source/libr2c2/vehicle.cpp

   1 #include <cmath>
   2 #include "catalogue.h"
   3 #include "driver.h"
   4 #include "layout.h"
   5 #include "track.h"
   6 #include "trackiter.h"
   7 #include "tracktype.h"
   8 #include "vehicle.h"
   9 #include "vehicletype.h"
  10
  11 using namespace std;
  12 using namespace Msp;
  13
  14 namespace R2C2 {
  15
  16 Vehicle::Vehicle(Layout &l, const VehicleType &t):
  17         Object(l),
  18         type(t),
  19         train(0),
  20         next(0),
  21         prev(0),
  22         placement(type),
  23         front_sensor(0),
  24         back_sensor(0)
  25 {
  26         axles.assign(type.get_axles().begin(), type.get_axles().end());
  27         for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
  28                 if(!i->type->bogie)
  29                         fixed_axles.push_back(&*i);
  30         bogies.assign(type.get_bogies().begin(), type.get_bogies().end());
  31         rods.assign(type.get_rods().begin(), type.get_rods().end());
  32         for(vector<Bogie>::iterator i=bogies.begin(); i!=bogies.end(); ++i)
  33                 for(unsigned j=0; j<i->axles.size(); ++j)
  34                         i->axles[j] = &axles[i->type->first_axle+j];
  35
  36         update_rods();
  37
  38         layout.add(*this);
  39 }
  40
  41 Vehicle::~Vehicle()
  42 {
  43         if(next)
  44                 detach_back();
  45         if(prev)
  46                 detach_front();
  47         layout.remove(*this);
  48 }
  49
  50 Vehicle *Vehicle::clone(Layout *to_layout) const
  51 {
  52         Vehicle *veh = new Vehicle((to_layout ? *to_layout : layout), type);
  53         veh->set_position(position);
  54         veh->set_rotation(rotation);
  55         return veh;
  56 }
  57
  58 void Vehicle::set_train(Train *t)
  59 {
  60         train = t;
  61 }
  62
  63 void Vehicle::attach_back(Vehicle &veh)
  64 {
  65         if(next || veh.prev)
  66                 throw attachment_error("already attached");
  67
  68         next = &veh;
  69         veh.prev = this;
  70
  71         if(is_placed())
  72                 propagate_backward();
  73 }
  74
  75 void Vehicle::attach_front(Vehicle &veh)
  76 {
  77         if(prev || veh.next)
  78                 throw attachment_error("already attached");
  79
  80         prev = &veh;
  81         veh.next = this;
  82
  83         if(prev->is_placed())
  84                 prev->propagate_backward();
  85 }
  86
  87 void Vehicle::detach_back()
  88 {
  89         if(!next)
  90                 throw attachment_error("not attached");
  91
  92         next->prev = 0;
  93         next = 0;
  94 }
  95
  96 void Vehicle::detach_front()
  97 {
  98         if(!prev)
  99                 throw attachment_error("not attached");
 100
 101         prev->next = 0;
 102         prev = 0;
 103 }
 104
 105 void Vehicle::place(const TrackOffsetIter &t, VehiclePlacement::Anchor a)
 106 {
 107         if(!t)
 108                 throw invalid_argument("Vehicle::place");
 109         float gauge_ratio = t->get_type().get_gauge()/type.get_gauge();
 110         if(gauge_ratio<0.99 || gauge_ratio>1.01)
 111                 throw logic_error("Incompatible gauge");
 112
 113         placement.place(t, a);
 114
 115         update_position(0);
 116         propagate_position();
 117 }
 118
 119 void Vehicle::unplace()
 120 {
 121         if(!placement.is_placed())
 122                 return;
 123
 124         placement.unplace();
 125
 126         if(prev)
 127                 prev->unplace();
 128         if(next)
 129                 next->unplace();
 130 }
 131
 132 void Vehicle::advance(float d)
 133 {
 134         placement.advance(d);
 135         turn_axles(d);
 136         update_position(d<0 ? -1 : 1);
 137         propagate_position();
 138 }
 139
 140 const Vehicle::Axle &Vehicle::get_axle(unsigned i) const
 141 {
 142         if(i>=axles.size())
 143                 throw out_of_range("Vehicle::get_axle");
 144         return axles[i];
 145 }
 146
 147 const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
 148 {
 149         if(i>=fixed_axles.size())
 150                 throw out_of_range("Vehicle::get_fixed_axle");
