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         placement(type),
  23         front_sensor(0),
  24         back_sensor(0)
  25 {
  26         axles.assign(type.get_axles().begin(), type.get_axles().end());
  27         for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
  28                 if(!i->type->bogie)
  29                         fixed_axles.push_back(&*i);
  30         bogies.assign(type.get_bogies().begin(), type.get_bogies().end());
  31         rods.assign(type.get_rods().begin(), type.get_rods().end());
  32         for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
  33                 for(unsigned j=0; j<i->axles.size(); ++j)
  34                         i->axles[j] = &axles[i->type->first_axle+j];
  35
  36         layout.add(*this);
  37 }
  38
  39 Vehicle::~Vehicle()
  40 {
  41         if(next)
  42                 detach_back();
  43         if(prev)
  44                 detach_front();
  45         layout.remove(*this);
  46 }
  47
  48 Vehicle *Vehicle::clone(Layout *to_layout) const
  49 {
  50         Vehicle *veh = new Vehicle((to_layout ? *to_layout : layout), type);
  51         veh->set_position(position);
  52         veh->set_rotation(rotation);
  53         return veh;
  54 }
  55
  56 void Vehicle::set_train(Train *t)
  57 {
  58         train = t;
  59 }
  60
  61 void Vehicle::attach_back(Vehicle &veh)
  62 {
  63         if(next || veh.prev)
  64                 throw attachment_error("already attached");
  65
  66         next = &veh;
  67         veh.prev = this;
  68
  69         if(is_placed())
  70                 propagate_backward();
  71 }
  72
  73 void Vehicle::attach_front(Vehicle &veh)
  74 {
  75         if(prev || veh.next)
  76                 throw attachment_error("already attached");
  77
  78         prev = &veh;
  79         veh.next = this;
  80
  81         if(prev->is_placed())
  82                 prev->propagate_backward();
  83 }
  84
  85 void Vehicle::detach_back()
  86 {
  87         if(!next)
  88                 throw attachment_error("not attached");
  89
  90         next->prev = 0;
  91         next = 0;
  92 }
  93
  94 void Vehicle::detach_front()
  95 {
  96         if(!prev)
  97                 throw attachment_error("not attached");
  98
  99         prev->next = 0;
 100         prev = 0;
 101 }
 102
 103 void Vehicle::place(const TrackOffsetIter &t, VehiclePlacement::Anchor a)
 104 {
 105         if(!t)
 106                 throw invalid_argument("Vehicle::place");
 107
 108         placement.place(t, a);
 109
 110         update_position(0);
 111         propagate_position();
 112 }
 113
 114 void Vehicle::unplace()
 115 {
 116         if(!placement.is_placed())
 117                 return;
 118
 119         placement.unplace();
 120
 121         if(prev)
 122                 prev->unplace();
 123         if(next)
 124                 next->unplace();
 125 }
 126
 127 void Vehicle::advance(float d)
 128 {
 129         placement.advance(d);
 130         turn_axles(d);
 131         update_position(d<0 ? -1 : 1);
 132         propagate_position();
 133 }
 134
 135 const Vehicle::Axle &Vehicle::get_axle(unsigned i) const
 136 {
 137         if(i>=axles.size())
 138                 throw out_of_range("Vehicle::get_axle");
 139         return axles[i];
 140 }
 141
 142 const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
 143 {
 144         if(i>=fixed_axles.size())
 145                 throw out_of_range("Vehicle::get_fixed_axle");
 146         return *fixed_axles[i];
 147 }
 148
 149 const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
 150 {
 151         if(i>=bogies.size())
 152                 throw out_of_range("Vehicle::get_bogie");
 153         return bogies[i];
 154 }
 155
 156 const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
 157 {
 158         if(i>=bogies.size())
 159                 throw out_of_range("Vehicle::get_bogie_axle");
 160         if(j>=bogies[i].axles.size())
 161                 throw out_of_range("Vehicle::get_bogie_axle");
 162         return *bogies[i].axles[j];
 163 }
 164
 165 const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
 166 {
 167         if(i>=rods.size())
 168                 throw out_of_range("Vehicle::get_rod");
 169         return rods[i];
 170 }
 171
 172 void Vehicle::update_position(int sign)
 173 {
 174         OrientedPoint p = placement.get_point();
 175         position = p.position;
 176         position.z += layout.get_catalogue().get_rail_elevation();
 177         rotation = p.rotation;
 178         tilt = p.tilt;
 179
 180         if(bogies.size()>=2)
 181         {
 182                 OrientedPoint front_point = placement.get_bogie_point(bogies.front().type->index);
 183                 bogies.front().direction = front_point.rotation-p.rotation;
 184
 185                 OrientedPoint back_point = placement.get_bogie_point(bogies.back().type->index);
 186                 bogies.back().direction = back_point.rotation-p.rotation;
 187         }
 188
 189         if(!prev)
 190                 check_sensor(placement.get_position(VehiclePlacement::FRONT_AXLE), front_sensor, sign<0);
 191         if(!next)
 192                 check_sensor(placement.get_position(VehiclePlacement::BACK_AXLE), back_sensor, sign>0);
 193
 194         signal_moved.emit();
 195 }
 196
 197 void Vehicle::update_position_from(const Vehicle &veh)
 198 {
 199         int sign = (&veh==prev ? -1 : 1);
 200
 201         float tdist = (type.get_length()+veh.type.get_length())/2;
 202         float margin = layout.get_catalogue().get_scale();
 203
 204         float dist = distance(veh.position, position);
 205         if(!is_placed() || dist<tdist-margin || dist>tdist+margin)
 206         {
