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_axles().begin(), type.get_axles().end());
  26         for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
  27                 if(!i->type->bogie)
  28                         fixed_axles.push_back(&*i);
  29         bogies.assign(type.get_bogies().begin(), type.get_bogies().end());
  30         rods.assign(type.get_rods().begin(), type.get_rods().end());
  31         for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
  32                 for(unsigned j=0; j<i->axles.size(); ++j)
  33                         i->axles[j] = &axles[i->type->first_axle+j];
  34
  35         layout.add(*this);
  36 }
  37
  38 Vehicle::~Vehicle()
  39 {
  40         if(next)
  41                 detach_back();
  42         if(prev)
  43                 detach_front();
  44         layout.remove(*this);
  45 }
  46
  47 Vehicle *Vehicle::clone(Layout *to_layout) const
  48 {
  49         Vehicle *veh = new Vehicle((to_layout ? *to_layout : layout), type);
  50         veh->set_position(position);
  51         veh->set_rotation(rotation);
  52         return veh;
  53 }
  54
  55 void Vehicle::set_train(Train *t)
  56 {
  57         train = t;
  58 }
  59
  60 void Vehicle::attach_back(Vehicle &veh)
  61 {
  62         if(next || veh.prev)
  63                 throw attachment_error("already attached");
  64
  65         next = &veh;
  66         veh.prev = this;
  67
  68         if(track)
  69                 propagate_backward();
  70 }
  71
  72 void Vehicle::attach_front(Vehicle &veh)
  73 {
  74         if(prev || veh.next)
  75                 throw attachment_error("already attached");
  76
  77         prev = &veh;
  78         veh.next = this;
  79
  80         if(prev->get_track())
  81                 prev->propagate_backward();
  82 }
  83
  84 void Vehicle::detach_back()
  85 {
  86         if(!next)
  87                 throw attachment_error("not attached");
  88
  89         next->prev = 0;
  90         next = 0;
  91 }
  92
  93 void Vehicle::detach_front()
  94 {
  95         if(!prev)
  96                 throw attachment_error("not attached");
  97
  98         prev->next = 0;
  99         prev = 0;
 100 }
 101
 102 void Vehicle::place(const TrackIter &t, float o, PlaceMode m)
 103 {
 104         if(!t)
 105                 throw invalid_argument("Vehicle::place");
 106
 107         track = TrackOffsetIter(t, o);
 108
 109         if(m==FRONT_AXLE)
 110                 track = track.advance(-type.get_front_axle_offset());
 111         else if(m==FRONT_BUFFER)
 112                 track = track.advance(-type.get_length()/2);
 113         else if(m==BACK_AXLE)
 114                 track = track.advance(-type.get_back_axle_offset());
 115         else if(m==BACK_BUFFER)
 116                 track = track.advance(type.get_length()/2);
 117
 118         update_position();
 119         propagate_position();
 120 }
 121
 122 void Vehicle::unplace()
 123 {
 124         if(!track)
 125                 return;
 126
 127         track = TrackOffsetIter();
 128
 129         if(prev)
 130                 prev->unplace();
 131         if(next)
 132                 next->unplace();
 133 }
 134
 135 void Vehicle::advance(float d)
 136 {
 137         track = track.advance(d);
 138         update_position();
 139         turn_axles(d);
 140         propagate_position();
 141 }
 142
 143 const Vehicle::Axle &Vehicle::get_axle(unsigned i) const
 144 {
 145         if(i>=axles.size())
 146                 throw out_of_range("Vehicle::get_axle");
 147         return axles[i];
 148 }
 149
 150 const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
 151 {
 152         if(i>=fixed_axles.size())
 153                 throw out_of_range("Vehicle::get_fixed_axle");
 154         return *fixed_axles[i];
 155 }
 156
 157 const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
 158 {
 159         if(i>=bogies.size())
 160                 throw out_of_range("Vehicle::get_bogie");
 161         return bogies[i];
 162 }
 163
 164 const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
 165 {
 166         if(i>=bogies.size())
 167                 throw out_of_range("Vehicle::get_bogie_axle");
 168         if(j>=bogies[i].axles.size())
 169                 throw out_of_range("Vehicle::get_bogie_axle");
 170         return *bogies[i].axles[j];
 171 }
 172
 173 const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
 174 {
 175         if(i>=rods.size())
 176                 throw out_of_range("Vehicle::get_rod");
 177         return rods[i];
 178 }
 179
 180 void Vehicle::update_position()
 181 {
 182         OrientedPoint p;
 183
 184         if(fixed_axles.size()>=2)
 185         {
 186                 float wheelbase = fixed_axles.front()->type->position-fixed_axles.back()->type->position;
 187                 p = get_point(track, wheelbase, -fixed_axles.back()->type->position/wheelbase);
 188         }
 189         else if(bogies.size()>=2)
 190         {
 191                 TrackOffsetIter front = track.advance(bogies.front().type->position);
 192                 TrackOffsetIter back = track.advance(bogies.back().type->position);
 193                 float bogie_spacing = bogies.front().type->position-bogies.back().type->position;
