- Update Shadow's driver

git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6035 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: d6d0ffdeefc3499140518cad9bf707aebce8d801
Former-commit-id: deae99bb9f0fd8731cdb1506cffe275536c7209d

src/drivers/shadow/src/CarModel.cpp

@@ -20,6 +20,7 @@
 #include "CarModel.h"
 #include "Quadratic.h"
 #include "Utils.h"
+#include "Driver.h"
 
 //////////////////////////////////////////////////////////////////////
 // Construction/Destruction
@@ -283,6 +284,14 @@ double	CarModel::CalcBreaking(double k0, double kz0, double k1, double kz1, doub
 		double	Ftanroad = -sqrt(Froad * Froad - Flatroad * Flatroad) + Ftan;
 
         double	acc = Ftanroad / M;
+
+		if (TDriver::UseBrakeLimit)
+		{
+			double Radius = 1.0 / fabs(Kz);
+			double factor = MIN(1.0,MAX(0.39, (Radius - 190.0) / 100.0));
+			acc = MAX(acc, TDriver::BrakeLimit * factor);
+		}
+
 		double	inner = MX(0, v * v - 2 * acc * dist );
 		double	oldU = u;
 		u = sqrt(inner);

src/drivers/shadow/src/Driver.cpp

@@ -189,12 +189,13 @@ TDriver::TDriver(int Index, const int robot_type):
     {
     case SHADOW_TRB1:
         robot_name = "shadow_trb1";
+		TDriver::UseBrakeLimit = false;
         Frc = 0.95;
         break;
 
     case SHADOW_SC:
         robot_name = "shadow_sc";
-        Frc = 0.90;
+        Frc = 0.85;
         break;
 
     case SHADOW_SRW:
@@ -530,6 +531,8 @@ void TDriver::InitTrack( tTrack* pTrack, void* pCarHandle, void** ppCarParmHandl
     LogSHADOW.debug("FLY_HEIGHT %g\n", FLY_HEIGHT );
     LogSHADOW.debug( "BUMP_MOD %d\n", BUMP_MOD );
 
+	AdjustBrakes(hCarParm);
+
     const char *enabling;
 
     HasTYC = false;
@@ -2358,6 +2361,32 @@ void TDriver::initBrake()
     LogSHADOW.debug("\n#<<< Shadow2 Init Brake\n\n");
 }
 
+//==========================================================================*
+
+//==========================================================================*
+// Adjust brakes
+//--------------------------------------------------------------------------*
+void TDriver::AdjustBrakes(void *pCarHandle)
+{
+	if ((TDriver::UseBrakeLimit) || (TDriver::UseGPBrakeLimit))
+	{
+		TDriver::BrakeLimit = GfParmGetNum(pCarHandle, SECT_PRIV, PRV_BRAKE_LIMIT, 0, (float) TDriver::BrakeLimit);
+		LogSHADOW.debug("#BrakeLimit %g\n", TDriver::BrakeLimit);
+
+		TDriver::BrakeLimitBase = GfParmGetNum(pCarHandle, SECT_PRIV,PRV_BRAKE_LIMIT_BASE,0, (float) TDriver::BrakeLimitBase);
+		LogSHADOW.debug("#BrakeLimitBase %g\n", TDriver::BrakeLimitBase);
+
+		TDriver::BrakeLimitScale = GfParmGetNum(pCarHandle, SECT_PRIV, PRV_BRAKE_LIMIT_SCALE, 0, (float) TDriver::BrakeLimitScale);
+		LogSHADOW.debug("#BrakeLimitScale %g\n", TDriver::BrakeLimitScale);
+
+		TDriver::SpeedLimitBase = GfParmGetNum(pCarHandle, SECT_PRIV, PRV_SPEED_LIMIT_BASE, 0, (float) TDriver::SpeedLimitBase);
+		LogSHADOW.debug("#SpeedLimitBase %g\n", TDriver::SpeedLimitBase);
+
+		TDriver::SpeedLimitScale = GfParmGetNum(pCarHandle, SECT_PRIV, PRV_SPEED_LIMIT_SCALE, 0, (float) TDriver::SpeedLimitScale);
+		LogSHADOW.debug("#SpeedLimitScale %g\n", TDriver::SpeedLimitScale);
+	}
+};
+
 void TDriver::initCa()
 {
     LogSHADOW.debug("\n#Shadow Init InitCA >>>\n\n");

src/drivers/shadow/src/Driver.h

@@ -79,6 +79,11 @@
 #define PRV_NEED_SIN        "use sin long"
 #define PRV_USED_ACC        "acc exit"
 #define PRV_SKILL_OFFSET    "offset skill"
+#define PRV_BRAKE_LIMIT		"brake limit"
+#define PRV_BRAKE_LIMIT_BASE "brake limit base"
+#define PRV_BRAKE_LIMIT_SCALE "brake limit scale"
+#define PRV_SPEED_LIMIT_BASE "speed limit base"
+#define PRV_SPEED_LIMIT_SCALE "speed limit scale"
 
 #define NBR_BRAKECOEFF 50                                   // Number of brake coeffs
 
@@ -235,6 +240,8 @@ public:
     void    CalcSkilling_shadow_LP1();
 
     void    AdjustSkilling(void* pCarHandle);
+	void	AdjustBrakes(void *pCarHandle);
+
     void    GetSkillingParameters(const char* BaseParamPath, const char* PathFilename);
 
     double  CalcFriction_shadow_Identity(double Crv);