Update shadow's driver
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6680 30fe4595-0a0c-4342-8851-515496e4dcbd Former-commit-id: 8490e7825f5296f16a182f1964e7ee4fb63afe9b Former-commit-id: 2dd6c43f41c904e26658b6d175dd9545ed86d9ff
This commit is contained in:
torcs-ng
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3b1b16cbcb
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9dda55e873
6 changed files with 120 additions and 78 deletions
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@ -156,8 +156,7 @@ double CarModel::CalcMaxSpeed(double k, double k1, double kz, double kFriction,
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LogSHADOW.debug("MU = %.f\n", Mu);
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}
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Den = (AbsCrv - ScaleBump * kz) - (CA_FW * MuF + CA_RW * MuR
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+ CA_GE_F * MuF + CA_GE_R * MuR) / MASS;
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Den = (AbsCrv - ScaleBump * kz) - (CA_FW * MuF + CA_RW * MuR + CA_GE_F * MuF + CA_GE_R * MuR) / MASS;
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if (Den < 0.00001)
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Den = 0.00001;
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@ -329,7 +328,7 @@ double CarModel::CalcAcceleration(double k0, double kz0, double k1, double kz1,
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// 3m/ss @ 60m/s
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// 1m/ss @ 75m/s
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// 0m/ss @ 85m/s
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//Quadratic accFromSpd(0.001852, -0.35, 17.7); // approx. clkdtm
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//Quadratic accFromSpd(0.001852, -0.35, 17.7); // approx. clkdtm
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Quadratic accFromSpd(21.0/5400, -43.0/60, 30); // approx. clkdtm
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double OldV = 0.0;
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// Power (kW) = Torque (Nm) x Speed (RPM) / 9.5488
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@ -348,8 +347,8 @@ double CarModel::CalcAcceleration(double k0, double kz0, double k1, double kz1,
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if( Flatroad > Froad )
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Flatroad = Froad;
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double Ftanroad = sqrt(Froad * Froad - Flatroad * Flatroad) + Ftan;
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double Ftanroad = sqrt(Froad * Froad - Flatroad * Flatroad) + Ftan;
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double acc = Ftanroad / M;
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double maxAcc = MIN(11.5, accFromSpd.CalcY(avgV));
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@ -398,6 +397,7 @@ double CarModel::CalcMaxLateralF( double spd, double kFriction, double kz ) cons
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double CarModel::CalcMaxSpeedCrv() const
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{
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const double MAX_SPD = 112; // 400 km/h
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return GRAVITY * TYRE_MU / (MAX_SPD * MAX_SPD);
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}
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@ -488,4 +488,4 @@ void CarModel::CalcSimuSpeedRanges( double spd0, double dist, double kFriction,
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// t = dist / spd0;
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double turnT = dist / spd0;
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maxDY = 0.5 * max_acc * turnT * turnT;
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}
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}
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@ -76,7 +76,7 @@ public:
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double lftOH;
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double rgtOH;
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double AVOID_KZ_SCALE; // bump sensitivity.
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double WIDTH; // width of car (m).
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double WIDTH; // width of car (m).
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double BRAKE_FACTOR; // higher number = slower braking
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double CT_FACTOR;
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@ -85,4 +85,4 @@ public:
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double TYRECONDITIONREAR;
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};
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#endif
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#endif
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@ -1318,36 +1318,54 @@ void TDriver::SpeedControl1( double targetSpd, double spd0, double& acc, double&
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void TDriver::SpeedControl2( double targetSpd, double spd0, double& acc, double& brk )
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{
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if( m_lastBrk && m_lastTargV )
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{
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if( m_lastBrk > 0 )
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{
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double err = m_lastTargV - spd0;
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m_accBrkCoeff.Sample( err, m_lastBrk );
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}
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m_lastBrk = 0;
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m_lastTargV = 0;
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}
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if (m_lastBrk && m_lastTargV)
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{
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if (m_lastBrk > 0)//|| (car->ctrl.accelCmd == -m_lastBrk) )
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{
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double err = m_lastTargV - spd0;
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m_accBrkCoeff.Sample(err, m_lastBrk);
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// GfOut( "accbrk sample %g -> %g\n", err, m_lastBrk );
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}
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m_lastBrk = 0;
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m_lastTargV = 0;
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}
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if( spd0 > targetSpd )
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{
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{
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double MAX_BRK = 0.5;
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double err = spd0 - targetSpd;
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brk = MX(0, MN(m_accBrkCoeff.CalcY(err), MAX_BRK));
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acc = 0;
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if (spd0 > targetSpd)
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// if( targetSpd < 100 )
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{
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// if( spd0 - 1 > targetSpd )
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{
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double MAX_BRK = 0.9;
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// double MAX_BRK = 0.75;
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double err = spd0 - targetSpd;
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brk = MX(0, MN(m_accBrkCoeff.CalcY(err), MAX_BRK));
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// GfOut( "accbrk calcy %g -> %g\n", err, t );
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acc = 0;
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m_lastBrk = brk;
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m_lastTargV = 0;
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m_lastBrk = brk;
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m_lastTargV = 0;
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if( brk > 0 )
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{
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if( targetSpd > 0 )
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m_lastTargV = spd0;
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}
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if (brk > 0)
