3 This file is part of R²C²
4 Copyright © 2010 Mikkosoft Productions, Mikko Rasa
5 Distributed under the GPL
13 #include "trackiter.h"
14 #include "tracktype.h"
16 #include "vehicletype.h"
23 Vehicle::Vehicle(Layout &l, const VehicleType &t):
29 bogie_dirs(type.get_bogies().size()),
31 rods(type.get_rods().size()),
35 layout.add_vehicle(*this);
37 axle_angles.front().resize(type.get_axles().size(), 0.0f);
38 const vector<VehicleType::Bogie> &bogies = type.get_bogies();
39 for(vector<VehicleType::Bogie>::const_iterator i=bogies.begin(); i!=bogies.end(); ++i)
40 axle_angles.push_back(vector<float>(i->axles.size(), 0.0f));
49 layout.remove_vehicle(*this);
52 void Vehicle::attach_back(Vehicle &veh)
55 throw InvalidState("Already attached");
64 void Vehicle::attach_front(Vehicle &veh)
67 throw InvalidState("Already attached");
73 prev->propagate_backward();
76 void Vehicle::detach_back()
79 throw InvalidState("Not attached");
85 void Vehicle::detach_front()
88 throw InvalidState("Not attached");
94 void Vehicle::place(Track &t, unsigned e, float o, PlaceMode m)
96 track_pos = TrackPosition(&t, e, o);
99 track_pos.advance(-type.get_front_axle_offset());
100 else if(m==FRONT_BUFFER)
101 track_pos.advance(-type.get_length()/2);
102 else if(m==BACK_AXLE)
103 track_pos.advance(-type.get_back_axle_offset());
104 else if(m==BACK_BUFFER)
105 track_pos.advance(type.get_length()/2);
108 propagate_position();
111 void Vehicle::unplace()
116 track_pos = TrackPosition();
124 void Vehicle::advance(float d)
126 track_pos.advance(d);
129 propagate_position();
132 float Vehicle::get_bogie_direction(unsigned i) const
134 if(i>=bogie_dirs.size())
135 throw InvalidParameterValue("Bogie index out of range");
136 return bogie_dirs[i];
139 float Vehicle::get_axle_angle(unsigned i) const
141 if(i>=axle_angles[0].size())
142 throw InvalidParameterValue("Axle index out of range");
143 return axle_angles[0][i];
146 float Vehicle::get_bogie_axle_angle(unsigned i, unsigned j) const
148 if(i+1>=axle_angles.size())
149 throw InvalidParameterValue("Bogie index out of range");
150 if(j>=axle_angles[i+1].size())
151 throw InvalidParameterValue("Axle index out of range");
152 return axle_angles[i+1][j];
155 const Point &Vehicle::get_rod_position(unsigned i) const
158 throw InvalidParameterValue("Rod index out of range");
159 return rods[i].position;
162 float Vehicle::get_rod_angle(unsigned i) const
165 throw InvalidParameterValue("Rod index out of range");
166 return rods[i].angle;
169 void Vehicle::update_position()
173 const vector<VehicleType::Axle> &axles = type.get_axles();
174 const vector<VehicleType::Bogie> &bogies = type.get_bogies();
177 float wheelbase = axles.front().position-axles.back().position;
178 tp = get_point(track_pos, wheelbase, -axles.back().position/wheelbase);
180 else if(bogies.size()>=2)
182 TrackPosition front = track_pos;
183 front.advance(bogies.front().position);
184 TrackPosition back = track_pos;
185 back.advance(bogies.back().position);
186 float bogie_spacing = bogies.front().position-bogies.back().position;
187 adjust_for_distance(front, back, bogie_spacing);
189 const vector<VehicleType::Axle> &front_axles = bogies.front().axles;
190 float wheelbase = front_axles.front().position-front_axles.back().position;
191 TrackPoint front_point = get_point(front, wheelbase, -front_axles.back().position/wheelbase);
193 const vector<VehicleType::Axle> &back_axles = bogies.back().axles;