 151         return *fixed_axles[i];
 152 }
 153
 154 const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
 155 {
 156         if(i>=bogies.size())
 157                 throw out_of_range("Vehicle::get_bogie");
 158         return bogies[i];
 159 }
 160
 161 const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
 162 {
 163         if(i>=bogies.size())
 164                 throw out_of_range("Vehicle::get_bogie_axle");
 165         if(j>=bogies[i].axles.size())
 166                 throw out_of_range("Vehicle::get_bogie_axle");
 167         return *bogies[i].axles[j];
 168 }
 169
 170 const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
 171 {
 172         if(i>=rods.size())
 173                 throw out_of_range("Vehicle::get_rod");
 174         return rods[i];
 175 }
 176
 177 void Vehicle::update_position(int sign)
 178 {
 179         OrientedPoint p = placement.get_point();
 180         position = p.position;
 181         // TODO Move the z adjustment to VehiclePlacement
 182         position.z += placement.get_position(VehiclePlacement::FRONT_AXLE)->get_type().get_appearance().get_rail_elevation();
 183         rotation = p.rotation;
 184         tilt = p.tilt;
 185
 186         if(bogies.size()>=2)
 187         {
 188                 OrientedPoint front_point = placement.get_bogie_point(bogies.front().type->index);
 189                 bogies.front().direction = front_point.rotation-p.rotation;
 190
 191                 OrientedPoint back_point = placement.get_bogie_point(bogies.back().type->index);
 192                 bogies.back().direction = back_point.rotation-p.rotation;
 193         }
 194
 195         if(!prev)
 196                 check_sensor(placement.get_position(VehiclePlacement::FRONT_AXLE), front_sensor, sign<0);
 197         if(!next)
 198                 check_sensor(placement.get_position(VehiclePlacement::BACK_AXLE), back_sensor, sign>0);
 199
 200         signal_moved.emit();
 201 }
 202
 203 void Vehicle::update_position_from(const Vehicle &veh)
 204 {
 205         int sign = (&veh==prev ? -1 : 1);
 206
 207         float tdist = (type.get_length()+veh.type.get_length())/2;
 208         float margin = layout.get_catalogue().get_scale();
 209
 210         float dist = distance(veh.position, position);
 211         if(!is_placed() || dist<tdist-margin || dist>tdist+margin)
 212         {
 213                 if(sign<0)
 214                         placement.place_after(veh.placement);
 215                 else
 216                         placement.place_before(veh.placement);
 217                 update_position(0);
 218
 219                 dist = distance(veh.position, position);
 220         }
 221
 222         float d = sign*(tdist-dist);
 223         placement.advance(d);
 224         update_position(d<0 ? -1 : 1);
 225         turn_axles(d);
 226 }
 227
 228 void Vehicle::propagate_position()
 229 {
 230         if(prev)
 231                 propagate_forward();
 232         if(next)
 233                 propagate_backward();
 234 }
 235
 236 void Vehicle::propagate_forward()
 237 {
 238         prev->update_position_from(*this);
 239
 240         if(prev->prev)
 241                 prev->propagate_forward();
 242 }
 243
 244 void Vehicle::propagate_backward()
 245 {
 246         next->update_position_from(*this);
 247
 248         if(next->next)
 249                 next->propagate_backward();
 250 }
 251
 252 void Vehicle::check_sensor(const TrackOffsetIter &t, unsigned &sensor, bool release)
 253 {
 254         unsigned s = t->get_sensor_address();
 255         if(s!=sensor)
 256         {
 257                 unsigned old = sensor;
 258                 sensor = s;
 259                 if(release)
 260                         layout.get_driver().set_sensor(old, false);
 261                 else
 262                         layout.get_driver().set_sensor(sensor, true);
 263         }
 264 }
 265
 266 void Vehicle::turn_axles(float d)
 267 {
 268         for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
 269                 i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
 270
 271         update_rods();
 272 }
 273
 274 void Vehicle::update_rods()
