/** 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);
}
TrackSpiralArcSpiral::TrackSpiralArcSpiral(TrackElementSpiral *inSpiral, TrackElementArc *arc, TrackElementSpiral *outSpiral)
: TrackComposite()
, inSpiral_(inSpiral)
, arc_(arc)
, outSpiral_(outSpiral)
, trackSpArcSChanges_(0x0)
, validParameters_(false)
{
// Type //
//
setTrackType(TrackComponent::DTT_SPARCS);
// Transform //
//
double sHeading = inSpiral_->getLocalHeading(inSpiral_->getSStart());
setLocalTransform(inSpiral_->getLocalPoint(inSpiral_->getSStart()), sHeading);
inSpiral_->setLocalTransform(0.0, 0.0, 0.0); // identity matrix
arc_->setLocalTransform(getLocalTransform().inverted().map(arc_->getLocalPoint(arc_->getSStart())), arc_->getLocalHeading(arc_->getSStart()) - sHeading);
outSpiral_->setLocalTransform(getLocalTransform().inverted().map(outSpiral_->getLocalPoint(outSpiral_->getSStart())), outSpiral_->getLocalHeading(outSpiral_->getSStart()) - sHeading);
// Composite //
//
addTrackComponent(inSpiral);
addTrackComponent(arc);
addTrackComponent(outSpiral);
// Parameters //
//
pa_ = new SpArcSParameters(outSpiral_->getLocalPoint(outSpiral_->getSEnd()), outSpiral_->getLocalHeadingRad(outSpiral_->getSEnd()), 1.0);
pa_->setFactor(calcFactor());
if (!pa_->isValid()) // does also initialize the parameters
{
validParameters_ = false;
qDebug() << "WARNING 1004261530! Loaded TrackSpiralArcSpiral is not valid!";
}
else
{
validParameters_ = true;
}
}
TrackSpiralArcSpiral::TrackSpiralArcSpiral(const QPointF &startPos, const QPointF &endPos, double startHeadingDeg, double endHeadingDeg, double factor)
: TrackComposite()
, inSpiral_(NULL)
, arc_(NULL)
, outSpiral_(NULL)
, trackSpArcSChanges_(0x0)
, validParameters_(false)
{
// Type //
//
setTrackType(TrackComponent::DTT_SPARCS);
// Track //
//
inSpiral_ = new TrackElementSpiral(0.0, 0.0, 0.0, 0.0, 49.6551724137931, 0.0, 0.003448275862068966);
arc_ = new TrackElementArc(49.61879011646819, 1.416290576997416, 0.0856123662306776 * 360.0 / (2.0 * M_PI), 49.65517241379311, 124.3448275876508, 0.003448275862068966);
outSpiral_ = new TrackElementSpiral(167.5020491350196, 37.88185581403775, 0.5143876337743012 * 360.0 / (2.0 * M_PI), 174, 49.6551724137931, 0.003448275862068966, 0.0);
addTrackComponent(inSpiral_);
addTrackComponent(arc_);
addTrackComponent(outSpiral_);
setLocalTransform(startPos, startHeadingDeg);
// Parameters //
//
pa_ = new SpArcSParameters(outSpiral_->getLocalPoint(outSpiral_->getSEnd()), outSpiral_->getLocalHeadingRad(outSpiral_->getSEnd()), factor);
// pa_->setFactor(calcFactor());
setGlobalPointAndHeading(endPos, endHeadingDeg, false);
if (pa_->isValid())
{
validParameters_ = true;
}
}
