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- apply Robert's patch

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git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6749 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 8a34a2b3d7e92d08f13c5cfbb1a12fbc42ed5310
Former-commit-id: 444059bf59018f4a75d646404017053f795a8894
This commit is contained in:
torcs-ng 2019-11-01 22:48:51 +00:00
parent c487d542f0
commit 5ffdc54e9d
4 changed files with 208 additions and 132 deletions
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165
src/drivers/usr/src/pit.cpp
View file

@ -53,6 +53,7 @@ Pit::Pit(tSituation *s, Driver *driver, float pitoffset)
pitmaxspeedoffset = GfParmGetNum( car->_carHandle, SECT_PRIVATE, PRV_PIT_MAX_SPEED_OFFSET, (char*)NULL, 0.0f);
pitmaxspeed = GfParmGetNum( car->_carHandle, SECT_PRIVATE, PRV_PIT_MAX_SPEED, (char*)NULL, 0.0f);
pittransoffset = GfParmGetNum( car->_carHandle, SECT_PRIVATE, PRV_PIT_TRANS_OFFSET, (char*)NULL, -1.0f);
if (pittransoffset > 0.0)
hastransoffset = true;
@ -72,21 +73,28 @@ Pit::Pit(tSituation *s, Driver *driver, float pitoffset)
// HACK! pit entry on corkscrew
pp[1].x = pp[0].x;
pp[2].x = pp[1].x;
if (pitstartoverride0 > 0.0)
dtp[0].x = pp[0].x = pitstartoverride0;
if (pitstartoverride1 > 0.0)
pp[1].x = pitstartoverride1;
if (pitstartoverride2 > 0.0)
pp[2].x = pitstartoverride2;
dtp[1].x = pp[3].x = pitinfo->pitStart->lgfromstart;
if (pitstartoverride0 < 0.0)
pp[1].x = pitinfo->pitEntry->lgfromstart + pitoffset + pitstartextralength;
//pp[5].x = pitinfo->pitEnd->lgfromstart + pitinfo->len/2.0f;
//pp[5].x = pp[3].x + (pitInfo->nMaxPits - car->index) * pitinfo->len;
dtp[2].x = pp[7].x = pp[3].x + pitinfo->nMaxPits * pitinfo->len;
dtp[3].x = pp[8].x = pitinfo->pitExit->lgfromstart;
if (pitexitoverride > 0.0)
dtp[4].x = pp[8].x = pitexitoverride;
dtp[3].x = pp[8].x = pitexitoverride;
pitentry = pp[0].x;
pitend = pp[7].x;
@ -96,6 +104,7 @@ Pit::Pit(tSituation *s, Driver *driver, float pitoffset)
// Normalizing spline segments to >= 0.0.
int i;
for (i = 0; i < PITPOINTS; i++)
{
pp[i].s = 0.0;
@ -108,22 +117,27 @@ Pit::Pit(tSituation *s, Driver *driver, float pitoffset)
}
// Fix broken pit exit.
if (pp[8].x < pp[7].x) {
if (pp[8].x < pp[7].x)
{
dtp[3].x = pp[8].x = pp[7].x + 50.0f;
}
// Fix point for first pit if necessary.
if (pp[3].x > pp[4].x) {
if (pp[3].x > pp[4].x)
{
pp[3].x = pp[4].x - 3.0f;
}
if (pp[2].x > pp[3].x) {
if (pp[2].x > pp[3].x)
{
pp[2].x = pp[3].x - 3.0f;
pitentry = pp[2].x;
}
// Fix point for last pit if necessary.
if (pp[6].x > pp[7].x) {
if (pp[6].x > pp[7].x)
{
pp[7].x = pp[6].x;
}
@ -131,11 +145,15 @@ Pit::Pit(tSituation *s, Driver *driver, float pitoffset)
float sign = (pitinfo->side == TR_LFT) ? 1.0f : -1.0f;
dtp[0].y = pp[0].y = pitentryoffset;
dtp[3].y = pp[8].y = pitexitoffset;
for (i = 1; i < PITPOINTS - 1; i++) {
for (i = 1; i < PITPOINTS - 1; i++)
{
pp[i].y = fabs(pitinfo->driversPits->pos.toMiddle) - pitinfo->width;
pp[i].y *= sign;
}
for (i = 1; i < DTPOINTS - 1; i++) {
for (i = 1; i < DTPOINTS - 1; i++)
{
dtp[i].y = fabs(pitinfo->driversPits->pos.toMiddle) - pitinfo->width;
dtp[i].y *= sign;
}
@ -153,7 +171,8 @@ Pit::Pit(tSituation *s, Driver *driver, float pitoffset)
Pit::~Pit()
{
if (mypit != NULL) {
if (mypit != NULL)
{
delete pitspline;
delete dtspline;
}
@ -164,9 +183,12 @@ Pit::~Pit()
float Pit::toSplineCoord(float x)
{
x -= pitentry;
while (x < 0.0f) {
while (x < 0.0f)
{
x += track->length;
}
return x;
}
@ -176,13 +198,17 @@ float Pit::getPitOffset(float offset, float fromstart)
{
float pitoffset;
if (mypit != NULL) {
if (getInPit() || (getPitstop() && isBetween(fromstart))) {
if (mypit != NULL)
{
if (getInPit() || (getPitstop() && isBetween(fromstart)))
{
fromstart = toSplineCoord(fromstart);
pitoffset = pitspline->evaluate(fromstart);
