void ClothoidPath::MakeSmoothPath( MyTrack* pTrack, const CarModel& cm, const Options& opts )
{
// m_factor = factor;
LinePath::Initialise( pTrack, opts.maxL, opts.maxR );
const int NSEG = pTrack->GetSize();
CalcCurvaturesZ();
int fwdRange = 110;
CalcFwdAbsK( fwdRange );
const int delta = 25;
const int n = (150 + delta - 1) / delta;
int step = 1;
while( step * 4 < NSEG )
step *= 2;
do
{
step = (step + 1) / 2;
// int n = 100 * int(sqrt(step));
for( int i = 0; i < n; i++ )
{
OptimisePath( cm, step, delta, 0 );
}
}
while( step > 1 );
if( opts.bumpMod )
{
CalcCurvaturesZ();
CalcFwdAbsK( fwdRange );
AnalyseBumps( cm, false );
step = 8;
do
{
step = (step + 1) / 2;
for( int i = 0; i < n; i++ )
{
OptimisePath( cm, step, delta, opts.bumpMod );
CalcFwdAbsK( fwdRange );
CalcMaxSpeeds( cm, step );
PropagateBreaking( cm, step );
PropagateAcceleration( cm, step );
}
}
while( step > 1 );
}
CalcCurvaturesZ();
}
void LinePath::Initialise( MyTrack* pTrack, double maxL, double maxR )
{
const int NSEG = pTrack->GetSize();
m_pTrack = pTrack;
delete [] m_pPath;
m_pPath = new PathPt[NSEG];
m_maxL = maxL;
m_maxR = maxR;
for( int i = 0; i < NSEG; i++ )
{
m_pPath[i].pSeg = &(*pTrack)[i];
m_pPath[i].k = 0;
m_pPath[i].kz = 0;
m_pPath[i].offs = m_pPath[i].pSeg->midOffs;
m_pPath[i].pt = m_pPath[i].CalcPt();
m_pPath[i].maxSpd = 10;
m_pPath[i].spd = 10;
m_pPath[i].accSpd = 10;
m_pPath[i].h = 0;
m_pPath[i].lBuf = 0;
m_pPath[i].rBuf = 0;
}
CalcCurvaturesXY();
CalcCurvaturesZ();
}
//==========================================================================*
// Create a smooth lane
//--------------------------------------------------------------------------*
void TClothoidLane::MakeSmoothPath(
TTrackDescription* Track,
TParam& Param,
const TOptions& Opts)
{
TCarParam* CarParam = &Param.oCarParam;
if (Opts.Side)
CarParam = &Param.oCarParam2;
TLane::Initialise(Track, Param.Fix, *CarParam, Opts.MaxL, Opts.MaxR);
oCount = Track->Count();
//const int Count = Track->Count();
int FwdRange = 110;
CalcFwdAbsCrv(FwdRange);
const int Delta = 25;
const int L = 8;
int Step = 1; // Initialize step width
while (Step * 16 < oCount) // Find largest step width
Step *= 2;
while (Step > 0)
{
for (int I = 0; I < L; I++)
OptimisePath(Step, Delta, 0);
Step >>= 1;
}
if (Opts.BumpMod)
{
AnalyseBumps(false);
Step = 1;
Step <<= ANALYSE_STEPS;
while (Step > 0)
{
for (int I = 0; I < L; I++)
{
OptimisePath(Step, Delta, Opts.BumpMod);
CalcCurvaturesZ();
CalcFwdAbsCrv(FwdRange);
CalcMaxSpeeds(Step);
PropagateBreaking(Step);
PropagateAcceleration(Step);
}
Step >>= 1;
}
}
//==========================================================================*
// Create a smooth lane
//--------------------------------------------------------------------------*
void TClothoidLane::MakeSmoothPath(