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{
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if (targetSpd > 0)
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m_lastTargV = spd0;
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}
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}
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}
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// GfOut( "*** brake *** spd0 %g targ %g brk %g acc %g\n",
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// spd0, targetSpd, brk, acc );
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}
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// else
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// acc = MN(acc, 0.1);
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}
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#if 1
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else
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{
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double x = (0 + spd0) * (targetSpd - spd0) / 200;
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if (x > 0)
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acc = x;
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}
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#endif
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}
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void TDriver::SpeedControl3( double targetSpd, double spd0, double& acc, double& brk )
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@ -1546,15 +1564,38 @@ void TDriver::Drive( tSituation* s )
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PtInfo pi, aheadPi;
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double angle = 0.0;
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#if 1
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/*if (m_Strategy->WantToPit())
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angle = SteerAngle2(car, pi, aheadPi);
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else*/
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{
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int steerControl = ((MN(car->_trkPos.toLeft, car->_trkPos.toRight) < 0.0 && car->_speed_x < MN(20.0f, m_lastTargV - 10.0f)) ? STEERCONTROL_RECOVERY : STEERCONTROL);
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switch (steerControl)
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{
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case 0:
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angle = SteerAngle0(car, pi, aheadPi); break;
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case 1:
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angle = SteerAngle1(car, pi, aheadPi); break;
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case 2:
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angle = SteerAngle2(car, pi, aheadPi); break;
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case 3:
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angle = SteerAngle3(car, pi, aheadPi); break;
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case 4:
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angle = SteerAngle4(car, pi, aheadPi); break;
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}
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}
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#else
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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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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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#endif
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double steer = angle / car->_steerLock;
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@ -183,35 +183,35 @@ public:
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TDriver(int index); // Constructor
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~TDriver(); // Destructor
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void InitTrack(tTrack* track, void* carHandle, void** carParmHandle, tSituation* s);
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void NewRace(tCarElt* car, tSituation* s );
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void InitTrack(tTrack* track, void* carHandle, void** carParmHandle, tSituation* s);
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void NewRace(tCarElt* car, tSituation* s );
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void GetPtInfo( int path, double pos, PtInfo& pi ) const;
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void GetPosInfo( double pos, PtInfo& pi, double u, double v ) const;
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void GetPosInfo( double pos, PtInfo& pi ) const;
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void GetPtInfo( int path, double pos, PtInfo& pi ) const;
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void GetPosInfo( double pos, PtInfo& pi, double u, double v ) const;
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void GetPosInfo( double pos, PtInfo& pi ) const;
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double CalcPathTarget( double pos, double offs, double s ) const;
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double CalcPathTarget( double pos, double offs ) const;
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Vec2d CalcPathTarget2( double pos, double offs ) const;
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Vec2d CalcPathTarget2( double pos, double offs ) const;
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double CalcPathOffset( double pos, double s, double t ) const;
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void CalcBestPathUV( double pos, double offs, double& u, double& v ) const;
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void CalcBestPathUV( double pos, double offs, double& u, double& v ) const;
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double CalcBestSpeed( double pos, double offs ) const;
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void GetPathToLeftAndRight( const CarElt* pCar, double& toL, double& toR ) const;
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void GetPathToLeftAndRight( const CarElt* pCar, double& toL, double& toR ) const;
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double filterTCL(double accel);
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double filterTrk(double accel);
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double filterAccel(double Accel);
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double filterTCL(double accel);
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double filterTrk(double accel);
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double filterAccel(double Accel);
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void initCa();
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void initCa();
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//void initCa_MPA1();
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//void initCa_MPA11();
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void initCw();
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void initCR();
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void initCw();
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void initCR();
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void initDriveTrain();
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void initWheelRadius();
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void initTireMu();
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void initWheelPos();
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void initBrake();
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void initDriveTrain();
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void initWheelRadius();
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void initTireMu();
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void initWheelPos();
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void initBrake();
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double SteerAngle0( tCarElt* car, PtInfo& pi, PtInfo& aheadPi );
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double SteerAngle1( tCarElt* car, PtInfo& pi, PtInfo& aheadPi );
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@ -219,21 +219,21 @@ public:
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double SteerAngle3( tCarElt* car, PtInfo& pi, PtInfo& aheadPi );
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double SteerAngle4( tCarElt* car, PtInfo& pi, PtInfo& aheadPi );
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void SpeedControl0( double targetSpd, double spd0, double& acc, double& brk );
