Bugfix simplix
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@5880 30fe4595-0a0c-4342-8851-515496e4dcbd Former-commit-id: 825ad14684e57f7478092d3b40452c83614558a3 Former-commit-id: a47cd1e6dd3d240081b1e9afbe39fb6e9039751d
This commit is contained in:
wdbee
parent
7eb37d6bea
commit
a72e54aa1f
16 changed files with 106 additions and 59 deletions
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@ -169,25 +169,25 @@ void KDriver::drive(tSituation * s) {
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if (IsStuck()) {
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Unstuck();
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} else {
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car_->_steerCmd = GetSteer(s);
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car_->_steerCmd = (tdble) GetSteer(s);
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car_->_gearCmd = GetGear();
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CalcSpeed();
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car_->_brakeCmd = FilterABS(
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car_->_brakeCmd = (tdble) (FilterABS(
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FilterBrakeSpeed(
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FilterBColl(
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FilterBPit(
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GetBrake()))));
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GetBrake())))));
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if (car_->_brakeCmd == 0.0) {
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car_->_accelCmd = FilterAccel(
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car_->_accelCmd = (tdble) (FilterAccel(
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FilterTCL(
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FilterTrk(
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FilterOverlap(
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GetAccel()))));
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GetAccel())))));
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} else {
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car_->_accelCmd = 0.0;
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}
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car_->_clutchCmd = GetClutch();
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car_->_clutchCmd = (tdble) (GetClutch());
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} // if IsStuck
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#if 0
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@ -849,7 +849,7 @@ double KDriver::FilterBColl(const double brake) {
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*/
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int KDriver::pitCommand(tSituation * s) {
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car_->_pitRepair = strategy_->PitRepair();
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car_->_pitFuel = strategy_->PitRefuel();
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car_->_pitFuel = (tdble) (strategy_->PitRefuel());
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// This should be the only place where the pit stop is set to false!
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pit_->set_pitstop(false);
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return ROB_PIT_IM; // return immediately.
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@ -1050,7 +1050,7 @@ void KDriver::InitCa() {
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double h = 0.0;
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for (int i = 0; i < 4; ++i)
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h += GfParmGetNum(car_->_carHandle, WheelSect[i],
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PRM_RIDEHEIGHT, NULL, 0.2);
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PRM_RIDEHEIGHT, NULL, 0.2f);
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h *= 1.5;
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h = pow(h, 4);
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h = 2.0 * exp(-3.0 * h);
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@ -1626,8 +1626,8 @@ vec2f KDriver::TargetPoint() {
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return s;
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}
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s.x = (seg->vertex[TR_SL].x + seg->vertex[TR_SR].x) / 2.0;
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s.y = (seg->vertex[TR_SL].y + seg->vertex[TR_SR].y) / 2.0;
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s.x = (tdble) ((seg->vertex[TR_SL].x + seg->vertex[TR_SR].x) / 2.0);
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s.y = (tdble) ((seg->vertex[TR_SL].y + seg->vertex[TR_SR].y) / 2.0);
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if (seg->type == TR_STR) {
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vec2f n((seg->vertex[TR_EL].x - seg->vertex[TR_ER].x) / seg->length,
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@ -1900,7 +1900,7 @@ double KDriver::InitSkill(tSituation * s) {
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void KDriver::Unstuck() {
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car_->_steerCmd = - my_cardata_->getCarAngle() / car_->_steerLock;
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car_->_steerCmd = (tdble) (- my_cardata_->getCarAngle() / car_->_steerLock);
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car_->_gearCmd = -1; // Reverse gear.
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car_->_accelCmd = 1.0; // 100% accelerator pedal.
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car_->_brakeCmd = 0.0; // No brakes.
