Update simuv4 and simplix (feature tire degradation)
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@5881 30fe4595-0a0c-4342-8851-515496e4dcbd Former-commit-id: e7c46be25484efaea6bdbddcb5e7d1dc4e4a99e3 Former-commit-id: ebd5ec811199c0a14446b8a679b90c265e2dd636
This commit is contained in:
wdbee
parent
a72e54aa1f
commit
17436d2c90
10 changed files with 149 additions and 60 deletions
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@ -432,6 +432,7 @@ TDriver::TDriver(int Index):
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oRL_RIGHT = RL_RIGHT;
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TDriver::LengthMargin = LENGTH_MARGIN; // Initialize safty margin
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enableCarNeedsSinLong = false;
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LogSimplix.debug("\n#<<< TDriver::TDriver()\n\n");
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}
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@ -819,6 +820,21 @@ void TDriver::AdjustDriving(
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for (int I = 0; I <= NBR_BRAKECOEFF; I++) // Initialize braking
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oBrakeCoeff[I] = oInitialBrakeCoeff;
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oCrvZScale = 0.05;
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if (strncmp(oTrackName,"e-track-4",9) == 0)
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oCrvZScale = 0.5;
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else if (strncmp(oTrackName,"espie",5) == 0)
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enableCarNeedsSinLong = true;
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else if (strncmp(oTrackName,"ole-road-1",10) == 0)
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oCrvZScale = 0.75;
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oCarNeedsSinLong = false;
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if (enableCarNeedsSinLong)
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{
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oCarNeedsSinLong = GfParmGetNum(Handle,
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TDriver::SECT_PRIV, PRV_NEEDS_SIN, (char *) NULL, 0) > 0;
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}
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const char *enabling;
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oCarHasTYC = false;
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@ -1194,12 +1210,6 @@ void TDriver::SetPathAndFilenameForRacinglines()
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snprintf(TrackLoadBuffer,sizeof(TrackLoadBuffer),"%s/%d-%s.trk",
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oPathToWriteTo,oWeatherCode,oTrackName);
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oTrackLoad = TrackLoadBuffer; // Set pointer to buffer
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if (strncmp(oTrackName,"e-track-4",9) == 0)
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oCrvZScale = 0.5;
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else if (strncmp(oTrackName,"ole-road-1",10) == 0)
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oCrvZScale = 0.75;
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else
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oCrvZScale = 0.05;
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snprintf(TrackLoadQualifyBuffer,sizeof(TrackLoadQualifyBuffer),
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"%s/%d-%s.trq",oPathToWriteTo,oWeatherCode,oTrackName);
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@ -1290,6 +1300,23 @@ void TDriver::InitTrack
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, (char*) NULL, 1.0);
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LogSimplix.debug("#oFuelCons (TORCS) = %.2f\n",oFuelCons);
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tdble TireLimitFront = 0.0;
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for (int I = 0; I < 2; I++)
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{
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TireLimitFront = MAX(TireLimitFront,
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GfParmGetNum(CarHandle,WheelSect[I],
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PRM_FALLOFFGRIPMULT, (char*)NULL, (tdble) 0.85f));
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LogSimplix.debug("#oTireLimitFront = %.3f\n",TireLimitFront);
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}
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tdble TireLimitRear = 0.0;
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for (int I = 2; I < 4; I++)
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{
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TireLimitRear = MAX(TireLimitRear,
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GfParmGetNum(CarHandle,WheelSect[I],
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PRM_FALLOFFGRIPMULT, (char*)NULL, (tdble) 0.85f));
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LogSimplix.debug("#oTireLimitRear = %.3f\n",TireLimitRear);
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}
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oBrakeLeft = 1.0f;
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oBrakeRight = 1.0f;
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oBrakeFront = 1.0f;
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@ -1956,7 +1983,7 @@ void TDriver::FindRacinglines()
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(&oTrackDesc, Param, // as main racingline
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TClothoidLane::TOptions(oBase,oBaseScale,oBumpMode));
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#ifdef EXPORT_RACINGLINE
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oRacingLine[oRL_FREE].SaveToFile("RL_FREE.t5");
