void PendulumApplication::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//simple dynamics world doesn't handle fixed-time-stepping
m_dt = getDeltaTimeMicroseconds()/1000000.f;
temp += m_dt;
///step the simulation
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(m_dt);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
}
btTransform trans;
m_pendulumBody->getMotionState()->getWorldTransform(trans);
Integrator_rk4();
trans.getOrigin() = btVector3(0,20,0)+pol2cart(m_r.m_value,m_theta.m_value);
//printf("%f %f %f\n",m_position.x(),m_po sition.y(),m_position.z());
m_pendulumBody->getMotionState()->setWorldTransform(trans);
m_r.m_value = m_r.m_value + 0.1 * sin (temp);
//draw the rope
btVector3 anchor(0,20,0);
glLineWidth(2.0);
glBegin(GL_LINES);
glVertex3fv(anchor.m_floats);
glVertex3fv(trans.getOrigin());
glEnd();
renderme();
swapBuffers();
}
int main(){
ComplexCart zcs[]={{3,4.0/5.0},{0,log(4)},{45.245,0.235}};
ComplexPol zcd[sizeof(zcs)/sizeof(ComplexCart)]={0};
ComplexPol zps[]={{3.0,PI/17.0},{4,PI/9},{1,PI/12}};
ComplexCart zpd[sizeof(zps)/sizeof(ComplexPol)]={0};
cart2pol(zcs,zcd,sizeof(zcs)/sizeof(ComplexCart));
pol2cart(zps,zpd,sizeof(zps)/sizeof(ComplexPol));
return 0;
}
int main(int argc, char** argv)
{
double r=0, phi=0, z[2];
printf("Input r: ");
scanf("%lf", &r);
printf("Input phi: ");
scanf("%lf", &phi);
pol2cart(r, phi, z);
printf("Point z = (a,b) is: (%.2f, %.2f)\n", z[0], z[1]);
return EXIT_SUCCESS;
}
void draw_graphics(struct gps_data_t *gpsdata)
{
int i, x, y;
char buf[20];
if (gpsdata->satellites != 0) {
i = (int)min(width, height);
set_color("White");
(void)XFillRectangle(XtDisplay(draww),pixmap,drawGC,0,0,width,height);
/* draw something in the center */
set_color("Grey");
draw_arc(width / 2, height / 2, 6);
/* draw the 45 degree circle */
#ifdef PCORRECT
#define FF 0.7 /* sin(45) ~ 0.7 */
#else
#define FF 0.5
#endif
draw_arc(width / 2, height / 2, (unsigned)((i - RM) * FF));
#undef FF
set_color("Black");
draw_arc(width / 2, height / 2, (unsigned)(i - RM));
pol2cart(0, 0, &x, &y);
set_color("Black");
(void)XDrawString(XtDisplay(draww),pixmap, drawGC, x, y, "N", 1);
pol2cart(90, 0, &x, &y);
set_color("Black");
(void)XDrawString(XtDisplay(draww),pixmap, drawGC, x+2, y, "E", 1);
pol2cart(180, 0, &x, &y);
set_color("Black");
(void)XDrawString(XtDisplay(draww),pixmap, drawGC, x, y+10, "S", 1);
pol2cart(270, 0, &x, &y);
set_color("Black");
(void)XDrawString(XtDisplay(draww),pixmap, drawGC, x-5,y, "W", 1);
/* Now draw the satellites... */
for (i = 0; i < gpsdata->satellites; i++) {
pol2cart((double)gpsdata->azimuth[i],
(double)gpsdata->elevation[i],
&x, &y);
if (gpsdata->ss[i] < 10)
set_color("Black");
else if (gpsdata->ss[i] < 30)
set_color("Red");
else if (gpsdata->ss[i] < 35)
set_color("Yellow");
else if (gpsdata->ss[i] < 40)
set_color("Green3");
else
set_color("Green1");
if (gpsdata->PRN[i] > GPS_PRNMAX) {
/* SBAS satellites */
XPoint vertices[5];
/*@ -type @*/
vertices[0].x = x;
vertices[0].y = y-IDIAM;
vertices[1].x = x+IDIAM;
vertices[1].y = y;
