Vamos Automotive Simulator git

//  Car_Reader.cc - Reader for car definition files.
//
//  Copyright (C) 2008 Sam Varner
//
//  This file is part of Vamos Automotive Simulator.
//
//  Vamos is free software: you can redistribute it and/or modify
//  it under the terms of the GNU General Public License as published by
//  the Free Software Foundation, either version 3 of the License, or
//  (at your option) any later version.
//
//  Vamos 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 General Public License for more details.
//
//  You should have received a copy of the GNU General Public License
//  along with Vamos.  If not, see <http://www.gnu.org/licenses/>.

#include "../geometry/Numeric.hpp"
#include "../media/Texture_Image.hpp"
#include "Aerodynamic_Device.hpp"
#include "Brake.hpp"
#include "Car.hpp"
#include "Clutch.hpp"
#include "Dashboard.hpp"
#include "Differential.hpp"
#include "Engine.hpp"
#include "Fuel_Tank.hpp"
#include "Particle.hpp"
#include "Suspension.hpp"
#include "Tire.hpp"
#include "Transmission.hpp"
#include "Wheel.hpp"

#include <cassert>
#include <sstream>

using namespace Vamos_Body;
using namespace Vamos_Geometry;
using namespace Vamos_Media;

Car_Reader::Car_Reader(std::string data_dir, std::string car_file, Car *car)
    : m_first_model_for_this_wheel(true),
      m_data_dir(data_dir),
      mp_car(car)
{
    read(car_file);
}

void Car_Reader::on_start_tag(const Vamos_Media::XML_Tag &tag)
{
    const Vamos_Media::XML_Tag::V_Attribute &attribs = tag.get_attributes();
    if (path() == "/car")
        mp_car->m_name = attribs[0].value;
    else if (path() == "/car/robot")
        m_doubles.resize(3);
    else if (path() == "/car/exterior-model" || path() == "/car/interior-model")
    {
        m_strings.clear();
        m_strings.resize(2);
        m_doubles.resize(1);
        m_doubles[0] = 1.0;
        m_vectors.clear();
        m_vectors.resize(2);
    }
    else if (label() == "initial-conditions")
    {
        m_vectors.clear();
        m_vectors.resize(4);
    }
    else if (label() == "view")
    {
        m_vectors.clear();
        m_doubles.clear();
        m_doubles.resize(4);
    }
    else if (label() == "mirror")
    {
        m_vectors.clear();
        m_doubles.resize(6);
        m_strings.resize(1);
    }
    else if (label() == "steering")
    {
        m_doubles.clear();
        m_doubles.resize(3);
    }
    else if (label() == "dashboard")
    {
        m_ints.clear();
        m_ints.resize(1);
        m_doubles.clear();
        m_doubles.resize(12);
        m_strings.clear();
        m_strings.resize(2);
        m_bools.clear();
        m_bools.resize(1);
        m_vectors.clear();
        m_vectors.resize(1);
        m_points.clear();
        m_mirrors.clear();
    }
    else if (label() == "on-steering-wheel")
        m_bools[0] = true;
    else if (label() == "tachometer")
        m_tachometer_type = attribs.empty() ? "dial" : attribs.front().value;
    else if (label() == "speedometer")
        m_speedometer_type = attribs.empty() ? "dial" : attribs.front().value;
    else if (label() == "fuel-gauge")
        m_fuel_gauge_type = attribs.empty() ? "dial" : attribs.front().value;
    else if (label() == "drivetrain")
    {
        m_bools.clear();
        m_bools.resize(1);
    }
    else if (label() == "engine")
    {
        m_doubles.clear();
        m_doubles.resize(14);
        m_vectors.clear();
        m_strings.clear();
        m_strings.resize(1);
        m_bools.clear();
        m_bools.resize(1);
    }
    else if (label() == "torque-curve")
    {
        m_points.clear();
        m_bools[0] = true;
        std::istringstream is(attribs[0].value.c_str());
        is >> m_doubles[9];
    }
    else if (label() == "clutch")
        m_doubles.clear();
    else if (label() == "transmission")
    {
        m_doubles.clear();
        m_gears.clear();
    }
    else if (label() == "differential")
        m_doubles.clear();
    else if (label() == "fuel-tank")
    {
        m_doubles.clear();
        m_vectors.clear();
    }
    else if (label() == "particle")
    {
        m_doubles.resize(3);
        m_strings.resize(1);
        m_vectors.clear();
    }
    else if (label() == "particle")
    {
        m_doubles.resize(1);
        m_vectors.clear();
    }
    else if (label() == "drag")
    {
        m_doubles.resize(2);
        m_vectors.clear();
    }
    else if (label() == "wing")
    {
        m_doubles.resize(6);
        m_vectors.clear();
    }
    else if (label() == "wheel")
    {
        if (m_doubles.size() != 24)
        {
            m_doubles.resize(24);
            m_doubles[8] = 0.0;
            m_doubles[23] = 1.0;
            m_strings.resize(3);
            m_vectors.resize(5);
        }
        m_strings[0] = attribs[0].value;
        m_strings[1] = attribs[1].value;
        m_bools.clear();
        m_bools.resize(2);
        m_first_model_for_this_wheel = true;
    }
    else if (label() == "steered")
        m_bools[0] = true;
    else if (label() == "driven")
        m_bools[1] = true;
}

