void Util_Move_Object_Class::changedRotation(){
if (qAbs(rotateTo.x()) < 5 && qAbs(rotateTo.z()) < 5 && qAbs(rotateTo.y()) < 5){
emit newRotation(rotateTo.x(), rotateTo.y(), rotateTo.z());
rotateTo = QVector3D(0, 0, 0);
rotateTimer->stop();
emit rotationOver();
}
else{
emit newRotation(intervalleRotate.first().x(), intervalleRotate.first().y(), intervalleRotate.first().z());
rotateTo -= intervalleRotate.first();
intervalleRotate.removeFirst();
}
}
hkResult HavokDisplayManager::addGeometry(const hkArrayBase<hkDisplayGeometry*>& geometries, const hkTransform& transform, hkUlong id, int tag, hkUlong shapeIdHint, hkGeometry::GeometryType createDyanamicGeometry /*= hkGeometry::GEOMETRY_STATIC*/)
{
auto& a = m_geometries[id];
vec3 newTranslation(DO_NOT_INITIALIZE);
Quaternion newRotation(DO_NOT_INITIALIZE);
gep::conversion::hk::fromHkTransform(transform, newTranslation, newRotation);
mat4 newTransform = mat4::translationMatrix(newTranslation) * newRotation.toMat4() ;
m_transformations[id] = newTransform;
for (auto geom : geometries)
{
geom->buildGeometry();
auto pGeom = geom->getGeometry();
auto pDataHolder = GEP_NEW(g_stdAllocator, HavokDataHolder)(geom, pGeom->m_triangles);
auto vertices = ArrayPtr<vec4>((vec4*)&pGeom->m_vertices[0], pGeom->m_vertices.getSize());
auto indices = pDataHolder->getIndices();
auto pModel = g_globalManager.getRenderer()->loadModel(pDataHolder, vertices, indices);
a.append(pModel);
}
return HK_SUCCESS;
}
void Util_Move_Object_Class::RotateObjectTo(double angleX, double angleY, double angleZ, int time, Function::Type easingType){
rotateTimer->stop();
intervalleRotate.clear();
emit newRotation(rotateTo.x(), rotateTo.y(), rotateTo.z());
calculIntervalle(angleX, angleY, angleZ, time, easingType);
rotateTo = QVector3D(angleX, angleY, angleZ);
rotateTimer->start(16);
}
void Friend::newAction(){
int action = rand() % 4;
if(action == 0){
newTarget();
}else{
newRotation();
}
}
hkResult HavokDisplayManager::updateGeometry(const hkTransform& transform, hkUlong id, int tag)
{
vec3 newTranslation(DO_NOT_INITIALIZE);
Quaternion newRotation(DO_NOT_INITIALIZE);
gep::conversion::hk::fromHkTransform(transform, newTranslation, newRotation);
mat4 newTransform = mat4::translationMatrix(newTranslation) * newRotation.toMat4();
m_transformations[id] = newTransform;
return HK_SUCCESS;
}
void Util_Move_Object_Class::changedCameraRotation(){
if (!intervalleRotate.isEmpty()){
emit newRotation(intervalleRotate.first().x(), intervalleRotate.first().y(), intervalleRotate.first().z());
rotateTo -= intervalleRotate.first();
intervalleRotate.removeFirst();
emit rotationCameraOver();
}
else {
rotateCameraTimer->stop();
}
}
void DynamicsMotionState::setWorldTransform(const btTransform& transform)
{
// DALI_LOG_INFO(Debug::Filter::gDynamics, Debug::Verbose, "%s\n", __PRETTY_FUNCTION__);
// get updated parameters
const btVector3& origin( transform.getOrigin() );
const btQuaternion rotation( transform.getRotation() );
const btVector3& axis( rotation.getAxis() );
const btScalar& angle( rotation.getAngle() );
Vector3 newPosition( origin.x(), origin.y(), origin.z() );
const Vector3 newAxis( axis.x(), axis.y(), axis.z() );
Quaternion newRotation( float(angle), newAxis );
// set the nodes updated params
