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].