Track loader for tracks of version 4. More...

#include <stdlib.h>
#include <math.h>
#include <stdio.h>
#include <stdarg.h>
#include <limits>
#include <tgf.h>
#include <robottools.h>
#include <track.h>
#include <portability.h>
#include "trackinc.h"

Include dependency graph for track4.cpp:

Go to the source code of this file.

Macros
#define	TSTX(x)
#define	TSTY(y)
#define	TSTZ(z)
#define	MAX_TMP_INTS 256

Functions
static void	formatTrackPath (char buffer, const int size, const char format,...)
	Format a track parameter path and fail if it would be truncated.
static tTrackSeg *	findFirstSegmentByName (const tTrack track, const char name)
static tTrackSeg *	findLastSegmentByName (const tTrack track, const char name)
static void	initSideForTurn (const int turntype, tTrackSeg const curBorder, const tTrackSeg const curSeg, const int side, const int bankingtype, const tdble startwidth, const tdble endwidth, const tdble maxwidth)
	Set up side and border track segments for turns.
static void	initSideForStraight (tTrackSeg const curBorder, const tTrackSeg const curSeg, const int side, const int bankingtype, const tdble startwidth, const tdble endwidth)
	Set up side and border track segments for straight segments.
static tTrackSeg *	commonSideInit (tTrackSeg const curSeg, const int side, const int lefttype, const int righttype, const int bankingtype, const tdble startwidth, const tdble endwidth, tTrackSurface surface, const tdble borderheight, const int borderstyle)
	Common side/border allocation and initialization for straights and turns.
static tTrackSurface *	getTrackSurface (void trackHandle, tTrack theTrack, const char *material)
	Gets surface properties based on the material.
static void	readDefaultSideParameters (void trackHandle, tTrack theTrack)
	Reads default side/border track segment parameters.
static void	addSides (tTrackSeg curSeg, void trackHandle, tTrack *theTrack, int curStep, int steps)
	Adds the specified side/border/barrier segments to given main track segement.
static void	normSeg (tTrackSeg *curSeg)
	Segment coordinate normalization, track is moved to the origin of the coordinate system.
static void	CreateSegRing (void TrackHandle, tTrack theTrack, int ext)
static void	readGeoreference (tTrack track, void handle)
void	ReadTrack4 (tTrack theTrack, void TrackHandle, tRoadCam **camList, int ext)
static void	updateMinMaxForTurn (const tTrackSeg *const curBorder, const tdble radius, const tdble sign, const tdble z)
	Update global min/max values for turns (discretized approximation).
static void	initAnglesAndGradients (tTrackSeg *const curBorder, const tdble startwidth, const tdble endwidth)
	Set up border segment angles and gradients.

Variables
static tdble	xmin
static tdble	xmax
static tdble	ymin
static tdble	ymax
static tdble	zmin
static tdble	zmax
static const char *	SectSide [2] = { TRK_SECT_RSIDE, TRK_SECT_LSIDE }
static const char *	SectBorder [2] = { TRK_SECT_RBORDER, TRK_SECT_LBORDER }
static const char *	SectBarrier [2] = { TRK_SECT_RBARRIER, TRK_SECT_LBARRIER }
static const char *	ValStyle [] = { TRK_VAL_PLAN, TRK_VAL_CURB, TRK_VAL_WALL, TRK_VAL_FENCE, TRK_VAL_FENCE }
static tdble	sideEndWidth [2]
static tdble	sideStartWidth [2]
static int	sideBankType [2]
static const char *	sideMaterial [2]
static tTrackSurface *	sideSurface [2]
static int	envIndex
static tdble	borderWidth [2]
static tdble	borderHeight [2]
static int	borderStyle [2]
static const char *	borderMaterial [2]
static tTrackSurface *	borderSurface [2]
static tdble	barrierWidth [2]
static tdble	barrierHeight [2]
static int	barrierStyle [2]
static const char *	barrierMaterial [2]
static tTrackSurface *	barrierSurface [2]
static tdble	GlobalStepLen = 0

Detailed Description

Track loader for tracks of version 4.

Author: Bernhard Wymann, Eric Espié

Definition in file track4.cpp.