return pitoffset;
}
}
return offset;
}
@ -192,13 +218,17 @@ float Pit::getDriveThroughOffset(float offset, float fromstart)
{
float pitoffset;
if (mypit != NULL) {
if (getInPit() || (getPitstop() && isBetween(fromstart))) {
if (mypit != NULL)
{
if (getInPit() || (getPitstop() && isBetween(fromstart)))
{
fromstart = toSplineCoord(fromstart);
pitoffset = dtspline->evaluate(fromstart);
return pitoffset;
}
}
return offset;
}
@ -206,15 +236,19 @@ float Pit::getDriveThroughOffset(float offset, float fromstart)
// Sets the pitstop flag if we are not in the pit range.
void Pit::setPitstop(bool pitstop)
{
if (mypit == NULL) {
if (mypit == NULL)
{
return;
}
float fromstart = car->_distFromStartLine;
if (!isBetween(fromstart)) {
if (!isBetween(fromstart))
{
this->pitstop = pitstop;
} else if (!pitstop) {
}
else if (!pitstop)
{
this->pitstop = pitstop;
pittimer = 0.0f;
}
@ -234,17 +268,26 @@ bool Pit::isInTrans(float fromstart)
// Check if the argument fromstart is in the range of the pit.
bool Pit::isBetween(float fromstart)
{
if (pitentry <= pitexit) {
if (fromstart >= pitentry && fromstart <= pitexit) {
if (pitentry <= pitexit)
{
if (fromstart >= pitentry && fromstart <= pitexit)
{
return true;
} else {
}
else
{
return false;
}
} else {
}
else
{
// Warning: TORCS reports sometimes negative values for "fromstart"!
if (fromstart <= pitexit || fromstart >= pitentry) {
if (fromstart <= pitexit || fromstart >= pitentry)
{
return true;
} else {
}
else
{
return false;
}
}
@ -252,17 +295,26 @@ bool Pit::isBetween(float fromstart)
bool Pit::isBetweenExit(float fromstart)
{
if (pitend <= pitexit) {
if (fromstart >= pitend && fromstart <= pitexit) {
if (pitend <= pitexit)
{
if (fromstart >= pitend && fromstart <= pitexit)
{
return true;
} else {
}
else
{
return false;
}
} else {
}
else
{
// Warning: TORCS reports sometimes negative values for "fromstart"!
if (fromstart <= pitexit || fromstart >= pitend) {
if (fromstart <= pitexit || fromstart >= pitend)
{
return true;
} else {
}
else
{
return false;
}
}
@ -271,17 +323,26 @@ bool Pit::isBetweenExit(float fromstart)
// check if fromstart is in the actual pit area
bool Pit::isInPit(float fromstart)
{
if (pitstopentry <= pitstopexit) {
if (fromstart >= pitstopentry && fromstart <= pitstopexit) {
if (pitstopentry <= pitstopexit)
{
if (fromstart >= pitstopentry && fromstart <= pitstopexit)
{
return true;
} else {
}
else
{
return false;
}
} else {
}
else
{
// Warning: TORCS reports sometimes negative values for "fromstart"!
if (fromstart <= pitstopexit || fromstart >= pitstopentry) {
if (fromstart <= pitstopexit || fromstart >= pitstopentry)
{
return true;
} else {
}
else
{
return false;
}
}
@ -294,6 +355,7 @@ float Pit::maxSpeed(float fromstart)
if (fromstart > pitmaxspeedoffset)
return pitmaxspeed;
return 100000.0f;
}
@ -303,15 +365,24 @@ float Pit::maxSpeed(float fromstart)
// ahead it is > 0, if we overshoot the pit it is < 0.
bool Pit::isTimeout(float distance)
{
if (car->_speed_x > 1.0f || distance > 3.0f || !getPitstop()) {
if (car->_speed_x > 1.0f || distance > 3.0f || !getPitstop())
{
pittimer = 0.0f;
return false;
} else {
}
else
{
pittimer += (float) RCM_MAX_DT_ROBOTS;
if (pittimer > 3.0f) {
if (pittimer > 3.0f)
{
pittimer = 0.0f;
return true;
} else {
}
else
{
return false;
}
}
@ -321,19 +392,27 @@ bool Pit::isTimeout(float distance)
// Update pit data and strategy.
void Pit::update()
{
if (mypit != NULL) {
if (mypit != NULL)
{
inpitexit = false;
if (isBetween(car->_distFromStartLine)) {
if (getPitstop()) {
if (isBetween(car->_distFromStartLine))
{
if (getPitstop())
{
if (isBetweenExit(car->_distFromStartLine))
inpitexit = true;
setInPit(true);
}
} else {
}
else
{
setInPit(false);
}
if (getPitstop()) {
if (getPitstop())
{
car->_raceCmd = RM_CMD_PIT_ASKED;
}
}