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@ -477,7 +477,7 @@ void LRaceLine::Interpolate(int Step, int rl) {
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void LRaceLine::InitTrack(const tTrack * const track, void **parm_handle,
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const tSituation *s, const double filterSideSkill) {
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min_corner_inverse_ = GfParmGetNum(*parm_handle, KILO_SECT_PRIV,
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KILO_ATT_MINCORNER, NULL, 0.002);
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KILO_ATT_MINCORNER, NULL, 0.002f);
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corner_speed_ = GfParmGetNum(*parm_handle, KILO_SECT_PRIV,
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KILO_ATT_CORNERSP, NULL, 15.0);
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avoid_speed_adjust_ = GfParmGetNum(*parm_handle, KILO_SECT_PRIV,
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@ -818,8 +818,8 @@ void LRaceLine::GetPoint(const double offset, const double lookahead,
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vec2f * const rt) const {
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double dLane = (width_ / 2.0 - offset) / width_;
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vec2f last;
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last.x = dLane * seg_[this_].txRight + (1.0 - dLane) * seg_[this_].txLeft;
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last.y = dLane * seg_[this_].tyRight + (1.0 - dLane) * seg_[this_].tyLeft;
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last.x = (tdble) (dLane * seg_[this_].txRight + (1.0 - dLane) * seg_[this_].txLeft);
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last.y = (tdble) (dLane * seg_[this_].tyRight + (1.0 - dLane) * seg_[this_].tyLeft);
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int ndiv = next_;
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double dLength = 0.0;
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@ -827,8 +827,8 @@ void LRaceLine::GetPoint(const double offset, const double lookahead,
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* MIN(1.0, MAX(0.8, car_->_speed_x / target_speed_));
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int iLookaheadLimit = static_cast<int>(la / div_length_);
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for (int count = 0; count < iLookaheadLimit && dLength < la; count++) {
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rt->x = dLane * seg_[ndiv].txRight + (1 - dLane) * seg_[ndiv].txLeft;
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rt->y = dLane * seg_[ndiv].tyRight + (1 - dLane) * seg_[ndiv].tyLeft;
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rt->x = (tdble) (dLane * seg_[ndiv].txRight + (1 - dLane) * seg_[ndiv].txLeft);
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rt->y = (tdble) (dLane * seg_[ndiv].tyRight + (1 - dLane) * seg_[ndiv].tyLeft);
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vec2f d = (*rt) - last;
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dLength += Mag(d.x, d.y);
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@ -70,7 +70,7 @@ void KStrategy::SetFuelAtRaceStart(const tTrack * const t,
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GfParmGetNum(*carParmHandle, SECT_ENGINE, PRM_FUELCONS, NULL, 1.0f);
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const double fuel =
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GfParmGetNum(*carParmHandle, KILO_SECT_PRIV, KILO_ATT_FUELPERLAP,
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NULL, t->length * MAX_FUEL_PER_METER * fuel_cons_factor);
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NULL, (tdble) (t->length * MAX_FUEL_PER_METER * fuel_cons_factor));
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expected_fuel_per_lap_ = fuel;
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// Pittime is pittime without refuel.
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pittime_ = GfParmGetNum(*carParmHandle, KILO_SECT_PRIV,
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@ -98,15 +98,15 @@ void KStrategy::SetFuelAtRaceStart(const tTrack * const t,
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PRM_FUEL, NULL, 0.0);
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if (s->_raceType == RM_TYPE_RACE) {
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if (initial_fuel) {
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GfParmSetNum(*carParmHandle, SECT_CAR, PRM_FUEL, NULL, initial_fuel);
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GfParmSetNum(*carParmHandle, SECT_CAR, PRM_FUEL, NULL, (tdble) initial_fuel);
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} else {
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// Add fuel dependent on index to avoid fuel stop in the same lap.
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GfParmSetNum(*carParmHandle, SECT_CAR, PRM_FUEL, NULL,
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last_fuel_ + index * expected_fuel_per_lap_);
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(tdble) (last_fuel_ + index * expected_fuel_per_lap_));
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}
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} else {
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// Use fuel for whole 'race', ie qualy or practice N laps.
