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();
}
//==========================================================================*
// 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;
}
}