/*
Updates the limits of the outline viewer. Should be called whenever
the data of the outline viewer changes. This includes during
the initalization of base classes. TOutlineViewer assumes that
the outline is empty. If the outline becomes non-empty during the
initialization, Update must be called. Also, if during the operation
of the TOutlineViewer the data being displayed changes, Update
and DrawView must be called. }
*/
void TOutlineViewer::update() {
updateCount = 0;
updateMaxX = 0;
firstThat(countNode);
setLimit(updateMaxX, updateCount);
adjustFocus(foc);
}
///
/// load Parameter limits
/// by default the "free" limit is loaded, can be changed to "phys" by command line argument
///
void MethodDatasetsProbScan::loadParameterLimits() {
TString rangeName = arg->enforcePhysRange ? "phys" : "free";
if ( arg->debug ) cout << "DEBUG in Combiner::loadParameterLimits() : loading parameter ranges: " << rangeName << endl;
TIterator* it = w->set(pdf->getParName())->createIterator();
while ( RooRealVar* p = (RooRealVar*)it->Next() ) setLimit(w, p->GetName(), rangeName);
delete it;
}
/*
* Deseneaza textul pe ecran.
*/
void TInterior::draw()
{
setLimit(maxLineLength, lineCount);
ushort color = getColor(0x0301);
for (int i = 0; i < size.y; i++)
{
TDrawBuffer b;
b.moveChar(0, ' ', color, size.x); // umplu cu spatii
int j = delta.y + i;
if (j < lineCount && lines[j] != 0)
{
char s[maxLineLength];
if (delta.x > strlen(lines[j]))
s[0] = EOS;
else
{
strncpy(s, lines[j] + delta.x, size.x);
s[size.x] = EOS;
}
b.moveCStr(0, s, color);
}
writeLine(0, i, size.x, 1, b);
}
}
QDoubleEditSlider::QDoubleEditSlider(const QString & name, QWidget *parent)
: QWidget(parent)
{
m_label = new QLabel(name);
m_label->setMinimumWidth(100);
m_edit = new QLineEdit;
m_edit->setMaximumWidth(80);
m_slider = new QSlider(Qt::Horizontal);
m_validate = new QDoubleValidator(this);
m_edit->setValidator(m_validate);
m_slider->setRange(0, 100);
QHBoxLayout * layout = new QHBoxLayout;
layout->addWidget(m_label);
layout->addWidget(m_edit);
layout->addWidget(m_slider);
layout->setStretch(2, 1);
layout->setContentsMargins(0, 0, 0, 0);
setLayout(layout);
setLimit(0.1, 10.0);
setValue(5.0);
connect(m_edit, SIGNAL(returnPressed()),
this, SLOT(validateEditValue()));
connect(m_slider, SIGNAL(valueChanged(int)),
this, SLOT(convertEditValue(int)));
}
TInterior::TInterior( const TRect& bounds, TScrollBar *aHScrollBar,
TScrollBar *aVScrollBar ) :
TScroller( bounds, aHScrollBar, aVScrollBar )
{
options = options | ofFramed;
setLimit( maxLineLength, lineCount );
}
Status ParsedDelete::parseQueryToCQ() {
dassert(!_canonicalQuery.get());
const ExtensionsCallbackReal extensionsCallback(_txn, &_request->getNamespaceString());
// The projection needs to be applied after the delete operation, so we do not specify a
// projection during canonicalization.
auto lpq = stdx::make_unique<LiteParsedQuery>(_request->getNamespaceString());
lpq->setFilter(_request->getQuery());
lpq->setSort(_request->getSort());
lpq->setCollation(_request->getCollation());
lpq->setExplain(_request->isExplain());
// Limit should only used for the findAndModify command when a sort is specified. If a sort
// is requested, we want to use a top-k sort for efficiency reasons, so should pass the
// limit through. Generally, a delete stage expects to be able to skip documents that were
// deleted out from under it, but a limit could inhibit that and give an EOF when the delete
// has not actually deleted a document. This behavior is fine for findAndModify, but should
// not apply to deletes in general.
