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_pos.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_pos = TrackPosition(t, o);
 102
 103         if(m==FRONT_AXLE)
 104                 track_pos.advance(-type.get_front_axle_offset());
 105         else if(m==FRONT_BUFFER)
 106                 track_pos.advance(-type.get_length()/2);
 107         else if(m==BACK_AXLE)
 108                 track_pos.advance(-type.get_back_axle_offset());
 109         else if(m==BACK_BUFFER)
 110                 track_pos.advance(type.get_length()/2);
 111
 112         update_position();
 113         propagate_position();
 114 }
 115
 116 void Vehicle::unplace()
 117 {
 118         if(!track_pos.track)
 119                 return;
 120
 121         track_pos = TrackPosition();
 122
 123         if(prev)
 124                 prev->unplace();
 125         if(next)
 126                 next->unplace();
 127 }
 128
 129 void Vehicle::advance(float d)
 130 {
 131         track_pos.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         TrackPoint tp;
 170
 171         if(axles.size()>=2)
 172         {
 173                 float wheelbase = axles.front().type->position-axles.back().type->position;
 174                 tp = get_point(track_pos, wheelbase, -axles.back().type->position/wheelbase);
 175         }
 176         else if(bogies.size()>=2)
 177         {
 178                 TrackPosition front = track_pos;
 179                 front.advance(bogies.front().type->position);
 180                 TrackPosition back = track_pos;
 181                 back.advance(bogies.back().type->position);
 182                 float bogie_spacing = bogies.front().type->position-bogies.back().type->position;
 183                 adjust_for_distance(front, back, bogie_spacing);
 184
 185                 const vector<Axle> &front_axles = bogies.front().axles;
 186                 float wheelbase = front_axles.front().type->position-front_axles.back().type->position;
 187                 TrackPoint front_point = get_point(front, wheelbase, -front_axles.back().type->position/wheelbase);
 188
 189                 const vector<Axle> &back_axles = bogies.back().axles;
 190                 wheelbase = back_axles.front().type->position-back_axles.back().type->position;
 191                 TrackPoint back_point = get_point(back, wheelbase, -back_axles.back().type->position/wheelbase);
 192
 193                 tp = get_point(front_point.pos, back_point.pos, -bogies.back().type->position/bogie_spacing);
 194
 195                 bogies.front().direction = front_point.dir-tp.dir;
 196                 bogies.back().direction = back_point.dir-tp.dir;
 197         }
 198         else
 199                 tp = track_pos.get_point();
 200
 201         if(!prev)
 202                 check_sensor(type.get_front_axle_offset(), front_sensor);
 203         if(!next)
 204                 check_sensor(type.get_back_axle_offset(), back_sensor);
 205
 206         position = tp.pos;
 207         position.z += layout.get_catalogue().get_rail_elevation();
 208         rotation = tp.dir;
 209         signal_moved.emit();
 210 }
 211
 212 void Vehicle::update_position_from(const Vehicle &veh)
 213 {
 214         int sign = (&veh==prev ? -1 : 1);
 215
 216         float tdist = (type.get_length()+veh.type.get_length())/2;
 217         float margin = layout.get_catalogue().get_scale();
 218
 219         float dist = distance(veh.position, position);
 220         if(!track_pos.track || dist<tdist-margin || dist>tdist+margin)
 221         {
 222                 track_pos = veh.track_pos;
 223                 track_pos.advance(sign*tdist);
 224                 update_position();
 225
 226                 dist = distance(veh.position, position);
 227         }
 228
 229         track_pos.advance(sign*(tdist-dist));
 230         update_position();
 231         turn_axles(sign*(tdist-dist));
 232 }
 233
 234 void Vehicle::propagate_position()
 235 {
 236         if(prev)
 237                 propagate_forward();
 238         if(next)
 239                 propagate_backward();
 240 }
 241
 242 void Vehicle::propagate_forward()
 243 {
 244         prev->update_position_from(*this);
 245
 246         if(prev->prev)
 247                 prev->propagate_forward();
 248 }
 249
 250 void Vehicle::propagate_backward()
 251 {
 252         next->update_position_from(*this);
 253
 254         if(next->next)
 255                 next->propagate_backward();
