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Minyazev r eliminate regress #48

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9a76ba0
Revert "Draft for all: Add the physical parameter settings for the ro…
MinyazevR Oct 12, 2025
ea32639
Eliminate regression
MinyazevR Oct 12, 2025
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13 changes: 4 additions & 9 deletions plugins/robots/common/twoDModel/include/twoDModel/engine/model/robotModel.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ class StartPosition;
}

namespace model {
class TwoDRobotModelParameters;

class MetricCoordinateSystem;
class Settings;
namespace physics {
Expand Down Expand Up @@ -84,7 +84,6 @@ class TWO_D_MODEL_EXPORT RobotModel : public QObject
~RobotModel();

void reinit();
void reinitMotors();
void clear();
void returnToStartMarker();

Expand All @@ -104,8 +103,6 @@ class TWO_D_MODEL_EXPORT RobotModel : public QObject
/// Returns a reference to external robot description.
robotModel::TwoDRobotModel &info() const;

QPointer<model::TwoDRobotModelParameters> parameters() const;

Q_INVOKABLE int readEncoder(const kitBase::robotModel::PortInfo &port) const;
Q_INVOKABLE void resetEncoder(const kitBase::robotModel::PortInfo &port);

Expand Down Expand Up @@ -173,14 +170,14 @@ class TWO_D_MODEL_EXPORT RobotModel : public QObject
/// Sets a physical engine. Robot recalculates its position using this engine.
void setPhysicalEngine(physics::PhysicsEngineBase &engine);

public Q_SLOTS:
public slots:
void recalculateParams();
void nextFragment();

Q_SIGNALS:
signals:
void positionChanged(const QPointF &newPosition);
void rotationChanged(qreal newRotation);
void sizeChanged(const QSizeF newSize);

void deserialized(QPointF newPosition, qreal newRotation);

/// Emitted when robot rided himself (moved on motors force, not dragged by user or smth) from one point to other.
Expand Down Expand Up @@ -229,8 +226,6 @@ public Q_SLOTS:
// Doesn't take ownership, ownership is twoDModel::model::Model.
QPointer<Settings> mSettings;
twoDModel::robotModel::TwoDRobotModel &mRobotModel;
// Takes ownership
QPointer<TwoDRobotModelParameters> mRobotModelParameters;
// Takes ownership.
QPointer<SensorsConfiguration> mSensorsConfiguration;

Expand Down
6 changes: 3 additions & 3 deletions plugins/robots/common/twoDModel/include/twoDModel/engine/model/sensorsConfiguration.h
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Expand Up @@ -42,14 +42,14 @@ class TWO_D_MODEL_EXPORT SensorsConfiguration : public QObject, public kitBase::

void setDirection(const kitBase::robotModel::PortInfo &port, qreal direction);
qreal direction(const kitBase::robotModel::PortInfo &port) const;

kitBase::robotModel::DeviceInfo type(const kitBase::robotModel::PortInfo &port) const;

void clear();

void serialize(QDomElement &robot) const;
void deserialize(const QDomElement &element);
public Q_SLOTS:
void onSizeUpdated(const QSizeF size);

signals:
/// Emitted when new device is added to configuration.
/// @param port - port where new device is added.
Expand Down Expand Up @@ -82,7 +82,7 @@ public Q_SLOTS:

QPointF defaultPosition(const kitBase::robotModel::DeviceInfo &device) const;

QSizeF mRobotSize;
const QSizeF mRobotSize;
QString mRobotId;
QHash<kitBase::robotModel::PortInfo, SensorInfo> mSensorsInfo;
QPointer<twoDModel::model::MetricCoordinateSystem> mMetricSystem;
Expand Down
142 changes: 0 additions & 142 deletions plugins/robots/common/twoDModel/include/twoDModel/engine/model/twoDModelRobotParameters.h
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This file was deleted.

28 changes: 1 addition & 27 deletions plugins/robots/common/twoDModel/include/twoDModel/robotModel/twoDRobotModel.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,15 +34,7 @@ namespace robotModel {
class TWO_D_MODEL_EXPORT TwoDRobotModel : public kitBase::robotModel::CommonRobotModel
{
Q_OBJECT
Q_PROPERTY(qreal mass READ mass)
Q_PROPERTY(qreal friction READ friction)
Q_PROPERTY(qreal restitution READ restitution)
Q_PROPERTY(qreal linearDamping READ linearDamping)
Q_PROPERTY(qreal angularDamping READ angularDamping)
Q_PROPERTY(QSizeF size READ size)
Q_PROPERTY(qreal wheelRestitution READ wheelRestitution)
Q_PROPERTY(qreal wheelFriction READ wheelFriction)
Q_PROPERTY(qreal wheelMass READ wheelMass)

public:
explicit TwoDRobotModel(const RobotModelInterface &realModel);
explicit TwoDRobotModel(const QString &robotId);
Expand Down Expand Up @@ -83,24 +75,6 @@ class TWO_D_MODEL_EXPORT TwoDRobotModel : public kitBase::robotModel::CommonRobo
/// Returns robot`s fixture friction coefficient.
virtual qreal friction() const = 0;

