9 #include "vehicletype.h"
16 Vehicle::Vehicle(Layout &l, const VehicleType &t):
24 axles.assign(type.get_fixed_axles().begin(), type.get_fixed_axles().end());
25 bogies.assign(type.get_bogies().begin(), type.get_bogies().end());
26 rods.assign(type.get_rods().begin(), type.get_rods().end());
40 Vehicle *Vehicle::clone(Layout *to_layout) const
42 Vehicle *veh = new Vehicle((to_layout ? *to_layout : layout), type);
43 veh->set_position(position);
44 veh->set_rotation(rotation);
48 void Vehicle::attach_back(Vehicle &veh)
51 throw attachment_error("already attached");
60 void Vehicle::attach_front(Vehicle &veh)
63 throw attachment_error("already attached");
69 prev->propagate_backward();
72 void Vehicle::detach_back()
75 throw attachment_error("not attached");
81 void Vehicle::detach_front()
84 throw attachment_error("not attached");
90 void Vehicle::place(const TrackIter &t, float o, PlaceMode m)
93 throw invalid_argument("Vehicle::place");
95 track_pos = TrackPosition(t, o);
98 track_pos.advance(-type.get_front_axle_offset());
99 else if(m==FRONT_BUFFER)
100 track_pos.advance(-type.get_length()/2);
101 else if(m==BACK_AXLE)
102 track_pos.advance(-type.get_back_axle_offset());
103 else if(m==BACK_BUFFER)
104 track_pos.advance(type.get_length()/2);
107 propagate_position();
110 void Vehicle::unplace()
115 track_pos = TrackPosition();
123 void Vehicle::advance(float d)
125 track_pos.advance(d);
128 propagate_position();
131 const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
134 throw out_of_range("Vehicle::get_fixed_axle");
138 const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
141 throw out_of_range("Vehicle::get_bogie");
145 const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
148 throw out_of_range("Vehicle::get_bogie_axle");
149 if(j>=bogies[i].axles.size())
150 throw out_of_range("Vehicle::get_bogie_axle");
151 return bogies[i].axles[j];
154 const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
157 throw out_of_range("Vehicle::get_rod");
161 void Vehicle::update_position()
167 float wheelbase = axles.front().type->position-axles.back().type->position;
168 tp = get_point(track_pos, wheelbase, -axles.back().type->position/wheelbase);
170 else if(bogies.size()>=2)
172 TrackPosition front = track_pos;
173 front.advance(bogies.front().type->position);
174 TrackPosition back = track_pos;
175 back.advance(bogies.back().type->position);
176 float bogie_spacing = bogies.front().type->position-bogies.back().type->position;
177 adjust_for_distance(front, back, bogie_spacing);
179 const vector<Axle> &front_axles = bogies.front().axles;
180 float wheelbase = front_axles.front().type->position-front_axles.back().type->position;
181 TrackPoint front_point = get_point(front, wheelbase, -front_axles.back().type->position/wheelbase);
183 const vector<Axle> &back_axles = bogies.back().axles;
184 wheelbase = back_axles.front().type->position-back_axles.back().type->position;
185 TrackPoint back_point = get_point(back, wheelbase, -back_axles.back().type->position/wheelbase);
187 tp = get_point(front_point.pos, back_point.pos, -bogies.back().type->position/bogie_spacing);
189 bogies.front().direction = front_point.dir-tp.dir;
190 bogies.back().direction = back_point.dir-tp.dir;
193 tp = track_pos.get_point();
196 check_sensor(type.get_front_axle_offset(), front_sensor);
198 check_sensor(type.get_back_axle_offset(), back_sensor);
201 position.z += layout.get_catalogue().get_rail_elevation();
205 void Vehicle::update_position_from(const Vehicle &veh)
207 int sign = (&veh==prev ? -1 : 1);
209 float tdist = (type.get_length()+veh.type.get_length())/2;
210 float margin = layout.get_catalogue().get_scale();
212 float dist = distance(veh.position, position);
213 if(!track_pos.track || dist<tdist-margin || dist>tdist+margin)
215 track_pos = veh.track_pos;
216 track_pos.advance(sign*tdist);
219 dist = distance(veh.position, position);
222 track_pos.advance(sign*(tdist-dist));
224 turn_axles(sign*(tdist-dist));
227 void Vehicle::propagate_position()
232 propagate_backward();
235 void Vehicle::propagate_forward()
237 prev->update_position_from(*this);
240 prev->propagate_forward();
243 void Vehicle::propagate_backward()
245 next->update_position_from(*this);
248 next->propagate_backward();
251 void Vehicle::check_sensor(float offset, unsigned &sensor)
253 TrackPosition pos = track_pos;
255 unsigned s = pos.track->get_sensor_id();
258 /* Sensor ID under axle has changed. Deduce movement direction by using
259 the sensor ID under the midpoint of the vehicle. */
260 /* XXX This depends on the simulation running fast enough. Something
261 more robust would be preferable. */
262 unsigned old = sensor;
264 unsigned mid = track_pos.track->get_sensor_id();
