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 */
    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_ */