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; }