-/* $Id$
-
-This file is part of R²C²
-Copyright © 2010 Mikkosoft Productions, Mikko Rasa
-Distributed under the GPL
-*/
-
#include <cmath>
#include "catalogue.h"
#include "driver.h"
namespace R2C2 {
Vehicle::Vehicle(Layout &l, const VehicleType &t):
- layout(l),
+ Object(l),
type(t),
+ train(0),
next(0),
prev(0),
- direction(0),
- bogie_dirs(type.get_bogies().size()),
front_sensor(0),
back_sensor(0)
{
- layout.add_vehicle(*this);
+ axles.assign(type.get_fixed_axles().begin(), type.get_fixed_axles().end());
+ bogies.assign(type.get_bogies().begin(), type.get_bogies().end());
+ rods.assign(type.get_rods().begin(), type.get_rods().end());
+
+ layout.add(*this);
}
Vehicle::~Vehicle()
detach_back();
if(prev)
detach_front();
- layout.remove_vehicle(*this);
+ layout.remove(*this);
+}
+
+Vehicle *Vehicle::clone(Layout *to_layout) const
+{
+ Vehicle *veh = new Vehicle((to_layout ? *to_layout : layout), type);
+ veh->set_position(position);
+ veh->set_rotation(rotation);
+ return veh;
+}
+
+void Vehicle::set_train(Train *t)
+{
+ train = t;
}
void Vehicle::attach_back(Vehicle &veh)
{
if(next || veh.prev)
- throw InvalidState("Already attached");
+ throw attachment_error("already attached");
next = &veh;
veh.prev = this;
- if(track_pos.track)
+ if(track)
propagate_backward();
}
void Vehicle::attach_front(Vehicle &veh)
{
if(prev || veh.next)
- throw InvalidState("Already attached");
+ throw attachment_error("already attached");
prev = &veh;
veh.next = this;
void Vehicle::detach_back()
{
if(!next)
- throw InvalidState("Not attached");
+ throw attachment_error("not attached");
next->prev = 0;
next = 0;
void Vehicle::detach_front()
{
if(!prev)
- throw InvalidState("Not attached");
+ throw attachment_error("not attached");
prev->next = 0;
prev = 0;
}
-void Vehicle::place(Track &t, unsigned e, float o, PlaceMode m)
+void Vehicle::place(const TrackIter &t, float o, PlaceMode m)
{
- track_pos = TrackPosition(&t, e, o);
+ if(!t)
+ throw invalid_argument("Vehicle::place");
+
+ track = TrackOffsetIter(t, o);
if(m==FRONT_AXLE)
- track_pos.advance(-type.get_front_axle_offset());
+ track = track.advance(-type.get_front_axle_offset());
else if(m==FRONT_BUFFER)
- track_pos.advance(-type.get_length()/2);
+ track = track.advance(-type.get_length()/2);
else if(m==BACK_AXLE)
- track_pos.advance(-type.get_back_axle_offset());
+ track = track.advance(-type.get_back_axle_offset());
else if(m==BACK_BUFFER)
- track_pos.advance(type.get_length()/2);
+ track = track.advance(type.get_length()/2);
update_position();
propagate_position();
void Vehicle::unplace()
{
- if(!track_pos.track)
+ if(!track)
return;
- track_pos = TrackPosition();
+ track = TrackOffsetIter();
if(prev)
prev->unplace();
void Vehicle::advance(float d)
{
- track_pos.advance(d);
+ track = track.advance(d);
update_position();
+ turn_axles(d);
propagate_position();
}
-float Vehicle::get_bogie_direction(unsigned i) const
+const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
+{
+ if(i>=axles.size())
+ throw out_of_range("Vehicle::get_fixed_axle");
+ return axles[i];
+}
+
+const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
+{
+ if(i>=bogies.size())
+ throw out_of_range("Vehicle::get_bogie");
+ return bogies[i];
+}
+
+const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
{
- if(i>=bogie_dirs.size())
- throw InvalidParameterValue("Bogie index out of range");
