TEST(GeoLib, SearchNearestPointsInDenseGrid)
{
const std::size_t i_max(50), j_max(50), k_max(50);
std::vector<GeoLib::Point*> pnts(i_max*j_max*k_max);
// fill the vector with equi-distant points in the
// cube [0,(i_max-1)/i_max] x [0,(j_max-1)/j_max] x [0,(k_max-1)/k_max]
for (std::size_t i(0); i < i_max; i++) {
std::size_t offset0(i * j_max * k_max);
for (std::size_t j(0); j < j_max; j++) {
std::size_t offset1(j * k_max + offset0);
for (std::size_t k(0); k < k_max; k++) {
pnts[offset1 + k] = new GeoLib::Point(
std::array<double,3>({{static_cast<double>(i) / i_max,
static_cast<double>(j) / j_max,
static_cast<double>(k) / k_max}}), offset1+k);
}
}
}
// create the grid
GeoLib::Grid<GeoLib::Point>* grid(nullptr);
ASSERT_NO_THROW(grid = new GeoLib::Grid<GeoLib::Point> (pnts.begin(), pnts.end()));
// search point (1,1,1) is outside of the point set
GeoLib::Point search_pnt(std::array<double,3>({{1,1,1}}), 0);
GeoLib::Point* res(grid->getNearestPoint(search_pnt));
ASSERT_EQ(i_max*j_max*k_max-1, res->getID());
ASSERT_NEAR(sqrt(3.0)/50.0, sqrt(MathLib::sqrDist(*res, search_pnt)), std::numeric_limits<double>::epsilon());
// search point (0,1,1) is outside of the point set
search_pnt[0] = 0;
res = grid->getNearestPoint(search_pnt);
ASSERT_EQ(j_max*k_max - 1, res->getID());
ASSERT_NEAR(sqrt(2.0)/50.0, sqrt(MathLib::sqrDist(*res, search_pnt)), std::numeric_limits<double>::epsilon());
// search point (0.5,1,1) is outside of the point set
search_pnt[0] = 0.5;
res = grid->getNearestPoint(search_pnt);
ASSERT_EQ(j_max*k_max*(i_max/2 + 1) - 1, res->getID());
ASSERT_NEAR(sqrt(2.0)/50.0, sqrt(MathLib::sqrDist(*res, search_pnt)), std::numeric_limits<double>::epsilon());
// checking only every fourth point per direction to reduce the run time of
// the test
for (std::size_t i(0); i < i_max; i=i+4) {
std::size_t offset0(i * j_max * k_max);
for (std::size_t j(0); j < j_max; j=j+4) {
std::size_t offset1(j * k_max + offset0);
for (std::size_t k(0); k < k_max; k=k+4) {
res = grid->getNearestPoint(*pnts[offset1+k]);
ASSERT_EQ(offset1+k, res->getID());
ASSERT_NEAR(sqrt(MathLib::sqrDist(*res, *pnts[offset1+k])), 0.0, std::numeric_limits<double>::epsilon());
}
}
}
delete grid;
std::for_each(pnts.begin(), pnts.end(), std::default_delete<GeoLib::Point>());
}
TEST(GeoLib, SearchNearestPointsInDenseGrid)
{
const std::size_t i_max(50), j_max(50), k_max(50);
std::vector<GeoLib::PointWithID*> pnts(i_max*j_max*k_max);
// fill the vector with equi-distant points in the
// cube [0,(i_max-1)/i_max] x [0,(j_max-1)/j_max] x [0,(k_max-1)/k_max]
for (std::size_t i(0); i < i_max; i++) {
std::size_t offset0(i * j_max * k_max);
for (std::size_t j(0); j < j_max; j++) {
std::size_t offset1(j * k_max + offset0);
for (std::size_t k(0); k < k_max; k++) {
pnts[offset1 + k] = new GeoLib::PointWithID(static_cast<double>(i) / i_max,
static_cast<double>(j) / j_max, static_cast<double>(k) / k_max, offset1+k);
}
}
}
// create the grid
GeoLib::Grid<GeoLib::PointWithID>* grid(nullptr);
ASSERT_NO_THROW(grid = new GeoLib::Grid<GeoLib::PointWithID> (pnts.begin(), pnts.end()));
// search point (1,1,1) is outside of the point set
GeoLib::PointWithID search_pnt(1,1,1, 0);
