Recursive body

src/creatureviewer/main_cw.cpp

@@ -101,6 +101,7 @@ int main(int argc, char *argv[])
     cw.showMaximized();
     splash.finish(&cw);
 
+
     // DOESN'T WORK ?!?
     // First launch
     QSettings mySettings;

src/genecraft/apps/genecraft/creatureviewer/ui/creatureviewerwindow.cpp

@@ -265,7 +265,7 @@ void CreatureViewerWindow::init() {
     // ------------------
 
     // Welcome
-    WelcomeWidget *welcomeWidget = new WelcomeWidget();
+    WelcomeWidget *welcomeWidget = new WelcomeWidget(this);
     welcomeWidget->setMaximumSize(400, 166725);
     ui->dwWelcome->setWidget(welcomeWidget);
 
@@ -292,9 +292,10 @@ void CreatureViewerWindow::init() {
     bonePropertiesController = new BonePropertiesController();
     bonePropertiesController->connectToInspectorInputManager(cvim);
     ui->dwBone->setWidget(bonePropertiesController);
+    simulationManager->addGraphicalWidget(bonePropertiesController);
 
     // Stats
-    statsPropertiesController = new StatisticsPropertiesController();
+    statsPropertiesController = new StatisticsPropertiesController(this);
     ui->dwStats->setWidget(statsPropertiesController);
     statsPropertiesController->connectToInspectorInputManager(cvim);
 
@@ -360,7 +361,6 @@ void CreatureViewerWindow::init() {
     //entitySpawner->start();
     connect(entitySpawner, SIGNAL(timeout()), this, SLOT(spawnNew()));
 
-
     switchToWelcomeMode();
 }
 

src/genecraft/core/engines/bullet/shapes/btbone.cpp

@@ -94,6 +94,7 @@ void btBone::init(btScalar length,
 
     this->rigidBody = new btRigidBody(mass,motionState,shape,localInertia);
     this->rigidBody->setFriction(friction);
+    this->rigidBody->setActivationState(DISABLE_DEACTIVATION);
 }
 
 void btBone::setup()

src/genecraft/core/engines/bullet/shapes/btbox.cpp

@@ -47,10 +47,6 @@ void btBox::init(btVector3 size, const btTransform &transform, const btScalar de
 
     btScalar friction = 0.9;
 
-    qDebug() << transform.getOrigin().x();
-    qDebug() << transform.getOrigin().y();
-    qDebug() << transform.getOrigin().z();
-
     // shape
     this->shape = new btBoxShape(btVector3(size.x()/2.0,size.y()/2.0,size.z()/2.0));
     this->motionState = new btDefaultMotionState(transform);

src/genecraft/core/engines/simulationmanager.cpp

@@ -114,6 +114,7 @@ namespace GeneCraftCore {
 
         if(fitness)
             fitness->step();
+
     }
 
     void SimulationManager::renderUpdate() {
@@ -132,6 +133,12 @@ namespace GeneCraftCore {
         this->eventsManager->afterStep();
         //this->translationEngine->afterStep();
         this->renderEngine->afterStep();
+
+        // Update some graphical widgets
+        foreach(GraphicalWidget* wi, graphWidgets) {
+            wi->step();
+        }
+
     }
 
     void SimulationManager::setPhysicsFreq(int stepBySec) {
@@ -140,5 +147,9 @@ namespace GeneCraftCore {
             stepBySec = 1;
         this->stepTimer->setInterval(1000/stepBySec);
     }
+
+    void SimulationManager::addGraphicalWidget(GraphicalWidget *widget) {
+        this->graphWidgets.append(widget);
+    }
 }
 

src/genecraft/core/engines/simulationmanager.h

@@ -22,11 +22,13 @@ along with Genecraft-Project.  If not, see <http://www.gnu.org/licenses/>.
 