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oRacingLine[oRL_FREE].SaveToFile("RL_FREE.tk5");
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#endif
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if (oGeneticOpti)
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oRacingLine[oRL_FREE].ClearRacingline(oTrackLoad);
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@ -2518,10 +2545,11 @@ void TDriver::InitCa()
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float WingCd = (float) (1.23 * (FrontWingAreaCd + RearWingAreaCd));
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Param.Fix.oCdWing = WingCd;
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float CL =
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float FCL =
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GfParmGetNum(oCarHandle, SECT_AERODYNAMICS,
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PRM_FCL, (char*) NULL, 0.0f);
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float RCL =
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GfParmGetNum(oCarHandle, SECT_AERODYNAMICS,
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PRM_FCL, (char*) NULL, 0.0f)
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+ GfParmGetNum(oCarHandle, SECT_AERODYNAMICS,
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PRM_RCL, (char*) NULL, 0.0f);
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float H = 0.0;
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@ -2534,10 +2562,11 @@ void TDriver::InitCa()
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H = H*H;
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H = H*H;
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H = (float) (2.0 * exp(-3.0 * H));
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Param.Fix.oCa = H * CL + 4.0 * WingCd;
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Param.Fix.oCa = H * (FCL + RCL) + 4.0 * WingCd;
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Param.Fix.oCaFrontWing = 4 * 1.23 * FrontWingAreaCd;
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Param.Fix.oCaRearWing = 4 * 1.23 * RearWingAreaCd;
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Param.Fix.oCaGroundEffect = H * CL;
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Param.Fix.oCaFrontGroundEffect = H * FCL;
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Param.Fix.oCaRearGroundEffect = H * RCL;
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//>>> simuv4
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double CliftFrnt = 0;
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@ -2657,7 +2686,7 @@ void TDriver::InitCa()
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{
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WingCd = (float) (1.23 * (FrontWingAreaCd + RearWingAreaCd));
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Param.Fix.oCdWing = WingCd;
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Param.Fix.oCa = H * CL + MeanCliftFromAoA * WingCd;
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Param.Fix.oCa = H * (FCL + RCL) + MeanCliftFromAoA * WingCd;
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}
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//<<< simuv4
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@ -4510,23 +4539,45 @@ void TDriver::SideBorderInner(float Factor)
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//==========================================================================*
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//==========================================================================*
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// Calculate the skilling
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//
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//--------------------------------------------------------------------------*
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double TDriver::WheelConditionFront()
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double TDriver::TyreConditionFront()
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{
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return MIN(oCar->_tyreCondition(0),oCar->_tyreCondition(1));
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}
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//==========================================================================*
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//==========================================================================*
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// Calculate the skilling
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//
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//--------------------------------------------------------------------------*
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double TDriver::WheelConditionRear()
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double TDriver::TyreConditionRear()
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{
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return MIN(oCar->_tyreCondition(2),oCar->_tyreCondition(3));
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}
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//==========================================================================*
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//==========================================================================*
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//
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//--------------------------------------------------------------------------*
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double TDriver::TyreTreadDepthFront()
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{
