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         train(0),
  20         next(0),
  21         prev(0),
  22         front_sensor(0),
  23         back_sensor(0)
  24 {
  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());
  28
  29         layout.add(*this);
  30 }
  31
  32 Vehicle::~Vehicle()
  33 {
  34         if(next)
  35                 detach_back();
  36         if(prev)
  37                 detach_front();
  38         layout.remove(*this);
  39 }
  40
  41 Vehicle *Vehicle::clone(Layout *to_layout) const
  42 {
  43         Vehicle *veh = new Vehicle((to_layout ? *to_layout : layout), type);
  44         veh->set_position(position);
  45         veh->set_rotation(rotation);
  46         return veh;
  47 }
  48
  49 void Vehicle::set_train(Train *t)
  50 {
  51         train = t;
  52 }
  53
  54 void Vehicle::attach_back(Vehicle &veh)
  55 {
  56         if(next || veh.prev)
  57                 throw attachment_error("already attached");
  58
  59         next = &veh;
  60         veh.prev = this;
  61
  62         if(track_pos.track)
  63                 propagate_backward();
  64 }
  65
  66 void Vehicle::attach_front(Vehicle &veh)
  67 {
  68         if(prev || veh.next)
  69                 throw attachment_error("already attached");
  70
  71         prev = &veh;
  72         veh.next = this;
  73
  74         if(prev->get_track())
  75                 prev->propagate_backward();
  76 }
  77
  78 void Vehicle::detach_back()
  79 {
  80         if(!next)
  81                 throw attachment_error("not attached");
  82
  83         next->prev = 0;
  84         next = 0;
  85 }
  86
  87 void Vehicle::detach_front()
  88 {
  89         if(!prev)
  90                 throw attachment_error("not attached");
  91
  92         prev->next = 0;
  93         prev = 0;
  94 }
  95
  96 void Vehicle::place(const TrackIter &t, float o, PlaceMode m)
  97 {
  98         if(!t)
  99                 throw invalid_argument("Vehicle::place");
 100
 101         track_pos = TrackPosition(t, o);
 102
 103         if(m==FRONT_AXLE)
 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);
 111
 112         update_position();
 113         propagate_position();
 114 }
 115
 116 void Vehicle::unplace()
 117 {
 118         if(!track_pos.track)
 119                 return;
 120
 121         track_pos = TrackPosition();
 122
 123         if(prev)
 124                 prev->unplace();
 125         if(next)
 126                 next->unplace();
 127 }
 128
 129 void Vehicle::advance(float d)
 130 {
 131         track_pos.advance(d);
 132         update_position();
 133         turn_axles(d);
 134         propagate_position();
 135 }
 136
 137 const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
 138 {
 139         if(i>=axles.size())
 140                 throw out_of_range("Vehicle::get_fixed_axle");
 141         return axles[i];
 142 }
 143
 144 const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
 145 {
 146         if(i>=bogies.size())
 147                 throw out_of_range("Vehicle::get_bogie");
 148         return bogies[i];
 149 }
 150
 151 const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
 152 {
 153         if(i>=bogies.size())
 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];
 158 }
 159
 160 const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
 161 {
 162         if(i>=rods.size())
 163                 throw out_of_range("Vehicle::get_rod");
 164         return rods[i];
 165 }
 166
 167 void Vehicle::update_position()
 168 {
 169         TrackPoint tp;
 170
 171         if(axles.size()>=2)
 172         {
 173                 float wheelbase = axles.front().type->position-axles.back().type->position;
 174                 tp = get_point(track_pos, wheelbase, -axles.back().type->position/wheelbase);
 175         }
 176         else if(bogies.size()>=2)
 177         {
 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);
 184
 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);
 188
 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);
 192
 193                 tp = get_point(front_point.pos, back_point.pos, -bogies.back().type->position/bogie_spacing);
 194
 195                 bogies.front().direction = front_point.dir-tp.dir;
 196                 bogies.back().direction = back_point.dir-tp.dir;
 197         }
 198         else
 199                 tp = track_pos.get_point();
 200
 201         if(!prev)
 202                 check_sensor(type.get_front_axle_offset(), front_sensor);
 203         if(!next)
 204                 check_sensor(type.get_back_axle_offset(), back_sensor);
 205
 206         position = tp.pos;
 207         position.z += layout.get_catalogue().get_rail_elevation();
 208         rotation = tp.dir;
 209 }
 210
 211 void Vehicle::update_position_from(const Vehicle &veh)
 212 {
 213         int sign = (&veh==prev ? -1 : 1);
 214
 215         float tdist = (type.get_length()+veh.type.get_length())/2;
 216         float margin = layout.get_catalogue().get_scale();
 217
 218         float dist = distance(veh.position, position);
 219         if(!track_pos.track || dist<tdist-margin || dist>tdist+margin)
