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Try to fix too fast reverse and unstuck issue

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This commit is contained in:
Benau 2015-12-04 16:32:33 +08:00
parent ab428dc8cf
commit 9ad438b945
2 changed files with 38 additions and 36 deletions
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70
src/karts/controller/battle_ai.cpp
View File

@ -21,9 +21,9 @@
#undef AI_DEBUG
#include "karts/controller/battle_ai.hpp"
//#ifdef AI_DEBUG
#ifdef AI_DEBUG
#include "graphics/irr_driver.hpp"
//#endif
#endif
#include "items/attachment.hpp"
#include "items/item_manager.hpp"
@ -54,9 +54,6 @@ using namespace irr;
#include <math.h>
#endif
#include <iostream>
using namespace std;
BattleAI::BattleAI(AbstractKart *kart,
StateManager::ActivePlayer *player)
: AIBaseController(kart, player)
@ -64,12 +61,11 @@ BattleAI::BattleAI(AbstractKart *kart,
reset();
//#ifdef AI_DEBUG
#ifdef AI_DEBUG
video::SColor col_debug(128, 128,0,0);
m_debug_sphere = irr_driver->addSphere(1.0f, col_debug);
m_debug_sphere->setVisible(true);
//m_item_sphere = irr_driver->addSphere(1.0f);
//#endif
#endif
if (race_manager->getMinorMode() == RaceManager::MINOR_MODE_3_STRIKES)
{
@ -94,9 +90,9 @@ BattleAI::BattleAI(AbstractKart *kart,
BattleAI::~BattleAI()
{
//#ifdef AI_DEBUG
#ifdef AI_DEBUG
irr_driver->removeNode(m_debug_sphere);
//#endif
#endif
} // ~BattleAI
//-----------------------------------------------------------------------------
@ -149,14 +145,15 @@ void BattleAI::update(float dt)
checkIfStuck(dt);
if (m_is_stuck && !m_is_uturn)
{
cout <<"correct"<<endl;
m_controls->m_accel = -1.0f;
setSteering(1.0f,dt);
if (m_kart->getSpeed() > 0.1f) // Hard-brake for the first time
m_controls->m_accel = -4.0f; // human players can also do the same
else
m_controls->m_accel = -(stk_config->m_ai_acceleration * 0.5f);
m_time_since_reversing += dt;
if (m_time_since_reversing >= 0.6f)
if (m_time_since_reversing >= 1.5f)
{
cout <<"correctfinished"<<endl;
m_controls->m_accel = 1.0f;
m_is_stuck = false;
m_time_since_reversing = 0.0f;
@ -192,28 +189,27 @@ void BattleAI::checkIfStuck(const float dt)
{
if (m_is_stuck) return;
// Check if current kart is stuck
if (m_kart->getSpeed() < 2.0f && !m_kart->getKartAnimation() &&
!m_world->isStartPhase() && !m_is_uturn)
if (m_kart->getKartAnimation() || m_world->isStartPhase())
{
m_time_since_stuck += dt;
m_on_node.insert(m_current_node);
m_on_node.clear();
m_time_since_stuck = 0.0f;
}
if (m_time_since_stuck >= 2.0f)
m_on_node.insert(m_current_node);
m_time_since_stuck += dt;
if (m_time_since_stuck >= 2.0f && m_on_node.size() < 3 && !m_is_uturn)
{
if (m_on_node.size() > 2)
{
cout<<m_on_node.size()<<endl;
// Reset timer to zero for any correct movement
m_time_since_stuck = 0.0f;
return;
}
cout<<"stuck"<<endl;
// Check whether a kart stay between two node for more than 2.0f time
m_on_node.clear();
m_time_since_stuck = 0.0f;
m_is_stuck = true;
}
else if (m_time_since_stuck >= 2.0f)
{
m_on_node.clear();
m_time_since_stuck = 0.0f;
}
} // checkIfStuck
@ -337,10 +333,12 @@ void BattleAI::handleAcceleration(const float dt)
//-----------------------------------------------------------------------------
void BattleAI::handleUTurn(const float dt)
{
const float handicap =
(m_cur_difficulty == RaceManager::DIFFICULTY_EASY ? 0.7f : 1.0f);
m_controls->m_accel = -2.0f * handicap;
if (m_kart->getSpeed() > 0.1f) // Hard-brake when speed too fast
m_controls->m_accel = -4.0f; // human players can also do the same
else
m_controls->m_accel = -(stk_config->m_ai_acceleration * 0.5f);
if (m_time_since_uturn >= 1.0f)
setSteering(M_PI,dt); // Preventing keep going around circle
else
@ -348,10 +346,11 @@ void BattleAI::handleUTurn(const float dt)
m_time_since_uturn += dt;
checkPosition(m_target_point, &m_cur_kart_pos_data);
if (!m_cur_kart_pos_data.behind || m_time_since_uturn >= 1.5f)
if ((!m_cur_kart_pos_data.behind || m_time_since_uturn >= 2.0f) &&
m_time_since_uturn >= 0.1f)
{
m_is_uturn = false;
m_controls->m_accel = 2.0f * handicap;
m_controls->m_accel = 1.0f;
m_time_since_uturn = 0.0f;
}
} // handleUTurn
@ -369,7 +368,9 @@ void BattleAI::handleSteering(const float dt)
{
// Very close to the item, steer directly
checkPosition(m_target_point, &m_cur_kart_pos_data);
#ifdef AI_DEBUG
m_debug_sphere->setPosition(m_target_point.toIrrVector());
#endif
if (m_cur_kart_pos_data.behind)
{
m_is_uturn = true;
@ -390,7 +391,9 @@ void BattleAI::handleSteering(const float dt)
m_target_point = m_path_corners[0];
checkPosition(m_target_point, &m_cur_kart_pos_data);
#ifdef AI_DEBUG
m_debug_sphere->setPosition(m_target_point.toIrrVector());
#endif
if (m_cur_kart_pos_data.behind)
{
m_is_uturn = true;
@ -745,7 +748,6 @@ void BattleAI::handleItems(const float dt)
if (m_closest_kart_pos_data.distance < 5.0f)
{
cout << m_closest_kart_pos_data.angle<<endl;
m_controls->m_fire = true;
m_controls->m_look_back = fire_behind;
break;

4
src/karts/controller/battle_ai.hpp
View File

@ -121,11 +121,11 @@ protected:
/** Keep a pointer to world. */
ThreeStrikesBattle *m_world;
//#ifdef AI_DEBUG
#ifdef AI_DEBUG
/** For debugging purpose: a sphere indicating where the AI
* is targeting at. */
irr::scene::ISceneNode *m_debug_sphere;
//#endif
#endif
public:
BattleAI(AbstractKart *kart,