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iakoviakov
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Merge pull request #1117 from iakov/me/cleanup_in_worldmodel
Just polishing
2 parents f41d638 + 473a516 commit c025344

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5 files changed

+92
-100
lines changed

5 files changed

+92
-100
lines changed

‎plugins/robots/common/twoDModel/src/engine/commands/changePropertyCommand.cpp‎

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -19,12 +19,10 @@
1919
using namespace twoDModel::commands;
2020

2121
ChangePropertyCommand::ChangePropertyCommand(const graphicsUtils::AbstractScene &scene
22-
, const model::Model &model
2322
, const QStringList &ids
2423
, const QString &property
2524
, const QVariant &value)
2625
: mScene(scene)
27-
, mModel(model)
2826
, mIds(ids)
2927
, mPropertyName(property)
3028
{

‎plugins/robots/common/twoDModel/src/engine/commands/changePropertyCommand.h‎

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -36,7 +36,7 @@ class ChangePropertyCommand : public qReal::commands::AbstractCommand
3636
{
3737
public:
3838
/// Use this overload to modify properties via models api
39-
ChangePropertyCommand(const graphicsUtils::AbstractScene &scene, const model::Model &model
39+
ChangePropertyCommand(const graphicsUtils::AbstractScene &scene
4040
, const QStringList &ids, const QString &property, const QVariant &value);
4141

4242
protected:
@@ -47,7 +47,6 @@ class ChangePropertyCommand : public qReal::commands::AbstractCommand
4747
bool setProperties(const QMap<QString, QVariant> &values);
4848

4949
const graphicsUtils::AbstractScene &mScene;
50-
const model::Model &mModel;
5150
const QStringList mIds;
5251
QString mPropertyName;
5352

‎plugins/robots/common/twoDModel/src/engine/model/model.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -293,7 +293,7 @@ void Model::initPhysics()
293293
connect(this, &model::Model::robotRemoved, mSimplePhysicsEngine, &physics::PhysicsEngineBase::removeRobot);
294294

295295
connect(&mTimeline, &Timeline::tick, this, &Model::recalculatePhysicsParams);
296-
connect(&mTimeline, &Timeline::nextFrame, this, [this](){ mRealisticPhysicsEngine->nextFrame(); });
296+
connect(&mTimeline, &Timeline::nextFrame, mRealisticPhysicsEngine, &physics::PhysicsEngineBase::nextFrame);
297297
}
298298

299299
void Model::recalculatePhysicsParams()

‎plugins/robots/common/twoDModel/src/engine/model/physics/box2DPhysicsEngine.cpp‎

Lines changed: 89 additions & 94 deletions
Original file line numberDiff line numberDiff line change
@@ -31,13 +31,6 @@
3131
#include "parts/box2DRobot.h"
3232
#include "parts/box2DItem.h"
3333

34-
//#define BOX2D_DEBUG_PATH
35-
36-
#ifdef BOX2D_DEBUG_PATH
37-
QGraphicsPathItem *debugPathBox2D = nullptr;
38-
#endif
39-
40-
4134
using namespace twoDModel::model::physics;
4235
using namespace parts;
4336
using namespace mathUtils;
@@ -236,103 +229,112 @@ void Box2DPhysicsEngine::recalculateParameters(qreal timeInterval)
236229
const int positionIterations = 6;
237230

238231
model::RobotModel * const robot = mRobots.first();
239-
if (mBox2DRobots[robot]) {
240-
b2Body *rBody = mBox2DRobots[robot]->getBody();
241-
float secondsInterval = timeInterval / 1000.0f;
232+
if (!mBox2DRobots[robot]) {
233+
return;
234+
}
235+
236+
b2Body *rBody = mBox2DRobots[robot]->getBody();
237+
float secondsInterval = timeInterval / 1000.0f;
238+
239+
if (mBox2DRobots[robot]->isStopping()){
240+
mBox2DRobots[robot]->stop();
241+
} else {
242+
// sAdpt is the speed adaptation coefficient for physics engines
243+
const int sAdpt = 10;
244+
const qreal speed1 = pxToM(wheelLinearSpeed(*robot, robot->leftWheel())) / secondsInterval * sAdpt;
245+
const qreal speed2 = pxToM(wheelLinearSpeed(*robot, robot->rightWheel())) / secondsInterval * sAdpt;
242246

