9 #include "vehicletype.h"
16 Vehicle::Vehicle(Layout &l, const VehicleType &t):
25 axles.assign(type.get_axles().begin(), type.get_axles().end());
26 for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
28 fixed_axles.push_back(&*i);
29 bogies.assign(type.get_bogies().begin(), type.get_bogies().end());
30 rods.assign(type.get_rods().begin(), type.get_rods().end());
31 for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
32 for(unsigned j=0; j<i->axles.size(); ++j)
33 i->axles[j] = &axles[i->type->first_axle+j];
47 Vehicle *Vehicle::clone(Layout *to_layout) const
49 Vehicle *veh = new Vehicle((to_layout ? *to_layout : layout), type);
50 veh->set_position(position);
51 veh->set_rotation(rotation);
55 void Vehicle::set_train(Train *t)
60 void Vehicle::attach_back(Vehicle &veh)
63 throw attachment_error("already attached");
72 void Vehicle::attach_front(Vehicle &veh)
75 throw attachment_error("already attached");
81 prev->propagate_backward();
84 void Vehicle::detach_back()
87 throw attachment_error("not attached");
93 void Vehicle::detach_front()
96 throw attachment_error("not attached");
102 void Vehicle::place(const TrackIter &t, float o, PlaceMode m)
105 throw invalid_argument("Vehicle::place");
107 track = TrackOffsetIter(t, o);
110 track = track.advance(-type.get_front_axle_offset());
111 else if(m==FRONT_BUFFER)
112 track = track.advance(-type.get_length()/2);
113 else if(m==BACK_AXLE)
114 track = track.advance(-type.get_back_axle_offset());
115 else if(m==BACK_BUFFER)
116 track = track.advance(type.get_length()/2);
119 propagate_position();
122 void Vehicle::unplace()
127 track = TrackOffsetIter();
135 void Vehicle::advance(float d)
137 track = track.advance(d);
140 propagate_position();
143 const Vehicle::Axle &Vehicle::get_axle(unsigned i) const
146 throw out_of_range("Vehicle::get_axle");
150 const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
152 if(i>=fixed_axles.size())
153 throw out_of_range("Vehicle::get_fixed_axle");
154 return *fixed_axles[i];
157 const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
160 throw out_of_range("Vehicle::get_bogie");
164 const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
167 throw out_of_range("Vehicle::get_bogie_axle");
168 if(j>=bogies[i].axles.size())
169 throw out_of_range("Vehicle::get_bogie_axle");
170 return *bogies[i].axles[j];
173 const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
176 throw out_of_range("Vehicle::get_rod");
180 void Vehicle::update_position()
184 if(fixed_axles.size()>=2)
186 float wheelbase = fixed_axles.front()->type->position-fixed_axles.back()->type->position;
187 p = get_point(track, wheelbase, -fixed_axles.back()->type->position/wheelbase);
189 else if(bogies.size()>=2)
191 TrackOffsetIter front = track.advance(bogies.front().type->position);
192 TrackOffsetIter back = track.advance(bogies.back().type->position);
193 float bogie_spacing = bogies.front().type->position-bogies.back().type->position;
194 adjust_for_distance(front, back, bogie_spacing);
196 const vector<Axle *> &front_axles = bogies.front().axles;
197 float wheelbase = front_axles.front()->type->position-front_axles.back()->type->position;
198 OrientedPoint front_point = get_point(front, wheelbase, -front_axles.back()->type->position/wheelbase);
200 const vector<Axle *> &back_axles = bogies.back().axles;
201 wheelbase = back_axles.front()->type->position-back_axles.back()->type->position;
202 OrientedPoint back_point = get_point(back, wheelbase, -back_axles.back()->type->position/wheelbase);
204 p = get_point(front_point.position, back_point.position, -bogies.back().type->position/bogie_spacing);
206 bogies.front().direction = front_point.rotation-p.rotation;
207 bogies.back().direction = back_point.rotation-p.rotation;
213 check_sensor(type.get_front_axle_offset(), front_sensor);
215 check_sensor(type.get_back_axle_offset(), back_sensor);
217 position = p.position;
218 position.z += layout.get_catalogue().get_rail_elevation();
219 rotation = p.rotation;
224 void Vehicle::update_position_from(const Vehicle &veh)
226 int sign = (&veh==prev ? -1 : 1);
228 float tdist = (type.get_length()+veh.type.get_length())/2;
229 float margin = layout.get_catalogue().get_scale();
231 float dist = distance(veh.position, position);
232 if(!track || dist<tdist-margin || dist>tdist+margin)
234 track = veh.track.advance(sign*tdist);
237 dist = distance(veh.position, position);
240 track = track.advance(sign*(tdist-dist));
242 turn_axles(sign*(tdist-dist));
245 void Vehicle::propagate_position()
250 propagate_backward();
253 void Vehicle::propagate_forward()
255 prev->update_position_from(*this);