mDynamicsBody.SetNodePositionAndRotation( newPosition, newRotation );
}
TransformDialog::TransformDialog(QWidget* parent, ScribusDoc *doc) : QDialog(parent)
{
setupUi(this);
setModal(true);
setWindowIcon(QIcon(loadIcon ( "AppIcon.png" )));
transformStack->setCurrentIndex(0);
newTransformMenu = new QMenu(buttonAdd);
newTransformMenu->addAction( tr("Scaling"), this, SLOT(newScaling()));
newTransformMenu->addAction( tr("Translation"), this, SLOT(newTranslation()));
newTransformMenu->addAction( tr("Rotation"), this, SLOT(newRotation()));
newTransformMenu->addAction( tr("Skewing"), this, SLOT(newSkewing()));
buttonAdd->setMenu(newTransformMenu);
scaleLink->setChecked(true);
buttonUp->setText( "" );
buttonUp->setIcon(loadIcon("16/go-up.png"));
buttonDown->setText( "" );
buttonDown->setIcon(loadIcon("16/go-down.png"));
buttonBox->button(QDialogButtonBox::Ok)->setEnabled(false);
m_doc = doc;
m_unitRatio = unitGetRatioFromIndex(m_doc->unitIndex());
m_suffix = unitGetSuffixFromIndex(m_doc->unitIndex());
translateHorizontal->setSuffix(m_suffix);
translateVertical->setSuffix(m_suffix);
rotationValue->setWrapping( true );
rotationValue->setValues( -180.0, 180.0, 1, 0);
rotationValue->setSuffix(unitGetSuffixFromIndex(6));
horizontalSkew->setSuffix(unitGetSuffixFromIndex(6));
verticalSkew->setSuffix(unitGetSuffixFromIndex(6));
linkSkew->setChecked(true);
numberOfCopies->setValue(0);
basePoint->setCheckedId(m_doc->RotMode);
connect(transformSelector, SIGNAL(itemClicked(QListWidgetItem*)), this, SLOT(setCurrentTransform(QListWidgetItem*)));
connect(horizontalScale, SIGNAL(valueChanged(double)), this, SLOT(changeHScale(double)));
connect(verticalScale, SIGNAL(valueChanged(double)), this, SLOT(changeVScale(double)));
connect(scaleLink, SIGNAL(clicked()), this, SLOT(toggleLink()));
connect(translateHorizontal, SIGNAL(valueChanged(double)), this, SLOT(changeHTranslation(double)));
connect(translateVertical, SIGNAL(valueChanged(double)), this, SLOT(changeVTranslation(double)));
connect(rotationValue, SIGNAL(valueChanged(double)), this, SLOT(changeRotation(double)));
connect(horizontalSkew, SIGNAL(valueChanged(double)), this, SLOT(changeHSkew(double)));
connect(verticalSkew, SIGNAL(valueChanged(double)), this, SLOT(changeVSkew(double)));
connect(linkSkew, SIGNAL(clicked()), this, SLOT(toggleLinkSkew()));
connect(buttonUp, SIGNAL(clicked()), this, SLOT(moveTransformUp()));
connect(buttonDown, SIGNAL(clicked()), this, SLOT(moveTransformDown()));
connect(buttonRemove, SIGNAL(clicked()), this, SLOT(removeTransform()));
}
void handleUpdate(UpdateEventDetails* const details,
PhysicsBody* const CharacterPhysicsBody,
PhysicsLMotorJoint* const CharacterMover)
{
ForceOnCharacter.setValues(0.0,0.0,0.0);
Real32 PushForce(55000.0);
Real32 Speed(10.0);
if(_IsUpKeyDown)
{
ForceOnCharacter += Vec3f(0.0, PushForce, 0.0);
}
if(_IsDownKeyDown)
{
ForceOnCharacter += Vec3f(0.0, -PushForce, 0.0);
}
if(_IsLeftKeyDown)
{
ForceOnCharacter += Vec3f(-PushForce, 0.0, 0.0);
}
if(_IsRightKeyDown)
{
ForceOnCharacter += Vec3f(PushForce, 0.0, 0.0);
}
if(_ShouldJump)
{
ForceOnCharacter += Vec3f(0.0, 0.0, 50000.0);
_ShouldJump = false;
}
if(ForceOnCharacter != Vec3f(0.0,0.0,0.0))
{
CharacterPhysicsBody->setEnable(true);
}
if(ForceOnCharacter.x() !=0.0)
{