GeoLib::PointWithID* res(grid->getNearestPoint(search_pnt.getCoords()));
ASSERT_EQ(res->getID(), i_max*j_max*k_max-1);
ASSERT_NEAR(sqrt(MathLib::sqrDist(*res, search_pnt)), sqrt(3.0)/50.0, std::numeric_limits<double>::epsilon());
// search point (0,1,1) is outside of the point set
search_pnt[0] = 0;
res = grid->getNearestPoint(search_pnt.getCoords());
ASSERT_EQ(res->getID(), j_max*k_max - 1);
ASSERT_NEAR(sqrt(MathLib::sqrDist(*res, search_pnt)), sqrt(2.0)/50.0, std::numeric_limits<double>::epsilon());
// search point (0.5,1,1) is outside of the point set
search_pnt[0] = 0.5;
res = grid->getNearestPoint(search_pnt.getCoords());
ASSERT_EQ(res->getID(), j_max*k_max*(i_max/2 + 1) - 1);
ASSERT_NEAR(sqrt(MathLib::sqrDist(*res, search_pnt)), sqrt(2.0)/50.0, std::numeric_limits<double>::epsilon());
for (std::size_t i(0); i < i_max; i++) {
std::size_t offset0(i * j_max * k_max);
for (std::size_t j(0); j < j_max; j++) {
std::size_t offset1(j * k_max + offset0);
for (std::size_t k(0); k < k_max; k++) {
res = grid->getNearestPoint(pnts[offset1+k]->getCoords());
ASSERT_EQ(res->getID(), offset1+k);
ASSERT_NEAR(sqrt(MathLib::sqrDist(*res, *pnts[offset1+k])), 0.0, std::numeric_limits<double>::epsilon());
}
}
}
delete grid;
std::for_each(pnts.begin(), pnts.end(), std::default_delete<GeoLib::PointWithID>());
}
float SAHer::Objective(const cv::Rect &roi) {
float wg = .98, wt = 1 - wg;
int blur_range = 11;
cv::Point lu(std::max(0, roi.x - 2*blur_range), std::max(0, roi.y - 2*blur_range)), rd(std::min(w_, roi.x + roi.width + 2*blur_range), std::min(h_, roi.y + roi.height + 2*blur_range));
cv::Point offset1(blur_range, blur_range);
if ( roi.x - blur_range < 0) {
offset1.x = 0;
} else if (roi.x - blur_range*2 < 0) {
offset1.x = roi.x - blur_range;
}
if ( roi.y - blur_range < 0) {
offset1.y = 0;
} else if (roi.y - blur_range*2 < 0) {
offset1.y = roi.y - blur_range;
}
cv::Rect new_roi(lu, rd);
cv::Mat src_roi = src_image_(new_roi), halftone_roi = halftone_image_(new_roi);
cv::Rect sub_roi = cv::Rect(offset1.x, offset1.y, std::min(roi.width + 2*blur_range, new_roi.width - offset1.x), std::min(roi.height + 2*blur_range, new_roi.height - offset1.y));
//info() << "begin" << roi.x << roi.y << roi.width << roi.height << offset1.x << offset1.y << new_roi.x << new_roi.y << new_roi.width << new_roi.height;
cv::Mat ssim_map = ssim(src_roi, halftone_roi)(sub_roi);
//info () << "end";
float mean_ssim = float(cv::mean(ssim_map)[0]);
cv::Mat gI, gH, se;
cv::GaussianBlur(src_roi, gI, cv::Size(blur_range, blur_range), 0);
cv::GaussianBlur(halftone_roi, gH, cv::Size(blur_range, blur_range), 0);
cv::subtract(gI(sub_roi), gH(sub_roi), se);
cv::multiply(se, se, se);
float gaussian_diff = float(cv::mean(se)[0]);
return wg*gaussian_diff + wt*(1.f - mean_ssim);
}
TEST_F(DisplayItemPropertyTreeBuilderTest, Nested2DTranslation)
{
FloatSize offset1(10, -40);
TransformationMatrix translation1;
translation1.translate(offset1.width(), offset1.height());
FloatSize offset2(80, 80);
TransformationMatrix translation2;
translation2.translate(offset2.width(), offset2.height());
// These drawings should share a transform node but have different range
// record offsets.
