getting-started.md

Getting started

make imgs

does the following:

• compile the C++ files

• run them, and save their output to .dat files. That is the integrated solution to the physical problem.

• plot the .dat files into .png files.

Each line of the .dat files has the format:

<tick number> <point id> <x> <y> <z> <speed-x> <speed-y> <speed-z> \
<rot-x> <rot-y> <rot-z> <rot-angle> <rot-speed-x> <rot-speed-y> <rot-speed-z> [<events>]

Note that for the rotation, only 3 parameters are required, but we use 4 as that is easier to view:

• one vector to give the direction on 3 parameters.

  This could be done with 2 angles because this vector can be chosen normal, and thus looses a degree of freedom.

• one angle to turn around the vector with right hand rule

The color convention of the graph lines is:

• r: x, mnemonic: first of RGB.

• g: y

• b: z

• y: rotation angle. No mnemonic, color chosen randomly.

  We always divide the rotation angle by 2 pi, so that is restricted to [-1,1].