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This commit is contained in:
Benau 2016-05-31 00:36:03 +08:00
parent 999dee9bce
commit f83407f661
1 changed files with 15 additions and 10 deletions
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25
src/karts/controller/arena_ai.cpp
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@ -458,16 +458,21 @@ void ArenaAI::updateTurnRadius(const Vec3& p1, const Vec3& p2,
// Only calculate radius if not almost straight line
if (angle > 1 && angle < 179)
{
// Now find out the arc length ratio it has from the angle, so if the
// angle is 90 degree, it can be deduced by (pi / 2) (90 degree)
// over 2 * pi, which is 1 over 4. Notice: it is inversely proportional
// to the ratio, so the higher the angle (non-hard turn) the calculated
// ratio should be smaller (ie less part of the total circumference)
// Then we do 180 - angle from above, which is c (distance from kart to
// aiming point) = around 1 / 4 of the total circumference,
// then the turn radius = c / (1 / 4) / pi / 2
m_turn_radius = (a + b) / ((angle * DEGREE_TO_RAD) / (2 * M_PI)) /
M_PI / 2;
// angle
// ^
// a / \ b
// / \
// \90 90/
// \ /
// \ /
// \ /
// |
// Try to estimate the turn radius with the help of a kite-like
// polygon as shown, find out the lowest angle which is
// (4 - 2) * 180 - 90 - 90 - angle (180 - angle from above)
// Then we use this value as the angle of a sector of circle,
// a + b as the arc length, then the radius can be calculated easily
m_turn_radius = ((a + b) / (angle / 360)) / M_PI / 2;
}
else
{