void updateScene()
{
GLfloat xDelta, zDelta;
GLfloat rotation;
GLfloat sin_steering, cos_steering;
if (-INC_SPEED < speed && speed < INC_SPEED) return;
if(speed < 0.0f)
pedalAngle = speed = 0.0f;
xDelta = speed*cos(radians(direction + steering));
zDelta = speed*sin(radians(direction + steering));
xpos += xDelta;
zpos -= zDelta;
pedalAngle = degrees(angleSum(radians(pedalAngle), speed/RADIUS_WHEEL));
sin_steering = sin(radians(steering));
cos_steering = cos(radians(steering));
rotation = atan2(speed * sin_steering, CYCLE_LENGTH + speed * cos_steering);
direction = degrees(angleSum(radians(direction),rotation));
}
bool AngleTableModel::setData(const QModelIndex &index,
const QVariant &value, int role)
{
DEBUG_FUNC_NAME
int row = index.row();
int column = index.column();
int numAngles = angles_->count();
if (!index.isValid()
|| (role != Qt::EditRole && role != Qt::CheckStateRole)
|| row < 0
|| row >= numAngles
|| column < 0
|| column >= MaxColumns)
{
qDebug() << "setData init tests failed";
return false;
}
qDebug() << "setData init tests passed";
AngleItem item = angles_->value(row);
int nextRow = (row + 1) % numAngles;
AngleItem nextItem = angles_->value(nextRow);
if (role == Qt::EditRole)
{
qDebug() << "EditRole";
switch (column)
{
case DEGREES:
{
bool ok;
double angle = value.toDouble(&ok);
double currAngle = item.angle_;
double currAngleSum = angleSum();
double followingAngle = nextItem.angle_;
qDebug() << "angle" << angle;
qDebug() << "currAngle" << currAngle;
qDebug() << "currAngleSum" << currAngleSum;
qDebug() << "followingAngle" << followingAngle;
if (angle > MaxDegrees)
angle = MaxDegrees;
if (numAngles > 1)
{
if (!ok || angle < MinDegrees)
return false;
// equal to 360 degrees
if (qFuzzyCompare(currAngleSum, MaxDegrees))
{
qDebug() << "currAngleSum" << currAngleSum;
// eat following
if (angle <= (currAngle + followingAngle))
{
qDebug() << "eat following";
nextItem.angle_ = followingAngle - (angle - currAngle);
}
// eat all following but no more
else
{
qDebug() << "eat all";
angle = currAngle + followingAngle;
nextItem.angle_ = 0.0;
}
qDebug() << "row" << row;
// set offset on first angle
if (row == (numAngles - 1))
{
qDebug() << "last row";
setOffset(offset_ + (followingAngle - nextItem.angle_));
}
}
// lesser than 360 degrees
else if (currAngleSum < MaxDegrees)
{
// fill up to 360
if (angle > (MaxDegrees - (currAngleSum - currAngle)))
{
angle = MaxDegrees - (currAngleSum - currAngle);
qDebug() << "angleSum()" << currAngleSum;
qDebug() << "max ANGLE" << angle;
}
else
{
qDebug() << "normal ANGLE" << angle;
}
}
// greater than 360 degrees
else
{
qDebug() << "angleSum()" << currAngleSum;
qDebug() << "to be prevented";
}
}
// one angle only
else
{
nextItem.angle_ = angle;
}
item.angle_ = angle;
break;
}
default: Q_ASSERT(false);
}
}
if (role == Qt::CheckStateRole)
{
qDebug() << "CheckStateRole";
switch (column)
{
case DEGREES:
{
qDebug() << "1 item.included_" << item.included_;
Qt::CheckState included = static_cast<Qt::CheckState>(value.toUInt());
item.included_ = included;
qDebug() << "2 item.included_" << item.included_;
qDebug() << "2 included" << included;
break;
}
default: Q_ASSERT(false);
}
}
angles_->replace(row, item);
angles_->replace(nextRow, nextItem);
if (!skipPruning_)
pruneEmptyRows();
emit modified();
emit dataChanged(index, index);
return true;
}