if (!_request->isMulti() && !_request->getSort().isEmpty()) {
lpq->setLimit(1);
}
auto statusWithCQ = CanonicalQuery::canonicalize(_txn, std::move(lpq), extensionsCallback);
if (statusWithCQ.isOK()) {
_canonicalQuery = std::move(statusWithCQ.getValue());
}
return statusWithCQ.getStatus();
}
QmvSqlQuery::QmvSqlQuery( QmvClass * cls, const QString name )
: QObject ( cls, name)
{
setRelation( cls );
// defaults
setOffset( getRelation()->queryOffset().toInt() );
setLimit( getRelation()->queryLimit().toInt() );
setOrderby( getRelation()->orderBy() );
controller = 0;
// get a list of attribute titles and index them
QmvAttList atlist = getRelation()->sortedAttlist( "mtat_view_order",
QmvClass::NoBlank|QmvClass::NoSystem );
for ( QmvAttribute * at_ptr = atlist.first(); at_ptr != 0; at_ptr = atlist.next())
{
#ifdef QMVSQLQUERY_DEBUG
qDebug("printReport:%s, mtat_title = %s",
at_ptr->find("mtat_name")->latin1(),
at_ptr->find("mtat_title")->latin1());
#endif
// load the label
QString *title = at_ptr->find( "mtat_title");
if ( !title )
continue;
attribute_titles += *title;
// index a pointer to the QmvAttribute object
attribute_index.insert( *title , at_ptr );
}
}
PhysXSphericalJoint::PhysXSphericalJoint(PxPhysics* physx, const SPHERICAL_JOINT_DESC& desc)
:SphericalJoint(desc)
{
PxRigidActor* actor0 = nullptr;
if (desc.bodies[0].body != nullptr)
actor0 = static_cast<PhysXRigidbody*>(desc.bodies[0].body)->_getInternal();
PxRigidActor* actor1 = nullptr;
if (desc.bodies[1].body != nullptr)
actor1 = static_cast<PhysXRigidbody*>(desc.bodies[1].body)->_getInternal();
PxTransform tfrm0 = toPxTransform(desc.bodies[0].position, desc.bodies[0].rotation);
PxTransform tfrm1 = toPxTransform(desc.bodies[1].position, desc.bodies[1].rotation);
PxSphericalJoint* joint = PxSphericalJointCreate(*physx, actor0, tfrm0, actor1, tfrm1);
joint->userData = this;
mInternal = bs_new<FPhysXJoint>(joint, desc);
PxSphericalJointFlags flags;
if (((UINT32)desc.flag & (UINT32)Flag::Limit) != 0)
flags |= PxSphericalJointFlag::eLIMIT_ENABLED;
joint->setSphericalJointFlags(flags);
// Calls to virtual methods are okay here
setLimit(desc.limit);
}
void TNSCollection::shutDown()
{
if( shouldDelete )
freeAll();
setLimit(0);
TObject::shutDown();
}
PhysXHingeJoint::PhysXHingeJoint(PxPhysics* physx, const HINGE_JOINT_DESC& desc)
:HingeJoint(desc)
{
PxRigidActor* actor0 = nullptr;
if (desc.bodies[0].body != nullptr)
actor0 = static_cast<PhysXRigidbody*>(desc.bodies[0].body)->_getInternal();
PxRigidActor* actor1 = nullptr;
if (desc.bodies[1].body != nullptr)
actor1 = static_cast<PhysXRigidbody*>(desc.bodies[1].body)->_getInternal();
PxTransform tfrm0 = toPxTransform(desc.bodies[0].position, desc.bodies[0].rotation);
PxTransform tfrm1 = toPxTransform(desc.bodies[1].position, desc.bodies[1].rotation);
PxRevoluteJoint* joint = PxRevoluteJointCreate(*physx, actor0, tfrm0, actor1, tfrm1);
joint->userData = this;
mInternal = bs_new<FPhysXJoint>(joint, desc);
PxRevoluteJointFlags flags;
if (((UINT32)desc.flag & (UINT32)Flag::Limit) != 0)
flags |= PxRevoluteJointFlag::eLIMIT_ENABLED;
if (((UINT32)desc.flag & (UINT32)Flag::Drive) != 0)
flags |= PxRevoluteJointFlag::eDRIVE_ENABLED;
joint->setRevoluteJointFlags(flags);
// Must be set after global flags, as it will append to them.
// Calls to virtual methods are okay here.
