Remove compiler warnings
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@1578 30fe4595-0a0c-4342-8851-515496e4dcbd Former-commit-id: 6079371160f293aebaf00908a3dc6247c5bb62c5 Former-commit-id: d3aabbfb8efd051555edf6269499270141861903
This commit is contained in:
martkelder
parent
4de85ccaca
commit
a579d5f336
32 changed files with 286 additions and 277 deletions
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@ -81,10 +81,10 @@
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//--------------------------------------------------------------------------*
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int TDriver::NBBOTS = MAX_NBBOTS; // Nbr of drivers/robots
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double TDriver::CurrSimTime = 0; // Current simulation time
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char* TDriver::MyBotName = "simplix"; // Name of this bot
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char* TDriver::ROBOT_DIR = "drivers/simplix"; // Sub path to dll
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char* TDriver::SECT_PRIV = "simplix private"; // Private section
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char* TDriver::DEFAULTCARTYPE = "car1-trb1"; // Default car type
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char const* TDriver::MyBotName = "simplix"; // Name of this bot
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char const* TDriver::ROBOT_DIR = "drivers/simplix"; // Sub path to dll
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char const* TDriver::SECT_PRIV = "simplix private"; // Private section
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char const* TDriver::DEFAULTCARTYPE = "car1-trb1"; // Default car type
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bool TDriver::AdvancedParameters = false; // Advanced parameters
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bool TDriver::UseOldSkilling = false; // Use old skilling
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bool TDriver::UseSCSkilling = false; // Use supercar skilling
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@ -97,10 +97,10 @@ float TDriver::SpeedLimitScale = 25; // Speed limit scale
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double TDriver::LengthMargin; // safety margin long.
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bool TDriver::Qualification; // Global flag
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static char *WheelSect[4] = // TORCS defined sections
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static char const *WheelSect[4] = // TORCS defined sections
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{SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
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static double (TDriver::*CalcCrv)(double Crv);
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//static double (TDriver::*CalcCrv)(double Crv);
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//static double cTimeSum[7] = {0,0,0,0,0,0,0};
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//==========================================================================*
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@ -431,11 +431,11 @@ void TDriver::InitTrack
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oSkillGlobal = oSkill = oDecelAdjustPerc = oDriverAggression = 0.0;
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// Initialize race type array
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char* RaceType[] =
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char const* RaceType[] =
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{"practice", "qualify", "race"};
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// Initialize the base param path
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char* BaseParamPath = TDriver::ROBOT_DIR;
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char const* BaseParamPath = TDriver::ROBOT_DIR;
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char* PathFilename = PathFilenameBuffer;
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// Global skilling from Andrew Sumner ...
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@ -490,7 +490,7 @@ void TDriver::InitTrack
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}
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// Get individual skilling
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int SkillEnabled = 0;
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//int SkillEnabled = 0;
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snprintf(PathFilenameBuffer,BUFLEN,"%s/%d/skill.xml",
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BaseParamPath,oIndex);
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GfOut("#PathFilename: %s\n", PathFilenameBuffer); // itself
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@ -1075,7 +1075,7 @@ void TDriver::Drive()
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oAccel = 1.0; // Assume full throttle
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oBrake = 0.0; // Assume no braking
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double StartTimeStamp = RtTimeStamp();
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//double StartTimeStamp = RtTimeStamp();
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double Pos = oTrackDesc.CalcPos(oCar); // Get current pos on track
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@ -387,10 +387,10 @@ private:
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static int NBBOTS; // Nbr of cars
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static double CurrSimTime; // Current simulation time
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static char* MyBotName; // Name of this bot
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static char* ROBOT_DIR; // Sub path to dll
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static char* SECT_PRIV; // Private section
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static char* DEFAULTCARTYPE; // Default car type
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static char const* MyBotName; // Name of this bot
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static char const* ROBOT_DIR; // Sub path to dll
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static char const* SECT_PRIV; // Private section
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static char const* DEFAULTCARTYPE; // Default car type
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static bool AdvancedParameters;
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static bool UseOldSkilling;
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@ -380,7 +380,7 @@ double TFixCarParam::CalcMaxSpeed
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if (oStrategy->OutOfPitlane())
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factor *= 1.0 - MAX(0.0,TDriver::SpeedLimitScale * (AbsCrv - TDriver::SpeedLimitBase));
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}
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/**/
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*//**/
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double Den;
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double ScaleBump;
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@ -107,7 +107,7 @@ static const int MAXNBBOTS = MAX_NBBOTS; // Number of drivers/robots
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static const int BUFSIZE = 256;
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// Default driver names
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static char* defaultBotName[MAXNBBOTS] = {
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static char const* defaultBotName[MAXNBBOTS] = {
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"driver 1", "driver 2", "driver 3", "driver 4", "driver 5",
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"driver 6", "driver 7", "driver 8", "driver 9", "driver 10",
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"driver 11", "driver 12", "driver 13", "driver 14", "driver 15",
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@ -115,7 +115,7 @@ static char* defaultBotName[MAXNBBOTS] = {
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};
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// Default driver descriptions
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static char* defaultBotDesc[MAXNBBOTS] = {
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static char const* defaultBotDesc[MAXNBBOTS] = {
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"driver 1", "driver 2", "driver 3", "driver 4", "driver 5",
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"driver 6", "driver 7", "driver 8", "driver 9", "driver 10",
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"driver 11", "driver 12", "driver 13", "driver 14", "driver 15",
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@ -161,7 +161,7 @@ char undefined[] = "undefined";
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// Robot of this modul
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// Roboter des Moduls
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//--------------------------------------------------------------------------*
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static char** BotDesc = defaultBotDesc;
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static char const** BotDesc = defaultBotDesc;
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static TDriver *cRobot[MAXNBBOTS];
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static TCommonData gCommonData;
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@ -211,7 +211,7 @@ void* GetFileHandle(const char* RobotName)
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//==========================================================================*
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// Set parameters
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//--------------------------------------------------------------------------*
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void SetParameters(int N, char* DefaultCarType)
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void SetParameters(int N, char const* DefaultCarType)
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{
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NBBOTS = N;
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TDriver::NBBOTS = N; // Used nbr of cars
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@ -485,7 +485,7 @@ bool TOpponent::Classify(
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double T =
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(fabs(OpState.CarDistLat) - OpState.MinDistLat) / fabs(OpState.CarDiffVelLat);
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double CollX = OpState.CarDiffVelLong * T - OpState.CarDistLong;
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//double CollX = OpState.CarDiffVelLong * T - OpState.CarDistLong;
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// if ((CollX > AheadDist)
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// && (CollX < OpState.MinDistLong))
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@ -301,8 +301,8 @@ void Driver::initTrack(tTrack* t, void *carHandle, void **carParmHandle, tSituat
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char carName[256];
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{
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char *path = SECT_GROBJECTS "/" LST_RANGES "/" "1";
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char *key = PRM_CAR;
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char const *path = SECT_GROBJECTS "/" LST_RANGES "/" "1";
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char const *key = PRM_CAR;
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strncpy( carName, GfParmGetStr(carHandle, path, key, ""), sizeof(carName) );
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char *p = strrchr(carName, '.');
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if (p) *p = '\0';
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@ -587,8 +587,8 @@ void Driver::newRace(tCarElt* car, tSituation *s)
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char carName[256];
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{
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char *path = SECT_GROBJECTS "/" LST_RANGES "/" "1";
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char *key = PRM_CAR;
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char const *path = SECT_GROBJECTS "/" LST_RANGES "/" "1";
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char const *key = PRM_CAR;
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strncpy( carName, GfParmGetStr(car->_carHandle, path, key, ""), sizeof(carName) );
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char *p = strrchr(carName, '.');
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if (p) *p = '\0';
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@ -1034,7 +1034,7 @@ float Driver::getAccel()
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if (pit->getInPit() && car->_brakeCmd == 0.0f)
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{
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float s = pit->toSplineCoord( car->_distFromStartLine );
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//float s = pit->toSplineCoord( car->_distFromStartLine );
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#if 0
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if (pit->needPitstop())
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@ -1376,7 +1376,7 @@ float Driver::getSteer(tSituation *s)
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bool yr_ok = (fabs(car->_yaw_rate) < 0.1 || (car->_yaw_rate > rldata->rInverse*100-0.1 && car->_yaw_rate < rldata->rInverse*100+0.1));
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bool angle_ok = (angle > rldata->rlangle-0.06 && angle < rldata->rlangle+0.06);
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double rlsteer = (fabs(rldata->rInverse) >= 0.004 ? rldata->rInverse * 12 : 0.0);
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//double rlsteer = (fabs(rldata->rInverse) >= 0.004 ? rldata->rInverse * 12 : 0.0);
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bool steer_ok = (racesteer<laststeer+0.05 && racesteer>laststeer-0.05);
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double skid = (car->_skid[0] + car->_skid[1] + car->_skid[2] + car->_skid[3]) / 2;
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@ -1543,7 +1543,7 @@ double Driver::calcSteer( double targetAngle, int rl )
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if (fabs(nextangle) > fabs(speedangle))
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{
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// steer into the skid
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double sa = MAX(-0.3, MIN(0.3, speedangle/3));
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//double sa = MAX(-0.3, MIN(0.3, speedangle/3));
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//double anglediff = (sa - angle) * (0.3 + fabs(angle)/6);
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double anglediff = (speedangle - nextangle) * (0.1 + fabs(nextangle)/6);
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steer += (float) (anglediff*SkidSteer);
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@ -1647,7 +1647,7 @@ float Driver::correctSteering( float avoidsteer, float racesteer )
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return avoidsteer;
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float steer = avoidsteer;
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float accel = MIN(0.0f, car->_accel_x);
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//float accel = MIN(0.0f, car->_accel_x);
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double speed = 50.0; //MAX(50.0, currentspeed);
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double changelimit = MIN(raceline->correctLimit(avoidsteer, racesteer), (((120.0-currentspeed)/6000) * (0.1 + fabs(rldata->mInverse/4)))) * SmoothSteer;
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@ -2023,7 +2023,7 @@ vec2f Driver::getTargetPoint(bool use_lookahead, double targetoffset)
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// all the BT code below is for steering into pits only.
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s.x = (seg->vertex[TR_SL].x + seg->vertex[TR_SR].x)/2;
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s.y = (seg->vertex[TR_SL].y + seg->vertex[TR_SR].y)/2;
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double dx, dy;
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//double dx, dy;
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vec2f t, rt;
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if ( seg->type == TR_STR) {
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@ -2059,9 +2059,9 @@ bool Driver::canOvertake( Opponent *o, double *mincatchdist, bool outside, bool
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if (!o) return false;
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#if 1
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int segid = car->_trkPos.seg->id;
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//int segid = car->_trkPos.seg->id;
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tCarElt *ocar = o->getCarPtr();
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int osegid = ocar->_trkPos.seg->id;
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//int osegid = ocar->_trkPos.seg->id;
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double otry_factor = (lenient ? (0.2 + MAX(0.0, 1.0 - ((simtime-frontavoidtime)/7.0)) * 0.8) : 1.0);
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double overtakecaution = MAX(0.0, rldata->overtakecaution + (outside ? MIN(0.0, car->_accel_x/8) : 0.0)) - driver_aggression/2;
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double orInv=0.0, oAspeed=0.0;
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@ -2166,7 +2166,7 @@ bool Driver::canOvertake( Opponent *o, double *mincatchdist, bool outside, bool
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float Driver::getOffset()
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{
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int i, avoidmovt = 0;
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double catchdist, mincatchdist = MAX(100.0, car->_speed_x * 5), mindist = -1000.0;
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double /*catchdist,*/ mincatchdist = MAX(100.0, car->_speed_x * 5), mindist = -1000.0;
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Opponent *o = NULL;
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double lane2left = rldata->lane * car->_trkPos.seg->width;
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double lane2right = car->_trkPos.seg->width-lane2left;
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@ -2179,7 +2179,7 @@ float Driver::getOffset()
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// Increment speed dependent.
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//double incspeed = MIN(40.0, MAX(30.0, currentspeed));
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//double incfactor = (MAX_INC_FACTOR*0.5 - MIN(incspeed/10, MAX_INC_FACTOR*0.5-0.5)) * 60 * IncFactor;
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double incspeed = MIN(60.0, MAX(40.0, currentspeed)) - 10.0;
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//double incspeed = MIN(60.0, MAX(40.0, currentspeed)) - 10.0;
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//double incfactor = (MAX_INC_FACTOR - MIN(fabs(incspeed)/MAX_INC_FACTOR, (MAX_INC_FACTOR - 1.0f))) * (10.0f + MAX(0.0, (CA-1.9)*10)) * IncFactor;
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double incfactor = (MAX_INC_FACTOR - MIN(40.0/MAX_INC_FACTOR, (MAX_INC_FACTOR - 1.0f))) * (10.0f + MAX(0.0, (CA-1.9)*10)) * IncFactor;
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@ -2204,7 +2204,7 @@ float Driver::getOffset()
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double moffset = car->_trkPos.toMiddle;
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double origoffset = moffset;
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//double origoffset = moffset;
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double Width = car->_trkPos.seg->width;
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#if 1
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@ -2235,8 +2235,8 @@ float Driver::getOffset()
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{
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// reduce amount we deviate from the raceline according to how long we've been avoiding, and also
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// how fast we're going.
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double dspeed = MAX(0.0, rldata->speed - currentspeed) * 4;
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double pspeed = MAX(1.0, 60.0 - (currentspeed - (30.0 + MAX(0.0, car->_accel_x) + dspeed))) / 10;
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//double dspeed = MAX(0.0, rldata->speed - currentspeed) * 4;
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//double pspeed = MAX(1.0, 60.0 - (currentspeed - (30.0 + MAX(0.0, car->_accel_x) + dspeed))) / 10;
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// instead of toMiddle just aiming at where the car currently is, we move it in the direction
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// the car's travelling ... but less so if the speedangle is different from the car's angle.
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@ -2524,13 +2524,13 @@ fprintf(stderr,"%s -> %s CANCEL 1 (%.1f > %.1f || %.1f < %.1f || %.3f > %.3f)\n"
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tCarElt *ocar = o->getCarPtr();
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// Compute the width around the middle which we can use for overtaking.
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float w = ocar->_trkPos.seg->width/WIDTHDIV-BORDER_OVERTAKE_MARGIN;
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//float w = ocar->_trkPos.seg->width/WIDTHDIV-BORDER_OVERTAKE_MARGIN;
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// Compute the opponents distance to the middle.
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float otm = ocar->_trkPos.toMiddle;
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//float otm = ocar->_trkPos.toMiddle;
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// Define the with of the middle range.
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float wm = ocar->_trkPos.seg->width*CENTERDIV;
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//float wm = ocar->_trkPos.seg->width*CENTERDIV;
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float sidedist = fabs(car->_trkPos.toMiddle-ocar->_trkPos.toMiddle);
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double sdist = (rInverse > 0.0 ? (-sidedist - 3.0) : (sidedist - 3.0));
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//double sdist = (rInverse > 0.0 ? (-sidedist - 3.0) : (sidedist - 3.0));
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//int avoidingside = (otm > wm && myoffset > -w) ? TR_RGT : ((otm < -wm && myoffset < w) ? TR_LFT : TR_STR);
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int avoidingside = (car->_trkPos.toLeft > ocar->_trkPos.toLeft ? TR_LFT : TR_RGT);
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@ -2878,7 +2878,7 @@ fprintf(stderr,"%s BEHIND %s (%d %d %d %d)\n",car->_name,ocar->_name,((o->getSta
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double factor = 0.25;//(fabs(car->_trkPos.toMiddle) < car->_trkPos.seg->width/2 + 2.0 ? 0.25 : 1.0);
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if (fabs(myoffset) > fabs(rldata->offset))
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{
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double inc = OVERTAKE_OFFSET_INC * MIN(lftinc, rgtinc) * factor;
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//double inc = OVERTAKE_OFFSET_INC * MIN(lftinc, rgtinc) * factor;
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if (myoffset < rldata->offset && myoffset < 2.0)
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myoffset += (float) (MIN(rldata->offset-myoffset, OVERTAKE_OFFSET_INC * rgtinc/3 * factor));
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else if (myoffset > rldata->offset && myoffset > 2.0)
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@ -3060,7 +3060,7 @@ void Driver::update(tSituation *s)
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for (int i=0; i<opponents->getNOpponents(); i++)
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{
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int idx = opponent[i].getIndex();
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//int idx = opponent[i].getIndex();
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if (opponent[i].getTeam() != TEAM_FRIEND) continue;
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if (opponent[i].getCarPtr() == car) continue;
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if (opponent[i].getCarPtr()->_state > RM_CAR_STATE_PIT)
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@ -3449,7 +3449,7 @@ void Driver::initWheelPos()
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{
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for (int i=0; i<4; i++)
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{
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char *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
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char const *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
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float rh = 0.0;
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rh = GfParmGetNum(car->_carHandle,WheelSect[i],PRM_RIDEHEIGHT,(char *)NULL, 0.10f);
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wheelz[i] = (-rh / 1.0 + car->info.wheel[i].wheelRadius) - 0.01;
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@ -3458,7 +3458,7 @@ void Driver::initWheelPos()
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void Driver::initCa()
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{
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char *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
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char const *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
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float rearwingarea = GfParmGetNum(car->_carHandle, SECT_REARWING, PRM_WINGAREA, (char*) NULL, 0.0f);
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float rearwingangle = GfParmGetNum(car->_carHandle, SECT_REARWING, PRM_WINGANGLE, (char*) NULL, 0.0f);
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float wingca = 1.23f*rearwingarea*sin(rearwingangle);
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@ -3486,7 +3486,7 @@ void Driver::initCw()
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// Init the friction coefficient of the the tires.
