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From: David S. <dsa...@te...> - 2016-11-26 23:42:36
|
Hi, wheelSlipAccel was made better with: wheelSlipAccel(index) = vt*(1.0f-sx); // wheel tangent velocity times traction This is the best, and it makes sense. ----- David Savinkoff wrote: > Hi, > When an improvement is made, further improvements > can be characterized. Here is a small improvement for > SlipAccel in wheel.c > > Drive this one, it is good. > > Sincerely, > David Savinkoff > > ps. > This one has a milestone name: > torcs-1.3.7.contact.patch > > apply this patch to torcs-1.3.7 sources with: > patch -p0 < torcs-1.3.7.contact.patch > from outside the torcs-1.3.7 directory > or > patch -p1 < torcs-1.3.7.contact.patch > from within, > then compile etc. > > ----- David Savinkoff wrote: > > Combined Longitudinal, Lateral, and Yawing Tire Slip Forces: > > > > Hear ye NASA to NASCAR, tire makers, and all: > > TORCS has it now! donuts (Nobody considered yaw slippage!) > > > > Nowhere could I find any mention of Combined Longitudinal, Lateral, > > and Yawing Tire Slip Forces. Unless it can be shown otherwise ... > > I will take credit for this discovery; and hereby disclose this > > information, code, and method to the public domain so that it > > is useful to everyone, and cannot be patented. > > > > Sincerely, > > David Savinkoff > > November 14 2016 > > > > See patch for information: > > // COMBINED LONGITUDINAL, LATERAL, and YAWING TIRE SLIP FORCES: > > // Normalize the friction circle to get normalized vector components (sx, sy) while > > // braking (vt), accelerating (wrl), or wheel counter spin (vt - wrl) for any angle. > > // saz slip speed accounts for rotating the contact patch (yaw). > > > > saz = (1.1f*3.1416f) * car->DynGC.vel.az * car->carElt->_tireWidth(index); > > > > slip_magnitude = 0.000001f + /* Softening factor 0.000001 prevents divide by zero */ > > sqrt( MAX(MAX((v2 + saz*saz), (vn*vn + wrl*wrl + saz*saz)), (vn*vn + (vt - wrl)*(vt - wrl) + saz*saz)) ); > > > > sx = (vt - wrl) / slip_magnitude; > > sy = vn / slip_magnitude; > > saz /= slip_magnitude; > > > > s = sqrtf(sx*sx+sy*sy+saz*saz); > > > > where: > > wrl is the surface speed of the spinning wheel > > vt is the axle speed over the ground in the direction the wheel is spinning > > vn is wheel side slip speed > > saz is wheel yaw slip speed (imagine steering a wheel with the vehicle stopped) > > sx is normalized x-axis slip > > sy is normalized y-axis slip > > saz/slip_magnitude is normalized yaw slip > > slip_magnitude normalizes the combined slip to be no greater than 1.0 > > s is COMBINED and NORMALIZED LONGITUDINAL, LATERAL, and YAW SLIP > > Note that this method can be applied in slip displacement or slip speed (shown). > |
|
From: David S. <dsa...@te...> - 2016-11-23 20:46:08
|
Hi, When an improvement is made, further improvements can be characterized. Here is a small improvement for SlipAccel in wheel.c Drive this one, it is good. Sincerely, David Savinkoff ps. This one has a milestone name: torcs-1.3.7.contact.patch apply this patch to torcs-1.3.7 sources with: patch -p0 < torcs-1.3.7.contact.patch from outside the torcs-1.3.7 directory or patch -p1 < torcs-1.3.7.contact.patch from within, then compile etc. ----- David Savinkoff wrote: > Combined Longitudinal, Lateral, and Yawing Tire Slip Forces: > > Hear ye NASA to NASCAR, tire makers, and all: > TORCS has it now! donuts (Nobody considered yaw slippage!) > > Nowhere could I find any mention of Combined Longitudinal, Lateral, > and Yawing Tire Slip Forces. Unless it can be shown otherwise ... > I will take credit for this discovery; and hereby disclose this > information, code, and method to the public domain so that it > is useful to everyone, and cannot be patented. > > Sincerely, > David