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         layout(l),
  18         type(t),
  19         next(0),
  20         prev(0),
  21         direction(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_vehicle(*this);
  30 }
  31
  32 Vehicle::~Vehicle()
  33 {
  34         if(next)
  35                 detach_back();
  36         if(prev)
  37                 detach_front();
  38         layout.remove_vehicle(*this);
  39 }
  40
  41 void Vehicle::attach_back(Vehicle &veh)
  42 {
  43         if(next || veh.prev)
  44                 throw InvalidState("Already attached");
  45
  46         next = &veh;
  47         veh.prev = this;
  48
  49         if(track_pos.track)
  50                 propagate_backward();
  51 }
  52
  53 void Vehicle::attach_front(Vehicle &veh)
  54 {
  55         if(prev || veh.next)
  56                 throw InvalidState("Already attached");
  57
  58         prev = &veh;
  59         veh.next = this;
  60
  61         if(prev->get_track())
  62                 prev->propagate_backward();
  63 }
  64
  65 void Vehicle::detach_back()
  66 {
  67         if(!next)
  68                 throw InvalidState("Not attached");
  69
  70         next->prev = 0;
  71         next = 0;
  72 }
  73
  74 void Vehicle::detach_front()
  75 {
  76         if(!prev)
  77                 throw InvalidState("Not attached");
  78
  79         prev->next = 0;
  80         prev = 0;
  81 }
  82
  83 void Vehicle::place(Track &t, unsigned e, float o, PlaceMode m)
  84 {
  85         track_pos = TrackPosition(&t, e, o);
  86
  87         if(m==FRONT_AXLE)
  88                 track_pos.advance(-type.get_front_axle_offset());
  89         else if(m==FRONT_BUFFER)
  90                 track_pos.advance(-type.get_length()/2);
  91         else if(m==BACK_AXLE)
  92                 track_pos.advance(-type.get_back_axle_offset());
  93         else if(m==BACK_BUFFER)
  94                 track_pos.advance(type.get_length()/2);
  95
  96         update_position();
  97         propagate_position();
  98 }
  99
 100 void Vehicle::unplace()
 101 {
 102         if(!track_pos.track)
 103                 return;
 104
 105         track_pos = TrackPosition();
 106
 107         if(prev)
 108                 prev->unplace();
 109         if(next)
 110                 next->unplace();
 111 }
 112
 113 void Vehicle::advance(float d)
 114 {
 115         track_pos.advance(d);
 116         update_position();
 117         turn_axles(d);
 118         propagate_position();
 119 }
 120
 121 const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
 122 {
 123         if(i>=axles.size())
 124                 throw InvalidParameterValue("Axle index out of range");
 125         return axles[i];
 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_bogie_axle(unsigned i, unsigned j) const
 136 {
 137         if(i>=bogies.size())
 138                 throw InvalidParameterValue("Bogie index out of range");
 139         if(j>=bogies[i].axles.size())
 140                 throw InvalidParameterValue("Axle index out of range");
 141         return bogies[i].axles[j];
 142 }
 143
 144 const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
 145 {
 146         if(i>=rods.size())
 147                 throw InvalidParameterValue("Rod index out of range");
 148         return rods[i];
 149 }
 150
 151 void Vehicle::update_position()
 152 {
 153         TrackPoint tp;
 154
 155         if(axles.size()>=2)
 156         {
 157                 float wheelbase = axles.front().type->position-axles.back().type->position;
 158                 tp = get_point(track_pos, wheelbase, -axles.back().type->position/wheelbase);
 159         }
 160         else if(bogies.size()>=2)
 161         {
 162                 TrackPosition front = track_pos;
 163                 front.advance(bogies.front().type->position);
 164                 TrackPosition back = track_pos;
 165                 back.advance(bogies.back().type->position);
 166                 float bogie_spacing = bogies.front().type->position-bogies.back().type->position;
 167                 adjust_for_distance(front, back, bogie_spacing);
 168
 169                 const vector<Axle> &front_axles = bogies.front().axles;
 170                 float wheelbase = front_axles.front().type->position-front_axles.back().type->position;
 171                 TrackPoint front_point = get_point(front, wheelbase, -front_axles.back().type->position/wheelbase);
 172
 173                 const vector<Axle> &back_axles = bogies.back().axles;
 174                 wheelbase = back_axles.front().type->position-back_axles.back().type->position;
 175                 TrackPoint back_point = get_point(back, wheelbase, -back_axles.back().type->position/wheelbase);
 176
 177                 tp = get_point(front_point.pos, back_point.pos, -bogies.back().type->position/bogie_spacing);
 178
 179                 bogies.front().direction = front_point.dir-tp.dir;
 180                 bogies.back().direction = back_point.dir-tp.dir;
 181         }
 182         else
 183                 tp = track_pos.get_point();
 184
 185         if(!prev)
 186                 check_sensor(type.get_front_axle_offset(), front_sensor);
 187         if(!next)
 188                 check_sensor(type.get_back_axle_offset(), back_sensor);
 189
 190         position = tp.pos;
