api/car_8h_source.html

/***************************************************************************


    file                 : car.h

    created              : Sun Jan 30 12:00:15 CET 2000

    copyright            : (C) 2000-2024 by Eric Espie, Bernhard Wymann

    email                : berniw@bluewin.ch


 ***************************************************************************/


/***************************************************************************

 *                                                                         *

 *   This program is free software; you can redistribute it and/or modify  *

 *   it under the terms of the GNU General Public License as published by  *

 *   the Free Software Foundation; either version 2 of the License, or     *

 *   (at your option) any later version.                                   *

 *                                                                         *

 ***************************************************************************/


#ifndef __CARV1_H__

#define __CARV1_H__


#include <track.h>

#include <plib/sg.h>


#define CAR_IDENT   0


#define MAX_NAME_LEN    32


/* designation */

#define FRNT_RGT    0

#define FRNT_LFT    1

#define REAR_RGT    2

#define REAR_LFT    3

#define FRNT        0

#define REAR        1

#define RIGHT       0

#define LEFT        1


typedef struct

{

    tdble  rimRadius;

    tdble  tireHeight;

    tdble  tireWidth;

    tdble  brakeDiskRadius;

    tdble  wheelRadius;

    tdble  idealTemperature; // Tire ideal temperature

} tWheelSpec;


/* structure access short cuts */

#define _rimRadius(i)       info.wheel[i].rimRadius

#define _tireHeight(i)      info.wheel[i].tireHeight

#define _tireWidth(i)       info.wheel[i].tireWidth

#define _brakeDiskRadius(i) info.wheel[i].brakeDiskRadius

#define _wheelRadius(i)     info.wheel[i].wheelRadius


typedef struct {

    int     exhaustNb;

    t3Dd    exhaustPos[2];

    tdble  exhaustPower;

} tVisualAttributes;


typedef struct {

    char    name[MAX_NAME_LEN];

    char    teamname[MAX_NAME_LEN];

    char    carName[MAX_NAME_LEN];

    char    category[MAX_NAME_LEN];

    int     raceNumber;

    int     startRank;

    int     driverType;

    int     skillLevel;

    tdble  iconColor[3];

    t3Dd    dimension;

    t3Dd    drvPos;

    t3Dd    bonnetPos;

    tdble  tank;

    tdble  steerLock;

    t3Dd    statGC;

    tWheelSpec    wheel[4];

    tVisualAttributes visualAttr;

} tInitCar;


/* structure access short cuts */

#define _name       info.name

#define _teamname   info.teamname

#define _carName    info.carName

#define _category   info.category

#define _driverType info.driverType

#define _skillLevel info.skillLevel

#define _raceNumber info.raceNumber

#define _startRank  info.startRank

#define _dimension  info.dimension

#define _dimension_x    info.dimension.x

#define _dimension_y    info.dimension.y

#define _dimension_z    info.dimension.z

#define _drvPos_x   info.drvPos.x

#define _drvPos_y   info.drvPos.y

#define _drvPos_z   info.drvPos.z

#define _bonnetPos_x    info.bonnetPos.x

#define _bonnetPos_y    info.bonnetPos.y

#define _bonnetPos_z    info.bonnetPos.z

#define _statGC     info.statGC

#define _statGC_x   info.statGC.x

#define _statGC_y   info.statGC.y

#define _statGC_z   info.statGC.z

#define _iconColor  info.iconColor

#define _tank       info.tank

#define _steerLock  info.steerLock

#define _exhaustNb  info.visualAttr.exhaustNb

#define _exhaustPos info.visualAttr.exhaustPos

#define _exhaustPower   info.visualAttr.exhaustPower


#define RM_DRV_HUMAN    1

#define RM_DRV_ROBOT    2


#define RM_PENALTY_DRIVETHROUGH 1

#define RM_PENALTY_STOPANDGO    2


typedef struct CarPenalty

{

    int penalty;

    int lapToClear;

    GF_TAILQ_ENTRY(struct CarPenalty) link;

} tCarPenalty;


GF_TAILQ_HEAD(CarPenaltyHead, struct CarPenalty);


typedef struct {

    double      bestLapTime;

    bool commitBestLapTime;        /* If a rule violation happens (e.g. cutting a corner) the laptime is not commited (false) */

    double      deltaBestLapTime;

    double      curLapTime;

    double      lastLapTime;

    double      curTime;

    tdble      topSpeed;

    tdble      currentMinSpeedForLap; // Min speed on current lap, reset on start line crossing

    int         laps;

    int         nbPitStops;

    int         remainingLaps;

    int         pos;

    double      timeBehindLeader;

    int         lapsBehindLeader;

    double      timeBehindPrev;

    double      timeBeforeNext;

    tdble      distRaced;

    tdble      distFromStartLine;

    double      scheduledEventTime;

    tTrackOwnPit    *pit;

    int         event;

    tCarPenaltyHead penaltyList;

    tdble penaltyTime;

} tCarRaceInfo;


/* structure access */

#define _bestLapTime        race.bestLapTime

#define _commitBestLapTime race.commitBestLapTime

#define _deltaBestLapTime   race.deltaBestLapTime

#define _curLapTime     race.curLapTime

#define _curTime        race.curTime

#define _lastLapTime        race.lastLapTime

#define _topSpeed       race.topSpeed

#define _currentMinSpeedForLap  race.currentMinSpeedForLap

#define _laps           race.laps

#define _nbPitStops     race.nbPitStops

#define _remainingLaps      race.remainingLaps

#define _pos            race.pos

#define _timeBehindLeader   race.timeBehindLeader

#define _lapsBehindLeader   race.lapsBehindLeader

#define _timeBehindPrev     race.timeBehindPrev

#define _timeBeforeNext     race.timeBeforeNext

#define _distRaced      race.distRaced

#define _distFromStartLine  race.distFromStartLine

#define _pit            race.pit

#define _scheduledEventTime race.scheduledEventTime

#define _event          race.event

#define _penaltyList        race.penaltyList

#define _penaltyTime    race.penaltyTime


typedef struct {

    tDynPt    DynGC;

    tDynPt    DynGCg;

    tdble  speed;     // total speed, sqrt(vx*vx + vy*vy + vz*vz)

    sgMat4  posMat;

    tTrkLocPos    trkPos;

    int     state;

