float
SimpleDriver::getAccel(CarState &cs)
{
// checks if car is out of track
if (cs.getTrackPos() < 1 && cs.getTrackPos() > -1)
{
// reading of sensor at +5 degree w.r.t. car axis
float rxSensor=cs.getTrack(10);
// reading of sensor parallel to car axis
float cSensor=cs.getTrack(9);
// reading of sensor at -5 degree w.r.t. car axis
float sxSensor=cs.getTrack(8);
float targetSpeed;
// track is straight and enough far from a turn so goes to max speed
if (cSensor>maxSpeedDist || (cSensor>=rxSensor && cSensor >= sxSensor))
targetSpeed = maxSpeed;
else
{
// approaching a turn on right
if(rxSensor>sxSensor)
{
// computing approximately the "angle" of turn
float h = cSensor*sin5;
float b = rxSensor - cSensor*cos5;
float sinAngle = b*b/(h*h+b*b);
// estimate the target speed depending on turn and on how close it is
targetSpeed = maxSpeed*(cSensor*sinAngle/maxSpeedDist);
}
// approaching a turn on left
else
{
// computing approximately the "angle" of turn
float h = cSensor*sin5;
float b = sxSensor - cSensor*cos5;
float sinAngle = b*b/(h*h+b*b);
// estimate the target speed depending on turn and on how close it is
targetSpeed = maxSpeed*(cSensor*sinAngle/maxSpeedDist);
}
}
// accel/brake command is expontially scaled w.r.t. the difference between target speed and current one
return 2/(1+exp(cs.getSpeedX() - targetSpeed)) - 1;
}
else
return 0.3; // when out of track returns a moderate acceleration command
}
/** The transition choose the most fitted state at the moment of the race. */
void
FSMDriver3::transition(CarState &cs) {
DrivingState *state = current_state;
if(gameTicks <= 10000){
distRaced = cs.getDistRaced();
ticks_on_inside_track = inside_track->get_ticks_in_state();
ticks_on_stuck = stuck->get_ticks_in_state();
ticks_on_out_of_track = out_of_track->get_ticks_in_state();
damage = cs.getDamage();
gameTicks += 1;
}/*
else if(gameTicks == 10000){
distRaced = cs.getDistRaced();
gameTicks+=1;
ticks_on_inside_track = inside_track->get_ticks_in_state();
ticks_on_stuck = stuck->get_ticks_in_state();
ticks_on_out_of_track = out_of_track->get_ticks_in_state();
damage = cs.getDamage();
}*/
setTrackType();
if(stuck->isStuck(cs)) {
state = stuck;
} else {
if (cs.getTrack(1) > 0)
state = inside_track;
else {
state = out_of_track;
}
}
if (current_state != state) changeTo(state);
}
void
ApproachingCurve::updateSensors(CarState &cs) {
float speedFactor = 5000; // The target speed is obtained through a constant factor
if (cs.getFocus(2) == -1) { // Focus sensors are available only once per second
r_sensor = cs.getTrack(10); // Use track sensors
c_sensor = cs.getTrack(9);
l_sensor = cs.getTrack(8);
}
else {
r_sensor = cs.getFocus(3); // Use focus sensors
c_sensor = cs.getFocus(2);
l_sensor = cs.getFocus(1);
}
target_speed = base_speed + speedFactor / fabs(l_sensor - r_sensor);
sensors_are_updated = true;
}
float
InsideTrackA::get_accel(CarState &cs) {
setTargetSpeed(cs);
float Front, max10, max20;
Front = cs.getTrack(10);
max10 = max(cs.getTrack(9), cs.getTrack(11));
max20 = max(cs.getTrack(8), cs.getTrack(12));
float accel = (cs.getSpeedX() > target_speed ? 0 : (Front+max10+max20)/(3*200));
if(Front >= 70) accel = 1;
if(Front <= 20 && cs.getSpeedX() <= 30) accel = 1; /*Resolve o caso em que o carro está preso com a frente voltada para a borda da pista*/
