Rename vertebrata motion

2020-12-09 22:22:07 +09:30 · 2020-12-09 22:22:07 +09:30 · 9309afd587
parent 16fa029c63
commit 9309afd587
15 changed files with 346 additions and 103 deletions
--- a/appveyor.yml
+++ b/appveyor.yml
@ -121,9 +121,6 @@ after_test:
  - dust3d.exe :/resources/model-bicycle.ds3 -o bicycle.obj
  - dust3d.exe :/resources/model-bicycle.ds3 -o bicycle.fbx
  - dust3d.exe :/resources/model-bicycle.ds3 -o bicycle.glb
-  - dust3d.exe :/resources/model-bob.ds3 -o bob.obj
-  - dust3d.exe :/resources/model-bob.ds3 -o bob.fbx
-  - dust3d.exe :/resources/model-bob.ds3 -o bob.glb
  - dust3d.exe :/resources/model-dog.ds3 -o dog.obj
  - dust3d.exe :/resources/model-dog.ds3 -o dog.fbx
  - dust3d.exe :/resources/model-dog.ds3 -o dog.glb
--- a/dust3d.pro
+++ b/dust3d.pro
@ -511,8 +511,8 @@ HEADERS += src/genericspineandpseudophysics.h
 SOURCES += src/chainsimulator.cpp
 HEADERS += src/chainsimulator.h

-SOURCES += src/vertebratamotion.cpp
-HEADERS += src/vertebratamotion.h
+SOURCES += src/vertebratamovemotionbuilder.cpp
+HEADERS += src/vertebratamovemotionbuilder.h

 SOURCES += src/simplerendermeshgenerator.cpp
 HEADERS += src/simplerendermeshgenerator.h
@ -520,8 +520,8 @@ HEADERS += src/simplerendermeshgenerator.h
 SOURCES += src/motioneditwidget.cpp
 HEADERS += src/motioneditwidget.h

-SOURCES += src/vertebratamotionparameterswidget.cpp
-HEADERS += src/vertebratamotionparameterswidget.h
+SOURCES += src/vertebratamovemotionparameterswidget.cpp
+HEADERS += src/vertebratamovemotionparameterswidget.h

 SOURCES += src/objectxml.cpp
 HEADERS += src/objectxml.h
@ -529,6 +529,12 @@ HEADERS += src/objectxml.h
 SOURCES += src/rigxml.cpp
 HEADERS += src/rigxml.h

+SOURCES += src/ragdoll.cpp
+HEADERS += src/ragdoll.h
+
+SOURCES += src/motionbuilder.cpp
+HEADERS += src/motionbuilder.h
+
 SOURCES += src/main.cpp

 HEADERS += src/version.h
--- a/src/chainsimulator.cpp
+++ b/src/chainsimulator.cpp
@ -36,7 +36,7 @@ void ChainSimulator::start()
    initializeVertexMotions();
    prepareChains();

-    outputChainsForDebug("debug-chains.obj", m_chains);
+    //outputChainsForDebug("debug-chains.obj", m_chains);
 }

 const ChainSimulator::VertexMotion &ChainSimulator::getVertexMotion(size_t vertexIndex)
--- a/src/motionbuilder.cpp
+++ b/src/motionbuilder.cpp
@ -0,0 +1 @@
+#include "motionbuilder.h"
--- a/src/motionbuilder.h
+++ b/src/motionbuilder.h
@ -0,0 +1,24 @@
+#ifndef MOTION_BUILDER_H
+#define MOTION_BUILDER_H
+#include <QVector3D>
+
+class MotionBuilder
+{
+public:
+    struct Node
+    {
+        QVector3D position;
+        double radius;
+        int boneIndex = -1;
+        bool isTail = false;
+    };
+
+    enum class Side
+    {
+        Middle = 0,
+        Left,
+        Right,
+    };
+};
+
+#endif
--- a/src/motioneditwidget.cpp
+++ b/src/motioneditwidget.cpp
@ -13,7 +13,7 @@
 #include "motionsgenerator.h"
 #include "util.h"
 #include "version.h"
-#include "vertebratamotionparameterswidget.h"
+#include "vertebratamovemotionparameterswidget.h"

