9 static float delta_angle(float a, float b);
14 meshing_valid = false;
20 int ngears = (int)gears.size();
21 for(int i=0; i<ngears; i++) {
32 void Machine::add_gear(Gear *g)
34 if(gearidx.find(g) != gearidx.end()) {
35 return; // already have this gear
37 gearidx[g] = gears.size();
39 meshing_valid = false;
42 void Machine::add_motor(int gearidx, float speed_hz)
50 int Machine::get_gear_index(Gear *g) const
52 std::map<Gear*, int>::const_iterator it = gearidx.find(g);
53 if(it == gearidx.end()) {
59 void Machine::invalidate_meshing()
61 meshing_valid = false;
64 void Machine::calc_meshing()
66 int ngears = (int)gears.size();
69 meshing = new bool*[ngears];
70 meshing[0] = new bool[ngears * ngears];
72 for(int i=1; i<ngears; i++) {
73 meshing[i] = meshing[i - 1] + ngears;
78 visited = new bool[ngears];
81 // we're going to need the planar position of each gear on its plane, so let's cache it
82 Vec3 *ppos = (Vec3*)alloca(ngears * sizeof *ppos);
83 for(int i=0; i<ngears; i++) {
84 ppos[i] = gears[i]->get_position();
87 for(int i=0; i<ngears; i++) {
88 for(int j=i; j<ngears; j++) {
89 meshing[i][j] = meshing[j][i] = false;
91 if(i == j || gears[i]->get_super() == gears[j] || gears[j]->get_super() == gears[i]) {
92 // don't attempt meshing if it's the same gear, or they are attached to each other
96 if(1.0 - fabs(dot(gears[i]->axis, gears[j]->axis)) < 1e-5) {
97 // co-planar, just check Z range after inverse-transforming to the XY plane
98 if(fabs(ppos[i].z - ppos[j].z) > (gears[i]->thickness + gears[j]->thickness) / 2.0) {
101 // Z interval match, check distance
102 float dsq = length_sq(ppos[i].xy() - ppos[j].xy());
104 float outer_rad_sum = gears[i]->radius + gears[j]->radius;
105 float inner_rad_sum = outer_rad_sum - gears[i]->teeth_length - gears[j]->teeth_length;
107 if(dsq <= outer_rad_sum * outer_rad_sum && dsq >= inner_rad_sum * inner_rad_sum) {
108 //printf("connecting co-planar gears %d - %d\n", i, j);
109 meshing[i][j] = meshing[j][i] = true;
113 /* TODO: not co-planar
114 * - calc line of intersection between the two planes
115 * - find distance of each gear to that line
122 // fix the initial angles so that teeth mesh as best as possible
123 // should work in one pass as long as the gear train is not impossible
124 for(int i=0; i<ngears; i++) {
125 /*float rnd = gears[i]->angle + gears[i]->get_angular_pitch() / 2.0;
126 float snap = rnd - fmod(rnd, gears[i]->get_angular_pitch());
127 gears[i]->set_angle(snap);*/
128 gears[i]->set_angular_offset(0);
131 for(int i=0; i<ngears; i++) {
132 for(int j=i; j<ngears; j++) {
136 Vec2 dir = normalize(ppos[j].xy() - ppos[i].xy());
137 float rel_angle = atan2(dir.y, dir.x);
139 float frac_i = fmod((gears[i]->init_angle + rel_angle) / gears[i]->get_angular_pitch() + 100.0, 1.0);
140 float frac_j = fmod((gears[j]->init_angle - rel_angle) / gears[j]->get_angular_pitch() + 100.0, 1.0);
141 assert(frac_i >= 0.0 && frac_j >= 0.0);
142 float delta = frac_j - frac_i;
144 float correction = 0.5 - delta;
145 float prev_offs = gears[j]->get_angular_offset();
146 gears[j]->set_angular_offset(prev_offs + correction * gears[j]->get_angular_pitch());
152 printf("meshing graph\n");
153 for(int i=0; i<ngears; i++) {
155 for(int j=0; j<ngears; j++) {
156 printf("| %d ", meshing[i][j] ? 1 : 0);
163 void Machine::update_gear(int idx, float angle)
165 Gear *gear = gears[idx];
168 if(delta_angle(angle, gear->angle) > 0.25 / gear->nteeth) {
169 fprintf(stderr, "warning: trying to transmit different values to gear %s (%d)\n",
170 gear->name.c_str(), idx);
176 gear->set_angle(angle);
179 // propagate to meshing gears (depth-first)
180 int ngears = (int)gears.size();
181 for(int i=0; i<ngears; i++) {
182 if(!meshing[idx][i]) continue;
185 float ratio = -(float)gear->nteeth / (float)gears[i]->nteeth;
186 update_gear(i, angle * ratio);
189 // propagate to rigidly attached gears
190 if(gear->supergear) {
191 int supidx = gearidx[gear->supergear];
192 update_gear(supidx, angle);
195 int nsub = (int)gear->subgears.size();
196 for(int i=0; i<nsub; i++) {
197 int subidx = gearidx[gear->subgears[i]];
198 update_gear(subidx, angle);
202 void Machine::update(float dt)
204 int ngears = (int)gears.size();
208 meshing_valid = true;
211 memset(visited, 0, ngears * sizeof *visited);
212 for(size_t i=0; i<motors.size(); i++) {
213 int gidx = motors[i].drive;
214 if(gidx < 0) continue;
216 update_gear(gidx, gears[gidx]->angle + dt * motors[i].speed);
220 void Machine::draw() const
222 for(size_t i=0; i<gears.size(); i++) {
226 float dcol[] = {0.4, 0.4, 0.4, 1.0};
227 float scol[] = {0, 0, 0, 0};
228 glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, dcol);
229 glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, scol);
233 glVertex3f(-300, -100, 300);
234 glVertex3f(300, -100, 300);
235 glVertex3f(300, -100, -300);
236 glVertex3f(-300, -100, -300);
240 Gear *Machine::intersect_gear(const Ray &ray, HitPoint *hitp) const
244 nearest.dist = FLT_MAX;
246 for(size_t i=0; i<gears.size(); i++) {
247 Vec3 pos = gears[i]->get_global_position();
248 float rad = gears[i]->radius;
250 Plane plane = Plane(pos, gears[i]->axis);
253 if(plane.intersect(ray, &hit) && hit.dist < nearest.dist &&
254 length_sq(hit.pos - pos) <= rad * rad) {
260 if(hitp) *hitp = nearest;
264 static float delta_angle(float a, float b)
266 float api = fmod(a + M_PI, 2.0 * M_PI);
267 float bpi = fmod(b + M_PI, 2.0 * M_PI);
268 return std::min(fabs(a - b), fabs(api - bpi));