Added AI tweaks (adjusting curve speed and angle

depending on track). Details in wiki.


git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/trunk/supertuxkart@1513 178a84e3-b1eb-0310-8ba1-8eac791a3b58

data/beach.track

@@ -1,11 +1,13 @@
 ;; -*- mode: lisp -*-
 
 (tuxkart-track
- (name        "On the Beach")
+ (name                   "On the Beach")
- (description "Created by Ingo Ruhnke")
+ (description            "Created by Ingo Ruhnke")
- (music       "oggs/CaribbeanMusic.ogg")
+ (music                  "oggs/CaribbeanMusic.ogg")
- (screenshot  "sshot-beach.rgb")
+ (screenshot             "sshot-beach.rgb")
- (topview     "topview-beach.rgb")
+ (topview                "topview-beach.rgb")
+ (AI-curve-speed-adjust  2.0)
+ (AI-angle-adjust        2.7)
 )
 
 ;; EOF ;;

data/bsodcastle.track

@@ -6,6 +6,8 @@
  (music       "oggs/Lava_Lagoon_2.ogg")
  (screenshot  "sshot-bsodcastle.rgb")
  (topview     "topview-bsodcastle.rgb")
+ (AI-curve-speed-adjust  2.0)
+ (AI-angle-adjust        2.0)
 )
 
 ;; EOF ;;

data/geekopeak.track

@@ -6,6 +6,8 @@
  (music       "oggs/tk2.ogg")
  (screenshot  "sshot-geekopeak.rgb")
  (topview     "topview-geekopeak.rgb")
+ (AI-curve-speed-adjust  2.0)
+ (AI-angle-adjust        4.0)
 )
 
 ;; EOF ;;

data/gownsbow.track

@@ -7,6 +7,8 @@
  (music       "oggs/another_caribbean_beat.ogg")
  (screenshot  "sshot-gownsbow.rgb")
  (topview     "topview-gownsbow.rgb")
+ (AI-curve-speed-adjust  1.3)
+ (AI-angle-adjust        2.3)
 )
 
 ;; EOF ;;

data/islandtrack.track

@@ -9,7 +9,8 @@
  (start-heading  0.0  3.7  9.5 11.5 15.1 17.0  20.2  22.0  26.0  36.0 )
  (start-x       -1.2  1.6 -0.9  2.3  0.0  3.4   1.2   4.2   2.6   6.2 )
  (start-y       -0.5 -1.5 -3.8 -5.0 -7.0 -8.0 -10.4 -10.9 -13.4 -14.1 )
-
+ (AI-curve-speed-adjust  1.7)
+ (AI-angle-adjust        1.7)
 )
 
 ;; EOF ;;

data/lighthouse.track

@@ -6,6 +6,8 @@
  (music       "oggs/tk2.ogg")
  (screenshot  "sshot-lighthouse.rgb")
  (topview     "topview-lighthouse.rgb")
+ (AI-curve-speed-adjust  1.7)
+ (AI-angle-adjust        1.7)
 )
 
 ;; EOF ;;

data/littlevolcano.track

@@ -18,6 +18,8 @@
  (music      "oggs/tk5a.ogg")
  (screenshot "sshot-littlevolcano.rgb")
  (topview    "topview-littlevolcano.rgb")
+ (AI-curve-speed-adjust  3.0)
+ (AI-angle-adjust        3.3)
 )
 
 ;; EOF ;;

data/olivermath.track

@@ -6,6 +6,8 @@
  (music       "oggs/Boom_boom_boom.ogg")
  (screenshot  "sshot-olivermath.rgb")
  (topview     "topview-olivermath.rgb")
+ (AI-curve-speed-adjust  1.3)
+ (AI-angle-adjust        1.7)
 )
 
 ;; EOF ;;

data/race.track

@@ -6,6 +6,8 @@
  (music       "oggs/tk5a.ogg" "oggs/tk2.ogg")
  (screenshot  "sshot-race.rgb")
  (topview     "topview-race.rgb")
+ (AI-curve-speed-adjust  1.3)
+ (AI-angle-adjust        2.0)
 )
 
 ;; EOF ;;

data/sandtrack.track

@@ -6,6 +6,8 @@
  (music       "oggs/desert_dunes.ogg" "oggs/tk7.ogg")
  (screenshot  "sshot-sandtrack.rgb")
  (topview     "topview-sandtrack.rgb")
+ (AI-curve-speed-adjust  1.0)
+ (AI-angle-adjust        3.0)
 )
 
 ;; EOF ;;

data/startrack.track

@@ -7,6 +7,8 @@
  (music "oggs/Ethereal_Spectrum_\(ver_loop\).ogg")
  (screenshot "sshot-startrack.rgb")
  (topview "topview-startrack.rgb")
+ (AI-curve-speed-adjust  1.7)
+ (AI-angle-adjust        2.0)
 )
 
