moved to branches/legacy
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@1414 30fe4595-0a0c-4342-8851-515496e4dcbd Former-commit-id: 9fddfd964800246965676d8cbb2574eeb940013d Former-commit-id: 87376654fe9ea8de163ea665fe8f77f0c4156c12
This commit is contained in:
pouillot
parent
8ef9534423
commit
453a9c4054
10 changed files with 0 additions and 1632 deletions
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@ -1,31 +0,0 @@
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##############################################################################
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#
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# file : Makefile
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# created : Sat Mar 18 23:11:09 CET 2000
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# copyright : (C) 2000 by Eric Espie
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# email : torcs@free.fr
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# version : $Id: Makefile,v 1.4 2002/06/30 20:20:07 torcs Exp $
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#
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##############################################################################
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 2 of the License, or
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# (at your option) any later version.
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#
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##############################################################################
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ROBOT = K1999
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SHIPDIR = drivers/${ROBOT}/1
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SHIP = buggy.rgb settings.xml
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src-robots-K1999_PKGFILES = $(shell find * -maxdepth 0 -type f -print)
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src-robots-K1999_PKGDIR = ${PACKAGE}-${VERSION}/$(subst ${TORCSNG_BASE},,$(shell pwd))
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include ${MAKE_DEFAULT}
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@ -1,149 +0,0 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE params SYSTEM "../../../libs/tgf/params.dtd">
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<params name="buggy" type="">
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<section name="Car">
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<!-- weight bias -->
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<attnum name="front/rear weight repartition" min="0.3" max="0.7" val="0.5"/>
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<attnum name="front right/left weight repartition" min="0.3" max="0.7" val="0.5"/>
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<attnum name="rear right/left weight repartition" min="0.3" max="0.7" val="0.5"/>
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<!-- used for inertia, indicates the good mass centering (lower values) -->
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<attnum name="mass repartition coefficient" val="0.6" min="0.6" max="1.5"/>
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</section>
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<section name="Gearbox">
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<section name="gears">
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<section name="r">
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<attnum name="ratio" min="0" max="8" val="3.00"/>
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</section>
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<section name="1">
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<attnum name="ratio" min="0" max="8" val="3.50"/>
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</section>
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<section name="2">
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<attnum name="ratio" min="0" max="8" val="2.20"/>
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</section>
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<section name="3">
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<attnum name="ratio" min="0" max="8" val="1.60"/>
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</section>
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<section name="4">
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<attnum name="ratio" min="0" max="8" val="1.15"/>
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</section>
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<section name="5">
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<attnum name="ratio" min="0" max="8" val="0.90"/>
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</section>
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<section name="6">
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<attnum name="ratio" min="0" max="8" val="0.75"/>
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</section>
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</section>
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</section>
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<section name="Steer">
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<attnum name="max steer speed" unit="deg/s" min="1" max="360" val="360"/>
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</section>
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<section name="Brake System">
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<attnum name="front/rear brake repartition" min="0.3" max="0.7" val="0.70"/>
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<attnum name="max pressure" unit="kPa" min="100" max="150000" val="10000"/>
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</section>
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<section name="Rear Differential">
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<!-- type of differential : SPOOL (locked), FREE, LIMITED SLIP -->
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<attstr name="type" in="SPOOL,FREE" val="FREE"/>
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<attnum name="ratio" min="0" max="8" val="3.5"/>
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</section>
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<section name="Front Right Wheel">
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<attnum name="ypos" unit="m" val="-0.8"/>
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<attnum name="rim diameter" unit="in" min="13" max="18" val="13.0"/>
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<attnum name="tire width" unit="mm" min="135" max="200" val="200"/>
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<attnum name="tire height/width ratio" min="0.5" max="1.0" val="0.8"/>
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<attnum name="stiffness" min="5.0" max="20.0" val="15.0"/>
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<!-- initial ride height -->
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<attnum name="ride height" unit="mm" min="200" max="800" val="300"/>
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<attnum name="toe" unit="deg" min="-5" max="5" val="0"/>
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</section>
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<section name="Front Left Wheel">
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<attnum name="ypos" unit="m" val="0.8"/>
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<attnum name="rim diameter" unit="in" min="13" max="18" val="13.0"/>
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<attnum name="tire width" unit="mm" min="135" max="200" val="200"/>
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<attnum name="tire height/width ratio" min="0.5" max="1.0" val="0.8"/>
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<attnum name="stiffness" min="5.0" max="20.0" val="15.0"/>
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<!-- initial ride height -->
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<attnum name="ride height" unit="mm" min="200" max="800" val="300"/>
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<attnum name="toe" unit="deg" min="-5" max="5" val="0"/>
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</section>
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<section name="Rear Right Wheel">
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<attnum name="ypos" unit="m" val="-0.8"/>
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<attnum name="rim diameter" unit="in" min="13" max="18" val="13.0"/>
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<attnum name="tire width" unit="mm" min="135" max="200" val="200"/>
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<attnum name="tire height/width ratio" min="0.5" max="1.0" val="0.8"/>
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<!-- initial ride height -->
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<attnum name="ride height" unit="mm" min="200" max="800" val="300"/>
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<attnum name="toe" unit="deg" min="-5" max="5" val="0"/>
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</section>
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<section name="Rear Left Wheel">
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<attnum name="ypos" unit="m" val="0.8"/>
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<attnum name="rim diameter" unit="in" min="13" max="18" val="13.0"/>
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<attnum name="tire width" unit="mm" min="135" max="200" val="200"/>
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<attnum name="tire height/width ratio" min="0.5" max="1.0" val="0.8"/>
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<!-- initial ride height -->
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<attnum name="ride height" unit="mm" min="200" max="800" val="300"/>
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<attnum name="toe" unit="deg" min="-5" max="5" val="0"/>
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</section>
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<section name="Front Right Suspension">
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<attnum name="spring" unit="lbs/in" min="0" max="10000" val="1500"/>
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<attnum name="slow bump" unit="lbs/in/s" min="0" max="1000" val="150"/>
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<attnum name="slow rebound" unit="lbs/in/s" min="0" max="1000" val="150"/>
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<attnum name="fast bump" unit="lbs/in/s" min="0" max="1000" val="150"/>
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<attnum name="fast rebound" unit="lbs/in/s" min="0" max="1000" val="150"/>
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</section>
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<section name="Front Left Suspension">
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<attnum name="spring" unit="lbs/in" min="0" max="10000" val="1500"/>
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<attnum name="slow bump" unit="lbs/in/s" min="0" max="1000" val="150"/>
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<attnum name="slow rebound" unit="lbs/in/s" min="0" max="1000" val="150"/>
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<attnum name="fast bump" unit="lbs/in/s" min="0" max="1000" val="150"/>
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<attnum name="fast rebound" unit="lbs/in/s" min="0" max="1000" val="150"/>
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</section>
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<section name="Rear Right Suspension">
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<attnum name="spring" unit="lbs/in" min="0" max="10000" val="1000"/>
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<attnum name="slow bump" unit="lbs/in/s" min="0" max="1000" val="75"/>
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<attnum name="slow rebound" unit="lbs/in/s" min="0" max="1000" val="75"/>
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<attnum name="fast bump" unit="lbs/in/s" min="0" max="1000" val="75"/>
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<attnum name="fast rebound" unit="lbs/in/s" min="0" max="1000" val="75"/>
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</section>
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<section name="Rear Left Suspension">
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<attnum name="spring" unit="lbs/in" min="0" max="10000" val="1000"/>
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<attnum name="slow bump" unit="lbs/in/s" min="0" max="1000" val="75"/>
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<attnum name="slow rebound" unit="lbs/in/s" min="0" max="1000" val="75"/>
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<attnum name="fast bump" unit="lbs/in/s" min="0" max="1000" val="75"/>
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<attnum name="fast rebound" unit="lbs/in/s" min="0" max="1000" val="75"/>
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</section>
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<section name="Front Right Brake">
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<attnum name="disk diameter" unit="mm" val="200"/>
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</section>
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<section name="Front Left Brake">
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<attnum name="disk diameter" unit="mm" val="200"/>
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</section>
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<section name="Rear Right Brake">
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<attnum name="disk diameter" unit="mm" val="200"/>
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</section>
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<section name="Rear Left Brake">
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<attnum name="disk diameter" unit="mm" val="200"/>
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</section>
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</params>
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@ -1,31 +0,0 @@
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##############################################################################
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#
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# file : Makefile
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# created : Sat Mar 18 23:11:09 CET 2000
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# copyright : (C) 2000 by Eric Espie
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# email : torcs@free.fr
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# version : $Id: Makefile,v 1.4 2002/06/30 20:20:07 torcs Exp $
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#
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##############################################################################
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 2 of the License, or
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# (at your option) any later version.