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void Driver::initTireMu()
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{
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char *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
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char const *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
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float tm = FLT_MAX;
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int i;
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@ -3616,7 +3616,7 @@ float Driver::filterABS(float brake)
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{
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if (car->_speed_x < ABS_MINSPEED) return brake;
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float origbrake = brake;
|
||||
float rearskid = MAX(0.0f, MAX(car->_skid[2], car->_skid[3]) - MAX(car->_skid[0], car->_skid[1]));
|
||||
//float rearskid = MAX(0.0f, MAX(car->_skid[2], car->_skid[3]) - MAX(car->_skid[0], car->_skid[1]));
|
||||
int i;
|
||||
float slip = 0.0f;
|
||||
for (i = 0; i < 4; i++) {
|
||||
|
|
|
|||
|
|
@ -214,15 +214,15 @@ fprintf(stderr," FRONTSLOW\n");
|
|||
double max = MAX(lane, MAX(mycar->_trkPos.seg->width-mycar->_dimension_y/2, driver->getNextLeft()));
|
||||
double min = MIN(lane, MIN(mycar->_dimension_y/2, driver->getNextLeft()));
|
||||
//double mleft = MIN(max, MAX(min, (mycar->_trkPos.toLeft+(driver->getNextLeft()-mycar->_trkPos.toLeft) * (t_impact*deltamult)))) - driver->getAngle();
|
||||
double mleft = MIN(max, MAX(min, (mycar->_trkPos.toLeft+(t_impact*driver->getSpeedAngle())) + driver->getAngle()));
|
||||
//double mleft = MIN(max, MAX(min, (mycar->_trkPos.toLeft+(t_impact*driver->getSpeedAngle())) + driver->getAngle()));
|
||||
max = MAX(nextleft, car->_trkPos.seg->width-car->_dimension_y/2);
|
||||
min = MIN(nextleft, car->_dimension_y/2);
|
||||
//double oleft = MIN(max, MAX(min, (car->_trkPos.toLeft+(nextleft-car->_trkPos.toLeft) * (t_impact*deltamult)))) - angle;
|
||||
double oleft = MIN(max, MAX(min, (car->_trkPos.toLeft+(t_impact*speedangle)) + angle));
|
||||
//double oleft = MIN(max, MAX(min, (car->_trkPos.toLeft+(t_impact*speedangle)) + angle));
|
||||
|
||||
//double sepdist = fabs(mleft - oleft);
|
||||
double sepdist = fabs(car->_trkPos.toLeft - mycar->_trkPos.toLeft) + driver->getAngle()*2;
|
||||
int diverging = 0; //(sepdist > (fabs(getWidth()/2.0f) + mycar->_dimension_y/3.0f) + 0.3);
|
||||
//int diverging = 0; //(sepdist > (fabs(getWidth()/2.0f) + mycar->_dimension_y/3.0f) + 0.3);
|
||||
|
||||
//t_impact = MIN(mspeed/7, t_impact);
|
||||
|
||||
|
|
@ -234,7 +234,7 @@ fprintf(stderr," FRONTSLOW\n");
|
|||
float cardist = car->_trkPos.toMiddle - mycar->_trkPos.toMiddle;
|
||||
sidedist = cardist;
|
||||
cardist = sepdist - fabs(getWidth()/2.0f) - mycar->_dimension_y/2.0f;
|
||||
double deduction = t_impact / MAX(1.0, distance);
|
||||
//double deduction = t_impact / MAX(1.0, distance);
|
||||
if (cardist < SIDE_MARGIN) {
|
||||
if (DebugMsg & debug_brake)
|
||||
fprintf(stderr,"FRONTCOLLIDE %s cardist=%.3f sepdist=%.3f\n",car->_name,cardist,sepdist);
|
||||
|
|
@ -394,7 +394,7 @@ fprintf(stderr," FRONTFAST\n");
|
|||
if (team == TEAM_FRIEND && car->_dammage-1000 < mycar->_dammage)
|
||||
state |= OPP_FRONT_FOLLOW;
|
||||
|
||||
double dSpeed = mspeed;//driver->getSpeed();
|
||||
//double dSpeed = mspeed;//driver->getSpeed();
|
||||
//if (distance < 20.0 - (getSpeed()-driver->getSpeed())*4)
|
||||
if (distance < 20.0 - (ospeed-mspeed)*4)
|
||||
state |= OPP_FRONT;
|
||||
|
|
@ -527,15 +527,15 @@ int Opponent::polyOverlap( tPosd *op, tPosd *dp )
|
|||
int Opponent::testCollision(Driver *driver, double impact, double sizefactor, vec2f *targ )
|
||||
{
|
||||
tCarElt *mycar = driver->getCarPtr();
|
||||
int collide = 0, i, j;
|
||||
double nSlices = MAX(1.0, (impact * deltamult));
|
||||
int /*collide = 0,*/ i/*, j*/;
|
||||
//double nSlices = MAX(1.0, (impact * deltamult));
|
||||
tCarElt *dcar = driver->getCarPtr();
|
||||
double o_speedX = car->_speed_X;// + (cardata->getSpeedDeltaX()) * (impact * deltamult) / 2;
|
||||
double o_speedY = car->_speed_Y;// + (cardata->getSpeedDeltaY()) * (impact * deltamult) / 2;
|
||||
double d_speedX = dcar->_speed_X;// + driver->getSpeedDeltaX() * (impact * deltamult) / 2;
|
||||
double d_speedY = dcar->_speed_Y;// + driver->getSpeedDeltaY() * (impact * deltamult) / 2;
|
||||
|
||||
tPosd o_cur[4], d_cur[4], o_curp[4], d_curp[4], o_new[4], d_new[4], o_new2[4], d_new2[4];
|
||||
tPosd o_cur[4], d_cur[4], /*o_curp[4], d_curp[4],*/ o_new[4], d_new[4], o_new2[4], d_new2[4];
|
||||
|
||||
// set up car current positions
|
||||
for (i=0; i<4; i++)
|
||||
|
|
@ -558,8 +558,8 @@ int Opponent::testCollision(Driver *driver, double impact, double sizefactor, ve
|
|||
else
|
||||
{
|
||||
// position driver's car according to velocity angle
|
||||
double d_newPos_x = dcar->pub.DynGC.pos.x + (d_speedX*impact);
|
||||
double d_newPos_y = dcar->pub.DynGC.pos.y + (d_speedY*impact);
|
||||
//double d_newPos_x = dcar->pub.DynGC.pos.x + (d_speedX*impact);
|
||||
//double d_newPos_y = dcar->pub.DynGC.pos.y + (d_speedY*impact);
|
||||
|
||||
// correct corner positions
|
||||
for (i=0; i<4; i++)
|
||||
|
|
@ -572,8 +572,8 @@ int Opponent::testCollision(Driver *driver, double impact, double sizefactor, ve
|
|||
#if 1
|
||||
{
|
||||
// position opponent car according to velocity angle
|
||||
double o_newPos_x = car->pub.DynGC.pos.x + (o_speedX*impact);
|
||||
double o_newPos_y = car->pub.DynGC.pos.y + (o_speedY*impact);
|
||||
//double o_newPos_x = car->pub.DynGC.pos.x + (o_speedX*impact);
|
||||
//double o_newPos_y = car->pub.DynGC.pos.y + (o_speedY*impact);
|
||||
|
||||
// correct corner positions
|
||||
for (i=0; i<4; i++)
|
||||
|
|
@ -698,8 +698,8 @@ int Opponent::testCollision(Driver *driver, double impact, double sizefactor, ve
|
|||
double ti = MAX(0.001, impact) + 0.1;
|
||||
tPosd *o_old1 = cardata->getCorner1();
|
||||
tPosd *d_old1 = driver->getCorner1();
|
||||
tPosd *o_old2 = cardata->getCorner2();
|
||||
tPosd *d_old2 = driver->getCorner2();
|
||||
//tPosd *o_old2 = cardata->getCorner2();
|
||||
//tPosd *d_old2 = driver->getCorner2();
|
||||
|
||||
for (i=0; i<4; i++)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -32,7 +32,7 @@
|
|||
// Structures and Statics
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
static SRaceLine SRL[5] = { 0 };
|
||||
static SRaceLine SRL[5] = { { 0 } };
|
||||
static int SRLinit = 0;
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
|
|
@ -45,8 +45,8 @@ static int SRLinit = 0;
|
|||
//static const int Iterations = 100; // Number of smoothing operations
|
||||
|
||||
static const double SecurityR = 100.0; // Security radius
|
||||
static double SideDistExt = 2.0; // Security distance wrt outside
|
||||
static double SideDistInt = 1.0; // Security distance wrt inside
|
||||
//static double SideDistExt = 2.0; // Security distance wrt outside
|
||||
//static double SideDistInt = 1.0; // Security distance wrt inside
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
// Some utility macros and functions
|
||||
|
|
@ -865,7 +865,7 @@ void LRaceLine::StepInterpolate(int iMin, int iMax, int Step, int rl)
|
|||
}
|
||||
}
|
||||
|
||||
static void ClosestPointOnLineFromPoint(
|
||||
/*static void ClosestPointOnLineFromPoint(
|
||||
vec2f *lp1, vec2f *lp2,
|
||||
vec2f *p, vec2f *r )
|
||||
{
|
||||
|
|
@ -880,7 +880,7 @@ static void ClosestPointOnLineFromPoint(
|
|||
|
||||
r->x = lp1->x + ratio * vx;
|
||||
r->y = lp1->y + ratio * vy;
|
||||
}
|
||||
}*/
|
||||
|
||||
static double PointDist(vec2f *p1, vec2f *p2)
|
||||
{
|
||||
|
|
@ -1077,8 +1077,8 @@ void LRaceLine::ComputeSpeed(int rl)
|
|||
}
|
||||
|
||||
int nnext = (i + 5) % Divs;
|
||||
int next = (i + 1) % Divs;
|
||||
int prev = (i - 1 + Divs) % Divs;
|
||||
//int next = (i + 1) % Divs;
|
||||
//int prev = (i - 1 + Divs) % Divs;
|
||||
|
||||
double rInverse = SRL[rl].tRInverse[i];
|
||||
double rI = fabs(rInverse);
|
||||
|
|
@ -1437,8 +1437,8 @@ void LRaceLine::GetRLSteerPoint( vec2f *rt, double *offset, double time )
|
|||
dist *= car->_trkPos.seg->radius;
|
||||
int next = SRL[SRLidx].tSegIndex[SegId] + int(dist / SRL[SRLidx].tElemLength[SegId]);
|
||||
dist = 0.0;
|
||||
double txLast = car->_pos_X;
|
||||
double tyLast = car->_pos_Y;
|
||||
//double txLast = car->_pos_X;
|
||||
//double tyLast = car->_pos_Y;
|
||||
double Time = deltaTime*3 + MAX(0.0, time);
|
||||
|
||||
{
|
||||
|
|
@ -1476,7 +1476,7 @@ void LRaceLine::GetSteerPoint( double lookahead, vec2f *rt, double offset, doubl
|
|||
|
||||
int maxcount = int(lookahead / DivLength + 1);
|
||||
int count = 0;
|
||||
tTrackSeg *seg = car->_trkPos.seg;
|
||||
//tTrackSeg *seg = car->_trkPos.seg;
|
||||
int SegId = car->_trkPos.seg->id;
|
||||
double dist = 0.0;//car->_trkPos.toStart;
|
||||
#if 0
|
||||
|
|
@ -1487,8 +1487,8 @@ void LRaceLine::GetSteerPoint( double lookahead, vec2f *rt, double offset, doubl
|
|||
#endif
|
||||
int next = SRL[SRLidx].tSegIndex[SegId] + int(dist / SRL[SRLidx].tElemLength[SegId]);
|
||||
dist = 0.0;
|
||||
double txLast = car->_pos_X;
|
||||
double tyLast = car->_pos_Y;
|
||||
//double txLast = car->_pos_X;
|
||||
//double tyLast = car->_pos_Y;
|
||||
double Time = deltaTime*3 + MAX(0.0, time/2);
|
||||
double carspeed = Mag(car->_speed_X, car->_speed_Y);
|
||||
double offlane = (offset > -90 ? ((track->width/2) - offset) / track->width : SRL[SRLidx].tLane[next]);
|
||||
|
|
@ -1587,8 +1587,8 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
if (famI > 0.0)
|
||||
{
|
||||
double toMid = car->_trkPos.toMiddle + data->speedangle * 20;
|
||||
double toLeft = car->_trkPos.toLeft - data->speedangle * 20;
|
||||
double toRight = car->_trkPos.toRight + data->speedangle * 20;
|
||||
//double toLeft = car->_trkPos.toLeft - data->speedangle * 20;
|
||||
//double toRight = car->_trkPos.toRight + data->speedangle * 20;
|
||||
double modfactor = (car->_speed_x / data->avspeed);
|
||||
modfactor *= modfactor;
|
||||
|
||||
|
|
@ -1612,12 +1612,12 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
//if (data->collision)
|
||||
// timefactor *= 1.0 + MAX(0.0, (5.0-data->collision) / 5.0);
|
||||
double Time = timefactor; // + CornerAccel/80;
|
||||
double X4 = car->_pos_X + car->_speed_X * 0.5 / 2;
|
||||
double Y4 = car->_pos_Y + car->_speed_Y * 0.5 / 2;
|
||||
//double X4 = car->_pos_X + car->_speed_X * 0.5 / 2;
|
||||
//double Y4 = car->_pos_Y + car->_speed_Y * 0.5 / 2;
|
||||
double X = car->_pos_X + car->_speed_X * Time / 2;
|
||||
double Y = car->_pos_Y + car->_speed_Y * Time / 2;
|
||||
double Xk = car->_pos_X + car->_speed_X * 0.1 / 2;
|
||||
double Yk = car->_pos_Y + car->_speed_Y * 0.1 / 2;
|
||||
//double Xk = car->_pos_X + car->_speed_X * 0.1 / 2;
|
||||
//double Yk = car->_pos_Y + car->_speed_Y * 0.1 / 2;
|
||||
data->lookahead = 0.0f;
|
||||
data->aInverse = SRL[LINE_MID].tRInverse[Index];
|
||||
double divcount = 1.0;
|
||||
|
|
@ -1647,7 +1647,7 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
|
||||
if (data->followdist <= 5.0)
|
||||
{
|
||||
int snext = SNext;
|
||||
//int snext = SNext;
|
||||
//Next = (Next + int((car->_dimension_x + (5.0 - data->followdist)*1.2) / DivLength)) % Divs;
|
||||
SNext = (Next + int((car->_dimension_x + (5.0 - data->followdist)*6) / DivLength)) % Divs;
|
||||
if (car->_accel_x > 0.0 && data->followdist <= 2.0)
|
||||
|
|
@ -1741,7 +1741,7 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
data->offset = laneoffset;
|
||||
//fprintf(stderr,"GetRLData: offset=%.2f Next=%d lane=%.4f Width=%.2f\n",laneoffset,Next,tLane[Next],Width);
|
||||
|
||||
double sa = (data->angle > 0.0 ? MIN(data->angle, data->angle+data->speedangle/2) : MAX(data->angle, data->angle+data->speedangle/2));
|
||||
//double sa = (data->angle > 0.0 ? MIN(data->angle, data->angle+data->speedangle/2) : MAX(data->angle, data->angle+data->speedangle/2));
|
||||
//CalcAvoidSpeed( Next, data, sa );
|
||||
|
||||
#if 1
|
||||
|
|
@ -1826,7 +1826,7 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
vec2f target;
|
||||
double carspeed = Mag(car->_speed_X, car->_speed_Y);
|
||||
double steertime = MIN(MaxSteerTime, MinSteerTime + MAX(0.0, carspeed-20.0)/30.0);
|
||||
double lane2left = track->width * SRL[SRLidx].tLane[Next];
|
||||
//double lane2left = track->width * SRL[SRLidx].tLane[Next];
|
||||
|
||||
// an idea to implement soon...
