void qxgeditScale::setOffset4 ( unsigned short iOffset4 )
{
if (m_iOffset4 != iOffset4) {
m_iOffset4 = iOffset4;
update();
emit offset4Changed(offset4());
}
}
void BigDoxieNoFeet::addSegments(tgStructure& puppy, tgStructure& vertebra, tgStructure& hip, tgStructure& leg, tgStructure& foot,
double r){
const double offsetDist = r+1;
const double offsetDist2 = offsetDist*8;
const double offsetDist3 = offsetDist2+4;
const double yOffset_leg = -(2*r+1);
const double yOffset_foot = -(2*r+6);
//Vertebrae
btVector3 offset(offsetDist,0.0,0);
//Hips
btVector3 offset1(offsetDist*2,0.0,offsetDist);
btVector3 offset2(offsetDist2,0.0,offsetDist);
btVector3 offset3(offsetDist*2,0.0,-offsetDist);
btVector3 offset4(offsetDist2,0.0,-offsetDist);
//Lower legs
btVector3 offset5(offsetDist3,yOffset_leg,offsetDist);
btVector3 offset6(offsetDist3,yOffset_leg,-offsetDist);
btVector3 offset7(r*2,yOffset_leg,offsetDist);
btVector3 offset8(r*2,yOffset_leg,-offsetDist);
//Feet
btVector3 offset9(offsetDist3+1,yOffset_foot,offsetDist);
btVector3 offset10(offsetDist3+1,yOffset_foot,-offsetDist);
btVector3 offset11(r*2+1,yOffset_foot,offsetDist);
btVector3 offset12(r*2+1,yOffset_foot,-offsetDist);
for(std::size_t i = 0; i < m_segments; i++) { //Connect segments for spine of puppy
tgStructure* t = new tgStructure (vertebra);
t->addTags(tgString("spine segment num", i + 1));
t->move((i + 1)*offset);
if (i % 2 == 1){
t->addRotation(btVector3((i + 1) * offsetDist, 0.0, 0.0), btVector3(1, 0, 0), 0.0);
}
else{
t->addRotation(btVector3((i + 1) * offsetDist, 0.0, 0.0), btVector3(1, 0, 0), M_PI/2.0);
}
puppy.addChild(t); //Add a segment to the puppy
}
for(std::size_t i = m_segments; i < (m_segments + 2); i++) {//deal with right hip and shoulder first
tgStructure* t = new tgStructure (hip);
t->addTags(tgString("segment num", i + 1));
if(i % 2 == 0){
t->move(offset2);
t->addRotation(btVector3(offsetDist2, 0.0, offsetDist), btVector3(0, 1, 0), M_PI);
}
else{
t->move(offset1);
t->addRotation(btVector3(offsetDist*2, 0.0, offsetDist), btVector3(0, 1, 0), M_PI);
}
puppy.addChild(t); //Add a segment to the puppy
}
for(std::size_t i = (m_segments + 2); i < (m_segments + m_hips); i++) {//deal with left hip and shoulder now
tgStructure* t = new tgStructure (hip);
t->addTags(tgString("segment num", i + 1));
if(i % 2 == 0){
t->move(offset4);
}
else{
t->move(offset3);
}
puppy.addChild(t); //Add a segment to the puppy
}
for(std::size_t i = (m_segments + m_hips); i < (m_segments + m_hips + 2); i++) {//right front and back legs
tgStructure* t = new tgStructure (leg);
t->addTags(tgString("segment num", i + 1));
if(i % 2 == 0){
t->move(offset5);
t->addRotation(btVector3(offsetDist3, yOffset_leg, offsetDist), btVector3(0, 1, 0), M_PI);
}
else{
t->move(offset7);
t->addRotation(btVector3(r*2, yOffset_leg, offsetDist), btVector3(0, 1, 0), M_PI);
//the rotations for the legs are a remnant of the earlier design. Removing them now
//would mean changing all my muscle attachments. I will do this someday.
}
puppy.addChild(t); //Add a segment to the puppy
}
for(std::size_t i = (m_segments + m_hips + 2); i < (m_segments + m_hips + m_legs); i++) {//left front and back legs
tgStructure* t = new tgStructure (leg);
t->addTags(tgString("segment num", i + 1));
if(i % 2 == 0){
t->move(offset6);
t->addRotation(btVector3(offsetDist3, yOffset_leg, -offsetDist), btVector3(0, 1, 0), M_PI);
}
else{
t->move(offset8);
t->addRotation(btVector3(r*2, yOffset_leg, -offsetDist), btVector3(0, 1, 0), M_PI);
}
puppy.addChild(t); //Add a segment to the puppy
}
/*for(std::size_t i = (m_segments + m_hips + m_legs); i < (m_segments + m_hips + m_legs + 2); i++) {//right front and back feet
tgStructure* t = new tgStructure (foot);
t->addTags(tgString("segment num", i + 1));
if(i % 2 == 0){
t->move(offset9);
t->addRotation(btVector3(offsetDist3+1, yOffset_foot, offsetDist), btVector3(0, 1, 0), 0.0);
}
else{
t->move(offset11);
t->addRotation(btVector3(r*2+1, yOffset_foot, offsetDist), btVector3(0, 1, 0), 0.0);
}
puppy.addChild(t); //Add a segment to the puppy
}
for(std::size_t i = (m_segments + m_hips + m_legs + 2); i < (m_segments + m_hips + m_legs + m_feet); i++) {//left front and back feet
tgStructure* t = new tgStructure (foot);
t->addTags(tgString("segment num", i + 1));
if(i % 2 == 0){
t->move(offset10);
t->addRotation(btVector3(offsetDist3+1, yOffset_foot, -offsetDist), btVector3(0, 1, 0), 0.0);
}
else{
t->move(offset12);
t->addRotation(btVector3(r*2+1, yOffset_foot, -offsetDist), btVector3(0, 1, 0), 0.0);
}
puppy.addChild(t); //Add a segment to the puppy
} */
}
// Draw curve.