setLimit(desc.limit);
setDrive(desc.drive);
}
void ScrollGroup::changeBounds(const TRect& bounds)
{
lock();
TGroup::changeBounds(bounds);
setLimit(limit.x, limit.y);
unlock();
drawView();
}
void TScroller::changeBounds( const TRect& bounds )
{
setBounds(bounds);
drawLock++;
setLimit(limit.x, limit.y);
drawLock--;
drawFlag = False;
drawView();
}
TNSCollection::TNSCollection( ccIndex aLimit, ccIndex aDelta ) :
count( 0 ),
items( 0 ),
limit( 0 ),
delta( aDelta ),
shouldDelete( True )
{
setLimit( aLimit );
}
void *TCollection::read( ipstream& is )
{
int limit;
is >> count >> limit >> delta;
limit = 0;
setLimit(limit);
for( ccIndex idx = 0; idx < count; idx++ )
items[idx] = readItem( is );
return this;
}
QGeoCodeReplyQGC::QGeoCodeReplyQGC(QNetworkReply *reply, QObject *parent)
: QGeoCodeReply(parent), m_reply(reply)
{
connect(m_reply, &QNetworkReply::finished, this, &QGeoCodeReplyQGC::networkReplyFinished);
connect(m_reply, SIGNAL(error(QNetworkReply::NetworkError)),
this, SLOT(networkReplyError(QNetworkReply::NetworkError)));
setLimit(1);
setOffset(0);
}
void RightClickLabel::mousePressEvent(QMouseEvent* event)
{
if(event->button() == Qt::RightButton)
{
QMenu menu;
QAction* action;
QLineEdit* lineEdit = new QLineEdit(&menu);
QWidgetAction* wa = new QWidgetAction(&menu);
int speed = (m_nSpeed) ? (m_nSpeed/1024) : 200;
lineEdit->setText(QString::number(m_nSpeed/1024));
//lineEdit->setInputMask("00000");
wa->setDefaultWidget(lineEdit);
connect(lineEdit, SIGNAL(returnPressed()), this, SLOT(customSpeedEntered()));
connect(lineEdit, SIGNAL(returnPressed()), &menu, SLOT(close()));
menu.setSeparatorsCollapsible(false);
action = menu.addSeparator();
action->setText(m_bUpload ? tr("Upload") : tr("Download"));
menu.addAction(wa);
menu.addSeparator();
action = menu.addAction(QString::fromUtf8("∞ kB/s"));
action->setData(0);
connect(action, SIGNAL(triggered()), this, SLOT(setLimit()));
menu.addSeparator();
int step = speed/4;
speed *= 2;
for(int i=0;i<8 && speed;i++)
{
action = menu.addAction(formatSize(speed*1024, true));
action->setData(speed);
connect(action, SIGNAL(triggered()), this, SLOT(setLimit()));
speed -= step;
}
menu.exec(QCursor::pos());
}
}
Buffer::Buffer(unsigned int mark, unsigned int pos, unsigned int lim, unsigned int cap) {
this->cap = cap;
this->markpos = mark;
if (mark > 0) {
this->marked = true;
} else {
this->marked = false;
}
setPosition(pos);
setLimit(lim);
}
QT_BEGIN_NAMESPACE
QGeoCodeReplyOsm::QGeoCodeReplyOsm(QNetworkReply *reply, QObject *parent)
: QGeoCodeReply(parent), m_reply(reply)
{
connect(m_reply, SIGNAL(finished()), this, SLOT(networkReplyFinished()));
connect(m_reply, SIGNAL(error(QNetworkReply::NetworkError)),
this, SLOT(networkReplyError(QNetworkReply::NetworkError)));
setLimit(1);
setOffset(0);
}
void btConeTwistConstraint::init()
{
m_angularOnly = false;
m_solveTwistLimit = false;
m_solveSwingLimit = false;
m_bMotorEnabled = false;
m_maxMotorImpulse = btScalar(-1);
setLimit(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
m_damping = btScalar(0.01);
m_fixThresh = CONETWIST_DEF_FIX_THRESH;
}
void TNSCollection::atInsert(ccIndex index, void *item)
{
if( index < 0 )
error(1,0);
if( count == limit )
setLimit(count + delta);
memmove( &items[index+1], &items[index], (count-index)*sizeof(void *) );
count++;
items[index] = item;
}
THexEditor::THexEditor(const TRect& bounds, TScrollBar *aVScrollBar, int varysize) :
TScroller(bounds,0,aVScrollBar)
{
MaxLines = 1;
setLimit(0,MaxLines);
showCursor();
options |= ofFirstClick;
growMode = gfGrowHiY;
data = 0;
Size = 0;
changed = 0;
overwrite = 1;
sizeable = varysize;
}
TTerminal::TTerminal( const TRect& bounds,
TScrollBar *aHScrollBar,
TScrollBar *aVScrollBar,
ushort aBufSize ) :
TTextDevice(bounds, aHScrollBar, aVScrollBar),
queFront( 0 ),
queBack( 0 )
{
growMode = gfGrowHiX + gfGrowHiY;
bufSize = min( 32000U, aBufSize );
buffer = new char[ bufSize ];
setLimit( 0, 1 );
setCursor( 0, 0 );
showCursor();
}
QT_BEGIN_NAMESPACE
QGeoCodeReplyNokia::QGeoCodeReplyNokia(QNetworkReply *reply, int limit, int offset,
const QGeoShape &viewport, QObject *parent)
: QGeoCodeReply(parent), m_reply(reply), m_parsing(false)
{
qRegisterMetaType<QList<QGeoLocation> >();
connect(m_reply, SIGNAL(finished()), this, SLOT(networkFinished()));
connect(m_reply, SIGNAL(error(QNetworkReply::NetworkError)),
this, SLOT(networkError(QNetworkReply::NetworkError)));
setLimit(limit);
setOffset(offset);
setViewport(viewport);
}
Status ParsedUpdate::parseQueryToCQ() {
dassert(!_canonicalQuery.get());
const ExtensionsCallbackReal extensionsCallback(_opCtx, &_request->getNamespaceString());
// The projection needs to be applied after the update operation, so we do not specify a
// projection during canonicalization.
auto qr = stdx::make_unique<QueryRequest>(_request->getNamespaceString());
qr->setFilter(_request->getQuery());
qr->setSort(_request->getSort());
qr->setCollation(_request->getCollation());
qr->setExplain(_request->isExplain());
// Limit should only used for the findAndModify command when a sort is specified. If a sort
// is requested, we want to use a top-k sort for efficiency reasons, so should pass the
// limit through. Generally, a update stage expects to be able to skip documents that were
// deleted/modified under it, but a limit could inhibit that and give an EOF when the update
// has not actually updated a document. This behavior is fine for findAndModify, but should
// not apply to update in general.
if (!_request->isMulti() && !_request->getSort().isEmpty()) {
qr->setLimit(1);
}
// $expr is not allowed in the query for an upsert, since it is not clear what the equality
// extraction behavior for $expr should be.
