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)
  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 = TrackOffsetIter(t, o);
 102
 103         if(m==FRONT_AXLE)
 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);
 111
 112         update_position();
 113         propagate_position();
 114 }
 115
 116 void Vehicle::unplace()
 117 {
 118         if(!track)
 119                 return;
 120
 121         track = TrackOffsetIter();
 122
 123         if(prev)
 124                 prev->unplace();
 125         if(next)
 126                 next->unplace();
 127 }
 128
 129 void Vehicle::advance(float d)
 130 {
 131         track = track.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         OrientedPoint p;
 170
 171         if(axles.size()>=2)
 172         {
 173                 float wheelbase = axles.front().type->position-axles.back().type->position;
 174                 p = get_point(track, wheelbase, -axles.back().type->position/wheelbase);
 175         }
 176         else if(bogies.size()>=2)
 177         {
 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);
 182
 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);
 186
 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);
 190
 191                 p = get_point(front_point.position, back_point.position, -bogies.back().type->position/bogie_spacing);
 192
 193                 bogies.front().direction = front_point.rotation-p.rotation;
 194                 bogies.back().direction = back_point.rotation-p.rotation;
 195         }
 196         else
 197                 p = track.point();
 198
 199         if(!prev)
 200                 check_sensor(type.get_front_axle_offset(), front_sensor);
 201         if(!next)
 202                 check_sensor(type.get_back_axle_offset(), back_sensor);
 203
 204         position = p.position;
 205         position.z += layout.get_catalogue().get_rail_elevation();
 206         rotation = p.rotation;
 207         tilt = p.tilt;
 208         signal_moved.emit();
 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 || dist<tdist-margin || dist>tdist+margin)
 220         {
 221                 track = veh.track.advance(sign*tdist);
 222                 update_position();
 223
 224                 dist = distance(veh.position, position);
 225         }
 226
 227         track = track.advance(sign*(tdist-dist));
 228         update_position();
 229         turn_axles(sign*(tdist-dist));
 230 }
 231
 232 void Vehicle::propagate_position()
 233 {
 234         if(prev)
 235                 propagate_forward();
 236         if(next)
 237                 propagate_backward();
 238 }
 239
 240 void Vehicle::propagate_forward()
 241 {
 242         prev->update_position_from(*this);
 243
 244         if(prev->prev)
 245                 prev->propagate_forward();
 246 }
 247
 248 void Vehicle::propagate_backward()
 249 {
 250         next->update_position_from(*this);
 251
 252         if(next->next)
 253                 next->propagate_backward();
 254 }
 255
 256 void Vehicle::check_sensor(float offset, unsigned &sensor)
 257 {
 258         TrackOffsetIter iter = track.advance(offset);
 259         unsigned s = iter->get_sensor_id();
 260         if(s!=sensor)
 261         {
 262                 /* Sensor ID under axle has changed.  Deduce movement direction by using
 263                 the sensor ID under the midpoint of the vehicle. */
 264                 /* XXX This depends on the simulation running fast enough.  Something
 265                 more robust would be preferable. */
 266                 unsigned old = sensor;
 267                 sensor = s;
 268                 unsigned mid = track->get_sensor_id();
 269
 270                 if(s && s!=mid)
 271                         /* There's a sensor and it's different from mid.  We've just entered
 272                         that sensor. */
 273                         layout.get_driver().set_sensor(sensor, true);
 274                 if(old && old!=mid)
 275                         /* A sensor was under the axle and it was different from mid.  We've
 276                         just left that sensor. */
 277                         layout.get_driver().set_sensor(old, false);
 278         }
 279 }
 280
 281 void Vehicle::turn_axles(float d)
 282 {
 283         for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
 284                 i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
 285         for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
 286                 for(vector<Axle>::iterator j=i->axles.begin(); j!=i->axles.end(); ++j)
 287                         j->angle += Angle::from_radians(d*2/j->type->wheel_dia);
 288
 289         update_rods();
 290 }
 291
 292 void Vehicle::update_rods()
 293 {
 294         for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
 295         {
 296                 if(i->type->pivot==VehicleType::Rod::BODY)
 297                         i->position = i->type->pivot_point;
 298                 else if(i->type->pivot==VehicleType::Rod::AXLE)
 299                 {
 300                         const Axle &axle = get_fixed_axle(i->type->pivot_index);
 301                         const Vector &pp = i->type->pivot_point;
 302                         Transform trans = Transform::rotation(axle.angle, Vector(0, -1, 0));
 303                         i->position = Vector(axle.type->position, 0, axle.type->wheel_dia/2)+trans.transform(pp);
 304                 }