194 wheelbase = back_axles.front().position-back_axles.back().position;
195 TrackPoint back_point = get_point(back, wheelbase, -back_axles.back().position/wheelbase);
197 tp = get_point(front_point.pos, back_point.pos, -bogies.back().position/bogie_spacing);
199 bogie_dirs.front() = front_point.dir-tp.dir;
200 bogie_dirs.back() = back_point.dir-tp.dir;
203 tp = track_pos.get_point();
206 check_sensor(type.get_front_axle_offset(), front_sensor);
208 check_sensor(type.get_back_axle_offset(), back_sensor);
211 position.z += layout.get_catalogue().get_rail_elevation();
215 void Vehicle::update_position_from(const Vehicle &veh)
217 int sign = (&veh==prev ? -1 : 1);
219 float tdist = (type.get_length()+veh.type.get_length())/2;
220 float margin = layout.get_catalogue().get_scale();
222 float dist = distance(veh.position, position);
223 if(dist<tdist-margin || dist>tdist+margin)
225 track_pos = veh.track_pos;
226 track_pos.advance(sign*tdist);
229 dist = distance(veh.position, position);
232 track_pos.advance(sign*(tdist-dist));
234 turn_axles(sign*(tdist-dist));
237 void Vehicle::propagate_position()
242 propagate_backward();
245 void Vehicle::propagate_forward()
247 prev->update_position_from(*this);
250 prev->propagate_forward();
253 void Vehicle::propagate_backward()
255 next->update_position_from(*this);
258 next->propagate_backward();
261 void Vehicle::check_sensor(float offset, unsigned &sensor)
263 TrackPosition pos = track_pos;
265 unsigned s = pos.track->get_sensor_id();
268 /* Sensor ID under axle has changed. Deduce movement direction by using
269 the sensor ID under the midpoint of the vehicle. */
270 /* XXX This depends on the simulation running fast enough. Something
271 more robust would be preferable. */
272 unsigned old = sensor;
274 unsigned mid = track_pos.track->get_sensor_id();
277 /* There's a sensor and it's different from mid. We've just entered
279 layout.get_driver().set_sensor(sensor, true);
281 /* A sensor was under the axle and it was different from mid. We've
282 just left that sensor. */
283 layout.get_driver().set_sensor(old, false);
287 void Vehicle::turn_axles(float d)
289 const vector<VehicleType::Axle> &axles = type.get_axles();
290 const vector<VehicleType::Bogie> &bogies = type.get_bogies();
291 for(unsigned i=0; i<axle_angles.size(); ++i)
292 for(unsigned j=0; j<axle_angles[i].size(); ++j)
294 const VehicleType::Axle &axle = (i==0 ? axles[j] : bogies[i-1].axles[j]);
295 axle_angles[i][j] += d*2/axle.wheel_dia;
301 void Vehicle::update_rods()
303 const vector<VehicleType::Rod> &trods = type.get_rods();
304 for(unsigned i=0; i<trods.size(); ++i)
306 const VehicleType::Rod &rod = trods[i];
307 if(rod.pivot==VehicleType::Rod::BODY)
308 rods[i].position = rod.pivot_point;
309 else if(rod.pivot==VehicleType::Rod::AXLE)
311 const VehicleType::Axle &axle = type.get_axles()[rod.pivot_index];
312 float angle = axle_angles[0][rod.pivot_index];
313 float c = cos(angle);
314 float s = sin(angle);
315 const Point &pp = rod.pivot_point;
316 rods[i].position = Point(axle.position+pp.x*c+pp.z*s, pp.y, axle.wheel_dia/2+pp.z*c-pp.x*s);
318 else if(rod.pivot==VehicleType::Rod::ROD)
320 float angle = rods[rod.pivot_index].angle;
321 float c = cos(angle);
322 float s = sin(angle);
323 const Point &pos = rods[rod.pivot_index].position;
324 const Point &off = rod.pivot_point;
325 rods[i].position = Point(pos.x+off.x*c-off.z*s, pos.y+off.y, pos.z+off.z*c+off.x*s);
