Move handleBraking next to handleAcceleration for easier maintenance
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Alayan
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@ -388,83 +388,6 @@ void SkiddingAI::update(int ticks)
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AIBaseLapController::update(ticks);
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AIBaseLapController::update(ticks);
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} // update
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} // update
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//-----------------------------------------------------------------------------
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/** This function decides if the AI should brake.
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* The decision can be based on race mode (e.g. in follow the leader the AI
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* will brake if it is ahead of the leader). Otherwise it will depend on
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* the direction the AI is facing (if it's not facing in the track direction
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* it will brake in order to make it easier to re-align itself), and
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* estimated curve radius (brake to avoid being pushed out of a curve).
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*/
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void SkiddingAI::handleBraking()
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{
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m_controls->setBrake(false);
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// In follow the leader mode, the kart should brake if they are ahead of
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// the leader (and not the leader, i.e. don't have initial position 1)
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// TODO : if there is still time in the countdown and the leader is faster,
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// the AI kart should not slow down too much, to stay closer to the
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// leader once overtaken.
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if(race_manager->getMinorMode() == RaceManager::MINOR_MODE_FOLLOW_LEADER &&
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m_distance_leader < 2 &&
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m_kart->getInitialPosition()>1 &&
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m_world->getOverallDistance(m_kart->getWorldKartId()) > 0 )
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{
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#ifdef DEBUG
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if(m_ai_debug)
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Log::debug(getControllerName().c_str(), "braking: %s too close of leader.",
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m_kart->getIdent().c_str());
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#endif
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m_controls->setBrake(true);
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return;
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}
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// A kart will not brake when the speed is already slower than this
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// value. This prevents a kart from going too slow (or even backwards)
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// in tight curves.
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const float MIN_SPEED = 5.0f;
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// If the kart is not facing roughly in the direction of the track, brake
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// so that it is easier for the kart to turn in the right direction.
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if(m_current_track_direction==DriveNode::DIR_UNDEFINED &&
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m_kart->getSpeed() > MIN_SPEED)
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{
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#ifdef DEBUG
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if(m_ai_debug)
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Log::debug(getControllerName().c_str(),
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"%s not aligned with track.",
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m_kart->getIdent().c_str());
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#endif
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m_controls->setBrake(true);
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return;
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}
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if(m_current_track_direction==DriveNode::DIR_LEFT ||
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m_current_track_direction==DriveNode::DIR_RIGHT )
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{
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float max_turn_speed =
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m_kart->getSpeedForTurnRadius(m_current_curve_radius);
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if(m_kart->getSpeed() > 1.5f*max_turn_speed &&
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m_kart->getSpeed()>MIN_SPEED &&
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fabsf(m_controls->getSteer()) > 0.95f )
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{
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m_controls->setBrake(true);
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#ifdef DEBUG
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if(m_ai_debug)
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Log::debug(getControllerName().c_str(),
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"speed %f too tight curve: radius %f ",
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m_kart->getSpeed(),
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m_kart->getIdent().c_str(),
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m_current_curve_radius);
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#endif
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}
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return;
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}
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return;
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} // handleBraking
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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/** Decides in which direction to steer. If the kart is off track, it will
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/** Decides in which direction to steer. If the kart is off track, it will
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* steer towards the center of the track. Otherwise it will call one of
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* steer towards the center of the track. Otherwise it will call one of
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@ -2097,6 +2020,84 @@ void SkiddingAI::handleAcceleration(int ticks)
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} // handleAcceleration
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} // handleAcceleration
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//-----------------------------------------------------------------------------
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/** This function decides if the AI should brake.
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* The decision can be based on race mode (e.g. in follow the leader the AI
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* will brake if it is ahead of the leader). Otherwise it will depend on
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* the direction the AI is facing (if it's not facing in the track direction
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* it will brake in order to make it easier to re-align itself), and
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* estimated curve radius (brake to avoid being pushed out of a curve).
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*/
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void SkiddingAI::handleBraking()
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{
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m_controls->setBrake(false);
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// In follow the leader mode, the kart should brake if they are ahead of
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// the leader (and not the leader, i.e. don't have initial position 1)
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// TODO : if there is still time in the countdown and the leader is faster,
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// the AI kart should not slow down too much, to stay closer to the
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// leader once overtaken.
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if(race_manager->getMinorMode() == RaceManager::MINOR_MODE_FOLLOW_LEADER &&
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m_distance_leader < 2 &&
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m_kart->getInitialPosition()>1 &&
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m_world->getOverallDistance(m_kart->getWorldKartId()) > 0 )
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{
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#ifdef DEBUG
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if(m_ai_debug)
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Log::debug(getControllerName().c_str(), "braking: %s too close of leader.",
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m_kart->getIdent().c_str());
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#endif
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m_controls->setBrake(true);
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return;
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}
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// A kart will not brake when the speed is already slower than this
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// value. This prevents a kart from going too slow (or even backwards)
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// in tight curves.
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const float MIN_SPEED = 5.0f;
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// If the kart is not facing roughly in the direction of the track, brake
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// so that it is easier for the kart to turn in the right direction.
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if(m_current_track_direction==DriveNode::DIR_UNDEFINED &&
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m_kart->getSpeed() > MIN_SPEED)
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{
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#ifdef DEBUG
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if(m_ai_debug)
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Log::debug(getControllerName().c_str(),
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"%s not aligned with track.",
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m_kart->getIdent().c_str());
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#endif
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m_controls->setBrake(true);
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return;
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}
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if(m_current_track_direction==DriveNode::DIR_LEFT ||
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m_current_track_direction==DriveNode::DIR_RIGHT )
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{
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float max_turn_speed =
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m_kart->getSpeedForTurnRadius(m_current_curve_radius);
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if(m_kart->getSpeed() > 1.5f*max_turn_speed &&
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m_kart->getSpeed()>MIN_SPEED &&
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fabsf(m_controls->getSteer()) > 0.95f )
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{
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m_controls->setBrake(true);
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#ifdef DEBUG
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if(m_ai_debug)
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Log::debug(getControllerName().c_str(),
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"speed %f too tight curve: radius %f ",
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m_kart->getSpeed(),
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m_kart->getIdent().c_str(),
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m_current_curve_radius);
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#endif
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}
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return;
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}
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return;
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} // handleBraking
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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void SkiddingAI::handleRaceStart()
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void SkiddingAI::handleRaceStart()
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{
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{
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