void qxgeditScale::paintEvent ( QPaintEvent *pPaintEvent )
{
QPainter painter(this);
const int h = height();
const int w = width();
const int h2 = h >> 1;
const int x1 = 6 + int((m_iBreak1 * (w - 12)) >> 7);
const int x2 = 6 + int((m_iBreak2 * (w - 12)) >> 7);
const int x3 = 6 + int((m_iBreak3 * (w - 12)) >> 7);
const int x4 = 6 + int((m_iBreak4 * (w - 12)) >> 7);
const int y1 = h2 - ((int(m_iOffset1) - 64) * (h - 12) >> 7);
const int y2 = h2 - ((int(m_iOffset2) - 64) * (h - 12) >> 7);
const int y3 = h2 - ((int(m_iOffset3) - 64) * (h - 12) >> 7);
const int y4 = h2 - ((int(m_iOffset4) - 64) * (h - 12) >> 7);
m_poly.putPoints(0, 6,
0, y1,
x1, y1,
x2, y2,
x3, y3,
x4, y4,
w, y4);
const QPalette& pal = palette();
const bool bDark = (pal.window().color().value() < 0x7f);
const QColor& rgbLite = (bDark ? Qt::darkYellow : Qt::yellow);
if (bDark)
painter.fillRect(0, 0, w, h, pal.dark().color());
painter.setRenderHint(QPainter::Antialiasing, true);
painter.setPen(bDark ? Qt::gray : Qt::darkGray);
const QPen oldpen(painter.pen());
QPen dotpen(oldpen);
dotpen.setStyle(Qt::DotLine);
painter.setPen(dotpen);
painter.drawLine(0, h2, w, h2);
painter.setPen(oldpen);
painter.drawPolyline(m_poly);
painter.setBrush(rgbLite); // pal.midlight().color()
painter.drawRect(nodeRect(1));
painter.drawRect(nodeRect(2));
painter.drawRect(nodeRect(3));
painter.drawRect(nodeRect(4));
#ifdef CONFIG_DEBUG_0
painter.drawText(QFrame::rect(),
Qt::AlignTop|Qt::AlignHCenter,
tr("Break (%1,%2,%3,%4) Offset(%5,%6,%7,%8)")
.arg(int(break1()))
.arg(int(break2()))
.arg(int(break3()))
.arg(int(break4()))
.arg(int(offset1()) - 64)
.arg(int(offset2()) - 64)
.arg(int(offset3()) - 64)
.arg(int(offset4()) - 64));
#endif
painter.setRenderHint(QPainter::Antialiasing, false);
painter.end();
QFrame::paintEvent(pPaintEvent);
}
void BigPuppy::setup(tgWorld& world)
{
//Rod and Muscle configuration. Todo: make these into structs in a namespace block!
const double density = 4.2/300.0; //Note: this needs to be high enough or things fly apart...
const double radius = 0.5;
const double rod_space = 10.0;
const double friction = 0.5;
const double rollFriction = 0.0;
const double restitution = 0.0;
const tgRod::Config rodConfig(radius, density, friction, rollFriction, restitution);
const double radius2 = 0.15;
const double density2 = 1; // Note: This needs to be high enough or things fly apart...
const tgRod::Config rodConfig2(radius2, density2);
const double stiffness = 1000.0;
const double damping = .01*stiffness;
const double pretension = 0.0;
const bool history = false;
const double maxTens = 7000.0;
const double maxSpeed = 12.0;
const double passivePretension = 700; // 5 N
#ifdef USE_KINEMATIC
const double mRad = 1.0;
const double motorFriction = 10.0;
const double motorInertia = 1.0;
const bool backDrivable = false;
tgKinematicActuator::Config motorConfig(2000, 20, passivePretension,
mRad, motorFriction, motorInertia, backDrivable,
history, maxTens, maxSpeed);
#else
const tgSpringCableActuator::Config stringConfig(stiffness, damping, pretension, false, 7000, 24);
tgSpringCableActuator::Config muscleConfig(2000, 20, passivePretension);
#endif
// Calculations for the flemons spine model
double v_size = 10.0;
//Todo: make separate functions for node, rod, and muscle placement! Do for each type of segment.