 MotionEditWidget::~MotionEditWidget()
 {
@ -94,8 +94,8 @@ MotionEditWidget::MotionEditWidget()

 void MotionEditWidget::updateParametersArea()
 {
-    VertebrataMotionParametersWidget *widget = new VertebrataMotionParametersWidget(m_parameters);
-    connect(widget, &VertebrataMotionParametersWidget::parametersChanged, this, [=]() {
+    VertebrataMoveMotionParametersWidget *widget = new VertebrataMoveMotionParametersWidget(m_parameters);
+    connect(widget, &VertebrataMoveMotionParametersWidget::parametersChanged, this, [=]() {
        this->m_parameters = widget->getParameters();
        emit parametersChanged();
    });
--- a/src/motioneditwidget.h
+++ b/src/motioneditwidget.h
@ -5,7 +5,6 @@
 #include <queue>
 #include <QLineEdit>
 #include <QUuid>
-#include "vertebratamotion.h"
 #include "rig.h"
 #include "object.h"

--- a/src/motionsgenerator.cpp
+++ b/src/motionsgenerator.cpp
@ -4,9 +4,9 @@
 #include <QRegularExpression>
 #include <QMatrix4x4>
 #include "motionsgenerator.h"
-#include "vertebratamotion.h"
+#include "vertebratamovemotionbuilder.h"
 #include "blockmesh.h"
-#include "vertebratamotionparameterswidget.h"
+#include "vertebratamovemotionparameterswidget.h"
 #include "util.h"

 MotionsGenerator::MotionsGenerator(RigType rigType,
@ -141,7 +141,7 @@ void MotionsGenerator::generateMotion(const QUuid &motionId)
    
    double radiusScale = 0.5;
    
-    std::vector<VertebrataMotion::Node> spineNodes;
+    std::vector<MotionBuilder::Node> spineNodes;
    if (!spineBones.empty()) {
        const auto &it = spineBones[0];
        if (it.second) {
@ -175,14 +175,14 @@ void MotionsGenerator::generateMotion(const QUuid &motionId)
        }
    }
    
-    VertebrataMotion *vertebrataMotion = new VertebrataMotion;
+    VertebrataMoveMotionBuilder *vertebrataMoveMotionBuilder = new VertebrataMoveMotionBuilder;
    
-    VertebrataMotion::Parameters parameters = 
-        VertebrataMotionParametersWidget::toVertebrataMotionParameters(m_motions[motionId]);
+    VertebrataMoveMotionBuilder::Parameters parameters = 
+        VertebrataMoveMotionParametersWidget::toVertebrataMoveMotionParameters(m_motions[motionId]);
    if ("Vertical" == valueOfKeyInMapOrEmpty(m_bones[0].attributes, "spineDirection"))
        parameters.biped = true;
-    vertebrataMotion->setParameters(parameters);
-    vertebrataMotion->setSpineNodes(spineNodes);
+    vertebrataMoveMotionBuilder->setParameters(parameters);
+    vertebrataMoveMotionBuilder->setSpineNodes(spineNodes);
    
    double groundY = std::numeric_limits<double>::max();
    for (const auto &it: spineNodes) {
@ -191,12 +191,12 @@ void MotionsGenerator::generateMotion(const QUuid &motionId)
    }
    
    for (const auto &chain: chains) {
-        std::vector<VertebrataMotion::Node> legNodes;
-        VertebrataMotion::Side side;
+        std::vector<MotionBuilder::Node> legNodes;
+        MotionBuilder::Side side;
        if (chain.first.startsWith("LeftLimb")) {
-            side = VertebrataMotion::Side::Left;
+            side = MotionBuilder::Side::Left;
        } else if (chain.first.startsWith("RightLimb")) {
-            side = VertebrataMotion::Side::Right;
+            side = MotionBuilder::Side::Right;
        } else {
            continue;
        }
@ -221,14 +221,14 @@ void MotionsGenerator::generateMotion(const QUuid &motionId)
                it,
                true});
        }
-        vertebrataMotion->setLegNodes(findSpine->second, side, legNodes);
+        vertebrataMoveMotionBuilder->setLegNodes(findSpine->second, side, legNodes);
        for (const auto &it: legNodes) {
            if (it.position.y() - it.radius < groundY)
                groundY = it.position.y() - it.radius;
        }
    }
-    vertebrataMotion->setGroundY(groundY);
-    vertebrataMotion->generate();
+    vertebrataMoveMotionBuilder->setGroundY(groundY);
+    vertebrataMoveMotionBuilder->generate();
    
