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(const TrackIter &t, float o, PlaceMode m)
  91 {
  92         if(!t)
  93                 throw invalid_argument("Vehicle::place");
  94
  95         track_pos = TrackPosition(t, o);
  96
  97         if(m==FRONT_AXLE)
  98                 track_pos.advance(-type.get_front_axle_offset());
  99         else if(m==FRONT_BUFFER)
 100                 track_pos.advance(-type.get_length()/2);
 101         else if(m==BACK_AXLE)
 102                 track_pos.advance(-type.get_back_axle_offset());
 103         else if(m==BACK_BUFFER)
 104                 track_pos.advance(type.get_length()/2);
 105
 106         update_position();
 107         propagate_position();
 108 }
 109
 110 void Vehicle::unplace()
 111 {
 112         if(!track_pos.track)
 113                 return;
 114
 115         track_pos = TrackPosition();
 116
 117         if(prev)
 118                 prev->unplace();
 119         if(next)
 120                 next->unplace();
 121 }
 122
 123 void Vehicle::advance(float d)
 124 {
 125         track_pos.advance(d);
 126         update_position();
 127         turn_axles(d);
 128         propagate_position();
 129 }
 130
 131 const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
 132 {
 133         if(i>=axles.size())
 134                 throw out_of_range("Vehicle::get_fixed_axle");
 135         return axles[i];
 136 }
 137
 138 const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
 139 {
 140         if(i>=bogies.size())
 141                 throw out_of_range("Vehicle::get_bogie");
 142         return bogies[i];
 143 }
 144
 145 const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
 146 {
 147         if(i>=bogies.size())
 148                 throw out_of_range("Vehicle::get_bogie_axle");
 149         if(j>=bogies[i].axles.size())
 150                 throw out_of_range("Vehicle::get_bogie_axle");
 151         return bogies[i].axles[j];
 152 }
 153
 154 const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
 155 {
 156         if(i>=rods.size())
 157                 throw out_of_range("Vehicle::get_rod");
 158         return rods[i];
 159 }
 160
 161 void Vehicle::update_position()
 162 {
 163         TrackPoint tp;
 164
 165         if(axles.size()>=2)
 166         {
 167                 float wheelbase = axles.front().type->position-axles.back().type->position;
 168                 tp = get_point(track_pos, wheelbase, -axles.back().type->position/wheelbase);
 169         }
 170         else if(bogies.size()>=2)
 171         {
 172                 TrackPosition front = track_pos;
 173                 front.advance(bogies.front().type->position);
 174                 TrackPosition back = track_pos;
 175                 back.advance(bogies.back().type->position);
 176                 float bogie_spacing = bogies.front().type->position-bogies.back().type->position;
 177                 adjust_for_distance(front, back, bogie_spacing);
 178
 179                 const vector<Axle> &front_axles = bogies.front().axles;
 180                 float wheelbase = front_axles.front().type->position-front_axles.back().type->position;
 181                 TrackPoint front_point = get_point(front, wheelbase, -front_axles.back().type->position/wheelbase);
 182
 183                 const vector<Axle> &back_axles = bogies.back().axles;
 184                 wheelbase = back_axles.front().type->position-back_axles.back().type->position;
 185                 TrackPoint back_point = get_point(back, wheelbase, -back_axles.back().type->position/wheelbase);
 186
 187                 tp = get_point(front_point.pos, back_point.pos, -bogies.back().type->position/bogie_spacing);
 188
 189                 bogies.front().direction = front_point.dir-tp.dir;
 190                 bogies.back().direction = back_point.dir-tp.dir;
 191         }
 192         else
 193                 tp = track_pos.get_point();
 194
 195         if(!prev)
 196                 check_sensor(type.get_front_axle_offset(), front_sensor);
 197         if(!next)
 198                 check_sensor(type.get_back_axle_offset(), back_sensor);
 199
 200         position = tp.pos;
 201         position.z += layout.get_catalogue().get_rail_elevation();
 202         rotation = tp.dir;
 203 }
 204
 205 void Vehicle::update_position_from(const Vehicle &veh)
 206 {
 207         int sign = (&veh==prev ? -1 : 1);
 208
 209         float tdist = (type.get_length()+veh.type.get_length())/2;
 210         float margin = layout.get_catalogue().get_scale();
 211
 212         float dist = distance(veh.position, position);
 213         if(!track_pos.track || dist<tdist-margin || dist>tdist+margin)
 214         {
 215                 track_pos = veh.track_pos;
 216                 track_pos.advance(sign*tdist);
 217                 update_position();
 218
 219                 dist = distance(veh.position, position);
 220         }
 221
 222         track_pos.advance(sign*(tdist-dist));