//Foot:
tgStructure foot;
//Foot nodes. Todo: make into separate function
foot.addNode(8,0,8);//0
foot.addNode(8,0,-8);//1
foot.addNode(-8,0,-8);//2
foot.addNode(-8,0,8);//3
foot.addNode(4,rod_space/2,0);//4
foot.addNode(0,rod_space/2,-4);//5
foot.addNode(-4,rod_space/2,0);//6
foot.addNode(0,rod_space/2,4);//7
//Foot rods. Todo: make into separate function
foot.addPair(0,6,"rod");
foot.addPair(1,7,"rod");
foot.addPair(2,4,"rod");
foot.addPair(3,5,"rod");
//Create basic unit for right leg. Todo: make just one basic unit for right and left legs, since they're now the same.
tgStructure rightLeg;
//Right Leg nodes:
rightLeg.addNode(0,0,0); //0: Bottom Center of lower leg segment
rightLeg.addNode(0,10,0); //1: Center of lower leg segment
rightLeg.addNode(10,10,0); //2: Right of lower leg segment
rightLeg.addNode(-10,10,0); //3: Left of lower leg segment
rightLeg.addNode(0,20,0); //4: Top of lower leg segment
rightLeg.addNode(0,-4,0); //5: was z=3; was y=-3
//rightLeg.addNode(0,-3,-3); //6
//rightLeg.addNode(3,-3,0); //7
//rightLeg.addNode(-3,-3,0); //8
//Add rods for right leg:
rightLeg.addPair(0,1,"rod");
rightLeg.addPair(1,2,"rod");
rightLeg.addPair(1,3,"rod");
rightLeg.addPair(1,4,"rod");
rightLeg.addPair(0,5,"rod");
//rightLeg.addPair(0,6,"rod");
//rightLeg.addPair(0,7,"rod");
//rightLeg.addPair(0,8,"rod");
//Create basic unit for left leg
tgStructure leftLeg;
//Left Leg nodes:
leftLeg.addNode(0,0,0); //0: Bottom Center of lower leg segment
leftLeg.addNode(0,10,0); //1: Center of lower leg segment
leftLeg.addNode(10,10,0); //2: Right of lower leg segment
leftLeg.addNode(-10,10,0); //3: Left of lower leg segment
leftLeg.addNode(0,20,0); //4: Top of lower leg segment
leftLeg.addNode(0,-4,0); //5: was z=3; was y=-3
//leftLeg.addNode(0,-3,-3); //6
//leftLeg.addNode(3,-3,0); //7
//leftLeg.addNode(-3,-3,0); //8
//Add rods for left leg:
leftLeg.addPair(0,1,"rod");
leftLeg.addPair(1,2,"rod");
leftLeg.addPair(1,3,"rod");
leftLeg.addPair(1,4,"rod");
leftLeg.addPair(0,5,"rod");
//leftLeg.addPair(0,6,"rod");
//leftLeg.addPair(0,7,"rod");
//leftLeg.addPair(0,8,"rod");
//Create the basic unit of the spine
tgStructure tetra;
//Add the nodes
tetra.addNode(0,0,0); //Node 0
tetra.addNode(v_size, 0, v_size); //Node 1
tetra.addNode(v_size, 0, -v_size); //Node 2
tetra.addNode(-v_size, 0, -v_size); //Node 3
tetra.addNode(-v_size, 0, v_size); //Node 4
tetra.addPair(0,1,"rod");
tetra.addPair(0,2,"rod");
tetra.addPair(0,3,"rod");
tetra.addPair(0,4,"rod");
//Create the basic unit for the hips/shoulders:
tgStructure lHip;
lHip.addNode(0,0,0); //Node 0
lHip.addNode(0, v_size, v_size); //Node 1
lHip.addNode(0, -v_size, -v_size); //Node 2
lHip.addNode(0, -v_size, v_size); //Node 3
lHip.addPair(0,1,"rod");
lHip.addPair(0,2,"rod");
lHip.addPair(0,3,"rod");
tgStructure rHip;
rHip.addNode(0,0,0); //Node 0
rHip.addNode(0, v_size, -v_size); //Node 1
rHip.addNode(0, -v_size, -v_size); //Node 2
rHip.addNode(0, -v_size, v_size); //Node 3
rHip.addPair(0,1,"rod");
rHip.addPair(0,2,"rod");
rHip.addPair(0,3,"rod");
//Build the spine
tgStructure spine;
const double offsetDist = v_size + 1; //So rod ends don't touch, may need to adjust
const double offsetDist2 = v_size*5 + 5 + 3.3;
const double offsetDist3 = v_size*6;
const double yOffset_leg = -21.0;
const double yOffset_foot = -26.0;
std::size_t m_segments = 6;
std::size_t m_hips = 4;
std::size_t m_legs = 4;
std::size_t m_feet = 4;
//Vertebrae
btVector3 offset(offsetDist,0.0,0);
//Hips
btVector3 offset1(offsetDist*2,0.0,offsetDist);
btVector3 offset2(offsetDist2,0.0,offsetDist);
btVector3 offset3(offsetDist*2,0.0,-offsetDist);
btVector3 offset4(offsetDist2,0.0,-offsetDist);
//Lower legs
btVector3 offset5(offsetDist3,yOffset_leg,offsetDist);
btVector3 offset6(offsetDist3,yOffset_leg,-offsetDist);
btVector3 offset7(v_size*2,yOffset_leg,offsetDist);
btVector3 offset8(v_size*2,yOffset_leg,-offsetDist);
//Feet
btVector3 offset9(offsetDist3+1,yOffset_foot,offsetDist);
btVector3 offset10(offsetDist3+1,yOffset_foot,-offsetDist);
btVector3 offset11(v_size*2+1,yOffset_foot,offsetDist);
btVector3 offset12(v_size*2+1,yOffset_foot,-offsetDist);