processDummyDisplayItem();
auto transform1 = processBeginTransform3D(translation1);
processDummyDisplayItem();
auto transform2 = processBeginTransform3D(translation2);
processDummyDisplayItem();
processEndTransform3D(transform2);
processEndTransform3D(transform1);
finishPropertyTrees();
// There should only be a root transform node.
ASSERT_EQ(1u, transformTree().nodeCount());
EXPECT_TRUE(transformTree().nodeAt(0).isRoot());
// Check that the range records have the right offsets.
EXPECT_THAT(rangeRecordsAsStdVector(), ElementsAre(
AllOf(hasRange(0, 1), hasTransformNode(0), hasOffset(FloatSize())),
AllOf(hasRange(2, 3), hasTransformNode(0), hasOffset(offset1)),
AllOf(hasRange(4, 5), hasTransformNode(0), hasOffset(offset1 + offset2))));
}
void qxgeditScale::setOffset1 ( unsigned short iOffset1 )
{
if (m_iOffset1 != iOffset1) {
m_iOffset1 = iOffset1;
update();
emit offset1Changed(offset1());
}
}
void CPlayerStateSwim_WaterTestProxy::DebugDraw(const CPlayer& player, const Vec3& referencePosition)
{
// DEBUG RENDERING
const SPlayerStats& stats = *player.GetActorStats();
const bool debugSwimming = (g_pGameCVars->cl_debugSwimming != 0);
if (debugSwimming && (m_playerWaterLevel > -10.0f) && (m_playerWaterLevel < 10.0f))
{
const Vec3 surfacePosition(referencePosition.x, referencePosition.y, m_waterLevel);
const Vec3 vRight(player.GetBaseQuat().GetColumn0());
const static ColorF referenceColor(1,1,1,1);
const static ColorF surfaceColor1(0,0.5f,1,1);
const static ColorF surfaceColor0(0,0,0.5f,0);
const static ColorF bottomColor(0,0.5f,0,1);
gEnv->pRenderer->GetIRenderAuxGeom()->DrawSphere(referencePosition, 0.1f, referenceColor);
gEnv->pRenderer->GetIRenderAuxGeom()->DrawLine(referencePosition, surfaceColor1, surfacePosition, surfaceColor1, 2.0f);
gEnv->pRenderer->GetIRenderAuxGeom()->DrawSphere(surfacePosition, 0.2f, surfaceColor1);
gEnv->pRenderer->DrawLabel(referencePosition + vRight * 0.5f, 1.5f, "WaterLevel %3.2f (Head underwater: %d)", m_playerWaterLevel, m_headUnderwater ? 1 : 0);
const static int lines = 16;
const static float radius0 = 0.5f;
const static float radius1 = 1.0f;
const static float radius2 = 2.0f;
for (int i = 0; i < lines; ++i)
{
float radians = ((float)i / (float)lines) * gf_PI2;
Vec3 offset0(radius0 * cos_tpl(radians), radius0 * sin_tpl(radians), 0);
Vec3 offset1(radius1 * cos_tpl(radians), radius1 * sin_tpl(radians), 0);
Vec3 offset2(radius2 * cos_tpl(radians), radius2 * sin_tpl(radians), 0);
gEnv->pRenderer->GetIRenderAuxGeom()->DrawLine(surfacePosition+offset0, surfaceColor0, surfacePosition+offset1, surfaceColor1, 2.0f);
gEnv->pRenderer->GetIRenderAuxGeom()->DrawLine(surfacePosition+offset1, surfaceColor1, surfacePosition+offset2, surfaceColor0, 2.0f);
}
if (m_bottomLevel > 0.0f)
{
const Vec3 bottomPosition(referencePosition.x, referencePosition.y, m_bottomLevel);
