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Code Issues 156 Wiki Activity

First implementation of graph vehicles

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Hirek
2026-10-14 12:20:49 +02:00
parent 70abf879b3
commit 1ef465264c
121 changed files with 12292 additions and 729 deletions
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21
vehicle/graph/graph_instance.h
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@@ -10,6 +10,8 @@ http://mozilla.org/MPL/2.0/.
#pragma once
#include "vehicle/graph/graph_block.h"
#include "vehicle/graph/graph_body.h"
#include "vehicle/graph/graph_lua.h"
#include "vehicle/graph/graph_template.h"
#include <memory>
@@ -24,6 +26,7 @@ class graph_instance
{
public:
explicit graph_instance(std::shared_ptr<graph_template const> Template);
~graph_instance();
// advances the graph by the specified time. the order of evaluation is fixed, and there's no other source
// of time or randomness, so the same inputs always produce the same results
@@ -37,6 +40,15 @@ public:
{
return m_time;
}
// state of the vehicle body shared with the blocks; filled by the owner of the graph before every step
body_state &body()
{
return m_body;
}
body_state const &body() const
{
return m_body;
}
// block of the node with the specified index (see graph_template::nodes())
block &node_block(std::size_t Index)
@@ -54,6 +66,10 @@ public:
{
return m_signals[Slot];
}
link_state const &link(int Index) const
{
return m_links[Index];
}
// keeps the slot at the specified value regardless of what its block writes, until released
void force(int Slot, double Value);
void release(int Slot);
@@ -66,13 +82,18 @@ private:
frame make_frame(double Deltatime);
std::shared_ptr<graph_template const> m_template;
// lua state of the vehicle, created when the graph has lua blocks. declared before the blocks, so it outlives them
std::unique_ptr<lua_host> m_lua;
std::vector<std::unique_ptr<block>> m_blocks; // in the order of the template's nodes
std::vector<block *> m_order; // blocks in the order of evaluation
std::vector<block *> m_late; // blocks updated again after all the others
std::vector<block *> m_deferred; // blocks publishing their outputs after the step
std::vector<double> m_signals;
std::vector<std::uint8_t> m_forced;
std::vector<link_state> m_links;
body_state m_body;
double m_time{0.0};
std::uint64_t m_step{0};
};
} // namespace vgraph