X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Fvehicle.cpp;h=62671fccab1c95fdad2e811fe9c77bc5895884a0;hb=508ee4bfcc0f8fb1373fb7af251c59c873ef896f;hp=578707a63ef5c47eab1bef45104a0c269fe60a6c;hpb=37af7970d9cefcf40ae58ca06ca8469f56b0cc13;p=r2c2.git diff --git a/source/libr2c2/vehicle.cpp b/source/libr2c2/vehicle.cpp index 578707a..62671fc 100644 --- a/source/libr2c2/vehicle.cpp +++ b/source/libr2c2/vehicle.cpp @@ -1,15 +1,9 @@ -/* $Id$ - -This file is part of R²C² -Copyright © 2010 Mikkosoft Productions, Mikko Rasa -Distributed under the GPL -*/ - #include #include "catalogue.h" #include "driver.h" #include "layout.h" #include "track.h" +#include "trackappearance.h" #include "trackiter.h" #include "tracktype.h" #include "vehicle.h" @@ -21,23 +15,28 @@ 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()), + 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]; + + update_rods(); - 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() @@ -46,37 +45,50 @@ 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; @@ -85,35 +97,32 @@ 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"); + 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(); @@ -123,93 +132,73 @@ 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]; } -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>=fixed_axles.size()) + throw out_of_range("Vehicle::get_fixed_axle"); + return *fixed_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() +void Vehicle::update_position(int sign) { - TrackPoint tp; - - 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) + 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().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); + OrientedPoint front_point = placement.get_bogie_point(bogies.front().type->index); + bogies.front().direction = front_point.rotation-p.rotation; - 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 &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); - - tp = get_point(front_point.pos, back_point.pos, -bogies.back().position/bogie_spacing); - - 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) @@ -220,18 +209,21 @@ 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(); - 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() @@ -258,226 +250,139 @@ 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_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) { - 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); update_rods(); } void Vehicle::update_rods() { - const vector &trods = type.get_rods(); - for(unsigned i=0; i=0) + for(unsigned n=0; n<10; ++n) + { + float max_d = 0; + for(vector::iterator i=rods.begin(); i!=rods.end(); ++i) { - const VehicleType::Rod &crod = trods[rod.connect_index]; - if(rod.limit==VehicleType::Rod::ROTATE && crod.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; - } - else if(rod.limit==VehicleType::Rod::ROTATE && crod.limit==VehicleType::Rod::ROTATE) + const vector &constraints = i->type->constraints; + for(vector::const_iterator j=constraints.begin(); j!=constraints.end(); ++j) { - 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); - 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 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) { - Point front_point = front.get_point().pos; - Point 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(d.z, d.x); + if(cns.local_position.x || cns.local_position.z) + rod.angle -= Geometry::atan2(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 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; - - 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; + if(&other==prev) + return 0; + else if(&other==next) + return 1; + else + return -1; } -TrackPoint Vehicle::TrackPosition::get_point() const +bool Vehicle::collide_ray(const Ray &ray, float *d) const { - if(track) - return track->get_point(ep, offs); + if(is_placed()) + return Object::collide_ray(ray, d); else - return TrackPoint(); + return false; } -Vehicle::Rod::Rod(): - angle(0) +Vehicle::Axle::Axle(const VehicleType::Axle &t): + type(&t) +{ } + + +Vehicle::Bogie::Bogie(const VehicleType::Bogie &t): + type(&t), + axles(t.axles.size()) +{ } + + +Vehicle::Rod::Rod(const VehicleType::Rod &t): + type(&t), + position(t.initial_position) { } } // namespace R2C2