/** Recentre the mouse on the screen.
@ingroup ctrl
@return none
*/
void
GfctrlMouseCenter(void)
{
int sw, sh, vw, vh;
GfScrGetSize(&sw, &sh, &vw, &vh);
GfuiMouseSetPos(sw / 2, sh / 2);
}
static void
onActivate2(void * /* dummy */)
{
int dummy;
GfScrGetSize(&scrw, &scrh, &dummy, &dummy);
CalState = 0;
GetNextAxis();
GfuiLabelSetText(scrHandle2, InstId, Instructions[CalState]);
if (CalState < 4) {
glutIdleFunc(IdleMouseInit);
GfctrlMouseCenter();
}
}
bool LegacyMenu::setupGraphicsView()
{
// Initialize the graphics view.
if (!_piGraphicsEngine)
return false;
// Retrieve the screen dimensions.
int sw, sh, vw, vh;
GfScrGetSize(&sw, &sh, &vw, &vh);
_bfGraphicsState |= eViewSetup;
// Setup the graphics view.
return _piGraphicsEngine->setupView((sw - vw) / 2, (sh - vh) / 2, vw, vh, _hscrGame);
}
/** Save a screen shot in png format.
@ingroup screen
*/
void
GfuiScreenShot(void * /* notused */)
{
unsigned char *img;
const int BUFSIZE = 1024;
char buf[BUFSIZE];
struct tm *stm;
time_t t;
int sw, sh, vw, vh;
char path[BUFSIZE];
snprintf(path, BUFSIZE, "%sscreenshots", GetLocalDir());
// Ensure that screenshot directory exists.
if (GfCreateDir(path) == GF_DIR_CREATED) {
GfScrGetSize(&sw, &sh, &vw, &vh);
img = (unsigned char*)malloc(vw * vh * 3);
if (img == NULL) {
return;
}
glPixelStorei(GL_PACK_ROW_LENGTH, 0);
glPixelStorei(GL_PACK_ALIGNMENT, 1);
glReadBuffer(GL_FRONT);
glReadPixels((sw-vw)/2, (sh-vh)/2, vw, vh, GL_RGB, GL_UNSIGNED_BYTE, (GLvoid*)img);
t = time(NULL);
stm = localtime(&t);
snprintf(buf, BUFSIZE, "%s/torcs-%4d%02d%02d%02d%02d%02d.png",
path,
stm->tm_year+1900,
stm->tm_mon+1,
stm->tm_mday,
stm->tm_hour,
stm->tm_min,
stm->tm_sec);
GfImgWritePng(img, buf, vw, vh);
free(img);
}
}
static void
reCapture(void)
{
unsigned char *img;
int sw, sh, vw, vh;
tRmMovieCapture *capture = &(ReInfo->movieCapture);
GfScrGetSize(&sw, &sh, &vw, &vh);
img = (unsigned char*)malloc(vw * vh * 3);
if (img == NULL) {
return;
}
glPixelStorei(GL_PACK_ROW_LENGTH, 0);
glPixelStorei(GL_PACK_ALIGNMENT, 1);
glReadBuffer(GL_FRONT);
glReadPixels((sw-vw)/2, (sh-vh)/2, vw, vh, GL_RGB, GL_UNSIGNED_BYTE, (GLvoid*)img);
sprintf(buf, "%s/torcs-%4.4d-%8.8d.png", capture->outputBase, capture->currentCapture, capture->currentFrame++);
GfImgWritePng(img, buf, vw, vh);
free(img);
}
/** Display function for the GUI to be called during redisplay of glut.
@ingroup gui
*/
void
GfuiDisplay(void)
{
tGfuiObject *curObj;
glDisable(GL_DEPTH_TEST);
glDisable(GL_LIGHTING);
glDisable(GL_TEXTURE_2D);
glDisable(GL_CULL_FACE);
glDisable(GL_ALPHA_TEST);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
GfScrGetSize(&ScrW, &ScrH, &ViewW, &ViewH);
glViewport((ScrW-ViewW) / 2, (ScrH-ViewH) / 2, ViewW, ViewH);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluOrtho2D(0, GfuiScreen->width, 0, GfuiScreen->height);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
if (GfuiScreen->bgColor[3] != 0.0) {
glClearColor(GfuiScreen->bgColor[0],
GfuiScreen->bgColor[1],
GfuiScreen->bgColor[2],
GfuiScreen->bgColor[3]);
glClear(GL_COLOR_BUFFER_BIT);
}
if (glIsTexture(GfuiScreen->bgImage) == GL_TRUE) {
GLfloat tx1 = 0.0f, tx2 = 1.0f, ty1 = 0.0f, ty2 = 1.0f;
// All background images are 16:10 images which are stored as quadratic images.
