raceengine.cpp

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

    file        : raceengine.cpp
    created     : Sat Nov 23 09:05:23 CET 2002
    copyright   : (C) 2002-2017 by Eric Espie, Bernhard Wymann 
    email       : eric.espie@torcs.org 
    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.                                   *
 *                                                                         *
 ***************************************************************************/

#include <stdlib.h>
#include <stdio.h>
#include <tgfclient.h>
#include <robot.h>
#include <raceman.h>
#include <racescreens.h>
#include <robottools.h>
#include <portability.h>

#include "racemain.h"
#include "racegl.h"
#include "raceinit.h"
#include "raceresults.h"

#include "raceengine.h"

static double   msgDisp;
static double   bigMsgDisp;

tRmInfo *ReInfo = 0;

static void ReRaceRules(tCarElt *car);


/* Compute Pit stop time */
static void
ReUpdtPitTime(tCarElt *car)
{
    tSituation *s = ReInfo->s;
    tReCarInfo *info = &(ReInfo->_reCarInfo[car->index]);

    switch (car->_pitStopType) {
        case RM_PIT_REPAIR:
            info->totalPitTime = ReInfo->raceRules.pitstopBaseTime + fabs((double)(car->_pitFuel)) / ReInfo->raceRules.refuelFuelFlow + (tdble)(fabs((double)(car->_pitRepair))) * ReInfo->raceRules.damageRepairFactor + car->_penaltyTime;
            
            // Add time for tire change
            if (car->pitcmd.tireChange == tCarPitCmd::ALL && car->info.skillLevel == 3 && ReInfo->raceRules.tireFactor > 0.0f) {
                info->totalPitTime += ReInfo->raceRules.allTiresChangeTime;
            }
            
            if (ReInfo->s->raceInfo.type == RM_TYPE_PRACTICE || ReInfo->s->raceInfo.type == RM_TYPE_QUALIF) { 
                // Ensure that the right min/max values are in the setup structure (could have been modified by the robot))
                RtInitCarPitSetup(car->_carHandle, &(car->pitcmd.setup), true);
            } else {
                // In case of the race no modifications are allowed, so completely reload the structure
                RtInitCarPitSetup(car->_carHandle, &(car->pitcmd.setup), false);
            }
            car->_scheduledEventTime = s->currentTime + info->totalPitTime;
            car->_penaltyTime = 0.0f;
            ReInfo->_reSimItf.reconfig(car);
            break;
        case RM_PIT_STOPANDGO:
            info->totalPitTime = car->_penaltyTime;
            car->_scheduledEventTime = s->currentTime + info->totalPitTime;
            car->_penaltyTime = 0.0f;
            break;
    }
}

/* Return from interactive pit information */
static void
ReUpdtPitCmd(void *pvcar)
{
    tCarElt *car = (tCarElt*)pvcar;

    ReUpdtPitTime(car);
    GfuiScreenActivate(ReInfo->_reGameScreen);
}

static void
ReRaceMsgUpdate(void)
{
    if (ReInfo->_reCurTime > msgDisp) {
        ReSetRaceMsg("");
    }
    if (ReInfo->_reCurTime > bigMsgDisp) {
        ReSetRaceBigMsg("");
    }
}

static void
ReRaceMsgSet(const char *msg, double life)
{
    if ((ReInfo->_displayMode != RM_DISP_MODE_NONE) && (ReInfo->_displayMode != RM_DISP_MODE_CONSOLE)) {
        ReSetRaceMsg(msg);
        msgDisp = ReInfo->_reCurTime + life;
    }
}


static void
ReRaceBigMsgSet(const char *msg, double life)
{
    if ((ReInfo->_displayMode != RM_DISP_MODE_NONE) && (ReInfo->_displayMode != RM_DISP_MODE_CONSOLE)) {
        ReSetRaceBigMsg(msg);
        bigMsgDisp = ReInfo->_reCurTime + life;
    }
}


static void
ReManage(tCarElt *car)
{
    int i, pitok;
    tTrackSeg *sseg;
    tdble wseg;
    static float color[] = {0.5, 0.5, 1.0, 1.0};
    tSituation *s = ReInfo->s;
    const int BUFSIZE = 1024;
    char buf[BUFSIZE];
    
    tReCarInfo *info = &(ReInfo->_reCarInfo[car->index]);
    
    if (car->_speed_x > car->_topSpeed) {
        car->_topSpeed = car->_speed_x;
    }