void Car_Reader::on_end_tag(const Vamos_Media::XML_Tag &tag)
{
    if (path() == "/car/robot")
        mp_car->set_robot_parameters(m_doubles[0], m_doubles[1], m_doubles[2]);
    else if (path() == "/car/exterior-model" && !m_strings.front().empty())
        mp_car->exterior_model(m_data_dir + "cars/" + m_strings[0], m_doubles[0], m_vectors[0],
                               m_vectors[1]);
    else if (path() == "/car/interior-model" && !m_strings.front().empty())
        mp_car->interior_model(m_data_dir + "cars/" + m_strings[0], m_doubles[0], m_vectors[0],
                               m_vectors[1]);
    else if (label() == "initial-conditions")
        mp_car->chassis().set_initial_conditions(m_vectors[0], m_vectors[1], m_vectors[2],
                                                 m_vectors[3]);
    else if (label() == "view")
        mp_car->set_view(m_vectors[0], m_doubles[0], m_doubles[1], m_doubles[2], m_doubles[3]);
    else if (label() == "mirror")
        mp_car->add_rear_view(m_vectors[0], m_doubles[0], m_doubles[1], m_doubles[2], m_doubles[3],
                              m_doubles[4], m_doubles[5], m_data_dir + "textures/" + m_strings[0]);
    else if (label() == "steering")
    {
        mp_car->max_steer_angle(m_doubles[0]);
        mp_car->steer_exponent(m_doubles[1]);
        mp_car->steer_speed_sensitivity(m_doubles[2]);
    }
    else if (label() == "mirror-frame")
    {
        Facade *frame = new Facade(m_data_dir + "textures/" + m_strings[0]);
        frame->set_width(m_doubles[3]);
        frame->set_height(m_doubles[4]);
        frame->set_x_offset(m_doubles[0]);
        frame->set_y_offset(m_doubles[1]);
        frame->set_z_offset(m_doubles[2]);
        m_mirrors.push_back(frame);
    }
    else if (label() == "tachometer")
    {
        if (m_tachometer_type == "LED")
        {
            mp_tachometer = new LED_Gauge(m_doubles[0], m_doubles[1], m_doubles[2],
                                          m_doubles[3], m_ints[0], m_doubles[4], m_doubles[5],
                                          m_data_dir + "textures/" + m_strings[0], m_bools[0]);
            m_bools[0] = false;
        }
        else if (m_tachometer_type == "digital")
        {
            mp_tachometer = new Digital_Gauge(m_doubles[0], m_doubles[1], m_doubles[2],
                                              m_doubles[3], m_doubles[4], m_ints[0],
                                              m_data_dir + "textures/" + m_strings[0], m_bools[0]);
            m_bools[0] = false;
        }
        else
            mp_tachometer = new Dial(m_doubles[0], m_doubles[1], m_doubles[2], m_doubles[3],
                                     m_doubles[4], m_doubles[5], m_doubles[6], m_doubles[7],
                                     m_data_dir + "textures/" + m_strings[0],
                                     m_data_dir + "textures/" + m_strings[1]);
    }
    else if (label() == "speedometer")
    {
        if (m_speedometer_type == "digital")
        {
            mp_speedometer = new Digital_Gauge(m_doubles[0], m_doubles[1], m_doubles[2],
                                               m_doubles[3], m_doubles[4], m_ints[0],
                                               m_data_dir + "textures/" + m_strings[0], m_bools[0]);
            m_bools[0] = false;
        }
        else
            mp_speedometer = new Dial(m_doubles[0], m_doubles[1], m_doubles[2], m_doubles[3],
                                      m_doubles[4], m_doubles[5], m_doubles[6], m_doubles[7],
                                      m_data_dir + "textures/" + m_strings[0],
                                      m_data_dir + "textures/" + m_strings[1]);
