#include <stdlib.h>
#include <string.h>
#include <math.h>
+#include <float.h>
#include <assert.h>
#include "machine.h"
void Machine::add_gear(Gear *g)
{
+ if(gearidx.find(g) != gearidx.end()) {
+ return; // already have this gear
+ }
+ gearidx[g] = gears.size();
gears.push_back(g);
meshing_valid = false;
}
visited = new bool[ngears];
}
- // we're going to need the inverse of each gear's matrix, so let's cache it here
- Mat4 *inv_xform = (Mat4*)alloca(ngears * sizeof *inv_xform);
+ // we're going to need the planar position of each gear on its plane, so let's cache it
+ Vec3 *ppos = (Vec3*)alloca(ngears * sizeof *ppos);
for(int i=0; i<ngears; i++) {
- inv_xform[i] = transpose(gears[i]->get_dir_matrix());
+ ppos[i] = gears[i]->get_position();
}
for(int i=0; i<ngears; i++) {
for(int j=i; j<ngears; j++) {
meshing[i][j] = meshing[j][i] = false;
- if(i == j) continue;
+ if(i == j || gears[i]->get_super() == gears[j] || gears[j]->get_super() == gears[i]) {
+ // don't attempt meshing if it's the same gear, or they are attached to each other
+ continue;
+ }
if(1.0 - fabs(dot(gears[i]->axis, gears[j]->axis)) < 1e-5) {
// co-planar, just check Z range after inverse-transforming to the XY plane
- Vec3 pos_i = inv_xform[i] * gears[i]->get_position();
- Vec3 pos_j = inv_xform[j] * gears[j]->get_position();
-
- if(fabs(pos_i.z - pos_j.z) > (gears[i]->thickness + gears[j]->thickness) / 2.0) {
+ if(fabs(ppos[i].z - ppos[j].z) > (gears[i]->thickness + gears[j]->thickness) / 2.0) {
continue;
}
// Z interval match, check distance
- float dsq = length_sq(pos_i.xy() - pos_j.xy());
+ float dsq = length_sq(ppos[i].xy() - ppos[j].xy());
float outer_rad_sum = gears[i]->radius + gears[j]->radius;
float inner_rad_sum = outer_rad_sum - gears[i]->teeth_length - gears[j]->teeth_length;
if(dsq <= outer_rad_sum * outer_rad_sum && dsq >= inner_rad_sum * inner_rad_sum) {
- printf("connecting co-planar gears %d - %d\n", i, j);
+ //printf("connecting co-planar gears %d - %d\n", i, j);
meshing[i][j] = meshing[j][i] = true;
}
// fix the initial angles so that teeth mesh as best as possible
// should work in one pass as long as the gear train is not impossible
for(int i=0; i<ngears; i++) {
- for(int j=1; j<ngears; j++) {
+ /*float rnd = gears[i]->angle + gears[i]->get_angular_pitch() / 2.0;
+ float snap = rnd - fmod(rnd, gears[i]->get_angular_pitch());
+ gears[i]->set_angle(snap);*/
+ gears[i]->set_angular_offset(0);
+ }
+
+ for(int i=0; i<ngears; i++) {
+ for(int j=i; j<ngears; j++) {
if(meshing[i][j]) {
assert(i != j);
- float frac_i = fmod(gears[i]->init_angle / gears[i]->get_angular_pitch() + 1.0, 1.0);
- float frac_j = fmod(gears[j]->init_angle / gears[j]->get_angular_pitch() + 1.0, 1.0);
+ Vec2 dir = normalize(ppos[j].xy() - ppos[i].xy());
+ float rel_angle = atan2(dir.y, dir.x);
+
+ float frac_i = fmod((gears[i]->init_angle + rel_angle) / gears[i]->get_angular_pitch() + 100.0, 1.0);
+ float frac_j = fmod((gears[j]->init_angle - rel_angle) / gears[j]->get_angular_pitch() + 100.0, 1.0);
+ assert(frac_i >= 0.0 && frac_j >= 0.0);
float delta = frac_j - frac_i;
float correction = 0.5 - delta;
- gears[j]->init_angle += correction * gears[j]->get_angular_pitch();
+ float prev_offs = gears[j]->get_angular_offset();
+ gears[j]->set_angular_offset(prev_offs + correction * gears[j]->get_angular_pitch());
}
}
}
+
+ /*
+ printf("meshing graph\n");
+ for(int i=0; i<ngears; i++) {
+ putchar(' ');
+ for(int j=0; j<ngears; j++) {
+ printf("| %d ", meshing[i][j] ? 1 : 0);
+ }
+ printf("|\n");
+ }
+ */
}
void Machine::update_gear(int idx, float angle)
{
+ Gear *gear = gears[idx];
+
if(visited[idx]) {
- if(delta_angle(angle, gears[idx]->angle) > 0.25 / gears[idx]->nteeth) {
+ if(delta_angle(angle, gear->angle) > 0.25 / gear->nteeth) {
fprintf(stderr, "warning: trying to transmit different values to gear %s (%d)\n",
- gears[idx]->name.c_str(), idx);
+ gear->name.c_str(), idx);
+ gear->angle = 0;
}
return;
}
- gears[idx]->set_angle(angle);
+ gear->set_angle(angle);
visited[idx] = true;
+ // propagate to meshing gears (depth-first)
int ngears = (int)gears.size();
for(int i=0; i<ngears; i++) {
if(!meshing[idx][i]) continue;
assert(idx != i);
- float ratio = -(float)gears[idx]->nteeth / (float)gears[i]->nteeth;
+ float ratio = -(float)gear->nteeth / (float)gears[i]->nteeth;
update_gear(i, angle * ratio);
}
+
+ // propagate to rigidly attached gears
+ if(gear->supergear) {
+ int supidx = gearidx[gear->supergear];
+ update_gear(supidx, angle);
+ }
+
+ int nsub = (int)gear->subgears.size();
+ for(int i=0; i<nsub; i++) {
+ int subidx = gearidx[gear->subgears[i]];
+ update_gear(subidx, angle);
+ }
}
void Machine::update(float dt)
}
}
+Gear *Machine::intersect_gear(const Ray &ray, HitPoint *hitp) const
+{
+ Gear *res = 0;
+ HitPoint nearest;
+ nearest.dist = FLT_MAX;
+
+ for(size_t i=0; i<gears.size(); i++) {
+ Vec3 pos = gears[i]->get_global_position();
+ float rad = gears[i]->radius;
+
+ Plane plane = Plane(pos, gears[i]->axis);
+
+ HitPoint hit;
+ if(plane.intersect(ray, &hit) && hit.dist < nearest.dist &&
+ length_sq(hit.pos - pos) <= rad * rad) {
+ nearest = hit;
+ res = gears[i];
+ }
+ }
+
+ if(hitp) *hitp = nearest;
+ return res;
+}
static float delta_angle(float a, float b)
{
projects / antikythera / blobdiff