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_pos = TrackPosition(t, o);
104 track_pos.advance(-type.get_front_axle_offset());
105 else if(m==FRONT_BUFFER)
106 track_pos.advance(-type.get_length()/2);
107 else if(m==BACK_AXLE)
108 track_pos.advance(-type.get_back_axle_offset());
109 else if(m==BACK_BUFFER)
110 track_pos.advance(type.get_length()/2);
113 propagate_position();
116 void Vehicle::unplace()
121 track_pos = TrackPosition();
129 void Vehicle::advance(float d)
131 track_pos.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 tp = get_point(track_pos, wheelbase, -axles.back().type->position/wheelbase);
176 else if(bogies.size()>=2)
178 TrackPosition front = track_pos;
179 front.advance(bogies.front().type->position);
180 TrackPosition back = track_pos;
181 back.advance(bogies.back().type->position);
182 float bogie_spacing = bogies.front().type->position-bogies.back().type->position;
183 adjust_for_distance(front, back, bogie_spacing);
185 const vector<Axle> &front_axles = bogies.front().axles;
186 float wheelbase = front_axles.front().type->position-front_axles.back().type->position;
187 TrackPoint front_point = get_point(front, wheelbase, -front_axles.back().type->position/wheelbase);
189 const vector<Axle> &back_axles = bogies.back().axles;
190 wheelbase = back_axles.front().type->position-back_axles.back().type->position;
191 TrackPoint back_point = get_point(back, wheelbase, -back_axles.back().type->position/wheelbase);
193 tp = get_point(front_point.pos, back_point.pos, -bogies.back().type->position/bogie_spacing);
195 bogies.front().direction = front_point.dir-tp.dir;
196 bogies.back().direction = back_point.dir-tp.dir;
199 tp = track_pos.get_point();
202 check_sensor(type.get_front_axle_offset(), front_sensor);
204 check_sensor(type.get_back_axle_offset(), back_sensor);
207 position.z += layout.get_catalogue().get_rail_elevation();
212 void Vehicle::update_position_from(const Vehicle &veh)
214 int sign = (&veh==prev ? -1 : 1);
216 float tdist = (type.get_length()+veh.type.get_length())/2;
217 float margin = layout.get_catalogue().get_scale();
219 float dist = distance(veh.position, position);
220 if(!track_pos.track || dist<tdist-margin || dist>tdist+margin)
222 track_pos = veh.track_pos;
223 track_pos.advance(sign*tdist);
226 dist = distance(veh.position, position);
229 track_pos.advance(sign*(tdist-dist));
231 turn_axles(sign*(tdist-dist));
234 void Vehicle::propagate_position()
239 propagate_backward();
242 void Vehicle::propagate_forward()
244 prev->update_position_from(*this);
247 prev->propagate_forward();
250 void Vehicle::propagate_backward()
252 next->update_position_from(*this);
255 next->propagate_backward();
258 void Vehicle::check_sensor(float offset, unsigned &sensor)
260 TrackPosition pos = track_pos;
262 unsigned s = pos.track->get_sensor_id();
265 /* Sensor ID under axle has changed. Deduce movement direction by using
266 the sensor ID under the midpoint of the vehicle. */
267 /* XXX This depends on the simulation running fast enough. Something
268 more robust would be preferable. */
269 unsigned old = sensor;
271 unsigned mid = track_pos.track->get_sensor_id();
274 /* There's a sensor and it's different from mid. We've just entered
276 layout.get_driver().set_sensor(sensor, true);
278 /* A sensor was under the axle and it was different from mid. We've
279 just left that sensor. */
280 layout.get_driver().set_sensor(old, false);
284 void Vehicle::turn_axles(float d)
286 for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
287 i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
288 for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
289 for(vector<Axle>::iterator j=i->axles.begin(); j!=i->axles.end(); ++j)
290 j->angle += Angle::from_radians(d*2/j->type->wheel_dia);
295 void Vehicle::update_rods()
297 for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
299 if(i->type->pivot==VehicleType::Rod::BODY)
