kekobka/velox
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

update

Browse Source
This commit is contained in:
Valera
2025-11-25 19:16:40 +07:00
parent 68626640c2
commit e12b75be45
11 changed files with 119 additions and 107 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
Code/Base/Wheel/Friction.cs
View File

@@ -1,4 +1,6 @@
namespace VeloX;
using System;
namespace VeloX;
public struct Friction
{
@@ -8,4 +10,10 @@ public struct Friction
public float Force { get; set; }
public float Slip { get; set; }
public float Speed { get; set; }
public override readonly string ToString()
{
return $"Force:{Math.Round(Force, 2)}\nSlip:{Math.Round(Slip, 2)}\nSpeed:{Math.Round(Speed, 2)}";
}
}

101
Code/Base/Wheel/VeloXWheel.Friction.cs
View File

@@ -47,25 +47,14 @@ public partial class VeloXWheel
public Vector3 ContactRight => hitSidewaysDirection;
public Vector3 ContactForward => hitForwardDirection;
[Sync]
public float LongitudinalSlip
{
get => ForwardFriction.Slip;
private set => ForwardFriction.Slip = value;
}
public float LongitudinalSlip => ForwardFriction.Slip;
public float LongitudinalSpeed => ForwardFriction.Speed;
public bool IsSkiddingLongitudinally => NormalizedLongitudinalSlip > 0.35f;
public float NormalizedLongitudinalSlip => Math.Clamp( Math.Abs( LongitudinalSlip ), 0, 1 );
[Sync]
public float LateralSlip
{
get => SidewayFriction.Slip;
private set => SidewayFriction.Slip = value;
}
public float LateralSlip => SidewayFriction.Slip;
public float LateralSpeed => SidewayFriction.Speed;
public bool IsSkiddingLaterally => NormalizedLateralSlip > 0.35f;
public float NormalizedLateralSlip => Math.Clamp( Math.Abs( LateralSlip ), 0, 1 );
@@ -86,8 +75,8 @@ public partial class VeloXWheel
}
else
{
ForwardFriction.Speed = 0f;
SidewayFriction.Speed = 0f;
ForwardFriction = new();
SidewayFriction = new();
}
}
@@ -97,6 +86,7 @@ public partial class VeloXWheel
private Vector3 currentPosition;
private Vector3 referenceError;
private Vector3 correctiveForce;
public bool wheelIsBlocked;
private void UpdateFriction( float dt )
{
var motorTorque = DriveTorque;
@@ -120,8 +110,6 @@ public partial class VeloXWheel
float loadPercent = Math.Clamp( Fz / LoadRating, 0f, 1f );
float slipLoadModifier = 1f - loadPercent * 0.4f;
//DebugOverlay.Text( WorldPosition, SidewayFriction.Speed.ToString(), overlay: true );
float mass = Vehicle.Body.Mass;
float absForwardSpeed = Math.Abs( ForwardFriction.Speed );
@@ -133,10 +121,7 @@ public partial class VeloXWheel
forwardSpeedClamp = Math.Clamp( forwardSpeedClamp, 1.5f, 10f );
float clampedAbsForwardSpeed = Math.Max( absForwardSpeed, forwardSpeedClamp );
// Calculate effect of camber on friction
float camberFrictionCoeff = Math.Max( 0, Vehicle.WorldRotation.Up.Dot( ContactNormal ) );
float peakForwardFrictionForce = forwardLoadFactor;
float peakForwardFrictionForce = 11000 * (1 - MathF.Exp( -0.00014f * forwardLoadFactor ));
float absCombinedBrakeTorque = Math.Max( 0, brakeTorque + RollingResistanceTorque );
float signedCombinedBrakeTorque = absCombinedBrakeTorque * -Math.Sign( ForwardFriction.Speed );
@@ -152,7 +137,7 @@ public partial class VeloXWheel
ForwardFriction.Force = forwardInputForce > maxForwardForce ? maxForwardForce
: forwardInputForce < -maxForwardForce ? -maxForwardForce : forwardInputForce;
bool wheelIsBlocked = false;
wheelIsBlocked = false;
if ( IsOnGround )
{
float combinedWheelForce = motorForce + absCombinedBrakeTorque * invRadius * -Math.Sign( AngularVelocity );
@@ -195,7 +180,6 @@ public partial class VeloXWheel
float maxCounterTorque = inertia * absAngularVelocity;
CounterTorque = Math.Clamp( (signedCombinedBrakeForce - ForwardFriction.Force) * mRadius, -maxCounterTorque, maxCounterTorque );
ForwardFriction.Slip = (ForwardFriction.Speed - AngularVelocity * mRadius) / clampedAbsForwardSpeed;
ForwardFriction.Slip *= slipLoadModifier;
@@ -204,10 +188,13 @@ public partial class VeloXWheel
float sideSlipSign = SidewayFriction.Slip > 0 ? 1 : -1;
float absSideSlip = Math.Abs( SidewayFriction.Slip );
float peakSideFrictionForce = sideLoadFactor;
float peakSideFrictionForce = 18000 * (1 - MathF.Exp( -0.0001f * sideLoadFactor ));
float sideForce = -sideSlipSign * Tire.Evaluate( absSideSlip ) * sideLoadFactor;
float sideForce = -sideSlipSign * Tire.Evaluate( absSideSlip ) * peakSideFrictionForce;
SidewayFriction.Force = Math.Clamp( sideForce, -sideForceClamp, sideForceClamp );
// Calculate effect of camber on friction
float camberFrictionCoeff = Math.Max( 0, Vehicle.WorldRotation.Up.Dot( ContactNormal ) );
SidewayFriction.Force *= camberFrictionCoeff;
