A base class for all AI karts. More...

#include <ai_base_controller.hpp>

Inheritance diagram for AIBaseController:

[legend]

Public Member Functions
	AIBaseController (AbstractKart *kart)

virtual void	reset () OVERRIDE

virtual bool	disableSlipstreamBonus () const OVERRIDE
	Certain AI levels will not receive a slipstream bonus in order to be not as hard.

virtual void	crashed (const Material *m) OVERRIDE
	This is called when the kart crashed with the terrain.

virtual void	crashed (const AbstractKart *k) OVERRIDE

virtual void	handleZipper (bool play_sound) OVERRIDE

virtual void	finishedRace (float time) OVERRIDE
	Called whan this controller's kart finishes the last lap.

virtual void	collectedItem (const ItemState &item, float previous_energy=0) OVERRIDE

virtual void	setPosition (int p) OVERRIDE

virtual bool	isPlayerController () const OVERRIDE
	This function checks if this player is not an AI, i.e.

virtual bool	isLocalPlayerController () const OVERRIDE
	This function checks if this is a local player.

virtual bool	action (PlayerAction action, int value, bool dry_run=false) OVERRIDE
	Default: ignore actions.

virtual void	skidBonusTriggered () OVERRIDE

virtual bool	saveState (BareNetworkString *buffer) const OVERRIDE

virtual void	rewindTo (BareNetworkString *buffer) OVERRIDE

void	setNetworkAI (bool val)

virtual void	update (int ticks) OVERRIDE

Public Member Functions inherited from Controller
	Controller (AbstractKart *kart)
	Constructor, saves the kart pointer and a pointer to the KartControl of the kart.

virtual void	reset ()=0

virtual void	update (int ticks)=0

virtual void	handleZipper (bool play_sound)=0

virtual void	collectedItem (const ItemState &item, float previous_energy=0)=0

virtual void	crashed (const AbstractKart *k)=0

virtual void	crashed (const Material *m)=0

virtual void	setPosition (int p)=0

virtual bool	isLocalPlayerController () const =0
	This function checks if this is a local player.

virtual bool	isPlayerController () const =0
	This function checks if this player is not an AI, i.e.

virtual bool	disableSlipstreamBonus () const =0

virtual bool	saveState (BareNetworkString *buffer) const =0

virtual void	rewindTo (BareNetworkString *buffer)=0

virtual void	rumble (float strength_low, float strength_high, uint16_t duration)

virtual void	setControllerName (const std::string &name)
	Sets the controller name for this controller.

const std::string &	getControllerName () const
	Returns the name of this controller.

virtual bool	action (PlayerAction action, int value, bool dry_run=false)=0
	Default: ignore actions.

virtual void	newLap (int lap)=0
	Callback whenever a new lap is triggered.

virtual void	skidBonusTriggered ()=0

virtual void	finishedRace (float time)=0
	Called whan this controller's kart finishes the last lap.

virtual KartControl *	getControls ()
	Get a pointer on the kart controls.

void	setControls (KartControl *kc)

virtual bool	canGetAchievements () const
	Only local players can get achievements.

virtual core::stringw	getName (bool include_handicap_string=true) const
	Display name of the controller.

AbstractKart *	getKart () const
	Returns the kart controlled by this controller.

Static Public Member Functions
static void	enableDebug ()

static void	setTestAI (int n)

static int	getTestAI ()

Protected Member Functions
void	setControllerName (const std::string &name) OVERRIDE
	In debug mode when the user specified –ai-debug on the command line set the name of the controller as on-screen text, so that the different AI controllers can be distinguished.

float	steerToPoint (const Vec3 &point)
	Computes the steering angle to reach a certain point.

float	normalizeAngle (float angle)
	Normalises an angle to be between -pi and _ pi.

bool	isStuck () const
	This can be called to detect if the kart is stuck (i.e.

void	determineTurnRadius (const Vec3 &end, Vec3 center, float radius) const
	Determine the center point and radius of a circle given two points on the circle and the tangent at the first point.

virtual void	setSteering (float angle, float dt)
	Converts the steering angle to a lr steering in the range of -1 to 1.

virtual bool	canSkid (float steer_fraction)=0
	Return true if AI can skid now.