MatchExpressionParser::AllowedFeatureSet allowedMatcherFeatures =
MatchExpressionParser::kAllowAllSpecialFeatures;
if (_request->isUpsert()) {
allowedMatcherFeatures &= ~MatchExpressionParser::AllowedFeatures::kExpr;
}
boost::intrusive_ptr<ExpressionContext> expCtx;
auto statusWithCQ = CanonicalQuery::canonicalize(
_opCtx, std::move(qr), std::move(expCtx), extensionsCallback, allowedMatcherFeatures);
if (statusWithCQ.isOK()) {
_canonicalQuery = std::move(statusWithCQ.getValue());
}
if (statusWithCQ.getStatus().code() == ErrorCodes::QueryFeatureNotAllowed) {
// The default error message for disallowed $expr is not descriptive enough, so we rewrite
// it here.
return {ErrorCodes::QueryFeatureNotAllowed,
"$expr is not allowed in the query predicate for an upsert"};
}
return statusWithCQ.getStatus();
}
QT_BEGIN_NAMESPACE
QGeoCodeReplyNokia::QGeoCodeReplyNokia(QNetworkReply *reply, int limit, int offset,
const QGeoShape &viewport, QObject *parent)
: QGeoCodeReply(parent),
m_reply(reply)
{
connect(m_reply,
SIGNAL(finished()),
this,
SLOT(networkFinished()));
connect(m_reply,
SIGNAL(error(QNetworkReply::NetworkError)),
this,
SLOT(networkError(QNetworkReply::NetworkError)));
setLimit(limit);
setOffset(offset);
setViewport(viewport);
}
QGeoSearchReplyCm::QGeoSearchReplyCm(QNetworkReply *reply, int limit, int offset, QGeoBoundingArea *viewport, QObject *parent)
: QGeoSearchReply(parent),
m_reply(reply)
{
m_reply->setParent(this);
connect(m_reply,
SIGNAL(finished()),
this,
SLOT(networkFinished()));
connect(m_reply,
SIGNAL(error(QNetworkReply::NetworkError)),
this,
SLOT(networkError(QNetworkReply::NetworkError)));
connect(m_reply,
SIGNAL(destroyed()),
this,
SLOT(replyDestroyed()));
setLimit(limit);
setOffset(offset);
setViewport(viewport);
}
int TTerminal::do_sputn( const char *s, int count )
{
ushort screenLines = limit.y;
for( ushort i = 0; i < count; i++ )
if( s[i] == '\n' )
screenLines++;
while( !canInsert( count ) )
{
queBack = nextLine( queBack );
screenLines--;
}
if( queFront + count >= bufSize )
{
i = bufSize - queFront;
memcpy( &buffer[queFront], s, i );
memcpy( buffer, &s[i], count - i );
queFront = count - i;
}
else
{
memcpy( &buffer[queFront], s, count );
queFront += count;
}
setLimit( limit.x, screenLines );
scrollTo( 0, screenLines + 1 );
i = prevLines( queFront, 1 );
if( i <= queFront )
i = queFront - i;
else
i = bufSize - (i - queFront);
setCursor( i, screenLines - delta.y - 1 );
drawView();
return count;
}
Status ParsedUpdate::parseQueryToCQ() {
dassert(!_canonicalQuery.get());
const ExtensionsCallbackReal extensionsCallback(_opCtx, &_request->getNamespaceString());
// The projection needs to be applied after the update operation, so we do not specify a
// projection during canonicalization.
auto qr = stdx::make_unique<QueryRequest>(_request->getNamespaceString());
qr->setFilter(_request->getQuery());
qr->setSort(_request->getSort());
qr->setCollation(_request->getCollation());
qr->setExplain(_request->isExplain());
// Limit should only used for the findAndModify command when a sort is specified. If a sort
// is requested, we want to use a top-k sort for efficiency reasons, so should pass the
// limit through. Generally, a update stage expects to be able to skip documents that were
// deleted/modified under it, but a limit could inhibit that and give an EOF when the update
// has not actually updated a document. This behavior is fine for findAndModify, but should
// not apply to update in general.
if (!_request->isMulti() && !_request->getSort().isEmpty()) {
qr->setLimit(1);
}
const boost::intrusive_ptr<ExpressionContext> expCtx;
auto statusWithCQ =
CanonicalQuery::canonicalize(_opCtx,
std::move(qr),
expCtx,
extensionsCallback,
MatchExpressionParser::kAllowAllSpecialFeatures &
~MatchExpressionParser::AllowedFeatures::kExpr);
if (statusWithCQ.isOK()) {
_canonicalQuery = std::move(statusWithCQ.getValue());
}
return statusWithCQ.getStatus();
}
///
/// Test PDF implementation.
