void KisImagePyramid::drawFromOriginalImage(QPainter& gc, KisPPUpdateInfoSP info)
{
KisImagePatch patch = getNearestPatch(info);
patch.drawMe(gc, info->viewportRect, info->renderHints);
}
void AI_Car_Experimental::updateSteer()
{
#ifdef VISUALIZE_AI_DEBUG
steerlook.clear();
#endif
const BEZIER *curr_patch_ptr = GetCurrentPatch(car);
//if car has no contact with track, just let it roll
if (!curr_patch_ptr || isRecovering)
{
last_patch = getNearestPatch(last_patch);
//if car is off track, steer the car towards the last patch it was on
//this should get the car back on track
curr_patch_ptr = last_patch;
//recover to the road.
if(recover(curr_patch_ptr)){
return;
}
}
last_patch = curr_patch_ptr; //store the last patch car was on
BEZIER curr_patch = RevisePatch(curr_patch_ptr, use_racingline);
#ifdef VISUALIZE_AI_DEBUG
steerlook.push_back(curr_patch);
#endif
//if there is no next patch (probably a non-closed track), let it roll
if (!curr_patch.GetNextPatch()) return;
BEZIER next_patch = RevisePatch(curr_patch.GetNextPatch(), use_racingline);
//find the point to steer towards
float track_width = GetPatchWidthVector(curr_patch).Magnitude();
float lookahead = track_width * LOOKAHEAD_FACTOR1 +
car->GetVelocity().Magnitude() * LOOKAHEAD_FACTOR2;
lookahead = 1.0;
float length = 0.0;
MATHVECTOR <float, 3> dest_point = GetPatchFrontCenter(next_patch);
while (length < lookahead)
{
#ifdef VISUALIZE_AI_DEBUG
steerlook.push_back(next_patch);
#endif
length += GetPatchDirection(next_patch).Magnitude();
dest_point = GetPatchFrontCenter(next_patch);
//if there is no next patch for whatever reason, stop lookahead
if (!next_patch.GetNextPatch())
{
length = lookahead;
break;
}
next_patch = RevisePatch(next_patch.GetNextPatch(), use_racingline);
//if next patch is a very sharp corner, stop lookahead
if (GetPatchRadius(next_patch) < LOOKAHEAD_MIN_RADIUS)
{
length = lookahead;
break;
}
}
MATHVECTOR <float, 3> next_position = TransformToWorldspace(dest_point);
MATHVECTOR <float, 3> car_position = car->GetCenterOfMassPosition();
MATHVECTOR <float, 3> car_orientation = direction::Forward;
(car->GetOrientation()).RotateVector(car_orientation);
MATHVECTOR <float, 3> desire_orientation = next_position - car_position;
//car's direction on the horizontal plane
car_orientation[2] = 0;
//desired direction on the horizontal plane
desire_orientation[2] = 0;
car_orientation = car_orientation.Normalize();
desire_orientation = desire_orientation.Normalize();
//the angle between car's direction and unit y vector (forward direction)
double alpha = Angle(car_orientation[0], car_orientation[1]);
//the angle between desired direction and unit y vector (forward direction)
double beta = Angle(desire_orientation[0], desire_orientation[1]);
//calculate steering angle and direction
double angle = beta - alpha;
//angle += steerAwayFromOthers(c, dt, othercars, angle); //sum in traffic avoidance bias
if (angle > -360.0 && angle <= -180.0)
angle = -(360.0 + angle);
else if (angle > -180.0 && angle <= 0.0)
angle = - angle;
else if (angle > 0.0 && angle <= 180.0)
angle = - angle;
else if (angle > 180.0 && angle <= 360.0)
angle = 360.0 - angle;
float optimum_range = car->GetOptimumSteeringAngle();
angle = clamp(angle, -optimum_range, optimum_range);
float steer_value = angle / car->GetMaxSteeringAngle();
if (steer_value > 1.0) steer_value = 1.0;
else if (steer_value < -1.0) steer_value = -1.0;
assert(!isnan(steer_value));
if(isRecovering){
// If we are driving backwards, we need to invert steer direction.
steer_value = steer_value > 0.0 ? -1.0 : 1.0;
}
inputs[CARINPUT::STEER_RIGHT] = steer_value;
}
