Made simplix able to use tyreCondition and new gear shifting option
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@5848 30fe4595-0a0c-4342-8851-515496e4dcbd Former-commit-id: 85c796e1fd2c08d28aeb52cb4e5c111186d53e11 Former-commit-id: 398e13e3cb290304bd8bb9c4267b37f3689006a7
This commit is contained in:
wdbee
parent
4ac70c32a0
commit
1980d202f5
7 changed files with 154 additions and 33 deletions
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@ -10,7 +10,7 @@
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// File : unitclothoid.cpp
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// Created : 2007.11.25
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// Last changed : 2013.03.02
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// Copyright : © 2007-2013 Wolf-Dieter Beelitz
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// Copyright : 2007-2013 Wolf-Dieter Beelitz
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// eMail : wdb@wdbee.de
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// Version : 4.00.000
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//--------------------------------------------------------------------------*
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@ -90,6 +90,7 @@ const char* TDriver::MyBotName = "simplix"; // Name of this bot
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const char* TDriver::ROBOT_DIR = "drivers/simplix";// Sub path to dll
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const char* TDriver::SECT_PRIV = "simplix private";// Private section
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const char* TDriver::DEFAULTCARTYPE = "car1-trb1";// Default car type
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int TDriver::RobotType = 0;
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bool TDriver::AdvancedParameters = false; // Advanced parameters
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bool TDriver::UseOldSkilling = false; // Use old skilling
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bool TDriver::UseSCSkilling = false; // Use supercar skilling
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@ -293,6 +294,7 @@ TDriver::TDriver(int Index):
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oCarHasABS(false),
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oCarHasESP(false),
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oCarHasTCL(false),
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oCarHasTYC(false),
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oTclRange(10.0),
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oTclSlip(1.6),
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oTclFactor(1.0),
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@ -380,6 +382,7 @@ TDriver::TDriver(int Index):
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oSideScaleMu(0.97f),
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oSideScaleBrake(0.97f),
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oSideBorderOuter(0.2f),
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oSideBorderInner(0.2f),
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oXXX(1.0),
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oRain(false),
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oRainIntensity(0.0),
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@ -423,6 +426,8 @@ TDriver::TDriver(int Index):
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TDriver::LengthMargin = LENGTH_MARGIN; // Initialize safty margin
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// oLastUsedGear = 0;
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LogSimplix.debug("\n#<<< TDriver::TDriver()\n\n");
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}
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//==========================================================================*
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@ -732,9 +737,9 @@ void TDriver::AdjustDriving(
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LogSimplix.debug("#oInitialBrakeCoeff %g\n",oInitialBrakeCoeff);
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}
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oLookAheadFactor =
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oLookAheadFactor = MIN(0.2,
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GfParmGetNum(Handle,TDriver::SECT_PRIV,PRV_LOOKAHEADFACTOR,0,
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(float)oLookAheadFactor);
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(float)oLookAheadFactor));
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LogSimplix.debug("#LookAheadFactor %g\n",oLookAheadFactor);
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oScaleSteer =
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@ -755,35 +760,45 @@ void TDriver::AdjustDriving(
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const char *enabling;
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oCarHasTYC = false;
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enabling = GfParmGetStr(Handle, SECT_FEATURES, PRM_TIRETEMPDEG, VAL_NO);
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if (strcmp(enabling, VAL_YES) == 0)
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{
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oCarHasTYC = true;
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LogSimplix.warning("#Car has TYC yes\n");
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}
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else
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LogSimplix.warning("#Car has TYC no\n");
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oCarHasABS = false;
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enabling = GfParmGetStr(Handle, SECT_FEATURES, PRM_ABSINSIMU, VAL_NO);
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if (strcmp(enabling, VAL_YES) == 0)
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{
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oCarHasABS = true;
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LogSimplix.info("#Car has ABS yes\n");
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LogSimplix.warning("#Car has ABS yes\n");
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}
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else
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LogSimplix.info("#Car has ABS no\n");
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LogSimplix.warning("#Car has ABS no\n");
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oCarHasESP = false;
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enabling = GfParmGetStr(Handle, SECT_FEATURES, PRM_ESPINSIMU, VAL_NO);
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if (strcmp(enabling, VAL_YES) == 0)
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{
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oCarHasESP = true;
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LogSimplix.info("#Car has ESP yes\n");
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LogSimplix.warning("#Car has ESP yes\n");