 194                 adjust_for_distance(front, back, bogie_spacing);
 195
 196                 const vector<Axle *> &front_axles = bogies.front().axles;
 197                 float wheelbase = front_axles.front()->type->position-front_axles.back()->type->position;
 198                 OrientedPoint front_point = get_point(front, wheelbase, -front_axles.back()->type->position/wheelbase);
 199
 200                 const vector<Axle *> &back_axles = bogies.back().axles;
 201                 wheelbase = back_axles.front()->type->position-back_axles.back()->type->position;
 202                 OrientedPoint back_point = get_point(back, wheelbase, -back_axles.back()->type->position/wheelbase);
 203
 204                 p = get_point(front_point.position, back_point.position, -bogies.back().type->position/bogie_spacing);
 205
 206                 bogies.front().direction = front_point.rotation-p.rotation;
 207                 bogies.back().direction = back_point.rotation-p.rotation;
 208         }
 209         else
 210                 p = track.point();
 211
 212         if(!prev)
 213                 check_sensor(type.get_front_axle_offset(), front_sensor);
 214         if(!next)
 215                 check_sensor(type.get_back_axle_offset(), back_sensor);
 216
 217         position = p.position;
 218         position.z += layout.get_catalogue().get_rail_elevation();
 219         rotation = p.rotation;
 220         tilt = p.tilt;
 221         signal_moved.emit();
 222 }
 223
 224 void Vehicle::update_position_from(const Vehicle &veh)
 225 {
 226         int sign = (&veh==prev ? -1 : 1);
 227
 228         float tdist = (type.get_length()+veh.type.get_length())/2;
 229         float margin = layout.get_catalogue().get_scale();
 230
 231         float dist = distance(veh.position, position);
 232         if(!track || dist<tdist-margin || dist>tdist+margin)
 233         {
 234                 track = veh.track.advance(sign*tdist);
 235                 update_position();
 236
 237                 dist = distance(veh.position, position);
 238         }
 239
 240         track = track.advance(sign*(tdist-dist));
 241         update_position();
 242         turn_axles(sign*(tdist-dist));
 243 }
 244
 245 void Vehicle::propagate_position()
 246 {
 247         if(prev)
 248                 propagate_forward();
 249         if(next)
 250                 propagate_backward();
 251 }
 252
 253 void Vehicle::propagate_forward()
 254 {
 255         prev->update_position_from(*this);
 256
 257         if(prev->prev)
 258                 prev->propagate_forward();
 259 }
 260
 261 void Vehicle::propagate_backward()
 262 {
 263         next->update_position_from(*this);
 264
 265         if(next->next)
 266                 next->propagate_backward();
 267 }
 268
 269 void Vehicle::check_sensor(float offset, unsigned &sensor)
 270 {
 271         TrackOffsetIter iter = track.advance(offset);
 272         unsigned s = iter->get_sensor_id();
 273         if(s!=sensor)
 274         {
 275                 /* Sensor ID under axle has changed.  Deduce movement direction by using
 276                 the sensor ID under the midpoint of the vehicle. */
 277                 /* XXX This depends on the simulation running fast enough.  Something
 278                 more robust would be preferable. */
 279                 unsigned old = sensor;
 280                 sensor = s;
 281                 unsigned mid = track->get_sensor_id();
 282
 283                 if(s && s!=mid)
 284                         /* There's a sensor and it's different from mid.  We've just entered
 285                         that sensor. */
 286                         layout.get_driver().set_sensor(sensor, true);
 287                 if(old && old!=mid)
 288                         /* A sensor was under the axle and it was different from mid.  We've
 289                         just left that sensor. */
 290                         layout.get_driver().set_sensor(old, false);
 291         }
 292 }
 293
 294 void Vehicle::turn_axles(float d)
 295 {
 296         for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
 297                 i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
 298
 299         update_rods();
 300 }
 301
 302 void Vehicle::update_rods()
 303 {
 304         for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
 305         {
 306                 if(i->type->pivot==VehicleType::Rod::BODY)
 307                         i->position = i->type->pivot_point;
 308                 else if(i->type->pivot==VehicleType::Rod::AXLE)
 309                 {
 310                         const Axle &axle = get_fixed_axle(i->type->pivot_index);
 311                         const Vector &pp = i->type->pivot_point;
 312                         Transform trans = Transform::rotation(axle.angle, Vector(0, -1, 0));
 313                         i->position = Vector(axle.type->position, 0, axle.type->wheel_dia/2)+trans.transform(pp);
 314                 }
 315                 else if(i->type->pivot==VehicleType::Rod::ROD)
 316                 {
 317                         const Rod &prod = get_rod(i->type->pivot_index);