|
||||
//if (car->_accel_x < 0.0)
|
||||
|
|
@ -1846,7 +1846,7 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
|
||||
if (fabs(nextangle) > fabs(data->speedangle))
|
||||
{
|
||||
double sa = MAX(-0.3, MIN(0.3, data->speedangle/3));
|
||||
//double sa = MAX(-0.3, MIN(0.3, data->speedangle/3));
|
||||
double anglediff = (data->speedangle - nextangle) * (0.1 + fabs(nextangle)/6);
|
||||
k1999steer += anglediff * (1.0 + MAX(1.0, 1.0 - car->_accel_x/5));
|
||||
}
|
||||
|
|
@ -1856,8 +1856,8 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
double dx = SRL[SRLidx].tx[NextNext] - SRL[SRLidx].tx[Prev];
|
||||
double dy = SRL[SRLidx].ty[NextNext] - SRL[SRLidx].ty[Prev];
|
||||
|
||||
double vx = car->_speed_X;
|
||||
double vy = car->_speed_Y;
|
||||
//double vx = car->_speed_X;
|
||||
//double vy = car->_speed_Y;
|
||||
double dirx = cos(car->_yaw);
|
||||
double diry = sin(car->_yaw);
|
||||
double SinAngleError = dx * diry - dy * dirx;
|
||||
|
|
@ -1951,7 +1951,7 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
|
||||
data->NSsteer = lastNksteer = k1999steer;
|
||||
int Prev = (KIndex + Divs - 1) % Divs;
|
||||
int PrevPrev = (KIndex + Divs - 5) % Divs;
|
||||
//int PrevPrev = (KIndex + Divs - 5) % Divs;
|
||||
int NextNext = (KNext + 1) % Divs;
|
||||
|
||||
//
|
||||
|
|
@ -2103,7 +2103,7 @@ double LRaceLine::getAvoidSteer(double offset, LRaceLineData *data)
|
|||
double steertime = MIN(MaxSteerTime, MinSteerTime + MAX(0.0, carspeed-20.0)/30.0);
|
||||
if (data->followdist < 5.0)
|
||||
steertime = MIN(MaxSteerTime*1.1, steertime * 1.0 + (5.0 - data->followdist)/20);
|
||||
double lane2left = track->width * SRL[SRLidx].tLane[Next];
|
||||
//double lane2left = track->width * SRL[SRLidx].tLane[Next];
|
||||
|
||||
double amI = MIN(0.05, MAX(-0.05, SRL[SRLidx].tRInverse[Next]));
|
||||
double famI = fabs(amI);
|
||||
|
|
@ -2151,7 +2151,7 @@ double LRaceLine::getAvoidSteer(double offset, LRaceLineData *data)
|
|||
|
||||
if (fabs(nextangle) > fabs(data->speedangle))
|
||||
{
|
||||
double sa = MAX(-0.3, MIN(0.3, data->speedangle/3));
|
||||
//double sa = MAX(-0.3, MIN(0.3, data->speedangle/3));
|
||||
double anglediff = (data->speedangle - nextangle) * (0.1 + fabs(nextangle)/6);
|
||||
steer += anglediff * (1.0 + MAX(1.0, 1.0 - car->_accel_x/5));
|
||||
}
|
||||
|
|
@ -2175,7 +2175,7 @@ void LRaceLine::GetPoint( double offset, vec2f *rt, double *mInverse )
|
|||
double offlane = ((track->width/2) - offset) / track->width;
|
||||
double off2lft = track->width/2 - offset;
|
||||
double off2rgt = track->width - off2lft;
|
||||
tTrackSeg *seg = car->_trkPos.seg;
|
||||
//tTrackSeg *seg = car->_trkPos.seg;
|
||||
int SegId = car->_trkPos.seg->id;
|
||||
double dist = car->_trkPos.toStart;
|
||||
if (dist < 0)
|
||||
|
|
@ -2183,7 +2183,7 @@ void LRaceLine::GetPoint( double offset, vec2f *rt, double *mInverse )
|
|||
if (car->_trkPos.seg->type != TR_STR)
|
||||
dist *= car->_trkPos.seg->radius;
|
||||
int Index = SRL[SRLidx].tSegIndex[SegId] + int(dist / SRL[SRLidx].tElemLength[SegId]);
|
||||
double laneoffset = SRL[SRLidx].Width/2 - (SRL[SRLidx].tLane[Index] * SRL[SRLidx].Width);
|
||||
//double laneoffset = SRL[SRLidx].Width/2 - (SRL[SRLidx].tLane[Index] * SRL[SRLidx].Width);
|
||||
double rInv = SRL[LINE_MID].tRInverse[Index];
|
||||
Index = This;
|
||||
#if 1
|
||||
|
|
@ -2216,8 +2216,8 @@ void LRaceLine::GetPoint( double offset, vec2f *rt, double *mInverse )
|
|||
next = (Index + 1) % Divs;
|
||||
txNext = offlane * SRL[SRLidx].txRight[next] + (1 - offlane) * SRL[SRLidx].txLeft[next];
|
||||
tyNext = offlane * SRL[SRLidx].tyRight[next] + (1 - offlane) * SRL[SRLidx].tyLeft[next];
|
||||
double dx = txNext - car->_pos_X;
|
||||
double dy = tyNext - car->_pos_Y;
|
||||
//double dx = txNext - car->_pos_X;
|
||||
//double dy = tyNext - car->_pos_Y;
|
||||
if ((txNext - txIndex) * (X - txNext) +
|
||||
(tyNext - tyIndex) * (Y - tyNext) < -0.1)
|
||||
{
|
||||
|
|
@ -2248,12 +2248,12 @@ void LRaceLine::GetPoint( double offset, vec2f *rt, double *mInverse )
|
|||
|
||||
int LRaceLine::findNextCorner( double *nextCRinverse )
|
||||
{
|
||||
tTrackSeg *seg = car->_trkPos.seg;;
|
||||
//tTrackSeg *seg = car->_trkPos.seg;;
|
||||
int prefer_side = ((SRL[SRLidx].tRInverse[Next] > 0.001) ? TR_LFT :
|
||||
((SRL[SRLidx].tRInverse[Next]) < -0.001 ? TR_RGT : TR_STR));
|
||||
double curlane = car->_trkPos.toLeft / track->width;
|
||||
int next = (Next+5) % Divs, i = 1, div;
|
||||
double distance = 0.0;
|
||||
//double curlane = car->_trkPos.toLeft / track->width;
|
||||
int /*next = (Next+5) % Divs,*/ i = 1, div;
|
||||
//double distance = 0.0;
|
||||
double CR = SRL[SRLidx].tRInverse[Next];
|
||||
|
||||
if (car->_speed_x < 5.0)
|
||||
|
|
@ -2297,7 +2297,7 @@ int LRaceLine::findNextCorner( double *nextCRinverse )
|
|||
|
||||
double LRaceLine::correctLimit(double avoidsteer, double racesteer)
|
||||
{
|
||||
double nlane2left = SRL[SRLidx].tLane[Next] * SRL[SRLidx].Width;
|
||||
//double nlane2left = SRL[SRLidx].tLane[Next] * SRL[SRLidx].Width;
|
||||
double tbump = BumpCaution;//GetModD( tBump, This ) * 4;
|
||||
|
||||
// correct would take us in the opposite direction to a corner - correct less!
|
||||
|
|
@ -2307,7 +2307,7 @@ double LRaceLine::correctLimit(double avoidsteer, double racesteer)
|
|||
|
||||
// correct would take us in the opposite direction to a corner - correct less (but not as much as above)
|
||||
int nnext = (Next + (int) (car->_speed_x/3)) % Divs;
|
||||
double nnlane2left = SRL[SRLidx].tLane[nnext] * SRL[SRLidx].Width;
|
||||
//double nnlane2left = SRL[SRLidx].tLane[nnext] * SRL[SRLidx].Width;
|
||||
if ((SRL[SRLidx].tRInverse[nnext] > 0.001 && avoidsteer > racesteer) ||
|
||||
(SRL[SRLidx].tRInverse[nnext] < -0.001 && avoidsteer < racesteer))
|
||||
return MAX(0.3, MIN(1.0, 1.0 - fabs(SRL[SRLidx].tRInverse[nnext]) * 40.0 - tbump));
|
||||
|
|
|
|||
|
|
@ -35,12 +35,12 @@ SimpleStrategy::SimpleStrategy() :
|
|||
m_lastfuel(0.0f),
|
||||
m_expectedfuelperlap(0.0f),
|
||||
m_fuelsum(0.0f),
|
||||
PitDamage(5000),
|
||||
pit_damage(0),
|
||||
min_damage(0),
|
||||
is_pitting(0),
|
||||
remainlaps(0),
|
||||
pit_reason(0),
|
||||
PitDamage(5000),
|
||||
track(NULL)
|
||||
{
|
||||
#ifdef SPEED_DREAMS
|
||||
|
|
@ -179,7 +179,7 @@ bool SimpleStrategy::needPitstop(tCarElt* car, tSituation *s, Opponents *opp)
|
|||
{
|
||||
// Do we need to refuel?
|
||||
int remainlaps = car->_remainingLaps;//-car->_lapsBehindLeader;
|
||||
int this_pit_dammage = PitDamage;
|
||||
//int this_pit_dammage = PitDamage;
|
||||
|
||||
if (!car->_pit)
|
||||
return false;
|
||||
|
|
|
|||
|
|
@ -37,7 +37,9 @@
|
|||
#include <robottools.h>
|
||||
#include <robot.h>
|
||||
|
||||
#ifndef SPEED_DREAMS
|
||||
#define SPEED_DREAMS
|
||||
#endif //SPEED_DREAMS
|
||||
|
||||
#ifdef SPEED_DREAMS
|
||||
#include <teammanager.h>
|
||||
|
|
|
|||
|
|
@ -47,14 +47,14 @@ static void endRace(int index, tCarElt *car, tSituation *s);
|
|||
// TORCS-NG-Interface
|
||||
static const int BUFSIZE = 256; // Buffer size for path/filename buffers
|
||||
static const int MAXNBBOTS = 20; // Set value to max capacity you want to use here
|
||||
static char* defaultBotName[MAXNBBOTS] = {
|
||||
static char const* defaultBotName[MAXNBBOTS] = {
|
||||
"driver 1", "driver 2", "driver 3", "driver 4", "driver 5",
|
||||
"driver 6", "driver 7", "driver 8", "driver 9", "driver 10",
|
||||
"driver 11", "driver 12", "driver 13", "driver 14", "driver 15",
|
||||
"driver 16", "driver 17", "driver 18", "driver 19", "driver 20"
|
||||
};
|
||||
|
||||
static char* defaultBotDesc[MAXNBBOTS] = {
|
||||
static char const* defaultBotDesc[MAXNBBOTS] = {
|
||||
"driver 1", "driver 2", "driver 3", "driver 4", "driver 5",
|
||||
"driver 6", "driver 7", "driver 8", "driver 9", "driver 10",
|
||||
"driver 11", "driver 12", "driver 13", "driver 14", "driver 15",
|
||||
|
|
@ -96,7 +96,7 @@ void SetUpUSR_36GP()
|
|||
// Set robots's name and xml file pathname
|
||||
static void setRobotName(const char *name)
|
||||
{
|
||||
char* c;
|
||||
//char* c;
|
||||
|
||||
strcpy(nameBuffer, name);
|
||||
snprintf(pathBuffer, BUFSIZE, "drivers/%s/%s.xml", name, name);
|
||||
|
|
|
|||
|
|
@ -301,8 +301,8 @@ void Driver::initTrack(tTrack* t, void *carHandle, void **carParmHandle, tSituat
|
|||
|
||||
char carName[256];
|
||||
{
|
||||
char *path = SECT_GROBJECTS "/" LST_RANGES "/" "1";
|
||||
char *key = PRM_CAR;
|
||||
char const *path = SECT_GROBJECTS "/" LST_RANGES "/" "1";
|
||||
char const *key = PRM_CAR;
|
||||
strncpy( carName, GfParmGetStr(carHandle, path, key, ""), sizeof(carName) );
|
||||
char *p = strrchr(carName, '.');
|
||||
if (p) *p = '\0';
|
||||
|
|
@ -587,8 +587,8 @@ void Driver::newRace(tCarElt* car, tSituation *s)
|
|||
|
||||
char carName[256];
|
||||
{
|
||||
char *path = SECT_GROBJECTS "/" LST_RANGES "/" "1";
|
||||
char *key = PRM_CAR;
|
||||
char const *path = SECT_GROBJECTS "/" LST_RANGES "/" "1";
|
||||
char const *key = PRM_CAR;
|
||||
strncpy( carName, GfParmGetStr(car->_carHandle, path, key, ""), sizeof(carName) );
|
||||
char *p = strrchr(carName, '.');
|
||||
if (p) *p = '\0';
|
||||
|
|
@ -1034,7 +1034,7 @@ float Driver::getAccel()
|
|||
|
||||
if (pit->getInPit() && car->_brakeCmd == 0.0f)
|
||||
{
|
||||
float s = pit->toSplineCoord( car->_distFromStartLine );
|
||||
//float s = pit->toSplineCoord( car->_distFromStartLine );
|
||||
|
||||
#if 0
|
||||
if (pit->needPitstop())
|
||||
|
|
@ -1376,7 +1376,7 @@ float Driver::getSteer(tSituation *s)
|
|||
|
||||
bool yr_ok = (fabs(car->_yaw_rate) < 0.1 || (car->_yaw_rate > rldata->rInverse*100-0.1 && car->_yaw_rate < rldata->rInverse*100+0.1));
|
||||
bool angle_ok = (angle > rldata->rlangle-0.06 && angle < rldata->rlangle+0.06);
|
||||
double rlsteer = (fabs(rldata->rInverse) >= 0.004 ? rldata->rInverse * 12 : 0.0);
|
||||
//double rlsteer = (fabs(rldata->rInverse) >= 0.004 ? rldata->rInverse * 12 : 0.0);
|
||||
bool steer_ok = (racesteer<laststeer+0.05 && racesteer>laststeer-0.05);
|
||||
|
||||
double skid = (car->_skid[0] + car->_skid[1] + car->_skid[2] + car->_skid[3]) / 2;
|
||||
|
|
@ -1543,7 +1543,7 @@ double Driver::calcSteer( double targetAngle, int rl )
|
|||
if (fabs(nextangle) > fabs(speedangle))
|
||||
{
|
||||
// steer into the skid
|
||||
double sa = MAX(-0.3, MIN(0.3, speedangle/3));
|
||||
//double sa = MAX(-0.3, MIN(0.3, speedangle/3));
|
||||
//double anglediff = (sa - angle) * (0.3 + fabs(angle)/6);
|
||||
double anglediff = (speedangle - nextangle) * (0.1 + fabs(nextangle)/6);
|
||||
steer += (float) (anglediff*SkidSteer);
|
||||
|
|
@ -1647,7 +1647,7 @@ float Driver::correctSteering( float avoidsteer, float racesteer )
|
|||
return avoidsteer;
|
||||
|
||||
float steer = avoidsteer;
|
||||
float accel = MIN(0.0f, car->_accel_x);
|
||||
//float accel = MIN(0.0f, car->_accel_x);
|
||||
double speed = 50.0; //MAX(50.0, currentspeed);
|
||||
double changelimit = MIN(raceline->correctLimit(avoidsteer, racesteer), (((120.0-currentspeed)/6000) * (0.1 + fabs(rldata->mInverse/4)))) * SmoothSteer;
|
||||
|
||||
|
|
@ -2023,7 +2023,7 @@ vec2f Driver::getTargetPoint(bool use_lookahead, double targetoffset)
|
|||
// all the BT code below is for steering into pits only.