if ( IsOnGround && absForwardSpeed < 0.12f && absSideSpeed < 0.12f )
@@ -241,9 +228,7 @@ public partial class VeloXWheel
ForwardFriction.Force += correctiveForce.Dot( hitForwardDirection );
}
SidewayFriction.Force += correctiveForce.Dot( hitSidewaysDirection );
}
}
else
{
@@ -251,46 +236,56 @@ public partial class VeloXWheel
}
ForwardFriction.Force = Math.Clamp( ForwardFriction.Force, -peakForwardFrictionForce, peakForwardFrictionForce );
//float forwardSlipPercent = -ForwardFriction.Slip / Tire.GetPeakSlip();
//float sideSlipPercent = SidewayFriction.Slip / Tire.GetPeakSlip();
//float slipCircleLimit = MathF.Sqrt( forwardSlipPercent * forwardSlipPercent + sideSlipPercent * sideSlipPercent );
//if ( slipCircleLimit > 1f )
//{
// float beta = MathF.Atan2( sideSlipPercent, forwardSlipPercent * 1.05f );
// float sinBeta = MathF.Sin( beta );
// float cosBeta = MathF.Cos( beta );
SidewayFriction.Force = Math.Clamp( SidewayFriction.Force, -peakSideFrictionForce, peakSideFrictionForce );
// float absForwardForce = ForwardFriction.Force < 0 ? -ForwardFriction.Force : ForwardFriction.Force;
// float absSideForce = SidewayFriction.Force < 0 ? -SidewayFriction.Force : SidewayFriction.Force;
// float f = absForwardForce * cosBeta * cosBeta + absSideForce * sinBeta * sinBeta;
if ( absForwardSpeed > 0.01f || absAngularVelocity > 0.01f )
{
// ForwardFriction.Force = 0.5f * ForwardFriction.Force - f * cosBeta;
// SidewayFriction.Force = 0.5f * SidewayFriction.Force - f * sinBeta;
//}
float forwardSlipPercent = ForwardFriction.Slip / Tire.GetPeakSlip();
float sideSlipPercent = SidewayFriction.Slip / Tire.GetPeakSlip();
float slipCircleLimit = MathF.Sqrt( forwardSlipPercent * forwardSlipPercent + sideSlipPercent * sideSlipPercent );
if ( slipCircleLimit > 1f )
{
float beta = MathF.Atan2( sideSlipPercent, forwardSlipPercent * 1.05f );
float sinBeta = MathF.Sin( beta );
float cosBeta = MathF.Cos( beta );
//var slipVector = new Vector2(
// ForwardFriction.Slip,
// SidewayFriction.Slip
//);
//if ( slipVector.Length > 0.001f )
//{
// var frictionDirection = slipVector.Normal;
float absForwardForce = ForwardFriction.Force < 0 ? -ForwardFriction.Force : ForwardFriction.Force;
// float frictionMagnitude = MathF.Sqrt(
// ForwardFriction.Force * ForwardFriction.Force +
// SidewayFriction.Force * SidewayFriction.Force
// );
float absSideForce = SidewayFriction.Force < 0 ? -SidewayFriction.Force : SidewayFriction.Force;
float f = absForwardForce * cosBeta * cosBeta + absSideForce * sinBeta * sinBeta;
// ForwardFriction.Force = Math.Abs( frictionDirection.x ) * frictionMagnitude * Math.Sign( ForwardFriction.Force );
// SidewayFriction.Force = Math.Abs( frictionDirection.y ) * frictionMagnitude * Math.Sign( SidewayFriction.Force );
//}
var f = MathF.Sqrt( ForwardFriction.Force * ForwardFriction.Force + SidewayFriction.Force * SidewayFriction.Force );
var d = Math.Abs( new Vector2( ForwardFriction.Slip, SidewayFriction.Slip ).Normal.y );
SidewayFriction.Force = f * d * Math.Sign( SidewayFriction.Force );
ForwardFriction.Force = 0.5f * ForwardFriction.Force - f * cosBeta;
SidewayFriction.Force = 0.5f * SidewayFriction.Force - f * sinBeta;
}
}
if ( IsOnGround )
{
FrictionForce.x = (hitSidewaysDirection.x * SidewayFriction.Force + hitForwardDirection.x * ForwardFriction.Force).MeterToInch();
FrictionForce.y = (hitSidewaysDirection.y * SidewayFriction.Force + hitForwardDirection.y * ForwardFriction.Force).MeterToInch();
FrictionForce.z = (hitSidewaysDirection.z * SidewayFriction.Force + hitForwardDirection.z * ForwardFriction.Force).MeterToInch();
//DebugOverlay.Normal( WorldPosition, hitSidewaysDirection * 10, overlay: true );
//DebugOverlay.Normal( WorldPosition, hitForwardDirection * 10, overlay: true );
//DebugOverlay.Normal( WorldPosition, FrictionForce / 100, overlay: true );
//DebugOverlay.Normal( ContactPosition, Vector3.Up * AngularVelocity, overlay: true );
//DebugOverlay.Sphere( new( ContactPosition, 4 ), overlay: true );
//Vehicle.Body.ApplyForceAt( ContactPosition, FrictionForce );
//DebugOverlay.Normal( WorldPosition, hitSidewaysDirection * 10, overlay: true, color: Color.Red );
//DebugOverlay.Normal( WorldPosition, hitForwardDirection * 10, overlay: true, color: Color.Green );
//DebugOverlay.Normal( WorldPosition, FrictionForce.ClampLength( 30 ), overlay: true, color: Color.Cyan );
//DebugOverlay.ScreenText( Scene.Camera.PointToScreenPixels( WorldPosition ), $"{ForwardFriction}\nMotor:{(int)motorTorque}\nBrake:{(int)brakeTorque}", flags: TextFlag.LeftTop );
}
else
FrictionForce = Vector3.Zero;

