source/libr2c2/vehicle.cpp

   1 #include <cmath>
   2 #include "catalogue.h"
   3 #include "driver.h"
   4 #include "layout.h"
   5 #include "track.h"
   6 #include "trackiter.h"
   7 #include "tracktype.h"
   8 #include "vehicle.h"
   9 #include "vehicletype.h"
  10
  11 using namespace std;
  12 using namespace Msp;
  13
  14 namespace R2C2 {
  15
  16 Vehicle::Vehicle(Layout &l, const VehicleType &t):
  17         Object(l),
  18         type(t),
  19         next(0),
  20         prev(0),
  21         front_sensor(0),
  22         back_sensor(0)
  23 {
  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());
  27
  28         layout.add_vehicle(*this);
  29 }
  30
  31 Vehicle::~Vehicle()
  32 {
  33         if(next)
  34                 detach_back();
  35         if(prev)
  36                 detach_front();
  37         layout.remove_vehicle(*this);
  38 }
  39
  40 Vehicle *Vehicle::clone(Layout *to_layout) const
  41 {
  42         Vehicle *veh = new Vehicle((to_layout ? *to_layout : layout), type);
  43         veh->set_position(position);
  44         veh->set_rotation(rotation);
  45         return veh;
  46 }
  47
  48 void Vehicle::attach_back(Vehicle &veh)
  49 {
  50         if(next || veh.prev)
  51                 throw attachment_error("already attached");
  52
  53         next = &veh;
  54         veh.prev = this;
  55
  56         if(track_pos.track)
  57                 propagate_backward();
  58 }
  59
  60 void Vehicle::attach_front(Vehicle &veh)
  61 {
  62         if(prev || veh.next)
  63                 throw attachment_error("already attached");
  64
  65         prev = &veh;
  66         veh.next = this;
  67
  68         if(prev->get_track())
  69                 prev->propagate_backward();
  70 }
  71
  72 void Vehicle::detach_back()
  73 {
  74         if(!next)
  75                 throw attachment_error("not attached");
  76
  77         next->prev = 0;
  78         next = 0;
  79 }
  80
  81 void Vehicle::detach_front()
  82 {
  83         if(!prev)
  84                 throw attachment_error("not attached");
  85
  86         prev->next = 0;
  87         prev = 0;
  88 }
  89
  90 void Vehicle::place(Track &t, unsigned e, float o, PlaceMode m)
  91 {
  92         track_pos = TrackPosition(&t, e, o);
  93
  94         if(m==FRONT_AXLE)
  95                 track_pos.advance(-type.get_front_axle_offset());
  96         else if(m==FRONT_BUFFER)
  97                 track_pos.advance(-type.get_length()/2);
  98         else if(m==BACK_AXLE)
  99                 track_pos.advance(-type.get_back_axle_offset());
 100         else if(m==BACK_BUFFER)
 101                 track_pos.advance(type.get_length()/2);
 102
 103         update_position();
 104         propagate_position();
 105 }
 106
 107 void Vehicle::unplace()
 108 {
 109         if(!track_pos.track)
 110                 return;
 111
 112         track_pos = TrackPosition();
 113
 114         if(prev)
 115                 prev->unplace();
 116         if(next)
 117                 next->unplace();
 118 }
 119
 120 void Vehicle::advance(float d)
 121 {
 122         track_pos.advance(d);
 123         update_position();
 124         turn_axles(d);
 125         propagate_position();
 126 }
 127
 128 const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
 129 {
 130         if(i>=axles.size())
 131                 throw out_of_range("Vehicle::get_fixed_axle");
 132         return axles[i];
 133 }
 134
 135 const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
 136 {
 137         if(i>=bogies.size())
 138                 throw out_of_range("Vehicle::get_bogie");
 139         return bogies[i];
 140 }
 141
 142 const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
 143 {
 144         if(i>=bogies.size())
 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];
 149 }
 150
 151 const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
 152 {
 153         if(i>=rods.size())
 154                 throw out_of_range("Vehicle::get_rod");
 155         return rods[i];
 156 }
 157
 158 void Vehicle::update_position()
 159 {
 160         TrackPoint tp;
 161
 162         if(axles.size()>=2)
 163         {
 164                 float wheelbase = axles.front().type->position-axles.back().type->position;
 165                 tp = get_point(track_pos, wheelbase, -axles.back().type->position/wheelbase);
 166         }