#define RM_CAR_STATE_FINISH     0x00000100

#define RM_CAR_STATE_PIT        0x00000001

#define RM_CAR_STATE_DNF        0x00000002

#define RM_CAR_STATE_PULLUP     0x00000004

#define RM_CAR_STATE_PULLSIDE       0x00000008

#define RM_CAR_STATE_PULLDN     0x00000010

#define RM_CAR_STATE_OUT        (RM_CAR_STATE_DNF | RM_CAR_STATE_FINISH)

#define RM_CAR_STATE_NO_SIMU        0x000000FF

#define RM_CAR_STATE_BROKEN     0x00000200

#define RM_CAR_STATE_OUTOFGAS       0x00000400

#define RM_CAR_STATE_ELIMINATED     0x00000800

#define RM_CAR_STATE_SIMU_NO_MOVE   0x00010000

    tPosd  corner[4];


} tPublicCar;


/* structure access */

#define _DynGC      pub.DynGC

#define _pos_X      pub.DynGC.pos.x

#define _pos_Y      pub.DynGC.pos.y

#define _pos_Z      pub.DynGC.pos.z

#define _pos_X_D    posX

#define _pos_Y_D    posY

#define _roll       pub.DynGC.pos.ax

#define _pitch      pub.DynGC.pos.ay

#define _yaw        pub.DynGC.pos.az

#define _yaw_rate   pub.DynGC.vel.az

#define _speed_x    pub.DynGC.vel.x

#define _speed_y    pub.DynGC.vel.y

#define _speed_z    pub.DynGC.vel.z

#define _accel_x    pub.DynGC.acc.x

#define _accel_y    pub.DynGC.acc.y

#define _accel_z    pub.DynGC.acc.z

#define _state      pub.state

#define _trkPos     pub.trkPos

#define _speed_X    pub.DynGCg.vel.x

#define _speed_Y    pub.DynGCg.vel.y

#define _corner_x(i)    pub.corner[i].ax

#define _corner_y(i)    pub.corner[i].ay

#define _posMat     pub.posMat


typedef struct {

    tPosd  relPos;

    tdble  spinVel;

    tdble  brakeTemp;

    int     state;

    tTrackSeg  *seg;

    tdble rollRes;

    tdble slipSide;

    tdble slipAccel;

    tdble Fx;

    tdble Fy;

    tdble Fz;

    tdble currentPressure;      // current tire pressure considering temperature

    tdble currentTemperature;    // current temperature

    tdble currentWear;          // [0..1], 1 means totally worn (tread thickness 0)

    tdble currentGraining;      // [0..1], 1 means totally grained

} tWheelState;


#define _ride(i)    priv.wheel[i].relPos.z

#define _brakeTemp(i)   priv.wheel[i].brakeTemp

#define _wheelSpinVel(i) priv.wheel[i].spinVel

#define _wheelSeg(i)    priv.wheel[i].seg

#define _wheelSlipSide(i) priv.wheel[i].slipSide

#define _wheelSlipAccel(i) priv.wheel[i].slipAccel

#define _wheelFx(i) priv.wheel[i].Fx

#define _wheelFy(i) priv.wheel[i].Fy

#define _wheelFz(i) priv.wheel[i].Fz


#define MAX_GEARS   10  /* including reverse and neutral */


typedef struct tCollisionState_ {

    int collision_count;

    sgVec3 pos;

    sgVec3 force;

} tCollisionState;


typedef struct {

    void    *paramsHandle;

    void    *carHandle;

    int     driverIndex;

    char    modName[MAX_NAME_LEN];

    tWheelState  wheel[4];

    tPosd  corner[4];

    int     gear;

    tdble  fuel;

    tdble  enginerpm;

    tdble  enginerpmRedLine;

    tdble  enginerpmMax;

    tdble  enginerpmMaxTq;

    tdble  enginerpmMaxPw;

    tdble  engineMaxTq;

    tdble  engineMaxPw;

    tdble  gearRatio[MAX_GEARS];

    int     gearNb;

    int     gearOffset;

    tdble  skid[4];

    tdble  reaction[4];

    int     collision;

    int     simcollision;

    float   smoke;

    t3Dd    normal;

    t3Dd    collpos;

    int     dammage;

    int     debug;

    tCollisionState collision_state;

    tdble localPressure;  // Environment pressure at cars location

    int repCmdMaxClicks; // Driver adjustable range for brake repartition during driving

    int brakeRepartitionCmd; // Current clicks

    tdble otherSurfaceContribution[4]; // Tire overlap to other surface [0..0.5]

    tTrackSeg* otherSurfaceSeg[4];      // Other segment where the tire overlaps to


} tPrivCar;