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double Right = (oCar->_tyreTreadDepth(0) - oCar->_tyreCritTreadDepth(0));
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double Left = (oCar->_tyreTreadDepth(1) - oCar->_tyreCritTreadDepth(1));
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return 100 * MIN(Right,Left);
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}
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//==========================================================================*
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//==========================================================================*
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//
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//--------------------------------------------------------------------------*
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double TDriver::TyreTreadDepthRear()
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{
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double Right = (oCar->_tyreTreadDepth(2) - oCar->_tyreCritTreadDepth(2));
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double Left = (oCar->_tyreTreadDepth(3) - oCar->_tyreCritTreadDepth(3));
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return 100 * MIN(Right,Left);
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}
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//==========================================================================*
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//==========================================================================*
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// Calculate the skilling
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//--------------------------------------------------------------------------*
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@ -415,6 +415,8 @@ private:
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bool oStanding; // Fahrzeug steht#
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TCubicSpline CarCharacteristic; // Car characteristic
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TParam Param; // Parameters
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bool enableCarNeedsSinLong;
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bool oCarNeedsSinLong;
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double oCrvZScale;
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double oFuelPer100km; //
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double oMaxFuel; // tank capacity
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@ -498,8 +500,10 @@ private:
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void Meteorology();
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int GetWeather();
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double WheelConditionFront();
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double WheelConditionRear();
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double TyreConditionFront();
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double TyreConditionRear();
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double TyreTreadDepthFront();
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double TyreTreadDepthRear();
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void CalcSkilling();
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double CalcFriction(const double Crv);
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double CalcCrv(double Crv);
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@ -58,7 +58,8 @@ TFixCarParam::TFixCarParam():
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oBorderScale(50.0),
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oCa(0),
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oCaFrontWing(0),
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oCaGroundEffect(0),
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oCaFrontGroundEffect(0),
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oCaRearGroundEffect(0),
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oCaRearWing(0),
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oCdBody(0),
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oCdWing(0),
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@ -111,9 +112,9 @@ double TFixCarParam::CalcAcceleration(
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double MU = Friction * oTyreMu;
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if (oDriver->oCarHasTYC)
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{
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double WcF = oDriver->WheelConditionFront();
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double WcR = oDriver->WheelConditionRear();
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MU = MIN(WcF*MU,WcR*MU);
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double TcF = oDriver->TyreConditionFront();
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double TcR = oDriver->TyreConditionRear();
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MU = MIN(TcF*MU,TcR*MU);
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}
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double CD = oCdBody *
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@ -197,9 +198,9 @@ double TFixCarParam::CalcBraking
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MuR = Friction * oTyreMuRear;
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if (oDriver->oCarHasTYC)
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{
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double WcF = oDriver->WheelConditionFront();
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double WcR = oDriver->WheelConditionRear();
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Mu = MIN(WcF*MuF,WcR*MuR);