|
||||
s.x = (seg->vertex[TR_SL].x + seg->vertex[TR_SR].x)/2;
|
||||
s.y = (seg->vertex[TR_SL].y + seg->vertex[TR_SR].y)/2;
|
||||
double dx, dy;
|
||||
//double dx, dy;
|
||||
vec2f t, rt;
|
||||
|
||||
if ( seg->type == TR_STR) {
|
||||
|
|
@ -2059,9 +2059,9 @@ bool Driver::canOvertake( Opponent *o, double *mincatchdist, bool outside, bool
|
|||
if (!o) return false;
|
||||
|
||||
#if 1
|
||||
int segid = car->_trkPos.seg->id;
|
||||
//int segid = car->_trkPos.seg->id;
|
||||
tCarElt *ocar = o->getCarPtr();
|
||||
int osegid = ocar->_trkPos.seg->id;
|
||||
//int osegid = ocar->_trkPos.seg->id;
|
||||
double otry_factor = (lenient ? (0.2 + MAX(0.0, 1.0 - ((simtime-frontavoidtime)/7.0)) * 0.8) : 1.0);
|
||||
double overtakecaution = MAX(0.0, rldata->overtakecaution + (outside ? MIN(0.0, car->_accel_x/8) : 0.0)) - driver_aggression/2;
|
||||
double orInv=0.0, oAspeed=0.0;
|
||||
|
|
@ -2166,7 +2166,7 @@ bool Driver::canOvertake( Opponent *o, double *mincatchdist, bool outside, bool
|
|||
float Driver::getOffset()
|
||||
{
|
||||
int i, avoidmovt = 0;
|
||||
double catchdist, mincatchdist = MAX(100.0, car->_speed_x * 5), mindist = -1000.0;
|
||||
double /*catchdist,*/ mincatchdist = MAX(100.0, car->_speed_x * 5), mindist = -1000.0;
|
||||
Opponent *o = NULL;
|
||||
double lane2left = rldata->lane * car->_trkPos.seg->width;
|
||||
double lane2right = car->_trkPos.seg->width-lane2left;
|
||||
|
|
@ -2179,7 +2179,7 @@ float Driver::getOffset()
|
|||
// Increment speed dependent.
|
||||
//double incspeed = MIN(40.0, MAX(30.0, currentspeed));
|
||||
//double incfactor = (MAX_INC_FACTOR*0.5 - MIN(incspeed/10, MAX_INC_FACTOR*0.5-0.5)) * 60 * IncFactor;
|
||||
double incspeed = MIN(60.0, MAX(40.0, currentspeed)) - 10.0;
|
||||
//double incspeed = MIN(60.0, MAX(40.0, currentspeed)) - 10.0;
|
||||
//double incfactor = (MAX_INC_FACTOR - MIN(fabs(incspeed)/MAX_INC_FACTOR, (MAX_INC_FACTOR - 1.0f))) * (10.0f + MAX(0.0, (CA-1.9)*10)) * IncFactor;
|
||||
double incfactor = (MAX_INC_FACTOR - MIN(40.0/MAX_INC_FACTOR, (MAX_INC_FACTOR - 1.0f))) * (10.0f + MAX(0.0, (CA-1.9)*10)) * IncFactor;
|
||||
|
||||
|
|
@ -2204,7 +2204,7 @@ float Driver::getOffset()
|
|||
|
||||
double moffset = car->_trkPos.toMiddle;
|
||||
|
||||
double origoffset = moffset;
|
||||
//double origoffset = moffset;
|
||||
|
||||
double Width = car->_trkPos.seg->width;
|
||||
#if 1
|
||||
|
|
@ -2235,8 +2235,8 @@ float Driver::getOffset()
|
|||
{
|
||||
// reduce amount we deviate from the raceline according to how long we've been avoiding, and also
|
||||
// how fast we're going.
|
||||
double dspeed = MAX(0.0, rldata->speed - currentspeed) * 4;
|
||||
double pspeed = MAX(1.0, 60.0 - (currentspeed - (30.0 + MAX(0.0, car->_accel_x) + dspeed))) / 10;
|
||||
//double dspeed = MAX(0.0, rldata->speed - currentspeed) * 4;
|
||||
//double pspeed = MAX(1.0, 60.0 - (currentspeed - (30.0 + MAX(0.0, car->_accel_x) + dspeed))) / 10;
|
||||
|
||||
// instead of toMiddle just aiming at where the car currently is, we move it in the direction
|
||||
// the car's travelling ... but less so if the speedangle is different from the car's angle.
|
||||
|
|
@ -2524,13 +2524,13 @@ fprintf(stderr,"%s -> %s CANCEL 1 (%.1f > %.1f || %.1f < %.1f || %.3f > %.3f)\n"
|
|||
tCarElt *ocar = o->getCarPtr();
|
||||
|
||||
// Compute the width around the middle which we can use for overtaking.
|
||||
float w = ocar->_trkPos.seg->width/WIDTHDIV-BORDER_OVERTAKE_MARGIN;
|
||||
//float w = ocar->_trkPos.seg->width/WIDTHDIV-BORDER_OVERTAKE_MARGIN;
|
||||
// Compute the opponents distance to the middle.
|
||||
float otm = ocar->_trkPos.toMiddle;
|
||||
//float otm = ocar->_trkPos.toMiddle;
|
||||
// Define the with of the middle range.
|
||||
float wm = ocar->_trkPos.seg->width*CENTERDIV;
|
||||
//float wm = ocar->_trkPos.seg->width*CENTERDIV;
|
||||
float sidedist = fabs(car->_trkPos.toMiddle-ocar->_trkPos.toMiddle);
|
||||
double sdist = (rInverse > 0.0 ? (-sidedist - 3.0) : (sidedist - 3.0));
|
||||
//double sdist = (rInverse > 0.0 ? (-sidedist - 3.0) : (sidedist - 3.0));
|
||||
|
||||
//int avoidingside = (otm > wm && myoffset > -w) ? TR_RGT : ((otm < -wm && myoffset < w) ? TR_LFT : TR_STR);
|
||||
int avoidingside = (car->_trkPos.toLeft > ocar->_trkPos.toLeft ? TR_LFT : TR_RGT);
|
||||
|
|
@ -2878,7 +2878,7 @@ fprintf(stderr,"%s BEHIND %s (%d %d %d %d)\n",car->_name,ocar->_name,((o->getSta
|
|||
double factor = 0.25;//(fabs(car->_trkPos.toMiddle) < car->_trkPos.seg->width/2 + 2.0 ? 0.25 : 1.0);
|
||||
if (fabs(myoffset) > fabs(rldata->offset))
|
||||
{
|
||||
double inc = OVERTAKE_OFFSET_INC * MIN(lftinc, rgtinc) * factor;
|
||||
//double inc = OVERTAKE_OFFSET_INC * MIN(lftinc, rgtinc) * factor;
|
||||
if (myoffset < rldata->offset && myoffset < 2.0)
|
||||
myoffset += (float) (MIN(rldata->offset-myoffset, OVERTAKE_OFFSET_INC * rgtinc/3 * factor));
|
||||
else if (myoffset > rldata->offset && myoffset > 2.0)
|
||||
|
|
@ -3060,7 +3060,7 @@ void Driver::update(tSituation *s)
|
|||
|
||||
for (int i=0; i<opponents->getNOpponents(); i++)
|
||||
{
|
||||
int idx = opponent[i].getIndex();
|
||||
//int idx = opponent[i].getIndex();
|
||||
if (opponent[i].getTeam() != TEAM_FRIEND) continue;
|
||||
if (opponent[i].getCarPtr() == car) continue;
|
||||
if (opponent[i].getCarPtr()->_state > RM_CAR_STATE_PIT)
|
||||
|
|
@ -3449,7 +3449,7 @@ void Driver::initWheelPos()
|
|||
{
|
||||
for (int i=0; i<4; i++)
|
||||
{
|
||||
char *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
|
||||
char const *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
|
||||
float rh = 0.0;
|
||||
rh = GfParmGetNum(car->_carHandle,WheelSect[i],PRM_RIDEHEIGHT,(char *)NULL, 0.10f);
|
||||
wheelz[i] = (-rh / 1.0 + car->info.wheel[i].wheelRadius) - 0.01;
|
||||
|
|
@ -3458,7 +3458,7 @@ void Driver::initWheelPos()
|
|||
|
||||
void Driver::initCa()
|
||||
{
|
||||
char *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
|
||||
char const *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
|
||||
float rearwingarea = GfParmGetNum(car->_carHandle, SECT_REARWING, PRM_WINGAREA, (char*) NULL, 0.0f);
|
||||
float rearwingangle = GfParmGetNum(car->_carHandle, SECT_REARWING, PRM_WINGANGLE, (char*) NULL, 0.0f);
|
||||
float wingca = 1.23f*rearwingarea*sin(rearwingangle);
|
||||
|
|
@ -3486,7 +3486,7 @@ void Driver::initCw()
|
|||
// Init the friction coefficient of the the tires.
|
||||
void Driver::initTireMu()
|
||||
{
|
||||
char *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
|
||||
char const *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
|
||||
float tm = FLT_MAX;
|
||||
int i;
|
||||
|
||||
|
|
@ -3616,7 +3616,7 @@ float Driver::filterABS(float brake)
|
|||
{
|
||||
if (car->_speed_x < ABS_MINSPEED) return brake;
|
||||
float origbrake = brake;
|
||||
float rearskid = MAX(0.0f, MAX(car->_skid[2], car->_skid[3]) - MAX(car->_skid[0], car->_skid[1]));
|
||||
//float rearskid = MAX(0.0f, MAX(car->_skid[2], car->_skid[3]) - MAX(car->_skid[0], car->_skid[1]));
|
||||
int i;
|
||||
float slip = 0.0f;
|
||||
for (i = 0; i < 4; i++) {
|
||||
|
|
|
|||
|
|
@ -214,15 +214,15 @@ fprintf(stderr," FRONTSLOW\n");
|
|||
double max = MAX(lane, MAX(mycar->_trkPos.seg->width-mycar->_dimension_y/2, driver->getNextLeft()));
|
||||
double min = MIN(lane, MIN(mycar->_dimension_y/2, driver->getNextLeft()));
|
||||
//double mleft = MIN(max, MAX(min, (mycar->_trkPos.toLeft+(driver->getNextLeft()-mycar->_trkPos.toLeft) * (t_impact*deltamult)))) - driver->getAngle();
|
||||
double mleft = MIN(max, MAX(min, (mycar->_trkPos.toLeft+(t_impact*driver->getSpeedAngle())) + driver->getAngle()));
|
||||
//double mleft = MIN(max, MAX(min, (mycar->_trkPos.toLeft+(t_impact*driver->getSpeedAngle())) + driver->getAngle()));
|
||||
max = MAX(nextleft, car->_trkPos.seg->width-car->_dimension_y/2);
|
||||
min = MIN(nextleft, car->_dimension_y/2);
|
||||
//double oleft = MIN(max, MAX(min, (car->_trkPos.toLeft+(nextleft-car->_trkPos.toLeft) * (t_impact*deltamult)))) - angle;
|
||||
double oleft = MIN(max, MAX(min, (car->_trkPos.toLeft+(t_impact*speedangle)) + angle));
|
||||
//double oleft = MIN(max, MAX(min, (car->_trkPos.toLeft+(t_impact*speedangle)) + angle));
|
||||
|
||||
//double sepdist = fabs(mleft - oleft);
|
||||
double sepdist = fabs(car->_trkPos.toLeft - mycar->_trkPos.toLeft) + driver->getAngle()*2;
|
||||
int diverging = 0; //(sepdist > (fabs(getWidth()/2.0f) + mycar->_dimension_y/3.0f) + 0.3);
|
||||
//int diverging = 0; //(sepdist > (fabs(getWidth()/2.0f) + mycar->_dimension_y/3.0f) + 0.3);
|
||||
|
||||
//t_impact = MIN(mspeed/7, t_impact);
|
||||
|
||||
|
|
@ -234,7 +234,7 @@ fprintf(stderr," FRONTSLOW\n");
|
|||
float cardist = car->_trkPos.toMiddle - mycar->_trkPos.toMiddle;
|
||||
sidedist = cardist;
|
||||
cardist = sepdist - fabs(getWidth()/2.0f) - mycar->_dimension_y/2.0f;
|
||||
double deduction = t_impact / MAX(1.0, distance);
|
||||
//double deduction = t_impact / MAX(1.0, distance);
|
||||
if (cardist < SIDE_MARGIN) {
|
||||
if (DebugMsg & debug_brake)
|
||||
fprintf(stderr,"FRONTCOLLIDE %s cardist=%.3f sepdist=%.3f\n",car->_name,cardist,sepdist);
|
||||
|
|
@ -394,7 +394,7 @@ fprintf(stderr," FRONTFAST\n");
|
|||
if (team == TEAM_FRIEND && car->_dammage-1000 < mycar->_dammage)
|
||||
state |= OPP_FRONT_FOLLOW;
|
||||
|
||||
double dSpeed = mspeed;//driver->getSpeed();
|
||||
//double dSpeed = mspeed;//driver->getSpeed();
|
||||
//if (distance < 20.0 - (getSpeed()-driver->getSpeed())*4)
|
||||
if (distance < 20.0 - (ospeed-mspeed)*4)
|
||||
state |= OPP_FRONT;
|
||||
|
|
@ -527,15 +527,15 @@ int Opponent::polyOverlap( tPosd *op, tPosd *dp )
|
|||
int Opponent::testCollision(Driver *driver, double impact, double sizefactor, vec2f *targ )
|
||||
{
|
||||
tCarElt *mycar = driver->getCarPtr();
|
||||
int collide = 0, i, j;
|
||||
double nSlices = MAX(1.0, (impact * deltamult));
|
||||
int /*collide = 0,*/ i/*, j*/;
|
||||
//double nSlices = MAX(1.0, (impact * deltamult));
|
||||
tCarElt *dcar = driver->getCarPtr();
|
||||
double o_speedX = car->_speed_X;// + (cardata->getSpeedDeltaX()) * (impact * deltamult) / 2;
|
||||
double o_speedY = car->_speed_Y;// + (cardata->getSpeedDeltaY()) * (impact * deltamult) / 2;
|
||||
double d_speedX = dcar->_speed_X;// + driver->getSpeedDeltaX() * (impact * deltamult) / 2;
|
||||
double d_speedY = dcar->_speed_Y;// + driver->getSpeedDeltaY() * (impact * deltamult) / 2;
|
||||
|
||||
tPosd o_cur[4], d_cur[4], o_curp[4], d_curp[4], o_new[4], d_new[4], o_new2[4], d_new2[4];
|
||||
tPosd o_cur[4], d_cur[4], /*o_curp[4], d_curp[4],*/ o_new[4], d_new[4], o_new2[4], d_new2[4];
|
||||
|
||||
// set up car current positions
|
||||
for (i=0; i<4; i++)
|
||||
|
|
@ -558,8 +558,8 @@ int Opponent::testCollision(Driver *driver, double impact, double sizefactor, ve
|
|||
else
|
||||
{
|
||||
// position driver's car according to velocity angle
|
||||
double d_newPos_x = dcar->pub.DynGC.pos.x + (d_speedX*impact);
|
||||
double d_newPos_y = dcar->pub.DynGC.pos.y + (d_speedY*impact);
|
||||
//double d_newPos_x = dcar->pub.DynGC.pos.x + (d_speedX*impact);
|
||||
//double d_newPos_y = dcar->pub.DynGC.pos.y + (d_speedY*impact);
|
||||
|
||||
// correct corner positions
|
||||
for (i=0; i<4; i++)
|
||||
|
|
@ -572,8 +572,8 @@ int Opponent::testCollision(Driver *driver, double impact, double sizefactor, ve
|
|||
#if 1
|
||||
{
|
||||
// position opponent car according to velocity angle
|
||||
double o_newPos_x = car->pub.DynGC.pos.x + (o_speedX*impact);
|
||||
double o_newPos_y = car->pub.DynGC.pos.y + (o_speedY*impact);
|
||||
//double o_newPos_x = car->pub.DynGC.pos.x + (o_speedX*impact);
|
||||
//double o_newPos_y = car->pub.DynGC.pos.y + (o_speedY*impact);
|
||||
|
||||
// correct corner positions
|
||||
for (i=0; i<4; i++)
|
||||
|
|
@ -698,8 +698,8 @@ int Opponent::testCollision(Driver *driver, double impact, double sizefactor, ve
|
|||
double ti = MAX(0.001, impact) + 0.1;
|
||||
tPosd *o_old1 = cardata->getCorner1();
|
||||
tPosd *d_old1 = driver->getCorner1();
|
||||
tPosd *o_old2 = cardata->getCorner2();
|
||||
tPosd *d_old2 = driver->getCorner2();
|
||||
//tPosd *o_old2 = cardata->getCorner2();
|
||||
//tPosd *d_old2 = driver->getCorner2();
|
||||
|
||||
for (i=0; i<4; i++)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -32,7 +32,7 @@
|
|||
// Structures and Statics
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
static SRaceLine SRL[5] = { 0 };
