summaryrefslogtreecommitdiffstats
path: root/src/mechanics/chassiscircular2.cpp
blob: 715073f9340e9565390af8231ff942236a92df85 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
/***************************************************************************
 *   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 <tqpainter.h>
#include <tqwmatrix.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(
		TQString("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;
	
	TQPointArray pa;
	pa.makeEllipse( -25, -25, 50, 50 );
	TQWMatrix m(4,0,0,4,0,0);
	m.setTransformationMode( TQWMatrix::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 = TQRect( int(w/5), int(h/6), int(w/4), int(h/8) );
	m_wheel2Pos = TQRect( 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( TQPainter &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( TQColor( 255, 246, 210 ) );
	TQRect 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( TQt::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( TQColor( 255, 232, 182 ) );
	for ( double i=-1; i<std::ceil(m_wheel1Pos.width()/stripeWidth); ++i )
	{
		
		p.setClipRect( TQRect( int(_x+m_wheel1Pos.x()+2), int(_y+m_wheel1Pos.y()+2), int(m_wheel1Pos.width()-4), int(m_wheel1Pos.height()-4) ), TQPainter::CoordPainter );
		p.drawRect( int(offset1+X + i*stripeWidth*2), int(y1+1), int(stripeWidth), int(H-2) );
		
		p.setClipRect( TQRect( int(_x+m_wheel2Pos.x()+2), int(_y+m_wheel2Pos.y()+2), int(m_wheel2Pos.width()-4), int(m_wheel2Pos.height()-4) ), TQPainter::CoordPainter );
		p.drawRect( int(offset2+X + i*stripeWidth*2), int(y2+1), int(stripeWidth), int(H-2) );
	}
	p.setClipping(false);
	
	p.setPen( TQt::black );
	p.setBrush( TQt::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);
}