Simplix Preset of brake parameters
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@5570 30fe4595-0a0c-4342-8851-515496e4dcbd Former-commit-id: 6a4b897ede6ff8c39e1cb673fe7e65ca20a14c87 Former-commit-id: c06ef7dfd25dd9500b4de5ede963664acad94237
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wdbee
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e89245df39
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5 changed files with 56 additions and 18 deletions
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@ -156,17 +156,23 @@ double TCollision::AvoidTo
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Me.DistBetweenRL(oCar,OL,OR,O);
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if (AvoidTo > 0)
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{
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double B = Coll.ToR - 2.0;
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TempOffset = OR - B/2;
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TempOffset = OR;
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/*
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double B = MAX(0.0,Coll.ToR - 4.0);
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TempOffset = OR - B/3;
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if (TempOffset < O)
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TempOffset = O;
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*/
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}
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else if (AvoidTo < 0)
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{
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double B = Coll.ToL - 2.0;
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TempOffset = B/2 + OL;
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TempOffset = OL;
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/*
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double B = MAX(0.0,Coll.ToL - 4.0);
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TempOffset = OL + B/3;
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if (TempOffset > O)
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TempOffset = O;
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*/
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}
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}
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@ -170,7 +170,6 @@ void TDriver::InterpolatePointInfo
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{
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double DeltaOAngle = P1.Angle - P0.Angle;
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// P0.Crv = TUtils::InterpCurvature(P0.Crv, P1.Crv, Q);
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P0.Crv = TUtils::InterpCurvature(P0.Crv, P1.Crv, (1 - Q));
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P0.Crvz = TUtils::InterpCurvature(P0.Crvz, P1.Crvz, (1 - Q));
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DOUBLE_NORM_PI_PI(DeltaOAngle);
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@ -192,6 +191,7 @@ TDriver::TDriver(int Index):
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oScaleSteer(1.0),
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oStayTogether(10.0),
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oCrvComp(true),
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oMinSpeedFirstKm(0.0),
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oAvoidScale(8.0),
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oAvoidWidth(0.5),
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oGoToPit(false),
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@ -300,7 +300,7 @@ TDriver::TDriver(int Index):
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oTrackLoadRight(NULL),
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//oPitLoad
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oTrack(NULL),
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oTolerance(2.0),
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oTolerance(0.10),
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//oLanePoint
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oUnstucking(false),
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oWheelRadius(0),
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@ -628,6 +628,11 @@ void TDriver::AdjustDriving(
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(float) oScaleBrakeRain);
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LogSimplix.debug("#Scale Brake Rain%g\n",oScaleBrakeRain);
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oMinSpeedFirstKm =
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GfParmGetNum(Handle,TDriver::SECT_PRIV,PRV_FIRST_KM,0,
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(float) oMinSpeedFirstKm);
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LogSimplix.error("#Min speed first km %g\n",oMinSpeedFirstKm);
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oAvoidScale =
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GfParmGetNum(Handle,TDriver::SECT_PRIV,PRV_AVOID_SCALE,0,
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(float) oAvoidScale);
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@ -2156,7 +2161,7 @@ void TDriver::InitBrake()
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oBrakeForce = (3*oBrakeMaxTqFront * (WheelRad(FRNT_LFT) + WheelRad(FRNT_RGT))
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+ oBrakeMaxTqRear * (WheelRad(REAR_LFT) + WheelRad(REAR_RGT)))/4;
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LogSimplix.debug("#Brake force : %0.2f\n",oBrakeForce);
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/*
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oPIDCBrake.oP =
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GfParmGetNum(oCarHandle, TDriver::SECT_PRIV,
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"BC_P", (char*)NULL, (float) oPIDCBrake.oP);
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@ -2181,7 +2186,7 @@ void TDriver::InitBrake()
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GfParmGetNum(oCarHandle, TDriver::SECT_PRIV,
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"BC_MIN", (char*)NULL, (float) oPIDCBrake.oMinTotal);
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LogSimplix.debug("#BC_MIN : %0.5f\n",oPIDCBrake.oMinTotal);
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*/
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LogSimplix.debug("\n#<<< Init Brake\n\n");
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}
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@ -3124,6 +3129,7 @@ void TDriver::EvaluateCollisionFlags(
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if (OppInfo.GotFlags(F_AT_SIDE)) // Is Opponent at side
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{
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oAvoidRange = 1.0;
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Coll.OppsAtSide |= OppInfo.State.CarDistLat < 0 ? F_LEFT : F_RIGHT;
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if (OppInfo.State.CarDistLat < 0)
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@ -3478,7 +3484,7 @@ void TDriver::AvoidOtherCars(double K, bool& IsClose, bool& IsLapper)
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// ... Skilling from Andrew Sumner
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IsClose = (Coll.Flags & F_CLOSE) != 0; // Set flag, if opponent is close by
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if ((IsClose) && (DistanceRaced > 200))
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if ((IsClose) && (DistanceRaced > 400))
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{