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}
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else
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LogSimplix.info("#Car has ESP no\n");
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LogSimplix.warning("#Car has ESP no\n");
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oCarHasTCL = false;
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enabling = GfParmGetStr(Handle, SECT_FEATURES, PRM_TCLINSIMU, VAL_NO);
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if (strcmp(enabling, VAL_YES) == 0)
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{
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oCarHasABS = true;
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LogSimplix.info("#Car has TCL yes\n");
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LogSimplix.warning("#Car has TCL yes\n");
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}
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else
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LogSimplix.info("#Car has TCL no\n");
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LogSimplix.warning("#Car has TCL no\n");
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// For test of simu options override switches here
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/*
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@ -1575,6 +1590,7 @@ void TDriver::Drive()
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oBrake = FilterBrakeSpeed(oBrake);
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if (!oCarHasABS)
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oBrake = FilterABS(oBrake);
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oBrake = FilterSkillBrake(oBrake);
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//if (oBrake > 0.10)
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// oClutch = 0.4;
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@ -1612,9 +1628,14 @@ void TDriver::Drive()
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CarGearCmd = oGear;
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CarSteerCmd = (float) oSteer;
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CarSteerTelemetrie = oTelemetrieMode;
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//oLastUsedGear = MIN(1,oGear);
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if (oTelemetrieMode == 4)
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fprintf(stderr,"A%+7.2f%% B%+7.2f%% C%+7.2f%% S%+7.2f%% G:%d\n",100*oAccel,100*oBrake,100*oClutch,100*oSteer,oGear);
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/*
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double Radius = 1/oLanePoint.Crv;
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fprintf(stderr,"R:%+7.2f\n",Radius);
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*/
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// SIMUV4 ...
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if (oWingControl)
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@ -1846,6 +1867,7 @@ void TDriver::FindRacinglines()
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Param.oCarParam2.oScaleBrake = // Adjust brake scale
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oSideScaleBrake*Param.oCarParam.oScaleBrake; // to be able to avoid
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Param.Fix.oBorderOuter += oSideBorderOuter;
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Param.Fix.oBorderInner += oSideBorderInner;
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if (oGeneticOpti ||
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!oRacingLine[oRL_LEFT].LoadSmoothPath // Load a smooth path
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@ -2555,7 +2577,7 @@ void TDriver::InitCw()
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//--------------------------------------------------------------------------*
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double TDriver::GearRatio()
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{
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return CarGearRatio[UsedGear + CarGearOffset];
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return CarGearRatio[oUsedGear + CarGearOffset];
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}
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//==========================================================================*
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@ -2564,7 +2586,7 @@ double TDriver::GearRatio()
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//--------------------------------------------------------------------------*
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double TDriver::PrevGearRatio()
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{
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return CarGearRatio[UsedGear + CarGearOffset-1];
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return CarGearRatio[oUsedGear + CarGearOffset-1];
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}
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//==========================================================================*
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@ -2573,7 +2595,7 @@ double TDriver::PrevGearRatio()
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//--------------------------------------------------------------------------*
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double TDriver::NextGearRatio()
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{
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return CarGearRatio[UsedGear + CarGearOffset+1];
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return CarGearRatio[oUsedGear + CarGearOffset+1];
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}
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//==========================================================================*
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@ -2924,26 +2946,32 @@ bool TDriver::EcoShift()
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//--------------------------------------------------------------------------*
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void TDriver::GearTronic()
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{
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if ((oJumping > 0.0) && (UsedGear > 0))
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oUsedGear = oCar->_gear;
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if (oCar->_gearNext != 0)
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oUsedGear = oCar->_gearNext;
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if ((oJumping > 0.0) && (oUsedGear > 0))
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return;
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if (IsTickover)
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if (oUsedGear <= 0)
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{
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oGear = 1;
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// if (oLastUsedGear <= 0)
