Add Andrew's Patch human.cpp for autoclutch
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@36 30fe4595-0a0c-4342-8851-515496e4dcbd Former-commit-id: babc7fd68e92a159486e1ad0d6fed57e68a84136 Former-commit-id: 023fd0b0fbbaeb18db3fe4c488c4520ef655ce36
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torcs-ng
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1 changed files with 48 additions and 44 deletions
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@ -4,7 +4,7 @@
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created : Sat Mar 18 23:16:38 CET 2000
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copyright : (C) 2000 by Eric Espie
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email : torcs@free.fr
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version : $Id: human.cpp,v 1.45 2006/09/06 23:46:45 berniw Exp $
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version : $Id: human.cpp,v 1.45.2.2 2008/06/01 07:42:14 berniw Exp $
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***************************************************************************/
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@ -20,7 +20,7 @@
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/** @file
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@author <a href=mailto:torcs@free.fr>Eric Espie</a>
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@version $Id: human.cpp,v 1.45 2006/09/06 23:46:45 berniw Exp $
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@version $Id: human.cpp,v 1.45.2.2 2008/06/01 07:42:14 berniw Exp $
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*/
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@ -90,7 +90,7 @@ static tKeyInfo skeyInfo[256];
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static int currentKey[256];
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static int currentSKey[256];
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static double lastKeyUpdate = -10.0;
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static tdble lastKeyUpdate = -10.0;
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static int firstTime = 0;
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@ -226,8 +226,7 @@ human(tModInfo *modInfo)
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}
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strncpy(names[i], driver, MAXNAMELEN);
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modInfo->name = names[i]; /* name of the module (short) */
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//modInfo->name = driver; /* name of the module (short) */
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modInfo->desc = "Joystick controlable driver"; /* description of the module (can be long) */
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modInfo->desc = strdup("Joystick controlable driver"); /* description of the module (can be long) */
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modInfo->fctInit = InitFuncPt; /* init function */
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modInfo->gfId = ROB_IDENT; /* supported framework version */
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modInfo->index = i+1;
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@ -472,12 +471,12 @@ onSKeyAction(int key, int modifier, int state)
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static void common_drive(int index, tCarElt* car, tSituation *s)
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{
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tdble slip;
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float ax0;
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float brake;
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float clutch;
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float throttle;
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float leftSteer;
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float rightSteer;
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tdble ax0;
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tdble brake;
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tdble clutch;
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tdble throttle;
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tdble leftSteer;
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tdble rightSteer;
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int scrw, scrh, dummy;
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int idx = index - 1;
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tControlCmd *cmd = HCtx[idx]->CmdControl;
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@ -739,6 +738,9 @@ static void common_drive(int index, tCarElt* car, tSituation *s)
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car->_clutchCmd = 0;
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break;
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}
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// if player's used the clutch manually then we dispense with autoClutch
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if (car->_clutchCmd != 0.0f)
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HCtx[idx]->autoClutch = 0;
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switch (cmd[CMD_THROTTLE].type) {
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case GFCTRL_TYPE_JOY_AXIS:
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@ -784,30 +786,31 @@ static void common_drive(int index, tCarElt* car, tSituation *s)
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break;
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}
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if (s->currentTime > 1.0)
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{
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if (s->currentTime > 1.0) {
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// thanks Christos for the following: gradual accel/brake changes for on/off controls.