/// Performs a fit to the minimum.
///
bool PDF_Abs::test()
{
bool quiet = false;
if(quiet) RooMsgService::instance().setGlobalKillBelow(ERROR);
fixParameters(observables);
floatParameters(parameters);
setLimit(parameters, "free");
RooFormulaVar ll("ll", "ll", "-2*log(@0)", RooArgSet(*pdf));
RooMinuit m(ll);
if(quiet) m.setPrintLevel(-2);
m.setNoWarn();
m.setLogFile("/dev/zero");
m.setErrorLevel(1.0);
m.setStrategy(2);
// m.setProfile(1);
m.migrad();
RooFitResult *f = m.save();
bool status = !(f->edm()<1 && f->status()==0);
if(!quiet) f->Print("v");
delete f;
if(quiet) RooMsgService::instance().setGlobalKillBelow(INFO);
if(!quiet) cout << "pdf->getVal() = " << pdf->getVal() << endl;
return status;
}
void AllConstraintDemo::initPhysics()
{
m_guiHelper->setUpAxis(1);
m_Time = 0;
setupEmptyDynamicsWorld();
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(40.),btScalar(50.)));
btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),40);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-56,0));
btRigidBody* groundBody;
groundBody= createRigidBody(0, groundTransform, groundShape);
btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
m_collisionShapes.push_back(shape);
btTransform trans;
trans.setIdentity();
trans.setOrigin(btVector3(0,20,0));
float mass = 1.f;
#if ENABLE_ALL_DEMOS
///gear constraint demo
#define THETA SIMD_PI/4.f
#define L_1 (2 - tan(THETA))
#define L_2 (1 / cos(THETA))
#define RATIO L_2 / L_1
btRigidBody* bodyA=0;
btRigidBody* bodyB=0;
{
btCollisionShape* cylA = new btCylinderShape(btVector3(0.2,0.25,0.2));
btCollisionShape* cylB = new btCylinderShape(btVector3(L_1,0.025,L_1));
btCompoundShape* cyl0 = new btCompoundShape();
cyl0->addChildShape(btTransform::getIdentity(),cylA);
cyl0->addChildShape(btTransform::getIdentity(),cylB);
btScalar mass = 6.28;
btVector3 localInertia;
cyl0->calculateLocalInertia(mass,localInertia);
btRigidBody::btRigidBodyConstructionInfo ci(mass,0,cyl0,localInertia);
ci.m_startWorldTransform.setOrigin(btVector3(-8,1,-8));
btRigidBody* body = new btRigidBody(ci);//1,0,cyl0,localInertia);
m_dynamicsWorld->addRigidBody(body);
body->setLinearFactor(btVector3(0,0,0));
body->setAngularFactor(btVector3(0,1,0));
bodyA = body;
}
{
btCollisionShape* cylA = new btCylinderShape(btVector3(0.2,0.26,0.2));
btCollisionShape* cylB = new btCylinderShape(btVector3(L_2,0.025,L_2));
btCompoundShape* cyl0 = new btCompoundShape();
cyl0->addChildShape(btTransform::getIdentity(),cylA);
cyl0->addChildShape(btTransform::getIdentity(),cylB);
btScalar mass = 6.28;
btVector3 localInertia;
cyl0->calculateLocalInertia(mass,localInertia);
btRigidBody::btRigidBodyConstructionInfo ci(mass,0,cyl0,localInertia);
ci.m_startWorldTransform.setOrigin(btVector3(-10,2,-8));
btQuaternion orn(btVector3(0,0,1),-THETA);
ci.m_startWorldTransform.setRotation(orn);
btRigidBody* body = new btRigidBody(ci);//1,0,cyl0,localInertia);
body->setLinearFactor(btVector3(0,0,0));
btHingeConstraint* hinge = new btHingeConstraint(*body,btVector3(0,0,0),btVector3(0,1,0),true);
m_dynamicsWorld->addConstraint(hinge);
bodyB= body;
body->setAngularVelocity(btVector3(0,3,0));
m_dynamicsWorld->addRigidBody(body);
}
btVector3 axisA(0,1,0);
btVector3 axisB(0,1,0);
btQuaternion orn(btVector3(0,0,1),-THETA);
btMatrix3x3 mat(orn);
axisB = mat.getRow(1);
btGearConstraint* gear = new btGearConstraint(*bodyA,*bodyB, axisA,axisB,RATIO);
m_dynamicsWorld->addConstraint(gear,true);
#endif
#if ENABLE_ALL_DEMOS
//point to point constraint with a breaking threshold
{
trans.setIdentity();
trans.setOrigin(btVector3(1,30,-5));
createRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(0,0,-5));
btRigidBody* body0 = createRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
mass = 1.f;
// btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
btVector3 pivotInA(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,0);
btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
m_dynamicsWorld->addConstraint(p2p);
p2p ->setBreakingImpulseThreshold(10.2);
p2p->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
//point to point constraint (ball socket)
{
btRigidBody* body0 = createRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
mass = 1.f;
// btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
// btRigidBody* body1 = createRigidBody( 0.0,trans,0);
//body1->setActivationState(DISABLE_DEACTIVATION);
//body1->setDamping(0.3,0.3);
btVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
btVector3 axisInA(0,0,1);
// btVector3 pivotInB = body1 ? body1->getCenterOfMassTransform().inverse()(body0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
// btVector3 axisInB = body1?
