source/libr2c2/vehicle.cpp

   1 /* $Id$
   2
   3 This file is part of R²C²
   4 Copyright © 2010  Mikkosoft Productions, Mikko Rasa
   5 Distributed under the GPL
   6 */
   7
   8 #include <cmath>
   9 #include "catalogue.h"
  10 #include "driver.h"
  11 #include "layout.h"
  12 #include "track.h"
  13 #include "trackiter.h"
  14 #include "tracktype.h"
  15 #include "vehicle.h"
  16 #include "vehicletype.h"
  17
  18 using namespace std;
  19 using namespace Msp;
  20
  21 namespace R2C2 {
  22
  23 Vehicle::Vehicle(Layout &l, const VehicleType &t):
  24         layout(l),
  25         type(t),
  26         next(0),
  27         prev(0),
  28         direction(0),
  29         front_sensor(0),
  30         back_sensor(0)
  31 {
  32         layout.add_vehicle(*this);
  33
  34         axles.assign(type.get_axles().begin(), type.get_axles().end());
  35         bogies.assign(type.get_bogies().begin(), type.get_bogies().end());
  36         rods.assign(type.get_rods().begin(), type.get_rods().end());
  37 }
  38
  39 Vehicle::~Vehicle()
  40 {
  41         if(next)
  42                 detach_back();
  43         if(prev)
  44                 detach_front();
  45         layout.remove_vehicle(*this);
  46 }
  47
  48 void Vehicle::attach_back(Vehicle &veh)
  49 {
  50         if(next || veh.prev)
  51                 throw InvalidState("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 InvalidState("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 InvalidState("Not attached");
  76
  77         next->prev = 0;
  78         next = 0;
  79 }
  80
  81 void Vehicle::detach_front()
  82 {
  83         if(!prev)
  84                 throw InvalidState("Not attached");
  85
  86         prev->next = 0;
  87         prev = 0;
  88 }
  89
  90 void Vehicle::place(Track &t, unsigned e, float o, PlaceMode m)
  91 {
  92         track_pos = TrackPosition(&t, e, o);
  93
  94         if(m==FRONT_AXLE)
  95                 track_pos.advance(-type.get_front_axle_offset());
  96         else if(m==FRONT_BUFFER)
  97                 track_pos.advance(-type.get_length()/2);
  98         else if(m==BACK_AXLE)
  99                 track_pos.advance(-type.get_back_axle_offset());
 100         else if(m==BACK_BUFFER)
 101                 track_pos.advance(type.get_length()/2);
 102
 103         update_position();
 104         propagate_position();
 105 }
 106
 107 void Vehicle::unplace()
 108 {
 109         if(!track_pos.track)
 110                 return;
 111
 112         track_pos = TrackPosition();
 113
 114         if(prev)
 115                 prev->unplace();
 116         if(next)
 117                 next->unplace();
 118 }
 119
 120 void Vehicle::advance(float d)
 121 {
 122         track_pos.advance(d);
 123         update_position();
 124         turn_axles(d);
 125         propagate_position();
 126 }
 127
 128 const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
 129 {
 130         if(i>=bogies.size())
 131                 throw InvalidParameterValue("Bogie index out of range");
 132         return bogies[i];
 133 }
 134
 135 const Vehicle::Axle &Vehicle::get_axle(unsigned i) const
 136 {
 137         if(i>=axles.size())
 138                 throw InvalidParameterValue("Axle index out of range");
 139         return axles[i];
 140 }
 141
 142 const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
 143 {
 144         if(i>=bogies.size())
 145                 throw InvalidParameterValue("Bogie index out of range");
 146         if(j>=bogies[i].axles.size())
 147                 throw InvalidParameterValue("Axle index out of range");
 148         return bogies[i].axles[j];
 149 }
 150
 151 const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
 152 {
 153         if(i>=rods.size())
 154                 throw InvalidParameterValue("Rod index out of range");
 155         return rods[i];
 156 }
 157
 158 void Vehicle::update_position()
 159 {
 160         TrackPoint tp;
 161
 162         if(axles.size()>=2)
 163         {
 164                 float wheelbase = axles.front().type->position-axles.back().type->position;
 165                 tp = get_point(track_pos, wheelbase, -axles.back().type->position/wheelbase);
 166         }
 167         else if(bogies.size()>=2)
