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[Supertuxkart-commit] SF.net SVN: supertuxkart:[11445] main/trunk/src/karts/controller
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From: <hik...@us...> - 2012-07-27 06:34:32
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Revision: 11445
http://supertuxkart.svn.sourceforge.net/supertuxkart/?rev=11445&view=rev
Author: hikerstk
Date: 2012-07-27 06:34:25 +0000 (Fri, 27 Jul 2012)
Log Message:
-----------
Split skidding handling into three separate functions:
determineTrackDirection, handleCurve, doSkid (the latter
was already implement, but didn't do anything).
Modified Paths:
--------------
main/trunk/src/karts/controller/skidding_ai.cpp
main/trunk/src/karts/controller/skidding_ai.hpp
Modified: main/trunk/src/karts/controller/skidding_ai.cpp
===================================================================
--- main/trunk/src/karts/controller/skidding_ai.cpp 2012-07-27 06:31:04 UTC (rev 11444)
+++ main/trunk/src/karts/controller/skidding_ai.cpp 2012-07-27 06:34:25 UTC (rev 11445)
@@ -22,7 +22,7 @@
//The AI debugging works best with just 1 AI kart, so set the number of karts
//to 2 in main.cpp with quickstart and run supertuxkart with the arg -N.
#ifdef DEBUG
- // Enable AI graphical debugging
+ // Enable AeI graphical debugging
# undef AI_DEBUG
// Shows left and right lines when using new findNonCrashing function
# undef AI_DEBUG_NEW_FIND_NON_CRASHING
@@ -1016,6 +1016,7 @@
m_curve[CURVE_RIGHT]->addPoint(m_kart->getXYZ()+eps);
#endif
#ifdef AI_DEBUG_KART_HEADING
+ const Vec3 eps(0,0.5f,0);
m_curve[CURVE_KART]->clear();
m_curve[CURVE_KART]->addPoint(m_kart->getXYZ()+eps);
Vec3 forw(0, 0, 50);
@@ -1214,16 +1215,15 @@
unsigned int next = qg->getNode(m_track_node).getSuccessor(succ);
- unsigned int last;
- //qg->getNode(m_track_node).getDirectionData(succ, &dir, &last);
qg->getNode(next).getDirectionData(m_successor_index[next],
- &m_current_track_direction, &last);
+ &m_current_track_direction,
+ &m_last_direction_node);
#ifdef AI_DEBUG
-// m_curve[CURVE_QG]->clear();
-// for(unsigned int i=m_track_node; i<=last; i++)
+ m_curve[CURVE_QG]->clear();
+ for(unsigned int i=m_track_node; i<=m_last_direction_node; i++)
{
-// m_curve[CURVE_QG]->addPoint(qg->getNode(i).getCenter());
+ m_curve[CURVE_QG]->addPoint(qg->getNode(i).getCenter());
}
#endif
m_controls->m_skid = false;
@@ -1231,89 +1231,61 @@
if(m_current_track_direction==GraphNode::DIR_LEFT ||
m_current_track_direction==GraphNode::DIR_RIGHT )
{
- // Ideally we would like to have a circle that:
- // 1) goes through the kart position
- // 2) has the current heading of the kart as tangent in that point
- // 3) goes through the last point
- // 4) has a tangent at the last point that faces towards the next node
- // Unfortunately conditions 1 to 3 already fully determine the circle,
- // i.e. it is not always possible to find an appropriate circle.
- // Using the first three conditions is mostly a good choice (since the
- // kart will already point towards the direction of the circle), and
- // the case that the kart is facing wrong was already tested for above
+ handleCurve();
+ } // if(m_current_track_direction == DIR_LEFT || DIR_RIGHT )
- Vec3 center;
- Vec3 xyz = m_kart->getXYZ();
- Vec3 tangent = m_kart->getTrans()(Vec3(0,0,1)) - xyz;
- Vec3 last_xyz = qg->getNode(last).getCenter();
- determineTurnRadius(xyz, tangent, last_xyz,
- ¢er, &m_current_curve_radius);
+ return;
+} // determineTrackDirection
+
+// ----------------------------------------------------------------------------
+/** If the kart is at/in a curve, determine the turn radius.