|
||||
static SRaceLine SRL[5] = { { 0 } };
|
||||
static int SRLinit = 0;
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
|
|
@ -45,8 +45,8 @@ static int SRLinit = 0;
|
|||
//static const int Iterations = 100; // Number of smoothing operations
|
||||
|
||||
static const double SecurityR = 100.0; // Security radius
|
||||
static double SideDistExt = 2.0; // Security distance wrt outside
|
||||
static double SideDistInt = 1.0; // Security distance wrt inside
|
||||
//static double SideDistExt = 2.0; // Security distance wrt outside
|
||||
//static double SideDistInt = 1.0; // Security distance wrt inside
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
// Some utility macros and functions
|
||||
|
|
@ -865,7 +865,7 @@ void LRaceLine::StepInterpolate(int iMin, int iMax, int Step, int rl)
|
|||
}
|
||||
}
|
||||
|
||||
static void ClosestPointOnLineFromPoint(
|
||||
/*static void ClosestPointOnLineFromPoint(
|
||||
vec2f *lp1, vec2f *lp2,
|
||||
vec2f *p, vec2f *r )
|
||||
{
|
||||
|
|
@ -880,7 +880,7 @@ static void ClosestPointOnLineFromPoint(
|
|||
|
||||
r->x = lp1->x + ratio * vx;
|
||||
r->y = lp1->y + ratio * vy;
|
||||
}
|
||||
}*/
|
||||
|
||||
static double PointDist(vec2f *p1, vec2f *p2)
|
||||
{
|
||||
|
|
@ -1077,8 +1077,8 @@ void LRaceLine::ComputeSpeed(int rl)
|
|||
}
|
||||
|
||||
int nnext = (i + 5) % Divs;
|
||||
int next = (i + 1) % Divs;
|
||||
int prev = (i - 1 + Divs) % Divs;
|
||||
//int next = (i + 1) % Divs;
|
||||
//int prev = (i - 1 + Divs) % Divs;
|
||||
|
||||
double rInverse = SRL[rl].tRInverse[i];
|
||||
double rI = fabs(rInverse);
|
||||
|
|
@ -1437,8 +1437,8 @@ void LRaceLine::GetRLSteerPoint( vec2f *rt, double *offset, double time )
|
|||
dist *= car->_trkPos.seg->radius;
|
||||
int next = SRL[SRLidx].tSegIndex[SegId] + int(dist / SRL[SRLidx].tElemLength[SegId]);
|
||||
dist = 0.0;
|
||||
double txLast = car->_pos_X;
|
||||
double tyLast = car->_pos_Y;
|
||||
//double txLast = car->_pos_X;
|
||||
//double tyLast = car->_pos_Y;
|
||||
double Time = deltaTime*3 + MAX(0.0, time);
|
||||
|
||||
{
|
||||
|
|
@ -1476,7 +1476,7 @@ void LRaceLine::GetSteerPoint( double lookahead, vec2f *rt, double offset, doubl
|
|||
|
||||
int maxcount = int(lookahead / DivLength + 1);
|
||||
int count = 0;
|
||||
tTrackSeg *seg = car->_trkPos.seg;
|
||||
//tTrackSeg *seg = car->_trkPos.seg;
|
||||
int SegId = car->_trkPos.seg->id;
|
||||
double dist = 0.0;//car->_trkPos.toStart;
|
||||
#if 0
|
||||
|
|
@ -1487,8 +1487,8 @@ void LRaceLine::GetSteerPoint( double lookahead, vec2f *rt, double offset, doubl
|
|||
#endif
|
||||
int next = SRL[SRLidx].tSegIndex[SegId] + int(dist / SRL[SRLidx].tElemLength[SegId]);
|
||||
dist = 0.0;
|
||||
double txLast = car->_pos_X;
|
||||
double tyLast = car->_pos_Y;
|
||||
//double txLast = car->_pos_X;
|
||||
//double tyLast = car->_pos_Y;
|
||||
double Time = deltaTime*3 + MAX(0.0, time/2);
|
||||
double carspeed = Mag(car->_speed_X, car->_speed_Y);
|
||||
double offlane = (offset > -90 ? ((track->width/2) - offset) / track->width : SRL[SRLidx].tLane[next]);
|
||||
|
|
@ -1587,8 +1587,8 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
if (famI > 0.0)
|
||||
{
|
||||
double toMid = car->_trkPos.toMiddle + data->speedangle * 20;
|
||||
double toLeft = car->_trkPos.toLeft - data->speedangle * 20;
|
||||
double toRight = car->_trkPos.toRight + data->speedangle * 20;
|
||||
//double toLeft = car->_trkPos.toLeft - data->speedangle * 20;
|
||||
//double toRight = car->_trkPos.toRight + data->speedangle * 20;
|
||||
double modfactor = (car->_speed_x / data->avspeed);
|
||||
modfactor *= modfactor;
|
||||
|
||||
|
|
@ -1612,12 +1612,12 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
//if (data->collision)
|
||||
// timefactor *= 1.0 + MAX(0.0, (5.0-data->collision) / 5.0);
|
||||
double Time = timefactor; // + CornerAccel/80;
|
||||
double X4 = car->_pos_X + car->_speed_X * 0.5 / 2;
|
||||
double Y4 = car->_pos_Y + car->_speed_Y * 0.5 / 2;
|
||||
//double X4 = car->_pos_X + car->_speed_X * 0.5 / 2;
|
||||
//double Y4 = car->_pos_Y + car->_speed_Y * 0.5 / 2;
|
||||
double X = car->_pos_X + car->_speed_X * Time / 2;
|
||||
double Y = car->_pos_Y + car->_speed_Y * Time / 2;
|
||||
double Xk = car->_pos_X + car->_speed_X * 0.1 / 2;
|
||||
double Yk = car->_pos_Y + car->_speed_Y * 0.1 / 2;
|
||||
//double Xk = car->_pos_X + car->_speed_X * 0.1 / 2;
|
||||
//double Yk = car->_pos_Y + car->_speed_Y * 0.1 / 2;
|
||||
data->lookahead = 0.0f;
|
||||
data->aInverse = SRL[LINE_MID].tRInverse[Index];
|
||||
double divcount = 1.0;
|
||||
|
|
@ -1647,7 +1647,7 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
|
||||
if (data->followdist <= 5.0)
|
||||
{
|
||||
int snext = SNext;
|
||||
//int snext = SNext;
|
||||
//Next = (Next + int((car->_dimension_x + (5.0 - data->followdist)*1.2) / DivLength)) % Divs;
|
||||
SNext = (Next + int((car->_dimension_x + (5.0 - data->followdist)*6) / DivLength)) % Divs;
|
||||
if (car->_accel_x > 0.0 && data->followdist <= 2.0)
|
||||
|
|
@ -1741,7 +1741,7 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
data->offset = laneoffset;
|
||||
//fprintf(stderr,"GetRLData: offset=%.2f Next=%d lane=%.4f Width=%.2f\n",laneoffset,Next,tLane[Next],Width);
|
||||
|
||||
double sa = (data->angle > 0.0 ? MIN(data->angle, data->angle+data->speedangle/2) : MAX(data->angle, data->angle+data->speedangle/2));
|
||||
//double sa = (data->angle > 0.0 ? MIN(data->angle, data->angle+data->speedangle/2) : MAX(data->angle, data->angle+data->speedangle/2));
|
||||
//CalcAvoidSpeed( Next, data, sa );
|
||||
|
||||
#if 1
|
||||
|
|
@ -1826,7 +1826,7 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
vec2f target;
|
||||
double carspeed = Mag(car->_speed_X, car->_speed_Y);
|
||||
double steertime = MIN(MaxSteerTime, MinSteerTime + MAX(0.0, carspeed-20.0)/30.0);
|
||||
double lane2left = track->width * SRL[SRLidx].tLane[Next];
|
||||
//double lane2left = track->width * SRL[SRLidx].tLane[Next];
|
||||
|
||||
// an idea to implement soon...
|
||||
//if (car->_accel_x < 0.0)
|
||||
|
|
@ -1846,7 +1846,7 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
|
||||
if (fabs(nextangle) > fabs(data->speedangle))
|
||||
{
|
||||
double sa = MAX(-0.3, MIN(0.3, data->speedangle/3));
|
||||
//double sa = MAX(-0.3, MIN(0.3, data->speedangle/3));
|
||||
double anglediff = (data->speedangle - nextangle) * (0.1 + fabs(nextangle)/6);
|
||||
k1999steer += anglediff * (1.0 + MAX(1.0, 1.0 - car->_accel_x/5));
|
||||
}
|
||||
|
|
@ -1856,8 +1856,8 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
double dx = SRL[SRLidx].tx[NextNext] - SRL[SRLidx].tx[Prev];
|
||||
double dy = SRL[SRLidx].ty[NextNext] - SRL[SRLidx].ty[Prev];
|
||||
|
||||
double vx = car->_speed_X;
|
||||
double vy = car->_speed_Y;
|
||||
//double vx = car->_speed_X;
|
||||
//double vy = car->_speed_Y;
|
||||
double dirx = cos(car->_yaw);
|
||||
double diry = sin(car->_yaw);
|
||||
double SinAngleError = dx * diry - dy * dirx;
|
||||
|
|
@ -1951,7 +1951,7 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
|
||||
data->NSsteer = lastNksteer = k1999steer;
|
||||
int Prev = (KIndex + Divs - 1) % Divs;
|
||||
int PrevPrev = (KIndex + Divs - 5) % Divs;
|
||||
//int PrevPrev = (KIndex + Divs - 5) % Divs;
|
||||
int NextNext = (KNext + 1) % Divs;
|
||||
|
||||
//
|
||||
|
|
@ -2103,7 +2103,7 @@ double LRaceLine::getAvoidSteer(double offset, LRaceLineData *data)
|
|||
double steertime = MIN(MaxSteerTime, MinSteerTime + MAX(0.0, carspeed-20.0)/30.0);
|
||||
if (data->followdist < 5.0)
|
||||
steertime = MIN(MaxSteerTime*1.1, steertime * 1.0 + (5.0 - data->followdist)/20);
|
||||
double lane2left = track->width * SRL[SRLidx].tLane[Next];
|
||||
//double lane2left = track->width * SRL[SRLidx].tLane[Next];
|
||||
|
||||
double amI = MIN(0.05, MAX(-0.05, SRL[SRLidx].tRInverse[Next]));
|
||||
double famI = fabs(amI);
|
||||
|
|
@ -2151,7 +2151,7 @@ double LRaceLine::getAvoidSteer(double offset, LRaceLineData *data)
|
|||
|
||||
if (fabs(nextangle) > fabs(data->speedangle))
|
||||
{
|
||||
double sa = MAX(-0.3, MIN(0.3, data->speedangle/3));
|
||||
//double sa = MAX(-0.3, MIN(0.3, data->speedangle/3));
|
||||
double anglediff = (data->speedangle - nextangle) * (0.1 + fabs(nextangle)/6);
|
||||
steer += anglediff * (1.0 + MAX(1.0, 1.0 - car->_accel_x/5));
|
||||
}
|
||||
|
|
@ -2175,7 +2175,7 @@ void LRaceLine::GetPoint( double offset, vec2f *rt, double *mInverse )
|
|||
double offlane = ((track->width/2) - offset) / track->width;
|
||||
double off2lft = track->width/2 - offset;
|
||||
double off2rgt = track->width - off2lft;
|
||||
tTrackSeg *seg = car->_trkPos.seg;
|
||||
//tTrackSeg *seg = car->_trkPos.seg;
|
||||
int SegId = car->_trkPos.seg->id;
|
||||
double dist = car->_trkPos.toStart;
|
||||
if (dist < 0)
|
||||
|
|
@ -2183,7 +2183,7 @@ void LRaceLine::GetPoint( double offset, vec2f *rt, double *mInverse )
|
|||
if (car->_trkPos.seg->type != TR_STR)
|
||||
dist *= car->_trkPos.seg->radius;
|
||||
int Index = SRL[SRLidx].tSegIndex[SegId] + int(dist / SRL[SRLidx].tElemLength[SegId]);
|
||||
double laneoffset = SRL[SRLidx].Width/2 - (SRL[SRLidx].tLane[Index] * SRL[SRLidx].Width);
|
||||
//double laneoffset = SRL[SRLidx].Width/2 - (SRL[SRLidx].tLane[Index] * SRL[SRLidx].Width);
|
||||
double rInv = SRL[LINE_MID].tRInverse[Index];
|
||||
Index = This;
|
||||
#if 1
|
||||
|
|
@ -2216,8 +2216,8 @@ void LRaceLine::GetPoint( double offset, vec2f *rt, double *mInverse )
|
|||
next = (Index + 1) % Divs;
|
||||
txNext = offlane * SRL[SRLidx].txRight[next] + (1 - offlane) * SRL[SRLidx].txLeft[next];
|
||||
tyNext = offlane * SRL[SRLidx].tyRight[next] + (1 - offlane) * SRL[SRLidx].tyLeft[next];
|
||||
double dx = txNext - car->_pos_X;
|
||||
double dy = tyNext - car->_pos_Y;
|
||||
//double dx = txNext - car->_pos_X;
|
||||
//double dy = tyNext - car->_pos_Y;
|
||||
if ((txNext - txIndex) * (X - txNext) +
|
||||
(tyNext - tyIndex) * (Y - tyNext) < -0.1)
|
||||
{
|
||||
|
|
@ -2248,12 +2248,12 @@ void LRaceLine::GetPoint( double offset, vec2f *rt, double *mInverse )
|
|||
|
||||
int LRaceLine::findNextCorner( double *nextCRinverse )
|
||||
{
|
||||
tTrackSeg *seg = car->_trkPos.seg;;
|
||||
//tTrackSeg *seg = car->_trkPos.seg;;
|
||||
int prefer_side = ((SRL[SRLidx].tRInverse[Next] > 0.001) ? TR_LFT :
|
||||
((SRL[SRLidx].tRInverse[Next]) < -0.001 ? TR_RGT : TR_STR));
|
||||
double curlane = car->_trkPos.toLeft / track->width;
|
||||
int next = (Next+5) % Divs, i = 1, div;
|
||||
double distance = 0.0;
|
||||
//double curlane = car->_trkPos.toLeft / track->width;
|
||||
int /*next = (Next+5) % Divs,*/ i = 1, div;
|
||||
//double distance = 0.0;
|
||||
double CR = SRL[SRLidx].tRInverse[Next];
|
||||
|
||||
if (car->_speed_x < 5.0)
|
||||
|
|
@ -2297,7 +2297,7 @@ int LRaceLine::findNextCorner( double *nextCRinverse )
|
|||
|
||||
double LRaceLine::correctLimit(double avoidsteer, double racesteer)
|
||||
{
|
||||
double nlane2left = SRL[SRLidx].tLane[Next] * SRL[SRLidx].Width;
|
||||
//double nlane2left = SRL[SRLidx].tLane[Next] * SRL[SRLidx].Width;
|
||||
double tbump = BumpCaution;//GetModD( tBump, This ) * 4;
|
||||
|
||||
// correct would take us in the opposite direction to a corner - correct less!
|
||||
|
|
@ -2307,7 +2307,7 @@ double LRaceLine::correctLimit(double avoidsteer, double racesteer)
|
|||
|
||||
// correct would take us in the opposite direction to a corner - correct less (but not as much as above)
|
||||
int nnext = (Next + (int) (car->_speed_x/3)) % Divs;
|
||||
double nnlane2left = SRL[SRLidx].tLane[nnext] * SRL[SRLidx].Width;
|
||||
//double nnlane2left = SRL[SRLidx].tLane[nnext] * SRL[SRLidx].Width;
|
||||
if ((SRL[SRLidx].tRInverse[nnext] > 0.001 && avoidsteer > racesteer) ||
|
||||
(SRL[SRLidx].tRInverse[nnext] < -0.001 && avoidsteer < racesteer))
|
||||
return MAX(0.3, MIN(1.0, 1.0 - fabs(SRL[SRLidx].tRInverse[nnext]) * 40.0 - tbump));
|
||||
|
|
|
|||
|
|
@ -35,12 +35,12 @@ SimpleStrategy::SimpleStrategy() :
|
|||
m_lastfuel(0.0f),
|
||||
m_expectedfuelperlap(0.0f),
|
||||
m_fuelsum(0.0f),
|
||||
PitDamage(5000),
|
||||
pit_damage(0),
|
||||
min_damage(0),
|
||||
is_pitting(0),
|
||||
remainlaps(0),
|
||||
pit_reason(0),
|
||||
PitDamage(5000),
|
||||
track(NULL)
|
||||
{
|
||||
#ifdef SPEED_DREAMS
|
||||
|
|
@ -178,7 +178,7 @@ bool SimpleStrategy::needPitstop(tCarElt* car, tSituation *s, Opponents *opp)
|
|||
{
|
||||
// Do we need to refuel?
