void MainWindow::showBodyDetails( const Creature& creature, const BodyPart& body ) {
        getUiInspector().lst_body_details->addItem(QString(
                body.getName().c_str()));
        getUiInspector().lst_body_details->addItem(QString(
                ("  Mass: " + TO_STRING(body.getMass())).c_str()));
        getUiInspector().lst_body_details->addItem(QString(
                ("  Torque: " + TO_STRING(body.getMaxTorque())).c_str()));
        getUiInspector().lst_body_details->addItem(QString(
                std::string("  Size").c_str()));
        getUiInspector().lst_body_details->addItem(QString(
                ("  [x]: " + TO_STRING(body.getSizeX())).c_str()));
        getUiInspector().lst_body_details->addItem(QString(
                ("  [y]: " + TO_STRING(body.getSizeY())).c_str()));
        getUiInspector().lst_body_details->addItem(QString(
                ("  [z]: " + TO_STRING(body.getSizeZ())).c_str()));
        //Angles

        BodyPart* parent = body.getParentId() == Creature::B_NONE
                ? NULL : &creature.getBodyPart(body.getParentId());
        if (parent) {
            getUiInspector().lst_body_details->addItem(QString(
                    ("  Parent: " + parent->getName()).c_str()));
            //            getUiInspector().lst_body_details->addItem(QString(std::string("  Angles:").c_str()));
            //            getUiInspector().lst_body_details->addItem(QString(
            //                    ("   XY:" + TO_STRING(
            //                    MathUtil::getAngle(MathUtil::XY,
            //                    parent->getRigidBody()->getCenterOfMassPosition(),
            //                    body.getRigidBody()->getCenterOfMassPosition()))).c_str()));
            //            getUiInspector().lst_body_details->addItem(QString(
            //                    ("   YZ:" + TO_STRING(
            //                    MathUtil::getAngle(MathUtil::YZ,
            //                    parent->getRigidBody()->getCenterOfMassPosition(),
            //                    body.getRigidBody()->getCenterOfMassPosition()))).c_str()));
            //            getUiInspector().lst_body_details->addItem(QString(
            //                    ("   ZX:" + TO_STRING(
            //                    MathUtil::getAngle(MathUtil::ZX,
            //                    parent->getRigidBody()->getCenterOfMassPosition(),
            //                    body.getRigidBody()->getCenterOfMassPosition()))).c_str()));
        }
    }
    void MainWindow::applyForce( eForceType type ) {
        bool play = getSimulationThread().getSimulator().isPlaying();
        if (play) {
            pause();
        }
        getSimulationThread().wait();
        getSimulationThread().getSimulator().getLock().lockForRead();
        Creature* creature = getSimulationThread().getSimulator().currentCreature();
        if (creature) {

            if (type == FT_NONE) {
                for (int i = 0; i < creature->getNumberOfBodyParts(); ++i) {
                    creature->getBodyPart(i).getRigidBody()->clearForces();
                }
                getUiInspector().sbx_force_x->setValue(0.0);
                getUiInspector().sbx_force_y->setValue(0.0);
                getUiInspector().sbx_force_z->setValue(0.0);
            } else {
                std::vector<btRigidBody*>& bodies = getRendererThread().getRenderer().getSelectedBodyParts();
                btVector3 forces(getUiInspector().sbx_force_x->value(),
                        getUiInspector().sbx_force_y->value(),
                        getUiInspector().sbx_force_z->value());

                for (std::vector<btRigidBody*>::iterator it = bodies.begin();
                        it != bodies.end(); ++it) {
                    btRigidBody* rigid_body = *it;
                    BodyPart* body = NULL;
                    for (int i = 0; i < creature->getNumberOfBodyParts(); ++i) {
                        if (creature->getBodyPart(i).getRigidBody() == rigid_body) {
                            body = &creature->getBodyPart(i);
                            break;
                        }
                    }
                    assert(body);
                    rigid_body->activate(true);
                    switch (type) {
                        case FT_CENTRAL_FORCE: rigid_body->applyCentralForce(forces);
                            break;
                        case FT_CENTRAL_TORQUE: rigid_body->applyTorque(forces);
                            break;
                        case FT_IMPULSE_FORCE: rigid_body->applyCentralImpulse(forces);
                            break;
                        case FT_IMPULSE_TORQUE: rigid_body->applyTorqueImpulse(forces);
                            break;
                        case FT_RELATIVE_FORCE:
                            break;
                        case FT_RELATIVE_IMPULSE:
                            rigid_body->applyImpulse(forces, btVector3(0, -body->getSizeY() / 2.0, 0));
                            break;
                        case FT_EACH_STEP:
//                            creature->setTmpValueX(forces.x());
//                            creature->setTmpValueY(forces.y());
//                            creature->setTmpValueZ(forces.z());
                            break;
                        default:
                            BDEBUG(TO_STRING(type));
                            assert(0);
                    }
                }
            }

        }
        getSimulationThread().getSimulator().getLock().unlock();
        if (play) {
            this->play();
        }
    }