1 | /* |
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2 | Bullet Continuous Collision Detection and Physics Library |
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3 | Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/ |
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4 | |
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5 | This software is provided 'as-is', without any express or implied warranty. |
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6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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7 | Permission is granted to anyone to use this software for any purpose, |
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8 | including commercial applications, and to alter it and redistribute it freely, |
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9 | subject to the following restrictions: |
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10 | |
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11 | 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. |
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12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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13 | 3. This notice may not be removed or altered from any source distribution. |
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14 | */ |
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15 | |
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16 | #include "BasicDemo.h" |
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17 | #include "GLDebugDrawer.h" |
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18 | #include "btBulletDynamicsCommon.h" |
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19 | #include "LinearMath/btHashMap.h" |
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20 | #include <mpi.h> |
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21 | #include <stdio.h> |
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22 | #include <gcj/cni.h> |
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23 | #include <signal.h> |
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24 | #include <java/lang/System.h> |
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25 | #include <java/io/PrintStream.h> |
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26 | #include <java/util/List.h> |
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27 | #include <java/util/ArrayList.h> |
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28 | #include <java/lang/System.h> |
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29 | #include <java/io/PrintStream.h> |
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30 | #include <java/lang/Throwable.h> |
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31 | #include "Agent.h" |
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32 | #include "Sensor.h" |
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33 | |
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34 | #define WIDTH 10 |
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35 | #define HEIGHT 3 |
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36 | #define MAXPROCS (WIDTH * HEIGHT) |
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37 | |
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38 | BasicDemo vworld; |
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39 | GLDebugDrawer gDebugDrawer; |
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40 | btDynamicsWorld* m_dynamicWorld; |
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41 | |
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42 | using namespace java::lang; |
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43 | using namespace java::util; |
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44 | |
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45 | enum { |
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46 | LEFT=0, RIGHT=1, UP=2, DOWN=3 |
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47 | }; |
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48 | |
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49 | int rank, nprocs = MAXPROCS; |
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50 | MPI_Comm everyone; |
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51 | |
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52 | void init() { |
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53 | if(JvCreateJavaVM(NULL) < 0) { |
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54 | printf("Error creating the JVM!!!\n"); |
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55 | exit(1); |
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56 | } |
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57 | |
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58 | JvAttachCurrentThread(NULL, NULL); |
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59 | |
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60 | JvInitClass(&Agent::class$); |
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61 | } |
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62 | |
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63 | /* |
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64 | int getRight(int i, int j) { |
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65 | return (4 * HEIGHT - 2) * i + 4 * j + 0; |
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66 | } |
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67 | |
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68 | int getLeft(int i, int j) { |
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69 | return getRight(i-1, j) + 1; |
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70 | } |
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71 | |
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72 | int getDown(int i, int j) { |
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73 | int down = (4 * HEIGHT - 2) * i + 4 * j + 2; |
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74 | if(i == WIDTH - 1) |
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75 | down -= 2 + j * 2; |
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76 | |
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77 | return down; |
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78 | } |
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79 | |
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80 | int getUp(int i, int j) { |
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81 | int up = getDown(i, j-1) + 1; |
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82 | return up; |
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83 | } |
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84 | */ |
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85 | |
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86 | static void master() { |
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87 | int i, j; |
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88 | printf("Master process here!\n"); |
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89 | |
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90 | /// Initialize the scene of the simulation |
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91 | vworld.initPhysics(); |
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92 | vworld.createSimulation2D(WIDTH, HEIGHT); |
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93 | // vworld.createSimulation3D(3, 3, 3); |
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94 | vworld.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer); |
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95 | |
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96 | m_dynamicWorld = vworld.getDynamicsWorld(); |
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97 | |
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98 | init(); |
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99 | |
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100 | for(i = 0; i < WIDTH; i++) { |
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101 | for(j = 0; j < HEIGHT; j++) { |
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102 | List *sensors = (List *) new ArrayList(); |
