ilikecats/stk-code_catmod
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1) Added support for limiting the amount of steering per

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frame for the AI (to reduce shaking, but for now this
   is not used, since the steering parameters are not fixed)
2) Bugfix in AI: in some cases out-of-road was detected incorrectly
   (caused by using kart width instead of length)


git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/trunk/supertuxkart@2660 178a84e3-b1eb-0310-8ba1-8eac791a3b58
This commit is contained in:
hikerstk
2008-12-13 14:00:18 +00:00
parent 22d027ed5f
commit f7fef13442
5 changed files with 54 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
data/stk_config.data
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@@ -46,6 +46,13 @@
(wheel-base 1.2 )
(heightCOG 0.2 )
(time-full-steer 0.15 )
;; Time for the AI to go from neutral steering to extreme
;; left (or right). This can be used to reduce 'shaking' of
;; AI karts caused by changing steering direction too often.
;; A value of 1/maxFPS / 2 will guarantee that the wheel can
;; go from -1 to +1 steering in one frame, basically
;; disabling this mechanism.
(time-full-steer-ai 0.004) ;; Disabled for now.
(corn-f 4 )
(corn-r 4 )

4
src/karts/kart_properties.cpp
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@@ -59,7 +59,7 @@ KartProperties::KartProperties() : m_icon_material(0)
m_max_speed_turn = m_angle_at_max = m_brake_factor =
m_engine_power[0] = m_engine_power[1] = m_engine_power[2] =
m_max_speed[0] = m_max_speed[1] = m_max_speed[2] =
m_time_full_steer = m_nitro_power_boost =
m_time_full_steer = m_time_full_steer_ai = m_nitro_power_boost =
m_suspension_stiffness = m_wheel_damping_relaxation = m_wheel_base =
m_wheel_damping_compression = m_friction_slip = m_roll_influence =
m_wheel_radius = m_chassis_linear_damping =
@@ -186,6 +186,7 @@ void KartProperties::getAllData(const lisp::Lisp* lisp)
lisp->get("engine-power", m_engine_power);
lisp->get("time-full-steer", m_time_full_steer);
lisp->get("time-full-steer-ai", m_time_full_steer_ai);
lisp->get("brake-factor", m_brake_factor);
lisp->get("mass", m_mass);
@@ -306,6 +307,7 @@ void KartProperties::checkAllSet(const std::string &filename)
CHECK_NEG(m_max_radius, "max-speed-angle" );
CHECK_NEG(m_brake_factor, "brake-factor" );
CHECK_NEG(m_time_full_steer, "time-full-steer" );
CHECK_NEG(m_time_full_steer_ai, "time-full-steer-ai" );
//bullet physics data
CHECK_NEG(m_suspension_stiffness, "suspension-stiffness" );

4
src/karts/kart_properties.hpp
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@@ -75,6 +75,9 @@ protected:
* braking force. */
float m_time_full_steer; /**< Time for player karts to reach full
* steer angle. */
float m_time_full_steer_ai; /**< Time for AI karts to reach full
* steer angle (used to reduce shaking
* of karts). */
float m_min_speed_turn, /**< Speed for smallest turn radius. */
m_angle_at_min, /**< Steering angle for minimal turn
radius. Computed from radius and
@@ -162,6 +165,7 @@ public:
float getMass () const {return m_mass; }
float getMaxPower () const {return m_engine_power[race_manager->getDifficulty()];}
float getTimeFullSteer () const {return m_time_full_steer; }
float getTimeFullSteerAI () const {return m_time_full_steer_ai; }
float getBrakeFactor () const {return m_brake_factor; }
float getMaxSpeedReverseRatio () const {return m_max_speed_reverse_ratio; }
SFXManager::SFXType getEngineSfxType()

