main.cpp
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00001 /* 
00002  * Copyright (c) 2013 University of Jaume-I.
00003  * All rights reserved. This program and the accompanying materials
00004  * are made available under the terms of the GNU Public License v3.0
00005  * which accompanies this distribution, and is available at
00006  * http://www.gnu.org/licenses/gpl.html
00007  * 
00008  * Contributors:
00009  *     Mario Prats
00010  *     Javier Perez
00011  */
00012 
00013 #include <ros/ros.h>
00014 
00015 #include <string>
00016 #include <vector>
00017 #include <stdlib.h>
00018 
00019 #include <uwsim/ConfigXMLParser.h>
00020 #include <uwsim/SceneBuilder.h>
00021 #include <uwsim/ViewBuilder.h>
00022 #include <uwsim/PhysicsBuilder.h>
00023 #include "osgbCollision/GLDebugDrawer.h"
00024 #include <uwsim/UWSimUtils.h>
00025 
00026 using namespace std;
00027 
00028 //#include "BulletPhysics.h"
00029 
00030 int main(int argc, char *argv[])
00031 {
00032   //osg::notify(osg::ALWAYS) << "UWSim; using osgOcean " << osgOceanGetVersion() << std::endl;
00033 
00034   boost::shared_ptr<osg::ArgumentParser> arguments(new osg::ArgumentParser(&argc, argv));
00035   arguments->getApplicationUsage()->setApplicationName(arguments->getApplicationName());
00036   arguments->getApplicationUsage()->setDescription(arguments->getApplicationName() + " is using osgOcean.");
00037   arguments->getApplicationUsage()->setCommandLineUsage(arguments->getApplicationName() + " [options] ...");
00038   arguments->getApplicationUsage()->addCommandLineOption("--windx <x>", "Wind X direction.");
00039   arguments->getApplicationUsage()->addCommandLineOption("--windy <y>", "Wind Y direction.");
00040   arguments->getApplicationUsage()->addCommandLineOption("--windSpeed <speed>", "Wind speed.");
00041   arguments->getApplicationUsage()->addCommandLineOption("--isNotChoppy", "Set the waves not choppy.");
00042   arguments->getApplicationUsage()->addCommandLineOption("--choppyFactor <factor>", "How choppy the waves are.");
00043   arguments->getApplicationUsage()->addCommandLineOption(
00044       "--crestFoamHeight <height>", "How high the waves need to be before foam forms on the crest.");
00045   arguments->getApplicationUsage()->addCommandLineOption("--oceanSurfaceHeight <z>",
00046                                                          "Z position of the ocean surface in world coordinates.");
00047   arguments->getApplicationUsage()->addCommandLineOption(
00048       "--disableShaders",
00049       "Disable use of shaders for the whole application. Also disables most visual effects as they depend on shaders.");
00050   arguments->getApplicationUsage()->addCommandLineOption(
00051       "--disableTextures", "Disable use of textures by default. Can be toggled with the 't' key.");
00052   arguments->getApplicationUsage()->addCommandLineOption("--resw <width>", "Set the viewer width resolution");
00053   arguments->getApplicationUsage()->addCommandLineOption("--resh <height>", "Set the viewer height resolution");
00054   arguments->getApplicationUsage()->addCommandLineOption("--freeMotion", "Sets the main camera to move freely");
00055   arguments->getApplicationUsage()->addCommandLineOption(
00056       "--configfile",
00057       "Indicate config file location (default: data/scenes/cirs.xml). The rest of the options override the values defined in this file.");
00058   arguments->getApplicationUsage()->addCommandLineOption("--v", "Be verbose. (OSG notify level NOTICE)");
00059   arguments->getApplicationUsage()->addCommandLineOption("--vv", "Be much verbose. (OSG notify level DEBUG)");
00060   arguments->getApplicationUsage()->addCommandLineOption("--dataPath <path>",
00061                                                          "Search for models in this path, besides the default ones");
00062   arguments->getApplicationUsage()->addCommandLineOption(
00063       "--debugPhysics [<flag>]",
00064       "Enable physics visualisation. 1 for wireframe, 2 for physics only. For other flag options refer to btIDebugDraw.h");
00065 
00066   unsigned int helpType = 0;
00067   if ((helpType = arguments->readHelpType()))
00068   {
00069     arguments->getApplicationUsage()->write(std::cout, helpType);
00070     return 1;
00071   }
