not work
This commit is contained in:
Valera
parent
629ae6715c
commit
4899a38265
@ -87,7 +87,7 @@ public class Engine : PowertrainComponent
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angularVelocity += finalTorque / inertiaSum * Time.Delta;
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angularVelocity = Math.Max( angularVelocity, 0 );
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UpdateStream();
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//UpdateStream();
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return finalTorque;
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}
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@ -15,7 +15,7 @@ public abstract partial class VeloXBase : Component
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[Property, Group( "Components" )] public Rigidbody Body { get; protected set; }
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[Property, Group( "Components" )] public Collider Collider { get; protected set; }
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[Sync] public Angles SteerAngle { get; set; }
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[Sync( SyncFlags.Interpolate )] public Angles SteerAngle { get; set; }
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public Vector3 LocalVelocity;
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public float ForwardSpeed;
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@ -62,7 +62,7 @@ public class Pacejka
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[Range( -300, 300 )] public float b1 = 0f; // 1
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[Description( "Longitudinal friction coefficient at load = 0 (*1000)" )]
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[Range( -10, 10 )] public float b2 = 1690f; // 2
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[Range( 0, 10000 )] public float b2 = 1690f; // 2
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[Description( "Curvature factor of stiffness (N/%/kN**2)" )]
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[Range( -100, 100 )] public float b3 = 0f; // 3
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@ -87,12 +87,6 @@ public class Pacejka
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[Description( "Horizontal shift at load = 0 (%)" )]
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[Range( -10, 10 )] public float b10 = 0f; // 10
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[Description( "Load influence on vertical shift (N/kN)" )]
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[Range( -10, 10 )] public float b11 = 0f; // 10
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[Description( "Vertical shift at load = 0 (N)" )]
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[Range( -10, 10 )] public float b12 = 0f; // 10
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}
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@ -200,7 +194,7 @@ public class Pacejka
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// longitudinal force
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float BS = B * S;
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float Fx = D * Sin3Pi2( C * MathF.Atan( BS - E * (BS - MathF.Atan( BS )) ) );
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float Fx = D * MathF.Sin( C * MathF.Atan( BS - E * (BS - MathF.Atan( BS )) ) );
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// scale by surface friction
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Fx *= friction_coeff;
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@ -220,8 +214,7 @@ public class Pacejka
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float D = (a.a1 * Fz + a.a2) * Fz;
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// stiffness at alpha = 0
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float BCD = a.a3 * Sin2Atan( Fz, a.a4 ) * (1 - a.a5 * MathF.Abs( gamma ));
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float BCD = a.a3 * MathF.Atan2( Fz, a.a4 ) * (1 - a.a5 * MathF.Abs( gamma ));
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// stiffness factor
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float B = BCD / (C * D);
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@ -239,7 +232,7 @@ public class Pacejka
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// lateral force
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float BS = B * S;
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float Fy = D * Sin3Pi2( C * MathF.Atan( BS - E * (BS - MathF.Atan( BS )) ) ) + Sv;
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float Fy = D * MathF.Sin( C * MathF.Atan( BS - E * (BS - MathF.Atan( BS )) ) ) + Sv;
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// scale by surface friction
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Fy *= friction_coeff;
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@ -279,7 +272,7 @@ public class Pacejka
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// self-aligning torque
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float BS = B * S;
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float Mz = D * Sin3Pi2( C * MathF.Atan( BS - E * (BS - MathF.Atan( BS )) ) ) + Sv;
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float Mz = D * MathF.Sin( C * MathF.Atan( BS - E * (BS - MathF.Atan( BS )) ) ) + Sv;
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// scale by surface friction
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Mz *= friction_coeff;
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@ -306,42 +299,4 @@ public class Pacejka
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float c = a * a + 1;
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return MathF.Sqrt( c / (c + b * b) );
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}
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public static float SinPi2( float x )
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{
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float s = x * x;
