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Fix shaking u-turn

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This commit is contained in:
Benau 2016-10-19 00:37:29 +08:00
parent 24f926b780
commit b12f7a1079
2 changed files with 18 additions and 9 deletions
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25
src/karts/controller/arena_ai.cpp
View File

@ -56,6 +56,7 @@ void ArenaAI::reset()
m_mini_skid = false;
m_target_point = Vec3(0, 0, 0);
m_target_point_lc = Vec3(0, 0, 0);
m_reverse_point = Vec3(0, 0, 0);
m_time_since_last_shot = 0.0f;
m_time_since_driving = 0.0f;
m_time_since_off_road = 0.0f;
@ -83,6 +84,7 @@ void ArenaAI::update(float dt)
// Let the function below to reset it later
m_controls->setAccel(0.0f);
m_controls->setBrake(false);
m_mini_skid = false;
// Don't do anything if there is currently a kart animations shown.
if (m_kart->getKartAnimation())
@ -123,9 +125,16 @@ void ArenaAI::update(float dt)
// After found target, convert it to local coordinate, used for skidding or
// u-turn
m_target_point_lc = m_kart->getTrans().inverse()(m_target_point);
doSkiddingTest();
configSteering();
if (!m_is_uturn)
{
m_target_point_lc = m_kart->getTrans().inverse()(m_target_point);
doSkiddingTest();
configSteering();
}
else
{
m_target_point_lc = m_kart->getTrans().inverse()(m_reverse_point);
}
useItems(dt);
if (m_kart->getSpeed() > 15.0f && !m_is_uturn && m_turn_radius > 30.0f &&
@ -252,6 +261,7 @@ void ArenaAI::configSteering()
if (m_target_point_lc.z() < 0)
{
m_is_uturn = true;
m_reverse_point = m_target_point;
}
else
{
@ -274,6 +284,7 @@ void ArenaAI::configSteering()
if (m_target_point_lc.z() < 0)
{
m_is_uturn = true;
m_reverse_point = m_target_point;
}
else
{
@ -349,7 +360,7 @@ void ArenaAI::doUTurn(const float dt)
float turn_angle = atan2f(m_target_point_lc.x(),
fabsf(m_target_point_lc.z()));
m_controls->setBrake(true);
setSteering(-turn_angle, dt);
setSteering(turn_angle > 0.0f ? -1.0f : 1.0f, dt);
m_time_since_uturn += dt;
if ((m_target_point_lc.z() > 0 && fabsf(turn_angle) < 0.2f) ||
@ -359,6 +370,7 @@ void ArenaAI::doUTurn(const float dt)
m_is_uturn = false;
m_time_since_uturn = 0.0f;
m_time_since_driving = 0.0f;
m_reverse_point = Vec3(0, 0, 0);
}
else
m_is_uturn = true;
@ -604,11 +616,6 @@ void ArenaAI::collectItemInArena(Vec3* aim_point, int* target_node) const
//-----------------------------------------------------------------------------
void ArenaAI::doSkiddingTest()
{
m_mini_skid = false;
// No skidding when u-turn
if (m_is_uturn) return;
// Skid when close to target, but not straight ahead, in front of it, same
// steering side and with suitable difficulties.
const float abs_angle = atan2f(fabsf(m_target_point_lc.x()),

2
src/karts/controller/arena_ai.hpp
View File

@ -70,6 +70,8 @@ protected:
private:
Vec3 m_target_point_lc;
Vec3 m_reverse_point;
/** Indicates that the kart is currently stuck, and m_time_since_reversing is
* counting down. */
bool m_is_stuck;