X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Fvehicle.cpp;h=6615fb25b768cebf6c05003eb1e52fba5d2efcd2;hb=93c148ff88ba2c8266b44c336ba7ddd948010de7;hp=0316887fded747e90e2d62fa07afa3fd287de499;hpb=18c529dfdd34e07f4f6021151ddce29fa85437bc;p=r2c2.git diff --git a/source/libr2c2/vehicle.cpp b/source/libr2c2/vehicle.cpp index 0316887..6615fb2 100644 --- a/source/libr2c2/vehicle.cpp +++ b/source/libr2c2/vehicle.cpp @@ -33,6 +33,8 @@ Vehicle::Vehicle(Layout &l, const VehicleType &t): for(unsigned j=0; jaxles.size(); ++j) i->axles[j] = &axles[i->type->first_axle+j]; + update_rods(); + layout.add(*this); } @@ -104,6 +106,9 @@ void Vehicle::place(const TrackOffsetIter &t, VehiclePlacement::Anchor a) { 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); @@ -173,7 +178,8 @@ void Vehicle::update_position(int sign) { OrientedPoint p = placement.get_point(); position = p.position; - position.z += layout.get_catalogue().get_rail_elevation(); + // 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; @@ -245,7 +251,7 @@ void Vehicle::propagate_backward() void Vehicle::check_sensor(const TrackOffsetIter &t, unsigned &sensor, bool release) { - unsigned s = t->get_sensor_id(); + unsigned s = t->get_sensor_address(); if(s!=sensor) { unsigned old = sensor; @@ -267,55 +273,67 @@ void Vehicle::turn_axles(float d) 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) - { - 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(i->type->pivot==VehicleType::Rod::ROD) - { - 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(rods.empty()) + return; - if(i->type->connect_index>=0) + for(unsigned n=0; n<10; ++n) + { + float max_d = 0; + for(vector::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) - { - 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) + const vector &constraints = i->type->constraints; + for(vector::const_iterator j=constraints.begin(); j!=constraints.end(); ++j) { - 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; + float d = resolve_rod_constraint(*i, *j); + max_d = max(d, max_d); } } + + if(max_d<0.0001) + break; + } +} + +float Vehicle::resolve_rod_constraint(Rod &rod, const VehicleType::RodConstraint &cns) +{ + 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) + { + 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); + } + + 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); } unsigned Vehicle::get_n_link_slots() const @@ -341,6 +359,14 @@ int Vehicle::get_link_slot(const Object &other) const return -1; } +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) @@ -354,7 +380,8 @@ Vehicle::Bogie::Bogie(const VehicleType::Bogie &t): Vehicle::Rod::Rod(const VehicleType::Rod &t): - type(&t) + type(&t), + position(t.initial_position) { } } // namespace R2C2