// Compute texture coordinates to ensure proper unskewed/unstretched display of
// image content.
tdble rfactor = (16.0f*ViewH)/(10.0f*ViewW);
if (rfactor >= 1.0f) {
// Aspect ratio of view is smaller than 16:10, "cut off" sides
tdble tdx = (1.0f-1.0f/rfactor)/2.0f;
tx1 += tdx;
tx2 -= tdx;
} else {
// Aspect ratio of view is larger than 16:10, "cut off" top and bottom
tdble tdy = (1.0f-rfactor)/2.0f;
ty1 += tdy;
ty2 -= tdy;
}
glDisable(GL_BLEND);
glEnable(GL_TEXTURE_2D);
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
glColor3f(0.0, 0.0, 1.0);
glBindTexture(GL_TEXTURE_2D, GfuiScreen->bgImage);
glBegin(GL_QUADS);
glTexCoord2f(tx1, ty1); glVertex3f(0.0, 0.0, 0.0);
glTexCoord2f(tx1, ty2); glVertex3f(0.0, GfuiScreen->height, 0.0);
glTexCoord2f(tx2, ty2); glVertex3f(GfuiScreen->width, GfuiScreen->height, 0.0);
glTexCoord2f(tx2, ty1); glVertex3f(GfuiScreen->width, 0.0, 0.0);
glEnd();
glDisable(GL_TEXTURE_2D);
glEnable(GL_BLEND);
}
curObj = GfuiScreen->objects;
if (curObj) {
do {
curObj = curObj->next;
GfuiDraw(curObj);
} while (curObj != GfuiScreen->objects);
}
if (!GfuiMouseHW && GfuiMouseVisible && GfuiScreen->mouseAllowed) {
GfuiDrawCursor();
}
glDisable(GL_BLEND);
glutSwapBuffers();
}
static void common_drive(int index, tCarElt* car, tSituation *s)
{
tdble slip;
tdble ax0;
tdble brake;
tdble clutch;
tdble throttle;
tdble leftSteer;
tdble rightSteer;
int scrw, scrh, dummy;
int idx = index - 1;
tControlCmd *cmd = HCtx[idx]->CmdControl;
const int BUFSIZE = 1024;
char sstring[BUFSIZE];
static int firstTime = 1;
if (firstTime) {
if (HCtx[idx]->MouseControlUsed) {
GfuiMouseShow();
GfctrlMouseInitCenter();
}
GfuiKeyEventRegisterCurrent(onKeyAction);
GfuiSKeyEventRegisterCurrent(onSKeyAction);
firstTime = 0;
}
HCtx[idx]->distToStart = RtGetDistFromStart(car);
HCtx[idx]->Gear = (tdble)car->_gear; /* telemetry */
GfScrGetSize(&scrw, &scrh, &dummy, &dummy);
memset(&(car->ctrl), 0, sizeof(tCarCtrl));
car->_lightCmd = HCtx[idx]->lightCmd;
if (car->_laps != HCtx[idx]->LastPitStopLap) {
car->_raceCmd = RM_CMD_PIT_ASKED;
}
if (lastKeyUpdate != s->currentTime) {
/* Update the controls only once for all the players */
updateKeys();
if (joyPresent) {
GfctrlJoyGetCurrent(joyInfo);
}
GfctrlMouseGetCurrent(mouseInfo);
lastKeyUpdate = s->currentTime;
}
if (((cmd[CMD_ABS].type == GFCTRL_TYPE_JOY_BUT) && joyInfo->edgeup[cmd[CMD_ABS].val]) ||
((cmd[CMD_ABS].type == GFCTRL_TYPE_KEYBOARD) && keyInfo[cmd[CMD_ABS].val].edgeUp) ||
((cmd[CMD_ABS].type == GFCTRL_TYPE_SKEYBOARD) && skeyInfo[cmd[CMD_ABS].val].edgeUp))
{
