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;
}
}
void ClothoidPath::AnalyseBumps( const CarModel& cm, bool dumpInfo )
{
// here we look at the bumps on the track, and increase the buffers
// from the edge after the bumps.
// get an estimate of speeds.
CalcMaxSpeeds( cm );
PropagateBreaking( cm );
PropagateAcceleration( cm );
const int NSEG = m_pTrack->GetSize();
const double g = -9.81;
double sz = m_pPath[0].pt.z;
double vz = 0;
double pz = sz;
//double dt = 0.1;
for( int count = 0; count < 2; count++ )
{
int pi = NSEG - 1;
for( int i = 0; i < NSEG; i++ )
{
//double oldSz = sz;
double oldPz = pz;
double v = (m_pPath[i].accSpd + m_pPath[pi].accSpd) * 0.5;
double s = Utils::VecLenXY(m_pPath[i].pt - m_pPath[pi].pt);
double dt = s / v;
pz = m_pPath[i].pt.z;
sz += vz * dt + 0.5 * g * dt * dt;
vz += g * dt;
if( sz <= pz )
{
double newVz = (pz - oldPz) / dt;
if( vz < newVz )
vz = newVz;
sz = pz;
}
double h = sz - pz;
m_pPath[i].h = h;
if( count == 1 && dumpInfo )
{
/*GfOut( "### %4d spd %3.0f k %7.4f dt %.3f pz %5.2f sz %5.2f vz %5.2f -> h %5.2f\n",
i, m_pPath[i].accSpd * 3.6, m_pPath[i].k, dt,
pz, sz, vz, m_pPath[i].h );*/
}
pi = i;
}
}
for( int count = 0; count < 3; count++ )
{
for( int i = 0; i < NSEG; i++ )
{
int j = (i + 1) % NSEG;
if( m_pPath[i].h < m_pPath[j].h )
m_pPath[i].h = m_pPath[j].h;
}
}
}
//==========================================================================*
// 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;
}
}
//==========================================================================*
// Calculate max possible speed
//--------------------------------------------------------------------------*
void TLane::CalcMaxSpeeds(int Step)
{
CalcMaxSpeeds(0, oTrack->Count(), Step);
}