libr2c2/vehicle.cpp

   1 #include <cmath>
   2 #include "catalogue.h"
   3 #include "driver.h"
   4 #include "layout.h"
   5 #include "track.h"
   6 #include "trackiter.h"
   7 #include "tracktype.h"
   8 #include "vehicle.h"
   9 #include "vehicletype.h"
  10
  11 using namespace std;
  12 using namespace Msp;
  13
  14 namespace R2C2 {
  15
  16 Vehicle::Vehicle(Layout &l, const VehicleType &t):
  17         Object(l),
  18         type(t),
  19         train(0),
  20         next(0),
  21         prev(0),
  22         placement(type),
  23         front_sensor(0),
  24         back_sensor(0)
  25 {
  26         axles.assign(type.get_axles().begin(), type.get_axles().end());
  27         for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
  28                 if(!i->type->bogie)
  29                         fixed_axles.push_back(&*i);
  30         bogies.assign(type.get_bogies().begin(), type.get_bogies().end());
  31         rods.assign(type.get_rods().begin(), type.get_rods().end());
  32         for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
  33                 for(unsigned j=0; j<i->axles.size(); ++j)
  34                         i->axles[j] = &axles[i->type->first_axle+j];
  35
  36         update_rods();
  37
  38         layout.add(*this);
  39 }
  40
  41 Vehicle::~Vehicle()
  42 {
  43         if(next)
  44                 detach_back();
  45         if(prev)
  46                 detach_front();
  47         layout.remove(*this);
  48 }
  49
  50 Vehicle *Vehicle::clone(Layout *to_layout) const
  51 {
  52         Vehicle *veh = new Vehicle((to_layout ? *to_layout : layout), type);
  53         veh->set_position(position);
  54         veh->set_rotation(rotation);
  55         return veh;
  56 }
  57
  58 void Vehicle::set_train(Train *t)
  59 {
  60         train = t;
  61 }
  62
  63 void Vehicle::attach_back(Vehicle &veh)
  64 {
  65         if(next || veh.prev)
  66                 throw attachment_error("already attached");
  67
  68         next = &veh;
  69         veh.prev = this;
  70
  71         if(is_placed())
  72                 propagate_backward();
  73 }
  74
  75 void Vehicle::attach_front(Vehicle &veh)
  76 {
  77         if(prev || veh.next)
  78                 throw attachment_error("already attached");
  79
  80         prev = &veh;
  81         veh.next = this;
  82
  83         if(prev->is_placed())
  84                 prev->propagate_backward();
  85 }
  86
  87 void Vehicle::detach_back()
  88 {
  89         if(!next)
  90                 throw attachment_error("not attached");
  91
  92         next->prev = 0;
  93         next = 0;
  94 }
  95
  96 void Vehicle::detach_front()
  97 {
  98         if(!prev)
  99                 throw attachment_error("not attached");
 100
 101         prev->next = 0;
 102         prev = 0;
 103 }
 104
 105 void Vehicle::place(const TrackOffsetIter &t, VehiclePlacement::Anchor a)
 106 {
 107         if(!t)
 108                 throw invalid_argument("Vehicle::place");
 109
 110         placement.place(t, a);
 111
 112         update_position(0);
 113         propagate_position();
 114 }
 115
 116 void Vehicle::unplace()
 117 {
 118         if(!placement.is_placed())
 119                 return;
 120
 121         placement.unplace();
 122
 123         if(prev)
 124                 prev->unplace();
 125         if(next)
 126                 next->unplace();
 127 }
 128
 129 void Vehicle::advance(float d)
 130 {
 131         placement.advance(d);
 132         turn_axles(d);
 133         update_position(d<0 ? -1 : 1);
 134         propagate_position();
 135 }
 136
 137 const Vehicle::Axle &Vehicle::get_axle(unsigned i) const
 138 {
 139         if(i>=axles.size())
 140                 throw out_of_range("Vehicle::get_axle");
 141         return axles[i];
 142 }
 143
 144 const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
 145 {
 146         if(i>=fixed_axles.size())
 147                 throw out_of_range("Vehicle::get_fixed_axle");
 148         return *fixed_axles[i];
 149 }
 150