Macro Definition Documentation

◆ MAX_TMP_INTS

#define MAX_TMP_INTS 256

◆ TSTX

#define TSTX ( x )

Value:

    do {                \
    if (xmin > (x)) xmin = (x);         \
    if (xmax < (x)) xmax = (x);         \
    } while (0)

Definition at line 38 of file track4.cpp.

◆ TSTY

#define TSTY ( y )

Value:

    do {                \
    if (ymin > (y)) ymin = (y);           \
    if (ymax < (y)) ymax = (y);           \
    } while (0)

Definition at line 43 of file track4.cpp.

◆ TSTZ

#define TSTZ ( z )

Value:

    do {                \
    if (zmin > (z)) zmin = (z);         \
    if (zmax < (z)) zmax = (z);         \
    } while (0)

Definition at line 48 of file track4.cpp.

Function Documentation

◆ addSides()

void addSides	(	tTrackSeg *	curSeg,
		void *	trackHandle,
		tTrack *	theTrack,
		int	curStep,
		int	steps )

static

Adds the specified side/border/barrier segments to given main track segement.

Parameters

[in,out]	curSeg	Main track segment to process
[in]	trackHandle	Handle to track parameter set
[in]	theTrack	Pointer to track structure
[in]	curStep	Current step (for segment subdivision)
[in]	steps	Number of steps (segment subdivisions)

Definition at line 297 of file track4.cpp.

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◆ commonSideInit()

tTrackSeg * commonSideInit	(	tTrackSeg *const	curSeg,
		const int	side,
		const int	lefttype,
		const int	righttype,
		const int	bankingtype,
		const tdble	startwidth,
		const tdble	endwidth,
		tTrackSurface *	surface,
		const tdble	borderheight,
		const int	borderstyle )

static

Common side/border allocation and initialization for straights and turns.

Parameters

[in,out]	curSeg	Segment to attach the new side/border
[in]	side	0 for right side, 1 for left side (TRK_SECT_RSIDE, TRK_SECT_LSIDE)
[in]	lefttype	For side: TR_LSIDE, for border: TR_LBORDER
[in]	righttype	For side: TR_RSIDE, for border: TR_RBORDER
[in]	bankingtype	For TRK_VAL_TANGENT 1, for TRK_VAL_LEVEL 0
[in]	startwidth	Start width of the side/border
[in]	endwidth	End width of the side/border
[in]	surface	Surface for the side/border
[in]	borderheight	Border height for borders, should usually be 0.0 for sides
[in]	borderstyle	Type of segment, for sides always TR_PLAN, for borders either TR_PLAN, TR_CURB or TR_WALL

Returns: Pointer to the newly created side/border segment

Definition at line 1522 of file track4.cpp.

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◆ CreateSegRing()

void CreateSegRing	(	void *	TrackHandle,
		tTrack *	theTrack,
		int	ext )

static

Definition at line 458 of file track4.cpp.

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◆ findFirstSegmentByName()

tTrackSeg * findFirstSegmentByName	(	const tTrack *	track,
		const char *	name )

static

Definition at line 94 of file track4.cpp.

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◆ findLastSegmentByName()

tTrackSeg * findLastSegmentByName	(	const tTrack *	track,
		const char *	name )

static

Definition at line 107 of file track4.cpp.

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◆ formatTrackPath()

void formatTrackPath	(	char *	buffer,
		const int	size,
		const char *	format,
			... )

static

Format a track parameter path and fail if it would be truncated.

Truncated parameter paths would read unrelated or default track data, so track loading must stop instead of continuing with a partial path.

Parameters

[in,out]	buffer	buffer for the formatted path
[in]	size	buffer size
[in]	format	printf-style format string

Definition at line 72 of file track4.cpp.

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◆ getTrackSurface()

tTrackSurface * getTrackSurface	(	void *	trackHandle,
		tTrack *	theTrack,
		const char *	material )

static

Gets surface properties based on the material.

If the material is not known, then a new material is created, initialized and attached to tTrack.

Parameters

[in]	trackHandle	Handle to track parameter set
[in,out]	theTrack	Pointer to track structure
[in]	material	Material name of the surface

Returns: tTrackSurface* for the material

Definition at line 187 of file track4.cpp.

