ConstraintsDialog::ConstraintsDialog( QWidget *parent, Qt::WindowFlags f ) : QDialog( parent, f )
{
ui.setupUi(this);
connect( ui.ConstraintsOK, SIGNAL( clicked() ), this, SLOT( acceptConstraints() ));
connect( ui.ConstraintsAdd, SIGNAL( clicked() ), this, SLOT( addConstraint() ));
connect( ui.ConstraintsDelete, SIGNAL( clicked() ), this, SLOT( deleteConstraint() ));
connect( ui.ConstraintsDeleteAll, SIGNAL( clicked() ), this, SLOT( deleteAllConstraints() ));
connect( ui.comboType, SIGNAL( currentIndexChanged(int) ), this, SLOT( comboTypeChanged(int) ));
m_forceField = OpenBabel::OBForceField::FindForceField( "MMFF94" );
ui.editValue->setMinimum(0.0);
ui.editValue->setMaximum(0.0);
}
// destroy
void MBulletContext::clear(void)
{
unsigned int i;
unsigned int id;
// delete constraints
for(i=0; i<m_constraints.size(); i++){
id = i;
deleteConstraint(&id);
}
// remove the rigidbodies from the dynamics world and delete them
for(i=0; i<m_collisionObjects.size(); i++){
id = i;
deleteObject(&id);
}
// delete collision shapes
for(i=0; i<m_collisionShapes.size(); i++){
id = i;
deleteShape(&id);
}
m_collisionObjects.clear();
m_collisionShapes.clear();
m_constraints.clear();
SAFE_DELETE(m_dynamicsWorld);
SAFE_DELETE(m_solver);
SAFE_DELETE(m_overlappingPairCache);
SAFE_DELETE(m_dispatcher);
SAFE_DELETE(m_collisionConfiguration);
// create NULL id 0
m_collisionShapes.push_back(NULL);
m_collisionObjects.push_back(NULL);
m_constraints.push_back(NULL);
}
MPhysicsConstraint * MPhysicsProperties::createConstraint(void)
{
deleteConstraint();
m_constraint = new MPhysicsConstraint();
return m_constraint;
}
MPhysicsProperties::~MPhysicsProperties(void)
{
deleteConstraint();
}
PhysicConstraintWidget::PhysicConstraintWidget(QDomElement node, QWidget* parent /*= 0*/, Qt::WindowFlags flags /*= 0*/)
: m_currentNode(node), QWidget(parent, flags)
{
setupUi(this);
// General callbacks
connect(m_deleteConstraint, SIGNAL(clicked()), this, SLOT(deleteConstraint()));
// Load xml values to ui and set callback methods for changes
// general attributes
m_x->setValue(node.attribute("x","0").toFloat());
connect(m_x, SIGNAL(valueChanged(double)), this, SLOT(updateGeneralValues()));
m_y->setValue(node.attribute("y","0").toFloat());
connect(m_y, SIGNAL(valueChanged(double)), this, SLOT(updateGeneralValues()));
m_z->setValue(node.attribute("z","0").toFloat());
connect(m_z, SIGNAL(valueChanged(double)), this, SLOT(updateGeneralValues()));
m_breakImpulseThres->setValue(node.attribute("breakImpulseThres","0").toFloat());
connect(m_breakImpulseThres, SIGNAL(valueChanged(double)), this, SLOT(updateGeneralValues()));
m_dbgDrawSize->setValue(node.attribute("dbgDrawSize","5").toFloat());
connect(m_dbgDrawSize, SIGNAL(valueChanged(double)), this, SLOT(updateGeneralValues()));
m_target->setText(node.attribute("target"));
connect(m_target, SIGNAL(textChanged(const QString &)), this, SLOT(updateGeneralValues()));
m_targetX->setValue(node.attribute("targetX","0").toFloat());
connect(m_targetX, SIGNAL(valueChanged(double)), this, SLOT(updateGeneralValues()));
m_targetY->setValue(node.attribute("targetY","0").toFloat());
connect(m_targetY, SIGNAL(valueChanged(double)), this, SLOT(updateGeneralValues()));
m_targetZ->setValue(node.attribute("targetZ","0").toFloat());
connect(m_targetZ, SIGNAL(valueChanged(double)), this, SLOT(updateGeneralValues()));
QString typeString = node.attribute("type", "point2point");
if (typeString.compare("hinge",Qt::CaseInsensitive) == 0)
{
m_type->setCurrentIndex(1);
m_constraintTypeProperties->setCurrentIndex(1);
}
else if (typeString.compare("slider",Qt::CaseInsensitive) == 0)
{
m_type->setCurrentIndex(2);
m_constraintTypeProperties->setCurrentIndex(2);
}
else if (typeString.compare("coneTwist",Qt::CaseInsensitive) == 0)
{
m_type->setCurrentIndex(3);
m_constraintTypeProperties->setCurrentIndex(3);
}
else if (typeString.compare("6DofSpring",Qt::CaseInsensitive) == 0)
{
m_type->setCurrentIndex(4);
