adds an option size to hrpsys-simulator-python

git-svn-id: https://hrpsys-base.googlecode.com/svn/trunk@448 a991ac11-fb38-5095-8c12-a1ddb0715245
snozawa · Aug 13, 2012 · aa088ec · aa088ec
1 parent 5873cdd
commit aa088ec
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Showing 7 changed files with 24 additions and 7 deletions.
diff --git a/doc/utilities.h b/doc/utilities.h
@@ -50,6 +50,7 @@ realtime execute simulation in real-time<br>
 usebbox use bounding boxes instead of actual geometries<br>
 endless never finish simulation<br>
 showsensor show sensor output<br>
+size [size] set window size<br>
 
 Note:NameSever and openhrp-model-loader must be running
 

diff --git a/lib/util/SDLUtil.cpp b/lib/util/SDLUtil.cpp
@@ -354,3 +354,8 @@ void SDLwindow::setView(double T[16])
  radius = sqrt(SQR(xCenter - T[3])+SQR(yCenter - T[7])+SQR(zCenter - T[11]));
 }
 
+void SDLwindow::setSize(int w, int h)
+{
+ width = w; 
+ height = h;
+}
diff --git a/lib/util/SDLUtil.h b/lib/util/SDLUtil.h
@@ -16,6 +16,7 @@ class SDLwindow : public ThreadedObject
  void swapBuffers();
  bool oneStep();
  void setView(double T[16]);
+ void setSize(int w, int h);
 private:
  double sliderRatio(double x);
  GLsceneBase *scene;

diff --git a/util/simulator/PySimulator.cpp b/util/simulator/PySimulator.cpp
@@ -315,6 +315,11 @@ void PySimulator::setUseBBox(bool flag)
  useBBox = flag;
 }
 
+void PySimulator::setWindowSize(int s)
+{
+ window.setSize(s,s);
+}
+
 BOOST_PYTHON_MODULE( hrpsys )
 {
  using namespace boost::python;
@@ -331,6 +336,7 @@ BOOST_PYTHON_MODULE( hrpsys )
  .def("simulate", (void(PySimulator::*)(double))&PySimulator::simulate)
  .def("realTime", &PySimulator::realTime)
  .def("useBBox", &PySimulator::setUseBBox)
+ .def("windowSize", &PySimulator::setWindowSize)
  .def("endless", &PySimulator::endless)
  .def("start", &PySimulator::start)
  .def("stop", &PySimulator::stop)

diff --git a/util/simulator/PySimulator.h b/util/simulator/PySimulator.h
@@ -37,6 +37,7 @@ class PySimulator : public Simulator
  void setShowSensors(bool flag);
  void reset();
  void setUseBBox(bool flag);
+ void setWindowSize(int s);
 private: 
  LogManager<SceneState> log;
  GLscene scene;

diff --git a/util/simulator/hrpsys-simulator-jython.in b/util/simulator/hrpsys-simulator-jython.in
@@ -18,7 +18,7 @@ def runSimulator(*args):
 argc = len(sys.argv)
 
 if argc < 2:
- print "Usage: hrpsys-simulator project.xml [script.py] [options for sdlsim]"
+ print "Usage: hrpsys-simulator-jython project.xml [script.py] [options for hrpsys-simulator]"
  sys.exit(1)
 
 if sys.argv[2][(len(sys.argv[2])-3):] == ".py":

diff --git a/util/simulator/hrpsys-simulator-python.in b/util/simulator/hrpsys-simulator-python.in
@@ -26,17 +26,20 @@ else:
  nodisplay = False
  usebbox = False
  endless = False
- for arg in sys.argv:
- if arg == "realtime":
+ for i in range(len(sys.argv)):
+ if sys.argv[i] == "realtime":
  sim.realTime(True)
- elif arg == "endless":
+ elif sys.argv[i] == "endless":
  endless = True
- elif arg == "nodisplay":
+ elif sys.argv[i] == "nodisplay":
  nodisplay = True
- elif arg == "showsensors":
+ elif sys.argv[i] == "showsensors":
  sim.showSensors = True
- elif arg == "usebbox":
+ elif sys.argv[i] == "usebbox":
  sim.useBBox(True)
+ elif sys.argv[i] == "size":
+ sim.windowSize(int(sys.argv[i+1]))
+ i = i+1
  if sim.loadProject(project):
  if endless:
  sim.endless(True)