    std::vector<std::pair<float, JointNodeTree>> jointNodeTrees;
    std::vector<std::pair<float, SimpleShaderMesh *>> previewMeshes;
@ -249,9 +249,9 @@ void MotionsGenerator::generateMotion(const QUuid &motionId)
        bindTransforms[i] = parentMatrix * translationMatrix;
    }
    
-    const auto &vertebrataMotionFrames = vertebrataMotion->frames();
-    for (size_t frameIndex = 0; frameIndex < vertebrataMotionFrames.size(); ++frameIndex) {
-        const auto &frame = vertebrataMotionFrames[frameIndex];
+    const auto &vertebrataMoveMotionBuilderFrames = vertebrataMoveMotionBuilder->frames();
+    for (size_t frameIndex = 0; frameIndex < vertebrataMoveMotionBuilderFrames.size(); ++frameIndex) {
+        const auto &frame = vertebrataMoveMotionBuilderFrames[frameIndex];
        std::vector<RigBone> transformedBones = m_bones;
        for (const auto &node: frame) {
            if (-1 == node.boneIndex)
@ -356,7 +356,7 @@ void MotionsGenerator::generateMotion(const QUuid &motionId)
        }
        
        if (m_snapshotMeshesEnabled) {
-            if (frameIndex == vertebrataMotionFrames.size() / 2) {
+            if (frameIndex == vertebrataMoveMotionBuilderFrames.size() / 2) {
                delete snapshotMesh;
                snapshotMesh = new Model(frameVertices, frameFaces, frameCornerNormals);
            }
--- a/src/ragdoll.cpp
+++ b/src/ragdoll.cpp
@ -0,0 +1,138 @@
+#include <set>
+#include <unordered_set>
+#include <unordered_map>
+#include <QDebug>
+#include "ragdoll.h"
+#include "util.h"
+
+void Ragdoll::prepareChains()
+{
+    for (const auto &it: *m_links) {
+        m_chains.push_back({it.first, it.second,
+            ((*m_vertices)[it.first] - (*m_vertices)[it.second]).length()});
+    }
+}
+
+void Ragdoll::initializeVertexMotions()
+{
+    for (size_t i = 0; i < m_vertices->size(); ++i)
+        m_vertexMotions[i].position = m_vertexMotions[i].lastPosition = (*m_vertices)[i];
+}
+
+void Ragdoll::outputChainsForDebug(const char *filename, const std::vector<Chain> &springs)
+{
+    FILE *fp = fopen(filename, "wb");
+    for (const auto &it: *m_vertices) {
+        fprintf(fp, "v %f %f %f\n", it[0], it[1], it[2]);
+    }
+    for (const auto &it: springs) {
+        fprintf(fp, "l %zu %zu\n", it.from + 1, it.to + 1);
+    }
+    fclose(fp);
+}
+
+void Ragdoll::start()
+{
+    initializeVertexMotions();
+    prepareChains();
+
+    //outputChainsForDebug("debug-chains.obj", m_chains);
+}
+
+const Ragdoll::VertexMotion &Ragdoll::getVertexMotion(size_t vertexIndex)
+{
+    return m_vertexMotions[vertexIndex];
+}
+
+void Ragdoll::updateVertexForces()
+{
+    for (auto &it: m_vertexMotions)
+        it.second.force = QVector3D();
+    
+    QVector3D combinedForce = QVector3D(0.0, -9.80665, 0.0) + m_externalForce;
+    for (auto &it: m_vertexMotions) {
+        it.second.force += combinedForce;
+    }
+}
+
+void Ragdoll::doVerletIntegration(double stepSize)
+{
+    for (auto &it: m_vertexMotions) {
+        if (it.second.fixed)
+            continue;
+        QVector3D &x = it.second.position;
+        QVector3D temp = x;
+        QVector3D &oldX = it.second.lastPosition;