m_constraintTypeProperties->setCurrentIndex(4);
}
else
{
m_type->setCurrentIndex(0);
m_constraintTypeProperties->setCurrentIndex(0);
}
connect(m_type, SIGNAL(currentIndexChanged(int)), this, SLOT(typeChanged(int)));
//hinge attributes
m_axisX->setValue(node.attribute("axisX","0").toFloat());
connect(m_axisX, SIGNAL(valueChanged(double)), this, SLOT(updateHingeValues()));
m_axisY->setValue(node.attribute("axisY","0").toFloat());
connect(m_axisY, SIGNAL(valueChanged(double)), this, SLOT(updateHingeValues()));
m_axisZ->setValue(node.attribute("axisZ","0").toFloat());
connect(m_axisZ, SIGNAL(valueChanged(double)), this, SLOT(updateHingeValues()));
m_targetAxisX->setValue(node.attribute("targetAxisX","0").toFloat());
connect(m_targetAxisX, SIGNAL(valueChanged(double)), this, SLOT(updateHingeValues()));
m_targetAxisY->setValue(node.attribute("targetAxisY","0").toFloat());
connect(m_targetAxisY, SIGNAL(valueChanged(double)), this, SLOT(updateHingeValues()));
m_targetAxisZ->setValue(node.attribute("targetAxisZ","0").toFloat());
connect(m_targetAxisZ, SIGNAL(valueChanged(double)), this, SLOT(updateHingeValues()));
m_lowLimit->setValue(node.attribute("lowLimit","-180").toFloat());
connect(m_lowLimit, SIGNAL(valueChanged(double)), this, SLOT(updateHingeValues()));
m_highLimit->setValue(node.attribute("highLimit","180").toFloat());
connect(m_highLimit, SIGNAL(valueChanged(double)), this, SLOT(updateHingeValues()));
m_hingeSoftness->setValue(node.attribute("softness","0.9").toFloat());
connect(m_hingeSoftness, SIGNAL(valueChanged(double)), this, SLOT(updateHingeValues()));
m_hingeBiasFactor->setValue(node.attribute("biasFactor","0.3").toFloat());
connect(m_hingeBiasFactor, SIGNAL(valueChanged(double)), this, SLOT(updateHingeValues()));
m_hingeRelaxationFactor->setValue(node.attribute("relaxationFactor","1").toFloat());
connect(m_hingeRelaxationFactor, SIGNAL(valueChanged(double)), this, SLOT(updateHingeValues()));
//slider attributes
m_sliderRotX->setValue(node.attribute("rotX","0").toFloat());
connect(m_sliderRotX, SIGNAL(valueChanged(double)), this, SLOT(updateSliderValues()));
m_sliderRotY->setValue(node.attribute("rotY","0").toFloat());
connect(m_sliderRotY, SIGNAL(valueChanged(double)), this, SLOT(updateSliderValues()));
m_sliderRotZ->setValue(node.attribute("rotZ","0").toFloat());
connect(m_sliderRotZ, SIGNAL(valueChanged(double)), this, SLOT(updateSliderValues()));
m_sliderTargetRotX->setValue(node.attribute("targetRotX","0").toFloat());
connect(m_sliderTargetRotX, SIGNAL(valueChanged(double)), this, SLOT(updateSliderValues()));
m_sliderTargetRotY->setValue(node.attribute("targetRotY","0").toFloat());
connect(m_sliderTargetRotY, SIGNAL(valueChanged(double)), this, SLOT(updateSliderValues()));
m_sliderTargetRotZ->setValue(node.attribute("targetRotZ","0").toFloat());
connect(m_sliderTargetRotZ, SIGNAL(valueChanged(double)), this, SLOT(updateSliderValues()));
m_lowerLinLimit->setValue(node.attribute("lowerLinLimit","-999999").toFloat());
connect(m_lowerLinLimit, SIGNAL(valueChanged(double)), this, SLOT(updateSliderValues()));
m_upperLinLimit->setValue(node.attribute("upperLinLimit","999999").toFloat());
connect(m_upperLinLimit, SIGNAL(valueChanged(double)), this, SLOT(updateSliderValues()));
m_lowerAngLimit->setValue(node.attribute("lowerAngLimit","-180").toFloat());
connect(m_lowerAngLimit, SIGNAL(valueChanged(double)), this, SLOT(updateSliderValues()));
m_upperAngLimit->setValue(node.attribute("upperAngLimit","180").toFloat());
connect(m_upperAngLimit, SIGNAL(valueChanged(double)), this, SLOT(updateSliderValues()));
//coneTwist attributes
m_coneTwistRotX->setValue(node.attribute("rotX","0").toFloat());
connect(m_coneTwistRotX, SIGNAL(valueChanged(double)), this, SLOT(updateConeTwistValues()));
m_coneTwistRotY->setValue(node.attribute("rotY","0").toFloat());
connect(m_coneTwistRotY, SIGNAL(valueChanged(double)), this, SLOT(updateConeTwistValues()));