Savinkoff > November 14 2016 > > See patch for information: > // COMBINED LONGITUDINAL, LATERAL, and YAWING TIRE SLIP FORCES: > // Normalize the friction circle to get normalized vector components (sx, sy) while > // braking (vt), accelerating (wrl), or wheel counter spin (vt - wrl) for any angle. > // saz slip speed accounts for rotating the contact patch (yaw). > > saz = (1.1f*3.1416f) * car->DynGC.vel.az * car->carElt->_tireWidth(index); > > slip_magnitude = 0.000001f + /* Softening factor 0.000001 prevents divide by zero */ > sqrt( MAX(MAX((v2 + saz*saz), (vn*vn + wrl*wrl + saz*saz)), (vn*vn + (vt - wrl)*(vt - wrl) + saz*saz)) ); > > sx = (vt - wrl) / slip_magnitude; > sy = vn / slip_magnitude; > saz /= slip_magnitude; > > s = sqrtf(sx*sx+sy*sy+saz*saz); > > where: > wrl is the surface speed of the spinning wheel > vt is the axle speed over the ground in the direction the wheel is spinning > vn is wheel side slip speed > saz is wheel yaw slip speed (imagine steering a wheel with the vehicle stopped) > sx is normalized x-axis slip > sy is normalized y-axis slip > saz/slip_magnitude is normalized yaw slip > slip_magnitude normalizes the combined slip to be no greater than 1.0 > s is COMBINED and NORMALIZED LONGITUDINAL, LATERAL, and YAW SLIP > Note that this method can be applied in slip displacement or slip speed (shown). |
|
From: Yunzhu L. <leo...@pk...> - 2016-11-16 23:51:57
|
Thanks! This is very helpful. Best, Yunzhu > -----Original Messages----- > From: "Bernhard Wymann" <be...@bl...> > Sent Time: 2016-11-16 14:46:03 (Wednesday) > To: "Yunzhu Li" <leo...@pk...> > Cc: tor...@li... > Subject: Re: [Torcs-users] Car flied up then went out of the track > > Hi Yunzhu > > Yes, these conditions can lead to this: > - damage > 10000 > - car run out of fuel and is not moving > - car did not complete the lap within a reasonable time (with an average > speed of 10m/s and some "bonus time) > - car did not clear a penalty within the required number of laps (can > just happen in pro mode, semi pro is default for robots) > > See raceengine.cpp: > http://torcs.cvs.sourceforge.net/viewvc/torcs/torcs/torcs/src/libs/raceengineclient/raceengine.cpp?revision=1.19.2.23&view=markup&pathrev=r1-3-1 > > Kind regards > > Bernhard > > > On 16.11.2016 22:15, Yunzhu Li wrote: > > Hi Bernhard, > > > > Is there any other cases that could lead to this situation? > > I am pretty sure that there is no damage, yet the car is still been taken off the track by the (invisible) crane. > > > > Thanks! > > Yunzhu > > > > > >> -----Original Messages----- > >> From: "Bernhard Wymann" <be...@bl...> > >> Sent Time: 2016-11-14 14:11:03 (Monday) > >> To: "Yunzhu Li" <leo...@gm...>, tor...@li... > >> Cc: > >> Subject: Re: [Torcs-users] Car flied up then went out of the track > >> > >> Hi > >> > >> Yes. If the car is totally broken (damage > 10000) it stops, and the > >> virtual (invisible) crane takes it off the track to the side. > >> > >> Kind regards > >> > >> Bernhard > >> > >> On 14.11.2016 11:37, Yunzhu Li wrote: > >>> Dear all, > >>> > >>> Has anyone encountered the following issue? > >>> > >>> I was writing a robot for torcs. After moving normally for a while, the > >>> car suddenly flied up for a certain distance, then moved horizontally > >>> towards the outside of the track, then dropped down. > >>> > >>> Any ideas of how to solve this? I am using torcs 1.3.4 with provided SRC > >>> patch. > >>> > >>> Thanks in advance. > >>> > >>> Yunzhu > >>> > >>> > >>> ------------------------------------------------------------------------------ > >>> > >>> > >>> > >>> _______________________________________________ > >>> Torcs-users mailing list > >>> Tor...@li... > >>> https://lists.sourceforge.net/lists/listinfo/torcs-users > >>> > >> > >> > >> ------------------------------------------------------------------------------ > >> _______________________________________________ > >> Torcs-users mailing list > >> Tor...@li... > >> https://lists.sourceforge.net/lists/listinfo/torcs-users > > > > > > ------------------------------------------------------------------------------ > > _______________________________________________ > > Torcs-users mailing list > > Tor...@li... > > https://lists.sourceforge.net/lists/listinfo/torcs-users > > > |