 256 }
 257
 258 void Vehicle::check_sensor(float offset, unsigned &sensor)
 259 {
 260         TrackPosition pos = track_pos;
 261         pos.advance(offset);
 262         unsigned s = pos.track->get_sensor_id();
 263         if(s!=sensor)
 264         {
 265                 /* Sensor ID under axle has changed.  Deduce movement direction by using
 266                 the sensor ID under the midpoint of the vehicle. */
 267                 /* XXX This depends on the simulation running fast enough.  Something
 268                 more robust would be preferable. */
 269                 unsigned old = sensor;
 270                 sensor = s;
 271                 unsigned mid = track_pos.track->get_sensor_id();
 272
 273                 if(s && s!=mid)
 274                         /* There's a sensor and it's different from mid.  We've just entered
 275                         that sensor. */
 276                         layout.get_driver().set_sensor(sensor, true);
 277                 if(old && old!=mid)
 278                         /* A sensor was under the axle and it was different from mid.  We've
 279                         just left that sensor. */
 280                         layout.get_driver().set_sensor(old, false);
 281         }
 282 }
 283
 284 void Vehicle::turn_axles(float d)
 285 {
 286         for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
 287                 i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
 288         for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
 289                 for(vector<Axle>::iterator j=i->axles.begin(); j!=i->axles.end(); ++j)
 290                         j->angle += Angle::from_radians(d*2/j->type->wheel_dia);
 291
 292         update_rods();
 293 }
 294
 295 void Vehicle::update_rods()
 296 {
 297         for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
 298         {
 299                 if(i->type->pivot==VehicleType::Rod::BODY)
 300                         i->position = i->type->pivot_point;
 301                 else if(i->type->pivot==VehicleType::Rod::AXLE)
 302                 {
 303                         const Axle &axle = get_fixed_axle(i->type->pivot_index);
 304                         const Vector &pp = i->type->pivot_point;
 305                         Transform trans = Transform::rotation(axle.angle, Vector(0, -1, 0));
 306                         i->position = Vector(axle.type->position, 0, axle.type->wheel_dia/2)+trans.transform(pp);
 307                 }
 308                 else if(i->type->pivot==VehicleType::Rod::ROD)
 309                 {
 310                         const Rod &prod = get_rod(i->type->pivot_index);
 311                         const Vector &pos = prod.position;
 312                         const Vector &off = i->type->pivot_point;
 313                         Transform trans = Transform::rotation(prod.angle, Vector(0, 1, 0));
 314                         i->position = pos+trans.transform(off);
 315                 }
 316
 317                 if(i->type->connect_index>=0)
 318                 {
 319                         Rod &crod = rods[i->type->connect_index];
 320                         if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
 321                         {
 322                                 Vector span = crod.position+i->type->connect_offset-i->position;
 323                                 float cd = i->type->connect_point.norm();
 324                                 Angle ca = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
 325                                 span.x = sqrt(cd*cd-span.z*span.z)*(span.x>0 ? 1 : -1);
 326                                 i->angle = Geometry::atan2(span.z, span.x)-ca;
 327                                 crod.position.x = i->position.x+span.x-i->type->connect_offset.x;
 328                         }
 329                         else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
 330                         {
 331                                 Vector span = crod.position-i->position;
 332                                 float d = span.norm();
 333                                 float cd1 = i->type->connect_point.norm();
 334                                 float cd2 = i->type->connect_offset.norm();
 335                                 float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
 336                                 float b = sqrt(cd1*cd1-a*a);
