-/* $Id$
-
-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()),
- axle_angles(1),
- rods(type.get_rods().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());
- axle_angles.front().resize(type.get_axles().size(), 0.0f);
- const vector<VehicleType::Bogie> &bogies = type.get_bogies();
- for(vector<VehicleType::Bogie>::const_iterator i=bogies.begin(); i!=bogies.end(); ++i)
- axle_angles.push_back(vector<float>(i->axles.size(), 0.0f));
+ 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;
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_pos = TrackPosition(t, o);
if(m==FRONT_AXLE)
track_pos.advance(-type.get_front_axle_offset());
propagate_position();
}
-float Vehicle::get_bogie_direction(unsigned i) const
-{
- if(i>=bogie_dirs.size())
- throw InvalidParameterValue("Bogie index out of range");
- return bogie_dirs[i];
-}
-
-float Vehicle::get_axle_angle(unsigned i) const
+const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
{
- if(i>=axle_angles[0].size())
- throw InvalidParameterValue("Axle index out of range");
- return axle_angles[0][i];
+ if(i>=axles.size())
+ throw out_of_range("Vehicle::get_fixed_axle");
+ return axles[i];
}
-float Vehicle::get_bogie_axle_angle(unsigned i, unsigned j) const
+const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
{
- if(i+1>=axle_angles.size())
- throw InvalidParameterValue("Bogie index out of range");
- if(j>=axle_angles[i+1].size())
- throw InvalidParameterValue("Axle index out of range");
- return axle_angles[i+1][j];
+ if(i>=bogies.size())
+ throw out_of_range("Vehicle::get_bogie");
+ return bogies[i];
}
-const Point &Vehicle::get_rod_position(unsigned i) const
+const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
{
- if(i>=rods.size())
- throw InvalidParameterValue("Rod index out of range");
- return rods[i].position;
+ 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];
}
-float Vehicle::get_rod_angle(unsigned i) const
+const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
{
if(i>=rods.size())
- throw InvalidParameterValue("Rod index out of range");
- return rods[i].angle;
+ 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_pos, wheelbase, -axles.back().type->position/wheelbase);
}
else if(bogies.size()>=2)
{
TrackPosition front = track_pos;
- front.advance(bogies.front().position);
+ front.advance(bogies.front().type->position);
TrackPosition back = track_pos;
- back.advance(bogies.back().position);
- float bogie_spacing = bogies.front().position-bogies.back().position;
+ 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<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();
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_pos.track || dist<tdist-margin || dist>tdist+margin)
{
track_pos = veh.track_pos;
track_pos.advance(sign*tdist);
void Vehicle::turn_axles(float d)
{
- const vector<VehicleType::Axle> &axles = type.get_axles();
- const vector<VehicleType::Bogie> &bogies = type.get_bogies();
- for(unsigned i=0; i<axle_angles.size(); ++i)
- for(unsigned j=0; j<axle_angles[i].size(); ++j)
- {
- const VehicleType::Axle &axle = (i==0 ? axles[j] : bogies[i-1].axles[j]);
- axle_angles[i][j] += d*2/axle.wheel_dia;
- }
+ 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()
{
- const vector<VehicleType::Rod> &trods = type.get_rods();
- for(unsigned i=0; i<trods.size(); ++i)
+ for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
{
- const VehicleType::Rod &rod = trods[i];
- if(rod.pivot==VehicleType::Rod::BODY)
- rods[i].position = rod.pivot_point;
- else if(rod.pivot==VehicleType::Rod::AXLE)
+ if(i->type->pivot==VehicleType::Rod::BODY)
+ i->position = i->type->pivot_point;
+ else if(i->type->pivot==VehicleType::Rod::AXLE)
{
- const VehicleType::Axle &axle = type.get_axles()[rod.pivot_index];
- float angle = axle_angles[0][rod.pivot_index];
- float c = cos(angle);
- float s = sin(angle);
- const Point &pp = rod.pivot_point;
- rods[i].position = Point(axle.position+pp.x*c+pp.z*s, pp.y, axle.wheel_dia/2+pp.z*c-pp.x*s);
+ 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(rod.pivot==VehicleType::Rod::ROD)
+ else if(i->type->pivot==VehicleType::Rod::ROD)
{
