train(0),
next(0),
prev(0),
+ placement(type),
front_sensor(0),
back_sensor(0)
{
- axles.assign(type.get_fixed_axles().begin(), type.get_fixed_axles().end());
+ axles.assign(type.get_axles().begin(), type.get_axles().end());
+ for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
+ if(!i->type->bogie)
+ fixed_axles.push_back(&*i);
bogies.assign(type.get_bogies().begin(), type.get_bogies().end());
rods.assign(type.get_rods().begin(), type.get_rods().end());
+ for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
+ for(unsigned j=0; j<i->axles.size(); ++j)
+ i->axles[j] = &axles[i->type->first_axle+j];
+
+ update_rods();
layout.add(*this);
}
next = &veh;
veh.prev = this;
- if(track_pos.track)
+ if(is_placed())
propagate_backward();
}
prev = &veh;
veh.next = this;
- if(prev->get_track())
+ if(prev->is_placed())
prev->propagate_backward();
}
prev = 0;
}
-void Vehicle::place(const TrackIter &t, float o, PlaceMode m)
+void Vehicle::place(const TrackOffsetIter &t, VehiclePlacement::Anchor a)
{
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");
- track_pos = TrackPosition(t, o);
-
- if(m==FRONT_AXLE)
- track_pos.advance(-type.get_front_axle_offset());
- else if(m==FRONT_BUFFER)
- track_pos.advance(-type.get_length()/2);
- else if(m==BACK_AXLE)
- track_pos.advance(-type.get_back_axle_offset());
- else if(m==BACK_BUFFER)
- track_pos.advance(type.get_length()/2);
+ placement.place(t, a);
- update_position();
+ update_position(0);
propagate_position();
}
void Vehicle::unplace()
{
- if(!track_pos.track)
+ if(!placement.is_placed())
return;
- track_pos = TrackPosition();
+ placement.unplace();
if(prev)
prev->unplace();
void Vehicle::advance(float d)
{
- track_pos.advance(d);
- update_position();
+ placement.advance(d);
turn_axles(d);
+ update_position(d<0 ? -1 : 1);
propagate_position();
}
-const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
+const Vehicle::Axle &Vehicle::get_axle(unsigned i) const
{
if(i>=axles.size())
- throw out_of_range("Vehicle::get_fixed_axle");
+ throw out_of_range("Vehicle::get_axle");
return axles[i];
}
+const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
+{
+ if(i>=fixed_axles.size())
+ throw out_of_range("Vehicle::get_fixed_axle");
+ return *fixed_axles[i];
+}
+
const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
{
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];
+ return *bogies[i].axles[j];
}
const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
return rods[i];
}
-void Vehicle::update_position()
+void Vehicle::update_position(int sign)
{
- TrackPoint tp;
+ OrientedPoint p = placement.get_point();
+ position = p.position;
+ // 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;
- if(axles.size()>=2)
+ if(bogies.size()>=2)
{
- float wheelbase = axles.front().type->position-axles.back().type->position;
- tp = get_point(track_pos, wheelbase, -axles.back().type->position/wheelbase);
- }
- else if(bogies.size()>=2)
- {
- TrackPosition front = track_pos;
- front.advance(bogies.front().type->position);
- TrackPosition back = track_pos;
- back.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<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);
+ OrientedPoint front_point = placement.get_bogie_point(bogies.front().type->index);
+ bogies.front().direction = front_point.rotation-p.rotation;
- 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().type->position/bogie_spacing);
-
- bogies.front().direction = front_point.dir-tp.dir;
- bogies.back().direction = back_point.dir-tp.dir;
+ OrientedPoint back_point = placement.get_bogie_point(bogies.back().type->index);
+ bogies.back().direction = back_point.rotation-p.rotation;
}
- else
- tp = track_pos.get_point();
if(!prev)
- check_sensor(type.get_front_axle_offset(), front_sensor);
+ check_sensor(placement.get_position(VehiclePlacement::FRONT_AXLE), front_sensor, sign<0);
if(!next)
- check_sensor(type.get_back_axle_offset(), back_sensor);
+ check_sensor(placement.get_position(VehiclePlacement::BACK_AXLE), back_sensor, sign>0);
- position = tp.pos;
- position.z += layout.get_catalogue().get_rail_elevation();
- 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(!track_pos.track || dist<tdist-margin || dist>tdist+margin)
+ if(!is_placed() || dist<tdist-margin || dist>tdist+margin)
{
- track_pos = veh.track_pos;
- track_pos.advance(sign*tdist);
- update_position();
+ if(sign<0)
+ placement.place_after(veh.placement);
+ else
