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Fixed code for debugging, made it easier to compare various version

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of the AI (findNonCrashing old vs new; collecting vs non-collecting).


git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/main/trunk@11568 178a84e3-b1eb-0310-8ba1-8eac791a3b58
This commit is contained in:
hikerstk
2012-09-07 06:17:24 +00:00
parent e58d0139b1
commit 5b6002fd8b
2 changed files with 64 additions and 22 deletions
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80
src/karts/controller/skidding_ai.cpp
View File

@@ -128,7 +128,37 @@ SkiddingAI::SkiddingAI(AbstractKart *kart)
setSkiddingFraction(2.0f);
break;
}
m_use_new_aim_point_selection = false;
setControllerName("Skidding");
// Use this define in order to compare the impact of collecting items
#undef COMPARE_AIS
#ifdef COMPARE_AIS
std::string name("");
if(m_kart->getWorldKartId() % 1 !=0)
{
m_item_behaviour = ITEM_COLLECT_NONE;
name += "Skidding";
}
else
{
m_item_behaviour = ITEM_COLLECT_PRIORITY;
name += "Collect";
}
if(m_kart->getWorldKartId() % 1 ==1)
{
m_use_new_aim_point_selection = true;
name += " new";
}
else
{
m_use_new_aim_point_selection = false;
}
setControllerName(name);
#endif
m_superpower = race_manager->getAISuperPower();
#ifdef AI_DEBUG
@@ -150,8 +180,12 @@ SkiddingAI::SkiddingAI(AbstractKart *kart)
irr::video::SColor(128, 0, 0, 128));
#endif
#ifdef AI_DEBUG_KART_HEADING
m_curve[CURVE_KART] = new ShowCurve(0.5f, 0.5f,
irr::video::SColor(128, 0, 0, 128));
irr::video::SColor c;
if(m_item_behaviour == ITEM_COLLECT_PRIORITY)
c = irr::video::SColor(128, 0, 0, 128);
else
c = irr::video::SColor(128, 0, 128, 0);
m_curve[CURVE_KART] = new ShowCurve(0.5f, 0.5f, c);
#endif
#ifdef AI_DEBUG_NEW_FIND_NON_CRASHING
m_curve[CURVE_LEFT] = new ShowCurve(0.5f, 0.5f,
@@ -162,11 +196,15 @@ SkiddingAI::SkiddingAI(AbstractKart *kart)
m_curve[CURVE_QG] = new ShowCurve(0.5f, 0.5f,
irr::video::SColor(128, 0, 128, 0));
#ifdef AI_DEBUG_KART_AIM
m_curve[CURVE_AIM] = new ShowCurve(0.5f, 0.5f,
irr::video::SColor(128, 0, 0, 128));
if(m_item_behaviour == ITEM_COLLECT_PRIORITY)
c = irr::video::SColor(128, 0, 0, 128);
else
c = irr::video::SColor(128, 0, 128, 0);
m_curve[CURVE_AIM] = new ShowCurve(0.5f, 0.5f, c);
#endif
#endif
setControllerName("Skidding");
} // SkiddingAI
@@ -516,12 +554,12 @@ void SkiddingAI::handleSteering(float dt)
m_start_kart_crash_direction = 0;
Vec3 aim_point;
int last_node = QuadGraph::UNKNOWN_SECTOR;
#undef NEW_ALGORITHM
#ifdef NEW_ALGORITHM
findNonCrashingPoint2(&aim_point, &last_node);
#else
findNonCrashingPoint(&aim_point, &last_node);
#endif
if(m_use_new_aim_point_selection)
findNonCrashingPoint2(&aim_point, &last_node);
else
findNonCrashingPoint(&aim_point, &last_node);
#ifdef AI_DEBUG
m_debug_sphere->setPosition(aim_point.toIrrVector());
#endif
@@ -1347,7 +1385,7 @@ void SkiddingAI::handleNitroAndZipper()
// Don't use nitro if we are braking
if(m_controls->m_brake) return;
// Don't use nitro if the kart doesn't have any or is not on ground.
// Don't use nitro if the kart is not on ground or has finished the race
if(!m_kart->isOnGround() || m_kart->hasFinishedRace()) return;
// Don't compute nitro usage if we don't have nitro or are not supposed
@@ -1562,15 +1600,15 @@ void SkiddingAI::findNonCrashingPoint2(Vec3 *result, int *last_node)
core::line2df right(xz, q[RIGHT_END_POINT].toIrrVector2d());
#if defined(AI_DEBUG) && defined(AI_DEBUG_NEW_FIND_NON_CRASHING)
const Vec3 eps(0,0.5f,0);
const Vec3 eps1(0,0.5f,0);
m_curve[CURVE_LEFT]->clear();
m_curve[CURVE_LEFT]->addPoint(m_kart->getXYZ()+eps);
m_curve[CURVE_LEFT]->addPoint(q[LEFT_END_POINT]+eps);
m_curve[CURVE_LEFT]->addPoint(m_kart->getXYZ()+eps);
m_curve[CURVE_LEFT]->addPoint(m_kart->getXYZ()+eps1);
m_curve[CURVE_LEFT]->addPoint(q[LEFT_END_POINT]+eps1);
m_curve[CURVE_LEFT]->addPoint(m_kart->getXYZ()+eps1);
m_curve[CURVE_RIGHT]->clear();
m_curve[CURVE_RIGHT]->addPoint(m_kart->getXYZ()+eps);
m_curve[CURVE_RIGHT]->addPoint(q[RIGHT_END_POINT]+eps);
m_curve[CURVE_RIGHT]->addPoint(m_kart->getXYZ()+eps);
m_curve[CURVE_RIGHT]->addPoint(m_kart->getXYZ()+eps1);
m_curve[CURVE_RIGHT]->addPoint(q[RIGHT_END_POINT]+eps1);
m_curve[CURVE_RIGHT]->addPoint(m_kart->getXYZ()+eps1);
#endif
#ifdef AI_DEBUG_KART_HEADING
const Vec3 eps(0,0.5f,0);
@@ -1619,7 +1657,7 @@ void SkiddingAI::findNonCrashingPoint2(Vec3 *result, int *last_node)
}
*last_node = next_sector;
} // while
// Now look for the next curve to find out to which side of the
// track the AI should aim at

6
src/karts/controller/skidding_ai.hpp
View File

@@ -124,7 +124,8 @@ private:
float m_time_since_stuck;
int m_start_kart_crash_direction; //-1 = left, 1 = right, 0 = no crash.
/** Direction of crash: -1 = left, 1 = right, 0 = no crash. */
int m_start_kart_crash_direction;
/** The direction of the track where the kart is on atm. */
GraphNode::DirectionType m_current_track_direction;
@@ -145,6 +146,9 @@ private:
/** If set an item that the AI should aim for. */
const Item *m_item_to_collect;
/** True if the new findNonCrashingPoint2 function should be used. */
bool m_use_new_aim_point_selection;
#ifdef DEBUG
/** For skidding debugging: shows the estimated turn shape. */
ShowCurve **m_curve;