|
From: Till Z. <zo...@ze...> - 2016-11-16 22:47:48
|
Hi Yunzhu, there is also a timeout. If the car is too slow or does not proceed, it is disqualified and taken out of the lap. Best Till ------------------------ Dipl. Inf. Till Zoppke mobile: +49-151-40511083 til...@fu... <mailto:Til...@fu...> > El 16 nov 2016, a las 22:15, Yunzhu Li <leo...@pk...> escribió: > > Hi Bernhard, > > Is there any other cases that could lead to this situation? > I am pretty sure that there is no damage, yet the car is still been taken off the track by the (invisible) crane. > > Thanks! > Yunzhu > > >> -----Original Messages----- >> From: "Bernhard Wymann" <be...@bl...> >> Sent Time: 2016-11-14 14:11:03 (Monday) >> To: "Yunzhu Li" <leo...@gm...>, tor...@li... >> Cc: >> Subject: Re: [Torcs-users] Car flied up then went out of the track >> >> Hi >> >> Yes. If the car is totally broken (damage > 10000) it stops, and the >> virtual (invisible) crane takes it off the track to the side. >> >> Kind regards >> >> Bernhard >> >> On 14.11.2016 11:37, Yunzhu Li wrote: >>> Dear all, >>> >>> Has anyone encountered the following issue? >>> >>> I was writing a robot for torcs. After moving normally for a while, the >>> car suddenly flied up for a certain distance, then moved horizontally >>> towards the outside of the track, then dropped down. >>> >>> Any ideas of how to solve this? I am using torcs 1.3.4 with provided SRC >>> patch. >>> >>> Thanks in advance. >>> >>> Yunzhu >>> >>> >>> ------------------------------------------------------------------------------ >>> >>> >>> >>> _______________________________________________ >>> Torcs-users mailing list >>> Tor...@li... >>> https://lists.sourceforge.net/lists/listinfo/torcs-users >>> >> >> >> ------------------------------------------------------------------------------ >> _______________________________________________ >> Torcs-users mailing list >> Tor...@li... >> https://lists.sourceforge.net/lists/listinfo/torcs-users > > > ------------------------------------------------------------------------------ > _______________________________________________ > Torcs-users mailing list > Tor...@li... > https://lists.sourceforge.net/lists/listinfo/torcs-users |
|
From: Bernhard W. <be...@bl...> - 2016-11-16 22:46:16
|
Hi Yunzhu Yes, these conditions can lead to this: - damage > 10000 - car run out of fuel and is not moving - car did not complete the lap within a reasonable time (with an average speed of 10m/s and some "bonus time) - car did not clear a penalty within the required number of laps (can just happen in pro mode, semi pro is default for robots) See raceengine.cpp: http://torcs.cvs.sourceforge.net/viewvc/torcs/torcs/torcs/src/libs/raceengineclient/raceengine.cpp?revision=1.19.2.23&view=markup&pathrev=r1-3-1 Kind regards Bernhard On 16.11.2016 22:15, Yunzhu Li wrote: > Hi Bernhard, > > Is there any other cases that could lead to this situation? > I am pretty sure that there is no damage, yet the car is still been taken off the track by the (invisible) crane. > > Thanks! > Yunzhu > > >> -----Original Messages----- >> From: "Bernhard Wymann" <be...@bl...> >> Sent Time: 2016-11-14 14:11:03 (Monday) >> To: "Yunzhu Li" <leo...@gm...>, tor...