/gui/CollisionSolverSettingsDialog.cpp

#include "CollisionSolverSettingsDialog.hpp"

CollisionSolverSettingsDialog::CollisionSolverSettingsDialog(QWidget *parent, Designer *d) :
        QDialog(parent)
{
    designer = d;

    setModal(true);
    setFocusPolicy(Qt::StrongFocus);
    setFocus();
    setWindowTitle(tr("Simulator Settings"));

    QGridLayout *layout = new QGridLayout;
    int i = 0;


    tauBox = new QDoubleSpinBox;
        tauBox->setDecimals(1);
        tauBox->setRange(0.0, 1.0);
        tauBox->setSingleStep(0.1);
        tauBox->setValue( this->designer->simulator->dynamicsWorld->getSolverInfo().m_tau);
    layout->addWidget(new QLabel(tr("tau")), i, 0);
    layout->addWidget(tauBox, i, 1);
    i++;

    dampingBox = new QDoubleSpinBox;
        dampingBox->setDecimals(1);
        dampingBox->setRange(0.0, 1.0);
        dampingBox->setSingleStep(0.1);
        dampingBox->setValue( this->designer->simulator->dynamicsWorld->getSolverInfo().m_damping);
    layout->addWidget(new QLabel(tr("damping")), i, 0);
    layout->addWidget(dampingBox, i, 1);
    i++;

    frictionBox = new QDoubleSpinBox;
        frictionBox->setDecimals(1);
        frictionBox->setRange(0.0, 1.0);
        frictionBox->setSingleStep(0.1);
        frictionBox->setValue( this->designer->simulator->dynamicsWorld->getSolverInfo().m_friction);
    layout->addWidget(new QLabel(tr("friction")), i, 0);
    layout->addWidget(frictionBox, i, 1);
    i++;

    timeStepBox = new QDoubleSpinBox;
        timeStepBox->setDecimals(5);
        timeStepBox->setRange(0.0, 1.0);
        timeStepBox->setSingleStep( (1.0f/60.0f) );
        timeStepBox->setValue( this->designer->simulator->dynamicsWorld->getSolverInfo().m_timeStep);
    layout->addWidget(new QLabel(tr("time step")), i, 0);
    layout->addWidget(timeStepBox, i, 1);
    i++;

    restitutionBox = new QDoubleSpinBox;
        restitutionBox->setDecimals(1);
        restitutionBox->setRange(0.0, 1.0);
        restitutionBox->setSingleStep(0.1);
        restitutionBox->setValue( this->designer->simulator->dynamicsWorld->getSolverInfo().m_restitution);
    layout->addWidget(new QLabel(tr("restitution")), i, 0);
    layout->addWidget(restitutionBox, i, 1);
    i++;

    numIterationsBox = new QDoubleSpinBox;
        numIterationsBox->setDecimals(0);
        numIterationsBox->setRange(0.0, 100.0);
        numIterationsBox->setSingleStep(1.0);
        numIterationsBox->setValue( this->designer->simulator->dynamicsWorld->getSolverInfo().m_numIterations);
    layout->addWidget(new QLabel(tr("num iterations")), i, 0);
    layout->addWidget(numIterationsBox, i, 1);
    i++;

    maxErrorReductionBox = new QDoubleSpinBox;
        maxErrorReductionBox->setDecimals(1);
        maxErrorReductionBox->setRange(0.0, 100.0);
        maxErrorReductionBox->setSingleStep(1.0);
        maxErrorReductionBox->setValue( this->designer->simulator->dynamicsWorld->getSolverInfo().m_maxErrorReduction);
    layout->addWidget(new QLabel(tr("max error reduction")), i, 0);
    layout->addWidget(maxErrorReductionBox, i, 1);
    i++;

