4 files changed, 36 insertions, 5 deletions

diff --git a/src/drone.cc b/src/drone.cc
index b7e4007..0be11a6 100644
--- a/src/drone.cc
+++ b/src/drone.cc
@@ -29,6 +29,7 @@ Drone::Drone(const QJsonObject &json)
 	for (const QJsonValue &o : ja) {
 		waypoints.append(Waypoint(o.toObject()));
 	}
+	setTo(0);
 }
 
 
diff --git a/src/main_window.cc b/src/main_window.cc
index e63bf0e..26d9601 100644
--- a/src/main_window.cc
+++ b/src/main_window.cc
@@ -30,6 +30,7 @@ MainWindow::MainWindow(QWidget *parent) {
 	QDockWidget *dock = new QDockWidget("Outils", this);
 	dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
 	settings_pane = new SettingsPane();
+	settings_pane->setEnabled(false);
 	dock->setWidget(settings_pane);
 	addDockWidget(Qt::RightDockWidgetArea, dock);
 }
@@ -62,9 +63,13 @@ void MainWindow::open(const QString &path) {
 	if (dc) delete dc;
 	glw.meshes.clear();
 	dc = new DroneController(json_doc.object());
-	playpause_action->setEnabled(true);
+
+	// Play/Pause button
 	connect(dc, &DroneController::playing, this, &MainWindow::play);
 	connect(dc, &DroneController::pausing, this, &MainWindow::pause);
+	playpause_action->setEnabled(true);
+
+	// Seekbar slider
 	slider->setMinimum(0);
 	slider->setMaximum(dc->getDuration());
 	slider->setValue(0);
@@ -72,10 +77,19 @@ void MainWindow::open(const QString &path) {
 	connect(slider, &QSlider::sliderReleased, dc, &DroneController::resume);
 	connect(slider, &QSlider::valueChanged, dc, &DroneController::seek);
 	connect(dc, &DroneController::frameChanged, slider, &QSlider::setValue);
+	connect(settings_pane, &SettingsPane::collisionClicked,
+			slider, &QSlider::setValue);
+	slider->setEnabled(true);
+
 	connect(dc, &DroneController::collision, settings_pane, &SettingsPane::addCollision);
-	dc->computeCollisions(10);
+	connect(settings_pane, &SettingsPane::sphereRadiusChanged,
+			[&](double _) { settings_pane->clearCollisions(); });
+	connect(settings_pane, &SettingsPane::sphereRadiusChanged,
+			dc, &DroneController::computeCollisions);
+	settings_pane->setEnabled(true);
+
+	dc->computeCollisions(.1);
 	pause();
-	slider->setEnabled(true);
 }
 
 
diff --git a/src/settings_pane.cc b/src/settings_pane.cc
index f37c14c..4e52d55 100644
--- a/src/settings_pane.cc
+++ b/src/settings_pane.cc
@@ -18,6 +18,8 @@ SettingsPane::SettingsPane(QWidget *parent)
 			this, &SettingsPane::toggledTrajectories);
 	connect(show_support_lines, &QCheckBox::stateChanged,
 			this, &SettingsPane::toggledSupportLines);
+	connect(collisions, &QListWidget::itemClicked,
+			[&](QListWidgetItem *item) { emit collisionClicked(((CollisionItem *) item)->getFrame()); });
 
 	QFormLayout *layout = new QFormLayout;
 	layout->addRow("Taille de la sphère de collision", sphere_radius);
@@ -29,8 +31,9 @@ SettingsPane::SettingsPane(QWidget *parent)
 
 
 void SettingsPane::addCollision(int idA, int idB, int frame) {
-	QListWidgetItem *item = new QListWidgetItem(QString::number(frame) + ": "
-							   + QString::number(idA) + " / " + QString::number(idB));
+	CollisionItem *item = new CollisionItem(QString::number(frame) + ": "
+											+ QString::number(idA) + " / " + QString::number(idB),
+											frame);
 	item->setFlags(Qt::ItemIsEnabled | Qt::ItemNeverHasChildren);
 	collisions->addItem(item);
 }
diff --git a/src/settings_pane.hh b/src/settings_pane.hh
index 434f3f7..25cdf6f 100644
--- a/src/settings_pane.hh
+++ b/src/settings_pane.hh
@@ -5,6 +5,18 @@
 #include <QListWidget>
 
 
+class CollisionItem : public QListWidgetItem {
+	const int frame;
+
+public:
+	CollisionItem(QString text, int frame)
+		:QListWidgetItem(text),
+		 frame(frame) {}
+
+	int getFrame() const { return frame; }
+};
+
+
 class SettingsPane : public QWidget {
 	Q_OBJECT
 
@@ -21,6 +33,7 @@ signals:
 	void sphereRadiusChanged(double sqRadius);
 	void toggledTrajectories(int shown);
 	void toggledSupportLines(int shown);
+	void collisionClicked(int frame);
 };