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

----- Konstantin Ritt wrote:
> Hello,
> 
> I just starting using TORCS for my masters thesis. I am currently trying to
> gain some knowledge about usage of OpenGL and was wondering if you could
> give a quick shout on where and how the OpenGL pipeline is handled in TORCS?

I don't know, but see below.

> What I am trying to do is to create another buffer to write frames to, as a
> texture, before they are displayed on the screen. With these textures I
> want to perform postprocessing purely by using shaders to keep all memory
> and computation on the GPU in order to reduce impact on the runtime of the
> simulation.
> I would highly appreciate it if you could give me some short advice to save
> me time sorting through the immense framework of TORCS. Thanks a lot in
> advance!
> 
> Kind regards,
> Konstantin

Hi,
I found that the following files have 99.99% of torcs gl code in them:

torcs/src/libs/tgfclient/gui.cpp
torcs/src/libs/tgfclient/img.cpp
torcs/src/libs/tgfclient/screen.cpp
torcs/src/libs/tgfclient/guibutton.cpp
torcs/src/libs/tgfclient/guiedit.cpp
torcs/src/libs/tgfclient/guifont.cpp
torcs/src/libs/tgfclient/glfeatures.cpp
torcs/src/libs/tgfclient/guiscrollist.cpp
torcs/src/libs/confscreens/mouseconfig.cpp
torcs/src/libs/confscreens/joystickconfig.cpp
torcs/src/libs/confscreens/controlconfig.cpp
torcs/src/libs/raceengineclient/raceengine.cpp
torcs/src/libs/raceengineclient/racegl.cpp
torcs/src/libs/client/splash.cpp
torcs/src/libs/musicplayer/musicplayer.cpp

( find . -type f -print0 | xargs -0 grep -Iw gl.* )

Hello every body
I am wondering if you can help me, I really need it in my thesis

I am trying to use genetic algorithms to design a controller in TORCS (
windows  version)
My problem is how to call automatically the torcs server from a c++ loop
with the same settings ( car, track, race and laps number)



My program will looks like

for (i=0;i<10;i++)
{
call torcs
call the client ( controller)
save results
....

}
I would highly appreciate it if you could give me some short advice to save
run time
. Thanks a lot in advance!

-- 
Salem Mohammed
University of Mascara
Algeria

Hello,

I just starting using TORCS for my masters thesis. I am currently trying to
gain some knowledge about usage of OpenGL and was wondering if you could
give a quick shout on where and how the OpenGL pipeline is handled in TORCS?
What I am trying to do is to create another buffer to write frames to, as a
texture, before they are displayed on the screen. With these textures I
want to perform postprocessing purely by using shaders to keep all memory
and computation on the GPU in order to reduce impact on the runtime of the
simulation.
I would highly appreciate it if you could give me some short advice to save
me time sorting through the immense framework of TORCS. Thanks a lot in
advance!

Kind regards,
Konstantin

----- Abhinav Verma wrote:
> Hi David,
> 
> Thanks for the response. I have similar issues and was trying to follow the steps in your notes. 

Are you using parameters or environment variables with make?
I've never compiled torcs this way. 
No: ( make TORCS_BASE=/home/user/torcs-1.3.7 MAKE_DEFAULT=/home/user/ )
Yes: ( make )

run ./configure with parameters from within the torcs/ directory
then run 'make' without parameters.

eg.
./configure --prefix=/home/dooseop/local
make
make install
make datainstall
...

> Regards,
> Abhinav
> 

`png_set_longjmp_fn' is Not supposed to be part of the build for Linux.
( It is part of the Windows(tm) build )

I discovered this by grep'ing TORCS sources:

$ find . -type f -print0 | xargs -0 grep -I png_set_longjmp_fn
./src/windows/include/png.h:PNG_EXPORT(8, jmp_buf*, png_set_longjmp_fn, (png_structp png_ptr,
./src/windows/include/png.h:      (*png_set_longjmp_fn((png_ptr), longjmp, sizeof (jmp_buf)))
$



