// Drive during race.
void Driver::drive(tSituation *s)
{
memset(&car->ctrl, 0, sizeof(tCarCtrl));
update(s);
//pit->setPitstop(true);
if (isStuck()) {
car->_steerCmd = -mycardata->getCarAngle() / car->_steerLock;
car->_gearCmd = -1; // Reverse gear.
car->_accelCmd = 1.0f; // 100% accelerator pedal.
car->_brakeCmd = 0.0f; // No brakes.
car->_clutchCmd = 0.0f; // Full clutch (gearbox connected with engine).
} else {
car->_steerCmd = filterSColl(getSteer());
car->_gearCmd = getGear();
car->_brakeCmd = filterABS(filterBrakeSpeed(filterBColl(filterBPit(getBrake()))));
if (car->_brakeCmd == 0.0f) {
car->_accelCmd = filterTCL(filterTrk(filterOverlap(getAccel())));
} else {
car->_accelCmd = 0.0f;
}
car->_clutchCmd = getClutch();
}
}
/* Drive during race. */
static void
drive(int index, tCarElt* car, tSituation *s)
{
float angle;
const float SC = 1.0;
// memset((void *)&car->ctrl, 0, sizeof(tCarCtrl));
memset(&car->ctrl, 0, sizeof(tCarCtrl));
if (isStuck(car)) {
angle = -RtTrackSideTgAngleL(&(car->_trkPos)) + car->_yaw;
NORM_PI_PI(angle); // put the angle back in the range from -PI to PI
car->ctrl.steer = angle / car->_steerLock;
car->ctrl.gear = -1; // reverse gear
car->ctrl.accelCmd = 0.3; // 30% accelerator pedal
car->ctrl.brakeCmd = 0.0; // no brakes
}
else {
angle = RtTrackSideTgAngleL(&(car->_trkPos)) - car->_yaw;
NORM_PI_PI(angle); // put the angle back in the range from -PI to PI
angle -= SC*car->_trkPos.toMiddle/car->_trkPos.seg->width;
car->ctrl.steer = angle / car->_steerLock;
car->ctrl.gear = 1; // first gear
car->ctrl.accelCmd = 0.3; // 30% accelerator pedal
car->ctrl.brakeCmd = 0.0; // no brakes
}
}
/** Determine whether AI is stuck, by checking if it stays on the same node for
* a long period of time (see \ref m_on_node), or \ref isStuck() is true.
* \param dt Time step size.
* \return True if AI is stuck
*/
void ArenaAI::checkIfStuck(const float dt)
{
if (m_is_stuck) return;
if (m_kart->getKartAnimation() || isWaiting())
{
m_on_node.clear();
m_time_since_driving = 0.0f;
}
m_on_node.insert(getCurrentNode());
m_time_since_driving += dt;
if ((m_time_since_driving >=
(m_cur_difficulty == RaceManager::DIFFICULTY_EASY ? 2.0f : 1.5f)
&& m_on_node.size() < 2 && !m_is_uturn &&
fabsf(m_kart->getSpeed()) < 3.0f) || isStuck() == true)
{
// AI is stuck, reset now and try to get unstuck at next frame
m_on_node.clear();
m_time_since_driving = 0.0f;
AIBaseController::reset();
m_is_stuck = true;
}
else if (m_time_since_driving >=
(m_cur_difficulty == RaceManager::DIFFICULTY_EASY ? 2.0f : 1.5f))
{
m_on_node.clear(); // Reset for any correct movement
m_time_since_driving = 0.0f;
}
} // checkIfStuck
//-----------------------------------------------------------------------------
void ArenaAI::checkIfStuck(const float dt)
{
if (m_is_stuck) return;
if (m_kart->getKartAnimation() || isWaiting())
{
m_on_node.clear();
m_time_since_driving = 0.0f;
}
m_on_node.insert(getCurrentNode());
m_time_since_driving += dt;
if ((m_time_since_driving >=
(m_cur_difficulty == RaceManager::DIFFICULTY_EASY ? 2.0f : 1.5f)
&& m_on_node.size() < 2 && !m_is_uturn &&
fabsf(m_kart->getSpeed()) < 3.0f) || isStuck() == true)
{
// Check whether a kart stay on the same node for a period of time
// Or crashed 3 times
m_on_node.clear();
m_time_since_driving = 0.0f;
AIBaseController::reset();
m_is_stuck = true;
}
else if (m_time_since_driving >=
(m_cur_difficulty == RaceManager::DIFFICULTY_EASY ? 2.0f : 1.5f))
{
m_on_node.clear(); // Reset for any correct movement
m_time_since_driving = 0.0f;
}
} // checkIfStuck
void PhysicObject::destuck()
{
if(isStuck()) { // If we are stuck in a non void block
v_position.y = (preal)world()->altitude(v_position.x, v_position.z) + 0.01;
