source/libr2c2/trackpart.cpp

   1 #include <cmath>
   2 #include "trackpart.h"
   3
   4 using namespace std;
   5 using namespace Msp;
   6
   7 namespace R2C2 {
   8
   9 TrackPart::TrackPart():
  10         dir(0),
  11         length(0),
  12         radius(0),
  13         path(0),
  14         dead_end(false)
  15 {
  16         links[0] = 0;
  17         links[1] = 0;
  18 }
  19
  20 float TrackPart::get_length() const
  21 {
  22         if(radius)
  23                 return abs(radius)*length;
  24         else
  25                 return length;
  26 }
  27
  28 TrackPoint TrackPart::get_point(float d) const
  29 {
  30         TrackPoint result;
  31
  32         if(radius)
  33         {
  34                 float a = d/radius;
  35                 float c = cos(a);
  36                 float s = sin(a);
  37                 float rx = radius*sin(dir);
  38                 float ry = -radius*cos(dir);
  39                 result.pos = Vector(pos.x+c*rx-s*ry-rx, pos.y+c*ry+s*rx-ry);
  40                 result.dir = dir+a;
  41         }
  42         else
  43         {
  44                 result.pos = Vector(pos.x+cos(dir)*d, pos.y+sin(dir)*d);
  45                 result.dir = dir;
  46         }
  47
  48         return result;
  49 }
  50
  51 void TrackPart::check_link(TrackPart &other)
  52 {
  53         unsigned n_eps = (dead_end ? 1 : 2);
  54         unsigned n_other_eps = (other.is_dead_end() ? 1 : 2);
  55         for(unsigned i=0; i<n_eps; ++i)
  56         {
  57                 TrackPoint p1 = get_point(i ? get_length() : 0);
  58                 for(unsigned j=0; j<n_other_eps; ++j)
  59                 {
  60                         TrackPoint p2 = other.get_point(j ? other.get_length() : 0);
  61
  62                         float dx = p2.pos.x-p1.pos.x;
  63                         float dy = p2.pos.y-p1.pos.y;
  64
  65                         float da = p2.dir-p1.dir+M_PI*((i+j+1)%2);
  66                         while(da>M_PI)
  67                                 da -= M_PI*2;
  68                         while(da<-M_PI)
  69                                 da += M_PI*2;
  70
  71                         if(dx*dx+dy*dy<1e-6 && da>=-0.01 && da<=0.01)
  72                         {
  73                                 links[i] = &other;
  74                                 other.links[j] = this;
  75                                 return;
  76                         }
  77                 }
  78         }
  79 }
  80
  81 TrackPart *TrackPart::get_link(unsigned i) const
  82 {
  83         if(i>=2)
  84                 throw out_of_range("TrackPart::get_link");
  85         return links[i];
  86 }
  87
  88 bool TrackPart::collide_ray(const Vector &start, const Vector &ray, float width) const
  89 {
  90         Vector local_start(start.x-pos.x, start.y-pos.y, start.z);
  91         float c = cos(dir);
  92         float s = sin(dir);
  93         local_start = Vector(c*local_start.x+s*local_start.y, c*local_start.y-s*local_start.x, local_start.z);
  94         Vector local_ray(c*ray.x+s*ray.y, c*ray.y-s*ray.x, ray.z);
  95
  96         float d = -local_start.z/local_ray.z;
  97         if(d<0)
  98                 return false;
  99
 100         Vector base(local_start.x+d*local_ray.x, local_start.y+d*local_ray.y);
 101
 102         if(radius)
 103         {
 104                 base.y -= radius;
 105                 if(radius<0)
 106                         base.y = -base.y;
 107                 float r = sqrt(base.x*base.x+base.y*base.y)-abs(radius);
 108                 float a = atan2(base.x, -base.y);
 109                 return (a>=0 && a<=length && r>=-width/2 && r<=width/2);
 110         }
 111         else
 112                 return (base.x>=0 && base.x<=length && base.y>=-width/2 && base.y<=width/2);
 113 }
 114
 115
 116 TrackPart::Loader::Loader(TrackPart &p):
 117         Msp::DataFile::BasicLoader<TrackPart>(p)
 118 {
 119         add("start",    &Loader::start);
 120         add("length",   &TrackPart::length);
 121         add("radius",   &TrackPart::radius);
 122         add("path",     &TrackPart::path);
 123         add("dead_end", &TrackPart::dead_end);
 124 }
 125
 126 void TrackPart::Loader::finish()
 127 {
 128         if(obj.radius)
 129         {
 130                 obj.length *= M_PI/180;
 131                 obj.radius /= 1000;
 132         }
 133         else
 134                 obj.length /= 1000;
 135
 136         obj.pos.x /= 1000;
 137         obj.pos.y /= 1000;
 138         obj.dir *= M_PI/180;
 139 }
 140
 141 void TrackPart::Loader::start(float x, float y, float d)
 142 {
 143         obj.pos = Vector(x, y);
 144         obj.dir = d;
 145 }
 146
 147 } // namespace R2C2