for(std::size_t i = 0; i < m_segments; i++) { //Connect segments for spine
tgStructure* t = new tgStructure (tetra);
t->addTags(tgString("segment num", i + 1));
t->move((i + 1)*offset);
if (i % 2 == 1) {
t->addRotation(btVector3((i + 1) * offsetDist, 0.0, 0.0), btVector3(1, 0, 0), 0.0);
}
else {
t->addRotation(btVector3((i + 1) * offsetDist, 0.0, 0.0), btVector3(1, 0, 0), M_PI/2.0);
}
spine.addChild(t); //Add a segment to the spine
}
for(std::size_t i = m_segments; i < (m_segments + 2); i++) {//deal with right hip and shoulder first
tgStructure* t = new tgStructure (rHip);
t->addTags(tgString("segment num", i + 1));
if(i % 2 == 0) {
t->move(offset1);
t->addRotation(btVector3(offsetDist*2, 0.0, offsetDist), btVector3(1, 0, 0), 0.0);
}
else {
t->move(offset2);
t->addRotation(btVector3(offsetDist2, 0.0, offsetDist), btVector3(0, 0, 1), M_PI*1/8);
}
spine.addChild(t); //Add a segment to the spine
}
for(std::size_t i = (m_segments + 2); i < (m_segments + m_hips); i++) {//deal with left hip and shoulder now
tgStructure* t = new tgStructure (lHip);
t->addTags(tgString("segment num", i + 1));
if(i % 2 == 0) {
t->move(offset3);
t->addRotation(btVector3(offsetDist*2, 0.0, -offsetDist), btVector3(1, 0, 0), 0.0);
}
else {
t->move(offset4);
t->addRotation(btVector3(offsetDist2, 0.0, -offsetDist), btVector3(0, 0, 1), M_PI*1/8);
}
spine.addChild(t); //Add a segment to the spine
}
for(std::size_t i = (m_segments + m_hips); i < (m_segments + m_hips + 2); i++) {//right front and back legs
tgStructure* t = new tgStructure (rightLeg);
t->addTags(tgString("segment num", i + 1));
if(i % 2 == 0) {
t->move(offset7);
t->addRotation(btVector3(v_size*2, yOffset_leg, offsetDist), btVector3(0, 1, 0), M_PI);
}
else {
t->move(offset5);
t->addRotation(btVector3(offsetDist3, yOffset_leg, offsetDist), btVector3(0, 1, 0), M_PI);
}
spine.addChild(t); //Add a segment to the spine
}
for(std::size_t i = (m_segments + m_hips + 2); i < (m_segments + m_hips + m_legs); i++) {//left front and back legs
tgStructure* t = new tgStructure (leftLeg);
t->addTags(tgString("segment num", i + 1));
if(i % 2 == 0) {
t->move(offset8);
t->addRotation(btVector3(v_size*2, yOffset_leg, -offsetDist), btVector3(0, 1, 0), M_PI);
}
else {
t->move(offset6);
t->addRotation(btVector3(offsetDist3, yOffset_leg, -offsetDist), btVector3(0, 1, 0), M_PI);
}
spine.addChild(t); //Add a segment to the spine
}
for(std::size_t i = (m_segments + m_hips + m_legs); i < (m_segments + m_hips + m_legs + 2); i++) {//right front and back feet
tgStructure* t = new tgStructure (foot);
t->addTags(tgString("segment num", i + 1));
if(i % 2 == 0) {
t->move(offset11);
t->addRotation(btVector3(v_size*2+1, yOffset_foot, offsetDist), btVector3(0, 1, 0), 0.0);
}
else {
t->move(offset9);
t->addRotation(btVector3(offsetDist3+1, yOffset_foot, offsetDist), btVector3(0, 1, 0), 0.0);
}
spine.addChild(t); //Add a segment to the spine
}
for(std::size_t i = (m_segments + m_hips + m_legs + 2); i < (m_segments + m_hips + m_legs + m_feet); i++) {//left front and back feet
tgStructure* t = new tgStructure (foot);
t->addTags(tgString("segment num", i + 1));
if(i % 2 == 0) {
t->move(offset12);
t->addRotation(btVector3(v_size*2+1, yOffset_foot, -offsetDist), btVector3(0, 1, 0), 0.0);
}
else {
t->move(offset10);
t->addRotation(btVector3(offsetDist3+1, yOffset_foot, -offsetDist), btVector3(0, 1, 0), 0.0);
}
spine.addChild(t); //Add a segment to the spine
}
#ifdef SMALL_HILLS
spine.move(btVector3(0.0,-yOffset_foot+5,0.0));
#endif
#ifdef LARGE_HILLS
spine.move(btVector3(0.0,-yOffset_foot+12,0.0));
#endif
#ifdef FLAT_GROUND
spine.move(btVector3(0.0,-yOffset_foot,0.0));
#endif
#ifdef BLOCKY_GROUND
spine.move(btVector3(0.0,10.0,0.0));
#endif
#ifdef STAIRS
spine.move(btVector3(0.0,0.0,0.0));
#endif
std::vector<tgStructure*> children = spine.getChildren();
for(std::size_t i = 2; i < (children.size() - (m_hips + m_legs + m_feet)); i++) {
tgNodes n0 = children[i-2]->getNodes();
tgNodes n1 = children[i-1]->getNodes();
tgNodes n2 = children[i]->getNodes();
if(i==2) {
//Extra muscles, to keep front vertebra from swinging.
