//============================================================================
//
// KRotation screen saver for TDE
// Copyright (C) 2004 Georg Drenkhahn
// $Id$
//
//============================================================================
#ifndef __ROTATION_H__
#define __ROTATION_H__
#include <math.h>
// STL headers
#include <valarray>
// TQt headers
#include <tqwidget.h>
#include <tqtimer.h>
#include <tqgl.h>
// GL headers
#include <GL/glu.h>
#include <GL/gl.h>
// TDE headers
#include <tdescreensaver.h>
#include "vec3.h"
#include "rkodesolver.h"
// KRotationSetupUi
#include "rotationcfg.h"
//--------------------------------------------------------------------
/** @brief ODE solver for the Euler equations.
*
* Class implements RkOdeSolver<double> to solve the Euler equations of motion
* tor the rotating object. */
class EulerOdeSolver : public RkOdeSolver<double>
{
public:
/** @brief Constructor for the ODE solver for the Euler equations.
* @param t Time in seconds, integration variable
* @param dt Initial time increment in seconds for integration, auto adjusted
* later to guarantee precision
* @param _A Moment of inertia along 1. figure axis
* @param _B Moment of inertia along 2. figure axis
* @param _C Moment of inertia along 3. figure axis
* @param _y Vector of 12 elements containing the initial rotation vector
* omega (elements 0 to 2), and the initial rotating systems coordinate
* vectors e1, e2, e3 (elements 3 to 5, 6 to 8, and 9 to 11).
* @param eps Relative precision per integration step, see
* RkOdeSolver::RkOdeSolver(). */
EulerOdeSolver(
const double &t_,
const double &dt_,
const double &A_,
const double &B_,
const double &C_,
std::valarray<double> &y_,
const double &eps);
protected:
/** @brief ODE function for the Euler equation system
* @param x time in seconds
* @param y Vector of 12 elements containing the rotation vector omega
* (elements 0 to 2), and the rotating systems coordinate vectors e1, e2, e3
* (elements 3 to 5, 6 to 8, and 9 to 11).
* @return derivation dy/dx */
std::valarray<double>
f(const double &x, const std::valarray<double> &y) const;
private:
/** Moments of inertia along the three figure axes */
double A, B, C;
};
//--------------------------------------------------------------------
/** @brief GL widget class for the KRotation screen saver
*
* Class implements TQGLWidget to display the KRotation screen saver. */
class RotationGLWidget : public TQGLWidget
{
Q_OBJECT
public:
/** @brief Constructor of KRotation's GL widget
* @param parent parent widget, passed to TQGLWidget's constructor
* @param name name of widget, passed to TQGLWidget's constructor
* @param omega current rotation vector
* @param e1 x trace data
* @param e2 y trace data
* @param e3 z trace data
* @param J 3 vector with momenta of inertia with respect to the 3 figure
* axes. */
RotationGLWidget(TQWidget* parent, const char* name,
const vec3<double>& omega,
const std::deque<vec3<double> >& e1,
const std::deque<vec3<double> >& e2,
const std::deque<vec3<double> >& e3,
const vec3<double>& J);
protected:
/** Called if scenery (GL view) must be updated */
virtual void paintGL();
/** Called if gl widget was resized. Method makes adjustments for new
* perspective */
virtual void resizeGL(int w, int h);
/** Setup the GL enviroment */
virtual void initializeGL();
private:
/** @brief Draw 3D arrow
* @param total_length total length of arrow
* @param head_length length of arrow head (cone)
* @param base_width width of arrow base
* @param head_width width of arrow head (cone)
*
* The arrow is drawn from the coordinates zero point along th z direction.
* The cone's tip is located at (0,0,@a total_length). */
void myGlArrow(GLfloat total_length, GLfloat head_length,
GLfloat base_width, GLfloat head_width);
/** Draw the traces in the GL area */
void draw_traces (void);
private: // Private attributes
/** Eye position distance from coordinate zero point */
GLfloat eyeR;
/** Eye position theta angle from z axis */
GLfloat eyeTheta;
/** Eye position phi angle (longitude) */
GLfloat eyePhi;
/** Box size */
vec3<double> boxSize;
/** GL object list of fixed coordinate systems axses */
GLuint fixedAxses;
/** GL object list of rotating coordinate systems axses */
GLuint bodyAxses;
/** Light position distance from coordinate zero point */
GLfloat lightR;
/** Light position theta angle from z axis */
GLfloat lightTheta;
/** Light position phi angle (longitude) */
GLfloat lightPhi;
/** stores position where the mouse button was pressed down */
TQPoint mouse_press_pos;
/** Length of the rotating coordinate system axses */
GLfloat bodyAxsesLength;
/** Length of the fixed coordinate system axses */
GLfloat fixedAxsesLength;
/** The openGL rotation matrix for the box. */
GLfloat rotmat[16];
/** reference to current rotation vector */
const vec3<double>& omega;
/** reference to x trace values */
const std::deque<vec3<double> >& e1;
/** reference to y trace values */
const std::deque<vec3<double> >& e2;
/** reference to z trace values */
const std::deque<vec3<double> >& e3;
};
//--------------------------------------------------------------------
/** @brief Main class of the KRotation screen saver
*
* This class implements KScreenSaver for the KRotation screen saver. */
class KRotationSaver : public KScreenSaver
{
Q_OBJECT
public:
/** @brief Constructor of the KRotation screen saver object
* @param drawable Id of the window in which the screen saver is drawed
*
* Initial settings are read from disk, the GL widget is set up and displayed