 223         update_position();
 224         turn_axles(sign*(tdist-dist));
 225 }
 226
 227 void Vehicle::propagate_position()
 228 {
 229         if(prev)
 230                 propagate_forward();
 231         if(next)
 232                 propagate_backward();
 233 }
 234
 235 void Vehicle::propagate_forward()
 236 {
 237         prev->update_position_from(*this);
 238
 239         if(prev->prev)
 240                 prev->propagate_forward();
 241 }
 242
 243 void Vehicle::propagate_backward()
 244 {
 245         next->update_position_from(*this);
 246
 247         if(next->next)
 248                 next->propagate_backward();
 249 }
 250
 251 void Vehicle::check_sensor(float offset, unsigned &sensor)
 252 {
 253         TrackPosition pos = track_pos;
 254         pos.advance(offset);
 255         unsigned s = pos.track->get_sensor_id();
 256         if(s!=sensor)
 257         {
 258                 /* Sensor ID under axle has changed.  Deduce movement direction by using
 259                 the sensor ID under the midpoint of the vehicle. */
 260                 /* XXX This depends on the simulation running fast enough.  Something
 261                 more robust would be preferable. */
 262                 unsigned old = sensor;
 263                 sensor = s;
 264                 unsigned mid = track_pos.track->get_sensor_id();
 265
 266                 if(s && s!=mid)
 267                         /* There's a sensor and it's different from mid.  We've just entered
 268                         that sensor. */
 269                         layout.get_driver().set_sensor(sensor, true);
 270                 if(old && old!=mid)
 271                         /* A sensor was under the axle and it was different from mid.  We've
 272                         just left that sensor. */
 273                         layout.get_driver().set_sensor(old, false);
 274         }
 275 }
 276
 277 void Vehicle::turn_axles(float d)
 278 {
 279         for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
 280                 i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
 281         for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
 282                 for(vector<Axle>::iterator j=i->axles.begin(); j!=i->axles.end(); ++j)
 283                         j->angle += Angle::from_radians(d*2/j->type->wheel_dia);
 284
 285         update_rods();
 286 }
 287
 288 void Vehicle::update_rods()
 289 {
 290         for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
 291         {
 292                 if(i->type->pivot==VehicleType::Rod::BODY)
 293                         i->position = i->type->pivot_point;
 294                 else if(i->type->pivot==VehicleType::Rod::AXLE)
 295                 {
 296                         const Axle &axle = get_fixed_axle(i->type->pivot_index);
 297                         const Vector &pp = i->type->pivot_point;
 298                         Transform trans = Transform::rotation(axle.angle, Vector(0, -1, 0));
 299                         i->position = Vector(axle.type->position, 0, axle.type->wheel_dia/2)+trans.transform(pp);
 300                 }
 301                 else if(i->type->pivot==VehicleType::Rod::ROD)
 302                 {
 303                         const Rod &prod = get_rod(i->type->pivot_index);
 304                         const Vector &pos = prod.position;
 305                         const Vector &off = i->type->pivot_point;
 306                         Transform trans = Transform::rotation(prod.angle, Vector(0, 1, 0));
 307                         i->position = pos+trans.transform(off);
 308                 }
 309
 310                 if(i->type->connect_index>=0)
 311                 {
 312                         Rod &crod = rods[i->type->connect_index];
 313                         if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
 314                         {
 315                                 Vector span = crod.position+i->type->connect_offset-i->position;
 316                                 float cd = i->type->connect_point.norm();
 317                                 Angle ca = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
 318                                 span.x = sqrt(cd*cd-span.z*span.z)*(span.x>0 ? 1 : -1);
 319                                 i->angle = Geometry::atan2(span.z, span.x)-ca;
 320                                 crod.position.x = i->position.x+span.x-i->type->connect_offset.x;
 321                         }
 322                         else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
 323                         {
 324                                 Vector span = crod.position-i->position;
 325                                 float d = span.norm();
 326                                 float cd1 = i->type->connect_point.norm();
 327                                 float cd2 = i->type->connect_offset.norm();
 328                                 float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
