X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Fvehicle.cpp;h=6615fb25b768cebf6c05003eb1e52fba5d2efcd2;hb=93c148ff88ba2c8266b44c336ba7ddd948010de7;hp=1c4a5b0f441ec9d5e6b40f711cc54afd176cbf08;hpb=54392d65e2053d1eacb4cfcc435f1013993f2973;p=r2c2.git

diff --git a/source/libr2c2/vehicle.cpp b/source/libr2c2/vehicle.cpp
index 1c4a5b0..6615fb2 100644
--- a/source/libr2c2/vehicle.cpp
+++ b/source/libr2c2/vehicle.cpp
@@ -16,16 +16,26 @@ namespace R2C2 {
 Vehicle::Vehicle(Layout &l, const VehicleType &t):
 	Object(l),
 	type(t),
+	train(0),
 	next(0),
 	prev(0),
+	placement(type),
 	front_sensor(0),
 	back_sensor(0)
 {
-	axles.assign(type.get_fixed_axles().begin(), type.get_fixed_axles().end());
+	axles.assign(type.get_axles().begin(), type.get_axles().end());
+	for(vector<Axle>::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<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
+		for(unsigned j=0; j<i->axles.size(); ++j)
+			i->axles[j] = &axles[i->type->first_axle+j];
+
+	update_rods();
 
-	layout.add_vehicle(*this);
+	layout.add(*this);
 }
 
 Vehicle::~Vehicle()
@@ -34,7 +44,7 @@ Vehicle::~Vehicle()
 		detach_back();
 	if(prev)
 		detach_front();
-	layout.remove_vehicle(*this);
+	layout.remove(*this);
 }
 
 Vehicle *Vehicle::clone(Layout *to_layout) const
@@ -45,6 +55,11 @@ Vehicle *Vehicle::clone(Layout *to_layout) const
 	return veh;
 }
 
+void Vehicle::set_train(Train *t)
+{
+	train = t;
+}
+
 void Vehicle::attach_back(Vehicle &veh)
 {
 	if(next || veh.prev)
@@ -53,7 +68,7 @@ void Vehicle::attach_back(Vehicle &veh)
 	next = &veh;
 	veh.prev = this;
 
-	if(track_pos.track)
+	if(is_placed())
 		propagate_backward();
 }
 
@@ -65,7 +80,7 @@ void Vehicle::attach_front(Vehicle &veh)
 	prev = &veh;
 	veh.next = this;
 
-	if(prev->get_track())
+	if(prev->is_placed())
 		prev->propagate_backward();
 }
 
@@ -87,32 +102,26 @@ void Vehicle::detach_front()
 	prev = 0;
 }
 
-void Vehicle::place(const TrackIter &t, float o, PlaceMode m)
+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");
 
-	track_pos = TrackPosition(t, o);
+	placement.place(t, a);
 
-	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();
+	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();
@@ -122,19 +131,26 @@ 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();
 }
 
-const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
+const Vehicle::Axle &Vehicle::get_axle(unsigned i) const
 {
 	if(i>=axles.size())
-		throw out_of_range("Vehicle::get_fixed_axle");
+		throw out_of_range("Vehicle::get_axle");
 	return axles[i];
 }
 
+const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
+{
+	if(i>=fixed_axles.size())
+		throw out_of_range("Vehicle::get_fixed_axle");
+	return *fixed_axles[i];
+}
+
 const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
 {
 	if(i>=bogies.size())
@@ -148,7 +164,7 @@ const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
 		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];
+	return *bogies[i].axles[j];
 }
 
 const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
@@ -158,48 +174,30 @@ const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
 	return rods[i];
 }
 
-void Vehicle::update_position()
+void Vehicle::update_position(int sign)
 {
-	TrackPoint tp;
-
-	if(axles.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)
 	{
-		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().type->position);
-		TrackPosition back = track_pos;
-		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<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);
+		OrientedPoint front_point = placement.get_bogie_point(bogies.front().type->index);
+		bogies.front().direction = front_point.rotation-p.rotation;
 
