void AiCarStandard::AnalyzeOthers(float dt, const CarDynamics cars[], const int cars_num)
{
const float half_carlength = 1.25;
const btVector3 throttle_axis = Direction::forward;
for (int i = 0; i != cars_num; ++i)
{
const CarDynamics * icar = &cars[i];
if (icar != car)
{
OtherCarInfo & info = othercars[icar];
// find direction of other cars in our frame
btVector3 relative_position = icar->GetCenterOfMass() - car->GetCenterOfMass();
relative_position = quatRotate(-car->GetOrientation(), relative_position);
// only make a move if the other car is within our distance limit
float fore_position = relative_position.dot(throttle_axis);
btVector3 myvel = quatRotate(-car->GetOrientation(), car->GetVelocity());
btVector3 othervel = quatRotate(-icar->GetOrientation(), icar->GetVelocity());
float speed_diff = othervel.dot(throttle_axis) - myvel.dot(throttle_axis);
const float fore_position_offset = -half_carlength;
if (fore_position > fore_position_offset)
{
const Bezier * othercarpatch = GetCurrentPatch(icar);
const Bezier * mycarpatch = GetCurrentPatch(car);
if (othercarpatch && mycarpatch)
{
Vec3 mypos = ToMathVector<float>(car->GetCenterOfMass());
Vec3 otpos = ToMathVector<float>(icar->GetCenterOfMass());
float my_track_placement = GetHorizontalDistanceAlongPatch(*mycarpatch, mypos);
float their_track_placement = GetHorizontalDistanceAlongPatch(*othercarpatch, otpos);
float speed_diff_denom = clamp(speed_diff, -100, -0.01);
float eta = (fore_position - fore_position_offset) / -speed_diff_denom;
if (!info.active)
info.eta = eta;
else
info.eta = RateLimit(info.eta, eta, 10.f*dt, 10000.f*dt);
info.horizontal_distance = their_track_placement - my_track_placement;
info.fore_distance = fore_position;
info.active = true;
}
else
{
info.active = false;
}
}
else
{
info.active = false;
}
}
}
}
void AI::analyzeOthers(AI_Car *c, float dt, const std::list <CAR> & othercars)
{
//const float speed = std::max(1.0f,c->car->GetVelocity().Magnitude());
const float half_carlength = 1.25; //in meters
//std::cout << speed << ": " << authority << std::endl;
//const MATHVECTOR <float, 3> steer_right_axis = direction::Right;
const MATHVECTOR <float, 3> throttle_axis = direction::Forward;
#ifdef VISUALIZE_AI_DEBUG
//c->avoidancedraw->ClearLine();
#endif
for (std::list <CAR>::const_iterator i = othercars.begin(); i != othercars.end(); ++i)
{
if (&(*i) != c->car)
{
struct AI_Car::OTHERCARINFO & info = c->othercars[&(*i)];
//find direction of othercar in our frame
MATHVECTOR <float, 3> relative_position = i->GetCenterOfMassPosition() - c->car->GetCenterOfMassPosition();
(-c->car->GetOrientation()).RotateVector(relative_position);
//std::cout << relative_position.dot(throttle_axis) << ", " << relative_position.dot(steer_right_axis) << std::endl;
//only make a move if the other car is within our distance limit
float fore_position = relative_position.dot(throttle_axis);
//float speed_diff = i->GetVelocity().dot(throttle_axis) - c->car->GetVelocity().dot(throttle_axis); //positive if other car is faster
MATHVECTOR <float, 3> myvel = c->car->GetVelocity();
MATHVECTOR <float, 3> othervel = i->GetVelocity();
(-c->car->GetOrientation()).RotateVector(myvel);
(-i->GetOrientation()).RotateVector(othervel);
float speed_diff = othervel.dot(throttle_axis) - myvel.dot(throttle_axis); //positive if other car is faster
//std::cout << speed_diff << std::endl;
//float distancelimit = clamp(distancelimitcoeff*-speed_diff, distancelimitmin, distancelimitmax);
const float fore_position_offset = -half_carlength;
if (fore_position > fore_position_offset)// && fore_position < distancelimit) //only pay attention to cars roughly in front of us
{
//float horizontal_distance = relative_position.dot(steer_right_axis); //fallback method if not on a patch
//float orig_horiz = horizontal_distance;
const BEZIER * othercarpatch = GetCurrentPatch(&(*i));
const BEZIER * mycarpatch = GetCurrentPatch(c->car);
if (othercarpatch && mycarpatch)
{
float my_track_placement = GetHorizontalDistanceAlongPatch(*mycarpatch, TransformToPatchspace(c->car->GetCenterOfMassPosition()));
float their_track_placement = GetHorizontalDistanceAlongPatch(*othercarpatch, TransformToPatchspace(i->GetCenterOfMassPosition()));
float speed_diff_denom = clamp(speed_diff, -100, -0.01);
float eta = (fore_position-fore_position_offset)/-speed_diff_denom;
info.fore_distance = fore_position;
if (!info.active)
info.eta = eta;
else
info.eta = RateLimit(info.eta, eta, 10.f*dt, 10000.f*dt);
float horizontal_distance = their_track_placement - my_track_placement;
//if (!info.active)
info.horizontal_distance = horizontal_distance;
/*else
info.horizontal_distance = RateLimit(info.horizontal_distance, horizontal_distance, spacingdistance*dt, spacingdistance*dt);*/
//std::cout << info.horizontal_distance << ", " << info.eta << std::endl;
info.active = true;
}
else
info.active = false;
//std::cout << orig_horiz << ", " << horizontal_distance << ", " << fore_position << ", " << speed_diff << std::endl;
/*if (!min_horizontal_distance)
min_horizontal_distance = optional <float> (horizontal_distance);
else if (std::abs(min_horizontal_distance.get()) > std::abs(horizontal_distance))
min_horizontal_distance = optional <float> (horizontal_distance);*/
}
else
info.active = false;
/*#ifdef VISUALIZE_AI_DEBUG
if (info.active)
{
c->avoidancedraw->AddLinePoint(c->car->GetCenterOfMassPosition());
MATHVECTOR <float, 3> feeler1(speed*info.eta,0,0);
c->car->GetOrientation().RotateVector(feeler1);
MATHVECTOR <float, 3> feeler2(0,-info.horizontal_distance,0);
c->car->GetOrientation().RotateVector(feeler2);
c->avoidancedraw->AddLinePoint(c->car->GetCenterOfMassPosition()+feeler1+feeler2);
c->avoidancedraw->AddLinePoint(c->car->GetCenterOfMassPosition());
}
#endif*/
}
}
}