 168         {
 169                 TrackPosition front = track_pos;
 170                 front.advance(bogies.front().type->position);
 171                 TrackPosition back = track_pos;
 172                 back.advance(bogies.back().type->position);
 173                 float bogie_spacing = bogies.front().type->position-bogies.back().type->position;
 174                 adjust_for_distance(front, back, bogie_spacing);
 175
 176                 const vector<Axle> &front_axles = bogies.front().axles;
 177                 float wheelbase = front_axles.front().type->position-front_axles.back().type->position;
 178                 TrackPoint front_point = get_point(front, wheelbase, -front_axles.back().type->position/wheelbase);
 179
 180                 const vector<Axle> &back_axles = bogies.back().axles;
 181                 wheelbase = back_axles.front().type->position-back_axles.back().type->position;
 182                 TrackPoint back_point = get_point(back, wheelbase, -back_axles.back().type->position/wheelbase);
 183
 184                 tp = get_point(front_point.pos, back_point.pos, -bogies.back().type->position/bogie_spacing);
 185
 186                 bogies.front().direction = front_point.dir-tp.dir;
 187                 bogies.back().direction = back_point.dir-tp.dir;
 188         }
 189         else
 190                 tp = track_pos.get_point();
 191
 192         if(!prev)
 193                 check_sensor(type.get_front_axle_offset(), front_sensor);
 194         if(!next)
 195                 check_sensor(type.get_back_axle_offset(), back_sensor);
 196
 197         position = tp.pos;
 198         position.z += layout.get_catalogue().get_rail_elevation();
 199         direction = tp.dir;
 200 }
 201
 202 void Vehicle::update_position_from(const Vehicle &veh)
 203 {
 204         int sign = (&veh==prev ? -1 : 1);
 205
 206         float tdist = (type.get_length()+veh.type.get_length())/2;
 207         float margin = layout.get_catalogue().get_scale();
 208
 209         float dist = distance(veh.position, position);
 210         if(dist<tdist-margin || dist>tdist+margin)
 211         {
 212                 track_pos = veh.track_pos;
 213                 track_pos.advance(sign*tdist);
 214                 update_position();
 215
 216                 dist = distance(veh.position, position);
 217         }
 218
 219         track_pos.advance(sign*(tdist-dist));
 220         update_position();
 221         turn_axles(sign*(tdist-dist));
 222 }
 223
 224 void Vehicle::propagate_position()
 225 {
 226         if(prev)
 227                 propagate_forward();
 228         if(next)
 229                 propagate_backward();
 230 }
 231
 232 void Vehicle::propagate_forward()
 233 {
 234         prev->update_position_from(*this);
 235
 236         if(prev->prev)
 237                 prev->propagate_forward();
 238 }
 239
 240 void Vehicle::propagate_backward()
 241 {
 242         next->update_position_from(*this);
 243
 244         if(next->next)
 245                 next->propagate_backward();
 246 }
 247
 248 void Vehicle::check_sensor(float offset, unsigned &sensor)
 249 {
 250         TrackPosition pos = track_pos;
 251         pos.advance(offset);
 252         unsigned s = pos.track->get_sensor_id();
 253         if(s!=sensor)
 254         {
 255                 /* Sensor ID under axle has changed.  Deduce movement direction by using
 256                 the sensor ID under the midpoint of the vehicle. */
 257                 /* XXX This depends on the simulation running fast enough.  Something
 258                 more robust would be preferable. */
 259                 unsigned old = sensor;
 260                 sensor = s;
 261                 unsigned mid = track_pos.track->get_sensor_id();
 262
 263                 if(s && s!=mid)
 264                         /* There's a sensor and it's different from mid.  We've just entered
 265                         that sensor. */
 266                         layout.get_driver().set_sensor(sensor, true);
 267                 if(old && old!=mid)
 268                         /* A sensor was under the axle and it was different from mid.  We've
 269                         just left that sensor. */