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#
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##############################################################################
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ROBOT = K1999
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SHIPDIR = drivers/${ROBOT}/2
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SHIP = cg-nascar-rwd.rgb settings.xml
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src-robots-K1999_PKGFILES = $(shell find * -maxdepth 0 -type f -print)
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src-robots-K1999_PKGDIR = ${PACKAGE}-${VERSION}/$(subst ${TORCSNG_BASE},,$(shell pwd))
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include ${MAKE_DEFAULT}
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@ -1,30 +0,0 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<params name="K1999" type="">
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<section name="Gearbox">
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<section name="gears">
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<section name="r">
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<attnum name="ratio" min="-3" max="0" val="-2.0"/>
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</section>
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<section name="1">
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<attnum name="ratio" min="0" max="5" val="5.00"/>
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</section>
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<section name="2">
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<attnum name="ratio" min="0" max="5" val="3.41"/>
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</section>
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<section name="3">
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<attnum name="ratio" min="0" max="5" val="2.34"/>
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</section>
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<section name="4">
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<attnum name="ratio" min="0" max="5" val="1.60"/>
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</section>
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<section name="5">
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<attnum name="ratio" min="0" max="5" val="1.25"/>
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</section>
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<section name="6">
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<attnum name="ratio" min="0" max="5" val="1.05"/>
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</section>
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</section>
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</section>
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</params>
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////////////////////////////////////////////////////////////////////////////
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//
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// K1999.cpp
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//
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// car driver for TORCS
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// (c) Remi Coulom
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// March 2000
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//
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// This program is free software; you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation; either version 2 of the License, or
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// (at your option) any later version.
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//
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////////////////////////////////////////////////////////////////////////////
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#include <iostream>
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#include <strstream>
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#include <iomanip>
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#include <math.h>
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#include <stdlib.h>
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#include <fstream>
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#include <cstring>
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#include "tgf.h"
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#include "track.h"
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#include "car.h"
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#include "raceman.h"
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#include "robot.h"
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#include "robottools.h"
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using namespace std;
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////////////////////////////////////////////////////////////////////////////
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// Parameters
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////////////////////////////////////////////////////////////////////////////
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//
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// These parameters are for the computation of the path
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//
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static const int MaxSegments = 1000;
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static const int MaxDivs = 20000;
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static const int Iterations = 100; // Number of smoothing operations
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static const double DivLength = 3.0; // Length of path elements in meters
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static const double SecurityR = 100.0; // Security radius
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static double SideDistExt = 2.0; // Security distance wrt outside
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static double SideDistInt = 1.0; // Security distance wrt inside
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class CK1999Data
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{
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public:
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CK1999Data(double x1, double x2, double x3, double x4, double x5, const char * const psz) :
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WingRInverse(x1),
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TireAccel1(x2),
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MaxBrake(x3),
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SlipLimit(x4),
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SteerSkid(x5),
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pszCarName(psz)
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{
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fDirt = 0;
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}
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const double WingRInverse;
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const double TireAccel1;
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const double MaxBrake;
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const double SlipLimit;
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const double SteerSkid;
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const char * const pszCarName;
