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-rw-r--r--src/mechanics/chassiscircular2.cpp144
1 files changed, 144 insertions, 0 deletions
diff --git a/src/mechanics/chassiscircular2.cpp b/src/mechanics/chassiscircular2.cpp
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+++ b/src/mechanics/chassiscircular2.cpp
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+/***************************************************************************
+ * Copyright (C) 2005 by David Saxton *
+ * david@bluehaze.org *
+ * *
+ * This program is free software; you can redistribute it and/or modify *
+ * it under the terms of the GNU General Public License as published by *
+ * the Free Software Foundation; either version 2 of the License, or *
+ * (at your option) any later version. *
+ ***************************************************************************/
+
+#include "chassiscircular2.h"
+
+#include "libraryitem.h"
+
+#include <klocale.h>
+#include <qpainter.h>
+#include <qwmatrix.h>
+
+#include <algorithm>
+#include <cmath>
+
+double normalizeAngle( double angle );
+
+
+Item* ChassisCircular2::construct( ItemDocument *itemDocument, bool newItem, const char *id )
+{
+ return new ChassisCircular2( (MechanicsDocument*)itemDocument, newItem, id );
+}
+
+
+LibraryItem* ChassisCircular2::libraryItem()
+{
+ return new LibraryItem(
+ QString("mech/chassis_circular_2"),
+ i18n("Circular 2-Wheel Chassis"),
+ i18n("Chassis'"),
+ "chassis.png",
+ LibraryItem::lit_mechanical,
+ ChassisCircular2::construct );
+}
+
+
+ChassisCircular2::ChassisCircular2( MechanicsDocument *mechanicsDocument, bool newItem, const char *id )
+ : MechanicsItem( mechanicsDocument, newItem, (id) ? id : "chassis_circular_2" )
+{
+ m_name = i18n("Circular 2-Wheel Chassis");
+ m_desc = i18n("A circular base with two wheels and a support point.");
+
+ m_theta1 = 0.0;
+ m_theta2 = 0.0;
+
+ QPointArray pa;
+ pa.makeEllipse( -25, -25, 50, 50 );
+ QWMatrix m(4,0,0,4,0,0);
+ m.setTransformationMode( QWMatrix::Areas );
+ pa = m.map(pa);
+ setItemPoints(pa);
+
+ itemResized();
+}
+
+
+ChassisCircular2::~ChassisCircular2()
+{
+}
+
+
+void ChassisCircular2::itemResized()
+{
+ const double w = sizeRect().width();
+ const double h = sizeRect().height();
+
+ m_wheel1Pos = QRect( int(w/5), int(h/6), int(w/4), int(h/8) );
+ m_wheel2Pos = QRect( int(w/5), int(5*h/6-h/8), int(w/4), int(h/8) );
+}
+
+
+void ChassisCircular2::advance( int phase )
+{
+ if ( phase != 1 )
+ return;
+
+ double speed1 = 60.; // pixels per second
+ double speed2 = 160.; // pixels per second
+
+ m_theta1 = normalizeAngle( m_theta1 + (speed1/1000.)/m_wheel1Pos.width() );
+ m_theta2 = normalizeAngle( m_theta2 + (speed2/1000.)/m_wheel2Pos.width() );
+
+ const double d1 = speed1/1000.;
+ const double d2 = speed2/1000.;
+ const double sep = m_wheel2Pos.center().y()-m_wheel1Pos.center().y();
+
+ double dtheta = std::atan( (d2-d1)/sep ); // Change in orientation of chassis
+ double moveAngle = absolutePosition().angle()+dtheta/2;
+ rotateBy(dtheta);
+ moveBy( ((d1+d2)/2.)*std::cos(moveAngle), ((d1+d2)/2.)*std::sin(moveAngle) );
+}
+
+
+void ChassisCircular2::drawShape( QPainter &p )
+{
+ const double _x = int(sizeRect().x() + x());
+ const double _y = int(sizeRect().y() + y());
+ const double w = sizeRect().width();
+ const double h = sizeRect().height();
+
+ initPainter(p);
+ p.setBrush( QColor( 255, 246, 210 ) );
+ QRect circleRect = sizeRect();
+ circleRect.moveLeft( int(circleRect.left() + x()) );
+ circleRect.moveTop( int(circleRect.top() + y()) );
+ p.drawEllipse(circleRect);
+
+ // Draw wheels
+ // TODO get this info from m_wheel1Pos and m_wheel2Pos
+ const double X = _x+(w/5); // Wheel's left pos
+ const double H = h/8; // Wheel's height
+ const double y1 = _y+(h/6); // Wheel 1 y-pos
+ const double y2 = _y+(5*h/6)-H; // Wheel 2 y-pos
+
+ p.setPen( Qt::NoPen );
+ const double stripeWidth = 5;
+ const double offset2 = 1 + int(m_theta1*m_wheel1Pos.width())%int(2*stripeWidth);
+ const double offset1 = 1 + int(m_theta2*m_wheel2Pos.width())%int(2*stripeWidth);
+ p.setBrush( QColor( 255, 232, 182 ) );
+ for ( double i=-1; i<std::ceil(m_wheel1Pos.width()/stripeWidth); ++i )
+ {
+
+ p.setClipRect( QRect( int(_x+m_wheel1Pos.x()+2), int(_y+m_wheel1Pos.y()+2), int(m_wheel1Pos.width()-4), int(m_wheel1Pos.height()-4) ), QPainter::CoordPainter );
+ p.drawRect( int(offset1+X + i*stripeWidth*2), int(y1+1), int(stripeWidth), int(H-2) );
+
+ p.setClipRect( QRect( int(_x+m_wheel2Pos.x()+2), int(_y+m_wheel2Pos.y()+2), int(m_wheel2Pos.width()-4), int(m_wheel2Pos.height()-4) ), QPainter::CoordPainter );
+ p.drawRect( int(offset2+X + i*stripeWidth*2), int(y2+1), int(stripeWidth), int(H-2) );
+ }
+ p.setClipping(false);
+
+ p.setPen( Qt::black );
+ p.setBrush( Qt::NoBrush );
+ p.drawRoundRect( int(X), int(y1), int(w/4), int(H), 25, 50 );
+ p.drawRoundRect( int(X), int(y2), int(w/4), int(H), 25, 50 );
+
+
+ deinitPainter(p);
+}