spine.addPair(n0[3], n1[3], tgString("spine front upper right muscle seg", i-2) + tgString(" seg", i-1));
spine.addPair(n0[3], n1[4], tgString("spine front upper left muscle seg", i-2) + tgString(" seg", i-1));
}
//Add muscles to the spine
if(i < 3) {
if(i % 2 == 0) { //front
spine.addPair(n0[1], n1[3], tgString("spine front lower right muscle seg", i-2) + tgString(" seg", i-1));
spine.addPair(n0[1], n1[4], tgString("spine front lower left muscle seg", i-2) + tgString(" seg", i-1));
spine.addPair(n0[2], n1[3], tgString("spine front upper right muscle seg", i-2) + tgString(" seg", i-1));
spine.addPair(n0[2], n1[4], tgString("spine front upper left muscle seg", i-2) + tgString(" seg", i-1));
}
else { //rear
spine.addPair(n0[1], n1[3], tgString("spine rear upper left muscle seg", i-2) + tgString(" seg", i-1));
spine.addPair(n0[1], n1[4], tgString("spine rear lower left muscle seg", i-2) + tgString(" seg", i-1));
spine.addPair(n0[2], n1[3], tgString("spine rear upper right muscle seg", i-2) + tgString(" seg", i-1));
spine.addPair(n0[2], n1[4], tgString("spine rear lower right muscle seg", i-2) + tgString(" seg", i-1));
}
}
if(i < 6) {
if(i % 2 == 0) {
spine.addPair(n0[1], n2[4], tgString("spine bottom muscle seg", i-2) + tgString(" seg", i-1));
spine.addPair(n0[2], n2[3], tgString("spine top muscle seg", i-2) + tgString(" seg", i-1));
}
else {
spine.addPair(n0[1], n2[4], tgString("spine lateral left muscle seg", i-2) + tgString(" seg", i-1));
spine.addPair(n0[2], n2[3], tgString("spine lateral right muscle seg", i-2) + tgString(" seg", i-1));
}
}
if(i > 0 && i < 5) {
if(i % 2 == 0) { //rear
spine.addPair(n1[1], n2[3], tgString("spine rear upper left muscle seg", i-1) + tgString(" seg", i));
spine.addPair(n1[1], n2[4], tgString("spine rear lower left muscle seg", i-1) + tgString(" seg", i));
spine.addPair(n1[2], n2[3], tgString("spine rear upper right muscle seg", i-1) + tgString(" seg", i));
spine.addPair(n1[2], n2[4], tgString("spine rear lower right muscle seg", i-1) + tgString(" seg", i));
}
else { //front
spine.addPair(n1[1], n2[3], tgString("spine front lower right muscle seg", i-1) + tgString(" seg", i));
spine.addPair(n1[1], n2[4], tgString("spine front lower left muscle seg", i-1) + tgString(" seg", i));
spine.addPair(n1[2], n2[3], tgString("spine front upper right muscle seg", i-1) + tgString(" seg", i));
spine.addPair(n1[2], n2[4], tgString("spine front upper left muscle seg", i-1) + tgString(" seg", i));
}
}
if(i == 5) {
//rear
spine.addPair(n1[1], n2[1], tgString("spine rear lower left muscle seg", i-1) + tgString(" seg", i));
spine.addPair(n1[1], n2[2], tgString("spine rear lower right muscle seg", i-1) + tgString(" seg", i));
spine.addPair(n1[2], n2[1], tgString("spine rear upper left muscle seg", i-1) + tgString(" seg", i));
spine.addPair(n1[2], n2[2], tgString("spine rear upper right muscle seg", i-1) + tgString(" seg", i));
//front
spine.addPair(n1[1], n2[3], tgString("spine front lower right muscle seg", i-1) + tgString(" seg", i));
spine.addPair(n1[1], n2[4], tgString("spine front lower left muscle seg", i-1) + tgString(" seg", i));
spine.addPair(n1[2], n2[3], tgString("spine front upper right muscle seg", i-1) + tgString(" seg", i));
spine.addPair(n1[2], n2[4], tgString("spine front upper left muscle seg", i-1) + tgString(" seg", i));
}
}
//Now add muscles to hips....