+ */
+void SkiddingAI::handleCurve()
+{
+ // Ideally we would like to have a circle that:
+ // 1) goes through the kart position
+ // 2) has the current heading of the kart as tangent in that point
+ // 3) goes through the last point
+ // 4) has a tangent at the last point that faces towards the next node
+ // Unfortunately conditions 1 to 3 already fully determine the circle,
+ // i.e. it is not always possible to find an appropriate circle.
+ // Using the first three conditions is mostly a good choice (since the
+ // kart will already point towards the direction of the circle), and
+ // the case that the kart is facing wrong was already tested for before
+
+ const QuadGraph *qg = QuadGraph::get();
+ Vec3 xyz = m_kart->getXYZ();
+ Vec3 tangent = m_kart->getTrans()(Vec3(0,0,1)) - xyz;
+ Vec3 last_xyz = qg->getNode(m_last_direction_node).getCenter();
+
+ determineTurnRadius(xyz, tangent, last_xyz,
+ &m_curve_center, &m_current_curve_radius);
+
#ifdef ADJUST_TURN_RADIUS_TO_AVOID_CRASH_INTO_TRACK
- for(unsigned int i=next; i<=last; i++)
+ for(unsigned int i=next; i<=last; i++)
+ {
+ // Pick either the lower left or right point:
+ int index = m_current_track_direction==GraphNode::DIR_LEFT
+ ? 0 : 1;
+ float r = (center - qg->getQuadOfNode(i)[index]).length();
+ if(m_current_curve_radius < r)
{
- // Pick either the lower left or right point:
- int index = m_current_track_direction==GraphNode::DIR_LEFT
- ? 0 : 1;
- float r = (center - qg->getQuadOfNode(i)[index]).length();
- if(m_current_curve_radius < r)
- {
- determineTurnRadius(xyz, tangent, qg->getQuadOfNode(i)[index],
- ¢er, &m_current_curve_radius);
- break;
- }
+ determineTurnRadius(xyz, tangent, qg->getQuadOfNode(i)[index],
+ ¢er, &m_current_curve_radius);
+ break;
}
+ }
#endif
#if defined(AI_DEBUG) && defined(AI_DEBUG_CIRCLES)
- m_curve[CURVE_PREDICT1]->makeCircle(center, m_current_curve_radius);
- m_curve[CURVE_PREDICT1]->addPoint(last_xyz);
- m_curve[CURVE_PREDICT1]->addPoint(center);
- m_curve[CURVE_PREDICT1]->addPoint(xyz);
+ m_curve[CURVE_PREDICT1]->makeCircle(m_curve_center,
+ m_current_curve_radius);
+ m_curve[CURVE_PREDICT1]->addPoint(last_xyz);
+ m_curve[CURVE_PREDICT1]->addPoint(m_curve_center);
+ m_curve[CURVE_PREDICT1]->addPoint(xyz);
#endif
- // Only try skidding when a certain minimum speed is reached.
- if(m_kart->getSpeed() > 5.0f)
- {
- // Estimate how long it takes to finish the curve
- Vec3 diff_kart = xyz - center;
- Vec3 diff_last = last_xyz - center;
- float angle_kart = atan2(diff_kart.getX(), diff_kart.getZ());
- float angle_last = atan2(diff_last.getX(), diff_last.getZ());
- float angle = m_current_track_direction == GraphNode::DIR_RIGHT
- ? angle_last - angle_kart
- : angle_kart - angle_last;
- angle = normalizeAngle(angle);
- float length = m_current_curve_radius*fabsf(angle);
- float duration = length / m_kart->getSpeed();
- duration *= 1.5f;
- const Skidding *skidding = m_kart->getSkidding();
- if(m_controls->m_skid && duration < 1.0f)
- {
- m_controls->m_skid = false;
- if(m_ai_debug)
- printf("[AI] skid : '%s' too short, stop skid.\n",
- m_kart->getIdent().c_str());
- }
- else if(skidding->getNumberOfBonusTimes()>0 &&
- skidding->getTimeTillBonus(0) < duration)
- {
-#ifdef DEBUG
- if(m_ai_debug)
- printf("[AI] skid: %s start skid, duration %f.\n",
- m_kart->getIdent().c_str(), duration);
-#endif
- m_controls->m_skid = true;
- //m_controls->m_steering =
- // m_current_track_direction == GraphNode::DIR_RIGHT : 1 : -1;
-
- } // if curve long enough for skidding
- } // if speed > minimum skid speed
- } // if(m_current_track_direction == DIR_LEFT || DIR_RIGHT )
-
-
- return;
-} // determineTrackDirection
-
+} // handleCurve
// ----------------------------------------------------------------------------
/** Determines if the kart should skid. The base implementation enables
* skidding
@@ -1323,7 +1295,51 @@
*/
bool SkiddingAI::doSkid(float steer_fraction)
{
- return m_controls->m_skid;
+ // No skidding on straights
+ if(m_current_track_direction==GraphNode::DIR_STRAIGHT)
+ return false;
+
+ const float MIN_SKID_SPEED = 5.0f;
+ const QuadGraph *qg = QuadGraph::get();
+ Vec3 last_xyz = qg->getNode(m_last_direction_node).getCenter();
+
+ // Only try skidding when a certain minimum speed is reached.