243-
if (mBox2DRobots[robot]->isStopping()){
247+
if (qAbs(speed1) + qAbs(speed2) < b2_epsilon) {
244248
mBox2DRobots[robot]->stop();
245-
} else {
246-
// sAdpt is the speed adaptation coefficient for physics engines
247-
const int sAdpt = 10;
248-
const qreal speed1 = pxToM(wheelLinearSpeed(*robot, robot->leftWheel())) / secondsInterval * sAdpt;
249-
const qreal speed2 = pxToM(wheelLinearSpeed(*robot, robot->rightWheel())) / secondsInterval * sAdpt;
250-
251-
if (qAbs(speed1) + qAbs(speed2) < b2_epsilon) {
252-
mBox2DRobots[robot]->stop();
253-
mLeftWheels[robot]->stop();
254-
mRightWheels[robot]->stop();
255-
}
256-
else {
257-
mLeftWheels[robot]->keepConstantSpeed(speed1);
258-
mRightWheels[robot]->keepConstantSpeed(speed2);
259-
}
249+
mLeftWheels[robot]->stop();
250+
mRightWheels[robot]->stop();
251+
}
252+
else {
253+
mLeftWheels[robot]->keepConstantSpeed(speed1);
254+
mRightWheels[robot]->keepConstantSpeed(speed2);
260255
}
256+
}
261257

262-
mPrevPosition = rBody->GetPosition();
263-
mPrevAngle = rBody->GetAngle();
258+
mPrevPosition = rBody->GetPosition();
259+
mPrevAngle = rBody->GetAngle();
264260

265-
mWorld->Step(secondsInterval, velocityIterations, positionIterations);
261+
mWorld->Step(secondsInterval, velocityIterations, positionIterations);
266262

267-
#ifdef BOX2D_DEBUG_PATH
268-
delete debugPathBox2D;
269-
QPainterPath path;
263+
static volatile auto sThisFlagHelpsToAvoidClangError = true;
264+
if ("If you want debug BOX2D, fix this expression to be false" && sThisFlagHelpsToAvoidClangError) {
265+
return;
266+
}
270267

271-
for(QGraphicsItem *item : mBox2DDynamicItems.keys()) {
272-
if (auto solidItem = dynamic_cast<items::SolidItem *>(item)) {
273-
QPolygonF localCollidingPolygon = solidItem->collidingPolygon();
274-
qreal lsceneAngle = angleToScene(mBox2DDynamicItems[item]->getRotation());
275-
QMatrix m;
276-
m.rotate(lsceneAngle);
268+
QPainterPath path;
277269

278-
QPointF firstP = localCollidingPolygon.at(0);
279-
localCollidingPolygon.translate(-firstP.x(), -firstP.y());
270+
for(QGraphicsItem *item : mBox2DDynamicItems.keys()) {
271+
if (auto solidItem = dynamic_cast<items::SolidItem *>(item)) {
272+
QPolygonF localCollidingPolygon = solidItem->collidingPolygon();
273+
qreal lsceneAngle = angleToScene(mBox2DDynamicItems[item]->getRotation());
274+
QMatrix m;
275+
m.rotate(lsceneAngle);
280276

281-
QPainterPath lpath;
282-
lpath.addPolygon(localCollidingPolygon);
283-
QPainterPath lpathTR = m.map(lpath);
284-
lpathTR.translate(firstP.x(), firstP.y());
277+
QPointF firstP = localCollidingPolygon.at(0);
278+
localCollidingPolygon.translate(-firstP.x(), -firstP.y());
285279

