- update dandroid's driver
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@8135 30fe4595-0a0c-4342-8851-515496e4dcbd Former-commit-id: 4d43ede696819e497f9544d5341823800905159f Former-commit-id: ca1811d7e92032c8d153251755f2c3bec2a7f68d
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torcs-ng
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129af0a0d4
5 changed files with 111 additions and 89 deletions
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@ -140,13 +140,13 @@ void DanLine::createSectors(std::vector <DanSector>& sect)
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dansect.fromstart = mLine[i].fromstart;
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lastfromstart = dansect.fromstart;
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sect.push_back(dansect);
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//GfOut("fs:%g radius:%g\n", mLine[i].fromstart, fabs(mLine[i].radius));
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LogDANDROID.debug("fs:%g radius:%g\n", mLine[i].fromstart, fabs(mLine[i].radius));
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}
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else
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{
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sect[sector].fromstart = mLine[i].fromstart;
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lastfromstart = mLine[i].fromstart;
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//GfOut("overwrite fs:%g radius:%g\n", mLine[i].fromstart, fabs(mLine[i].radius));
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LogDANDROID.debug("overwrite fs:%g radius:%g\n", mLine[i].fromstart, fabs(mLine[i].radius));
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}
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}
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@ -451,6 +451,7 @@ void TDriver::updateWheels()
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tireF = MIN(oCar->_tyreCondition(0), oCar->_tyreCondition(1));
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tireR = MIN(oCar->_tyreCondition(2), oCar->_tyreCondition(3));
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mTirecondition = MIN(tireF, tireR);
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}
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@ -1815,6 +1816,7 @@ void TDriver::readPrivateSection(PCarSettings* CarParmHandle)
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mBRAKESCALE = GfParmGetNum(*CarParmHandle, "private", "brakescale", (char*)NULL, 1.9);
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mBUMPSPEEDFACTOR = GfParmGetNum(*CarParmHandle, "private", "bumpspeedfactor", (char*)NULL, 3.0);
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mFUELPERMETER = GfParmGetNum(*CarParmHandle, "private", "fuelpermeter", (char*)NULL, 0.001f);
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mWEARPERMETER = GfParmGetNum(*CarParmHandle, "private", "wearpermeter", (char*)NULL, 0.001f);
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mFUELWEIGHTFACTOR = GfParmGetNum(*CarParmHandle, "private", "fuelweightfactor", (char*)NULL, 1.0);
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mPITDAMAGE = (int)GfParmGetNum(*CarParmHandle, "private", "pitdamage", (char*)NULL, 5000);
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mPITENTRYMARGIN = GfParmGetNum(*CarParmHandle, "private", "pitentrymargin", (char*)NULL, 200.0);
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@ -2367,7 +2369,8 @@ void TDriver::updateCurveAhead()
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if (!mCurveAhead)
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{
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if (mTrackType != TR_STR && mTrackRadius < 200.0) {
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if (mTrackType != TR_STR && mTrackRadius < 200.0)
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{
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mCurveAheadFromStart = fromStart(mFromStart + 5);
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mCurveAhead = true;
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}
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@ -2504,7 +2507,7 @@ void TDriver::calcMaxspeed()
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}
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}
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mMaxspeed = mSkillGlobal * mMaxspeed * mTirecondition;
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mMaxspeed = mSkillGlobal * mMaxspeed;
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if(mHASTYC)
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{
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@ -2698,10 +2701,22 @@ bool TDriver::hysteresis(bool lastout, double in, double hyst)
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double TDriver::getFuel(double dist)
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{
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double fuel = dist * mFUELPERMETER;
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if (mTestpitstop) {
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if (mHASTYC)
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{
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double tiredist = dist / mWEARPERMETER;
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LogDANDROID.info("Distance : %.2f - Tire distance : %.7g\n", dist, tiredist);
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double mindist = MIN(dist, tiredist);
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LogDANDROID.info("Minimum distance : %.3f\n", mindist);
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dist = mindist;
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}
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double fuel = 1.2 * dist * mFUELPERMETER;
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if (mTestpitstop)
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{
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fuel = 1.0 * mTrack->length * mFUELPERMETER;
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}
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return fuel = MAX(MIN(fuel, mTANKVOL), 0.0);
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}
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@ -170,103 +170,103 @@ private:
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Opponent* mOppLetPass;
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double mOppDist;
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double mOppSidedist;
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bool mOppAside;
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bool mOppLeft;
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bool mOppLeftHyst;
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bool mOppLeftOfMe;
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bool mOppLeftOfMeHyst;
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int mOppPredictSide;
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bool mOppInFrontspace;
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bool mBackmarkerInFrontOfTeammate;
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bool mTwoOppsAside;
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bool mOppComingFastBehind;
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bool prev_mOppComingFastBehind;
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bool mLearning;
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bool mTestpitstop;
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int mTestLine;
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int mDriverMsgLevel;
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int mDriverMsgCarIndex;
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Pit mPit;
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bool mOppAside;
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bool mOppLeft;
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bool mOppLeftHyst;
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bool mOppLeftOfMe;
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bool mOppLeftOfMeHyst;
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int mOppPredictSide;
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bool mOppInFrontspace;
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bool mBackmarkerInFrontOfTeammate;
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bool mTwoOppsAside;
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bool mOppComingFastBehind;
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bool prev_mOppComingFastBehind;
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bool mLearning;
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bool mTestpitstop;
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int mTestLine;
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int mDriverMsgLevel;