> > On Apr 19, 2017, at 7:42 PM, David Savinkoff wrote:
> > 
> > ----- cdsjjav wrote:
> >> Hello.
> >> 
> >> I'm trying to install TORCS on my desktop under Ubuntu 16.04.
> >> Following the steps for installation described in "
> >> http://torcs.sourceforge.net/"
> >> I have installed all the libraries such as libxmu-dev, libxmu6 etc.
> >> successfully.
> >> 
> >> However, I got the following error message when I tried to compile the
> >> source package (by typing 'make'),
> >> 
> >> make TORCS_BASE=/home/dooseop/torcs-1.3.7 MAKE_DEFAULT=/home/dooseop/
> > 
> > Do this instead:
> > ./configure --prefix=/home/dooseop/local
> > make
> > make install
> > make datainstall
> > 
> > 
> >> make[3]: Leaving directory '/home/dooseop/torcs-1.3.7/src/libs'
> >> make[3]: Entering directory '/home/dooseop/torcs-1.3.7/src/linux'
> >> g++ main.o linuxspec.o -L/home/dooseop/torcs-1.3.7/export/lib  -lopenal
> >> -lalut -lvorbisfile -L/usr/lib  -lracescreens -lrobottools -lclient
> >> -lconfscreens -ltgf -ltgfclient -ltxml -lplibul -lraceengine -lmusicplayer
> >> -llearning -lplibjs -lplibssgaux -lplibssg -lplibsm -lplibsl -lplibsg
> >> -lplibul -lglut -lGLU -lGL -lpng -lz -ldl -lXrandr -lXrender -lXxf86vm
> >> -lXmu -lXi -lXt -lSM -lICE -lXext -lX11 -lm  -o torcs-bin
> >> /home/dooseop/torcs-1.3.7/export/lib/libtgfclient.so: undefined reference
> >> to `png_set_longjmp_fn'

`png_set_longjmp_fn' is Not supposed to be part of the build for Linux.
(It is part of the Windows(tm) build)


> >> collect2: error: ld returned 1 exit status
> >> /home/dooseop/torcs-1.3.7/Make-default.mk:405: recipe for target
> >> 'torcs-bin' failed
> >> make[3]: *** [torcs-bin] Error 1
> >> make[3]: Leaving directory '/home/dooseop/torcs-1.3.7/src/linux'
> >> /home/dooseop/torcs-1.3.7/Make-default.mk:679: recipe for target 'subdirs'
> >> failed
> >> make[2]: *** [subdirs] Error 1
> >> make[2]: Leaving directory '/home/dooseop/torcs-1.3.7/src'
> >> /home/dooseop/torcs-1.3.7/Make-default.mk:679: recipe for target 'subdirs'
> >> failed
> >> make[1]: *** [subdirs] Error 1
> >> make[1]: Leaving directory '/home/dooseop/torcs-1.3.7'
> >> Makefile:30: recipe for target 'restart' failed
> >> make: *** [restart] Error 2
> >> 
> >> In order to solve the problem, I have googled for long time .. but cannot
> >> find the solution.
> >> Is there anyone who can solve this problem.
> >> 
> >> Thank you for reading this e-main and would like to say sorry for my bad
> >> english..
> > 

----- Abhinav Verma wrote:
> Hi David,
> 
> Thanks for the response. I have similar issues and was trying to follow the steps in your notes. I had a follow up question, where can one find the file torcs-1.3.7.patch (or torcs-1.3.6.patch)? I couldn’t find it on http://torcs.sourceforge.net/ <http://torcs.sourceforge.net/> 
>
The line mentioning  torcs-1.3.6.patch does not refer to any specific patch.
It's there to remind to me apply some of my custom patches (Not bug patches)
I frequently leave vehicle performance related patches on this mailing list.

I don't have the problem with compiling that you have (I have Centos 6).

I figured that
 make TORCS_BASE=/home/user/torcs-1.3.7 MAKE_DEFAULT=/home/user/
may be the problem.

So I suggested using ./configure with parameters, and make without parameters.

