1) Fixed AIs.

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

src/karts/controller/default_ai_controller.cpp

@@ -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

src/karts/controller/end_controller.cpp

@@ -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]);

src/karts/controller/new_ai_controller.cpp

@@ -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

src/karts/controller/player_controller.cpp

@@ -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;
 

src/karts/kart.cpp

@@ -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, 0);
-    m_vehicle->setSteeringValue(-steering, 1);
+    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 */

src/karts/kart_model.cpp

@@ -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++)