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double ABS;
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double TractionHelp;
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int fStuck;
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double wheelbase;
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double wheeltrack;
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int Divs;
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int Segs;
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double Width;
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double Length;
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double tSegDist[MaxSegments];
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int tSegIndex[MaxSegments];
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double tElemLength[MaxSegments];
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double tx[MaxDivs];
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double ty[MaxDivs];
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double tDistance[MaxDivs];
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double tRInverse[MaxDivs];
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double tMaxSpeed[MaxDivs];
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double tSpeed[MaxDivs];
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double txLeft[MaxDivs];
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double tyLeft[MaxDivs];
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double txRight[MaxDivs];
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double tyRight[MaxDivs];
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double tLane[MaxDivs];
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double tFriction[MaxDivs];
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int fDirt;
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void UpdateTxTy(int i);
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void DrawPath(ostream &out);
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void SetSegmentInfo(const tTrackSeg *pseg, double d, int i, double l);
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void SplitTrack(tTrack *ptrack);
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double GetRInverse(int prev, double x, double y, int next);
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void AdjustRadius(int prev, int i, int next, double TargetRInverse, double Security = 0);
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void Smooth(int Step);
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void StepInterpolate(int iMin, int iMax, int Step);
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void Interpolate(int Step);
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void InitTrack(tTrack* track, void **carParmHandle, tSituation *p);
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void NewRace(tCarElt* car, tSituation *s);
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void Drive(tCarElt* car, tSituation *s);
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};
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static CK1999Data data1(0.0032, 9.50, 8.00, 8.00, 0.40, "K1999-buggy");
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static CK1999Data data2(0.0032, 12.00, 11.00, 2.00, 0.20, "K1999-cg-nascar-rwd");
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static CK1999Data *tpdata[] = {&data1, &data2};
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#define CARS (sizeof(tpdata)/sizeof(*tpdata))
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//
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// Debugging options
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//
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//#define VERBOSE
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//#define DOLOG
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//#define DRAWPATH
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#ifdef DOLOG
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ofstream ofsLog("K1999.log", ios::out);
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#define LOG(x) do {ofsLog << (x) << ' ';} while(0)
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#else
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#define LOG(x)
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#endif
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/////////////////////////////////////////////////////////////////////////////
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// Some utility macros and functions
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/////////////////////////////////////////////////////////////////////////////
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#ifdef VERBOSE
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#define OUTPUT(x) do {(cout << "K1999: " << x << '\n').flush();} while(0)
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#else
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#define OUTPUT(x)
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#endif
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#define FATAL(x) do{if (x){OUTPUT("Fatal error: " << #x); exit(1);}}while(0)
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static double Mag(double x, double y)
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{
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return sqrt(x * x + y * y);
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}
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static double Min(double x1, double x2)
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{
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if (x1 < x2)
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return x1;
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else
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return x2;
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}
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static double Max(double x1, double x2)
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{
|
||||
if (x1 < x2)
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return x2;
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else
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return x1;
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}
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/////////////////////////////////////////////////////////////////////////////
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// Update tx and ty arrays
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/////////////////////////////////////////////////////////////////////////////
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void CK1999Data::UpdateTxTy(int i)
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{
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tx[i] = tLane[i] * txRight[i] + (1 - tLane[i]) * txLeft[i];
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ty[i] = tLane[i] * tyRight[i] + (1 - tLane[i]) * tyLeft[i];
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}
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/////////////////////////////////////////////////////////////////////////////
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// Draw a path (use gnuplot)
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/////////////////////////////////////////////////////////////////////////////
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#ifdef DRAWPATH
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void CK1999Data::DrawPath(ostream &out)