48
src/robots/default_robot.cpp
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@@ -61,6 +61,7 @@ DefaultRobot::DefaultRobot(const std::string& kart_name,
}
reset();
m_kart_length = m_kart_properties->getKartModel()->getLength();
m_kart_width = m_kart_properties->getKartModel()->getWidth();
m_track = RaceManager::getTrack();
m_world = dynamic_cast<LinearWorld*>(RaceManager::getWorld());
assert(m_world != NULL);
@@ -80,6 +81,9 @@ DefaultRobot::DefaultRobot(const std::string& kart_name,
case RaceManager::RD_MEDIUM:
m_wait_for_players = true;
m_max_handicap_accel = 0.95f;
// FT_PARALLEL had problems on some tracks when suddenly a smaller
// section occurred (e.g. bridge in stone track): the AI would drive
// over and over into the river
m_fallback_tactic = FT_FAREST_POINT;
m_item_tactic = IT_CALCULATE;
m_max_start_delay = 0.4f;
@@ -332,10 +336,10 @@ void DefaultRobot::handleSteering(float dt)
}
// avoid steer vibrations
if (fabsf(steer_angle) < 2.0f*3.1415/180.0f)
steer_angle = 0.f;
//if (fabsf(steer_angle) < 1.0f*3.1415/180.0f)
// steer_angle = 0.f;
setSteering(steer_angle);
setSteering(steer_angle, dt);
} // handleSteering
//-----------------------------------------------------------------------------
@@ -570,7 +574,7 @@ void DefaultRobot::handleNitro()
} // handleNitro
//-----------------------------------------------------------------------------
float DefaultRobot::steerToAngle (const size_t SECTOR, const float ANGLE)
float DefaultRobot::steerToAngle(const size_t SECTOR, const float ANGLE)
{
float angle = m_track->m_angle[SECTOR];
@@ -798,7 +802,7 @@ void DefaultRobot::findNonCrashingPoint( sgVec2 result )
: -step_track_coord[0];
//If we are outside, the previous sector is what we are looking for
if ( distance + m_kart_length * 0.5f > m_track->getWidth()[sector] )
if ( distance + m_kart_width * 0.5f > m_track->getWidth()[sector] )
{
sgCopyVec2( result, m_track->m_driveline[sector] );
@@ -896,16 +900,36 @@ int DefaultRobot::calcSteps()
//-----------------------------------------------------------------------------
/** Converts the steering angle to a lr steering in the range of -1 to 1.
* If the steering angle is too great, it will also trigger skidding.
* If the steering angle is too great, it will also trigger skidding. This
* function uses a 'time till full steer' value specifying the time it takes
* for the wheel to reach full left/right steering similar to player karts
* when using a digital input device. This is done to remove shaking of
* AI karts (which happens when the kart frequently changes the direction
* of a turn). The parameter is defined in the kart properties.
* \param angle Steering angle.
* \param dt Time step.
*/
void DefaultRobot::setSteering( float angle )
void DefaultRobot::setSteering(float angle, float dt)
{
angle = angle / getMaxSteerAngle();
m_controls.jump = fabsf(angle)>=m_skidding_threshold;
float steer_fraction = angle / getMaxSteerAngle();
m_controls.jump = fabsf(steer_fraction)>=m_skidding_threshold;
float old_lr = m_controls.lr;
if (angle > 1.0f) m_controls.lr = 1.0f;
else if(angle < -1.0f) m_controls.lr = -1.0f;
else m_controls.lr = angle;
if (steer_fraction > 1.0f) steer_fraction = 1.0f;
else if(steer_fraction < -1.0f) steer_fraction = -1.0f;
// The AI has its own 'time full steer' value (which is the time
float max_steer_change = dt/m_kart_properties->getTimeFullSteerAI();
if(old_lr < steer_fraction)
{
m_controls.lr = (old_lr+max_steer_change > steer_fraction)
? steer_fraction : old_lr+max_steer_change;
}
else
{
m_controls.lr = (old_lr-max_steer_change < steer_fraction)
? steer_fraction : old_lr-max_steer_change;
}
} // setSteering
//-----------------------------------------------------------------------------

6
src/robots/default_robot.hpp
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@@ -108,7 +108,7 @@ private:
/** Cache kart_info.m_track_sector. */
int m_track_sector;
float m_time_since_stuck;
int m_start_kart_crash_direction; //-1 = left, 1 = right, 0 = no crash.
@@ -116,6 +116,8 @@ private:
/** Length of the kart, storing it here saves many function calls. */
float m_kart_length;
/** Cache width of kart. */
float m_kart_width;
/** All AIs share the track info object, so that its information needs
* only to be computed once. */
static const TrackInfo *m_track_info;
@@ -154,7 +156,7 @@ private:
float normalizeAngle(float angle);
int calcSteps();
void setSteering(float angle);
void setSteering(float angle, float dt);
float getApproxRadius(const int START, const int END) const;
void findCurve();