- Update USR's driver for better pit stop
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@7425 30fe4595-0a0c-4342-8851-515496e4dcbd Former-commit-id: 228595030f9d0ae6d455806051bb1016311f2603 Former-commit-id: 473f8b8136b6f101322b01b3b62cfb02ba918a7b
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torcs-ng
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c63dc1d66d
4 changed files with 85 additions and 51 deletions
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@ -15,6 +15,8 @@
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* *
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***************************************************************************/
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#include <teammanager.h>
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#include "driver.h"
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#include "MyParam.h"
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@ -27,6 +29,7 @@
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#include <portability.h>
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//#define TIME_ANALYSIS
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#ifdef TIME_ANALYSIS
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#include "Timer.h"
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@ -58,7 +61,18 @@ Driver::Driver(int index) :
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mFlagNames.push_back("FAST_BEHIND");
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}
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void Driver::InitTrack(tTrack* Track, void* carHandle, void** carParmHandle, const tSituation* situation)
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//==========================================================================*
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// Get Team info
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//--------------------------------------------------------------------------*
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void Driver::TeamInfo(tCarElt* car, tSituation* situation)
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{
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//RtTeamManagerShowInfo();
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mTeamIndex = RtTeamManagerIndex(car, track, situation);
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LogUSR.info("#Team index = %i\n", mTeamIndex);
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RtTeamManagerDump();
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}
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void Driver::InitTrack(tTrack* Track, void* carHandle, void** carParmHandle, tSituation* situation)
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{
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LogUSR.debug(".......... %s Driver initrack .........\n", mDriverName);
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track = Track;
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@ -135,6 +149,7 @@ void Driver::InitTrack(tTrack* Track, void* carHandle, void** carParmHandle, con
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// Set initial fuel
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double distance = 0.0;
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if (mPitTest > 0)
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distance = mTrack.length() * 2 + 0.3;
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else
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@ -193,7 +208,7 @@ void Driver::InitTrack(tTrack* Track, void* carHandle, void** carParmHandle, con
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LogUSR.info("Couldn't load : %s\n", buffer);
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}
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void Driver::NewRace(tCarElt* car, const tSituation* situation)
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void Driver::NewRace(tCarElt* car, tSituation* situation)
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{
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LogUSR.info("********** %s : NewRace() **********\n", mDriverName);
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@ -201,6 +216,7 @@ void Driver::NewRace(tCarElt* car, const tSituation* situation)
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mSimTime = -1.0;
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initVars();
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TeamInfo(car, mSituation);
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mCar.init(car, &mTrack);
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mPit.init(mTrack.torcsTrack(), situation, &mCar, mPitDamage, mPitGripFactor, mPitEntryMargin);
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@ -43,17 +43,19 @@ class Driver
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public:
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Driver(int index);
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void InitTrack(tTrack *Track, void* carHandle, void** carParmHandle, const tSituation* situation);
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void NewRace(tCarElt* car, const tSituation* situation);
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void InitTrack(tTrack *Track, void* carHandle, void** carParmHandle, tSituation* situation);
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void NewRace(tCarElt* car, tSituation* situation);
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void Drive();
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int PitCmd();
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void EndRace();
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void Shutdown();
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const char* mDriverName;
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int mTeamIndex; // Index of car in Teams arrays;
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private:
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enum DriveState {STATE_RACE, STATE_STUCK, STATE_OFFTRACK, STATE_PITLANE, STATE_PITSTOP};
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void TeamInfo(tCarElt* car, tSituation* situation);
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void updateTime();
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void updateBasics();
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void updateOpponents();
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@ -121,7 +123,7 @@ private:
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double mDeltaTime;
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double mSimTime;
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double mLapSimTime;
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const tSituation* mSituation;
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tSituation* mSituation;
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MyCar mCar;
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MyTrack mTrack;
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@ -212,6 +214,7 @@ private:
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double mOvtMargin;
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tTrack* track;
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tCarElt* car;
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};
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#endif // _DRIVER_H_
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@ -95,7 +95,7 @@ void Pit::init(const tTrack* track, const tSituation* situation, MyCar* car, int
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if (mPit != NULL)
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{
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mSpeedLimit = mPitInfo->speedLimit - 0.2;
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mSpeedLimit = mPitInfo->speedLimit - 0.5;
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// Compute pit spline points along the track
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mPitp[3].x = mPit->pos.seg->lgfromstart + mPit->pos.toStart;
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mPitp[2].x = mPitp[3].x - mPitInfo->len;
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@ -103,7 +103,9 @@ void Pit::init(const tTrack* track, const tSituation* situation, MyCar* car, int
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mPitp[0].x = mPitInfo->pitEntry->lgfromstart;
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mPitp[1].x = mPitInfo->pitStart->lgfromstart - mPitInfo->len;
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mPitp[5].x = mPitInfo->pitEnd->lgfromstart + mPitInfo->pitEnd->length + mPitInfo->len;
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//mPitp[5].x = mPitInfo->pitEnd->lgfromstart + mPitInfo->nPitSeg * mPitInfo->len;
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mPitp[6].x = mPitInfo->pitExit->lgfromstart + mPitInfo->pitExit->length;
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//mPitp[6].x = mPitInfo->pitExit->lgfromstart;
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mDtp[0].x = mPitp[0].x;
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mDtp[1].x = mPitp[1].x;
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mDtp[2].x = mPitp[5].x;
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@ -127,26 +129,38 @@ void Pit::init(const tTrack* track, const tSituation* situation, MyCar* car, int
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mDtp[i].x = toSplineCoord(mDtp[i].x);
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}
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// Fix broken pit exit.