v_velocity.null();
v_acceleration.null();
//ldebug(Channel_Physic, "destucked : set at " + QString::number(v_position.y));
}
}
//------------------------------ process --------------------------------------
//-----------------------------------------------------------------------------
int GoalSeekToPosition::process()
{
//if status is INACTIVE, call activate()
activateIfInactive();
//test to see if the bot has become stuck
if (isStuck())
{
_status = FAILED;
}
//test to see if the bot has reached the waypoint. If so terminate the goal
else
{
if (_owner->isAtPosition(_position))
{
_status = COMPLETED;
}
}
return _status;
}
//------------------------------ Process --------------------------------------
//-----------------------------------------------------------------------------
int Goal_TraverseEdge::Process()
{
//if status is inactive, call Activate()
ActivateIfInactive();
//if the bot has become stuck return failure
if (isStuck())
{
m_iStatus = failed;
}
//if the bot has reached the end of the edge return completed
else
{
if (m_pOwner->isAtPosition(m_Edge.Destination()))
{
m_iStatus = completed;
}
}
return m_iStatus;
}
/* Drive during race. */
void Driver::drive(tSituation *s)
{
memset(&car->ctrl, 0, sizeof(tCarCtrl));
update(s);
if (isStuck()) {
car->ctrl.steer = -angle / car->_steerLock;
car->ctrl.gear = -1; // reverse gear
car->ctrl.accelCmd = 0.5; // 50% accelerator pedal
car->ctrl.brakeCmd = 0.0; // no brakes
} else {
car->ctrl.steer = filterSColl(getSteer());
car->ctrl.gear = getGear();
car->ctrl.brakeCmd = filterABS(filterBrakeSpeed(filterBColl(filterBPit(getBrake()))));
if (car->ctrl.brakeCmd == 0.0) {
car->ctrl.accelCmd = filterTCL(filterTrk(getAccel()));
} else {
car->ctrl.accelCmd = 0.0;
}
}
}
//------------------------------ Process --------------------------------------
//-----------------------------------------------------------------------------
int Goal_SeekToPosition::Process()
{
// std::cout << "Goal_SeekToPosition::Process" << std::endl;
// std::cout << " ++ ";
//if status is inactive, call Activate()
ActivateIfInactive();
// Vector2D Estoy = m_pOwner->Pos();
// Vector2D Voy = m_vPosition;
// std::cout << "Estoy (" << Estoy.x << "," << Estoy.y << ") Voy (" << Voy.x
// << "," << Voy.y << ")" << std::endl;
//test to see if the bot has become stuck
if ( isStuck() ) {
m_iStatus = failed;
}
//test to see if the bot has reached the waypoint. If so terminate the goal
else {
if ( m_pOwner->isAtPosition( m_vPosition ) ) {
m_iStatus = completed;
}
}
return m_iStatus;
}
static void drive(int index, tCarElt* car, tSituation *s)
{
memset(&car->ctrl, 0, sizeof(tCarCtrl));
if (isStuck(car)) {
float angle = -RtTrackSideTgAngleL(&(car->_trkPos)) + car->_yaw;
NORM_PI_PI(angle); // put the angle back in the range from -PI to PI
car->ctrl.steer = angle / car->_steerLock;
car->ctrl.gear = -1; // reverse gear
car->ctrl.accelCmd = 0.3; // 30% accelerator pedal
car->ctrl.brakeCmd = 0.0; // no brakes
}
else {
float angle;
const float SC = 1.0;
angle = RtTrackSideTgAngleL(&(car->_trkPos)) - car->_yaw;
NORM_PI_PI(angle); // put the angle back in the range from -PI to PI
angle -= SC*(car->_trkPos.toMiddle+keepLR)/car->_trkPos.seg->width;
// set up the values to return
car->ctrl.steer = angle / car->_steerLock;
car->ctrl.gear = getGear(car);
if (car->_speed_x>desired_speed) {
car->ctrl.brakeCmd=0.5;
car->ctrl.accelCmd=0.0;
}
else if (car->_speed_x<desired_speed) {
car->ctrl.accelCmd=0.5;
car->ctrl.brakeCmd=0.0;
}
}
}
/* Drive during race. */
void Driver::drive(tCarElt* car, tSituation *s)
{
update(car, s);
isStuck(car) ? unstuck(car) : followcenter(car);
}