/// Returns robot`s fixture restitution coefficient.
virtual qreal restitution() const;

/// Returns robot`s fixture linear damping coefficient.
virtual qreal linearDamping() const;

/// Returns robot`s fixture angular damping coefficient.
virtual qreal angularDamping() const;

/// Returns the default restitution coefficient of the robot's wheel.
virtual qreal wheelRestitution() const;

/// Returns the default friction coefficient of the robot's wheel.
virtual qreal wheelFriction() const;

/// Returns the default mass of the robot's wheel.
virtual qreal wheelMass() const;

/// Returns robot`s rectangle size in pixels.
/// By default returns (50, 50).
virtual QSizeF size() const;
Expand Down
34 changes: 18 additions & 16 deletions plugins/robots/common/twoDModel/src/engine/items/ballItem.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ namespace {
constexpr int defaultBallDiameterPx = 30;
constexpr qreal ballMass = 0.015f;
constexpr qreal ballFriction = 1.0f;
constexpr qreal ballRestitution = 0.8f;
constexpr qreal ballRestituion = 0.8f;
constexpr qreal ballAngularDamping = 0.09f;
constexpr qreal ballLinearDamping = 0.09f;
}
Expand All @@ -37,7 +37,7 @@ BallItem::BallItem(graphicsUtils::AbstractCoordinateSystem *metricSystem,
, mDiameterPx(defaultBallDiameterPx)
, mMass(ballMass)
, mFriction(ballFriction)
, mRestitution(ballRestitution)
, mRestitution(ballRestituion)
, mAngularDamping(ballAngularDamping)
, mLinearDamping(ballLinearDamping)
{
Expand Down Expand Up @@ -111,10 +111,12 @@ QDomElement BallItem::serialize(QDomElement &element) const
QString::number(coordSystem->toUnit(y1() + mStartPosition.y())));
ballNode.setAttribute("rotation", QString::number(rotation()));
ballNode.setAttribute("startRotation", QString::number(mStartRotation));
SolidItem::serialize(ballNode);
if (propertyChanged(mDiameterPx, defaultBallDiameterPx)) {
ballNode.setAttribute("diameter", QString::number(coordSystem->toUnit(mDiameterPx)));
}
ballNode.setAttribute("diameter", QString::number(coordSystem->toUnit(mDiameterPx)));
ballNode.setAttribute("mass", QString::number(mMass));
ballNode.setAttribute("friction", QString::number(mFriction));
ballNode.setAttribute("restitution", QString::number(mRestitution));
ballNode.setAttribute("angularDamping", QString::number(mAngularDamping));
ballNode.setAttribute("linearDamping", QString::number(mLinearDamping));
return ballNode;
}

Expand Down Expand Up @@ -183,14 +185,14 @@ QPolygonF BallItem::collidingPolygon() const
return QPolygonF(boundingRect().adjusted(1, 1, -1, -1).translated(scenePos()));
}

qreal BallItem::angularDamping(bool getDefault) const
qreal BallItem::angularDamping() const
{
return getDefault ? ballAngularDamping : mAngularDamping;
return mAngularDamping;
}

qreal BallItem::linearDamping(bool getDefault) const
qreal BallItem::linearDamping() const
{
return getDefault ? ballLinearDamping : mLinearDamping;
return mLinearDamping;
}

QPainterPath BallItem::path() const
Expand All @@ -215,19 +217,19 @@ bool BallItem::isCircle() const
return true;
}

qreal BallItem::mass(bool getDefault) const
qreal BallItem::mass() const
{
return getDefault ? ballMass : mMass;
return mMass;
}

qreal BallItem::friction(bool getDefault) const
qreal BallItem::friction() const
{
return getDefault ? ballFriction : mFriction;
return mFriction;
}

qreal BallItem::restitution(bool getDefault) const
qreal BallItem::restitution() const
{
return getDefault ? ballRestitution : mRestitution;
return mRestitution;
}

SolidItem::BodyType BallItem::bodyType() const
Expand Down
10 changes: 5 additions & 5 deletions plugins/robots/common/twoDModel/src/engine/items/ballItem.h
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Expand Up @@ -52,13 +52,13 @@ class BallItem : public graphicsUtils::AbstractItem, public SolidItem
void returnToStartPosition();

bool isCircle() const override;
qreal mass(bool getDefault) const override;
qreal mass() const override;
BodyType bodyType() const override;
qreal friction(bool getDefault) const override;
qreal restitution(bool getDefault) const override;
qreal friction() const override;
qreal restitution() const override;
QPolygonF collidingPolygon() const override;
qreal angularDamping(bool getDefault) const override;
qreal linearDamping(bool getDefault) const override;
qreal angularDamping() const override;
qreal linearDamping() const override;
QPainterPath shape () const override;

QPainterPath path() const;
Expand Down
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