/* structure access */

#define _driverIndex    priv.driverIndex

#define _paramsHandle   priv.paramsHandle

#define _carHandle  priv.carHandle

#define _modName    priv.modName

#define _enginerpm  priv.enginerpm

#define _enginerpmRedLine   priv.enginerpmRedLine

#define _enginerpmMax   priv.enginerpmMax

#define _enginerpmMaxTq priv.enginerpmMaxTq

#define _enginerpmMaxPw priv.enginerpmMaxPw

#define _engineMaxTq    priv.engineMaxTq

#define _engineMaxPw    priv.engineMaxPw

#define _gearRatio  priv.gearRatio

#define _gearNb     priv.gearNb

#define _gearOffset priv.gearOffset

#define _fuel       priv.fuel

#define _gear       priv.gear

#define _debug      priv.debug

#define _skid       priv.skid

#define _reaction   priv.reaction

#define _dammage    priv.dammage


typedef struct {

    tdble  steer;

    tdble  accelCmd;

    tdble  brakeCmd;

    tdble  clutchCmd;

    int     gear;

    int     raceCmd;

#define RM_CMD_NONE     0

#define RM_CMD_PIT_ASKED    1

    char    msg[4][32];

#define RM_MSG_LEN  31

    float   msgColor[4];

    int     lightCmd;

#define RM_LIGHT_HEAD1      0x00000001

#define RM_LIGHT_HEAD2      0x00000002

    int brakeRepartitionCmd;

} tCarCtrl;


#define _steerCmd   ctrl.steer

#define _accelCmd   ctrl.accelCmd

#define _brakeCmd   ctrl.brakeCmd

#define _clutchCmd  ctrl.clutchCmd

#define _gearCmd    ctrl.gear

#define _raceCmd    ctrl.raceCmd

#define _msgCmd     ctrl.msg

#define _msgColorCmd    ctrl.msgColor

#define _lightCmd   ctrl.lightCmd


struct RobotItf;


typedef struct

{

    tdble value;

    tdble min;

    tdble max;

} tCarPitSetupValue;


typedef struct

{

    // Steer

    tCarPitSetupValue steerLock;


    //Wheel

    tCarPitSetupValue wheelcamber[4];

    tCarPitSetupValue wheeltoe[4];

    tCarPitSetupValue wheelrideheight[4];

    tCarPitSetupValue wheelcaster[4];


    // Brake

    tCarPitSetupValue brakePressure;

    tCarPitSetupValue brakeRepartition;


    //Suspension

    tCarPitSetupValue suspspring[4];

    tCarPitSetupValue susppackers[4];

    tCarPitSetupValue suspslowbump[4];

    tCarPitSetupValue suspslowrebound[4];

    tCarPitSetupValue suspfastbump[4];

    tCarPitSetupValue suspfastrebound[4];

    tCarPitSetupValue suspbumpthreshold[4];

    tCarPitSetupValue suspreboundthreshold[4];


    // Anti-rollbar

    tCarPitSetupValue arbspring[2];


    // Third element

    tCarPitSetupValue thirdspring[2];

    tCarPitSetupValue thirdbump[2];

    tCarPitSetupValue thirdrebound[2];

    tCarPitSetupValue thirdX0[2];


    // Gears [1-8]

    tCarPitSetupValue gearsratio[MAX_GEARS - 2];    // without reverse/neutral


    // Wings

    tCarPitSetupValue wingangle[2];


    // Differential

    tCarPitSetupValue diffratio[3];

    tCarPitSetupValue diffmintqbias[3];

    tCarPitSetupValue diffmaxtqbias[3];

    tCarPitSetupValue diffslipbias[3];

    tCarPitSetupValue difflockinginputtq[3];

    tCarPitSetupValue difflockinginputbraketq[3];

    enum TDiffType { NONE = 0, SPOOL = 1, FREE = 2, LIMITED_SLIP = 3, VISCOUS_COUPLER = 4};

    TDiffType diffType[3];

} tCarPitSetup;


typedef struct

{

    tdble      fuel;

    int         repair;

#define RM_PIT_REPAIR       0

#define RM_PIT_STOPANDGO    1

    int         stopType;

    tCarPitSetup setup;


    enum TireChange { NONE = 0, ALL = 1};


    TireChange tireChange;

} tCarPitCmd;


#define _pitFuel    pitcmd.fuel

#define _pitRepair  pitcmd.repair

#define _pitStopType    pitcmd.stopType


typedef struct CarElt

{

    int         index;

    tInitCar        info;

    tPublicCar        pub;

    tCarRaceInfo    race;

    tPrivCar        priv;

    tCarCtrl        ctrl;

    tCarPitCmd        pitcmd;

    struct RobotItf *robot;

    struct CarElt *next;

    double      posX;

    double      posY;

} tCarElt;


/* sections in xml description files */


#define SECT_SIMU_SETTINGS "Simulation Options"

#define SECT_CAR        "Car"

#define SECT_FRNT       "Front"

#define SECT_FRNTWING       "Front Wing"

#define SECT_FRNTAXLE       "Front Axle"

#define SECT_FRNTARB        "Front Anti-Roll Bar"

#define SECT_FRNTRGTWHEEL   "Front Right Wheel"

#define SECT_FRNTLFTWHEEL   "Front Left Wheel"

#define SECT_FRNTRGTSUSP    "Front Right Suspension"

#define SECT_FRNTLFTSUSP    "Front Left Suspension"

#define SECT_FRNTRGTBRAKE   "Front Right Brake"

#define SECT_FRNTLFTBRAKE   "Front Left Brake"

#define SECT_FRNTDIFFERENTIAL   "Front Differential"

#define SECT_REAR       "Rear"

#define SECT_REARWING       "Rear Wing"

#define SECT_REARAXLE       "Rear Axle"

#define SECT_REARARB        "Rear Anti-Roll Bar"

#define SECT_REARRGTWHEEL   "Rear Right Wheel"

#define SECT_REARLFTWHEEL   "Rear Left Wheel"

#define SECT_REARRGTSUSP    "Rear Right Suspension"

#define SECT_REARLFTSUSP    "Rear Left Suspension"

#define SECT_REARRGTBRAKE   "Rear Right Brake"

