- Update Shadow's driver
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6036 30fe4595-0a0c-4342-8851-515496e4dcbd Former-commit-id: 4f4465f1abd0402d187fce8abafe3b1cfc9e701d Former-commit-id: 35f00df017f43f0574a00a4053cbca755618bcb4
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torcs-ng
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f18b329e51
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4b8603b787
2 changed files with 91 additions and 56 deletions
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@ -39,9 +39,9 @@
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//==========================================================================*
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// Statics
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//--------------------------------------------------------------------------*
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int TDriver::NBBOTS = MAX_NBBOTS; // Nbr of drivers/robots
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const char* TDriver::ROBOT_DIR = "drivers/shadow"; // Sub path to dll
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const char* TDriver::DEFAULTCARTYPE = "car1-trb1"; // Default car type
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//int TDriver::NBBOTS = MAX_NBBOTS; // Nbr of drivers/robots
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//const char* TDriver::ROBOT_DIR = "drivers/shadow"; // Sub path to dll
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//const char* TDriver::DEFAULTCARTYPE = "car1-trb1"; // Default car type
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int TDriver::RobotType = 0;
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bool TDriver::AdvancedParameters = false; // Advanced parameters
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bool TDriver::UseOldSkilling = false; // Use old skilling
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@ -189,13 +189,12 @@ TDriver::TDriver(int Index, const int robot_type):
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{
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case SHADOW_TRB1:
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robot_name = "shadow_trb1";
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TDriver::UseBrakeLimit = false;
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Frc = 0.95;
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break;
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case SHADOW_SC:
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robot_name = "shadow_sc";
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Frc = 0.85;
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Frc = 0.90;
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break;
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case SHADOW_SRW:
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@ -260,7 +259,7 @@ TDriver::TDriver(int Index, const int robot_type):
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TDriver::~TDriver()
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{
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LogSHADOW.debug("\n#TDriver::~TDriver() >>>\n\n");
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//delete [] m_opp;
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delete [] m_opp;
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if (m_Strategy != NULL)
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delete m_Strategy;
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@ -504,6 +503,8 @@ void TDriver::InitTrack( tTrack* pTrack, void* pCarHandle, void** ppCarParmHandl
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BUMP_MOD = GfParmGetNum(hCarParm, SECT_PRIV, PRV_BUMP_MOD, 0, 0);
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SPDC_NORMAL = int(GfParmGetNum(hCarParm, SECT_PRIV, PRV_SPDC_NORMAL, 0, 2));
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SPDC_TRAFFIC = int(GfParmGetNum(hCarParm, SECT_PRIV, PRV_SPDC_TRAFFIC, 0, 2));
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SPDC_EXTRA = int(GfParmGetNum(hCarParm, SECT_PRIV, PRV_SPDC_EXTRA, 0, 3));
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STEER_CTRL = int(GfParmGetNum(hCarParm, SECT_PRIV, PRV_STEER_CTRL, 0, 0));
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AVOID_WIDTH = GfParmGetNum(hCarParm, SECT_PRIV, PRV_AVOID_WIDTH, 0, 0.5);
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STAY_TOGETHER = GfParmGetNum(hCarParm, SECT_PRIV, PRV_STAY_TOGETHER, 0, 0);
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STEER_K_ACC = GfParmGetNum(hCarParm, SECT_PRIV, PRV_STEER_K_ACC, 0, 0);
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@ -612,6 +613,7 @@ void TDriver::NewRace( tCarElt* pCar, tSituation* pS )
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this->car = pCar;
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m_myOppIdx = -1;
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clutchtime = 0.0f;
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m_opp = new Opponent[m_nCars];
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for( int i = 0; i < m_nCars; i++ )
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{
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m_opp[i].Initialise( &m_track, pS->cars[i] );
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@ -918,6 +920,7 @@ double TDriver::SteerAngle0( tCarElt* car, PtInfo& pi, PtInfo& aheadPi )
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// get info about pts on track.