- float angle = rods[rod.pivot_index].angle;
- float c = cos(angle);
- float s = sin(angle);
- const Point &pos = rods[rod.pivot_index].position;
- const Point &off = rod.pivot_point;
- rods[i].position = Point(pos.x+off.x*c-off.z*s, pos.y+off.y, pos.z+off.z*c+off.x*s);
+ 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(rod.connect_index>=0)
+ if(i->type->connect_index>=0)
{
- const VehicleType::Rod &crod = trods[rod.connect_index];
- if(rod.limit==VehicleType::Rod::ROTATE && crod.limit==VehicleType::Rod::SLIDE_X)
+ Rod &crod = rods[i->type->connect_index];
+ if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X)
{
- float dx = (rods[rod.connect_index].position.x+rod.connect_offset.x)-rods[i].position.x;
- float dz = (rods[rod.connect_index].position.z+rod.connect_offset.z)-rods[i].position.z;
- float cd = sqrt(rod.connect_point.x*rod.connect_point.x+rod.connect_point.z*rod.connect_point.z);
- float ca = atan2(rod.connect_point.z, rod.connect_point.x);
- dx = sqrt(cd*cd-dz*dz)*(dx>0 ? 1 : -1);
- rods[i].angle = atan2(dz, dx)-ca;
- rods[rod.connect_index].position.x = rods[i].position.x+dx-rod.connect_offset.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(rod.limit==VehicleType::Rod::ROTATE && crod.limit==VehicleType::Rod::ROTATE)
+ else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE)
{
- float dx = rods[rod.connect_index].position.x-rods[i].position.x;
- float dz = rods[rod.connect_index].position.z-rods[i].position.z;
- float d = sqrt(dx*dx+dz*dz);
- float cd1 = sqrt(rod.connect_point.x*rod.connect_point.x+rod.connect_point.z*rod.connect_point.z);
- float cd2 = sqrt(rod.connect_offset.x*rod.connect_offset.x+rod.connect_offset.z*rod.connect_offset.z);
+ 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 = (dx*rod.connect_point.z-dz*rod.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(rod.connect_point.z, rod.connect_point.x);
- float ca2 = atan2(rod.connect_offset.z, rod.connect_offset.x);
- rods[i].angle = atan2(cz, cx)-ca1;
- rods[rod.connect_index].angle = atan2(cz-dz, cx-dx)-ca2;
+ 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;
}
}
}
int adjust_dir = 0;
while(1)
{
- Point front_point = front.get_point().pos;
- Point back_point = back.get_point().pos;
+ 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 dist = distance(front_point, back_point);
float diff = tdist-dist;
if(diff<-margin && adjust_dir<=0)
}
}
-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;
}
return get_point(front.get_point().pos, back.get_point().pos, ratio);
}
+unsigned Vehicle::get_n_link_slots() const
+{
+ return 2;
+}
+
+Vehicle *Vehicle::get_link(unsigned i) const
+{
+ if(i>=2)
+ throw out_of_range("Vehicle::get_link");
+
+ return (i==0 ? prev : next);
+}
+
+int Vehicle::get_link_slot(const Object &other) const
+{
+ if(&other==prev)
+ return 0;
+ else if(&other==next)
+ return 1;
+ else
+ return -1;
+}
+
+
+Vehicle::Axle::Axle(const VehicleType::Axle &t):
+ type(&t)
+{ }
+
+
+Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
+ type(&t)
+{
+ 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)
+{ }
+
Vehicle::TrackPosition::TrackPosition():
- track(0),
- ep(0),
offs(0)
{ }
-Vehicle::TrackPosition::TrackPosition(Track *t, unsigned e, float o):
+Vehicle::TrackPosition::TrackPosition(const TrackIter &t, float o):
track(t),
- ep(e),
offs(o)
{ }
return;
offs += d;
- TrackIter iter(track, ep);
- while(iter)
+ while(track)
{
- float path_len = iter->get_type().get_path_length(iter->get_active_path());
+ float path_len = track->get_type().get_path_length(track->get_active_path());
if(offs>path_len)
{
offs -= path_len;
- iter = iter.next();
+ track = track.next();
}
else
break;
}
- while(iter && offs<0)
+ while(track && offs<0)
{
- iter = iter.flip().reverse();
+ track = track.flip().reverse();
- if(iter)
+ if(track)
{
- float path_len = iter->get_type().get_path_length(iter->get_active_path());
+ float path_len = track->get_type().get_path_length(track->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);
+ return track->get_point(track.entry(), offs);
else
return TrackPoint();
}
-
-Vehicle::Rod::Rod():
- angle(0)
-{ }
-
} // namespace R2C2