HCtx[idx]->ParamAbs = 1 - HCtx[idx]->ParamAbs;
snprintf(sstring, BUFSIZE, "%s/%s/%d", HM_SECT_PREF, HM_LIST_DRV, index);
GfParmSetStr(PrefHdle, sstring, HM_ATT_ABS, Yn[1 - HCtx[idx]->ParamAbs]);
GfParmWriteFile(NULL, PrefHdle, "Human");
}
if (((cmd[CMD_ASR].type == GFCTRL_TYPE_JOY_BUT) && joyInfo->edgeup[cmd[CMD_ASR].val]) ||
((cmd[CMD_ASR].type == GFCTRL_TYPE_KEYBOARD) && keyInfo[cmd[CMD_ASR].val].edgeUp) ||
((cmd[CMD_ASR].type == GFCTRL_TYPE_SKEYBOARD) && skeyInfo[cmd[CMD_ASR].val].edgeUp))
{
HCtx[idx]->ParamAsr = 1 - HCtx[idx]->ParamAsr;
snprintf(sstring, BUFSIZE, "%s/%s/%d", HM_SECT_PREF, HM_LIST_DRV, index);
GfParmSetStr(PrefHdle, sstring, HM_ATT_ASR, Yn[1 - HCtx[idx]->ParamAsr]);
GfParmWriteFile(NULL, PrefHdle, "Human");
}
const int bufsize = sizeof(car->_msgCmd[0]);
snprintf(car->_msgCmd[0], bufsize, "%s %s", (HCtx[idx]->ParamAbs ? "ABS" : ""), (HCtx[idx]->ParamAsr ? "ASR" : ""));
memcpy(car->_msgColorCmd, color, sizeof(car->_msgColorCmd));
if (((cmd[CMD_SPDLIM].type == GFCTRL_TYPE_JOY_BUT) && (joyInfo->levelup[cmd[CMD_SPDLIM].val] == 1)) ||
((cmd[CMD_SPDLIM].type == GFCTRL_TYPE_KEYBOARD) && (keyInfo[cmd[CMD_SPDLIM].val].state == GFUI_KEY_DOWN)) ||
((cmd[CMD_SPDLIM].type == GFCTRL_TYPE_SKEYBOARD) && (skeyInfo[cmd[CMD_SPDLIM].val].state == GFUI_KEY_DOWN)))
{
speedLimiter = 1;
snprintf(car->_msgCmd[1], bufsize, "Speed Limiter On");
} else {
speedLimiter = 0;
snprintf(car->_msgCmd[1], bufsize, "Speed Limiter Off");
}
if (((cmd[CMD_LIGHT1].type == GFCTRL_TYPE_JOY_BUT) && joyInfo->edgeup[cmd[CMD_LIGHT1].val]) ||
((cmd[CMD_LIGHT1].type == GFCTRL_TYPE_KEYBOARD) && keyInfo[cmd[CMD_LIGHT1].val].edgeUp) ||
((cmd[CMD_LIGHT1].type == GFCTRL_TYPE_SKEYBOARD) && skeyInfo[cmd[CMD_LIGHT1].val].edgeUp))
{
if (HCtx[idx]->lightCmd & RM_LIGHT_HEAD1) {
HCtx[idx]->lightCmd &= ~(RM_LIGHT_HEAD1 | RM_LIGHT_HEAD2);
} else {
HCtx[idx]->lightCmd |= RM_LIGHT_HEAD1 | RM_LIGHT_HEAD2;
}
}
switch (cmd[CMD_LEFTSTEER].type) {
case GFCTRL_TYPE_JOY_AXIS:
ax0 = joyInfo->ax[cmd[CMD_LEFTSTEER].val] + cmd[CMD_LEFTSTEER].deadZone;
if (ax0 > cmd[CMD_LEFTSTEER].max) {
ax0 = cmd[CMD_LEFTSTEER].max;
} else if (ax0 < cmd[CMD_LEFTSTEER].min) {
ax0 = cmd[CMD_LEFTSTEER].min;
}
// normalize ax0 to -1..0
ax0 = (ax0 - cmd[CMD_LEFTSTEER].max) / (cmd[CMD_LEFTSTEER].max - cmd[CMD_LEFTSTEER].min);
leftSteer = -SIGN(ax0) * cmd[CMD_LEFTSTEER].pow * pow(fabs(ax0), cmd[CMD_LEFTSTEER].sens) / (1.0 + cmd[CMD_LEFTSTEER].spdSens * car->pub.speed);
break;
case GFCTRL_TYPE_MOUSE_AXIS:
ax0 = mouseInfo->ax[cmd[CMD_LEFTSTEER].val] - cmd[CMD_LEFTSTEER].deadZone; //FIXME: correct?