    // For practice and qualif.
    if (car->_speed_x > info->topSpd) {
        info->topSpd = car->_speed_x;
    }
    
    if (car->_speed_x < info->botSpd) {
        info->botSpd = car->_speed_x;
        car->_currentMinSpeedForLap = car->_speed_x;
    }
    
    // Pitstop.
    if (car->_pit) {
        if (car->ctrl.raceCmd & RM_CMD_PIT_ASKED) {
            // Pit already occupied?
            if (car->_pit->pitCarIndex == TR_PIT_STATE_FREE) {
                snprintf(car->ctrl.msg[2], 32, "Can Pit");
            } else {
                snprintf(car->ctrl.msg[2], 32, "Pit Occupied");
            }

            memcpy(car->ctrl.msgColor, color, sizeof(car->ctrl.msgColor));
        }
        
        if (car->_state & RM_CAR_STATE_PIT) {
            car->ctrl.raceCmd &= ~RM_CMD_PIT_ASKED; // clear the flag.
            if (car->_scheduledEventTime < s->currentTime) {
                car->_state &= ~RM_CAR_STATE_PIT;
                car->_pit->pitCarIndex = TR_PIT_STATE_FREE;
                snprintf(buf, BUFSIZE, "%s pit stop %.1fs", car->_name, info->totalPitTime);
                ReRaceMsgSet(buf, 5);
            } else {
                snprintf(car->ctrl.msg[2], 32, "in pits %.1fs", s->currentTime - info->startPitTime);
            }
        } else if ((car->ctrl.raceCmd & RM_CMD_PIT_ASKED) &&
                    car->_pit->pitCarIndex == TR_PIT_STATE_FREE &&  
                   (s->_maxDammage == 0 || car->_dammage <= s->_maxDammage))
        {
            tdble lgFromStart = car->_trkPos.seg->lgfromstart;
            
            switch (car->_trkPos.seg->type) {
                case TR_STR:
                    lgFromStart += car->_trkPos.toStart;
                    break;
                default:
                    lgFromStart += car->_trkPos.toStart * car->_trkPos.seg->radius;
                    break;
            }
        
            if ((lgFromStart > car->_pit->lmin) && (lgFromStart < car->_pit->lmax)) {
                pitok = 0;
                int side;
                tdble toBorder;
                if (ReInfo->track->pits.side == TR_RGT) {
                    side = TR_SIDE_RGT;
                    toBorder = car->_trkPos.toRight;
                } else {
                    side = TR_SIDE_LFT;
                    toBorder = car->_trkPos.toLeft;
                }
                
                sseg = car->_trkPos.seg->side[side];
                wseg = RtTrackGetWidth(sseg, car->_trkPos.toStart);
                if (sseg->side[side]) {
                    sseg = sseg->side[side];
                    wseg += RtTrackGetWidth(sseg, car->_trkPos.toStart);
                }
                if (((toBorder + wseg) < (ReInfo->track->pits.width - car->_dimension_y / 2.0)) &&
                    (fabs(car->_speed_x) < 1.0) &&
                    (fabs(car->_speed_y) < 1.0))
                {
                    pitok = 1;
                }
                
                if (pitok) {
                    car->_state |= RM_CAR_STATE_PIT;
                    car->_nbPitStops++;
                    for (i = 0; i < car->_pit->freeCarIndex; i++) {
                        if (car->_pit->car[i] == car) {
                            car->_pit->pitCarIndex = i;
                            break;
                        }
                    }
                    info->startPitTime = s->currentTime;
                    snprintf(buf, BUFSIZE, "%s in pits", car->_name);
                    ReRaceMsgSet(buf, 5);
                    car->pitcmd.tireChange = tCarPitCmd::ALL;
                    if (car->robot->rbPitCmd(car->robot->index, car, s) == ROB_PIT_MENU) {
                        // the pit cmd is modified by menu.
                        ReStop();
                        RmPitMenuStart(car, ReInfo, (void*)car, ReUpdtPitCmd);
                    } else {
                        ReUpdtPitTime(car);
                    }
                }
            }
        }
    }
    