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GetPosInfo( pos, pi );
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GetPosInfo( aheadPos, aheadPi );
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LogSHADOW.debug("SHADOW SteerAngle0\n");
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PtInfo piOmega;
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double aheadOmega = car->_dimension_x * 0.5 + spd0 * 0.02;// * 10;
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@ -975,6 +978,7 @@ double TDriver::SteerAngle0( tCarElt* car, PtInfo& pi, PtInfo& aheadPi )
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double TDriver::SteerAngle1( tCarElt* car, PtInfo& pi, PtInfo& aheadPi )
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{
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LogSHADOW.debug("SHADOW SteerAngle1\n");
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// work out current car speed.
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double spd0 = hypot(car->_speed_x, car->_speed_y);
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@ -1022,6 +1026,7 @@ double TDriver::SteerAngle1( tCarElt* car, PtInfo& pi, PtInfo& aheadPi )
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double TDriver::SteerAngle2( tCarElt* car, PtInfo& pi, PtInfo& aheadPi )
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{
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LogSHADOW.debug("SHADOW SteerAngle2\n");
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// work out current car speed.
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double spd0 = hypot(car->_speed_x, car->_speed_y);
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@ -1079,6 +1084,7 @@ double TDriver::SteerAngle2( tCarElt* car, PtInfo& pi, PtInfo& aheadPi )
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double TDriver::SteerAngle3( tCarElt* car, PtInfo& pi, PtInfo& aheadPi )
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{
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LogSHADOW.debug("SHADOW SteerAngle3\n");
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// work out current car speed.
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double spd0 = hypot(car->_speed_x, car->_speed_y);
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@ -1142,6 +1148,7 @@ double TDriver::SteerAngle3( tCarElt* car, PtInfo& pi, PtInfo& aheadPi )
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double TDriver::SteerAngle4( tCarElt* car, PtInfo& pi, PtInfo& aheadPi )
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{
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LogSHADOW.debug("SHADOW SteerAngle4\n");
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// work out current car speed.
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double spd0 = hypot(car->_speed_x, car->_speed_y);
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@ -1457,7 +1464,18 @@ void TDriver::Drive( tSituation* s )
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// get curret pos on track.
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PtInfo pi, aheadPi;
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double angle = SteerAngle0(car, pi, aheadPi);
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double angle = 0.0;
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switch (STEER_CTRL)
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{
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case 0: angle = SteerAngle0(car, pi, aheadPi); break;
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case 1: angle = SteerAngle1(car, pi, aheadPi); break;
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case 2: angle = SteerAngle2(car, pi, aheadPi); break;
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case 3: angle = SteerAngle3(car, pi, aheadPi); break;
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case 4: angle = SteerAngle4(car, pi, aheadPi); break;
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default: angle = SteerAngle0(car, pi, aheadPi); break;
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}
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double steer = angle / car->_steerLock;
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// work out current car speed.