+ placement.place_before(veh.placement);
+ update_position(0);
dist = distance(veh.position, position);
}
- track_pos.advance(sign*(tdist-dist));
- update_position();
- turn_axles(sign*(tdist-dist));
+ float d = sign*(tdist-dist);
+ placement.advance(d);
+ update_position(d<0 ? -1 : 1);
+ turn_axles(d);
}
void Vehicle::propagate_position()
next->propagate_backward();
}
-void Vehicle::check_sensor(float offset, unsigned &sensor)
+void Vehicle::check_sensor(const TrackOffsetIter &t, unsigned &sensor, bool release)
{
- TrackPosition pos = track_pos;
- pos.advance(offset);
- unsigned s = pos.track->get_sensor_id();
+ unsigned s = t->get_sensor_address();
if(s!=sensor)
{
- /* Sensor ID under axle has changed. Deduce movement direction by using
- the sensor ID under the midpoint of the vehicle. */
- /* XXX This depends on the simulation running fast enough. Something
- more robust would be preferable. */
unsigned old = sensor;
sensor = s;
- unsigned mid = track_pos.track->get_sensor_id();
-
- if(s && s!=mid)
- /* There's a sensor and it's different from mid. We've just entered
- that sensor. */
- layout.get_driver().set_sensor(sensor, true);
- if(old && old!=mid)
- /* A sensor was under the axle and it was different from mid. We've
- just left that sensor. */
+ if(release)
layout.get_driver().set_sensor(old, false);
+ else
+ layout.get_driver().set_sensor(sensor, true);
}
}
{
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(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;
}
}
-void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, float tdist, float ratio) const
+float Vehicle::resolve_rod_constraint(Rod &rod, const VehicleType::RodConstraint &cns)
{
- float margin = 0.01*layout.get_catalogue().get_scale();
- int adjust_dir = 0;
- while(1)
+ 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)
{
- Vector front_point = front.get_point().pos;
- Vector back_point = back.get_point().pos;
-
- float dist = distance(front_point, back_point);
-
- float diff = tdist-dist;
- if(diff<-margin && adjust_dir<=0)
- {
- diff -= margin;
- adjust_dir = -1;
- }
- else if(diff>margin && adjust_dir>=0)
- {
- diff += margin;
- adjust_dir = 1;
- }
- else
- return;
-
- front.advance(diff*(1-ratio));
- back.advance(-diff*ratio);
+ 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);
}
-}
-
-TrackPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
-{
- Vector span = front-back;
-
- TrackPoint tp;
- 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
-{
- TrackPosition front = pos;
- front.advance(tdist*(1-ratio));
- TrackPosition back = pos;
- back.advance(-tdist*ratio);
+ 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();
+ }
- adjust_for_distance(front, back, tdist, ratio);
- return get_point(front.get_point().pos, back.get_point().pos, ratio);
+ return distance(old_position, rod.position);
}
unsigned Vehicle::get_n_link_slots() const
return -1;
}
-
-Vehicle::Axle::Axle(const VehicleType::Axle &t):
- type(&t)
-{ }
-
-
-Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
- type(&t)
+bool Vehicle::collide_ray(const Ray &ray, float *d) const
{
- for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i)
- axles.push_back(*i);
+ if(is_placed())
+ return Object::collide_ray(ray, d);
+ else
+ return false;
}
-Vehicle::Rod::Rod(const VehicleType::Rod &t):
+Vehicle::Axle::Axle(const VehicleType::Axle &t):
type(&t)
{ }
-Vehicle::TrackPosition::TrackPosition():
- offs(0)
+Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
+ type(&t),
+ axles(t.axles.size())
{ }
-Vehicle::TrackPosition::TrackPosition(const TrackIter &t, float o):
- track(t),
- offs(o)
-{ }
-void Vehicle::TrackPosition::advance(float d)
-{
- if(!track)
- return;
-
- offs += d;
- while(track)
- {
- float path_len = track->get_type().get_path_length(track->get_active_path());
-
- if(offs>path_len)
- {
- offs -= path_len;
- track = track.next();
- }
- else
- break;
- }
-
- while(track && offs<0)
- {
- track = track.flip().reverse();
-
- if(track)
- {
- float path_len = track->get_type().get_path_length(track->get_active_path());
- offs += path_len;
- }
- }
-
- if(!track)
- offs = 0;
-}
-
-TrackPoint Vehicle::TrackPosition::get_point() const
-{
- if(track)
- return track->get_point(track.entry(), offs);
- else
- return TrackPoint();
-}
+Vehicle::Rod::Rod(const VehicleType::Rod &t):
+ type(&t),
+ position(t.initial_position)
+{ }
} // namespace R2C2
projects / r2c2.git / blobdiff