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float p = -1.8447486103462252e-04f;
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p = 8.3109378830028557e-03f + p * s;
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p = -1.6665578084732124e-01f + p * s;
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p = 1.0f + p * s;
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return p * x;
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}
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// Вычисление sin(x) для |x| <= 3π/2
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public static float Sin3Pi2( float x )
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{
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// Приведение x к интервалу [-π, π]
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if ( x < -MathF.PI )
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x += 2 * MathF.PI;
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else if ( x > MathF.PI )
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x -= 2 * MathF.PI;
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// Отражение в интервал [-π/2, π/2] с использованием симметрии
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if ( x < -MathF.PI / 2 )
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x = -MathF.PI - x;
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else if ( x > MathF.PI / 2 )
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x = MathF.PI - x;
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return SinPi2( x );
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}
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public static float Sin2Atan( float x )
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{
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return 2 * x / (x * x + 1);
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}
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public static float Sin2Atan( float y, float x )
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{
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return 2 * x * y / (x * x + y * y);
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}
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}
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18
Code/Base/Wheel/Suspension/BasicSuspension.cs
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18
Code/Base/Wheel/Suspension/BasicSuspension.cs
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@ -0,0 +1,18 @@
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namespace VeloX;
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public class BasicSuspension
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{
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private readonly Hinge Hinge;
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public BasicSuspension( Vector3 wheel, Vector3 hingeBody, Vector3 hingeWheel )
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{
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Vector3 hingePoint = wheel - (hingeWheel - hingeBody);
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Hinge = new Hinge( hingePoint, hingeWheel - hingeBody );
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}
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public virtual void GetWheelTransform( float travel, out Rotation rotation, out Vector3 position )
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{
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rotation = Rotation.Identity;
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position = Hinge.Rotate( travel );
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}
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}
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26
Code/Base/Wheel/Suspension/Hinge.cs
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26
Code/Base/Wheel/Suspension/Hinge.cs
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@ -0,0 +1,26 @@
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using System;
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namespace VeloX;
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internal readonly struct Hinge( Vector3 hinge_anchor, Vector3 hinge_arm )
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{
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[Description( "the point that the wheels are rotated around as the suspension compresses" )]
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public readonly Vector3 Anchor = hinge_anchor;
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[Description( "anchor to wheel vector" )]
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public readonly Vector3 Arm = hinge_arm;
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[Description( "arm length squared" )]
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public readonly float LengthSquared = hinge_arm.Dot( hinge_arm );
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[Description( "1 / arm length in hinge axis normal plane" )]
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public readonly float NormXY = 1 / MathF.Sqrt( hinge_arm.x * hinge_arm.x + hinge_arm.y * hinge_arm.y );
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public readonly Vector3 Rotate( float travel )
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{
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float z = Arm.z + travel;
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float lengthSq = MathF.Max( LengthSquared - z * z, 0.0f );
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float nxy = NormXY * MathF.Sqrt( lengthSq );
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return Anchor + new Vector3( Arm.x * nxy, Arm.y * nxy, z );
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}
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}
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32
Code/Base/Wheel/Suspension/MacPhersonSuspension.cs
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32
Code/Base/Wheel/Suspension/MacPhersonSuspension.cs