TTrackDescription* Track,
TParam& Param,
const TOptions& Opts)
{
TCarParam& CarParam = Param.oCarParam;
oBase = Opts.Base;
oBaseFactor = Opts.BaseFactor;
if (Opts.MaxR < FLT_MAX)
LaneType = ltLeft;
else if (Opts.MaxL < FLT_MAX)
LaneType = ltRight;
else
LaneType = ltFree;
if (Opts.Side)
{
LogSimplix.debug("Switch to CarParam2\n");
CarParam = Param.oCarParam2;
}
TLane::Initialise(Track, Param.Fix, CarParam, Opts.MaxL, Opts.MaxR);
const int Count = Track->Count();
int FwdRange = 110;
CalcFwdAbsCrv(FwdRange);
const int Delta = 25;
int L = 8;
int Step = 1; // Initialize step width
while (Step * 16 < Count) // Find largest step width
Step *= 2;
LogSimplix.debug("OptimisePath:\n");
while (Step > 0)
{
LogSimplix.debug("Step: %d\n",Step);
for (int I = 0; I < L; I++)
{
OptimisePath(Step, Delta, 0, Param.oCarParam.oUglyCrvZ);
}
Step >>= 1;
}
if (Opts.BumpMod)
{
LogSimplix.debug("AnalyseBumps:\n");
AnalyseBumps(false);
//AnalyseBumps(true);
Step = 1;
Step <<= ANALYSE_STEPS;
while (Step > 0)
{
LogSimplix.debug("Step: %d\n",Step);
for (int I = 0; I < L; I++)
{
OptimisePath(Step, Delta, Opts.BumpMod, Param.oCarParam.oUglyCrvZ);
CalcCurvaturesZ();
CalcFwdAbsCrv(FwdRange);
CalcMaxSpeeds(Step);
PropagateBreaking(Step);
PropagateAcceleration(Step);
}
Step >>= 1;
}
}
void LinePath::CalcCurvaturesZ( int step )
{
const int NSEG = m_pTrack->GetSize();
CalcCurvaturesZ( 0, NSEG, step );
}
//==========================================================================*
// Calculate curvature in Z
//--------------------------------------------------------------------------*
void TLane::CalcCurvaturesZ(int Step)
{
CalcCurvaturesZ( 0, Step);
}
//==========================================================================*
// Initialize lane from track limiting width to left and right
//--------------------------------------------------------------------------*
void TLane::Initialise
(TTrackDescription* Track,
const TFixCarParam& FixCarParam,
const TCarParam& CarParam,
double MaxLeft, double MaxRight)
{
delete [] oPathPoints;
oTrack = Track;
oPathPoints = new TPathPt[Track->Count()];
oCarParam = CarParam; // Copy car params
oFixCarParam = FixCarParam; // Copy car params
// To avoid uninitialized alignment bytes within the allocated memory for
// linux compilers not doing this initialization without our explizit
// request we should fill it with zeros. Otherwise we would get valgrind
// warnings writing the data to file using only one memory block per
// path point.
memset(oPathPoints, 0, Track->Count() * sizeof(*oPathPoints));
if (MaxLeft < 999.0)
{
for (int I = 0; I < Track->Count(); I++)
{
const TSection& Sec = (*oTrack)[I];
oPathPoints[I].Sec = &Sec;
oPathPoints[I].Center = Sec.Center;
oPathPoints[I].Crv = 0;
oPathPoints[I].CrvZ = 0;