> Thanks for your help.
> 
> Regards,
> Abhinav
> 
> > On Apr 19, 2017, at 7:42 PM, David Savnkoff wrote:
> > 
> > ----- cdsjjav wrote:
> >> Hello.
> >> 
> >> I'm trying to install TORCS on my desktop under Ubuntu 16.04.
> >> Following the steps for installation described in "
> >> http://torcs.sourceforge.net/"
> >> I have installed all the libraries such as libxmu-dev, libxmu6 etc.
> >> successfully.
> >> 
> >> However, I got the following error message when I tried to compile the
> >> source package (by typing 'make'),
> >> 
> >> make TORCS_BASE=/home/dooseop/torcs-1.3.7 MAKE_DEFAULT=/home/dooseop/
> > 
> > Do this instead:
> > ./configure --prefix=/home/dooseop/local
> > make
> > make install
> > make datainstall
> > 
> > See my enclosed TorcsNotes.txt also.
> > 
> >> make[3]: Leaving directory '/home/dooseop/torcs-1.3.7/src/libs'
> >> make[3]: Entering directory '/home/dooseop/torcs-1.3.7/src/linux'
> >> g++ main.o linuxspec.o -L/home/dooseop/torcs-1.3.7/export/lib  -lopenal
> >> -lalut -lvorbisfile -L/usr/lib  -lracescreens -lrobottools -lclient
> >> -lconfscreens -ltgf -ltgfclient -ltxml -lplibul -lraceengine -lmusicplayer
> >> -llearning -lplibjs -lplibssgaux -lplibssg -lplibsm -lplibsl -lplibsg
> >> -lplibul -lglut -lGLU -lGL -lpng -lz -ldl -lXrandr -lXrender -lXxf86vm
> >> -lXmu -lXi -lXt -lSM -lICE -lXext -lX11 -lm  -o torcs-bin
> >> /home/dooseop/torcs-1.3.7/export/lib/libtgfclient.so: undefined reference
> >> to `png_set_longjmp_fn'
> >> collect2: error: ld returned 1 exit status
> >> /home/dooseop/torcs-1.3.7/Make-default.mk:405: recipe for target
> >> 'torcs-bin' failed
> >> make[3]: *** [torcs-bin] Error 1
> >> make[3]: Leaving directory '/home/dooseop/torcs-1.3.7/src/linux'
> >> /home/dooseop/torcs-1.3.7/Make-default.mk:679: recipe for target 'subdirs'
> >> failed
> >> make[2]: *** [subdirs] Error 1
> >> make[2]: Leaving directory '/home/dooseop/torcs-1.3.7/src'
> >> /home/dooseop/torcs-1.3.7/Make-default.mk:679: recipe for target 'subdirs'
> >> failed
> >> make[1]: *** [subdirs] Error 1
> >> make[1]: Leaving directory '/home/dooseop/torcs-1.3.7'
> >> Makefile:30: recipe for target 'restart' failed
> >> make: *** [restart] Error 2
> >> 
> >> In order to solve the problem, I have googled for long time .. but cannot
> >> find the solution.
> >> Is there anyone who can solve this problem.
> >> 
> >> Thank you for reading this e-main and would like to say sorry for my bad
> >> english..
> > 
> > <TorcsNotes.txt>------------------------------------------------------------------------------

Hi David,

Thanks for the response. I have similar issues and was trying to follow the steps in your notes. I had a follow up question, where can one find the file torcs-1.3.7.patch (or torcs-1.3.6.patch)? I couldn’t find it on http://torcs.sourceforge.net/ <http://torcs.sourceforge.net/> 

Thanks for your help.

Regards,
Abhinav

> On Apr 19, 2017, at 7:42 PM, David Savinkoff <dsa...@te...> wrote:
> 
> ----- cdsjjav wrote:
>> Hello.
>> 
>> I'm trying to install TORCS on my desktop under Ubuntu 16.04.
>> Following the steps for installation described in "
>> http://torcs.sourceforge.net/"
>> I have installed all the libraries such as libxmu-dev, libxmu6 etc.
>> successfully.
>> 
>> However, I got the following error message when I tried to compile the
>> source package (by typing 'make'),
>> 
>> make TORCS_BASE=/home/dooseop/torcs-1.3.7 MAKE_DEFAULT=/home/dooseop/
> 
> Do this instead:
> ./configure --prefix=/home/dooseop/local
> make
> make install
> make datainstall
> 
> See my enclosed TorcsNotes.txt also.
> 
>> make[3]: Leaving directory '/home/dooseop/torcs-1.3.7/src/libs'
>> make[3]: Entering directory '/home/dooseop/torcs-1.3.7/src/linux'
>> g++ main.o linuxspec.o -L/home/dooseop/torcs-1.3.7/export/lib  -lopenal
>> -lalut -lvorbisfile -L/usr/lib  -lracescreens -lrobottools -lclient
>> -lconfscreens -ltgf -ltgfclient -ltxml -lplibul -lraceengine -lmusicplayer
>> -llearning -lplibjs -lplibssgaux -lplibssg -lplibsm -lplibsl -lplibsg
>> -lplibul -lglut -lGLU -lGL -lpng -lz -ldl -lXrandr -lXrender -lXxf86vm
>> -lXmu -lXi -lXt -lSM -lICE -lXext -lX11 -lm  -o torcs-bin
>> /home/dooseop/torcs-1.3.7/export/lib/libtgfclient.so: undefined reference
>> to `png_set_longjmp_fn'
>> collect2: error: ld returned 1 exit status
>> /home/dooseop/torcs-1.3.7/Make-default.mk:405: recipe for target
>> 'torcs-bin' failed
>> make[3]: *** [torcs-bin] Error 1
>> make[3]: Leaving directory '/home/dooseop/torcs-1.3.7/src/linux'
>> /home/dooseop/torcs-1.3.7/Make-default.mk:679: recipe for target 'subdirs'
>> failed
>> make[2]: *** [subdirs] Error 1
>> make[2]: Leaving directory '/home/dooseop/torcs-1.3.7/src'
>> /home/dooseop/torcs-1.3.7/Make-default.mk:679: recipe for target 'subdirs'
>> failed
>> make[1]: *** [subdirs] Error 1
>> make[1]: Leaving directory '/home/dooseop/torcs-1.3.7'
>> Makefile:30: recipe for target 'restart' failed
>> make: *** [restart] Error 2
>> 
>> In order to solve the problem, I have googled for long time .. but cannot
>> find the solution.
>> Is there anyone who can solve this problem.
>> 
>> Thank you for reading this e-main and would like to say sorry for my bad
>> english..
> 
> <TorcsNotes.txt>------------------------------------------------------------------------------
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----- cdsjjav wrote:
> Hello.
> 
> I'm trying to install TORCS on my desktop under Ubuntu 16.04.
> Following the steps for installation described in "
> http://torcs.sourceforge.net/"
> I have installed all the libraries such as libxmu-dev, libxmu6 etc.
> successfully.
> 
> However, I got the following error message when I tried to compile the
> source package (by typing 'make'),
> 
> make TORCS_BASE=/home/dooseop/torcs-1.3.7 MAKE_DEFAULT=/home/dooseop/

