void PhysicsAMotorJoint::changed(ConstFieldMaskArg whichField,
UInt32 origin,
BitVector details)
{
//Do not respond to changes that have a Sync origin
if(origin & ChangedOrigin::Sync)
{
return;
}
if(whichField & WorldFieldMask)
{
if(_JointID)
{
dJointDestroy(_JointID);
_JointID = dJointCreateAMotor(getWorld()->getWorldID(), 0);
}
else
{
_JointID = dJointCreateAMotor(getWorld()->getWorldID(), 0);
if(!(whichField & VelFieldMask))
{
setVel(dJointGetAMotorParam(_JointID,dParamVel));
}
if(!(whichField & FMaxFieldMask))
{
setFMax(dJointGetAMotorParam(_JointID,dParamFMax));
}
if(!(whichField & FudgeFactorFieldMask))
{
setFudgeFactor(dJointGetAMotorParam(_JointID,dParamFudgeFactor));
}
if(!(whichField & Vel2FieldMask))
{
setVel2(dJointGetAMotorParam(_JointID,dParamVel2));
}
if(!(whichField & FMax2FieldMask))
{
setFMax2(dJointGetAMotorParam(_JointID,dParamFMax2));
}
if(!(whichField & FudgeFactor2FieldMask))
{
setFudgeFactor2(dJointGetAMotorParam(_JointID,dParamFudgeFactor2));
}
if(!(whichField & Vel3FieldMask))
{
setVel3(dJointGetAMotorParam(_JointID,dParamVel3));
}
if(!(whichField & FMax3FieldMask))
{
setFMax3(dJointGetAMotorParam(_JointID,dParamFMax3));
}
if(!(whichField & FudgeFactor3FieldMask))
{
setFudgeFactor3(dJointGetAMotorParam(_JointID,dParamFudgeFactor3));
}
if(!(whichField & HiStopFieldMask))
{
setHiStop(dJointGetAMotorParam(_JointID,dParamHiStop));
}
if(!(whichField & LoStopFieldMask))
{
setLoStop(dJointGetAMotorParam(_JointID,dParamLoStop));
}
if(!(whichField & BounceFieldMask))
{
setBounce(dJointGetAMotorParam(_JointID,dParamBounce));
}
if(!(whichField & CFMFieldMask))
{
setCFM(dJointGetAMotorParam(_JointID,dParamCFM));
}
if(!(whichField & StopCFMFieldMask))
{
setStopCFM(dJointGetAMotorParam(_JointID,dParamStopCFM));
}
if(!(whichField & StopERPFieldMask))
{
setStopERP(dJointGetAMotorParam(_JointID,dParamStopERP));
}
if(!(whichField & HiStop2FieldMask))
{
setHiStop2(dJointGetAMotorParam(_JointID,dParamHiStop2));
}
if(!(whichField & LoStop2FieldMask))
{
setLoStop2(dJointGetAMotorParam(_JointID,dParamLoStop2));
}
if(!(whichField & Bounce2FieldMask))
{
setBounce2(dJointGetAMotorParam(_JointID,dParamBounce2));
}
if(!(whichField & CFM2FieldMask))
{
setCFM2(dJointGetAMotorParam(_JointID,dParamCFM2));
}
if(!(whichField & StopCFM2FieldMask))
{
setStopCFM2(dJointGetAMotorParam(_JointID,dParamStopCFM2));
}
if(!(whichField & StopERP2FieldMask))
{
setStopERP2(dJointGetAMotorParam(_JointID,dParamStopERP2));
}
if(!(whichField & HiStop3FieldMask))
{
setHiStop3(dJointGetAMotorParam(_JointID,dParamHiStop3));
}
if(!(whichField & LoStop3FieldMask))
{
setLoStop3(dJointGetAMotorParam(_JointID,dParamLoStop3));
}
if(!(whichField & Bounce3FieldMask))
{
setBounce3(dJointGetAMotorParam(_JointID,dParamBounce3));
}
if(!(whichField & CFM3FieldMask))
{
setCFM3(dJointGetAMotorParam(_JointID,dParamCFM3));
}
if(!(whichField & StopCFM3FieldMask))
{
setStopCFM3(dJointGetAMotorParam(_JointID,dParamStopCFM3));
}
if(!(whichField & StopERP3FieldMask))
{
setStopERP3(dJointGetAMotorParam(_JointID,dParamStopERP3));
}
}
}
Inherited::changed(whichField, origin, details);
if((whichField & NumAxesFieldMask) ||
(whichField & WorldFieldMask))
{
dJointSetAMotorNumAxes(_JointID,getNumAxes());
}
if((whichField & Axis1FieldMask) ||
(whichField & Axis1ReferenceFrameFieldMask) ||
(whichField & WorldFieldMask))
{
dJointSetAMotorAxis(_JointID,0, getAxis1ReferenceFrame(), getAxis1().x(), getAxis1().y(), getAxis1().z());
}
if((whichField & Axis2FieldMask) ||
(whichField & Axis2ReferenceFrameFieldMask) ||
(whichField & WorldFieldMask))
{