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@ -0,0 +1,32 @@
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using Sandbox;
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using System;
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namespace VeloX;
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public class MacPhersonSuspension
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{
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public readonly Vector3 WheelOffset;
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public readonly Vector3 UprightTop;
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public readonly Vector3 UprightAxis;
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private readonly Hinge Hinge;
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public MacPhersonSuspension( Vector3 wheel, Vector3 strutBody, Vector3 strutWheel, Vector3 hingeBody )
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{
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WheelOffset = wheel - strutWheel;
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UprightTop = strutBody;
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UprightAxis = (strutBody - strutWheel).Normal;
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Hinge = new( hingeBody, strutWheel - hingeBody );
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}
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public void GetWheelTransform( float travel, out Rotation rotation, out Vector3 position )
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{
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Vector3 hingeEnd = Hinge.Rotate( travel );
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Vector3 uprightAxisNew = (UprightTop - hingeEnd).Normal;
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rotation = Rotation.FromAxis(
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Vector3.Cross( UprightAxis, uprightAxisNew ),
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MathF.Acos( Vector3.Dot( UprightAxis, uprightAxisNew ) ).RadianToDegree()
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);
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position = hingeEnd + WheelOffset.Transform( rotation );
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}
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}
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@ -30,6 +30,7 @@ public class TirePreset : GameResource
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float vslip = vrot - vlon;
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slip_ratio = vslip * rvlon;
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slip_angle = -MathF.Atan( vlat * rvlon );
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}
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/// approximate asin(x) = x + x^3/6 for +-18 deg range
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@ -39,22 +40,57 @@ public class TirePreset : GameResource
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return ((1 / 6.0f) * (sc * sc) + 1) * sc;
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}
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public struct TireState
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public struct TireState()
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{
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public float friction = 0; // surface friction coefficient
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public float camber = 0; // tire camber angle relative to track surface
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public float vcam = 0; // camber thrust induced lateral slip velocity
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public float slip = 0; // ratio of tire contact patch speed to road speed
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public float slip_angle = 0; // the angle between the wheel heading and the wheel velocity
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public float ideal_slip = 0; // peak force slip ratio
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public float ideal_slip_angle = 0; // peak force slip angle
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public float fx = 0; // positive during traction
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public float fy = 0; // positive in a right turn
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public float mz = 0; // positive in a left turn
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/// <summary>
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/// surface friction coefficient
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/// </summary>
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public float friction = 0;
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public TireState()
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{
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}
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/// <summary>
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/// tire camber angle relative to track surface
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/// </summary>
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public float camber = 0;
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/// <summary>
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/// camber thrust induced lateral slip velocity
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/// </summary>
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public float vcam = 0;
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/// <summary>
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/// ratio of tire contact patch speed to road speed
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/// </summary>
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public float slip = 0;
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/// <summary>
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/// the angle between the wheel heading and the wheel velocity
