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Car Ai Details In Parameters.txt; Simple AI, for anything, 1207 & old 1.2
Topic Started: Jan 2 2011, 03:30 AM (15,992 Views)
Citywalker
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This is now only an archive of my earlier half-baked attempts to do the same thing that Huki was trying earlier: find a single AI that runs everything imaginable. But this is simply impossible. Instead, I now present a method of tuning a scratch-made car AI for any individual vehicle so that it runs decently anywhere, including ice. Warning: it only works with the old AI (V1207). Huki’s V1.2 still has some changes in race-code so it’s incompatible. I know because I tried tuning for his AI. Sprinter XL still did a U-turn on ice and already understeered on floors. So it’s old AI only for now.
It’s there:
http://z3.invisionfree.com/Revolt_Live/ind...post&p=22058397

The rest of this topic is unchanged, except the last bump-post.

- - - - - old message below - - - - -

http://z3.invisionfree.com/Revolt_Live/ind...dpost&p=5309238
This is what I call the simplified AI. It works for normal cars, high-grip cars, drifters, Real-Life handling cars – you name it.
It currently has two functioning options with constant values that don’t depend on the vehicle. How much more KISS could it be? :)
+ Track AI for all easy-handling cars.
+ Default culling of tail-swing for tail-happy cars.

This makes the first post a good read for general information, and also for deep tweaking if your vehicle is something special.

-----

Hey.

Some of you no doubt already know that Huki and Jigebren at ORP are making Re-Volt 1.2 from source code. Some time ago I asked Huki whether he can tell me anything about the car AI part of the parameters.txt when looking at the source code. He said it’s cryptic and provided me with the respective code bit and a link to some more side information from the past programmer.

Now, I can proudly present an explanation of how the car AI works and what to tweak in the parameters.txt. Huki said he wanted to double-check this, and so I’ll be glad to have his final approval, but for now, having a bit of a programming background myself, I am sure that I have read it right. Besides, as UrbanRocker can confirm, I already used this knowledge on a car in his collection.

Tutorial follows:

+ General explanations:
• The AI part of the car parameters is essentially a set of instructions for corrections on top of what the track AI orders the cars to do.
• If the car has less than three wheels in contact with the ground, then the car is considered to be tumbling and the entire car AI section is bypassed.
•• In this case, the car is controlled by the track AI only. (Incidentally, this means that all the more lunatic vehicles, like bikes and some of my Concepts going on two wheels only, need to have technically double wheels with identical positions, to have any benefit from the car AI.)
• If front end is going sideways faster than rear end (or equally), the car is considered to be understeering (sideways sliding).
•• In this case, the AI turns steering wheels more i.e. away from zero straight, and applies throttle inversely proportionally to steering correction intensity or in case of too much sliding applies full brakes.
• If rear end is going sideways faster than front end, the car is considered to be oversteering (excessive powersliding).
•• In this case, the AI turns steering wheels towards sliding direction and over zero straight if necessary, and applies throttle or brakes in the range of full throttle when sliding a little to half brakes when sliding fast.
• If front and rear are going to opposite directions, the car is considered to be in special case of oversteering (spinning around).
•• In this case, the AI behaves similarly to excessive powersliding, but considers spinning speed instead of sliding speed, i.e. the AI turns steering wheels against spinning direction and over zero straight if necessary, and applies throttle or brakes in the range of full throttle when spinning a little to half brakes when spinning fast.

Sadly, I don’t know about the actual units of measurement used for sliding speeds, so the values still need to be adjusted empirically, but at least now we know what to adjust.

