ilikecats/stk-code_catmod
1
1
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

1) Fixed AIs.

Browse Source 
2) Changed steering (m_steer positive is now steering left, negative right).


git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/main/branches/switch_coordinate_system@4981 178a84e3-b1eb-0310-8ba1-8eac791a3b58
This commit is contained in:
hikerstk 2010-03-11 22:36:53 +00:00
parent c849e91221
commit 8dfcd28e44
6 changed files with 29 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/karts/controller/default_ai_controller.cpp
View File

@ -804,13 +804,13 @@ float DefaultAIController::steerToPoint(const Vec3 &point, float dt)
const float dx = point.getX() - m_kart->getXYZ().getX();
const float dz = point.getZ() - m_kart->getXYZ().getZ();
/** Angle from the kart position to the point in world coordinates. */
float theta = -atan2(dx, dz);
float theta = atan2(dx, dz);
// Angle is the point is relative to the heading - but take the current
// angular velocity into account, too. The value is multiplied by two
// to avoid 'oversteering' - experimentally found.
float angle_2_point = theta - m_kart->getHeading()
- dt*m_kart->getBody()->getAngularVelocity().getZ()*2.0f;
- dt*m_kart->getBody()->getAngularVelocity().getY()*2.0f;
angle_2_point = normalizeAngle(angle_2_point);
if(fabsf(angle_2_point)<0.1) return 0.0f;
@ -830,7 +830,7 @@ float DefaultAIController::steerToPoint(const Vec3 &point, float dt)
float sin_steer_angle = m_kart->getKartProperties()->getWheelBase()/radius;
#ifdef DEBUG_OUTPUT
printf("theta %f a2p %f angularv %f radius %f ssa %f\n",
theta, angle_2_point, m_body->getAngularVelocity().getZ(),
theta, angle_2_point, m_body->getAngularVelocity().getY(),
radius, sin_steer_angle);
#endif
// Add 0.1 since rouding errors will otherwise result in the kart

12
src/karts/controller/end_controller.cpp
View File

@ -325,15 +325,15 @@ float EndController::steerToPoint(const Vec3 &point, float dt)
// No sense steering if we are not driving.
if(m_kart->getSpeed()==0) return 0.0f;
const float dx = point.getX() - m_kart->getXYZ().getX();
const float dy = point.getY() - m_kart->getXYZ().getY();
const float dz = point.getZ() - m_kart->getXYZ().getZ();
/** Angle from the kart position to the point in world coordinates. */
float theta = -atan2(dx, dy);
float theta = atan2(dx, dz);
// Angle is the point is relative to the heading - but take the current
// angular velocity into account, too. The value is multiplied by two
// to avoid 'oversteering' - experimentally found.
float angle_2_point = theta - m_kart->getHeading()
- dt*m_kart->getBody()->getAngularVelocity().getZ()*2.0f;
- dt*m_kart->getBody()->getAngularVelocity().getY()*2.0f;
angle_2_point = normalizeAngle(angle_2_point);
if(fabsf(angle_2_point)<0.1) return 0.0f;
@ -353,7 +353,7 @@ float EndController::steerToPoint(const Vec3 &point, float dt)
float sin_steer_angle = m_kart->getKartProperties()->getWheelBase()/radius;
#ifdef DEBUG_OUTPUT
printf("theta %f a2p %f angularv %f radius %f ssa %f\n",
theta, angle_2_point, m_body->getAngularVelocity().getZ(),
theta, angle_2_point, m_body->getAngularVelocity().getY(),
radius, sin_steer_angle);
#endif
// Add 0.1 since rouding errors will otherwise result in the kart
@ -463,7 +463,7 @@ inline float EndController::normalizeAngle(float angle)
*/
int EndController::calcSteps()
{
int steps = int( m_kart->getVelocityLC().getY() / m_kart_length );
int steps = int( m_kart->getVelocityLC().getZ() / m_kart_length );
if( steps < m_min_steps ) steps = m_min_steps;
//Increase the steps depending on the width, if we steering hard,
@ -537,7 +537,7 @@ void EndController::findCurve()
{
float total_dist = 0.0f;
int i;
for(i = m_track_node; total_dist < m_kart->getVelocityLC().getY();
for(i = m_track_node; total_dist < m_kart->getVelocityLC().getZ();
i = m_next_node_index[i])
{
total_dist += m_quad_graph->getDistanceToNext(i, m_successor_index[i]);

