From c291296afbf78e4c030066aafc65f87c293193f6 Mon Sep 17 00:00:00 2001
From: torcs-ng <torcs-ng@30fe4595-0a0c-4342-8851-515496e4dcbd>
Date: Thu, 6 Aug 2015 08:30:37 +0000
Subject: [PATCH] - Update Shadow's driver

git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6061 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: bcb29c34ffa1f386d6555e73779d75df206f8366
Former-commit-id: 57ff49d36e1a04a8f03bc20b67ccacb005f8299f
---
 src/drivers/shadow/src/CarModel.cpp | 12 +++++++++++-
 src/drivers/shadow/src/CarModel.h   |  5 +++--
 src/drivers/shadow/src/Driver.cpp   |  3 +++
 src/drivers/shadow/src/Driver.h     |  2 ++
 4 files changed, 19 insertions(+), 3 deletions(-)

diff --git a/src/drivers/shadow/src/CarModel.cpp b/src/drivers/shadow/src/CarModel.cpp
index 190996f1b..a24ee58b6 100644
--- a/src/drivers/shadow/src/CarModel.cpp
+++ b/src/drivers/shadow/src/CarModel.cpp
@@ -35,6 +35,7 @@ CarModel::CarModel()
 	DAMAGE(0),
     NEEDSINLONG(false),
     USEDACCEXIT(false),
+    SKILL(0),
 
 	TYRE_MU(0),
 	TYRE_MU_F(0),
@@ -285,6 +286,8 @@ double	CarModel::CalcBreaking(double k0, double kz0, double k1, double kz1, doub
 
         double	acc = Ftanroad / M;
 
+        acc = BRAKESCALE * Ftanroad / (MASS * ( 3 + SKILL) / 4);
+
 		if (TDriver::UseBrakeLimit)
 		{
 			double Radius = 1.0 / fabs(Kz);
@@ -300,7 +303,14 @@ double	CarModel::CalcBreaking(double k0, double kz0, double k1, double kz1, doub
 			break;
 	}
 
-	return u;
+    double midspd = (u + spd1)/2;
+
+    // Check brake
+    double brakedecel = BRAKESCALE * BRAKEFORCE / MASS;
+    double braketargetspd = sqrt(midspd * midspd + 2 * brakedecel * dist);
+    double resulttargetspd = MIN(u, braketargetspd);
+
+    return MAX(resulttargetspd, spd1);
 }
 
 double	CarModel::CalcAcceleration(double k0, double kz0, double k1, double kz1, double spd0, double dist, double kFriction, double RollAngle , double TiltAngle) const
diff --git a/src/drivers/shadow/src/CarModel.h b/src/drivers/shadow/src/CarModel.h
index b9bdfb159..99ed16b9e 100644
--- a/src/drivers/shadow/src/CarModel.h
+++ b/src/drivers/shadow/src/CarModel.h
@@ -43,8 +43,9 @@ public:
     double  LENGTH;         // Length of car (m)
     double	FUEL;           // mass of fuel in car.
     double	DAMAGE;         // damage of this car.
-    double  NEEDSINLONG;
-    double  USEDACCEXIT;
+    bool    NEEDSINLONG;
+    bool    USEDACCEXIT;
+    double  SKILL;          // skill car driver.
 
     double	TYRE_MU;        // mu value of tyres (min of those avail).
     double	TYRE_MU_F;      // mu value of front tyres.
diff --git a/src/drivers/shadow/src/Driver.cpp b/src/drivers/shadow/src/Driver.cpp
index 703f29b08..be077a7cd 100644
--- a/src/drivers/shadow/src/Driver.cpp
+++ b/src/drivers/shadow/src/Driver.cpp
@@ -511,6 +511,7 @@ void TDriver::InitTrack( tTrack* pTrack, void* pCarHandle, void** ppCarParmHandl
     m_cm.BUMP_FACTOR = GfParmGetNum(hCarParm, SECT_PRIV, PRV_BUMP_FACTOR, NULL, 1.0);
     m_cm.NEEDSINLONG = GfParmGetNum(hCarParm, SECT_PRIV, PRV_NEED_SIN, NULL, 0);
     m_cm.USEDACCEXIT = GfParmGetNum(hCarParm, SECT_PRIV, PRV_USED_ACC, NULL, 0);
+    m_cm.BRAKESCALE = GfParmGetNum(hCarParm, SECT_PRIV, PRV_BRAKESCALE, NULL, 1.0);
 
 	FACTORS.RemoveAll();
 
@@ -682,6 +683,8 @@ void TDriver::NewRace( tCarElt* pCar, tSituation* pS )
     initWheelPos();
     initBrake();
 
+    m_cm.BRAKEFORCE = BrakeForce;
+
 	m_cm.FUEL = 0;//pCar->_fuel;
 
     m_cm.WIDTH = car->_dimension_y;
diff --git a/src/drivers/shadow/src/Driver.h b/src/drivers/shadow/src/Driver.h
index e0e5ca065..5a7449210 100644
--- a/src/drivers/shadow/src/Driver.h
+++ b/src/drivers/shadow/src/Driver.h
@@ -48,6 +48,8 @@
 #define PRV_RAIN_MU             "mu scale rain"
 #define PRV_ACCEL_DELTA         "accel delta"
 #define PRV_ACCEL_DELTA_RAIN    "accel delta rain"
+#define PRV_BRAKESCALE          "brake scale"
+#define PRV_BRAKEFORCE          "brake force"
 #define PRV_FLY_HEIGHT          "fly height"
 #define PRV_FACTOR              "factor"
 #define PRV_AERO_MOD            "aero mod"