00072 
00073   //Default notify level
00074   osg::setNotifyLevel(osg::FATAL);
00075   if (arguments->read("--v"))
00076     osg::setNotifyLevel(osg::NOTICE);
00077   if (arguments->read("--vv"))
00078     osg::setNotifyLevel(osg::DEBUG_FP);
00079 
00080   // report any errors if they have occurred when parsing the program arguments->
00081   if (arguments->errors())
00082   {
00083     arguments->writeErrorMessages(std::cout);
00084 
00085     return 1;
00086   }
00087 
00088   //Add current folder to path
00089   osgDB::Registry::instance()->getDataFilePathList().push_back(std::string("."));
00090   //Add UWSim folders to path
00091   const std::string SIMULATOR_DATA_PATH = std::string(getenv("HOME")) + "/.uwsim/data";
00092   osgDB::Registry::instance()->getDataFilePathList().push_back(std::string(SIMULATOR_DATA_PATH));
00093 
00094   osgDB::Registry::instance()->getDataFilePathList().push_back(std::string(UWSIM_ROOT_PATH));
00095   osgDB::Registry::instance()->getDataFilePathList().push_back(std::string(UWSIM_ROOT_PATH) + "/data");
00096   osgDB::Registry::instance()->getDataFilePathList().push_back(std::string(UWSIM_ROOT_PATH) + "/data/scenes");
00097   osgDB::Registry::instance()->getDataFilePathList().push_back(std::string(UWSIM_ROOT_PATH) + "/data/shaders");
00098 
00099   //Add dataPath folder to path
00100   std::string dataPath("");
00101   while( arguments->read("--dataPath",dataPath))
00102   {
00103     if (dataPath!=std::string(""))
00104       osgDB::Registry::instance()->getDataFilePathList().push_back(dataPath);
00105   }
00106 
00107   string configfile = std::string(UWSIM_ROOT_PATH) + "/scenes/cirs.xml";
00108   while (arguments->read("--configfile", configfile))
00109     ;
00110   ConfigFile config(configfile);
00111 
00112   ros::init(argc, argv, "UWSim");
00113   ros::start();
00114 
00115   SceneBuilder builder(arguments);
00116   builder.loadScene(config);
00117 
00118   PhysicsBuilder physicsBuilder;
00119   if (config.enablePhysics)
00120     physicsBuilder.loadPhysics(&builder, config);
00121 
00122   int drawPhysics = 0;
00123   if (!arguments->read("--debugPhysics", osg::ArgumentParser::Parameter(drawPhysics))
00124       && arguments->read("--debugPhysics"))
00125     drawPhysics = 2;
00126   boost::shared_ptr<osgbCollision::GLDebugDrawer> debugDrawer;
00127   if (config.enablePhysics && drawPhysics > 0)
00128   {
00129     debugDrawer.reset(new osgbCollision::GLDebugDrawer());
00130     debugDrawer->setDebugMode(drawPhysics);
00131     physicsBuilder.physics->dynamicsWorld->setDebugDrawer(debugDrawer.get());
00132     builder.getRoot()->addChild(debugDrawer->getSceneGraph());
00133   }
00134 
00135   ViewBuilder view(config, &builder, arguments);
00136 
00137   view.init();
00138   view.getViewer()->realize();
00139   view.getViewer()->frame();
00140 
00141   osgViewer::Viewer::Windows windows;
00142   view.getViewer()->getWindows(windows);
00143   windows[0]->setWindowName("UWSim");
00144 
00145   double prevSimTime = 0.;
00146   while (!view.getViewer()->done() && ros::ok())
00147   {
00148     ROSInterface::setROSTime(ros::Time::now());
00149     ros::spinOnce();
00150 
00151     if (config.enablePhysics)
00152     {
00153       const double currSimTime = view.getViewer()->getFrameStamp()->getSimulationTime();
00154       double elapsed(currSimTime - prevSimTime);
00155       if (view.getViewer()->getFrameStamp()->getFrameNumber() < 3)
00156         elapsed = 1. / 60.;
00157       int subSteps = fmax(0, config.physicsConfig.subSteps);
00158       if (subSteps == 0)
00159         subSteps = ceil(elapsed * config.physicsConfig.frequency); //auto substep
00160       physicsBuilder.physics->stepSimulation(elapsed, subSteps, 1 / config.physicsConfig.frequency);
00161       prevSimTime = currSimTime;
00162       if (debugDrawer)
00163       {
00164         debugDrawer->BeginDraw();
00165         physicsBuilder.physics->dynamicsWorld->debugDrawWorld();
00166         debugDrawer->EndDraw();
00167       }
00168     }
00169 
00170     view.getViewer()->frame();
00171   }
00172   if (ros::ok())
00173     ros::shutdown();
00174 
00175   ROS_INFO("Finished");
00176 
00177   return 0;
00178 }


uwsim
Author(s): Mario Prats , Javier Perez
autogenerated on Fri Aug 28 2015 13:28:58