Protected Attributes
bool	m_enabled_network_ai

float	m_kart_length
	Length of the kart, storing it here saves many function calls.

float	m_kart_width
	Cache width of kart.

Track *	m_track
	Keep a pointer to the track to reduce calls.

const AIProperties *	m_ai_properties
	A pointer to the AI properties for this kart.

Protected Attributes inherited from Controller
AbstractKart *	m_kart
	Pointer to the kart that is controlled by this controller.

KartControl *	m_controls
	A pointer to the main controller, from which the kart takes it commands.

std::string	m_controller_name
	The name of the controller, mainly used for debugging purposes.

Static Protected Attributes
static bool	m_ai_debug = false

static int	m_test_ai = 0
	Stores the '–test-ai=n' command line parameter: It indicates which fraction of the AIs are going to be the test AI: 1 means only to use the TestAI, 2 means every second AI will be test etc.

Private Attributes
std::vector< int >	m_collision_ticks
	Stores the last N times when a collision happened.

bool	m_stuck
	A flag that is set during the physics processing to indicate that this kart is stuck and needs to be rescued.

Detailed Description

A base class for all AI karts.

This class basically provides some common low level functions.

Member Function Documentation

◆ action()

virtual bool AIBaseController::action	(	PlayerAction	action,
		int	value,
		bool	dry_run = `false`
	)

inlinevirtual

Default: ignore actions.

Only PlayerController get them.

Implements Controller.

Reimplemented in EndController.

◆ canSkid()

virtual bool AIBaseController::canSkid ( float steer_fraction )

protectedpure virtual

Return true if AI can skid now.

Implemented in EndController, SkiddingAI, TestAI, ArenaAI, and SoccerAI.

◆ collectedItem()

virtual void AIBaseController::collectedItem	(	const ItemState &	item,
		float	previous_energy = `0`
	)

inlinevirtual

Implements Controller.

◆ crashed() [1/2]

virtual void AIBaseController::crashed ( const AbstractKart * k )

inlinevirtual

Implements Controller.

Reimplemented in SpareTireAI.

◆ crashed() [2/2]

void AIBaseController::crashed ( const Material * m )

virtual

This is called when the kart crashed with the terrain.

This subroutine tries to detect if the AI is stuck by determining if a certain number of collisions happened in a certain amount of time, and if so rescues the kart. \paran m Pointer to the material that was hit (NULL if no specific material was used for the part of the track that was hit).

Implements Controller.

◆ determineTurnRadius()

void AIBaseController::determineTurnRadius	(	const Vec3 &	end,
		Vec3 *	center,
		float *	radius
	)		const

protected

Determine the center point and radius of a circle given two points on the circle and the tangent at the first point.

This is done as follows:

Determine the line going through the center point start+end, which is orthogonal to the vector from start to end. This line goes through the center of the circle.
Determine the line going through the first point and is orthogonal to the given tangent.
The intersection of these two lines is the center of the circle.
Parameters

[in] end Second point on circle.

[out] center Center point of the circle (local coordinate).

[out] radius Radius of the circle.

◆ disableSlipstreamBonus()

bool AIBaseController::disableSlipstreamBonus ( ) const

virtual

Certain AI levels will not receive a slipstream bonus in order to be not as hard.

Implements Controller.

◆ finishedRace()

virtual void AIBaseController::finishedRace ( float time )

inlinevirtual

Called whan this controller's kart finishes the last lap.

Implements Controller.

◆ handleZipper()

virtual void AIBaseController::handleZipper ( bool play_sound )

inlinevirtual

Implements Controller.

◆ isLocalPlayerController()

virtual bool AIBaseController::isLocalPlayerController ( ) const

inlinevirtual

This function checks if this is a local player.

A local player will get special graphical effects enabled, has a camera, and sound effects will be played with normal volume.

Implements Controller.

Reimplemented in EndController.

◆ isPlayerController()

virtual bool AIBaseController::isPlayerController ( ) const

inlinevirtual

This function checks if this player is not an AI, i.e.

it is either a a local or a remote/networked player. This is tested e.g. by the AI for rubber-banding.

Implements Controller.