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oGear = 1;
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}
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else
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{
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if((UsedGear < oLastGear)
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if((oUsedGear < oLastGear)
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&& (EcoShift() || (GearRatio() * CarSpeedLong / oWheelRadius > NextRpm)))
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{
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oUnstucking = false;
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TreadClutch;
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oGear = NextGear;
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}
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else if(UsedGear > 1)
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else if(oUsedGear > 1)
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{
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double PrevRpm =
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oShift[UsedGear-1] * oShiftMargin
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oShift[oUsedGear-1] * oShiftMargin
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* GearRatio() / PrevGearRatio();
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if(GearRatio() * CarSpeedLong / oWheelRadius < PrevRpm)
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@ -3138,10 +3166,12 @@ double TDriver::SteerAngle(TLanePoint& AheadPointInfo)
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AheadDist = 1.5 + oCurrSpeed * 0.04;
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if (oGoToPit)
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AheadDist = 2.0;
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/*
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if (AheadDist < oLastAheadDist - 0.05)
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AheadDist = oLastAheadDist - 0.05;
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else if (AheadDist > oLastAheadDist + 0.05)
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AheadDist = oLastAheadDist + 0.05;
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*/
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oLastAheadDist = AheadDist;
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double AheadPos = oTrackDesc.CalcPos(oCar, AheadDist);
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@ -4009,7 +4039,22 @@ double TDriver::FilterBrake(double Brake)
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double TDriver::FilterSkillBrake(double Brake)
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{
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//Brake *= oBrakeAdjustPerc;
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if (RobotType != RTYPE_SIMPLIX_SRW)
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return Brake;
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// fprintf(stderr,"wc: %g wemy: %g\n",oCar->_tyreCondition(0),oCar->_tyreEffMu(0));
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return Brake;
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/*
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oCar->priv.wheel[0].condition;
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oCar->priv.wheel[0].effectiveMu;
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oCar->priv.wheel[0].slipAccel;
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oCar->priv.wheel[0].slipNorm;
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oCar->priv.wheel[0].slipSide;
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oCar->priv.wheel[0].spinVel;
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oCar->priv.wheel[0].state;
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*/
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}
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//==========================================================================*
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@ -4268,6 +4313,7 @@ void TDriver::Unstuck()
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CarAccelCmd = 1.0; // Open the throttle
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CarClutchCmd = 0.0; // Release clutch
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oUnstucking = true; // Set flag
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// oLastUsedGear = CarGearCmd;
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}
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//==========================================================================*
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@ -4346,6 +4392,33 @@ void TDriver::SideBorderOuter(float Factor)
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}
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//==========================================================================*
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//==========================================================================*
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// Set additional border to inner side
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//--------------------------------------------------------------------------*
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void TDriver::SideBorderInner(float Factor)
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{
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oSideBorderInner = Factor;
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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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double TDriver::WheelConditionFront()
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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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double TDriver::WheelConditionRear()
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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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// Calculate the skilling
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//--------------------------------------------------------------------------*
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@ -264,6 +264,7 @@ private:
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int oLastLap; // Last lap
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double oClutch; // Clutching
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int oGear; // Gear
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int oUsedGear; // Gear
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double oSteer; // Steering
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double oLastSteer; // Steering
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@ -309,6 +310,7 @@ private:
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double oGearEff[MAX_GEARS]; // Efficiency of gears
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int oExtended; // Information if this robot is extended (oExtended = 1) or not (oExtended = 0).
