redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

examples/ExampleBrowser/main.cpp

72 строки2 KB

Erwin Coumans

pybullet, more robust multi-server connections

29 дек 2016, 08:51

29 дек 2016, 08:5182995a8



#include "OpenGLExampleBrowser.h"

#include "Bullet3Common/b3CommandLineArgs.h"
#include "../Utils/b3Clock.h"

#include "ExampleEntries.h"
#include "Bullet3Common/b3Logging.h"

#include "../Importers/ImportObjDemo/ImportObjExample.h"
#include "../Importers/ImportBsp/ImportBspExample.h"
#include "../Importers/ImportColladaDemo/ImportColladaSetup.h"
#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
#include "../Importers/ImportSDFDemo/ImportSDFSetup.h"
#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
#include "../Importers/ImportBullet/SerializeSetup.h"

#include "LinearMath/btAlignedAllocator.h"

static double gMinUpdateTimeMicroSecs = 1000.;


int main(int argc, char* argv[])
{
	{
		b3CommandLineArgs args(argc, argv);
		b3Clock clock;
		args.GetCmdLineArgument("minUpdateTimeMicroSecs",gMinUpdateTimeMicroSecs);

		ExampleEntriesAll examples;
		examples.initExampleEntries();

		OpenGLExampleBrowser* exampleBrowser = new OpenGLExampleBrowser(&examples);
		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());
		}
		delete exampleBrowser;

	}
	
#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
	int numBytesLeaked = btDumpMemoryLeaks();
	btAssert(numBytesLeaked==0);
#endif//BT_DEBUG_MEMORY_ALLOCATIONS
	
	return 0;
}