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/// </summary>
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public float slip_angle = 0;
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/// <summary>
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/// peak force slip ratio
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/// </summary>
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public float ideal_slip = 0;
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/// <summary>
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/// peak force slip angle
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/// </summary>
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public float ideal_slip_angle = 0;
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/// <summary>
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/// positive during traction
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/// </summary>
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public float fx = 0;
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/// <summary>
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/// positive during traction in a right turn
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/// </summary>
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public float fy = 0;
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/// <summary>
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/// positive during traction in a left turn
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/// </summary>
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public float mz = 0;
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};
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public void ComputeState(
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@ -79,13 +115,22 @@ public class TirePreset : GameResource
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return;
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}
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float Fz = Math.Min( normal_force * 1E-3f, 30f );
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float Fz = MathF.Min( normal_force * 0.001f, 30f );
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ComputeSlip( lon_velocity, lat_velocity, rot_velocity, out float slip, out float slip_angle );
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float sigma = slip;
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float alpha = slip_angle.RadianToDegree();
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float gamma = s.camber.RadianToDegree();
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float Fx = Pacejka.PacejkaFx( sigma, Fz, s.friction );
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float Fy = Pacejka.PacejkaFy( alpha, Fz, gamma, s.friction, out float camber_alpha );
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float Fx0 = Pacejka.PacejkaFx( sigma, Fz, s.friction );
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float Fy0 = Pacejka.PacejkaFy( alpha, Fz, gamma, s.friction, out float camber_alpha );
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// combined slip
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float Gx = Pacejka.PacejkaGx( slip, slip_angle );
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float Gy = Pacejka.PacejkaGy( slip, slip_angle );
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float Fx = Gx * Fx0;
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float Fy = Gy * Fy0;
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s.vcam = ComputeCamberVelocity( camber_alpha.DegreeToRadian(), lon_velocity );
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s.slip = slip;
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s.slip_angle = slip_angle;
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28
Code/Base/Wheel/VeloXWheel.Sound.cs
Normal file
28
Code/Base/Wheel/VeloXWheel.Sound.cs
Normal file
@ -0,0 +1,28 @@
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using Sandbox;
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using System;
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namespace VeloX;
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public partial class VeloXWheel : Component
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{
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private RealTimeUntil expandSoundCD;
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private RealTimeUntil contractSoundCD;
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private void DoSuspensionSounds( VeloXBase vehicle, float change )
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{
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if ( change > 0.1f && expandSoundCD )
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{
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expandSoundCD = 0.3f;
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var sound = Sound.Play( vehicle.SuspensionUpSound, WorldPosition );
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sound.Volume = Math.Clamp( Math.Abs( change ) * 5f, 0, 0.5f );
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}
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if ( change < -0.1f && contractSoundCD )
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{
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contractSoundCD = 0.3f;
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change = MathF.Abs( change );
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var sound = Sound.Play( change > 0.3f ? vehicle.SuspensionHeavySound : vehicle.SuspensionDownSound, WorldPosition );
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sound.Volume = Math.Clamp( change * 5f, 0, 1 );
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}
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}
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}
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@ -4,6 +4,7 @@ using System;
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using System.Collections.Specialized;