m_coneTwistRotZ->setValue(node.attribute("rotZ","0").toFloat());
connect(m_coneTwistRotZ, SIGNAL(valueChanged(double)), this, SLOT(updateConeTwistValues()));
m_coneTwistTargetRotX->setValue(node.attribute("targetRotX","0").toFloat());
connect(m_coneTwistTargetRotX, SIGNAL(valueChanged(double)), this, SLOT(updateConeTwistValues()));
m_coneTwistTargetRotY->setValue(node.attribute("targetRotY","0").toFloat());
connect(m_coneTwistTargetRotY, SIGNAL(valueChanged(double)), this, SLOT(updateConeTwistValues()));
m_coneTwistTargetRotZ->setValue(node.attribute("targetRotZ","0").toFloat());
connect(m_coneTwistTargetRotZ, SIGNAL(valueChanged(double)), this, SLOT(updateConeTwistValues()));
m_swing1Limit->setValue(node.attribute("swing1Limit","-180").toFloat());
connect(m_swing1Limit, SIGNAL(valueChanged(double)), this, SLOT(updateConeTwistValues()));
m_swing2Limit->setValue(node.attribute("swing2Limit","180").toFloat());
connect(m_swing2Limit, SIGNAL(valueChanged(double)), this, SLOT(updateConeTwistValues()));
m_twistLimit->setValue(node.attribute("twistLimit","180").toFloat());
connect(m_twistLimit, SIGNAL(valueChanged(double)), this, SLOT(updateConeTwistValues()));
m_coneTwistSoftness->setValue(node.attribute("softness","1").toFloat());
connect(m_coneTwistSoftness, SIGNAL(valueChanged(double)), this, SLOT(updateConeTwistValues()));
m_coneTwistBiasFactor->setValue(node.attribute("biasFactor","0.3").toFloat());
connect(m_coneTwistBiasFactor, SIGNAL(valueChanged(double)), this, SLOT(updateConeTwistValues()));
m_coneTwistRelaxationFactor->setValue(node.attribute("relaxationFactor","1").toFloat());
connect(m_coneTwistRelaxationFactor, SIGNAL(valueChanged(double)), this, SLOT(updateConeTwistValues()));
// 6DofSpring attributes
m_springRotX->setValue(node.attribute("rotX","0").toFloat());
connect(m_springRotX, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_springRotY->setValue(node.attribute("rotY","0").toFloat());
connect(m_springRotY, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_springRotZ->setValue(node.attribute("rotZ","0").toFloat());
connect(m_springRotZ, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_springTargetRotX->setValue(node.attribute("targetRotX","0").toFloat());
connect(m_springTargetRotX, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_springTargetRotY->setValue(node.attribute("targetRotY","0").toFloat());
connect(m_springTargetRotY, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_springTargetRotZ->setValue(node.attribute("targetRotZ","0").toFloat());
connect(m_springTargetRotZ, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_lowerLinLimitX->setValue(node.attribute("lowerLinLimitX","-999999").toFloat());
connect(m_lowerLinLimitX, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_lowerLinLimitY->setValue(node.attribute("lowerLinLimitY","-999999").toFloat());
connect(m_lowerLinLimitY, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_lowerLinLimitZ->setValue(node.attribute("lowerLinLimitZ","-999999").toFloat());
connect(m_lowerLinLimitZ, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_upperLinLimitX->setValue(node.attribute("upperLinLimitX","999999").toFloat());
connect(m_upperLinLimitX, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_upperLinLimitY->setValue(node.attribute("upperLinLimitY","999999").toFloat());
connect(m_upperLinLimitY, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_upperLinLimitZ->setValue(node.attribute("upperLinLimitZ","999999").toFloat());
connect(m_upperLinLimitZ, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_lowerAngLimitX->setValue(node.attribute("lowerAngLimitX","-180").toFloat());
connect(m_lowerAngLimitX, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_lowerAngLimitY->setValue(node.attribute("lowerAngLimitY","-180").toFloat());
connect(m_lowerAngLimitY, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_lowerAngLimitZ->setValue(node.attribute("lowerAngLimitZ","-180").toFloat());