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int oLastGear; // Last gear
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int oLastUsedGear; // Last used gear
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bool oLetPass; // Let opoonent pass
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double oLookAhead; // Look ahead base value
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double oLookAheadFactor; // Look ahead factor
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@ -434,6 +436,7 @@ private:
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float oSideScaleMu;
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float oSideScaleBrake;
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float oSideBorderOuter;
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float oSideBorderInner;
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double oXXX;
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bool oRain;
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double oRainIntensity;
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@ -445,6 +448,7 @@ private:
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double oJumpOffset; // Offset for calculation of jumps
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bool oFirstJump;
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double oStartSteerFactor;
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bool oCarHasTYC; // Flag: Car has tyre condition in simu enabled
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static int NBBOTS; // Nbr of cars
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double CurrSimTime; // Current simulation time
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@ -453,6 +457,7 @@ private:
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static const char* SECT_PRIV; // Private section
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static const char* DEFAULTCARTYPE; // Default car type
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static int RobotType;
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static bool AdvancedParameters;
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static bool UseOldSkilling;
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static bool UseSCSkilling;
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@ -472,6 +477,7 @@ private:
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void ScaleSide(float FactorMu, float FactorBrake);
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void SideBorderOuter(float Factor);
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void SideBorderInner(float Factor);
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void AdjustBrakes(PCarHandle Handle);
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void AdjustDriving(PCarHandle Handle, double ScaleBrake, double ScaleMu);
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@ -482,6 +488,8 @@ 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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void CalcSkilling();
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double CalcFriction(const double Crv);
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double CalcCrv(double Crv);
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@ -112,6 +112,13 @@ double TFixCarParam::CalcAcceleration(
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double TrackTiltAngle) const // Track tilt angle
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{
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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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}
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double CD = oCdBody *
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(1.0 + oTmpCarParam->oDamage / 10000.0) + oCdWing;
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@ -186,12 +193,19 @@ double TFixCarParam::CalcBraking
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Friction *= oDriver->CalcFriction(Crv);
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double Mu = Friction * oTyreMu;
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double Mu_F = Mu;
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double Mu_R = Mu;
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double MuF = Mu;
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double MuR = Mu;
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Mu_F = Friction * oTyreMuFront;
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Mu_R = Friction * oTyreMuRear;
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Mu = MIN(Mu_F,Mu_R);
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MuF = Friction * oTyreMuFront;
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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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}
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else
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Mu = MIN(MuF,MuR);
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// From SD:
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double Cd = oCdBody *
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@ -221,7 +235,7 @@ double TFixCarParam::CalcBraking
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double Ffrnt = oCaFrontWing * AvgV2;
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double Frear = oCaRearWing * AvgV2;
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Froad = 0.95 * Fdown * Mu + Ffrnt * Mu_F + Frear * Mu_R;
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Froad = 0.95 * Fdown * Mu + Ffrnt * MuF + Frear * MuR;
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double Flat = oTmpCarParam->oMass * Glat;
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double Ftan = oTmpCarParam->oMass * Gtan - Cd * AvgV2;
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@ -291,12 +305,19 @@ double TFixCarParam::CalcBrakingPit
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Friction *= oDriver->CalcFriction(Crv);
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double Mu = Friction * oTyreMu;
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double Mu_F = Mu;
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double Mu_R = Mu;
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double MuF = Mu;
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double MuR = Mu;
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Mu_F = Friction * oTyreMuFront;
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Mu_R = Friction * oTyreMuRear;
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Mu = MIN(Mu_F,Mu_R);
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MuF = Friction * oTyreMuFront;
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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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}
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else
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Mu = MIN(MuF,MuR);
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// From TORCS:
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double Cd = oCdBody *
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@ -325,7 +346,7 @@ double TFixCarParam::CalcBrakingPit
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double Ffrnt = oCaFrontWing * AvgV2;
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double Frear = oCaRearWing * AvgV2;
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Froad = Fdown * Mu + Ffrnt * Mu_F + Frear * Mu_R;
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Froad = Fdown * Mu + Ffrnt * MuF + Frear * MuR;
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double Flat = oTmpCarParam->oMass * Glat;
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double Ftan = oTmpCarParam->oMass * Gtan - Cd * AvgV2;
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@ -423,7 +444,14 @@ double TFixCarParam::CalcMaxSpeed
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double MuF = Friction * oTyreMuFront * CarParam.oScaleMu;
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double MuR = Friction * oTyreMuRear * CarParam.oScaleMu;
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Mu = MIN(MuF,MuR) / oTmpCarParam->oSkill;
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if (oDriver->oCarHasTYC)
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{
|
||||
double WcF = oDriver->WheelConditionFront();
|
||||
double WcR = oDriver->WheelConditionRear();
|
||||
Mu = MIN(WcF*MuF,WcR*MuR) / oTmpCarParam->oSkill;
|
||||
}
|
||||
else
|
||||
Mu = MIN(MuF,MuR) / oTmpCarParam->oSkill;
|
||||
|
||||
Den = (AbsCrv - ScaleBump * CrvZ)
|
||||
- (oCaFrontWing * MuF + oCaRearWing * MuR
|
||||
|
|
|
|||
|
|
@ -344,7 +344,6 @@ enum
|
|||
#define WheelSegFriction(x) (oCar->_wheelSeg(x)->surface->kFriction)
|
||||
#define WheelSegRoughness(x) (oCar->_wheelSeg(x)->surface->kRoughness)
|
||||
#define WheelSegRollRes(x) (oCar->_wheelSeg(x)->surface->kRollRes)
|
||||
#define UsedGear (oCar->_gear)
|
||||
// ... Shortcuts for TORCS
|
||||
|
||||
// Shortcuts for this robot ...