#define SECT_REARLFTBRAKE   "Rear Left Brake"

#define SECT_REARDIFFERENTIAL   "Rear Differential"

#define SECT_CENTRALDIFFERENTIAL    "Central Differential"

#define SECT_STEER      "Steer"

#define SECT_BRKSYST        "Brake System"

#define SECT_AERODYNAMICS   "Aerodynamics"

#define SECT_ENGINE     "Engine"

#define SECT_CLUTCH     "Clutch"

#define SECT_DRIVETRAIN     "Drivetrain"

#define SECT_GEARBOX        "Gearbox"

#define SECT_DRIVER     "Driver"

#define SECT_BONNET     "Bonnet"

#define SECT_GROBJECTS      "Graphic Objects"

#define SECT_EXHAUST        "Exhaust"

#define SECT_LIGHT      "Light"


/* parameters names */

#define PRM_CATEGORY        "category"

#define PRM_LEN         "body length"

#define PRM_WIDTH       "body width"

#define PRM_OVERALLLEN      "overall length"

#define PRM_OVERALLWIDTH    "overall width"

#define PRM_HEIGHT      "body height"

#define PRM_MASS        "mass"

#define PRM_FRWEIGHTREP     "front-rear weight repartition"

#define PRM_FRLWEIGHTREP    "front right-left weight repartition"

#define PRM_RRLWEIGHTREP    "rear right-left weight repartition"

#define PRM_GCHEIGHT        "GC height"

#define PRM_TANK        "fuel tank"

#define PRM_FUEL        "initial fuel"

#define PRM_CENTR       "mass repartition coefficient"

#define PRM_INERTIA     "inertia"

#define PRM_EFFICIENCY      "efficiency"

#define PRM_TYPE        "type"

#define PRM_SIZE        "size"


/* Tires */

#define PRM_MU          "mu"

#define PRM_RIMDIAM     "rim diameter"

#define PRM_TIREWIDTH       "tire width"

#define PRM_TIRERATIO       "tire height-width ratio"

#define PRM_RIDEHEIGHT      "ride height"

#define PRM_TOE         "toe"

#define PRM_CAMBER      "camber"

#define PRM_CASTER      "caster"

#define PRM_CA          "stiffness"

#define PRM_RFACTOR     "dynamic friction"

#define PRM_EFACTOR     "elasticity factor"

#define PRM_PRESSURE        "pressure"

#define PRM_LOADFMAX        "load factor max"

#define PRM_LOADFMIN        "load factor min"

#define PRM_OPLOAD      "operating load"

#define PRM_TREADTHICKNESS  "tread thickness"

#define PRM_RIMMASS     "rim mass"

#define PRM_HYSTERESIS  "hysteresis"

#define PRM_IDEALTEMP   "ideal temperature"

#define PRM_WEAR        "wear"


#define PRM_SPR         "spring"

#define PRM_SUSPCOURSE      "suspension course"

#define PRM_BELLCRANK       "bellcrank"

#define PRM_PACKERS     "packers"

#define PRM_SLOWBUMP        "slow bump"

#define PRM_SLOWREBOUND     "slow rebound"

#define PRM_FASTBUMP        "fast bump"

#define PRM_FASTREBOUND     "fast rebound"

#define PRM_BUMPTHRESHOLD   "fast bump threshold"

#define PRM_REBOUNDTHRESHOLD    "fast rebound threshold"


#define PRM_XPOS        "xpos"

#define PRM_YPOS        "ypos"

#define PRM_ZPOS        "zpos"


#define PRM_STEERLOCK       "steer lock"

#define PRM_STEERSPD        "max steer speed"


#define PRM_BRKDIAM     "disk diameter"

#define PRM_BRKAREA     "piston area"

#define PRM_BRKREP      "front-rear brake repartition"

#define PRM_BRKPRESS        "max pressure"

#define PRM_BRKREPCMD_MAXCLICKS "brake repartition max clicks"

#define PRM_BRKREPCMD_CLICKVALUE "brake repartition offset per click"


#define PRM_CX          "Cx"

#define PRM_FCL         "front Clift"

#define PRM_RCL         "rear Clift"

#define PRM_FRNTAREA        "front area"

#define PRM_WINGAREA        "area"

#define PRM_WINGANGLE       "angle"


/* Engine */

#define PRM_REVSLIM     "revs limiter"

#define PRM_REVSMAX     "revs maxi"

#define PRM_TICKOVER        "tickover"

#define PRM_RPM         "rpm"

#define PRM_TQ          "Tq"

#define ARR_DATAPTS     "data points"

#define PRM_FUELCONS        "fuel cons factor"

#define PRM_ENGBRKCOEFF     "brake coefficient"

#define PRM_POWER       "power"

#define PRM_TURBO               "turbo"

#define PRM_TURBO_RPM           "turbo rpm"

#define PRM_TURBO_FACTOR        "turbo factor"

#define PRM_TURBO_LAG           "turbo lag"


#define PRM_RATIO       "ratio"

#define PRM_BIAS        "bias"


#define ARR_GEARS       "gears"

#define PRM_SHIFTTIME       "shift time"


#define PRM_ROLLCENTER      "roll center height"


#define LST_RANGES      "Ranges"

#define PRM_THRESHOLD       "threshold"

#define PRM_CAR         "car"

#define PRM_WHEELSON        "wheels"

#define PRM_ENV         "env"

#define PRM_BONNET      "bonnet"

#define PRM_WHEEL_TEXTURE   "wheel texture"

#define PRM_SHADOW_TEXTURE  "shadow texture"


#define PRM_MIN_TQ_BIAS     "min torque bias"

#define PRM_MAX_TQ_BIAS     "max torque bias"

#define PRM_MAX_SLIP_BIAS   "max slip bias"