connect(m_lowerAngLimitZ, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_upperAngLimitX->setValue(node.attribute("upperAngLimitX","180").toFloat());
connect(m_upperAngLimitX, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_upperAngLimitY->setValue(node.attribute("upperAngLimitY","180").toFloat());
connect(m_upperAngLimitY, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_upperAngLimitZ->setValue(node.attribute("upperAngLimitZ","180").toFloat());
connect(m_upperAngLimitZ, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_dampingX->setValue(node.attribute("dampingX","1").toFloat());
connect(m_dampingX, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_dampingY->setValue(node.attribute("dampingY","1").toFloat());
connect(m_dampingY, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_dampingZ->setValue(node.attribute("dampingZ","1").toFloat());
connect(m_dampingZ, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_dampingRX->setValue(node.attribute("dampingRX","1").toFloat());
connect(m_dampingRX, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_dampingRY->setValue(node.attribute("dampingRY","1").toFloat());
connect(m_dampingRY, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_dampingRZ->setValue(node.attribute("dampingRZ","1").toFloat());
connect(m_dampingRZ, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_stiffnessX->setValue(node.attribute("stiffnessX","0").toFloat());
connect(m_stiffnessX, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_stiffnessY->setValue(node.attribute("stiffnessY","0").toFloat());
connect(m_stiffnessY, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_stiffnessZ->setValue(node.attribute("stiffnessZ","0").toFloat());
connect(m_stiffnessZ, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_stiffnessRX->setValue(node.attribute("stiffnessRX","0").toFloat());
connect(m_stiffnessRX, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_stiffnessRY->setValue(node.attribute("stiffnessRY","0").toFloat());
connect(m_stiffnessRY, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_stiffnessRZ->setValue(node.attribute("stiffnessRZ","0").toFloat());
connect(m_stiffnessRZ, SIGNAL(valueChanged(double)), this, SLOT(updateSpringValues()));
m_disableSpringX->setChecked(node.attribute("disableSpringX", "0").compare("true",Qt::CaseInsensitive) == 0 ||
node.attribute("disableSpringX", "0").compare("1",Qt::CaseInsensitive) == 0);
connect(m_disableSpringX, SIGNAL(stateChanged(int)), this, SLOT(updateSpringValues()));
m_disableSpringY->setChecked(node.attribute("disableSpringY", "0").compare("true",Qt::CaseInsensitive) == 0 ||
node.attribute("disableSpringY", "0").compare("1",Qt::CaseInsensitive) == 0);
connect(m_disableSpringY, SIGNAL(stateChanged(int)), this, SLOT(updateSpringValues()));
m_disableSpringZ->setChecked(node.attribute("disableSpringZ", "0").compare("true",Qt::CaseInsensitive) == 0 ||
node.attribute("disableSpringZ", "0").compare("1",Qt::CaseInsensitive) == 0);
connect(m_disableSpringZ, SIGNAL(stateChanged(int)), this, SLOT(updateSpringValues()));
m_disableSpringRX->setChecked(node.attribute("disableSpringRX", "0").compare("true",Qt::CaseInsensitive) == 0 ||
node.attribute("disableSpringRX", "0").compare("1",Qt::CaseInsensitive) == 0);
connect(m_disableSpringRX, SIGNAL(stateChanged(int)), this, SLOT(updateSpringValues()));
m_disableSpringRY->setChecked(node.attribute("disableSpringRY", "0").compare("true",Qt::CaseInsensitive) == 0 ||
node.attribute("disableSpringRY", "0").compare("1",Qt::CaseInsensitive) == 0);
connect(m_disableSpringRY, SIGNAL(stateChanged(int)), this, SLOT(updateSpringValues()));
m_disableSpringRZ->setChecked(node.attribute("disableSpringRZ", "0").compare("true",Qt::CaseInsensitive) == 0 ||
node.attribute("disableSpringRZ", "0").compare("1",Qt::CaseInsensitive) == 0);
connect(m_disableSpringRZ, SIGNAL(stateChanged(int)), this, SLOT(updateSpringValues()));
}
