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/***************************************************************************
* 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);
}
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