- return bogie_dirs[i];
+ if(i>=bogies.size())
+ throw out_of_range("Vehicle::get_bogie_axle");
+ if(j>=bogies[i].axles.size())
+ throw out_of_range("Vehicle::get_bogie_axle");
+ return bogies[i].axles[j];
+}
+
+const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
+{
+ if(i>=rods.size())
+ throw out_of_range("Vehicle::get_rod");
+ return rods[i];
}
void Vehicle::update_position()
{
TrackPoint tp;
- const vector<VehicleType::Axle> &axles = type.get_axles();
- const vector<VehicleType::Bogie> &bogies = type.get_bogies();
if(axles.size()>=2)
{
- float wheelbase = axles.front().position-axles.back().position;
- tp = get_point(track_pos, wheelbase, -axles.back().position/wheelbase);
+ float wheelbase = axles.front().type->position-axles.back().type->position;
+ tp = get_point(track, wheelbase, -axles.back().type->position/wheelbase);
}
else if(bogies.size()>=2)
{
- TrackPosition front = track_pos;
- front.advance(bogies.front().position);
- TrackPosition back = track_pos;
- back.advance(bogies.back().position);
- float bogie_spacing = bogies.front().position-bogies.back().position;
+ TrackOffsetIter front = track.advance(bogies.front().type->position);
+ TrackOffsetIter back = track.advance(bogies.back().type->position);
+ float bogie_spacing = bogies.front().type->position-bogies.back().type->position;
adjust_for_distance(front, back, bogie_spacing);
- const vector<VehicleType::Axle> &front_axles = bogies.front().axles;
- float wheelbase = front_axles.front().position-front_axles.back().position;
- TrackPoint front_point = get_point(front, wheelbase, -front_axles.back().position/wheelbase);
+ const vector<Axle> &front_axles = bogies.front().axles;
+ float wheelbase = front_axles.front().type->position-front_axles.back().type->position;
+ TrackPoint front_point = get_point(front, wheelbase, -front_axles.back().type->position/wheelbase);
- const vector<VehicleType::Axle> &back_axles = bogies.back().axles;
- wheelbase = back_axles.front().position-back_axles.back().position;
- TrackPoint back_point = get_point(back, wheelbase, -back_axles.back().position/wheelbase);
+ const vector<Axle> &back_axles = bogies.back().axles;
+ wheelbase = back_axles.front().type->position-back_axles.back().type->position;
+ TrackPoint back_point = get_point(back, wheelbase, -back_axles.back().type->position/wheelbase);
- tp = get_point(front_point.pos, back_point.pos, -bogies.back().position/bogie_spacing);
+ tp = get_point(front_point.pos, back_point.pos, -bogies.back().type->position/bogie_spacing);
- bogie_dirs.front() = front_point.dir-tp.dir;
- bogie_dirs.back() = back_point.dir-tp.dir;
+ bogies.front().direction = front_point.dir-tp.dir;
+ bogies.back().direction = back_point.dir-tp.dir;
}
else
- tp = track_pos.get_point();
+ tp = track.point();
if(!prev)
check_sensor(type.get_front_axle_offset(), front_sensor);
position = tp.pos;
position.z += layout.get_catalogue().get_rail_elevation();
- direction = tp.dir;
+ rotation = tp.dir;
+ signal_moved.emit();
}
void Vehicle::update_position_from(const Vehicle &veh)
float margin = layout.get_catalogue().get_scale();
float dist = distance(veh.position, position);
- if(dist<tdist-margin || dist>tdist+margin)
+ if(!track || dist<tdist-margin || dist>tdist+margin)
{
- track_pos = veh.track_pos;
- track_pos.advance(sign*tdist);
+ track = veh.track.advance(sign*tdist);
update_position();