//printf("%.0f, %.0f, %.0f --> accel: %.2f\n", Front, max10, max20, accel);
return accel ;
}
void ApproachingCurve::updateSensors(CarState &cs) {
float speedFactor = 5000; //The target speed is obtained through a constant factor
if (cs.getFocus(2) == -1) { //Focus sensors are available only once per second
// cout << "FOCUS MISS!" << endl;
rSensor = cs.getTrack(10); //Use track sensors
cSensor = cs.getTrack(9);
lSensor = cs.getTrack(8);
}
else {
// cout << "FOCUS HIT!" << endl;
rSensor = cs.getFocus(3); //Use focus sensors
cSensor = cs.getFocus(2);
lSensor = cs.getFocus(1);
}
targetSpeed = BASE_SPEED + speedFactor / fabs(lSensor - rSensor);
sensorsAreUpdated = true;
}
float Curve::findFarthestDirection(CarState &cs) {
float farthestSensor = -INFINITY;
float farthestDirection = 0;
for (int i = 0; i < 19; i++) {
if (farthestSensor < cs.getTrack(i)) {
farthestSensor = cs.getTrack(i);
farthestDirection = i;
}
}
farthestDirection = -M_PI/2 + farthestDirection*M_PI/18;
return normalizeSteer(-farthestDirection);
}
CarControl MyDriver::wDrive(CarState cs){
// Update clock variables for graphing over time
_timePrevious = _timeCurrent;
_timeCurrent = Clock::now();
_dt = _timeCurrent - _timePrevious;
_runtime += _dt;
if (_logging)
Renderer::get().setWindowTitle(std::to_string(_dt.count()));
// Temporarily copy old sensors to delta and reset sensors with max distance
memcpy(&_driving.delta[0], &_driving.sensors[0], sizeof(_driving.sensors));
std::fill_n(_driving.sensors, ALL_SENSORS, 200.f);
// Directly mapping track sensors to front 19 sensors
int zero = 0;
for (int i = 0; i < HALF_SENSORS; i++){
float distance = cs.getTrack(i);
if (distance <= 0.f)
zero++;
if (distance < _driving.sensors[i + QUART_SENSORS])
_driving.sensors[i + QUART_SENSORS] = distance;
}
if (zero == 19)
_driving.crashed = true;
else if (_driving.crashed)
_driving.crashed = false;
// Iterate through opponent sensors
for (int i = 0; i < ALL_SENSORS; i++){
//std::cout << "i - " << i << "\n";
float distance = cs.getOpponents(i);
// If no opponent, skip sensor
if (distance >= _awarnessOpponent * 200.f)
continue;
// Calculate amount of track sensors to block, and round to nearest even integer
float raw = distance / (_awarnessOpponent * 200.f);
float block = ((1.f - raw) * (float)((_maxBlock - 2) + 2));
block = glm::roundEven(block);
// Apply smaller distances to sensor array
for (int x = block / 2; x >= -(block / 2 - 1); x--){
int sensor = (i + x) % ALL_SENSORS;
float dropOff = glm::abs(changeRange(block / 2, -(block / 2 - 1), -1.f, 1.f, x));
if (_driving.sensors[sensor] > distance + dropOff * _blockDropOff)
_driving.sensors[sensor] = distance + dropOff * _blockDropOff;
}
}
// Calculate difference using old sensors stored in delta
for (int i = 0; i < ALL_SENSORS; i++){
_driving.delta[i] = _driving.delta[i] - _driving.sensors[i];
if (_driving.delta[i] < 0.f)
_driving.delta[i] = glm::abs(_driving.delta[i]);
else
_driving.delta[i] = 0.f;
if (_driving.delta[i] > 0.25f)
_driving.delta[i] = 0.f;
}
// Decreasing sensors around furthest ray
// if furthest ray is on left, decrease right sensors
// if furthest ray is on right, decrease left sensors
// if furthest ray is in the middle, decrease both sides sensors
if (_driving.furthestRay <= QUART_SENSORS){