286-
path.addPath(lpathTR);
287-
}
280+
QPainterPath lpath;
281+
lpath.addPolygon(localCollidingPolygon);
282+
QPainterPath lpathTR = m.map(lpath);
283+
lpathTR.translate(firstP.x(), firstP.y());
284+
285+
path.addPath(lpathTR);
288286
}
287+
}
289288

290-
qreal angleRobot= angleToScene(mBox2DRobots[robot]->getBody()->GetAngle());
291-
QPointF posRobot = positionToScene(mBox2DRobots[robot]->getBody()->GetPosition());
292-
QGraphicsRectItem *rect1 = new QGraphicsRectItem(-25, -25, 60, 50);
293-
QGraphicsRectItem *rect2 = new QGraphicsRectItem(-10, -6, 20, 10);
294-
QGraphicsRectItem *rect3 = new QGraphicsRectItem(-10, -6, 20, 10);
295-
296-
rect1->setTransformOriginPoint(0, 0);
297-
rect1->setRotation(angleRobot);
298-
rect1->setPos(posRobot);
299-
rect2->setTransformOriginPoint(0, 0);
300-
rect2->setRotation(angleToScene(mBox2DRobots[robot]->getWheelAt(0)->getBody()->GetAngle()));
301-
rect2->setPos(positionToScene(mBox2DRobots[robot]->getWheelAt(0)->getBody()->GetPosition()));
302-
rect3->setTransformOriginPoint(0, 0);
303-
rect3->setRotation(angleToScene(mBox2DRobots[robot]->getWheelAt(1)->getBody()->GetAngle()));
304-
rect3->setPos(positionToScene(mBox2DRobots[robot]->getWheelAt(1)->getBody()->GetPosition()));
305-
mScene->addItem(rect1);
306-
mScene->addItem(rect2);
307-
mScene->addItem(rect3);
308-
QTimer::singleShot(20, [=](){
309-
delete rect1;
310-
delete rect2;
311-
delete rect3;
312-
});
289+
qreal angleRobot= angleToScene(mBox2DRobots[robot]->getBody()->GetAngle());
290+
QPointF posRobot = positionToScene(mBox2DRobots[robot]->getBody()->GetPosition());
291+
QGraphicsRectItem *rect1 = new QGraphicsRectItem(-25, -25, 60, 50);
292+
QGraphicsRectItem *rect2 = new QGraphicsRectItem(-10, -6, 20, 10);
293+
QGraphicsRectItem *rect3 = new QGraphicsRectItem(-10, -6, 20, 10);
294+
295+
rect1->setTransformOriginPoint(0, 0);
296+
rect1->setRotation(angleRobot);
297+
rect1->setPos(posRobot);
298+
rect2->setTransformOriginPoint(0, 0);
299+
rect2->setRotation(angleToScene(mBox2DRobots[robot]->getWheelAt(0)->getBody()->GetAngle()));
300+
rect2->setPos(positionToScene(mBox2DRobots[robot]->getWheelAt(0)->getBody()->GetPosition()));
301+
rect3->setTransformOriginPoint(0, 0);
302+
rect3->setRotation(angleToScene(mBox2DRobots[robot]->getWheelAt(1)->getBody()->GetAngle()));
303+
rect3->setPos(positionToScene(mBox2DRobots[robot]->getWheelAt(1)->getBody()->GetPosition()));
304+
mScene->addItem(rect1);
305+
mScene->addItem(rect2);
306+
mScene->addItem(rect3);
307+
QTimer::singleShot(20, [this, rect1, rect2, rect3](){
308+
for (auto &&rect: {rect1, rect2, rect3}) {
309+
mScene->removeItem(rect);
310+
delete rect;
311+
}
312+
});
313313

314314

315315
// uncomment it for watching mutual position of robot and wheels (polygon form)
316316
// path.addPolygon(mBox2DRobots[robot]->getDebuggingPolygon());
317317
// path.addPolygon(mBox2DRobots[robot]->getWheelAt(0)->mDebuggingDrawPolygon);
318318
// path.addPolygon(mBox2DRobots[robot]->getWheelAt(1)->mDebuggingDrawPolygon);
319319

