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
 110         placement.place(t, a);
 111
 112         update_position(0);
 113         propagate_position();
 114 }
 115
 116 void Vehicle::unplace()
 117 {
 118         if(!placement.is_placed())
 119                 return;
 120
 121         placement.unplace();
 122
 123         if(prev)
 124                 prev->unplace();
 125         if(next)
 126                 next->unplace();
 127 }
 128
 129 void Vehicle::advance(float d)
 130 {
 131         placement.advance(d);
 132         turn_axles(d);
 133         update_position(d<0 ? -1 : 1);
 134         propagate_position();
 135 }
 136
 137 const Vehicle::Axle &Vehicle::get_axle(unsigned i) const
 138 {
 139         if(i>=axles.size())
 140                 throw out_of_range("Vehicle::get_axle");
 141         return axles[i];
 142 }
 143
 144 const Vehicle::Axle &Vehicle::get_fixed_axle(unsigned i) const
 145 {
 146         if(i>=fixed_axles.size())
 147                 throw out_of_range("Vehicle::get_fixed_axle");
 148         return *fixed_axles[i];
 149 }
 150
 151 const Vehicle::Bogie &Vehicle::get_bogie(unsigned i) const
 152 {
 153         if(i>=bogies.size())
 154                 throw out_of_range("Vehicle::get_bogie");
 155         return bogies[i];
 156 }
 157
 158 const Vehicle::Axle &Vehicle::get_bogie_axle(unsigned i, unsigned j) const
 159 {
 160         if(i>=bogies.size())
 161                 throw out_of_range("Vehicle::get_bogie_axle");
 162         if(j>=bogies[i].axles.size())
 163                 throw out_of_range("Vehicle::get_bogie_axle");
 164         return *bogies[i].axles[j];
 165 }
 166
 167 const Vehicle::Rod &Vehicle::get_rod(unsigned i) const
 168 {
 169         if(i>=rods.size())
 170                 throw out_of_range("Vehicle::get_rod");
 171         return rods[i];
 172 }
 173
 174 void Vehicle::update_position(int sign)
 175 {
 176         OrientedPoint p = placement.get_point();
 177         position = p.position;
 178         // TODO Move the z adjustment to VehiclePlacement
 179         position.z += placement.get_position(VehiclePlacement::FRONT_AXLE)->get_type().get_appearance().get_rail_elevation();
 180         rotation = p.rotation;
 181         tilt = p.tilt;
 182
 183         if(bogies.size()>=2)
 184         {
 185                 OrientedPoint front_point = placement.get_bogie_point(bogies.front().type->index);
 186                 bogies.front().direction = front_point.rotation-p.rotation;
 187
 188                 OrientedPoint back_point = placement.get_bogie_point(bogies.back().type->index);
 189                 bogies.back().direction = back_point.rotation-p.rotation;
 190         }
 191
 192         if(!prev)
 193                 check_sensor(placement.get_position(VehiclePlacement::FRONT_AXLE), front_sensor, sign<0);
 194         if(!next)
 195                 check_sensor(placement.get_position(VehiclePlacement::BACK_AXLE), back_sensor, sign>0);
 196
 197         signal_moved.emit();
 198 }
 199
 200 void Vehicle::update_position_from(const Vehicle &veh)
 201 {
 202         int sign = (&veh==prev ? -1 : 1);
 203
 204         float tdist = (type.get_length()+veh.type.get_length())/2;
 205         float margin = layout.get_catalogue().get_scale();
 206
 207         float dist = distance(veh.position, position);
 208         if(!is_placed() || dist<tdist-margin || dist>tdist+margin)
 209         {
 210                 if(sign<0)
 211                         placement.place_after(veh.placement);
 212                 else
 213                         placement.place_before(veh.placement);
 214                 update_position(0);
 215
 216                 dist = distance(veh.position, position);
 217         }
 218
 219         float d = sign*(tdist-dist);
 220         placement.advance(d);
 221         update_position(d<0 ? -1 : 1);
 222         turn_axles(d);
 223 }
 224
 225 void Vehicle::propagate_position()
 226 {
 227         if(prev)
 228                 propagate_forward();
 229         if(next)
 230                 propagate_backward();
 231 }
 232
 233 void Vehicle::propagate_forward()
 234 {
 235         prev->update_position_from(*this);
 236
 237         if(prev->prev)
 238                 prev->propagate_forward();
 239 }
 240
 241 void Vehicle::propagate_backward()
 242 {
 243         next->update_position_from(*this);
 244
 245         if(next->next)
 246                 next->propagate_backward();
 247 }
 248
 249 void Vehicle::check_sensor(const TrackOffsetIter &t, unsigned &sensor, bool release)
 250 {
 251         unsigned s = t->get_sensor_address();
 252         if(s!=sensor)
 253         {
 254                 unsigned old = sensor;
