;;
;; Copyright 2002, 2009 Genworks International and Genworks BV
;;
;; This source file is part of the General-purpose Declarative
;; Language project (GDL).
;;
;; This source file contains free software: you can redistribute it
;; and/or modify it under the terms of the GNU Affero General Public
;; License as published by the Free Software Foundation, either
;; version 3 of the License, or (at your option) any later version.
;;
;; This source file is distributed in the hope that it will be useful,
;; but WITHOUT ANY WARRANTY; without even the implied warranty of
;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
;; Affero General Public License for more details.
;;
;; You should have received a copy of the GNU Affero General Public
;; License along with this source file. If not, see
;; .
;;
(in-package :genworks.demos.bus)
(define-object chassis (application-mixin)
:input-slots
(wheelbase
track
datum
height
(turn-angle 0 :settable)
)
:computed-slots
((ui-display-list-objects (remove-if
#'(lambda (item) (typep item 'base-rule-object))
(the :children)))
(frame-width (the :frame :width))
(frame-height (the :frame :height))
(left-rotation (- (ecase (the :turn-type)
(:left (the :turn-angle))
(:right
(if (the :left-hit-point)
(angle-between-vectors-d
(the (:knuckles-straight 0) :tie-rod-arm-vector)
(subtract-vectors (the :left-hit-point)
(the
(:knuckles-straight 0)
:tie-rod-arm-axis-point))
(the (:knuckles-straight 0) :top-vector) t)
0)))
(the :toe-in-angle)))
(right-rotation (+ (ecase (the :turn-type)
(:right (the :turn-angle))
(:left
(if (the :right-hit-point)
(angle-between-vectors-d
(the (:knuckles-straight 1) :tie-rod-arm-vector)
(subtract-vectors (the :right-hit-point)
(the
(:knuckles-straight 1)
:tie-rod-arm-axis-point))
(the (:knuckles-straight 1) :top-vector) t)
0)))
(the :toe-in-angle)))
(tie-rod-length (3d-distance (the (:knuckles-straight 0) :tie-rod-arm-end)
(the (:knuckles-straight 1) :tie-rod-arm-end)))
(left-hit-point (let ((circle (the (:knuckles-straight 0) :tie-rod-arm-circle))
(sphere (the (:knuckles 1) :tie-rod-sphere)))
(inter-circle-sphere (getf circle :center)
(getf circle :radius)
(getf circle :axis-vector)
(getf sphere :center)
(getf sphere :radius) nil)))
(right-hit-point (let ((circle
(the (:knuckles-straight 1) :tie-rod-arm-circle))
(sphere (the (:knuckles 0) :tie-rod-sphere)))
(inter-circle-sphere (getf circle :center)
(getf circle :radius)
(getf circle :axis-vector)
(getf sphere :center)
(getf sphere :radius) t)))
(front-overhang 25 :settable)
(rear-overhang 72 :settable)
(frame-rail-height 6 :settable)
(frame-rail-thickness 2.5 :settable)
(turn-type :left :settable)
(toe-in-angle 0.5 :settable)
(camber-angle 1.0 :settable)
(caster-angle -1.0 :settable)
(kingpin-inclination-angle 7 :settable)
(tie-rod-arm-length :medium :settable)
(tie-rod-arm-setting :medium :settable)
(ackermann-data
(let ((chassis (make-object 'chassis
:wheelbase (the wheelbase)
:track (the track)
:datum (the datum)
:height (the height)))
(left-angles (list-of-numbers 1 35)) right-angles)
(the-object chassis (set-slots!
(list :front-overhang (the front-overhang)
:rear-overhang (the rear-overhang)
:frame-rail-height (the frame-rail-height)
:frame-rail-thickness (the frame-rail-thickness)
:toe-in-angle 0
:camber-angle (the camber-angle)
:caster-angle (the caster-angle)
:kingpin-inclination-angle (the kingpin-inclination-angle)
:tie-rod-arm-length (the tie-rod-arm-length)
:tie-rod-arm-setting (the tie-rod-arm-setting)
:turn-type :left)))
(setq right-angles
(let (result ideal-result)
(dolist (left-angle left-angles (list (nreverse result) (nreverse ideal-result)))
(the-object chassis (set-slot! :turn-angle left-angle))
(push (the-object chassis right-rotation) result)
(let ((rear-axle-intersect (inter-line-plane (the (axles 1) center)
(the (face-normal-vector :rear))
(the-object chassis (knuckles 0) center)
(the-object chassis (knuckles 0)
(face-normal-vector :right)))))
(push (angle-between-vectors-d (the (face-normal-vector :rear))
(subtract-vectors (the (knuckles 1) center)
rear-axle-intersect))
ideal-result)))))
(list :left (cons 0 left-angles)
:right (cons 0 (first right-angles))
:ideal-right (cons 0 (second right-angles)))))
)
:objects
((knuckles :type 'knuckle
:sequence (:size 2)
:side (ecase (the-child :index) (0 :left) (1 :right))