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if (mPitp[6].x < mPitp[5].x)
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{
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//fprintf(stderr,"bt: Pitexit broken on track %s.\n", track->name);fflush(stderr);
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mPitp[6].x = mPitp[5].x;// +50.0f;
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}
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mPitp[1].x = std::min(mPitp[1].x, mPitp[2].x);
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mPitp[5].x = std::max(mPitp[4].x, mPitp[5].x);
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mPitOnLeftSide = mPitInfo->side == TR_LFT;
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double sign = mPitOnLeftSide ? 1.0 : -1.0;
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mPitp[0].y = sign * (mTrack->width / 2.0 - 2.0);
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mPitp[6].y = sign * (mTrack->width / 2.0 - 2.0);
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//mPitp[0].y = 0.0;
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//mPitp[6].y = 0.0;
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mDtp[0].y = mPitp[0].y;
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mDtp[3].y = mPitp[6].y;
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for (i = 1; i < PITPOINTS - 1; i++)
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{
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mPitp[i].y = sign * (fabs(mPitInfo->driversPits->pos.toMiddle) - 0.3 * mPitInfo->width - 2.2);
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//mPitp[i].y = sign * (fabs(mPitInfo->driversPits->pos.toMiddle) - mPitInfo->width);
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}
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for (i = 1; i < DTPOINTS - 1; i++)
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{
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mDtp[i].y = sign * (fabs(mPitInfo->driversPits->pos.toMiddle) - 0.3 * mPitInfo->width - 2.2);
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//mDtp[i].y = sign * (fabs(mPitInfo->driversPits->pos.toMiddle) - mPitInfo->width);
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}
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mPitp[3].y = sign * fabs(mPitInfo->driversPits->pos.toMiddle);
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mPitp[3].y = sign * (fabs(mPitInfo->driversPits->pos.toMiddle) + 1.0);
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mPitSpline.init(PITPOINTS, mPitp);
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mDtSpline.init(DTPOINTS, mDtp);
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}
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@ -295,7 +309,7 @@ void Pit::update()
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mPenalty = 0; // fuel, damage and tires served before penalty
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bool pittyres = false;
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// Check for fuel, damage and tyres
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bool pitfuel = mCar->_fuel < mAvgFuelPerLap;
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bool pitfuel = mCar->_fuel < (mAvgFuelPerLap + 2.0);
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bool pitdamage = (mCar->_dammage > mPitDamage && remaininglaps * mTrack->length > mMaxDamageDist && mLastFuel > 15.0) || (mCar->_dammage > mMaxDamage);
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//bool pittyres = (mMyCar->tires()->distLeft() < 1.0 * mTrack->length && mMyCar->tires()->gripFactor() < mPitGripFactor && remaininglaps * mTrack->length > 10000.0);
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@ -304,7 +318,7 @@ void Pit::update()
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else {
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pittyres = false;
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}
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if (fs > mPitEntry - mEntryMargin - mPreEntryMargin - 3.0 && fs < mPitEntry - mEntryMargin - mPreEntryMargin && !mStopChecked)
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if ((fs > mPitEntry - mEntryMargin - mPreEntryMargin - 3.0) && (fs < mPitEntry - mEntryMargin - mPreEntryMargin) && !mStopChecked)
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{
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if (pitBeforeTeammate(remaininglaps))
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{
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@ -321,7 +335,7 @@ void Pit::update()
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mStopChecked = true;
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}
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else if (fs >= mPitEntry - mEntryMargin && fs < mPitEntry - mEntryMargin + 3.0)
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else if ((fs >= mPitEntry - mEntryMargin) && (fs < mPitEntry - mEntryMargin + 3.0))
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{
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mStopChecked = false;
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}
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@ -337,7 +351,7 @@ bool Pit::pitBeforeTeammate(int remaininglaps) const
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teamcarfuel = mTeamCar->_fuel;
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}
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if (teamcarrunning && mCar->_fuel < teamcarfuel && mCar->_fuel < remaininglaps * mAvgFuelPerLap)
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if (teamcarrunning && (mCar->_fuel < teamcarfuel) && (mCar->_fuel < remaininglaps * mAvgFuelPerLap))
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{
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double matelaps = teamcarfuel / mAvgFuelPerLap;
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double matetoentry;
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@ -348,7 +362,7 @@ bool Pit::pitBeforeTeammate(int remaininglaps) const
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}
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else
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{
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matetoentry = mTrack->length - mTeamCar->_distFromStartLine + (mPitEntry - mEntryMargin);
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matetoentry = mTrack->length - (mTeamCar->_distFromStartLine + (mPitEntry - mEntryMargin));