tgNodes n0 = children[0]->getNodes();
tgNodes n1 = children[1]->getNodes();
tgNodes n2 = children[2]->getNodes();
tgNodes n3 = children[3]->getNodes();
tgNodes n4 = children[4]->getNodes();
tgNodes n5 = children[5]->getNodes();
tgNodes n6 = children[6]->getNodes();
tgNodes n7 = children[7]->getNodes();
tgNodes n8 = children[8]->getNodes();
tgNodes n9 = children[9]->getNodes();
tgNodes n10 = children[10]->getNodes();
tgNodes n11 = children[11]->getNodes();
tgNodes n12 = children[12]->getNodes();
tgNodes n13 = children[13]->getNodes();
//Left shoulder muscles
spine.addPair(n6[1], n1[1], tgString("left shoulder rear upper muscle seg", 6) + tgString(" seg", 1));
spine.addPair(n6[1], n1[4], tgString("left shoulder front upper muscle seg", 6) + tgString(" seg", 1));
spine.addPair(n6[1], n0[2], tgString("left shoulder front top muscle seg", 6) + tgString(" seg", 0));
spine.addPair(n6[1], n2[3], tgString("left shoulder rear top muscle seg", 6) + tgString(" seg", 2));
spine.addPair(n6[2], n1[1], tgString("left shoulder rear lower muscle seg", 6) + tgString(" seg", 1));
spine.addPair(n6[2], n1[4], tgString("left shoulder front lower muscle seg", 6) + tgString(" seg", 1));
spine.addPair(n6[2], n0[1], tgString("left shoulder front bottom muscle seg", 6) + tgString(" seg", 0));
spine.addPair(n6[2], n2[4], tgString("left shoulder rear bottom muscle seg", 6) + tgString(" seg", 2));
//Extra muscles, to move left shoulder forward and back:
spine.addPair(n6[0], n1[1], tgString("left shoulder rear mid muscle seg", 6) + tgString(" seg", 1));
spine.addPair(n6[0], n1[4], tgString("left shoulder front mid muscle seg", 6) + tgString(" seg", 1));
//Left hip muscles
spine.addPair(n7[1], n5[1], tgString("left hip rear upper muscle seg", 7) + tgString(" seg", 5));
spine.addPair(n7[1], n5[4], tgString("left hip front upper muscle seg", 7) + tgString(" seg", 5));
spine.addPair(n7[1], n4[2], tgString("left hip rear top muscle seg", 7) + tgString(" seg", 4));
spine.addPair(n7[1], n4[3], tgString("left hip front top muscle seg", 7) + tgString(" seg", 4));
spine.addPair(n7[2], n5[1], tgString("left hip rear lower muscle seg", 7) + tgString(" seg", 5));
spine.addPair(n7[2], n5[4], tgString("left hip front lower muscle seg", 7) + tgString(" seg", 5));
spine.addPair(n7[2], n4[1], tgString("left hip bottom muscle seg", 7) + tgString(" seg", 4));
//Extra muscles, to move left hip forward and back:
spine.addPair(n7[0], n3[1], tgString("left hip rear mid muscle seg", 7) + tgString(" seg", 3)); //could also be n3[3]
spine.addPair(n7[0], n5[4], tgString("left hip front mid muscle seg", 7) + tgString(" seg", 5));
//Inter-hip connector muscle
spine.addPair(n7[2], n9[3], tgString("inter-hip bottom muscle seg", 7) + tgString(" seg", 9)); //inter-hip bottom muscle
//Right shoulder muscles
spine.addPair(n8[1], n1[2], tgString("right shoulder rear upper muscle seg", 8) + tgString(" seg", 1));
spine.addPair(n8[1], n1[3], tgString("right shoulder front upper muscle seg", 8) + tgString(" seg", 1));
spine.addPair(n8[1], n0[2], tgString("right shoulder front top muscle seg", 8) + tgString(" seg", 0));
spine.addPair(n8[1], n2[3], tgString("right shoulder rear top muscle seg", 8) + tgString(" seg", 2));
spine.addPair(n8[3], n1[2], tgString("right shoulder rear lower muscle seg", 8) + tgString(" seg", 1));
spine.addPair(n8[3], n1[3], tgString("right shoulder front lower muscle seg", 8) + tgString(" seg", 1));
spine.addPair(n8[3], n0[1], tgString("right shoulder front bottom muscle seg", 8) + tgString(" seg", 0));
spine.addPair(n8[3], n2[4], tgString("right shoulder rear bottom muscle seg", 8) + tgString(" seg", 2));
//Extra muscles, to move right shoulder forward and back:
spine.addPair(n8[0], n1[2], tgString("right shoulder rear mid muscle seg", 8) + tgString(" seg", 1));
spine.addPair(n8[0], n1[3], tgString("right shoulder front mid muscle seg", 8) + tgString(" seg", 1));
//Right hip muscles
spine.addPair(n9[1], n5[2], tgString("right hip rear upper muscle seg", 9) + tgString(" seg", 5));
spine.addPair(n9[1], n5[3], tgString("right hip front upper muscle seg", 9) + tgString(" seg", 5));
spine.addPair(n9[1], n4[2], tgString("right hip rear top muscle seg", 9) + tgString(" seg", 4));
spine.addPair(n9[1], n4[3], tgString("right hip front top muscle seg", 9) + tgString(" seg", 4));