 305                 else if(i->type->pivot==VehicleType::Rod::ROD)
 306                 {
 307                         const Rod &prod = get_rod(i->type->pivot_index);
 308                         const Vector &pos = prod.position;
 309                         const Vector &off = i->type->pivot_point;
 310                         Transform trans = Transform::rotation(prod.angle, Vector(0, 1, 0));
 311                         i->position = pos+trans.transform(off);
 312                 }
 313
 314                 if(i->type->connect_index>=0)
 315                 {
 316                         Rod &crod = rods[i->type->connect_index];
 317                         if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
 318                         {
 319                                 Vector span = crod.position+i->type->connect_offset-i->position;
 320                                 float cd = i->type->connect_point.norm();
 321                                 Angle ca = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
 322                                 span.x = sqrt(cd*cd-span.z*span.z)*(span.x>0 ? 1 : -1);
 323                                 i->angle = Geometry::atan2(span.z, span.x)-ca;
 324                                 crod.position.x = i->position.x+span.x-i->type->connect_offset.x;
 325                         }
 326                         else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
 327                         {
 328                                 Vector span = crod.position-i->position;
 329                                 float d = span.norm();
 330                                 float cd1 = i->type->connect_point.norm();
 331                                 float cd2 = i->type->connect_offset.norm();
 332                                 float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
 333                                 float b = sqrt(cd1*cd1-a*a);
 334                                 float sign = (cross(i->type->connect_point, span).y>0 ? 1 : -1);
 335                                 Vector conn = Vector(span.x*a-span.z*b, 0, span.z*a+span.x*b)/(d*sign);
 336                                 Angle ca1 = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
 337                                 Angle ca2 = Geometry::atan2(i->type->connect_offset.z, i->type->connect_offset.x);
 338                                 i->angle = Geometry::atan2(conn.z, conn.x)-ca1;
 339                                 crod.angle = Geometry::atan2(conn.z-span.z, conn.x-span.x)-ca2;
 340                         }
 341                 }
 342         }
 343 }
 344
 345 void Vehicle::adjust_for_distance(TrackOffsetIter &front, TrackOffsetIter &back, float tdist, float ratio) const
 346 {
 347         float margin = 0.01*layout.get_catalogue().get_scale();
 348         int adjust_dir = 0;
 349         while(1)
 350         {
 351                 Vector front_point = front.point().position;
 352                 Vector back_point = back.point().position;
 353
 354                 float dist = distance(front_point, back_point);
 355
 356                 float diff = tdist-dist;
 357                 if(diff<-margin && adjust_dir<=0)
 358                 {
 359                         diff -= margin;
 360                         adjust_dir = -1;
 361                 }
 362                 else if(diff>margin && adjust_dir>=0)
 363                 {
 364                         diff += margin;
 365                         adjust_dir = 1;
 366                 }
 367                 else
 368                         return;
 369
 370                 front = front.advance(diff*(1-ratio));
 371                 back = back.advance(-diff*ratio);
 372         }
 373 }
 374
 375 OrientedPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
 376 {
 377         Vector span = front-back;
 378
 379         OrientedPoint p;
 380         p.position = back+span*ratio;
 381         p.rotation = Geometry::atan2(span.y, span.x);
 382         p.tilt = Geometry::atan2(span.z, LinAl::Vector<float, 2>(span).norm());
 383
 384         return p;
 385 }
 386
 387 OrientedPoint Vehicle::get_point(const TrackOffsetIter &iter, float tdist, float ratio) const
 388 {
 389         TrackOffsetIter front = iter.advance(tdist*(1-ratio));
 390         TrackOffsetIter back = iter.advance(-tdist*ratio);
 391
 392         adjust_for_distance(front, back, tdist, ratio);
 393         return get_point(front.point().position, back.point().position, ratio);
 394 }
 395
 396 unsigned Vehicle::get_n_link_slots() const
 397 {
 398         return 2;
 399 }
 400
 401 Vehicle *Vehicle::get_link(unsigned i) const
 402 {
 403         if(i>=2)
 404                 throw out_of_range("Vehicle::get_link");
 405
 406         return (i==0 ? prev : next);
 407 }
 408
 409 int Vehicle::get_link_slot(const Object &other) const
 410 {
 411         if(&other==prev)
 412                 return 0;
 413         else if(&other==next)
 414                 return 1;
 415         else
 416                 return -1;
 417 }
 418
 419
 420 Vehicle::Axle::Axle(const VehicleType::Axle &t):
 421         type(&t)
 422 { }
 423
 424
 425 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
 426         type(&t)
 427 {
 428         for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i)
 429                 axles.push_back(*i);
 430 }
 431
 432
 433 Vehicle::Rod::Rod(const VehicleType::Rod &t):
 434         type(&t)
 435 { }
 436
 437 } // namespace R2C2