void MainWindow::connectSim(SimThread *sim)
{
QObject::connect(ui->startButton,SIGNAL(clicked()),sim,SLOT(simRun()));
QObject::connect(ui->stopButton,SIGNAL(clicked()),sim,SLOT(simStop()));
QObject::connect(ui->stepButton,SIGNAL(clicked()),sim,SLOT(simStep()));
QObject::connect(ui->stepButton,SIGNAL(clicked()),this,SLOT(updateMemory()));
QObject::connect(ui->setupButton,SIGNAL(clicked()),this,SLOT(doSetup()));
QObject::connect(this,SIGNAL(kbdKeypress(quint8)),sim,SLOT(keypress(quint8)));
}
void draw(void)
{
// set the background color of the world
cColorf color = camera->getParentWorld()->getBackgroundColor();
glClearColor(color.getR(), color.getG(), color.getB(), color.getA());
// clear the color and depth buffers
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// render world in the window display
camera->renderView(width, height);
// check for any OpenGL errors
GLenum err;
err = glGetError();
if (err != GL_NO_ERROR) printf("Error: %s\n", gluErrorString(err));
// Swap buffers
glutSwapBuffers();
if (inContact >= 0)
{
float x = lastContactPoint.x;
float y = lastContactPoint.y;
float z = lastContactPoint.z;
float fx = -force_scale*lastForce.x ;
float fy = -force_scale*lastForce.y ;
float fz = -force_scale*lastForce.z ;
if (loading == 0)
dBodyAddForceAtPos(obj[inContact].body,fx,fy,fz,x,y,z);
}
simStep();
}