#define PRM_LOCKING_TQ      "locking input torque"

#define PRM_LOCKINGBRAKE_TQ     "locking brake input torque"

#define PRM_VISCOSITY_FACTOR    "viscosity factor"


#define VAL_DIFF_NONE       "NONE"

#define VAL_DIFF_SPOOL      "SPOOL"

#define VAL_DIFF_FREE       "FREE"

#define VAL_DIFF_LIMITED_SLIP   "LIMITED SLIP"

#define VAL_DIFF_VISCOUS_COUPLER "VISCOUS COUPLER"


#define VAL_TRANS_RWD       "RWD"

#define VAL_TRANS_FWD       "FWD"

#define VAL_TRANS_4WD       "4WD"


/* graphic */

#define PRM_TACHO_TEX       "tachometer texture"

#define PRM_TACHO_XSZ       "tachometer width"

#define PRM_TACHO_YSZ       "tachometer height"

#define PRM_TACHO_XPOS      "tachometer x pos"

#define PRM_TACHO_YPOS      "tachometer y pos"

#define PRM_TACHO_NDLXSZ    "tachometer needle width"

#define PRM_TACHO_NDLYSZ    "tachometer needle height"

#define PRM_TACHO_XCENTER   "tachometer needle x center"

#define PRM_TACHO_YCENTER   "tachometer needle y center"

#define PRM_TACHO_XDIGITCENTER  "tachometer digit x center"

#define PRM_TACHO_YDIGITCENTER  "tachometer digit y center"

#define PRM_TACHO_MINVAL    "tachometer min value"

#define PRM_TACHO_MAXVAL    "tachometer max value"

#define PRM_TACHO_MINANG    "tachometer min angle"

#define PRM_TACHO_MAXANG    "tachometer max angle"


#define PRM_SPEEDO_TEX      "speedometer texture"

#define PRM_SPEEDO_XSZ      "speedometer width"

#define PRM_SPEEDO_YSZ      "speedometer height"

#define PRM_SPEEDO_XPOS     "speedometer x pos"

#define PRM_SPEEDO_YPOS     "speedometer y pos"

#define PRM_SPEEDO_NDLXSZ   "speedometer needle width"

#define PRM_SPEEDO_NDLYSZ   "speedometer needle height"

#define PRM_SPEEDO_XCENTER  "speedometer needle x center"

#define PRM_SPEEDO_YCENTER  "speedometer needle y center"

#define PRM_SPEEDO_XDIGITCENTER "speedometer digit x center"

#define PRM_SPEEDO_YDIGITCENTER "speedometer digit y center"

#define PRM_SPEEDO_MINVAL   "speedometer min value"

#define PRM_SPEEDO_MAXVAL   "speedometer max value"

#define PRM_SPEEDO_MINANG   "speedometer min angle"

#define PRM_SPEEDO_MAXANG   "speedometer max angle"

#define PRM_SPEEDO_DIGITAL  "speedometer digital"


#define PRM_WHEEL_3D        "3d wheel basename"

#define PRM_WHEEL_3D_DIR    "3d wheel directory"


/* Lights */

#define VAL_LIGHT_HEAD1     "head1"

#define VAL_LIGHT_HEAD2     "head2"

#define VAL_LIGHT_BRAKE     "brake"

#define VAL_LIGHT_BRAKE2    "brake2"

#define VAL_LIGHT_REVERSE   "reverse"

#define VAL_LIGHT_REAR      "rear"

/* Simulation Options */

#define PRM_DAMAGE_TYRES "damage/tyres"

#define PRM_DAMAGE_SUSPENSION "damage/suspension"

#define PRM_DAMAGE_ALIGNMENT "damage/alignment"

#define PRM_DAMAGE_AERO "damage/aero"

#define PRM_MODEL_AEROFLOW "model/aero/flow"

#define PRM_MODEL_AERO_FACTOR "model/aero/factor"

#define PRM_MODEL_TYRE_TEMPERATURE "model/tyre/temperature"


// Collision constants.

#define SEM_COLLISION           0x01

#define SEM_COLLISION_XYSCENE   0x02

#define SEM_COLLISION_CAR       0x04

#define SEM_COLLISION_Z         0x08

#define SEM_COLLISION_Z_CRASH   0x10


#endif /* __CARV1_H__ */


MAX_GEARS
#define MAX_GEARS
Definition car.h:278

tCarElt
struct CarElt tCarElt
Car structure (tCarElt).

tCarPenalty
struct CarPenalty tCarPenalty
One penalty.

tCollisionState
struct tCollisionState_ tCollisionState

MAX_NAME_LEN
#define MAX_NAME_LEN
Definition car.h:35

tdble
float tdble
Floating point type used in TORCS.
Definition tgf.h:47

GF_TAILQ_HEAD
#define GF_TAILQ_HEAD(name, type)
Head type definition.
Definition tgf.h:447

tTrackSeg
struct trackSeg tTrackSeg
Track segment (tTrackSeg) The segments can be straights (type TR_STR): (the track goes from the right...