    sorBox = new QDoubleSpinBox;
        sorBox->setDecimals(2);
        sorBox->setRange(0.0, 10.0);
        sorBox->setSingleStep(0.1);
        sorBox->setValue( this->designer->simulator->dynamicsWorld->getSolverInfo().m_sor);
    layout->addWidget(new QLabel(tr("sor")), i, 0);
    layout->addWidget(sorBox, i, 1);
    i++;

    erpBox = new QDoubleSpinBox;
        erpBox->setDecimals(2);
        erpBox->setRange(0.0, 1.0);
        erpBox->setSingleStep(0.1);
        erpBox->setValue( this->designer->simulator->dynamicsWorld->getSolverInfo().m_erp);
    layout->addWidget(new QLabel(tr("erp (used as Baumgarte factor)")), i, 0);
    layout->addWidget(erpBox, i, 1);
    i++;

    erp2Box = new QDoubleSpinBox;
        erp2Box->setDecimals(2);
        erp2Box->setRange(0.0, 1.0);
        erp2Box->setSingleStep(0.1);
        erp2Box->setValue( this->designer->simulator->dynamicsWorld->getSolverInfo().m_erp2);
    layout->addWidget(new QLabel(tr("erp2 (used in Split Impulse)")), i, 0);
    layout->addWidget(erp2Box, i, 1);
    i++;

    globalCfmBox = new QDoubleSpinBox;
        globalCfmBox->setDecimals(2);
        globalCfmBox->setRange(0.0, 1.0);
        globalCfmBox->setSingleStep(0.1);
        globalCfmBox->setValue( this->designer->simulator->dynamicsWorld->getSolverInfo().m_globalCfm);
    layout->addWidget(new QLabel(tr("global Cfm (Constraint force mixing)")), i, 0);
    layout->addWidget(globalCfmBox, i, 1);
    i++;

    splitImpulseBox = new QCheckBox;
    splitImpulseBox->setChecked( this->designer->simulator->dynamicsWorld->getSolverInfo().m_splitImpulse == 1 );
    layout->addWidget(new QLabel(tr("split impulse")), i, 0);
    layout->addWidget(splitImpulseBox, i, 1);
    i++;

    splitImpulsePenetrationThresholdBox = new QDoubleSpinBox;
        splitImpulsePenetrationThresholdBox->setDecimals(3);
        splitImpulsePenetrationThresholdBox->setRange(-10.0, 10.0);
        splitImpulsePenetrationThresholdBox->setSingleStep(0.05);
        splitImpulsePenetrationThresholdBox->setValue( this->designer->simulator->dynamicsWorld->getSolverInfo().m_splitImpulsePenetrationThreshold);
    layout->addWidget(new QLabel(tr("split impulse penetration threshold")), i, 0);
    layout->addWidget(splitImpulsePenetrationThresholdBox, i, 1);
    i++;

    linearSlopBox = new QDoubleSpinBox;
        linearSlopBox->setDecimals(1);
        linearSlopBox->setRange(0.0, 1.0);
        linearSlopBox->setSingleStep(0.1);
        linearSlopBox->setValue( this->designer->simulator->dynamicsWorld->getSolverInfo().m_linearSlop);
    layout->addWidget(new QLabel(tr("linear slop")), i, 0);
    layout->addWidget(linearSlopBox, i, 1);
    i++;

    warmstartingFactorBox = new QDoubleSpinBox;
        warmstartingFactorBox->setDecimals(2);
        warmstartingFactorBox->setRange(0.0, 1.0);
        warmstartingFactorBox->setSingleStep(0.05);
        warmstartingFactorBox->setValue( this->designer->simulator->dynamicsWorld->getSolverInfo().m_warmstartingFactor);
    layout->addWidget(new QLabel(tr("warmstarting factor")), i, 0);
    layout->addWidget(warmstartingFactorBox, i, 1);
    i++;

