///note that carposition must be in patch space
///returns distance from left side of the track
float GetHorizontalDistanceAlongPatch(const BEZIER & patch, MATHVECTOR <float, 3> carposition)
{
MATHVECTOR <float, 3> leftside = (patch.GetPoint(0,0) + patch.GetPoint(3,0))*0.5;
MATHVECTOR <float, 3> rightside = (patch.GetPoint(0,3) + patch.GetPoint(3,3))*0.5;
MATHVECTOR <float, 3> patchwidthvector = rightside - leftside;
return patchwidthvector.Normalize().dot(carposition-leftside);
}
///trim the patch's width in-place
void TrimPatch(BEZIER & patch, float trimleft_front, float trimright_front, float trimleft_back, float trimright_back)
{
MATHVECTOR <float, 3> frontvector = (patch.GetPoint(0,3) - patch.GetPoint(0,0));
MATHVECTOR <float, 3> backvector = (patch.GetPoint(3,3) - patch.GetPoint(3,0));
float frontwidth = frontvector.Magnitude();
float backwidth = backvector.Magnitude();
if (trimleft_front + trimright_front > frontwidth)
{
float scale = frontwidth/(trimleft_front + trimright_front);
trimleft_front *= scale;
trimright_front *= scale;
}
if (trimleft_back + trimright_back > backwidth)
{
float scale = backwidth/(trimleft_back + trimright_back);
trimleft_back *= scale;
trimright_back *= scale;
}
MATHVECTOR <float, 3> newfl = patch.GetPoint(0,0);
MATHVECTOR <float, 3> newfr = patch.GetPoint(0,3);
MATHVECTOR <float, 3> newbl = patch.GetPoint(3,0);
MATHVECTOR <float, 3> newbr = patch.GetPoint(3,3);
if (frontvector.Magnitude() > 0.001)
{
MATHVECTOR <float, 3> trimdirection_front = frontvector.Normalize();
newfl = patch.GetPoint(0,0) + trimdirection_front*trimleft_front;
newfr = patch.GetPoint(0,3) - trimdirection_front*trimright_front;
}
if (backvector.Magnitude() > 0.001)
{
MATHVECTOR <float, 3> trimdirection_back = backvector.Normalize();
newbl = patch.GetPoint(3,0) + trimdirection_back*trimleft_back;
newbr = patch.GetPoint(3,3) - trimdirection_back*trimright_back;
}
patch.SetFromCorners(newfl, newfr, newbl, newbr);
}
BEZIER AI::RevisePatch(const BEZIER * origpatch, bool use_racingline)
{
BEZIER patch = *origpatch;
//take into account the racing line
//use_racingline = false;
if (use_racingline && patch.GetNextPatch() && patch.HasRacingline())
{
float widthfront = std::min((patch.GetNextPatch()->GetRacingLine()-patch.GetPoint(0,0)).Magnitude(),
(patch.GetNextPatch()->GetRacingLine()-patch.GetPoint(0,3)).Magnitude());
float widthback = std::min((patch.GetRacingLine()-patch.GetPoint(3,0)).Magnitude(),
(patch.GetRacingLine()-patch.GetPoint(3,3)).Magnitude());
float trimleft_front = (patch.GetNextPatch()->GetRacingLine() - patch.GetPoint(0,0)).Magnitude()-widthfront;
float trimright_front = (patch.GetNextPatch()->GetRacingLine() - patch.GetPoint(0,3)).Magnitude()-widthfront;
float trimleft_back = (patch.GetRacingLine() - patch.GetPoint(3,0)).Magnitude()-widthback;
float trimright_back = (patch.GetRacingLine() - patch.GetPoint(3,3)).Magnitude()-widthback;
TrimPatch(patch, trimleft_front, trimright_front, trimleft_back, trimright_back);
}
//check for revisions due to other cars
/*const float trim_falloff_distance = 100.0; //trim fallof distance in meters per (meters per second)
const MATHVECTOR <float, 3> throttle_axis(-1,0,0); //positive is in front of the car
std::map <const CAR *, PATH_REVISION> & revmap = path_revisions;
for (std::map <const CAR *, PATH_REVISION>::iterator i = revmap.begin(); i != revmap.end(); i++)
{
if (i->first != c->car)
{
//compute relative info
MATHVECTOR <float, 3> myvel = c->car->GetVelocity();
MATHVECTOR <float, 3> othervel = i->first->GetVelocity();
(-c->car->GetOrientation()).RotateVector(myvel);
(-i->first->GetOrientation()).RotateVector(othervel);
float speed_diff = myvel.dot(throttle_axis) - othervel.dot(throttle_axis); //positive if other car is faster //actually positive if my car is faster, right?
float cardist_back = patch.dist_from_start - i->second.car_pos_along_track; //positive if patch is ahead of car
float patchlen = GetPatchDirection(patch).Magnitude();
float cardist_front = (patch.dist_from_start+patchlen) - i->second.car_pos_along_track;
const float minfalloff = 10;
const float maxfalloff = 60;
float cur_trim_falloff_distance_fwd = minfalloff;
float cur_trim_falloff_distance_rear = minfalloff;
float falloff = clamp(trim_falloff_distance*std::abs(speed_diff),minfalloff,maxfalloff);
if (speed_diff > 0)
{
//cur_trim_falloff_distance_fwd = falloff;
}
else
cur_trim_falloff_distance_rear = falloff;
float scale_front = clamp(1.0f-cardist_front/cur_trim_falloff_distance_fwd, 0, 1);
if (cardist_front < 0)
scale_front = clamp(1.0f+cardist_front/cur_trim_falloff_distance_rear, 0, 1);
float scale_back = clamp(1.0f-cardist_back/cur_trim_falloff_distance_fwd, 0, 1);
if (cardist_back < 0)
scale_back = clamp(1.0f+cardist_back/cur_trim_falloff_distance_rear, 0, 1);
std::cout << speed_diff << ", " << cur_trim_falloff_distance_fwd << ", " << cur_trim_falloff_distance_rear << ", " << cardist_front << ", " << cardist_back << ", " << scale_front << ", " << scale_back << std::endl;
float trimleft_front = i->second.trimleft_front*scale_front;
float trimright_front = i->second.trimright_front*scale_front;
float trimleft_back = i->second.trimleft_back*scale_back;
float trimright_back = i->second.trimright_back*scale_back;
TrimPatch(patch, trimleft_front, trimright_front, trimleft_back, trimright_back);
}
}*/
return patch;
}
MATHVECTOR <float, 3> GetPatchWidthVector(const BEZIER & patch)
{
return ((patch.GetPoint(0,0) + patch.GetPoint(3,0)) -
(patch.GetPoint(0,3) + patch.GetPoint(3,3))) * 0.5;
}
MATHVECTOR <float, 3> GetPatchBackCenter(const BEZIER & patch)
{
return (patch.GetPoint(3,0) + patch.GetPoint(3,3)) * 0.5;
}
MATHVECTOR <float, 3> GetPatchFrontCenter(const BEZIER & patch)
{
return (patch.GetPoint(0,0) + patch.GetPoint(0,3)) * 0.5;
}
MATHVECTOR <float, 3> AI_Car_Experimental::GetPatchWidthVector(const BEZIER & patch)
{
return ((patch.GetPoint(0,0) + patch.GetPoint(3,0)) -
(patch.GetPoint(0,3) + patch.GetPoint(3,3))) * 0.5;
}
MATHVECTOR <float, 3> AI_Car_Experimental::GetPatchBackCenter(const BEZIER & patch)
{
return (patch.GetPoint(3,0) + patch.GetPoint(3,3)) * 0.5;
}
