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new pacejka implementation (car not working)

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Valera
2025-06-14 18:16:26 +07:00
parent 964b46e1c5
commit 629ae6715c
14 changed files with 883 additions and 283 deletions
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2
Code/Base/Powertrain/Differential/BaseDifferential.cs
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@@ -3,7 +3,7 @@ using System;
namespace VeloX.Powertrain;
[Category( "VeloX/Powertrain/Gearbox" )]
[Category( "VeloX/Powertrain/Differential" )]
public abstract class BaseDifferential : PowertrainComponent
{
[Property] public float FinalDrive { get; set; } = 3.392f;

14
Code/Base/Powertrain/Engine.cs
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@@ -8,8 +8,6 @@ public class Engine : PowertrainComponent
[Property, Group( "Settings" )] public float IdleRPM { get; set; } = 900f;
[Property, Group( "Settings" )] public float MaxRPM { get; set; } = 7000f;
[Property, Group( "Settings" )] public override float Inertia { get; set; } = 0.151f;
[Property, Group( "Settings" )] public float StartFriction { get; set; } = 50f;
[Property, Group( "Settings" )] public float FrictionCoeff { get; set; } = 0.02f;
[Property, Group( "Settings" )] public float LimiterDuration { get; set; } = 0.05f;
[Property, Group( "Settings" )] public Curve TorqueMap { get; set; }
[Property, Group( "Settings" )] public EngineStream Stream { get; set; }
@@ -24,6 +22,7 @@ public class Engine : PowertrainComponent
private float finalTorque;
private EngineStreamPlayer StreamPlayer;
public float[] friction = [15.438f, 2.387f, 0.7958f];
protected override void OnStart()
{
@@ -32,11 +31,19 @@ public class Engine : PowertrainComponent
StreamPlayer = new( Stream );
}
public float GetFrictionTorque( float throttle, float rpm )
{
float s = rpm < 0 ? -1f : 1f;
float r = s * rpm * 0.001f;
float f = friction[0] + friction[1] * r + friction[2] * r * r;
return -s * f * (1 - throttle);
}
private float GenerateTorque()
{
float throttle = Throttle;
float rpm = RPM;
float friction = StartFriction - rpm * FrictionCoeff;
float friction = GetFrictionTorque( throttle, rpm );
float maxInitialTorque = TorqueMap.Evaluate( RPMPercent ) - friction;
float idleFadeStart = Math.Clamp( MathX.Remap( rpm, IdleRPM - 300, IdleRPM, 1, 0 ), 0, 1 );
float idleFadeEnd = Math.Clamp( MathX.Remap( rpm, IdleRPM, IdleRPM + 600, 1, 0 ), 0, 1 );
@@ -70,6 +77,7 @@ public class Engine : PowertrainComponent
float outputInertia = Output.QueryInertia();
float inertiaSum = Inertia + outputInertia;
float outputW = Output.QueryAngularVelocity( angularVelocity );
float targetW = Inertia / inertiaSum * angularVelocity + outputInertia / inertiaSum * outputW;
float generatedTorque = GenerateTorque();
float reactTorque = (targetW - angularVelocity) * Inertia / Time.Delta;