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GfParmSetNum(*carParmHandle, SECT_CAR, PRM_FUEL, NULL, fuelForRace);
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GfParmSetNum(*carParmHandle, SECT_CAR, PRM_FUEL, NULL, (tdble) fuelForRace);
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}
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} // SetFuelAtRaceStart
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@ -392,7 +392,7 @@ void TClothoidLane::SetOffset
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+ MAX(0.0,MIN(oFixCarParam.oMaxBorderInner,
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oFixCarParam.oBorderScale * fabs(Crv) - 1));
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double BorderOuter = oFixCarParam.oBorderOuter;
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if (Crv >= 0) // turn to left
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{
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if (LaneType == ltLeft)
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@ -667,16 +667,16 @@ bool TClothoidLane::SaveToFile(const char* Filename)
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fprintf(F, "%d\n",oTrack->Count());
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fprintf(F, "%g\n",oTrack->Length());
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fprintf(F, "%g\n",oTrack->Length()/oTrack->Count());
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fprintf(F, "%g\n",oTrack->Width());
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for (int I = 0; I < oTrack->Count(); I++)
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{
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TPathPt& P = oPathPoints[I]; // Points in this lane
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const TVec3d& C = P.Pt();
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const TVec3d& N = P.Norm();
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fprintf(F, "%d\t%g\t%g\t%g\t%g\t%g\t%g\t%g\t%g\t%g\t%g\t%g\n",
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I,C.x, C.y, C.z, N.x, N.y, N.z, P.WtoL(), P.Offset, P.WtoR(),
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P.Point.x, P.Point.y);
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fprintf(F, "%d\t%g\t%g\t%g\t%g\t%g\t%g\t%g\t%g\t%g\t%g\t%g\t%g\n",
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I,C.x, C.y, C.z, N.x, N.y, N.z, P.WToL, P.Offset, P.WToR,
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P.Point.x, P.Point.y, P.AccSpd);
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}
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fclose(F);
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@ -79,7 +79,7 @@
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#include "unitstrategy.h"
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#include "unittrack.h"
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//#define EXPORT_RACINGLINE
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#define EXPORT_RACINGLINE
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//==========================================================================*
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// Statics
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@ -1621,6 +1621,7 @@ void TDriver::Drive()
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GetPosInfo(Pos,oLanePoint); // Info about pts on track
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oTargetSpeed = oLanePoint.Speed; // Target for speed control
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double InitialTS = oTargetSpeed;
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if (!oCarHasTCL)
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oTargetSpeed = FilterStart(oTargetSpeed); // Filter Start
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//fprintf(stderr,"oTargetSpeed %.2f km/h\n",oTargetSpeed*3.6),
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@ -1741,6 +1742,9 @@ void TDriver::Drive()
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if (oTelemetrieMode == 4)
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fprintf(stderr,"A%+7.2f%% B%+7.2f%% C%+7.2f%% S%+7.2f%% G:%d\n",100*oAccel,100*oBrake,100*oClutch,100*oSteer,oGear);
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// fprintf(stderr,"Pos:%+7.2f ITS%+7.2f TS%+7.2f CS%+7.2f wc: %g wemy: %g\n",Pos,InitialTS,oTargetSpeed,oCurrSpeed,oCar->_tyreCondition(0),oCar->_tyreEffMu(0));
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/*
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double Radius = 1/oLanePoint.Crv;
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fprintf(stderr,"R:%+7.2f\n",Radius);
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@ -1916,7 +1920,7 @@ void TDriver::FindRacinglines()
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(&oTrackDesc, Param, // as main racingline
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TClothoidLane::TOptions(oBase,oBaseScale,oBumpMode));
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#ifdef EXPORT_RACINGLINE
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oRacingLine[oRL_FREE].SaveToFile("RL_FREE.tk3");
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oRacingLine[oRL_FREE].SaveToFile("RL_FREE.tk5");
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#endif
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if (oGeneticOpti)
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oRacingLine[oRL_FREE].ClearRacingline(oTrackLoad);
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@ -1952,7 +1956,7 @@ void TDriver::FindRacinglines()
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(&oTrackDesc, Param, // as main racingline
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TClothoidLane::TOptions(oBase,oBaseScale,oBumpMode));