267 /* There's a sensor and it's different from mid. We've just entered
269 layout.get_driver().set_sensor(sensor, true);
271 /* A sensor was under the axle and it was different from mid. We've
272 just left that sensor. */
273 layout.get_driver().set_sensor(old, false);
277 void Vehicle::turn_axles(float d)
279 for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
280 i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
281 for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
282 for(vector<Axle>::iterator j=i->axles.begin(); j!=i->axles.end(); ++j)
283 j->angle += Angle::from_radians(d*2/j->type->wheel_dia);
288 void Vehicle::update_rods()
290 for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
292 if(i->type->pivot==VehicleType::Rod::BODY)
293 i->position = i->type->pivot_point;
294 else if(i->type->pivot==VehicleType::Rod::AXLE)
296 const Axle &axle = get_fixed_axle(i->type->pivot_index);
297 const Vector &pp = i->type->pivot_point;
298 Transform trans = Transform::rotation(axle.angle, Vector(0, -1, 0));
299 i->position = Vector(axle.type->position, 0, axle.type->wheel_dia/2)+trans.transform(pp);
301 else if(i->type->pivot==VehicleType::Rod::ROD)
303 const Rod &prod = get_rod(i->type->pivot_index);
304 const Vector &pos = prod.position;
305 const Vector &off = i->type->pivot_point;
306 Transform trans = Transform::rotation(prod.angle, Vector(0, 1, 0));
307 i->position = pos+trans.transform(off);
310 if(i->type->connect_index>=0)
312 Rod &crod = rods[i->type->connect_index];
313 if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
315 Vector span = crod.position+i->type->connect_offset-i->position;
316 float cd = i->type->connect_point.norm();
317 Angle ca = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
318 span.x = sqrt(cd*cd-span.z*span.z)*(span.x>0 ? 1 : -1);
319 i->angle = Geometry::atan2(span.z, span.x)-ca;
320 crod.position.x = i->position.x+span.x-i->type->connect_offset.x;
322 else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
324 Vector span = crod.position-i->position;
325 float d = span.norm();
326 float cd1 = i->type->connect_point.norm();
327 float cd2 = i->type->connect_offset.norm();
328 float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
329 float b = sqrt(cd1*cd1-a*a);
330 float sign = (cross(i->type->connect_point, span).y>0 ? 1 : -1);
331 Vector conn = Vector(span.x*a-span.z*b, 0, span.z*a+span.x*b)/(d*sign);
332 Angle ca1 = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
333 Angle ca2 = Geometry::atan2(i->type->connect_offset.z, i->type->connect_offset.x);
334 i->angle = Geometry::atan2(conn.z, conn.x)-ca1;
335 crod.angle = Geometry::atan2(conn.z-span.z, conn.x-span.x)-ca2;
341 void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, float tdist, float ratio) const
343 float margin = 0.01*layout.get_catalogue().get_scale();
347 Vector front_point = front.get_point().pos;
348 Vector back_point = back.get_point().pos;
350 float dist = distance(front_point, back_point);
352 float diff = tdist-dist;
353 if(diff<-margin && adjust_dir<=0)
358 else if(diff>margin && adjust_dir>=0)
366 front.advance(diff*(1-ratio));
367 back.advance(-diff*ratio);
371 TrackPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
373 Vector span = front-back;
376 tp.pos = back+span*ratio;
377 tp.dir = Geometry::atan2(span.y, span.x);
382 TrackPoint Vehicle::get_point(const TrackPosition &pos, float tdist, float ratio) const
384 TrackPosition front = pos;
385 front.advance(tdist*(1-ratio));
387 TrackPosition back = pos;
388 back.advance(-tdist*ratio);
390 adjust_for_distance(front, back, tdist, ratio);
391 return get_point(front.get_point().pos, back.get_point().pos, ratio);
394 unsigned Vehicle::get_n_link_slots() const
399 Vehicle *Vehicle::get_link(unsigned i) const
402 throw out_of_range("Vehicle::get_link");
404 return (i==0 ? prev : next);
407 int Vehicle::get_link_slot(const Object &other) const
411 else if(&other==next)
418 Vehicle::Axle::Axle(const VehicleType::Axle &t):
423 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
426 for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i)
431 Vehicle::Rod::Rod(const VehicleType::Rod &t):
436 Vehicle::TrackPosition::TrackPosition():
440 Vehicle::TrackPosition::TrackPosition(const TrackIter &t, float o):
445 void Vehicle::TrackPosition::advance(float d)
453 float path_len = track->get_type().get_path_length(track->get_active_path());
458 track = track.next();
464 while(track && offs<0)
466 track = track.flip().reverse();
470 float path_len = track->get_type().get_path_length(track->get_active_path());
479 TrackPoint Vehicle::TrackPosition::get_point() const
482 return track->get_point(track.entry(), offs);