if (ax0 > cmd[CMD_LEFTSTEER].max) {
ax0 = cmd[CMD_LEFTSTEER].max;
} else if (ax0 < cmd[CMD_LEFTSTEER].min) {
ax0 = cmd[CMD_LEFTSTEER].min;
}
ax0 = ax0 * cmd[CMD_LEFTSTEER].pow;
leftSteer = pow(fabs(ax0), cmd[CMD_LEFTSTEER].sens) / (1.0 + cmd[CMD_LEFTSTEER].spdSens * car->pub.speed / 10.0);
break;
case GFCTRL_TYPE_KEYBOARD:
case GFCTRL_TYPE_SKEYBOARD:
case GFCTRL_TYPE_JOY_BUT:
if (cmd[CMD_LEFTSTEER].type == GFCTRL_TYPE_KEYBOARD) {
ax0 = keyInfo[cmd[CMD_LEFTSTEER].val].state;
} else if (cmd[CMD_LEFTSTEER].type == GFCTRL_TYPE_SKEYBOARD) {
ax0 = skeyInfo[cmd[CMD_LEFTSTEER].val].state;
} else {
ax0 = joyInfo->levelup[cmd[CMD_LEFTSTEER].val];
}
if (ax0 == 0) {
HCtx[idx]->prevLeftSteer = leftSteer = 0;
} else {
ax0 = 2 * ax0 - 1;
leftSteer = HCtx[idx]->prevLeftSteer + ax0 * cmd[CMD_LEFTSTEER].sens * s->deltaTime / (1.0 + cmd[CMD_LEFTSTEER].spdSens * car->pub.speed / 10.0);
if (leftSteer > 1.0) leftSteer = 1.0;
if (leftSteer < 0.0) leftSteer = 0.0;
HCtx[idx]->prevLeftSteer = leftSteer;
}
break;
default:
leftSteer = 0;
break;
}
switch (cmd[CMD_RIGHTSTEER].type) {
case GFCTRL_TYPE_JOY_AXIS:
ax0 = joyInfo->ax[cmd[CMD_RIGHTSTEER].val] - cmd[CMD_RIGHTSTEER].deadZone;
if (ax0 > cmd[CMD_RIGHTSTEER].max) {
ax0 = cmd[CMD_RIGHTSTEER].max;
} else if (ax0 < cmd[CMD_RIGHTSTEER].min) {
ax0 = cmd[CMD_RIGHTSTEER].min;
}
// normalize ax to 0..1
ax0 = (ax0 - cmd[CMD_RIGHTSTEER].min) / (cmd[CMD_RIGHTSTEER].max - cmd[CMD_RIGHTSTEER].min);
rightSteer = -SIGN(ax0) * cmd[CMD_RIGHTSTEER].pow * pow(fabs(ax0), cmd[CMD_RIGHTSTEER].sens) / (1.0 + cmd[CMD_RIGHTSTEER].spdSens * car->pub.speed);
break;
case GFCTRL_TYPE_MOUSE_AXIS:
ax0 = mouseInfo->ax[cmd[CMD_RIGHTSTEER].val] - cmd[CMD_RIGHTSTEER].deadZone;
if (ax0 > cmd[CMD_RIGHTSTEER].max) {
ax0 = cmd[CMD_RIGHTSTEER].max;
} else if (ax0 < cmd[CMD_RIGHTSTEER].min) {
ax0 = cmd[CMD_RIGHTSTEER].min;
}
ax0 = ax0 * cmd[CMD_RIGHTSTEER].pow;
rightSteer = - pow(fabs(ax0), cmd[CMD_RIGHTSTEER].sens) / (1.0 + cmd[CMD_RIGHTSTEER].spdSens * car->pub.speed / 10.0);
break;
case GFCTRL_TYPE_KEYBOARD:
case GFCTRL_TYPE_SKEYBOARD:
case GFCTRL_TYPE_JOY_BUT:
if (cmd[CMD_RIGHTSTEER].type == GFCTRL_TYPE_KEYBOARD) {
ax0 = keyInfo[cmd[CMD_RIGHTSTEER].val].state;
} else if (cmd[CMD_RIGHTSTEER].type == GFCTRL_TYPE_SKEYBOARD) {
ax0 = skeyInfo[cmd[CMD_RIGHTSTEER].val].state;
} else {
ax0 = joyInfo->levelup[cmd[CMD_RIGHTSTEER].val];
}
if (ax0 == 0) {
HCtx[idx]->prevRightSteer = rightSteer = 0;
} else {
ax0 = 2 * ax0 - 1;
rightSteer = HCtx[idx]->prevRightSteer - ax0 * cmd[CMD_RIGHTSTEER].sens * s->deltaTime/ (1.0 + cmd[CMD_RIGHTSTEER].spdSens * car->pub.speed / 10.0);
if (rightSteer > 0.0) rightSteer = 0.0;
if (rightSteer < -1.0) rightSteer = -1.0;
HCtx[idx]->prevRightSteer = rightSteer;
}
break;
default:
rightSteer = 0;
break;
}
car->_steerCmd = leftSteer + rightSteer;