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{
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for (int i = 0; i <= Divs; i++)
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{
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int j = i % Divs;
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out << txLeft[j] << ' ' << tyLeft[j] << ' ';
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out << tx[j] << ' ' << ty[j] << ' ';
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out << txRight[j] << ' ' << tyRight[j] << '\n';
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}
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out << '\n';
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}
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||||
#endif
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||||
/////////////////////////////////////////////////////////////////////////////
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// Set segment info
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
void CK1999Data::SetSegmentInfo(const tTrackSeg *pseg, double d, int i, double l)
|
||||
{
|
||||
if (pseg)
|
||||
{
|
||||
FATAL(pseg->id >= MaxSegments);
|
||||
tSegDist[pseg->id] = d;
|
||||
tSegIndex[pseg->id] = i;
|
||||
tElemLength[pseg->id] = l;
|
||||
if (pseg->id >= Segs)
|
||||
Segs = pseg->id + 1;
|
||||
}
|
||||
}
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
// Split the track into small elements
|
||||
// ??? constant width supposed
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
void CK1999Data::SplitTrack(tTrack *ptrack)
|
||||
{
|
||||
Segs = 0;
|
||||
OUTPUT("Analyzing track...");
|
||||
const tTrackSeg *psegCurrent = ptrack->seg;
|
||||
|
||||
double Distance = 0;
|
||||
double Angle = psegCurrent->angle[TR_ZS];
|
||||
double xPos = (psegCurrent->vertex[TR_SL].x +
|
||||
psegCurrent->vertex[TR_SR].x) / 2;
|
||||
double yPos = (psegCurrent->vertex[TR_SL].y +
|
||||
psegCurrent->vertex[TR_SR].y) / 2;
|
||||
|
||||
int i = 0;
|
||||
|
||||
do
|
||||
{
|
||||
int Divisions = 1 + int(psegCurrent->length / DivLength);
|
||||
double Step = psegCurrent->length / Divisions;
|
||||
|
||||
SetSegmentInfo(psegCurrent, Distance + Step, i, Step);
|
||||
#if 0
|
||||
SetSegmentInfo(psegCurrent->lalt, Distance + Step, i, Step);
|
||||
SetSegmentInfo(psegCurrent->ralt, Distance + Step, i, Step);
|
||||
SetSegmentInfo(psegCurrent->lside, Distance + Step, i, Step);
|
||||
SetSegmentInfo(psegCurrent->rside, Distance + Step, i, Step);
|
||||
#endif
|
||||
|
||||
for (int j = Divisions; --j >= 0;)
|
||||
{
|
||||
double cosine = cos(Angle);
|
||||
double sine = sin(Angle);
|
||||
|
||||
if (psegCurrent->type == TR_STR)
|
||||
{
|
||||
xPos += cosine * Step;
|
||||
yPos += sine * Step;
|
||||
}
|
||||
else
|
||||
{
|
||||
double r = psegCurrent->radius;
|
||||
double Theta = psegCurrent->arc / Divisions;
|
||||
double L = 2 * r * sin(Theta / 2);
|
||||
double x = L * cos(Theta / 2);
|
||||
double y;
|
||||
if (psegCurrent->type == TR_LFT)
|
||||
{
|
||||
Angle += Theta;
|
||||
y = L * sin(Theta / 2);
|
||||
}
|
||||
else
|
||||
{
|
||||
Angle -= Theta;
|
||||
y = -L * sin(Theta / 2);
|
||||
}
|
||||
xPos += x * cosine - y * sine;
|
||||
yPos += x * sine + y * cosine;
|
||||
}
|
||||
|
||||
double dx = -psegCurrent->width * sin(Angle) / 2;
|
||||
double dy = psegCurrent->width * cos(Angle) / 2;
|
||||
txLeft[i] = xPos + dx;
|
||||
tyLeft[i] = yPos + dy;
|
||||
txRight[i] = xPos - dx;
|
||||
tyRight[i] = yPos - dy;
|
||||
tLane[i] = 0.5;
|
||||
tFriction[i] = psegCurrent->surface->kFriction;
|
||||
if (tFriction[i] < 1) // ??? ugly trick for dirt
|
||||
{
|
||||
//tFriction[i] *= 0.90;
|
||||
fDirt = 1;
|
||||
SideDistInt = -1.5;
|
||||
SideDistExt = 0.0;
|
||||
}
|
||||
UpdateTxTy(i);
|
||||
|
||||
Distance += Step;
|
||||
tDistance[i] = Distance;
|
||||
i++;
|
||||
FATAL(i > MaxDivs);
|
||||
}
|
||||
|
||||
psegCurrent = psegCurrent->next;
|
||||
}
|
||||
while (psegCurrent != ptrack->seg);
|
||||
|
||||
Divs = i - 1;
|
||||
Width = psegCurrent->width;
|
||||
Length = Distance;
|
||||
|
||||
OUTPUT("Position of the last point (should be (0, 0))");
|
||||
OUTPUT("xPos = " << xPos);
|
||||
OUTPUT("yPos = " << yPos);
|
||||
OUTPUT("Number of path elements : " << Divs);
|
||||
OUTPUT("Segs = " << Segs);
|
||||
OUTPUT("Track length : " << Length);
|
||||
OUTPUT("Width : " << Width);
|
||||
}
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
// Compute the inverse of the radius
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
double CK1999Data::GetRInverse(int prev, double x, double y, int next)
|
||||
{
|
||||
double x1 = tx[next] - x;
|
||||
double y1 = ty[next] - y;
|
||||
double x2 = tx[prev] - x;
|
||||
double y2 = ty[prev] - y;
|
||||
double x3 = tx[next] - tx[prev];
|
||||
double y3 = ty[next] - ty[prev];
|
||||
|
||||
double det = x1 * y2 - x2 * y1;
|
||||
double n1 = x1 * x1 + y1 * y1;
|
||||
double n2 = x2 * x2 + y2 * y2;
|
||||
double n3 = x3 * x3 + y3 * y3;
|
||||
double nnn = sqrt(n1 * n2 * n3);
|
||||
|
||||
return 2 * det / nnn;
|
||||
}
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
// Change lane value to reach a given radius
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
void CK1999Data::AdjustRadius(int prev, int i, int next, double TargetRInverse, double Security)
|
||||
{
|
||||
double OldLane = tLane[i];
|
||||
|
||||
//
|
||||
// Start by aligning points for a reasonable initial lane
|
||||
//
|
||||
tLane[i] = (-(ty[next] - ty[prev]) * (txLeft[i] - tx[prev]) +
|
||||
(tx[next] - tx[prev]) * (tyLeft[i] - ty[prev])) /
|
||||
( (ty[next] - ty[prev]) * (txRight[i] - txLeft[i]) -
|
||||
(tx[next] - tx[prev]) * (tyRight[i] - tyLeft[i]));
|
||||
if (tLane[i] < -0.2)
|
||||
tLane[i] = -0.2;
|
||||
else if (tLane[i] > 1.2)
|
||||
tLane[i] = 1.2;
|
||||
UpdateTxTy(i);
|
||||
|
||||
//
|
||||
// Newton-like resolution method
|
||||
//
|
||||
const double dLane = 0.0001;
|
||||
|
||||
double dx = dLane * (txRight[i] - txLeft[i]);
|
||||
double dy = dLane * (tyRight[i] - tyLeft[i]);
|
||||
|
||||
double dRInverse = GetRInverse(prev, tx[i] + dx, ty[i] + dy, next);
|
||||
|
||||
if (dRInverse > 0.000000001)
|
||||
{
|
||||
tLane[i] += (dLane / dRInverse) * TargetRInverse;
|
||||
|
||||
double ExtLane = (SideDistExt + Security) / Width;
|
||||
double IntLane = (SideDistInt + Security) / Width;
|
||||
if (ExtLane > 0.5)
|
||||
ExtLane = 0.5;
|
||||
if (IntLane > 0.5)
|
||||
IntLane = 0.5;
|
||||
|
||||
if (TargetRInverse >= 0.0)
|
||||
{
|
||||
if (tLane[i] < IntLane)
|
||||
tLane[i] = IntLane;
|
||||
if (1 - tLane[i] < ExtLane)
|
||||
{
|
||||
if (1 - OldLane < ExtLane)
|
||||
tLane[i] = Min(OldLane, tLane[i]);
|
||||
else
|
||||
tLane[i] = 1 - ExtLane;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if (tLane[i] < ExtLane)
|
||||
{
|
||||
if (OldLane < ExtLane)
|
||||
tLane[i] = Max(OldLane, tLane[i]);
|
||||
else
|
||||
tLane[i] = ExtLane;
|
||||
}
|
||||
if (1 - tLane[i] < IntLane)
|
||||
tLane[i] = 1 - IntLane;
|
||||
}
|
||||
}
|
||||
|
||||
UpdateTxTy(i);
|
||||
}
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
// Smooth path
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
void CK1999Data::Smooth(int Step)
|
||||
{
|
||||
int prev = ((Divs - Step) / Step) * Step;
|
||||
int prevprev = prev - Step;
|
||||
int next = Step;
|
||||
int nextnext = next + Step;
|
||||
|
||||
for (int i = 0; i <= Divs - Step; i += Step)
|
||||
{
|
||||
double ri0 = GetRInverse(prevprev, tx[prev], ty[prev], i);
|
||||
double ri1 = GetRInverse(i, tx[next], ty[next], nextnext);
|
||||
double lPrev = Mag(tx[i] - tx[prev], ty[i] - ty[prev]);
|
