X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Fvehicle.cpp;h=6615fb25b768cebf6c05003eb1e52fba5d2efcd2;hb=93c148ff88ba2c8266b44c336ba7ddd948010de7;hp=96ad879fbc0c2d300ad1ae19cb6f10e2f2bb050e;hpb=bc9e941447da48905295192289bc09483a678180;p=r2c2.git diff --git a/source/libr2c2/vehicle.cpp b/source/libr2c2/vehicle.cpp index 96ad879..6615fb2 100644 --- a/source/libr2c2/vehicle.cpp +++ b/source/libr2c2/vehicle.cpp @@ -19,6 +19,7 @@ Vehicle::Vehicle(Layout &l, const VehicleType &t): train(0), next(0), prev(0), + placement(type), front_sensor(0), back_sensor(0) { @@ -32,6 +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); } @@ -65,7 +68,7 @@ void Vehicle::attach_back(Vehicle &veh) next = &veh; veh.prev = this; - if(track) + if(is_placed()) propagate_backward(); } @@ -77,7 +80,7 @@ void Vehicle::attach_front(Vehicle &veh) prev = &veh; veh.next = this; - if(prev->get_track()) + if(prev->is_placed()) prev->propagate_backward(); } @@ -99,32 +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 = TrackOffsetIter(t, o); + placement.place(t, a); - if(m==FRONT_AXLE) - track = track.advance(-type.get_front_axle_offset()); - else if(m==FRONT_BUFFER) - track = track.advance(-type.get_length()/2); - else if(m==BACK_AXLE) - track = track.advance(-type.get_back_axle_offset()); - else if(m==BACK_BUFFER) - track = track.advance(type.get_length()/2); - - update_position(); + update_position(0); propagate_position(); } void Vehicle::unplace() { - if(!track) + if(!placement.is_placed()) return; - track = TrackOffsetIter(); + placement.unplace(); if(prev) prev->unplace(); @@ -134,9 +131,9 @@ void Vehicle::unplace() void Vehicle::advance(float d) { - track = track.advance(d); - update_position(); + placement.advance(d); turn_axles(d); + update_position(d<0 ? -1 : 1); propagate_position(); } @@ -177,47 +174,29 @@ const Vehicle::Rod &Vehicle::get_rod(unsigned i) const return rods[i]; } -void Vehicle::update_position() +void Vehicle::update_position(int sign) { - OrientedPoint p; + 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(fixed_axles.size()>=2) - { - float wheelbase = fixed_axles.front()->type->position-fixed_axles.back()->type->position; - p = get_point(track, wheelbase, -fixed_axles.back()->type->position/wheelbase); - } - else if(bogies.size()>=2) + if(bogies.size()>=2) { - 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()->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()->type->position-back_axles.back()->type->position; - OrientedPoint back_point = get_point(back, wheelbase, -back_axles.back()->type->position/wheelbase); - - p = get_point(front_point.position, back_point.position, -bogies.back().type->position/bogie_spacing); - + OrientedPoint front_point = placement.get_bogie_point(bogies.front().type->index); bogies.front().direction = front_point.rotation-p.rotation; + + OrientedPoint back_point = placement.get_bogie_point(bogies.back().type->index); bogies.back().direction = back_point.rotation-p.rotation; } - else - p = track.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 = p.position; - position.z += layout.get_catalogue().get_rail_elevation(); - rotation = p.rotation; - tilt = p.tilt; signal_moved.emit(); } @@ -229,17 +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 || disttdist+margin) + if(!is_placed() || disttdist+margin) { - track = veh.track.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 = track.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() @@ -266,28 +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) { - TrackOffsetIter iter = track.advance(offset); - unsigned s = iter->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->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); } } @@ -301,106 +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) + const vector &constraints = i->type->constraints; + for(vector::const_iterator j=constraints.begin(); j!=constraints.end(); ++j) { - 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; + float d = resolve_rod_constraint(*i, *j); + max_d = max(d, max_d); } } + + if(max_d<0.0001) + break; } } -void Vehicle::adjust_for_distance(TrackOffsetIter &front, TrackOffsetIter &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.point().position; - Vector back_point = back.point().position; - - 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 = front.advance(diff*(1-ratio)); - back = 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); } -} - -OrientedPoint Vehicle::get_point(const Vector &front, const Vector &back, float ratio) const -{ - Vector span = front-back; - - 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 p; -} -OrientedPoint Vehicle::get_point(const TrackOffsetIter &iter, float tdist, float ratio) const -{ - TrackOffsetIter front = iter.advance(tdist*(1-ratio)); - TrackOffsetIter back = iter.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(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(); + } - adjust_for_distance(front, back, tdist, ratio); - return get_point(front.point().position, back.point().position, ratio); + return distance(old_position, rod.position); } unsigned Vehicle::get_n_link_slots() const @@ -426,6 +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) @@ -439,7 +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