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

src/drivers/shadow/src/CarModel.cpp

@@ -156,8 +156,7 @@ double	CarModel::CalcMaxSpeed(double k, double k1, double kz, double kFriction,
         LogSHADOW.debug("MU = %.f\n", Mu);
     }
 
-    Den = (AbsCrv - ScaleBump * kz) - (CA_FW * MuF + CA_RW * MuR
+    Den = (AbsCrv - ScaleBump * kz) - (CA_FW * MuF + CA_RW * MuR + CA_GE_F * MuF + CA_GE_R * MuR) / MASS;
-      + CA_GE_F * MuF + CA_GE_R * MuR) / MASS;
 
     if (Den < 0.00001)
      Den = 0.00001;
@@ -348,8 +347,8 @@ double	CarModel::CalcAcceleration(double k0, double kz0, double k1, double kz1,
 
         if( Flatroad > Froad )
             Flatroad = Froad;
-        double	Ftanroad = sqrt(Froad * Froad - Flatroad * Flatroad) + Ftan;
 
+        double	Ftanroad = sqrt(Froad * Froad - Flatroad * Flatroad) + Ftan;
         double	acc = Ftanroad / M;
         double	maxAcc = MIN(11.5, accFromSpd.CalcY(avgV));
 
@@ -398,6 +397,7 @@ double	CarModel::CalcMaxLateralF( double spd, double kFriction, double kz ) cons
 double CarModel::CalcMaxSpeedCrv() const
 {
   const double MAX_SPD = 112; // 400 km/h
+
   return GRAVITY * TYRE_MU / (MAX_SPD * MAX_SPD);
 }
 

src/drivers/shadow/src/Driver.cpp

@@ -1320,21 +1320,26 @@ void TDriver::SpeedControl2( double targetSpd, double spd0, double& acc, double&
 {
 	if (m_lastBrk && m_lastTargV)
 	{
-        if( m_lastBrk > 0 )
+		if (m_lastBrk > 0)//|| (car->ctrl.accelCmd == -m_lastBrk) )
 		{
 			double	err = m_lastTargV - spd0;
 			m_accBrkCoeff.Sample(err, m_lastBrk);
+			//			GfOut( "accbrk sample %g -> %g\n", err, m_lastBrk );
 		}
 		m_lastBrk = 0;
 		m_lastTargV = 0;
 	}
 
 	if (spd0 > targetSpd)
+		//	if( targetSpd < 100 )
 	{
+		//		if( spd0 - 1 > targetSpd )
 		{
-            double	MAX_BRK = 0.5;
+			double	MAX_BRK = 0.9;
+			//			double	MAX_BRK = 0.75;
 			double	err = spd0 - targetSpd;
 			brk = MX(0, MN(m_accBrkCoeff.CalcY(err), MAX_BRK));
+			//			GfOut( "accbrk calcy  %g -> %g\n", err, t );
 			acc = 0;
 
 			m_lastBrk = brk;
@@ -1346,8 +1351,21 @@ void TDriver::SpeedControl2( double targetSpd, double spd0, double& acc, double&
 					m_lastTargV = spd0;
 			}
 
+			//			GfOut( "*** brake ***  spd0 %g   targ %g  brk %g   acc %g\n",
+			//					spd0, targetSpd, brk, acc );
 		}
+		//		else
+		//			acc = MN(acc, 0.1);
 	}
+#if 1
+	else
+	{
+		double x = (0 + spd0) * (targetSpd - spd0) / 200;
+
+		if (x > 0)
+			acc = x;
+	}
+#endif
 }
 
 void TDriver::SpeedControl3( double	targetSpd, double spd0, double&	acc, double& brk )
@@ -1546,6 +1564,28 @@ void TDriver::Drive( tSituation* s )
     PtInfo	pi, aheadPi;
     double angle = 0.0;
 
+#if 1
+	/*if (m_Strategy->WantToPit())
+		angle = SteerAngle2(car, pi, aheadPi);
+	else*/
+	{
+		int steerControl = ((MN(car->_trkPos.toLeft, car->_trkPos.toRight) < 0.0 && car->_speed_x < MN(20.0f, m_lastTargV - 10.0f)) ? STEERCONTROL_RECOVERY : STEERCONTROL);
+
+		switch (steerControl) 
+		{
+		case 0:
+			angle = SteerAngle0(car, pi, aheadPi); break;
+		case 1:
+			angle = SteerAngle1(car, pi, aheadPi); break;
+		case 2:
+			angle = SteerAngle2(car, pi, aheadPi); break;
+		case 3:
+			angle = SteerAngle3(car, pi, aheadPi); break;
+		case 4:
+			angle = SteerAngle4(car, pi, aheadPi); break;
+		}
+	}
+#else
     switch (STEER_CTRL)
     {
     case 0:		angle = SteerAngle0(car, pi, aheadPi);		break;
@@ -1555,6 +1595,7 @@ void TDriver::Drive( tSituation* s )
     case 4:		angle = SteerAngle4(car, pi, aheadPi);      break;
     default:    angle = SteerAngle0(car, pi, aheadPi);		break;
     }
+#endif
 
     double	steer = angle / car->_steerLock;
 

src/drivers/shadow/src/Strategy.cpp

@@ -55,6 +55,7 @@ SimpleStrategy::SimpleStrategy()
     m_expectedfuelperlap = 0;           // [Kg] Expected fuel per lap
     TrackLength = 0;
     RaceDistance = 0;
+	m_timeOfPitExit = -30;
 }
 
 
@@ -522,6 +523,3 @@ double SimpleStrategy::getRefuel2(int laps)
 
     return refuelforrace;
 }
-
-
-

src/drivers/shadow/src/Strategy.h

@@ -57,6 +57,7 @@ protected:
         PIT_EXIT,
         PIT_GONE
     };
+
     int     m_State;		                           // Current pitting state
     bool    m_GoToPit;                               // Pit stop needed
 
@@ -116,6 +117,7 @@ public:
     int     pitRepair(tCarElt* car, tSituation *s);
     bool    isPitFree(tCarElt* car);
     int     pitStopPenalty() { return m_stopPenalty; }
+	double  TimeSincePit(double simtime) { return simtime - m_timeOfPitExit; }
 
 protected:
     bool test_Pitstop;
@@ -145,6 +147,7 @@ protected:
     float calcFuel(double totalFuel);
     double getRefuel1(int laps);		// How much fuel it takes to reach the finish line.
     double getRefuel2(int laps);
+	double m_timeOfPitExit;
 
     float MAX_FUEL_PER_METER;           // max fuel consumtion.
     double MAX_FUEL_TANK;               // max fuel for this car(fuel tank capacity).