 ;; EOF ;;

data/subseatrack.track

@@ -18,6 +18,8 @@
  (music      "oggs/tuxr.ogg")
  (screenshot "sshot-subseatrack.rgb")
  (topview    "topview-subseatrack.rgb")
+ (AI-curve-speed-adjust  2.3)
+ (AI-angle-adjust        4.0)
 )
 
 ;; EOF ;;

data/tuxtrack.track

@@ -9,6 +9,8 @@
  (start-heading -25.0 -25.0 -25.0 -25.0 -25.0 -25.0 -25.0 -25.0 -25.0  -25.0 )
  (start-x         0.1  -3.3  -1.5  -4.8  -3.0  -6.3  -4.5  -7.8  -6.0   -9.3 )
  (start-y        -2.0  -1.8  -4.6  -4.4  -7.2  -7.0  -9.8  -9.6  -12.4 -12.2 )
+ (AI-curve-speed-adjust  1.7)
+ (AI-angle-adjust        2.3)
 
 )
 

data/volcano.track

@@ -6,6 +6,8 @@
  (music       "oggs/Boom_boom_boom.ogg")
  (screenshot  "sshot-volcano.rgb")
  (topview     "topview-volcano.rgb")
+ (AI-curve-speed-adjust  2.0)
+ (AI-angle-adjust        2.3)
 )
 
 ;; EOF ;;

src/robots/default_robot.cpp

@@ -170,8 +170,10 @@ void DefaultRobot::handle_braking()
         //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(getVelocityLC().getY() > m_curve_target_speed ||
+        float angle_adjust = world->m_track->getAIAngleAdjustment();
-           kart_ang_diff > MIN_TRACK_ANGLE )
+        float speed_adjust = world->m_track->getAICurveSpeedAdjustment();
+        if(getVelocityLC().getY() > speed_adjust*m_curve_target_speed ||
+           kart_ang_diff          > angle_adjust*MIN_TRACK_ANGLE         )
         {
 #ifdef AI_DEBUG
         std::cout << "BRAKING" << std::endl;

src/track.cpp

@@ -777,10 +777,12 @@ void Track::loadTrack(std::string filename_)
     // Default values
     m_use_fog = false;
     sgSetVec4 ( m_fog_color  , 0.3f, 0.7f, 0.9f, 1.0f ) ;
-    m_fog_density = 1.0f/100.0f;
+    m_fog_density               = 1.0f/100.0f;
-    m_fog_start   = 0.0f;
+    m_fog_start                 = 0.0f;
-    m_fog_end     = 1000.0f;
+    m_fog_end                   = 1000.0f;
-    m_gravity     = 9.80665f;
+    m_gravity                   = 9.80665f;
+    m_AI_angle_adjustment       = 1.0f;
+    m_AI_curve_speed_adjustment = 1.0f;
 
     sgSetVec3 ( m_sun_position,  0.4f, 0.4f, 0.4f      );
     sgSetVec4 ( m_sky_color,     0.3f, 0.7f, 0.9f, 1.0f );
@@ -803,29 +805,30 @@ void Track::loadTrack(std::string filename_)
         throw std::runtime_error(msg);
     }
 
-    LISP->get      ("name",          m_name);
+    LISP->get      ("name",                  m_name);
-    LISP->get      ("description",   m_description);
+    LISP->get      ("description",           m_description);
-    LISP->getVector("music",         m_music_filenames);
+    LISP->getVector("music",                 m_music_filenames);
-    LISP->get      ("herring",       m_herring_style);
+    LISP->get      ("herring",               m_herring_style);
-    LISP->get      ("screenshot",    m_screenshot);
+    LISP->get      ("screenshot",            m_screenshot);
-    LISP->get      ("topview",       m_top_view);
+    LISP->get      ("topview",               m_top_view);
-    LISP->get      ("sky-color",     m_sky_color);
+    LISP->get      ("sky-color",             m_sky_color);
-    LISP->getVector("start-x",       m_start_x);
+    LISP->getVector("start-x",               m_start_x);
-    LISP->getVector("start-y",       m_start_y);
+    LISP->getVector("start-y",               m_start_y);
-    LISP->getVector("start-z",       m_start_z);
+    LISP->getVector("start-z",               m_start_z);
-    LISP->getVector("start-heading", m_start_heading);
+    LISP->getVector("start-heading",         m_start_heading);
+    LISP->get      ("use-fog",               m_use_fog);
+    LISP->get      ("fog-color",             m_fog_color);
+    LISP->get      ("fog-density",           m_fog_density);
+    LISP->get      ("fog-start",             m_fog_start);
+    LISP->get      ("fog-end",               m_fog_end);
+    LISP->get      ("sun-position",          m_sun_position);
+    LISP->get      ("sun-ambient",           m_ambient_col);
+    LISP->get      ("sun-specular",          m_specular_col);
+    LISP->get      ("sun-diffuse",           m_diffuse_col);
+    LISP->get      ("gravity",               m_gravity);
+    LISP->get      ("AI-angle-adjust",       m_AI_angle_adjustment);
+    LISP->get      ("AI-curve-speed-adjust", m_AI_curve_speed_adjustment);
 