gEnv->pRenderer->GetIRenderAuxGeom()->DrawLine(referencePosition, bottomColor, bottomPosition, bottomColor, 2.0f);
gEnv->pRenderer->GetIRenderAuxGeom()->DrawSphere(bottomPosition, 0.2f, bottomColor);
gEnv->pRenderer->DrawLabel(bottomPosition + Vec3(0,0,0.5f) - vRight * 0.5f, 1.5f, "BottomDepth %3.3f", m_waterLevel - m_bottomLevel);
}
}
}
TEST(GeoLib, InsertManyPointsInGrid)
{
const std::size_t i_max(100), j_max(100), k_max(100);
std::vector<GeoLib::Point*> pnts(i_max*j_max*k_max);
// fill the vector with points
for (std::size_t i(0); i < i_max; i++) {
std::size_t offset0(i * j_max * k_max);
for (std::size_t j(0); j < j_max; j++) {
std::size_t offset1(j * k_max + offset0);
for (std::size_t k(0); k < k_max; k++) {
pnts[offset1 + k] = new GeoLib::Point(static_cast<double>(i) / i_max,
static_cast<double>(j) / j_max, static_cast<double>(k) / k_max);
}
}
}
ASSERT_NO_THROW(GeoLib::Grid<GeoLib::Point> grid(pnts.begin(), pnts.end()));
}
void Diagcat::evaluateMX(const MXPtrV& input, MXPtrV& output, const MXPtrVV& fwdSeed,
MXPtrVV& fwdSens, const MXPtrVV& adjSeed, MXPtrVV& adjSens,
bool output_given) {
int nfwd = fwdSens.size();
int nadj = adjSeed.size();
// Non-differentiated output
if (!output_given) {
*output[0] = diagcat(getVector(input));
}
// Forward sensitivities
for (int d = 0; d<nfwd; ++d) {
*fwdSens[d][0] = diagcat(getVector(fwdSeed[d]));
}
// Quick return?
if (nadj==0) return;
// Get offsets for each row and column
vector<int> offset1(ndep()+1, 0);
vector<int> offset2(ndep()+1, 0);
for (int i=0; i<ndep(); ++i) {
int ncol = dep(i).sparsity().size2();
int nrow = dep(i).sparsity().size1();
offset2[i+1] = offset2[i] + ncol;
offset1[i+1] = offset1[i] + nrow;
}
// Adjoint sensitivities
for (int d=0; d<nadj; ++d) {
MX& aseed = *adjSeed[d][0];
vector<MX> s = diagsplit(aseed, offset1, offset2);
aseed = MX();
for (int i=0; i<ndep(); ++i) {
adjSens[d][i]->addToSum(s[i]);
}
}
}
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
} */
}
//---------------------------------------------------------------------
void PlayPen_testPoseAnimationWithoutNormals::setupContent()
{
mSceneMgr->setAmbientLight(ColourValue(0.5, 0.5, 0.5));
Vector3 dir(-1, -1, 0.5);
dir.normalise();
Light* l = mSceneMgr->createLight("light1");
l->setType(Light::LT_DIRECTIONAL);
l->setDirection(dir);
MeshPtr mesh = MeshManager::getSingleton().load("cube.mesh",
ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
String newName = "testposenonormals.mesh";
mesh = mesh->clone(newName);
SubMesh* sm = mesh->getSubMesh(0);
// Re-organise geometry since this mesh has no animation and all
// vertex elements are packed into one buffer
VertexDeclaration* newDecl =
sm->vertexData->vertexDeclaration->getAutoOrganisedDeclaration(false, true, false);
sm->vertexData->reorganiseBuffers(newDecl);
// create 2 poses
Pose* pose = mesh->createPose(1, "pose1");
// Pose1 moves vertices 0, 1, 2 and 3 upward
Vector3 offset1(0, 50, 0);
