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Diffstat (limited to 'src/mechanics/chassiscircular2.cpp')
| -rw-r--r-- | src/mechanics/chassiscircular2.cpp | 144 |
1 files changed, 144 insertions, 0 deletions
diff --git a/src/mechanics/chassiscircular2.cpp b/src/mechanics/chassiscircular2.cpp new file mode 100644 index 0000000..91b9f0a --- /dev/null +++ b/src/mechanics/chassiscircular2.cpp @@ -0,0 +1,144 @@ +/*************************************************************************** + * Copyright (C) 2005 by David Saxton * + * [email protected] * + * * + * 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); +} |