* and the eq. of motion solver is started. */
KRotationSaver(WId drawable);
/** @brief Destructor of the KPendulum screen saver object
*
* Only KPendulumSaver::solver is destoyed. */
~KRotationSaver();
/** read the saved settings from disk */
void readSettings();
/** init physical quantities and set up the ode solver */
void initData();
/** Returns length of traces in seconds of visibility, parameter from setup
* dialog */
inline double traceLengthSeconds(void) const {return m_traceLengthSeconds;}
/** Sets the length of traces in seconds of visibility. */
void setTraceLengthSeconds(const double& t);
/** Lower argument limit for setTraceLengthSeconds() */
static const double traceLengthSecondsLimitLower;
/** Upper argument limit for setTraceLengthSeconds() */
static const double traceLengthSecondsLimitUpper;
/** Default value of KRotationSaver::m_traceLengthSeconds */
static const double traceLengthSecondsDefault;
/** Flags indicating if the traces for x,y,z are shown. Only relevant if
* ::randomTraces is not set to true. Parameter from setup dialog */
inline bool traceFlag(unsigned int n) const {return m_traceFlag[n];}
/** (Un)Sets the x,y,z traces flags. */
inline void setTraceFlag(unsigned int n, const bool& flag)
{m_traceFlag[n] = flag;}
/** Default values for KRotationSaver::m_traceFlag */
static const bool traceFlagDefault[3];
/** If flag is set to true the traces will be (de)activated randomly all 10
* seconds. Parameter from setup dialog */
inline bool randomTraces(void) const {return m_randomTraces;}
/** (Un)Sets the random trace flag. */
inline void setRandomTraces(const bool& flag) {m_randomTraces = flag;}
/** Default value for KRotationSaver::m_randomTraces */
static const bool randomTracesDefault = true;
/** Returns the angular momentum. */
inline double Lz(void) const {return m_Lz;}
/** Sets the angular momentum. */
void setLz(const double& Lz);
/** Lower argument limit for setLz() */
static const double LzLimitLower;
/** Upper argument limit for setLz() */
static const double LzLimitUpper;
/** Default value for KRotationSaver::m_Lz */
static const double LzDefault;
/** Returns initial eulerian angle theta of the top body at t=0 sec. */
inline double initEulerTheta(void) const {return m_initEulerTheta;}
/** Set the initial eulerian angle theta of the top body at t=0 sec. */
void setInitEulerTheta(const double& theta);
/** Lower argument limit for setInitEulerTheta() */
static const double initEulerThetaLimitLower;
/** Upper argument limit for setInitEulerTheta() */
static const double initEulerThetaLimitUpper;
/** Default value for KRotationSaver::m_initEulerTheta */
static const double initEulerThetaDefault;
public slots:
/** slot is called if integration should proceed by ::deltaT */
void doTimeStep();
/** slot is called if setup dialog changes in size and the GL area should be
* adjusted */
void resizeGlArea(TQResizeEvent* e);
private:
/** Momentum of inertia along figure axes */
vec3<double> J;
/** Initial eulerian angles phi of the top body at t=0s */
double initEulerPhi;
/** Initial eulerian angles psi of the top body at t=0s */
double initEulerPsi;
/** The ode solver which is used to integrate the equations of motion */
EulerOdeSolver* solver;
/** Gl widget of simulation */
RotationGLWidget* glArea;
/** Timer for the real time integration of the Euler equations */
TQTimer* timer;
/** current rotation vector */
vec3<double> omega;
/** deque of unit vectors of e1 figure axes in fixed frame coordinates */
std::deque<vec3<double> > e1;
/** deque of unit vectors of e2 figure axes in fixed frame coordinates */
std::deque<vec3<double> > e2;
/** deque of unit vectors of e3 figure axes in fixed frame coordinates */
std::deque<vec3<double> > e3;
/** Time step size for the integration in milliseconds. Used in
* ::KRotationSaver and ::RotationGLWidget. */
static const unsigned int deltaT = 20;
/** Length of traces in seconds of visibility, parameter from setup dialog */
double m_traceLengthSeconds;
/** Flags indicating if the traces for x,y,z are shown. Only relevant if
* ::randomTraces is not set to true. Parameter from setup dialog */
bool m_traceFlag[3];
/** If flag is set to true the traces will be (de)activated randomly all 10
* seconds. Parameter from setup dialog */
bool m_randomTraces;
/** Angular momentum. This is a constant of motion and points always into
* positive z direction. Parameter from setup dialog */
double m_Lz;
/** Initial eulerian angles theta of the top body at t=0 sec. Parameter from
* setup dialog */
double m_initEulerTheta;
};
//--------------------------------------------------------------------
/** @brief KRotation screen saver setup dialog.
*
* This class handles the KRotation screen saver setup dialog. */
class KRotationSetup : public KRotationSetupUi
{
Q_OBJECT
public:
KRotationSetup(TQWidget* parent = NULL, const char* name = NULL);
~KRotationSetup();
public slots:
/// slot for the OK Button: save settings and exit
void okButtonClickedSlot(void);
/// slot for the About Button: show the About dialog
void aboutButtonClickedSlot(void);
void randomTracesToggled(bool state);
void xTraceToggled(bool state);
void yTraceToggled(bool state);
void zTraceToggled(bool state);
void lengthEnteredSlot(const TQString& s);
void LzEnteredSlot(const TQString& s);
void thetaEnteredSlot(const TQString& s);
private:
/// the screen saver widget which is displayed in the preview area
KRotationSaver* saver;
};
#endif