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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This program is free software; you can redistribute it and/or modify it *
* under the terms of the GNU General Public License as published by the Free *
* Software Foundation; either version 2 of the License, or (at your option) *
* any later version. *
* *
* This program is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for *
* more details. *
* *
* You should have received a copy of the GNU General Public License along *
* with this program; if not, write to the Free Software Foundation, Inc., 51 *
* Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. *
*******************************************************************************
* SOFA :: Applications *
* *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza, *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#include <iostream>
#include <fstream>
#include <sofa/helper/ArgumentParser.h>
#include <sofa/simulation/common/Simulation.h>
#include <sofa/helper/Factory.h>
#include <sofa/helper/BackTrace.h>
#include <sofa/helper/system/FileRepository.h>
#include <sofa/gui/SofaGUI.h>
#include <sofa/helper/system/gl.h>
#include <sofa/helper/system/glut.h>
#ifndef WIN32
#include <dlfcn.h>
bool loadPlugin(const char* filename)
{
void *handle;
handle=dlopen(filename, RTLD_LAZY);
if (!handle)
{
std::cerr<<"Error loading plugin "<<filename<<": "<<dlerror()<<std::endl;
return false;
}
std::cerr<<"Plugin "<<filename<<" loaded."<<std::endl;
return true;
}
#else
bool loadPlugin(const char* filename)
{
std::cerr << "Plugin loading not supported on this platform.\n";
return false;
}
#endif
// Link the Haptic Class for the factory under windows
SOFA_LINK_CLASS(HapticMapping);
// ---------------------------------------------------------------------
// ---
// ---------------------------------------------------------------------
int main(int argc, char** argv)
{
sofa::helper::BackTrace::autodump();
glutInit(&argc,argv);
sofa::gui::SofaGUI::SetProgramName(argv[0]);
std::string fileName ;
bool startAnim = false;
bool printFactory = false;
std::string gui = sofa::gui::SofaGUI::GetGUIName();
std::vector<std::string> plugins;
std::vector<std::string> files;
std::string gui_help = "choose the UI (";
gui_help += sofa::gui::SofaGUI::ListSupportedGUI('|');
gui_help += ")";
sofa::helper::parse(&files, "This is a SOFA application. Here are the command line arguments")
// .option(&fileName,'f',"file","scene file")
.option(&startAnim,'s',"start","start the animation loop")
.option(&printFactory,'p',"factory","print factory logs")
//.option(&nogui,'g',"nogui","use no gui, run a number of iterations and exit")
.option(&gui,'g',"gui",gui_help.c_str())
.option(&plugins,'l',"load","load given plugins")
(argc,argv);
if (!files.empty()) fileName = files[0];
for (unsigned int i=0;i<plugins.size();i++)
loadPlugin(plugins[i].c_str());
if (printFactory)
{
std::cout << "////////// FACTORY //////////" << std::endl;
sofa::helper::printFactoryLog();
std::cout << "//////// END FACTORY ////////" << std::endl;
}
if (int err=sofa::gui::SofaGUI::Init(argv[0],gui.c_str()))
return err;
sofa::simulation::tree::GNode* groot = NULL;
if (fileName.empty())
{
//fileName = "collisionTriangle_Haptic.xml";
fileName = "liver.scn";
sofa::helper::system::DataRepository.findFile(fileName);
}
std::string in_filename(fileName);
if (in_filename.rfind(".simu") == std::string::npos)
{
groot = dynamic_cast<sofa::simulation::tree::GNode*>( sofa::simulation::getSimulation()->load(fileName.c_str()));
sofa::simulation::tree::getSimulation()->init(groot);
}
if (groot==NULL)
{
groot = new sofa::simulation::tree::GNode;
//return 1;
}
if (startAnim)
groot->setAnimate(true);
//=======================================
// Run the main loop
if (gui=="none")
{
if (groot==NULL)
{
std::cerr<<"Could not load file "<<fileName<<std::endl;
return 1;
}
std::cout << "Computing 1000 iterations." << std::endl;
for (int i=0;i<1000;i++)
{
sofa::simulation::getSimulation()->animate(groot);
}
std::cout << "1000 iterations done." << std::endl;
}
else
{
if (int err=sofa::gui::SofaGUI::MainLoop(groot,fileName.c_str()))
return err;
groot = dynamic_cast<sofa::simulation::tree::GNode*>( sofa::gui::SofaGUI::CurrentSimulation() );
}
if (groot!=NULL)
sofa::simulation::getSimulation()->unload(groot);
return 0;
}
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