|
||||
int remainlaps = car->_remainingLaps;//-car->_lapsBehindLeader;
|
||||
int this_pit_dammage = PitDamage;
|
||||
//int this_pit_dammage = PitDamage;
|
||||
|
||||
if (!car->_pit)
|
||||
return false;
|
||||
|
|
|
|||
|
|
@ -37,7 +37,9 @@
|
|||
#include <robottools.h>
|
||||
#include <robot.h>
|
||||
|
||||
#ifndef SPEED_DREAMS
|
||||
#define SPEED_DREAMS
|
||||
#endif //SPEED_DREAMS
|
||||
|
||||
#ifdef SPEED_DREAMS
|
||||
#include <teammanager.h>
|
||||
|
|
|
|||
|
|
@ -47,14 +47,14 @@ static void endRace(int index, tCarElt *car, tSituation *s);
|
|||
// TORCS-NG-Interface
|
||||
static const int BUFSIZE = 256; // Buffer size for path/filename buffers
|
||||
static const int MAXNBBOTS = 20; // Set value to max capacity you want to use here
|
||||
static char* defaultBotName[MAXNBBOTS] = {
|
||||
static char const* defaultBotName[MAXNBBOTS] = {
|
||||
"driver 1", "driver 2", "driver 3", "driver 4", "driver 5",
|
||||
"driver 6", "driver 7", "driver 8", "driver 9", "driver 10",
|
||||
"driver 11", "driver 12", "driver 13", "driver 14", "driver 15",
|
||||
"driver 16", "driver 17", "driver 18", "driver 19", "driver 20"
|
||||
};
|
||||
|
||||
static char* defaultBotDesc[MAXNBBOTS] = {
|
||||
static char const* defaultBotDesc[MAXNBBOTS] = {
|
||||
"driver 1", "driver 2", "driver 3", "driver 4", "driver 5",
|
||||
"driver 6", "driver 7", "driver 8", "driver 9", "driver 10",
|
||||
"driver 11", "driver 12", "driver 13", "driver 14", "driver 15",
|
||||
|
|
@ -96,7 +96,7 @@ void SetUpUSR_sc()
|
|||
// Set robots's name and xml file pathname
|
||||
static void setRobotName(const char *name)
|
||||
{
|
||||
char* c;
|
||||
//char* c;
|
||||
|
||||
strcpy(nameBuffer, name);
|
||||
snprintf(pathBuffer, BUFSIZE, "drivers/%s/%s.xml", name, name);
|
||||
|
|
|
|||
|
|
@ -301,8 +301,8 @@ void Driver::initTrack(tTrack* t, void *carHandle, void **carParmHandle, tSituat
|
|||
|
||||
char carName[256];
|
||||
{
|
||||
char *path = SECT_GROBJECTS "/" LST_RANGES "/" "1";
|
||||
char *key = PRM_CAR;
|
||||
char const *path = SECT_GROBJECTS "/" LST_RANGES "/" "1";
|
||||
char const *key = PRM_CAR;
|
||||
strncpy( carName, GfParmGetStr(carHandle, path, key, ""), sizeof(carName) );
|
||||
char *p = strrchr(carName, '.');
|
||||
if (p) *p = '\0';
|
||||
|
|
@ -587,8 +587,8 @@ void Driver::newRace(tCarElt* car, tSituation *s)
|
|||
|
||||
char carName[256];
|
||||
{
|
||||
char *path = SECT_GROBJECTS "/" LST_RANGES "/" "1";
|
||||
char *key = PRM_CAR;
|
||||
char const *path = SECT_GROBJECTS "/" LST_RANGES "/" "1";
|
||||
char const *key = PRM_CAR;
|
||||
strncpy( carName, GfParmGetStr(car->_carHandle, path, key, ""), sizeof(carName) );
|
||||
char *p = strrchr(carName, '.');
|
||||
if (p) *p = '\0';
|
||||
|
|
@ -1034,7 +1034,7 @@ float Driver::getAccel()
|
|||
|
||||
if (pit->getInPit() && car->_brakeCmd == 0.0f)
|
||||
{
|
||||
float s = pit->toSplineCoord( car->_distFromStartLine );
|
||||
//float s = pit->toSplineCoord( car->_distFromStartLine );
|
||||
|
||||
#if 0
|
||||
if (pit->needPitstop())
|
||||
|
|
@ -1376,7 +1376,7 @@ float Driver::getSteer(tSituation *s)
|
|||
|
||||
bool yr_ok = (fabs(car->_yaw_rate) < 0.1 || (car->_yaw_rate > rldata->rInverse*100-0.1 && car->_yaw_rate < rldata->rInverse*100+0.1));
|
||||
bool angle_ok = (angle > rldata->rlangle-0.06 && angle < rldata->rlangle+0.06);
|
||||
double rlsteer = (fabs(rldata->rInverse) >= 0.004 ? rldata->rInverse * 12 : 0.0);
|
||||
//double rlsteer = (fabs(rldata->rInverse) >= 0.004 ? rldata->rInverse * 12 : 0.0);
|
||||
bool steer_ok = (racesteer<laststeer+0.05 && racesteer>laststeer-0.05);
|
||||
|
||||
double skid = (car->_skid[0] + car->_skid[1] + car->_skid[2] + car->_skid[3]) / 2;
|
||||
|
|
@ -1543,7 +1543,7 @@ double Driver::calcSteer( double targetAngle, int rl )
|
|||
if (fabs(nextangle) > fabs(speedangle))
|
||||
{
|
||||
// steer into the skid
|
||||
double sa = MAX(-0.3, MIN(0.3, speedangle/3));
|
||||
//double sa = MAX(-0.3, MIN(0.3, speedangle/3));
|
||||
//double anglediff = (sa - angle) * (0.3 + fabs(angle)/6);
|
||||
double anglediff = (speedangle - nextangle) * (0.1 + fabs(nextangle)/6);
|
||||
steer += (float) (anglediff*SkidSteer);
|
||||
|
|
@ -1647,7 +1647,7 @@ float Driver::correctSteering( float avoidsteer, float racesteer )
|
|||
return avoidsteer;
|
||||
|
||||
float steer = avoidsteer;
|
||||
float accel = MIN(0.0f, car->_accel_x);
|
||||
//float accel = MIN(0.0f, car->_accel_x);
|
||||
double speed = 50.0; //MAX(50.0, currentspeed);
|
||||
double changelimit = MIN(raceline->correctLimit(avoidsteer, racesteer), (((120.0-currentspeed)/6000) * (0.1 + fabs(rldata->mInverse/4)))) * SmoothSteer;
|
||||
|
||||
|
|
@ -2023,7 +2023,7 @@ vec2f Driver::getTargetPoint(bool use_lookahead, double targetoffset)
|
|||
// all the BT code below is for steering into pits only.
|
||||
s.x = (seg->vertex[TR_SL].x + seg->vertex[TR_SR].x)/2;
|
||||
s.y = (seg->vertex[TR_SL].y + seg->vertex[TR_SR].y)/2;
|
||||
double dx, dy;
|
||||
//double dx, dy;
|
||||
vec2f t, rt;
|
||||
|
||||
if ( seg->type == TR_STR) {
|
||||
|
|
@ -2059,9 +2059,9 @@ bool Driver::canOvertake( Opponent *o, double *mincatchdist, bool outside, bool
|
|||
if (!o) return false;
|
||||
|
||||
#if 1
|
||||
int segid = car->_trkPos.seg->id;
|
||||
//int segid = car->_trkPos.seg->id;
|
||||
tCarElt *ocar = o->getCarPtr();
|
||||
int osegid = ocar->_trkPos.seg->id;
|
||||
//int osegid = ocar->_trkPos.seg->id;
|
||||
double otry_factor = (lenient ? (0.2 + MAX(0.0, 1.0 - ((simtime-frontavoidtime)/7.0)) * 0.8) : 1.0);
|
||||
double overtakecaution = MAX(0.0, rldata->overtakecaution + (outside ? MIN(0.0, car->_accel_x/8) : 0.0)) - driver_aggression/2;
|
||||
double orInv=0.0, oAspeed=0.0;
|
||||
|
|
@ -2166,7 +2166,7 @@ bool Driver::canOvertake( Opponent *o, double *mincatchdist, bool outside, bool
|
|||
float Driver::getOffset()
|
||||
{
|
||||
int i, avoidmovt = 0;
|
||||
double catchdist, mincatchdist = MAX(100.0, car->_speed_x * 5), mindist = -1000.0;
|
||||
double /*catchdist,*/ mincatchdist = MAX(100.0, car->_speed_x * 5), mindist = -1000.0;
|
||||
Opponent *o = NULL;
|
||||
double lane2left = rldata->lane * car->_trkPos.seg->width;
|
||||
double lane2right = car->_trkPos.seg->width-lane2left;
|
||||
|
|
@ -2179,7 +2179,7 @@ float Driver::getOffset()
|
|||
// Increment speed dependent.
|
||||
//double incspeed = MIN(40.0, MAX(30.0, currentspeed));
|
||||
//double incfactor = (MAX_INC_FACTOR*0.5 - MIN(incspeed/10, MAX_INC_FACTOR*0.5-0.5)) * 60 * IncFactor;
|
||||
double incspeed = MIN(60.0, MAX(40.0, currentspeed)) - 10.0;
|
||||
//double incspeed = MIN(60.0, MAX(40.0, currentspeed)) - 10.0;
|
||||
//double incfactor = (MAX_INC_FACTOR - MIN(fabs(incspeed)/MAX_INC_FACTOR, (MAX_INC_FACTOR - 1.0f))) * (10.0f + MAX(0.0, (CA-1.9)*10)) * IncFactor;
|
||||
double incfactor = (MAX_INC_FACTOR - MIN(40.0/MAX_INC_FACTOR, (MAX_INC_FACTOR - 1.0f))) * (10.0f + MAX(0.0, (CA-1.9)*10)) * IncFactor;
|
||||
|
||||
|
|
@ -2204,7 +2204,7 @@ float Driver::getOffset()
|
|||
|
||||
double moffset = car->_trkPos.toMiddle;
|
||||
|
||||
double origoffset = moffset;
|
||||
//double origoffset = moffset;
|
||||
|
||||
double Width = car->_trkPos.seg->width;
|
||||
#if 1
|
||||
|
|
@ -2235,8 +2235,8 @@ float Driver::getOffset()
|
|||
{
|
||||
// reduce amount we deviate from the raceline according to how long we've been avoiding, and also
|
||||
// how fast we're going.
|
||||
double dspeed = MAX(0.0, rldata->speed - currentspeed) * 4;
|
||||
double pspeed = MAX(1.0, 60.0 - (currentspeed - (30.0 + MAX(0.0, car->_accel_x) + dspeed))) / 10;
|
||||
//double dspeed = MAX(0.0, rldata->speed - currentspeed) * 4;
|
||||
//double pspeed = MAX(1.0, 60.0 - (currentspeed - (30.0 + MAX(0.0, car->_accel_x) + dspeed))) / 10;
|
||||
|
||||
// instead of toMiddle just aiming at where the car currently is, we move it in the direction
|
||||
// the car's travelling ... but less so if the speedangle is different from the car's angle.
|
||||
|
|
@ -2524,13 +2524,13 @@ fprintf(stderr,"%s -> %s CANCEL 1 (%.1f > %.1f || %.1f < %.1f || %.3f > %.3f)\n"
|
|||
tCarElt *ocar = o->getCarPtr();
|
||||
|
||||
// Compute the width around the middle which we can use for overtaking.
|
||||
float w = ocar->_trkPos.seg->width/WIDTHDIV-BORDER_OVERTAKE_MARGIN;
|
||||
//float w = ocar->_trkPos.seg->width/WIDTHDIV-BORDER_OVERTAKE_MARGIN;
|
||||
// Compute the opponents distance to the middle.
|
||||
float otm = ocar->_trkPos.toMiddle;
|
||||
//float otm = ocar->_trkPos.toMiddle;
|
||||
// Define the with of the middle range.
|
||||
float wm = ocar->_trkPos.seg->width*CENTERDIV;
|
||||
//float wm = ocar->_trkPos.seg->width*CENTERDIV;
|
||||
float sidedist = fabs(car->_trkPos.toMiddle-ocar->_trkPos.toMiddle);
|
||||
double sdist = (rInverse > 0.0 ? (-sidedist - 3.0) : (sidedist - 3.0));
|
||||
//double sdist = (rInverse > 0.0 ? (-sidedist - 3.0) : (sidedist - 3.0));
|
||||
|
||||
//int avoidingside = (otm > wm && myoffset > -w) ? TR_RGT : ((otm < -wm && myoffset < w) ? TR_LFT : TR_STR);
|
||||
int avoidingside = (car->_trkPos.toLeft > ocar->_trkPos.toLeft ? TR_LFT : TR_RGT);
|
||||
|
|
@ -2878,7 +2878,7 @@ fprintf(stderr,"%s BEHIND %s (%d %d %d %d)\n",car->_name,ocar->_name,((o->getSta
|
|||
double factor = 0.25;//(fabs(car->_trkPos.toMiddle) < car->_trkPos.seg->width/2 + 2.0 ? 0.25 : 1.0);
|
||||
if (fabs(myoffset) > fabs(rldata->offset))
|
||||
{
|
||||
double inc = OVERTAKE_OFFSET_INC * MIN(lftinc, rgtinc) * factor;
|
||||
//double inc = OVERTAKE_OFFSET_INC * MIN(lftinc, rgtinc) * factor;
|
||||
if (myoffset < rldata->offset && myoffset < 2.0)
|
||||
myoffset += (float) (MIN(rldata->offset-myoffset, OVERTAKE_OFFSET_INC * rgtinc/3 * factor));
|
||||
else if (myoffset > rldata->offset && myoffset > 2.0)
|
||||
|
|
@ -3060,7 +3060,7 @@ void Driver::update(tSituation *s)
|
|||
|
||||
for (int i=0; i<opponents->getNOpponents(); i++)
|
||||
{
|
||||
int idx = opponent[i].getIndex();
|
||||
//int idx = opponent[i].getIndex();
|
||||
if (opponent[i].getTeam() != TEAM_FRIEND) continue;
|
||||
if (opponent[i].getCarPtr() == car) continue;
|
||||
if (opponent[i].getCarPtr()->_state > RM_CAR_STATE_PIT)
|
||||
|
|
@ -3449,7 +3449,7 @@ void Driver::initWheelPos()
|
|||
{
|
||||
for (int i=0; i<4; i++)
|
||||
{
|
||||
char *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
|
||||
char const *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
|
||||
float rh = 0.0;
|
||||
rh = GfParmGetNum(car->_carHandle,WheelSect[i],PRM_RIDEHEIGHT,(char *)NULL, 0.10f);
|
||||
wheelz[i] = (-rh / 1.0 + car->info.wheel[i].wheelRadius) - 0.01;
|
||||
|
|
@ -3458,7 +3458,7 @@ void Driver::initWheelPos()
|
|||
|
||||
void Driver::initCa()
|
||||
{
|
||||
char *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
|
||||
char const *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
|
||||
float rearwingarea = GfParmGetNum(car->_carHandle, SECT_REARWING, PRM_WINGAREA, (char*) NULL, 0.0f);
|
||||
float rearwingangle = GfParmGetNum(car->_carHandle, SECT_REARWING, PRM_WINGANGLE, (char*) NULL, 0.0f);
|
||||
float wingca = 1.23f*rearwingarea*sin(rearwingangle);
|
||||
|
|
@ -3486,7 +3486,7 @@ void Driver::initCw()
|
|||
// Init the friction coefficient of the the tires.