 167         else if(bogies.size()>=2)
 168         {
 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);
 175
 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);
 179
 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);
 183
 184                 tp = get_point(front_point.pos, back_point.pos, -bogies.back().type->position/bogie_spacing);
 185
 186                 bogies.front().direction = front_point.dir-tp.dir;
 187                 bogies.back().direction = back_point.dir-tp.dir;
 188         }
 189         else
 190                 tp = track_pos.get_point();
 191
 192         if(!prev)
 193                 check_sensor(type.get_front_axle_offset(), front_sensor);
 194         if(!next)
 195                 check_sensor(type.get_back_axle_offset(), back_sensor);
 196
 197         position = tp.pos;
 198         position.z += layout.get_catalogue().get_rail_elevation();
 199         rotation = tp.dir;
 200 }
 201
 202 void Vehicle::update_position_from(const Vehicle &veh)
 203 {
 204         int sign = (&veh==prev ? -1 : 1);
 205
 206         float tdist = (type.get_length()+veh.type.get_length())/2;
 207         float margin = layout.get_catalogue().get_scale();
 208
 209         float dist = distance(veh.position, position);
 210         if(!track_pos.track || dist<tdist-margin || dist>tdist+margin)
 211         {
 212                 track_pos = veh.track_pos;
 213                 track_pos.advance(sign*tdist);
 214                 update_position();
 215
 216                 dist = distance(veh.position, position);
 217         }
 218
 219         track_pos.advance(sign*(tdist-dist));
 220         update_position();
 221         turn_axles(sign*(tdist-dist));
 222 }
 223
 224 void Vehicle::propagate_position()
 225 {
 226         if(prev)
 227                 propagate_forward();
 228         if(next)
 229                 propagate_backward();
 230 }
 231
 232 void Vehicle::propagate_forward()
 233 {
 234         prev->update_position_from(*this);
 235
 236         if(prev->prev)
 237                 prev->propagate_forward();
 238 }
 239
 240 void Vehicle::propagate_backward()
 241 {
 242         next->update_position_from(*this);
 243
 244         if(next->next)
 245                 next->propagate_backward();
 246 }
 247
 248 void Vehicle::check_sensor(float offset, unsigned &sensor)
 249 {
 250         TrackPosition pos = track_pos;
 251         pos.advance(offset);
 252         unsigned s = pos.track->get_sensor_id();
 253         if(s!=sensor)
 254         {
 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;
 260                 sensor = s;
 261                 unsigned mid = track_pos.track->get_sensor_id();
 262
 263                 if(s && s!=mid)
 264                         /* There's a sensor and it's different from mid.  We've just entered
 265                         that sensor. */
 266                         layout.get_driver().set_sensor(sensor, true);
 267                 if(old && old!=mid)
 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);
 271         }
 272 }
 273
 274 void Vehicle::turn_axles(float d)
 275 {
 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);
 281
 282         update_rods();
 283 }
 284
 285 void Vehicle::update_rods()
 286 {
 287         for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
 288         {
 289                 if(i->type->pivot==VehicleType::Rod::BODY)
 290                         i->position = i->type->pivot_point;
 291                 else if(i->type->pivot==VehicleType::Rod::AXLE)
 292                 {
 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);
 297                 }
 298                 else if(i->type->pivot==VehicleType::Rod::ROD)
 299                 {
 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);
 305                 }
 306
 307                 if(i->type->connect_index>=0)
 308                 {
 309                         Rod &crod = rods[i->type->connect_index];
 310                         if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
 311                         {
 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;
 318                         }
 319                         else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
 320                         {
 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;
 333                         }