258 prev->propagate_forward();
261 void Vehicle::propagate_backward()
263 next->update_position_from(*this);
266 next->propagate_backward();
269 void Vehicle::check_sensor(float offset, unsigned &sensor)
271 TrackOffsetIter iter = track.advance(offset);
272 unsigned s = iter->get_sensor_id();
275 /* Sensor ID under axle has changed. Deduce movement direction by using
276 the sensor ID under the midpoint of the vehicle. */
277 /* XXX This depends on the simulation running fast enough. Something
278 more robust would be preferable. */
279 unsigned old = sensor;
281 unsigned mid = track->get_sensor_id();
284 /* There's a sensor and it's different from mid. We've just entered
286 layout.get_driver().set_sensor(sensor, true);
288 /* A sensor was under the axle and it was different from mid. We've
289 just left that sensor. */
290 layout.get_driver().set_sensor(old, false);
294 void Vehicle::turn_axles(float d)
296 for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
297 i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
302 void Vehicle::update_rods()
304 for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
306 if(i->type->pivot==VehicleType::Rod::BODY)
307 i->position = i->type->pivot_point;
308 else if(i->type->pivot==VehicleType::Rod::AXLE)
310 const Axle &axle = get_fixed_axle(i->type->pivot_index);
311 const Vector &pp = i->type->pivot_point;
312 Transform trans = Transform::rotation(axle.angle, Vector(0, -1, 0));
313 i->position = Vector(axle.type->position, 0, axle.type->wheel_dia/2)+trans.transform(pp);
315 else if(i->type->pivot==VehicleType::Rod::ROD)
317 const Rod &prod = get_rod(i->type->pivot_index);
318 const Vector &pos = prod.position;
319 const Vector &off = i->type->pivot_point;
320 Transform trans = Transform::rotation(prod.angle, Vector(0, 1, 0));
321 i->position = pos+trans.transform(off);
324 if(i->type->connect_index>=0)
326 Rod &crod = rods[i->type->connect_index];
327 if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
329 Vector span = crod.position+i->type->connect_offset-i->position;
330 float cd = i->type->connect_point.norm();
331 Angle ca = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
332 span.x = sqrt(cd*cd-span.z*span.z)*(span.x>0 ? 1 : -1);
333 i->angle = Geometry::atan2(span.z, span.x)-ca;
334 crod.position.x = i->position.x+span.x-i->type->connect_offset.x;
336 else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
338 Vector span = crod.position-i->position;
339 float d = span.norm();
340 float cd1 = i->type->connect_point.norm();
341 float cd2 = i->type->connect_offset.norm();
342 float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
343 float b = sqrt(cd1*cd1-a*a);
344 float sign = (cross(i->type->connect_point, span).y>0 ? 1 : -1);
345 Vector conn = Vector(span.x*a-span.z*b, 0, span.z*a+span.x*b)/(d*sign);
346 Angle ca1 = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
347 Angle ca2 = Geometry::atan2(i->type->connect_offset.z, i->type->connect_offset.x);
348 i->angle = Geometry::atan2(conn.z, conn.x)-ca1;
349 crod.angle = Geometry::atan2(conn.z-span.z, conn.x-span.x)-ca2;
355 void Vehicle::adjust_for_distance(TrackOffsetIter &front, TrackOffsetIter &back, float tdist, float ratio) const
357 float margin = 0.01*layout.get_catalogue().get_scale();
361 Vector front_point = front.point().position;
362 Vector back_point = back.point().position;
364 float dist = distance(front_point, back_point);
366 float diff = tdist-dist;
367 if(diff<-margin && adjust_dir<=0)
372 else if(diff>margin && adjust_dir>=0)
380 front = front.advance(diff*(1-ratio));
381 back = back.advance(-diff*ratio);
385 OrientedPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
387 Vector span = front-back;
390 p.position = back+span*ratio;
391 p.rotation = Geometry::atan2(span.y, span.x);
392 p.tilt = Geometry::atan2(span.z, LinAl::Vector<float, 2>(span).norm());
397 OrientedPoint Vehicle::get_point(const TrackOffsetIter &iter, float tdist, float ratio) const
399 TrackOffsetIter front = iter.advance(tdist*(1-ratio));
400 TrackOffsetIter back = iter.advance(-tdist*ratio);
402 adjust_for_distance(front, back, tdist, ratio);
403 return get_point(front.point().position, back.point().position, ratio);
406 unsigned Vehicle::get_n_link_slots() const
411 Vehicle *Vehicle::get_link(unsigned i) const
414 throw out_of_range("Vehicle::get_link");
416 return (i==0 ? prev : next);
419 int Vehicle::get_link_slot(const Object &other) const
423 else if(&other==next)
430 Vehicle::Axle::Axle(const VehicleType::Axle &t):
435 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
437 axles(t.axles.size())
441 Vehicle::Rod::Rod(const VehicleType::Rod &t):