Do this instead:
./configure --prefix=/home/dooseop/local
make
make install
make datainstall

See my enclosed TorcsNotes.txt also.

> make[3]: Leaving directory '/home/dooseop/torcs-1.3.7/src/libs'
> make[3]: Entering directory '/home/dooseop/torcs-1.3.7/src/linux'
> g++ main.o linuxspec.o -L/home/dooseop/torcs-1.3.7/export/lib  -lopenal
> -lalut -lvorbisfile -L/usr/lib  -lracescreens -lrobottools -lclient
> -lconfscreens -ltgf -ltgfclient -ltxml -lplibul -lraceengine -lmusicplayer
> -llearning -lplibjs -lplibssgaux -lplibssg -lplibsm -lplibsl -lplibsg
> -lplibul -lglut -lGLU -lGL -lpng -lz -ldl -lXrandr -lXrender -lXxf86vm
> -lXmu -lXi -lXt -lSM -lICE -lXext -lX11 -lm  -o torcs-bin
> /home/dooseop/torcs-1.3.7/export/lib/libtgfclient.so: undefined reference
> to `png_set_longjmp_fn'
> collect2: error: ld returned 1 exit status
> /home/dooseop/torcs-1.3.7/Make-default.mk:405: recipe for target
> 'torcs-bin' failed
> make[3]: *** [torcs-bin] Error 1
> make[3]: Leaving directory '/home/dooseop/torcs-1.3.7/src/linux'
> /home/dooseop/torcs-1.3.7/Make-default.mk:679: recipe for target 'subdirs'
> failed
> make[2]: *** [subdirs] Error 1
> make[2]: Leaving directory '/home/dooseop/torcs-1.3.7/src'
> /home/dooseop/torcs-1.3.7/Make-default.mk:679: recipe for target 'subdirs'
> failed
> make[1]: *** [subdirs] Error 1
> make[1]: Leaving directory '/home/dooseop/torcs-1.3.7'
> Makefile:30: recipe for target 'restart' failed
> make: *** [restart] Error 2
> 
> In order to solve the problem, I have googled for long time .. but cannot
> find the solution.
> Is there anyone who can solve this problem.
> 
> Thank you for reading this e-main and would like to say sorry for my bad
> english..

Hello.

I'm trying to install TORCS on my desktop under Ubuntu 16.04.
Following the steps for installation described in "
http://torcs.sourceforge.net/"
I have installed all the libraries such as libxmu-dev, libxmu6 etc.
successfully.

However, I got the following error message when I tried to compile the
source package (by typing 'make'),