+        QVector3D a = it.second.force;
+        x += x - oldX + a * stepSize * stepSize;
+        oldX = temp;
+        applyBoundingConstraints(&it.second);
+    }
+}
+
+void Ragdoll::applyBoundingConstraints(VertexMotion *vertexMotion)
+{
+    if (vertexMotion->position.y() < m_groundY + vertexMotion->radius)
+        vertexMotion->position.setY(m_groundY + vertexMotion->radius);
+}
+
+void Ragdoll::applyConstraints()
+{
+    for (size_t iteration = 0; iteration < m_parameters.iterations; ++iteration) {
+        for (auto &it: m_chains) {
+            auto &from = m_vertexMotions[it.from];
+            auto &to = m_vertexMotions[it.to];
+            auto delta = from.position - to.position;
+            auto deltaLength = delta.length();
+            if (qFuzzyCompare(deltaLength, 0.0f))
+                continue;
+            auto diff = (it.restLength - deltaLength) / deltaLength;
+            auto offset = delta * 0.5 * diff;
+            if (!from.fixed) {
+                from.position += offset;
+                applyBoundingConstraints(&from);
+            }
+            if (!to.fixed) {
+                to.position += -offset;
+                applyBoundingConstraints(&to);
+            }
+        }
+        
+        for (const auto &it: m_jointConstraints) {
+            auto &from = m_vertexMotions[it.first];
+            auto &to = m_vertexMotions[it.second];
+            auto &joint = m_vertexMotions[it.joint];
+            double degrees = degreesBetweenVectors(from.position - joint.position,
+                to.position - joint.position);
+            if (degrees < it.minDegrees) {
+                QVector3D straightPosition = (from.position + to.position) * 0.5;
+                joint.position += (it.minDegrees - degrees) * (straightPosition - joint.position) / (180 - degrees);
+                applyBoundingConstraints(&joint);
+            } else if (degrees > it.maxDegrees) {
+                // TODO:
+            }
+        }
+    }
+}
+
+void Ragdoll::updateVertexPosition(size_t vertexIndex, const QVector3D &position)
+{
+    m_vertexMotions[vertexIndex].position = position;
+}
+
+void Ragdoll::fixVertexPosition(size_t vertexIndex)
+{
+    m_vertexMotions[vertexIndex].fixed = true;
+}
+
+void Ragdoll::updateVertexRadius(size_t vertexIndex, double radius)
+{
+    m_vertexMotions[vertexIndex].radius = radius;
+}
+
+void Ragdoll::simulate(double stepSize)
+{
+    updateVertexForces();
+    doVerletIntegration(stepSize);
+    applyConstraints();
+}
--- a/src/ragdoll.h
+++ b/src/ragdoll.h
@ -0,0 +1,91 @@
+#ifndef DUST3D_RAGDOLL_H
+#define DUST3D_RAGDOLL_H
+#include <vector>
+#include <QVector3D>
+#include <unordered_map>
+
+class Ragdoll
+{
+public:
+    struct Parameters
+    {
+        size_t iterations = 1;
+    };
+    
+    struct Chain
+    {
+        size_t from;
+        size_t to;
+        double restLength;
+    };
+    
+    struct VertexMotion
+    {
+        QVector3D position;
+        QVector3D lastPosition;
+        QVector3D force;
+        bool fixed = false;
+        double radius = 0.0;
+    };
+    
+    struct JointConstraint
+    {
+        size_t joint;
+        size_t first;