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#ifdef EXPORT_RACINGLINE
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oRacingLine[oRL_FREE].SaveToFile("RL_FREE.tk3");
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oRacingLine[oRL_FREE].SaveToFile("RL_FREE.t5");
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#endif
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if (oGeneticOpti)
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oRacingLine[oRL_FREE].ClearRacingline(oTrackLoad);
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@ -1990,7 +1994,7 @@ void TDriver::FindRacinglines()
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(&oTrackDesc, Param,
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TClothoidLane::TOptions(oBase,oBaseScale,oBumpMode, FLT_MAX, -oAvoidWidth, true));
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#ifdef EXPORT_RACINGLINE
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oRacingLine[oRL_LEFT].SaveToFile("RL_LEFT.tk3");
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oRacingLine[oRL_LEFT].SaveToFile("RL_LEFT.tk5");
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#endif
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if (oGeneticOpti)
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oRacingLine[oRL_LEFT].ClearRacingline(oTrackLoadLeft);
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@ -2015,7 +2019,7 @@ void TDriver::FindRacinglines()
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(&oTrackDesc, Param,
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TClothoidLane::TOptions(oBase,oBaseScale, oBumpMode, -oAvoidWidth, FLT_MAX, true));
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#ifdef EXPORT_RACINGLINE
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oRacingLine[oRL_RIGHT].SaveToFile("RL_RIGHT.tk3");
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oRacingLine[oRL_RIGHT].SaveToFile("RL_RIGHT.tk5");
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#endif
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if (oGeneticOpti)
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oRacingLine[oRL_RIGHT].ClearRacingline(oTrackLoadRight);
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@ -2036,9 +2040,9 @@ void TDriver::FindRacinglines()
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MaxPitDist = oStrategy->oPit->oPitLane[I].PitDist();
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}
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#ifdef EXPORT_RACINGLINE
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oStrategy->oPit->oPitLane[oRL_FREE].SaveToFile("RL_PIT_FREE.tk3");
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oStrategy->oPit->oPitLane[oRL_LEFT].SaveToFile("RL_PIT_LEFT.tk3");
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oStrategy->oPit->oPitLane[oRL_RIGHT].SaveToFile("RL_PIT_RIGHT.tk3");
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oStrategy->oPit->oPitLane[oRL_FREE].SaveToFile("RL_PIT_FREE.tk5");
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oStrategy->oPit->oPitLane[oRL_LEFT].SaveToFile("RL_PIT_LEFT.tk5");
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oStrategy->oPit->oPitLane[oRL_RIGHT].SaveToFile("RL_PIT_RIGHT.tk5");
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#endif
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oStrategy->oDistToSwitch = MaxPitDist + 125; // Distance to pit entry
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LogSimplix.debug("\n\n#Dist to switch: %.02f\n\n", oStrategy->oDistToSwitch);
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@ -458,10 +458,15 @@ double TFixCarParam::CalcMaxSpeed
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if (Den < 0.00001)
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Den = 0.00001;
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if (Sin * SGN(Crv0) < 0)
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if (AbsCrv > 0.01)
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{
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if (Sin * SGN(Crv0) < 0)
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Sin *= 8.0;
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}
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double Speed = factor * sqrt((Cos * G * Mu + Sin * G * SGN(Crv0) + CrvZ) / Den);
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// fprintf(stderr,"S:%g f:%g C:%g M:%g S:%g AbsCrv:%g Crv0:%d CrvZ:%g Den:%g\n",
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// Speed,factor,Cos,Mu,Sin,AbsCrv,SGN(Crv0),CrvZ,Den);
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if (oDriver->CarCharacteristic.IsValidX(Speed))
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Speed *= oDriver->CarCharacteristic.CalcOffset(Speed);
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@ -4,7 +4,7 @@
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created : Sun Feb 22 23:43:00 CET 2009
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last changed : Sun May 29 23:00:00 CET 2011
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copyright : (C) 2009-2011 by Wolf-Dieter Beelitz
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email : wdb@wdbee.de
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email : wdbee@users.sourceforge.net
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version : 1.1
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***************************************************************************/
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@ -24,7 +24,7 @@
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It can handle teams with more drivers than cars per pit.
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You can see how to use in the simplix robots.