oPathPoints[I].Offset = 0.0;
oPathPoints[I].Point = oPathPoints[I].CalcPt();
oPathPoints[I].MaxSpeed = 10;
oPathPoints[I].Speed = 10;
oPathPoints[I].AccSpd = 10;
oPathPoints[I].FlyHeight = 0;
// oPathPoints[I].BufL = 0;
// oPathPoints[I].BufR = 0;
oPathPoints[I].NextCrv = 0.0;
oPathPoints[I].WToL = (float) MaxLeft;
oPathPoints[I].WToR = (float) Sec.WidthToRight;
oPathPoints[I].WPitToL = (float) Sec.PitWidthToLeft;
oPathPoints[I].WPitToR = (float) Sec.PitWidthToRight;
oPathPoints[I].Fix = false;
}
oPathPoints[0].WToL = oPathPoints[1].WToL;
oPathPoints[0].WToR = oPathPoints[1].WToR;
}
else if (MaxRight < 999.0)
{
for (int I = 0; I < Track->Count(); I++)
{
const TSection& Sec = (*oTrack)[I];
oPathPoints[I].Sec = &Sec;
oPathPoints[I].Center = Sec.Center;
oPathPoints[I].Crv = 0;
oPathPoints[I].CrvZ = 0;
oPathPoints[I].Offset = 0.0;
oPathPoints[I].Point = oPathPoints[I].CalcPt();
oPathPoints[I].MaxSpeed = 10;
oPathPoints[I].Speed = 10;
oPathPoints[I].AccSpd = 10;
oPathPoints[I].FlyHeight = 0;
// oPathPoints[I].BufL = 0;
// oPathPoints[I].BufR = 0;
oPathPoints[I].NextCrv = 0.0;
oPathPoints[I].WToL = (float) Sec.WidthToLeft;
oPathPoints[I].WToR = (float) MaxRight;
oPathPoints[I].WPitToL = (float) Sec.PitWidthToLeft;
oPathPoints[I].WPitToR = (float) Sec.PitWidthToRight;
oPathPoints[I].Fix = false;
}
oPathPoints[0].WToL = oPathPoints[1].WToL;
oPathPoints[0].WToR = oPathPoints[1].WToR;
}
else
{
for (int I = 0; I < Track->Count(); I++)
{
const TSection& Sec = (*oTrack)[I];
oPathPoints[I].Sec = &Sec;
oPathPoints[I].Center = Sec.Center;
oPathPoints[I].Crv = 0;
oPathPoints[I].CrvZ = 0;
oPathPoints[I].Offset = 0.0;
oPathPoints[I].Point = oPathPoints[I].CalcPt();
oPathPoints[I].MaxSpeed = 10;
oPathPoints[I].Speed = 10;
oPathPoints[I].AccSpd = 10;
oPathPoints[I].FlyHeight = 0;
// oPathPoints[I].BufL = 0;
// oPathPoints[I].BufR = 0;
oPathPoints[I].NextCrv = 0.0;
oPathPoints[I].WToL = (float) Sec.WidthToLeft;
oPathPoints[I].WToR = (float) Sec.WidthToRight;
oPathPoints[I].WPitToL = (float) Sec.PitWidthToLeft;
oPathPoints[I].WPitToR = (float) Sec.PitWidthToRight;
oPathPoints[I].Fix = false;
}
oPathPoints[0].WToL = oPathPoints[1].WToL;
oPathPoints[0].WToR = oPathPoints[1].WToR;
}
CalcCurvaturesXY();
CalcCurvaturesZ();
TA_X[0] = 0.0;
TA_X[1] = 0.4;
TA_X[2] = 0.5;
TA_X[3] = 0.6;
TA_X[4] = 0.7;
TA_X[5] = 0.8;
TA_X[6] = 0.9;
TA_X[7] = 1.0;
TA_X[8] = 1.1;
TA_X[9] = 10.0;
/*
TA_Y[0] = 1.0;
TA_Y[1] = 1.0;
TA_Y[2] = 0.995;
TA_Y[3] = 0.97;
TA_Y[4] = 0.9;
TA_Y[5] = 0.7;
TA_Y[6] = 0.5;
TA_Y[7] = 0.35;
TA_Y[8] = 0.305;
TA_Y[9] = 0.30;
*/
TA_Y[0] = 1.0;
TA_Y[1] = 1.0;
TA_Y[2] = 1.0;
TA_Y[3] = 0.995;
TA_Y[4] = 0.97;
TA_Y[5] = 0.9;
TA_Y[6] = 0.7;
TA_Y[7] = 0.55;
TA_Y[8] = 0.505;
TA_Y[9] = 0.50;
TA_S[0] = 0.0;
TA_S[9] = 0.0;
oTurnScale.Init(TA_N,TA_X,TA_Y,TA_S);
}
