/*
updates values needed from driver, pathfinder, etc. the are stored here, that we don't need to compute
them several times or pass tons of parameters.
*/
void MyCar::update(TrackDesc* track, tCarElt* car, tSituation *situation)
{
updatePos();
updateDir();
updateSpeedSqr();
updateSpeed();
/* update currentsegment and destination segment id's */
int searchrange = MAX((int) ceil(situation->deltaTime*speed+1.0) * 2, 4);
currentsegid = destsegid = pf->getCurrentSegment(car, searchrange);
double l = 0.0;
while (l < 2.0 * wheelbase) {
l = l + pf->getPathSeg(destsegid)->getLength();
destsegid = (destsegid + 1 + pf->getnPathSeg()) % pf->getnPathSeg();
}
currentseg = track->getSegmentPtr(currentsegid);
destseg = track->getSegmentPtr(destsegid);
currentpathseg = pf->getPathSeg(currentsegid);
updateDError();
int lookahead = (destsegid + (int) (MIN(LOOKAHEAD_MAX_ERROR,derror)*speed*LOOKAHEAD_FACTOR)) % pf->getnPathSeg();
destpathseg = pf->getPathSeg(lookahead);
mass = carmass + car->priv.fuel;
trtime += situation->deltaTime;
deltapitch = MAX(-track->getSegmentPtr(currentsegid)->getKgamma() - me->_pitch, 0.0);
}
void OtherCar::update()
{
updatePos();
updateDir();
updateSpeedSqr();
updateSpeed();
int searchrange = MAX((int) ceil(dt*speed+1.0) * 2, 4);
currentsegid = track->getCurrentSegment(getCarPtr(), currentsegid, searchrange);
}
void OtherCar::init(TrackDesc* itrack, tCarElt* car, tSituation *situation)
{
track = itrack;
dt = situation->deltaTime;
setCarPtr(car);
currentsegid = track->getCurrentSegment(car);
initCGh();
updatePos();
updateDir();
updateSpeedSqr();
updateSpeed();
}
MyCar::MyCar(TrackDesc* track, tCarElt* car, tSituation *situation)
{
AEROMAGIC = GfParmGetNum(car->_carHandle, BERNIW_SECT_PRIV, BERNIW_ATT_AMAGIC, (char*)NULL, 1.6f);
CFRICTION = GfParmGetNum(car->_carHandle, BERNIW_SECT_PRIV, BERNIW_ATT_FMAGIC, (char*)NULL, 1.0f);
/* init pointer to car data */
setCarPtr(car);
initCGh();
initCarGeometry();
updatePos();
updateDir();
updateSpeedSqr();
updateSpeed();
/* damage and fuel status */
lastfuel = GfParmGetNum(car->_carHandle, SECT_CAR, PRM_FUEL, NULL, 100.0);
undamaged = situation->_maxDammage;
if (undamaged == 0) undamaged = 10000;
MAXDAMMAGE = undamaged / 2;
fuelperlap = 0.0;
lastpitfuel = 0.0;
/* set up some car properties */
wheelbase = car->priv.wheel[FRNT_RGT].relPos.x - car->priv.wheel[REAR_RGT].relPos.x;
wheeltrack = 2* fabs(car->priv.wheel[REAR_RGT].relPos.y);
carmass = GfParmGetNum(car->_carHandle, SECT_CAR, PRM_MASS, NULL, 0.0);
mass = carmass + lastfuel;
/* which wheels are driven */
char *traintype = GfParmGetStr(car->_carHandle, SECT_DRIVETRAIN, PRM_TYPE, VAL_TRANS_RWD);
if (strcmp(traintype, VAL_TRANS_RWD) == 0) {
drivetrain = DRWD;
} else if (strcmp(traintype, VAL_TRANS_FWD) == 0) {
drivetrain = DFWD;
} else if (strcmp(traintype, VAL_TRANS_4WD) == 0) {
drivetrain = D4WD;
}
updateCa();
double cx = GfParmGetNum(car->_carHandle, SECT_AERODYNAMICS, PRM_CX, (char*)NULL, 0.0);
double frontarea = GfParmGetNum(car->_carHandle, SECT_AERODYNAMICS, PRM_FRNTAREA, (char*)NULL, 0.0);
cw = 0.625*cx*frontarea;
cgcorr_b = 0.46;
pf = new Pathfinder(track, car, situation);
currentsegid = destsegid = pf->getCurrentSegment(car);
currentseg = track->getSegmentPtr(currentsegid);
destseg = track->getSegmentPtr(destsegid);
currentpathseg = pf->getPathSeg(currentsegid);
destpathseg = pf->getPathSeg(destsegid);
turnaround = 0.0;
tr_mode = 0;
accel = 1.0;
fuelchecked = false;
startmode = true;
trtime = 0.0;
derror = 0.0;
/*
DIST; MAXRELAX; MAXANGLE; ACCELINC; SPEEDSQRFACTOR; GCTIME; ACCELLIMIT; PATHERRFACTOR
*/
double ba[6][8] = {
{1.2, 0.9, 25.0, 0.1, 1.2, 0.2, 1.0, 5.0},
{1.2, 0.9, 20.0, 0.1, 1.1, 0.5, 1.0, 5.0},
{1.2, 0.9, 15.0, 0.1, 1.0, 0.5, 1.0, 5.0},
{1.3, 0.9, 15.0, 0.02, 0.98, 0.5, 1.0, 5.0},
{1.6, 0.9, 15.0, 0.01, 0.95, 0.5, 1.0, 5.0},
{1.2, 0.9, 45.0, 0.1, 1.0, 0.5, 1.0, 1.0}
};
for (int i = 0; i < 6; i++) {
for (int j = 0; j < 8; j++) {
behaviour[i][j] = ba[i][j];
}
}
loadBehaviour(NORMAL);
/* this call is needed! perhaps i shold move it into the constructor of pathfinder. */
pf->plan(this);
}
MyCar::MyCar(TrackDesc* track, tCarElt* car, tSituation *situation)
{
AEROMAGIC = GfParmGetNum(car->_carHandle, BERNIW_SECT_PRIV, BERNIW_ATT_AMAGIC, (char*)NULL, 1.6f);
CFRICTION = GfParmGetNum(car->_carHandle, BERNIW_SECT_PRIV, BERNIW_ATT_FMAGIC, (char*)NULL, 1.0f);
setCarPtr(car);
initCGh();
initCarGeometry();
updatePos();
updateDir();
updateSpeedSqr();
updateSpeed();
// Damage and fuel status.