// (body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) :
body0->getCenterOfMassTransform().getBasis() * axisInA;
#define P2P
#ifdef P2P
btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
//btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
//btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB);
m_dynamicsWorld->addConstraint(p2p);
p2p->setDbgDrawSize(btScalar(5.f));
#else
btHingeConstraint* hinge = new btHingeConstraint(*body0,pivotInA,axisInA);
//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
//float targetVelocity = 0.f;
//float maxMotorImpulse = 0.01;
float targetVelocity = 1.f;
float maxMotorImpulse = 1.0f;
hinge->enableAngularMotor(true,targetVelocity,maxMotorImpulse);
m_dynamicsWorld->addConstraint(hinge);
hinge->setDbgDrawSize(btScalar(5.f));
#endif //P2P
}
#endif
#if ENABLE_ALL_DEMOS
{
btTransform trans;
trans.setIdentity();
btVector3 worldPos(-20,0,30);
trans.setOrigin(worldPos);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
btRigidBody* pRbA1 = createRigidBody(mass, trans, shape);
// btRigidBody* pRbA1 = createRigidBody(0.f, trans, shape);
pRbA1->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B1
worldPos.setValue(-30,0,30);
trans.setOrigin(worldPos);
btRigidBody* pRbB1 = createRigidBody(mass, trans, shape);
// btRigidBody* pRbB1 = createRigidBody(0.f, trans, shape);
pRbB1->setActivationState(DISABLE_DEACTIVATION);
// create slider constraint between A1 and B1 and add it to world
btSliderConstraint* spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
// spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, false);
spSlider1->setLowerLinLimit(-15.0F);
spSlider1->setUpperLinLimit(-5.0F);
// spSlider1->setLowerLinLimit(5.0F);
// spSlider1->setUpperLinLimit(15.0F);
// spSlider1->setLowerLinLimit(-10.0F);
// spSlider1->setUpperLinLimit(-10.0F);
spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
spSlider1->setUpperAngLimit( SIMD_PI / 3.0F);
m_dynamicsWorld->addConstraint(spSlider1, true);
spSlider1->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
//create a slider, using the generic D6 constraint
{
mass = 1.f;
btVector3 sliderWorldPos(0,10,0);
btVector3 sliderAxis(1,0,0);
btScalar angle=0.f;//SIMD_RADS_PER_DEG * 10.f;
btMatrix3x3 sliderOrientation(btQuaternion(sliderAxis ,angle));
trans.setIdentity();
trans.setOrigin(sliderWorldPos);
//trans.setBasis(sliderOrientation);
sliderTransform = trans;
d6body0 = createRigidBody( mass,trans,shape);
d6body0->setActivationState(DISABLE_DEACTIVATION);
btRigidBody* fixedBody1 = createRigidBody(0,trans,0);
m_dynamicsWorld->addRigidBody(fixedBody1);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
frameInA.setOrigin(btVector3(0., 5., 0.));
frameInB.setOrigin(btVector3(0., 5., 0.));
// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits
spSlider6Dof = new btGeneric6DofConstraint(*fixedBody1, *d6body0,frameInA,frameInB,useLinearReferenceFrameA);
spSlider6Dof->setLinearLowerLimit(lowerSliderLimit);
spSlider6Dof->setLinearUpperLimit(hiSliderLimit);
//range should be small, otherwise singularities will 'explode' the constraint
// spSlider6Dof->setAngularLowerLimit(btVector3(-1.5,0,0));
// spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
// spSlider6Dof->setAngularLowerLimit(btVector3(0,0,0));
// spSlider6Dof->setAngularUpperLimit(btVector3(0,0,0));
spSlider6Dof->setAngularLowerLimit(btVector3(-SIMD_PI,0,0));
spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
spSlider6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
spSlider6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f;
spSlider6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
m_dynamicsWorld->addConstraint(spSlider6Dof);
spSlider6Dof->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{ // create a door using hinge constraint attached to the world
btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
m_collisionShapes.push_back(pDoorShape);
btTransform doorTrans;
doorTrans.setIdentity();
doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
btRigidBody* pDoorBody = createRigidBody( 1.0, doorTrans, pDoorShape);
pDoorBody->setActivationState(DISABLE_DEACTIVATION);
const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
btVector3 btAxisA( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis
spDoorHinge = new btHingeConstraint( *pDoorBody, btPivotA, btAxisA );
// spDoorHinge->setLimit( 0.0f, SIMD_PI_2 );
// test problem values
// spDoorHinge->setLimit( -SIMD_PI, SIMD_PI*0.8f);
// spDoorHinge->setLimit( 1.f, -1.f);
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI);
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.3f, 0.0f);
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
spDoorHinge->setLimit( -SIMD_PI * 0.25f, SIMD_PI * 0.25f );