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float inc_rate = 0.2f;
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const tdble inc_rate = 0.2f;
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if (cmd[CMD_BRAKE].type == GFCTRL_TYPE_JOY_BUT ||
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cmd[CMD_BRAKE].type == GFCTRL_TYPE_MOUSE_BUT ||
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cmd[CMD_BRAKE].type == GFCTRL_TYPE_KEYBOARD ||
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cmd[CMD_BRAKE].type == GFCTRL_TYPE_SKEYBOARD)
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{
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float d_brake = car->_brakeCmd - HCtx[idx]->pbrake;
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if (fabs(d_brake) > inc_rate && car->_brakeCmd > HCtx[idx]->pbrake)
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tdble d_brake = car->_brakeCmd - HCtx[idx]->pbrake;
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if (fabs(d_brake) > inc_rate && car->_brakeCmd > HCtx[idx]->pbrake) {
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car->_brakeCmd = MIN(car->_brakeCmd, HCtx[idx]->pbrake + inc_rate*d_brake/fabs(d_brake));
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}
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HCtx[idx]->pbrake = car->_brakeCmd;
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}
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if (cmd[CMD_THROTTLE].type == GFCTRL_TYPE_JOY_BUT ||
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cmd[CMD_THROTTLE].type == GFCTRL_TYPE_MOUSE_BUT ||
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cmd[CMD_THROTTLE].type == GFCTRL_TYPE_KEYBOARD ||
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cmd[CMD_THROTTLE].type == GFCTRL_TYPE_SKEYBOARD)
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cmd[CMD_THROTTLE].type == GFCTRL_TYPE_MOUSE_BUT ||
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cmd[CMD_THROTTLE].type == GFCTRL_TYPE_KEYBOARD ||
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cmd[CMD_THROTTLE].type == GFCTRL_TYPE_SKEYBOARD)
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{
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float d_accel = car->_accelCmd - HCtx[idx]->paccel;
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if (fabs(d_accel) > inc_rate && car->_accelCmd > HCtx[idx]->paccel)
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tdble d_accel = car->_accelCmd - HCtx[idx]->paccel;
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if (fabs(d_accel) > inc_rate && car->_accelCmd > HCtx[idx]->paccel) {
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car->_accelCmd = MIN(car->_accelCmd, HCtx[idx]->paccel + inc_rate*d_accel/fabs(d_accel));
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}
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HCtx[idx]->paccel = car->_accelCmd;
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}
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}
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@ -823,10 +826,10 @@ static void common_drive(int index, tCarElt* car, tSituation *s)
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{
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if (fabs(car->_speed_x) > 10.0)
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{
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double rearskid = MAX(0.0, MAX(car->_skid[2], car->_skid[3]) - MAX(car->_skid[0], car->_skid[1]));
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tdble rearskid = MAX(0.0, MAX(car->_skid[2], car->_skid[3]) - MAX(car->_skid[0], car->_skid[1]));
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int i;
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double skidAng = atan2(car->_speed_Y, car->_speed_X) - car->_yaw;
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tdble skidAng = atan2(car->_speed_Y, car->_speed_X) - car->_yaw;
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NORM_PI_PI(skidAng);
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if (car->_speed_x > 5 && fabs(skidAng) > 0.2)
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@ -834,7 +837,7 @@ static void common_drive(int index, tCarElt* car, tSituation *s)
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if (fabs(car->_steerCmd) > 0.1)
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{
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double decel = ((fabs(car->_steerCmd)-0.1) * (1.0 + fabs(car->_steerCmd)) * 0.6);
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tdble decel = ((fabs(car->_steerCmd)-0.1) * (1.0 + fabs(car->_steerCmd)) * 0.6);
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car->_brakeCmd = MIN(car->_brakeCmd, MAX(0.35, 1.0 - decel));
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}
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@ -848,7 +851,7 @@ static void common_drive(int index, tCarElt* car, tSituation *s)
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if (meanSpd > 1.0) {
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for (i = 0; i < 4; i++) {
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if (((meanSpd - car->_wheelSpinVel(i)) / meanSpd) < -0.1) {
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if (((meanSpd - car->_wheelSpinVel(i)) / meanSpd) < -0.05) {
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slip = 1.0;
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}
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}
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@ -874,11 +877,11 @@ static void common_drive(int index, tCarElt* car, tSituation *s)
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if (HCtx[idx]->ParamAsr)
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{
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double trackangle = RtTrackSideTgAngleL(&(car->_trkPos));
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double angle = trackangle - car->_yaw;
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tdble trackangle = RtTrackSideTgAngleL(&(car->_trkPos));