dJointSetAMotorAxis(_JointID,1, getAxis2ReferenceFrame(), getAxis2().x(), getAxis2().y(), getAxis2().z());
}
if((whichField & Axis3FieldMask) ||
(whichField & Axis3ReferenceFrameFieldMask) ||
(whichField & WorldFieldMask))
{
dJointSetAMotorAxis(_JointID,2, getAxis3ReferenceFrame(), getAxis3().x(), getAxis3().y(), getAxis3().z());
}
if((whichField & VelFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamVel, getVel());
}
if((whichField & FMaxFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamFMax, getFMax());
}
if((whichField & FudgeFactorFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamFudgeFactor, getFudgeFactor());
}
if((whichField & Vel2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamVel2, getVel2());
}
if((whichField & FMax2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamFMax2, getFMax2());
}
if((whichField & FudgeFactor2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamFudgeFactor2, getFudgeFactor2());
}
if((whichField & Vel3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamVel3, getVel3());
}
if((whichField & FMax3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamFMax3, getFMax3());
}
if((whichField & FudgeFactor3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamFudgeFactor3, getFudgeFactor3());
}
if((whichField & HiStopFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamHiStop, getHiStop());
}
if((whichField & LoStopFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamLoStop, getLoStop());
}
if((whichField & BounceFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamBounce, getBounce());
}
if((whichField & CFMFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamCFM, getCFM());
}
if((whichField & StopERPFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamStopERP, getStopERP());
}
if((whichField & StopCFMFieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamStopCFM, getStopCFM());
}
if((whichField & HiStop2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamHiStop2, getHiStop2());
}
if((whichField & LoStop2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamLoStop2, getLoStop2());
}
if((whichField & Bounce2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamBounce2, getBounce2());
}
if((whichField & CFM2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamCFM2, getCFM2());
}
if((whichField & StopERP2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamStopERP2, getStopERP2());
}
if((whichField & StopCFM2FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamStopCFM2, getStopCFM2());
}
if((whichField & HiStop3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamHiStop3, getHiStop3());
}
if((whichField & LoStop3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamLoStop3, getLoStop3());
}
if((whichField & Bounce3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamBounce3, getBounce3());
}
if((whichField & CFM3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamCFM3, getCFM3());
}
if((whichField & StopERP3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamStopERP3, getStopERP3());
}
if((whichField & StopCFM3FieldMask) || (whichField & WorldFieldMask))
{
dJointSetAMotorParam(_JointID, dParamStopCFM3, getStopCFM3());
}
}
SimannealConfigDialog::SimannealConfigDialog(QWidget *parent):
QFDialog(parent)
{
// setup widgets
QVBoxLayout* main=new QVBoxLayout();
setLayout(main);
QGridLayout* grid=new QGridLayout();
QLabel* l;
l=new QLabel(tr("Maximum Iterations:"), this);
l->setAlignment(Qt::AlignRight);
spinMaxIterations=new QSpinBox(this);
spinMaxIterations->setRange(100,1000000);
spinMaxIterations->setSingleStep(100);
l->setBuddy(spinMaxIterations);
grid->addWidget(l, 0, 0);