CarElt
Car structure (tCarElt).
Definition car.h:458

CarElt::robot
struct RobotItf * robot
private
Definition car.h:466

CarElt::priv
tPrivCar priv
private
Definition car.h:463

CarElt::pub
tPublicCar pub
public
Definition car.h:461

CarElt::race
tCarRaceInfo race
public
Definition car.h:462

CarElt::pitcmd
tCarPitCmd pitcmd
private
Definition car.h:465

CarElt::next
struct CarElt * next
Definition car.h:467

CarElt::ctrl
tCarCtrl ctrl
private
Definition car.h:464

CarElt::index
int index
car index
Definition car.h:459

CarElt::posY
double posY
high-precision world Y translation of posMat
Definition car.h:469

CarElt::info
tInitCar info
public
Definition car.h:460

CarElt::posX
double posX
high-precision world X translation of posMat
Definition car.h:468

CarPenalty
One penalty.
Definition car.h:131

CarPenalty::penalty
int penalty
penalty type
Definition car.h:132

CarPenalty::GF_TAILQ_ENTRY
GF_TAILQ_ENTRY(struct CarPenalty) link

CarPenalty::lapToClear
int lapToClear
the lap before the penalty has to be cleared
Definition car.h:133

RobotItf
Interface Structure for Robots.
Definition robot.h:105

t3Dd
3D point.
Definition tgf.h:114

tCarCtrl
Info returned by driver during the race.
Definition car.h:346

tCarCtrl::msgColor
float msgColor[4]
RGBA of text.
Definition car.h:357

tCarCtrl::raceCmd
int raceCmd
command issued by the driver
Definition car.h:352

tCarCtrl::gear
int gear
[-1,6] for gear selection
Definition car.h:351

tCarCtrl::steer
tdble steer
Steer command [-1.0, 1.0].
Definition car.h:347

tCarCtrl::brakeRepartitionCmd
int brakeRepartitionCmd
Brake balance "clicks", positive is to the front.
Definition car.h:361

tCarCtrl::clutchCmd
tdble clutchCmd
Clutch command [0.0, 1.0].
Definition car.h:350

tCarCtrl::msg
char msg[4][32]
4 lines of 31 characters 0-1 from car 2-3 from race engine
Definition car.h:355

tCarCtrl::accelCmd
tdble accelCmd
Accelerator command [0.0, 1.0].
Definition car.h:348

tCarCtrl::lightCmd
int lightCmd
Lights command.
Definition car.h:358

tCarCtrl::brakeCmd
tdble brakeCmd
Brake command [0.0, 1.0].
Definition car.h:349

tCarPitCmd
Command issued by the car during pit stop.
Definition car.h:437

tCarPitCmd::TireChange
TireChange
Definition car.h:445

tCarPitCmd::NONE
@ NONE
Definition car.h:445

tCarPitCmd::ALL
@ ALL
Definition car.h:445

tCarPitCmd::stopType
int stopType
Definition car.h:442

tCarPitCmd::tireChange
TireChange tireChange
Definition car.h:447

tCarPitCmd::repair
int repair
Definition car.h:439

tCarPitCmd::setup
tCarPitSetup setup
Definition car.h:443

tCarPitCmd::fuel
tdble fuel
Definition car.h:438

tCarPitSetup
Definition car.h:385

tCarPitSetup::thirdbump
tCarPitSetupValue thirdbump[2]
Definition car.h:414

tCarPitSetup::wheelcaster
tCarPitSetupValue wheelcaster[4]
Definition car.h:393

tCarPitSetup::diffmintqbias
tCarPitSetupValue diffmintqbias[3]
Definition car.h:426

tCarPitSetup::brakePressure
tCarPitSetupValue brakePressure
Definition car.h:396

tCarPitSetup::wheelcamber
tCarPitSetupValue wheelcamber[4]
Definition car.h:390

tCarPitSetup::suspfastbump
tCarPitSetupValue suspfastbump[4]
Definition car.h:404

tCarPitSetup::suspspring
tCarPitSetupValue suspspring[4]
Definition car.h:400

tCarPitSetup::brakeRepartition
tCarPitSetupValue brakeRepartition
Definition car.h:397

tCarPitSetup::suspbumpthreshold
tCarPitSetupValue suspbumpthreshold[4]
Definition car.h:406

tCarPitSetup::gearsratio
tCarPitSetupValue gearsratio[MAX_GEARS - 2]
Definition car.h:419

tCarPitSetup::wheeltoe
tCarPitSetupValue wheeltoe[4]
Definition car.h:391

tCarPitSetup::suspslowbump
tCarPitSetupValue suspslowbump[4]
Definition car.h:402

tCarPitSetup::diffratio
tCarPitSetupValue diffratio[3]
Definition car.h:425

tCarPitSetup::thirdX0
tCarPitSetupValue thirdX0[2]
Definition car.h:416

tCarPitSetup::diffType
TDiffType diffType[3]
Definition car.h:432

tCarPitSetup::diffslipbias
tCarPitSetupValue diffslipbias[3]
Definition car.h:428

tCarPitSetup::difflockinginputbraketq
tCarPitSetupValue difflockinginputbraketq[3]
Definition car.h:430

tCarPitSetup::wingangle
tCarPitSetupValue wingangle[2]
Definition car.h:422

tCarPitSetup::suspfastrebound
tCarPitSetupValue suspfastrebound[4]
Definition car.h:405

tCarPitSetup::suspslowrebound
tCarPitSetupValue suspslowrebound[4]
Definition car.h:403

tCarPitSetup::arbspring
tCarPitSetupValue arbspring[2]
Definition car.h:410

tCarPitSetup::wheelrideheight
tCarPitSetupValue wheelrideheight[4]
Definition car.h:392

tCarPitSetup::suspreboundthreshold
tCarPitSetupValue suspreboundthreshold[4]
Definition car.h:407

tCarPitSetup::susppackers
tCarPitSetupValue susppackers[4]
Definition car.h:401

tCarPitSetup::thirdrebound
tCarPitSetupValue thirdrebound[2]
Definition car.h:415

tCarPitSetup::TDiffType
TDiffType
Definition car.h:431

tCarPitSetup::FREE
@ FREE
Definition car.h:431

tCarPitSetup::SPOOL
@ SPOOL
Definition car.h:431

tCarPitSetup::NONE
@ NONE
Definition car.h:431

tCarPitSetup::LIMITED_SLIP
@ LIMITED_SLIP
Definition car.h:431

tCarPitSetup::VISCOUS_COUPLER
@ VISCOUS_COUPLER
Definition car.h:431

tCarPitSetup::diffmaxtqbias
tCarPitSetupValue diffmaxtqbias[3]
Definition car.h:427

