9 #include "vehicletype.h"
16 Vehicle::Vehicle(Layout &l, const VehicleType &t):
25 axles.assign(type.get_fixed_axles().begin(), type.get_fixed_axles().end());
26 bogies.assign(type.get_bogies().begin(), type.get_bogies().end());
27 rods.assign(type.get_rods().begin(), type.get_rods().end());
41 Vehicle *Vehicle::clone(Layout *to_layout) const
43 Vehicle *veh = new Vehicle((to_layout ? *to_layout : layout), type);
44 veh->set_position(position);
45 veh->set_rotation(rotation);
49 void Vehicle::set_train(Train *t)
54 void Vehicle::attach_back(Vehicle &veh)
57 throw attachment_error("already attached");
66 void Vehicle::attach_front(Vehicle &veh)
69 throw attachment_error("already attached");
75 prev->propagate_backward();
78 void Vehicle::detach_back()
81 throw attachment_error("not attached");
87 void Vehicle::detach_front()
90 throw attachment_error("not attached");
96 void Vehicle::place(const TrackIter &t, float o, PlaceMode m)
99 throw invalid_argument("Vehicle::place");
101 track = TrackOffsetIter(t, o);
104 track = track.advance(-type.get_front_axle_offset());
105 else if(m==FRONT_BUFFER)
106 track = track.advance(-type.get_length()/2);
107 else if(m==BACK_AXLE)
108 track = track.advance(-type.get_back_axle_offset());
109 else if(m==BACK_BUFFER)
110 track = track.advance(type.get_length()/2);
113 propagate_position();
116 void Vehicle::unplace()
121 track = TrackOffsetIter();
129 void Vehicle::advance(float d)
131 track = track.advance(d);
134 propagate_position();
137 const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
140 throw out_of_range("Vehicle::get_fixed_axle");
144 const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
147 throw out_of_range("Vehicle::get_bogie");
151 const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
154 throw out_of_range("Vehicle::get_bogie_axle");
155 if(j>=bogies[i].axles.size())
156 throw out_of_range("Vehicle::get_bogie_axle");
157 return bogies[i].axles[j];
160 const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
163 throw out_of_range("Vehicle::get_rod");
167 void Vehicle::update_position()
173 float wheelbase = axles.front().type->position-axles.back().type->position;
174 p = get_point(track, wheelbase, -axles.back().type->position/wheelbase);
176 else if(bogies.size()>=2)
178 TrackOffsetIter front = track.advance(bogies.front().type->position);
179 TrackOffsetIter back = track.advance(bogies.back().type->position);
180 float bogie_spacing = bogies.front().type->position-bogies.back().type->position;
181 adjust_for_distance(front, back, bogie_spacing);
183 const vector<Axle> &front_axles = bogies.front().axles;
184 float wheelbase = front_axles.front().type->position-front_axles.back().type->position;
185 OrientedPoint front_point = get_point(front, wheelbase, -front_axles.back().type->position/wheelbase);
187 const vector<Axle> &back_axles = bogies.back().axles;
188 wheelbase = back_axles.front().type->position-back_axles.back().type->position;
189 OrientedPoint back_point = get_point(back, wheelbase, -back_axles.back().type->position/wheelbase);
191 p = get_point(front_point.position, back_point.position, -bogies.back().type->position/bogie_spacing);
193 bogies.front().direction = front_point.rotation-p.rotation;
194 bogies.back().direction = back_point.rotation-p.rotation;
200 check_sensor(type.get_front_axle_offset(), front_sensor);
202 check_sensor(type.get_back_axle_offset(), back_sensor);
204 position = p.position;
205 position.z += layout.get_catalogue().get_rail_elevation();
206 rotation = p.rotation;
211 void Vehicle::update_position_from(const Vehicle &veh)
213 int sign = (&veh==prev ? -1 : 1);
215 float tdist = (type.get_length()+veh.type.get_length())/2;
216 float margin = layout.get_catalogue().get_scale();
218 float dist = distance(veh.position, position);
219 if(!track || dist<tdist-margin || dist>tdist+margin)
221 track = veh.track.advance(sign*tdist);
224 dist = distance(veh.position, position);
227 track = track.advance(sign*(tdist-dist));
229 turn_axles(sign*(tdist-dist));
232 void Vehicle::propagate_position()
237 propagate_backward();
240 void Vehicle::propagate_forward()
242 prev->update_position_from(*this);
245 prev->propagate_forward();
248 void Vehicle::propagate_backward()
250 next->update_position_from(*this);
253 next->propagate_backward();
256 void Vehicle::check_sensor(float offset, unsigned &sensor)
258 TrackOffsetIter iter = track.advance(offset);
259 unsigned s = iter->get_sensor_id();
262 /* Sensor ID under axle has changed. Deduce movement direction by using