grid->addWidget(spinMaxIterations, 0, 1);
grid->addWidget(new QLabel(tr("The maximum number of iterations that the Levenberg-Marquardt algorithm will go through before it halts."), this), 0, 2);
l=new QLabel(tr("Initial Temperature T<sub>0</sub>:"), this);
l->setAlignment(Qt::AlignRight);
neditT0=new QFDoubleEdit(this);
neditT0->setRange(0, 1e6);
neditT0->setSingleStep(0.001);
neditT0->setDecimals(12);
l->setBuddy(neditT0);
grid->addWidget(l, 1, 0);
grid->addWidget(neditT0, 1, 1);
grid->addWidget(new QLabel(tr("The initial temperature is set to be T<sub>start</sub>=T<sub>0</sub>·χ<sup>2</sup>(<b>p</b><sub>start</sub>), depending on the initial parameters <b>p</b><sub>start</sub>."), this), 1, 2);
l=new QLabel(tr("Temperature Decrease Rate r<sub>T</sub>:"), this);
l->setAlignment(Qt::AlignRight);
neditRT=new QFDoubleEdit(this);
neditRT->setRange(0, 1e6);
neditRT->setSingleStep(0.001);
neditRT->setDecimals(12);
l->setBuddy(neditRT);
grid->addWidget(l, 2, 0);
grid->addWidget(neditRT, 2, 1);
grid->addWidget(new QLabel(tr("constant for temperature decrease: T<sub>new</sub> = r<sub>T</sub> · T<sub>old</sub>"), this), 2, 2);
l=new QLabel(tr("convergence parameter f<sub>max</sub>:"), this);
l->setAlignment(Qt::AlignRight);
neditFMax=new QFDoubleEdit(this);
neditFMax->setRange(0, 1e6);
neditFMax->setSingleStep(0.001);
neditFMax->setDecimals(12);
l->setBuddy(neditFMax);
grid->addWidget(l, 3, 0);
grid->addWidget(neditFMax, 3, 1);
grid->addWidget(new QLabel(tr("if |χ<sup>2</sup><sub>opt, i-1</sub> - χ<sup>2</sup><sub>opt, i</sub>| < f<sub>max</sub> the algorithm is said to have converged."), this), 3, 2);
l=new QLabel(tr("step update constant c:"), this);
l->setAlignment(Qt::AlignRight);
neditC=new QFDoubleEdit(this);
neditC->setRange(0, 1e6);
neditC->setSingleStep(0.001);
neditC->setDecimals(12);
l->setBuddy(neditC);
grid->addWidget(l, 4, 0);
grid->addWidget(neditC, 4, 1);
grid->addWidget(new QLabel(tr("constant for the update of the step vectors"), this), 4, 2);
l=new QLabel(tr("Step Size Variations N<sub>S</sub>:"), this);
l->setAlignment(Qt::AlignRight);
spinNS=new QSpinBox(this);
spinNS->setRange(1,100000000);
spinNS->setSingleStep(100);
l->setBuddy(spinNS);
grid->addWidget(l, 5, 0);
grid->addWidget(spinNS, 5, 1);
grid->addWidget(new QLabel(tr("The number of variations of the step length before convergence check."), this), 5, 2);
l=new QLabel(tr("Monte-Carlo Steps per Step Size N<sub>T</sub>:"), this);
l->setAlignment(Qt::AlignRight);
spinNT=new QSpinBox(this);
spinNT->setRange(1,100000000);
spinNT->setSingleStep(100);
l->setBuddy(spinNT);
grid->addWidget(l, 6, 0);
grid->addWidget(spinNT, 6, 1);
grid->addWidget(new QLabel(tr("Number of Monte-Carlo steps with each step size configuration."), this), 6, 2);
l=new QLabel(tr("Maximum Iterations:"), this);
l->setAlignment(Qt::AlignRight);
spinNEpsilon=new QSpinBox(this);
spinNEpsilon->setRange(1,100000000);
spinNEpsilon->setSingleStep(100);
l->setBuddy(spinNEpsilon);
grid->addWidget(l, 7, 0);
grid->addWidget(spinNEpsilon, 7, 1);
grid->addWidget(new QLabel(tr("The Algorithm looks at the past N<sub>epsilon</sub> values of χ<sup>2</sup>(<b>p</b>) to check convergence."), this), 7, 2);
main->addLayout(grid, 10);
buttons=new QDialogButtonBox(QDialogButtonBox::Ok|QDialogButtonBox::Cancel, Qt::Horizontal, this);
connect(buttons, SIGNAL(accepted()), this, SLOT(accept()));
connect(buttons, SIGNAL(rejected()), this, SLOT(reject()));
main->addWidget(buttons, 0);
// set default initial values, defined in header file
setFMax();
setT0();
setC();
setNS();
setNT();
setNEpsilon();
setRT();
setMaxIterations();
}