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◆ initAnglesAndGradients()

void initAnglesAndGradients	(	tTrackSeg *const	curBorder,
		const tdble	startwidth,
		const tdble	endwidth )

static

Set up border segment angles and gradients.

Parameters

[in,out]	curBorder	Border segment to set up
[in]	startwidth	Start width of the border
[in]	endwidth	End width of the border

Definition at line 1359 of file track4.cpp.

◆ initSideForStraight()

void initSideForStraight	(	tTrackSeg *const	curBorder,
		const tTrackSeg *const	curSeg,
		const int	side,
		const int	bankingtype,
		const tdble	startwidth,
		const tdble	endwidth )

static

Set up side and border track segments for straight segments.

Border segments are the ones touching the main segment (e.g. curbs), side segments are the segments touching the barrier.

Parameters

[in,out]	curBorder	Border segment to set up
[in]	curSeg	Connecting inner segment (e.g. main track segment for borders)
[in]	side	0 for right side, 1 for left side (TRK_SECT_RSIDE, TRK_SECT_LSIDE)
[in]	bankingtype	For TRK_VAL_TANGENT 1, for TRK_VAL_LEVEL 0
[in]	startwidth	Start width of the border
[in]	endwidth	End width of the border

Definition at line 1460 of file track4.cpp.

◆ initSideForTurn()

void initSideForTurn	(	const int	turntype,
		tTrackSeg *const	curBorder,
		const tTrackSeg *const	curSeg,
		const int	side,
		const int	bankingtype,
		const tdble	startwidth,
		const tdble	endwidth,
		const tdble	maxwidth )

static

Set up side and border track segments for turns.

Border segments are the ones touching the main segment (e.g. curbs), side segments are the segments touching the barrier.

Parameters

[in]	turntype	Turn type, either TR_LFT or TR_RGT
[in,out]	curBorder	Border segment to set up
[in]	curSeg	Connecting inner segment (e.g. main track segment for borders)
[in]	side	0 for right side, 1 for left side (TRK_SECT_RSIDE, TRK_SECT_LSIDE)
[in]	bankingtype	For TRK_VAL_TANGENT 1, for TRK_VAL_LEVEL 0
[in]	startwidth	Start width of the border
[in]	endwidth	End width of the border
[in]	maxwidth	Maximum width of the border

Definition at line 1384 of file track4.cpp.

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◆ normSeg()

void normSeg ( tTrackSeg * curSeg )

static

Segment coordinate normalization, track is moved to the origin of the coordinate system.

Parameters

[in,out] curSeg Segment to normalize

Definition at line 439 of file track4.cpp.

◆ readDefaultSideParameters()

void readDefaultSideParameters	(	void *	trackHandle,
		tTrack *	theTrack )

static

Reads default side/border track segment parameters.

Parameters

[in]	trackHandle	Handle to track parameter set
[in,out]	theTrack	Pointer to track structure

Definition at line 230 of file track4.cpp.

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◆ readGeoreference()

void readGeoreference	(	tTrack *	track,
		void *	handle )

static

Definition at line 973 of file track4.cpp.

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◆ ReadTrack4()

void ReadTrack4	(	tTrack *	theTrack,
		void *	TrackHandle,
		tRoadCam **	camList,
		int	ext )

Definition at line 1018 of file track4.cpp.

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◆ updateMinMaxForTurn()

void updateMinMaxForTurn	(	const tTrackSeg *const	curBorder,
		const tdble	radius,
		const tdble	sign,
		const tdble	z )

static

Update global min/max values for turns (discretized approximation).

Parameters

[in]	curBorder	Border segment
[in]	radius	Radius to hand over, either curBorder->radiusl or curBorder->radiusr
[in]	sign	Sign to consider turn type (TR_LFT or TR_RGT)
[in]	z	Z value

Definition at line 1333 of file track4.cpp.

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Variable Documentation

◆ barrierHeight

tdble barrierHeight[2]

static

Definition at line 135 of file track4.cpp.

◆ barrierMaterial

const char* barrierMaterial[2]

static

Definition at line 137 of file track4.cpp.

