X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Fvehicle.cpp;h=6b89fa8743b604036ccab17c7a42a48e94e8c208;hb=d15ac13f2e170f155b4bbd124df48400c339b644;hp=e0a5c9695f210e11938ab2d4c22b4d69d1d26d10;hpb=1ff06c5bc46a677fa389ef86c6b26664368f1653;p=r2c2.git diff --git a/source/libr2c2/vehicle.cpp b/source/libr2c2/vehicle.cpp index e0a5c96..6b89fa8 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" @@ -26,10 +19,13 @@ Vehicle::Vehicle(Layout &l, const VehicleType &t): next(0), prev(0), direction(0), - bogie_dirs(type.get_bogies().size()), front_sensor(0), back_sensor(0) { + 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()); + layout.add_vehicle(*this); } @@ -118,48 +114,70 @@ void Vehicle::advance(float d) { track_pos.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>=axles.size()) + throw InvalidParameterValue("Axle index out of range"); + return axles[i]; +} + +const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const +{ + if(i>=bogies.size()) + throw InvalidParameterValue("Bogie index out of range"); + return bogies[i]; +} + +const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const { - if(i>=bogie_dirs.size()) + if(i>=bogies.size()) throw InvalidParameterValue("Bogie index out of range"); - return bogie_dirs[i]; + if(j>=bogies[i].axles.size()) + throw InvalidParameterValue("Axle index out of range"); + return bogies[i].axles[j]; +} + +const Vehicle::Rod &Vehicle::get_rod(unsigned i) const +{ + if(i>=rods.size()) + throw InvalidParameterValue("Rod index out of range"); + return rods[i]; } void Vehicle::update_position() { 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); + 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().position); + front.advance(bogies.front().type->position); TrackPosition back = track_pos; - back.advance(bogies.back().position); - float bogie_spacing = bogies.front().position-bogies.back().position; + 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 &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; + TrackPoint 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; + TrackPoint 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); + tp = get_point(front_point.pos, back_point.pos, -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.dir-tp.dir; + bogies.back().direction = back_point.dir-tp.dir; } else tp = track_pos.get_point(); @@ -193,6 +211,7 @@ void Vehicle::update_position_from(const Vehicle &veh) track_pos.advance(sign*(tdist-dist)); update_position(); + turn_axles(sign*(tdist-dist)); } void Vehicle::propagate_position() @@ -245,14 +264,83 @@ void Vehicle::check_sensor(float offset, unsigned &sensor) } } +void Vehicle::turn_axles(float d) +{ + for(vector::iterator i=axles.begin(); i!=axles.end(); ++i) + i->angle += 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 += d*2/j->type->wheel_dia; + + update_rods(); +} + +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); + float c = cos(axle.angle); + float s = sin(axle.angle); + const Vector &pp = i->type->pivot_point; + i->position = Vector(axle.type->position+pp.x*c+pp.z*s, pp.y, axle.type->wheel_dia/2+pp.z*c-pp.x*s); + } + else if(i->type->pivot==VehicleType::Rod::ROD) + { + const Rod &prod = get_rod(i->type->pivot_index); + float c = cos(prod.angle); + float s = sin(prod.angle); + const Vector &pos = prod.position; + const Vector &off = i->type->pivot_point; + i->position = Vector(pos.x+off.x*c-off.z*s, pos.y+off.y, pos.z+off.z*c+off.x*s); + } + + if(i->type->connect_index>=0) + { + Rod &crod = rods[i->type->connect_index]; + if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::SLIDE_X) + { + float dx = (crod.position.x+i->type->connect_offset.x)-i->position.x; + float dz = (crod.position.z+i->type->connect_offset.z)-i->position.z; + float cd = sqrt(i->type->connect_point.x*i->type->connect_point.x+i->type->connect_point.z*i->type->connect_point.z); + float ca = atan2(i->type->connect_point.z, i->type->connect_point.x); + dx = sqrt(cd*cd-dz*dz)*(dx>0 ? 1 : -1); + i->angle = atan2(dz, dx)-ca; + crod.position.x = i->position.x+dx-i->type->connect_offset.x; + } + else if(i->type->limit==VehicleType::Rod::ROTATE && crod.type->limit==VehicleType::Rod::ROTATE) + { + float dx = crod.position.x-i->position.x; + float dz = crod.position.z-i->position.z; + float d = sqrt(dx*dx+dz*dz); + float cd1 = sqrt(i->type->connect_point.x*i->type->connect_point.x+i->type->connect_point.z*i->type->connect_point.z); + float cd2 = sqrt(i->type->connect_offset.x*i->type->connect_offset.x+i->type->connect_offset.z*i->type->connect_offset.z); + float a = (d*d+cd1*cd1-cd2*cd2)/(2*d); + float b = sqrt(cd1*cd1-a*a); + float sign = (dx*i->type->connect_point.z-dz*i->type->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(i->type->connect_point.z, i->type->connect_point.x); + float ca2 = atan2(i->type->connect_offset.z, i->type->connect_offset.x); + i->angle = atan2(cz, cx)-ca1; + crod.angle = atan2(cz-dz, cx-dx)-ca2; + } + } + } +} + void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &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.get_point().pos; + Vector back_point = back.get_point().pos; float dx = front_point.x-back_point.x; float dy = front_point.y-back_point.y; @@ -278,14 +366,14 @@ void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, flo } } -TrackPoint Vehicle::get_point(const Point &front, const Point &back, float ratio) const +TrackPoint 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; TrackPoint tp; - tp.pos = Point(back.x+dx*ratio, back.y+dy*ratio, back.z+dz*ratio); + tp.pos = Vector(back.x+dx*ratio, back.y+dy*ratio, back.z+dz*ratio); tp.dir = atan2(dy, dx); return tp; @@ -304,6 +392,27 @@ TrackPoint Vehicle::get_point(const TrackPosition &pos, float tdist, float ratio } +Vehicle::Axle::Axle(const VehicleType::Axle &t): + type(&t), + angle(0) +{ } + + +Vehicle::Bogie::Bogie(const VehicleType::Bogie &t): + type(&t), + direction(0) +{ + for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i) + axles.push_back(*i); +} + + +Vehicle::Rod::Rod(const VehicleType::Rod &t): + type(&t), + angle(0) +{ } + + Vehicle::TrackPosition::TrackPosition(): track(0), ep(0),