dist = distance(veh.position, position);
}
- track_pos.advance(sign*(tdist-dist));
+ track = track.advance(sign*(tdist-dist));
update_position();
+ turn_axles(sign*(tdist-dist));
}
void Vehicle::propagate_position()
void Vehicle::check_sensor(float offset, unsigned &sensor)
{
- TrackPosition pos = track_pos;
- pos.advance(offset);
- unsigned s = pos.track->get_sensor_id();
+ TrackOffsetIter iter = track.advance(offset);
+ unsigned s = iter->get_sensor_id();
if(s!=sensor)
{
/* Sensor ID under axle has changed. Deduce movement direction by using
more robust would be preferable. */
unsigned old = sensor;
sensor = s;
- unsigned mid = track_pos.track->get_sensor_id();
+ unsigned mid = track->get_sensor_id();
if(s && s!=mid)
/* There's a sensor and it's different from mid. We've just entered
}
}
-void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, float tdist, float ratio) const
+void Vehicle::turn_axles(float d)
+{
+ for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
+ i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
+ for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
+ for(vector<Axle>::iterator j=i->axles.begin(); j!=i->axles.end(); ++j)
+ j->angle += Angle::from_radians(d*2/j->type->wheel_dia);
+
+ update_rods();
+}
+
+void Vehicle::update_rods()
+{
+ for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
+ {
+ if(i->type->pivot==VehicleType::Rod::BODY)
+ i->position = i->type->pivot_point;
+ else if(i->type->pivot==VehicleType::Rod::AXLE)
+ {
+ const Axle &axle = get_fixed_axle(i->type->pivot_index);
+ const Vector &pp = i->type->pivot_point;
+ Transform trans = Transform::rotation(axle.angle, Vector(0, -1, 0));
+ i->position = Vector(axle.type->position, 0, axle.type->wheel_dia/2)+trans.transform(pp);
+ }
+ else if(i->type->pivot==VehicleType::Rod::ROD)
+ {
+ const Rod &prod = get_rod(i->type->pivot_index);
+ const Vector &pos = prod.position;
+ const Vector &off = i->type->pivot_point;
+ Transform trans = Transform::rotation(prod.angle, Vector(0, 1, 0));
+ i->position = pos+trans.transform(off);
+ }
+
+ if(i->type->connect_index>=0)
+ {
+ Rod &crod = rods[i->type->connect_index];
+ if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
+ {
+ Vector span = crod.position+i->type->connect_offset-i->position;
+ float cd = i->type->connect_point.norm();
+ Angle ca = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
+ span.x = sqrt(cd*cd-span.z*span.z)*(span.x>0 ? 1 : -1);
+ i->angle = Geometry::atan2(span.z, span.x)-ca;
+ crod.position.x = i->position.x+span.x-i->type->connect_offset.x;
+ }
+ else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
+ {
+ Vector span = crod.position-i->position;
+ float d = span.norm();
+ float cd1 = i->type->connect_point.norm();
+ float cd2 = i->type->connect_offset.norm();
+ float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
+ float b = sqrt(cd1*cd1-a*a);
+ float sign = (cross(i->type->connect_point, span).y>0 ? 1 : -1);
+ Vector conn = Vector(span.x*a-span.z*b, 0, span.z*a+span.x*b)/(d*sign);
+ Angle ca1 = Geometry::atan2(i->type->connect_point.z, i->type->connect_point.x);
+ Angle ca2 = Geometry::atan2(i->type->connect_offset.z, i->type->connect_offset.x);
+ i->angle = Geometry::atan2(conn.z, conn.x)-ca1;
+ crod.angle = Geometry::atan2(conn.z-span.z, conn.x-span.x)-ca2;
+ }
+ }
+ }
+}
+