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@ -1499,18 +1517,31 @@ void TDriver::Drive( tSituation* s )
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if( close )
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{
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SpeedControl( SPDC_TRAFFIC, targetSpd, spd0, car, acc, brk );
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LogSHADOW.debug("#Drive SpeedControl = close\n");
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}
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else if( m_pitControl.WantToPit() )
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{
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SpeedControl( SPDC_TRAFFIC, targetSpd, spd0, car, acc, brk );
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LogSHADOW.debug("#Drive SpeedControl = m_pitControl\n");
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}
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else
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{
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if( m_avoidS == 1 )
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{
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SpeedControl( SPDC_NORMAL, targetSpd, spd0, car, acc, brk );
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else
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SpeedControl1( targetSpd, spd0, acc, brk );
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}
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LogSHADOW.debug("#Drive SpeedControl = m_avoidS\n");
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}
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else if (car->_trkPos.seg->type == TR_STR)
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{
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SpeedControl( SPDC_EXTRA, targetSpd, spd0, car, acc, brk );
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LogSHADOW.debug("#Drive SpeedControl = SpeedControl1\n");
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}
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else
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{
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SpeedControl( SPDC_NORMAL, targetSpd, spd0, car, acc, brk );
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LogSHADOW.debug("#Drive SpeedControl = SPDC_NORMAL - track seg type = %d\n", track->seg->type);
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}
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}
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if( lapper )
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acc = MN(acc, 0.9);
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@ -1743,8 +1774,7 @@ void TDriver::AvoidOtherCars(int index, tCarElt* car, double k, double& carTarge
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if( oi.GotFlags(Opponent::F_FRONT) )
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{
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if( oi.flags & (Opponent::F_COLLIDE | Opponent::F_CATCHING |
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Opponent::F_CATCHING_ACC) )
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if( oi.flags & (Opponent::F_COLLIDE || Opponent::F_CATCHING || Opponent::F_CATCHING_ACC) )
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{
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}
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@ -1753,7 +1783,7 @@ void TDriver::AvoidOtherCars(int index, tCarElt* car, double k, double& carTarge
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ai.spdF = MN(ai.spdF, oi.catchSpd);
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}
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if( oi.flags & (Opponent::F_COLLIDE | Opponent::F_CATCHING) )
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if( oi.flags & (Opponent::F_COLLIDE || Opponent::F_CATCHING) )
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minCatchTime = MN(minCatchTime, oi.catchTime);
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if( oi.flags & Opponent::F_CATCHING_ACC )
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@ -42,48 +42,50 @@
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#include "teammanager.h"
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#define SECT_PRIV "private"
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#define PRV_SHIFT "shift"
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#define PRV_MU_SCALE "mu scale"
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#define PRV_RAIN_MU "mu scale rain"
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#define PRV_ACCEL_DELTA "accel delta"
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#define PRV_ACCEL_DELTA_RAIN "accel delta rain"
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#define PRV_FLY_HEIGHT "fly height"
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#define PRV_FACTOR "factor"
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#define PRV_AERO_MOD "aero mod"
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#define PRV_BUMP_MOD "bump mod"
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#define PRV_SIDE_MOD "side mod"
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#define PRV_KZ_SCALE "kz scale"
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#define PRV_BUMP_FACTOR "bump factor"
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#define PRV_CLUTCH_DELTA "clutch delta"
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#define PRV_CLUTCH_RANGE "clutch range"
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#define PRV_CLUTCH_MAX "clutch max"
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#define PRV_CLUTCH_RELEASE "clutch release"
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#define PRV_STEER_K_ACC "steer k acc"
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#define PRV_STEER_K_DEC "steer k dec"
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#define PRV_AVOID_WIDTH "avoid width"
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#define PRV_SPDC_NORMAL "spd ctrl normal"
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#define PRV_SPDC_TRAFFIC "spd ctrl traffic"
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#define PRV_STAY_TOGETHER "stay together"
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#define PRV_PITSTRAT "pitstrat"
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#define PRV_PITSTOP "chkpitstop"
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#define PRV_CHKQUALIF "chkqualiftime"
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#define PRV_PIT_ENTRY_OFFS "pit entry offset"
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#define PRV_PIT_EXIT_OFFS "pit exit offset"
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#define PRV_MAX_BRAKING "max braking"
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#define PRV_FUELPERMETERS "fuel per meters"
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#define PRV_FUELPERLAPS "fuel per lap"
