void MainWindow::useTorques(bool toggle)
{
if (toggle) {
ui->glWidget->getWorld()->follow(2);
zeroForces();
}
}
void RigidBody::calcForcesAndTorques() {
unsigned int i;
unsigned int j;
//Vector3d apos;
Vector3d afrc;
Vector3d atrq;
Vector3d rpos;
Vector3d frc;
Vector3d trq;
//Vector3d pos;
zeroForces();
//pos = getPos();
frc = getFrc();
trq = getTrq();
for (i = 0; i < atoms_.size(); i++) {
afrc = atoms_[i]->getFrc();
//apos = atoms_[i]->getPos(apos);
//rpos = apos - pos;
rpos = refCoords_[i];
frc += afrc;
trq[0] += rpos[1]*afrc[2] - rpos[2]*afrc[1];
trq[1] += rpos[2]*afrc[0] - rpos[0]*afrc[2];
trq[2] += rpos[0]*afrc[1] - rpos[1]*afrc[0];
// If the atom has a torque associated with it, then we also need to
// migrate the torques onto the center of mass:
if (atoms_[i]->isDirectional()) {
atrq = atoms_[i]->getTrq();
trq += atrq;
}
}
setFrc(frc);
setTrq(trq);
}
/**
* @brief MainWindow::MainWindow Initialize the main window and everything else
* @param parent
*/
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
// Initialize the interface
ui->setupUi(this);
ui->glWidget->addAction(ui->actionFullscreen);
ui->glWidget->addAction(ui->actionExit);
connect(ui->actionExit,SIGNAL(triggered()),this,SLOT(close()));
connect(ui->actionFullscreen,SIGNAL(triggered()),this,SLOT(toggleFullscreenSlot()));
// The test script runs a simple experiment
experimentScript = new TestScript(this,this);
// Add a cosmetic line to the splitter handle
// so that it's easier to grab with the mouse
QSplitterHandle *handle = ui->splitter->handle(1);
QVBoxLayout *layout = new QVBoxLayout(handle);
layout->setSpacing(0);
layout->setMargin(0);
QFrame *line = new QFrame(handle);
line->setFrameShape(QFrame::VLine);
line->setFrameShadow(QFrame::Sunken);
layout->addWidget(line);
// In a future revision, we'll move the SimWorld
// to a more intelligent place. It doesn't
// belong as a child to the graphics widget.
SimWorld* world = ui->glWidget->getWorld();
CapBody* capBody = world->getBody();
#if defined( BOARD_DATA )
BoardMarkerData* md = ui->glWidget->getWorld()->getMarkerData();
#elif defined( POKE_DATA )
PokeMarkerData* md = ui->glWidget->getWorld()->getMarkerData();
#else
MarkerData* md = world->getMarkerData();
#endif
// We populate a ScrollArea with the same number of
// MarkerWidgets as there are markers in the data file.
QScrollArea* sa = new QScrollArea;
QWidget* wid = new QWidget;
layout = new QVBoxLayout;
layout->setContentsMargins(0,0,0,0);
// This part needs to become part of a function
// that is called everytime a new data file is
// loaded.
int markCnt = md->marker_count;
ui->markerCountLineEdit->setText(QString::number(markCnt));
ui->frameCountLineEdit->setText(QString::number(md->size()));
ui->markerFileLineEdit->setText("data.c3d");
ui->markerFrameStartBox->setValue(0);
setDataRange(md->size());
QHBoxLayout* innerLayout = new QHBoxLayout;
QPushButton* connectButton = new QPushButton("Connect");
QPushButton* releaseButton = new QPushButton("Release");
QPushButton* updateButton = new QPushButton("Update Anchors");
innerLayout->addWidget(connectButton);
innerLayout->addWidget(releaseButton);
innerLayout->addWidget(updateButton);
connect(connectButton,SIGNAL(clicked()),this,SLOT(connectMarkers()));
connect(releaseButton,SIGNAL(clicked()),this,SLOT(releaseMarkers()));
connect(updateButton,SIGNAL(clicked()),this,SLOT(updateMarkerAnchors()));
layout->addLayout(innerLayout);
markerWidgetArray.resize(markCnt);
for (int ii=0;ii<markCnt;++ii) {
markerWidgetArray[ii] = new MarkerWidget(ii,0);
layout->addWidget(markerWidgetArray[ii]);
}
wid->setLayout(layout);
sa->setWidget(wid);
ui->controlTabWidget->addTab(sa,"Markers");
// Joint control tab
sa = new QScrollArea;
wid = new QWidget;
layout = new QVBoxLayout;
layout->setContentsMargins(0,0,0,0);
// A couple buttons at the top of the joint tab make it possible
// to rapidly change all the force limits
innerLayout = new QHBoxLayout;
QPushButton* zeroButton = new QPushButton("Zero");
QPushButton* lightButton = new QPushButton("Light");
QPushButton* resetButton = new QPushButton("Strong");
innerLayout->addWidget(zeroButton);
innerLayout->addWidget(lightButton);
innerLayout->addWidget(resetButton);
layout->addLayout(innerLayout);
connect(zeroButton,SIGNAL(clicked()),this,SLOT(zeroForces()));
connect(lightButton,SIGNAL(clicked()),this,SLOT(lightForces()));
connect(resetButton,SIGNAL(clicked()),this,SLOT(strongForces()));
// Fill the tab with hard-coded data about the model...