    }
    else if (label() == "fuel-gauge")
    {
        if (m_fuel_gauge_type == "digital")
        {
            mp_fuel_gauge = new Digital_Gauge(m_doubles[0], m_doubles[1], m_doubles[2],
                                              m_doubles[3], m_doubles[4], m_ints[0],
                                              m_data_dir + "textures/" + m_strings[0], m_bools[0]);
            m_bools[0] = false;
        }
        else
            mp_fuel_gauge = new Dial(m_doubles[0], m_doubles[1], m_doubles[2], m_doubles[3],
                                     m_doubles[4], m_doubles[5], m_doubles[6], m_doubles[7],
                                     m_data_dir + "textures/" + m_strings[0],
                                     m_data_dir + "textures/" + m_strings[1]);
    }
    else if (label() == "gear-indicator")
    {
        mp_gear_indicator = new Gear_Indicator(m_doubles[0], m_doubles[1], m_doubles[2],
                                               m_doubles[3], m_doubles[4], m_ints[0],
                                               m_data_dir + "textures/" + m_strings[0], m_bools[0]);
        m_bools[0] = false;
    }
    else if (label() == "gear-shift")
        mp_gear_indicator
            = new Gear_Shift(m_doubles[0], m_doubles[1], m_doubles[2], m_doubles[3], m_doubles[4],
                             m_vectors[0], m_points, m_data_dir + "textures/" + m_strings[0],
                             m_data_dir + "textures/" + m_strings[1]);
    else if (label() == "steering-wheel")
        mp_steering_wheel = new Steering_Wheel(
            m_doubles[0], m_doubles[1], m_doubles[2], m_doubles[3], m_doubles[4], m_doubles[5],
            m_doubles[6], m_doubles[7], m_data_dir + "textures/" + m_strings[0]);
    else if (label() == "dashboard")
    {
        auto dash = new Dashboard(m_doubles[8], m_doubles[9], m_doubles[10], m_doubles[11]);
        for (auto mirror : m_mirrors)
            dash->add_facade(mirror);
        dash->add_tachometer(mp_tachometer);
        dash->add_speedometer(mp_speedometer);
        dash->add_fuel_gauge(mp_fuel_gauge);
        dash->add_gear_indicator(mp_gear_indicator);
        dash->add_steering_wheel(mp_steering_wheel);
        mp_car->dashboard(dash);
    }
    else if (path() == "/car/dashboard/extras")
        mp_car->show_dashboard_extras(true);
    else if (label() == "engine")
    {
        mp_engine
            = new Engine(m_doubles[0], m_vectors[0], m_doubles[1], m_doubles[2], m_doubles[3],
                         m_doubles[4], m_doubles[5], m_doubles[6], m_doubles[7], m_doubles[8]);
        if (m_bools[0])
        {
            mp_engine->set_torque_curve(m_points);
            mp_engine->set_friction(m_doubles[9]);
        }
        if (!m_strings[0].empty())
            mp_car->engine_sound(m_data_dir + "sounds/" + m_strings[0], m_doubles[10],
                                 m_doubles[11], m_doubles[12], m_doubles[13]);
    }
    else if (label() == "clutch")
    {
        if (m_doubles.size() != 4)
            error("clutch requires 4 arguments");
        mp_clutch = new Clutch(m_doubles[0], m_doubles[1], m_doubles[2], m_doubles[3]);
    }
    else if (label() == "transmission")
    {
        if (m_doubles.size() == 4)
        {
            mp_transmission
                = new Transmission(static_cast<int>(m_doubles[0]), m_doubles[1], m_doubles[2]);
            mp_car->shift_delay(m_doubles[3]);
        }
        else
        {
            mp_transmission = new Transmission(m_gears);
            mp_car->shift_delay(m_doubles[1]);
        }
    }
    else if (label() == "differential")
    {