switch (cmd[CMD_BRAKE].type) {
case GFCTRL_TYPE_JOY_AXIS:
brake = joyInfo->ax[cmd[CMD_BRAKE].val];
if (brake > cmd[CMD_BRAKE].max) {
brake = cmd[CMD_BRAKE].max;
} else if (brake < cmd[CMD_BRAKE].min) {
brake = cmd[CMD_BRAKE].min;
}
car->_brakeCmd = fabs(cmd[CMD_BRAKE].pow *
pow(fabs((brake - cmd[CMD_BRAKE].minVal) /
(cmd[CMD_BRAKE].max - cmd[CMD_BRAKE].min)),
cmd[CMD_BRAKE].sens));
break;
case GFCTRL_TYPE_MOUSE_AXIS:
ax0 = mouseInfo->ax[cmd[CMD_BRAKE].val] - cmd[CMD_BRAKE].deadZone;
if (ax0 > cmd[CMD_BRAKE].max) {
ax0 = cmd[CMD_BRAKE].max;
} else if (ax0 < cmd[CMD_BRAKE].min) {
ax0 = cmd[CMD_BRAKE].min;
}
ax0 = ax0 * cmd[CMD_BRAKE].pow;
car->_brakeCmd = pow(fabs(ax0), cmd[CMD_BRAKE].sens) / (1.0 + cmd[CMD_BRAKE].spdSens * car->_speed_x / 10.0);
break;
case GFCTRL_TYPE_JOY_BUT:
car->_brakeCmd = joyInfo->levelup[cmd[CMD_BRAKE].val];
break;
case GFCTRL_TYPE_MOUSE_BUT:
car->_brakeCmd = mouseInfo->button[cmd[CMD_BRAKE].val];
break;
case GFCTRL_TYPE_KEYBOARD:
car->_brakeCmd = keyInfo[cmd[CMD_BRAKE].val].state;
break;
case GFCTRL_TYPE_SKEYBOARD:
car->_brakeCmd = skeyInfo[cmd[CMD_BRAKE].val].state;
break;
default:
car->_brakeCmd = 0;
break;
}
switch (cmd[CMD_CLUTCH].type) {
case GFCTRL_TYPE_JOY_AXIS:
clutch = joyInfo->ax[cmd[CMD_CLUTCH].val];
if (clutch > cmd[CMD_CLUTCH].max) {
clutch = cmd[CMD_CLUTCH].max;
} else if (clutch < cmd[CMD_CLUTCH].min) {
clutch = cmd[CMD_CLUTCH].min;
}
car->_clutchCmd = fabs(cmd[CMD_CLUTCH].pow *
pow(fabs((clutch - cmd[CMD_CLUTCH].minVal) /
(cmd[CMD_CLUTCH].max - cmd[CMD_CLUTCH].min)),
cmd[CMD_CLUTCH].sens));
break;
case GFCTRL_TYPE_MOUSE_AXIS:
ax0 = mouseInfo->ax[cmd[CMD_CLUTCH].val] - cmd[CMD_CLUTCH].deadZone;
if (ax0 > cmd[CMD_CLUTCH].max) {
ax0 = cmd[CMD_CLUTCH].max;
} else if (ax0 < cmd[CMD_CLUTCH].min) {
ax0 = cmd[CMD_CLUTCH].min;
}
ax0 = ax0 * cmd[CMD_CLUTCH].pow;
car->_clutchCmd = pow(fabs(ax0), cmd[CMD_CLUTCH].sens) / (1.0 + cmd[CMD_CLUTCH].spdSens * car->_speed_x / 10.0);
break;
case GFCTRL_TYPE_JOY_BUT:
car->_clutchCmd = joyInfo->levelup[cmd[CMD_CLUTCH].val];
break;
case GFCTRL_TYPE_MOUSE_BUT:
car->_clutchCmd = mouseInfo->button[cmd[CMD_CLUTCH].val];
break;
case GFCTRL_TYPE_KEYBOARD:
car->_clutchCmd = keyInfo[cmd[CMD_CLUTCH].val].state;
break;
case GFCTRL_TYPE_SKEYBOARD:
car->_clutchCmd = skeyInfo[cmd[CMD_CLUTCH].val].state;
break;
default:
car->_clutchCmd = 0;
break;
}
// if player's used the clutch manually then we dispense with autoClutch
if (car->_clutchCmd != 0.0f)
HCtx[idx]->autoClutch = 0;
switch (cmd[CMD_THROTTLE].type) {
case GFCTRL_TYPE_JOY_AXIS:
throttle = joyInfo->ax[cmd[CMD_THROTTLE].val];
if (throttle > cmd[CMD_THROTTLE].max) {
throttle = cmd[CMD_THROTTLE].max;
} else if (throttle < cmd[CMD_THROTTLE].min) {
throttle = cmd[CMD_THROTTLE].min;
}
car->_accelCmd = fabs(cmd[CMD_THROTTLE].pow *