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void SpeedControl1( double targetSpd, double spd0, double& acc, double& brk );
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void SpeedControl2( double targetSpd, double spd0, double& acc, double& brk );
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void SpeedControl3( double targetSpd, double spd0, double& acc, double& brk );
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void SpeedControl4( double targetSpd, double spd0, CarElt* car, double& acc, double& brk );
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void SpeedControl5(double targetSpd, double spd0, CarElt* car, double& acc, double& brk );
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void SpeedControl6(double targetSpd, double spd0, CarElt* car, double& acc, double& brk );
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void SpeedControl( int which, double targetSpd, double spd0, CarElt* car, double& acc, double& brk );
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void SpeedControl0( double targetSpd, double spd0, double& acc, double& brk );
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void SpeedControl1( double targetSpd, double spd0, double& acc, double& brk );
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void SpeedControl2( double targetSpd, double spd0, double& acc, double& brk );
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void SpeedControl3( double targetSpd, double spd0, double& acc, double& brk );
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void SpeedControl4( double targetSpd, double spd0, CarElt* car, double& acc, double& brk );
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void SpeedControl5(double targetSpd, double spd0, CarElt* car, double& acc, double& brk );
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void SpeedControl6(double targetSpd, double spd0, CarElt* car, double& acc, double& brk );
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void SpeedControl( int which, double targetSpd, double spd0, CarElt* car, double& acc, double& brk );
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void Drive(tSituation* s );
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int PitCmd(tSituation* s );
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void EndRace(tSituation* s );
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void Shutdown();
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void Drive(tSituation* s );
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int PitCmd(tSituation* s );
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void EndRace(tSituation* s );
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void Shutdown();
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double CurrSimTime; // Current simulation time
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double CurrSimTime; // Current simulation time
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double Frc; // Friction coefficient
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//bool UseBrakeLimit; // Enable/disable brakelimit
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@ -470,15 +470,15 @@ private:
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PidController m_speedController; // controller for speed.
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double m_prevYawError;
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double m_prevLineError;
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double m_Jumping; // Car is jumping
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double m_JumpOffset; // Offset for calculation of jumps
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bool m_FirstJump;
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int m_Flying; // Flag prepare landing
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double m_Jumping; // Car is jumping
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double m_JumpOffset; // Offset for calculation of jumps
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bool m_FirstJump;
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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; // info about other cars.
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double m_avgAY;
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bool m_raceStart;
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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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double m_avoidSVel;
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double m_avoidT; // where we are L->R (-1..1).
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@ -495,7 +495,7 @@ private:
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int m_lastB;
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double m_lastBrk;
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double m_lastTargV;
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double m_maxbrkPressRatio;
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double m_maxbrkPressRatio;
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LearnedGraph m_maxAccel;
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double m_angle[SPD_N][K_N];
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@ -55,6 +55,7 @@ SimpleStrategy::SimpleStrategy()
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m_expectedfuelperlap = 0; // [Kg] Expected fuel per lap
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TrackLength = 0;
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RaceDistance = 0;
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m_timeOfPitExit = -30;
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}
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@ -521,7 +522,4 @@ double SimpleStrategy::getRefuel2(int laps)
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double refuelforrace = laps * avgFuelPerLap;
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return refuelforrace;
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}
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}
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@ -57,6 +57,7 @@ protected:
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PIT_EXIT,
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PIT_GONE
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};
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int m_State; // Current pitting state
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bool m_GoToPit; // Pit stop needed
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@ -65,7 +66,7 @@ protected:
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public:
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AbstractStrategy()
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:m_State(PIT_NONE), m_GoToPit(false), Car(NULL), Track(NULL), pitPath(NULL), Driver(NULL), DistToSwitch(100), StartFuel(-1){};
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:m_State(PIT_NONE), m_GoToPit(false), Car(NULL), Track(NULL), pitPath(NULL), Driver(NULL), DistToSwitch(100), StartFuel(-1) {};
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// Need this empty constructor... do not remove.
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virtual ~AbstractStrategy() {}
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// Set Initial fuel at race start.
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@ -116,6 +117,7 @@ public:
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int pitRepair(tCarElt* car, tSituation *s);
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bool isPitFree(tCarElt* car);
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int pitStopPenalty() { return m_stopPenalty; }
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double TimeSincePit(double simtime) { return simtime - m_timeOfPitExit; }
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protected:
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bool test_Pitstop;
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@ -145,6 +147,7 @@ protected:
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float calcFuel(double totalFuel);
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double getRefuel1(int laps); // How much fuel it takes to reach the finish line.
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double getRefuel2(int laps);
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double m_timeOfPitExit;
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float MAX_FUEL_PER_METER; // max fuel consumtion.
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double MAX_FUEL_TANK; // max fuel for this car(fuel tank capacity).
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