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double TcF = oDriver->TyreConditionFront();
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double TcR = oDriver->TyreConditionRear();
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Mu = MIN(TcF*MuF,TcR*MuR);
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}
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else
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Mu = MIN(MuF,MuR);
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@ -228,7 +229,7 @@ double TFixCarParam::CalcBraking
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double Froad;
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double Fdown = oTmpCarParam->oMass * Gdown
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+ (oTmpCarParam->oMass * Crvz + oCaGroundEffect) * AvgV2;
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+ (oTmpCarParam->oMass * Crvz + (oCaFrontGroundEffect + oCaRearGroundEffect)) * AvgV2;
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double Ffrnt = oCaFrontWing * AvgV2;
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double Frear = oCaRearWing * AvgV2;
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@ -309,9 +310,9 @@ double TFixCarParam::CalcBrakingPit
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MuR = Friction * oTyreMuRear;
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if (oDriver->oCarHasTYC)
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{
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double WcF = oDriver->WheelConditionFront();
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double WcR = oDriver->WheelConditionRear();
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Mu = MIN(WcF*MuF,WcR*MuR);
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double TcF = oDriver->TyreConditionFront();
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double TcR = oDriver->TyreConditionRear();
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Mu = MIN(TcF*MuF,TcR*MuR);
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}
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else
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Mu = MIN(MuF,MuR);
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@ -339,7 +340,7 @@ double TFixCarParam::CalcBrakingPit
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double Froad;
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double Fdown = oTmpCarParam->oMass * Gdown
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+ (oTmpCarParam->oMass * Crvz + oCaGroundEffect) * AvgV2;
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+ (oTmpCarParam->oMass * Crvz + (oCaFrontGroundEffect + oCaRearGroundEffect)) * AvgV2;
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double Ffrnt = oCaFrontWing * AvgV2;
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double Frear = oCaRearWing * AvgV2;
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@ -389,7 +390,7 @@ double TFixCarParam::CalcBrakingPit
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double TFixCarParam::CalcMaxSpeed
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(TCarParam& CarParam, // Lane specific parameters
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double Crv0, // Curvature in xy at P
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double Crv1, // Curvature in xy at P
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double Crv1, // Curvature in xy at Q
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double CrvZ, // Curvature in z at P
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double Friction, // Friction
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double TrackRollAngle, // Track roll angle
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@ -407,8 +408,15 @@ double TFixCarParam::CalcMaxSpeed
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double Mu;
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double Cos = cos(TrackRollAngle)*cos(TrackTiltAngle);
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double Sin = sin(TrackRollAngle);
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//double ICos = 0.125/cos(TrackTiltAngle);
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double SinLat = sin(TrackRollAngle);
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double SinLong = sin(TrackTiltAngle);
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double Sin = SinLat;
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if (oDriver->oCarNeedsSinLong)
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{
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if (SinLat < SinLong)
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Sin = SinLong;
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}
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double AbsCrv0 = MAX(0.001, fabs(Crv0));
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double AbsCrv1 = MAX(0.001, fabs(Crv1));
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@ -444,29 +452,27 @@ double TFixCarParam::CalcMaxSpeed
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double MuR = Friction * oTyreMuRear * CarParam.oScaleMu;
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if (oDriver->oCarHasTYC)
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{
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double WcF = oDriver->WheelConditionFront();
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double WcR = oDriver->WheelConditionRear();
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Mu = MIN(WcF*MuF,WcR*MuR) / oTmpCarParam->oSkill;
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double TcF = oDriver->TyreConditionFront();
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double TcR = oDriver->TyreConditionRear();