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@author <a href=mailto:wdb@wdbee.de>Wolf-Dieter Beelitz</a>
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@author <a href=mailto:wdbee@users.sourceforge.net>Wolf-Dieter Beelitz</a>
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@version
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@ingroup robottools
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*/
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@ -3,7 +3,7 @@
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file : rttimeanalysis.cpp
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created : Sun Jun 07 11:15:00 CET 2009
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copyright : (C) 2009 by Wolf-Dieter Beelitz
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email : wdb@wdbee.de
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email : wdbee@users.sourceforge.net
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version :
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***************************************************************************/
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@ -20,7 +20,7 @@
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/** @file
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This is a collection of useful functions for time analysis
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@author <a href=mailto:wdb@wdbee.de>Wolf-Dieter Beelitz</a>
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@author <a href=mailto:wdbee@users.sourceforge.net>Wolf-Dieter Beelitz</a>
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@version
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@ingroup robottools
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*/
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@ -4,7 +4,7 @@
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created : Sun Feb 22 23:43:00 CET 2009
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last changed : Sun May 29 23:00:00 CET 2011
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copyright : (C) 2009-2011 by Wolf-Dieter Beelitz
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email : wdb@wdbee.de
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email : wdbee@users.sourceforge.net
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version : 1.1
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***************************************************************************/
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@ -24,7 +24,7 @@
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It can handle teams with more drivers than cars per pit.
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You can see how to use in the simplix robots.
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@author <a href=mailto:wdb@wdbee.de>Wolf-Dieter Beelitz</a>
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@author <a href=mailto:wdbee@users.sourceforge.net>Wolf-Dieter Beelitz</a>
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@version
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@ingroup robottools
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*/
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@ -3,7 +3,7 @@
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file : timeanalysis.h
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created : Sun Jun 07 11:15:00 CET 2009
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copyright : (C) 2009 by Wolf-Dieter Beelitz
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email : wdb@wdbee.de
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email : wdbee@users.sourceforge.net
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version :
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***************************************************************************/
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@ -20,7 +20,7 @@
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/** @file
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This is a collection of useful functions for time analysis
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@author <a href=mailto:wdb@wdbee.de>Wolf-Dieter Beelitz</a>
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@author <a href=mailto:wdbee@users.sourceforge.net>Wolf-Dieter Beelitz</a>
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@version
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@ingroup robottools
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*/
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@ -3,7 +3,7 @@
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-------------------
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created : Wed Nov 12 17:54:00:00 CEST 2014
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copyright : (C) 2014 by Wolf-Dieter Beelitz
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email : wdb at wdbee.de
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email : wdbee@users.sourceforge.net
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version : $Id:$
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***************************************************************************/
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@ -3,7 +3,7 @@
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-------------------
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created : Wed Nov 12 17:54:00:00 CEST 2014
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copyright : (C) 2014 by Wolf-Dieter Beelitz
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email : wdb at wdbee.de
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email : wdbee@users.sourceforge.net
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||||
version : $Id$
|
||||
***************************************************************************/
|
||||
|
||||
|
|
|
|||
|
|
@ -247,18 +247,53 @@ TGF_API void GfPoolMove(tMemoryPool* oldPool, tMemoryPool* newPool);
|
|||
//============================================================================*
|
||||
// Definitions of the replacements for the new Memory Manager
|
||||
//----------------------------------------------------------------------------*
|
||||
#define malloc _tgf_win_malloc
|
||||
#define calloc _tgf_win_calloc
|
||||
#define realloc _tgf_win_realloc
|
||||
#define free _tgf_win_free
|
||||
#define accept _tgf_win_accept
|
||||
#define doaccept GfMemoryManagerDoAccept
|
||||
#define dofree GfMemoryManagerDoFree
|
||||
#ifdef strdup
|
||||
#undef strdup
|
||||
#if defined(WIN32)
|
||||
// Windows ...
|
||||
#if defined(__MINGW32__)
|
||||
// MinGW ...
|
||||
#define malloc(x) _tgf_win_malloc((x))
|
||||
#define calloc(x,y) _tgf_win_calloc((x),(y))
|
||||
#define realloc(x,y) _tgf_win_realloc((x),(y))
|
||||
#define free(x) _tgf_win_free((x))
|
||||
#define doaccept() GfMemoryManagerDoAccept()
|
||||
#define dofree() GfMemoryManagerDoFree()
|
||||
#ifdef strdup
|
||||
#undef strdup
|
||||
#endif
|
||||
#define strdup(x) _tgf_win_strdup((x))
|
||||
#define _strdup(x) _tgf_win_strdup((x))
|
||||
// ... MinGW
|
||||
#else
|
||||
// VC++ ...
