speed-dreams/speed-dreams-code
speed-dreams/speed-dreams-code
6
2
Fork 3
Code Issues 8 Pull requests Projects Releases 1 Packages Wiki Activity Actions

- update shadow's driver

Browse source 
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@8594 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: adfcde3b58cbb5fe2b5a6376efd7e0d6dcfd7a08
Former-commit-id: 40706a294f413e4c207c98fecb5abbf5011de830
This commit is contained in:
torcs-ng 2022-10-16 22:49:19 +00:00
parent ca6cf8ed15
commit 5210f1f65c
4 changed files with 36 additions and 6 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

6
src/drivers/shadow/src/Driver.cpp
View file

@ -67,6 +67,7 @@ using namespace std;
#define PRV_STAY_TOGETHER "stay together"
#define PRV_PIT_ENTRY_OFFS "pit entry offset"
#define PRV_PIT_EXIT_OFFS "pit exit offset"
#define PRV_PIT_LAT_OFFS "pit lat offset"
#define PRV_PIT_DAMAGE_WARN "pit damage warn limit"
#define PRV_PIT_DAMAGE_DANGER "pit damage danger limit"
#define PRV_PIT_TIRE_WARN "pit tire warn limit"
@ -492,6 +493,7 @@ void Driver::InitTrack(
m_priv[p].STEER_K_DEC = SafeParmGetNum(hCarParm, sect.c_str(), PRV_STEER_K_DEC, 0, m_priv[p].STEER_K_DEC);
m_priv[p].PIT_ENTRY_OFFSET = SafeParmGetNum(hCarParm, sect.c_str(), PRV_PIT_ENTRY_OFFS, 0, m_priv[p].PIT_ENTRY_OFFSET);
m_priv[p].PIT_EXIT_OFFSET = SafeParmGetNum(hCarParm, sect.c_str(), PRV_PIT_EXIT_OFFS, 0, m_priv[p].PIT_EXIT_OFFSET);
m_priv[p].PIT_LAT_OFFSET = SafeParmGetNum(hCarParm, sect.c_str(), PRV_PIT_LAT_OFFS, 0, m_priv[p].PIT_LAT_OFFSET);
m_priv[p].PIT_DAMAGE_WARN = (int)SafeParmGetNum(hCarParm, sect.c_str(), PRV_PIT_DAMAGE_WARN, 0, (float)m_priv[p].PIT_DAMAGE_WARN);
m_priv[p].PIT_TIRE_WARN = SafeParmGetNum(hCarParm, sect.c_str(), PRV_PIT_TIRE_WARN, 0, 0.3);
m_priv[p].PIT_DAMAGE_DANGER = (int)SafeParmGetNum(hCarParm, sect.c_str(), PRV_PIT_DAMAGE_DANGER, 0, (float)m_priv[p].PIT_DAMAGE_DANGER);
@ -741,7 +743,9 @@ void Driver::NewRace( int index, tCarElt* pCar, tSituation* pS )
CarModel pitCm(m_cm[p]);
pitCm.BRAKE_MU_SCALE = 0.8;
m_pitPath[p][i].MakePath( pCar->race.pit, &m_path[p], pitCm, i == 1,
m_priv[p].PIT_ENTRY_OFFSET, m_priv[p].PIT_EXIT_OFFSET );
m_priv[p].PIT_ENTRY_OFFSET,
m_priv[p].PIT_EXIT_OFFSET,
m_priv[p].PIT_LAT_OFFSET);
}
}

2
src/drivers/shadow/src/Driver.h
View file

@ -383,6 +383,7 @@ private:
double AVOID_WIDTH; // in m.
double PIT_ENTRY_OFFSET; // dist in m.
double PIT_EXIT_OFFSET; // dist in m.
double PIT_LAT_OFFSET;
int PIT_DAMAGE_WARN; // fix damage if no extra pit stops required.
int PIT_DAMAGE_DANGER; // fix damage even if extra pit stops required.
double PIT_TIRE_WARN;
@ -421,6 +422,7 @@ private:
AVOID_WIDTH = 0.5; // in m.
PIT_ENTRY_OFFSET = 0; // dist in m.
PIT_EXIT_OFFSET = 0; // dist in m.
PIT_LAT_OFFSET = 0;
PIT_DAMAGE_WARN = 5000; // fix damage if no extra pit stops required.
PIT_DAMAGE_DANGER = 7000; // fix damage even if extra pit stops required.
SKID_FACTOR = 0.0;