CharacterMover->setFMax(osgAbs(ForceOnCharacter.x()));
CharacterMover->setVel(osgSgn(ForceOnCharacter.x())*Speed);
}
else
{
CharacterMover->setFMax(0.0);
CharacterMover->setVel(0.0);
}
if(ForceOnCharacter.y() !=0.0)
{
CharacterMover->setFMax2(osgAbs(ForceOnCharacter.y()));
CharacterMover->setVel2(osgSgn(ForceOnCharacter.y())*Speed);
}
else
{
CharacterMover->setFMax2(0.0);
CharacterMover->setVel2(0.0);
}
if(ForceOnCharacter.z() !=0.0)
{
CharacterMover->setFMax3(osgAbs(ForceOnCharacter.z()));
CharacterMover->setVel3(osgSgn(ForceOnCharacter.z())*Speed);
}
else
{
CharacterMover->setFMax3(0.0);
CharacterMover->setVel3(0.0);
}
Real32 RotationRate(1.57);
if(_IsAKeyDown)
{
Quaternion newRotation(CharacterPhysicsBody->getQuaternion());
newRotation.mult(Quaternion(Vec3f(0.0,0.0,1.0),RotationRate*details->getElapsedTime()));
CharacterPhysicsBody->setQuaternion( newRotation );
}
if(_IsDKeyDown)
{
Quaternion newRotation(CharacterPhysicsBody->getQuaternion());
newRotation.mult(Quaternion(Vec3f(0.0,0.0,1.0),-RotationRate*details->getElapsedTime()));
CharacterPhysicsBody->setQuaternion( newRotation );
}
}
void CreatureEvolver::Mutate(CreatureGenes* pGenes)
{
// Change limb count
if(Randf() < m_limbCountMutationRate)
{
int dCount = Round_Nearest(Randf(-m_maxLimbPerturbation, m_maxLimbPerturbation));
const int newSize = pGenes->m_pLimbGenes.size() + dCount;
if(newSize < m_minNumLimbs)
dCount = m_minNumLimbs - pGenes->m_pLimbGenes.size();
else if(newSize > m_maxNumLimbs)
dCount = m_maxNumLimbs - pGenes->m_pLimbGenes.size();
if(dCount > 0)
{
for(int i = 0; i < dCount; i++)
{
LimbGenes* pNewLimbGenes = new LimbGenes();
InitGenes(pNewLimbGenes, pGenes->m_pLimbGenes.size() + 1);
pGenes->m_pLimbGenes.push_back(pNewLimbGenes);
}
}
else if(dCount < 0) // Remove random limbs
{
dCount = -dCount;
for(int i = 0; i < dCount && static_cast<signed>(pGenes->m_pLimbGenes.size()) > m_minNumLimbs; i++)
{
unsigned int index = rand() % pGenes->m_pLimbGenes.size();
delete pGenes->m_pLimbGenes[index];
pGenes->m_pLimbGenes[index] = NULL;
pGenes->m_pLimbGenes.erase(pGenes->m_pLimbGenes.begin() + index);
}
}
assert(pGenes->m_pLimbGenes.size() >= static_cast<unsigned>(m_minNumLimbs));
}
for(unsigned int i = 0, size = pGenes->m_pLimbGenes.size(); i < size; i++)
{
LimbGenes* pLG = pGenes->m_pLimbGenes[i];
if(i != 0 && Randf() < m_limbParentMutationRate)
{
pLG->m_parentIndexOffset = pLG->m_parentIndexOffset + rand() % 3 - 1;
if(pLG->m_parentIndexOffset < 1)
pLG->m_parentIndexOffset = 1;
else if(pLG->m_parentIndexOffset > static_cast<signed>(i))
pLG->m_parentIndexOffset = static_cast<signed>(i);
}
if(pLG->m_recursiveUnits != 0 && Randf() < m_recursiveLimbMutationRate_whenRecursive)
pLG->m_recursiveUnits = 0;
else if(Randf() < m_recursiveLimbMutationRate_whenNotRecursive)
pLG->m_recursiveUnits = rand() % (m_maxInitRecursiveUnits - m_minInitRecursiveUnits) + m_minInitRecursiveUnits;
else if(Randf() < m_recursiveLimbUnitCountChangeRate)
pLG->m_recursiveUnits = Clamp(pLG->m_recursiveUnits + rand() % 3 - 1, 0, m_maxInitRecursiveUnits);
if(pLG->m_symmetrical && Randf() < m_symmetricalLimbMutationRate_whenSymmetrical)
pLG->m_symmetrical = false;
else if(Randf() < m_symmetricalLimbMutationRate_whenNotSymmetrical)
pLG->m_symmetrical = true;
if(Randf() < m_numBranchesMutationRate)