320-
const QMap<const view::SensorItem *, Box2DItem *> sensors = mBox2DRobots[robot]->getSensors();
321-
for (Box2DItem * sensor : sensors.values()) {
322-
const b2Vec2 position = sensor->getBody()->GetPosition();
323-
QPointF scenePos = positionToScene(position);
324-
path.addEllipse(scenePos, 10, 10);
325-
}
326-
327-
debugPathBox2D = new QGraphicsPathItem(path);
328-
debugPathBox2D->setBrush(Qt::blue);
329-
debugPathBox2D->setPen(QPen(QColor(Qt::red)));
330-
debugPathBox2D->setZValue(101);
331-
mScene->addItem(debugPathBox2D);
332-
mScene->update();
320+
const QMap<const view::SensorItem *, Box2DItem *> sensors = mBox2DRobots[robot]->getSensors();
321+
for (Box2DItem * sensor : sensors.values()) {
322+
const b2Vec2 position = sensor->getBody()->GetPosition();
323+
QPointF scenePos = positionToScene(position);
324+
path.addEllipse(scenePos, 10, 10);
325+
}
333326

334-
#endif
327+
static QGraphicsPathItem *debugPathBox2D = nullptr;
328+
if (debugPathBox2D) {
329+
mScene->removeItem(debugPathBox2D);
330+
delete debugPathBox2D;
335331
}
332+
debugPathBox2D = new QGraphicsPathItem(path);
333+
debugPathBox2D->setBrush(Qt::blue);
334+
debugPathBox2D->setPen(QPen(QColor(Qt::red)));
335+
debugPathBox2D->setZValue(101);
336+
mScene->addItem(debugPathBox2D);
337+
mScene->update();
336338
}
337339

338340
void Box2DPhysicsEngine::wakeUp()
@@ -411,9 +413,7 @@ void Box2DPhysicsEngine::onItemDragged(graphicsUtils::AbstractItem *item)
411413
Box2DItem *box2dItem = new Box2DItem(this, wallItem, pos, angleToBox2D(item->rotation()));
412414
mBox2DResizableItems[item] = box2dItem;
413415
return;
414-
}
415-
416-
if (auto solidItem = dynamic_cast<items::SolidItem *>(item)) {
416+
} else if (auto solidItem = dynamic_cast<items::SolidItem *>(item)) {
417417
QPolygonF collidingPolygon = solidItem->collidingPolygon();
418418
if (itemTracked(item)) {
419419
if (solidItem->bodyType() == items::SolidItem::DYNAMIC) {
@@ -444,14 +444,9 @@ void Box2DPhysicsEngine::onItemDragged(graphicsUtils::AbstractItem *item)
444444

445445
void Box2DPhysicsEngine::itemRemoved(QGraphicsItem * const item)
446446
{
447-
if (mBox2DResizableItems.contains(item)) {
448-
delete mBox2DResizableItems[item];
449-
mBox2DResizableItems.remove(item);
450-
}
451-
452-
if (mBox2DDynamicItems.contains(item)) {
453-
mBox2DDynamicItems.remove(item);
454-
}
447+
delete mBox2DResizableItems.value(item);
448+
mBox2DResizableItems.remove(item);
449+
mBox2DDynamicItems.remove(item);
455450
}
456451

457452
b2World &Box2DPhysicsEngine::box2DWorld()

‎plugins/robots/common/twoDModel/src/engine/view/twoDModelWidget.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -722,7 +722,7 @@ void TwoDModelWidget::setController(ControllerInterface &controller)
722722

723723
auto setItemsProperty = [=](const QStringList &items, const QString &property, const QVariant &value) {
724724
if (mController) {
725-
mController->execute(new commands::ChangePropertyCommand(*mScene, mModel, items, property, value));
725+
mController->execute(new commands::ChangePropertyCommand(*mScene, items, property, value));
726726
}
727727
};
728728

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