    /* Start Line Crossing */
    if (info->prevTrkPos.seg != car->_trkPos.seg) {
        if ((info->prevTrkPos.seg->raceInfo & TR_LAST) && (car->_trkPos.seg->raceInfo & TR_START)) {
            if (info->lapFlag == 0) {
                if ((car->_state & RM_CAR_STATE_FINISH) == 0) {
                    car->_laps++;
                    car->_remainingLaps--;
                    if (car->_laps > 1) {
                        car->_lastLapTime = s->currentTime - info->sTime;
                        car->_curTime += car->_lastLapTime;
                        if (car->_bestLapTime != 0) {
                            car->_deltaBestLapTime = car->_lastLapTime - car->_bestLapTime;
                        }
                        if ((car->_lastLapTime < car->_bestLapTime) || (car->_bestLapTime == 0)) {
                            if (car->_commitBestLapTime) {
                                car->_bestLapTime = car->_lastLapTime;
                            }
                        }
                        
                        car->_commitBestLapTime = true;
                        
                        if (car->_pos != 1) {
                            car->_timeBehindLeader = car->_curTime - s->cars[0]->_curTime;
                            car->_lapsBehindLeader = s->cars[0]->_laps - car->_laps;
                            car->_timeBehindPrev = car->_curTime - s->cars[car->_pos - 2]->_curTime;
                            s->cars[car->_pos - 2]->_timeBeforeNext = car->_timeBehindPrev;
                        } else {
                            car->_timeBehindLeader = 0;
                            car->_lapsBehindLeader = 0;
                            car->_timeBehindPrev = 0;

                            if (ReInfo->_displayMode == RM_DISP_MODE_CONSOLE) {
                                printf("Sim Time: %8.2f [s], Leader Laps: %4d, Leader Distance: %8.3f [km]\n", s->currentTime, car->_laps - 1, car->_distRaced/1000.0f);
                            }
                        }
                        info->sTime = s->currentTime;
                        switch (ReInfo->s->_raceType) {
                            case RM_TYPE_PRACTICE:
                                if (ReInfo->_displayMode == RM_DISP_MODE_NONE) {
                                    ReInfo->_refreshDisplay = 1;
                                    const int TIMEFMTSIZE=256;
                                    char t1[TIMEFMTSIZE], t2[TIMEFMTSIZE];
                                    GfTime2Str(t1, TIMEFMTSIZE, car->_lastLapTime, 0);
                                    GfTime2Str(t2, TIMEFMTSIZE, car->_bestLapTime, 0);
                                    snprintf(buf, BUFSIZE, "lap: %02d   time: %s  best: %s  top spd: %.2f    min spd: %.2f    damage: %d",
                                        car->_laps - 1, t1, t2,
                                        info->topSpd * 3.6, info->botSpd * 3.6, car->_dammage);
                                    ReResScreenAddText(buf);
                                }
                                /* save the lap result */
                                ReSavePracticeLap(car);
                                break;
                                
                            case RM_TYPE_QUALIF:
                                if (ReInfo->_displayMode == RM_DISP_MODE_NONE) {
                                    ReUpdateQualifCurRes(car);
                                }
                                break;
                        }
                    } else {
                        if ((ReInfo->_displayMode == RM_DISP_MODE_NONE) && (ReInfo->s->_raceType == RM_TYPE_QUALIF)) {
                            ReUpdateQualifCurRes(car);
                        }
                    }
            