+        size_t second;
+        double minDegrees;
+        double maxDegrees;
+    };
+
+    Ragdoll(const std::vector<QVector3D> *vertices,
+            const std::vector<std::pair<size_t, size_t>> *links) :
+        m_vertices(vertices),
+        m_links(links)
+    {
+    }
+    
+    void addJointConstraint(size_t joint, 
+            size_t first, 
+            size_t second, 
+            double minDegrees, 
+            double maxDegrees)
+    {
+        JointConstraint jointConstraint = {
+            joint, first, second, minDegrees, maxDegrees
+        };
+        m_jointConstraints.push_back(jointConstraint);
+    }
+    
+    void setExternalForce(const QVector3D &externalForce)
+    {
+        m_externalForce = externalForce;
+    }
+    
+    void start();
+    void simulate(double stepSize);
+    const VertexMotion &getVertexMotion(size_t vertexIndex);
+    void updateVertexPosition(size_t vertexIndex, const QVector3D &position);
+    void updateVertexRadius(size_t vertexIndex, double radius);
+    void fixVertexPosition(size_t vertexIndex);
+    
+private:
+    Parameters m_parameters;
+    std::vector<Chain> m_chains;
+    const std::vector<QVector3D> *m_vertices = nullptr;
+    const std::vector<std::pair<size_t, size_t>> *m_links = nullptr;
+    std::vector<JointConstraint> m_jointConstraints;
+    std::unordered_map<size_t, VertexMotion> m_vertexMotions;
+    QVector3D m_externalForce;
+    double m_groundY = 0.0;
+    
+    void initializeVertexMotions();
+    void prepareChains();
+    void updateVertexForces();
+    void applyConstraints();
+    void doVerletIntegration(double stepSize);
+    void applyBoundingConstraints(VertexMotion *vertexMotion);
+    
+    void outputChainsForDebug(const char *filename, const std::vector<Chain> &springs);
+};
+
+#endif
--- a/src/vertebratamotionparameterswidget.h
+++ b/src/vertebratamotionparameterswidget.h
@ -1,28 +0,0 @@
-#ifndef DUST3D_VERTEBRATA_MOTION_PARAMETERS_WIDGET_H
-#define DUST3D_VERTEBRATA_MOTION_PARAMETERS_WIDGET_H
-#include <QWidget>
-#include <map>
-#include <QString>
-#include "vertebratamotion.h"
-
-class VertebrataMotionParametersWidget : public QWidget
-{
-    Q_OBJECT
-signals:
-    void parametersChanged();
-public:
-    VertebrataMotionParametersWidget(const std::map<QString, QString> &parameters=std::map<QString, QString>());
-    
-    const std::map<QString, QString> &getParameters() const
-    {
-        return m_parameters;
-    }
-    
-    static std::map<QString, QString> fromVertebrataMotionParameters(const VertebrataMotion::Parameters &from);
-    static VertebrataMotion::Parameters toVertebrataMotionParameters(const std::map<QString, QString> &parameters);
-private:
-    std::map<QString, QString> m_parameters;
-    VertebrataMotion::Parameters m_vertebrataMotionParameters;
-};
-
-#endif
--- a/src/vertebratamovemotionbuilder.cpp
+++ b/src/vertebratamovemotionbuilder.cpp
@ -1,18 +1,18 @@
-#include "vertebratamotion.h"
+#include "vertebratamovemotionbuilder.h"
 #include "genericspineandpseudophysics.h"
 #include "hermitecurveinterpolation.h"
 #include "chainsimulator.h"
 #include "ccdikresolver.h"
 #include <QDebug>