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Mu = MIN(TcF*MuF,TcR*MuR) / oTmpCarParam->oSkill;
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}
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else
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Mu = MIN(MuF,MuR) / oTmpCarParam->oSkill;
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Den = (AbsCrv - ScaleBump * CrvZ)
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- (oCaFrontWing * MuF + oCaRearWing * MuR
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+ oCaGroundEffect * Mu) / oTmpCarParam->oMass;
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+ oCaFrontGroundEffect * MuF + oCaRearGroundEffect * MuR) / oTmpCarParam->oMass;
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if (Den < 0.00001)
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Den = 0.00001;
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if (AbsCrv > 0.01)
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if (AbsCrv > 0.002)
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{
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if (Sin * SGN(Crv0) < 0)
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Sin *= 8.0;
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}
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double Speed = factor * sqrt((Cos * G * Mu + Sin * G * SGN(Crv0) + CrvZ) / Den);
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// fprintf(stderr,"S:%g f:%g C:%g M:%g S:%g AbsCrv:%g Crv0:%d CrvZ:%g Den:%g\n",
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// Speed,factor,Cos,Mu,Sin,AbsCrv,SGN(Crv0),CrvZ,Den);
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if (oDriver->CarCharacteristic.IsValidX(Speed))
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Speed *= oDriver->CarCharacteristic.CalcOffset(Speed);
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@ -105,7 +105,8 @@ class TFixCarParam
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double oBorderScale; // Scale var. Buffer to inner
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double oCa; // Aerodynamic downforce constant
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double oCaFrontWing; // Aerod. d. const. front wing
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double oCaGroundEffect; // Aerod. d. const. ground effect
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double oCaFrontGroundEffect; // Aerod. d. const. ground effect front
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double oCaRearGroundEffect; // Aerod. d. const. ground effect rear
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double oCaRearWing; // Aerod. d. const. rear wing
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double oCdBody; // Aerodynamic drag constant car body
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double oCdWing; // Aerod. drag const. wings
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@ -509,6 +509,7 @@ enum
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#define PRV_OMEGAAHEAD "omegaahead"
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#define PRV_OMEGAAHEADFACTOR "omegaaheadfactor"
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#define PRV_INIT_BRAKE "initial brake" // Scale brake coeff
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#define PRV_NEEDS_SIN "sin long" // default false
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#define PRV_TCL_RANGE "tcl range" // default 10.0
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#define PRV_TCL_SLIP "tcl slip" // default 1.6
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@ -430,17 +430,11 @@ void TLane::CalcMaxSpeeds
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{
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int P = (Start + I) % N;
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int Q = (P + 1) % N;
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int O1 = (P + N - 12) % N;
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int O2 = (P + 12) % N;
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double CrvZ1 = MIN(0.0,oPathPoints[O1].CrvZ) * 1000;
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double CrvZ2 = MIN(0.0,oPathPoints[O2].CrvZ) * 1000;
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TVec3d Delta = oPathPoints[P].CalcPt() - oPathPoints[Q].CalcPt();
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double Dist = TUtils::VecLenXY(Delta);
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double TrackRollAngle = atan2(oPathPoints[P].Norm().z, 1);
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double TrackTiltAngle = 1.1 * atan2(Delta.z, Dist);
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double CrvZ = ((CrvZ1+CrvZ2) * fabs(CrvZ1+CrvZ2)) / 10000;
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CrvZ = oPathPoints[Q].CrvZ;
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double CrvZ = oPathPoints[Q].CrvZ;
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double Speed = oFixCarParam.CalcMaxSpeed(
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oCarParam,
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@ -59,6 +59,8 @@ const float TSimpleStrategy::cMAX_FUEL_PER_METER = 0.0008f;
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const int TSimpleStrategy::cPIT_DAMMAGE = 5000;
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const short int NEEDED_MAJOR_VERSION = 1;
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const short int NEEDED_MINOR_VERSION = 1;
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static const char *WheelSect[4] =
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{SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
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//==========================================================================*