||||
double lNext = Mag(tx[i] - tx[next], ty[i] - ty[next]);
|
||||
|
||||
double TargetRInverse = (lNext * ri0 + lPrev * ri1) / (lNext + lPrev);
|
||||
|
||||
double Security = lPrev * lNext / (8 * SecurityR);
|
||||
AdjustRadius(prev, i, next, TargetRInverse, Security);
|
||||
|
||||
prevprev = prev;
|
||||
prev = i;
|
||||
next = nextnext;
|
||||
nextnext = next + Step;
|
||||
if (nextnext > Divs - Step)
|
||||
nextnext = 0;
|
||||
}
|
||||
}
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
// Interpolate between two control points
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
void CK1999Data::StepInterpolate(int iMin, int iMax, int Step)
|
||||
{
|
||||
int next = (iMax + Step) % Divs;
|
||||
if (next > Divs - Step)
|
||||
next = 0;
|
||||
|
||||
int prev = (((Divs + iMin - Step) % Divs) / Step) * Step;
|
||||
if (prev > Divs - Step)
|
||||
prev -= Step;
|
||||
|
||||
double ir0 = GetRInverse(prev, tx[iMin], ty[iMin], iMax % Divs);
|
||||
double ir1 = GetRInverse(iMin, tx[iMax % Divs], ty[iMax % Divs], next);
|
||||
for (int k = iMax; --k > iMin;)
|
||||
{
|
||||
double x = double(k - iMin) / double(iMax - iMin);
|
||||
double TargetRInverse = x * ir1 + (1 - x) * ir0;
|
||||
AdjustRadius(iMin, k, iMax % Divs, TargetRInverse);
|
||||
}
|
||||
}
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
// Calls to StepInterpolate for the full path
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
void CK1999Data::Interpolate(int Step)
|
||||
{
|
||||
if (Step > 1)
|
||||
{
|
||||
int i;
|
||||
for (i = Step; i <= Divs - Step; i += Step)
|
||||
StepInterpolate(i - Step, i, Step);
|
||||
StepInterpolate(i - Step, Divs, Step);
|
||||
}
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
// Function declaration
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
static void initTrack(int index, tTrack* track, void *carHandle, void **carParmHandle, tSituation *p);
|
||||
static void drive(int index, tCarElt* car, tSituation *s);
|
||||
static void newrace(int index, tCarElt* car, tSituation *s);
|
||||
static int InitFuncPt(int index, void *pt);
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
// Module entry point
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
extern "C" int K1999(tModInfo *modInfo)
|
||||
{
|
||||
OUTPUT("modInfo");
|
||||
memset(modInfo, 0, 10*sizeof(tModInfo));
|
||||
for (int i = CARS; --i >= 0;)
|
||||
{
|
||||
OUTPUT("modInfo[" << i << "].name = " << tpdata[i]->pszCarName);
|
||||
modInfo[i].name = tpdata[i]->pszCarName;
|
||||
modInfo[i].desc = tpdata[i]->pszCarName;
|
||||
modInfo[i].fctInit = InitFuncPt;
|
||||
modInfo[i].gfId = ROB_IDENT;
|
||||
modInfo[i].index = i + 1;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
// Module Initialization : give addresses of functions
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
static int InitFuncPt(int index, void *pt)
|
||||
{
|
||||
OUTPUT("InitFuncPt");
|
||||
tRobotItf *itf = (tRobotItf *)pt;
|
||||
itf->rbNewTrack = initTrack;
|
||||
itf->rbNewRace = newrace;
|
||||
itf->rbDrive = drive;
|
||||
itf->index = index;
|
||||
return 0;
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
// New track
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
static void initTrack(int index, tTrack* track, void *carHandle, void **carParmHandle, tSituation *p)
|
||||
{
|
||||
OUTPUT("initTrack(" << index << ")");
|
||||
char szSettings[100];
|
||||
#ifndef WIN32
|
||||
std::ostrstream os(szSettings, sizeof(szSettings));
|
||||
os << "drivers/K1999/" << index << "/settings.xml" << ends;
|
||||
#else
|
||||
sprintf(szSettings, "drivers/K1999/%d/settings.xml", index);
|
||||
#endif
|
||||
*carParmHandle = GfParmReadFile(szSettings, GFPARM_RMODE_STD);
|
||||
if (*carParmHandle)
|
||||
OUTPUT(szSettings << " read.");
|
||||
else
|
||||
OUTPUT("Settings not loaded : " << szSettings);
|
||||
|
||||
tpdata[index - 1]->InitTrack(track, carParmHandle, p);
|
||||
}
|
||||
|
||||
void CK1999Data::InitTrack(tTrack* track, void **carParmHandle, tSituation *p)
|
||||
{
|
||||
//
|
||||
// split track
|
||||
//
|
||||
SplitTrack(track);
|
||||
|
||||
//
|
||||
// Smoothing loop
|
||||
//
|
||||
for (int Step = 128; (Step /= 2) > 0;)
|
||||
{
|
||||
OUTPUT("Step = " << Step);
|
||||
for (int i = Iterations * int(sqrt((double)Step)); --i >= 0;)
|
||||
Smooth(Step);
|
||||
Interpolate(Step);
|
||||
}
|
||||
|
||||
//
|
||||
// Compute curvature and speed along the path
|
||||
//
|
||||
for (int i = Divs; --i >= 0;)
|
||||
{
|
||||
double TireAccel = TireAccel1 * tFriction[i];
|
||||
int next = (i + 1) % Divs;
|
||||
int prev = (i - 1 + Divs) % Divs;
|
||||
|
||||
double rInverse = GetRInverse(prev, tx[i], ty[i], next);
|
||||
tRInverse[i] = rInverse;
|
||||
|
||||
double MaxSpeed;
|
||||
|
||||
if (fabs(rInverse) > WingRInverse * 1.01)
|
||||
MaxSpeed = sqrt(TireAccel / (fabs(rInverse) - WingRInverse));
|
||||
else
|
||||
MaxSpeed = 10000;
|
||||
|
||||
tSpeed[i] = tMaxSpeed[i] = MaxSpeed;
|
||||
}
|
||||
|
||||
//
|
||||
// Anticipate braking
|
||||
//
|
||||
for (int j = 100; --j >= 0;)
|
||||
for (int i = Divs; --i >= 0;)
|
||||
{
|
||||
double TireAccel = TireAccel1 * tFriction[i];
|
||||
int prev = (i - 1 + Divs) % Divs;
|
||||
|
||||
double dx = tx[i] - tx[prev];
|
||||
double dy = ty[i] - ty[prev];
|
||||
double dist = Mag(dx, dy);
|
||||
|
||||
double Speed = (tSpeed[i] + tSpeed[prev]) / 2;
|
||||
|
||||
double LatA = tSpeed[i] * tSpeed[i] *
|
||||
(fabs(tRInverse[prev]) + fabs(tRInverse[i])) / 2;
|
||||
|
||||
#if 0
|
||||
double TanA = TireAccel * TireAccel - LatA * LatA;
|
||||
if (TanA < 0.0)
|
||||
TanA = 0.0;
|
||||
TanA = sqrt(TanA) + WingRInverse * Speed * Speed;
|
||||
if (TanA > MaxBrake)
|
||||
TanA = MaxBrake;
|
||||
#else
|
||||
double TanA = TireAccel * TireAccel +
|
||||
WingRInverse * Speed * Speed - LatA * LatA;
|
||||
if (TanA < 0.0)
|
||||
TanA = 0.0;
|
||||
if (TanA > MaxBrake * tFriction[i])
|
||||
TanA = MaxBrake * tFriction[i];
|
||||
#endif
|
||||
|
||||
double Time = dist / Speed;
|
||||
double MaxSpeed = tSpeed[i] + TanA * Time;
|
||||
tSpeed[prev] = Min(MaxSpeed, tMaxSpeed[prev]);
|
||||
}
|
||||
|
||||
#ifdef DRAWPATH
|
||||
ofstream ofs("k1999.path", ios::out);
|
||||
DrawPath(ofs);
|
||||
#endif
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
// New race
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
static void newrace(int index, tCarElt* car, tSituation *s)
|
||||
{
|
||||
OUTPUT("newrace(" << index << ")");
|
||||
tpdata[index - 1]->NewRace(car, s);
|
||||
}
|
||||
|
||||
void CK1999Data::NewRace(tCarElt* car, tSituation *s)
|
||||
{
|
||||
wheelbase = (car->priv.wheel[FRNT_RGT].relPos.x +
|
||||
car->priv.wheel[FRNT_LFT].relPos.x -
|
||||
car->priv.wheel[REAR_RGT].relPos.x -
|
||||
car->priv.wheel[REAR_LFT].relPos.x) / 2;
|
||||
wheeltrack = (car->priv.wheel[FRNT_LFT].relPos.y +
|
||||
car->priv.wheel[REAR_LFT].relPos.y -
|
||||
car->priv.wheel[FRNT_RGT].relPos.y -
|
||||
car->priv.wheel[REAR_RGT].relPos.y) / 2;
|
||||
OUTPUT("wheelbase = " << wheelbase);
|
||||
OUTPUT("wheeltrack = " << wheeltrack);
|
||||
|
||||
ABS = 1;
|
||||
TractionHelp = 1;
|
||||
fStuck = 0;
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
// Car control
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
static void drive(int index, tCarElt* car, tSituation *s)
|
||||
{
|
||||
tpdata[index - 1]->Drive(car, s);
|
||||
}
|
||||
|
||||
void CK1999Data::Drive(tCarElt* car, tSituation *s)
|
||||
{
|
||||
memset(&(car->ctrl), 0, sizeof(tCarCtrl));
|
||||
|
||||
//
|
||||
// Find index in data arrays
|
||||
//
|
||||
int SegId = car->_trkPos.seg->id;
|
||||
double dist = car->_trkPos.toStart;
|
||||
if (dist < 0)
|
||||
dist = 0;