        if (m_doubles.size() != 2)
            error("differential requires 2 arguments");
        mp_differential = new Differential(m_doubles[0], m_doubles[1]);
    }
    else if (path() == "/car/drivetrain/auto-neutral")
        m_bools[0] = true;
    else if (label() == "drivetrain")
    {
        mp_car->mp_drivetrain.reset(
            new Drivetrain(mp_engine, mp_clutch, mp_transmission, mp_differential));
        mp_car->mp_drivetrain->set_auto_neutral(m_bools [0]);
    }
    else if (label() == "fuel-tank")
    {
        if (m_doubles.size() != 3 || m_vectors.size() != 1)
            error("fuel tank requires 1 or 3 elements");
        mp_car->mp_fuel_tank.reset(
            new Fuel_Tank(m_vectors[0], m_doubles[0], m_doubles[1], m_doubles[2]));
    }
    else if (label() == "car")
    {
        if (mp_car->mp_drivetrain)
            mp_car->chassis().add_particle(mp_car->mp_drivetrain->engine());
        if (mp_car->mp_fuel_tank)
            mp_car->chassis().add_particle(mp_car->mp_fuel_tank);
    }
    else if (label() == "particle")
    {
        auto material = Material(m_strings[0] == "rubber" ? Material::RUBBER
                                 : m_strings[0] == "metal" ? Material::METAL
                                 : Material::UNKNOWN,
                                 m_doubles[1], m_doubles[2]);
        mp_car->chassis().add_particle(std::make_shared<Particle>(
                                           m_doubles[0], m_vectors[0], material));
    }
    else if (label() == "drag")
        mp_car->chassis().add_particle(std::make_shared<Drag>(
                                           m_vectors[0], m_doubles[0], m_doubles[1]));
    else if (label() == "wing")
        mp_car->chassis().add_particle(std::make_shared<Wing>(
                                           m_vectors[0], m_doubles[0], m_doubles[1], m_doubles[2],
                                           m_doubles[3]));
    else if (path() == "/car/wheel/suspension/model")
    {
        if (m_first_model_for_this_wheel)
        {
            m_models.clear();
            m_first_model_for_this_wheel = false;
        }
        m_models.push_back(Model_Info{m_strings[2], m_doubles[21], m_vectors[3], m_vectors[4]});
    }
    else if (label() == "wheel")
    {
        Direction side = m_strings[0] == "left" ? LEFT : RIGHT;
        Tire_Friction friction(m_long_parameters, m_trans_parameters, m_align_parameters);
        // The tire is managed by the wheel.
        auto tire = new Tire(m_doubles[9], m_doubles[10], m_doubles[11], friction, m_doubles[23],
                             m_doubles[12]);
        double bias = m_doubles[17];
        if (m_strings[1] == "rear")
            bias = 1.0 - bias;
        // The brake is managed by the wheel.
        auto brake = new Brake(m_doubles[13], m_doubles[14], m_doubles[15], m_doubles[16], bias);
        // The wheel is managed by the chassis.
        auto wheel = std::make_shared<Wheel>(m_doubles[18], m_vectors[0], m_doubles[22],
                                             m_doubles[19], m_bools[1], side, tire, brake);
        mp_car->m_wheels.push_back(wheel.get());
        if (!m_slow_model.empty())
        {
            std::string stator_path;
            if (!m_stator_model.empty())
                stator_path = m_data_dir + "cars/" + m_stator_model;
            wheel->set_models(m_data_dir + "cars/" + m_slow_model,
                              m_data_dir + "cars/" + m_fast_model, m_transition, stator_path,
                              m_stator_offset, m_scale, m_translation, m_rotation);
        }
        mp_car->chassis().add_particle(wheel);

