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());
28 layout.add_vehicle(*this);
37 layout.remove_vehicle(*this);
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(Track &t, unsigned e, float o, PlaceMode m)
92 track_pos = TrackPosition(&t, e, o);
95 track_pos.advance(-type.get_front_axle_offset());
96 else if(m==FRONT_BUFFER)
97 track_pos.advance(-type.get_length()/2);
99 track_pos.advance(-type.get_back_axle_offset());
100 else if(m==BACK_BUFFER)
101 track_pos.advance(type.get_length()/2);
104 propagate_position();
107 void Vehicle::unplace()
112 track_pos = TrackPosition();
120 void Vehicle::advance(float d)
122 track_pos.advance(d);
125 propagate_position();
128 const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
131 throw out_of_range("Vehicle::get_fixed_axle");
135 const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
138 throw out_of_range("Vehicle::get_bogie");
142 const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
145 throw out_of_range("Vehicle::get_bogie_axle");
146 if(j>=bogies[i].axles.size())
147 throw out_of_range("Vehicle::get_bogie_axle");
148 return bogies[i].axles[j];
151 const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
154 throw out_of_range("Vehicle::get_rod");
158 void Vehicle::update_position()
164 float wheelbase = axles.front().type->position-axles.back().type->position;
165 tp = get_point(track_pos, wheelbase, -axles.back().type->position/wheelbase);
167 else if(bogies.size()>=2)
169 TrackPosition front = track_pos;
170 front.advance(bogies.front().type->position);
171 TrackPosition back = track_pos;
172 back.advance(bogies.back().type->position);
173 float bogie_spacing = bogies.front().type->position-bogies.back().type->position;
174 adjust_for_distance(front, back, bogie_spacing);
176 const vector<Axle> &front_axles = bogies.front().axles;
177 float wheelbase = front_axles.front().type->position-front_axles.back().type->position;
178 TrackPoint front_point = get_point(front, wheelbase, -front_axles.back().type->position/wheelbase);
180 const vector<Axle> &back_axles = bogies.back().axles;
181 wheelbase = back_axles.front().type->position-back_axles.back().type->position;
182 TrackPoint back_point = get_point(back, wheelbase, -back_axles.back().type->position/wheelbase);
184 tp = get_point(front_point.pos, back_point.pos, -bogies.back().type->position/bogie_spacing);
186 bogies.front().direction = front_point.dir-tp.dir;
187 bogies.back().direction = back_point.dir-tp.dir;
190 tp = track_pos.get_point();
193 check_sensor(type.get_front_axle_offset(), front_sensor);
195 check_sensor(type.get_back_axle_offset(), back_sensor);
198 position.z += layout.get_catalogue().get_rail_elevation();
202 void Vehicle::update_position_from(const Vehicle &veh)
204 int sign = (&veh==prev ? -1 : 1);
206 float tdist = (type.get_length()+veh.type.get_length())/2;
207 float margin = layout.get_catalogue().get_scale();
209 float dist = distance(veh.position, position);
210 if(!track_pos.track || dist<tdist-margin || dist>tdist+margin)
212 track_pos = veh.track_pos;
213 track_pos.advance(sign*tdist);
216 dist = distance(veh.position, position);
219 track_pos.advance(sign*(tdist-dist));
221 turn_axles(sign*(tdist-dist));
224 void Vehicle::propagate_position()
229 propagate_backward();
232 void Vehicle::propagate_forward()
234 prev->update_position_from(*this);
237 prev->propagate_forward();
240 void Vehicle::propagate_backward()
242 next->update_position_from(*this);
245 next->propagate_backward();
248 void Vehicle::check_sensor(float offset, unsigned &sensor)
250 TrackPosition pos = track_pos;
252 unsigned s = pos.track->get_sensor_id();
255 /* Sensor ID under axle has changed. Deduce movement direction by using
256 the sensor ID under the midpoint of the vehicle. */
257 /* XXX This depends on the simulation running fast enough. Something
258 more robust would be preferable. */
259 unsigned old = sensor;
261 unsigned mid = track_pos.track->get_sensor_id();
264 /* There's a sensor and it's different from mid. We've just entered
266 layout.get_driver().set_sensor(sensor, true);
268 /* A sensor was under the axle and it was different from mid. We've
269 just left that sensor. */
270 layout.get_driver().set_sensor(old, false);
274 void Vehicle::turn_axles(float d)
276 for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
