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         placement(type),
  23         front_sensor(0),
  24         back_sensor(0)
  25 {
  26         axles.assign(type.get_axles().begin(), type.get_axles().end());
  27         for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
  28                 if(!i->type->bogie)
  29                         fixed_axles.push_back(&*i);
  30         bogies.assign(type.get_bogies().begin(), type.get_bogies().end());
  31         rods.assign(type.get_rods().begin(), type.get_rods().end());
  32         for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
  33                 for(unsigned j=0; j<i->axles.size(); ++j)
  34                         i->axles[j] = &axles[i->type->first_axle+j];
  35
  36         layout.add(*this);
  37 }
  38
  39 Vehicle::~Vehicle()
  40 {
  41         if(next)
  42                 detach_back();
  43         if(prev)
  44                 detach_front();
  45         layout.remove(*this);
  46 }
  47
  48 Vehicle *Vehicle::clone(Layout *to_layout) const
  49 {
  50         Vehicle *veh = new Vehicle((to_layout ? *to_layout : layout), type);
  51         veh->set_position(position);
  52         veh->set_rotation(rotation);
  53         return veh;
  54 }
  55
  56 void Vehicle::set_train(Train *t)
  57 {
  58         train = t;
  59 }
  60
  61 void Vehicle::attach_back(Vehicle &veh)
  62 {
  63         if(next || veh.prev)
  64                 throw attachment_error("already attached");
  65
  66         next = &veh;
  67         veh.prev = this;
  68
  69         if(is_placed())
  70                 propagate_backward();
  71 }
  72
  73 void Vehicle::attach_front(Vehicle &veh)
  74 {
  75         if(prev || veh.next)
  76                 throw attachment_error("already attached");
  77
  78         prev = &veh;
  79         veh.next = this;
  80
  81         if(prev->is_placed())
  82                 prev->propagate_backward();
  83 }
  84
  85 void Vehicle::detach_back()
  86 {
  87         if(!next)
  88                 throw attachment_error("not attached");
  89
  90         next->prev = 0;
  91         next = 0;
  92 }
  93
  94 void Vehicle::detach_front()
  95 {
  96         if(!prev)
  97                 throw attachment_error("not attached");
  98
  99         prev->next = 0;
 100         prev = 0;
 101 }
 102
 103 void Vehicle::place(const TrackOffsetIter &t, VehiclePlacement::Anchor a)
 104 {
 105         if(!t)
 106                 throw invalid_argument("Vehicle::place");
 107
 108         placement.place(t, a);
 109
 110         update_position(0);
 111         propagate_position();
 112 }
 113
 114 void Vehicle::unplace()
 115 {
 116         if(!placement.is_placed())
 117                 return;
 118
 119         placement.unplace();
 120
 121         if(prev)
 122                 prev->unplace();
 123         if(next)
 124                 next->unplace();
 125 }
 126
 127 void Vehicle::advance(float d)
 128 {
 129         placement.advance(d);
 130         turn_axles(d);
 131         update_position(d<0 ? -1 : 1);
 132         propagate_position();
 133 }
 134
 135 const Vehicle::Axle &Vehicle::get_axle(unsigned i) const
 136 {
 137         if(i>=axles.size())
 138                 throw out_of_range("Vehicle::get_axle");
 139         return axles[i];
 140 }
 141
 142 const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
 143 {
 144         if(i>=fixed_axles.size())
 145                 throw out_of_range("Vehicle::get_fixed_axle");
 146         return *fixed_axles[i];
 147 }
 148
 149 const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
 150 {
 151         if(i>=bogies.size())
 152                 throw out_of_range("Vehicle::get_bogie");
 153         return bogies[i];
 154 }
 155
 156 const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
 157 {
 158         if(i>=bogies.size())
 159                 throw out_of_range("Vehicle::get_bogie_axle");
 160         if(j>=bogies[i].axles.size())
 161                 throw out_of_range("Vehicle::get_bogie_axle");
 162         return *bogies[i].axles[j];
 163 }
 164
 165 const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
 166 {
 167         if(i>=rods.size())
 168                 throw out_of_range("Vehicle::get_rod");
 169         return rods[i];
 170 }
 171
 172 void Vehicle::update_position(int sign)
 173 {
 174         OrientedPoint p = placement.get_point();
 175         position = p.position;
 176         position.z += layout.get_catalogue().get_rail_elevation();
 177         rotation = p.rotation;
 178         tilt = p.tilt;
 179
 180         if(bogies.size()>=2)
 181         {
 182                 OrientedPoint front_point = placement.get_bogie_point(bogies.front().type->index);
 183                 bogies.front().direction = front_point.rotation-p.rotation;
 184
 185                 OrientedPoint back_point = placement.get_bogie_point(bogies.back().type->index);
 186                 bogies.back().direction = back_point.rotation-p.rotation;
 187         }
 188
 189         if(!prev)
 190                 check_sensor(placement.get_position(VehiclePlacement::FRONT_AXLE), front_sensor, sign<0);
 191         if(!next)
 192                 check_sensor(placement.get_position(VehiclePlacement::BACK_AXLE), back_sensor, sign>0);
 193
 194         signal_moved.emit();
 195 }
 196
 197 void Vehicle::update_position_from(const Vehicle &veh)
 198 {
 199         int sign = (&veh==prev ? -1 : 1);
 200
 201         float tdist = (type.get_length()+veh.type.get_length())/2;
 202         float margin = layout.get_catalogue().get_scale();
 203
 204         float dist = distance(veh.position, position);
 205         if(!is_placed() || dist<tdist-margin || dist>tdist+margin)
 206         {
 207                 if(sign<0)
 208                         placement.place_after(veh.placement);
 209                 else