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double F = MAX(0,20 - Coll.MinOppDistance) / 20;
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oTargetSpeed *= (F * 0.98f + (1 - F));
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@ -3500,20 +3506,34 @@ void TDriver::AvoidOtherCars(double K, bool& IsClose, bool& IsLapper)
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DistBetweenRL(oCar,OL,OR,O);
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const int BLEN = 128;
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const int BULEN = BLEN+3;
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int B = BLEN/2-1;
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char buf[BLEN];
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for (I = 0; I < BLEN; I++)
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char buf[BULEN];
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char buf2[2*BULEN];
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for (I = 0; I < BULEN; I++)
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buf[I] = ' ';
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buf[BLEN - 1] = 0;
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buf[BULEN - 1] = 0; // Terminate string
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buf[0] = 'T'; // Track left edge
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buf[BLEN - 2] = 'T'; // Track rigth edge
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buf[BLEN/2-1] = 'M'; // Middle of the track
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I = (int) MAX(0,MIN(BLEN - 2,(B - B*OL/HalfWidth)));
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/*
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I = (int) MAX(0,MIN(BLEN - 2,(B - B*OL/HalfWidth)));
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buf[I] = 'L'; // Left racingline
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I = (int) MAX(0,MIN(BLEN - 2,(B - B*OR/HalfWidth)));
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buf[I] = 'R'; // Right racingline
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I = (int) MAX(0,MIN(BLEN - 2,(B - B*O/HalfWidth)));
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*/
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double Delta = (O - OL) * oAvoidRange;
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I = (int) MAX(0,MIN(BLEN - 2,(B - B*(O-Delta)/HalfWidth)));
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buf[I] = 'L'; // Racingline
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Delta = (O - OR) * oAvoidRange;
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I = (int) MAX(0,MIN(BLEN - 2,(B - B*(O-Delta)/HalfWidth)));
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buf[I] = 'R'; // Racingline
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I = (int) MAX(0,MIN(BLEN - 2,(B - B*O/HalfWidth)));
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buf[I] = '.'; // Racingline
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if (OppToMiddle > -1000)
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@ -3531,7 +3551,14 @@ void TDriver::AvoidOtherCars(double K, bool& IsClose, bool& IsLapper)
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I = (int) MAX(0,MIN(BLEN - 2,(B + B*CarToMiddle/HalfWidth)));
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buf[I] = '*'; // Car
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LogSimplix.error("%s\n",buf);
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if (oDoAvoid)
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buf[BLEN+1] = 'A';
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else
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buf[BLEN+1] = '-';
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sprintf(buf2,"%s AVR:%.2f AVO:%.2f TS:%.2f CS:%.2f",buf,oAvoidRange,oAvoidOffset,oTargetSpeed*3.6,oCurrSpeed*3.6);
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LogSimplix.error("%s\n",buf2);
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/* Plotter <<< */
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}
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@ -3549,6 +3576,9 @@ double TDriver::FilterStart(double Speed)
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{
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double Offset = 0.01;
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Speed *= MAX(0.6,(1.0 - (oCar->race.pos - 1) * Offset));
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if (oCar->race.pos == 1)
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Speed = MAX(oMinSpeedFirstKm / 3.6f,Speed);
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}
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// For unknown tracks do not limit speed to much
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@ -3837,7 +3867,7 @@ double TDriver::FilterTrack(double Accel)
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{
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if (fabs(oDeltaOffset) > oTolerance) // Check offset difference
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Accel *= (float) // Decrease acceleration
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(MAX(1.0 - (fabs(oDeltaOffset) - oTolerance) * 0.2, 0.4));
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(MAX(1.0 - (fabs(oDeltaOffset) - oTolerance) * 0.4, 0.2));
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Accel *= oSideReduction;
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}
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@ -226,7 +226,8 @@ private:
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double oScaleSteer; // scale steering
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double oStayTogether; // Dist in m.
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bool oCrvComp; // Crv compensation
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double oAvoidScale; // scale avoiding
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double oMinSpeedFirstKm;
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double oAvoidScale; // scale avoiding
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double oAvoidWidth; // In m.
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bool oGoToPit; // Enter pit flag
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bool oCloseYourEyes; // Close your eyes for a while
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@ -474,6 +474,7 @@ enum
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#define PRV_SIDE_BRAKE "side brake" // Scale brake calculation for sides
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#define PRV_RAIN_BRAKE "scale brake rain" // Scale brake calculation for sides
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#define PRV_FIRST_KM "first km"
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#define PRV_AVOID_SCALE "avoid scale"
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#define PRV_AVOID_WIDTH "avoid width"
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@ -362,7 +362,7 @@ bool TOpponent::Classify(
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// Aside?
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// if ((OpState.CarDistLong > -3.5)
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// && (OpState.CarDistLong < 10.0))
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if ((OpState.CarDistLong > -5)
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if ((OpState.CarDistLong > -1.5)
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&& (OpState.CarDistLong < 20.0))
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{
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oInfo.Flags |= F_AT_SIDE; // Set flags
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