        auto suspension = std::make_shared<Suspension>(m_vectors[1], side, m_bools[0],
                                                       m_doubles[5], m_doubles[6], m_doubles[7],
                                                       m_doubles[0], m_doubles[1], m_doubles[2],
                                                       m_doubles[3], m_doubles[4], wheel);
        if (m_doubles[8] != 0.0)
        {
            auto* other = dynamic_cast<Suspension*>(
                (mp_car->chassis().particles().end() - 2)->get());
            assert(other);
            suspension->anti_roll(other, m_doubles[8]);
            m_doubles[8] = 0.0;
        }
        for (const auto& model : m_models)
            suspension->set_model(m_data_dir + "cars/" + model.file, model.scale,
                                  model.translate, model.rotate);
        mp_car->chassis().add_particle(suspension);
    }
}

void Car_Reader::on_data(std::string data)
{
    if (data.empty())
        return;

    std::istringstream is(data.c_str());
    static char delim;

    if (path() == "/car/robot/slip-ratio")
        is >> m_doubles[0];
    else if (path() == "/car/robot/deceleration")
        is >> m_doubles[1];
    else if (path() == "/car/robot/lateral-acceleration")
        is >> m_doubles[2];
    else if (path() == "/car/dashboard/position")
        is >> delim >> m_doubles[8] >> delim >> m_doubles[9] >> delim >> m_doubles[10];
    else if (path() == "/car/dashboard/tilt")
        is >> m_doubles[11];
    else if (path() == "/car/dashboard/mirror-frame/position"
             || path() == "/car/dashboard/tachometer/position"
             || path() == "/car/dashboard/speedometer/position"
             || path() == "/car/dashboard/fuel-gauge/position"
             || path() == "/car/dashboard/gear-indicator/position"
             || path() == "/car/dashboard/gear-shift/position"
             || path() == "/car/dashboard/steering-wheel/position")
        is >> delim >> m_doubles[0] >> delim >> m_doubles[1] >> delim >> m_doubles[2];
    else if (path() == "/car/dashboard/tachometer/radius"
             || path() == "/car/dashboard/tachometer/width"
             || path() == "/car/dashboard/speedometer/radius"
             || path() == "/car/dashboard/fuel-gauge/radius"
             || path() == "/car/dashboard/steering-wheel/radius")
        is >> m_doubles[3];
    else if (path() == "/car/dashboard/tachometer/elements")
        is >> m_ints[0];
    else if (path() == "/car/dashboard/tachometer/range")
        is >> delim >> m_doubles[4] >> delim >> m_doubles[5];
    else if (path() == "/car/dashboard/tachometer/min"
             || path() == "/car/dashboard/speedometer/min"
             || path() == "/car/dashboard/fuel-gauge/min"
             || path() == "/car/dashboard/steering-wheel/min")
        is >> delim >> m_doubles[4] >> delim >> m_doubles[5];
    else if (path() == "/car/dashboard/tachometer/max"
             || path() == "/car/dashboard/speedometer/max"
             || path() == "/car/dashboard/fuel-gauge/max"
             || path() == "/car/dashboard/steering-wheel/max")
        is >> delim >> m_doubles[6] >> delim >> m_doubles[7];
    else if (path() == "/car/dashboard/gear-shift/rotation")
        is >> m_vectors[0];
    else if (path() == "/car/dashboard/gear-shift/stick-positions")
    {
        Two_Vector point;
        while (is >> point)
            m_points.push_back(point);
    }
    else if (path() == "/car/dashboard/mirror-frame/image"
             || path() == "/car/dashboard/tachometer/face"
             || path() == "/car/dashboard/tachometer/image"
             || path() == "/car/dashboard/speedometer/face"
             || path() == "/car/dashboard/speedometer/image"
             || path() == "/car/dashboard/fuel-gauge/face"
             || path() == "/car/dashboard/fuel-gauge/image"
             || path() == "/car/dashboard/gear-indicator/image"
             || path() == "/car/dashboard/gear-shift/gate"
             || path() == "/car/dashboard/steering-wheel/image")
        is >> m_strings[0];
    else if (path() == "/car/dashboard/tachometer/needle"
             || path() == "/car/dashboard/speedometer/needle"
             || path() == "/car/dashboard/fuel-gauge/needle"
             || path() == "/car/dashboard/gear-shift/stick")
        is >> m_strings[1];
    else if (path() == "/car/dashboard/mirror-frame/size"
             || path() == "/car/dashboard/gear-indicator/size"
             || path() == "/car/dashboard/gear-shift/size"
             || path() == "/car/dashboard/tachometer/size"
             || path() == "/car/dashboard/speedometer/size"
             || path() == "/car/dashboard/fuel-gauge/size")
        is >> delim >> m_doubles[3] >> delim >> m_doubles[4];
    else if (path() == "/car/dashboard/gear-indicator/numbers"
             || path() == "/car/dashboard/tachometer/places"
             || path() == "/car/dashboard/speedometer/places"
             || path() == "/car/dashboard/fuel-gauge/places")
        is >> m_ints[0];

    // Particle
    else if (path() == "/car/particle/mass")
        is >> m_doubles[0];

