torcs-users Mailing List for TORCS - The Open Racing Car Simulator

1. I discovered this morning when trying to reproduce this problem
with simuv3, that the setup i sent you will not reproduce the problem.
The setup i attached to my first post will reproduce the problem
with both sims.

2. It occured to me this morning that i never tried removing the change
i made to simu.cpp after i changed racemain.cpp.  I discovered that
the simu.cpp change is not neccesary.  In fact, the change causes
some cars to drift laterally on the track until the race state changes 
to race.

Thank you, Christos, for bearing with me while i tracked this problem
down.

Christos Dimitrakakis wrote:
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> | First of all, i  reverted back to the original wheel.cpp. I did 
> leave one
> | line in wheel.cpp:
>
> |    if (max_extend < new_susp_x) {
> |        new_susp_x = max_extend;
> |        wheel->rel_vel = 0.0f;
> |    } else if (new_susp_x < wheel->susp.spring.packers) {
> | /////////////////////test////////////////////
> |        new_susp_x = wheel->susp.spring.packers;
> | //////////////////////////////////////////////////////
> |        wheel->rel_vel = 0.0f;
> |    }
>
> | (Correct me if i am wrong,) new_susp_x should never be beyond the
> | limits of the suspension course.
>
>
> Yes, this is already fixed in simuv3.
>
>
> OK. These seem to work fine.
> I will do some more testing. Do you have an example car where the
> problem appeared?
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The setup i have attached is more obvious in demonstrating the problem 
than the first setup i posted. If you can not  reproduce
the problem, i must have some out-dated code somewhere in my torcs
version.

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| First of all, i  reverted back to the original wheel.cpp. I did leave one
| line in wheel.cpp:

|    if (max_extend < new_susp_x) {
|        new_susp_x = max_extend;
|        wheel->rel_vel = 0.0f;
|    } else if (new_susp_x < wheel->susp.spring.packers) {
| /////////////////////test////////////////////
|        new_susp_x = wheel->susp.spring.packers;
| //////////////////////////////////////////////////////
|        wheel->rel_vel = 0.0f;
|    }

| (Correct me if i am wrong,) new_susp_x should never be beyond the
| limits of the suspension course.


Yes, this is already fixed in simuv3.


OK. These seem to work fine.
I will do some more testing. Do you have an example car where the
problem appeared?
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Christos Dimitrakakis wrote:
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> Brian Martin wrote:
> |
> | I determined that this  problem was caused by stale bot code on my
> | system. (I hope i did not waste your time on this problem,  Christos.
> | If i did, you  have  my  sincere  apologies)
> |
>
> It is OK, I have but little time these days to spend on torcs, and
> whatever I have I spent on the sim.
>
> Part of the levitation problem could be the raceengine code.
> The other part is the vertical collision code I think.
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You are right about the raceengine code, as you will see below.

The problem is that the user sees the cars on the track before the
sim is fully initialized.

First of all, i  reverted back to the original wheel.cpp. I did leave one
line in wheel.cpp:

    if (max_extend < new_susp_x) {
        new_susp_x = max_extend;
        wheel->rel_vel = 0.0f;
    } else if (new_susp_x < wheel->susp.spring.packers) {
/////////////////////test////////////////////
        new_susp_x = wheel->susp.spring.packers;
//////////////////////////////////////////////////////
        wheel->rel_vel = 0.0f;
    }

(Correct me if i am wrong,) new_susp_x should never be beyond the
limits of the suspension course.

Now back the levitating car problem. I changed simu.cpp like this:

void
SimUpdate(tSituation *s, double deltaTime, int telemetry)
{
    int i;
    int ncar;
    tCarElt *carElt;
    tCar *car;
   
    SimDeltaTime = deltaTime;
    SimTelemetry = telemetry;
    for (ncar = 0; ncar < s->_ncars; ncar++) {
        SimCarTable[ncar].collision = 0;
        SimCarTable[ncar].blocked = 0;
    }
   
    for (ncar = 0; ncar < s->_ncars; ncar++) {
        car = &(SimCarTable[ncar]);
        carElt = car->carElt;
   
        if (carElt->_state & RM_CAR_STATE_NO_SIMU) {
            RemoveCar(car, s);
            continue;
        } else if (((s->_maxDammage) && (car->dammage > s->_maxDammage)) ||
            (car->fuel == 0) ||
            (car->carElt->_state & RM_CAR_STATE_ELIMINATED))  {
            RemoveCar(car, s);
            if (carElt->_state & RM_CAR_STATE_NO_SIMU) {
                continue;
            }
        }
   
        if (s->_raceState & RM_RACE_PRESTART) {
            car->ctrl->gear = 0;
        }
   
