Make use of the mspmath library

[r2c2.git] / source / libr2c2 / vehicle.cpp

diff --git a/source/libr2c2/vehicle.cpp b/source/libr2c2/vehicle.cpp
index d1819a0fbe5c9e652b7a165970ab0d54bdd19cae..ca2aa42316a16d8da5b5eea506e5cd87b8c79e48 100644 (file)
--- a/source/libr2c2/vehicle.cpp
+++ b/source/libr2c2/vehicle.cpp
@@ -274,10 +274,10 @@ void Vehicle::check_sensor(float offset, unsigned &sensor)
 void Vehicle::turn_axles(float d)
 {
        for(vector<Axle>::iterator i=axles.begin(); i!=axles.end(); ++i)
-               i->angle += d*2/i->type->wheel_dia;
+               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 += d*2/j->type->wheel_dia;
+                       j->angle += Angle::from_radians(d*2/j->type->wheel_dia);
 
        update_rods();
 }
@@ -291,19 +291,17 @@ void Vehicle::update_rods()
                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);
+                       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);
-                       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);
+                       Transform trans = Transform::rotation(prod.angle, Vector(0, 1, 0));
+                       i->position = pos+trans.transform(off);
                }
 
                if(i->type->connect_index>=0)
@@ -311,30 +309,27 @@ void Vehicle::update_rods()
                        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;
+                               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)
                        {
-                               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);
+                               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 = (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;
+                               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;
                        }
                }
        }
@@ -349,10 +344,7 @@ void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, flo
                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;
-               float dz = front_point.z-back_point.z;
-               float dist = sqrt(dx*dx+dy*dy+dz*dz);
+               float dist = distance(front_point, back_point);
 
                float diff = tdist-dist;
                if(diff<-margin && adjust_dir<=0)
@@ -375,13 +367,11 @@ void Vehicle::adjust_for_distance(TrackPosition &front, TrackPosition &back, flo
 
 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;
+       Vector span = front-back;
 
        TrackPoint tp;
-       tp.pos = Vector(back.x+dx*ratio, back.y+dy*ratio, back.z+dz*ratio);
-       tp.dir = atan2(dy, dx);
+       tp.pos = back+span*ratio;
+       tp.dir = Geometry::atan2(span.y, span.x);
 
        return tp;
 }
@@ -423,14 +413,12 @@ int Vehicle::get_link_slot(const Object &other) const
 
 
 Vehicle::Axle::Axle(const VehicleType::Axle &t):
-       type(&t),
-       angle(0)
+       type(&t)
 { }
 
 
 Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
-       type(&t),
-       direction(0)
+       type(&t)
 {
        for(VehicleType::AxleArray::const_iterator i=type->axles.begin(); i!=type->axles.end(); ++i)
                axles.push_back(*i);
@@ -438,8 +426,7 @@ Vehicle::Bogie::Bogie(const VehicleType::Bogie &t):
 
 
 Vehicle::Rod::Rod(const VehicleType::Rod &t):
-       type(&t),
-       angle(0)
+       type(&t)
 { }