 #include "genecraftcoreclasses.h"
 #include "widgets/plot/fitnessplot.h"
+#include "widgets/graphicalwidget.h"
 #include <QObject>
 #include <QMap>
 
 #include <QTimer>
 #include <QTime>
+#include <QMutex>
 
 namespace GeneCraftCore {
 
@@ -40,6 +42,7 @@ namespace GeneCraftCore {
         SimulationManager(QMap<QString, Engine*>, QObject *parent = 0);
 
         void addEngine(QString name, Engine *engine);
+        void addGraphicalWidget(GraphicalWidget* widget);
         void removeEngine(QString name);
 
         inline int getPhysicsFreq()
@@ -72,6 +75,8 @@ namespace GeneCraftCore {
         Engine* translationEngine;
         Engine* eventsManager;
 
+        QList<GraphicalWidget*> graphWidgets;
+
         // Execution timer
         int nbSteps;
         int stepBySec;

src/genecraft/core/engines/terrain/terrain.cpp

@@ -108,6 +108,9 @@ namespace GeneCraftCore {
                         break;
                     }
 
+                    if(x == 0 && z == 0)
+                        y = 1;
+
                     btVector3 size(terrain->width, terrain->height + terrain->randomHeight, terrain->width);
 
                     btVector3 pos(x*terrain->width,
@@ -180,6 +183,7 @@ namespace GeneCraftCore {
 
     void Terrain::removeTerrain(TerrainData* terrain) {
         this->terrains.removeAll(terrain);
+        qDeleteAll(terrain->blocs);
         delete terrain;
     }
 }

src/genecraft/core/entities/body/bone.cpp

@@ -50,6 +50,7 @@ Bone::Bone(btShapesFactory *shapesFactory, btScalar yAxis, btScalar zAxis, btSca
     : QObject(), yAxis(yAxis), zAxis(zAxis), parentFix(NULL), motorsEffector(NULL)
 {
 
+
     motorModifierData = QVariant();
     parentCt = 0;
     body         = shapesFactory->createBone(length, radius, endFixRadius, initTransform);
@@ -63,6 +64,9 @@ Bone::Bone(btShapesFactory *shapesFactory, btScalar yAxis, btScalar zAxis, btSca
     endFix      = new Fixation(shapesFactory, rigidBody, endFixRadius, endTransform, this);
 
     this->shapesFactory = shapesFactory;
+    this->ref = NULL;
+    this->sym = NULL;
+    this->rec = NULL;
 }
 
 Bone::~Bone()
@@ -76,13 +80,6 @@ Bone::~Bone()
 }
 
 void Bone::remove() {
-
-//    do it out of here, else bones are remove from fix and can't be deleted because we lose the pointer...
-//    if(parentFix != NULL) {
-//        parentFix->removeBone(this);
-//        parentFix = NULL;
-//    }
-
     endFix->remove();
     entity->removeLinksToEffector(this->motorsEffector);
     disconnectMotor(0);
@@ -233,7 +230,28 @@ void Bone::connectMotor(int i)
 // ----------------------
 
 void Bone::setyAxis(btScalar yAxis) {
+
+    // Apply this to all referees
+    foreach(Bone* b, this->referees) {
+        b->setyAxis(yAxis);
+    }
+
+    // Do the local modification
+    QVariantMap localOrientation;
+    localOrientation["y"] = yAxis;
+    localOrientation["z"] = zAxis;
+
+    QVariantMap boneMap;
+    boneMap["endFix"] = QVariantMap(); // don't care
+    boneMap["localRotation"] = localOrientation;
+
+    foreach(GenomeModifier* modifier, this->usedModifiers) {
+        boneMap = modifier->modify(boneMap).toMap();
+    }
+
+    yAxis = boneMap["localRotation"].toMap()["y"].toFloat();
     this->yAxis = yAxis;
+
     btQuaternion local1;
     local1.setRotation(btVector3(0, 1, 0), yAxis);
     btQuaternion local2;
@@ -244,6 +262,30 @@ void Bone::setyAxis(btScalar yAxis) {
 }
 
 void Bone::setZAxis(btScalar zAxis) {
+    // Apply this to all referees
+    foreach(Bone* b, this->referees) {
+        b->setZAxis(zAxis);
+    }
+
+    // Do the local modification
+    QVariantMap localOrientation;
+    localOrientation["y"] = yAxis;
+    localOrientation["z"] = zAxis;
+
+    QVariantMap boneMap;
+    QVariantMap endMap;
+    endMap["radius"] = 0; // don't care
+    boneMap["endFix"] = endMap;
+    boneMap["localRotation"] = localOrientation;
+
+    foreach(GenomeModifier* modifier, this->usedModifiers) {
+        boneMap = modifier->modify(boneMap).toMap();
+    }
+
+    zAxis = boneMap["localRotation"].toMap()["z"].toFloat();
+    this->zAxis = zAxis;
+
+
     this->zAxis = zAxis;
     btQuaternion local1;
     local1.setRotation(btVector3(0, 1, 0), yAxis);
@@ -390,6 +432,25 @@ void Bone::setSelected(bool selected)
 