|
||||
#define malloc _tgf_win_malloc
|
||||
#define calloc _tgf_win_calloc
|
||||
#define realloc _tgf_win_realloc
|
||||
#define free _tgf_win_free
|
||||
#define doaccept() GfMemoryManagerDoAccept()
|
||||
#define dofree() GfMemoryManagerDoFree()
|
||||
#ifdef strdup
|
||||
#undef strdup
|
||||
#endif
|
||||
#define strdup _tgf_win_strdup
|
||||
#define _strdup _tgf_win_strdup
|
||||
// ... VC++
|
||||
#endif
|
||||
// ... Windows
|
||||
#else
|
||||
// Linux ...
|
||||
#define malloc(x) _tgf_win_malloc((x))
|
||||
#define calloc(x,y) _tgf_win_calloc((x),(y))
|
||||
#define realloc(x,y) _tgf_win_realloc((x),(y))
|
||||
#define free(x) _tgf_win_free((x))
|
||||
#define doaccept() GfMemoryManagerDoAccept()
|
||||
#define dofree() GfMemoryManagerDoFree()
|
||||
#ifdef strdup
|
||||
#undef strdup
|
||||
#endif
|
||||
#define strdup(x) _tgf_win_strdup((x))
|
||||
#define _strdup(x) _tgf_win_strdup((x))
|
||||
// ... Linux
|
||||
#endif
|
||||
#define strdup _tgf_win_strdup
|
||||
#define _strdup _tgf_win_strdup
|
||||
//============================================================================*
|
||||
|
||||
//============================================================================*
|
||||
|
|
@ -268,7 +303,6 @@ ExternC TGF_API void* _tgf_win_malloc(size_t size);
|
|||
ExternC TGF_API void* _tgf_win_calloc(size_t num, size_t size);
|
||||
ExternC TGF_API void* _tgf_win_realloc(void * memblock, size_t size);
|
||||
ExternC TGF_API void _tgf_win_free(void * memblock);
|
||||
ExternC TGF_API void _tgf_win_accept(void * memblock);
|
||||
ExternC TGF_API char* _tgf_win_strdup(const char * str);
|
||||
ExternC TGF_API void GfMemoryManagerDoAccept();
|
||||
ExternC TGF_API void GfMemoryManagerDoFree();
|
||||
|
|
|
|||
|
|
@ -3,7 +3,7 @@
|
|||
file : genetic.cpp
|
||||
created : Sun Nov 06 09:15:00 CET 2011
|
||||
copyright : (C) 2011-2013 by Wolf-Dieter Beelitz
|
||||
email : wdb@wdbee.de
|
||||
email : wdbee@users.sourceforge.net
|
||||
version : $Id: genetic.cpp 3657 2011-11-06 09:15:00Z wdbee $
|
||||
***************************************************************************/
|
||||
|
||||
|
|
@ -18,7 +18,7 @@
|
|||
|
||||
/** @file
|
||||
Helper for parameter handling while optimizations
|
||||
@author <a href=mailto:wdb@wdbee.de>WDBee</a>
|
||||
@author <a href=mailto:wdbee@users.sourceforge.net>WDBee</a>
|
||||
@version $Id: genetic.cpp 3657 2011-11-06 09:15:00Z wdbee $
|
||||
*/
|
||||
|
||||
|
|
|
|||
|
|
@ -3,7 +3,7 @@
|
|||
file : genetic.h
|
||||
created : Tue Nov 04 17:45:00 CET 2010
|
||||
copyright : (C) 2010-2013 by Wolf-Dieter Beelitz
|
||||
email : wdb@wdbee.de
|
||||
email : wdbee@users.sourceforge.net
|
||||
|
||||
***************************************************************************/
|
||||
|
||||
|
|
|
|||
|
|
@ -116,6 +116,10 @@ ReHumanInGroup()
|
|||
|
||||
int ReConfigure()
|
||||
{
|
||||
// Set track 1 as starting track
|
||||
void *params = ReInfo->params;
|
||||
GfParmSetNum(params, RE_SECT_CURRENT, RE_ATTR_CUR_TRACK, NULL, (tdble)1);
|
||||
|
||||
ReUI().onRaceConfiguring();
|
||||
|
||||
return RM_ASYNC | RM_NEXT_STEP;
|
||||
|
|
|
|||
Loading…
Reference in a new issue