restore old versions
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@4026 30fe4595-0a0c-4342-8851-515496e4dcbd Former-commit-id: bb8e2307650db9d51521e1787c78544790a87153 Former-commit-id: a3318b282d688b24502c23a13f77170977682c24
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andrewsumner
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src/drivers/usr/src/raceline.cpp
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src/drivers/usr/src/raceline.cpp
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src/drivers/usr/src/raceline.h
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src/drivers/usr/src/raceline.h
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/****************************************************************************
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file : raceline.h
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created : Wed Mai 14 19:53:00 CET 2003
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copyright : (C) 2003-2004 by Bernhard Wymann
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email : berniw@bluewin.ch
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version : $Id: raceline.h 3636 2011-05-31 04:36:35Z andrewsumner $
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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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#ifndef _RACELINE_H_
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#define _RACELINE_H_
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#include "linalg.h"
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#include "mod.h"
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#include "xmldefs.h"
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enum { LINE_MID=0, LINE_RL };
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enum { mode_normal=1, mode_correcting, mode_avoiding, mode_pitting };
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#define MAXSEGMENTS 3000
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#define MAXDIVS 10000
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typedef struct {
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double *tRInverse;
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double *tx;
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double *ty;
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double *tz;
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double *tzd;
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double *tLane;
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double *txLeft;
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double *tyLeft;
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double *txRight;
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double *tyRight;
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double *tLaneLMargin;
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double *tLaneRMargin;
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double *tFriction;
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double *tBrakeFriction;
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//double *tSegDist;
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double *tElemLength;
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double *tDistance;
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double *ExtLimit;
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tTrackSeg **tSegment;
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int *tDivSeg;
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int *tSegIndex;
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char trackname[64];
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double Width;
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double Length;
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int Segs;
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int init;
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int offset;
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} SRaceLine;
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typedef struct {
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tSituation *s;
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double rInverse;
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double mInverse;
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double aInverse;
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double amInverse;
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double decel;
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double adecel;
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double lane;
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double ksteer;
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double tsteer;
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double collision;
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double speedangle;
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double angle;
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double speed;
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double tspeed;
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double avspeed;
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double slowavspeed;
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double accel_redux;
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double overtakecaution;
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double offset;
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double lookahead;
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double steer;
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double NSsteer;
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double NSasteer;
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double laststeer;
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double braking;
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double rlangle;
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double followdist;
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double speedchange;
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double aligned_time;
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int thisdiv;
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int nextdiv;
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int mode;
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int avoidmode;
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int closing;
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int exiting;
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int alone;
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int outsideline;
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int insideline;
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v2d target;
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} LRaceLineData;
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typedef struct {
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int i0;
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int i1;
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int i2;
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int i3;
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double d0;
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double d1;
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double d2;
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double d3;
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double t;
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double a0;
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double a1;
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double a2;
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double a3;
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} InterpData;
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class LRaceLine {
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public:
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LRaceLine();
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void setMinCornerInverse( double wi ) { MinCornerInverse = wi; }
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void setCornerSpeed( double wi ) { CornerSpeed = wi; }
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void setCornerAccel( double wi ) { CornerAccel = wi; }
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void setBrakeDelay( double wi ) { BrakeDelay = wi; }
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void setIntMargin( double wi ) { IntMargin = wi; }
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void setExtMargin( double wi ) { ExtMargin = wi; }
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void setAvoidSpeedAdjust( double wi ) { AvoidSpeedAdjust = wi; }
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void setCarHandle( void *pCarHandle ) { carhandle = pCarHandle; }
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void setSkill( double tskill) { skill = tskill; }
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void setCW( double cw ) { cw = CW; }
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int getCarefulBrake() { return GetModI( tCarefulBrake, Next ); }
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double getRLAngle(int div);
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double MinCornerInverse;
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double IncCornerInverse;
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double IncCornerFactor;
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double BaseCornerSpeed;
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double BaseCornerSpeedX;
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double DefaultCornerSpeedX;
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double CornerSpeed;
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double CornerSpeedX;
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double CornerAccel;
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double BrakeDelay;
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double BrakeDelayX;
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double BrakeMod;
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double BrakePower;
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double IntMargin;
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double ExtMargin;
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double AvoidSpeedAdjust;