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tdble angle = trackangle - car->_yaw;
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NORM_PI_PI(angle);
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double maxaccel = 0.0;
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tdble maxaccel = 0.0;
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if (car->_trkPos.seg->type == TR_STR)
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maxaccel = MIN(car->_accelCmd, 0.2);
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else if (car->_trkPos.seg->type == TR_LFT && angle < 0.0)
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@ -886,8 +889,8 @@ static void common_drive(int index, tCarElt* car, tSituation *s)
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else if (car->_trkPos.seg->type == TR_RGT && angle > 0.0)
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maxaccel = MIN(car->_accelCmd, MIN(0.6, angle));
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double origaccel = car->_accelCmd;
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double skidAng = atan2(car->_speed_Y, car->_speed_X) - car->_yaw;
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tdble origaccel = car->_accelCmd;
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tdble skidAng = atan2(car->_speed_Y, car->_speed_X) - car->_yaw;
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NORM_PI_PI(skidAng);
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if (car->_speed_x > 5 && fabs(skidAng) > 0.2)
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@ -898,11 +901,11 @@ static void common_drive(int index, tCarElt* car, tSituation *s)
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if (fabs(car->_steerCmd) > 0.1)
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{
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double decel = ((fabs(car->_steerCmd)-0.1) * (1.0 + fabs(car->_steerCmd)) * 0.8);
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tdble decel = ((fabs(car->_steerCmd)-0.1) * (1.0 + fabs(car->_steerCmd)) * 0.8);
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car->_accelCmd = MIN(car->_accelCmd, MAX(0.35, 1.0 - decel));
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}
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double drivespeed = 0.0;
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tdble drivespeed = 0.0;
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switch (HCtx[idx]->drivetrain)
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{
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case D4WD:
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@ -921,7 +924,7 @@ static void common_drive(int index, tCarElt* car, tSituation *s)
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break;
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}
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double slip = drivespeed - fabs(car->_speed_x);
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tdble slip = drivespeed - fabs(car->_speed_x);
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if (slip > 2.0)
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car->_accelCmd = MIN(car->_accelCmd, origaccel - MIN(origaccel-0.1, ((slip - 2.0)/10.0)));
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}
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@ -960,18 +963,19 @@ static void common_drive(int index, tCarElt* car, tSituation *s)
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}
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static double getAutoClutch(int idx, int gear, int newgear, tCarElt *car)
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static tdble getAutoClutch(int idx, int gear, int newgear, tCarElt *car)
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{
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if (newgear != 0)
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{
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if (newgear != gear)
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HCtx[idx]->clutchtime = 0.332 - ((double) newgear / 65);
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if (HCtx[idx]->clutchtime > 0.0)
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HCtx[idx]->clutchtime -= RCM_MAX_DT_ROBOTS;
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return 2.0 * HCtx[idx]->clutchtime;
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}
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if (newgear != 0 && newgear < car->_gearNb) {
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if (newgear != gear) {
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HCtx[idx]->clutchtime = 0.332f - ((tdble) newgear / 65.0f);
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}
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return 0.0;
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if (HCtx[idx]->clutchtime > 0.0f)
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HCtx[idx]->clutchtime -= RCM_MAX_DT_ROBOTS;
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return 2.0f * HCtx[idx]->clutchtime;
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}
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return 0.0f;
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}
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/*
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@ -1040,7 +1044,7 @@ static void drive_mt(int index, tCarElt* car, tSituation *s)
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}
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}
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if (HCtx[idx]->autoClutch)
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if (HCtx[idx]->autoClutch && car->_clutchCmd == 0.0f)
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car->_clutchCmd = getAutoClutch(idx, car->_gear, car->_gearCmd, car);
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}
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