                    info->topSpd = car->_speed_x;
                    info->botSpd = car->_speed_x;
                    car->_currentMinSpeedForLap = car->_speed_x;
                    if ((car->_remainingLaps < 0) || (s->_raceState == RM_RACE_FINISHING)) {
                        car->_state |= RM_CAR_STATE_FINISH;
                        s->_raceState = RM_RACE_FINISHING;
                        if (ReInfo->s->_raceType == RM_TYPE_RACE) {
                            if (car->_pos == 1) {
                                snprintf(buf, BUFSIZE, "Winner %s", car->_name);
                                ReRaceBigMsgSet(buf, 10);
                            } else {
                                const char *numSuffix = "th";
                                if (abs(12 - car->_pos) > 1) { /* leave suffix as 'th' for 11 to 13 */
                                    switch (car->_pos % 10) {
                                    case 1:
                                    numSuffix = "st";
                                    break;
                                    case 2:
                                    numSuffix = "nd";
                                    break;
                                    case 3:
                                    numSuffix = "rd";
                                    break;
                                    default:
                                    break;
                                    }
                                }
                                snprintf(buf, BUFSIZE, "%s Finished %d%s", car->_name, car->_pos, numSuffix);
                                ReRaceMsgSet(buf, 5);
                            }
                        }
                    }
                } else {
                    /* prevent infinite looping of cars around track, allow one lap after finish for the first car */
                    for (i = 0; i < s->_ncars; i++) {
                        s->cars[i]->_state |= RM_CAR_STATE_FINISH;
                    }
                    return;
                }
            } else {
                info->lapFlag--;
            }
        }

        if ((info->prevTrkPos.seg->raceInfo & TR_START) && (car->_trkPos.seg->raceInfo & TR_LAST)) {
            /* going backward through the start line */
            info->lapFlag++;
        }
    }
    ReRaceRules(car);
    
    info->prevTrkPos = car->_trkPos;
    car->_curLapTime = s->currentTime - info->sTime;
    car->_distFromStartLine = car->_trkPos.seg->lgfromstart +
    (car->_trkPos.seg->type == TR_STR ? car->_trkPos.toStart : car->_trkPos.toStart * car->_trkPos.seg->radius);
    car->_distRaced = (car->_laps - (info->lapFlag + 1)) * ReInfo->track->length + car->_distFromStartLine;
}


static void ReSortCars(void)
{
    int i, j;
    tCarElt *car;
    int allfinish;
    tSituation *s = ReInfo->s;

    if ((s->cars[0]->_state & RM_CAR_STATE_FINISH) == 0) {
        allfinish = 0;
    } else {
        allfinish = 1;
    }

    for (i = 1; i < s->_ncars; i++) {
        j = i;
        while (j > 0) {
            if ((s->cars[j]->_state & RM_CAR_STATE_FINISH) == 0) {
                allfinish = 0;
                if (s->cars[j]->_distRaced > s->cars[j-1]->_distRaced) {
                    car = s->cars[j];
                    s->cars[j] = s->cars[j-1];
                    s->cars[j-1] = car;
                    s->cars[j]->_pos = j+1;
                    s->cars[j-1]->_pos = j;
                    j--;
                    continue;
                }
            }
            j = 0;
        }
    }

    if (allfinish) {
        ReInfo->s->_raceState = RM_RACE_ENDED;
    }
}


/* Compute the race rules and penalties */
static void
ReRaceRules(tCarElt *car)
{
    tCarPenalty *penalty;
    tTrack *track = ReInfo->track;
    tRmCarRules *rules = &(ReInfo->rules[car->index]);
    tTrackSeg *seg = RtTrackGetSeg(&(car->_trkPos));
    tReCarInfo *info = &(ReInfo->_reCarInfo[car->index]);
    tTrackSeg *prevSeg = RtTrackGetSeg(&(info->prevTrkPos));
    static float color[] = {0.0, 0.0, 1.0, 1.0};

    // DNF cars which need too much time for the current lap, this is mainly to avoid
    // that a "hanging" driver can stop the quali from finishing.
    // Allowed time is longest pitstop possible + time for tracklength with speed??? (currently fixed 10 [m/s]).
    // for simplicity. Human driver is an exception to this rule, to allow explorers
    // to enjoy the landscape.
    // TODO: Make it configurable.
    if ((car->_curLapTime > 84.5 + ReInfo->track->length/10.0) &&
        (car->_driverType != RM_DRV_HUMAN))
    {
        car->_state |= RM_CAR_STATE_ELIMINATED;
        return;
    }

    const int BUFSIZE = 1024;
    char buf[BUFSIZE];