lastfuel = GfParmGetNum(car->_carHandle, SECT_CAR, PRM_FUEL, NULL, 100.0);
undamaged = situation->_maxDammage;
if (undamaged == 0) {
undamaged = 10000;
}
MAXDAMMAGE = undamaged / 2;
fuelperlap = 0.0;
lastpitfuel = 0.0;
// Set up some car properties.
wheelbase = car->priv.wheel[FRNT_RGT].relPos.x - car->priv.wheel[REAR_RGT].relPos.x;
wheeltrack = 2* fabs(car->priv.wheel[REAR_RGT].relPos.y);
carmass = GfParmGetNum(car->_carHandle, SECT_CAR, PRM_MASS, NULL, 0.0);
mass = carmass + lastfuel;
// Which wheels are driven.
const char *traintype = GfParmGetStr(car->_carHandle, SECT_DRIVETRAIN, PRM_TYPE, VAL_TRANS_RWD);
if (strcmp(traintype, VAL_TRANS_RWD) == 0) {
drivetrain = DRWD;
} else if (strcmp(traintype, VAL_TRANS_FWD) == 0) {
drivetrain = DFWD;
} else if (strcmp(traintype, VAL_TRANS_4WD) == 0) {
drivetrain = D4WD;
}
updateCa();
double cx = GfParmGetNum(car->_carHandle, SECT_AERODYNAMICS, PRM_CX, (char*)NULL, 0.0);
double frontarea = GfParmGetNum(car->_carHandle, SECT_AERODYNAMICS, PRM_FRNTAREA, (char*)NULL, 0.0);
cw = 0.625*cx*frontarea;
// Get PGAIN.
STEER_P_CONTROLLER_GAIN = GfParmGetNum(car->_carHandle, BERNIW_SECT_PRIV, BERNIW_ATT_STEERPGAIN, (char*)NULL, 0.02f);
STEER_P_CONTROLLER_MAX = GfParmGetNum(car->_carHandle, BERNIW_SECT_PRIV, BERNIW_ATT_STEERPGAIN_MAX, (char*)NULL, 0.1f);
//printf("PC: %f, %f\n", STEER_P_CONTROLLER_GAIN, STEER_P_CONTROLLER_MAX);
// Magic number for friction in pit lane, because the current code does not consider the pit surface.
// TODO: Consider the pit surface properties.
cgcorr_b = 0.46;
pf = new Pathfinder(track, car, situation);
currentsegid = destsegid = pf->getCurrentSegment(car);
currentseg = track->getSegmentPtr(currentsegid);
destseg = track->getSegmentPtr(destsegid);
currentpathsegid = currentsegid;
destpathsegid = destsegid;
dynpath = pf->getPath();
turnaround = 0.0;
tr_mode = 0;
accel = 1.0;
fuelchecked = false;
startmode = true;
trtime = 0.0;
derror = 0.0;
clutchtime = 0.0;
// DIST; MAXRELAX; MAXANGLE; ACCELINC; SPEEDSQRFACTOR; GCTIME; ACCELLIMIT; PATHERRFACTOR
double ba[6][8] = {
{1.2, 0.9, 25.0, 0.1, 1.2, 0.2, 1.0, 5.0},
{1.2, 0.9, 20.0, 0.1, 1.1, 0.5, 1.0, 5.0},
{1.2, 0.9, 15.0, 0.1, 1.0, 0.5, 1.0, 5.0},
{1.3, 0.9, 15.0, 0.02, 0.98, 0.5, 1.0, 5.0},
{1.6, 0.9, 15.0, 0.01, 0.95, 0.5, 1.0, 5.0},
{1.2, 0.9, 45.0, 0.1, 1.0, 0.5, 1.0, 1.0}
};
for (int i = 0; i < 6; i++) {
for (int j = 0; j < 8; j++) {
behaviour[i][j] = ba[i][j];
}
}
loadBehaviour(NORMAL);
// Init optimal trajectory.
pf->plan(this, currentsegid);
}