131
src/drivers/usr/src/pit.h
View file

@ -25,93 +25,82 @@
class Driver;
class Pit {
public:
Pit(tSituation *s, Driver *driver, float PitOffset);
~Pit();
class Pit
{
public:
Pit(tSituation *s, Driver *driver, float PitOffset);
~Pit();
void setPitstop(bool pitstop);
bool getPitstop() { return pitstop; }
void setPitstop(bool pitstop);
bool getPitstop() { return pitstop; }
void setInPit(bool inpitlane) { this->inpitlane = inpitlane; }
bool getInPit() { return inpitlane; }
bool getInPitExit() { return inpitexit; }
float getPitEntryOffset() {
return pitspline->evaluate(pitentry);
}
void setInPit(bool inpitlane) { this->inpitlane = inpitlane; }
bool getInPit() { return inpitlane; }
bool getInPitExit() { return inpitexit; }
float getPitOffset(float offset, float fromstart);
float getDriveThroughOffset(float offset, float fromstart);
float getPitEntryOffset() {
return pitspline->evaluate(pitentry);
}
bool isBetween(float fromstart);
bool isBetweenExit(float fromstart);
float maxSpeed(float fromstart);
bool isInPit(float fromstart);
bool isTimeout(float distance);
bool isInTrans(float fromstart);
float getPitOffset(float offset, float fromstart);
float getDriveThroughOffset(float offset, float fromstart);
#if 0
float getNPitStart() { return pp[1].x; }
float getNPitLoc() { return pp[3].x; }
float getNPitEnd() { return pp[5].x; }
float getNPitEntry() { return pp[0].x; }
#endif
float getNPitStart() { return pp[1].x; }
float getNPitLoc() { return pp[5].x; }
float getNPitEnd() { return pp[7].x; }
float getNPitEntry() { return pp[0].x; }
bool isBetween(float fromstart);
bool isBetweenExit(float fromstart);
float maxSpeed(float fromstart);
bool isInPit(float fromstart);
bool isTimeout(float distance);
bool isInTrans(float fromstart);
float toSplineCoord(float x);
float getNPitStart() { return pp[1].x; }
float getNPitLoc() { return pp[5].x; }
float getNPitEnd() { return pp[7].x; }
float getNPitEntry() { return pp[0].x; }
float getSpeedlimitSqr() { return speedlimitsqr; }
float getSpeedlimit() { return speedlimit; }
float getSpeedLimitBrake(float speedsqr);
float toSplineCoord(float x);
void update();
float getSpeedlimitSqr() { return speedlimitsqr; }
float getSpeedlimit() { return speedlimit; }
float getSpeedLimitBrake(float speedsqr);
private:
tTrack *track;
tCarElt *car;
tTrackOwnPit *mypit; // Pointer to my pit.
tTrackPitInfo *pitinfo; // General pit info.
void update();
#if 0
enum { NPOINTS = 7 };
SplinePoint p[NPOINTS]; // Spline points.
#endif
enum { PITPOINTS = 9, DTPOINTS = 4 };
SplinePoint pp[PITPOINTS]; // Spline points.
SplinePoint dtp[DTPOINTS]; // Spline points.
private:
tTrack *track;
tCarElt *car;
tTrackOwnPit *mypit; // Pointer to my pit.