|
||||
void Driver::initTireMu()
|
||||
{
|
||||
char *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
|
||||
char const *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
|
||||
float tm = FLT_MAX;
|
||||
int i;
|
||||
|
||||
|
|
@ -3616,7 +3616,7 @@ float Driver::filterABS(float brake)
|
|||
{
|
||||
if (car->_speed_x < ABS_MINSPEED) return brake;
|
||||
float origbrake = brake;
|
||||
float rearskid = MAX(0.0f, MAX(car->_skid[2], car->_skid[3]) - MAX(car->_skid[0], car->_skid[1]));
|
||||
//float rearskid = MAX(0.0f, MAX(car->_skid[2], car->_skid[3]) - MAX(car->_skid[0], car->_skid[1]));
|
||||
int i;
|
||||
float slip = 0.0f;
|
||||
for (i = 0; i < 4; i++) {
|
||||
|
|
|
|||
|
|
@ -214,15 +214,15 @@ fprintf(stderr," FRONTSLOW\n");
|
|||
double max = MAX(lane, MAX(mycar->_trkPos.seg->width-mycar->_dimension_y/2, driver->getNextLeft()));
|
||||
double min = MIN(lane, MIN(mycar->_dimension_y/2, driver->getNextLeft()));
|
||||
//double mleft = MIN(max, MAX(min, (mycar->_trkPos.toLeft+(driver->getNextLeft()-mycar->_trkPos.toLeft) * (t_impact*deltamult)))) - driver->getAngle();
|
||||
double mleft = MIN(max, MAX(min, (mycar->_trkPos.toLeft+(t_impact*driver->getSpeedAngle())) + driver->getAngle()));
|
||||
//double mleft = MIN(max, MAX(min, (mycar->_trkPos.toLeft+(t_impact*driver->getSpeedAngle())) + driver->getAngle()));
|
||||
max = MAX(nextleft, car->_trkPos.seg->width-car->_dimension_y/2);
|
||||
min = MIN(nextleft, car->_dimension_y/2);
|
||||
//double oleft = MIN(max, MAX(min, (car->_trkPos.toLeft+(nextleft-car->_trkPos.toLeft) * (t_impact*deltamult)))) - angle;
|
||||
double oleft = MIN(max, MAX(min, (car->_trkPos.toLeft+(t_impact*speedangle)) + angle));
|
||||
//double oleft = MIN(max, MAX(min, (car->_trkPos.toLeft+(t_impact*speedangle)) + angle));
|
||||
|
||||
//double sepdist = fabs(mleft - oleft);
|
||||
double sepdist = fabs(car->_trkPos.toLeft - mycar->_trkPos.toLeft) + driver->getAngle()*2;
|
||||
int diverging = 0; //(sepdist > (fabs(getWidth()/2.0f) + mycar->_dimension_y/3.0f) + 0.3);
|
||||
//int diverging = 0; //(sepdist > (fabs(getWidth()/2.0f) + mycar->_dimension_y/3.0f) + 0.3);
|
||||
|
||||
//t_impact = MIN(mspeed/7, t_impact);
|
||||
|
||||
|
|
@ -234,7 +234,7 @@ fprintf(stderr," FRONTSLOW\n");
|
|||
float cardist = car->_trkPos.toMiddle - mycar->_trkPos.toMiddle;
|
||||
sidedist = cardist;
|
||||
cardist = sepdist - fabs(getWidth()/2.0f) - mycar->_dimension_y/2.0f;
|
||||
double deduction = t_impact / MAX(1.0, distance);
|
||||
//double deduction = t_impact / MAX(1.0, distance);
|
||||
if (cardist < SIDE_MARGIN) {
|
||||
if (DebugMsg & debug_brake)
|
||||
fprintf(stderr,"FRONTCOLLIDE %s cardist=%.3f sepdist=%.3f\n",car->_name,cardist,sepdist);
|
||||
|
|
@ -394,7 +394,7 @@ fprintf(stderr," FRONTFAST\n");
|
|||
if (team == TEAM_FRIEND && car->_dammage-1000 < mycar->_dammage)
|
||||
state |= OPP_FRONT_FOLLOW;
|
||||
|
||||
double dSpeed = mspeed;//driver->getSpeed();
|
||||
//double dSpeed = mspeed;//driver->getSpeed();
|
||||
//if (distance < 20.0 - (getSpeed()-driver->getSpeed())*4)
|
||||
if (distance < 20.0 - (ospeed-mspeed)*4)
|
||||
state |= OPP_FRONT;
|
||||
|
|
@ -527,15 +527,15 @@ int Opponent::polyOverlap( tPosd *op, tPosd *dp )
|
|||
int Opponent::testCollision(Driver *driver, double impact, double sizefactor, vec2f *targ )
|
||||
{
|
||||
tCarElt *mycar = driver->getCarPtr();
|
||||
int collide = 0, i, j;
|
||||
double nSlices = MAX(1.0, (impact * deltamult));
|
||||
int /*collide = 0,*/ i/*, j*/;
|
||||
//double nSlices = MAX(1.0, (impact * deltamult));
|
||||
tCarElt *dcar = driver->getCarPtr();
|
||||
double o_speedX = car->_speed_X;// + (cardata->getSpeedDeltaX()) * (impact * deltamult) / 2;
|
||||
double o_speedY = car->_speed_Y;// + (cardata->getSpeedDeltaY()) * (impact * deltamult) / 2;
|
||||
double d_speedX = dcar->_speed_X;// + driver->getSpeedDeltaX() * (impact * deltamult) / 2;
|
||||
double d_speedY = dcar->_speed_Y;// + driver->getSpeedDeltaY() * (impact * deltamult) / 2;
|
||||
|
||||
tPosd o_cur[4], d_cur[4], o_curp[4], d_curp[4], o_new[4], d_new[4], o_new2[4], d_new2[4];
|
||||
tPosd o_cur[4], d_cur[4], /*o_curp[4], d_curp[4],*/ o_new[4], d_new[4], o_new2[4], d_new2[4];
|
||||
|
||||
// set up car current positions
|
||||
for (i=0; i<4; i++)
|
||||
|
|
@ -558,8 +558,8 @@ int Opponent::testCollision(Driver *driver, double impact, double sizefactor, ve
|
|||
else
|
||||
{
|
||||
// position driver's car according to velocity angle
|
||||
double d_newPos_x = dcar->pub.DynGC.pos.x + (d_speedX*impact);
|
||||
double d_newPos_y = dcar->pub.DynGC.pos.y + (d_speedY*impact);
|
||||
//double d_newPos_x = dcar->pub.DynGC.pos.x + (d_speedX*impact);
|
||||
//double d_newPos_y = dcar->pub.DynGC.pos.y + (d_speedY*impact);
|
||||
|
||||
// correct corner positions
|
||||
for (i=0; i<4; i++)
|
||||
|
|
@ -572,8 +572,8 @@ int Opponent::testCollision(Driver *driver, double impact, double sizefactor, ve
|
|||
#if 1
|
||||
{
|
||||
// position opponent car according to velocity angle
|
||||
double o_newPos_x = car->pub.DynGC.pos.x + (o_speedX*impact);
|
||||
double o_newPos_y = car->pub.DynGC.pos.y + (o_speedY*impact);
|
||||
//double o_newPos_x = car->pub.DynGC.pos.x + (o_speedX*impact);
|
||||
//double o_newPos_y = car->pub.DynGC.pos.y + (o_speedY*impact);
|
||||
|
||||
// correct corner positions
|
||||
for (i=0; i<4; i++)
|
||||
|
|
@ -698,8 +698,8 @@ int Opponent::testCollision(Driver *driver, double impact, double sizefactor, ve
|
|||
double ti = MAX(0.001, impact) + 0.1;
|
||||
tPosd *o_old1 = cardata->getCorner1();
|
||||
tPosd *d_old1 = driver->getCorner1();
|
||||
tPosd *o_old2 = cardata->getCorner2();
|
||||
tPosd *d_old2 = driver->getCorner2();
|
||||
//tPosd *o_old2 = cardata->getCorner2();
|
||||
//tPosd *d_old2 = driver->getCorner2();
|
||||
|
||||
for (i=0; i<4; i++)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -32,7 +32,7 @@
|
|||
// Structures and Statics
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
static SRaceLine SRL[5] = { 0 };
|
||||
static SRaceLine SRL[5] = { { 0 } };
|
||||
static int SRLinit = 0;
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
|
|
@ -45,8 +45,8 @@ static int SRLinit = 0;
|
|||
//static const int Iterations = 100; // Number of smoothing operations
|
||||
|
||||
static const double SecurityR = 100.0; // Security radius
|
||||
static double SideDistExt = 2.0; // Security distance wrt outside
|
||||
static double SideDistInt = 1.0; // Security distance wrt inside
|
||||
//static double SideDistExt = 2.0; // Security distance wrt outside
|
||||
//static double SideDistInt = 1.0; // Security distance wrt inside
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
// Some utility macros and functions
|
||||
|
|
@ -865,7 +865,7 @@ void LRaceLine::StepInterpolate(int iMin, int iMax, int Step, int rl)
|
|||
}
|
||||
}
|
||||
|
||||
static void ClosestPointOnLineFromPoint(
|
||||
/*static void ClosestPointOnLineFromPoint(
|
||||
vec2f *lp1, vec2f *lp2,
|
||||
vec2f *p, vec2f *r )
|
||||
{
|
||||
|
|
@ -880,7 +880,7 @@ static void ClosestPointOnLineFromPoint(
|
|||
|
||||
r->x = lp1->x + ratio * vx;
|
||||
r->y = lp1->y + ratio * vy;
|
||||
}
|
||||
}*/
|
||||
|
||||
static double PointDist(vec2f *p1, vec2f *p2)
|
||||
{
|
||||
|
|
@ -1077,8 +1077,8 @@ void LRaceLine::ComputeSpeed(int rl)
|
|||
}
|
||||
|
||||
int nnext = (i + 5) % Divs;
|
||||
int next = (i + 1) % Divs;
|
||||
int prev = (i - 1 + Divs) % Divs;
|
||||
//int next = (i + 1) % Divs;
|
||||
//int prev = (i - 1 + Divs) % Divs;
|
||||
|
||||
double rInverse = SRL[rl].tRInverse[i];
|
||||
double rI = fabs(rInverse);
|
||||
|
|
@ -1437,8 +1437,8 @@ void LRaceLine::GetRLSteerPoint( vec2f *rt, double *offset, double time )
|
|||
dist *= car->_trkPos.seg->radius;
|
||||
int next = SRL[SRLidx].tSegIndex[SegId] + int(dist / SRL[SRLidx].tElemLength[SegId]);
|
||||
dist = 0.0;
|
||||
double txLast = car->_pos_X;
|
||||
double tyLast = car->_pos_Y;
|
||||
//double txLast = car->_pos_X;
|
||||
//double tyLast = car->_pos_Y;
|
||||
double Time = deltaTime*3 + MAX(0.0, time);
|
||||
|
||||
{
|
||||
|
|
@ -1476,7 +1476,7 @@ void LRaceLine::GetSteerPoint( double lookahead, vec2f *rt, double offset, doubl
|
|||
|
||||
int maxcount = int(lookahead / DivLength + 1);
|
||||
int count = 0;
|
||||
tTrackSeg *seg = car->_trkPos.seg;
|
||||
//tTrackSeg *seg = car->_trkPos.seg;
|
||||
int SegId = car->_trkPos.seg->id;
|
||||
double dist = 0.0;//car->_trkPos.toStart;
|
||||
#if 0
|
||||
|
|
@ -1487,8 +1487,8 @@ void LRaceLine::GetSteerPoint( double lookahead, vec2f *rt, double offset, doubl
|
|||
#endif
|
||||
int next = SRL[SRLidx].tSegIndex[SegId] + int(dist / SRL[SRLidx].tElemLength[SegId]);
|
||||
dist = 0.0;
|
||||
double txLast = car->_pos_X;
|
||||
double tyLast = car->_pos_Y;
|
||||
//double txLast = car->_pos_X;
|
||||
//double tyLast = car->_pos_Y;
|
||||
double Time = deltaTime*3 + MAX(0.0, time/2);
|
||||
double carspeed = Mag(car->_speed_X, car->_speed_Y);
|
||||
double offlane = (offset > -90 ? ((track->width/2) - offset) / track->width : SRL[SRLidx].tLane[next]);
|
||||
|
|
@ -1587,8 +1587,8 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
if (famI > 0.0)
|
||||
{
|
||||
double toMid = car->_trkPos.toMiddle + data->speedangle * 20;
|
||||
double toLeft = car->_trkPos.toLeft - data->speedangle * 20;
|
||||
double toRight = car->_trkPos.toRight + data->speedangle * 20;
|
||||
//double toLeft = car->_trkPos.toLeft - data->speedangle * 20;
|
||||
//double toRight = car->_trkPos.toRight + data->speedangle * 20;
|
||||
double modfactor = (car->_speed_x / data->avspeed);
|
||||
modfactor *= modfactor;
|
||||
|
||||
|
|
@ -1612,12 +1612,12 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
//if (data->collision)
|
||||
// timefactor *= 1.0 + MAX(0.0, (5.0-data->collision) / 5.0);
|
||||
double Time = timefactor; // + CornerAccel/80;
|
||||
double X4 = car->_pos_X + car->_speed_X * 0.5 / 2;
|
||||
double Y4 = car->_pos_Y + car->_speed_Y * 0.5 / 2;
|
||||
//double X4 = car->_pos_X + car->_speed_X * 0.5 / 2;
|
||||
//double Y4 = car->_pos_Y + car->_speed_Y * 0.5 / 2;
|
||||
double X = car->_pos_X + car->_speed_X * Time / 2;
|
||||
double Y = car->_pos_Y + car->_speed_Y * Time / 2;
|
||||
double Xk = car->_pos_X + car->_speed_X * 0.1 / 2;
|
||||
double Yk = car->_pos_Y + car->_speed_Y * 0.1 / 2;
|
||||
//double Xk = car->_pos_X + car->_speed_X * 0.1 / 2;
|
||||
//double Yk = car->_pos_Y + car->_speed_Y * 0.1 / 2;
|
||||
data->lookahead = 0.0f;
|
||||
data->aInverse = SRL[LINE_MID].tRInverse[Index];
|
||||
double divcount = 1.0;
|
||||
|
|
@ -1647,7 +1647,7 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
|
||||
if (data->followdist <= 5.0)
|
||||
{
|
||||
int snext = SNext;
|
||||
//int snext = SNext;
|
||||
//Next = (Next + int((car->_dimension_x + (5.0 - data->followdist)*1.2) / DivLength)) % Divs;
|
||||
SNext = (Next + int((car->_dimension_x + (5.0 - data->followdist)*6) / DivLength)) % Divs;
|
||||
if (car->_accel_x > 0.0 && data->followdist <= 2.0)
|
||||
|
|
@ -1741,7 +1741,7 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
data->offset = laneoffset;
|
||||
//fprintf(stderr,"GetRLData: offset=%.2f Next=%d lane=%.4f Width=%.2f\n",laneoffset,Next,tLane[Next],Width);
|
||||
|
||||
double sa = (data->angle > 0.0 ? MIN(data->angle, data->angle+data->speedangle/2) : MAX(data->angle, data->angle+data->speedangle/2));
|
||||
//double sa = (data->angle > 0.0 ? MIN(data->angle, data->angle+data->speedangle/2) : MAX(data->angle, data->angle+data->speedangle/2));
|
||||
//CalcAvoidSpeed( Next, data, sa );
|
||||
|
||||
#if 1
|
||||
|
|
@ -1826,7 +1826,7 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
vec2f target;
|
||||
double carspeed = Mag(car->_speed_X, car->_speed_Y);
|
||||
double steertime = MIN(MaxSteerTime, MinSteerTime + MAX(0.0, carspeed-20.0)/30.0);
|
||||
double lane2left = track->width * SRL[SRLidx].tLane[Next];
|
||||
//double lane2left = track->width * SRL[SRLidx].tLane[Next];
|
||||
|
||||
// an idea to implement soon...