-void VertebrataMotion::prepareLegHeights()
+void VertebrataMoveMotionBuilder::prepareLegHeights()
 {
    GenericSpineAndPseudoPhysics physics;
    physics.calculateFootHeights(m_parameters.hipHeight, 
        m_parameters.stanceTime, m_parameters.swingTime, &m_legHeights, &m_legMoveOffsets);
 }

-void VertebrataMotion::prepareLegs()
+void VertebrataMoveMotionBuilder::prepareLegs()
 {
    m_legs.clear();
    for (size_t spineNodeIndex = 0; 
@ -40,7 +40,7 @@ void VertebrataMotion::prepareLegs()
    }
 }

-void VertebrataMotion::prepareLegHeightIndices()
+void VertebrataMoveMotionBuilder::prepareLegHeightIndices()
 {
    int balancedStart = 0;
    for (int side = 0; side < 3; ++side) {
@ -60,7 +60,7 @@ void VertebrataMotion::prepareLegHeightIndices()
    }
 }

-void VertebrataMotion::calculateSpineJoints()
+void VertebrataMoveMotionBuilder::calculateSpineJoints()
 {
    HermiteCurveInterpolation spineInterpolation;
    
@ -112,7 +112,7 @@ void VertebrataMotion::calculateSpineJoints()
    }
 }

-void VertebrataMotion::calculateLegMoves(size_t heightIndex)
+void VertebrataMoveMotionBuilder::calculateLegMoves(size_t heightIndex)
 {
    auto calculateLegTargetTop = [&](size_t legIndex) {
        double sumTop = 0.0;
@ -240,7 +240,7 @@ void VertebrataMotion::calculateLegMoves(size_t heightIndex)
    }
 }
    
-void VertebrataMotion::generate()
+void VertebrataMoveMotionBuilder::generate()
 {
    prepareLegHeights();
    prepareLegs();
--- a/src/vertebratamovemotionbuilder.h
+++ b/src/vertebratamovemotionbuilder.h
@ -1,11 +1,12 @@
-#ifndef DUST3D_VERTEBRATA_MOTION_H
-#define DUST3D_VERTEBRATA_MOTION_H
+#ifndef DUST3D_VERTEBRATA_MOVE_MOTION_H
+#define DUST3D_VERTEBRATA_MOVE_MOTION_H
 #include <QVector3D>
 #include <vector>
 #include <map>
 #include <unordered_map>
+#include "motionbuilder.h"
   
-class VertebrataMotion
+class VertebrataMoveMotionBuilder : public MotionBuilder
 {
 public:
    struct Parameters
@ -23,22 +24,7 @@ public:
        double tailDragForce = 4.0;
        bool biped = false;
    };
-    
-    struct Node
-    {
-        QVector3D position;
-        double radius;
-        int boneIndex = -1;
-        bool isTail = false;
-    };
-    
-    enum class Side
-    {
-        Middle = 0,
-        Left,
-        Right,
-    };
-    
+
    struct Leg
    {
        std::vector<std::vector<Node>> nodes;
@ -49,7 +35,8 @@ public:
        double move[3] = {0, 0, 0};
    };

-    VertebrataMotion()
+    VertebrataMoveMotionBuilder() :
+        MotionBuilder()
    {
    }
    
--- a/src/vertebratamovemotionparameterswidget.cpp
+++ b/src/vertebratamovemotionparameterswidget.cpp
@ -1,10 +1,10 @@
 #include <QFormLayout>
 #include <QDoubleSpinBox>
 #include <QSpinBox>
-#include "vertebratamotionparameterswidget.h"
+#include "vertebratamovemotionparameterswidget.h"
 #include "util.h"

-std::map<QString, QString> VertebrataMotionParametersWidget::fromVertebrataMotionParameters(const VertebrataMotion::Parameters &from)
+std::map<QString, QString> VertebrataMoveMotionParametersWidget::fromVertebrataMoveMotionParameters(const VertebrataMoveMotionBuilder::Parameters &from)
 {
    std::map<QString, QString> parameters;
    
@ -23,9 +23,9 @@ std::map<QString, QString> VertebrataMotionParametersWidget::fromVertebrataMotio
    return parameters;
 }

-VertebrataMotion::Parameters VertebrataMotionParametersWidget::toVertebrataMotionParameters(const std::map<QString, QString> &parameters)
+VertebrataMoveMotionBuilder::Parameters VertebrataMoveMotionParametersWidget::toVertebrataMoveMotionParameters(const std::map<QString, QString> &parameters)
 {
-    VertebrataMotion::Parameters vertebrataMotionParameters;
+    VertebrataMoveMotionBuilder::Parameters vertebrataMotionParameters;
    
    if (parameters.end() != parameters.find("stanceTime"))
        vertebrataMotionParameters.stanceTime = valueOfKeyInMapOrEmpty(parameters, "stanceTime").toDouble();
@ -53,10 +53,10 @@ VertebrataMotion::Parameters VertebrataMotionParametersWidget::toVertebrataMotio
    return vertebrataMotionParameters;
 }