+ Parameters.txt explained: (Candy Pebbles)
UnderThresh 150.000000
; sideways sliding limiter for steering corrections
; if sum of front and rear sideways speeds is over this, then correct steering
; lower: correct sooner, higher: let it slide
; range: 0 to ?
UnderRange 1415.486572
; steer correction smoothness coefficient for sideways sliding
; steering correction coefficient is divided by this
; lower: sharper corrections, higher: smoother corrections
; range: 1(?) to ?
UnderFront 372.000000
; sideways sliding limiter for throttle corrections, combined with UnderRear
; if front sideways speed is over this and rear sideways speed is over UnderRear, then apply full brakes
; lower: apply full brakes sooner, higher: go with proportional throttle for longer
; range: 0 to ?
UnderRear 335.000000
; sideways sliding limiter for throttle corrections, combined with UnderFront
; if rear sideways speed is over this and front sideways speed is over UnderFront, then apply full brakes
; lower: apply full brakes sooner, higher: go with proportional throttle for longer
; range: 0 to ?
UnderMax 0.950000
; maximum steer correction limiter for sideways sliding
; excessive steer correction coefficient is culled to this
; lower: less intensive corrections, higher: more intensive corrections
; range: 0 to 1
OverThresh 2833.246826
; powersliding and spinning limiter for steering corrections
; if rear sideways speed is that much over front sideways speed, then correct steering
; lower: correct sooner, higher: let it turn
; range: 0 to ?
OverRange 1391.000000
; steer correction smoothness coefficient for powersliding and spinning
; steering correction coefficient is divided by this
; lower: sharper corrections, higher: smoother corrections
; range: 1(?) to ?
OverMax 0.360000
; maximum steer correction limiter for powersliding and spinning
; excessive steer correction coefficient is culled to this
; lower: less intensive corrections, higher: more intensive corrections
; range: 0 to 1
OverAccThresh 10.000000
; powersliding and spinning limiter for throttle corrections
; if front or rear sideways speed is over this, then correct throttle
; lower: correct sooner, higher: let it turn
; range: 0 to ?
OverAccRange 400.000000
; throttle correction bias coefficient for powersliding and spinning
; throttle correction coefficient is calculated with this, resulting in range from full throttle to half brakes
; lower: more bias towards braking, higher: more bias towards throttling
; range: 1(?) to ?

+ Programming explained:

•Check for the number of wheels in contact with the ground.
••If this is less than three, then the car is considered to be tumbling and nothing else is done.

•Check for oversteering or understeering:
••If rear and front are going both leftwards or both rightwards then
•••If rear is sliding faster than the front and the difference is more than OverThresh, then it’s considered oversteering (excessive powersliding and spinning)
••••do something to steering:
•••••calculate steer correction coefficient = part of the difference between rear and front sideways speeds that exceeds OverThresh, divided by OverRange
•••••If it’s still more than OverMax, then cull it to OverMax
••••••result: positive steer correction coefficient in the range of 0.000001 to OverMax
•••If rear is sliding nearly as fast as the front or even slower and the sum of rear and front sideways speeds is more than UnderThresh, then it’s considered understeering (sideways sliding)
••••do something to steering:
•••••calculate steer correction coefficient = part of the sum of rear and front sideways speeds that exceeds UnderThresh, divided by UnderRange
•••••If it’s still more than UnderMax, then cull it to UnderMax
•••••anyway, make this value negative
••••••result: negative steer correction coefficient in the range of -0.000001 to -UnderMax
•••If rear is not sliding much faster than the front (no oversteering) and both rear and front are not sliding fast (no understeering), then:
••••do nothing to steering:
•••••result: zero steer correction coefficient

•Check for spinning out:
••If rear and front are going towards opposite directions then
••• If the sum of rear and front sideways speeds (in different directions) is more than OverThresh, then it’s considered special oversteering (spinning around)
••••do something to steering:
•••••calculate steer correction coefficient = part of the sum of rear and front sideways speeds that exceeds OverThresh, divided by OverRange
•••••If it’s still more than OverMax, then cull it to OverMax
••••••result: positive steer correction coefficient in the range of 0.000001 to OverMax
•••If the sum of rear and front sideways speeds (in any direction) is within OverThresh, then it’s not oversteering (not spinning)
••••do nothing to steering:
•••••result: zero steer correction coefficient