// spDoorHinge->setLimit( 0.0f, 0.0f );
m_dynamicsWorld->addConstraint(spDoorHinge);
spDoorHinge->setDbgDrawSize(btScalar(5.f));
//doorTrans.setOrigin(btVector3(-5.0f, 2.0f, 0.0f));
//btRigidBody* pDropBody = createRigidBody( 10.0, doorTrans, shape);
}
#endif
#if ENABLE_ALL_DEMOS
{ // create a generic 6DOF constraint
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(10.), btScalar(6.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
// btRigidBody* pBodyA = createRigidBody( mass, tr, shape);
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
// btRigidBody* pBodyA = createRigidBody( 0.0, tr, 0);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(0.), btScalar(6.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyB = createRigidBody(mass, tr, shape);
// btRigidBody* pBodyB = createRigidBody(0.f, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInA.setOrigin(btVector3(btScalar(-5.), btScalar(0.), btScalar(0.)));
frameInB = btTransform::getIdentity();
frameInB.setOrigin(btVector3(btScalar(5.), btScalar(0.), btScalar(0.)));
btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
pGen6DOF->setLinearLowerLimit(btVector3(-10., -2., -1.));
pGen6DOF->setLinearUpperLimit(btVector3(10., 2., 1.));
// pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.));
// pGen6DOF->setLinearUpperLimit(btVector3(10., 0., 0.));
// pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.));
// pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.));
// pGen6DOF->getTranslationalLimitMotor()->m_enableMotor[0] = true;
// pGen6DOF->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
// pGen6DOF->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
// pGen6DOF->setAngularLowerLimit(btVector3(0., SIMD_HALF_PI*0.9, 0.));
// pGen6DOF->setAngularUpperLimit(btVector3(0., -SIMD_HALF_PI*0.9, 0.));
// pGen6DOF->setAngularLowerLimit(btVector3(0., 0., -SIMD_HALF_PI));
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0., SIMD_HALF_PI));
pGen6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI * 0.5f, -0.75, -SIMD_HALF_PI * 0.8f));
pGen6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI * 0.5f, 0.75, SIMD_HALF_PI * 0.8f));
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f));
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f));
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f));
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f));
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,-0.5, -0.5));
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0.5, 0.5));
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,0., 0.));
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0., 0.));
// pGen6DOF->setAngularLowerLimit(btVector3(0., -0.7,0.));
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0.7, 0.));
// pGen6DOF->setAngularLowerLimit(btVector3(-1., 0.,0.));
// pGen6DOF->setAngularUpperLimit(btVector3(1., 0., 0.));
m_dynamicsWorld->addConstraint(pGen6DOF, true);
pGen6DOF->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{ // create a ConeTwist constraint
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-10.), btScalar(5.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyA = createRigidBody( 1.0, tr, shape);
// btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-10.), btScalar(-5.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyB = createRigidBody(0.0, tr, shape);
// btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInA.getBasis().setEulerZYX(0, 0, SIMD_PI_2);
frameInA.setOrigin(btVector3(btScalar(0.), btScalar(-5.), btScalar(0.)));
frameInB = btTransform::getIdentity();
frameInB.getBasis().setEulerZYX(0,0, SIMD_PI_2);
frameInB.setOrigin(btVector3(btScalar(0.), btScalar(5.), btScalar(0.)));
m_ctc = new btConeTwistConstraint(*pBodyA, *pBodyB, frameInA, frameInB);
// m_ctc->setLimit(btScalar(SIMD_PI_4), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f);
// m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 1.0f); // soft limit == hard limit
m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 0.5f);
m_dynamicsWorld->addConstraint(m_ctc, true);
m_ctc->setDbgDrawSize(btScalar(5.f));
// s_bTestConeTwistMotor = true; // use only with old solver for now
s_bTestConeTwistMotor = false;
}
#endif
#if ENABLE_ALL_DEMOS
{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
btRigidBody* pBody = createRigidBody( 1.0, tr, shape);
pBody->setActivationState(DISABLE_DEACTIVATION);
const btVector3 btPivotA( 10.0f, 0.0f, 0.0f );
btVector3 btAxisA( 0.0f, 0.0f, 1.0f );
btHingeConstraint* pHinge = new btHingeConstraint( *pBody, btPivotA, btAxisA );
// pHinge->enableAngularMotor(true, -1.0, 0.165); // use for the old solver
pHinge->enableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
m_dynamicsWorld->addConstraint(pHinge);