|
||||
if (car->_trkPos.seg->type != TR_STR)
|
||||
dist *= car->_trkPos.seg->radius;
|
||||
int Index = tSegIndex[SegId] + int(dist / tElemLength[SegId]);
|
||||
double d = tSegDist[SegId] + dist;
|
||||
|
||||
Index = (Index + Divs - 5) % Divs;
|
||||
int Next;
|
||||
static const double Time = 0.01;
|
||||
double X = car->_pos_X + car->_speed_X * Time / 2;
|
||||
double Y = car->_pos_Y + car->_speed_Y * Time / 2;
|
||||
while(1)
|
||||
{
|
||||
Next = (Index + 1) % Divs;
|
||||
if ((tx[Next] - tx[Index]) * (X - tx[Next]) +
|
||||
(ty[Next] - ty[Index]) * (Y - ty[Next]) < 0)
|
||||
break;
|
||||
Index = Next;
|
||||
}
|
||||
double c0 = (tx[Next] - tx[Index]) * (tx[Next] - X) +
|
||||
(ty[Next] - ty[Index]) * (ty[Next] - Y);
|
||||
double c1 = (tx[Next] - tx[Index]) * (X - tx[Index]) +
|
||||
(ty[Next] - ty[Index]) * (Y - ty[Index]);
|
||||
{
|
||||
double sum = c0 + c1;
|
||||
c0 /= sum;
|
||||
c1 /= sum;
|
||||
}
|
||||
|
||||
//
|
||||
// Find target curvature (for the inside wheel)
|
||||
//
|
||||
double TargetCurvature = (1 - c0) * tRInverse[Next] + c0 * tRInverse[Index];
|
||||
if (fabs(TargetCurvature) > 0.01)
|
||||
{
|
||||
double r = 1 / TargetCurvature;
|
||||
if (r > 0)
|
||||
r -= wheeltrack / 2;
|
||||
else
|
||||
r += wheeltrack / 2;
|
||||
TargetCurvature = 1 / r;
|
||||
}
|
||||
|
||||
//
|
||||
// Find target speed
|
||||
//
|
||||
double TargetSpeed = (1 - c0) * tSpeed[Next] + c0 * tSpeed[Index];
|
||||
|
||||
//
|
||||
// Steering control
|
||||
//
|
||||
double Error = 0;
|
||||
double VnError = 0;
|
||||
double Skid = 0;
|
||||
double CosAngleError = 1;
|
||||
double SinAngleError = 0;
|
||||
{
|
||||
//
|
||||
// Ideal value
|
||||
//
|
||||
{
|
||||
double s = atan(wheelbase * TargetCurvature) / car->_steerLock;
|
||||
car->_steerCmd = s;
|
||||
}
|
||||
|
||||
//
|
||||
// Servo system to stay on the pre-computed path
|
||||
//
|
||||
{
|
||||
double dx = tx[Next] - tx[Index];
|
||||
double dy = ty[Next] - ty[Index];
|
||||
Error = (dx * (Y - ty[Index]) - dy * (X - tx[Index])) / Mag(dx, dy);
|
||||
}
|
||||
|
||||
int Prev = (Index + Divs - 1) % Divs;
|
||||
int NextNext = (Next + 1) % Divs;
|
||||
double Prevdx = tx[Next] - tx[Prev];
|
||||
double Prevdy = ty[Next] - ty[Prev];
|
||||
double Nextdx = tx[NextNext] - tx[Index];
|
||||
double Nextdy = ty[NextNext] - ty[Index];
|
||||
double dx = c0 * Prevdx + (1 - c0) * Nextdx;
|
||||
double dy = c0 * Prevdy + (1 - c0) * Nextdy;
|
||||
double n = Mag(dx, dy);
|
||||
dx /= n;
|
||||
dy /= n;
|
||||
double speed = Mag(car->_speed_Y, car->_speed_X);
|
||||
double sError = (dx * car->_speed_Y - dy * car->_speed_X) / (speed + 0.01);
|
||||
double cError = (dx * car->_speed_X + dy * car->_speed_Y) / (speed + 0.01);
|
||||
VnError = asin(sError);
|
||||
if (cError < 0)
|
||||
VnError = PI - VnError;
|
||||
|
||||
car->_steerCmd -= (atan(Error * (300 / (speed + 300)) / 15) + VnError) / car->_steerLock;
|
||||
|
||||
//
|
||||
// Steer into the skid
|
||||
//
|
||||
double vx = car->_speed_X;
|
||||
double vy = car->_speed_Y;
|
||||
double dirx = cos(car->_yaw);
|
||||
double diry = sin(car->_yaw);
|
||||
CosAngleError = dx * dirx + dy * diry;
|
||||
SinAngleError = dx * diry - dy * dirx;
|
||||
Skid = (dirx * vy - vx * diry) / (speed + 0.1);
|
||||
if (Skid > 0.9)
|
||||
Skid = 0.9;
|
||||
if (Skid < -0.9)
|
||||
Skid = -0.9;
|
||||
car->_steerCmd += asin(Skid) / car->_steerLock;
|
||||
|
||||
double yr = speed * TargetCurvature;
|
||||
double diff = car->_yaw_rate - yr;
|
||||
car->_steerCmd -= (SteerSkid * (1 + fDirt) * (100 / (speed + 100)) * diff) / car->_steerLock;
|
||||
}
|
||||
|
||||
//
|
||||
// Throttle and brake command
|
||||
//
|
||||
car->_accelCmd = 0;
|
||||
car->_brakeCmd = 0;
|
||||
|
||||
double x = (10 + car->_speed_x) * (TargetSpeed - car->_speed_x) / 200;
|
||||
if (fDirt && x > 0)
|
||||
x = 1;
|
||||
|
||||
if (x > 0)
|
||||
car->_accelCmd = Min(x, TractionHelp);
|
||||
else
|
||||
car->_brakeCmd = Min(-10 * x, ABS);
|
||||
|
||||
if (car->_speed_x > 30 && fabs(Error) * car->_speed_x > 60)
|
||||
car->_accelCmd = 0;
|
||||
|
||||
if (car->_accelCmd > 0)
|
||||
car->_brakeCmd = 0;
|
||||
|
||||
//
|
||||
// Traction help
|
||||
//
|
||||
//if (!fDirt)
|
||||
{
|
||||
double slip = 0;
|
||||
if (car->_speed_x > 0.1)
|
||||
for (int i = 4; --i >= 0;)
|
||||
{
|
||||
double s = (car->_wheelRadius(i) * car->_wheelSpinVel(i) - car->_speed_x);
|
||||
if (s > slip)
|
||||
slip = s;
|
||||
}
|
||||
|
||||
if (slip > SlipLimit)
|
||||
TractionHelp *= 0.9;
|
||||
else
|
||||
{
|
||||
if (TractionHelp < 0.1)
|
||||
TractionHelp = 0.1;
|
||||
TractionHelp *= 1.1;
|
||||
if (TractionHelp > 1.0)
|
||||
TractionHelp = 1.0;
|
||||
}
|
||||
}
|
||||
|
||||
//
|
||||
// ABS
|
||||
//
|
||||
{
|
||||
double slip = 0;
|
||||
if (car->_speed_x > 0.1)
|
||||
for (int i = 4; --i >= 0;)
|
||||
{
|
||||
double s = (car->_wheelRadius(i) * car->_wheelSpinVel(i) - car->_speed_x);
|
||||
if (s < slip)
|
||||
slip = s;
|
||||
}
|
||||
|
||||
if (slip < -SlipLimit)
|
||||
ABS *= 0.9;
|
||||
else
|
||||
{
|
||||
if (ABS < 0.1)
|
||||
ABS = 0.1;
|
||||
ABS *= (1.1 + (slip + 3.0) / 5);
|
||||
if (ABS > 1.0)
|
||||
ABS = 1.0;
|
||||
}
|
||||
}
|
||||
|
||||
//
|
||||
// Gearbox command
|
||||
//
|
||||
car->_gearCmd = car->_gear;
|
||||
if (car->_gear <= 0)
|
||||
car->_gearCmd = 1;
|
||||
else
|
||||
{
|
||||
float *tRatio = car->_gearRatio + car->_gearOffset;
|
||||
double rpm = (car->_speed_x + SlipLimit) * tRatio[car->_gear] / car->_wheelRadius(2);
|
||||
|
||||
if (rpm > car->_enginerpmRedLine * 0.95)
|
||||
car->_gearCmd = car->_gear + 1;
|
||||
|
||||
if (car->_gear > 1 &&
|
||||
rpm / tRatio[car->_gear] * tRatio[car->_gear - 1] < car->_enginerpmRedLine * 0.70 + 2 * car->_gear)
|
||||
car->_gearCmd = car->_gear - 1;
|
||||
}
|
||||
|
||||
//
|
||||
// Handle getting unstuck
|
||||
//
|
||||
if (car->_gear <= 2 &&
|
||||
car->_speed_x < 3.0 &&
|
||||
(CosAngleError < 0.7 || (fStuck && CosAngleError < 0.90)) &&
|
||||
SinAngleError * Error > 0)
|
||||
{
|
||||
fStuck = 1;
|
||||
car->_gearCmd = car->_gear -1;
|
||||
if (car->_speed_x < 0)
|
||||
{
|
||||
if (SinAngleError > 0)
|
||||
car->_steerCmd = 1;
|
||||
else
|
||||
car->_steerCmd = -1;
|
||||
}
|
||||
}
|
||||
else
|
||||
fStuck = 0;
|
||||
|
||||
if (car->_speed_x * car->_gear < -0.5)
|
||||
car->_brakeCmd = 1.0;
|
||||
|
||||
//
|
||||
// Special race commands
|
||||
//
|
||||
car->_raceCmd = RM_CMD_NONE;
|
||||
#if 0
|
||||
if (0)
|
||||
{
|
||||
car->_raceCmd = RM_CMD_PIT_ASKED;
|
||||
car->pitcmd->fuel = 1;
|
||||
}
|
||||
#endif
|
||||
|
||||
LOG(d);
|
||||
LOG(car->_trkPos.toLeft);
|
||||
LOG(TargetLane);
|
||||
LOG(Error);
|
||||
LOG(car->_accelCmd);
|
||||
LOG(car->_brakeCmd);
|
||||
LOG(car->_steerCmd);
|
||||
LOG(SegId % 2);
|
||||
{
|
||||
static double PrevD = 0;
|
||||
LOG(d - PrevD);
|
||||
PrevD = d;
|
||||
}
|
||||
LOG(VnError);
|
||||
LOG(car->_pos_X);
|
||||
LOG(car->_pos_Y);
|
||||
LOG(double(Index % 10) / 10.0);
|
||||
LOG('\n');
|
||||
}
|
||||
|
|
@ -1,10 +0,0 @@
|
|||
;
|
||||
; K1999.def
|
||||
;
|
||||
|
||||
LIBRARY K1999
|
||||
|
||||
SECTIONS .data READ WRITE
|
||||
|
||||
EXPORTS
|
||||
K1999
|
||||
|
|
@ -1,119 +0,0 @@
|
|||
# Microsoft Developer Studio Project File - Name="k1999" - Package Owner=<4>
|
||||
# Microsoft Developer Studio Generated Build File, Format Version 6.00
|
||||
# ** DO NOT EDIT **
|
||||
|
||||
# TARGTYPE "Win32 (x86) Dynamic-Link Library" 0x0102
|
||||
|
||||
CFG=k1999 - Win32 Debug
|
||||
!MESSAGE This is not a valid makefile. To build this project using NMAKE,
|
||||
!MESSAGE use the Export Makefile command and run
|
||||
!MESSAGE
|
||||
!MESSAGE NMAKE /f "K1999.mak".