•Adjust steering and acceleration accordingly:
••If it was understeering, i.e. sideways sliding (negative steer correction coefficient), then
•••adjust steering:
••••make steer correction coefficient positive
••••calculate actual steer correction amount = steer correction coefficient * SteerRatio
•••••result: steer correction amount in the range of 0.000001 to (SteerRatio * UnderMax)
••••add steer correction amount to actual steering value (turn more i.e. away from zero straight)
••••if it goes over SteerRatio, then cull it to SteerRatio
•••••result: new steering wheel angle
•••adjust acceleration:
••••calculate throttle correction coefficient = 1 - steer correction coefficient
•••••result: throttle correction coefficient inversely proportional to steer correction coefficient, in the range of 0.999999 to (1 - UnderMax)
••••if front is sliding faster than UnderFront and rear is sliding faster than UnderRear (going sideways fast), then
•••••throttle value becomes EngineRate (apply full brakes)
••••if front or rear or both are still somewhat under control
•••••throttle value becomes [-EngineRate * throttle correction coefficient] (apply throttle inversely proportional to steering correction intensity)
••If it was oversteering, i.e. excessively powersliding or spinning around (positive steer correction coefficient), then
•••adjust steering:
••••calculate actual steer correction amount = steer correction coefficient * SteerRatio
•••••result: steer correction amount in the range of 0.000001 to (SteerRatio * OverMax)
••••subtract steer correction amount from actual steering value (turn towards sliding direction and over zero straight if necessary)
••••if it goes over SteerRatio, then cull it to SteerRatio
•••••result: new steering wheel angle
•••adjust acceleration:
••••use the faster of the two: front sideways speed or rear sideways speed
••••if sideways speed is more than OverAccThresh, then
•••••calculate throttle correction coefficient = difference between sideways speed and OverAccThresh, divided by OverAccRange
•••••if it goes over 1.5, then cull it to 1.5
••••••result: throttle correction coefficient in the range of 0.0000001 to 1.5
•••••throttle value becomes (1 - throttle coefficient) * -EngineRate = in the range of -EngineRate (full throttle) to half EngineRate (half brakes)

Have fun! ^_^

[Edited for an important note about the number of wheels contacting ground]
[And edited again, because it turned out that Acclaim has used negative values for throttle and positive values for brakes for some reason...]
All my stuff is available here, and all my videos are available there.
-----
CW
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kay
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lol I'm lost ( I still have a lot to do in the last day of holidays )
That's very fantastic work :) I'll try to read it later and edit this comment
It wouldn't hurt visiting my blog or Re-Volt frontend's :)
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Cat
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I should play with this sometime. I'ts a maze of explanations.
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zipperrulez
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wow. awesome, just awesome. great job.
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R6TurboExtreme
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Cat,Jan 2 2011
06:37 PM
I should play with this sometime. I'ts a maze of explanations.

I agree :P
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Citywalker
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Edited for an important note about the number of wheels contacting ground.

-----
CW
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-----
CW
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Citywalker
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And edited again, because it turned out that Acclaim has used negative values for throttle and positive values for brakes for some reason... That was unexpected.
All my stuff is available here, and all my videos are available there.
-----
CW
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zipperrulez
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They screw with stuff like that in a few area's of parameters.txt.
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Adamodell
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zipper shown me this thread, I wasn't paying attention, shame on me. I must say I'm impressed. I don't know if this could actually help me, yet it's neat to know, so I can't complain. All this does is make my brain turn to jelly, haha.
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<a href="mailto:metallicafan128@gmail.com">Email</a> | <a href="skype:instinctualjealousy?chat">Skype</a> | <a href="xmpp:adamu-kun@magicbroccoli.de">XMPP</a> | instinctualjealousy#4070
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zipperrulez
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Code:
 
Suspension      26213
Aggression      0

Any ideas on what these do?
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Citywalker
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No Idea... As far as I see, the code bit that Huki showed me makes no use of those. Well, there are some other parts of the parameters.txt, too, that the game doesn't actually use, so I'm not too much surprised about that.

At least the Aggression value is 0 for all stocks. Suspension does vary, but I don't know whether or where it is used.
All my stuff is available here, and all my videos are available there.
-----
CW
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zipperrulez
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Then it looks like I need to figure that one out.
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Cat
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I suppose that the Suspension value is for the "Bumpy" AI node property.
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zipperrulez
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It's official, aggression does nothing.
Code:
 

Car41
aggression=0

Car42
aggression=10

Car43
aggression=20

Car44
aggression=30

Car45
aggression=40

Car46
aggression=100

Car47
aggression=250

Car48
aggression=1000


http://desmond.imageshack.us/Himg542/scale....png&res=medium

Weird ass url, wont let me directly link...
20 laps, no pickups, only aggression car changes, as specified above. On 'Top Gear Test Track'.
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Cat
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Try on a more technical circuit, like AMCO Bitume.
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huki
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Nope, Aggression does nothing.