+ if(m_kart->getSpeed()<MIN_SKID_SPEED) return false;
+
+ // Estimate how long it takes to finish the curve
+ Vec3 diff_kart = m_kart->getXYZ() - m_curve_center;
+ Vec3 diff_last = last_xyz - m_curve_center;
+ float angle_kart = atan2(diff_kart.getX(), diff_kart.getZ());
+ float angle_last = atan2(diff_last.getX(), diff_last.getZ());
+ float angle = m_current_track_direction == GraphNode::DIR_RIGHT
+ ? angle_last - angle_kart
+ : angle_kart - angle_last;
+ angle = normalizeAngle(angle);
+ float length = m_current_curve_radius*fabsf(angle);
+ float duration = length / m_kart->getSpeed();
+ duration *= 1.5f;
+ const Skidding *skidding = m_kart->getSkidding();
+ if(m_controls->m_skid && duration < 1.0f)
+ {
+ if(m_ai_debug)
+ printf("[AI] skid : '%s' too short, stop skid.\n",
+ m_kart->getIdent().c_str());
+ return false;
+ }
+
+ else if(skidding->getNumberOfBonusTimes()>0 &&
+ skidding->getTimeTillBonus(0) < duration)
+ {
+#ifdef DEBUG
+ if(m_ai_debug)
+ printf("[AI] skid: %s start skid, duration %f.\n",
+ m_kart->getIdent().c_str(), duration);
+#endif
+ return true;
+
+ } // if curve long enough for skidding
+
+ return false;
} // doSkid
//-----------------------------------------------------------------------------
Modified: main/trunk/src/karts/controller/skidding_ai.hpp
===================================================================
--- main/trunk/src/karts/controller/skidding_ai.hpp 2012-07-27 06:31:04 UTC (rev 11444)
+++ main/trunk/src/karts/controller/skidding_ai.hpp 2012-07-27 06:34:25 UTC (rev 11445)
@@ -113,8 +113,6 @@
/** Time an item has been collected and not used. */
float m_time_since_last_shot;
- float m_curve_angle;
-
float m_time_since_stuck;
int m_start_kart_crash_direction; //-1 = left, 1 = right, 0 = no crash.
@@ -126,6 +124,14 @@
* when being on a straigt section. */
float m_current_curve_radius;
+ /** Stores the center of the curve (if the kart is in a curve,
+ * otherwise undefined). */
+ Vec3 m_curve_center;
+
+ /** The index of the last node with the same direction as the current
+ * node the kart is on (i.e. if kart is in a left turn, this will be
+ * the last node that is still turning left). */
+ unsigned int m_last_direction_node;
#ifdef DEBUG
/** For skidding debugging: shows the estimated turn shape. */
ShowCurve **m_curve;
@@ -160,6 +166,7 @@
float *radius);
virtual bool doSkid(float steer_fraction);
virtual void setSteering(float angle, float dt);
+ void handleCurve();
protected:
virtual unsigned int getNextSector(unsigned int index);
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