X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Fvehicle.cpp;h=17d67b666a28a49ae73822f82e91aec6162db1b1;hb=d41f66805bc9fe0b33e3d46b47f52e67b5782028;hp=578707a63ef5c47eab1bef45104a0c269fe60a6c;hpb=37af7970d9cefcf40ae58ca06ca8469f56b0cc13;p=r2c2.git diff --git a/source/libr2c2/vehicle.cpp b/source/libr2c2/vehicle.cpp index 578707a..17d67b6 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" @@ -21,23 +14,19 @@ 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()), - 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 &bogies = type.get_bogies(); - for(vector::const_iterator i=bogies.begin(); i!=bogies.end(); ++i) - axle_angles.push_back(vector(i->axles.size(), 0.0f)); + layout.add(*this); } Vehicle::~Vehicle() @@ -46,25 +35,38 @@ 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(track) 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; @@ -76,7 +78,7 @@ void Vehicle::attach_front(Vehicle &veh) void Vehicle::detach_back() { if(!next) - throw InvalidState("Not attached"); + throw attachment_error("not attached"); next->prev = 0; next = 0; @@ -85,24 +87,27 @@ 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 TrackIter &t, float o, PlaceMode m) { - track_pos = TrackPosition(&t, e, o); + if(!t) + throw invalid_argument("Vehicle::place"); + + track = TrackOffsetIter(t, o); if(m==FRONT_AXLE) - track_pos.advance(-type.get_front_axle_offset()); + track = track.advance(-type.get_front_axle_offset()); else if(m==FRONT_BUFFER) - track_pos.advance(-type.get_length()/2); + track = track.advance(-type.get_length()/2); else if(m==BACK_AXLE) - track_pos.advance(-type.get_back_axle_offset()); + track = track.advance(-type.get_back_axle_offset()); else if(m==BACK_BUFFER) - track_pos.advance(type.get_length()/2); + track = track.advance(type.get_length()/2); update_position(); propagate_position(); @@ -110,10 +115,10 @@ void Vehicle::place(Track &t, unsigned e, float o, PlaceMode m) void Vehicle::unplace() { - if(!track_pos.track) + if(!track) return; - track_pos = TrackPosition(); + track = TrackOffsetIter(); if(prev) prev->unplace(); @@ -123,93 +128,84 @@ void Vehicle::unplace() void Vehicle::advance(float d) { - track_pos.advance(d); + track = track.advance(d); update_position(); turn_axles(d); propagate_position(); } -float Vehicle::get_bogie_direction(unsigned i) const +const Vehicle::Axle &Vehicle::get_fixed_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_fixed_axle"); + return axles[i]; } -float Vehicle::get_axle_angle(unsigned i) const +const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const { - if(i>=axle_angles[0].size()) - throw InvalidParameterValue("Axle index out of range"); - return axle_angles[0][i]; + if(i>=bogies.size()) + throw out_of_range("Vehicle::get_bogie"); + return bogies[i]; } -float Vehicle::get_bogie_axle_angle(unsigned i, unsigned j) const +const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) 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_axle"); + if(j>=bogies[i].axles.size()) + throw out_of_range("Vehicle::get_bogie_axle"); + return bogies[i].axles[j]; } -const Point &Vehicle::get_rod_position(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].position; -} - -float Vehicle::get_rod_angle(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; + OrientedPoint p; - 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); + float wheelbase = axles.front().type->position-axles.back().type->position; + p = get_point(track, wheelbase, -axles.back().type->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; + TrackOffsetIter front = track.advance(bogies.front().type->position); + TrackOffsetIter back = track.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 &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 &front_axles = bogies.front().axles; + float wheelbase = front_axles.front().type->position-front_axles.back().type->position; + OrientedPoint front_point = get_point(front, wheelbase, -front_axles.back().type->position/wheelbase); - 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); + const vector &back_axles = bogies.back().axles; + wheelbase = back_axles.front().type->position-back_axles.back().type->position; + OrientedPoint 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); + p = get_point(front_point.position, back_point.position, -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.rotation-p.rotation; + bogies.back().direction = back_point.rotation-p.rotation; } else - tp = track_pos.get_point(); + p = track.point(); if(!prev) check_sensor(type.get_front_axle_offset(), front_sensor); if(!next) check_sensor(type.get_back_axle_offset(), back_sensor); - position = tp.pos; + position = p.position; position.z += layout.get_catalogue().get_rail_elevation(); - direction = tp.dir; + rotation = p.rotation; + tilt = p.tilt; + signal_moved.emit(); } void Vehicle::update_position_from(const Vehicle &veh) @@ -220,16 +216,15 @@ 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(!track || disttdist+margin) { - track_pos = veh.track_pos; - track_pos.advance(sign*tdist); + track = veh.track.advance(sign*tdist); update_position(); dist = distance(veh.position, position); } - track_pos.advance(sign*(tdist-dist)); + track = track.advance(sign*(tdist-dist)); update_position(); turn_axles(sign*(tdist-dist)); } @@ -260,9 +255,8 @@ void Vehicle::propagate_backward() void Vehicle::check_sensor(float offset, unsigned &sensor) { - TrackPosition pos = track_pos; - pos.advance(offset); - unsigned s = pos.track->get_sensor_id(); + TrackOffsetIter iter = track.advance(offset); + unsigned s = iter->get_sensor_id(); if(s!=sensor) { /* Sensor ID under axle has changed. Deduce movement direction by using @@ -271,7 +265,7 @@ void Vehicle::check_sensor(float offset, unsigned &sensor) more robust would be preferable. */ unsigned old = sensor; sensor = s; - unsigned mid = track_pos.track->get_sensor_id(); + unsigned mid = track->get_sensor_id(); if(s && s!=mid) /* There's a sensor and it's different from mid. We've just entered @@ -286,92 +280,78 @@ void Vehicle::check_sensor(float offset, unsigned &sensor) void Vehicle::turn_axles(float d) { - const vector &axles = type.get_axles(); - const vector &bogies = type.get_bogies(); - for(unsigned i=0; i::iterator i=axles.begin(); i!=axles.end(); ++i) + i->angle += Angle::from_radians(d*2/i->type->wheel_dia); + for(vector::iterator i=bogies.begin(); i!=bogies.end(); ++i) + for(vector::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 &trods = type.get_rods(); - for(unsigned i=0; i::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; } } } } -void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, float tdist, float ratio) const +void Vehicle::adjust_for_distance(TrackOffsetIter &front, TrackOffsetIter &back, float tdist, float ratio) const { 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; + Vector front_point = front.point().position; + Vector back_point = back.point().position; - 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) @@ -387,97 +367,71 @@ void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, flo else return; - front.advance(diff*(1-ratio)); - back.advance(-diff*ratio); + front = front.advance(diff*(1-ratio)); + back = back.advance(-diff*ratio); } } -TrackPoint Vehicle::get_point(const Point &front, const Point &back, float ratio) const +OrientedPoint 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); + OrientedPoint p; + p.position = back+span*ratio; + p.rotation = Geometry::atan2(span.y, span.x); + p.tilt = Geometry::atan2(span.z, LinAl::Vector(span).norm()); - return tp; + return p; } -TrackPoint Vehicle::get_point(const TrackPosition &pos, float tdist, float ratio) const +OrientedPoint Vehicle::get_point(const TrackOffsetIter &iter, float tdist, float ratio) const { - TrackPosition front = pos; - front.advance(tdist*(1-ratio)); - - TrackPosition back = pos; - back.advance(-tdist*ratio); + TrackOffsetIter front = iter.advance(tdist*(1-ratio)); + TrackOffsetIter back = iter.advance(-tdist*ratio); adjust_for_distance(front, back, tdist, ratio); - return get_point(front.get_point().pos, back.get_point().pos, ratio); + return get_point(front.point().position, back.point().position, ratio); } +unsigned Vehicle::get_n_link_slots() const +{ + return 2; +} -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) +Vehicle *Vehicle::get_link(unsigned i) const { - if(!track) - return; + if(i>=2) + throw out_of_range("Vehicle::get_link"); - offs += d; - TrackIter iter(track, ep); - while(iter) - { - float path_len = iter->get_type().get_path_length(iter->get_active_path()); + return (i==0 ? prev : next); +} - if(offs>path_len) - { - offs -= path_len; - iter = iter.next(); - } - else - break; - } +int Vehicle::get_link_slot(const Object &other) const +{ + if(&other==prev) + return 0; + else if(&other==next) + return 1; + else + return -1; +} - 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::Axle::Axle(const VehicleType::Axle &t): + type(&t) +{ } - track = iter.track(); - ep = iter.entry(); - if(!track) - offs = 0; -} -TrackPoint Vehicle::TrackPosition::get_point() const +Vehicle::Bogie::Bogie(const VehicleType::Bogie &t): + type(&t) { - if(track) - return track->get_point(ep, offs); - else - return TrackPoint(); + for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i) + axles.push_back(*i); } -Vehicle::Rod::Rod(): - angle(0) +Vehicle::Rod::Rod(const VehicleType::Rod &t): + type(&t) { } } // namespace R2C2