carstruct.h

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/***************************************************************************
 
    file                 : carstruct.h
    created              : Sun Mar 19 00:06:07 CET 2000
    copyright            : (C) 2000-2013 by Eric Espie, Bernhard Wymann
    email                : torcs@free.fr
    version              : $Id$
 
 ***************************************************************************/
 
/***************************************************************************
 *                                                                         *
 *   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 _CAR__H_
#define _CAR__H_
 
#include <plib/sg.h>
#include <SOLID/solid.h>
 
#include "aero.h"
#include "susp.h"
#include "brake.h"
#include "axle.h"
#include "steer.h"
#include "wheel.h"
#include "transmission.h"
#include "engine.h"
 
typedef struct
{
    /* driver's interface */
    tCarCtrl    *ctrl;
    void    *params;
    tCarElt  *carElt;
 
    tCarCtrl    preCtrl;
 
    /* components */
    tAxle      axle[2];
    tWheel        wheel[4];
    tSteer        steer;
    tBrakeSyst        brkSyst;
    tAero      aero;
    tWing      wing[2];
    tTransmission  transmission;   /* includes clutch, gearbox and driveshaft */
    tEngine      engine;
 
    /* static */
    t3Dd    dimension; /* car's mesures */
    tdble  mass;       /* mass with pilot (without fuel) */
    tdble  Minv;       /* 1 / mass with pilot (without fuel) */
    tdble  tank;       /* fuel tank capa */
    t3Dd    statGC;       /* static pos of GC */
    t3Dd    Iinv;       /* inverse of inertial moment along the car's 3 axis */
 
    /* dynamic */
    tdble  fuel;       /* current fuel load */
    tDynPt    DynGC;     /* GC local data except position */
    tDynPt    DynGCg;       /* GC global data */
    double  worldPosX; /* high-precision global position accumulator */
    double  worldPosY;
    tdble  publishedPosX; /* last float position mirrored in DynGCg */
    tdble  publishedPosY;
    tPosd  VelColl; /* resulting velocity after collision */
    tDynPt    preDynGC;   /* previous one */
    tTrkLocPos    trkPos;       /* current track position */
    tdble  airSpeed2; /* current air speed (squared) for aerodynamic forces */
 
    /* internals */
    tdble  Cosz;
    tdble  Sinz;
    tDynPt    corner[4];    /* x,y,z for static relative pos, ax,ay,az for dyn. world coord */
    int     collision;
    t3Dd    normal;
    t3Dd    collpos;
    tdble  wheelbase;
    tdble  wheeltrack;
    sgMat4  posMat;
    DtShapeRef    shape;     /* for collision */
    int     blocked;     // Flag to show if the car has had already a collision in the same timestep.
    int     dammage;
    
    tDynPt    restPos; /* target rest position after the car is broken */
 
    int     collisionAware;
    tdble  speed;     // total speed = sqrt(vx*vx + vy*vy + vz*vz)
 
    tdble  localTemperature;   // Environment temperature for the car
    tdble  localPressure;     // Environment pressure for the car
} tCar;
 
#if 0
 
#define CHECK_VAR(_var_, _msg_) do {                        \
    if (isnan(_var_) || isinf(_var_)) {                     \
    printf("%s = %f  in %s line %d\n", _msg_, _var_, __FILE__, __LINE__);   \
        assert (0);                             \
    exit(0);                                \
    }                                       \
} while (0)
 
#define DUMP_CAR(_car_) do {                    \
    printf("DynGC.acc.x  = %f\n", (_car_)->DynGC.acc.x);    \
    printf("DynGC.acc.y  = %f\n", (_car_)->DynGC.acc.y);    \
    printf("DynGC.acc.y  = %f\n", (_car_)->DynGC.acc.y);    \
    printf("DynGC.vel.x  = %f\n", (_car_)->DynGC.vel.x);    \
    printf("DynGC.vel.y  = %f\n", (_car_)->DynGC.vel.y);    \
    printf("DynGCg.pos.x = %f\n", (_car_)->DynGCg.pos.x);   \
    printf("DynGCg.pos.y = %f\n", (_car_)->DynGCg.pos.y);   \
    printf("DynGCg.acc.x = %f\n", (_car_)->DynGCg.acc.x);   \
    printf("DynGCg.acc.y = %f\n", (_car_)->DynGCg.acc.y);   \
    printf("DynGCg.vel.x = %f\n", (_car_)->DynGCg.vel.x);   \
    printf("DynGCg.vel.y = %f\n", (_car_)->DynGCg.vel.y);   \
    printf("DynGCg.pos.x = %f\n", (_car_)->DynGCg.pos.x);   \
    printf("DynGCg.pos.y = %f\n", (_car_)->DynGCg.pos.y);   \
    printf("aero.drag    = %f\n", (_car_)->aero.drag);  \
} while (0)
 
 
#define CHECK(_car_) do {                                   \
    if (isnan((_car_)->DynGC.acc.x) || isinf((_car_)->DynGC.acc.x) ||               \
    isnan((_car_)->DynGC.acc.y) || isinf((_car_)->DynGC.acc.y) ||               \
    isnan((_car_)->DynGC.vel.x) || isinf((_car_)->DynGC.vel.x) ||               \
    isnan((_car_)->DynGC.vel.y) || isinf((_car_)->DynGC.vel.y) ||               \
    isnan((_car_)->DynGC.acc.x) || isinf((_car_)->DynGC.acc.x) ||               \
    isnan((_car_)->DynGCg.acc.y) || isinf((_car_)->DynGCg.acc.y) ||             \
    isnan((_car_)->DynGCg.vel.x) || isinf((_car_)->DynGCg.vel.x) ||             \
    isnan((_car_)->DynGCg.vel.y) || isinf((_car_)->DynGCg.vel.y) ||             \
    isnan((_car_)->DynGCg.pos.x) || isinf((_car_)->DynGCg.pos.x) ||             \
    isnan((_car_)->DynGCg.pos.y) || isinf((_car_)->DynGCg.pos.y) ||             \
    isnan((_car_)->aero.drag) || isinf((_car_)->aero.drag)) {               \
    printf("Problem for %s in %s line %d\n", (_car_)->carElt->_name, __FILE__, __LINE__);   \
    DUMP_CAR(_car_);                                    \
    assert (0);                                     \
    /* GfScrShutdown(); */                                  \
    exit(0);                                        \
    }                                               \
} while (0)
 
#else
 
#define CHECK_VAR(_var_, _msg_)
#define CHECK(_car_)
 
#endif
 
#endif /* _CAR__H_ */