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- Update USR's driver

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git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6743 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: d1c397aceb47e392a31af3d12f1709d4d6cdee2f
Former-commit-id: 56cecd42bb2bd6cbd0e4330bfcacaafd755681fd
This commit is contained in:
torcs-ng 2019-10-06 21:05:39 +00:00
parent b2a42519d4
commit c5d78eab63
6 changed files with 51 additions and 33 deletions
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2
src/drivers/usr/src/driver.cpp
View file

@ -674,7 +674,7 @@ void Driver::drive(tSituation *s)
else
{
#if 1
static char *lineName[] = { "LINE_MID", "LINE_LEFT", "LINE_RIGHT", "LINE_RL", "LINE_RL", "LINE_RL" };
static const char *lineName[] = { "LINE_MID", "LINE_LEFT", "LINE_RIGHT", "LINE_RL", "LINE_RL", "LINE_RL" };
int rnd = rand();
int target_line = rnd % 4;
if (target_line == LINE_MID)

2
src/drivers/usr/src/linemode.h
View file

@ -67,7 +67,7 @@ public:
bool IsOnHold(int div, bool stay_inside);
bool IsOnRaceLine();
bool IsTransitioning() { return m_IsTransitioning; }
bool SetTransitioning(bool value) { m_IsTransitioning = value; }
void SetTransitioning(bool value) { m_IsTransitioning = value; }
bool HasFinishedTransition(double targetSteer, double steer);
int GetTargetRaceline() { return m_TargetRaceline; }

4
src/drivers/usr/src/manual_override.cpp
View file

@ -142,7 +142,7 @@ void LManualOverride::saveToFile(FILE *filepointer)
{
snprintf(str, 127, "%s<\n", label);
fprintf(filepointer, str);
snprintf(str, 127, "%.4f %.4f %.4f\n\n", overrideValues[i].startdist, overrideValues[i].enddist, overrideValues[i].value);
snprintf(str, 127, "%i %i %.4f\n\n", overrideValues[i].startdist, overrideValues[i].enddist, overrideValues[i].value);
fprintf(filepointer, str);
}
}
@ -357,7 +357,7 @@ void LManualOverrideCollection::saveToFile()
#endif
}
LManualOverride *LManualOverrideCollection::getOverrideForLabel(char *label)
LManualOverride *LManualOverrideCollection::getOverrideForLabel(const char *label)
{
if (label)
{

2
src/drivers/usr/src/manual_override.h
View file

@ -64,7 +64,7 @@ public:
void loadFromFile(char *trackname, const char *botname, const char *carname, int racetype);
void saveToFile();
LManualOverride *getOverrideForLabel(char *label);
LManualOverride *getOverrideForLabel(const char *label);
private:
int divCount;

