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cleanup code

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Valera 2025-06-16 14:46:43 +07:00
parent f0f89ff947
commit 55a178e8c5
1 changed files with 44 additions and 59 deletions
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77
Code/Base/Wheel/VeloXWheel.cs
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@ -151,15 +151,6 @@ public partial class VeloXWheel : Component
var vel = vehicle.Body.GetVelocityAtPoint( contactPos ); var vel = vehicle.Body.GetVelocityAtPoint( contactPos );
//var vel = vehicle.Body.GetVelocityAtPoint( pos );
if ( !IsOnGround )
{
forwardFriction = new Friction();
sideFriction = new Friction();
return;
}
var offset = maxLen - (fraction * maxLen); var offset = maxLen - (fraction * maxLen);
var springForce = (offset * SpringStrength); var springForce = (offset * SpringStrength);
var damperForce = (lastSpringOffset - offset) * SpringDamper; var damperForce = (lastSpringOffset - offset) * SpringDamper;
@ -194,71 +185,65 @@ public partial class VeloXWheel : Component
load = Math.Max( force.z, 0 ).InchToMeter(); load = Math.Max( force.z, 0 ).InchToMeter();
if ( IsOnGround )
{
float forwardSpeed = vel.Dot( forward ).InchToMeter(); float forwardSpeed = vel.Dot( forward ).InchToMeter();
float sideSpeed = vel.Dot( right ).InchToMeter(); float sideSpeed = vel.Dot( right ).InchToMeter();
float camber_rad = CamberAngle.DegreeToRadian(); float camber_rad = CamberAngle.DegreeToRadian();
float R = Radius.InchToMeter(); float R = Radius.InchToMeter();
//TirePreset.ComputeState(
// load,
// angularVelocity,
// forwardSpeed,
// sideSpeed,
// camber_rad,
// R,
// Inertia,
// out var tireState
//);
float linearSpeed = angularVelocity * Radius.InchToMeter(); float linearSpeed = angularVelocity * Radius.InchToMeter();
float F_roll = TirePreset.GetRollingResistance( linearSpeed, 1.0f ); float F_roll = TirePreset.GetRollingResistance( linearSpeed, 1.0f );
F_roll *= -Math.Clamp( linearSpeed * 0.25f, -1, 1 ); F_roll *= -Math.Clamp( linearSpeed * 0.25f, -1, 1 );
//float Fx_total = tireState.fx + F_roll;
float T_brake = Brake * BrakePowerMax; float T_brake = Brake * BrakePowerMax;
T_brake *= -Math.Clamp( linearSpeed * 0.25f, -1, 1 );
if ( angularVelocity > 0 ) T_brake = -T_brake; float Winit = angularVelocity;
else T_brake = angularVelocity < 0 ? T_brake : -MathF.Sign( Torque ) * T_brake;
//float totalTorque = Torque + tireState.fx; angularVelocity += F_roll * 9.80665f / Inertia * Time.Delta;
angularVelocity += Torque / Inertia * Time.Delta; angularVelocity += Torque / Inertia * Time.Delta;
angularVelocity += T_brake / Inertia * Time.Delta; angularVelocity += T_brake / Inertia * Time.Delta;
angularVelocity += F_roll * 9.80665f / Inertia * Time.Delta;
if ( IsOnGround )
{
TirePreset.ComputeSlip( forwardSpeed, sideSpeed, angularVelocity, R, out var slip, out var slip_ang ); TirePreset.ComputeSlip( forwardSpeed, sideSpeed, angularVelocity, R, out var slip, out var slip_ang );
var fx = TirePreset.Pacejka.PacejkaFx( slip, load, 1, out var maxTorque ); var fx = TirePreset.Pacejka.PacejkaFx( slip, load, 1, out var maxTorque );
var fy = TirePreset.Pacejka.PacejkaFy( slip_ang * load, load, camber_rad, 1, out var _ ); var fy = TirePreset.Pacejka.PacejkaFy( slip_ang * load, load, camber_rad, 1, out var _ );
maxTorque *= R; maxTorque *= R;
var errorTorque = (angularVelocity - forwardSpeed / R) * Inertia / Time.Delta; var errorTorque = (angularVelocity - forwardSpeed / R) * BaseInertia / Time.Delta;
var surfaceTorque = Math.Clamp( errorTorque, -maxTorque, maxTorque ); var surfaceTorque = Math.Clamp( errorTorque, -maxTorque, maxTorque );
angularVelocity -= surfaceTorque / Inertia * Time.Delta; angularVelocity -= surfaceTorque / Inertia * Time.Delta;
forwardFriction = new Friction()
{
Slip = slip,
Force = -fx,
Speed = forwardSpeed
};
sideFriction = new Friction() float deltaOmegaTorque = (angularVelocity - Winit) * Inertia / Time.Delta;
{
Slip = slip_ang,
Force = fy,
Speed = sideSpeed
};
Vector3 frictionForce = forward * forwardFriction.Force + right * sideFriction.Force; CounterTorque = -surfaceTorque - deltaOmegaTorque;
forwardFriction.Slip = slip;
forwardFriction.Force = -fx;
forwardFriction.Speed = forwardSpeed;
sideFriction.Slip = slip_ang;
sideFriction.Force = fy;
sideFriction.Speed = sideSpeed;
vehicle.Body.ApplyForceAt( pos, force / Time.Delta * ProjectSettings.Physics.SubSteps ); vehicle.Body.ApplyForceAt( pos, force / Time.Delta * ProjectSettings.Physics.SubSteps );
vehicle.Body.ApplyForceAt( pos, frictionForce * ProjectSettings.Physics.SubSteps );
Vector3 frictionForce = forward * forwardFriction.Force + right * sideFriction.Force;
vehicle.Body.ApplyForceAt( pos, frictionForce * ProjectSettings.Physics.SubSteps );
} }
else
{
forwardFriction = new();
sideFriction = new();
}
} }
@ -298,8 +283,8 @@ public partial class VeloXWheel : Component
// debug // debug
protected override void OnUpdate() protected override void OnUpdate()
{ {
DebugOverlay.Normal( contactPos, forward * forwardFriction.Force / 1000f, Color.Red, overlay: true ); //DebugOverlay.Normal( contactPos, forward * forwardFriction.Force / 1000f, Color.Red, overlay: true );
DebugOverlay.Normal( contactPos, right * sideFriction.Force / 1000f, Color.Green, overlay: true ); //DebugOverlay.Normal( contactPos, right * sideFriction.Force / 1000f, Color.Green, overlay: true );
DebugOverlay.Normal( contactPos, up * force / 1000f, Color.Blue, overlay: true ); //DebugOverlay.Normal( contactPos, up * force / 1000f, Color.Blue, overlay: true );
} }
} }