make TORCS_BASE=/home/dooseop/torcs-1.3.7 MAKE_DEFAULT=/home/dooseop/
torcs-1.3.7/Make-default.mk
make[1]: Entering directory '/home/dooseop/torcs-1.3.7'
make[2]: Entering directory '/home/dooseop/torcs-1.3.7/src'
make[3]: Entering directory '/home/dooseop/torcs-1.3.7/src/interfaces'
 Exporting car.h to /home/dooseop/torcs-1.3.7/export/include/car.h
 Exporting graphic.h to /home/dooseop/torcs-1.3.7/export/include/graphic.h
 Exporting playerpref.h to /home/dooseop/torcs-1.3.7/
export/include/playerpref.h
 Exporting raceman.h to /home/dooseop/torcs-1.3.7/export/include/raceman.h
 Exporting replay.h to /home/dooseop/torcs-1.3.7/export/include/replay.h
 Exporting robot.h to /home/dooseop/torcs-1.3.7/export/include/robot.h
 Exporting simu.h to /home/dooseop/torcs-1.3.7/export/include/simu.h
 Exporting telemetry.h to /home/dooseop/torcs-1.3.7/
export/include/telemetry.h
 Exporting track.h to /home/dooseop/torcs-1.3.7/export/include/track.h
make[3]: Leaving directory '/home/dooseop/torcs-1.3.7/src/interfaces'
make[3]: Entering directory '/home/dooseop/torcs-1.3.7/src/libs'
make[4]: Entering directory '/home/dooseop/torcs-1.3.7/src/libs/txml'
 Exporting xml.h to /home/dooseop/torcs-1.3.7/export/include/xml.h
 Exporting xmlparse.h to /home/dooseop/torcs-1.3.7/export/include/xmlparse.h
make[4]: Leaving directory '/home/dooseop/torcs-1.3.7/src/libs/txml'
make[4]: Entering directory '/home/dooseop/torcs-1.3.7/src/libs/tgf'
 Exporting tgf.h to /home/dooseop/torcs-1.3.7/export/include/tgf.h
 Exporting os.h to /home/dooseop/torcs-1.3.7/export/include/os.h
make[4]: Leaving directory '/home/dooseop/torcs-1.3.7/src/libs/tgf'
make[4]: Entering directory '/home/dooseop/torcs-1.3.7/src/libs/tgfclient'
 Exporting tgfclient.h to /home/dooseop/torcs-1.3.7/
export/include/tgfclient.h
 Exporting screen_properties.h to /home/dooseop/torcs-1.3.7/
export/include/screen_properties.h
 Exporting glfeatures.h to /home/dooseop/torcs-1.3.7/
export/include/glfeatures.h
make[4]: Leaving directory '/home/dooseop/torcs-1.3.7/src/libs/tgfclient'
make[4]: Entering directory '/home/dooseop/torcs-1.3.7/src/libs/client'
 Exporting client.h to /home/dooseop/torcs-1.3.7/export/include/client.h
 Exporting exitmenu.h to /home/dooseop/torcs-1.3.7/export/include/exitmenu.h
make[4]: Leaving directory '/home/dooseop/torcs-1.3.7/src/libs/client'
make[4]: Entering directory '/home/dooseop/torcs-1.3.7/src/libs/confscreens'
 Exporting driverconfig.h to /home/dooseop/torcs-1.3.7/
export/include/driverconfig.h
 Exporting joystickconfig.h to /home/dooseop/torcs-1.3.7/
export/include/joystickconfig.h
 Exporting mouseconfig.h to /home/dooseop/torcs-1.3.7/
export/include/mouseconfig.h
 Exporting controlconfig.h to /home/dooseop/torcs-1.3.7/
export/include/controlconfig.h
 Exporting graphconfig.h to /home/dooseop/torcs-1.3.7/
export/include/graphconfig.h
 Exporting simuconfig.h to /home/dooseop/torcs-1.3.7/
export/include/simuconfig.h
 Exporting soundconfig.h to /home/dooseop/torcs-1.3.7/
export/include/soundconfig.h
 Exporting openglconfig.h to /home/dooseop/torcs-1.3.7/
export/include/openglconfig.h
make[4]: Leaving directory '/home/dooseop/torcs-1.3.7/src/libs/confscreens'
make[4]: Entering directory '/home/dooseop/torcs-1.3.7/src/libs/racescreens'
 Exporting racescreens.h to /home/dooseop/torcs-1.3.7/
export/include/racescreens.h
make[4]: Leaving directory '/home/dooseop/torcs-1.3.7/src/libs/racescreens'
make[4]: Entering directory '/home/dooseop/torcs-1.3.7/src/libs/robottools'
 Exporting robottools.h to /home/dooseop/torcs-1.3.7/
export/include/robottools.h
make[4]: Leaving directory '/home/dooseop/torcs-1.3.7/src/libs/robottools'
make[4]: Entering directory '/home/dooseop/torcs-1.3.7/
src/libs/raceengineclient'
 Exporting singleplayer.h to /home/dooseop/torcs-1.3.7/
export/include/singleplayer.h
 Exporting raceinit.h to /home/dooseop/torcs-1.3.7/export/include/raceinit.h
make[4]: Leaving directory '/home/dooseop/torcs-1.3.7/
src/libs/raceengineclient'
make[4]: Entering directory '/home/dooseop/torcs-1.3.7/src/libs/learning'
 Exporting policy.h to /home/dooseop/torcs-1.3.7/export/include/learning/
policy.h
 Exporting ann_policy.h to /home/dooseop/torcs-1.3.7/
export/include/learning/ann_policy.h
 Exporting ANN.h to /home/dooseop/torcs-1.3.7/export/include/learning/ANN.h
 Exporting learn_debug.h to /home/dooseop/torcs-1.3.7/
export/include/learning/learn_debug.h
 Exporting real.h to /home/dooseop/torcs-1.3.7/
export/include/learning/real.h
