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Diffstat (limited to 'tdescreensaver/kdesavers/rotation.h')
| -rw-r--r-- | tdescreensaver/kdesavers/rotation.h | 328 |
1 files changed, 328 insertions, 0 deletions
diff --git a/tdescreensaver/kdesavers/rotation.h b/tdescreensaver/kdesavers/rotation.h new file mode 100644 index 00000000..c4dde402 --- /dev/null +++ b/tdescreensaver/kdesavers/rotation.h @@ -0,0 +1,328 @@ +//============================================================================ +// +// KRotation screen saver for KDE +// 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> +// KDE 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 |