263 the sensor ID under the midpoint of the vehicle. */
264 /* XXX This depends on the simulation running fast enough. Something
265 more robust would be preferable. */
266 unsigned old = sensor;
268 unsigned mid = track->get_sensor_id();
271 /* There's a sensor and it's different from mid. We've just entered
273 layout.get_driver().set_sensor(sensor, true);
275 /* A sensor was under the axle and it was different from mid. We've
276 just left that sensor. */
277 layout.get_driver().set_sensor(old, false);
281 void Vehicle::turn_axles(float d)
283 for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
284 i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
285 for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
286 for(vector<Axle>::iterator j=i->axles.begin(); j!=i->axles.end(); ++j)
287 j->angle += Angle::from_radians(d*2/j->type->wheel_dia);
292 void Vehicle::update_rods()
294 for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
296 if(i->type->pivot==VehicleType::Rod::BODY)
297 i->position = i->type->pivot_point;
298 else if(i->type->pivot==VehicleType::Rod::AXLE)
300 const Axle &axle = get_fixed_axle(i->type->pivot_index);
301 const Vector &pp = i->type->pivot_point;
302 Transform trans = Transform::rotation(axle.angle, Vector(0, -1, 0));
303 i->position = Vector(axle.type->position, 0, axle.type->wheel_dia/2)+trans.transform(pp);
305 else if(i->type->pivot==VehicleType::Rod::ROD)
307 const Rod &prod = get_rod(i->type->pivot_index);
308 const Vector &pos = prod.position;
309 const Vector &off = i->type->pivot_point;
310 Transform trans = Transform::rotation(prod.angle, Vector(0, 1, 0));
311 i->position = pos+trans.transform(off);
314 if(i->type->connect_index>=0)
316 Rod &crod = rods[i->type->connect_index];
317 if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
319 Vector span = crod.position+i->type->connect_offset-i->position;
320 float cd = i->type->connect_point.norm();
321 Angle ca = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
322 span.x = sqrt(cd*cd-span.z*span.z)*(span.x>0 ? 1 : -1);
323 i->angle = Geometry::atan2(span.z, span.x)-ca;
324 crod.position.x = i->position.x+span.x-i->type->connect_offset.x;
326 else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
328 Vector span = crod.position-i->position;
329 float d = span.norm();
330 float cd1 = i->type->connect_point.norm();
331 float cd2 = i->type->connect_offset.norm();
332 float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
333 float b = sqrt(cd1*cd1-a*a);
334 float sign = (cross(i->type->connect_point, span).y>0 ? 1 : -1);
335 Vector conn = Vector(span.x*a-span.z*b, 0, span.z*a+span.x*b)/(d*sign);
336 Angle ca1 = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
337 Angle ca2 = Geometry::atan2(i->type->connect_offset.z, i->type->connect_offset.x);
338 i->angle = Geometry::atan2(conn.z, conn.x)-ca1;
339 crod.angle = Geometry::atan2(conn.z-span.z, conn.x-span.x)-ca2;
345 void Vehicle::adjust_for_distance(TrackOffsetIter &front, TrackOffsetIter &back, float tdist, float ratio) const
347 float margin = 0.01*layout.get_catalogue().get_scale();
351 Vector front_point = front.point().position;
352 Vector back_point = back.point().position;
354 float dist = distance(front_point, back_point);
356 float diff = tdist-dist;
357 if(diff<-margin && adjust_dir<=0)
362 else if(diff>margin && adjust_dir>=0)
370 front = front.advance(diff*(1-ratio));
371 back = back.advance(-diff*ratio);
375 OrientedPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
377 Vector span = front-back;
380 p.position = back+span*ratio;
381 p.rotation = Geometry::atan2(span.y, span.x);
382 p.tilt = Geometry::atan2(span.z, LinAl::Vector<float, 2>(span).norm());
387 OrientedPoint Vehicle::get_point(const TrackOffsetIter &iter, float tdist, float ratio) const
389 TrackOffsetIter front = iter.advance(tdist*(1-ratio));
390 TrackOffsetIter back = iter.advance(-tdist*ratio);
392 adjust_for_distance(front, back, tdist, ratio);
393 return get_point(front.point().position, back.point().position, ratio);
396 unsigned Vehicle::get_n_link_slots() const
401 Vehicle *Vehicle::get_link(unsigned i) const
404 throw out_of_range("Vehicle::get_link");
406 return (i==0 ? prev : next);
409 int Vehicle::get_link_slot(const Object &other) const
413 else if(&other==next)
420 Vehicle::Axle::Axle(const VehicleType::Axle &t):
425 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
428 for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i)
433 Vehicle::Rod::Rod(const VehicleType::Rod &t):