pLG->m_numBranches = Clamp(pLG->m_numBranches + rand() % 3 - 1, 0, m_maxNumBranches);
if(Randf() < m_inheritRecursionMutationRate)
pLG->m_inheritsRecursion = Randf() < m_initInheritRecursionChance;
if(Randf() < m_inheritSymmetryMutationRate)
pLG->m_inheritsSymmetry = Randf() < m_initInheritSymmetryChance;
if(Randf() < m_dimensionalMutationRate)
{
pLG->m_dims.x = Clamp(pLG->m_dims.x + Randf(-m_maxLimbDimensionPerturbation, m_maxLimbDimensionPerturbation), m_minLimbDimension, m_maxLimbDimension);
pLG->m_dims.y = Clamp(pLG->m_dims.y + Randf(-m_maxLimbDimensionPerturbation, m_maxLimbDimensionPerturbation), m_minLimbDimension, m_maxLimbDimension);
pLG->m_dims.z = Clamp(pLG->m_dims.z + Randf(-m_maxLimbDimensionPerturbation, m_maxLimbDimensionPerturbation), m_minLimbDimension, m_maxLimbDimension);
}
if(Randf() < m_relativeOffsetRatioMutationRate)
AttachmentPositionMutate_Parent(pLG->m_relativeAttachmentPositionOnParent);
if(Randf() < m_relativeOffsetRatioMutationRate)
AttachmentPositionMutate_This(pLG->m_relativeAttachmentPositionOnThis);
if(Randf() < m_limbAngleMutationRate)
{
Quaternion newRotation(pLG->m_relativeRotation);
newRotation.x += Randf(-m_maxLimbAnglePerturbation, m_maxLimbAnglePerturbation);
newRotation.y += Randf(-m_maxLimbAnglePerturbation, m_maxLimbAnglePerturbation);
newRotation.z += Randf(-m_maxLimbAnglePerturbation, m_maxLimbAnglePerturbation);
newRotation.w += Randf(-m_maxLimbAnglePerturbation, m_maxLimbAnglePerturbation);
newRotation.NormalizeThis();
Vec3f normal(NormalFromPosition(pLG->m_relativeAttachmentPositionOnParent));
// If perturbed angle is legal, set it
if((newRotation * Vec3f(1.0f, 0.0f, 0.0f)).Dot(normal) > 0.0f)
pLG->m_relativeRotation = newRotation;
else
{
// Not legal, get one that is for sure
float currentAngle = acosf(normal.Dot(pLG->m_relativeRotation * Vec3f(1.0f, 0.0f, 0.0f)));
float maxAdditionalAngle = pLG->m_bendLimit - currentAngle;
newRotation.Reset();
// Random axis
Vec3f axis(Randf(-1.0f, 1.0f), Randf(-1.0f, 1.0f), Randf(-1.0f, 1.0f));
axis.NormalizeThis();
newRotation.Rotate(Randf() * maxAdditionalAngle, axis);
pLG->m_relativeRotation *= newRotation;
}
}
if(Randf() < m_limbBendAndTwistMutationRate)
pLG->m_bendLimit = Clamp(pLG->m_bendLimit + Randf(-m_maxLimbBendAndTwistPerturbation, m_maxLimbBendAndTwistPerturbation), m_minLimbBend, m_maxLimbBend);
if(Randf() < m_limbBendAndTwistMutationRate)
pLG->m_twistLimit = Clamp(pLG->m_twistLimit + Randf(-m_maxLimbBendAndTwistPerturbation, m_maxLimbBendAndTwistPerturbation), m_minLimbTwist, m_maxLimbTwist);
if(Randf() < m_limbStrengthMutationRate)
pLG->m_strength = Clamp(pLG->m_strength + Randf(-m_maxLimbStrengthPerturbation, m_maxLimbStrengthPerturbation), m_minLimbStrength, m_maxLimbStrength);
if(Randf() < m_densityMutationRate)
pLG->m_density = Clamp(pLG->m_density + Randf(-m_maxDensityPerturbation, m_maxDensityPerturbation), m_minDensity, m_maxDensity);
if(Randf() < m_frictionMutationRate)
pLG->m_friction = Clamp(pLG->m_friction + Randf(-m_maxFrictionPerturbation, m_maxFrictionPerturbation), m_minFriction, m_maxFriction);
if(Randf() < m_contactSensorMutationRate)
pLG->m_hasContactSensor = !pLG->m_hasContactSensor;
if(Randf() < m_mainBrainInputNeuronsMutationRate)
{
int choice = rand() % 2;
if(choice == 1)