        CHECK(car);
        ctrlCheck(car);
        CHECK(car);
        SimSteerUpdate(car);
        CHECK(car);
        SimGearboxUpdate(car);
        CHECK(car);
        SimEngineUpdateTq(car);
        CHECK(car);


        if ( !(s->_raceState & RM_RACE_PRESTART) ) {
   
            SimCarUpdateWheelPos(car);
            CHECK(car);
            SimBrakeSystemUpdate(car);
            CHECK(car);
            SimAeroUpdate(car, s);
            CHECK(car);
            for (i = 0; i < 2; i++){
                SimWingUpdate(car, i, s);
            }
            CHECK(car);
            for (i = 0; i < 4; i++){
                SimWheelUpdateRide(car, i);
            }
            CHECK(car);
            for (i = 0; i < 2; i++){
                SimAxleUpdate(car, i);
            }
            CHECK(car);
            for (i = 0; i < 4; i++){
                SimWheelUpdateForce(car, i);
            }
            CHECK(car);
            SimTransmissionUpdate(car);
            CHECK(car);
            SimWheelUpdateRotation(car);
            CHECK(car);
            SimCarUpdate(car, s);
            CHECK(car);
        } else {

///////////////////////////test//////////////////////////////////////

            SimCarUpdateWheelPos(car);
            CHECK(car);
            for (i = 0; i < 4; i++){
                SimWheelUpdateRide(car, i);
            }
            CHECK(car);
            for (i = 0; i < 4; i++){
                SimWheelUpdateForce(car, i);
            }
            CHECK(car);
            SimCarUpdate(car, s);
            CHECK(car);

////////////////////////////////////////////////////////////////////
           
            SimEngineUpdateRpm(car, 0.0);
        }
    }
   
    SimCarCollideCars(s);
   
    /* printf ("%f - ", s->currentTime); */
   
    for (ncar = 0; ncar < s->_ncars; ncar++) {
        car = &(SimCarTable[ncar]);
        CHECK(car);
        carElt = car->carElt;
   
        if (carElt->_state & RM_CAR_STATE_NO_SIMU) {
            continue;
        }
   
        CHECK(car);
        SimCarUpdate2(car, s); /* telemetry */
   
        /* copy back the data to carElt */
   
        carElt->pub.DynGC = car->DynGC;
        carElt->pub.DynGCg = car->DynGCg;
        sgMakeCoordMat4(carElt->pub.posMat, carElt->_pos_X, 
carElt->_pos_Y, carElt->_pos_Z - carElt->_statGC_z,
                RAD2DEG(carElt->_yaw), RAD2DEG(carElt->_roll), 
RAD2DEG(carElt->_pitch));
        carElt->_trkPos = car->trkPos;
        for (i = 0; i < 4; i++) {
            carElt->priv.wheel[i].relPos = car->wheel[i].relPos;
            carElt->_wheelSeg(i) = car->wheel[i].trkPos.seg;
            carElt->_brakeTemp(i) = car->wheel[i].brake.temp;
            carElt->pub.corner[i] = car->corner[i].pos;
        }
        carElt->_gear = car->transmission.gearbox.gear;
        carElt->_enginerpm = car->engine.rads;
        carElt->_fuel = car->fuel;
        carElt->priv.collision |= car->collision;
        carElt->_dammage = car->dammage;
    }
}

The problem is better, but i can still see the car drop as soon as i see
the track and cars displayed.