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#define PRV_RESERVE "reserve"
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#define PRV_FULL_FUEL "full fuel"
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#define PRV_VERBOSE "strategyverbose"
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#define PRV_NEED_SIN "use sin long"
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#define PRV_USED_ACC "acc exit"
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#define PRV_SKILL_OFFSET "offset skill"
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#define PRV_BRAKE_LIMIT "brake limit"
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#define PRV_BRAKE_LIMIT_BASE "brake limit base"
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#define PRV_BRAKE_LIMIT_SCALE "brake limit scale"
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#define PRV_SPEED_LIMIT_BASE "speed limit base"
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#define PRV_SPEED_LIMIT_SCALE "speed limit scale"
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#define SECT_PRIV "private"
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#define PRV_SHIFT "shift"
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#define PRV_MU_SCALE "mu scale"
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#define PRV_RAIN_MU "mu scale rain"
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#define PRV_ACCEL_DELTA "accel delta"
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#define PRV_ACCEL_DELTA_RAIN "accel delta rain"
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#define PRV_FLY_HEIGHT "fly height"
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#define PRV_FACTOR "factor"
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#define PRV_AERO_MOD "aero mod"
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#define PRV_BUMP_MOD "bump mod"
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#define PRV_SIDE_MOD "side mod"
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#define PRV_KZ_SCALE "kz scale"
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#define PRV_BUMP_FACTOR "bump factor"
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#define PRV_CLUTCH_DELTA "clutch delta"
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#define PRV_CLUTCH_RANGE "clutch range"
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#define PRV_CLUTCH_MAX "clutch max"
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#define PRV_CLUTCH_RELEASE "clutch release"
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#define PRV_STEER_K_ACC "steer k acc"
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#define PRV_STEER_K_DEC "steer k dec"
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#define PRV_AVOID_WIDTH "avoid width"
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#define PRV_SPDC_NORMAL "spd ctrl normal"
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#define PRV_SPDC_TRAFFIC "spd ctrl traffic"
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#define PRV_SPDC_EXTRA "spd ctrl extra"
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#define PRV_STEER_CTRL "steer ctrl"
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#define PRV_STAY_TOGETHER "stay together"
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#define PRV_PITSTRAT "pitstrat"
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#define PRV_PITSTOP "chkpitstop"
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#define PRV_CHKQUALIF "chkqualiftime"
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#define PRV_PIT_ENTRY_OFFS "pit entry offset"
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#define PRV_PIT_EXIT_OFFS "pit exit offset"
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#define PRV_MAX_BRAKING "max braking"
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#define PRV_FUELPERMETERS "fuel per meters"
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#define PRV_FUELPERLAPS "fuel per lap"
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#define PRV_RESERVE "reserve"
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#define PRV_FULL_FUEL "full fuel"
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#define PRV_VERBOSE "strategyverbose"
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#define PRV_NEED_SIN "use sin long"
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#define PRV_USED_ACC "acc exit"
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#define PRV_SKILL_OFFSET "offset skill"
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#define PRV_BRAKE_LIMIT "brake limit"
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#define PRV_BRAKE_LIMIT_BASE "brake limit base"
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#define PRV_BRAKE_LIMIT_SCALE "brake limit scale"
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#define PRV_SPEED_LIMIT_BASE "speed limit base"
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#define PRV_SPEED_LIMIT_SCALE "speed limit scale"
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#define NBR_BRAKECOEFF 50 // Number of brake coeffs
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@ -193,6 +195,7 @@ public:
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double CurrSimTime; // Current simulation time
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const char *robot_name;
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double Frc; // Friction coefficient
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//bool UseBrakeLimit; // Enable/disable brakelimit
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double wheelRadius;
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@ -333,6 +336,8 @@ private:
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double BUMP_MOD;
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int SPDC_NORMAL;
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int SPDC_TRAFFIC;
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int SPDC_EXTRA;
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int STEER_CTRL;
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double STEER_K_ACC;
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double STEER_K_DEC;
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double STAY_TOGETHER; // dist in m.
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@ -387,7 +392,7 @@ private:
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int m_Flying; // Flag prepare landing
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int m_nCars;
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int m_myOppIdx;
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Opponent m_opp[MAX_OPP]; // info about other cars.
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Opponent *m_opp; // info about other cars.
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double m_avgAY;
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bool m_raceStart;
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double m_avoidS; // where we are LR->T (0..1).
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