X-Git-Url: http://git.mutantstargoat.com/user/nuclear/?p=antikythera;a=blobdiff_plain;f=src%2Fmachine.cc;h=313540d18f1b60b567a402e4fe8ce9579c394fae;hp=274362a3a60f12e6e66a5e47e918d3c2a282e6ab;hb=080d7a779d43f549fc16c44e709cbf5989180fdf;hpb=2c8e92970f198061a0cefdb59c2d0ec8c58409c9

diff --git a/src/machine.cc b/src/machine.cc
index 274362a..313540d 100644
--- a/src/machine.cc
+++ b/src/machine.cc
@@ -1,6 +1,7 @@
 #include <stdlib.h>
 #include <string.h>
 #include <math.h>
+#include <float.h>
 #include <assert.h>
 #include "machine.h"
 
@@ -29,6 +30,10 @@ Machine::~Machine()
 
 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;
 }
@@ -63,34 +68,34 @@ void Machine::calc_meshing()
 		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;
 				}
 
@@ -107,42 +112,81 @@ void Machine::calc_meshing()
 	// 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)
@@ -170,6 +214,29 @@ void Machine::draw() const
 	}
 }
 
+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)
 {