72
src/drivers/usr/src/opponent.cpp
View file

@ -498,8 +498,7 @@ void Opponent::calcState(float Speed, Driver *driver)
#ifdef OPP_DEBUG
if (state)// && state != OPP_IGNORE)
{
fprintf(stderr, "%s - %s: %.1f %s %s %s\n", mycar->_name, car->_name, distance, (state & OPP_SIDE) ? "SIDE" : ((state & OPP_FRONT) ? "FRONT" : ((state & OPP_BACK) ? "BACK" : "")), (state & OPP_COLL) ? "COLL" : "",(state & OPP_IGNORE)?"IGNORE":"");
fflush(stderr);
LogUSR.debug("%s - %s: %.1f %s %s %s\n", mycar->_name, car->_name, distance, (state & OPP_SIDE) ? "SIDE" : ((state & OPP_FRONT) ? "FRONT" : ((state & OPP_BACK) ? "BACK" : "")), (state & OPP_COLL) ? "COLL" : "",(state & OPP_IGNORE)?"IGNORE":"");
}
#endif
}
@ -864,7 +863,7 @@ int Opponent::testLinearCollision2(Driver *driver)
if (driver->raceline->IsSlowerThanSpeedToDiv(driver->linemode, car->_speed_x + MIN(0.0, avgAccelX / 4), div, &slowSpeed))
{
#ifdef BRAKE_DEBUG
fprintf(stderr, "%s %d NO COLL C: Slower Speed %.2f between opponent and collision point\n", car->_name, mycar->_dammage, slowSpeed); fflush(stderr);
LogUSR.debug("%s %d NO COLL C: Slower Speed %.2f between opponent and collision point\n", car->_name, mycar->_dammage, slowSpeed);
#endif
if (distance > MAX(2, 4.0 - fabs(driver->raceline->tRInverse[LINE_RL][driver->raceline->This]) * 1000))
hasSlowerSpeed = true;
@ -879,7 +878,7 @@ int Opponent::testLinearCollision2(Driver *driver)
if (timpact < 0.0 && distance > 2.0 + MAX(0.0, MIN(2.0, -car->_accel_x)))
{
#ifdef BRAKE_DEBUG
fprintf(stderr, "%s %d NO COLL D: t_impact %.2f <= 0.0 and distance %.1f > 1.0\n", car->_name, mycar->_dammage, timpact, distance); fflush(stderr);
LogUSR.debug("%s %d NO COLL D: t_impact %.2f <= 0.0 and distance %.1f > 1.0\n", car->_name, mycar->_dammage, timpact, distance);
#endif
return -1;
}
@ -888,7 +887,7 @@ int Opponent::testLinearCollision2(Driver *driver)
if (timpact > MAX(1.0, MIN(distance*2, car->_speed_x / 20)) / (simTime < 2.0 ? 2 : 1) && distance > 0.5)
{
#ifdef BRAKE_DEBUG
fprintf(stderr, "%s %d NO COLL E: t_impact %.2f > speed factor %.2f, dist = %.2f\n",car->_name,mycar->_dammage,timpact,MAX(1.0, car->_speed_x/20), distance);fflush(stderr);
LogUSR.debug("%s %d NO COLL E: t_impact %.2f > speed factor %.2f, dist = %.2f\n",car->_name,mycar->_dammage,timpact,MAX(1.0, car->_speed_x/20), distance);
#endif
return -1;
}
@ -942,7 +941,7 @@ int Opponent::testLinearCollision2(Driver *driver)
{
collspeed = (float) MIN(collspeed, car->_speed_x-2.0);
#ifdef BRAKE_DEBUG
fprintf(stderr, "%s %d CLOSE OVERLAP COLLISION collspeed=%.2f\n",car->_name,mycar->_dammage,collspeed);fflush(stderr);
LogUSR.debug("%s %d CLOSE OVERLAP COLLISION collspeed=%.2f\n",car->_name,mycar->_dammage,collspeed);
#endif
return OPP_COLL | OPP_COLL_WARNING; // cars are overlapping now.
}
@ -950,7 +949,7 @@ int Opponent::testLinearCollision2(Driver *driver)
if (!(state & OPP_SIDE) && speedDiff <= 0 && car->_speed_x > 5.0f)
{
#ifdef BRAKE_DEBUG
fprintf(stderr, "%s %d NO COLL: speedDiff %.1f <= 0 and speed %.2f > 5.0\n",car->_name,mycar->_dammage,speedDiff,car->_speed_x);fflush(stderr);
LogUSR.debug("%s %d NO COLL: speedDiff %.1f <= 0 and speed %.2f > 5.0\n",car->_name,mycar->_dammage,speedDiff,car->_speed_x);
#endif
return -1;
}
@ -964,7 +963,7 @@ int Opponent::testLinearCollision2(Driver *driver)
if (driver->isOnRaceline() && rlspeed > collspeed && rlspeed <= car->_speed_x)
{
#ifdef BRAKE_DEBUG
fprintf(stderr, "%s %d NO COLL: speedDiff=%.1f collspeed=%.2f\n",car->_name,mycar->_dammage,speedDiff,collspeed);fflush(stderr);
LogUSR.debug("%s %d NO COLL: speedDiff=%.1f collspeed=%.2f\n",car->_name,mycar->_dammage,speedDiff,collspeed);
#endif
return 0;
}
@ -973,13 +972,14 @@ int Opponent::testLinearCollision2(Driver *driver)
if (timpact > ((state & OPP_SIDE) ? 1.5 : 4.0))//MIN(3.0, MAX(0.7, speedDiff)))
{
#ifdef BRAKE_DEBUG
fprintf(stderr, "%s %d SIDE - NO COLL: t_impact %.2f > 5.0, dist=%.1f speedDiff=%.1f collspeed=%.2f\n",car->_name,mycar->_dammage,timpact,distance,speedDiff,collspeed);fflush(stderr);