31
Code/Base/Wheel/VeloXWheel.cs
View File

@@ -208,39 +208,8 @@ public partial class VeloXWheel : Component
StepRotation( Vehicle, dt );
}
const float HubCoulombNm = 20f;
const float HubViscous = 0.1f;
private void StepRotation( VeloXBase vehicle, in float dt )
{
float inertia = MathF.Max( 1f, Inertia );
float roadTorque = ForwardFriction.Speed * Radius;
float externalTorque = DriveTorque - roadTorque;
float rollingResistanceTorque = Fz * Radius * SurfaceResistance;
float coulombTorque = BrakeTorque + rollingResistanceTorque + HubCoulombNm;
float omega = AngularVelocity;
if ( MathF.Abs( omega ) < 1e-6f && MathF.Abs( externalTorque ) <= coulombTorque )
{
AngularVelocity = 0f;
}
else
{
if ( HubViscous > 0f ) omega *= MathF.Exp( -(HubViscous / inertia) * dt );
if ( coulombTorque > 0f && omega != 0f )
{
float dir = MathF.Sign( omega );
float deltaOmega = (coulombTorque / inertia) * dt;
if ( deltaOmega >= MathF.Abs( omega ) ) omega = 0f;
else omega -= dir * deltaOmega;
}
if ( MathF.Abs( omega ) < 0.01f ) omega = 0f;
}
AngularVelocity = omega;
RollAngle += MathX.RadianToDegree( AngularVelocity ) * dt;
RollAngle = (RollAngle % 360f + 360f) % 360f;
}

14
Code/Base/Wheel/WheelManager.cs
View File

@@ -1,5 +1,6 @@
using Sandbox;
using System.Linq;
using static Sandbox.Services.Inventory;
namespace VeloX;
internal sealed class WheelManager : GameObjectSystem
@@ -27,6 +28,9 @@ internal sealed class WheelManager : GameObjectSystem
if ( !item.IsProxy && item.IsValid() )
item.DoPhysics( timeDelta );
} );
//foreach ( var item in wheels )
// if ( !item.IsProxy && item.IsValid() )
// item.DoPhysics( timeDelta );
foreach ( var wheel in wheels )
if ( !wheel.IsProxy && wheel.IsValid() )
@@ -48,9 +52,15 @@ internal sealed class WheelManager : GameObjectSystem
var timeDelta = Time.Delta;
Sandbox.Utility.Parallel.ForEach( engines, item =>
{
if ( !item.IsProxy && item.IsValid() )
item.UpdateEngine( timeDelta );
foreach ( var wheel in engines )
if ( !wheel.IsProxy && wheel.IsValid() )
wheel.UpdateEngine( timeDelta );
} );
//foreach ( var wheel in engines )
// if ( !wheel.IsProxy && wheel.IsValid() )
// wheel.UpdateEngine( timeDelta );
//sw.Stop();
//DebugOverlaySystem.Current.ScreenText( new Vector2( 120, 54 ), $"Engine Sim: {sw.Elapsed.TotalMilliseconds,6:F2} ms", 24 );