    // Ignore some rules after the car has finished the race
    if ((car->pub.state & RM_CAR_STATE_FINISH) == 0) {

        // If a car hits the track wall the lap time is invalidated, because of tracks where this behaviour allows much faster laps (e.g. alpine-2)
        // Invalidation and message is just shown on the first hit
        if (ReInfo->raceRules.enabled & RmRaceRules::WALL_HIT_TIME_INVALIDATE) {
            if (car->_commitBestLapTime && (car->priv.simcollision & SEM_COLLISION_XYSCENE)) {
                car->_commitBestLapTime = false;
                if (ReInfo->s->_raceType != RM_TYPE_RACE) {
                    ReRaceMsgSet("Hit wall, laptime invalidated", 5);
                }
            }
        }
            
        // If the car cuts a corner the lap time is invalidated. Cutting a corner means: the center of gravity is more than 0.7 times the car width
        // away from the main track segment on the inside of a turn. The rule does not apply on the outside and on straights, pit entry and exit
        // count as well as track.
        tTrackSeg *mainseg = car->_trkPos.seg;
        bool pit = false;
        tTrackPitInfo pitInfo = track->pits;
        tdble toborder = 0.0f;
        tdble minradius = 1.0f;

        if (mainseg->type != TR_STR) {
            if (track->pits.type == TR_PIT_ON_TRACK_SIDE) {
                if (pitInfo.pitEntry->id < pitInfo.pitExit->id) {
                    if ((mainseg->id >= pitInfo.pitEntry->id) && (mainseg->id <= pitInfo.pitExit->id)) {
                        pit = true;
                    }
                } else {
                    if ((mainseg->id >= pitInfo.pitEntry->id) || (mainseg->id <= pitInfo.pitExit->id)) {
                        pit = true;
                    }
                }
            }

            if (mainseg->type == TR_LFT) {
                if (!(pit && (pitInfo.side == TR_LFT))) {
                    toborder = car->_trkPos.toLeft;
                    minradius = mainseg->radiusl;
                }
            } else if (mainseg->type == TR_RGT) {
                if (!(pit && (pitInfo.side == TR_RGT))) {
                    toborder = car->_trkPos.toRight;
                    minradius = mainseg->radiusr;
                }
            }
        }

        tdble cuttinglimit = car->_dimension_y*0.7f;
        if (toborder < -cuttinglimit) {
            if (ReInfo->raceRules.enabled & RmRaceRules::CORNER_CUTTING_TIME_INVALIDATE) {
                if (ReInfo->s->_raceType != RM_TYPE_RACE && car->_commitBestLapTime) {
                    ReRaceMsgSet("Cut corner, laptime invalidated", 5);
                }
                car->_commitBestLapTime = false;
            }
            if (ReInfo->s->_raceType == RM_TYPE_RACE && ReInfo->raceRules.enabled & RmRaceRules::CORNER_CUTTING_TIME_PENALTY) {
                // In race, apply additionally corner cutting time penalty
                minradius -= cuttinglimit;
                if (minradius > 1.0f) {
                    car->_penaltyTime += car->pub.speed*RCM_MAX_DT_SIMU*(-toborder-cuttinglimit)/minradius;
                }           
            }
        }
    }

    if (car->_skillLevel < 3) {
        /* only for the pros */
        return;
    }

    penalty = GF_TAILQ_FIRST(&(car->_penaltyList));
    if (penalty) {
        if (car->_laps > penalty->lapToClear) {
            /* too late to clear the penalty, out of race */
            car->_state |= RM_CAR_STATE_ELIMINATED;
            return;
        }
    
