for(unsigned j=0; j<i->axles.size(); ++j)
i->axles[j] = &axles[i->type->first_axle+j];
+ update_rods();
+
layout.add(*this);
}
{
if(!t)
throw invalid_argument("Vehicle::place");
+ float gauge_ratio = t->get_type().get_gauge()/type.get_gauge();
+ if(gauge_ratio<0.99 || gauge_ratio>1.01)
+ throw logic_error("Incompatible gauge");
placement.place(t, a);
{
OrientedPoint p = placement.get_point();
position = p.position;
- position.z += layout.get_catalogue().get_rail_elevation();
+ // TODO Move the z adjustment to VehiclePlacement
+ position.z += placement.get_position(VehiclePlacement::FRONT_AXLE)->get_type().get_appearance().get_rail_elevation();
rotation = p.rotation;
tilt = p.tilt;
void Vehicle::check_sensor(const TrackOffsetIter &t, unsigned &sensor, bool release)
{
- unsigned s = t->get_sensor_id();
+ unsigned s = t->get_sensor_address();
if(s!=sensor)
{
unsigned old = sensor;
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(rods.empty())
+ return;
- if(i->type->connect_index>=0)
+ for(unsigned n=0; n<10; ++n)
+ {
+ float max_d = 0;
+ for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
{
- 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)
+ const vector<VehicleType::RodConstraint> &constraints = i->type->constraints;
+ for(vector<VehicleType::RodConstraint>::const_iterator j=constraints.begin(); j!=constraints.end(); ++j)
{
- 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;
+ float d = resolve_rod_constraint(*i, *j);
+ max_d = max(d, max_d);
}
}
+
+ if(max_d<0.0001)
+ break;
+ }
+}
+
+float Vehicle::resolve_rod_constraint(Rod &rod, const VehicleType::RodConstraint &cns)
+{
+ Vector target;
+ if(cns.target==VehicleType::RodConstraint::BODY)
+ target = cns.target_position;
+ else if(cns.target==VehicleType::RodConstraint::BOGIE)
+ ; // TODO currently rods must lie in the xz plane of the body
+ else if(cns.target==VehicleType::RodConstraint::AXLE)
+ {
+ const Axle &axle = get_axle(cns.target_index);
+ target = Vector(axle.type->position, 0, axle.type->wheel_dia/2);
+ target += Transform::rotation(axle.angle, Vector(0, 1, 0)).transform(cns.target_position);
+ }
+ else if(cns.target==VehicleType::RodConstraint::ROD)
+ {
+ const Rod &trod = get_rod(cns.target_index);
+ target = trod.position;
+ target += Transform::rotation(trod.angle, Vector(0, -1, 0)).transform(cns.target_position);
+ }
+
+ Vector old_position = rod.position;
+ if(cns.type==VehicleType::RodConstraint::MOVE)
+ rod.position = target-Transform::rotation(rod.angle, Vector(0, -1, 0)).transform(cns.local_position);
+ else if(cns.type==VehicleType::RodConstraint::SLIDE)
+ {
+ Vector d = rod.position-target;
+ rod.position = target+cns.axis*dot(d, cns.axis);
+ rod.angle = Angle::zero();
+ }
+ else if(cns.type==VehicleType::RodConstraint::ROTATE)
+ {
+ Angle old_angle = rod.angle;
+ Vector d = target-rod.position;
+ rod.angle = Geometry::atan2<float>(d.z, d.x);
+ if(cns.local_position.x || cns.local_position.z)
+ rod.angle -= Geometry::atan2<float>(cns.local_position.z, cns.local_position.x);
+ return abs(rod.angle-old_angle).radians()*cns.local_position.norm();
}
+
+ return distance(old_position, rod.position);
}
unsigned Vehicle::get_n_link_slots() const
return -1;
}
+bool Vehicle::collide_ray(const Ray &ray, float *d) const
+{
+ if(is_placed())
+ return Object::collide_ray(ray, d);
+ else
+ return false;
+}
+
Vehicle::Axle::Axle(const VehicleType::Axle &t):
type(&t)
Vehicle::Rod::Rod(const VehicleType::Rod &t):
- type(&t)
+ type(&t),
+ position(t.initial_position)
{ }
} // namespace R2C2
projects / r2c2.git / blobdiff