 Exporting string_utils.h to /home/dooseop/torcs-1.3.7/
export/include/learning/string_utils.h
 Exporting List.h to /home/dooseop/torcs-1.3.7/
export/include/learning/List.h
 Exporting MathFunctions.h to /home/dooseop/torcs-1.3.7/
export/include/learning/MathFunctions.h
 Exporting Distribution.h to /home/dooseop/torcs-1.3.7/
export/include/learning/Distribution.h
make[4]: Leaving directory '/home/dooseop/torcs-1.3.7/src/libs/learning'
make[4]: Entering directory '/home/dooseop/torcs-1.3.7/src/libs/portability'
 Exporting portability.h to /home/dooseop/torcs-1.3.7/
export/include/portability.h
make[4]: Leaving directory '/home/dooseop/torcs-1.3.7/src/libs/portability'
make[4]: Entering directory '/home/dooseop/torcs-1.3.7/src/libs/math'
 Exporting linalg_t.h to /home/dooseop/torcs-1.3.7/
export/include/tmath/linalg_t.h
 Exporting v2_t.h to /home/dooseop/torcs-1.3.7/export/include/tmath/v2_t.h
 Exporting v3_t.h to /home/dooseop/torcs-1.3.7/export/include/tmath/v3_t.h
 Exporting v4_t.h to /home/dooseop/torcs-1.3.7/export/include/tmath/v4_t.h
 Exporting straight2_t.h to /home/dooseop/torcs-1.3.7/export/include/tmath/
straight2_t.h
make[4]: Leaving directory '/home/dooseop/torcs-1.3.7/src/libs/math'
make[4]: Entering directory '/home/dooseop/torcs-1.3.7/src/libs/musicplayer'
 Exporting musicplayer.h to /home/dooseop/torcs-1.3.7/
export/include/musicplayer/musicplayer.h
 Exporting SoundStream.h to /home/dooseop/torcs-1.3.7/
export/include/musicplayer/SoundStream.h
 Exporting OggSoundStream.h to /home/dooseop/torcs-1.3.7/
export/include/musicplayer/OggSoundStream.h
 Exporting OpenALMusicPlayer.h to /home/dooseop/torcs-1.3.7/
export/include/musicplayer/OpenALMusicPlayer.h
make[4]: Leaving directory '/home/dooseop/torcs-1.3.7/src/libs/musicplayer'
make[3]: Leaving directory '/home/dooseop/torcs-1.3.7/src/libs'
make[3]: Entering directory '/home/dooseop/torcs-1.3.7/src/linux'
 Exporting osspec.h to /home/dooseop/torcs-1.3.7/export/include/osspec.h
make[3]: Leaving directory '/home/dooseop/torcs-1.3.7/src/linux'
make[3]: Entering directory '/home/dooseop/torcs-1.3.7/src/modules'
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src/modules/simu/simuv2/SOLID-2.0/include'
make[8]: Entering directory '/home/dooseop/torcs-1.3.7/
src/modules/simu/simuv2/SOLID-2.0/include/3D'
 Exporting Basic.h to /home/dooseop/torcs-1.3.7/export/include/3D/Basic.h
 Exporting Matrix.h to /home/dooseop/torcs-1.3.7/export/include/3D/Matrix.h
 Exporting Point.h to /home/dooseop/torcs-1.3.7/export/include/3D/Point.h
 Exporting Quaternion.h to /home/dooseop/torcs-1.3.7/
export/include/3D/Quaternion.h
 Exporting Tuple3.h to /home/dooseop/torcs-1.3.7/export/include/3D/Tuple3.h
 Exporting Tuple4.h to /home/dooseop/torcs-1.3.7/export/include/3D/Tuple4.h
 Exporting Vector.h to /home/dooseop/torcs-1.3.7/export/include/3D/Vector.h
make[8]: Leaving directory '/home/dooseop/torcs-1.3.7/
src/modules/simu/simuv2/SOLID-2.0/include/3D'
make[8]: Entering directory '/home/dooseop/torcs-1.3.7/
src/modules/simu/simuv2/SOLID-2.0/include/SOLID'
 Exporting solid.h to /home/dooseop/torcs-1.3.7/export/include/SOLID/solid.h
make[8]: Leaving directory '/home/dooseop/torcs-1.3.7/
src/modules/simu/simuv2/SOLID-2.0/include/SOLID'
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src/libs/raceengineclient'
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g++ main.o linuxspec.o -L/home/dooseop/torcs-1.3.7/export/lib  -lopenal
-lalut -lvorbisfile -L/usr/lib  -lracescreens -lrobottools -lclient
-lconfscreens -ltgf -ltgfclient -ltxml -lplibul -lraceengine -lmusicplayer
-llearning -lplibjs -lplibssgaux -lplibssg -lplibsm -lplibsl -lplibsg
-lplibul -lglut -lGLU -lGL -lpng -lz -ldl -lXrandr -lXrender -lXxf86vm
-lXmu -lXi -lXt -lSM -lICE -lXext -lX11 -lm  -o torcs-bin
/home/dooseop/torcs-1.3.7/export/lib/libtgfclient.so: undefined reference
to `png_set_longjmp_fn'
collect2: error: ld returned 1 exit status
/home/dooseop/torcs-1.3.7/Make-default.mk:405: recipe for target
'torcs-bin' failed
make[3]: *** [torcs-bin] Error 1
make[3]: Leaving directory '/home/dooseop/torcs-1.3.7/src/linux'
/home/dooseop/torcs-1.3.7/Make-default.mk:679: recipe for target 'subdirs'
failed
make[2]: *** [subdirs] Error 1
make[2]: Leaving directory '/home/dooseop/torcs-1.3.7/src'
/home/dooseop/torcs-1.3.7/Make-default.mk:679: recipe for target 'subdirs'
failed
make[1]: *** [subdirs] Error 1
make[1]: Leaving directory '/home/dooseop/torcs-1.3.7'
Makefile:30: recipe for target 'restart' failed
make: *** [restart] Error 2