        switch (penalty->penalty) {
            case RM_PENALTY_DRIVETHROUGH:
                snprintf(car->ctrl.msg[3], 32, "Drive Through Penalty");
                break;
            case RM_PENALTY_STOPANDGO:
                snprintf(car->ctrl.msg[3], 32, "Stop And Go Penalty");
                break;
            default:
                *(car->ctrl.msg[3]) = 0;
                break;
        }
        
        memcpy(car->ctrl.msgColor, color, sizeof(car->ctrl.msgColor));
    }
    
    if (prevSeg->raceInfo & TR_PITSTART) {
        /* just entered the pit lane */
        if (seg->raceInfo & TR_PIT) {
            /* may be a penalty can be cleaned up */
            if (penalty) {
                switch (penalty->penalty) {
                    case RM_PENALTY_DRIVETHROUGH:
                        snprintf(buf, BUFSIZE, "%s DRIVE THROUGH PENALTY CLEANING", car->_name);
                        ReRaceMsgSet(buf, 5);
                        rules->ruleState |= RM_PNST_DRIVETHROUGH;
                        break;
                    case RM_PENALTY_STOPANDGO:
                        snprintf(buf, BUFSIZE, "%s STOP&GO PENALTY CLEANING", car->_name);
                        ReRaceMsgSet(buf, 5);
                        rules->ruleState |= RM_PNST_STOPANDGO;
                        break;
                }
            }
        }
    } else if (prevSeg->raceInfo & TR_PIT) {
        if (seg->raceInfo & TR_PIT) {
            /* the car stopped in pits */
            if (car->_state & RM_CAR_STATE_PIT) {
                if (rules->ruleState & RM_PNST_DRIVETHROUGH) {
                    /* it's not more a drive through */
                    rules->ruleState &= ~RM_PNST_DRIVETHROUGH;
                } else if (rules->ruleState & RM_PNST_STOPANDGO) {
                    rules->ruleState |= RM_PNST_STOPANDGO_OK;
                }
            } else {
                if(rules->ruleState & RM_PNST_STOPANDGO_OK && car->_pitStopType != RM_PIT_STOPANDGO) {
                    rules->ruleState &= ~ ( RM_PNST_STOPANDGO | RM_PNST_STOPANDGO_OK );
                }
            }
        } else if (seg->raceInfo & TR_PITEND) {
            /* went out of the pit lane, check if the current penalty is cleared */
            if (rules->ruleState & (RM_PNST_DRIVETHROUGH | RM_PNST_STOPANDGO_OK)) {
                /* clear the penalty */
                snprintf(buf, BUFSIZE, "%s penalty cleared", car->_name);
                ReRaceMsgSet(buf, 5);
                penalty = GF_TAILQ_FIRST(&(car->_penaltyList));
                GF_TAILQ_REMOVE(&(car->_penaltyList), penalty, link);
                FREEZ(penalty);
            }
            
            rules->ruleState = 0;
        } else {
            /* went out of the pit lane illegally... */
            /* it's a new stop and go... */
            if (!(rules->ruleState & RM_PNST_STNGO)) {
                snprintf(buf, BUFSIZE, "%s STOP&GO PENALTY", car->_name);
                ReRaceMsgSet(buf, 5);
                penalty = (tCarPenalty*)calloc(1, sizeof(tCarPenalty));
                penalty->penalty = RM_PENALTY_STOPANDGO;
                penalty->lapToClear = car->_laps + 5;
                GF_TAILQ_INSERT_TAIL(&(car->_penaltyList), penalty, link);
                rules->ruleState = RM_PNST_STNGO;
            }
        }
    } else if (seg->raceInfo & TR_PITEND) {
        rules->ruleState = 0;
    } else if (seg->raceInfo & TR_PIT) {
        /* entrered the pits not from the pit entry... */
        /* it's a new stop and go... */
        if (!(rules->ruleState & RM_PNST_STNGO)) {
            snprintf(buf, BUFSIZE, "%s STOP&GO PENALTY", car->_name);
            ReRaceMsgSet(buf, 5);
            penalty = (tCarPenalty*)calloc(1, sizeof(tCarPenalty));
            penalty->penalty = RM_PENALTY_STOPANDGO;
            penalty->lapToClear = car->_laps + 5;
            GF_TAILQ_INSERT_TAIL(&(car->_penaltyList), penalty, link);
            rules->ruleState = RM_PNST_STNGO;
        }
    }

