Documentation

TORCS documentation is generated from the source tree and kept next to the code. The online set below mirrors the current development state; each release archive also contains its own documentation snapshot.

Online

API documentation: the public interfaces for robots (robot.h), simulation, tracks and graphics, plus the FAQ and track-authoring manual added to the Doxygen set in 1.3.9.

For robot (AI) developers

The source tree and release archives include the step-by-step TORCS Robot Tutorial at doc/tutorials/robot/index.html. It starts with creating and building a simple driver, then covers steering, trajectories, opponents, overtaking, car setup and pit stops.
The Robot Module Interface is declared in robot.h. A driver supplies a tRobotItf callback table for initialization, driving, pit commands and shutdown; sample robot modules ship under src/drivers/.
The robottools library provides track and setup helpers used by many drivers. It is separate from the Robot Module Interface itself.
The Simulated Car Racing Championship (SCR) extends TORCS with a server patch and a network client/server interface for drivers developed outside the simulator process. Its competition software manual explains the architecture, installation, sensors, actuators and sample drivers. The SCR Championship archive provides the Linux and Windows servers, TORCS patch, C++ and Java clients, competition tracks and submitted entries. Community-maintained SCR clients and bindings for Python, TypeScript and C# can also be found online; these are independent projects and are not bundled with or maintained as part of TORCS or the official SCR archive. These external resources document the SCR competition stack, which is separate from the native Robot Module Interface bundled with TORCS.
Published research on building TORCS drivers is collected on the Research page - a practical starting point for reinforcement learning approaches.

For track and car authors

The source tree ships content tools: trackgen, accc, nfs2ac and texmapper.
Track structure, XML descriptors and raceline generation are covered in the online track manual.
The TORCS Content Creation and Toolchain video series demonstrates content workflows and the supporting tools.

Generate locally

From a configured source tree, run make doc to generate the Doxygen documentation under doc/manual/api/. A man page is also available for the torcs command.