9 #include "vehicletype.h"
16 Vehicle::Vehicle(Layout &l, const VehicleType &t):
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());
41 Vehicle *Vehicle::clone(Layout *to_layout) const
43 Vehicle *veh = new Vehicle((to_layout ? *to_layout : layout), type);
44 veh->set_position(position);
45 veh->set_rotation(rotation);
49 void Vehicle::set_train(Train *t)
54 void Vehicle::attach_back(Vehicle &veh)
57 throw attachment_error("already attached");
66 void Vehicle::attach_front(Vehicle &veh)
69 throw attachment_error("already attached");
75 prev->propagate_backward();
78 void Vehicle::detach_back()
81 throw attachment_error("not attached");
87 void Vehicle::detach_front()
90 throw attachment_error("not attached");
96 void Vehicle::place(const TrackIter &t, float o, PlaceMode m)
99 throw invalid_argument("Vehicle::place");
101 track_pos = TrackPosition(t, o);
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);
113 propagate_position();
116 void Vehicle::unplace()
121 track_pos = TrackPosition();
129 void Vehicle::advance(float d)
131 track_pos.advance(d);
134 propagate_position();
137 const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
140 throw out_of_range("Vehicle::get_fixed_axle");
144 const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
147 throw out_of_range("Vehicle::get_bogie");
151 const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
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];
160 const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
163 throw out_of_range("Vehicle::get_rod");
167 void Vehicle::update_position()
173 float wheelbase = axles.front().type->position-axles.back().type->position;
174 tp = get_point(track_pos, wheelbase, -axles.back().type->position/wheelbase);
176 else if(bogies.size()>=2)
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);
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);
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);
193 tp = get_point(front_point.pos, back_point.pos, -bogies.back().type->position/bogie_spacing);
195 bogies.front().direction = front_point.dir-tp.dir;
196 bogies.back().direction = back_point.dir-tp.dir;
199 tp = track_pos.get_point();
202 check_sensor(type.get_front_axle_offset(), front_sensor);
204 check_sensor(type.get_back_axle_offset(), back_sensor);
207 position.z += layout.get_catalogue().get_rail_elevation();
211 void Vehicle::update_position_from(const Vehicle &veh)
213 int sign = (&veh==prev ? -1 : 1);
215 float tdist = (type.get_length()+veh.type.get_length())/2;
216 float margin = layout.get_catalogue().get_scale();
218 float dist = distance(veh.position, position);
219 if(!track_pos.track || dist<tdist-margin || dist>tdist+margin)
221 track_pos = veh.track_pos;
222 track_pos.advance(sign*tdist);
225 dist = distance(veh.position, position);
228 track_pos.advance(sign*(tdist-dist));
230 turn_axles(sign*(tdist-dist));
233 void Vehicle::propagate_position()
238 propagate_backward();
241 void Vehicle::propagate_forward()
243 prev->update_position_from(*this);
246 prev->propagate_forward();
249 void Vehicle::propagate_backward()
251 next->update_position_from(*this);
254 next->propagate_backward();
257 void Vehicle::check_sensor(float offset, unsigned &sensor)
259 TrackPosition pos = track_pos;
261 unsigned s = pos.track->get_sensor_id();
264 /* Sensor ID under axle has changed. Deduce movement direction by using
265 the sensor ID under the midpoint of the vehicle. */
266 /* XXX This depends on the simulation running fast enough. Something
267 more robust would be preferable. */
268 unsigned old = sensor;
270 unsigned mid = track_pos.track->get_sensor_id();
273 /* There's a sensor and it's different from mid. We've just entered
275 layout.get_driver().set_sensor(sensor, true);
277 /* A sensor was under the axle and it was different from mid. We've
278 just left that sensor. */
279 layout.get_driver().set_sensor(old, false);
283 void Vehicle::turn_axles(float d)
285 for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
286 i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
287 for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