300 i->position = i->type->pivot_point;
301 else if(i->type->pivot==VehicleType::Rod::AXLE)
303 const Axle &axle = get_fixed_axle(i->type->pivot_index);
304 const Vector &pp = i->type->pivot_point;
305 Transform trans = Transform::rotation(axle.angle, Vector(0, -1, 0));
306 i->position = Vector(axle.type->position, 0, axle.type->wheel_dia/2)+trans.transform(pp);
308 else if(i->type->pivot==VehicleType::Rod::ROD)
310 const Rod &prod = get_rod(i->type->pivot_index);
311 const Vector &pos = prod.position;
312 const Vector &off = i->type->pivot_point;
313 Transform trans = Transform::rotation(prod.angle, Vector(0, 1, 0));
314 i->position = pos+trans.transform(off);
317 if(i->type->connect_index>=0)
319 Rod &crod = rods[i->type->connect_index];
320 if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
322 Vector span = crod.position+i->type->connect_offset-i->position;
323 float cd = i->type->connect_point.norm();
324 Angle ca = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
325 span.x = sqrt(cd*cd-span.z*span.z)*(span.x>0 ? 1 : -1);
326 i->angle = Geometry::atan2(span.z, span.x)-ca;
327 crod.position.x = i->position.x+span.x-i->type->connect_offset.x;
329 else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
331 Vector span = crod.position-i->position;
332 float d = span.norm();
333 float cd1 = i->type->connect_point.norm();
334 float cd2 = i->type->connect_offset.norm();
335 float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
336 float b = sqrt(cd1*cd1-a*a);
337 float sign = (cross(i->type->connect_point, span).y>0 ? 1 : -1);
338 Vector conn = Vector(span.x*a-span.z*b, 0, span.z*a+span.x*b)/(d*sign);
339 Angle ca1 = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
340 Angle ca2 = Geometry::atan2(i->type->connect_offset.z, i->type->connect_offset.x);
341 i->angle = Geometry::atan2(conn.z, conn.x)-ca1;
342 crod.angle = Geometry::atan2(conn.z-span.z, conn.x-span.x)-ca2;
348 void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, float tdist, float ratio) const
350 float margin = 0.01*layout.get_catalogue().get_scale();
354 Vector front_point = front.get_point().pos;
355 Vector back_point = back.get_point().pos;
357 float dist = distance(front_point, back_point);
359 float diff = tdist-dist;
360 if(diff<-margin && adjust_dir<=0)
365 else if(diff>margin && adjust_dir>=0)
373 front.advance(diff*(1-ratio));
374 back.advance(-diff*ratio);
378 TrackPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
380 Vector span = front-back;
383 tp.pos = back+span*ratio;
384 tp.dir = Geometry::atan2(span.y, span.x);
389 TrackPoint Vehicle::get_point(const TrackPosition &pos, float tdist, float ratio) const
391 TrackPosition front = pos;
392 front.advance(tdist*(1-ratio));
394 TrackPosition back = pos;
395 back.advance(-tdist*ratio);
397 adjust_for_distance(front, back, tdist, ratio);
398 return get_point(front.get_point().pos, back.get_point().pos, ratio);
401 unsigned Vehicle::get_n_link_slots() const
406 Vehicle *Vehicle::get_link(unsigned i) const
409 throw out_of_range("Vehicle::get_link");
411 return (i==0 ? prev : next);
414 int Vehicle::get_link_slot(const Object &other) const
418 else if(&other==next)
425 Vehicle::Axle::Axle(const VehicleType::Axle &t):
430 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
433 for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i)
438 Vehicle::Rod::Rod(const VehicleType::Rod &t):
443 Vehicle::TrackPosition::TrackPosition():
447 Vehicle::TrackPosition::TrackPosition(const TrackIter &t, float o):
452 void Vehicle::TrackPosition::advance(float d)
460 float path_len = track->get_type().get_path_length(track->get_active_path());
465 track = track.next();
471 while(track && offs<0)
473 track = track.flip().reverse();
477 float path_len = track->get_type().get_path_length(track->get_active_path());
486 TrackPoint Vehicle::TrackPosition::get_point() const
489 return track->get_point(track.entry(), offs);