In order to solve the problem, I have googled for long time .. but cannot
find the solution.
Is there anyone who can solve this problem.

Thank you for reading this e-main and would like to say sorry for my bad
english..

Code for improved CoG calculation: 

tdble cog = (car->statGC.z + car->wheel[i].rideHeight) - car->wheel[i].rollCenter; 

//sanity check for car params 
if (cog < car->wheel[i].rideHeight) 
{ 
cog = car->wheel[i].rideHeight; 
} 

F.M.x += car->wheel[i].forces.z * car->wheel[i].staticPos.y + car->wheel[i].forces.y * cog; //old car->wheel[i].rollCenter; 
// rollcenter was UNUSED if fix below was implemented 
// roll is reduced as roll center gets closer to CG 
// roll center is always lower than CG 
// by having different roll center settings front vs. rear, handling characteristics can be modified 

// (original comment from torcs) Eventually TODO: activate fix below and make all cars/robots fit. 
//car->wheel[i].forces.y * (car->statGC.z + car->wheel[i].rideHeight); 

Brian 

----- David Savinkoff wrote:
> Hi,
> 
> 1)
> I've noticed that TORCS car recoil after a collision with the fence
> causes the car to spin in the wrong direction.
> (do a high speed glancing collision with the fence)
> 
> 2)
> collisions have to much recoil energy.
> 

Solved.
The default for TRK_ATT_REBOUND is 1.0 in torcs/src/modules/track/track3.cpp
The default for TRK_ATT_REBOUND is 0.5 in torcs/src/modules/track/track4.cpp

This patch sets the rebound to 0.5 in track3.cpp

----- Bernhard Wymann wrote:
> Hi David
> 
> > A real car has the springs preloaded (lest you have loose suspension).
> 
> Sure, but this just shifts the point of eqilibrium, the spring is still 
> a spring (at least for the linear springs we model).
> 
> > I've been following the commits to TORCS and heard about
> > forces due to inertia and mass acting on the axle.
> > If TORCS' formulas are calculated in a proper and generalized
> > way, the spring may have tensile forces (negative values) at times.
> 
> The "if" statement which your patch removes does exactly deal with that. 
> The spring can just generate forces in one direction, if it is fully 
> extended it is just loose. Depending on the ride height/suspension 
> course setup this does not happen, but if it happens we are prepared.
> 
Good.

> > This patch does the bounds checking for negative values where
> > the tire contacts the road, and not where damping may act
> > against the spring.
> >
> > The car is more controllable on dirt tracks, and has no new
> 
> This is no argument, we could just replace it all with a constant force 
> and handling would be great, but the model would be dead wrong anyway.
> 
> The second part of your change is identical (semantically) to the 
> previous code, think about it again:
> 
> 1.3.8-test1:
> 	tdble internalForce = springForce(susp) + damperForce(susp);
> 	if (internalForce <= 0.0f) {
> 		susp->force = 0.0f;
> 	} else {
> 		susp->force = internalForce * susp->spring.bellcrank;
> 	}
> 
> Yours:
> susp->force = (springForce(susp) + damperForce(susp)) * 
> susp->spring.bellcrank;
> 	if (susp->force < 0.0f)
> 		susp->force = 0.0f;
> 
> So whatever you have felt must be something not contained in this patch. 
> Agreed?
It appears that keeping negative spring values in the first part
of this patch is what I felt.