 334                 }
 335         }
 336 }
 337
 338 void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, float tdist, float ratio) const
 339 {
 340         float margin = 0.01*layout.get_catalogue().get_scale();
 341         int adjust_dir = 0;
 342         while(1)
 343         {
 344                 Vector front_point = front.get_point().pos;
 345                 Vector back_point = back.get_point().pos;
 346
 347                 float dist = distance(front_point, back_point);
 348
 349                 float diff = tdist-dist;
 350                 if(diff<-margin && adjust_dir<=0)
 351                 {
 352                         diff -= margin;
 353                         adjust_dir = -1;
 354                 }
 355                 else if(diff>margin && adjust_dir>=0)
 356                 {
 357                         diff += margin;
 358                         adjust_dir = 1;
 359                 }
 360                 else
 361                         return;
 362
 363                 front.advance(diff*(1-ratio));
 364                 back.advance(-diff*ratio);
 365         }
 366 }
 367
 368 TrackPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
 369 {
 370         Vector span = front-back;
 371
 372         TrackPoint tp;
 373         tp.pos = back+span*ratio;
 374         tp.dir = Geometry::atan2(span.y, span.x);
 375
 376         return tp;
 377 }
 378
 379 TrackPoint Vehicle::get_point(const TrackPosition &pos, float tdist, float ratio) const
 380 {
 381         TrackPosition front = pos;
 382         front.advance(tdist*(1-ratio));
 383
 384         TrackPosition back = pos;
 385         back.advance(-tdist*ratio);
 386
 387         adjust_for_distance(front, back, tdist, ratio);
 388         return get_point(front.get_point().pos, back.get_point().pos, ratio);
 389 }
 390
 391 unsigned Vehicle::get_n_link_slots() const
 392 {
 393         return 2;
 394 }
 395
 396 Vehicle *Vehicle::get_link(unsigned i) const
 397 {
 398         if(i>=2)
 399                 throw out_of_range("Vehicle::get_link");
 400
 401         return (i==0 ? prev : next);
 402 }
 403
 404 int Vehicle::get_link_slot(const Object &other) const
 405 {
 406         if(&other==prev)
 407                 return 0;
 408         else if(&other==next)
 409                 return 1;
 410         else
 411                 return -1;
 412 }
 413
 414
 415 Vehicle::Axle::Axle(const VehicleType::Axle &t):
 416         type(&t)
 417 { }
 418
 419
 420 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
 421         type(&t)
 422 {
 423         for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i)
 424                 axles.push_back(*i);
 425 }
 426
 427
 428 Vehicle::Rod::Rod(const VehicleType::Rod &t):
 429         type(&t)
 430 { }
 431
 432
 433 Vehicle::TrackPosition::TrackPosition():
 434         track(0),
 435         ep(0),
 436         offs(0)
 437 { }
 438
 439 Vehicle::TrackPosition::TrackPosition(Track *t, unsigned e, float o):
 440         track(t),
 441         ep(e),
 442         offs(o)
 443 { }
 444
 445 void Vehicle::TrackPosition::advance(float d)
 446 {
 447         if(!track)
 448                 return;
 449
 450         offs += d;
 451         TrackIter iter(track, ep);
 452         while(iter)
 453         {
 454                 float path_len = iter->get_type().get_path_length(iter->get_active_path());
 455
 456                 if(offs>path_len)
 457                 {
 458                         offs -= path_len;
 459                         iter = iter.next();
 460                 }
 461                 else
 462                         break;
 463         }
 464
 465         while(iter && offs<0)
 466         {
 467                 iter = iter.flip().reverse();
 468
 469                 if(iter)
 470                 {
 471                         float path_len = iter->get_type().get_path_length(iter->get_active_path());
 472                         offs += path_len;
 473                 }
 474         }
 475
 476         track = iter.track();
 477         ep = iter.entry();
 478         if(!track)
 479                 offs = 0;
 480 }
 481
 482 TrackPoint Vehicle::TrackPosition::get_point() const
 483 {
 484         if(track)
 485                 return track->get_point(ep, offs);
 486         else
 487                 return TrackPoint();
 488 }
 489
 490 } // namespace R2C2