    // Contact Point
    else if (path() == "/car/particle/mass")
        is >> m_doubles[0];
    else if (path() == "/car/particle/material")
        is >> m_strings[0];
    else if (path() == "/car/particle/friction")
        is >> m_doubles[1];
    else if (path() == "/car/particle/restitution")
        is >> m_doubles[2];

    // Drag
    else if (path() == "/car/drag/frontal-area")
        is >> m_doubles[0];
    else if (path() == "/car/drag/drag-coefficient")
        is >> m_doubles[1];

    // Wing
    else if (path() == "/car/wing/frontal-area")
        is >> m_doubles[0];
    else if (path() == "/car/wing/surface-area")
        is >> m_doubles[1];
    else if (path() == "/car/wing/lift-coefficient")
        is >> m_doubles[2];
    else if (path() == "/car/wing/efficiency")
        is >> m_doubles[3];

    // Wheel
    else if (path() == "/car/wheel/position")
        is >> m_vectors[0];
    else if (path() == "/car/wheel/mass")
        is >> m_doubles[18];
    else if (path() == "/car/wheel/restitution")
        is >> m_doubles[19];

    // Suspension
    else if (path() == "/car/wheel/suspension/model/file")
        is >> m_strings[2];
    else if (path() == "/car/wheel/suspension/model/scale")
        is >> m_doubles[21];
    else if (path() == "/car/wheel/suspension/model/translate")
        is >> m_vectors[3];
    else if (path() == "/car/wheel/suspension/model/rotate")
        is >> m_vectors[4];
    else if (path() == "/car/wheel/suspension/position")
        is >> m_vectors[1];
    else if (path() == "/car/wheel/suspension/hinge")
        is >> m_vectors[2];
    else if (path() == "/car/wheel/suspension/spring-constant")
        is >> m_doubles[0];
    else if (path() == "/car/wheel/suspension/bounce")
        is >> m_doubles[1];
    else if (path() == "/car/wheel/suspension/rebound")
        is >> m_doubles[2];
    else if (path() == "/car/wheel/suspension/travel")
        is >> m_doubles[3];
    else if (path() == "/car/wheel/suspension/max-compression-velocity")
        is >> m_doubles[4];
    else if (path() == "/car/wheel/suspension/camber")
        is >> m_doubles[5];
    else if (path() == "/car/wheel/suspension/caster")
        is >> m_doubles[6];
    else if (path() == "/car/wheel/suspension/toe")
        is >> m_doubles[7];
    else if (path() == "/car/wheel/suspension/anti-roll")
        is >> m_doubles[8];

    // Tire
    else if (path() == "/car/wheel/tire/radius")
        is >> m_doubles[9];
    else if (path() == "/car/wheel/tire/offset")
        is >> m_doubles[22];
    else if (path() == "/car/wheel/tire/rolling-resistance")
        is >> delim >> m_doubles[10] >> delim >> m_doubles[11];
    else if (path() == "/car/wheel/tire/rotational-inertia")
        is >> m_doubles[12];
    else if (path() == "/car/wheel/tire/friction/longitudinal")
        for (auto& p : m_long_parameters)
            is >> delim >> p;

    else if (path() == "/car/wheel/tire/friction/transverse")
        for (auto& p : m_trans_parameters)
            is >> delim >> p;

    else if (path() == "/car/wheel/tire/friction/aligning")
        for (auto& p : m_align_parameters)
            is >> delim >> p;

    else if (path() == "/car/wheel/tire/hardness")
        is >> m_doubles[23];

    // Brakes
    else if (path() == "/car/wheel/brakes/friction")
        is >> m_doubles[13];
    else if (path() == "/car/wheel/brakes/radius")
        is >> m_doubles[14];
    else if (path() == "/car/wheel/brakes/area")
        is >> m_doubles[15];
    else if (path() == "/car/wheel/brakes/max-pressure")
        is >> m_doubles[16];
    else if (path() == "/car/wheel/brakes/front-bias")
        is >> m_doubles[17];

    // Transmission
    else if (path() == "/car/drivetrain/transmission/gear-ratio")
    {
        int gear;
        double ratio;
        is >> delim >> gear >> delim >> ratio;
        m_gears[gear] = ratio;
    }

    // Initial Conditions
    else if (path() == "/car/initial-conditions/position")
        is >> m_vectors[0];
    else if (path() == "/car/initial-conditions/orientation")
        is >> m_vectors[1];
    else if (path() == "/car/initial-conditions/velocity")
        is >> m_vectors[2];
    else if (path() == "/car/initial-conditions/angular-velocity")
        is >> m_vectors[3];