288 for(vector<Axle>::iterator j=i->axles.begin(); j!=i->axles.end(); ++j)
289 j->angle += Angle::from_radians(d*2/j->type->wheel_dia);
294 void Vehicle::update_rods()
296 for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
298 if(i->type->pivot==VehicleType::Rod::BODY)
299 i->position = i->type->pivot_point;
300 else if(i->type->pivot==VehicleType::Rod::AXLE)
302 const Axle &axle = get_fixed_axle(i->type->pivot_index);
303 const Vector &pp = i->type->pivot_point;
304 Transform trans = Transform::rotation(axle.angle, Vector(0, -1, 0));
305 i->position = Vector(axle.type->position, 0, axle.type->wheel_dia/2)+trans.transform(pp);
307 else if(i->type->pivot==VehicleType::Rod::ROD)
309 const Rod &prod = get_rod(i->type->pivot_index);
310 const Vector &pos = prod.position;
311 const Vector &off = i->type->pivot_point;
312 Transform trans = Transform::rotation(prod.angle, Vector(0, 1, 0));
313 i->position = pos+trans.transform(off);
316 if(i->type->connect_index>=0)
318 Rod &crod = rods[i->type->connect_index];
319 if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
321 Vector span = crod.position+i->type->connect_offset-i->position;
322 float cd = i->type->connect_point.norm();
323 Angle ca = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
324 span.x = sqrt(cd*cd-span.z*span.z)*(span.x>0 ? 1 : -1);
325 i->angle = Geometry::atan2(span.z, span.x)-ca;
326 crod.position.x = i->position.x+span.x-i->type->connect_offset.x;
328 else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
330 Vector span = crod.position-i->position;
331 float d = span.norm();
332 float cd1 = i->type->connect_point.norm();
333 float cd2 = i->type->connect_offset.norm();
334 float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
335 float b = sqrt(cd1*cd1-a*a);
336 float sign = (cross(i->type->connect_point, span).y>0 ? 1 : -1);
337 Vector conn = Vector(span.x*a-span.z*b, 0, span.z*a+span.x*b)/(d*sign);
338 Angle ca1 = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
339 Angle ca2 = Geometry::atan2(i->type->connect_offset.z, i->type->connect_offset.x);
340 i->angle = Geometry::atan2(conn.z, conn.x)-ca1;
341 crod.angle = Geometry::atan2(conn.z-span.z, conn.x-span.x)-ca2;
347 void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, float tdist, float ratio) const
349 float margin = 0.01*layout.get_catalogue().get_scale();
353 Vector front_point = front.get_point().pos;
354 Vector back_point = back.get_point().pos;
356 float dist = distance(front_point, back_point);
358 float diff = tdist-dist;
359 if(diff<-margin && adjust_dir<=0)
364 else if(diff>margin && adjust_dir>=0)
372 front.advance(diff*(1-ratio));
373 back.advance(-diff*ratio);
377 TrackPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
379 Vector span = front-back;
382 tp.pos = back+span*ratio;
383 tp.dir = Geometry::atan2(span.y, span.x);
388 TrackPoint Vehicle::get_point(const TrackPosition &pos, float tdist, float ratio) const
390 TrackPosition front = pos;
391 front.advance(tdist*(1-ratio));
393 TrackPosition back = pos;
394 back.advance(-tdist*ratio);
396 adjust_for_distance(front, back, tdist, ratio);
397 return get_point(front.get_point().pos, back.get_point().pos, ratio);
400 unsigned Vehicle::get_n_link_slots() const
405 Vehicle *Vehicle::get_link(unsigned i) const
408 throw out_of_range("Vehicle::get_link");
410 return (i==0 ? prev : next);
413 int Vehicle::get_link_slot(const Object &other) const
417 else if(&other==next)
424 Vehicle::Axle::Axle(const VehicleType::Axle &t):
429 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
432 for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i)
437 Vehicle::Rod::Rod(const VehicleType::Rod &t):
442 Vehicle::TrackPosition::TrackPosition():
446 Vehicle::TrackPosition::TrackPosition(const TrackIter &t, float o):
451 void Vehicle::TrackPosition::advance(float d)
459 float path_len = track->get_type().get_path_length(track->get_active_path());
464 track = track.next();
470 while(track && offs<0)
472 track = track.flip().reverse();
476 float path_len = track->get_type().get_path_length(track->get_active_path());
485 TrackPoint Vehicle::TrackPosition::get_point() const
488 return track->get_point(track.entry(), offs);