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//==========================================================================*
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@ -98,6 +100,11 @@ void TSimpleStrategy::Init(TDriver *Driver)
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{
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oDriver = Driver;
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oPit = new TPit(Driver);
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oTireLimitFront = oDriver->TyreTreadDepthFront();
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oTireLimitRear = oDriver->TyreTreadDepthRear();
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oDegradationPerLap = 0.0;
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oLaps = 0;
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}
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//==========================================================================*
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@ -108,9 +115,11 @@ bool TSimpleStrategy::IsPitFree()
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{
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bool IsFree = RtTeamIsPitFree(oDriver->TeamIndex());
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if (IsFree)
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LogSimplix.debug("#%s pit is free (%d)\n",oDriver->GetBotName(),oDriver->TeamIndex());
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LogSimplix.debug("#%s pit is free (%d)\n",
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oDriver->GetBotName(),oDriver->TeamIndex());
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else
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LogSimplix.debug("#%s pit is locked (%d)\n",oDriver->GetBotName(),oDriver->TeamIndex());
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LogSimplix.debug("#%s pit is locked (%d)\n",
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oDriver->GetBotName(),oDriver->TeamIndex());
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return IsFree;
|
||||
}
|
||||
//==========================================================================*
|
||||
|
|
@ -131,14 +140,25 @@ bool TSimpleStrategy::NeedPitStop()
|
|||
|
||||
if (oDriver->oCarHasTYC)
|
||||
{
|
||||
double WcF = oDriver->WheelConditionFront(); // Check tyre condition
|
||||
double WcR = oDriver->WheelConditionRear(); // Pit stop needed if
|
||||
if (MIN(WcF,WcR) < 0.90) // tyres are below 90%
|
||||
LogSimplix.warning("Tyre condition F: %.3f R: %.3f (%s)\n",
|
||||
WcF,WcR,oDriver->GetBotName());
|
||||
double TdF = oDriver->TyreTreadDepthFront(); // Check tyre condition
|
||||
double TdR = oDriver->TyreTreadDepthRear(); // Pit stop needed if
|
||||
oDegradationPerLap = (oLaps * oDegradationPerLap
|
||||
+ MAX(oTireLimitFront - TdF,oTireLimitRear - TdR));
|
||||
oDegradationPerLap /= ++oLaps;
|
||||
|
||||
if (MIN(WcF,WcR) < 0.88) // tyres are below 88%
|
||||
Result = true; // to stop in pit
|
||||
if (MIN(TdF,TdR) < 1.5 * oDegradationPerLap) // tyres become critical
|
||||
{
|
||||
LogSimplix.warning("Tyre condition D: %.1f%% F: %.1f%% R: %.1f%% (%s)\n",
|
||||
oDegradationPerLap,TdF,TdR,oDriver->GetBotName());
|
||||
|
||||
if ((TdF < 1.1 * oDegradationPerLap)
|
||||
|| (TdR < 1.1 * oDegradationPerLap))
|
||||
{
|
||||
Result = true; // to stop in pit
|
||||
}
|
||||
}
|
||||
oTireLimitFront = TdF;
|
||||
oTireLimitRear = TdR;
|
||||
}
|
||||
|
||||
if (oDriver->oTestPitStop) // If defined, try
|
||||
|
|
|
|||
|
|
@ -95,6 +95,10 @@ class TAbstractStrategy
|
|||
|
||||
double oDistToSwitch; // Dist to Pit
|
||||
double oStartFuel; // Fuel at start
|
||||
double oTireLimitFront;
|
||||
double oTireLimitRear;
|
||||
double oDegradationPerLap;
|
||||
int oLaps;
|
||||
|
||||
TAbstractStrategy()
|
||||
:oState(PIT_NONE),oGoToPit(false),oCar(NULL),oTrack(NULL),oPit(NULL),oDriver(NULL),oDistToSwitch(100),oStartFuel(-1){};
|
||||
|
|
|
|||
|
|
@ -297,7 +297,9 @@ typedef struct {
|
|||
tTrackSeg *seg; /**< Track segment where the wheel is */
|
||||
tdble rollRes; /**< rolling resistance, useful for sound */
|
||||
tdble temp_in, temp_mid, temp_out;
|
||||
tdble condition;
|
||||
tdble condition; /**< tire condition, between 0 and 1 */
|
||||
tdble treadDepth; /**< tread depth, between 0 and 1 */
|
||||
tdble critTreadDepth; /**< critical tread depth, when grip falls off suddenly, between 0 and treadDepth */
|
||||
tdble slipNorm; /* normalized slip, the variable of Magic Formula */
|
||||
tdble slipSide;
|
||||
tdble slipAccel;
|
||||
|
|
@ -321,6 +323,8 @@ typedef struct {
|
|||
#define _tyreT_mid(i) priv.wheel[i].temp_mid
|
||||
#define _tyreT_out(i) priv.wheel[i].temp_out
|
||||
#define _tyreCondition(i) priv.wheel[i].condition
|
||||
#define _tyreTreadDepth(i) priv.wheel[i].treadDepth
|
||||
#define _tyreCritTreadDepth(i) priv.wheel[i].critTreadDepth
|
||||
#define _tyreEffMu(i) priv.wheel[i].effectiveMu
|
||||
|
||||
#define MAX_GEARS 10 /* including reverse and neutral */
|
||||
|
|
|
|||
|
|
@ -123,6 +123,8 @@ SimWheelConfig(tCar *car, int index)
|
|||
if (car->features & FEAT_TIRETEMPDEG) {
|
||||
// Assume new wheels
|
||||
carElt->_tyreCondition(index) = 1.0;
|
||||
car->carElt->_tyreTreadDepth(index) = wheel->treadDepth;
|
||||
car->carElt->_tyreCritTreadDepth(index) = wheel->critTreadDepth;
|
||||
}
|
||||
|
||||
wheel->mfC = (tdble)(2.0 - asin(RFactor) * 2.0 / PI);
|
||||
|
|
@ -365,6 +367,8 @@ void SimWheelUpdateForce(tCar *car, int index)
|
|||
car->carElt->_tyreT_mid(index) = wheel->Ttire;
|
||||
car->carElt->_tyreT_out(index) = wheel->Ttire;
|
||||
car->carElt->_tyreCondition(index) = tireCond;
|
||||
car->carElt->_tyreTreadDepth(index) = wheel->treadDepth;
|
||||
car->carElt->_tyreCritTreadDepth(index) = wheel->critTreadDepth;
|
||||
}
|
||||
|
||||
// Option TCL ...
|
||||
|
|
|
|||
Loading…
Reference in a new issue