pLG->m_mainBrainInputNeurons.push_back(rand() % (m_maxNumMainBrainInputNeurons + 1));
else if(!pLG->m_mainBrainInputNeurons.empty())
pLG->m_mainBrainInputNeurons.erase(pLG->m_mainBrainInputNeurons.begin() + rand() % pLG->m_mainBrainInputNeurons.size());
}
if(Randf() < m_parentLimbInputNeuronsMutationRate)
{
int choice = rand() % 2;
if(choice == 1)
pLG->m_parentLimbInputNeurons.push_back(rand() % (m_maxNumParentLimbInputNeurons + 1));
else if(!pLG->m_parentLimbInputNeurons.empty())
pLG->m_parentLimbInputNeurons.erase(pLG->m_parentLimbInputNeurons.begin() + rand() % pLG->m_parentLimbInputNeurons.size());
}
if(Randf() < m_childLimbInputNeuronsMutationRate)
{
int choice = rand() % 2;
if(choice == 1)
{
LimbGenes::ChildAndOutputIndex coai;
coai.m_childIndex = rand() % m_maxNumBranches;
coai.m_outputIndex = rand() % m_maxNumChildLimbInputNeurons;
pLG->m_childLimbInputNeurons.push_back(coai);
}
else if(!pLG->m_childLimbInputNeurons.empty())
pLG->m_childLimbInputNeurons.erase(pLG->m_childLimbInputNeurons.begin() + rand() % pLG->m_childLimbInputNeurons.size());
}
// Mutate weights before changing structure randomly
for(unsigned int j = 0, numNeurons = pLG->m_neuronData.size(); j < numNeurons; j++)
{
//if(Randf() < m_neuralWeightMutationRate)
// pLG->m_neuronData[j].m_threshold = Clamp(pLG->m_neuronData[j].m_threshold + Randf(-m_neuralWeightPerturbation, m_neuralWeightPerturbation), -1.0f, 1.0f);
for(unsigned int k = 0, numWeights = pLG->m_neuronData[j].m_weights.size(); k < numWeights; k++)
if(Randf() < m_neuralWeightMutationRate)
pLG->m_neuronData[j].m_weights[k] = Clamp(pLG->m_neuronData[j].m_weights[k] + Randf(-m_neuralWeightPerturbation, m_neuralWeightPerturbation), m_minPossibleNeuronWeight, m_maxPossibleNeuronWeight);
}
// Mutate timers before changing structure randomly
for(unsigned int j = 0, numTimers = pLG->m_timerSensorData.size(); j < numTimers; j++)
{
if(Randf() < m_timerRateMutationRate)
pLG->m_timerSensorData[j].m_rate = Clamp(pLG->m_timerSensorData[j].m_rate + Randf(-m_maxTimerRatePerturbation, m_maxTimerRatePerturbation), m_minTimerRate, m_maxTimerRate);
if(Randf() < m_timerTimeMutationRate)
pLG->m_timerSensorData[j].m_initTime = Clamp(pLG->m_timerSensorData[j].m_initTime + Randf(-m_maxTimerTimePerturbation, m_maxTimerTimePerturbation), 0.0f, 1.0f);
}
// Mutate neuron structure
if(Randf() < m_neuralStructureMutationRate_numLayers)
pLG->m_numHiddenLayers = Clamp(pLG->m_numHiddenLayers + rand() % 3 - 1, m_minHiddenLayers, m_maxHiddenLayers);
if(Randf() < m_neuralStructureMutationRate_numNeuronsPerHiddenLayer)
{
int pert = static_cast<int>(Randf(-m_maxNeuronsPerHiddenLayerPerturbation, m_maxNeuronsPerHiddenLayerPerturbation));
int nphl = Clamp(static_cast<signed>(pLG->m_numNeuronsPerHiddenLayer) + pert, static_cast<signed>(m_minNeuronsPerHiddenLayer), static_cast<signed>(m_maxNeuronsPerHiddenLayer));
pLG->m_numNeuronsPerHiddenLayer = static_cast<unsigned>(nphl);
}
// Mutate number of timers
if(Randf() < m_timerCountMutationRate)
pLG->m_numTimerSensors = Clamp(pLG->m_numTimerSensors + rand() % 3 - 1, m_minTimerCount, m_maxTimerCount);
}
}
Transformation Transformation::newRotationAroundPoint(double graus, const Coordinate& p){
return newTranslation(-p.x, -p.y) * newRotation(graus) * newTranslation(p.x, p.y);
}
