X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Fvehicle.cpp;h=0316887fded747e90e2d62fa07afa3fd287de499;hb=2314cc760b726c5aa0e697c82f3a9051784e0706;hp=e0a5c9695f210e11938ab2d4c22b4d69d1d26d10;hpb=1ff06c5bc46a677fa389ef86c6b26664368f1653;p=r2c2.git diff --git a/source/libr2c2/vehicle.cpp b/source/libr2c2/vehicle.cpp index e0a5c96..0316887 100644 --- a/source/libr2c2/vehicle.cpp +++ b/source/libr2c2/vehicle.cpp @@ -1,10 +1,3 @@ -/* $Id$ - -This file is part of R²C² -Copyright © 2010 Mikkosoft Productions, Mikko Rasa -Distributed under the GPL -*/ - #include #include "catalogue.h" #include "driver.h" @@ -21,16 +14,26 @@ using namespace Msp; 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()), + placement(type), front_sensor(0), back_sensor(0) { - layout.add_vehicle(*this); + axles.assign(type.get_axles().begin(), type.get_axles().end()); + for(vector::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::iterator i=bogies.begin(); i!=bogies.end(); ++i) + for(unsigned j=0; jaxles.size(); ++j) + i->axles[j] = &axles[i->type->first_axle+j]; + + layout.add(*this); } Vehicle::~Vehicle() @@ -39,37 +42,50 @@ 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; @@ -78,35 +94,29 @@ void Vehicle::detach_back() 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"); + + 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(); @@ -116,62 +126,72 @@ void Vehicle::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(); } -float Vehicle::get_bogie_direction(unsigned i) const +const Vehicle::Axle &Vehicle::get_axle(unsigned i) const { - if(i>=bogie_dirs.size()) - throw InvalidParameterValue("Bogie index out of range"); - return bogie_dirs[i]; + if(i>=axles.size()) + throw out_of_range("Vehicle::get_axle"); + return axles[i]; } -void Vehicle::update_position() +const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const { - TrackPoint tp; + if(i>=fixed_axles.size()) + throw out_of_range("Vehicle::get_fixed_axle"); + return *fixed_axles[i]; +} - const vector &axles = type.get_axles(); - const vector &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); - } - 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; - adjust_for_distance(front, back, bogie_spacing); +const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const +{ + if(i>=bogies.size()) + throw out_of_range("Vehicle::get_bogie"); + return bogies[i]; +} - const vector &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 Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) 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]; +} + +const Vehicle::Rod &Vehicle::get_rod(unsigned i) const +{ + if(i>=rods.size()) + throw out_of_range("Vehicle::get_rod"); + return rods[i]; +} - const vector &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); +void Vehicle::update_position(int sign) +{ + OrientedPoint p = placement.get_point(); + position = p.position; + position.z += layout.get_catalogue().get_rail_elevation(); + rotation = p.rotation; + tilt = p.tilt; - tp = get_point(front_point.pos, back_point.pos, -bogies.back().position/bogie_spacing); + if(bogies.size()>=2) + { + OrientedPoint front_point = placement.get_bogie_point(bogies.front().type->index); + bogies.front().direction = front_point.rotation-p.rotation; - bogie_dirs.front() = front_point.dir-tp.dir; - bogie_dirs.back() = 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) @@ -182,17 +202,21 @@ void Vehicle::update_position_from(const Vehicle &veh) float margin = layout.get_catalogue().get_scale(); float dist = distance(veh.position, position); - if(disttdist+margin) + if(!is_placed() || disttdist+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(); + float d = sign*(tdist-dist); + placement.advance(d); + update_position(d<0 ? -1 : 1); + turn_axles(d); } void Vehicle::propagate_position() @@ -219,146 +243,118 @@ void Vehicle::propagate_backward() 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_id(); 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::adjust_for_distance(TrackPosition &front, TrackPosition &back, float tdist, float ratio) const +void Vehicle::turn_axles(float d) { - 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; + for(vector::iterator i=axles.begin(); i!=axles.end(); ++i) + i->angle += Angle::from_radians(d*2/i->type->wheel_dia); - 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); + update_rods(); +} - float diff = tdist-dist; - if(diff<-margin && adjust_dir<=0) +void Vehicle::update_rods() +{ + for(vector::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) { - diff -= margin; - adjust_dir = -1; + 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(diff>margin && adjust_dir>=0) + else if(i->type->pivot==VehicleType::Rod::ROD) { - diff += margin; - adjust_dir = 1; + 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); } - else - return; - front.advance(diff*(1-ratio)); - back.advance(-diff*ratio); + 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; + } + } } } -TrackPoint Vehicle::get_point(const Point &front, const Point &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; - - TrackPoint tp; - tp.pos = Point(back.x+dx*ratio, back.y+dy*ratio, back.z+dz*ratio); - tp.dir = atan2(dy, dx); - - return tp; + return 2; } -TrackPoint Vehicle::get_point(const TrackPosition &pos, float tdist, float ratio) const +Vehicle *Vehicle::get_link(unsigned i) const { - TrackPosition front = pos; - front.advance(tdist*(1-ratio)); - - TrackPosition back = pos; - back.advance(-tdist*ratio); + if(i>=2) + throw out_of_range("Vehicle::get_link"); - adjust_for_distance(front, back, tdist, ratio); - return get_point(front.get_point().pos, back.get_point().pos, ratio); + return (i==0 ? prev : next); } - -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) +int Vehicle::get_link_slot(const Object &other) const { - if(!track) - return; + if(&other==prev) + return 0; + else if(&other==next) + return 1; + else + return -1; +} - 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; - } +Vehicle::Axle::Axle(const VehicleType::Axle &t): + type(&t) +{ } - 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::Bogie::Bogie(const VehicleType::Bogie &t): + type(&t), + axles(t.axles.size()) +{ } - 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(); -} +Vehicle::Rod::Rod(const VehicleType::Rod &t): + type(&t) +{ } } // namespace R2C2