LogUSR.debug("%s %d SIDE - NO COLL: t_impact %.2f > 5.0, dist=%.1f speedDiff=%.1f collspeed=%.2f\n",car->_name,mycar->_dammage,timpact,distance,speedDiff,collspeed);
#endif
return -1;
}
// move the opponent back a little towards our car, and project everything forward in time
double deltax = 0.0, deltay = 0.0;
for (i = 0; i < 4; i++)
{
// project opponent car by linear velocity, and make o_new2 moved back a little
@ -1003,6 +1003,7 @@ int Opponent::testLinearCollision2(Driver *driver)
thisdist = sqrt((deltax * deltax) + (deltay * deltay));
double newax = d_cur[i].ax + thisdist * sin(driver->getSpeedAngle(timpact2));
double neway = d_cur[i].ay + thisdist * cos(driver->getSpeedAngle(timpact2));
if ((mycar->_yaw_rate < 0.0 && i == FRNT_RGT) || (mycar->_yaw_rate > 0.0 && i == FRNT_LFT))
{
d_new2[i].ax = (tdble)newax;
@ -1021,6 +1022,7 @@ int Opponent::testLinearCollision2(Driver *driver)
deltay = ((d_new2[FRNT_LFT].ay-o_new[REAR_LFT].ay)+(d_new2[FRNT_RGT].ay-o_new[REAR_RGT].ay))/2;
double theta = atan2(deltax, deltay);
double movedist = 0.5 + MIN(1.5, speedDiff/15);
for (i = 0; i < 4; i++)
{
o_new2[i].ax = (tdble)(o_new[i].ax + movedist * sin(theta));
@ -1029,14 +1031,14 @@ int Opponent::testLinearCollision2(Driver *driver)
double trackdist = car->_distFromStartLine - mycar->_distFromStartLine;
double sidedist = fabs(car->_trkPos.toLeft - mycar->_trkPos.toLeft);
if ((!(MIN(car->_trkPos.toLeft, car->_trkPos.toRight) < -3 && MIN(mycar->_trkPos.toLeft, mycar->_trkPos.toRight) >= 0)) &&
(sidedist / 2 < MAX(timpact, trackdist/2) || sidedist < 2.0 || speedDiff > 15))
if ((!(MIN(car->_trkPos.toLeft, car->_trkPos.toRight) < -3 && MIN(mycar->_trkPos.toLeft, mycar->_trkPos.toRight) >= 0)) && (sidedist / 2 < MAX(timpact, trackdist/2) || sidedist < 2.0 || speedDiff > 15))
if (polyOverlap(o_new, d_new2) || polyOverlap(o_new2, d_new2))
{
#ifdef BRAKE_DEBUG
fprintf(stderr, "%s %d PROJECTED OVERLAP COLLISION dist=%.2f ospd=%.2f spd=%.2f collspeed=%.2f t_impact=%.2f sidedist=%.2f\n",car->_name,mycar->_dammage,distance,car->_speed_x,mycar->_speed_x,collspeed,timpact,fabs(car->_trkPos.toLeft - mycar->_trkPos.toLeft));fflush(stderr);
#endif
LogUSR.debug("%s %d PROJECTED OVERLAP COLLISION dist=%.2f ospd=%.2f spd=%.2f collspeed=%.2f t_impact=%.2f sidedist=%.2f\n",car->_name,mycar->_dammage,distance,car->_speed_x,mycar->_speed_x,collspeed,timpact,fabs(car->_trkPos.toLeft - mycar->_trkPos.toLeft));
return OPP_COLL | OPP_COLL_WARNING;
#endif
}
//if (driver->isOnRaceline())// && car->_pos > mycar->_pos)
@ -1091,7 +1093,8 @@ int Opponent::testLinearCollision2(Driver *driver)
if (polyOverlap(o_new, d_new2))
{
fprintf(stderr, "%s WARNING COLLISION\n",car->_name);fflush(stderr);
LogUSR.debug("%s WARNING COLLISION\n",car->_name);
return OPP_COLL_WARNING;
}
#endif
@ -1102,7 +1105,9 @@ int Opponent::testLinearCollision2(Driver *driver)
double Opponent::CalcCollSpeed(Driver *driver)
{
double mySpd = hypot(mycar->_speed_X, mycar->_speed_Y);
if (fabs(mySpd) < 0.01) mySpd = 0.01;
double myDirX = car->_speed_X / mySpd;
double myDirY = car->_speed_Y / mySpd;
@ -1122,6 +1127,7 @@ double Opponent::CalcCollSpeed(Driver *driver)
double ospeed = car->_speed_x + (distance < 2.0 ? MIN(0.0, car->_accel_x * t_impact * 2.0) : 0.0);
double targetEk = driver->mass() * ospeed * ospeed / 2;
double brake_coefficient = driver->getBrakeCoefficient();
if (currentEk - targetEk > t_impact * 750000 / brake_coefficient)
{
if (state & OPP_SIDE)
@ -1132,13 +1138,13 @@ double Opponent::CalcCollSpeed(Driver *driver)
{
double t = (fabs(rdPY) - minDY) / fabs(rdVY);
double collX = rdPX + rdVX * t;
if (collX > minDX*0.5 && collX < minDX)
collspeed = (float)oVX - 3.0f;
}
}
else
collspeed = (float)oVX;
//collspeed = MAX(ospeed, mycar->_speed_x - (speedDiff * ((currentEk - (timpact * 100000 / brake_coefficient)) / (currentEk - targetEk))));
}
else
collspeed = mycar->_speed_x + 2.0f;
@ -1303,11 +1309,15 @@ int Opponent::testQuadraticCollision(Driver *driver)
if (!(car->_state & RM_CAR_STATE_PIT) || fabs(car->_trkPos.toLeft - mycar->_trkPos.toLeft) < 3.0)
{
collision = testLinearCollision2(driver);
