void StateVisualiser::operator()() {
inputGeneralisedCoordinatesQueue_.subscribe();
model_.setUseVisualizer(true);
SimTK::State s(model_.initSystem());
SimTK::Visualizer &viz = model_.updVisualizer().updSimbodyVisualizer();
viz.setShowFrameRate(false);
viz.setShutdownWhenDestructed(true);
viz.setMode(SimTK::Visualizer::Mode::Sampling);
viz.setShutdownWhenDestructed(true);
viz.setDesiredBufferLengthInSec(5);
viz.setDesiredFrameRate(60);
ShowInfo* info = new ShowInfo();
viz.addDecorationGenerator(info);
auto start = std::chrono::system_clock::now();
int frameCounter = 0;
bool localRunCondition(true);
while (localRunCondition) {
rtosim::GeneralisedCoordinatesFrame currentCoordinatesFrame(inputGeneralisedCoordinatesQueue_.pop());
if (rtosim::EndOfData::isEod(currentCoordinatesFrame))
localRunCondition = false;
else {
rtosim::GeneralisedCoordinatesData currentCoordinates(currentCoordinatesFrame.data);
auto q(currentCoordinates.getQ());
for (unsigned i(0); i < currentCoordinates.getNCoordinates(); ++i)
s.updQ()[i] = q[i];
}
viz.report(s);
frameCounter++;
if ((std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - start)) > std::chrono::milliseconds(1000)) {
info->setText("IK FPS: " + std::to_string(frameCounter));
start = std::chrono::system_clock::now();
frameCounter = 0;
}
}
}
TabDrawMap TabSwitcherObject::tabDrawMap() const
{
TabDrawMap result;
NumberMap coordinates = currentCoordinates();
double buttonSize = Design::instance()->size(Design::GraphicButtonDefaultIconSize);
double elementSpacing = Design::instance()->size(Design::TabElementSpacing);
for (int i = 0; i < m_data.items.count(); i++)
{
TabDrawInfo item;
QUuid uid = m_data.items[i].uid;
item.index = i;
item.uid = uid;
double left = coordinates[uid];
item.tabRect = QRectF(left, rect().top(), currentTabWidth(), rect().height());
item.textRect = QRectF(item.tabRect.left() + elementSpacing, rect().top(), currentTabWidth() - buttonSize - elementSpacing*3.0, rect().height());
item.closeButtonRect = QRectF(item.tabRect.right() - buttonSize - elementSpacing, item.tabRect.center().y() - buttonSize/2.0, buttonSize, buttonSize);
item.text = m_data.items[i].label;
item.isActive = (i == m_data.currentIndex);
item.isMoving = item.isActive && m_isMovingCurrentTab;
result[uid] = item;
}
return result;
}
void PlotWidgetLevelDrawingState::treatPaintEvent(QPaintEvent */*event*/)
{
if (mPlotWidget->axisRectCount() != 0) {
int &xCurrent = mXCurrentPosition;
int &yCurrent = mYCurrentPosition;
for (int axisRectIndex = 0; axisRectIndex < mPlotWidget->axisRectCount(); ++axisRectIndex) {
QRect axisRec = mPlotWidget->axisRect(axisRectIndex)->rect();
if (((xCurrent >= axisRec.x()) && (xCurrent <= axisRec.x()+ axisRec.width()))
&& ((yCurrent >= axisRec.y()) && (yCurrent <= axisRec.y()+ axisRec.height()))) {
QPainter painter(mPlotWidget);
painter.setPen(QPen(mPlotWidget->mPlotStyle.mColorPref.mGraficalPrimitivesColor));
painter.drawLine(xCurrent, 0, xCurrent, mPlotWidget->height());
painter.drawLine(0, yCurrent, mPlotWidget->width(), yCurrent);
double xOut = mPlotWidget->axisRect(axisRectIndex)->axis(QCPAxis::atBottom)->pixelToCoord(xCurrent);
double yOut = mPlotWidget->axisRect(axisRectIndex)->axis(QCPAxis::atLeft)->pixelToCoord(yCurrent);
emit currentCoordinates(xOut, yOut);
drawTracers(painter);
break;
}
}
}
}