|
||||
!MESSAGE
|
||||
!MESSAGE You can specify a configuration when running NMAKE
|
||||
!MESSAGE by defining the macro CFG on the command line. For example:
|
||||
!MESSAGE
|
||||
!MESSAGE NMAKE /f "K1999.mak" CFG="k1999 - Win32 Debug"
|
||||
!MESSAGE
|
||||
!MESSAGE Possible choices for configuration are:
|
||||
!MESSAGE
|
||||
!MESSAGE "k1999 - Win32 Release" (based on "Win32 (x86) Dynamic-Link Library")
|
||||
!MESSAGE "k1999 - Win32 Debug" (based on "Win32 (x86) Dynamic-Link Library")
|
||||
!MESSAGE
|
||||
|
||||
# Begin Project
|
||||
# PROP AllowPerConfigDependencies 0
|
||||
# PROP Scc_ProjName ""
|
||||
# PROP Scc_LocalPath ""
|
||||
CPP=cl.exe
|
||||
MTL=midl.exe
|
||||
RSC=rc.exe
|
||||
|
||||
!IF "$(CFG)" == "k1999 - Win32 Release"
|
||||
|
||||
# PROP BASE Use_MFC 0
|
||||
# PROP BASE Use_Debug_Libraries 0
|
||||
# PROP BASE Output_Dir "Release"
|
||||
# PROP BASE Intermediate_Dir "Release"
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||||
# PROP BASE Target_Dir ""
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||||
# PROP Use_MFC 0
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||||
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||||
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||||
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||||
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||||
# PROP Target_Dir ""
|
||||
# ADD BASE CPP /nologo /MT /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "K1999_EXPORTS" /YX /FD /c
|
||||
# ADD CPP /nologo /G5 /W2 /GX /O2 /I "../../../export/include" /I "../../windows/include" /D "WIN32" /D "NDEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "K1999_EXPORTS" /YX /FD /c
|
||||
# ADD BASE MTL /nologo /D "NDEBUG" /mktyplib203 /win32
|
||||
# ADD MTL /nologo /D "NDEBUG" /mktyplib203 /win32
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||||
# ADD BASE RSC /l 0x40c /d "NDEBUG"
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||||
# ADD RSC /l 0x40c /d "NDEBUG"
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||||
BSC32=bscmake.exe
|
||||
# ADD BASE BSC32 /nologo
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||||
# ADD BSC32 /nologo
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||||
LINK32=link.exe
|
||||
# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /dll /machine:I386
|
||||
# ADD LINK32 sg.lib ul.lib tgf.lib txml.lib /nologo /dll /map /machine:I386 /nodefaultlib:"LIBCD" /libpath:"../../../export/lib" /libpath:"../../windows/lib"
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||||
# Begin Special Build Tool
|
||||
WkspDir=.
|
||||
TargetDir=.\Release
|
||||
SOURCE="$(InputPath)"
|
||||
PostBuild_Cmds=copy $(TargetDir)\*.dll $(WkspDir)\runtime\drivers\K1999
|
||||
# End Special Build Tool
|
||||
|
||||
!ELSEIF "$(CFG)" == "k1999 - Win32 Debug"
|
||||
|
||||
# PROP BASE Use_MFC 0
|
||||
# PROP BASE Use_Debug_Libraries 1
|
||||
# PROP BASE Output_Dir "Debug"
|
||||
# PROP BASE Intermediate_Dir "Debug"
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||||
# PROP BASE Target_Dir ""
|
||||
# PROP Use_MFC 0
|
||||
# PROP Use_Debug_Libraries 1
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||||
# PROP Output_Dir "Debug"
|
||||
# PROP Intermediate_Dir "Debug"
|
||||
# PROP Ignore_Export_Lib 1
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||||
# PROP Target_Dir ""
|
||||
# ADD BASE CPP /nologo /MTd /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "K1999_EXPORTS" /YX /FD /GZ /c
|
||||
# ADD CPP /nologo /G5 /W2 /Gm /GX /ZI /Od /I "../../../export/include" /I "../../windows/include" /D "WIN32" /D "_DEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "K1999_EXPORTS" /YX /FD /GZ /c
|
||||
# ADD BASE MTL /nologo /D "_DEBUG" /mktyplib203 /win32
|
||||
# ADD MTL /nologo /D "_DEBUG" /mktyplib203 /win32
|
||||
# ADD BASE RSC /l 0x40c /d "_DEBUG"
|
||||
# ADD RSC /l 0x40c /d "_DEBUG"
|
||||
BSC32=bscmake.exe
|
||||
# ADD BASE BSC32 /nologo
|
||||
# ADD BSC32 /nologo
|
||||
LINK32=link.exe
|
||||
# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /dll /debug /machine:I386 /pdbtype:sept
|
||||
# ADD LINK32 tgf.lib sg.lib ul.lib txml.lib /nologo /dll /map /debug /machine:I386 /nodefaultlib:"LIBC" /pdbtype:sept /libpath:"../../../export/libd" /libpath:"../../windows/lib"
|
||||
# Begin Special Build Tool
|
||||
WkspDir=.
|
||||
TargetDir=.\Debug
|
||||
SOURCE="$(InputPath)"
|
||||
PostBuild_Cmds=copy $(TargetDir)\*.dll $(WkspDir)\runtimed\drivers\K1999
|
||||
# End Special Build Tool
|
||||
|
||||
!ENDIF
|
||||
|
||||
# Begin Target
|
||||
|
||||
# Name "k1999 - Win32 Release"
|
||||
# Name "k1999 - Win32 Debug"
|
||||
# Begin Group "Source Files"
|
||||
|
||||
# PROP Default_Filter "cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\K1999.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\K1999.def
|
||||
# End Source File
|
||||
# End Group
|
||||
# Begin Group "Header Files"
|
||||
|
||||
# PROP Default_Filter "h;hpp;hxx;hm;inl"
|
||||
# End Group
|
||||
# End Target
|
||||
# End Project
|
||||
|
|
@ -1,264 +0,0 @@
|
|||
<?xml version="1.0" encoding="Windows-1252"?>
|
||||
<VisualStudioProject
|
||||
ProjectType="Visual C++"
|
||||
Version="8,00"
|
||||
Name="k1999"
|
||||
ProjectGUID="{21D778F6-1E89-4AA9-B4C8-A26E3B9F09B9}"
|
||||
>
|
||||
<Platforms>
|
||||
<Platform
|
||||
Name="Win32"
|
||||
/>
|
||||
</Platforms>
|
||||
<ToolFiles>
|
||||
</ToolFiles>
|
||||
<Configurations>
|
||||
<Configuration
|
||||
Name="Release|Win32"
|
||||
OutputDirectory=".\Release"
|
||||
IntermediateDirectory=".\Release"
|
||||
ConfigurationType="2"
|
||||
InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC60.vsprops"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="false"
|
||||
CharacterSet="2"
|
||||
>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
PreprocessorDefinitions="NDEBUG"
|
||||
MkTypLibCompatible="true"
|
||||
SuppressStartupBanner="true"
|
||||
TargetEnvironment="1"
|
||||
TypeLibraryName=".\Release/K1999.tlb"
|
||||
HeaderFileName=""
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
InlineFunctionExpansion="1"
|
||||
AdditionalIncludeDirectories="../../../export/include,../../../../3rdParty/include,../../windows/include"
|
||||
PreprocessorDefinitions="WIN32;_CRT_SECURE_NO_DEPRECATE;NDEBUG;_WINDOWS;_USRDLL;K1999_EXPORTS"
|
||||
StringPooling="true"
|
||||
RuntimeLibrary="2"
|
||||
EnableFunctionLevelLinking="true"
|
||||
PrecompiledHeaderFile=".\Release/K1999.pch"
|
||||
AssemblerListingLocation=".\Release/"
|
||||
ObjectFile=".\Release/"
|
||||
ProgramDataBaseFileName=".\Release/"
|
||||
WarningLevel="2"
|
||||
SuppressStartupBanner="true"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCManagedResourceCompilerTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="NDEBUG"
|
||||
Culture="1036"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
IgnoreImportLibrary="true"
|
||||
AdditionalDependencies="sg.lib ul.lib tgf.lib txml.lib user32.lib"
|
||||
OutputFile=".\Release/K1999.dll"
|
||||
LinkIncremental="1"
|
||||