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using System.Numerics;
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using System.Text.RegularExpressions;
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using static Sandbox.CameraComponent;
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namespace VeloX;
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@ -38,7 +39,7 @@ public partial class VeloXWheel : Component
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public float Spin { get; private set; }
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public float RPM { get => angularVelocity * 60f / MathF.Tau; set => angularVelocity = value / (60 / MathF.Tau); }
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public float RPM { get => angularVelocity * 30f / MathF.PI; set => angularVelocity = value / (30f / MathF.PI); }
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public float AngularVelocity => angularVelocity;
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internal float DistributionFactor { get; set; }
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@ -53,8 +54,6 @@ public partial class VeloXWheel : Component
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private float angularVelocity;
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private float load;
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private float lastFraction;
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private RealTimeUntil expandSoundCD;
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private RealTimeUntil contractSoundCD;
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private Vector3 contactPos;
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private Vector3 forward;
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@ -66,7 +65,7 @@ public partial class VeloXWheel : Component
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private Vector3 force;
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public float CounterTorque { get; private set; }
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private float BaseInertia => 0.5f * Mass * MathF.Pow( Radius.InchToMeter(), 2 );
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private float BaseInertia => Mass * MathF.Pow( Radius.InchToMeter(), 2 );
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public float Inertia => BaseInertia;
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@ -77,24 +76,6 @@ public partial class VeloXWheel : Component
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StartPos = LocalPosition;
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}
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private void DoSuspensionSounds( VeloXBase vehicle, float change )
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{
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if ( change > 0.1f && expandSoundCD )
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{
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expandSoundCD = 0.3f;
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var sound = Sound.Play( vehicle.SuspensionUpSound, WorldPosition );
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sound.Volume = Math.Clamp( Math.Abs( change ) * 5f, 0, 0.5f );
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}
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if ( change < -0.1f && contractSoundCD )
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{
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contractSoundCD = 0.3f;
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change = MathF.Abs( change );
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var sound = Sound.Play( change > 0.3f ? vehicle.SuspensionHeavySound : vehicle.SuspensionDownSound, WorldPosition );
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sound.Volume = Math.Clamp( change * 5f, 0, 1 );
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}
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}
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internal void Update( VeloXBase vehicle, in float dt )
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{
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UpdateVisuals( vehicle, dt );
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@ -113,7 +94,7 @@ public partial class VeloXWheel : Component
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private Rotation GetSteer( float steer )
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{
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float angle = (steer * SteerMultiplier).DegreeToRadian();
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float angle = (-steer * SteerMultiplier).DegreeToRadian();
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float t = MathF.Tan( (MathF.PI / 2) - angle ) - Ackermann;
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float steering_angle = MathF.CopySign( float.Pi / 2, t ) - MathF.Atan( t );
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@ -126,7 +107,7 @@ public partial class VeloXWheel : Component
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private static float GetLongitudinalLoadCoefficient( float load ) => 11000 * (1 - MathF.Exp( -0.00014f * load ));
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private static float GetLateralLoadCoefficient( float load ) => 18000 * (1 - MathF.Exp( -0.0001f * load ));
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float lastload;
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public void DoPhysics( VeloXBase vehicle )
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{
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var pos = vehicle.WorldTransform.PointToWorld( StartPos );
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@ -162,10 +143,6 @@ public partial class VeloXWheel : Component
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var vel = vehicle.Body.GetVelocityAtPoint( pos );
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vel.x = vel.x.InchToMeter();