if (collision <= 0) return 0;
if ((collision & OPP_COLL))
return collision;
return testCalculatedCollision(driver);
}
return 0;
#if 0
// quadratics from mouse/sieger ... except I can't get them to work :/
@ -1343,17 +1353,21 @@ int Opponent::testQuadraticCollision(Driver *driver)
double acc = o_ragAX;
Quadratic q(acc/2, o_rdVX, o_rdPX - minDX);
double t = 0.0;
if (q.SmallestNonNegativeRoot(t))
{
double catchY = relPar.CalcY(t);
if (fabs(catchY) < minDY)
collision = 1;
else
{
q.Setup( acc/2, o_rdVX, o_rdPX + minDX );
if (q.SmallestNonNegativeRoot(t))
{
catchY = relPar.CalcY(t);
if (fabs(catchY) < minDY || catchY * o_rdPY < 0)
collision = 1;
}
@ -1409,12 +1423,12 @@ int Opponent::testCalculatedCollision(Driver *driver)
(my_future_left > future_right && my_future_right <= future_left)))
{
#ifdef BRAKE_DEBUG
fprintf(stderr, "%s CCOLL %s: myrgt=%.1f mylft=%.1f oprgt=%.1f (%.1f) oplft=%.1f (%.1f) t_imp=%.3f ospd=%.2f/%.2f\n",car->_name,mycar->_name,my_future_right,my_future_left,future_right,right_toMid,future_left,left_toMid,t_impact,right_speed_y,left_speed_y); fflush(stderr);
LogUSR.debug("%s CCOLL %s: myrgt=%.1f mylft=%.1f oprgt=%.1f (%.1f) oplft=%.1f (%.1f) t_imp=%.3f ospd=%.2f/%.2f\n",car->_name,mycar->_name,my_future_right,my_future_left,future_right,right_toMid,future_left,left_toMid,t_impact,right_speed_y,left_speed_y);
#endif
return OPP_COLL;
}
#ifdef BRAKE_DEBUG
fprintf(stderr, "%s NO CCOLL %s: myrgt=%.1f mylft=%.1f oprgt=%.1f (%.1f) oplft=%.1f (%.1f) t_imp=%.3f ospd=%.2f/%.2f\n",car->_name,mycar->_name,my_future_right,my_future_left,future_right,right_toMid,future_left,left_toMid,t_impact,right_speed_y,left_speed_y); fflush(stderr);
LogUSR.debug("%s NO CCOLL %s: myrgt=%.1f mylft=%.1f oprgt=%.1f (%.1f) oplft=%.1f (%.1f) t_imp=%.3f ospd=%.2f/%.2f\n",car->_name,mycar->_name,my_future_right,my_future_left,future_right,right_toMid,future_left,left_toMid,t_impact,right_speed_y,left_speed_y);
#endif
return testRacelineCollision(driver, dist, t_impact, future_left, future_right);
@ -1488,7 +1502,7 @@ int Opponent::testRacelineCollision(Driver *driver, double distance, double timp
if (fabs(o_toLeft - rl_toLeft) < car->_dimension_y + 0.5)
{
#ifdef BRAKE_DEBUG
fprintf(stderr, "%s => %s RCOLL A\n", mycar->_name, car->_name); fflush(stderr);
LogUSR.debug("%s => %s RCOLL A\n", mycar->_name, car->_name);
#endif
return OPP_COLL;
}
@ -1503,7 +1517,7 @@ int Opponent::testRacelineCollision(Driver *driver, double distance, double timp
(my_future_left > future_right && my_future_right <= future_left))
{
#ifdef BRAKE_DEBUG
fprintf(stderr, "%s => %s RCOLL B\n", mycar->_name, car->_name); fflush(stderr);
LogUSR.debug("%s => %s RCOLL B\n", mycar->_name, car->_name);
#endif
return OPP_COLL;
}
@ -1557,8 +1571,11 @@ Opponents::Opponents(tSituation *s, Driver *driver, Cardata *c, double brake_mul
{
opponent = new Opponent[s->_ncars - 1];
int i, j = 0;
for (i = 0; i < s->_ncars; i++) {
if (s->cars[i] != driver->getCarPtr()) {
for (i = 0; i < s->_ncars; i++)
{
if (s->cars[i] != driver->getCarPtr())
{
opponent[j].setCarPtr(s->cars[i]);
opponent[j].setCarDataPtr(c->findCar(s->cars[i]));
opponent[j].setIndex(i);
@ -1567,6 +1584,7 @@ Opponents::Opponents(tSituation *s, Driver *driver, Cardata *c, double brake_mul
j++;
}
}
Opponent::setTrackPtr(driver->getTrackPtr());
nopponents = s->_ncars - 1;
}
@ -1590,8 +1608,10 @@ void Opponents::update(tSituation *s, Driver *driver)
void Opponents::setTeamMate(const char *teamname)
{
int i;
for (i = 0; i < nopponents; i++) {
if (strcmp(opponent[i].getCarPtr()->_teamname, teamname) == 0) {
for (i = 0; i < nopponents; i++)
{
if (strcmp(opponent[i].getCarPtr()->_teamname, teamname) == 0)
{
opponent[i].markAsTeamMate();
break; // Name should be unique, so we can stop.
}
@ -1605,6 +1625,7 @@ tCarElt *Opponents::getTeamMateCar()
if (opponent[i].isTeamMate())
return opponent[i].getCarPtr();
}
return NULL;
}
@ -1615,9 +1636,6 @@ bool Opponents::isBehindFriend(int pos)
if (opponent[i].isTeamMate() && opponent[i].getCarPtr()->_pos < pos)
return true;
}
return false;
}