tCarPitSetup::steerLock
tCarPitSetupValue steerLock
Definition car.h:387

tCarPitSetup::difflockinginputtq
tCarPitSetupValue difflockinginputtq[3]
Definition car.h:429

tCarPitSetup::thirdspring
tCarPitSetupValue thirdspring[2]
Definition car.h:413

tCarPitSetupValue
Definition car.h:376

tCarPitSetupValue::value
tdble value
Definition car.h:377

tCarPitSetupValue::min
tdble min
Definition car.h:378

tCarPitSetupValue::max
tdble max
Definition car.h:379

tCarRaceInfo
Race Administrative info.
Definition car.h:140

tCarRaceInfo::topSpeed
tdble topSpeed
Definition car.h:147

tCarRaceInfo::timeBehindPrev
double timeBehindPrev
Definition car.h:155

tCarRaceInfo::curLapTime
double curLapTime
Definition car.h:144

tCarRaceInfo::pos
int pos
Definition car.h:152

tCarRaceInfo::penaltyList
tCarPenaltyHead penaltyList
List of current penalties.
Definition car.h:162

tCarRaceInfo::laps
int laps
Definition car.h:149

tCarRaceInfo::nbPitStops
int nbPitStops
Definition car.h:150

tCarRaceInfo::remainingLaps
int remainingLaps
Definition car.h:151

tCarRaceInfo::pit
tTrackOwnPit * pit
Definition car.h:160

tCarRaceInfo::currentMinSpeedForLap
tdble currentMinSpeedForLap
Definition car.h:148

tCarRaceInfo::event
int event
Definition car.h:161

tCarRaceInfo::commitBestLapTime
bool commitBestLapTime
Definition car.h:142

tCarRaceInfo::bestLapTime
double bestLapTime
Definition car.h:141

tCarRaceInfo::distRaced
tdble distRaced
Definition car.h:157

tCarRaceInfo::curTime
double curTime
Definition car.h:146

tCarRaceInfo::penaltyTime
tdble penaltyTime
Definition car.h:163

tCarRaceInfo::distFromStartLine
tdble distFromStartLine
Definition car.h:158

tCarRaceInfo::deltaBestLapTime
double deltaBestLapTime
Definition car.h:143

tCarRaceInfo::lastLapTime
double lastLapTime
Definition car.h:145

tCarRaceInfo::timeBeforeNext
double timeBeforeNext
Definition car.h:156

tCarRaceInfo::timeBehindLeader
double timeBehindLeader
Definition car.h:153

tCarRaceInfo::lapsBehindLeader
int lapsBehindLeader
Definition car.h:154

tCarRaceInfo::scheduledEventTime
double scheduledEventTime
Definition car.h:159

tCollisionState_
Definition car.h:280

tCollisionState_::collision_count
int collision_count
Definition car.h:281

tCollisionState_::force
sgVec3 force
Definition car.h:283

tCollisionState_::pos
sgVec3 pos
Definition car.h:282

tDynPt
Dynamic point structure.
Definition tgf.h:142

tInitCar
Static Public info.
Definition car.h:73

tInitCar::dimension
t3Dd dimension
Car's mesures.
Definition car.h:83

tInitCar::statGC
t3Dd statGC
Static pos of GC (should be the origin of car axis)
Definition car.h:88

tInitCar::skillLevel
int skillLevel
Driver's skill level (0=rookie -> 3=pro)
Definition car.h:81

tInitCar::drvPos
t3Dd drvPos
Driver's position.
Definition car.h:84

tInitCar::driverType
int driverType
Driver type.
Definition car.h:80

tInitCar::bonnetPos
t3Dd bonnetPos
Bonnet's position.
Definition car.h:85

tInitCar::tank
tdble tank
Fuel tank capa.
Definition car.h:86

tInitCar::iconColor
tdble iconColor[3]
Car color in leaders board.
Definition car.h:82

tInitCar::raceNumber
int raceNumber
Car's race number.
Definition car.h:78

tInitCar::category
char category[MAX_NAME_LEN]
Car's category.
Definition car.h:77

tInitCar::startRank
int startRank
Car's starting position.
Definition car.h:79

tInitCar::teamname
char teamname[MAX_NAME_LEN]
Team name.
Definition car.h:75

tInitCar::visualAttr
tVisualAttributes visualAttr
Visual attributes.
Definition car.h:90

tInitCar::steerLock
tdble steerLock
Steer lock angle.
Definition car.h:87

tInitCar::carName
char carName[MAX_NAME_LEN]
Car object name.
Definition car.h:76

tInitCar::wheel
tWheelSpec wheel[4]
Wheels specifications.
Definition car.h:89

tInitCar::name
char name[MAX_NAME_LEN]
Driver's name.
Definition car.h:74

tPosd
6 DOF position.
Definition tgf.h:129

tPrivCar
Data known only by the driver.
Definition car.h:287

tPrivCar::collision_state
tCollisionState collision_state
collision state
Definition car.h:315

tPrivCar::engineMaxTq
tdble engineMaxTq
Definition car.h:301

tPrivCar::paramsHandle
void * paramsHandle
accessible parameters for modules
Definition car.h:288