 151 const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
 152 {
 153         if(i>=bogies.size())
 154                 throw out_of_range("Vehicle::get_bogie");
 155         return bogies[i];
 156 }
 157
 158 const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
 159 {
 160         if(i>=bogies.size())
 161                 throw out_of_range("Vehicle::get_bogie_axle");
 162         if(j>=bogies[i].axles.size())
 163                 throw out_of_range("Vehicle::get_bogie_axle");
 164         return *bogies[i].axles[j];
 165 }
 166
 167 const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
 168 {
 169         if(i>=rods.size())
 170                 throw out_of_range("Vehicle::get_rod");
 171         return rods[i];
 172 }
 173
 174 void Vehicle::update_position(int sign)
 175 {
 176         OrientedPoint p = placement.get_point();
 177         position = p.position;
 178         position.z += layout.get_catalogue().get_rail_elevation();
 179         rotation = p.rotation;
 180         tilt = p.tilt;
 181
 182         if(bogies.size()>=2)
 183         {
 184                 OrientedPoint front_point = placement.get_bogie_point(bogies.front().type->index);
 185                 bogies.front().direction = front_point.rotation-p.rotation;
 186
 187                 OrientedPoint back_point = placement.get_bogie_point(bogies.back().type->index);
 188                 bogies.back().direction = back_point.rotation-p.rotation;
 189         }
 190
 191         if(!prev)
 192                 check_sensor(placement.get_position(VehiclePlacement::FRONT_AXLE), front_sensor, sign<0);
 193         if(!next)
 194                 check_sensor(placement.get_position(VehiclePlacement::BACK_AXLE), back_sensor, sign>0);
 195
 196         signal_moved.emit();
 197 }
 198
 199 void Vehicle::update_position_from(const Vehicle &veh)
 200 {
 201         int sign = (&veh==prev ? -1 : 1);
 202
 203         float tdist = (type.get_length()+veh.type.get_length())/2;
 204         float margin = layout.get_catalogue().get_scale();
 205
 206         float dist = distance(veh.position, position);
 207         if(!is_placed() || dist<tdist-margin || dist>tdist+margin)
 208         {
 209                 if(sign<0)
 210                         placement.place_after(veh.placement);
 211                 else
 212                         placement.place_before(veh.placement);
 213                 update_position(0);
 214
 215                 dist = distance(veh.position, position);
 216         }
 217
 218         float d = sign*(tdist-dist);
 219         placement.advance(d);
 220         update_position(d<0 ? -1 : 1);
 221         turn_axles(d);
 222 }
 223
 224 void Vehicle::propagate_position()
 225 {
 226         if(prev)
 227                 propagate_forward();
 228         if(next)
 229                 propagate_backward();
 230 }
 231
 232 void Vehicle::propagate_forward()
 233 {
 234         prev->update_position_from(*this);
 235
 236         if(prev->prev)
 237                 prev->propagate_forward();
 238 }
 239
 240 void Vehicle::propagate_backward()
 241 {
 242         next->update_position_from(*this);
 243
 244         if(next->next)
 245                 next->propagate_backward();
 246 }
 247
 248 void Vehicle::check_sensor(const TrackOffsetIter &t, unsigned &sensor, bool release)
 249 {
 250         unsigned s = t->get_sensor_address();
 251         if(s!=sensor)
 252         {
 253                 unsigned old = sensor;
 254                 sensor = s;
 255                 if(release)
 256                         layout.get_driver().set_sensor(old, false);
 257                 else
 258                         layout.get_driver().set_sensor(sensor, true);
 259         }
 260 }
 261
 262 void Vehicle::turn_axles(float d)
 263 {
 264         for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
 265                 i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
 266
 267         update_rods();
 268 }
 269
 270 void Vehicle::update_rods()
 271 {
 272         if(rods.empty())
 273                 return;
 274
 275         for(unsigned n=0; n<10; ++n)
