// Brake filter for pit stop.
float Driver::filterBPit(float brake)
{
if (pit->getPitstop() && !pit->getInPit()) {
float dl, dw;
RtDistToPit(car, track, &dl, &dw);
if (dl < PIT_BRAKE_AHEAD) {
float mu = car->_trkPos.seg->surface->kFriction*TIREMU*PIT_MU;
if (brakedist(0.0f, mu) > dl) {
return 1.0f;
}
}
}
if (pit->getInPit()) {
float s = pit->toSplineCoord(car->_distFromStartLine);
// Pit entry.
if (pit->getPitstop()) {
float mu = car->_trkPos.seg->surface->kFriction*TIREMU*PIT_MU;
if (s < pit->getNPitStart()) {
// Brake to pit speed limit.
float dist = pit->getNPitStart() - s;
if (brakedist(pit->getSpeedlimit(), mu) > dist) {
return 1.0f;
}
} else {
// Hold speed limit.
if (currentspeedsqr > pit->getSpeedlimitSqr()) {
return pit->getSpeedLimitBrake(currentspeedsqr);
}
}
// Brake into pit (speed limit 0.0 to stop)
float dist = pit->getNPitLoc() - s;
if (pit->isTimeout(dist)) {
pit->setPitstop(false);
return 0.0f;
} else {
if (brakedist(0.0f, mu) > dist) {
return 1.0f;
} else if (s > pit->getNPitLoc()) {
// Stop in the pit.
return 1.0f;
}
}
} else {
// Pit exit.
if (s < pit->getNPitEnd()) {
// Pit speed limit.
if (currentspeedsqr > pit->getSpeedlimitSqr()) {
return pit->getSpeedLimitBrake(currentspeedsqr);
}
}
}
}
return brake;
}
// Compute initial brake value.
float Driver::getBrake()
{
// Car drives backward?
if (car->_speed_x < -MAX_UNSTUCK_SPEED) {
// Yes, brake.
return 1.0;
} else {
// We drive forward, normal braking.
tTrackSeg *segptr = car->_trkPos.seg;
float mu = segptr->surface->kFriction;
float maxlookaheaddist = currentspeedsqr/(2.0f*mu*G);
float lookaheaddist = getDistToSegEnd();
float allowedspeed = getAllowedSpeed(segptr);
if (allowedspeed < car->_speed_x) {
return MIN(1.0f, (car->_speed_x-allowedspeed)/(FULL_ACCEL_MARGIN));
}
segptr = segptr->next;
while (lookaheaddist < maxlookaheaddist) {
allowedspeed = getAllowedSpeed(segptr);
if (allowedspeed < car->_speed_x) {
if (brakedist(allowedspeed, mu) > lookaheaddist) {
return 1.0f;
}
}
lookaheaddist += segptr->length;
segptr = segptr->next;
}
return 0.0f;
}
}
float Driver::getBrake()
{
tTrackSeg *segptr = car->_trkPos.seg;
float mu = segptr->surface->kFriction;//*TIREMU*MU_FACTOR;
float maxlookaheaddist = currentspeedsqr/(2.0*mu*G);
float lookaheaddist = getDistToSegEnd();
float allowedspeed = getAllowedSpeed(segptr);
if (allowedspeed < car->_speed_x) {
return MIN(1.0, (car->_speed_x-allowedspeed)/(FULL_ACCEL_MARGIN));
}
segptr = segptr->next;
while (lookaheaddist < maxlookaheaddist) {
allowedspeed = getAllowedSpeed(segptr);
if (allowedspeed < car->_speed_x) {
if (brakedist(allowedspeed, mu) > lookaheaddist) {
return 1.0;
}
}
lookaheaddist += segptr->length;
segptr = segptr->next;
}
return 0.0;
}
float Driver::filterBPit(float brake)
{
if (pit->getPitstop() && !pit->getInPit()) {
float dl, dw;
RtDistToPit(car, track, &dl, &dw);
if (dl < PIT_BRAKE_AHEAD) {
float mu = car->_trkPos.seg->surface->kFriction*TIREMU*PIT_MU;
if (brakedist(0.0, mu) > dl) return 1.0;
}
}
if (pit->getInPit()) {
float s = pit->toSplineCoord(car->_distFromStartLine);
/* pit entry */
if (pit->getPitstop()) {
float mu = car->_trkPos.seg->surface->kFriction*TIREMU*PIT_MU;
if (s < pit->getNPitStart()) {
/* brake to pit speed limit */
float dist = pit->getNPitStart() - s;
if (brakedist(pit->getSpeedlimit(), mu) > dist) return 1.0;
} else {
/* hold speed limit */
if (currentspeedsqr > pit->getSpeedlimitSqr()) {
return pit->getSpeedLimitBrake(currentspeedsqr);
}
}
/* brake into pit (speed limit 0.0 to stop ) */
float dist = pit->getNPitLoc() - s;
if (brakedist(0.0, mu) > dist) return 1.0;
/* hold in the pit */
if (s > pit->getNPitLoc()) return 1.0;
} else {
/* pit exit */
if (s < pit->getNPitEnd()) {
/* pit speed limit */
if (currentspeedsqr > pit->getSpeedlimitSqr()) {
return pit->getSpeedLimitBrake(currentspeedsqr);
}
}
}
}
return brake;
}
// Brake filter for collision avoidance.
float Driver::filterBColl(float brake)
{
float mu = car->_trkPos.seg->surface->kFriction;
int i;
for (i = 0; i < opponents->getNOpponents(); i++) {
if (opponent[i].getState() & OPP_COLL) {
if (brakedist(opponent[i].getSpeed(), mu) > opponent[i].getDistance()) {
return 1.0f;
}
}
}
return brake;
}