:top-vector (getf (the (:axles 0) :kingpin-vectors) (the-child :side))
:front-vector (cross-vectors (the-child :top-vector)
(the (:face-normal-vector (the-child :side))))
:left-vector (cross-vectors (the-child :top-vector)
(ecase (the-child :side)
(:left
(reverse-vector (the-child :front-vector)))
(:right (the-child :front-vector))))
:pass-down (:tie-rod-length :tie-rod-arm-length :tie-rod-arm-setting)
:spindle-downward-pitch (+ (the :kingpin-inclination-angle)
(the :camber-angle))
:center (the (:axles 0) (:kingpins (the-child :index)) :center)
:transformation-matrix
(alignment :top (the-child :top-vector) :front
(rotate-vector-d (the-child :front-vector)
(ecase
(the-child :side)
(:left
(the :left-rotation))
(:right
(the :right-rotation)))
(the-child :top-vector))
:left
(rotate-vector-d (the-child :left-vector)
(ecase
(the-child :side)
(:left
(the :left-rotation))
(:right
(the :right-rotation)))
(the-child :top-vector)))
:orientation (the-child :transformation-matrix))
(tie-rod :type 'c-cylinder
:radius 1.5
:start (the (:knuckles 0) :tie-rod-arm-end)
:end (the (:knuckles 1) :tie-rod-arm-end))
(frame :type 'frame
:width (+ (the :wheelbase) (the :front-overhang) (the :rear-overhang))
:length (* 4/9 (the :track))
:height (the :frame-rail-height)
:thickness (the :frame-rail-thickness)
:center (translate (the :datum) :right (half (the-child :width))))
(axles :type (:sequence '(axle rear-axle))
:sequence (:size 2)
:center (translate (the :datum) :down
(+ (half (the :frame :height)) (half (the-child :height)))
:right
(ecase (the-child :index)
(0 (the :front-overhang))
(1 (+ (the :front-overhang) (the :wheelbase)))))
:transformation-matrix (alignment :left
(rotate-vector-d (the
(:face-normal-vector
:left))
(the :caster-angle)
(the
(:face-normal-vector
:front))))
:orientation (the-child :transformation-matrix)
:height 10
:length (- (the :track)
(ecase (the-child :index)
(0 (twice (the (:wheels-front 0) :length)))
(1 (twice (the (:wheels-rear 0) :length)))))
:pass-down (:kingpin-inclination-angle)
:width 10
:display-controls (list :color :black :line-thickness 2))
(wheels-front :type 'wheel
:sequence (:size 2)
:center (the (:knuckles (the-child :index)) :spindle-center)
:transformation-matrix (alignment :front
(the (:knuckles (the-child :index))
:spindle-vector))
:orientation (the-child :transformation-matrix)
:length 9
:radius 19
:inner-radius 7
:display-controls (list :color "#333333" :shininess 0.6 :specular-color "#999999")
)
(wheels-rear :type 'wheel
:sequence (:size 2)
:center (translate (getf (the (:axles 1) :wheel-centers)
(ecase (the-child :index) (0 :left) (1 :right)))
(ecase (the-child :index) (0 :front) (1 :rear))
(half (the-child :length)))
:transformation-matrix (alignment :front
(the (:face-normal-vector
(ecase
(the-child :index)
(0 :front)
(1 :rear)))))
:orientation (the-child :transformation-matrix)
:display-controls (list :color "#333333" :shininess 0.6 :specular-color "#999999")
:length 15
:radius 19
:inner-radius 7)
(rule-ackermann :type 'rule-ackermann
:ackermann-data (list :left (getf (the ackermann-data) :left)
:right (getf (the ackermann-data) :right))
:ackermann-data-ideal (list :left (getf (the ackermann-data) :left)
:right (getf (the ackermann-data) :ideal-right))))
:hidden-objects
((knuckles-straight
:type 'knuckle
:sequence (:size 2)
:center (the (:axles 0) (:kingpins (the-child :index)) :center)
:side (ecase (the-child :index) (0 :left) (1 :right))
:top-vector (getf (the (:axles 0) :kingpin-vectors) (the-child :side))
:front-vector (cross-vectors (the-child :top-vector)
(the (:face-normal-vector (the-child :side))))
:left-vector (cross-vectors (the-child :top-vector)
(ecase (the-child :side)
(:left
(reverse-vector (the-child :front-vector)))
(:right (the-child :front-vector))))
:spindle-downward-pitch (+ (the :kingpin-inclination-angle) (the :camber-angle))
:pass-down (:tie-rod-arm-length :tie-rod-arm-setting)
:transformation-matrix (alignment :top (the-child :top-vector) :front
(rotate-vector-d (the-child :front-vector)
(the :toe-in-angle)
(ecase
(the-child :side)
(:left
(reverse-vector
(the-child :top-vector)))
(:right
(the-child :top-vector))))
:left
(rotate-vector-d (the-child :left-vector)
(the :toe-in-angle)
(ecase
(the-child :side)
(:left
(reverse-vector
(the-child :top-vector)))
(:right
(the-child :top-vector)))))
:orientation (the-child :transformation-matrix))))