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vel.y = vel.y.InchToMeter();
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vel.z = vel.z.InchToMeter();
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if ( !IsOnGround )
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{
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forwardFriction = new Friction();
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@ -177,29 +154,46 @@ public partial class VeloXWheel : Component
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var springForce = (offset * SpringStrength);
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var damperForce = (lastSpringOffset - offset) * SpringDamper;
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lastSpringOffset = offset;
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force = (springForce - damperForce) * MathF.Max( 0, up.Dot( normal ) ) * normal / Time.Delta;
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// Vector3.CalculateVelocityOffset is broken (need fix)
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//var velU = normal.Dot( vel ).MeterToInch();
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//if ( velU < 0 && offset + Math.Abs( velU * dt ) > SuspensionLength )
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//{
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// var (linearVel, angularVel) = vehicle.Body.PhysicsBody.CalculateVelocityOffset( (-velU.InchToMeter() / dt) * normal, pos );
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// vehicle.Body.Velocity += linearVel;
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// vehicle.Body.AngularVelocity += angularVel;
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//}
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var velU = normal.Dot( vel );
|
||||
if ( velU < 0 && offset + Math.Abs( velU * Time.Delta ) > SuspensionLength )
|
||||
{
|
||||
var impulse = (-velU / Time.Delta) * normal;
|
||||
var body = vehicle.Body.PhysicsBody;
|
||||
Vector3 com = body.MassCenter;
|
||||
Rotation bodyRot = body.Rotation;
|
||||
|
||||
load = Math.Max( force.z.InchToMeter(), 0 );
|
||||
Vector3 r = pos - com;
|
||||
|
||||
Vector3 torque = Vector3.Cross( r, impulse );
|
||||
|
||||
Vector3 torqueLocal = bodyRot.Inverse * torque;
|
||||
Vector3 angularVelocityLocal = torqueLocal * body.Inertia.Inverse;
|
||||
|
||||
var centerAngularVelocity = bodyRot * angularVelocityLocal;
|
||||
|
||||
var centerVelocity = impulse * (1 / body.Mass);
|
||||
|
||||
vehicle.Body.Velocity += centerVelocity * 10;
|
||||
vehicle.Body.AngularVelocity += centerAngularVelocity;
|
||||
damperForce = 0;
|
||||
}
|
||||
|
||||
force = (springForce - damperForce) * MathF.Max( 0, up.Dot( normal ) ) * normal;
|
||||
|
||||
load = Math.Max( force.z, 0 ).InchToMeter();
|
||||
|
||||
if ( IsOnGround )
|
||||
{
|
||||
float forwardSpeed = vel.Dot( forward );
|
||||
float sideSpeed = vel.Dot( right );
|
||||
float forwardSpeed = vel.Dot( forward ).InchToMeter();
|
||||
float sideSpeed = vel.Dot( right ).InchToMeter();
|
||||
|
||||
float camber_rad = CamberAngle.DegreeToRadian();
|
||||
|
||||
float R = Radius.InchToMeter();
|
||||
TirePreset.ComputeState(
|
||||
load,
|
||||
angularVelocity,
|
||||
2500,
|
||||
angularVelocity * R,
|
||||
forwardSpeed,
|
||||
sideSpeed,
|
||||
camber_rad,
|
||||
@ -212,31 +206,36 @@ public partial class VeloXWheel : Component
|
||||
|
||||
float Fx_total = tireState.fx + F_roll;
|
||||
|
||||
float R = Radius.InchToMeter();
|
||||
float I = Inertia;
|
||||
float T_brake = Brake * BrakePowerMax;
|
||||
|
||||
if ( angularVelocity > 0 ) T_brake = -T_brake;
|
||||
else T_brake = angularVelocity < 0 ? T_brake : -MathF.Sign( Torque ) * T_brake;
|
||||
|
||||
float totalTorque = Torque + T_brake - Fx_total * R;
|
||||
angularVelocity += totalTorque / I * Time.Delta;
|
||||
|
||||
// not work
|
||||
Vector3 c = pos.Cross( forward );
|
||||
Vector3 v = (c * vehicle.Body.PhysicsBody.Inertia).Cross( pos );
|
||||
var m = 1 / (1 / vehicle.Body.Mass + forward.Dot( v ));
|
||||
m *= Inertia / (m * R * R + Inertia);
|
||||
float ve = forward.Dot( vel ).InchToMeter() - angularVelocity;
|
||||
|
||||
angularVelocity += ve * m * Radius * (1 / Inertia);// totalTorque * (1 / Inertia) * Time.Delta;
|
||||
|
||||
forwardFriction = new Friction()
|
||||
{
|
||||
Slip = tireState.slip,
|
||||
Force = Fx_total.MeterToInch(),
|
||||
Force = Fx_total,
|
||||
Speed = forwardSpeed
|
||||
};
|
||||
|
||||
sideFriction = new Friction()
|
||||
{
|
||||
Slip = tireState.slip_angle,
|
||||
Force = tireState.fy.MeterToInch(),
|
||||
Force = tireState.fy,
|
||||
Speed = sideSpeed
|
||||
};
|
||||
Vector3 frictionForce = forward * forwardFriction.Force + right * sideFriction.Force;
|
||||
vehicle.Body.ApplyForceAt( contactPos, force + frictionForce );
|
||||
vehicle.Body.ApplyForceAt( contactPos, (force + frictionForce) / Time.Delta );
|
||||
|
||||
}
|
||||
else
|
||||
@ -260,8 +259,8 @@ public partial class VeloXWheel : Component
|
||||
// debug
|
||||
protected override void OnUpdate()
|
||||
{
|
||||
DebugOverlay.Normal( contactPos, forward * forwardFriction.Force / 10000f, Color.Red, overlay: true );
|
||||
DebugOverlay.Normal( contactPos, right * sideFriction.Force / 10000f, Color.Green, overlay: true );
|
||||
DebugOverlay.Normal( contactPos, up * force / 50000f, Color.Blue, overlay: true );
|
||||
DebugOverlay.Normal( contactPos, forward * forwardFriction.Force / 100f, Color.Red, overlay: true );
|
||||
DebugOverlay.Normal( contactPos, right * sideFriction.Force / 100f, Color.Green, overlay: true );
|
||||
DebugOverlay.Normal( contactPos, up * force / 1000f, Color.Blue, overlay: true );
|
||||
}
|
||||
}
|
||||
|
||||
@ -36,7 +36,7 @@ public partial class VeloXCar
|
||||
|
||||
inputSteer = Math.Clamp( inputSteer + counterSteer, -1, 1 );
|
||||
Steering = inputSteer;
|
||||
SteerAngle = new( 0, inputSteer * MaxSteerAngle, 0 );
|
||||
SteerAngle = new( 0, -inputSteer * MaxSteerAngle, 0 );
|
||||
|
||||
if ( ForwardSpeed < -100 )
|
||||
jTurnMultiplier = 0.5f;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user