From 453a9c4054901f59a72def87439ea236a677b755 Mon Sep 17 00:00:00 2001 From: pouillot Date: Mon, 14 Sep 2009 22:35:14 +0000 Subject: [PATCH] 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 --- src/drivers/K1999/1/Makefile | 31 -- src/drivers/K1999/1/settings.xml | 149 ----- src/drivers/K1999/2/Makefile | 31 -- src/drivers/K1999/2/settings.xml | 30 - src/drivers/K1999/K1999.cpp | 923 ------------------------------- src/drivers/K1999/K1999.def | 10 - src/drivers/K1999/K1999.dsp | 119 ---- src/drivers/K1999/K1999.vcproj | 264 --------- src/drivers/K1999/K1999.xml | 35 -- src/drivers/K1999/Makefile | 40 -- 10 files changed, 1632 deletions(-) delete mode 100644 src/drivers/K1999/1/Makefile delete mode 100644 src/drivers/K1999/1/settings.xml delete mode 100644 src/drivers/K1999/2/Makefile delete mode 100644 src/drivers/K1999/2/settings.xml delete mode 100644 src/drivers/K1999/K1999.cpp delete mode 100644 src/drivers/K1999/K1999.def delete mode 100644 src/drivers/K1999/K1999.dsp delete mode 100644 src/drivers/K1999/K1999.vcproj delete mode 100644 src/drivers/K1999/K1999.xml delete mode 100644 src/drivers/K1999/Makefile diff --git a/src/drivers/K1999/1/Makefile b/src/drivers/K1999/1/Makefile deleted file mode 100644 index 53e758d5f..000000000 --- a/src/drivers/K1999/1/Makefile +++ /dev/null @@ -1,31 +0,0 @@ -############################################################################## -# -# file : Makefile -# created : Sat Mar 18 23:11:09 CET 2000 -# copyright : (C) 2000 by Eric Espie -# email : torcs@free.fr -# version : $Id: Makefile,v 1.4 2002/06/30 20:20:07 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 - -SHIPDIR = drivers/${ROBOT}/1 - -SHIP = buggy.rgb settings.xml - -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} - - diff --git a/src/drivers/K1999/1/settings.xml b/src/drivers/K1999/1/settings.xml deleted file mode 100644 index 13736eaef..000000000 --- a/src/drivers/K1999/1/settings.xml +++ /dev/null @@ -1,149 +0,0 @@ - - - - - - -
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- - - - diff --git a/src/drivers/K1999/2/Makefile b/src/drivers/K1999/2/Makefile deleted file mode 100644 index d0b9e848f..000000000 --- a/src/drivers/K1999/2/Makefile +++ /dev/null @@ -1,31 +0,0 @@ -############################################################################## -# -# file : Makefile -# created : Sat Mar 18 23:11:09 CET 2000 -# copyright : (C) 2000 by Eric Espie -# email : torcs@free.fr -# version : $Id: Makefile,v 1.4 2002/06/30 20:20:07 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 - -SHIPDIR = drivers/${ROBOT}/2 - -SHIP = cg-nascar-rwd.rgb settings.xml - -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} - - diff --git a/src/drivers/K1999/2/settings.xml b/src/drivers/K1999/2/settings.xml deleted file mode 100644 index 28da797d2..000000000 --- a/src/drivers/K1999/2/settings.xml +++ /dev/null @@ -1,30 +0,0 @@ - - - - -
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- diff --git a/src/drivers/K1999/K1999.cpp b/src/drivers/K1999/K1999.cpp deleted file mode 100644 index ff0f1aac3..000000000 --- a/src/drivers/K1999/K1999.cpp +++ /dev/null @@ -1,923 +0,0 @@ -//////////////////////////////////////////////////////////////////////////// -// -// K1999.cpp -// -// car driver for TORCS -// (c) Remi Coulom -// March 2000 -// -// 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. -// -//////////////////////////////////////////////////////////////////////////// -#include -#include -#include -#include -#include -#include -#include - -#include "tgf.h" -#include "track.h" -#include "car.h" -#include "raceman.h" -#include "robot.h" -#include "robottools.h" - -using namespace std; - -//////////////////////////////////////////////////////////////////////////// -// Parameters -//////////////////////////////////////////////////////////////////////////// - -// -// These parameters are for the computation of the path -// -static const int MaxSegments = 1000; -static const int MaxDivs = 20000; - -static const int Iterations = 100; // Number of smoothing operations -static const double DivLength = 3.0; // Length of path elements in meters - -static const double SecurityR = 100.0; // Security radius -static double SideDistExt = 2.0; // Security distance wrt outside -static double SideDistInt = 1.0; // Security distance wrt inside - -class CK1999Data -{ - public: - CK1999Data(double x1, double x2, double x3, double x4, double x5, const char * const psz) : - WingRInverse(x1), - TireAccel1(x2), - MaxBrake(x3), - SlipLimit(x4), - SteerSkid(x5), - pszCarName(psz) - { - fDirt = 0; - } - - const double WingRInverse; - const double TireAccel1; - const double MaxBrake; - const double SlipLimit; - const double SteerSkid; - const char * const pszCarName; - - double ABS; - double TractionHelp; - int fStuck; - double wheelbase; - double wheeltrack; - - int Divs; - int Segs; - double Width; - double Length; - double tSegDist[MaxSegments]; - int tSegIndex[MaxSegments]; - double