SuppressStartupBanner="true"
|
||||
AdditionalLibraryDirectories="../../../export/lib,../../../../3rdParty/lib,../../windows/lib"
|
||||
IgnoreDefaultLibraryNames="LIBC"
|
||||
ModuleDefinitionFile=".\K1999.def"
|
||||
ProgramDatabaseFile=".\Release/K1999.pdb"
|
||||
GenerateMapFile="true"
|
||||
MapFileName=".\Release/K1999.map"
|
||||
ImportLibrary=".\Release/K1999.lib"
|
||||
TargetMachine="1"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCALinkTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCManifestTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXDCMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCBscMakeTool"
|
||||
SuppressStartupBanner="true"
|
||||
OutputFile=".\Release/K1999.bsc"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCFxCopTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCAppVerifierTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCWebDeploymentTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"
|
||||
CommandLine="copy $(TargetDir)*.dll $(SolutionDir)runtime\drivers\K1999"
|
||||
/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="Debug|Win32"
|
||||
OutputDirectory=".\Debug"
|
||||
IntermediateDirectory=".\Debug"
|
||||
ConfigurationType="2"
|
||||
InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC60.vsprops"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="false"
|
||||
CharacterSet="2"
|
||||
>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
PreprocessorDefinitions="_DEBUG"
|
||||
MkTypLibCompatible="true"
|
||||
SuppressStartupBanner="true"
|
||||
TargetEnvironment="1"
|
||||
TypeLibraryName=".\Debug/K1999.tlb"
|
||||
HeaderFileName=""
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories="../../../export/include,../../../../3rdParty/include,../../windows/include"
|
||||
PreprocessorDefinitions="WIN32;_CRT_SECURE_NO_DEPRECATE;_DEBUG;_WINDOWS;_USRDLL;K1999_EXPORTS"
|
||||
MinimalRebuild="true"
|
||||
BasicRuntimeChecks="3"
|
||||
RuntimeLibrary="3"
|
||||
PrecompiledHeaderFile=".\Debug/K1999.pch"
|
||||
AssemblerListingLocation=".\Debug/"
|
||||
ObjectFile=".\Debug/"
|
||||
ProgramDataBaseFileName=".\Debug/"
|
||||
WarningLevel="2"
|
||||
SuppressStartupBanner="true"
|
||||
DebugInformationFormat="4"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCManagedResourceCompilerTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="_DEBUG"
|
||||
Culture="1036"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
IgnoreImportLibrary="true"
|
||||
AdditionalDependencies="tgf.lib sg.lib ul.lib txml.lib user32.lib"
|
||||
OutputFile=".\Debug/K1999.dll"
|
||||
LinkIncremental="2"
|
||||
SuppressStartupBanner="true"
|
||||
AdditionalLibraryDirectories="../../../export/libd,../../../../3rdParty/lib,../../windows/lib"
|
||||
IgnoreDefaultLibraryNames="LIBC;MSVCRT"
|
||||
ModuleDefinitionFile=".\K1999.def"
|
||||
GenerateDebugInformation="true"
|
||||
ProgramDatabaseFile=".\Debug/K1999.pdb"
|
||||
GenerateMapFile="true"
|
||||
MapFileName=".\Debug/K1999.map"
|
||||
ImportLibrary=".\Debug/K1999.lib"
|
||||
TargetMachine="1"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCALinkTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCManifestTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXDCMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCBscMakeTool"
|
||||
SuppressStartupBanner="true"
|
||||
OutputFile=".\Debug/K1999.bsc"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCFxCopTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCAppVerifierTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCWebDeploymentTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"
|
||||
CommandLine="copy $(TargetDir)*.dll $(SolutionDir)runtimed\drivers\K1999"
|
||||
/>
|
||||
</Configuration>
|
||||
</Configurations>
|
||||
<References>
|
||||
</References>
|
||||
<Files>
|
||||
<Filter
|
||||
Name="Source Files"
|
||||
Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
|
||||
>
|
||||
<File
|
||||
RelativePath="K1999.cpp"
|
||||
>
|
||||
<FileConfiguration
|
||||
Name="Release|Win32"
|
||||
>
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""
|
||||
/>
|
||||
</FileConfiguration>
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32"
|
||||
>
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""
|
||||
/>
|
||||
</FileConfiguration>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="K1999.def"
|
||||
>
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="Header Files"
|
||||
Filter="h;hpp;hxx;hm;inl"
|
||||
>
|
||||
</Filter>
|
||||
</Files>
|
||||
<Globals>
|
||||
</Globals>
|
||||
</VisualStudioProject>
|
||||
|
|
@ -1,35 +0,0 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
|
||||
<!DOCTYPE params SYSTEM "../../libs/tgf/params.dtd">
|
||||
|
||||
<params name="human" type="robotdef">
|
||||
<section name="Robots">
|
||||
<section name="index">
|
||||
|
||||
<section name="1">
|
||||
<attstr name="name" val="K1999-buggy"/>
|
||||
<attstr name="desc" val="K1999-buggy"/>
|
||||
<attstr name="team" val="K1999"/>
|
||||
<attstr name="author" val="Rémi"/>
|
||||
<attstr name="car name" val="buggy"/>
|
||||
<attnum name="race number" val="99"/>
|
||||
<attnum name="red" val="0.9"/>
|
||||
<attnum name="green" val="0.9"/>
|
||||
<attnum name="blue" val="0.9"/>
|
||||
</section>
|
||||
|
||||
<section name="2">
|
||||
<attstr name="name" val="K1999-cg-nascar-rwd"/>
|
||||
<attstr name="desc" val="K1999-cg-nascar-rwd"/>
|
||||
<attstr name="team" val="K1999"/>
|
||||
<attstr name="author" val="Rémi"/>
|
||||
<attstr name="car name" val="cg-nascar-rwd"/>
|
||||
<attnum name="race number" val="97"/>
|
||||
<attnum name="red" val="0.9"/>
|
||||
<attnum name="green" val="0.9"/>
|
||||
<attnum name="blue" val="0.9"/>
|
||||
</section>
|
||||
|
||||
</section>
|
||||
</section>
|
||||
</params>
|
||||
|
|
@ -1,40 +0,0 @@
|
|||
##############################################################################
|
||||
#
|
||||
# file : Makefile
|
||||
# created : Sat Mar 18 23:28:27 CET 2000
|
||||
# copyright : (C) 2000 by Eric Espie
|
||||
# email : torcs@free.fr
|
||||
# version : $Id: Makefile,v 1.8 2002/11/30 19:00:50 torcs Exp $
|
||||
#
|
||||
##############################################################################
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 2 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
##############################################################################
|
||||
|
||||
ROBOT = K1999
|
||||
|
||||
MODULE = ${ROBOT}.so
|
||||
|
||||
MODULEDIR = drivers/${ROBOT}
|
||||
|
||||
SOURCES = ${ROBOT}.cpp
|
||||
|
||||
SHIPDIR = drivers/${ROBOT}
|
||||
|
||||
SHIP = ${ROBOT}.xml logo.rgb
|
||||
|
||||
SHIPSUBDIRS = 1 2
|
||||
|
||||
PKGSUBDIRS = $(SHIPSUBDIRS)
|
||||
|
||||
COMPILFLAGS = -Wno-deprecated
|
||||
|
||||
src-robots-K1999_PKGFILES = $(shell find * -maxdepth 0 -type f -print)
|
||||
|
||||
src-robots-K1999_PKGDIR = ${PACKAGE}-${VERSION}/$(subst ${TORCSNG_BASE},,$(shell pwd))
|
||||
|
||||
include ${MAKE_DEFAULT}
|
||||
Loading…
Reference in a new issue