-/* $Id$
-
-This file is part of R²C²
-Copyright © 2010-2011 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),
+ 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];
- layout.add_vehicle(*this);
+ update_rods();
+
+ 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(is_placed())
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;
- if(prev->get_track())
+ if(prev->is_placed())
prev->propagate_backward();
}
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 TrackOffsetIter &t, VehiclePlacement::Anchor a)
{
- track_pos = TrackPosition(&t, e, 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);
-
- update_position();
+ 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);
+
+ 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 InvalidParameterValue("Axle index out of range");
+ 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 InvalidParameterValue("Bogie index out of range");
+ throw out_of_range("Vehicle::get_bogie");
return bogies[i];
}
const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
{
if(i>=bogies.size())
- throw InvalidParameterValue("Bogie index out of range");
+ throw out_of_range("Vehicle::get_bogie_axle");
if(j>=bogies[i].axles.size())
- throw InvalidParameterValue("Axle index out of range");
- return bogies[i].axles[j];
+ 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 InvalidParameterValue("Rod index out of range");
+ throw out_of_range("Vehicle::get_rod");
return rods[i];
}
-void Vehicle::update_position()
+void Vehicle::update_position(int sign)
{
- TrackPoint tp;
-
- if(axles.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)
+ 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(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);
-
- 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);
+ OrientedPoint front_point = placement.get_bogie_point(bogies.front().type->index);
+ bogies.front().direction = front_point.rotation-p.rotation;
- 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();
- direction = 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(!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);
}
}
void Vehicle::turn_axles(float d)
{
for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
- i->angle += 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 += d*2/j->type->wheel_dia;
+ i->angle += Angle::from_radians(d*2/i->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);
- float c = cos(axle.angle);
- float s = sin(axle.angle);
- const Vector &pp = i->type->pivot_point;
- i->position = Vector(axle.type->position+pp.x*c+pp.z*s, pp.y, axle.type->wheel_dia/2+pp.z*c-pp.x*s);
- }
- else if(i->type->pivot==VehicleType::Rod::ROD)
- {
- const Rod &prod = get_rod(i->type->pivot_index);
- float c = cos(prod.angle);
- float s = sin(prod.angle);
- const Vector &pos = prod.position;
- const Vector &off = i->type->pivot_point;
- i->position = Vector(pos.x+off.x*c-off.z*s, pos.y+off.y, pos.z+off.z*c+off.x*s);
- }
+ 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)
+ const vector<VehicleType::RodConstraint> &constraints = i->type->constraints;
+ for(vector<VehicleType::RodConstraint>::const_iterator j=constraints.begin(); j!=constraints.end(); ++j)
{
- float dx = (crod.position.x+i->type->connect_offset.x)-i->position.x;
- float dz = (crod.position.z+i->type->connect_offset.z)-i->position.z;
- float cd = sqrt(i->type->connect_point.x*i->type->connect_point.x+i->type->connect_point.z*i->type->connect_point.z);
- float ca = atan2(i->type->connect_point.z, i->type->connect_point.x);
- dx = sqrt(cd*cd-dz*dz)*(dx>0 ? 1 : -1);
- i->angle = atan2(dz, dx)-ca;
- crod.position.x = i->position.x+dx-i->type->connect_offset.x;
- }
- else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
- {
- float dx = crod.position.x-i->position.x;
- float dz = crod.position.z-i->position.z;
- float d = sqrt(dx*dx+dz*dz);
- float cd1 = sqrt(i->type->connect_point.x*i->type->connect_point.x+i->type->connect_point.z*i->type->connect_point.z);
- float cd2 = sqrt(i->type->connect_offset.x*i->type->connect_offset.x+i->type->connect_offset.z*i->type->connect_offset.z);
- float a = (d*d+cd1*cd1-cd2*cd2)/(2*d);
- float b = sqrt(cd1*cd1-a*a);
- float sign = (dx*i->type->connect_point.z-dz*i->type->connect_point.x>0 ? 1 : -1);
- float cx = (dx*a-dz*b*sign)/d;
- float cz = (dz*a+dx*b*sign)/d;
- float ca1 = atan2(i->type->connect_point.z, i->type->connect_point.x);
- float ca2 = atan2(i->type->connect_offset.z, i->type->connect_offset.x);
- i->angle = atan2(cz, cx)-ca1;
- crod.angle = atan2(cz-dz, cx-dx)-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 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 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;
+ 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);
+ }
- front.advance(diff*(1-ratio));
- back.advance(-diff*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();
+ }
+
+ return distance(old_position, rod.position);
}
-TrackPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
+unsigned Vehicle::get_n_link_slots() const
{
- float dx = front.x-back.x;
- float dy = front.y-back.y;
- float dz = front.z-back.z;
+ return 2;
+}
- TrackPoint tp;
- tp.pos = Vector(back.x+dx*ratio, back.y+dy*ratio, back.z+dz*ratio);
- tp.dir = atan2(dy, dx);
+Vehicle *Vehicle::get_link(unsigned i) const
+{
+ if(i>=2)
+ throw out_of_range("Vehicle::get_link");
- return tp;
+ return (i==0 ? prev : next);
}
-TrackPoint Vehicle::get_point(const TrackPosition &pos, float tdist, float ratio) const
+int Vehicle::get_link_slot(const Object &other) const
{
- TrackPosition front = pos;
- front.advance(tdist*(1-ratio));
-
- TrackPosition back = pos;
- back.advance(-tdist*ratio);
+ if(&other==prev)
+ return 0;
+ else if(&other==next)
+ return 1;
+ else
+ return -1;
+}
- adjust_for_distance(front, back, tdist, ratio);
- return get_point(front.get_point().pos, back.get_point().pos, ratio);
+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),
- angle(0)
+ type(&t)
{ }
Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
type(&t),
- direction(0)
-{
- for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i)
- axles.push_back(*i);
-}
+ axles(t.axles.size())
+{ }
Vehicle::Rod::Rod(const VehicleType::Rod &t):
type(&t),
- angle(0)
-{ }
-
-
-Vehicle::TrackPosition::TrackPosition():
- track(0),
- ep(0),
- offs(0)
-{ }
-
-Vehicle::TrackPosition::TrackPosition(Track *t, unsigned e, float o):
- track(t),
- ep(e),
- offs(o)
+ position(t.initial_position)
{ }
-void Vehicle::TrackPosition::advance(float d)
-{
- if(!track)
- return;
-
- offs += d;
- TrackIter iter(track, ep);
- while(iter)
- {
- float path_len = iter->get_type().get_path_length(iter->get_active_path());
-
- if(offs>path_len)
- {
- offs -= path_len;
- iter = iter.next();
- }
- else
- break;
- }
-
- 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;
- }
- }
-
- track = iter.track();
- ep = iter.entry();
- if(!track)
- offs = 0;
-}
-
-TrackPoint Vehicle::TrackPosition::get_point() const
-{
- if(track)
- return track->get_point(ep, offs);
- else
- return TrackPoint();
-}
-
} // namespace R2C2
projects / r2c2.git / blobdiff