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int mDriverMsgCarIndex;
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Pit mPit;
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double mMu; // friction coefficient
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double mTirecondition;
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double mMass; // mass of car + fuel
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double mSpeed;
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double mClutchtime;
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int mPrevgear;
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bool mControlAttackAngle;
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bool prev_mControlAttackAngle;
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int mPrevgear;
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bool mControlAttackAngle;
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bool prev_mControlAttackAngle;
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double mAttackAngle;
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bool mControlYawRate;
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bool prev_mControlYawRate;
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bool mBumpSpeed;
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bool prev_mBumpSpeed;
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bool mControlYawRate;
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bool prev_mControlYawRate;
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bool mBumpSpeed;
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bool prev_mBumpSpeed;
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double mSectorTime;
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double mOldTimer;
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bool mTenthTimer;
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int mShiftTimer;
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int mGear;
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bool mStuck;
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int mStuckcount;
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bool mStateChange;
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bool mPathChange;
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bool mTenthTimer;
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int mShiftTimer;
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int mGear;
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bool mStuck;
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int mStuckcount;
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bool mStateChange;
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bool mPathChange;
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double mPathChangeTime;
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bool mOvertake;
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bool prev_mOvertake;
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int mOvertakeTimer;
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int mOvertakePath;
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bool mLetPass;
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bool prev_mLetPass;
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bool mLeavePit;
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bool mOvertake;
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bool prev_mOvertake;
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int mOvertakeTimer;
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int mOvertakePath;
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bool mLetPass;
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bool prev_mLetPass;
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bool mLeavePit;
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double mFriction;
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double mCentrifugal;
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double mBrakeFriction;
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double mBrakeforce;
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double mBrakedistfactor;
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double mBorderdist;
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bool mOnLeftSide;
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bool mTargetOnLeftSide;
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int mTrackType;
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bool mOnLeftSide;
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bool mTargetOnLeftSide;
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int mTrackType;
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double mTrackRadius;
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double mCurvature;
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bool mTargetOnCurveInside;
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bool mTargetOnCurveInside;
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double mAngleToTrack;
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bool mAngleToLeft;
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bool mPointingToWall;
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bool mAngleToLeft;
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bool mPointingToWall;
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double mWallToMiddleAbs;
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double mWalldist;
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int mLastDamage;
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int mDamageDiff;
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int mPrevRacePos;
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int mRacePosChange;
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int mLastDamage;
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int mDamageDiff;
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int mPrevRacePos;
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int mRacePosChange;
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double mAccel;
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double mAccelAvg;
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double mAccelAvgSum;
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int mAccelAvgCount;
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int mAccelAvgCount;
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double mMaxspeed;
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std::vector <DanSector> mSect;
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int mSector;
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int prev_mSector;
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int mSector;
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int prev_mSector;
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double mSectSpeedfactor;
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PathInfo mPath[3];
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bool mCurveAhead;
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bool prev_mCurveAhead;
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bool mCurveAhead;
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bool prev_mCurveAhead;
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double mCurveAheadFromStart;
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bool mDrivingFast;
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bool prev_mDrivingFast;
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int mDrivingFastCount;
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bool mCatchingOpp;
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bool mLearnSectTime;
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bool mGetLapTime;
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bool mDrivingFast;
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bool prev_mDrivingFast;
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int mDrivingFastCount;
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bool mCatchingOpp;
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bool mLearnSectTime;
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bool mGetLapTime;
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double mLastLapTime;
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double mBestLapTime;
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bool mLearnLap;
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bool mAllSectorsFaster;
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bool mLearnSingleSector;
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int mLearnSector;
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bool mNewFile;
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bool mLearnedAll;
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bool mOfftrackInSector;
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bool mFinalLearnLap;