If i change racemain.cpp like this:

static int
reRaceRealStart(void)
{
    int i, j;
    int sw, sh, vw, vh;
    tRobotItf *robot;
    tReCarInfo *carInfo;
    char *dllname;
    char key[256];
    int foundHuman;
    void *params = ReInfo->params;
    void *results = ReInfo->results;
    tSituation *s = ReInfo->s;

    RmLoadingScreenSetText("Loading Simulation Engine...");
    dllname = GfParmGetStr(ReInfo->_reParam, "Modules", "simu", "");
    sprintf(key, "%smodules/simu/%s.%s", GetLibDir (), dllname, DLLEXT);
    if (GfModLoad(0, key, &ReRaceModList)) return RM_QUIT;
    ReRaceModList->modInfo->fctInit(ReRaceModList->modInfo->index, 
&ReInfo->_reSimItf);

    if (ReInitCars()) {
        return RM_QUIT;
    }
/////////////////////test///////////////////////////

    for (j = 0; j < ((int)(1.0 / RCM_MAX_DT_SIMU)); j++) {
        ReInfo->_reSimItf.update(s, RCM_MAX_DT_SIMU, -1);
    }

////////////////////////////////////////////////////
    /* Blind mode or not */
    ReInfo->_displayMode = RM_DISP_MODE_NORMAL;
    ReInfo->_reGameScreen = ReScreenInit();
    foundHuman = 0;
    for (i = 0; i < s->_ncars; i++) {
        if (s->cars[i]->_driverType == RM_DRV_HUMAN) {
            foundHuman = 1;
            break;
        }
    }
    if (!foundHuman) {
        if (!strcmp(GfParmGetStr(params, ReInfo->_reRaceName, 
RM_ATTR_DISPMODE, RM_VAL_VISIBLE), RM_VAL_INVISIBLE)) {
            ReInfo->_displayMode = RM_DISP_MODE_NONE;
            ReInfo->_reGameScreen = ReResScreenInit();
        }
    }

    if (!(ReInfo->s->_raceType == RM_TYPE_QUALIF) ||
    ((int)GfParmGetNum(results, RE_SECT_CURRENT, RE_ATTR_CUR_DRIVER, 
NULL, 1) == 1))
    {
        RmLoadingScreenStart(ReInfo->_reName, 
"data/img/splash-qrloading.png");
    }

    for (i = 0; i < s->_ncars; i++) {
        sprintf(buf, "Initializing Driver %s...", s->cars[i]->_name);
        RmLoadingScreenSetText(buf);
        robot = s->cars[i]->robot;
        robot->rbNewRace(robot->index, s->cars[i], s);
    }
    carInfo = ReInfo->_reCarInfo;

    ReInfo->_reSimItf.update(s, RCM_MAX_DT_SIMU, -1);
    for (i = 0; i < s->_ncars; i++) {
        carInfo[i].prevTrkPos = s->cars[i]->_trkPos;
    }

    RmLoadingScreenSetText("Running Prestart...");
    for (i = 0; i < s->_ncars; i++) {
        memset(&(s->cars[i]->ctrl), 0, sizeof(tCarCtrl));
        s->cars[i]->ctrl.brakeCmd = 1.0;
    }

    for (j = 0; j < ((int)(1.0 / RCM_MAX_DT_SIMU)); j++) {
        ReInfo->_reSimItf.update(s, RCM_MAX_DT_SIMU, -1);
    }

    if (ReInfo->_displayMode != RM_DISP_MODE_NORMAL) {
        if (ReInfo->s->_raceType == RM_TYPE_QUALIF) {
            ReUpdateQualifCurRes(s->cars[0]);
        } else {
            sprintf(buf, "%s on %s", s->cars[0]->_name, 
ReInfo->track->name);
            ReResScreenSetTitle(buf);
        }
    }

    RmLoadingScreenSetText("Ready.");

    ReInfo->_reTimeMult = 1.0;
    ReInfo->_reLastTime = -1.0;
    ReInfo->s->currentTime = -2.0;
    ReInfo->s->deltaTime = RCM_MAX_DT_SIMU;

    ReInfo->s->_raceState = RM_RACE_STARTING;

    GfScrGetSize(&sw, &sh, &vw, &vh);
    ReInfo->_reGraphicItf.initview((sw-vw)/2, (sh-vh)/2, vw, vh, 
GR_VIEW_STD, ReInfo->_reGameScreen);

    if (ReInfo->_displayMode == RM_DISP_MODE_NORMAL) {
        /* RmLoadingScreenSetText("Loading Cars 3D Objects..."); */
        ReInfo->_reGraphicItf.initcars(s);
    }

    GfuiScreenActivate(ReInfo->_reGameScreen);

    return RM_SYNC | RM_NEXT_STEP;
}


The problem is resolved.

Brian