 318                         const Vector &pos = prod.position;
 319                         const Vector &off = i->type->pivot_point;
 320                         Transform trans = Transform::rotation(prod.angle, Vector(0, 1, 0));
 321                         i->position = pos+trans.transform(off);
 322                 }
 323
 324                 if(i->type->connect_index>=0)
 325                 {
 326                         Rod &crod = rods[i->type->connect_index];
 327                         if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
 328                         {
 329                                 Vector span = crod.position+i->type->connect_offset-i->position;
 330                                 float cd = i->type->connect_point.norm();
 331                                 Angle ca = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
 332                                 span.x = sqrt(cd*cd-span.z*span.z)*(span.x>0 ? 1 : -1);
 333                                 i->angle = Geometry::atan2(span.z, span.x)-ca;
 334                                 crod.position.x = i->position.x+span.x-i->type->connect_offset.x;
 335                         }
 336                         else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
 337                         {
 338                                 Vector span = crod.position-i->position;
 339                                 float d = span.norm();
 340                                 float cd1 = i->type->connect_point.norm();
 341                                 float cd2 = i->type->connect_offset.norm();
 342                                 float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
 343                                 float b = sqrt(cd1*cd1-a*a);
 344                                 float sign = (cross(i->type->connect_point, span).y>0 ? 1 : -1);
 345                                 Vector conn = Vector(span.x*a-span.z*b, 0, span.z*a+span.x*b)/(d*sign);
 346                                 Angle ca1 = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
 347                                 Angle ca2 = Geometry::atan2(i->type->connect_offset.z, i->type->connect_offset.x);
 348                                 i->angle = Geometry::atan2(conn.z, conn.x)-ca1;
 349                                 crod.angle = Geometry::atan2(conn.z-span.z, conn.x-span.x)-ca2;
 350                         }
 351                 }
 352         }
 353 }
 354
 355 void Vehicle::adjust_for_distance(TrackOffsetIter &front, TrackOffsetIter &back, float tdist, float ratio) const
 356 {
 357         float margin = 0.01*layout.get_catalogue().get_scale();
 358         int adjust_dir = 0;
 359         while(1)
 360         {
 361                 Vector front_point = front.point().position;
 362                 Vector back_point = back.point().position;
 363
 364                 float dist = distance(front_point, back_point);
 365
 366                 float diff = tdist-dist;
 367                 if(diff<-margin && adjust_dir<=0)
 368                 {
 369                         diff -= margin;
 370                         adjust_dir = -1;
 371                 }
 372                 else if(diff>margin && adjust_dir>=0)
 373                 {
 374                         diff += margin;
 375                         adjust_dir = 1;
 376                 }
 377                 else
 378                         return;
 379
 380                 front = front.advance(diff*(1-ratio));
 381                 back = back.advance(-diff*ratio);
 382         }
 383 }
 384
 385 OrientedPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
 386 {
 387         Vector span = front-back;
 388
 389         OrientedPoint p;
 390         p.position = back+span*ratio;
 391         p.rotation = Geometry::atan2(span.y, span.x);
 392         p.tilt = Geometry::atan2(span.z, LinAl::Vector<float, 2>(span).norm());
 393
 394         return p;
 395 }
 396
 397 OrientedPoint Vehicle::get_point(const TrackOffsetIter &iter, float tdist, float ratio) const
 398 {
 399         TrackOffsetIter front = iter.advance(tdist*(1-ratio));
 400         TrackOffsetIter back = iter.advance(-tdist*ratio);
 401
 402         adjust_for_distance(front, back, tdist, ratio);
 403         return get_point(front.point().position, back.point().position, ratio);
 404 }
 405
 406 unsigned Vehicle::get_n_link_slots() const
 407 {
 408         return 2;
 409 }
 410
 411 Vehicle *Vehicle::get_link(unsigned i) const
 412 {
 413         if(i>=2)
 414                 throw out_of_range("Vehicle::get_link");
 415
 416         return (i==0 ? prev : next);
 417 }
 418
 419 int Vehicle::get_link_slot(const Object &other) const
 420 {
 421         if(&other==prev)
 422                 return 0;
 423         else if(&other==next)
 424                 return 1;
 425         else
 426                 return -1;
 427 }
 428
 429
 430 Vehicle::Axle::Axle(const VehicleType::Axle &t):
 431         type(&t)
 432 { }
 433
 434
 435 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
 436         type(&t),
 437         axles(t.axles.size())
 438 { }
 439
 440
 441 Vehicle::Rod::Rod(const VehicleType::Rod &t):
 442         type(&t)
 443 { }
 444
 445 } // namespace R2C2