328 if(rod.connect_index>=0)
330 const VehicleType::Rod &crod = trods[rod.connect_index];
331 if(rod.limit==VehicleType::Rod::ROTATE && crod.limit==VehicleType::Rod::SLIDE_X)
333 float dx = (rods[rod.connect_index].position.x+rod.connect_offset.x)-rods[i].position.x;
334 float dz = (rods[rod.connect_index].position.z+rod.connect_offset.z)-rods[i].position.z;
335 float cd = sqrt(rod.connect_point.x*rod.connect_point.x+rod.connect_point.z*rod.connect_point.z);
336 float ca = atan2(rod.connect_point.z, rod.connect_point.x);
337 dx = sqrt(cd*cd-dz*dz)*(dx>0 ? 1 : -1);
338 rods[i].angle = atan2(dz, dx)-ca;
339 rods[rod.connect_index].position.x = rods[i].position.x+dx-rod.connect_offset.x;
341 else if(rod.limit==VehicleType::Rod::ROTATE && crod.limit==VehicleType::Rod::ROTATE)
343 float dx = rods[rod.connect_index].position.x-rods[i].position.x;
344 float dz = rods[rod.connect_index].position.z-rods[i].position.z;
345 float d = sqrt(dx*dx+dz*dz);
346 float cd1 = sqrt(rod.connect_point.x*rod.connect_point.x+rod.connect_point.z*rod.connect_point.z);
347 float cd2 = sqrt(rod.connect_offset.x*rod.connect_offset.x+rod.connect_offset.z*rod.connect_offset.z);
348 float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
349 float b = sqrt(cd1*cd1-a*a);
350 float sign = (dx*rod.connect_point.z-dz*rod.connect_point.x>0 ? 1 : -1);
351 float cx = (dx*a-dz*b*sign)/d;
352 float cz = (dz*a+dx*b*sign)/d;
353 float ca1 = atan2(rod.connect_point.z, rod.connect_point.x);
354 float ca2 = atan2(rod.connect_offset.z, rod.connect_offset.x);
355 rods[i].angle = atan2(cz, cx)-ca1;
356 rods[rod.connect_index].angle = atan2(cz-dz, cx-dx)-ca2;
362 void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, float tdist, float ratio) const
364 float margin = 0.01*layout.get_catalogue().get_scale();
368 Point front_point = front.get_point().pos;
369 Point back_point = back.get_point().pos;
371 float dx = front_point.x-back_point.x;
372 float dy = front_point.y-back_point.y;
373 float dz = front_point.z-back_point.z;
374 float dist = sqrt(dx*dx+dy*dy+dz*dz);
376 float diff = tdist-dist;
377 if(diff<-margin && adjust_dir<=0)
382 else if(diff>margin && adjust_dir>=0)
390 front.advance(diff*(1-ratio));
391 back.advance(-diff*ratio);
395 TrackPoint Vehicle::get_point(const Point &front, const Point &back, float ratio) const
397 float dx = front.x-back.x;
398 float dy = front.y-back.y;
399 float dz = front.z-back.z;
402 tp.pos = Point(back.x+dx*ratio, back.y+dy*ratio, back.z+dz*ratio);
403 tp.dir = atan2(dy, dx);
408 TrackPoint Vehicle::get_point(const TrackPosition &pos, float tdist, float ratio) const
410 TrackPosition front = pos;
411 front.advance(tdist*(1-ratio));
413 TrackPosition back = pos;
414 back.advance(-tdist*ratio);
416 adjust_for_distance(front, back, tdist, ratio);
417 return get_point(front.get_point().pos, back.get_point().pos, ratio);
421 Vehicle::TrackPosition::TrackPosition():
427 Vehicle::TrackPosition::TrackPosition(Track *t, unsigned e, float o):
433 void Vehicle::TrackPosition::advance(float d)
439 TrackIter iter(track, ep);
442 float path_len = iter->get_type().get_path_length(iter->get_active_path());
453 while(iter && offs<0)
455 iter = iter.flip().reverse();
459 float path_len = iter->get_type().get_path_length(iter->get_active_path());
464 track = iter.track();
470 TrackPoint Vehicle::TrackPosition::get_point() const
473 return track->get_point(ep, offs);