> 
> > problems that I could find. Thus, I figured this is an improvement.
> >
> > On a real car, the spring may be preloaded so that it never gets
> > a tensile force on it (no need for negative bounds checking).
> 
> Agreed, but if somebody gets the parameters of the cars wrong I do not 
> want the simulation to "explode", otherwise you have to implement 
> validations in some other places.
> 
> Kind regards
> 
> Bernhard

Thank you for the explanations.

I just conducted an experiment on Dirt-2 and car1-trb1 with
a printf() added in torcs/src/modules/simu/simuv2/susp.cpp

/*
 * get spring force
 */
static tdble springForce(tSuspension *susp)
{
	tSpring *spring = &(susp->spring);
	tdble f;
	
	/* K is < 0 */
	f = spring->K * (susp->x - spring->x0) + spring->F0;
	if (f < 0.0f) {
/***/		printf("%f",f);
		// Compression spring, so the force can never change the sign.
		f = 0.0f;
	}
	
	return f;
}

Numbers in the range of -7000 are printed when the car is jumped in the air.
Please check to see if this is reasonable.
Does car1-trb1 have loose suspension, or is something else happening?
People that make torcs cars need to know if their setup is what they
intended.

Sincerely,
David Savinkoff

Hi David

> A real car has the springs preloaded (lest you have loose suspension).

Sure, but this just shifts the point of eqilibrium, the spring is still 
a spring (at least for the linear springs we model).

> I've been following the commits to TORCS and heard about
> forces due to inertia and mass acting on the axle.
> If TORCS' formulas are calculated in a proper and generalized
> way, the spring may have tensile forces (negative values) at times.

The "if" statement which your patch removes does exactly deal with that. 
The spring can just generate forces in one direction, if it is fully 
extended it is just loose. Depending on the ride height/suspension 
course setup this does not happen, but if it happens we are prepared.

> This patch does the bounds checking for negative values where
> the tire contacts the road, and not where damping may act
> against the spring.
>
> The car is more controllable on dirt tracks, and has no new

This is no argument, we could just replace it all with a constant force 
and handling would be great, but the model would be dead wrong anyway.

The second part of your change is idential (semantically) to the 
previous code, think about it again:

1.3.8-test1:
	tdble internalForce = springForce(susp) + damperForce(susp);
	if (internalForce <= 0.0f) {
		susp->force = 0.0f;
	} else {
		susp->force = internalForce * susp->spring.bellcrank;
	}

Yours:
susp->force = (springForce(susp) + damperForce(susp)) * 
susp->spring.bellcrank;
	if (susp->force < 0.0f)
		susp->force = 0.0f;

So whatever you have felt must be something not contained in this patch. 
Agreed?

> problems that I could find. Thus, I figured this is an improvement.
>
> On a real car, the spring may be preloaded so that it never gets
> a tensile force on it (no need for negative bounds checking).

Agreed, but if somebody gets the parameters of the cars wrong I do not 
want the simulation to "explode", otherwise you have to implement 
validations in some other places.

Kind regards

Bernhard

Hi Arnaud

I like them all somehow... for very different reasons:-)

Kind regards

Bernhard

On 29.03.2017 16:09, Arnaud Ceyrolle wrote:
> Hello,
>
> I am testing torcs 1.3.8-test 1
> I have tried stock cars cause i like their sound but, on the track they
> do not perform as good as other cars !
>
> So, in your opinion, which one is the best car ?
>
> regards
>
> --
> *Arnaud*
>
>
> ------------------------------------------------------------------------------
> Check out the vibrant tech community on one of the world's most
> engaging tech sites, Slashdot.org! http://sdm.link/slashdot
>
>
>
> _______________________________________________
> Torcs-users mailing list
> Tor...@li...
> https://lists.sourceforge.net/lists/listinfo/torcs-users
>

Hi David

For me this patch looks wrong (a compression spring can just create 
forces in one direction, because the way it is "mounted"). It would 
generally help if you would go into detail why a change is supposed to 
be better.

Kind regards

Bernhard

On 03.04.2017 09:13, David Savinkoff wrote:
> This patch provides better bounds checking and suspension performance.
>
>
>
> ------------------------------------------------------------------------------
> Check out the vibrant tech community on one of the world's most
> engaging tech sites, Slashdot.org! http://sdm.link/slashdot
>
>
>
> _______________________________________________
> Torcs-users mailing list
> Tor...@li...
> https://lists.sourceforge.net/lists/listinfo/torcs-users
>

This patch provides better bounds checking and suspension performance.