|
||||
|
|
|
|||
|
|
@ -342,6 +342,7 @@ void SetUpSimplix_sc()
|
|||
void SetUpSimplix_srw()
|
||||
{
|
||||
cRobotType = RTYPE_SIMPLIX_SRW;
|
||||
TDriver::RobotType = cRobotType;
|
||||
SetParameters(NBBOTS, "srw-sector-p4");
|
||||
TDriver::AdvancedParameters = true;
|
||||
TDriver::UseSCSkilling = true; // Use supercar skilling
|
||||
|
|
@ -539,6 +540,8 @@ int moduleWelcomeV1_00
|
|||
SetUpSimplix_trb1();
|
||||
else if (strncmp(RobName,"simplix_sc",strlen("simplix_sc")) == 0)
|
||||
SetUpSimplix_sc();
|
||||
else if (strncmp(RobName,"simplix_srw",strlen("simplix_srw")) == 0)
|
||||
SetUpSimplix_srw();
|
||||
else if (strncmp(RobName,"simplix_36GP",strlen("simplix_36GP")) == 0)
|
||||
SetUpSimplix_36GP();
|
||||
else if (strncmp(RobName,"simplix_mpa1",strlen("simplix_mpa1")) == 0)
|
||||
|
|
@ -801,7 +804,8 @@ static int InitFuncPt(int Index, void *Pt)
|
|||
cInstances[Index-IndexOffset].cRobot->CalcCrvFoo = &TDriver::CalcCrv_simplix_Identity;
|
||||
cInstances[Index-IndexOffset].cRobot->CalcHairpinFoo = &TDriver::CalcHairpin_simplix_Identity;
|
||||
cInstances[Index-IndexOffset].cRobot->ScaleSide(0.95f,0.95f);
|
||||
cInstances[Index-IndexOffset].cRobot->SideBorderOuter(0.10f);
|
||||
cInstances[Index-IndexOffset].cRobot->SideBorderOuter(0.30f);
|
||||
cInstances[Index-IndexOffset].cRobot->SideBorderInner(0.00f);
|
||||
}
|
||||
else if (cRobotType == RTYPE_SIMPLIX_36GP)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -493,6 +493,15 @@ void TTrackDescription::InitTrack
|
|||
bool PitOnly = false; // Reset flag
|
||||
while(PSide) // Loop all side-segments
|
||||
{
|
||||
/*
|
||||
if (S == TR_SIDE_LFT)
|
||||
{
|
||||
fprintf(stderr,"%s %d r:%.3f kfr:%.3f krh:%.3f krr:%.3f kkw:%.3f \n",Seg->name,Seg->id,Seg->radius,PSide->surface->kFriction,PSide->surface->kRoughness,PSide->surface->kRollRes,PSide->Kzw);
|
||||
|
||||
if (Seg->id == 565)
|
||||
fprintf(stderr,"Now!\n");
|
||||
}
|
||||
*/
|
||||
double Wpit = 0.0; // Initialize
|
||||
double WCurb = 0.0; // additional with
|
||||
double W = PSide->startWidth + T * // Estimate width of section
|
||||
|
|
|
|||
Loading…
Reference in a new issue