void AutomationPattern::saveSettings( QDomDocument & _doc, QDomElement & _this )
{
_this.setAttribute( "pos", startPosition() );
_this.setAttribute( "len", length() );
_this.setAttribute( "name", name() );
_this.setAttribute( "prog", QString::number( progressionType() ) );
_this.setAttribute( "tens", QString::number( getTension() ) );
_this.setAttribute( "mute", QString::number( isMuted() ) );
for( timeMap::const_iterator it = m_timeMap.begin();
it != m_timeMap.end(); ++it )
{
QDomElement element = _doc.createElement( "time" );
element.setAttribute( "pos", it.key() );
element.setAttribute( "value", it.value() );
_this.appendChild( element );
}
for( objectVector::const_iterator it = m_objects.begin();
it != m_objects.end(); ++it )
{
if( *it )
{
QDomElement element = _doc.createElement( "object" );
element.setAttribute( "id",
ProjectJournal::idToSave( ( *it )->id() ) );
_this.appendChild( element );
}
}
}
void SplineCardinal<Point>::toHermite(SplineHermite<Point>& s) const
{
//copy times
s.copyTimeBase(*this);
s.getPoint(0)=getPoint(0);
int numSegments = getNumSegments();
if(numSegments > 0) {
s.getTangentOut(0)=(getPoint(1)-getPoint(0))*getTension(0);
for(int i=1;i<numSegments;i++) {
s.getPoint(i)=getPoint(i);
s.getTangentIn(i)=s.getTangentOut(i)=(getPoint(i+1)-getPoint(i-1))*getTension(i);
}
s.getTangentIn(numSegments)=(getPoint(numSegments)-getPoint(numSegments-1))*getTension(numSegments);
}
s.getTangentIn(0) = Zero;
s.getTangentOut(numSegments) = Zero;
}
void tgBulletContactSpringCable::calculateAndApplyForce(double dt)
{
#ifndef BT_NO_PROFILE
BT_PROFILE("calculateAndApplyForce");
#endif //BT_NO_PROFILE
const double tension = getTension();
const double currLength = getActualLength();
const double deltaStretch = currLength - m_prevLength;
m_velocity = deltaStretch / dt;
m_damping = m_dampingCoefficient * m_velocity;
if (btFabs(tension) * 1.0 < btFabs(m_damping))
{
m_damping =
(m_damping > 0.0 ? tension * 1.0 : -tension * 1.0);
}
const double magnitude = tension + m_damping;
// Apply forces
std::size_t n = m_anchors.size();
for (std::size_t i = 0; i < n; i++)
{
btVector3 force = btVector3 (0.0, 0.0, 0.0);
if (i == 0)
{
btVector3 direction = m_anchors[i + 1]->getWorldPosition() - m_anchors[i]->getWorldPosition();
force = direction.normalize() * magnitude;
}
// Will likely only be true for the last anchor
else if (m_anchors[i]->sliding == false)
{
btVector3 direction = m_anchors[i]->getWorldPosition() - m_anchors[i - 1]->getWorldPosition();
force = -direction.normalize() * magnitude;
}
else if (i < n - 1)
{
// Already normalized
btVector3 direction = m_anchors[i]->getContactNormal();
// Get normal to string
btVector3 back = m_anchors[i - 1]->getWorldPosition();
btVector3 current = m_anchors[i]->getWorldPosition();
btVector3 forward = m_anchors[i + 1]->getWorldPosition();
btVector3 first = (forward - current);
btVector3 second = (back - current);
btVector3 forceDir = first.normalize() + second.normalize();
// For sliding anchors, just figuring out directions for now
force = magnitude * forceDir;
}
else
{
throw std::runtime_error("tgBulletContactSpringCable: First or last anchor is a sliding constraint!!");
}
m_anchors[i]->force = force;
}
btVector3 totalForce(0.0, 0.0, 0.0);
for (std::size_t i = 0; i < n; i++)
{
btRigidBody* body = m_anchors[i]->attachedBody;
btVector3 contactPoint = m_anchors[i]->getRelativePosition();
body->activate();
totalForce += m_anchors[i]->force;
btVector3 impulse = m_anchors[i]->force* dt;
body->applyImpulse(impulse, contactPoint);
}
if (!totalForce.fuzzyZero())
{
std::cout << "Total Force Error! " << totalForce << std::endl;
throw std::runtime_error("Total force did not sum to zero!");
}
// Finished calculating, so can store things
m_prevLength = currLength;
}