/*
    QDoubleSpinBox* solverModeBox;
*/

    restingContactRestitutionThresholdBox = new QDoubleSpinBox;
        restingContactRestitutionThresholdBox->setDecimals(2);
        restingContactRestitutionThresholdBox->setRange(0.0, 1.0);
        restingContactRestitutionThresholdBox->setSingleStep(0.05);
        restingContactRestitutionThresholdBox->setValue( this->designer->simulator->dynamicsWorld->getSolverInfo().m_restingContactRestitutionThreshold);
    layout->addWidget(new QLabel(tr("resting contact restitution threshold")), i, 0);
    layout->addWidget(restingContactRestitutionThresholdBox, i, 1);
    i++;

    minimumSolverBatchSizeBox = new QDoubleSpinBox;
        minimumSolverBatchSizeBox->setDecimals(0);
        minimumSolverBatchSizeBox->setRange(0.0, 256);
        minimumSolverBatchSizeBox->setSingleStep(10);
        minimumSolverBatchSizeBox->setValue( this->designer->simulator->dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize);
    layout->addWidget(new QLabel(tr("minimum solver batch size")), i, 0);
    layout->addWidget(minimumSolverBatchSizeBox, i, 1);
    i++;


    QPushButton* buttonAccept = new QPushButton("OK");
    QPushButton* buttonCancel = new QPushButton("CANCEL");
    layout->addWidget(buttonAccept, i, 0);
    layout->addWidget(buttonCancel, i, 1);

    connect(buttonAccept, SIGNAL(clicked()), this, SLOT(accept()));
    connect(buttonCancel, SIGNAL(clicked()), this, SLOT(reject()));

    setLayout(layout);

}

void CollisionSolverSettingsDialog::accept()
{
    this->designer->simulator->dynamicsWorld->getSolverInfo().m_tau       = (float)tauBox->value();
    this->designer->simulator->dynamicsWorld->getSolverInfo().m_damping   = (float)dampingBox->value();
    this->designer->simulator->dynamicsWorld->getSolverInfo().m_friction  = (float)frictionBox->value();

    this->designer->simulator->dynamicsWorld->getSolverInfo().m_timeStep  = (float)timeStepBox->value();
    this->designer->simulator->dynamicsWorld->getSolverInfo().m_restitution   = (float)restitutionBox->value();
    this->designer->simulator->dynamicsWorld->getSolverInfo().m_numIterations  = (float)numIterationsBox->value();

    this->designer->simulator->dynamicsWorld->getSolverInfo().m_maxErrorReduction  = (float)maxErrorReductionBox->value();
    this->designer->simulator->dynamicsWorld->getSolverInfo().m_sor   = (float)sorBox->value();
    this->designer->simulator->dynamicsWorld->getSolverInfo().m_erp  = (float)erpBox->value();
    this->designer->simulator->dynamicsWorld->getSolverInfo().m_erp2  = (float)erp2Box->value();
    this->designer->simulator->dynamicsWorld->getSolverInfo().m_globalCfm  = (float)globalCfmBox->value();

    this->designer->simulator->dynamicsWorld->getSolverInfo().m_splitImpulse = splitImpulseBox->isChecked() ? 1.0 : 0.0;

    this->designer->simulator->dynamicsWorld->getSolverInfo().m_splitImpulsePenetrationThreshold  = (float)splitImpulsePenetrationThresholdBox->value();
    this->designer->simulator->dynamicsWorld->getSolverInfo().m_linearSlop  = (float)linearSlopBox->value();
    this->designer->simulator->dynamicsWorld->getSolverInfo().m_warmstartingFactor  = (float)warmstartingFactorBox->value();

//  this->designer->simulator->dynamicsWorld->getSolverInfo().m_solverMode  = (float)solverModeBox->value();
    this->designer->simulator->dynamicsWorld->getSolverInfo().m_restingContactRestitutionThreshold  = (float)restingContactRestitutionThresholdBox->value();
    this->designer->simulator->dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize  = (float)minimumSolverBatchSizeBox->value();

    done(Accepted);
}