    // View
    else if (path() == "/car/view/field-width")
        is >> m_doubles[0];
    else if (path() == "/car/view/near-plane")
        is >> m_doubles[1];
    else if (path() == "/car/view/far-plane")
        is >> m_doubles[2];
    else if (path() == "/car/view/pan-angle")
        is >> m_doubles[3];

    // Rear View
    else if (path() == "/car/mirror/size")
        is >> delim >> m_doubles[0] >> delim >> m_doubles[1];
    else if (path() == "/car/mirror/direction")
        is >> m_doubles[2];
    else if (path() == "/car/mirror/field-width")
        is >> m_doubles[3];
    else if (path() == "/car/mirror/near-plane")
        is >> m_doubles[4];
    else if (path() == "/car/mirror/far-plane")
        is >> m_doubles[5];
    else if (path() == "/car/mirror/mask")
        is >> m_strings[0];

    // Steering
    else if (path() == "/car/steering/max-angle")
        is >> m_doubles[0];
    else if (path() == "/car/steering/exponent")
        is >> m_doubles[1];
    else if (path() == "/car/steering/speed-sensitivity")
        is >> m_doubles[2];

    // Engine
    else if (path() == "/car/drivetrain/engine/mass")
        is >> m_doubles[0];
    else if (path() == "/car/drivetrain/engine/max-power")
        is >> m_doubles[1];
    else if (path() == "/car/drivetrain/engine/peak-engine-rpm")
        is >> m_doubles[2];
    else if (path() == "/car/drivetrain/engine/rpm-limit")
        is >> m_doubles[3];
    else if (path() == "/car/drivetrain/engine/inertia")
        is >> m_doubles[4];
    else if (path() == "/car/drivetrain/engine/idle")
        is >> m_doubles[5];
    else if (path() == "/car/drivetrain/engine/start-rpm")
        is >> m_doubles[6];
    else if (path() == "/car/drivetrain/engine/stall-rpm")
        is >> m_doubles[7];
    else if (path() == "/car/drivetrain/engine/fuel-consumption")
        is >> m_doubles[8];
    else if (path() == "/car/drivetrain/engine/torque-curve")
    {
        Two_Vector point;
        while (is >> point)
            m_points.push_back(point);
    }
    else if (path() == "/car/drivetrain/engine/sound/file")
        is >> m_strings[0];
    else if (path() == "/car/drivetrain/engine/sound/volume")
        is >> m_doubles[10];
    else if (path() == "/car/drivetrain/engine/sound/throttle-volume-factor")
        is >> m_doubles[11];
    else if (path() == "/car/drivetrain/engine/sound/engine-speed-volume-factor")
        is >> m_doubles[12];
    else if (path() == "/car/drivetrain/engine/sound/pitch")
        is >> m_doubles[13];
    else if (path() == "/car/exterior-model/file" || path() == "/car/interior-model/file")
        is >> m_strings[0];
    else if (path() == "/car/exterior-model/scale" || path() == "/car/interior-model/scale")
        is >> m_doubles[0];
    else if (path() == "/car/exterior-model/translate" || path() == "/car/interior-model/translate")
        is >> m_vectors[0];
    else if (path() == "/car/exterior-model/rotate" || path() == "/car/interior-model/rotate")
    {
        is >> m_vectors[1];
        m_vectors[1] = deg_to_rad(m_vectors[1]);
    }
    else if (path() == "/car/wheel/model/slow-file")
        is >> m_slow_model;
    else if (path() == "/car/wheel/model/fast-file")
        is >> m_fast_model;
    else if (path() == "/car/wheel/model/stator-file")
        is >> m_stator_model;
    else if (path() == "/car/wheel/model/transition-speed")
        is >> m_transition;
    else if (path() == "/car/wheel/model/stator-offset")
        is >> m_stator_offset;
    else if (path() == "/car/wheel/model/scale")
        is >> m_scale;
    else if (path() == "/car/wheel/model/translate")
        is >> m_translation;
    else if (path() == "/car/wheel/model/rotate")
    {
        is >> m_rotation;
        m_rotation.y = deg_to_rad(m_rotation.y);
    }
    else if (label() == "position")
    {
        Three_Vector vec;
        is >> vec;
        m_vectors.push_back(vec);
    }
    else
    {
        double arg;
        is >> arg;
        m_doubles.push_back(arg);
    }
}