spine.addPair(n9[3], n5[2], tgString("right hip rear lower muscle seg", 9) + tgString(" seg", 5));
spine.addPair(n9[3], n5[3], tgString("right hip front lower muscle seg", 9) + tgString(" seg", 5));
spine.addPair(n9[3], n4[1], tgString("right hip bottom muscle seg", 9) + tgString(" seg", 4));
//Extra muscles, to move right hip forward and back:
spine.addPair(n9[0], n3[2], tgString("right hip rear mid muscle seg", 9) + tgString(" seg", 3)); //could also be n3[3]
spine.addPair(n9[0], n5[3], tgString("right hip front mid muscle seg", 9) + tgString(" seg", 5));
//Leg/hip connections:
//Right front leg/shoulder
spine.addPair(n10[4], n6[2], tgString("right outer bicep muscle seg", 10) + tgString(" seg", 6));
spine.addPair(n10[4], n6[3], tgString("right inner bicep muscle seg", 10) + tgString(" seg", 6));
spine.addPair(n10[4], n1[4], tgString("right front abdomen connection muscle seg", 10) + tgString(" seg", 1));
spine.addPair(n10[3], n6[2], tgString("right outer tricep muscle seg", 10) + tgString(" seg", 6));
spine.addPair(n10[3], n6[3], tgString("right inner tricep muscle seg", 10) + tgString(" seg", 6));
spine.addPair(n10[2], n6[2], tgString("right outer front tricep muscle seg", 10) + tgString(" seg", 6));
spine.addPair(n10[2], n6[3], tgString("right inner front tricep muscle seg", 10) + tgString(" seg", 6));
//Adding muscle to pull up on right front leg:
spine.addPair(n10[4], n6[1], tgString("right mid bicep muscle seg", 10) + tgString(" seg", 6));
//Left front leg/shoulder
spine.addPair(n12[4], n8[2], tgString("left inner bicep muscle seg", 12) + tgString(" seg", 8));
spine.addPair(n12[4], n8[3], tgString("left outer bicep muscle seg", 12) + tgString(" seg", 8));
spine.addPair(n12[4], n1[3], tgString("left front abdomen connection muscle seg", 12) + tgString(" seg", 1)); //Was n1[2]
spine.addPair(n12[3], n8[2], tgString("left inner tricep muscle seg", 12) + tgString(" seg", 8));
spine.addPair(n12[3], n8[3], tgString("left outer tricep muscle seg", 12) + tgString(" seg", 8));
spine.addPair(n12[2], n8[2], tgString("left inner front tricep muscle seg", 12) + tgString(" seg", 8));
spine.addPair(n12[2], n8[3], tgString("left outer front tricep muscle seg", 12) + tgString(" seg", 8));
//Adding muscle to pull up on left front leg:
spine.addPair(n12[4], n8[1], tgString("left mid bicep muscle seg", 12) + tgString(" seg", 8));
//Right rear leg/hip
spine.addPair(n11[4], n7[2], tgString("right outer thigh muscle seg", 11) + tgString(" seg", 7));
spine.addPair(n11[4], n7[3], tgString("right inner thigh muscle seg", 11) + tgString(" seg", 7));
spine.addPair(n11[4], n3[4],tgString("right rear abdomen connection muscle seg", 11) + tgString(" seg", 3));
spine.addPair(n11[3], n5[1],tgString("right rear abdomen connection muscle seg", 11) + tgString(" seg", 5));
spine.addPair(n11[3], n7[2], tgString("right outer calf muscle seg", 11) + tgString(" seg", 7));
spine.addPair(n11[3], n7[3], tgString("right inner calf muscle seg", 11) + tgString(" seg", 7));
spine.addPair(n11[2], n7[2], tgString("right outer front calf muscle seg", 11) + tgString(" seg", 7));
spine.addPair(n11[2], n7[3], tgString("right inner front calf muscle seg", 11) + tgString(" seg", 7));
//Adding muscle to pull rear right leg up:
spine.addPair(n11[4], n7[1], tgString("right central thigh muscle seg", 11) + tgString(" seg", 7));
//Left rear leg/hip
spine.addPair(n13[4], n9[2], tgString("left inner thigh muscle seg", 13) + tgString(" seg", 9));
spine.addPair(n13[4], n9[3], tgString("left outer thigh muscle seg", 13) + tgString(" seg", 9));
spine.addPair(n13[4], n3[3], tgString("left rear abdomen connection muscle seg", 13) + tgString(" seg", 3));
spine.addPair(n13[3], n5[2], tgString("left rear abdomen connection muscle seg", 13) + tgString(" seg", 5));
spine.addPair(n13[3], n9[2], tgString("left inner calf muscle seg", 13) + tgString(" seg", 9));
spine.addPair(n13[3], n9[3], tgString("left outer calf muscle seg", 13) + tgString(" seg", 9));
spine.addPair(n13[2], n9[2], tgString("left inner front calf muscle seg", 13) + tgString(" seg", 9));
spine.addPair(n13[2], n9[3], tgString("left outer front calf muscle seg", 13) + tgString(" seg", 9));
//Adding muscle to pull rear left leg up:
spine.addPair(n13[4], n9[1], tgString("left central thigh muscle seg", 13) + tgString(" seg", 9));
//Populate feet with muscles. Todo: think up names to differentiate each!