 337                                 float sign = (cross(i->type->connect_point, span).y>0 ? 1 : -1);
 338                                 Vector conn = Vector(span.x*a-span.z*b, 0, span.z*a+span.x*b)/(d*sign);
 339                                 Angle ca1 = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
 340                                 Angle ca2 = Geometry::atan2(i->type->connect_offset.z, i->type->connect_offset.x);
 341                                 i->angle = Geometry::atan2(conn.z, conn.x)-ca1;
 342                                 crod.angle = Geometry::atan2(conn.z-span.z, conn.x-span.x)-ca2;
 343                         }
 344                 }
 345         }
 346 }
 347
 348 void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, float tdist, float ratio) const
 349 {
 350         float margin = 0.01*layout.get_catalogue().get_scale();
 351         int adjust_dir = 0;
 352         while(1)
 353         {
 354                 Vector front_point = front.get_point().pos;
 355                 Vector back_point = back.get_point().pos;
 356
 357                 float dist = distance(front_point, back_point);
 358
 359                 float diff = tdist-dist;
 360                 if(diff<-margin && adjust_dir<=0)
 361                 {
 362                         diff -= margin;
 363                         adjust_dir = -1;
 364                 }
 365                 else if(diff>margin && adjust_dir>=0)
 366                 {
 367                         diff += margin;
 368                         adjust_dir = 1;
 369                 }
 370                 else
 371                         return;
 372
 373                 front.advance(diff*(1-ratio));
 374                 back.advance(-diff*ratio);
 375         }
 376 }
 377
 378 TrackPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
 379 {
 380         Vector span = front-back;
 381
 382         TrackPoint tp;
 383         tp.pos = back+span*ratio;
 384         tp.dir = Geometry::atan2(span.y, span.x);
 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 unsigned Vehicle::get_n_link_slots() const
 402 {
 403         return 2;
 404 }
 405
 406 Vehicle *Vehicle::get_link(unsigned i) const
 407 {
 408         if(i>=2)
 409                 throw out_of_range("Vehicle::get_link");
 410
 411         return (i==0 ? prev : next);
 412 }
 413
 414 int Vehicle::get_link_slot(const Object &other) const
 415 {
 416         if(&other==prev)
 417                 return 0;
 418         else if(&other==next)
 419                 return 1;
 420         else
 421                 return -1;
 422 }
 423
 424
 425 Vehicle::Axle::Axle(const VehicleType::Axle &t):
 426         type(&t)
 427 { }
 428
 429
 430 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
 431         type(&t)
 432 {
 433         for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i)
 434                 axles.push_back(*i);
 435 }
 436
 437
 438 Vehicle::Rod::Rod(const VehicleType::Rod &t):
 439         type(&t)
 440 { }
 441
 442
 443 Vehicle::TrackPosition::TrackPosition():
 444         offs(0)
 445 { }
 446
 447 Vehicle::TrackPosition::TrackPosition(const TrackIter &t, float o):
 448         track(t),
 449         offs(o)
 450 { }
 451
 452 void Vehicle::TrackPosition::advance(float d)
 453 {
 454         if(!track)
 455                 return;
 456
 457         offs += d;
 458         while(track)
 459         {
 460                 float path_len = track->get_type().get_path_length(track->get_active_path());
 461
 462                 if(offs>path_len)
 463                 {
 464                         offs -= path_len;
 465                         track = track.next();
 466                 }
 467                 else
 468                         break;
 469         }
 470
 471         while(track && offs<0)
 472         {
 473                 track = track.flip().reverse();
 474
 475                 if(track)
 476                 {
 477                         float path_len = track->get_type().get_path_length(track->get_active_path());
 478                         offs += path_len;
 479                 }
 480         }
 481
 482         if(!track)
 483                 offs = 0;
 484 }
 485
 486 TrackPoint Vehicle::TrackPosition::get_point() const
 487 {
 488         if(track)
 489                 return track->get_point(track.entry(), offs);
 490         else
 491                 return TrackPoint();
 492 }
 493
 494 } // namespace R2C2