 191         position.z += layout.get_catalogue().get_rail_elevation();
 192         direction = tp.dir;
 193 }
 194
 195 void Vehicle::update_position_from(const Vehicle &veh)
 196 {
 197         int sign = (&veh==prev ? -1 : 1);
 198
 199         float tdist = (type.get_length()+veh.type.get_length())/2;
 200         float margin = layout.get_catalogue().get_scale();
 201
 202         float dist = distance(veh.position, position);
 203         if(dist<tdist-margin || dist>tdist+margin)
 204         {
 205                 track_pos = veh.track_pos;
 206                 track_pos.advance(sign*tdist);
 207                 update_position();
 208
 209                 dist = distance(veh.position, position);
 210         }
 211
 212         track_pos.advance(sign*(tdist-dist));
 213         update_position();
 214         turn_axles(sign*(tdist-dist));
 215 }
 216
 217 void Vehicle::propagate_position()
 218 {
 219         if(prev)
 220                 propagate_forward();
 221         if(next)
 222                 propagate_backward();
 223 }
 224
 225 void Vehicle::propagate_forward()
 226 {
 227         prev->update_position_from(*this);
 228
 229         if(prev->prev)
 230                 prev->propagate_forward();
 231 }
 232
 233 void Vehicle::propagate_backward()
 234 {
 235         next->update_position_from(*this);
 236
 237         if(next->next)
 238                 next->propagate_backward();
 239 }
 240
 241 void Vehicle::check_sensor(float offset, unsigned &sensor)
 242 {
 243         TrackPosition pos = track_pos;
 244         pos.advance(offset);
 245         unsigned s = pos.track->get_sensor_id();
 246         if(s!=sensor)
 247         {
 248                 /* Sensor ID under axle has changed.  Deduce movement direction by using
 249                 the sensor ID under the midpoint of the vehicle. */
 250                 /* XXX This depends on the simulation running fast enough.  Something
 251                 more robust would be preferable. */
 252                 unsigned old = sensor;
 253                 sensor = s;
 254                 unsigned mid = track_pos.track->get_sensor_id();
 255
 256                 if(s && s!=mid)
 257                         /* There's a sensor and it's different from mid.  We've just entered
 258                         that sensor. */
 259                         layout.get_driver().set_sensor(sensor, true);
 260                 if(old && old!=mid)
 261                         /* A sensor was under the axle and it was different from mid.  We've
 262                         just left that sensor. */
 263                         layout.get_driver().set_sensor(old, false);
 264         }
 265 }
 266
 267 void Vehicle::turn_axles(float d)
 268 {
 269         for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
 270                 i->angle += d*2/i->type->wheel_dia;
 271         for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
 272                 for(vector<Axle>::iterator j=i->axles.begin(); j!=i->axles.end(); ++j)
 273                         j->angle += d*2/j->type->wheel_dia;
 274
 275         update_rods();
 276 }
 277
 278 void Vehicle::update_rods()
 279 {
 280         for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
 281         {
 282                 if(i->type->pivot==VehicleType::Rod::BODY)
 283                         i->position = i->type->pivot_point;
 284                 else if(i->type->pivot==VehicleType::Rod::AXLE)
 285                 {
 286                         const Axle &axle = get_fixed_axle(i->type->pivot_index);
 287                         float c = cos(axle.angle);
 288                         float s = sin(axle.angle);
 289                         const Vector &pp = i->type->pivot_point;
 290                         i->position = Vector(axle.type->position+pp.x*c+pp.z*s, pp.y, axle.type->wheel_dia/2+pp.z*c-pp.x*s);
 291                 }
 292                 else if(i->type->pivot==VehicleType::Rod::ROD)
 293                 {
 294                         const Rod &prod = get_rod(i->type->pivot_index);
 295                         float c = cos(prod.angle);
 296                         float s = sin(prod.angle);
 297                         const Vector &pos = prod.position;
 298                         const Vector &off = i->type->pivot_point;
 299                         i->position = Vector(pos.x+off.x*c-off.z*s, pos.y+off.y, pos.z+off.z*c+off.x*s);
 300                 }
 301
 302                 if(i->type->connect_index>=0)
 303                 {
 304                         Rod &crod = rods[i->type->connect_index];
 305                         if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
 306                         {
 307                                 float dx = (crod.position.x+i->type->connect_offset.x)-i->position.x;
 308                                 float dz = (crod.position.z+i->type->connect_offset.z)-i->position.z;
 309                                 float cd = sqrt(i->type->connect_point.x*i->type->connect_point.x+i->type->connect_point.z*i->type->connect_point.z);
 310                                 float ca = atan2(i->type->connect_point.z, i->type->connect_point.x);
 311                                 dx = sqrt(cd*cd-dz*dz)*(dx>0 ? 1 : -1);
 312                                 i->angle = atan2(dz, dx)-ca;
