL-C> etc, cleanup shared memory
bool init = exampleBrowser->init(argc, argv);
exampleBrowser->registerFileImporter(".urdf", ImportURDFCreateFunc);
exampleBrowser->registerFileImporter(".sdf", ImportSDFCreateFunc);
exampleBrowser->registerFileImporter(".obj", ImportObjCreateFunc);
exampleBrowser->registerFileImporter(".stl", ImportSTLCreateFunc);
exampleBrowser->registerFileImporter(".bullet", SerializeBulletCreateFunc);
clock.reset();
if (init)
{
do
{
float deltaTimeInSeconds = clock.getTimeMicroseconds() / 1000000.f;
if (deltaTimeInSeconds > 0.1)
{
deltaTimeInSeconds = 0.1;
}
if (deltaTimeInSeconds < (gMinUpdateTimeMicroSecs/1e6))
{
b3Clock::usleep(gMinUpdateTimeMicroSecs/10.);
} else
{
clock.reset();
exampleBrowser->update(deltaTimeInSeconds);
}
} while (!exampleBrowser->requestedExit() && !interrupted);
}
delete exampleBrowser;
}
#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
int numBytesLeaked = btDumpMemoryLeaks();
btAssert(numBytesLeaked==0);
#endif//BT_DEBUG_MEMORY_ALLOCATIONS
return 0;
}