+void Vehicle::adjust_for_distance(TrackOffsetIter &front, TrackOffsetIter &back, float tdist, float ratio) const
{
float margin = 0.01*layout.get_catalogue().get_scale();
int adjust_dir = 0;
while(1)
{
- Point front_point = front.get_point().pos;
- Point back_point = back.get_point().pos;
+ Vector front_point = front.point().pos;
+ Vector back_point = back.point().pos;
- float dx = front_point.x-back_point.x;
- float dy = front_point.y-back_point.y;
- float dz = front_point.z-back_point.z;
- float dist = sqrt(dx*dx+dy*dy+dz*dz);
+ float dist = distance(front_point, back_point);
float diff = tdist-dist;
if(diff<-margin && adjust_dir<=0)
else
return;
- front.advance(diff*(1-ratio));
- back.advance(-diff*ratio);
+ front = front.advance(diff*(1-ratio));
+ back = back.advance(-diff*ratio);
}
}
-TrackPoint Vehicle::get_point(const Point &front, const Point &back, float ratio) const
+TrackPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
{
- float dx = front.x-back.x;
- float dy = front.y-back.y;
- float dz = front.z-back.z;
+ Vector span = front-back;
TrackPoint tp;
- tp.pos = Point(back.x+dx*ratio, back.y+dy*ratio, back.z+dz*ratio);
- tp.dir = atan2(dy, dx);
+ tp.pos = back+span*ratio;
+ tp.dir = Geometry::atan2(span.y, span.x);
return tp;
}
-TrackPoint Vehicle::get_point(const TrackPosition &pos, float tdist, float ratio) const
+TrackPoint Vehicle::get_point(const TrackOffsetIter &iter, float tdist, float ratio) const
{
- TrackPosition front = pos;
- front.advance(tdist*(1-ratio));
-
- TrackPosition back = pos;
- back.advance(-tdist*ratio);
+ TrackOffsetIter front = iter.advance(tdist*(1-ratio));
+ TrackOffsetIter back = iter.advance(-tdist*ratio);
adjust_for_distance(front, back, tdist, ratio);
- return get_point(front.get_point().pos, back.get_point().pos, ratio);
+ return get_point(front.point().pos, back.point().pos, ratio);
}
+unsigned Vehicle::get_n_link_slots() const
+{
+ return 2;
+}
-Vehicle::TrackPosition::TrackPosition():
- track(0),
- ep(0),
- offs(0)
-{ }
-
-Vehicle::TrackPosition::TrackPosition(Track *t, unsigned e, float o):
- track(t),
- ep(e),
- offs(o)
-{ }
-
-void Vehicle::TrackPosition::advance(float d)
+Vehicle *Vehicle::get_link(unsigned i) const
{
- if(!track)
- return;
+ if(i>=2)
+ throw out_of_range("Vehicle::get_link");
- offs += d;
- TrackIter iter(track, ep);
- while(iter)
- {
- float path_len = iter->get_type().get_path_length(iter->get_active_path());
+ return (i==0 ? prev : next);
+}
- if(offs>path_len)
- {
- offs -= path_len;
- iter = iter.next();
- }
- else
- break;
- }
+int Vehicle::get_link_slot(const Object &other) const
+{
+ if(&other==prev)
+ return 0;
+ else if(&other==next)
+ return 1;
+ else
+ return -1;
+}
- while(iter && offs<0)
- {
- iter = iter.flip().reverse();
- if(iter)
- {
- float path_len = iter->get_type().get_path_length(iter->get_active_path());
- offs += path_len;
- }
- }
+Vehicle::Axle::Axle(const VehicleType::Axle &t):
+ type(&t)
+{ }
- track = iter.track();
- ep = iter.entry();
- if(!track)
- offs = 0;
-}
-TrackPoint Vehicle::TrackPosition::get_point() const
+Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
+ type(&t)
{
- if(track)
- return track->get_point(ep, offs);
- else
- return TrackPoint();
+ for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i)
+ axles.push_back(*i);
}
+
+Vehicle::Rod::Rod(const VehicleType::Rod &t):
+ type(&t)
+{ }
+
} // namespace R2C2
projects / r2c2.git / blobdiff