-VertebrataMotionParametersWidget::VertebrataMotionParametersWidget(const std::map<QString, QString> &parameters) :
+VertebrataMoveMotionParametersWidget::VertebrataMoveMotionParametersWidget(const std::map<QString, QString> &parameters) :
    m_parameters(parameters)
 {
-    m_vertebrataMotionParameters = toVertebrataMotionParameters(m_parameters);
+    m_vertebrataMotionParameters = toVertebrataMoveMotionParameters(m_parameters);
    
    QFormLayout *parametersLayout = new QFormLayout;
    parametersLayout->setSpacing(0);
@ -67,7 +67,7 @@ VertebrataMotionParametersWidget::VertebrataMotionParametersWidget(const std::ma
    parametersLayout->addRow(tr("Stance time: "), stanceTimeBox);
    connect(stanceTimeBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged), [&](double value){
        m_vertebrataMotionParameters.stanceTime = value;
-        m_parameters = fromVertebrataMotionParameters(m_vertebrataMotionParameters);
+        m_parameters = fromVertebrataMoveMotionParameters(m_vertebrataMotionParameters);
        emit parametersChanged();
    });
    
@ -77,7 +77,7 @@ VertebrataMotionParametersWidget::VertebrataMotionParametersWidget(const std::ma
    parametersLayout->addRow(tr("Swing time: "), swingTimeBox);
    connect(swingTimeBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged), [&](double value){
        m_vertebrataMotionParameters.swingTime = value;
-        m_parameters = fromVertebrataMotionParameters(m_vertebrataMotionParameters);
+        m_parameters = fromVertebrataMoveMotionParameters(m_vertebrataMotionParameters);
        emit parametersChanged();
    });
    
@ -86,7 +86,7 @@ VertebrataMotionParametersWidget::VertebrataMotionParametersWidget(const std::ma
    parametersLayout->addRow(tr("Hip height: "), hipHeightBox);
    connect(hipHeightBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged), [&](double value){
        m_vertebrataMotionParameters.hipHeight = value;
-        m_parameters = fromVertebrataMotionParameters(m_vertebrataMotionParameters);
+        m_parameters = fromVertebrataMoveMotionParameters(m_vertebrataMotionParameters);
        emit parametersChanged();
    });
    
@ -95,7 +95,7 @@ VertebrataMotionParametersWidget::VertebrataMotionParametersWidget(const std::ma
    parametersLayout->addRow(tr("Arm length: "), armLengthBox);
    connect(armLengthBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged), [&](double value){
        m_vertebrataMotionParameters.armLength = value;
-        m_parameters = fromVertebrataMotionParameters(m_vertebrataMotionParameters);
+        m_parameters = fromVertebrataMoveMotionParameters(m_vertebrataMotionParameters);
        emit parametersChanged();
    });
    
@ -104,7 +104,7 @@ VertebrataMotionParametersWidget::VertebrataMotionParametersWidget(const std::ma
    parametersLayout->addRow(tr("Leg side intval: "), legSideIntvalBox);
    connect(legSideIntvalBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged), [&](double value){
        m_vertebrataMotionParameters.legSideIntval = value;
-        m_parameters = fromVertebrataMotionParameters(m_vertebrataMotionParameters);
+        m_parameters = fromVertebrataMoveMotionParameters(m_vertebrataMotionParameters);
        emit parametersChanged();
    });
    
@ -113,7 +113,7 @@ VertebrataMotionParametersWidget::VertebrataMotionParametersWidget(const std::ma
    parametersLayout->addRow(tr("Leg balance intval: "), legBalanceIntvalBox);
    connect(legBalanceIntvalBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged), [&](double value){
        m_vertebrataMotionParameters.legBalanceIntval = value;
-        m_parameters = fromVertebrataMotionParameters(m_vertebrataMotionParameters);
+        m_parameters = fromVertebrataMoveMotionParameters(m_vertebrataMotionParameters);
        emit parametersChanged();
    });
    