-		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().type->position/bogie_spacing);
-
-		bogies.front().direction = front_point.dir-tp.dir;
-		bogies.back().direction = 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();
-	rotation = tp.dir;
+	signal_moved.emit();
 }
 
 void Vehicle::update_position_from(const Vehicle &veh)
@@ -210,18 +208,21 @@ void Vehicle::update_position_from(const Vehicle &veh)
 	float margin = layout.get_catalogue().get_scale();
 
 	float dist = distance(veh.position, position);
-	if(!track_pos.track || dist<tdist-margin || dist>tdist+margin)
+	if(!is_placed() || dist<tdist-margin || dist>tdist+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()
@@ -248,29 +249,17 @@ 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);
 	}
 }
 
@@ -278,117 +267,73 @@ void Vehicle::turn_axles(float d)
 {
 	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()
 {
-	for(vector<Rod>::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<Rod>::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<VehicleType::RodConstraint> &constraints = i->type->constraints;
+			for(vector<VehicleType::RodConstraint>::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;
 	}
 }
 
-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)
 	{
-		Vector front_point = front.get_point().pos;
-		Vector back_point = back.get_point().pos;
-
-		float dist = distance(front_point, back_point);
-
-		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;
-
-		front.advance(diff*(1-ratio));
-		back.advance(-diff*ratio);
+		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);
 	}
-}
-
-TrackPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const
-{
-	Vector span = front-back;
-
-	TrackPoint tp;
-	tp.pos = back+span*ratio;
-	tp.dir = Geometry::atan2(span.y, span.x);
-
-	return tp;
-}
-
-TrackPoint Vehicle::get_point(const TrackPosition &pos, float tdist, float ratio) const
-{
-	TrackPosition front = pos;
-	front.advance(tdist*(1-ratio));
 
-	TrackPosition back = pos;
-	back.advance(-tdist*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<float>(d.z, d.x);
+		if(cns.local_position.x || cns.local_position.z)
+			rod.angle -= Geometry::atan2<float>(cns.local_position.z, cns.local_position.x);
+		return abs(rod.angle-old_angle).radians()*cns.local_position.norm();
+	}
 
-	adjust_for_distance(front, back, tdist, ratio);
-	return get_point(front.get_point().pos, back.get_point().pos, ratio);
+	return distance(old_position, rod.position);
 }
 
 unsigned Vehicle::get_n_link_slots() const
@@ -414,74 +359,29 @@ int Vehicle::get_link_slot(const Object &other) const
 		return -1;
 }
 
-
-Vehicle::Axle::Axle(const VehicleType::Axle &t):
-	type(&t)
-{ }
-
-
-Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
-	type(&t)
+bool Vehicle::collide_ray(const Ray &ray, float *d) const
 {
-	for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i)
-		axles.push_back(*i);
+	if(is_placed())
+		return Object::collide_ray(ray, d);
+	else
+		return false;
 }
 
 
-Vehicle::Rod::Rod(const VehicleType::Rod &t):
+Vehicle::Axle::Axle(const VehicleType::Axle &t):
 	type(&t)
 { }
 
 
-Vehicle::TrackPosition::TrackPosition():
-	offs(0)
-{ }
-
-Vehicle::TrackPosition::TrackPosition(const TrackIter &t, float o):
-	track(t),
-	offs(o)
+Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
+	type(&t),
+	axles(t.axles.size())
 { }
 
-void Vehicle::TrackPosition::advance(float d)
-{
-	if(!track)
-		return;
-
-	offs += d;
-	while(track)
-	{
-		float path_len = track->get_type().get_path_length(track->get_active_path());
-
-		if(offs>path_len)
-		{
-			offs -= path_len;
-			track = track.next();
-		}
-		else
-			break;
-	}
-
-	while(track && offs<0)
-	{
-		track = track.flip().reverse();
-
-		if(track)
-		{
-			float path_len = track->get_type().get_path_length(track->get_active_path());
-			offs += path_len;
-		}
-	}
-
-	if(!track)
-		offs = 0;
-}
 
-TrackPoint Vehicle::TrackPosition::get_point() const
-{
-	if(track)
-		return track->get_point(track.entry(), offs);
-	else
-		return TrackPoint();
-}
+Vehicle::Rod::Rod(const VehicleType::Rod &t):
+	type(&t),
+	position(t.initial_position)
+{ }
 
 } // namespace R2C2