◆ barrierStyle

int barrierStyle[2]

static

Definition at line 136 of file track4.cpp.

◆ barrierSurface

tTrackSurface* barrierSurface[2]

static

Definition at line 138 of file track4.cpp.

◆ barrierWidth

tdble barrierWidth[2]

static

Definition at line 134 of file track4.cpp.

◆ borderHeight

tdble borderHeight[2]

static

Definition at line 129 of file track4.cpp.

◆ borderMaterial

const char* borderMaterial[2]

static

Definition at line 131 of file track4.cpp.

◆ borderStyle

int borderStyle[2]

static

Definition at line 130 of file track4.cpp.

◆ borderSurface

tTrackSurface* borderSurface[2]

static

Definition at line 132 of file track4.cpp.

◆ borderWidth

tdble borderWidth[2]

static

Definition at line 128 of file track4.cpp.

◆ envIndex

int envIndex

static

Definition at line 126 of file track4.cpp.

◆ GlobalStepLen

tdble GlobalStepLen = 0

static

Definition at line 140 of file track4.cpp.

◆ SectBarrier

const char* SectBarrier[2] = { TRK_SECT_RBARRIER, TRK_SECT_LBARRIER }

static

Definition at line 58 of file track4.cpp.

◆ SectBorder

const char* SectBorder[2] = { TRK_SECT_RBORDER, TRK_SECT_LBORDER }

static

Definition at line 57 of file track4.cpp.

◆ SectSide

const char* SectSide[2] = { TRK_SECT_RSIDE, TRK_SECT_LSIDE }

static

Definition at line 56 of file track4.cpp.

◆ sideBankType

int sideBankType[2]

static

Definition at line 122 of file track4.cpp.

◆ sideEndWidth

tdble sideEndWidth[2]

static

Definition at line 120 of file track4.cpp.

◆ sideMaterial

const char* sideMaterial[2]

static

Definition at line 123 of file track4.cpp.

◆ sideStartWidth

tdble sideStartWidth[2]

static

Definition at line 121 of file track4.cpp.

◆ sideSurface

tTrackSurface* sideSurface[2]

static

Definition at line 124 of file track4.cpp.

◆ ValStyle

const char* ValStyle[] = { TRK_VAL_PLAN, TRK_VAL_CURB, TRK_VAL_WALL, TRK_VAL_FENCE, TRK_VAL_FENCE }

static

Definition at line 60 of file track4.cpp.

◆ xmax

tdble xmax

static

Definition at line 36 of file track4.cpp.

◆ xmin

tdble xmin

static

Definition at line 36 of file track4.cpp.

◆ ymax

tdble ymax

static

Definition at line 36 of file track4.cpp.

◆ ymin

tdble ymin

static

Definition at line 36 of file track4.cpp.

◆ zmax

tdble zmax

static

Definition at line 36 of file track4.cpp.

◆ zmin

tdble zmin

static

Definition at line 36 of file track4.cpp.

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ MAX_TMP_INTS

◆ TSTX

◆ TSTY

◆ TSTZ

Function Documentation

◆ addSides()

◆ commonSideInit()

◆ CreateSegRing()

◆ findFirstSegmentByName()

◆ findLastSegmentByName()

◆ formatTrackPath()

◆ getTrackSurface()

◆ initAnglesAndGradients()

◆ initSideForStraight()

◆ initSideForTurn()

◆ normSeg()

◆ readDefaultSideParameters()

◆ readGeoreference()

◆ ReadTrack4()

◆ updateMinMaxForTurn()

Variable Documentation

◆ barrierHeight

◆ barrierMaterial

◆ barrierStyle

◆ barrierSurface

◆ barrierWidth

◆ borderHeight

◆ borderMaterial

◆ borderStyle

◆ borderSurface

◆ borderWidth

◆ envIndex

◆ GlobalStepLen

◆ SectBarrier

◆ SectBorder

◆ SectSide

◆ sideBankType

◆ sideEndWidth

◆ sideMaterial

◆ sideStartWidth

◆ sideSurface

◆ ValStyle

◆ xmax

◆ xmin

◆ ymax

◆ ymin

◆ zmax

◆ zmin