29
src/drivers/shadow/src/PitPath.cpp
View file

@ -28,6 +28,11 @@
#include <robottools.h>
// The "SHADOW" logger instance.
extern GfLogger* PLogSHADOW;
#define LogSHADOW (*PLogSHADOW)
//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////
@ -80,7 +85,8 @@ void PitPath::MakePath(
const CarModel& cm,
int pitType,
double entryOffset,
double exitOffset )
double exitOffset,
double latoffset)
{
operator=( *pBasePath );
@ -109,6 +115,11 @@ void PitPath::MakePath(
m_pitEndPos = x[5];
m_pitExitPos = x[6];
LogSHADOW.info("Pit Entry Position = %.2f\n", m_pitEntryPos);
LogSHADOW.info("Pit Start position = %.2f\n", m_pitStartPos);
LogSHADOW.info("Pit End position = %.2f\n", m_pitEndPos);
LogSHADOW.info("Pit Exit position = %.2f\n", m_pitExitPos);
// Normalizing spline segments to >= 0.0.
{for( int i = 0; i < NPOINTS; i++ )
{
@ -131,21 +142,32 @@ void PitPath::MakePath(
if( x[5] < x[4] )
x[5] = x[4];
LogSHADOW.info("Pit Entry Position2 = %.2f\n", m_pitEntryPos);
LogSHADOW.info("Pit Start position2 = %.2f\n", m_pitStartPos);
LogSHADOW.info("Pit End position2 = %.2f\n", m_pitEndPos);
LogSHADOW.info("Pit Exit position2 = %.2f\n", m_pitExitPos);
// splice entry/exit of pit path into the base path provided.
PtInfo pi;
pBasePath->GetPtInfo(m_pitEntryPos, pi);
y[0] = pi.offs;
s[0] = -tan(pi.oang - m_pTrack->CalcForwardAngle(m_pitEntryPos));
pBasePath->GetPtInfo(m_pitExitPos, pi);
y[6] = pi.offs;
s[6] = -tan(pi.oang - m_pTrack->CalcForwardAngle(m_pitExitPos));
double sign = (pPitInfo->side == TR_LFT) ? -1.0 : 1.0;
{for( int i = 1; i < NPOINTS - 1; i++ )
{for( int i = 0; i < NPOINTS - 1; i++ )
{
y[i] = fabs(pPitInfo->driversPits->pos.toMiddle) - pPitInfo->width;
if (i == 0)
y[i] = fabs(pPitInfo->driversPits->pos.toMiddle) - (pPitInfo->width - latoffset);
else
y[i] = fabs(pPitInfo->driversPits->pos.toMiddle) - (pPitInfo->width - 0.5);
y[i] *= sign;
LogSHADOW.info("y[i] = %.2f\n", y[i]);
}}
if( pitType == Strategy::PT_NORMAL )
@ -159,6 +181,7 @@ void PitPath::MakePath(
{for( int i = 0; i < NPOINTS; i++ )
{
LocalToGlobalXY( x[i], y[i], s[i], &gp[i], &gv[i] );
LogSHADOW.info(" x[%d] = %.2f - y[%d] = %.2f - s[%d] = %.2f\n", i, x[i], i, y[i], i, s[i]);
}}
ParametricCubicSpline pspline(NPOINTS, gp, gv);

5
src/drivers/shadow/src/PitPath.h
View file

@ -38,8 +38,9 @@ public:
PitPath& operator=( const PitPath& other );
virtual PitPath& operator=( const Path& other );
void MakePath( const tTrackOwnPit* pPit, Path* pBasePath, const CarModel& cm,
int pitType, double entryOffset = 0, double exitOffset = 0 );
void MakePath(const tTrackOwnPit* pPit, Path* pBasePath, const CarModel& cm,
int pitType, double entryOffset = 0,
double exitOffset = 0 , double latoffset = 0);
// CPath overrides.
// virtual bool ContainsPos( double trackPos ) const;