 void Bone::setSize(btScalar radius, btScalar length)
 {
+    foreach(Bone* referee, referees) {
+        referee->setSize(radius, length);
+    }
+
+    // Calculate the new size
+    QVariantMap boneMap;
+    boneMap["length"] = length;
+    boneMap["radius"] = radius;
+    QVariantMap endFixMap;
+    endFixMap["radius"] = 0; // Don't care
+    boneMap["endFix"] = endFixMap;
+
+    foreach(GenomeModifier* modifier, this->usedModifiers) {
+        boneMap = modifier->modify(boneMap).toMap();
+    }
+
+    length = boneMap["length"].toFloat();
+    radius = boneMap["radius"].toFloat();
+
     btScalar oldLength  = this->getLength();
     body->setSize(radius,length);
 
@@ -405,6 +466,21 @@ void Bone::setSize(btScalar radius, btScalar length)
 
 void Bone::setEndFixationRadius(btScalar radius)
 {
+
+    // Calculate the new size
+    QVariantMap boneMap;
+    boneMap["length"] = 0; // Don't care
+    boneMap["radius"] = 0; // Don't care
+    QVariantMap endFixMap;
+    endFixMap["radius"] = radius;
+    boneMap["endFix"] = endFixMap;
+
+    foreach(GenomeModifier* modifier, this->usedModifiers) {
+        boneMap = modifier->modify(boneMap).toMap();
+    }
+
+    radius = boneMap["endFix"].toMap()["radius"].toFloat();
+
     body->setEndFixationRadius(radius);
 
     // adapt children connections

src/genecraft/core/entities/body/bone.h

@@ -21,15 +21,24 @@ along with Genecraft-Project.  If not, see <http://www.gnu.org/licenses/>.
 #define BONE_H
 
 #include <QObject>
+#include <QDebug>
 #include <QVariant>
 
 #include "genecraftcoreclasses.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
 #include "bullet/shapes/btbone.h"
 
+#include "genome/genomemodifier.h"
+
+#include "symmetry.h"
+#include "recursion.h"
+
 namespace GeneCraftCore {
 
+    class Symmetry;
+    class Recursion;
+
 class Bone : public QObject
 {
 
@@ -49,6 +58,7 @@ class Bone : public QObject
    * @param initTransform the initial position of the muscle
    */
    Bone(btShapesFactory *shapesFactory, btScalar yAxis, btScalar zAxis, btScalar radius, btScalar lenght, btScalar endFixRadius, const btTransform &initTransform);
+
    /**
     * @brief destruct and free used ressources
     *
@@ -260,6 +270,24 @@ class Bone : public QObject
     */
    void disconnectMotor(int i);
 
+   /**
+     Referent bone
+     */
+   void setRef(Bone* ref) { this->ref = ref; }
+   Bone* getRef() { return this->ref;}
+   void addReferee(Bone* referee) { this->referees.prepend(referee); }
+   QList<Bone*> getReferees() { return this->referees; }
+
+   void setModifiers(QList<GenomeModifier*> modifiers) { this->usedModifiers.append(modifiers); qDebug() << "used: " << usedModifiers.size(); }
+
+   /**
+     Special genome element
+     */
+   void       setSymmetry(Symmetry* sym) { this->sym = sym; }
+   Symmetry*  getSymmetry() { return this->sym; }
+   void       setRecursion(Recursion* rec) { this->rec = rec; }
+   Recursion* getRecursion() { return this->rec; }
+
 protected:
 
    // Shape
@@ -288,6 +316,14 @@ class Bone : public QObject
    // Shape factory
    btShapesFactory* shapesFactory; /**< TODO */
 
+   // Referent bone
+   Bone*         ref;
+   QList<Bone*>  referees;
+   QList<GenomeModifier*> usedModifiers;
+
+   Symmetry* sym;
+   Recursion* rec;
+
 };
 
 }

src/genecraft/core/entities/body/fixation.cpp

@@ -482,11 +482,4 @@ namespace GeneCraftCore {
 
         return true;
     }
-
-    // -----------
-    // -- UTILS --
-    // -----------
-//    btWorld *Fixation::getWorld() {
-//         return sphere->getWorld();
-//    }
 }

src/genecraft/core/entities/body/recursion.cpp

@@ -0,0 +1,9 @@
+#include "recursion.h"
+#include "bone.h"
+
+namespace GeneCraftCore {
+    Recursion::Recursion(QObject *parent) :
+        QObject(parent)
+    {
+    }
+}