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}
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double matefulllaps = floor(matelaps - matetoentry / mTrack->length);
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@ -442,7 +456,7 @@ double Pit::calcRefuel()
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int pitstops = std::max(fuelpitstops, tirespitstops);
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// Calc the stint fuel
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double stintfuel = fueltoend / (pitstops + 1) + 2.0;
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double stintfuel = fueltoend / (pitstops + 1) +2.0;
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if (pitstops)
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{
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@ -1,20 +1,20 @@
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/***************************************************************************
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file : spline.cpp
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created : Wed Mai 14 20:10:00 CET 2003
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copyright : (C) 2003 by Bernhard Wymann
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email : berniw@bluewin.ch
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file : spline.cpp
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created : Wed Mai 14 20:10:00 CET 2003
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copyright : (C) 2003 by Bernhard Wymann
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email : berniw@bluewin.ch
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***************************************************************************/
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/***************************************************************************
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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***************************************************************************/
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/***************************************************************************
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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***************************************************************************/
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#include "spline.h"
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@ -24,37 +24,38 @@ Spline::Spline()
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void Spline::init(int dim, SplinePoint* spl)
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{
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mSpl = spl;
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mDim = dim;
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mSpl = spl;
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mDim = dim;
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}
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double Spline::evaluate(double z) const
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{
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int i, a, b;
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double t, a0, a1, a2, a3, h;
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a = 0; b = mDim-1;
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int i, a, b;
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double t, a0, a1, a2, a3, h;
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a = 0; b = mDim - 1;
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do
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{
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i = (a + b) / 2;
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if (mSpl[i].x <= z)
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{
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a = i;
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}
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else
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{
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b = i;
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}
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} while ((a + 1) != b);
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do
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{
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i = (a + b) / 2;
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i = a;
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h = mSpl[i+1].x - mSpl[i].x;
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t = (z-mSpl[i].x) / h;
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a0 = mSpl[i].y;
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a1 = mSpl[i+1].y - a0;
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a2 = a1 - h*mSpl[i].s;
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a3 = h * mSpl[i+1].s - a1;
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a3 -= a2;
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if (mSpl[i].x <= z)
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{
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a = i;
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}
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else
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{
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b = i;
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}
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} while ((a + 1) != b);
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return a0 + (a1 + (a2 + a3*t) * (t-1))*t;
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i = a;
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h = mSpl[i + 1].x - mSpl[i].x;
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t = (z - mSpl[i].x) / h;
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a0 = mSpl[i].y;
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a1 = mSpl[i + 1].y - a0;
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a2 = a1 - h * mSpl[i].s;
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a3 = h * mSpl[i + 1].s - a1;
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a3 -= a2;
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return a0 + (a1 + (a2 + a3 * t) * (t - 1)) * t;
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}
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