populateJointTab(capBody,layout);
wid->setLayout(layout);
sa->setWidget(wid);
ui->controlTabWidget->addTab(sa,"Joints");
// Body dimensions widget
sa = new QScrollArea;
wid = new QWidget;
layout = new QVBoxLayout;
layout->setContentsMargins(0,0,0,0);
QCheckBox* keepBodyRel = new QCheckBox("Body Rel");
layout->addWidget(keepBodyRel);
// Fill the tab with model-specific widgets
populateBodyTab(capBody,layout);
wid->setLayout(layout);
sa->setWidget(wid);
ui->controlTabWidget->addTab(sa,"Model dimensions");
// Hook up the interface elements to their respecitve functionality
connect(ui->saveButton,SIGNAL(clicked()),capBody,SLOT(saveBody()));
connect(ui->loadButton,SIGNAL(clicked()),capBody,SLOT(loadBody()));
connect(ui->testButton,SIGNAL(clicked()),this,SLOT(experimentSlot()));
// When a the CapBody loads the marker map, tell the interface
// how and where the markers are connected.
connect(capBody,SIGNAL(markMap(int,int)),this,SLOT(setMarkMap(int,int)));
connect(capBody,SIGNAL(markPoint(int,double,double,double)),
this,SLOT(setMarkPoint(int,double,double,double)));
// *****
// (Each MarkerWidget informs the capBody when the interface
// changes).
for (int ii=0;ii<markCnt;++ii) {
connect(markerWidgetArray[ii],SIGNAL(markBodySet(int,int)),md,SLOT(changeBodyConnect(int,int)));
connect(markerWidgetArray[ii],SIGNAL(markConnect(int,bool)),md,SLOT(changeBodyLink(int,bool)));
connect(markerWidgetArray[ii],SIGNAL(markPosSet(int,double,double,double)),
md,SLOT(changeLinkPos(int,double,double,double)));
connect(markerWidgetArray[ii],SIGNAL(markGrab(int)),this, SLOT(grabMarkPos(int)));
}
connect(ui->clearPlotButton,SIGNAL(clicked()),this,SLOT(clearData()));
connect(ui->glWidget->getWorld(),SIGNAL(useMarkers(bool)),this,SLOT(usingMarkers(bool)));
connect(ui->frictionSpinBox,SIGNAL(valueChanged(double)),world,SLOT(setGroundFriction(double)));
connect(ui->terrainSpinBox,SIGNAL(valueChanged(double)),world,SLOT(setTerrainSoftness(double)));
connect(ui->zBox,SIGNAL(valueChanged(double)),ui->glWidget->getWorld(),SLOT(setTerrainZ(double)));
connect(ui->forceLinesCheckBox,SIGNAL(clicked(bool)),ui->glWidget,SLOT(setDrawLines(bool)));
connect(ui->camFollowCheckBox,SIGNAL(clicked(bool)),ui->glWidget,SLOT(setFollowCamera(bool)));
connect(ui->timeSlider,SIGNAL(valueChanged(int)),world->getMarkerData(),SLOT(setFrame(int)));
connect(ui->glWidget->getWorld()->getMarkerData(),SIGNAL(frameChanged(int)),ui->timeSlider,SLOT(setValue(int)));
connect(ui->bodyAlpha,SIGNAL(valueChanged(double)),ui->glWidget,SLOT(setBodyAlpha(double)));
connect(ui->showMarkBox,SIGNAL(toggled(bool)),ui->glWidget,SLOT(setShowMarkers(bool)));
connect(ui->selfCollideBox,SIGNAL(toggled(bool)),world,SLOT(setSelfCollide(bool)));
connect(ui->saveStateButton,SIGNAL(clicked()),this,SLOT(saveModel()));
connect(ui->restoreButton,SIGNAL(clicked()),this,SLOT(restoreModel()));
connect(ui->markerRadio,SIGNAL(toggled(bool)),this,SLOT(useMarkers(bool)));
connect(ui->torqueRadio,SIGNAL(toggled(bool)),this,SLOT(useTorques(bool)));
connect(ui->altRadio,SIGNAL(toggled(bool)),this,SLOT(useAltForces(bool)));
connect(ui->playAllButton,SIGNAL(clicked(bool)),this,SLOT(playPauseAll(bool)));
connect(ui->playPauseDataButton,SIGNAL(clicked(bool)),this,SLOT(playPauseData(bool)));
connect(ui->playPauseSimButton,SIGNAL(clicked(bool)),this,SLOT(playPauseSim(bool)));
connect(ui->stepAllButton,SIGNAL(clicked()),this,SLOT(stepAll()));
connect(ui->stepDataButton,SIGNAL(clicked()),this,SLOT(stepData()));
connect(ui->stepSimButton,SIGNAL(clicked()),this,SLOT(stepSim()));
connect(ui->selectFileToolButton,SIGNAL(clicked()),this,SLOT(markerFileDialog()));
connect(ui->dataStepBox,SIGNAL(valueChanged(int)),this,SLOT(setDataStep(int)));
connect(ui->dataFrameBox,SIGNAL(valueChanged(int)),this,SLOT(setDataFrame(int)));
connect(ui->timeSlider,SIGNAL(valueChanged(int)),ui->dataFrameBox,SLOT(setValue(int)));
// *****
// Need to dynamically change this
ui->timeSlider->setRange(0,world->getMarkerData()->size()-1);
connect(ui->globalBox,SIGNAL(toggled(bool)),this,SLOT(useGlobalForces(bool)));
#if defined( BOARD_DATA )
bd = new BoardData(this);
bd->loadData("boardData.dat");
ui->glWidget->setBoardData(bd);
#endif
// Start the timer for updating the data, sim, and graphics
updateTimer.setSingleShot(false);
connect(&updateTimer,SIGNAL(timeout()),this,SLOT(updateLoop()));
connect(ui->frameTimeBox,SIGNAL(valueChanged(double)),this,SLOT(setFrameTime(double)));
ui->frameTimeBox->setValue(1/60.0);
ui->dataStepBox->setValue(2);
capBody->loadBody();
useMarkers(true);
saveModel();
}