 276         {
 277                 float max_d = 0;
 278                 for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
 279                 {
 280                         const vector<VehicleType::RodConstraint> &constraints = i->type->constraints;
 281                         for(vector<VehicleType::RodConstraint>::const_iterator j=constraints.begin(); j!=constraints.end(); ++j)
 282                         {
 283                                 float d = resolve_rod_constraint(*i, *j);
 284                                 max_d = max(d, max_d);
 285                         }
 286                 }
 287
 288                 if(max_d<0.0001)
 289                         break;
 290         }
 291 }
 292
 293 float Vehicle::resolve_rod_constraint(Rod &rod, const VehicleType::RodConstraint &cns)
 294 {
 295         Vector target;
 296         if(cns.target==VehicleType::RodConstraint::BODY)
 297                 target = cns.target_position;
 298         else if(cns.target==VehicleType::RodConstraint::BOGIE)
 299                 ;  // TODO currently rods must lie in the xz plane of the body
 300         else if(cns.target==VehicleType::RodConstraint::AXLE)
 301         {
 302                 const Axle &axle = get_axle(cns.target_index);
 303                 target = Vector(axle.type->position, 0, axle.type->wheel_dia/2);
 304                 target += Transform::rotation(axle.angle, Vector(0, 1, 0)).transform(cns.target_position);
 305         }
 306         else if(cns.target==VehicleType::RodConstraint::ROD)
 307         {
 308                 const Rod &trod = get_rod(cns.target_index);
 309                 target = trod.position;
 310                 target += Transform::rotation(trod.angle, Vector(0, -1, 0)).transform(cns.target_position);
 311         }
 312
 313         Vector old_position = rod.position;
 314         if(cns.type==VehicleType::RodConstraint::MOVE)
 315                 rod.position = target-Transform::rotation(rod.angle, Vector(0, -1, 0)).transform(cns.local_position);
 316         else if(cns.type==VehicleType::RodConstraint::SLIDE)
 317         {
 318                 Vector d = rod.position-target;
 319                 rod.position = target+cns.axis*dot(d, cns.axis);
 320                 rod.angle = Angle::zero();
 321         }
 322         else if(cns.type==VehicleType::RodConstraint::ROTATE)
 323         {
 324                 Angle old_angle = rod.angle;
 325                 Vector d = target-rod.position;
 326                 rod.angle = Geometry::atan2<float>(d.z, d.x);
 327                 if(cns.local_position.x || cns.local_position.z)
 328                         rod.angle -= Geometry::atan2<float>(cns.local_position.z, cns.local_position.x);
 329                 return abs(rod.angle-old_angle).radians()*cns.local_position.norm();
 330         }
 331
 332         return distance(old_position, rod.position);
 333 }
 334
 335 unsigned Vehicle::get_n_link_slots() const
 336 {
 337         return 2;
 338 }
 339
 340 Vehicle *Vehicle::get_link(unsigned i) const
 341 {
 342         if(i>=2)
 343                 throw out_of_range("Vehicle::get_link");
 344
 345         return (i==0 ? prev : next);
 346 }
 347
 348 int Vehicle::get_link_slot(const Object &other) const
 349 {
 350         if(&other==prev)
 351                 return 0;
 352         else if(&other==next)
 353                 return 1;
 354         else
 355                 return -1;
 356 }
 357
 358 bool Vehicle::collide_ray(const Ray &ray) const
 359 {
 360         if(is_placed())
 361                 return Object::collide_ray(ray);
 362         else
 363                 return false;
 364 }
 365
 366
 367 Vehicle::Axle::Axle(const VehicleType::Axle &t):
 368         type(&t)
 369 { }
 370
 371
 372 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
 373         type(&t),
 374         axles(t.axles.size())
 375 { }
 376
 377
 378 Vehicle::Rod::Rod(const VehicleType::Rod &t):
 379         type(&t),
 380         position(t.initial_position)
 381 { }
 382
 383 } // namespace R2C2