-    LISP->get      ("use-fog",       m_use_fog);
-    LISP->get      ("fog-color",     m_fog_color);
-    LISP->get      ("fog-density",   m_fog_density);
-    LISP->get      ("fog-start",     m_fog_start);
-    LISP->get      ("fog-end",       m_fog_end);
-
-    LISP->get      ("sun-position",  m_sun_position);
-    LISP->get      ("sun-ambient",   m_ambient_col);
-    LISP->get      ("sun-specular",  m_specular_col);
-    LISP->get      ("sun-diffuse",   m_diffuse_col);
-    LISP->get      ("gravity",       m_gravity);
     delete ROOT;
 }
 

src/track.hpp

@@ -52,7 +52,11 @@ private:
     ssgBranch*               m_model;
     TriangleMesh*            m_track_mesh;
     TriangleMesh*            m_non_collision_mesh;
-
+    // The next two variables are for AI improvements: the AI sometimes does
+    // not estimate curve speed and/or angle correctly, resulting in too much
+    // braking. These factors are used to adjust this.
+    float                    m_AI_angle_adjustment;
+    float                    m_AI_curve_speed_adjustment;
 public:
     enum RoadSide{ RS_DONT_KNOW = -1, RS_LEFT = 0, RS_RIGHT = 1 };
 
@@ -175,6 +179,8 @@ public:
     const float&  getFogDensity         () const {return m_fog_density;    }
     const float&  getFogStart           () const {return m_fog_start;      }
     const float&  getFogEnd             () const {return m_fog_end;        }
+    const float&  getAIAngleAdjustment  () const {return m_AI_angle_adjustment;}
+    const float&  getAICurveSpeedAdjustment() const {return m_AI_curve_speed_adjustment;}
     const sgVec4& getSkyColor           () const {return m_sky_color;      }
     const std::string& getDescription   () const {return m_description;    }
     const std::string& getTopviewFile   () const {return m_top_view;       }
@@ -183,7 +189,6 @@ public:
     const std::vector<SGfloat>& getWidth() const {return m_path_width;     }
     const std::string& getHerringStyle  () const {return m_herring_style;  }
     void               getStartCoords   (unsigned int pos, sgCoord* coords) const;
-    //    static const Material* getMaterial  (unsigned int n) {return m_triangleIndex2Material[n];}
     void  getTerrainInfo(btVector3 &pos, float *hot, btVector3* normal, 
                          const Material **material) const;
     void createPhysicsModel             ();

src/world.cpp

@@ -494,23 +494,23 @@ void World::updateRaceStatus(float dt)
     if(race_manager->getFinishedKarts() >= m_race_setup.getNumKarts() )
     {
         m_phase = FINISH_PHASE;
-	if(user_config->m_profile<0)  // profiling number of laps -> print stats
+	    if(user_config->m_profile<0)  // profiling number of laps -> print stats
         {
-	  float min_t=999999.9f, max_t=0.0, av_t=0.0;
+	        float min_t=999999.9f, max_t=0.0, av_t=0.0;
             for ( Karts::size_type i = 0; i < m_kart.size(); ++i)
             {
                 max_t = std::max(max_t, m_kart[i]->getFinishTime());
                 min_t = std::min(min_t, m_kart[i]->getFinishTime());
-		av_t += m_kart[i]->getFinishTime();
+		        av_t += m_kart[i]->getFinishTime();
-	        printf("%s  start %d  end %d time %f\n",
+	            printf("%s  start %d  end %d time %f\n",
                        m_kart[i]->getName().c_str(),(int)i,
                        m_kart[i]->getPosition(),
                        m_kart[i]->getFinishTime());
-	    } 
+	        } 
-	    printf("min %f  max %f  av %f\n",min_t, max_t, av_t/m_kart.size());
+	        printf("min %f  max %f  av %f\n",min_t, max_t, av_t/m_kart.size());
             std::exit(-2);
-	}
+	    }
-    }
+    }   // if all karts are finished
 
     // 2) All player karts are finished --> wait some
     //    time for AI karts to arrive before finishing