Edit: Suspension and PickupBias are used for AI Node decisions, when bumpy / soft suspension, and pickup / long pickup routes are available in the track, respectively.
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Citywalker
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Thanks, Huki!
All my stuff is available here, and all my videos are available there.
-----
CW
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Citywalker
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news! News! NEWS!

The current best version of the tutorial:

1) The simplest AI is no AI:
Easier vehicles don’t need car AI at all. They run just fine with only track AI.
• Cancel out UnderThresh and OverThresh with a value of 50000. Ignore the rest.
Like this:
UnderThresh 50000
...
OverThresh 50000

2) If the vehicle is a bit difficult and has problems on ice or is just excessively tail-happy, then give it a tail-swing delimiter:
• Make OverAccThresh 50000 (no messing with acceleration) and OverRange and OverMax both 1 (for simplicity), and make OverThresh 50. That’s a good golden rule for all tail-happy vehicles that I have tried. Then see how the car does in the Supermarket 2 track (on ice and elsewhere).
Like this:
UnderThresh 50000
...
OverThresh 50
OverRange 1
OverMax 1
OverAccThresh 50000
If you still manage to find some car, for which OverThresh 50 is not good for some reason, then determine a better value from the range of 100 to 0, using the half-step method below. But usually 50 is a good balance between coping with ice and starting to miss some turns.

3) And then there are special cases.

3a ) If the vehicle just doesn’t steer at all with UnderThresh 50000, then use this:
UnderThresh 0
UnderRange 1
UnderFront 50000
UnderRear 50000
Cancel out OverThresh with 50000, and then find the highest UnderMax that lets the vehicle reach top speed, using the half-step method below (with range 0 to 1), on the track TC6 Concrete. Let the car run and see whether it swings or runs straight.
For example, Sprinter XL runs well with UnderMax 0.187500, although it’s incompetent on ice like this.

3b ) If the vehicle can’t hold a straight line with UnderThresh 50000 and can’t do it with UnderThresh 0 and UnderMax 0.000001 either, then the 1207 AI needs to be twisted beyond all recognition to run that vehicle, and I haven’t found a good method for that yet. I’ll be trying, though ;)

Tools you may need:
• For having the AI run the vehicle as a single car on a track: Re-Volt command line switches -dev and -gazzasaicar, then “Time Trial” or Editor: None option. (In-game: hold right Ctrl key to control the car yourself.)
• Track TC6 Concrete from this pack:
http://rvzt.zackattackgames.com/main/comme...e+5+-+Ice+Speed.
• Whatever you use for mathematics :) I use a spreadsheet, some may use Calculator and Notepad.


And the half-step method:
• Set for yourself the adjustment range, e.g. from 0 to 1.
• First root value is in the middle of the range, i.e. 0.5
• First step is half-way from root value to edge of range, i.e. 0.25.

• Try the root value.
• If it fits, then you’re lucky :) You’re done!

•• If it’s too high, go lower by step (0.5-0.25=0.25).
•• Halve the step (0.25/2=0.125).
•• Try the new lower value.
•• If it’s too high, go lower by step again (0.25-0.125=0.125).
•• Halve the step (0.125/2=0.6125).
•• Try the new lower value.
• Go like this until you find a value that works. If you want, you can then continue upwards from that point to refine the value.

•• If the root value was too low, then go higher by step (0.5+0.25=0.75).
•• Halve the step (0.25/2=0.125).
•• Try the new higher value.
•• If it’s too low, go higher by step again (0.75+0.125=0.875).
•• Halve the step (0.125/2=0.6125).
•• Try the new higher value.
• Go like this until you find a value that works. If you want, you can then continue downwards from that point to refine the value.

That’s it. Have fun!
All my stuff is available here, and all my videos are available there.
-----
CW
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Ballisticsrules
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I have a question:

At end of parameters exist a code with letters and numbers

What make it?
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R6TurboExtreme
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I think that is just a car codename for the engine or something...
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Cat
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Ballisticsrules,Monday, Oct 17 2011
08:47
I have a question:

At end of parameters exist a code with letters and numbers

What make it?

Nothing actually. You can write something random.
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Ballisticsrules
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Ah, ok.
Thanks Cat! :D
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burner94
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R6TurboExtreme,Monday, Oct 17 2011
09:10
I think that is just a car codename for the engine or something...