 329                                 float b = sqrt(cd1*cd1-a*a);
 330                                 float sign = (cross(i->type->connect_point, span).y>0 ? 1 : -1);
 331                                 Vector conn = Vector(span.x*a-span.z*b, 0, span.z*a+span.x*b)/(d*sign);
 332                                 Angle ca1 = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
 333                                 Angle ca2 = Geometry::atan2(i->type->connect_offset.z, i->type->connect_offset.x);
 334                                 i->angle = Geometry::atan2(conn.z, conn.x)-ca1;
 335                                 crod.angle = Geometry::atan2(conn.z-span.z, conn.x-span.x)-ca2;
 336                         }
 337                 }
 338         }
 339 }
 340
 341 void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, float tdist, float ratio) const
 342 {
 343         float margin = 0.01*layout.get_catalogue().get_scale();
 344         int adjust_dir = 0;
 345         while(1)
 346         {
 347                 Vector front_point = front.get_point().pos;
 348                 Vector back_point = back.get_point().pos;
 349
 350                 float dist = distance(front_point, back_point);
 351
 352                 float diff = tdist-dist;
 353                 if(diff<-margin && adjust_dir<=0)
 354                 {
 355                         diff -= margin;
 356                         adjust_dir = -1;
 357                 }
 358                 else if(diff>margin && adjust_dir>=0)
 359                 {
 360                         diff += margin;
 361                         adjust_dir = 1;
 362                 }
 363                 else
 364                         return;
 365
 366                 front.advance(diff*(1-ratio));
 367                 back.advance(-diff*ratio);
 368         }
 369 }
 370
 371 TrackPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
 372 {
 373         Vector span = front-back;
 374
 375         TrackPoint tp;
 376         tp.pos = back+span*ratio;
 377         tp.dir = Geometry::atan2(span.y, span.x);
 378
 379         return tp;
 380 }
 381
 382 TrackPoint Vehicle::get_point(const TrackPosition &pos, float tdist, float ratio) const
 383 {
 384         TrackPosition front = pos;
 385         front.advance(tdist*(1-ratio));
 386
 387         TrackPosition back = pos;
 388         back.advance(-tdist*ratio);
 389
 390         adjust_for_distance(front, back, tdist, ratio);
 391         return get_point(front.get_point().pos, back.get_point().pos, ratio);
 392 }
 393
 394 unsigned Vehicle::get_n_link_slots() const
 395 {
 396         return 2;
 397 }
 398
 399 Vehicle *Vehicle::get_link(unsigned i) const
 400 {
 401         if(i>=2)
 402                 throw out_of_range("Vehicle::get_link");
 403
 404         return (i==0 ? prev : next);
 405 }
 406
 407 int Vehicle::get_link_slot(const Object &other) const
 408 {
 409         if(&other==prev)
 410                 return 0;
 411         else if(&other==next)
 412                 return 1;
 413         else
 414                 return -1;
 415 }
 416
 417
 418 Vehicle::Axle::Axle(const VehicleType::Axle &t):
 419         type(&t)
 420 { }
 421
 422
 423 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
 424         type(&t)
 425 {
 426         for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i)
 427                 axles.push_back(*i);
 428 }
 429
 430
 431 Vehicle::Rod::Rod(const VehicleType::Rod &t):
 432         type(&t)
 433 { }
 434
 435
 436 Vehicle::TrackPosition::TrackPosition():
 437         offs(0)
 438 { }
 439
 440 Vehicle::TrackPosition::TrackPosition(const TrackIter &t, float o):
 441         track(t),
 442         offs(o)
 443 { }
 444
 445 void Vehicle::TrackPosition::advance(float d)
 446 {
 447         if(!track)
 448                 return;
 449
 450         offs += d;
 451         while(track)
 452         {
 453                 float path_len = track->get_type().get_path_length(track->get_active_path());
 454
 455                 if(offs>path_len)
 456                 {
 457                         offs -= path_len;
 458                         track = track.next();
 459                 }
 460                 else
 461                         break;
 462         }
 463
 464         while(track && offs<0)
 465         {
 466                 track = track.flip().reverse();
 467
 468                 if(track)
 469                 {
 470                         float path_len = track->get_type().get_path_length(track->get_active_path());
 471                         offs += path_len;
 472                 }
 473         }
 474
 475         if(!track)
 476                 offs = 0;
 477 }
 478
 479 TrackPoint Vehicle::TrackPosition::get_point() const
 480 {
 481         if(track)
 482                 return track->get_point(track.entry(), offs);
 483         else
 484                 return TrackPoint();
 485 }
 486
 487 } // namespace R2C2