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 = TrackOffsetIter(t, o);
104 track = track.advance(-type.get_front_axle_offset());
105 else if(m==FRONT_BUFFER)
106 track = track.advance(-type.get_length()/2);
107 else if(m==BACK_AXLE)
108 track = track.advance(-type.get_back_axle_offset());
109 else if(m==BACK_BUFFER)
110 track = track.advance(type.get_length()/2);
113 propagate_position();
116 void Vehicle::unplace()
121 track = TrackOffsetIter();
129 void Vehicle::advance(float d)
131 track = track.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 p = get_point(track, wheelbase, -axles.back().type->position/wheelbase);
176 else if(bogies.size()>=2)
178 TrackOffsetIter front = track.advance(bogies.front().type->position);
179 TrackOffsetIter back = track.advance(bogies.back().type->position);
180 float bogie_spacing = bogies.front().type->position-bogies.back().type->position;
181 adjust_for_distance(front, back, bogie_spacing);
183 const vector<Axle> &front_axles = bogies.front().axles;
184 float wheelbase = front_axles.front().type->position-front_axles.back().type->position;
185 OrientedPoint front_point = get_point(front, wheelbase, -front_axles.back().type->position/wheelbase);
187 const vector<Axle> &back_axles = bogies.back().axles;
188 wheelbase = back_axles.front().type->position-back_axles.back().type->position;
189 OrientedPoint back_point = get_point(back, wheelbase, -back_axles.back().type->position/wheelbase);
191 p = get_point(front_point.position, back_point.position, -bogies.back().type->position/bogie_spacing);
193 bogies.front().direction = front_point.rotation-p.rotation;
194 bogies.back().direction = back_point.rotation-p.rotation;
200 check_sensor(type.get_front_axle_offset(), front_sensor);
202 check_sensor(type.get_back_axle_offset(), back_sensor);
204 position = p.position;
205 position.z += layout.get_catalogue().get_rail_elevation();
206 rotation = p.rotation;
210 void Vehicle::update_position_from(const Vehicle &veh)
212 int sign = (&veh==prev ? -1 : 1);
214 float tdist = (type.get_length()+veh.type.get_length())/2;
215 float margin = layout.get_catalogue().get_scale();
217 float dist = distance(veh.position, position);
218 if(!track || dist<tdist-margin || dist>tdist+margin)
220 track = veh.track.advance(sign*tdist);
223 dist = distance(veh.position, position);
226 track = track.advance(sign*(tdist-dist));
228 turn_axles(sign*(tdist-dist));
231 void Vehicle::propagate_position()
236 propagate_backward();
239 void Vehicle::propagate_forward()
241 prev->update_position_from(*this);
244 prev->propagate_forward();
247 void Vehicle::propagate_backward()
249 next->update_position_from(*this);
252 next->propagate_backward();
255 void Vehicle::check_sensor(float offset, unsigned &sensor)
257 TrackOffsetIter iter = track.advance(offset);
258 unsigned s = iter->get_sensor_id();
261 /* Sensor ID under axle has changed. Deduce movement direction by using
262 the sensor ID under the midpoint of the vehicle. */
263 /* XXX This depends on the simulation running fast enough. Something
264 more robust would be preferable. */
265 unsigned old = sensor;
267 unsigned mid = track->get_sensor_id();
270 /* There's a sensor and it's different from mid. We've just entered
272 layout.get_driver().set_sensor(sensor, true);
274 /* A sensor was under the axle and it was different from mid. We've
275 just left that sensor. */
276 layout.get_driver().set_sensor(old, false);
280 void Vehicle::turn_axles(float d)
282 for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
283 i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
284 for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
285 for(vector<Axle>::iterator j=i->axles.begin(); j!=i->axles.end(); ++j)
286 j->angle += Angle::from_radians(d*2/j->type->wheel_dia);
291 void Vehicle::update_rods()
293 for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
295 if(i->type->pivot==VehicleType::Rod::BODY)
296 i->position = i->type->pivot_point;
297 else if(i->type->pivot==VehicleType::Rod::AXLE)
299 const Axle &axle = get_fixed_axle(i->type->pivot_index);
300 const Vector &pp = i->type->pivot_point;
301 Transform trans = Transform::rotation(axle.angle, Vector(0, -1, 0));
302 i->position = Vector(axle.type->position, 0, axle.type->wheel_dia/2)+trans.transform(pp);
304 else if(i->type->pivot==VehicleType::Rod::ROD)
306 const Rod &prod = get_rod(i->type->pivot_index);
307 const Vector &pos = prod.position;
308 const Vector &off = i->type->pivot_point;
309 Transform trans = Transform::rotation(prod.angle, Vector(0, 1, 0));
310 i->position = pos+trans.transform(off);
313 if(i->type->connect_index>=0)
315 Rod &crod = rods[i->type->connect_index];
316 if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
318 Vector span = crod.position+i->type->connect_offset-i->position;
319 float cd = i->type->connect_point.norm();
320 Angle ca = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
321 span.x = sqrt(cd*cd-span.z*span.z)*(span.x>0 ? 1 : -1);
322 i->angle = Geometry::atan2(span.z, span.x)-ca;
323 crod.position.x = i->position.x+span.x-i->type->connect_offset.x;
325 else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
327 Vector span = crod.position-i->position;
328 float d = span.norm();
329 float cd1 = i->type->connect_point.norm();
330 float cd2 = i->type->connect_offset.norm();
331 float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
332 float b = sqrt(cd1*cd1-a*a);
333 float sign = (cross(i->type->connect_point, span).y>0 ? 1 : -1);
334 Vector conn = Vector(span.x*a-span.z*b, 0, span.z*a+span.x*b)/(d*sign);
335 Angle ca1 = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
336 Angle ca2 = Geometry::atan2(i->type->connect_offset.z, i->type->connect_offset.x);
337 i->angle = Geometry::atan2(conn.z, conn.x)-ca1;
338 crod.angle = Geometry::atan2(conn.z-span.z, conn.x-span.x)-ca2;
344 void Vehicle::adjust_for_distance(TrackOffsetIter &front, TrackOffsetIter &back, float tdist, float ratio) const
346 float margin = 0.01*layout.get_catalogue().get_scale();
350 Vector front_point = front.point().position;
351 Vector back_point = back.point().position;
353 float dist = distance(front_point, back_point);
355 float diff = tdist-dist;
356 if(diff<-margin && adjust_dir<=0)
361 else if(diff>margin && adjust_dir>=0)
369 front = front.advance(diff*(1-ratio));
370 back = back.advance(-diff*ratio);
374 OrientedPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
376 Vector span = front-back;
379 p.position = back+span*ratio;
380 p.rotation = Geometry::atan2(span.y, span.x);
385 OrientedPoint Vehicle::get_point(const TrackOffsetIter &iter, float tdist, float ratio) const
387 TrackOffsetIter front = iter.advance(tdist*(1-ratio));
388 TrackOffsetIter back = iter.advance(-tdist*ratio);
390 adjust_for_distance(front, back, tdist, ratio);
391 return get_point(front.point().position, back.point().position, 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):