@li... >> Cc: >> Subject: Re: [Torcs-users] Car flied up then went out of the track >> >> Hi >> >> Yes. If the car is totally broken (damage > 10000) it stops, and the >> virtual (invisible) crane takes it off the track to the side. >> >> Kind regards >> >> Bernhard >> >> On 14.11.2016 11:37, Yunzhu Li wrote: >>> Dear all, >>> >>> Has anyone encountered the following issue? >>> >>> I was writing a robot for torcs. After moving normally for a while, the >>> car suddenly flied up for a certain distance, then moved horizontally >>> towards the outside of the track, then dropped down. >>> >>> Any ideas of how to solve this? I am using torcs 1.3.4 with provided SRC >>> patch. >>> >>> Thanks in advance. >>> >>> Yunzhu >>> >>> >>> ------------------------------------------------------------------------------ >>> >>> >>> >>> _______________________________________________ >>> Torcs-users mailing list >>> Tor...@li... >>> https://lists.sourceforge.net/lists/listinfo/torcs-users >>> >> >> >> ------------------------------------------------------------------------------ >> _______________________________________________ >> Torcs-users mailing list >> Tor...@li... >> https://lists.sourceforge.net/lists/listinfo/torcs-users > > > ------------------------------------------------------------------------------ > _______________________________________________ > Torcs-users mailing list > Tor...@li... > https://lists.sourceforge.net/lists/listinfo/torcs-users > |
|
From: Yunzhu L. <leo...@pk...> - 2016-11-16 21:15:52
|
Hi Bernhard, Is there any other cases that could lead to this situation? I am pretty sure that there is no damage, yet the car is still been taken off the track by the (invisible) crane. Thanks! Yunzhu > -----Original Messages----- > From: "Bernhard Wymann" <be...@bl...> > Sent Time: 2016-11-14 14:11:03 (Monday) > To: "Yunzhu Li" <leo...@gm...>, tor...@li... > Cc: > Subject: Re: [Torcs-users] Car flied up then went out of the track > > Hi > > Yes. If the car is totally broken (damage > 10000) it stops, and the > virtual (invisible) crane takes it off the track to the side. > > Kind regards > > Bernhard > > On 14.11.2016 11:37, Yunzhu Li wrote: > > Dear all, > > > > Has anyone encountered the following issue? > > > > I was writing a robot for torcs. After moving normally for a while, the > > car suddenly flied up for a certain distance, then moved horizontally > > towards the outside of the track, then dropped down. > > > > Any ideas of how to solve this? I am using torcs 1.3.4 with provided SRC > > patch. > > > > Thanks in advance. > > > > Yunzhu > > > > > > ------------------------------------------------------------------------------ > > > > > > > > _______________________________________________ > > Torcs-users mailing list > > Tor...@li... > > https://lists.sourceforge.net/lists/listinfo/torcs-users > > > > > ------------------------------------------------------------------------------ > _______________________________________________ > Torcs-users mailing list > Tor...@li... > https://lists.sourceforge.net/lists/listinfo/torcs-users |
|
From: David S. <dsa...@te...> - 2016-11-15 01:10:48
|
Combined Longitudinal, Lateral, and Yawing Tire Slip Forces:
Hear ye NASA to NASCAR, tire makers, and all:
TORCS has it now! donuts (Nobody considered of yaw slippage!)
Nowhere could I find any mention of Combined Longitudinal, Lateral,
and Yawing Tire Slip Forces. Unless it can be shown otherwise ...
I will take credit for this discovery; and hereby disclose this
information, code, and method to the public domain so that it
is useful to everyone, and cannot be patented.
Sincerely,
David Savinkoff
November 14 2016
See patch for information:
// COMBINED LONGITUDINAL, LATERAL, and YAWING TIRE SLIP FORCES:
// Normalize the friction circle to get normalized vector components (sx, sy) while
// braking (vt), accelerating (wrl), or wheel counter spin (vt - wrl) for any angle.