 220         {
 221                 track_pos = veh.track_pos;
 222                 track_pos.advance(sign*tdist);
 223                 update_position();
 224
 225                 dist = distance(veh.position, position);
 226         }
 227
 228         track_pos.advance(sign*(tdist-dist));
 229         update_position();
 230         turn_axles(sign*(tdist-dist));
 231 }
 232
 233 void Vehicle::propagate_position()
 234 {
 235         if(prev)
 236                 propagate_forward();
 237         if(next)
 238                 propagate_backward();
 239 }
 240
 241 void Vehicle::propagate_forward()
 242 {
 243         prev->update_position_from(*this);
 244
 245         if(prev->prev)
 246                 prev->propagate_forward();
 247 }
 248
 249 void Vehicle::propagate_backward()
 250 {
 251         next->update_position_from(*this);
 252
 253         if(next->next)
 254                 next->propagate_backward();
 255 }
 256
 257 void Vehicle::check_sensor(float offset, unsigned &sensor)
 258 {
 259         TrackPosition pos = track_pos;
 260         pos.advance(offset);
 261         unsigned s = pos.track->get_sensor_id();
 262         if(s!=sensor)
 263         {
 264                 /* Sensor ID under axle has changed.  Deduce movement direction by using
 265                 the sensor ID under the midpoint of the vehicle. */
 266                 /* XXX This depends on the simulation running fast enough.  Something
 267                 more robust would be preferable. */
 268                 unsigned old = sensor;
 269                 sensor = s;
 270                 unsigned mid = track_pos.track->get_sensor_id();
 271
 272                 if(s && s!=mid)
 273                         /* There's a sensor and it's different from mid.  We've just entered
 274                         that sensor. */
 275                         layout.get_driver().set_sensor(sensor, true);
 276                 if(old && old!=mid)
 277                         /* A sensor was under the axle and it was different from mid.  We've
 278                         just left that sensor. */
 279                         layout.get_driver().set_sensor(old, false);
 280         }
 281 }
 282
 283 void Vehicle::turn_axles(float d)
 284 {
 285         for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
 286                 i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
 287         for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
 288                 for(vector<Axle>::iterator j=i->axles.begin(); j!=i->axles.end(); ++j)
 289                         j->angle += Angle::from_radians(d*2/j->type->wheel_dia);
 290
 291         update_rods();
 292 }
 293
 294 void Vehicle::update_rods()
 295 {
 296         for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
 297         {
 298                 if(i->type->pivot==VehicleType::Rod::BODY)
 299                         i->position = i->type->pivot_point;
 300                 else if(i->type->pivot==VehicleType::Rod::AXLE)
 301                 {
 302                         const Axle &axle = get_fixed_axle(i->type->pivot_index);
 303                         const Vector &pp = i->type->pivot_point;
 304                         Transform trans = Transform::rotation(axle.angle, Vector(0, -1, 0));
 305                         i->position = Vector(axle.type->position, 0, axle.type->wheel_dia/2)+trans.transform(pp);
 306                 }
 307                 else if(i->type->pivot==VehicleType::Rod::ROD)
 308                 {
 309                         const Rod &prod = get_rod(i->type->pivot_index);
 310                         const Vector &pos = prod.position;
 311                         const Vector &off = i->type->pivot_point;
 312                         Transform trans = Transform::rotation(prod.angle, Vector(0, 1, 0));
 313                         i->position = pos+trans.transform(off);
 314                 }
 315
 316                 if(i->type->connect_index>=0)
 317                 {
 318                         Rod &crod = rods[i->type->connect_index];
 319                         if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
 320                         {
 321                                 Vector span = crod.position+i->type->connect_offset-i->position;
 322                                 float cd = i->type->connect_point.norm();
 323                                 Angle ca = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
 324                                 span.x = sqrt(cd*cd-span.z*span.z)*(span.x>0 ? 1 : -1);
 325                                 i->angle = Geometry::atan2(span.z, span.x)-ca;
 326                                 crod.position.x = i->position.x+span.x-i->type->connect_offset.x;
 327                         }
 328                         else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
 329                         {
 330                                 Vector span = crod.position-i->position;
 331                                 float d = span.norm();
 332                                 float cd1 = i->type->connect_point.norm();