2
src/drivers/usr/src/raceline.cpp
View file

@ -2959,7 +2959,7 @@ void LRaceLine::GetRaceLineData(RaceLineDriveData *data, bool transitioning)
#ifndef LEARNING
if (true || data->s->_raceType == RM_TYPE_PRACTICE)
{
static char *lineName[] = { "MID", "LFT", "RGT", "RL" };
static const char *lineName[] = { "MID", "LFT", "RGT", "RL" };
int rl = data->linemode->GetTargetRaceline();
LogUSR.debug("%s TR %d:%d (%.1f) %s %s str=%.2f %.3f/%.3f %.3f/%.3f spd %.1f/%.1f/%.1f ang=%.3f vang=%.3f skidang=%.3f accx=%.3f\n", car->_name, This, Next, car->_distFromStartLine, lineName[rl], (isTransitioning ? "TRANS" : "OFFLINE"), data->racesteer, data->linemode->GetLeftCurrentMargin(), data->linemode->GetLeftTargetMargin(), data->linemode->GetRightCurrentMargin(), data->linemode->GetRightTargetMargin(), car->_speed_x, data->speed, CalculateOfflineSpeed((Next - 5 + Divs) % Divs, Next, data->linemode->GetLeftCurrentMargin(), data->linemode->GetRightCurrentMargin()), data->angle, data->speedangle, atan2(car->_speed_Y, car->_speed_X) - car->_yaw, car->_accel_x);
}