Yeah, now it is. But in DEV versions that was the codename for the single cars. And yeah, it was used until non-wolf-ed 1.10s as well. As you could see, the Demo cars have completely different numbers there (most times they have double the digits etc.). Huki told me it was CRC Checksum related, but I don't have the foggiest idea about the meaning of that :P just that it was used by the RV code to prevent [CHT] marking in car selection... (along with the param sheet modify date. That's why even if you don't touch the final numbers, but edit params from a stockie, it will show you the CHT label.)

But what we know is that in custom cars they aren't useful, either with 1.2, 1.10 or DEV version.
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ElvenAvenger
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So uhm...i don't exactly want to change the AI in all of the 700 cars i have. Not even if it took 10 minutes max for each car. Is there anyway to do it faster?

Sprinter XL fan.
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Ballisticsrules
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Clockworks doesn't have codename!
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Dr.Pepper
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Thanks CW I will try this in all my cars. :D
aka ridgeracerplayer14 & Racer X
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zipperrulez
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That's a crazy find, nice work CW.
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Citywalker
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All 700 (!) of them? I don’t think you can do _anything_ with all 700 of them without going nuts in the process. Do you really race with all of them? I’m sure that most are collector’s items sitting in your garage ;) [offtopic]I used to collect like this, too, until I noticed that I only race with a few. That’s why I keep my racing pack (Challenge Pack) to just 25.[/offtopic] And besides, “if it ain’t broke, don’t fix it” :) If you have no complaints about a car’s AI, then you really don’t _have_ to modify it. Do those that you are really unhappy about. Because no, I don’t have a way to do it faster, this is the fastest (probably fastest possible) algorithm for that (and with some intuition and mental shortcuts you can probably find a decent value for a normal car with 3-4 runs. I did.). Only Huki could help you there, if he codes something like this into the next V1.2 release. But I wouldn’t count on that being probable or necessarily a faster way.
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CW
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ElvenAvenger
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Well actually i do race with most of them at one point or another. Most of time i just have my favorite cars for a couple of weeks, then i decide to race with something else and stick with that. The only car that is a collectors item in my garage right now is MOH's S2000, because somehow(i really have no idea how...) wheel offsets got majorly buggy. Wheels are well above the car, and to be honest im too lazy to fix that.


And i guess i have some cars with really disappointing AI. They lose every single race, even though the car isn't really slippery or hard to drive. Its not slow either. They can't even drive straight properly if something happens to get in their way. Something bumps them, and then they spend rest of the lap in a slalom trying to get back into the race.

Aside from this, some cars' AI gets stuck if they happen to crash in certain areas in some tracks. For example Toy World 1, the green dinosaur place. If they happen to crash there against one of the walls, they often keep hitting one wall, reversing and hitting the other and so on for a LONG time until they randomly manage to fit in the definitely not too small exit.

Some other simply get stuck next to a wall (also Toy World 1) and go back and forth at a slow pace. Usually they stay there forever.

But any kind of improvement is good, as long as its not cheating with top speed :P
Sprinter XL fan.
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Citywalker
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Quote:
 
Most of time i just have my favorite cars for a couple of weeks, then i decide to race with something else and stick with that.

So do initially only those that you race with. When you decide to use some others, do those. Batch-by-batch is way less frustrating than all 700 at once ;)

Quote:
 
Something bumps them, and then they spend rest of the lap in a slalom trying to get back into the race.

That’s bad car AI values, yes. It can be remedied with the simplified AI method above.

Quote:
 
Aside from this, some cars' AI gets stuck if they happen to crash in certain areas in some tracks.

That’s bad AI coding in the game. Huki and Jigebren are working on this for RV 1.2.

Quote:
 
So uhm...i don't exactly want to change the AI in all of the 700 cars i have. Not even if it took 10 minutes max for each car. Is there anyway to do it faster?

Actually, it seems that UnderMax 0.5 is the universal best value. It decently runs anything that I have tried thus far. Even my lunatic vehicles :P Is that fast enough for you? :D
Try and report back.

Maybe I can convince Huki to make that a default option for RV 1.2... :ph43r:

Edit:
No, UnderMax 0.5 is NOT the universal best value. But it seems that similar cars have similar values. Most of my Hot Wheels cars have it at 0.03125, for example. 0.5 seems to be suitable for most RL style cars, though.

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