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bool mLearnLap;
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bool mAllSectorsFaster;
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bool mLearnSingleSector;
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int mLearnSector;
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bool mNewFile;
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bool mLearnedAll;
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bool mOfftrackInSector;
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bool mFinalLearnLap;
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double mFromStart;
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double mToMiddle;
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double mTargetFromstart;
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@ -274,33 +274,33 @@ private:
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double mNormalTargetToMiddle;
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double mPrevTargetdiff;
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double mTargetAngle;
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bool mMaxSteerAngle;
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bool prev_mMaxSteerAngle;
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Vec2d mGlobalCarPos;
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Vec2d mGlobalTarget;
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bool mCatchedRaceLine;
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bool prev_mCatchedRaceLine;
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bool mMaxSteerAngle;
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bool prev_mMaxSteerAngle;
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Vec2d mGlobalCarPos;
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Vec2d mGlobalTarget;
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bool mCatchedRaceLine;
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bool prev_mCatchedRaceLine;
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double mCatchedRaceLineTime;
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double mAbsFactor;
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double mTclFactor;
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double mFrontCollFactor;
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bool mColl;
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bool mColl;
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double mCollDist;
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double mCollBrakeDist;
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double mCollOvershooting;
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bool mWait;
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bool mWait;
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double mTANKVOL;
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double mFuelStart;
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double mPathOffs;
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double mAccelX;
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double mAccelXSum;
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int mAccelXCount;
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int mAccelXCount;
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double mSkillGlobal;
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double mSkillDriver;
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bool mGarage;
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PidController mSpeedController;
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PidController mAttackAngleController;
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int mWatchdogCount;
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int mWatchdogCount;
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// Data that should stay constant after first initialization
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double mBRAKEPRESS;
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double mBRAKEREPARTITION;
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@ -322,13 +322,14 @@ private:
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double mBUMPSPEEDFACTOR;
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double mFUELPERMETER;
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double mFUELWEIGHTFACTOR;
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int mPITDAMAGE;
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double mWEARPERMETER;
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int mPITDAMAGE;
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double mPITENTRYMARGIN;
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double mPITENTRYSPEED;
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double mPITEXITSPEED;
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double mTARGETFACTOR;
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double mTARGETWALLDIST;
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bool mTRACTIONCONTROL;
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bool mTRACTIONCONTROL;
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double mMAXLEFT;
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double mMAXRIGHT;
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double mMARGININSIDE;
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@ -255,7 +255,7 @@ void Pit::update(double fromstart)
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totalfuel += lastfuel + lastpitfuel - car->priv.fuel;
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fuellapscounted++;
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avgfuelperlap = totalfuel / fuellapscounted;
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//GfOut("Car:%s fuelpermeter:%g\n", car->_name, avgfuelperlap / track->length);
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LogDANDROID.info("Car:%s fuelpermeter:%g\n", car->_name, avgfuelperlap / track->length);
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}
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lastfuel = car->priv.fuel;
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@ -309,7 +309,7 @@ void Pit::update(double fromstart)
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setPitstop(true);
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}
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if(tyreTreadDepth() < 30.0)
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if(tyreTreadDepth() < 20.0)
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setPitstop(true);
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}
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}
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@ -329,7 +329,8 @@ double Pit::getFuel()
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}
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double fuel = MAX(MIN(stintfuel - car->_fuel, car->_tank - car->_fuel), 0.0);
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//GfOut("fromStart:%g laps:%g lapsBehindLeader:%d fueltoend:%g pitstops:%d stintfuel:%g fuel:%g\n", mFromStart, laps, car->_lapsBehindLeader, fueltoend, pitstops, stintfuel, fuel);
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LogDANDROID.debug("fromStart:%g laps:%g lapsBehindLeader:%d fueltoend:%g pitstops:%d stintfuel:%g fuel:%g\n", mFromStart, laps, car->_lapsBehindLeader, fueltoend, pitstops, stintfuel, fuel);
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return fuel;
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}
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@ -427,6 +428,6 @@ void Pit::pitCommand()
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car->_pitRepair = getRepair();
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lastpitfuel = getFuel();
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car->_pitFuel = (tdble) lastpitfuel;
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car->pitcmd.tireChange = tyreTreadDepth() > 30.0 ? tCarPitCmd::ALL : tCarPitCmd::NONE;
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car->pitcmd.tireChange = tyreTreadDepth() > 10.0 ? tCarPitCmd::ALL : tCarPitCmd::NONE;
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setPitstop(false);
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}
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@ -32,6 +32,11 @@
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#define NPOINTS 7
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// The "DANDROID" logger instance.
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extern GfLogger* PLogDANDROID;
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#define LogDANDROID (*PLogDANDROID)
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class Pit
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{
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public:
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