 270                         layout.get_driver().set_sensor(old, false);
 271         }
 272 }
 273
 274 void Vehicle::turn_axles(float d)
 275 {
 276         for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
 277                 i->angle += d*2/i->type->wheel_dia;
 278         for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
 279                 for(vector<Axle>::iterator j=i->axles.begin(); j!=i->axles.end(); ++j)
 280                         j->angle += d*2/j->type->wheel_dia;
 281
 282         update_rods();
 283 }
 284
 285 void Vehicle::update_rods()
 286 {
 287         for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
 288         {
 289                 if(i->type->pivot==VehicleType::Rod::BODY)
 290                         i->position = i->type->pivot_point;
 291                 else if(i->type->pivot==VehicleType::Rod::AXLE)
 292                 {
 293                         const Axle &axle = get_axle(i->type->pivot_index);
 294                         float c = cos(axle.angle);
 295                         float s = sin(axle.angle);
 296                         const Point &pp = i->type->pivot_point;
 297                         i->position = Point(axle.type->position+pp.x*c+pp.z*s, pp.y, axle.type->wheel_dia/2+pp.z*c-pp.x*s);
 298                 }
 299                 else if(i->type->pivot==VehicleType::Rod::ROD)
 300                 {
 301                         const Rod &prod = get_rod(i->type->pivot_index);
 302                         float c = cos(prod.angle);
 303                         float s = sin(prod.angle);
 304                         const Point &pos = prod.position;
 305                         const Point &off = i->type->pivot_point;
 306                         i->position = Point(pos.x+off.x*c-off.z*s, pos.y+off.y, pos.z+off.z*c+off.x*s);
 307                 }
 308
 309                 if(i->type->connect_index>=0)
 310                 {
 311                         Rod &crod = rods[i->type->connect_index];
 312                         if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
 313                         {
 314                                 float dx = (crod.position.x+i->type->connect_offset.x)-i->position.x;
 315                                 float dz = (crod.position.z+i->type->connect_offset.z)-i->position.z;
 316                                 float cd = sqrt(i->type->connect_point.x*i->type->connect_point.x+i->type->connect_point.z*i->type->connect_point.z);
 317                                 float ca = atan2(i->type->connect_point.z, i->type->connect_point.x);
 318                                 dx = sqrt(cd*cd-dz*dz)*(dx>0 ? 1 : -1);
 319                                 i->angle = atan2(dz, dx)-ca;
 320                                 crod.position.x = i->position.x+dx-i->type->connect_offset.x;
 321                         }
 322                         else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
 323                         {
 324                                 float dx = crod.position.x-i->position.x;
 325                                 float dz = crod.position.z-i->position.z;
 326                                 float d = sqrt(dx*dx+dz*dz);
 327                                 float cd1 = sqrt(i->type->connect_point.x*i->type->connect_point.x+i->type->connect_point.z*i->type->connect_point.z);
 328                                 float cd2 = sqrt(i->type->connect_offset.x*i->type->connect_offset.x+i->type->connect_offset.z*i->type->connect_offset.z);
 329                                 float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
 330                                 float b = sqrt(cd1*cd1-a*a);
 331                                 float sign = (dx*i->type->connect_point.z-dz*i->type->connect_point.x>0 ? 1 : -1);
 332                                 float cx = (dx*a-dz*b*sign)/d;
 333                                 float cz = (dz*a+dx*b*sign)/d;
 334                                 float ca1 = atan2(i->type->connect_point.z, i->type->connect_point.x);
 335                                 float ca2 = atan2(i->type->connect_offset.z, i->type->connect_offset.x);
 336                                 i->angle = atan2(cz, cx)-ca1;
 337                                 crod.angle = atan2(cz-dz, cx-dx)-ca2;