tElemLength[MaxSegments]; - double tx[MaxDivs]; - double ty[MaxDivs]; - double tDistance[MaxDivs]; - double tRInverse[MaxDivs]; - double tMaxSpeed[MaxDivs]; - double tSpeed[MaxDivs]; - double txLeft[MaxDivs]; - double tyLeft[MaxDivs]; - double txRight[MaxDivs]; - double tyRight[MaxDivs]; - double tLane[MaxDivs]; - double tFriction[MaxDivs]; - - int fDirt; - - void UpdateTxTy(int i); - void DrawPath(ostream &out); - void SetSegmentInfo(const tTrackSeg *pseg, double d, int i, double l); - void SplitTrack(tTrack *ptrack); - double GetRInverse(int prev, double x, double y, int next); - void AdjustRadius(int prev, int i, int next, double TargetRInverse, double Security = 0); - void Smooth(int Step); - void StepInterpolate(int iMin, int iMax, int Step); - void Interpolate(int Step); - void InitTrack(tTrack* track, void **carParmHandle, tSituation *p); - void NewRace(tCarElt* car, tSituation *s); - void Drive(tCarElt* car, tSituation *s); -}; - -static CK1999Data data1(0.0032, 9.50, 8.00, 8.00, 0.40, "K1999-buggy"); -static CK1999Data data2(0.0032, 12.00, 11.00, 2.00, 0.20, "K1999-cg-nascar-rwd"); - -static CK1999Data *tpdata[] = {&data1, &data2}; - -#define CARS (sizeof(tpdata)/sizeof(*tpdata)) - - -// -// Debugging options -// -//#define VERBOSE -//#define DOLOG -//#define DRAWPATH - -#ifdef DOLOG -ofstream ofsLog("K1999.log", ios::out); -#define LOG(x) do {ofsLog << (x) << ' ';} while(0) -#else -#define LOG(x) -#endif - -///////////////////////////////////////////////////////////////////////////// -// Some utility macros and functions -///////////////////////////////////////////////////////////////////////////// -#ifdef VERBOSE -#define OUTPUT(x) do {(cout << "K1999: " << x << '\n').flush();} while(0) -#else -#define OUTPUT(x) -#endif - -#define FATAL(x) do{if (x){OUTPUT("Fatal error: " << #x); exit(1);}}while(0) - -static double Mag(double x, double y) -{ - return sqrt(x * x + y * y); -} - -static double Min(double x1, double x2) -{ - if (x1 < x2) - return x1; - else - return x2; -} - -static double Max(double x1, double x2) -{ - if (x1 < x2) - return x2; - else - return x1; -} - -///////////////////////////////////////////////////////////////////////////// -// Update tx and ty arrays -///////////////////////////////////////////////////////////////////////////// -void CK1999Data::UpdateTxTy(int i) -{ - tx[i] = tLane[i] * txRight[i] + (1 - tLane[i]) * txLeft[i]; - ty[i] = tLane[i] * tyRight[i] + (1 - tLane[i]) * tyLeft[i]; -} - -///////////////////////////////////////////////////////////////////////////// -// Draw a path (use gnuplot) -///////////////////////////////////////////////////////////////////////////// -#ifdef DRAWPATH -void CK1999Data::DrawPath(ostream &out) -{ - for (int i = 0; i <= Divs; i++) - { - int j = i % Divs; - out << txLeft[j] << ' ' << tyLeft[j] << ' '; - out << tx[j] << ' ' << ty[j] << ' '; - out << txRight[j] << ' ' << tyRight[j] << '\n'; - } - out << '\n'; -} -#endif - -///////////////////////////////////////////////////////////////////////////// -// 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'); -} diff --git a/src/drivers/K1999/K1999.def b/src/drivers/K1999/K1999.def deleted file mode 100644 index 61c22a240..000000000 --- a/src/drivers/K1999/K1999.def +++ /dev/null @@ -1,10 +0,0 @@ -; -; K1999.def -; - -LIBRARY K1999 - -SECTIONS .data READ WRITE - -EXPORTS - K1999 diff --git a/src/drivers/K1999/K1999.dsp b/src/drivers/K1999/K1999.dsp deleted file mode 100644 index 8af841c3c..000000000 --- a/src/drivers/K1999/K1999.dsp +++ /dev/null @@ -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" -# PROP BASE Target_Dir "" -# PROP Use_MFC 0 -# PROP Use_Debug_Libraries 0 -# PROP Output_Dir "Release" -# PROP Intermediate_Dir "Release" -# PROP Ignore_Export_Lib 1 -# 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 -# ADD BASE RSC /l 0x40c /d "NDEBUG" -# ADD RSC /l 0x40c /d "NDEBUG" -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 /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" -# 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" -# PROP BASE Target_Dir "" -# PROP Use_MFC 0 -# PROP Use_Debug_Libraries 1 -# PROP Output_Dir "Debug" -# PROP Intermediate_Dir "Debug" -# PROP Ignore_Export_Lib 1 -# 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 diff --git a/src/drivers/K1999/K1999.vcproj b/src/drivers/K1999/K1999.vcproj deleted file mode 100644 index c26afbb0a..000000000 --- a/src/drivers/K1999/K1999.vcproj +++ /dev/null @@ -1,264 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/drivers/K1999/K1999.xml b/src/drivers/K1999/K1999.xml deleted file mode 100644 index 81cbcc953..000000000 --- a/src/drivers/K1999/K1999.xml +++ /dev/null @@ -1,35 +0,0 @@ - - - - - -
-
- -
- - - - - - - - - -
- -
- - - - - - - - - -
- -
-
- diff --git a/src/drivers/K1999/Makefile b/src/drivers/K1999/Makefile deleted file mode 100644 index 7a97aa70d..000000000 --- a/src/drivers/K1999/Makefile +++ /dev/null @@ -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}