pow(fabs((throttle - cmd[CMD_THROTTLE].minVal) /
(cmd[CMD_THROTTLE].max - cmd[CMD_THROTTLE].min)),
cmd[CMD_THROTTLE].sens));
break;
case GFCTRL_TYPE_MOUSE_AXIS:
ax0 = mouseInfo->ax[cmd[CMD_THROTTLE].val] - cmd[CMD_THROTTLE].deadZone;
if (ax0 > cmd[CMD_THROTTLE].max) {
ax0 = cmd[CMD_THROTTLE].max;
} else if (ax0 < cmd[CMD_THROTTLE].min) {
ax0 = cmd[CMD_THROTTLE].min;
}
ax0 = ax0 * cmd[CMD_THROTTLE].pow;
car->_accelCmd = pow(fabs(ax0), cmd[CMD_THROTTLE].sens) / (1.0 + cmd[CMD_THROTTLE].spdSens * car->_speed_x / 10.0);
if (isnan (car->_accelCmd)) {
car->_accelCmd = 0;
}
/* printf(" axO:%f accelCmd:%f\n", ax0, car->_accelCmd); */
break;
case GFCTRL_TYPE_JOY_BUT:
car->_accelCmd = joyInfo->levelup[cmd[CMD_THROTTLE].val];
break;
case GFCTRL_TYPE_MOUSE_BUT:
car->_accelCmd = mouseInfo->button[cmd[CMD_THROTTLE].val];
break;
case GFCTRL_TYPE_KEYBOARD:
car->_accelCmd = keyInfo[cmd[CMD_THROTTLE].val].state;
break;
case GFCTRL_TYPE_SKEYBOARD:
car->_accelCmd = skeyInfo[cmd[CMD_THROTTLE].val].state;
break;
default:
car->_accelCmd = 0;
break;
}
if (s->currentTime > 1.0) {
// thanks Christos for the following: gradual accel/brake changes for on/off controls.
const tdble inc_rate = 0.2f;
if (cmd[CMD_BRAKE].type == GFCTRL_TYPE_JOY_BUT ||
cmd[CMD_BRAKE].type == GFCTRL_TYPE_MOUSE_BUT ||
cmd[CMD_BRAKE].type == GFCTRL_TYPE_KEYBOARD ||
cmd[CMD_BRAKE].type == GFCTRL_TYPE_SKEYBOARD)
{
tdble d_brake = car->_brakeCmd - HCtx[idx]->pbrake;
if (fabs(d_brake) > inc_rate && car->_brakeCmd > HCtx[idx]->pbrake) {
car->_brakeCmd = MIN(car->_brakeCmd, HCtx[idx]->pbrake + inc_rate*d_brake/fabs(d_brake));
}
HCtx[idx]->pbrake = car->_brakeCmd;
}
if (cmd[CMD_THROTTLE].type == GFCTRL_TYPE_JOY_BUT ||
cmd[CMD_THROTTLE].type == GFCTRL_TYPE_MOUSE_BUT ||
cmd[CMD_THROTTLE].type == GFCTRL_TYPE_KEYBOARD ||
cmd[CMD_THROTTLE].type == GFCTRL_TYPE_SKEYBOARD)
{
tdble d_accel = car->_accelCmd - HCtx[idx]->paccel;
if (fabs(d_accel) > inc_rate && car->_accelCmd > HCtx[idx]->paccel) {
car->_accelCmd = MIN(car->_accelCmd, HCtx[idx]->paccel + inc_rate*d_accel/fabs(d_accel));
}
HCtx[idx]->paccel = car->_accelCmd;
}
}
if (HCtx[idx]->AutoReverseEngaged) {
/* swap brake and throttle */
brake = car->_brakeCmd;
car->_brakeCmd = car->_accelCmd;
car->_accelCmd = brake;
}
if (HCtx[idx]->ParamAbs)
{
if (fabs(car->_speed_x) > 10.0)
{
int i;
tdble skidAng = atan2(car->_speed_Y, car->_speed_X) - car->_yaw;
NORM_PI_PI(skidAng);
if (car->_speed_x > 5 && fabs(skidAng) > 0.2)
car->_brakeCmd = MIN(car->_brakeCmd, 0.10 + 0.70 * cos(skidAng));
if (fabs(car->_steerCmd) > 0.1)
{
tdble decel = ((fabs(car->_steerCmd)-0.1) * (1.0 + fabs(car->_steerCmd)) * 0.6);
car->_brakeCmd = MIN(car->_brakeCmd, MAX(0.35, 1.0 - decel));
}
const tdble abs_slip = 2.5;
const tdble abs_range = 5.0;
slip = 0;
for (i = 0; i < 4; i++) {
slip += car->_wheelSpinVel(i) * car->_wheelRadius(i);