 210                         placement.place_before(veh.placement);
 211                 update_position(0);
 212
 213                 dist = distance(veh.position, position);
 214         }
 215
 216         float d = sign*(tdist-dist);
 217         placement.advance(d);
 218         update_position(d<0 ? -1 : 1);
 219         turn_axles(d);
 220 }
 221
 222 void Vehicle::propagate_position()
 223 {
 224         if(prev)
 225                 propagate_forward();
 226         if(next)
 227                 propagate_backward();
 228 }
 229
 230 void Vehicle::propagate_forward()
 231 {
 232         prev->update_position_from(*this);
 233
 234         if(prev->prev)
 235                 prev->propagate_forward();
 236 }
 237
 238 void Vehicle::propagate_backward()
 239 {
 240         next->update_position_from(*this);
 241
 242         if(next->next)
 243                 next->propagate_backward();
 244 }
 245
 246 void Vehicle::check_sensor(const TrackOffsetIter &t, unsigned &sensor, bool release)
 247 {
 248         unsigned s = t->get_sensor_id();
 249         if(s!=sensor)
 250         {
 251                 unsigned old = sensor;
 252                 sensor = s;
 253                 if(release)
 254                         layout.get_driver().set_sensor(old, false);
 255                 else
 256                         layout.get_driver().set_sensor(sensor, true);
 257         }
 258 }
 259
 260 void Vehicle::turn_axles(float d)
 261 {
 262         for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
 263                 i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
 264
 265         update_rods();
 266 }
 267
 268 void Vehicle::update_rods()
 269 {
 270         for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
 271         {
 272                 if(i->type->pivot==VehicleType::Rod::BODY)
 273                         i->position = i->type->pivot_point;
 274                 else if(i->type->pivot==VehicleType::Rod::AXLE)
 275                 {
 276                         const Axle &axle = get_fixed_axle(i->type->pivot_index);
 277                         const Vector &pp = i->type->pivot_point;
 278                         Transform trans = Transform::rotation(axle.angle, Vector(0, -1, 0));
 279                         i->position = Vector(axle.type->position, 0, axle.type->wheel_dia/2)+trans.transform(pp);
 280                 }
 281                 else if(i->type->pivot==VehicleType::Rod::ROD)
 282                 {
 283                         const Rod &prod = get_rod(i->type->pivot_index);
 284                         const Vector &pos = prod.position;
 285                         const Vector &off = i->type->pivot_point;
 286                         Transform trans = Transform::rotation(prod.angle, Vector(0, 1, 0));
 287                         i->position = pos+trans.transform(off);
 288                 }
 289
 290                 if(i->type->connect_index>=0)
 291                 {
 292                         Rod &crod = rods[i->type->connect_index];
 293                         if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
 294                         {
 295                                 Vector span = crod.position+i->type->connect_offset-i->position;
 296                                 float cd = i->type->connect_point.norm();
 297                                 Angle ca = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
 298                                 span.x = sqrt(cd*cd-span.z*span.z)*(span.x>0 ? 1 : -1);
 299                                 i->angle = Geometry::atan2(span.z, span.x)-ca;
 300                                 crod.position.x = i->position.x+span.x-i->type->connect_offset.x;
 301                         }
 302                         else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
 303                         {
 304                                 Vector span = crod.position-i->position;
 305                                 float d = span.norm();
 306                                 float cd1 = i->type->connect_point.norm();
 307                                 float cd2 = i->type->connect_offset.norm();
 308                                 float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
 309                                 float b = sqrt(cd1*cd1-a*a);
 310                                 float sign = (cross(i->type->connect_point, span).y>0 ? 1 : -1);
 311                                 Vector conn = Vector(span.x*a-span.z*b, 0, span.z*a+span.x*b)/(d*sign);
 312                                 Angle ca1 = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
 313                                 Angle ca2 = Geometry::atan2(i->type->connect_offset.z, i->type->connect_offset.x);
 314                                 i->angle = Geometry::atan2(conn.z, conn.x)-ca1;
 315                                 crod.angle = Geometry::atan2(conn.z-span.z, conn.x-span.x)-ca2;
 316                         }
 317                 }
 318         }
 319 }
 320
 321 unsigned Vehicle::get_n_link_slots() const
 322 {
 323         return 2;
 324 }
 325
 326 Vehicle *Vehicle::get_link(unsigned i) const
 327 {
 328         if(i>=2)
 329                 throw out_of_range("Vehicle::get_link");
 330
 331         return (i==0 ? prev : next);
 332 }
 333
 334 int Vehicle::get_link_slot(const Object &other) const
 335 {
 336         if(&other==prev)
 337                 return 0;
 338         else if(&other==next)
 339                 return 1;
 340         else
 341                 return -1;
 342 }
 343
 344
 345 Vehicle::Axle::Axle(const VehicleType::Axle &t):
 346         type(&t)
 347 { }
 348
 349
 350 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
 351         type(&t),
 352         axles(t.axles.size())
 353 { }
 354
 355
 356 Vehicle::Rod::Rod(const VehicleType::Rod &t):
 357         type(&t)
 358 { }
 359
 360 } // namespace R2C2