 207                 if(sign<0)
 208                         placement.place_after(veh.placement);
 209                 else
 210                         placement.place_before(veh.placement);
 211                 update_position(0);
 212
 213                 dist = distance(veh.position, position);
 214         }
 215
 216         float d = sign*(tdist-dist);
 217         placement.advance(d);
 218         update_position(d<0 ? -1 : 1);
 219         turn_axles(d);
 220 }
 221
 222 void Vehicle::propagate_position()
 223 {
 224         if(prev)
 225                 propagate_forward();
 226         if(next)
 227                 propagate_backward();
 228 }
 229
 230 void Vehicle::propagate_forward()
 231 {
 232         prev->update_position_from(*this);
 233
 234         if(prev->prev)
 235                 prev->propagate_forward();
 236 }
 237
 238 void Vehicle::propagate_backward()
 239 {
 240         next->update_position_from(*this);
 241
 242         if(next->next)
 243                 next->propagate_backward();
 244 }
 245
 246 void Vehicle::check_sensor(const TrackOffsetIter &t, unsigned &sensor, bool release)
 247 {
 248         unsigned s = t->get_sensor_id();
 249         if(s!=sensor)
 250         {
 251                 unsigned old = sensor;
 252                 sensor = s;
 253                 if(release)
 254                         layout.get_driver().set_sensor(old, false);
 255                 else
 256                         layout.get_driver().set_sensor(sensor, true);
 257         }
 258 }
 259
 260 void Vehicle::turn_axles(float d)
 261 {
 262         for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
 263                 i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
 264
 265         update_rods();
 266 }
 267
 268 void Vehicle::update_rods()
 269 {
 270         if(rods.empty())
 271                 return;
 272
 273         for(unsigned n=0; n<10; ++n)
 274         {
 275                 float max_d = 0;
 276                 for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
 277                 {
 278                         const vector<VehicleType::RodConstraint> &constraints = i->type->constraints;
 279                         for(vector<VehicleType::RodConstraint>::const_iterator j=constraints.begin(); j!=constraints.end(); ++j)
 280                         {
 281                                 float d = resolve_rod_constraint(*i, *j);
 282                                 max_d = max(d, max_d);
 283                         }
 284                 }
 285
 286                 if(max_d<0.0001)
 287                         break;
 288         }
 289 }
 290
 291 float Vehicle::resolve_rod_constraint(Rod &rod, const VehicleType::RodConstraint &cns)
 292 {
 293         Vector target;
 294         if(cns.target==VehicleType::RodConstraint::BODY)
 295                 target = cns.target_position;
 296         else if(cns.target==VehicleType::RodConstraint::BOGIE)
 297                 ;  // TODO currently rods must lie in the xz plane of the body
 298         else if(cns.target==VehicleType::RodConstraint::AXLE)
 299         {
 300                 const Axle &axle = get_axle(cns.target_index);
 301                 target = Vector(axle.type->position, 0, axle.type->wheel_dia/2);
 302                 target += Transform::rotation(axle.angle, Vector(0, 1, 0)).transform(cns.target_position);
 303         }
 304         else if(cns.target==VehicleType::RodConstraint::ROD)
 305         {
 306                 const Rod &trod = get_rod(cns.target_index);
 307                 target = trod.position;
 308                 target += Transform::rotation(trod.angle, Vector(0, -1, 0)).transform(cns.target_position);
 309         }
 310
 311         Vector old_position = rod.position;
 312         if(cns.type==VehicleType::RodConstraint::MOVE)
 313                 rod.position = target-Transform::rotation(rod.angle, Vector(0, -1, 0)).transform(cns.local_position);
 314         else if(cns.type==VehicleType::RodConstraint::SLIDE)
 315         {
 316                 Vector d = rod.position-target;
 317                 rod.position = target+cns.axis*dot(d, cns.axis);
 318                 rod.angle = Angle::zero();
 319         }
 320         else if(cns.type==VehicleType::RodConstraint::ROTATE)
 321         {
 322                 Angle old_angle = rod.angle;
 323                 Vector d = target-rod.position;
 324                 rod.angle = Geometry::atan2<float>(d.z, d.x);
 325                 if(cns.local_position.x || cns.local_position.z)
 326                         rod.angle -= Geometry::atan2<float>(cns.local_position.z, cns.local_position.x);
 327                 return abs(rod.angle-old_angle).radians()*cns.local_position.norm();
 328         }
 329
 330         return distance(old_position, rod.position);
 331 }
 332
 333 unsigned Vehicle::get_n_link_slots() const
 334 {
 335         return 2;
 336 }
 337
 338 Vehicle *Vehicle::get_link(unsigned i) const
 339 {
 340         if(i>=2)
 341                 throw out_of_range("Vehicle::get_link");
 342
 343         return (i==0 ? prev : next);
 344 }
 345
 346 int Vehicle::get_link_slot(const Object &other) const
 347 {
 348         if(&other==prev)
 349                 return 0;
 350         else if(&other==next)
 351                 return 1;
 352         else
 353                 return -1;
 354 }
 355
 356
 357 Vehicle::Axle::Axle(const VehicleType::Axle &t):
 358         type(&t)
 359 { }
 360
 361
 362 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
 363         type(&t),
 364         axles(t.axles.size())
 365 { }
 366
 367
 368 Vehicle::Rod::Rod(const VehicleType::Rod &t):
 369         type(&t),
 370         position(t.initial_position)
 371 { }
 372
 373 } // namespace R2C2