tTrackPitInfo *pitinfo; // General pit info.
Spline *pitspline; // Spline.
Spline *dtspline; // Spline.
enum { PITPOINTS = 9, DTPOINTS = 4 };
SplinePoint pp[PITPOINTS]; // Spline points.
SplinePoint dtp[DTPOINTS]; // Spline points.
bool pitstop; // Pitstop planned.
bool usepitmaxspeed;
bool inpitexit;
bool inpitlane; // We are still in the pit lane.
float pitentry; // Distance to start line of the pit entry.
float pitend; // Distance to start line of the pit entry.
float pitexit; // Distance to the start line of the pit exit.
float pitstopentry;
float pitstopexit;
float pitmaxspeedoffset;
float pitmaxspeed;
Spline *pitspline; // Spline.
Spline *dtspline; // Spline.
float pittransoffset;
bool hastransoffset;
bool pitstop; // Pitstop planned.
bool usepitmaxspeed;
bool inpitexit;
bool inpitlane; // We are still in the pit lane.
float pitentry; // Distance to start line of the pit entry.
float pitend; // Distance to start line of the pit entry.
float pitexit; // Distance to the start line of the pit exit.
float pitstopentry;
float pitstopexit;
float pitmaxspeedoffset;
float pitmaxspeed;
float speedlimitsqr; // Pit speed limit squared.
float speedlimit; // Pit speed limit.
float pitspeedlimitsqr; // The original speedlimit squared.
float pitstartextralength;
float pittransoffset;
bool hastransoffset;
float pittimer; // Timer for pit timeouts.
float speedlimitsqr; // Pit speed limit squared.
float speedlimit; // Pit speed limit.
float pitspeedlimitsqr; // The original speedlimit squared.
float pitstartextralength;
static const float SPEED_LIMIT_MARGIN;
float pittimer; // Timer for pit timeouts.
static const float SPEED_LIMIT_MARGIN;
};
#endif // _PIT_H_

17
src/drivers/usr/src/spline.cpp
View file

@ -35,14 +35,21 @@ float Spline::evaluate(float z)
// Binary search for interval.
a = 0; b = dim - 1;
do {
do
{
i = (a + b) / 2;
if (s[i].x <= z) {
if (s[i].x <= z)
{
a = i;
} else {
}
else
{
b = i;
}
} while ((a + 1) < b);
}
while ((a + 1) < b);
// Evaluate.
i = a;
@ -53,6 +60,6 @@ float Spline::evaluate(float z)
a2 = a1 - h*s[i].s;
a3 = h * s[i+1].s - a1;
a3 -= a2;
return a0 + (a1 + (a2 + a3*t) * (t-1))*t;
}

27
src/drivers/usr/src/spline.h
View file

@ -20,24 +20,25 @@
#ifndef _SPLINE_H_
#define _SPLINE_H_
class SplinePoint {
public:
float x; // x coordinate.
float y; // y coordinate.
float s; // slope.
class SplinePoint
{
public:
float x; // x coordinate.
float y; // y coordinate.
float s; // slope.
};
class Spline {
public:
Spline(int dim, SplinePoint *s);
class Spline
{
public:
Spline(int dim, SplinePoint *s);
float evaluate(float z);
float evaluate(float z);
private:
SplinePoint *s;
int dim;
private:
SplinePoint *s;
int dim;
};
#endif // _SPLINE_H_