vertices[2].x = x;
vertices[2].y = y+IDIAM;
vertices[3].x = x-IDIAM;
vertices[3].y = y;
vertices[4].x = x;
vertices[4].y = y-IDIAM;
/*@ +type -compdef @*/
if (gpsdata->used[i])
(void)XFillPolygon(XtDisplay(draww), pixmap, drawGC,
vertices, 5, Convex, CoordModeOrigin);
else
(void)XDrawLines(XtDisplay(draww), pixmap, drawGC,
vertices, 5, CoordModeOrigin);
} else {
/* ordinary GPS satellites */
if (gpsdata->used[i])
(void)XFillArc(XtDisplay(draww), pixmap, drawGC,
x - IDIAM, y - IDIAM, /* x,y */
2*IDIAM+1, 2*IDIAM+1, /* width, height */
0, 360 * 64 /* angle1, angle2 */
);
else
(void)XDrawArc(XtDisplay(draww), pixmap, drawGC,
x - IDIAM, y - IDIAM, /* x,y */
2*IDIAM+1, 2*IDIAM+1, /* width, height */
0, 360 * 64 /* angle1, angle2 */
);
}
/*@ +compdef @*/
(void)snprintf(buf, sizeof(buf), "%-3d", gpsdata->PRN[i]);
set_color("Black");
(void)XDrawString(XtDisplay(draww), pixmap, drawGC, x,y+17, buf,3);
}
(void)XCopyArea(XtDisplay(draww), pixmap, XtWindow(draww), drawGC,
0, 0, width, height, 0, 0);
}
}
void SkyView::paintEvent(QPaintEvent *)
{
// Draw stuff in drawing area
int w= width();
int h= height();
QPainter painter(this);
painter.setPen(Qt::gray);
QRect r1(0, 0, w-1, h-1);
QBrush br1(Qt::white);
painter.fillRect(r1, br1);
draw_arc(painter, w/2, h / 2, 6);
// draw the 45 degree circle
int i = min(w, h);
draw_arc(painter, w / 2, h / 2, (unsigned)((i - RM) * 0.7));
painter.setPen(Qt::black);
draw_arc(painter, w / 2, h / 2, (unsigned)(i - RM));
int x, y;
pol2cart(w, h, 0, 0, &x, &y);
painter.drawText(x, y, "N");
pol2cart(w, h, 90, 0, &x, &y);
painter.drawText(x + 2, y, "E");
pol2cart(w, h, 180, 0, &x, &y);
painter.drawText(x, y + 10, "S");
pol2cart(w, h, 270, 0, &x, &y);
painter.drawText(x - 5, y, "W");
if(gpsdata == NULL)
return;
QFont serifFont("Times", 6);
painter.setFont(serifFont);
/* Now draw the satellites... */
for (int i = 0; i < gpsdata->satellites_visible; i++) {
QColor col;
pol2cart(w, h, (double)gpsdata->azimuth[i],
(double)gpsdata->elevation[i], &x, &y);
if (gpsdata->ss[i] < 10)
col= Qt::black;
else if (gpsdata->ss[i] < 30)
col= Qt::red;
else if (gpsdata->ss[i] < 35)
col= Qt::yellow;
else if (gpsdata->ss[i] < 40)
col= Qt::darkGreen;
else
col= Qt::green;
painter.setPen(col);
br1.setColor(col);
painter.setBrush(br1);
if (gpsdata->PRN[i] > GPS_PRNMAX) {
/* SBAS satellites */
QPoint vertices[5];
vertices[0].setX(x);
vertices[0].setY(y-IDIAM);
vertices[1].setX(x+IDIAM);
vertices[1].setY(y);
vertices[2].setX(x);
vertices[2].setY(y+IDIAM);
vertices[3].setX(x-IDIAM);
vertices[3].setY(y);
vertices[4].setX(x);
vertices[4].setY(y-IDIAM);
if (gpsdata->used[i])
painter.drawPolygon(vertices, 4);
else
painter.drawPolyline(vertices, 5);
} else {
/* ordinary GPS satellites */
if (gpsdata->used[i])
painter.drawChord(x - IDIAM, y - IDIAM, 2 * IDIAM + 1, 2 * IDIAM + 1, 0, 360 * 64);
else
painter.drawArc(x - IDIAM, y - IDIAM, 2 * IDIAM + 1, 2 * IDIAM + 1, 0, 360 * 64);
}
QString buf;
buf.setNum(gpsdata->PRN[i]);
painter.setPen(Qt::black);
painter.drawText(x, y+14, buf);
}
}