12
src/karts/controller/new_ai_controller.cpp
View File

@ -295,7 +295,7 @@ void NewAIController::handleBraking()
//We may brake if we are about to get out of the road, but only if the
//kart is on top of the road, and if we won't slow down below a certain
//limit.
if (m_crashes.m_road && m_kart->getVelocityLC().getY() > MIN_SPEED &&
if (m_crashes.m_road && m_kart->getVelocityLC().getZ() > MIN_SPEED &&
m_world->isOnRoad(m_kart->getWorldKartId()) )
{
float kart_ang_diff =
@ -337,7 +337,7 @@ void NewAIController::handleBraking()
//Brake if the kart's speed is bigger than the speed we need
//to go through the curve at the widest angle, or if the kart
//is not going straight in relation to the road.
if(m_kart->getVelocityLC().getY() > m_curve_target_speed ||
if(m_kart->getVelocityLC().getZ() > m_curve_target_speed ||
kart_ang_diff > MIN_TRACK_ANGLE )
{
#ifdef AI_DEBUG
@ -789,15 +789,15 @@ float NewAIController::steerToPoint(const Vec3 &point, float dt)
// No sense steering if we are not driving.
if(m_kart->getSpeed()==0) return 0.0f;
const float dx = point.getX() - m_kart->getXYZ().getX();
const float dy = point.getY() - m_kart->getXYZ().getY();
const float dz = point.getZ() - m_kart->getXYZ().getZ();
/** Angle from the kart position to the point in world coordinates. */
float theta = -atan2(dx, dy);
float theta = atan2(dx, dz);
// Angle is the point is relative to the heading - but take the current
// angular velocity into account, too. The value is multiplied by two
// to avoid 'oversteering' - experimentally found.
float angle_2_point = theta - m_kart->getHeading()
- dt*m_kart->getBody()->getAngularVelocity().getZ()*2.0f;
- dt*m_kart->getBody()->getAngularVelocity().getY()*2.0f;
angle_2_point = normalizeAngle(angle_2_point);
if(fabsf(angle_2_point)<0.1) return 0.0f;
@ -817,7 +817,7 @@ float NewAIController::steerToPoint(const Vec3 &point, float dt)
float sin_steer_angle = m_kart->getKartProperties()->getWheelBase()/radius;
#ifdef DEBUG_OUTPUT
printf("theta %f a2p %f angularv %f radius %f ssa %f\n",
theta, angle_2_point, m_body->getAngularVelocity().getZ(),
theta, angle_2_point, m_body->getAngularVelocity().getY(),
radius, sin_steer_angle);
#endif
// Add 0.1 since rouding errors will otherwise result in the kart

8
src/karts/controller/player_controller.cpp
View File

@ -117,17 +117,17 @@ void PlayerController::action(PlayerAction action, int value)
switch (action)
{
case PA_LEFT:
m_steer_val_l = -value;
m_steer_val_l = value;
if (value)
m_steer_val = -value;
m_steer_val = value;
else
m_steer_val = m_steer_val_r;
break;
case PA_RIGHT:
m_steer_val_r = value;
m_steer_val_r = -value;
if (value)
m_steer_val = value;
m_steer_val = -value;
else
m_steer_val = m_steer_val_l;

16
src/karts/kart.cpp
View File

@ -384,10 +384,6 @@ void Kart::reset()
m_controller = m_saved_controller;
m_saved_controller = NULL;
}
// Reset is also called when the kart is created, at which time
// m_controller is not yet defined.
if(m_controller)
m_controller->reset();
m_kart_properties->getKartModel()->setEndAnimation(false);
m_view_blocked_by_plunger = 0.0;
m_attachment.clear();
@ -435,6 +431,12 @@ void Kart::reset()
}
TerrainInfo::update(getXYZ());
// Reset is also called when the kart is created, at which time
// m_controller is not yet defined, so this has to be tested here.
if(m_controller)
m_controller->reset();
} // reset
//-----------------------------------------------------------------------------
@ -1160,8 +1162,8 @@ void Kart::updatePhysics(float dt)
}
float steering = getMaxSteerAngle() * m_controls.m_steer*m_skidding;
m_vehicle->setSteeringValue(-steering, 0);
m_vehicle->setSteeringValue(-steering, 1);
m_vehicle->setSteeringValue(steering, 0);
m_vehicle->setSteeringValue(steering, 1);
// Only compute the current speed if this is not the client. On a client the
// speed is actually received from the server.
@ -1369,7 +1371,7 @@ void Kart::updateGraphics(const Vec3& offset_xyz,
float offset_heading = getSteerPercent()*m_kart_properties->getSkidVisual()
* speed_ratio * m_skidding*m_skidding;
Moveable::updateGraphics(center_shift,
btQuaternion(-offset_heading, 0, 0));
btQuaternion(offset_heading, 0, 0));
} // updateGraphics
/* EOF */

2
src/karts/kart_model.cpp
View File

@ -265,7 +265,7 @@ void KartModel::update(float rotation, float visual_steer,
} // for i<4
core::vector3df wheel_rear (-rotation, 0, 0);
core::vector3df wheel_steer(0, -visual_steer, 0);
core::vector3df wheel_steer(0, visual_steer, 0);
core::vector3df wheel_front = wheel_rear+wheel_steer;
for(unsigned int i=0; i<4; i++)