 255                 sensor = s;
 256                 if(release)
 257                         layout.get_driver().set_sensor(old, false);
 258                 else
 259                         layout.get_driver().set_sensor(sensor, true);
 260         }
 261 }
 262
 263 void Vehicle::turn_axles(float d)
 264 {
 265         for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
 266                 i->angle += Angle::from_radians(d*2/i->type->wheel_dia);
 267
 268         update_rods();
 269 }
 270
 271 void Vehicle::update_rods()
 272 {
 273         if(rods.empty())
 274                 return;
 275
 276         for(unsigned n=0; n<10; ++n)
 277         {
 278                 float max_d = 0;
 279                 for(vector<Rod>::iterator i=rods.begin(); i!=rods.end(); ++i)
 280                 {
 281                         const vector<VehicleType::RodConstraint> &constraints = i->type->constraints;
 282                         for(vector<VehicleType::RodConstraint>::const_iterator j=constraints.begin(); j!=constraints.end(); ++j)
 283                         {
 284                                 float d = resolve_rod_constraint(*i, *j);
 285                                 max_d = max(d, max_d);
 286                         }
 287                 }
 288
 289                 if(max_d<0.0001)
 290                         break;
 291         }
 292 }
 293
 294 float Vehicle::resolve_rod_constraint(Rod &rod, const VehicleType::RodConstraint &cns)
 295 {
 296         Vector target;
 297         if(cns.target==VehicleType::RodConstraint::BODY)
 298                 target = cns.target_position;
 299         else if(cns.target==VehicleType::RodConstraint::BOGIE)
 300                 ;  // TODO currently rods must lie in the xz plane of the body
 301         else if(cns.target==VehicleType::RodConstraint::AXLE)
 302         {
 303                 const Axle &axle = get_axle(cns.target_index);
 304                 target = Vector(axle.type->position, 0, axle.type->wheel_dia/2);
 305                 target += Transform::rotation(axle.angle, Vector(0, 1, 0)).transform(cns.target_position);
 306         }
 307         else if(cns.target==VehicleType::RodConstraint::ROD)
 308         {
 309                 const Rod &trod = get_rod(cns.target_index);
 310                 target = trod.position;
 311                 target += Transform::rotation(trod.angle, Vector(0, -1, 0)).transform(cns.target_position);
 312         }
 313
 314         Vector old_position = rod.position;
 315         if(cns.type==VehicleType::RodConstraint::MOVE)
 316                 rod.position = target-Transform::rotation(rod.angle, Vector(0, -1, 0)).transform(cns.local_position);
 317         else if(cns.type==VehicleType::RodConstraint::SLIDE)
 318         {
 319                 Vector d = rod.position-target;
 320                 rod.position = target+cns.axis*dot(d, cns.axis);
 321                 rod.angle = Angle::zero();
 322         }
 323         else if(cns.type==VehicleType::RodConstraint::ROTATE)
 324         {
 325                 Angle old_angle = rod.angle;
 326                 Vector d = target-rod.position;
 327                 rod.angle = Geometry::atan2<float>(d.z, d.x);
 328                 if(cns.local_position.x || cns.local_position.z)
 329                         rod.angle -= Geometry::atan2<float>(cns.local_position.z, cns.local_position.x);
 330                 return abs(rod.angle-old_angle).radians()*cns.local_position.norm();
 331         }
 332
 333         return distance(old_position, rod.position);
 334 }
 335
 336 unsigned Vehicle::get_n_link_slots() const
 337 {
 338         return 2;
 339 }
 340
 341 Vehicle *Vehicle::get_link(unsigned i) const
 342 {
 343         if(i>=2)
 344                 throw out_of_range("Vehicle::get_link");
 345
 346         return (i==0 ? prev : next);
 347 }
 348
 349 int Vehicle::get_link_slot(const Object &other) const
 350 {
 351         if(&other==prev)
 352                 return 0;
 353         else if(&other==next)
 354                 return 1;
 355         else
 356                 return -1;
 357 }
 358
 359 bool Vehicle::collide_ray(const Ray &ray, float *d) const
 360 {
 361         if(is_placed())
 362                 return Object::collide_ray(ray, d);
 363         else
 364                 return false;
 365 }
 366
 367
 368 Vehicle::Axle::Axle(const VehicleType::Axle &t):
 369         type(&t)
 370 { }
 371
 372
 373 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
 374         type(&t),
 375         axles(t.axles.size())
 376 { }
 377
 378
 379 Vehicle::Rod::Rod(const VehicleType::Rod &t):
 380         type(&t),
 381         position(t.initial_position)
 382 { }
 383
 384 } // namespace R2C2