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double AvoidSpeedAdjustX;
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double AvoidBrakeAdjust;
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double AvoidBrakeAdjustX;
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double CurveFactor;
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double SecurityZ;
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double MaxSteerTime;
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double MinSteerTime;
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double TargetSpeed;
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double ATargetSpeed;
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double SteerGain;
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double SteerSkid;
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double SkidAccel;
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double DivLength;
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double AccelCurveDampen; //
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double BrakeCurveDampen;
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double AccelCurveLimit;
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double BrakeCurveLimit;
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double AccelExit; //
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double AvoidAccelExit; //
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double OvertakeCaution; // default 0.0 - higher increases caution in overtaking
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double SkidCorrection; // default 1.0. Higher corrects steer errors faster & reduces wobble
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double SteerRIAcc;
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double SteerRIAccC;
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double BumpCaution;
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double SlopeFactor;
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double ExitBoost;
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double ExitBoostX;
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double AvoidExitBoost;
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double AvoidExitBoostX;
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bool RaceLineDebug;
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double CW;
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double wheelbase;
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double wheeltrack;
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double k1999steer;
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double laststeer;
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double lastNksteer;
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double lastNasteer;
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double skill;
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double lastyaw;
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double maxfuel;
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double deltaTime;
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double avgerror;
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int Divs;
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int AccelCurveOffset;
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int Iterations;
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int SteerMod;
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int SRLidx;
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double **tSpeed;
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double *tLaneShift;
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int *tDivSeg;
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LRLMod *tRLMarginRgt;
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LRLMod *tRLMarginLft;
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LRLMod *tOTCaution;
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LRLMod *tRLSpeed;
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LRLMod *tRLBrake;
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LRLMod *tIntMargin;
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LRLMod *tExtMargin;
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LRLMod *tSecurity;
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LRLMod *tDecel;
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LRLMod *tADecel;
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LRLMod *tSpeedLimit;
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LRLMod *tCornerAccel;
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LRLMod *tAccelCurveDampen;
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LRLMod *tCurveFactor;
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LRLMod *tAvoidSpeed;
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LRLMod *tAvoidSpeedX;
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LRLMod *tAvoidBrake;
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LRLMod *tAvoidBrakeX;
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LRLMod *tAccelCurveOffset;
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LRLMod *tCarefulBrake;
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LRLMod *tSkidAccel;
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LRLMod *tAccelExit;
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LRLMod *tSkidCorrection;
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LRLMod *tBumpCaution;
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LRaceLineData *data;
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int fDirt;
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int Next;
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int This;
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int CarDiv;
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tTrack *track;
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void *carhandle;
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tCarElt *car;
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void UpdateTxTy(int i, int rl);
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void SetSegmentInfo(const tTrackSeg *pseg, double d, int i, double l, int rl);
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void AllocTrack(tTrack *ptrack);
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void AllocRaceline(int rl, const char *trackname);
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void FreeRaceline(int rl);
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void FreeTrack(bool freeall);
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void SplitTrack(tTrack *ptrack, int rl);
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double SegCamber(int rl, int div);
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double GetRInverse(int prev, double x, double y, int next, int rl);
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void AdjustRadius(int prev, int i, int next, double TargetRInverse, int rl, double Security = -1);
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void Smooth(int Step, int rl);
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void ComputeSpeed(int rl);
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void StepInterpolate(int iMin, int iMax, int Step, int rl);
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void Interpolate(int Step, int rl);
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void CalcZCurvature(int rl);
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void TrackInit(tSituation *p);
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void InitTrack(tTrack* ptrack, tSituation *p);
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void CalcAvoidSpeed( int next, LRaceLineData *data, double angle );
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int findNextCorner( double *nextCRinverse );
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void NewRace(tCarElt* newcar, tSituation *s);
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void GetRaceLineData(tSituation *s, LRaceLineData *data);
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void GetPoint( double offset, vec2f *rt, double *mInverse );
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void GetSteerPoint( double lookahead, vec2f *rt, double offset = -100.0, double time = -1.0 );
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void GetRLSteerPoint( vec2f *rt, double *offset, double time );
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int isOnLine();
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double correctLimit(double avoidsteer, double racesteer, int insideline);
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double getAvoidSpeedDiff( float distance );
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double getK1999Steer() { return k1999steer; }
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double getRInverse(int div);
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double getRInverse() { return getRInverse(Next); }
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void getOpponentInfo(double distance, int rl, double *aspeed, double *rInv, double offset = -1000.0);
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double getRLMarginRgt(int divadvance) { int div=(Next+divadvance)%Divs; return GetModD( tRLMarginRgt, div ); }
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double getRLMarginLft(int divadvance) { int div=(Next+divadvance)%Divs; return GetModD( tRLMarginLft, div ); }
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double getAvoidSteer(double offset, LRaceLineData *data);
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void NoAvoidSteer() { lastNasteer = lastNksteer; }
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double calcAvoidSpeed( double offset, double rInv, double speed, double rlspeed );
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// interpolation...
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void CI_Update(double dist);
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double CubicInterpolation(const double *pd) const;
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double LinearInterpolation(const double *pd) const;
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InterpData interpdata;
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};
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#endif
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