// saz slip speed accounts for rotating the contact patch (yaw).
saz = (1.1f*3.1416f) * car->DynGC.vel.az * car->carElt->_tireWidth(index);
slip_magnitude = 0.000001f + /* Softening factor 0.000001 prevents divide by zero */
sqrt( MAX(MAX((v2 + saz*saz), (vn*vn + wrl*wrl + saz*saz)), (vn*vn + (vt - wrl)*(vt - wrl) + saz*saz)) );
sx = (vt - wrl) / slip_magnitude;
sy = vn / slip_magnitude;
saz /= slip_magnitude;
s = sqrtf(sx*sx+sy*sy+saz*saz);
where:
wrl is the surface speed of the spinning wheel
vt is the axle speed over the ground in the direction the wheel is spinning
vn is wheel side slip speed
saz is wheel yaw slip speed (imagine steering a wheel with the vehicle stopped)
sx is normalized x-axis slip
sy is normalized y-axis slip
saz/slip_magnitude is normalized yaw slip
slip_magnitude normalizes the combined slip to be no greater than 1.0
s is COMBINED and NORMALIZED LONGITUDINAL, LATERAL, and YAW SLIP
Note that this method can be applied in slip displacement or slip speed (shown).
|
|
From: Yunzhu L. <leo...@pk...> - 2016-11-14 22:24:20
|
I see. Thank you for the quick reply! Best, Yunzhu > -----Original Messages----- > From: "Bernhard Wymann" <be...@bl...> > Sent Time: 2016-11-14 14:11:03 (Monday) > To: "Yunzhu Li" <leo...@gm...>, tor...@li... > Cc: > Subject: Re: [Torcs-users] Car flied up then went out of the track > > Hi > > Yes. If the car is totally broken (damage > 10000) it stops, and the > virtual (invisible) crane takes it off the track to the side. > > Kind regards > > Bernhard > > On 14.11.2016 11:37, Yunzhu Li wrote: > > Dear all, > > > > Has anyone encountered the following issue? > > > > I was writing a robot for torcs. After moving normally for a while, the > > car suddenly flied up for a certain distance, then moved horizontally > > towards the outside of the track, then dropped down. > > > > Any ideas of how to solve this? I am using torcs 1.3.4 with provided SRC > > patch. > > > > Thanks in advance. > > > > Yunzhu > > > > > > ------------------------------------------------------------------------------ > > > > > > > > _______________________________________________ > > Torcs-users mailing list > > Tor...@li... > > https://lists.sourceforge.net/lists/listinfo/torcs-users > > > > > ------------------------------------------------------------------------------ > _______________________________________________ > Torcs-users mailing list > Tor...@li... > https://lists.sourceforge.net/lists/listinfo/torcs-users |
|
From: Bernhard W. <be...@bl...> - 2016-11-14 22:11:11
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Hi Yes. If the car is totally broken (damage > 10000) it stops, and the virtual (invisible) crane takes it off the track to the side. Kind regards Bernhard On 14.11.2016 11:37, Yunzhu Li wrote: > Dear all, > > Has anyone encountered the following issue? > > I was writing a robot for torcs. After moving normally for a while, the > car suddenly flied up for a certain distance, then moved horizontally > towards the outside of the track, then dropped down. > > Any ideas of how to solve this? I am using torcs 1.3.4 with provided SRC > patch. > > Thanks in advance. > > Yunzhu > > > ------------------------------------------------------------------------------ > > > > _______________________________________________ > Torcs-users mailing list > Tor...@li... > https://lists.sourceforge.net/lists/listinfo/torcs-users > |
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From: Yunzhu Li <leo...@gm...> - 2016-11-14 10:37:17
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Dear all, Has anyone encountered the following issue? I was writing a robot for torcs. After moving normally for a while, the car suddenly flied up for a certain distance, then moved horizontally towards the outside of the track, then dropped down. Any ideas of how to solve this? I am using torcs 1.3.4 with provided SRC patch. Thanks in advance. Yunzhu |