 338                         }
 339                 }
 340         }
 341 }
 342
 343 void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, float tdist, float ratio) const
 344 {
 345         float margin = 0.01*layout.get_catalogue().get_scale();
 346         int adjust_dir = 0;
 347         while(1)
 348         {
 349                 Point front_point = front.get_point().pos;
 350                 Point back_point = back.get_point().pos;
 351
 352                 float dx = front_point.x-back_point.x;
 353                 float dy = front_point.y-back_point.y;
 354                 float dz = front_point.z-back_point.z;
 355                 float dist = sqrt(dx*dx+dy*dy+dz*dz);
 356
 357                 float diff = tdist-dist;
 358                 if(diff<-margin && adjust_dir<=0)
 359                 {
 360                         diff -= margin;
 361                         adjust_dir = -1;
 362                 }
 363                 else if(diff>margin && adjust_dir>=0)
 364                 {
 365                         diff += margin;
 366                         adjust_dir = 1;
 367                 }
 368                 else
 369                         return;
 370
 371                 front.advance(diff*(1-ratio));
 372                 back.advance(-diff*ratio);
 373         }
 374 }
 375
 376 TrackPoint Vehicle::get_point(const Point &front, const Point &back, float ratio) const
 377 {
 378         float dx = front.x-back.x;
 379         float dy = front.y-back.y;
 380         float dz = front.z-back.z;
 381
 382         TrackPoint tp;
 383         tp.pos = Point(back.x+dx*ratio, back.y+dy*ratio, back.z+dz*ratio);
 384         tp.dir = atan2(dy, dx);
 385
 386         return tp;
 387 }
 388
 389 TrackPoint Vehicle::get_point(const TrackPosition &pos, float tdist, float ratio) const
 390 {
 391         TrackPosition front = pos;
 392         front.advance(tdist*(1-ratio));
 393
 394         TrackPosition back = pos;
 395         back.advance(-tdist*ratio);
 396
 397         adjust_for_distance(front, back, tdist, ratio);
 398         return get_point(front.get_point().pos, back.get_point().pos, ratio);
 399 }
 400
 401
 402 Vehicle::Axle::Axle(const VehicleType::Axle &t):
 403         type(&t),
 404         angle(0)
 405 { }
 406
 407
 408 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
 409         type(&t),
 410         direction(0)
 411 {
 412         for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i)
 413                 axles.push_back(*i);
 414 }
 415
 416
 417 Vehicle::Rod::Rod(const VehicleType::Rod &t):
 418         type(&t),
 419         angle(0)
 420 { }
 421
 422
 423 Vehicle::TrackPosition::TrackPosition():
 424         track(0),
 425         ep(0),
 426         offs(0)
 427 { }
 428
 429 Vehicle::TrackPosition::TrackPosition(Track *t, unsigned e, float o):
 430         track(t),
 431         ep(e),
 432         offs(o)
 433 { }
 434
 435 void Vehicle::TrackPosition::advance(float d)
 436 {
 437         if(!track)
 438                 return;
 439
 440         offs += d;
 441         TrackIter iter(track, ep);
 442         while(iter)
 443         {
 444                 float path_len = iter->get_type().get_path_length(iter->get_active_path());
 445
 446                 if(offs>path_len)
 447                 {
 448                         offs -= path_len;
 449                         iter = iter.next();
 450                 }
 451                 else
 452                         break;
 453         }
 454
 455         while(iter && offs<0)
 456         {
 457                 iter = iter.flip().reverse();
 458
 459                 if(iter)
 460                 {
 461                         float path_len = iter->get_type().get_path_length(iter->get_active_path());
 462                         offs += path_len;
 463                 }
 464         }
 465
 466         track = iter.track();
 467         ep = iter.entry();
 468         if(!track)
 469                 offs = 0;
 470 }
 471
 472 TrackPoint Vehicle::TrackPosition::get_point() const
 473 {
 474         if(track)
 475                 return track->get_point(ep, offs);
 476         else
 477                 return TrackPoint();
 478 }
 479
 480 } // namespace R2C2