 333                                 float cd2 = i->type->connect_offset.norm();
 334                                 float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
 335                                 float b = sqrt(cd1*cd1-a*a);
 336                                 float sign = (cross(i->type->connect_point, span).y>0 ? 1 : -1);
 337                                 Vector conn = Vector(span.x*a-span.z*b, 0, span.z*a+span.x*b)/(d*sign);
 338                                 Angle ca1 = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
 339                                 Angle ca2 = Geometry::atan2(i->type->connect_offset.z, i->type->connect_offset.x);
 340                                 i->angle = Geometry::atan2(conn.z, conn.x)-ca1;
 341                                 crod.angle = Geometry::atan2(conn.z-span.z, conn.x-span.x)-ca2;
 342                         }
 343                 }
 344         }
 345 }
 346
 347 void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, float tdist, float ratio) const
 348 {
 349         float margin = 0.01*layout.get_catalogue().get_scale();
 350         int adjust_dir = 0;
 351         while(1)
 352         {
 353                 Vector front_point = front.get_point().pos;
 354                 Vector back_point = back.get_point().pos;
 355
 356                 float dist = distance(front_point, back_point);
 357
 358                 float diff = tdist-dist;
 359                 if(diff<-margin && adjust_dir<=0)
 360                 {
 361                         diff -= margin;
 362                         adjust_dir = -1;
 363                 }
 364                 else if(diff>margin && adjust_dir>=0)
 365                 {
 366                         diff += margin;
 367                         adjust_dir = 1;
 368                 }
 369                 else
 370                         return;
 371
 372                 front.advance(diff*(1-ratio));
 373                 back.advance(-diff*ratio);
 374         }
 375 }
 376
 377 TrackPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
 378 {
 379         Vector span = front-back;
 380
 381         TrackPoint tp;
 382         tp.pos = back+span*ratio;
 383         tp.dir = Geometry::atan2(span.y, span.x);
 384
 385         return tp;
 386 }
 387
 388 TrackPoint Vehicle::get_point(const TrackPosition &pos, float tdist, float ratio) const
 389 {
 390         TrackPosition front = pos;
 391         front.advance(tdist*(1-ratio));
 392
 393         TrackPosition back = pos;
 394         back.advance(-tdist*ratio);
 395
 396         adjust_for_distance(front, back, tdist, ratio);
 397         return get_point(front.get_point().pos, back.get_point().pos, ratio);
 398 }
 399
 400 unsigned Vehicle::get_n_link_slots() const
 401 {
 402         return 2;
 403 }
 404
 405 Vehicle *Vehicle::get_link(unsigned i) const
 406 {
 407         if(i>=2)
 408                 throw out_of_range("Vehicle::get_link");
 409
 410         return (i==0 ? prev : next);
 411 }
 412
 413 int Vehicle::get_link_slot(const Object &other) const
 414 {
 415         if(&other==prev)
 416                 return 0;
 417         else if(&other==next)
 418                 return 1;
 419         else
 420                 return -1;
 421 }
 422
 423
 424 Vehicle::Axle::Axle(const VehicleType::Axle &t):
 425         type(&t)
 426 { }
 427
 428
 429 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
 430         type(&t)
 431 {
 432         for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i)
 433                 axles.push_back(*i);
 434 }
 435
 436
 437 Vehicle::Rod::Rod(const VehicleType::Rod &t):
 438         type(&t)
 439 { }
 440
 441
 442 Vehicle::TrackPosition::TrackPosition():
 443         offs(0)
 444 { }
 445
 446 Vehicle::TrackPosition::TrackPosition(const TrackIter &t, float o):
 447         track(t),
 448         offs(o)
 449 { }
 450
 451 void Vehicle::TrackPosition::advance(float d)
 452 {
 453         if(!track)
 454                 return;
 455
 456         offs += d;
 457         while(track)
 458         {
 459                 float path_len = track->get_type().get_path_length(track->get_active_path());
 460
 461                 if(offs>path_len)
 462                 {
 463                         offs -= path_len;
 464                         track = track.next();
 465                 }
 466                 else
 467                         break;
 468         }
 469
 470         while(track && offs<0)
 471         {
 472                 track = track.flip().reverse();
 473
 474                 if(track)
 475                 {
 476                         float path_len = track->get_type().get_path_length(track->get_active_path());
 477                         offs += path_len;
 478                 }
 479         }
 480
 481         if(!track)
 482                 offs = 0;
 483 }
 484
 485 TrackPoint Vehicle::TrackPosition::get_point() const
 486 {
 487         if(track)
 488                 return track->get_point(track.entry(), offs);
 489         else
 490                 return TrackPoint();
 491 }
 492
 493 } // namespace R2C2