 275 {
 276         if(rods.empty())
 277                 return;
 278
 279         for(unsigned n=0; n<10; ++n)
 280         {
 281                 float max_d = 0;
 282                 for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
 283                 {
 284                         const vector<VehicleType::RodConstraint> &constraints = i->type->constraints;
 285                         for(vector<VehicleType::RodConstraint>::const_iterator j=constraints.begin(); j!=constraints.end(); ++j)
 286                         {
 287                                 float d = resolve_rod_constraint(*i, *j);
 288                                 max_d = max(d, max_d);
 289                         }
 290                 }
 291
 292                 if(max_d<0.0001)
 293                         break;
 294         }
 295 }
 296
 297 float Vehicle::resolve_rod_constraint(Rod &rod, const VehicleType::RodConstraint &cns)
 298 {
 299         Vector target;
 300         if(cns.target==VehicleType::RodConstraint::BODY)
 301                 target = cns.target_position;
 302         else if(cns.target==VehicleType::RodConstraint::BOGIE)
 303                 ;  // TODO currently rods must lie in the xz plane of the body
 304         else if(cns.target==VehicleType::RodConstraint::AXLE)
 305         {
 306                 const Axle &axle = get_axle(cns.target_index);
 307                 target = Vector(axle.type->position, 0, axle.type->wheel_dia/2);
 308                 target += Transform::rotation(axle.angle, Vector(0, 1, 0)).transform(cns.target_position);
 309         }
 310         else if(cns.target==VehicleType::RodConstraint::ROD)
 311         {
 312                 const Rod &trod = get_rod(cns.target_index);
 313                 target = trod.position;
 314                 target += Transform::rotation(trod.angle, Vector(0, -1, 0)).transform(cns.target_position);
 315         }
 316
 317         Vector old_position = rod.position;
 318         if(cns.type==VehicleType::RodConstraint::MOVE)
 319                 rod.position = target-Transform::rotation(rod.angle, Vector(0, -1, 0)).transform(cns.local_position);
 320         else if(cns.type==VehicleType::RodConstraint::SLIDE)
 321         {
 322                 Vector d = rod.position-target;
 323                 rod.position = target+cns.axis*dot(d, cns.axis);
 324                 rod.angle = Angle::zero();
 325         }
 326         else if(cns.type==VehicleType::RodConstraint::ROTATE)
 327         {
 328                 Angle old_angle = rod.angle;
 329                 Vector d = target-rod.position;
 330                 rod.angle = Geometry::atan2<float>(d.z, d.x);
 331                 if(cns.local_position.x || cns.local_position.z)
 332                         rod.angle -= Geometry::atan2<float>(cns.local_position.z, cns.local_position.x);
 333                 return abs(rod.angle-old_angle).radians()*cns.local_position.norm();
 334         }
 335
 336         return distance(old_position, rod.position);
 337 }
 338
 339 unsigned Vehicle::get_n_link_slots() const
 340 {
 341         return 2;
 342 }
 343
 344 Vehicle *Vehicle::get_link(unsigned i) const
 345 {
 346         if(i>=2)
 347                 throw out_of_range("Vehicle::get_link");
 348
 349         return (i==0 ? prev : next);
 350 }
 351
 352 int Vehicle::get_link_slot(const Object &other) const
 353 {
 354         if(&other==prev)
 355                 return 0;
 356         else if(&other==next)
 357                 return 1;
 358         else
 359                 return -1;
 360 }
 361
 362 bool Vehicle::collide_ray(const Ray &ray, float *d) const
 363 {
 364         if(is_placed())
 365                 return Object::collide_ray(ray, d);
 366         else
 367                 return false;
 368 }
 369
 370
 371 Vehicle::Axle::Axle(const VehicleType::Axle &t):
 372         type(&t)
 373 { }
 374
 375
 376 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
 377         type(&t),
 378         axles(t.axles.size())
 379 { }
 380
 381
 382 Vehicle::Rod::Rod(const VehicleType::Rod &t):
 383         type(&t),
 384         position(t.initial_position)
 385 { }
 386
 387 } // namespace R2C2