pose->addVertex(0, offset1);
pose->addVertex(1, offset1);
pose->addVertex(2, offset1);
pose->addVertex(3, offset1);
pose = mesh->createPose(1, "pose2");
// Pose2 moves vertices 3, 4, and 5 to the right
// Note 3 gets affected by both
Vector3 offset2(100, 0, 0);
pose->addVertex(3, offset2);
pose->addVertex(4, offset2);
pose->addVertex(5, offset2);
Animation* anim = mesh->createAnimation("poseanim", 20.0f);
VertexAnimationTrack* vt = anim->createVertexTrack(1, sm->vertexData, VAT_POSE);
// Frame 0 - no effect
VertexPoseKeyFrame* kf = vt->createVertexPoseKeyFrame(0);
// Frame 1 - bring in pose 1 (index 0)
kf = vt->createVertexPoseKeyFrame(3);
kf->addPoseReference(0, 1.0f);
// Frame 2 - remove all
kf = vt->createVertexPoseKeyFrame(6);
// Frame 3 - bring in pose 2 (index 1)
kf = vt->createVertexPoseKeyFrame(9);
kf->addPoseReference(1, 1.0f);
// Frame 4 - remove all
kf = vt->createVertexPoseKeyFrame(12);
// Frame 5 - bring in pose 1 at 50%, pose 2 at 100%
kf = vt->createVertexPoseKeyFrame(15);
kf->addPoseReference(0, 0.5f);
kf->addPoseReference(1, 1.0f);
// Frame 6 - bring in pose 1 at 100%, pose 2 at 50%
kf = vt->createVertexPoseKeyFrame(18);
kf->addPoseReference(0, 1.0f);
kf->addPoseReference(1, 0.5f);
// Frame 7 - reset
kf = vt->createVertexPoseKeyFrame(20);
// Export the mesh
DataStreamPtr stream = Root::getSingleton().createFileStream(newName, ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, true);
MeshSerializer ser;
ser.exportMesh(mesh.get(), stream);
stream->close();
// Unload old mesh to force reload
MeshManager::getSingleton().remove(mesh->getHandle());
mesh->unload();
mesh.setNull();
Entity* e;
AnimationState* animState;
// software pose
e = mSceneMgr->createEntity("test2", newName);
mSceneMgr->getRootSceneNode()->createChildSceneNode(Vector3(150,0,0))->attachObject(e);
animState = e->getAnimationState("poseanim");
animState->setEnabled(true);
animState->setWeight(1.0f);
mAnimStateList.push_back(animState);
// test hardware pose
e = mSceneMgr->createEntity("test", newName);
mSceneMgr->getRootSceneNode()->createChildSceneNode()->attachObject(e);
e->setMaterialName("Examples/HardwarePoseAnimation");
animState = e->getAnimationState("poseanim");
animState->setEnabled(true);
animState->setWeight(1.0f);
mAnimStateList.push_back(animState);
mCamera->setNearClipDistance(0.5);
Plane plane;
plane.normal = Vector3::UNIT_Y;
plane.d = 200;
MeshManager::getSingleton().createPlane("Myplane",
ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, plane,
1500,1500,10,10,true,1,5,5,Vector3::UNIT_Z);
Entity* pPlaneEnt = mSceneMgr->createEntity( "plane", "Myplane" );
pPlaneEnt->setMaterialName("2 - Default");
pPlaneEnt->setCastShadows(false);
mSceneMgr->getRootSceneNode()->createChildSceneNode()->attachObject(pPlaneEnt);
mCamera->setPosition(0,-200,-300);
mCamera->lookAt(0,0,0);
}
// 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();
}