277 i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
278 for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
279 for(vector<Axle>::iterator j=i->axles.begin(); j!=i->axles.end(); ++j)
280 j->angle += Angle::from_radians(d*2/j->type->wheel_dia);
285 void Vehicle::update_rods()
287 for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
289 if(i->type->pivot==VehicleType::Rod::BODY)
290 i->position = i->type->pivot_point;
291 else if(i->type->pivot==VehicleType::Rod::AXLE)
293 const Axle &axle = get_fixed_axle(i->type->pivot_index);
294 const Vector &pp = i->type->pivot_point;
295 Transform trans = Transform::rotation(axle.angle, Vector(0, -1, 0));
296 i->position = Vector(axle.type->position, 0, axle.type->wheel_dia/2)+trans.transform(pp);
298 else if(i->type->pivot==VehicleType::Rod::ROD)
300 const Rod &prod = get_rod(i->type->pivot_index);
301 const Vector &pos = prod.position;
302 const Vector &off = i->type->pivot_point;
303 Transform trans = Transform::rotation(prod.angle, Vector(0, 1, 0));
304 i->position = pos+trans.transform(off);
307 if(i->type->connect_index>=0)
309 Rod &crod = rods[i->type->connect_index];
310 if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
312 Vector span = crod.position+i->type->connect_offset-i->position;
313 float cd = i->type->connect_point.norm();
314 Angle ca = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
315 span.x = sqrt(cd*cd-span.z*span.z)*(span.x>0 ? 1 : -1);
316 i->angle = Geometry::atan2(span.z, span.x)-ca;
317 crod.position.x = i->position.x+span.x-i->type->connect_offset.x;
319 else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
321 Vector span = crod.position-i->position;
322 float d = span.norm();
323 float cd1 = i->type->connect_point.norm();
324 float cd2 = i->type->connect_offset.norm();
325 float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
326 float b = sqrt(cd1*cd1-a*a);
327 float sign = (cross(i->type->connect_point, span).y>0 ? 1 : -1);
328 Vector conn = Vector(span.x*a-span.z*b, 0, span.z*a+span.x*b)/(d*sign);
329 Angle ca1 = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
330 Angle ca2 = Geometry::atan2(i->type->connect_offset.z, i->type->connect_offset.x);
331 i->angle = Geometry::atan2(conn.z, conn.x)-ca1;
332 crod.angle = Geometry::atan2(conn.z-span.z, conn.x-span.x)-ca2;
338 void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, float tdist, float ratio) const
340 float margin = 0.01*layout.get_catalogue().get_scale();
344 Vector front_point = front.get_point().pos;
345 Vector back_point = back.get_point().pos;
347 float dist = distance(front_point, back_point);
349 float diff = tdist-dist;
350 if(diff<-margin && adjust_dir<=0)
355 else if(diff>margin && adjust_dir>=0)
363 front.advance(diff*(1-ratio));
364 back.advance(-diff*ratio);
368 TrackPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
370 Vector span = front-back;
373 tp.pos = back+span*ratio;
374 tp.dir = Geometry::atan2(span.y, span.x);
379 TrackPoint Vehicle::get_point(const TrackPosition &pos, float tdist, float ratio) const
381 TrackPosition front = pos;
382 front.advance(tdist*(1-ratio));
384 TrackPosition back = pos;
385 back.advance(-tdist*ratio);
387 adjust_for_distance(front, back, tdist, ratio);
388 return get_point(front.get_point().pos, back.get_point().pos, ratio);
391 unsigned Vehicle::get_n_link_slots() const
396 Vehicle *Vehicle::get_link(unsigned i) const
399 throw out_of_range("Vehicle::get_link");
401 return (i==0 ? prev : next);
404 int Vehicle::get_link_slot(const Object &other) const
408 else if(&other==next)
415 Vehicle::Axle::Axle(const VehicleType::Axle &t):
420 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
423 for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i)
428 Vehicle::Rod::Rod(const VehicleType::Rod &t):
433 Vehicle::TrackPosition::TrackPosition():
439 Vehicle::TrackPosition::TrackPosition(Track *t, unsigned e, float o):
445 void Vehicle::TrackPosition::advance(float d)
451 TrackIter iter(track, ep);
454 float path_len = iter->get_type().get_path_length(iter->get_active_path());
465 while(iter && offs<0)
467 iter = iter.flip().reverse();
471 float path_len = iter->get_type().get_path_length(iter->get_active_path());
476 track = iter.track();
482 TrackPoint Vehicle::TrackPosition::get_point() const
485 return track->get_point(ep, offs);