}
slip = car->_speed_x - slip/4.0f;
if (slip > abs_slip)
car->_brakeCmd = car->_brakeCmd - MIN(car->_brakeCmd*0.8, (slip - abs_slip) / abs_range);
}
}
if (HCtx[idx]->ParamAsr)
{
tdble trackangle = RtTrackSideTgAngleL(&(car->_trkPos));
tdble angle = trackangle - car->_yaw;
NORM_PI_PI(angle);
tdble maxaccel = 0.0;
if (car->_trkPos.seg->type == TR_STR)
maxaccel = MIN(car->_accelCmd, 0.2);
else if (car->_trkPos.seg->type == TR_LFT && angle < 0.0)
maxaccel = MIN(car->_accelCmd, MIN(0.6, -angle));
else if (car->_trkPos.seg->type == TR_RGT && angle > 0.0)
maxaccel = MIN(car->_accelCmd, MIN(0.6, angle));
tdble origaccel = car->_accelCmd;
tdble skidAng = atan2(car->_speed_Y, car->_speed_X) - car->_yaw;
NORM_PI_PI(skidAng);
if (car->_speed_x > 5 && fabs(skidAng) > 0.2)
{
car->_accelCmd = MIN(car->_accelCmd, 0.15 + 0.70 * cos(skidAng));
car->_accelCmd = MAX(car->_accelCmd, maxaccel);
}
if (fabs(car->_steerCmd) > 0.1)
{
tdble decel = ((fabs(car->_steerCmd)-0.1) * (1.0 + fabs(car->_steerCmd)) * 0.8);
car->_accelCmd = MIN(car->_accelCmd, MAX(0.35, 1.0 - decel));
}
tdble drivespeed = 0.0;
switch (HCtx[idx]->drivetrain)
{
case D4WD:
drivespeed = ((car->_wheelSpinVel(FRNT_RGT) + car->_wheelSpinVel(FRNT_LFT)) *
car->_wheelRadius(FRNT_LFT) +
(car->_wheelSpinVel(REAR_RGT) + car->_wheelSpinVel(REAR_LFT)) *
car->_wheelRadius(REAR_LFT)) / 4.0;
break;
case DFWD:
drivespeed = (car->_wheelSpinVel(FRNT_RGT) + car->_wheelSpinVel(FRNT_LFT)) *
car->_wheelRadius(FRNT_LFT) / 2.0;
break;
default:
drivespeed = (car->_wheelSpinVel(REAR_RGT) + car->_wheelSpinVel(REAR_LFT)) *
car->_wheelRadius(REAR_LFT) / 2.0;
break;
}
tdble slip = drivespeed - fabs(car->_speed_x);
if (slip > 2.0)
car->_accelCmd = MIN(car->_accelCmd, origaccel - MIN(origaccel-0.1, ((slip - 2.0)/10.0)));
}
if (speedLimiter) {
tdble Dv;
if (Vtarget != 0) {
Dv = Vtarget - car->_speed_x;
if (Dv > 0.0) {
car->_accelCmd = MIN(car->_accelCmd, fabs(Dv/6.0));
} else {
car->_brakeCmd = MAX(car->_brakeCmd, fabs(Dv/5.0));
car->_accelCmd = 0;
}
}
}
#ifndef WIN32
#ifdef TELEMETRY
if ((car->_laps > 1) && (car->_laps < 5)) {
if (HCtx[idx]->lap == 1) {
RtTelemStartMonitoring("Player");
}
RtTelemUpdate(car->_curLapTime);
}
if (car->_laps == 5) {
if (HCtx[idx]->lap == 4) {
RtTelemShutdown();
}
}
#endif
#endif
HCtx[idx]->lap = car->_laps;
}
/* return state mode */
static int
reRaceRealStart(void)
{
int i, j;
int sw, sh, vw, vh;
tRobotItf *robot;
tReCarInfo *carInfo;
const int BUFSIZE = 1024;
char buf[BUFSIZE];
int foundHuman;
void *params = ReInfo->params;
void *results = ReInfo->results;
tSituation *s = ReInfo->s;
RmLoadingScreenSetText("Loading Simulation Engine...");
const char* dllname = GfParmGetStr(ReInfo->_reParam, "Modules", "simu", "");
snprintf(buf, BUFSIZE, "%smodules/simu/%s.%s", GetLibDir (), dllname, DLLEXT);