tPrivCar::brakeRepartitionCmd
int brakeRepartitionCmd
Definition car.h:318

tPrivCar::enginerpmMax
tdble enginerpmMax
Definition car.h:298

tPrivCar::reaction
tdble reaction[4]
reaction on wheels
Definition car.h:307

tPrivCar::wheel
tWheelState wheel[4]
Definition car.h:292

tPrivCar::debug
int debug
Definition car.h:314

tPrivCar::enginerpmRedLine
tdble enginerpmRedLine
Definition car.h:297

tPrivCar::gear
int gear
current gear
Definition car.h:294

tPrivCar::gearOffset
int gearOffset
gearRatio[gear + gearOffset] is the ratio for gear
Definition car.h:305

tPrivCar::collision
int collision
Collision value for graphics and sound, clearing is managed by consumers.
Definition car.h:308

tPrivCar::gearNb
int gearNb
incl reverse and neutral
Definition car.h:304

tPrivCar::repCmdMaxClicks
int repCmdMaxClicks
Definition car.h:317

tPrivCar::enginerpmMaxPw
tdble enginerpmMaxPw
Definition car.h:300

tPrivCar::enginerpmMaxTq
tdble enginerpmMaxTq
Definition car.h:299

tPrivCar::otherSurfaceContribution
tdble otherSurfaceContribution[4]
Definition car.h:319

tPrivCar::otherSurfaceSeg
tTrackSeg * otherSurfaceSeg[4]
Definition car.h:320

tPrivCar::smoke
float smoke
Definition car.h:310

tPrivCar::fuel
tdble fuel
remaining fuel (liters)
Definition car.h:295

tPrivCar::normal
t3Dd normal
Definition car.h:311

tPrivCar::engineMaxPw
tdble engineMaxPw
Definition car.h:302

tPrivCar::driverIndex
int driverIndex
index when multiple drivers are in the same dll
Definition car.h:290

tPrivCar::skid
tdble skid[4]
skid intensity
Definition car.h:306

tPrivCar::gearRatio
tdble gearRatio[MAX_GEARS]
including final drive
Definition car.h:303

tPrivCar::carHandle
void * carHandle
parameters for car caracteristics
Definition car.h:289

tPrivCar::simcollision
int simcollision
For rules etc.
Definition car.h:309

tPrivCar::dammage
int dammage
Definition car.h:313

tPrivCar::collpos
t3Dd collpos
Collision position, useful for sound.
Definition car.h:312

tPrivCar::corner
tPosd corner[4]
car's corners position
Definition car.h:293

tPrivCar::enginerpm
tdble enginerpm
Definition car.h:296

tPrivCar::localPressure
tdble localPressure
Definition car.h:316

tPrivCar::modName
char modName[MAX_NAME_LEN]
dll name
Definition car.h:291

tPublicCar
Public info on the cars.
Definition car.h:191

tPublicCar::DynGCg
tDynPt DynGCg
GC data (world axis)
Definition car.h:193

tPublicCar::state
int state
state of the car.
Definition car.h:197

tPublicCar::trkPos
tTrkLocPos trkPos
current track position.
Definition car.h:196

tPublicCar::corner
tPosd corner[4]
Definition car.h:222

tPublicCar::DynGC
tDynPt DynGC
GC data (car axis)
Definition car.h:192

tPublicCar::posMat
sgMat4 posMat
position matrix
Definition car.h:195

tPublicCar::speed
tdble speed
Definition car.h:194

tTrkLocPos
Location on the track in local coordinates.
Definition track.h:434

tVisualAttributes
Static visual attributes.
Definition car.h:66

tVisualAttributes::exhaustPower
tdble exhaustPower
Power of the flames (from 1 to 3)
Definition car.h:69

tVisualAttributes::exhaustNb
int exhaustNb
Number of exhaust pipes (max 2)
Definition car.h:67

tVisualAttributes::exhaustPos
t3Dd exhaustPos[2]
Position of exhaust pipes.
Definition car.h:68

tWheelSpec
Wheels Specifications.
Definition car.h:50

tWheelSpec::wheelRadius
tdble wheelRadius
Overall wheel radius.
Definition car.h:55

tWheelSpec::brakeDiskRadius
tdble brakeDiskRadius
Brake disk radius.
Definition car.h:54

tWheelSpec::rimRadius
tdble rimRadius
Rim radius.
Definition car.h:51

tWheelSpec::idealTemperature
tdble idealTemperature
Definition car.h:56

tWheelSpec::tireWidth
tdble tireWidth
Tire width.
Definition car.h:53

tWheelSpec::tireHeight
tdble tireHeight
Tire height.
Definition car.h:52

tWheelState
Dynamic wheel information.
Definition car.h:251

tWheelState::spinVel
tdble spinVel
spin velocity rad/s
Definition car.h:253

tWheelState::brakeTemp
tdble brakeTemp
brake temperature from 0 (cool) to 1.0 (hot)
Definition car.h:254

tWheelState::currentGraining
tdble currentGraining
Definition car.h:266

tWheelState::currentTemperature
tdble currentTemperature
Definition car.h:264

tWheelState::state
int state
wheel state
Definition car.h:255

tWheelState::slipSide
tdble slipSide
Definition car.h:258

tWheelState::Fy
tdble Fy
Definition car.h:261

tWheelState::currentPressure
tdble currentPressure
Definition car.h:263

tWheelState::Fz
tdble Fz
Definition car.h:262

tWheelState::Fx
tdble Fx
Definition car.h:260

tWheelState::currentWear
tdble currentWear
Definition car.h:265

tWheelState::seg
tTrackSeg * seg
Track segment where the wheel is.
Definition car.h:256

tWheelState::relPos
tPosd relPos
position relative to GC
Definition car.h:252

tWheelState::slipAccel
tdble slipAccel
Definition car.h:259

tWheelState::rollRes
tdble rollRes
rolling resistance, useful for sound
Definition car.h:257

track.h
Track Structure and Track Loader Module Definition.

tTrackOwnPit
struct TrackOwnPit tTrackOwnPit
Driver's pit.