for (int i = _driving.furthestRay; i < HALF_SENSORS; i++){
_driving.sensors[QUART_SENSORS + i] *= changeRange(_driving.furthestRay, 18, 1, 0, i);
}
}
if (_driving.furthestRay >= QUART_SENSORS){
for (int i = _driving.furthestRay; i >= 0; i--){
_driving.sensors[QUART_SENSORS + i] *= changeRange(_driving.furthestRay, 0, 1, 0, i);
}
}
// Choosing which ray to steer towards, and how fast
float maxDistance = _driving.sensors[_driving.furthestRay + QUART_SENSORS];
for (int i = 0; i < HALF_SENSORS; i++){
float distance = _driving.sensors[i + QUART_SENSORS];
if (maxDistance < distance){
maxDistance = distance;
_driving.furthestRay = i;
}
}
// P - PID
float proportional = (changeRange(0.f, 18.f, 1.5f, -1.5f, _driving.furthestRay) - (cs.getTrackPos() / 500.f)) - cs.getTrackPos() * _middleDrift;
proportional *= _p;
// I - PID
while (_driving.steerHistory.size() > _historySteerLength)
_driving.steerHistory.erase(_driving.steerHistory.begin());
float integral = 0.f;
for (float i : _driving.steerHistory)
integral += i;
integral *= _i;
// D - PID
float derivative = 0.f;
if (_driving.steerHistory.size() >= 2)
derivative = _driving.steerHistory[_driving.steerHistory.size() - 1] - _driving.steerHistory[_driving.steerHistory.size() - 2];
derivative *= _d;
// P + I + D
float oldSteer = _driving.steer;
_driving.steer = proportional + integral + derivative;
_driving.steerHistory.push_back(_driving.steer);
_driving.steer = glm::mix(oldSteer, _driving.steer, _easeSteer);
// Speed control
if (!_driving.crashed){
float speed = _driving.sensors[_driving.furthestRay + QUART_SENSORS] / (200.f * _awarnessTrack) + _driving.delta[_driving.furthestRay + QUART_SENSORS] * 8.f;
speed *= (1.f - _speedRestrict);
_driving.speed = glm::mix(_driving.speed, speed, _easeAccel); //*(1.f - cs.getTrack(QUART_SENSORS)) * brake;
float brake = (cs.getSpeedX() / 200.f) - _driving.speed;
if (brake > 0.f)
_driving.brake = glm::mix(_driving.brake, brake, _easeBrake);
else
_driving.brake = 0.f;
}
// Changing gears
int gear = cs.getGear();
int rpm = cs.getRpm();
if (gear < 1)
_driving.gear = 1;
if (gear < 6 && rpm >= _gearUp[gear - 1])
_driving.gear = gear + 1;
else
if (gear > 1 && rpm <= _gearDown[gear - 1])
_driving.gear = gear - 1;
// If logging, render sensors
if (_logging){
Renderer::get().drawGraph({ _runtime.count() / 100.f, _driving.steer }, 0);
Renderer::get().drawGraph({ _runtime.count() / 100.f, _driving.speed }, 1);
Renderer::get().drawGraph({ _runtime.count() / 100.f, _driving.brake }, 2);
for (int i = 0; i < ALL_SENSORS; i++){
float distance = _driving.sensors[i];
if (distance < 0.1f)
continue;
float radians = glm::radians(i * 10.f);
glm::vec2 point = { -glm::sin(radians), -glm::cos(radians) };
glm::vec3 colour = { 1.f, 1.f, 1.f };
if (_driving.furthestRay + QUART_SENSORS == i)
colour = { 0.f, 1.f, 0.f };
float zoom = 10.f;
Renderer::get().drawLine({ 0, 0 }, point * distance * zoom, colour);
}
if (_driving.crashed)
std::cout << "Crashed!\n";
// Un-comment for pointless cool effects
Renderer::get().setRotation(cs.getAngle() * 90.f);
Renderer::get().setZoom(1.f + cs.getSpeedX() / 200.f);
}
// Applying to controller
CarControl cc;
cc.setGear(_driving.gear);
cc.setAccel(_driving.speed);
cc.setSteer(_driving.steer);
cc.setBrake(_driving.brake);
return cc;
}
