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

Human driver - Abs improved

Browse source 
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@1035 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 102c11c65e4463cf5c776fa07d116c574635272a
Former-commit-id: 41399493a37c586e51156b9988af4cddb42b78c3
This commit is contained in:
andrewsumner 2009-07-01 23:43:58 +00:00
parent dea6460a14
commit 9e71d62be0
1 changed files with 8 additions and 5 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

13
src/drivers/human/human.cpp
View file

@ -925,8 +925,9 @@ static void common_drive(int index, tCarElt* car, tSituation *s)
if (HCtx[idx]->ParamAbs)
{
if (fabs(car->_speed_x) > 10.0)
if (fabs(car->_speed_x) > 10.0 && car->_brakeCmd > 0.0)
{
tdble brake1 = car->_brakeCmd, brake2 = car->_brakeCmd, brake3 = car->_brakeCmd;
tdble rearskid = MAX(0.0, MAX(car->_skid[2], car->_skid[3]) - MAX(car->_skid[0], car->_skid[1]));
int i;
@ -935,13 +936,13 @@ static void common_drive(int index, tCarElt* car, tSituation *s)
NORM_PI_PI(skidAng);
if (car->_speed_x > 5 && fabs(skidAng) > 0.2)
car->_brakeCmd = MIN(car->_brakeCmd, 0.10 + 0.70 * cos(skidAng));
brake1 = MIN(car->_brakeCmd, 0.10 + 0.70 * cos(skidAng));
// reduce brake if car steering sharply
if (fabs(car->_steerCmd) > 0.1)
{
tdble decel = ((fabs(car->_steerCmd)-0.1) * (1.0 + fabs(car->_steerCmd)) * 0.4);
car->_brakeCmd = MIN(car->_brakeCmd, MAX(0.35, 1.0 - decel));
tdble decel = ((fabs(car->_steerCmd)-0.1) * (1.0 + fabs(car->_steerCmd)) * 0.2);
brake2 = MIN(car->_brakeCmd, MAX(0.35, 1.0 - decel));
}
const tdble abs_slip = 1.0;
@ -955,7 +956,9 @@ static void common_drive(int index, tCarElt* car, tSituation *s)
slip = car->_speed_x - slip/4.0f;
if (slip > abs_slip)
car->_brakeCmd = MAX(MIN(0.35, car->_brakeCmd), car->_brakeCmd - MIN(car->_brakeCmd*0.8, (slip - abs_slip) / abs_range));
brake3 = MAX(MIN(0.35, car->_brakeCmd), car->_brakeCmd - MIN(car->_brakeCmd*0.8, (slip - abs_slip) / abs_range) * 0.7);
car->_brakeCmd = MIN(brake1, MIN(brake2, brake3));
}
}