|
||||
//if (car->_accel_x < 0.0)
|
||||
|
|
@ -1846,7 +1846,7 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
|
||||
if (fabs(nextangle) > fabs(data->speedangle))
|
||||
{
|
||||
double sa = MAX(-0.3, MIN(0.3, data->speedangle/3));
|
||||
//double sa = MAX(-0.3, MIN(0.3, data->speedangle/3));
|
||||
double anglediff = (data->speedangle - nextangle) * (0.1 + fabs(nextangle)/6);
|
||||
k1999steer += anglediff * (1.0 + MAX(1.0, 1.0 - car->_accel_x/5));
|
||||
}
|
||||
|
|
@ -1856,8 +1856,8 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
double dx = SRL[SRLidx].tx[NextNext] - SRL[SRLidx].tx[Prev];
|
||||
double dy = SRL[SRLidx].ty[NextNext] - SRL[SRLidx].ty[Prev];
|
||||
|
||||
double vx = car->_speed_X;
|
||||
double vy = car->_speed_Y;
|
||||
//double vx = car->_speed_X;
|
||||
//double vy = car->_speed_Y;
|
||||
double dirx = cos(car->_yaw);
|
||||
double diry = sin(car->_yaw);
|
||||
double SinAngleError = dx * diry - dy * dirx;
|
||||
|
|
@ -1951,7 +1951,7 @@ void LRaceLine::GetRaceLineData(tSituation *s, LRaceLineData *pdata)
|
|||
|
||||
data->NSsteer = lastNksteer = k1999steer;
|
||||
int Prev = (KIndex + Divs - 1) % Divs;
|
||||
int PrevPrev = (KIndex + Divs - 5) % Divs;
|
||||
//int PrevPrev = (KIndex + Divs - 5) % Divs;
|
||||
int NextNext = (KNext + 1) % Divs;
|
||||
|
||||
//
|
||||
|
|
@ -2103,7 +2103,7 @@ double LRaceLine::getAvoidSteer(double offset, LRaceLineData *data)
|
|||
double steertime = MIN(MaxSteerTime, MinSteerTime + MAX(0.0, carspeed-20.0)/30.0);
|
||||
if (data->followdist < 5.0)
|
||||
steertime = MIN(MaxSteerTime*1.1, steertime * 1.0 + (5.0 - data->followdist)/20);
|
||||
double lane2left = track->width * SRL[SRLidx].tLane[Next];
|
||||
//double lane2left = track->width * SRL[SRLidx].tLane[Next];
|
||||
|
||||
double amI = MIN(0.05, MAX(-0.05, SRL[SRLidx].tRInverse[Next]));
|
||||
double famI = fabs(amI);
|
||||
|
|
@ -2151,7 +2151,7 @@ double LRaceLine::getAvoidSteer(double offset, LRaceLineData *data)
|
|||
|
||||
if (fabs(nextangle) > fabs(data->speedangle))
|
||||
{
|
||||
double sa = MAX(-0.3, MIN(0.3, data->speedangle/3));
|
||||
//double sa = MAX(-0.3, MIN(0.3, data->speedangle/3));
|
||||
double anglediff = (data->speedangle - nextangle) * (0.1 + fabs(nextangle)/6);
|
||||
steer += anglediff * (1.0 + MAX(1.0, 1.0 - car->_accel_x/5));
|
||||
}
|
||||
|
|
@ -2175,7 +2175,7 @@ void LRaceLine::GetPoint( double offset, vec2f *rt, double *mInverse )
|
|||
double offlane = ((track->width/2) - offset) / track->width;
|
||||
double off2lft = track->width/2 - offset;
|
||||
double off2rgt = track->width - off2lft;
|
||||
tTrackSeg *seg = car->_trkPos.seg;
|
||||
//tTrackSeg *seg = car->_trkPos.seg;
|
||||
int SegId = car->_trkPos.seg->id;
|
||||
double dist = car->_trkPos.toStart;
|
||||
if (dist < 0)
|
||||
|
|
@ -2183,7 +2183,7 @@ void LRaceLine::GetPoint( double offset, vec2f *rt, double *mInverse )
|
|||
if (car->_trkPos.seg->type != TR_STR)
|
||||
dist *= car->_trkPos.seg->radius;
|
||||
int Index = SRL[SRLidx].tSegIndex[SegId] + int(dist / SRL[SRLidx].tElemLength[SegId]);
|
||||
double laneoffset = SRL[SRLidx].Width/2 - (SRL[SRLidx].tLane[Index] * SRL[SRLidx].Width);
|
||||
//double laneoffset = SRL[SRLidx].Width/2 - (SRL[SRLidx].tLane[Index] * SRL[SRLidx].Width);
|
||||
double rInv = SRL[LINE_MID].tRInverse[Index];
|
||||
Index = This;
|
||||
#if 1
|
||||
|
|
@ -2216,8 +2216,8 @@ void LRaceLine::GetPoint( double offset, vec2f *rt, double *mInverse )
|
|||
next = (Index + 1) % Divs;
|
||||
txNext = offlane * SRL[SRLidx].txRight[next] + (1 - offlane) * SRL[SRLidx].txLeft[next];
|
||||
tyNext = offlane * SRL[SRLidx].tyRight[next] + (1 - offlane) * SRL[SRLidx].tyLeft[next];
|
||||
double dx = txNext - car->_pos_X;
|
||||
double dy = tyNext - car->_pos_Y;
|
||||
//double dx = txNext - car->_pos_X;
|
||||
//double dy = tyNext - car->_pos_Y;
|
||||
if ((txNext - txIndex) * (X - txNext) +
|
||||
(tyNext - tyIndex) * (Y - tyNext) < -0.1)
|
||||
{
|
||||
|
|
@ -2248,12 +2248,12 @@ void LRaceLine::GetPoint( double offset, vec2f *rt, double *mInverse )
|
|||
|
||||
int LRaceLine::findNextCorner( double *nextCRinverse )
|
||||
{
|
||||
tTrackSeg *seg = car->_trkPos.seg;;
|
||||
//tTrackSeg *seg = car->_trkPos.seg;;
|
||||
int prefer_side = ((SRL[SRLidx].tRInverse[Next] > 0.001) ? TR_LFT :
|
||||
((SRL[SRLidx].tRInverse[Next]) < -0.001 ? TR_RGT : TR_STR));
|
||||
double curlane = car->_trkPos.toLeft / track->width;
|
||||
int next = (Next+5) % Divs, i = 1, div;
|
||||
double distance = 0.0;
|
||||
//double curlane = car->_trkPos.toLeft / track->width;
|
||||
int /*next = (Next+5) % Divs,*/ i = 1, div;
|
||||
//double distance = 0.0;
|
||||
double CR = SRL[SRLidx].tRInverse[Next];
|
||||
|
||||
if (car->_speed_x < 5.0)
|
||||
|
|
@ -2297,7 +2297,7 @@ int LRaceLine::findNextCorner( double *nextCRinverse )
|
|||
|
||||
double LRaceLine::correctLimit(double avoidsteer, double racesteer)
|
||||
{
|
||||
double nlane2left = SRL[SRLidx].tLane[Next] * SRL[SRLidx].Width;
|
||||
//double nlane2left = SRL[SRLidx].tLane[Next] * SRL[SRLidx].Width;
|
||||
double tbump = BumpCaution;//GetModD( tBump, This ) * 4;
|
||||
|
||||
// correct would take us in the opposite direction to a corner - correct less!
|
||||
|
|
@ -2307,7 +2307,7 @@ double LRaceLine::correctLimit(double avoidsteer, double racesteer)
|
|||
|
||||
// correct would take us in the opposite direction to a corner - correct less (but not as much as above)
|
||||
int nnext = (Next + (int) (car->_speed_x/3)) % Divs;
|
||||
double nnlane2left = SRL[SRLidx].tLane[nnext] * SRL[SRLidx].Width;
|
||||
//double nnlane2left = SRL[SRLidx].tLane[nnext] * SRL[SRLidx].Width;
|
||||
if ((SRL[SRLidx].tRInverse[nnext] > 0.001 && avoidsteer > racesteer) ||
|
||||
(SRL[SRLidx].tRInverse[nnext] < -0.001 && avoidsteer < racesteer))
|
||||
return MAX(0.3, MIN(1.0, 1.0 - fabs(SRL[SRLidx].tRInverse[nnext]) * 40.0 - tbump));
|
||||
|
|
|
|||
|
|
@ -35,12 +35,12 @@ SimpleStrategy::SimpleStrategy() :
|
|||
m_lastfuel(0.0f),
|
||||
m_expectedfuelperlap(0.0f),
|
||||
m_fuelsum(0.0f),
|
||||
PitDamage(5000),
|
||||
pit_damage(0),
|
||||
min_damage(0),
|
||||
is_pitting(0),
|
||||
remainlaps(0),
|
||||
pit_reason(0),
|
||||
PitDamage(5000),
|
||||
track(NULL)
|
||||
{
|
||||
#ifdef SPEED_DREAMS
|
||||
|
|
@ -178,7 +178,7 @@ bool SimpleStrategy::needPitstop(tCarElt* car, tSituation *s, Opponents *opp)
|
|||
{
|
||||
// Do we need to refuel?
|
||||
int remainlaps = car->_remainingLaps;//-car->_lapsBehindLeader;
|
||||
int this_pit_dammage = PitDamage;
|
||||
//int this_pit_dammage = PitDamage;
|
||||
|
||||
if (!car->_pit)
|
||||
return false;
|
||||
|
|
|
|||
|
|
@ -37,7 +37,9 @@
|
|||
#include <robottools.h>
|
||||
#include <robot.h>
|
||||
|
||||
#ifndef SPEED_DREAMS
|
||||
#define SPEED_DREAMS
|
||||
#endif //SPEED_DREAMS
|
||||
|
||||
#ifdef SPEED_DREAMS
|
||||
#include <teammanager.h>
|
||||
|
|
|
|||
|
|
@ -47,14 +47,14 @@ static void endRace(int index, tCarElt *car, tSituation *s);
|
|||
// TORCS-NG-Interface
|
||||
static const int BUFSIZE = 256; // Buffer size for path/filename buffers
|
||||
static const int MAXNBBOTS = 20; // Set value to max capacity you want to use here
|
||||
static char* defaultBotName[MAXNBBOTS] = {
|
||||
static char const* defaultBotName[MAXNBBOTS] = {
|
||||
"driver 1", "driver 2", "driver 3", "driver 4", "driver 5",
|
||||
"driver 6", "driver 7", "driver 8", "driver 9", "driver 10",
|
||||
"driver 11", "driver 12", "driver 13", "driver 14", "driver 15",
|
||||
"driver 16", "driver 17", "driver 18", "driver 19", "driver 20"
|
||||
};
|
||||
|
||||
static char* defaultBotDesc[MAXNBBOTS] = {
|
||||
static char const* defaultBotDesc[MAXNBBOTS] = {
|
||||
"driver 1", "driver 2", "driver 3", "driver 4", "driver 5",
|
||||
"driver 6", "driver 7", "driver 8", "driver 9", "driver 10",
|
||||
"driver 11", "driver 12", "driver 13", "driver 14", "driver 15",
|
||||
|
|
@ -96,7 +96,7 @@ void SetUpUSR_trb1()
|
|||
// Set robots's name and xml file pathname
|
||||
static void setRobotName(const char *name)
|
||||
{
|
||||
char* c;
|
||||
//char* c;
|
||||
|
||||
strcpy(nameBuffer, name);
|
||||
snprintf(pathBuffer, BUFSIZE, "drivers/%s/%s.xml", name, name);
|
||||
|
|
|
|||
|
|
@ -82,7 +82,7 @@ static void* creditsPageCreate(int startChapterIndex, int startLineIndex)
|
|||
{
|
||||
static const unsigned maxBufSize = 256;
|
||||
static char buf[maxBufSize];
|
||||
static char bufColInd[4];
|
||||
//static char bufColInd[4];
|
||||
|
||||
static float colNameColor[4] = {1.0, 0.0, 1.0, 1.0};
|
||||
|
||||
|
|
|
|||
|
|
@ -762,7 +762,7 @@ void RtTeamManagerDump(int DumpMode)
|
|||
GfOut("TM: TeamPit %d:\n",TeamPit->Count);
|
||||
// GfOut("TM: Header : V%d.%d (%d Bytes): x%p\n",TeamPit->Header.MajorVersion,TeamPit->Header.MinorVersion,TeamPit->Header.Size,TeamPit);
|
||||
GfOut("TM: Name : %s\n",TeamPit->Name);
|
||||
GfOut("TM: PitState : %d\n",TeamPit->PitState);
|
||||
GfOut("TM: PitState : %p\n",TeamPit->PitState);
|
||||
GfOut("TM: Pit : x%p\n",TeamPit->Pit);
|
||||
// GfOut("TM: Teammates : x%p\n",TeamPit->Teammates);
|
||||
// GfOut("TM: Next : x%p\n",TeamPit->Next);
|
||||
|
|
|
|||
|
|
@ -54,6 +54,7 @@ bool RtInitTimer()
|
|||
return true;
|
||||
}
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
||||
// Get timer frequency [Hz]
|
||||
|
|
|
|||
|
|
@ -483,7 +483,7 @@ void GfuiScrollListShowElement(void *scr, int Id, int index)
|
|||
{
|
||||
tGfuiObject *object;
|
||||
tGfuiScrollList *scrollist;
|
||||
tGfuiListElement *elt;
|
||||
//tGfuiListElement *elt;
|
||||
int oldFirstVisible;
|
||||
|
||||
object = gfuiGetObject(scr, Id);
|
||||
|
|
|
|||
|
|
@ -969,7 +969,7 @@ GfScrMenuInit(void *precMenu)
|
|||
|
||||
|
||||
|
||||
int GfuiGlutExtensionSupported(char *str)
|
||||
int GfuiGlutExtensionSupported(char const *str)
|
||||
{
|
||||
return glutExtensionSupported(str);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -303,7 +303,7 @@ extern void GfctrlMouseInitCenter(void);
|
|||
extern tCtrlRef *GfctrlGetRefByName(const char *name);
|
||||
extern const char *GfctrlGetNameByRef(int type, int index);
|
||||
|
||||
extern int GfuiGlutExtensionSupported(char *str);
|
||||
extern int GfuiGlutExtensionSupported(char const *str);
|
||||
|
||||
|
||||
#endif /* __TGFCLIENT__H__ */
|
||||
|
|
|
|||
|
|
@ -76,14 +76,14 @@ void SimulationOptions::LoadFromFile(void* handle) {
|
|||
}
|
||||
|
||||
void SimulationOptions::SetFloatFromGfParm(void* handle, const char* name) {
|
||||
float v;
|
||||
float v = 0.0f;
|
||||
option_list.Get(name, v);
|
||||
v = GfParmGetNum (handle, SECT_SIMU_SETTINGS, name, (char*) NULL, v);
|
||||
option_list.Set(name, v);
|
||||
}
|
||||
|
||||
void SimulationOptions::SetBoolFromGfParm(void* handle, const char* name) {
|
||||
bool v;
|
||||
bool v = false;
|
||||
option_list.Get(name, v);
|
||||
const char* s = GfParmGetStr (handle, SECT_SIMU_SETTINGS, name, "none");
|
||||
v = StrToBool (s, v);
|
||||
|
|
|
|||
|
|
@ -580,9 +580,9 @@ SimCarUpdateCornerPos(tCar *car)
|
|||
void
|
||||
SimTelemetryOut(tCar *car)
|
||||
{
|
||||
int i;
|
||||
tdble Fzf, Fzr;
|
||||
//int i;
|
||||
#if 0
|
||||
tdble Fzf, Fzr;
|
||||
printf("-----------------------------\nCar: %d %s ---\n", car->carElt->index, car->carElt->_name);
|
||||
printf("Seg: %d (%s) Ts:%f Tr:%f\n",
|
||||
car->trkPos.seg->id, car->trkPos.seg->name, car->trkPos.toStart, car->trkPos.toRight);
|
||||
|
|
@ -632,7 +632,9 @@ SimCarUpdate(tCar *car, tSituation * /* s */)
|
|||
void
|
||||
SimCarUpdate2(tCar *car, tSituation * /* s */)
|
||||
{
|
||||
#if 0
|
||||
static int cnt = 10;
|
||||
#endif //0
|
||||
if (SimTelemetry == car->carElt->index) SimTelemetryOut(car);
|
||||
#if 0
|
||||
cnt--;
|
||||
|
|
|
|||
|
|
@ -204,7 +204,7 @@ InitScene(tTrack *Track, void *TrackHandle, int bump)
|
|||
|
||||
int i, j;
|
||||
tTrackSeg *seg;
|
||||
tTrackSeg *lastSeg;
|
||||
tTrackSeg *lastSeg = NULL;
|
||||
tTrackSeg *mseg;
|
||||
int nbvert;
|
||||
tdble width, wi2;
|
||||
|
|
@ -244,7 +244,7 @@ InitScene(tTrack *Track, void *TrackHandle, int bump)
|
|||
int hasBorder;
|
||||
tDispElt *theCurDispElt = NULL;
|
||||
char sname[256];
|
||||
float dmax = 0;
|
||||
//float dmax = 0;
|
||||
|
||||
#define LG_STEP_MAX 50.0
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue