void createLeg( const dWorldID & _world ){
// read leg parameters there
lower_part.mass = 0.5;
lower_part.radius = 0.1;
lower_part.length = 0.5;
dReal lower_part_pos[3] = {0.0, 0.0, lower_part.length};
upper_part.mass = 0.5;
upper_part.radius = 0.1;
upper_part.length = 0.5;
dReal upper_part_pos[3] = {0.0, 0.0, upper_part.length + lower_part.length};
createPart(_world,lower_part, lower_part_pos);
createPart(_world,upper_part, upper_part_pos);
jointHinge = dJointCreateHinge(_world, 0); // Create a hinge joint
dJointAttach(jointHinge, lower_part.body, upper_part.body ); // Attach the joint
dJointSetHingeAnchor(jointHinge, 1.0,0.0,0.0);//anchor_x[j], anchor_y[j],anchor_z[j]);
}
KParts::Part* PartController::createPart( const KUrl & url, const QString& preferredPart )
{
kDebug() << "creating part with url" << url << "and pref part:" << preferredPart;
QString mimeType;
if ( url.isEmpty() )
//create a part for empty text file
mimeType = QString::fromLatin1("text/plain");
else if ( !url.isValid() )
return 0;
else
mimeType = KMimeType::findByUrl( url )->name();
KParts::Part* part = createPart( mimeType, preferredPart );
if( part )
{
readOnly( part ) ->openUrl( url );
return part;
}
return 0;
}
void addPart(const char *partname, const char *xml, unsigned updateFlags, StringArray &filesNotFound)
{
init();
if (!pmExisting)
{
doCreate(partname, xml, updateFlags, filesNotFound);
return;
}
createPart(partname, xml);
VStringBuffer xpath("Part[@id='%s']", partname);
IPropertyTree *existingPart = pmExisting->queryPropTree(xpath);
if (existingPart && !checkFlag(PKGADD_SEG_REPLACE))
throw MakeStringException(PKG_NAME_EXISTS, "Package Part %s already exists, remove, or specify 'delete previous'", partname);
cloneDfsInfo(updateFlags, filesNotFound);
if (existingPart)
pmExisting->removeTree(existingPart);
pmExisting->addPropTree("Part", pmPart.getClear());
}