Reimplemented in EndController.

◆ isStuck()

bool AIBaseController::isStuck ( ) const

inlineprotected

This can be called to detect if the kart is stuck (i.e.

repeatedly hitting part of the track).

◆ normalizeAngle()

float AIBaseController::normalizeAngle ( float angle )

protected

Normalises an angle to be between -pi and _ pi.

Parameters

angle Angle to normalise.

Returns: Normalised angle.

◆ reset()

void AIBaseController::reset ( )

virtual

Implements Controller.

Reimplemented in SkiddingAI, ArenaAI, SoccerAI, and SpareTireAI.

◆ rewindTo()

void AIBaseController::rewindTo ( BareNetworkString * buffer )

virtual

Implements Controller.

◆ saveState()

bool AIBaseController::saveState ( BareNetworkString * buffer ) const

virtual

Implements Controller.

◆ setControllerName()

void AIBaseController::setControllerName ( const std::string & name )

protectedvirtual

In debug mode when the user specified –ai-debug on the command line set the name of the controller as on-screen text, so that the different AI controllers can be distinguished.

Parameters

name	Name of the controller.

Reimplemented from Controller.

◆ setPosition()

virtual void AIBaseController::setPosition ( int p )

inlinevirtual

Implements Controller.

◆ setSteering()

void AIBaseController::setSteering	(	float	angle,
		float	dt
	)

protectedvirtual

Converts the steering angle to a lr steering in the range of -1 to 1.

If the steering angle is too great, it will also trigger skidding. This function uses a 'time till full steer' value specifying the time it takes for the wheel to reach full left/right steering similar to player karts when using a digital input device. The parameter is defined in the kart properties and helps somewhat to make AI karts more 'pushable' (since otherwise the karts counter-steer to fast). It also takes the effect of a plunger into account by restricting the actual steer angle to 50% of the maximum.

Parameters

angle	Steering angle.
dt	Time step.

Reimplemented in SkiddingAI, and TestAI.

◆ skidBonusTriggered()

virtual void AIBaseController::skidBonusTriggered ( )

inlinevirtual

Implements Controller.

◆ steerToPoint()

float AIBaseController::steerToPoint ( const Vec3 & point )

protected

Computes the steering angle to reach a certain point.

The function will request steering by setting the steering angle to maximum steer angle times skidding factor.

Parameters

point	Point to steer towards.
skidding_factor	Increase factor for steering when skidding.

Returns: Steer angle to use to reach this point.

◆ update()

void AIBaseController::update ( int ticks )

virtual

Implements Controller.

Reimplemented in AIBaseLapController, EndController, SkiddingAI, TestAI, ArenaAI, SoccerAI, and SpareTireAI.

Member Data Documentation

◆ m_collision_ticks

std::vector<int> AIBaseController::m_collision_ticks

private

Stores the last N times when a collision happened.

This is used to detect when the AI is stuck, i.e. N collisions happened in a certain period of time.

◆ m_test_ai

int AIBaseController::m_test_ai = 0

staticprotected

Stores the '–test-ai=n' command line parameter: It indicates which fraction of the AIs are going to be the test AI: 1 means only to use the TestAI, 2 means every second AI will be test etc.

Used for AI testing only.

The documentation for this class was generated from the following files:

karts/controller/ai_base_controller.hpp
karts/controller/ai_base_controller.cpp

[in]	end	Second point on circle.
[out]	center	Center point of the circle (local coordinate).
[out]	radius	Radius of the circle.

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Attributes

Detailed Description

Member Function Documentation

◆ action()

◆ canSkid()

◆ collectedItem()

◆ crashed() [1/2]

◆ crashed() [2/2]

◆ determineTurnRadius()

◆ disableSlipstreamBonus()

◆ finishedRace()

◆ handleZipper()

◆ isLocalPlayerController()

◆ isPlayerController()

◆ isStuck()

◆ normalizeAngle()

◆ reset()

◆ rewindTo()

◆ saveState()

◆ setControllerName()

◆ setPosition()

◆ setSteering()

◆ skidBonusTriggered()

◆ steerToPoint()

◆ update()

Member Data Documentation

◆ m_collision_ticks

◆ m_test_ai