for(std::size_t i = (m_segments + m_hips + m_legs); i < children.size(); i++) {
tgNodes ni = children[i]->getNodes();
tgNodes ni4 = children[i-4]->getNodes(); //Think of a nicer name for this!
spine.addPair(ni[0],ni[1],tgString("foot muscle seg", i));
spine.addPair(ni[0],ni[3],tgString("foot muscle seg", i));
spine.addPair(ni[1],ni[2],tgString("foot muscle seg", i));
spine.addPair(ni[2],ni[3],tgString("foot muscle seg", i));
spine.addPair(ni[0],ni[7],tgString("foot muscle seg", i));
spine.addPair(ni[1],ni[4],tgString("foot muscle seg", i));
spine.addPair(ni[2],ni[5],tgString("foot muscle seg", i));
spine.addPair(ni[3],ni[6],tgString("foot muscle seg", i));
spine.addPair(ni[4],ni[5],tgString("foot muscle seg", i));
spine.addPair(ni[4],ni[7],tgString("foot muscle seg", i));
spine.addPair(ni[5],ni[6],tgString("foot muscle seg", i));
spine.addPair(ni[6],ni[7],tgString("foot muscle seg", i));
//Connecting feet to legs:
//spine.addPair(ni4[5],ni[1],tgString("foot muscle seg", i) + tgString(" seg", i-4));
//spine.addPair(ni4[5],ni[2],tgString("foot muscle seg", i) + tgString(" seg", i-4));
//spine.addPair(ni4[5],ni[5],tgString("foot muscle seg", i) + tgString(" seg", i-4));
//spine.addPair(ni4[6],ni[0],tgString("foot muscle seg", i) + tgString(" seg", i-4));
//spine.addPair(ni4[6],ni[3],tgString("foot muscle seg", i) + tgString(" seg", i-4));
//spine.addPair(ni4[6],ni[7],tgString("foot muscle seg", i) + tgString(" seg", i-4));
//spine.addPair(ni4[7],ni[0],tgString("foot muscle seg", i) + tgString(" seg", i-4));
//spine.addPair(ni4[7],ni[1],tgString("foot muscle seg", i) + tgString(" seg", i-4));
//spine.addPair(ni4[7],ni[4],tgString("foot muscle seg", i) + tgString(" seg", i-4));
//spine.addPair(ni4[8],ni[2],tgString("foot muscle seg", i) + tgString(" seg", i-4));
//spine.addPair(ni4[8],ni[3],tgString("foot muscle seg", i) + tgString(" seg", i-4));
//spine.addPair(ni4[8],ni[6],tgString("foot muscle seg", i) + tgString(" seg", i-4));
//Trying out these for foot:
spine.addPair(ni4[5],ni[0],tgString("foot muscle seg", i) + tgString(" seg", i-4));
spine.addPair(ni4[5],ni[1],tgString("foot muscle seg", i) + tgString(" seg", i-4));
spine.addPair(ni4[5],ni[2],tgString("foot muscle seg", i) + tgString(" seg", i-4));
spine.addPair(ni4[5],ni[3],tgString("foot muscle seg", i) + tgString(" seg", i-4));
spine.addPair(ni4[0],ni[4],tgString("foot muscle seg", i) + tgString(" seg", i-4));
spine.addPair(ni4[0],ni[5],tgString("foot muscle seg", i) + tgString(" seg", i-4));
spine.addPair(ni4[0],ni[6],tgString("foot muscle seg", i) + tgString(" seg", i-4));
spine.addPair(ni4[0],ni[7],tgString("foot muscle seg", i) + tgString(" seg", i-4));
}
//Don't forget muscles connecting hips to feet!
// Create the build spec that uses tags to turn the structure into a real model
tgBuildSpec spec;
spec.addBuilder("rod", new tgRodInfo(rodConfig));
#ifdef USE_KINEMATIC
spec.addBuilder("muscle", new tgKinematicContactCableInfo(motorConfig));
#else
spec.addBuilder("muscle", new tgBasicActuatorInfo(muscleConfig));
#endif
// Create your structureInfo
tgStructureInfo structureInfo(spine, spec);
// Use the structureInfo to build ourselves
structureInfo.buildInto(*this, world);
// We could now use tgCast::filter or similar to pull out the
// models (e.g. muscles) that we want to control.
allActuators = tgCast::filter<tgModel, tgSpringCableActuator> (getDescendants());
// Notify controllers that setup has finished.
notifySetup();
// Actually setup the children
tgModel::setup(world);
children.clear();
}