pHinge->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
// static bodyA (parent) on top:
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(20.), btScalar(4.), btScalar(0.)));
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(20.), btScalar(0.), btScalar(0.)));
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
// add some (arbitrary) data to build constraint frames
btVector3 parentAxis(1.f, 0.f, 0.f);
btVector3 childAxis(0.f, 0.f, 1.f);
btVector3 anchor(20.f, 2.f, 0.f);
btUniversalConstraint* pUniv = new btUniversalConstraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
pUniv->setLowerLimit(-SIMD_HALF_PI * 0.5f, -SIMD_HALF_PI * 0.5f);
pUniv->setUpperLimit(SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld->addConstraint(pUniv, true);
// draw constraint frames and limits for debugging
pUniv->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{ // create a generic 6DOF constraint with springs
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInA.setOrigin(btVector3(btScalar(10.), btScalar(0.), btScalar(0.)));
frameInB = btTransform::getIdentity();
frameInB.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
btGeneric6DofSpringConstraint* pGen6DOFSpring = new btGeneric6DofSpringConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
pGen6DOFSpring->setLinearUpperLimit(btVector3(5., 0., 0.));
pGen6DOFSpring->setLinearLowerLimit(btVector3(-5., 0., 0.));
pGen6DOFSpring->setAngularLowerLimit(btVector3(0.f, 0.f, -1.5f));
pGen6DOFSpring->setAngularUpperLimit(btVector3(0.f, 0.f, 1.5f));
m_dynamicsWorld->addConstraint(pGen6DOFSpring, true);
pGen6DOFSpring->setDbgDrawSize(btScalar(5.f));
pGen6DOFSpring->enableSpring(0, true);
pGen6DOFSpring->setStiffness(0, 39.478f);
pGen6DOFSpring->setDamping(0, 0.5f);
pGen6DOFSpring->enableSpring(5, true);
pGen6DOFSpring->setStiffness(5, 39.478f);
pGen6DOFSpring->setDamping(0, 0.3f);
pGen6DOFSpring->setEquilibriumPoint();
}
#endif
#if ENABLE_ALL_DEMOS
{
// create a Hinge2 joint
// create two rigid bodies
// static bodyA (parent) on top:
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-20.), btScalar(4.), btScalar(0.)));
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-20.), btScalar(0.), btScalar(0.)));
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
// add some data to build constraint frames
btVector3 parentAxis(0.f, 1.f, 0.f);
btVector3 childAxis(1.f, 0.f, 0.f);
btVector3 anchor(-20.f, 0.f, 0.f);
btHinge2Constraint* pHinge2 = new btHinge2Constraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
pHinge2->setLowerLimit(-SIMD_HALF_PI * 0.5f);
pHinge2->setUpperLimit( SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld->addConstraint(pHinge2, true);
// draw constraint frames and limits for debugging
pHinge2->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{
// create a Hinge joint between two dynamic bodies
// create two rigid bodies
// static bodyA (parent) on top:
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-20.), btScalar(-2.), btScalar(0.)));
btRigidBody* pBodyA = createRigidBody( 1.0f, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
// dynamic bodyB:
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-30.), btScalar(-2.), btScalar(0.)));
btRigidBody* pBodyB = createRigidBody(10.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
// add some data to build constraint frames
btVector3 axisA(0.f, 1.f, 0.f);
btVector3 axisB(0.f, 1.f, 0.f);
btVector3 pivotA(-5.f, 0.f, 0.f);
btVector3 pivotB( 5.f, 0.f, 0.f);
spHingeDynAB = new btHingeConstraint(*pBodyA, *pBodyB, pivotA, pivotB, axisA, axisB);
spHingeDynAB->setLimit(-SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld->addConstraint(spHingeDynAB, true);
// draw constraint frames and limits for debugging
spHingeDynAB->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
{ // 6DOF connected to the world, with motor
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(10.), btScalar(-15.), btScalar(0.)));
btRigidBody* pBody = createRigidBody( 1.0, tr, shape);
pBody->setActivationState(DISABLE_DEACTIVATION);
btTransform frameB;
frameB.setIdentity();
btGeneric6DofConstraint* pGen6Dof = new btGeneric6DofConstraint( *pBody, frameB, false );
m_dynamicsWorld->addConstraint(pGen6Dof);
pGen6Dof->setDbgDrawSize(btScalar(5.f));
pGen6Dof->setAngularLowerLimit(btVector3(0,0,0));
pGen6Dof->setAngularUpperLimit(btVector3(0,0,0));
pGen6Dof->setLinearLowerLimit(btVector3(-10., 0, 0));
pGen6Dof->setLinearUpperLimit(btVector3(10., 0, 0));
pGen6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
pGen6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
pGen6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 6.0f;
}
#endif
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}