bool ControlOverlay::on_event(Event const& e)
{
switch (e.type) {
case MOUSE_PRESS:
{
if (e.button != MOUSE_LEFT)
return false;
vec2f* point = pick_point(e.pos);
if (point != nullptr)
{
m_selected_points.insert(point);
m_prev_mouse_world_pos = m_camera->canvas2world(e.pos);
return true;
}
return false;
}
case MOUSE_RELEASE:
{
if (!m_selected_points.empty())
{
m_selected_points.clear();
m_highlighted_point = pick_point(e.pos);
}
return true;
}
case MOUSE_MOVE:
{
if (!m_selected_points.empty())
{
vec2f mouse_world_pos = m_camera->canvas2world(e.pos);
vec2f translation = mouse_world_pos - m_prev_mouse_world_pos;
for (vec2f* point : m_selected_points)
*point += translation;
m_prev_mouse_world_pos = mouse_world_pos;
return true;
}
else
{
vec2f* point = pick_point(e.pos);
if (point != m_highlighted_point)
{
m_highlighted_point = point;
return true;
// invalidate(); TODO
}
return false;
}
}
default:
{
return false;
}}
}
vector<bool> OnePoint::do_crossover(Chromosome& c1, Chromosome& c2) {
vector<bool> crossed(flm_conf.chromosome_length, false);
// swap tails
for (int i = pick_point(); i < flm_conf.chromosome_length; i++) {
swap(c1[i], c2[i]);
crossed[i] = true;
}
return crossed;
}
int QilexDoc::doc_insert_kinematic_chain(Rchain *kineengine, SoSeparator *kinechain)
{
int error = 0;
int i;
SbVec3f joinax;
float joinangle;
SbName joints[] = {"joint1", "joint2", "joint3", "joint4","joint5", "joint6",
"joint7", "joint8", "joint9", "joint10","joint11", "joint12",
"joint13", "joint14", "joint15", "joint16","joint17", "joint18",
"joint19", "joint20", "joint21", "joint22","joint23", "joint24", };
SoEngineList compR(kineengine->dof);
SoNodeList Rots(kineengine->dof);
SoSearchAction lookingforjoints;
SoTransform *pjoint = new SoTransform;
// Identifie the rotations and assing the job
i = 0;
while (i < kineengine->dof && error == 0)
{
lookingforjoints.setName(joints[i]);
lookingforjoints.setType(SoTransform::getClassTypeId());
lookingforjoints.setInterest(SoSearchAction::FIRST);
lookingforjoints.apply(kinechain);
// assert(lookingforjoints.getPath() != NULL);
SoNode * pnode = lookingforjoints.getPath()->getTail();;
pjoint = (SoTransform *) pnode;
if(NULL != pjoint)
{
Rots.append((SoTransform *) pjoint);
compR.append(new SoQtComposeRotation);
// cal comprobar si l'articulació es de rotació o translació: arreglar...
((SoTransform *) Rots[i])->rotation.getValue(joinax, joinangle);
((SoQtComposeRotation *) compR[i])->axis.setValue(joinax);
((SoTransform *) Rots[i])->rotation.connectFrom(&((SoQtComposeRotation *) compR[i])->rotation);
}
else
{
error = 5; // not a valid Model3d file
}
i++ ;
}
if (error == 0)
{
SoSeparator *axisworld = new SoSeparator;
axisworld->unrefNoDelete();
SoCoordinateAxis *AxisW = new SoCoordinateAxis();
AxisW->fNDivision = 1;
AxisW->fDivisionLength = 200;
axisworld->addChild(AxisW);
//kinechain->insertChild(AxisW,1);
view->addNoColObject(axisworld);
/* lookingforjoints.setName("tool");
lookingforjoints.setType(SoSeparator::getClassTypeId());
lookingforjoints.setInterest(SoSearchAction::FIRST);
lookingforjoints.apply(kinechain);
if(lookingforjoints.getPath() != NULL)
{
SoNode * pnode = lookingforjoints.getPath()->getTail();;
SoCoordinateAxis *AxisT = new SoCoordinateAxis();
AxisT->fNDivision = 1;
AxisT->fDivisionLength = 200;
SoSeparator *axistool = new SoSeparator;
axistool->ref();
axistool = (SoSeparator *) pnode;
axistool->addChild(AxisT);
view->addNoColObject(axistool);
}
*/
panel_control *panel = new panel_control(0, "Panel", kineengine);
for (int i = 0; i < kineengine->dof; i++)
{
// connect(panel->ldial[i], SIGNAL(valueChange(double)),((SoQtComposeRotation *) compR[i]), SLOT(setValue_angle(double)));
connect(panel->ldial[i], SIGNAL(valueChange(double)),&panel->kinechain->list_plug[i], SLOT(setValue(double)));
connect(&panel->kinechain->list_plug[i], SIGNAL(valueChanged(double)),((SoQtComposeRotation *) compR[i]), SLOT(setValue_angle(double)));
connect(&panel->kinechain->list_plug[i], SIGNAL(valueChanged(double)),panel->ldial[i], SLOT(setValue(double)));
}
view->addRobotCell(kinechain);
panel->show();
panel->update_limits();
//panel->kinechain->setconsole_mode(true); Ja estava comentada
panel->kinechain->setconsole_mode(false);
panel->kinechain->do_ready();
connect(view, SIGNAL(pick_point(Rhmatrix)),panel, SLOT(move_pickpoint(Rhmatrix )));
//panel->kinechain->setconsole_mode(false); Ja estava comentada
}
pair<int, int> Crossover::pick_range(int _max /*= 1000*/) {
int i1 = pick_point(_max), i2 = pick_point(_max);
while (i1 == i2)
i2 = pick_point(_max);
return make_pair(min(i1, i2), max(i1, i2));
}
