speed-dreams/speed-dreams-code
6
0
Fork 1
Code Issues 8 Pull requests Projects Releases Packages Wiki Activity Actions

Adjusted Asr for surface friction

Browse source 
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@3544 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 54f47b96a6bf26df69bb89f0b38cca56f33a87b0
Former-commit-id: e4dc4560ff6b78dac89be56dcb802733f914e1bf
This commit is contained in:
andrewsumner 2011-05-03 23:58:43 +00:00
parent 965074bcef
commit 8c4132c6f7
1 changed files with 6 additions and 35 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

41
src/drivers/human/human.cpp
View file

@ -981,37 +981,6 @@ common_drive(const int index, tCarElt* car, tSituation *s)
if (HCtx[idx]->paramAsr)
{
tdble origaccel = car->_accelCmd;
#if 0
tdble trackangle = RtTrackSideTgAngleL(&(car->_trkPos));
tdble angle = trackangle - car->_yaw;
NORM_PI_PI(angle);
tdble maxaccel = 0.0;
if (car->_trkPos.seg->type == TR_STR)
maxaccel = MIN(car->_accelCmd, 0.2);
else if (car->_trkPos.seg->type == TR_LFT && angle < 0.0)
maxaccel = MIN(car->_accelCmd, MIN(0.6, -angle));
else if (car->_trkPos.seg->type == TR_RGT && angle > 0.0)
maxaccel = MIN(car->_accelCmd, MIN(0.6, angle));
tdble skidAng = atan2(car->_speed_Y, car->_speed_X) - car->_yaw;
NORM_PI_PI(skidAng);
if (car->_speed_x > 5 && fabs(skidAng) > 0.2)
{
car->_accelCmd = MIN(car->_accelCmd, 0.15 + 0.70 * cos(skidAng));
car->_accelCmd = MAX(car->_accelCmd, maxaccel);
}
#endif
#if 0
tdble steer = MIN(fabs(car->_steerCmd), fabs(car->_steerCmd+car->_yaw_rate/3));
if (steer > 0.1 && fabs(car->_speed_x) > 7.0)
{
tdble decel = ((steer-0.1) * (1.0 + steer) * 0.8);
car->_accelCmd = MIN(car->_accelCmd, MAX(0.35, 1.0 - decel));
}
#endif
tdble drivespeed = 0.0;
switch (HCtx[idx]->driveTrain)
@ -1041,18 +1010,20 @@ common_drive(const int index, tCarElt* car, tSituation *s)
// is steering against the yaw rate, we decrease the amount of acceleration to stop
// tirespin sending the rear wheels into a spinout.
tdble friction = MIN(car->_wheelSeg(REAR_RGT)->surface->kFriction, car->_wheelSeg(REAR_LFT)->surface->kFriction) - 0.2;
if (friction < 1.0) friction *= MAX(0.6, friction);
bool steer_correct = (fabs(car->_yaw_rate) > fabs(car->_steerCmd) ||
(car->_yaw_rate < 0.0 && car->_steerCmd > 0.0) ||
(car->_yaw_rate > 0.0 && car->_steerCmd < 0.0));
tdble steer_diff = fabs(car->_yaw_rate - car->_steerCmd);
drivespeed = (((car->_wheelSpinVel(REAR_RGT) + car->_wheelSpinVel(REAR_LFT)) - 30) *
drivespeed = (((car->_wheelSpinVel(REAR_RGT) + car->_wheelSpinVel(REAR_LFT)) - (20 * friction)) *
car->_wheelRadius(REAR_LFT) +
(steer_correct ? (steer_diff * fabs(car->_yaw_rate) * 12) : 0.0) +
(steer_correct ? (steer_diff * fabs(car->_yaw_rate) * (8 / friction)) : 0.0) +
-(car->_wheelSlipAccel(REAR_RGT)) +
-(car->_wheelSlipAccel(REAR_LFT)) +
fabs(car->_wheelSlipSide(REAR_RGT) * MAX(4, 80-fabs(car->_speed_x))/8) +
fabs(car->_wheelSlipSide(REAR_LFT) * MAX(4, 80-fabs(car->_speed_x))/8))
fabs(car->_wheelSlipSide(REAR_RGT) * MAX(4, 80-fabs(car->_speed_x))/(8 * friction)) +
fabs(car->_wheelSlipSide(REAR_LFT) * MAX(4, 80-fabs(car->_speed_x))/(8 * friction)))
/ 2.0;
break;
}