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update USR's

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git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@5533 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 4f669ff29e5d76235b5ee9187220f7d209d9c023
Former-commit-id: 41a0d86006ebfc55f8d437b46a763bbce278bbc2
This commit is contained in:
torcs-ng 2013-06-23 17:57:05 +00:00
parent b3f8ad3263
commit 28fd22f1a8
1 changed files with 26 additions and 18 deletions
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44
src/drivers/usr/src/driver.cpp
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@ -3344,10 +3344,13 @@ void Driver::GetSteerPoint( double lookahead, vec2f *rt, double offset, double t
// Reduces the brake value such that it fits the speed (more downforce -> more braking).
float Driver::filterBrakeSpeed(float brake)
{
float weight = (CARMASS + car->_fuel)*G;
float maxForce = weight + CA*MAX_SPEED*MAX_SPEED;
float force = weight + CA*currentspeedsqr;
return brake*force/maxForce;
if (CA < 0.01)
return brake;
float weight = (CARMASS + car->_fuel)*G;
float maxForce = weight + CA*MAX_SPEED*MAX_SPEED;
float force = weight + CA*currentspeedsqr;
return brake*force/maxForce;
}
@ -3623,14 +3626,19 @@ float Driver::filterTCL(float accel)
// Traction Control (TCL) setup.
void Driver::initTCLfilter()
{
char *traintype = (char *) GfParmGetStr(car->_carHandle, SECT_DRIVETRAIN, PRM_TYPE, VAL_TRANS_RWD);
if (strcmp(traintype, VAL_TRANS_RWD) == 0) {
GET_DRIVEN_WHEEL_SPEED = &Driver::filterTCL_RWD;
} else if (strcmp(traintype, VAL_TRANS_FWD) == 0) {
GET_DRIVEN_WHEEL_SPEED = &Driver::filterTCL_FWD;
} else if (strcmp(traintype, VAL_TRANS_4WD) == 0) {
GET_DRIVEN_WHEEL_SPEED = &Driver::filterTCL_4WD;
}
char *traintype = (char *) GfParmGetStr(car->_carHandle, SECT_DRIVETRAIN, PRM_TYPE, VAL_TRANS_RWD);
if (strcmp(traintype, VAL_TRANS_RWD) == 0)
{
GET_DRIVEN_WHEEL_SPEED = &Driver::filterTCL_RWD;
}
else if (strcmp(traintype, VAL_TRANS_FWD) == 0)
{
GET_DRIVEN_WHEEL_SPEED = &Driver::filterTCL_FWD;
}
else if (strcmp(traintype, VAL_TRANS_4WD) == 0)
{
GET_DRIVEN_WHEEL_SPEED = &Driver::filterTCL_4WD;
}
}
@ -3666,7 +3674,7 @@ float Driver::filterTCL_FWD()
// TCL filter plugin for all wheel driven cars.
float Driver::filterTCL_4WD()
{
return ((car->_wheelSpinVel(FRNT_RGT) + car->_wheelSpinVel(FRNT_LFT)) *
return ((car->_wheelSpinVel(FRNT_RGT) + car->_wheelSpinVel(FRNT_LFT)) *
car->_wheelRadius(FRNT_LFT) +
(car->_wheelSpinVel(REAR_RGT) + car->_wheelSpinVel(REAR_LFT)) *
car->_wheelRadius(REAR_LFT)) / 4.0f;
@ -3716,11 +3724,11 @@ float Driver::filterTrk(float accel)
// Compute the needed distance to brake.
float Driver::brakedist(float allowedspeed, float mu)
{
float c = mu*G;
float d = (CA*mu + CW)/mass;
float v1sqr = currentspeedsqr;
float v2sqr = allowedspeed*allowedspeed;
return (float)((-log((c + v2sqr*d)/(c + v1sqr*d))/(2.0f*d)) + 1.0);
float c = mu*G;
float d = (CA*mu + CW)/mass;
float v1sqr = currentspeedsqr;
float v2sqr = allowedspeed*allowedspeed;
return (float)((-log((c + v2sqr*d)/(c + v1sqr*d))/(2.0f*d)) + 1.0);
}
//==========================================================================*