 313                                 crod.position.x = i->position.x+dx-i->type->connect_offset.x;
 314                         }
 315                         else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
 316                         {
 317                                 float dx = crod.position.x-i->position.x;
 318                                 float dz = crod.position.z-i->position.z;
 319                                 float d = sqrt(dx*dx+dz*dz);
 320                                 float cd1 = sqrt(i->type->connect_point.x*i->type->connect_point.x+i->type->connect_point.z*i->type->connect_point.z);
 321                                 float cd2 = sqrt(i->type->connect_offset.x*i->type->connect_offset.x+i->type->connect_offset.z*i->type->connect_offset.z);
 322                                 float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
 323                                 float b = sqrt(cd1*cd1-a*a);
 324                                 float sign = (dx*i->type->connect_point.z-dz*i->type->connect_point.x>0 ? 1 : -1);
 325                                 float cx = (dx*a-dz*b*sign)/d;
 326                                 float cz = (dz*a+dx*b*sign)/d;
 327                                 float ca1 = atan2(i->type->connect_point.z, i->type->connect_point.x);
 328                                 float ca2 = atan2(i->type->connect_offset.z, i->type->connect_offset.x);
 329                                 i->angle = atan2(cz, cx)-ca1;
 330                                 crod.angle = atan2(cz-dz, cx-dx)-ca2;
 331                         }
 332                 }
 333         }
 334 }
 335
 336 void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, float tdist, float ratio) const
 337 {
 338         float margin = 0.01*layout.get_catalogue().get_scale();
 339         int adjust_dir = 0;
 340         while(1)
 341         {
 342                 Vector front_point = front.get_point().pos;
 343                 Vector back_point = back.get_point().pos;
 344
 345                 float dx = front_point.x-back_point.x;
 346                 float dy = front_point.y-back_point.y;
 347                 float dz = front_point.z-back_point.z;
 348                 float dist = sqrt(dx*dx+dy*dy+dz*dz);
 349
 350                 float diff = tdist-dist;
 351                 if(diff<-margin && adjust_dir<=0)
 352                 {
 353                         diff -= margin;
 354                         adjust_dir = -1;
 355                 }
 356                 else if(diff>margin && adjust_dir>=0)
 357                 {
 358                         diff += margin;
 359                         adjust_dir = 1;
 360                 }
 361                 else
 362                         return;
 363
 364                 front.advance(diff*(1-ratio));
 365                 back.advance(-diff*ratio);
 366         }
 367 }
 368
 369 TrackPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
 370 {
 371         float dx = front.x-back.x;
 372         float dy = front.y-back.y;
 373         float dz = front.z-back.z;
 374
 375         TrackPoint tp;
 376         tp.pos = Vector(back.x+dx*ratio, back.y+dy*ratio, back.z+dz*ratio);
 377         tp.dir = atan2(dy, dx);
 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
 395 Vehicle::Axle::Axle(const VehicleType::Axle &t):
 396         type(&t),
 397         angle(0)
 398 { }
 399
 400
 401 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
 402         type(&t),
 403         direction(0)
 404 {
 405         for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i)
 406                 axles.push_back(*i);
 407 }
 408
 409
 410 Vehicle::Rod::Rod(const VehicleType::Rod &t):
 411         type(&t),
 412         angle(0)
 413 { }
 414
 415
 416 Vehicle::TrackPosition::TrackPosition():
 417         track(0),
 418         ep(0),
 419         offs(0)
 420 { }
 421
 422 Vehicle::TrackPosition::TrackPosition(Track *t, unsigned e, float o):
 423         track(t),
 424         ep(e),
 425         offs(o)
 426 { }
 427
 428 void Vehicle::TrackPosition::advance(float d)
 429 {
 430         if(!track)
 431                 return;
 432
 433         offs += d;
 434         TrackIter iter(track, ep);
 435         while(iter)
 436         {
 437                 float path_len = iter->get_type().get_path_length(iter->get_active_path());
 438
 439                 if(offs>path_len)
 440                 {
 441                         offs -= path_len;
 442                         iter = iter.next();
 443                 }
 444                 else
 445                         break;
 446         }
 447
 448         while(iter && offs<0)
 449         {
 450                 iter = iter.flip().reverse();
 451
 452                 if(iter)
 453                 {
 454                         float path_len = iter->get_type().get_path_length(iter->get_active_path());
 455                         offs += path_len;
 456                 }
 457         }
 458
 459         track = iter.track();
 460         ep = iter.entry();
 461         if(!track)
 462                 offs = 0;
 463 }
 464
 465 TrackPoint Vehicle::TrackPosition::get_point() const
 466 {
 467         if(track)
 468                 return track->get_point(ep, offs);
 469         else
 470                 return TrackPoint();
 471 }
 472
 473 } // namespace R2C2