main.cpp

3D仿真组实物机器人环境下的机器人模型的设计工具。可以查看和修改现有模型的详细参数

/*
*********************************************************************************
*                            In the name of Almighty                            *
*                                                                               *
*         main.cpp : Robocup Soccer Simulator Developement Team: Zigorat        *
*                                                                               *
*  Date: 07/08/2007                                                             *
*  Author: Mahdi Hamdarsi                                                       *
*  Research Coordinator: Amin Mohammadi                                         *
*  Comments: Main application module which creates threads to both MESA and     *
*            GTK support                                                        *
*                                                                               *
*********************************************************************************
*/

/*! \file main.cpp
<pre>
<b>File:</b>          main.cpp
<b>Project:</b>       Robocup Soccer Simulator Developement Team: Zigorat
<b>Authors:</b>       Mahdi Hamdarsi, Amin Mohammadi
<b>Created:</b>       12/02/2001
<b>Last Revision:</b> $ID$
<b>Contents:</b>      Main application module which creates threads to both MESA and
            GTK support
<hr size=2>
<h2><b>Changes</b></h2>
<b>Date</b>             <b>Author</b>          <b>Comment</b>
07/08/2007       Mahdi Hamdarsi       Initial version created
</pre>
*/

#include <iostream>
#include <pthread.h>

#include "RubySceneGraph.h"
#include "GraphicEngine.h"

using namespace std;

extern TRubySceneGraph * RubySceneGraph;
extern TOpenGLEngine * OpenGLEngine;
extern string path;

extern void * OpenGLThreadCallback( void * data );
extern void * GTKThreadCallback( void * data );

// #define TESTING

int main(int argc, char** argv)
{
  InitializeScene();

  #ifdef TESTING
  RubySceneGraph->LoadScene( "soccerbot055.rsg" );
//   InitializeOpenGLEngine( "TESTING" );
//   RubySceneGraph->initializeRendering();
//   OpenGLEngine->setLightPosition( VecPosition( 0,0,4 ), 0);
//   OpenGLEngine->setLightDirection( VecPosition(0,0,0), 0);
//   OpenGLEngine->setCameraPosition( 2,-10,3 );
//   OpenGLEngine->setCameraDirection( 0,1,0 );
//   OpenGLEngine->setCameraUpDirection( 0,0,1 );
//   OpenGLEngine->startEngine();
//   FinalizeOpenGLEngine();

  #else
  pthread_t OpenGLThread;
  pthread_create( &OpenGLThread, NULL, OpenGLThreadCallback, NULL );
  
  pthread_t GTKThread;
  pthread_create( &GTKThread, NULL,  GTKThreadCallback, NULL );

  pthread_join( GTKThread, NULL );
  pthread_join( OpenGLThread, NULL );

  #endif

  FinalizeScene();

  return 0;
}