@ -122,7 +122,7 @@ VertebrataMotionParametersWidget::VertebrataMotionParametersWidget(const std::ma
    parametersLayout->addRow(tr("Spine stability: "), spineStabilityBox);
    connect(spineStabilityBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged), [&](double value){
        m_vertebrataMotionParameters.spineStability = value;
-        m_parameters = fromVertebrataMotionParameters(m_vertebrataMotionParameters);
+        m_parameters = fromVertebrataMoveMotionParameters(m_vertebrataMotionParameters);
        emit parametersChanged();
    });
    
@ -131,7 +131,7 @@ VertebrataMotionParametersWidget::VertebrataMotionParametersWidget(const std::ma
    parametersLayout->addRow(tr("Cycles: "), cyclesBox);
    connect(cyclesBox, QOverload<int>::of(&QSpinBox::valueChanged), [&](int value){
        m_vertebrataMotionParameters.cycles = value;
-        m_parameters = fromVertebrataMotionParameters(m_vertebrataMotionParameters);
+        m_parameters = fromVertebrataMoveMotionParameters(m_vertebrataMotionParameters);
        emit parametersChanged();
    });
    
@ -141,7 +141,7 @@ VertebrataMotionParametersWidget::VertebrataMotionParametersWidget(const std::ma
    parametersLayout->addRow(tr("Ground offset: "), groundOffsetBox);
    connect(groundOffsetBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged), [&](double value){
        m_vertebrataMotionParameters.groundOffset = value;
-        m_parameters = fromVertebrataMotionParameters(m_vertebrataMotionParameters);
+        m_parameters = fromVertebrataMoveMotionParameters(m_vertebrataMotionParameters);
        emit parametersChanged();
    });
    
@ -152,7 +152,7 @@ VertebrataMotionParametersWidget::VertebrataMotionParametersWidget(const std::ma
    parametersLayout->addRow(tr("Tail lift force: "), tailLiftForceBox);
    connect(tailLiftForceBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged), [&](double value){
        m_vertebrataMotionParameters.tailLiftForce = value;
-        m_parameters = fromVertebrataMotionParameters(m_vertebrataMotionParameters);
+        m_parameters = fromVertebrataMoveMotionParameters(m_vertebrataMotionParameters);
        emit parametersChanged();
    });
    
@ -162,7 +162,7 @@ VertebrataMotionParametersWidget::VertebrataMotionParametersWidget(const std::ma
    parametersLayout->addRow(tr("Tail drag force: "), tailDragForceBox);
    connect(tailDragForceBox, QOverload<double>::of(&QDoubleSpinBox::valueChanged), [&](double value){
        m_vertebrataMotionParameters.tailDragForce = value;
-        m_parameters = fromVertebrataMotionParameters(m_vertebrataMotionParameters);
+        m_parameters = fromVertebrataMoveMotionParameters(m_vertebrataMotionParameters);
        emit parametersChanged();
    });
    
--- a/src/vertebratamovemotionparameterswidget.h
+++ b/src/vertebratamovemotionparameterswidget.h
@ -0,0 +1,28 @@
+#ifndef DUST3D_VERTEBRATA_MOVE_MOTION_PARAMETERS_WIDGET_H
+#define DUST3D_VERTEBRATA_MOVE_MOTION_PARAMETERS_WIDGET_H
+#include <QWidget>
+#include <map>
+#include <QString>
+#include "vertebratamovemotionbuilder.h"
+
+class VertebrataMoveMotionParametersWidget : public QWidget
+{
+    Q_OBJECT
+signals:
+    void parametersChanged();
+public:
+    VertebrataMoveMotionParametersWidget(const std::map<QString, QString> &parameters=std::map<QString, QString>());
+    
+    const std::map<QString, QString> &getParameters() const
+    {
+        return m_parameters;
+    }
+    
+    static std::map<QString, QString> fromVertebrataMoveMotionParameters(const VertebrataMoveMotionBuilder::Parameters &from);
+    static VertebrataMoveMotionBuilder::Parameters toVertebrataMoveMotionParameters(const std::map<QString, QString> &parameters);
+private:
+    std::map<QString, QString> m_parameters;
+    VertebrataMoveMotionBuilder::Parameters m_vertebrataMotionParameters;
+};
+
+#endif