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103 | // int right = getRight(i, j); |
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104 | // int left = getLeft(i, j); |
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105 | // int up = getUp(i, j); |
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106 | // int down = getDown(i, j); |
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107 | int idx; |
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108 | |
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109 | if(i < WIDTH - 1) { |
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110 | idx = vworld.m_matrix[i * HEIGHT + j][RIGHT]; |
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111 | // printf("RIGHT: (%d, %d) - %d\n", i, j, idx); |
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112 | btHingeConstraint *joint = (btHingeConstraint*)vworld.m_joints[idx]; |
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113 | Sensor *s = new Sensor(joint->getHingeAngle(),joint->getLowerLimit(),joint->getUpperLimit(), RIGHT); |
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114 | sensors->add(s); |
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115 | vworld.m_sensors.push_back(make_pair(idx, s)); |
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116 | } |
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117 | |
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118 | if(i > 0) { |
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119 | idx = vworld.m_matrix[i * HEIGHT + j][LEFT]; |
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120 | // printf("LEFT: (%d, %d) - %d\n", i, j, idx); |
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121 | btHingeConstraint *joint = (btHingeConstraint*)vworld.m_joints[idx]; |
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122 | Sensor *s = new Sensor(joint->getHingeAngle(),joint->getLowerLimit(),joint->getUpperLimit(), LEFT); |
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123 | sensors->add(s); |
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124 | vworld.m_sensors.push_back(make_pair(idx, s)); |
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125 | } |
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126 | |
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127 | if(j < HEIGHT - 1) { |
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128 | idx = vworld.m_matrix[i * HEIGHT + j][DOWN]; |
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129 | // printf("DOWN: (%d, %d) - %d\n", i, j, idx); |
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130 | btHingeConstraint *joint = (btHingeConstraint*)vworld.m_joints[idx]; |
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131 | Sensor *s = new Sensor(joint->getHingeAngle(),joint->getLowerLimit(),joint->getUpperLimit(), DOWN); |
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132 | sensors->add(s); |
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133 | vworld.m_sensors.push_back(make_pair(idx, s)); |
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134 | } |
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135 | |
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136 | if(j > 0) { |
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137 | idx = vworld.m_matrix[i * HEIGHT + j][UP]; |
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138 | // printf("UP: (%d, %d) - %d\n", i, j, idx); |
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139 | btHingeConstraint *joint = (btHingeConstraint*)vworld.m_joints[idx]; |
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140 | Sensor *s = new Sensor(joint->getHingeAngle(),joint->getLowerLimit(),joint->getUpperLimit(), UP); |
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141 | sensors->add(s); |
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142 | vworld.m_sensors.push_back(make_pair(idx, s)); |
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143 | } |
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144 | |
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145 | Agent *agent = new Agent(sensors, i, j); |
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146 | vworld.m_agents.push_back(agent); |
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147 | } |
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148 | } |
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149 | } |
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150 | |
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151 | |
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152 | static void slave() { |
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153 | |
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154 | MPI_Comm_rank(MPI_COMM_WORLD, &rank); |
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155 | printf("Process slave number %d executing...\n", rank); |
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156 | |
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157 | while(1) { |
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158 | sleep(1000); |
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159 | } |
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160 | } |
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161 | |
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162 | |
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163 | int main(int argc,char** argv) { |
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164 | |
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165 | MPI_Init(&argc, &argv); |
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166 | |
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167 | MPI_Comm_size(MPI_COMM_WORLD, &nprocs); |
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168 | MPI_Comm_rank(MPI_COMM_WORLD, &rank); |
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169 | |
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170 | printf("%d\n", rank); |
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171 | |
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172 | if(nprocs != MAXPROCS + 1) { |
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173 | // return 0; |
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174 | } |
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175 | |
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176 | if(rank == 0) { |
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177 | master(); |
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178 | } else { |
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179 | slave(); |
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180 | } |
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181 | |
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182 | if(rank == 0) { |
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183 | #ifdef CHECK_MEMORY_LEAKS |
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184 | vworld.exitPhysics(); |
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185 | #else |
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186 | int ret; |
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187 | try { |
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188 | ret = glutmain(argc, argv, 640, 480, "SIMEO", &vworld); |
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189 | } catch (Throwable *t) |
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190 | { |
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191 | System::err->println(JvNewStringLatin1("Unhandled Java exception:")); |
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192 | t->printStackTrace(); |
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193 | } |
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194 | MPI_Finalize(); |
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195 | return ret; |
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196 | #endif |
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197 | } |
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198 | |
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199 | //default glut doesn't return from mainloop |
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200 | return 0; |
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201 | } |
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