if (GfModLoad(0, buf, &ReRaceModList)) return RM_QUIT;
ReRaceModList->modInfo->fctInit(ReRaceModList->modInfo->index, &ReInfo->_reSimItf);
if (ReInitCars()) {
return RM_QUIT;
}
/* Blind mode or not */
if (ReInfo->_displayMode != RM_DISP_MODE_CONSOLE) {
ReInfo->_displayMode = RM_DISP_MODE_NORMAL;
ReInfo->_reGameScreen = ReScreenInit();
foundHuman = 0;
for (i = 0; i < s->_ncars; i++) {
if (s->cars[i]->_driverType == RM_DRV_HUMAN) {
foundHuman = 1;
break;
}
}
if (!foundHuman) {
if (!strcmp(GfParmGetStr(params, ReInfo->_reRaceName, RM_ATTR_DISPMODE, RM_VAL_VISIBLE), RM_VAL_INVISIBLE)) {
ReInfo->_displayMode = RM_DISP_MODE_NONE;
ReInfo->_reGameScreen = ReResScreenInit();
}
}
}
if (!(ReInfo->s->_raceType == RM_TYPE_QUALIF) ||
((int)GfParmGetNum(results, RE_SECT_CURRENT, RE_ATTR_CUR_DRIVER, NULL, 1) == 1))
{
RmLoadingScreenStart(ReInfo->_reName, "data/img/splash-qrloading.png");
}
for (i = 0; i < s->_ncars; i++) {
snprintf(buf, BUFSIZE, "Initializing Driver %s...", s->cars[i]->_name);
RmLoadingScreenSetText(buf);
robot = s->cars[i]->robot;
robot->rbNewRace(robot->index, s->cars[i], s);
}
carInfo = ReInfo->_reCarInfo;
ReInfo->_reSimItf.update(s, RCM_MAX_DT_SIMU, -1);
for (i = 0; i < s->_ncars; i++) {
carInfo[i].prevTrkPos = s->cars[i]->_trkPos;
}
RmLoadingScreenSetText("Running Prestart...");
for (i = 0; i < s->_ncars; i++) {
memset(&(s->cars[i]->ctrl), 0, sizeof(tCarCtrl));
s->cars[i]->ctrl.brakeCmd = 1.0;
}
for (j = 0; j < ((int)(1.0 / RCM_MAX_DT_SIMU)); j++) {
ReInfo->_reSimItf.update(s, RCM_MAX_DT_SIMU, -1);
}
if (ReInfo->_displayMode == RM_DISP_MODE_NONE) {
if (ReInfo->s->_raceType == RM_TYPE_QUALIF) {
ReUpdateQualifCurRes(s->cars[0]);
} else {
snprintf(buf, BUFSIZE, "%s on %s", s->cars[0]->_name, ReInfo->track->name);
ReResScreenSetTitle(buf);
}
}
RmLoadingScreenSetText("Ready.");
ReInfo->_reTimeMult = 1.0;
ReInfo->_reLastTime = -1.0;
ReInfo->s->currentTime = -2.0;
ReInfo->s->deltaTime = RCM_MAX_DT_SIMU;
ReInfo->s->_raceState = RM_RACE_STARTING;
if ((ReInfo->_displayMode != RM_DISP_MODE_CONSOLE) && ReInfo->_reGraphicItf.initview != 0) {
GfScrGetSize(&sw, &sh, &vw, &vh);
ReInfo->_reGraphicItf.initview((sw-vw)/2, (sh-vh)/2, vw, vh, GR_VIEW_STD, ReInfo->_reGameScreen);
if (ReInfo->_displayMode == RM_DISP_MODE_NORMAL) {
/* RmLoadingScreenSetText("Loading Cars 3D Objects..."); */
stopMenuMusic();
ReInfo->_reGraphicItf.initcars(s);
}
GfuiScreenActivate(ReInfo->_reGameScreen);
}
// If the race is adaptive, initialize performance measurement. Uses strategy pattern, pass in the desired performance measurement object.
if (taManager->IsActive())
{
if (taManager->GetRaceType() == torcsAdaptive::TARaceType::Adaptive)
taManager->InitPerfMeasurement(new RaceLineEvaluation(&ReInfo->carList[0], Pathfinder::K1999, ReInfo->track, ReInfo->s));
}
return RM_SYNC | RM_NEXT_STEP;
}