    if (seg->raceInfo & TR_SPEEDLIMIT) {
        if (!(rules->ruleState & (RM_PNST_SPD | RM_PNST_STNGO)) && (car->_speed_x > track->pits.speedLimit)) {
            snprintf(buf, BUFSIZE, "%s DRIVE THROUGH PENALTY", car->_name);
            ReRaceMsgSet(buf, 5);
            rules->ruleState |= RM_PNST_SPD;
            penalty = (tCarPenalty*)calloc(1, sizeof(tCarPenalty));
            penalty->penalty = RM_PENALTY_DRIVETHROUGH;
            penalty->lapToClear = car->_laps + 5;
            GF_TAILQ_INSERT_TAIL(&(car->_penaltyList), penalty, link);
        }
    }
}


static void
ReOneStep(double deltaTimeIncrement)
{
    int i;
    tRobotItf *robot;
    tSituation *s = ReInfo->s;

    if ((ReInfo->_displayMode != RM_DISP_MODE_NONE) && (ReInfo->_displayMode != RM_DISP_MODE_CONSOLE)) {
        if (floor(s->currentTime) == -2.0) {
            ReRaceBigMsgSet("Ready", 1.0);
        } else if (floor(s->currentTime) == -1.0) {
            ReRaceBigMsgSet("Set", 1.0);
        } else if (floor(s->currentTime) == 0.0) {
            ReRaceBigMsgSet("Go", 1.0);
        }
    }

    ReInfo->_reCurTime += deltaTimeIncrement * ReInfo->_reTimeMult; /* "Real" time */
    s->currentTime += deltaTimeIncrement; /* Simulated time */

    if (s->currentTime < 0) {
        /* no simu yet */
        ReInfo->s->_raceState = RM_RACE_PRESTART;
    } else if (ReInfo->s->_raceState == RM_RACE_PRESTART) {
        ReInfo->s->_raceState = RM_RACE_RUNNING;
        s->currentTime = 0.0; /* resynchronize */
        ReInfo->_reLastTime = 0.0;
    }

    START_PROFILE("rbDrive*");
    if ((s->currentTime - ReInfo->_reLastTime) >= RCM_MAX_DT_ROBOTS) {
        s->deltaTime = s->currentTime - ReInfo->_reLastTime;
        for (i = 0; i < s->_ncars; i++) {
            if ((s->cars[i]->_state & RM_CAR_STATE_NO_SIMU) == 0) {
                robot = s->cars[i]->robot;
                robot->rbDrive(robot->index, s->cars[i], s);
            }
        }
        ReInfo->_reLastTime = s->currentTime;
    }
    STOP_PROFILE("rbDrive*");

    START_PROFILE("_reSimItf.update*");
    ReInfo->_reSimItf.update(s, deltaTimeIncrement, -1);
    for (i = 0; i < s->_ncars; i++) {
        ReManage(s->cars[i]);
    }
    STOP_PROFILE("_reSimItf.update*");

    if ((ReInfo->_displayMode != RM_DISP_MODE_NONE) && (ReInfo->_displayMode != RM_DISP_MODE_CONSOLE)) {
        ReRaceMsgUpdate();
    }
    ReSortCars();
}

void
ReStart(void)
{
    ReInfo->_reRunning = 1;
    ReInfo->_reCurTime = GfTimeClock() - RCM_MAX_DT_SIMU;
}

void
ReStop(void)
{
    ReInfo->_reGraphicItf.muteformenu();
    ReInfo->_reRunning = 0;
}

static void
reCapture(void)
{
    unsigned char *img;
    int sw, sh, vw, vh;
    tRmMovieCapture *capture = &(ReInfo->movieCapture);
    const int BUFSIZE = 1024;
    char buf[BUFSIZE];
    
