File indexing completed on 2025-04-13 08:17:43

 /***************************************************************************
  *   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 "mechanicsitem.h"
 #include "mechanicsdocument.h"
 
 #include <KLocalizedString>
 #include <QPainter>
 #include <QPainterPath>
 
 #include <algorithm>
 #include <cmath>
 
 double normalizeAngle(double angle);
 
 Item *ChassisCircular2::construct(ItemDocument *itemDocument, bool newItem, const char *id)
 {
     return new ChassisCircular2(static_cast<MechanicsDocument *>(itemDocument), newItem, id);
 }
 
 LibraryItem *ChassisCircular2::libraryItem()
 {
     return new LibraryItem(QStringList(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_theta1 = 0.0;
     m_theta2 = 0.0;
 
     // Q3PointArray pa;    // 2018.08.14 - ported to PainterPath
     // pa.makeEllipse( -25, -25, 50, 50 );
     QPainterPath path;
     path.addEllipse(-25, -25, 50, 50);
     QPolygon pa = path.toFillPolygon().toPolygon();
 
     QTransform m(4, 0, 0, 4, 0, 0);
     // m.setTransformationMode( QMatrix::Areas ); // TODO find a replacement
     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 */
                       Qt::ReplaceClip // TODO original Qt::UniteClip
         );
         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 */
                       Qt::ReplaceClip // TODO original Qt::UniteClip
         );
         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.drawRoundedRect(int(X), int(y1), int(w / 4), int(H), 25, 50, Qt::RelativeSize);
     p.drawRoundedRect(int(X), int(y2), int(w / 4), int(H), 25, 50, Qt::RelativeSize);
 
     deinitPainter(p);
 }