    GfScrGetSize(&sw, &sh, &vw, &vh);
    img = (unsigned char*)malloc(vw * vh * 3);
    if (img == NULL) {
        return;
    }

    glPixelStorei(GL_PACK_ROW_LENGTH, 0);
    glPixelStorei(GL_PACK_ALIGNMENT, 1);
    glReadBuffer(GL_FRONT);
    glReadPixels((sw-vw)/2, (sh-vh)/2, vw, vh, GL_RGB, GL_UNSIGNED_BYTE, (GLvoid*)img);

    snprintf(buf, BUFSIZE, "%s/torcs-%4.4d-%8.8d.png", capture->outputBase, capture->currentCapture, capture->currentFrame++);
    GfImgWritePng(img, buf, vw, vh);
    free(img);
}


int
ReUpdate(void)
{
    double t;
    tRmMovieCapture *capture;
    int mode = RM_ASYNC;
    int i;
    const int MAXSTEPS = 2000;
    
    START_PROFILE("ReUpdate");
    ReInfo->_refreshDisplay = 0;
    switch (ReInfo->_displayMode) {
        case RM_DISP_MODE_NORMAL:
            t = GfTimeClock();
            
            i = 0;
            START_PROFILE("ReOneStep*");
            while ((ReInfo->_reRunning && ((t - ReInfo->_reCurTime) > RCM_MAX_DT_SIMU)) && MAXSTEPS > i++) {
                ReOneStep(RCM_MAX_DT_SIMU);
            }
            STOP_PROFILE("ReOneStep*");

            if (i > MAXSTEPS) {
                // Cannot keep up with time warp, reset time to avoid lag when running slower again
                ReInfo->_reCurTime = GfTimeClock();
            }
            
            GfuiDisplay();
            ReInfo->_reGraphicItf.refresh(ReInfo->s);
            glutPostRedisplay();    /* Callback -> reDisplay */
            break;

        case RM_DISP_MODE_NONE:
            // Just update view once per 2 seconds simulation time to avoid trouble with graphics cards
            // which are bad in buffer switching (e.g. ATI fglrx driver on Linux).
            t = ReInfo->_reCurTime;
            while ((t - ReInfo->_reCurTime + 2.0) > 0.0) {
                ReOneStep(RCM_MAX_DT_SIMU);
            }

            GfuiDisplay();
            glutPostRedisplay();    /* Callback -> reDisplay */
            break;

        case RM_DISP_MODE_CAPTURE:
            capture = &(ReInfo->movieCapture);
            while ((ReInfo->_reCurTime - capture->lastFrame) < capture->deltaFrame) {
                ReOneStep(capture->deltaSimu);
            }
            capture->lastFrame = ReInfo->_reCurTime;

            GfuiDisplay();
            ReInfo->_reGraphicItf.refresh(ReInfo->s);
            reCapture();
            glutPostRedisplay();    /* Callback -> reDisplay */
            break;

        case RM_DISP_MODE_CONSOLE:
            t = ReInfo->_reCurTime;
            while ((t - ReInfo->_reCurTime + 2.0) > 0.0) {
                ReOneStep(RCM_MAX_DT_SIMU);
            }
            mode = RM_SYNC;
            break;

    }
    STOP_PROFILE("ReUpdate");

    return mode;
}

void
ReTimeMod (void *vcmd)
{
    long cmd = (long)vcmd;

    switch ((int)cmd) {
        case 0:
            ReInfo->_reTimeMult *= 2.0;
            if (ReInfo->_reTimeMult > 64.0) {
                ReInfo->_reTimeMult = 64.0;
            }
            break;
        case 1:
            ReInfo->_reTimeMult *= 0.5;
            if (ReInfo->_reTimeMult < 1.0f/128.0f) {
                ReInfo->_reTimeMult = 1.0f/128.0f;
            }
            break;
        case 2:
            default:
            ReInfo->_reTimeMult = 1.0;
            break;
    }

    const int BUFSIZE = 1024;
    char buf[BUFSIZE];
    
    snprintf(buf, BUFSIZE, "Time x%.2f", 1.0 / ReInfo->_reTimeMult);
    ReRaceMsgSet(buf, 5);
}