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Никита Круглицкий
2025-06-14 14:21:56 +06:00
parent 84f591db59
commit 0850d7798b
13 changed files with 408 additions and 170 deletions
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20
koptilnya/engine_remastered/wheel/friction.txt
View File

@@ -1,14 +1,16 @@
---@class Friction
---@field force number
---@field slip number
---@field speed number
local Friction = class('Friction')
function Friction:initialize(config)
config = config or {}
self.slipCoefficient = config.SlipCoefficient or 0.8
self.forceCoefficient = config.ForceCoefficient or 1.2
self.force = 0
self.slip = 0
self.speed = 0
function Friction:initialize()
self.force = 0
self.slip = 0
self.speed = 0
end
---@type fun(): Friction
Friction.new = Friction.new
return Friction

31
koptilnya/engine_remastered/wheel/friction_preset.txt
View File

@@ -1,18 +1,35 @@
---@class FrictionPresetConfig
---@field B? number
---@field C? number
---@field D? number
---@field E? number
---@class FrictionPreset
---@field B number
---@field C number
---@field D number
---@field E number
local FrictionPreset = class('FrictionPreset')
---@param config FrictionPresetConfig
function FrictionPreset:initialize(config)
config = config or {}
config = config or {}
self.B = config.B or 10.86
self.C = config.C or 2.15
self.D = config.D or 0.933
self.E = config.E or 0.992
self.B = config.B or 10.86
self.C = config.C or 2.15
self.D = config.D or 0.933
self.E = config.E or 0.992
end
---@param slip number
---@return number
function FrictionPreset:evaluate(slip)
local t = math.abs(slip)
local t = math.abs(slip)
return self.D * math.sin(self.C * math.atan(self.B * t - self.E * (self.B * t - math.atan(self.B * t))))
return self.D * math.sin(self.C * math.atan(self.B * t - self.E * (self.B * t - math.atan(self.B * t))))
end
---@type fun(config?: FrictionPresetConfig): FrictionPreset
FrictionPreset.new = FrictionPreset.new
return FrictionPreset

138
koptilnya/engine_remastered/wheel/wheel.txt
View File

@@ -3,39 +3,51 @@
--@include /koptilnya/libs/constants.txt
--@include /koptilnya/libs/utils.txt
---@type Friction
local Friction = require('./friction.txt')
---@type FrictionPreset
local FrictionPreset = require('./friction_preset.txt')
require('/koptilnya/libs/constants.txt')
require('/koptilnya/libs/utils.txt')
---@class CustomWheelConfig
---@field ParentPhysObj PhysObj
---@field Name? string
---@field Direction? integer
---@field LateralFrictionPreset? FrictionPresetConfig
---@field LongitudinalFrictionPreset? FrictionPresetConfig
---@field AligningFrictionPreset? FrictionPresetConfig
---@class CustomWheel
local Wheel = class('Wheel')
---@param config CustomWheelConfig
function Wheel:initialize(config)
config = config or {}
---@type string
self.name = config.Name
self.direction = config.Direction or 1
self.mass = config.Mass or 20
self.radius = config.Radius or 0.27
self.rollingResistance = config.RollingResistance or 20
self.squat = config.Squat or 0.1
self.slipCircleShape = config.SlipCircleShape or 1.05
self.casterAngle = math.rad(config.CasterAngle or 0)
self.camberAngle = math.rad(config.CamberAngle or 0)
self.toeAngle = math.rad(config.ToeAngle or 0)
self.forwardFriction = Friction:new(config.ForwardFriction)
self.sideFriction = Friction:new(config.SideFriction)
self.forwardFriction = Friction:new()
self.sideFriction = Friction:new()
self.lateralFrictionPreset = FrictionPreset:new(config.LateralFrictionPreset)
self.longitudinalFrictionPreset = FrictionPreset:new(config.LongitudinalFrictionPreset)
self.aligningFrictionPreset = FrictionPreset:new(config.AligningFrictionPreset)
self.slipCircleShape = config.SlipCircleShape or 1.05
self.motorTorque = 0
self.brakeTorque = 0
@@ -51,15 +63,20 @@ function Wheel:initialize(config)
self.right = Vector(0)
self.up = Vector(0)
self.entity = NULL_ENTITY
---@type PhysObj?
self.physObj = nil
self.baseInertia = 0.5 * self.mass * math.pow(self.radius, 2)
self.baseInertia = 0.6 * self.mass * math.pow(self.radius, 2)
self.inertia = self.baseInertia
self.printDebounced = debounce(function(...)
print(...)
end, 1)
self.parentPhysObj = config.ParentPhysObj
end
---@param entity Entity
function Wheel:setEntity(entity)
self.entity = entity
self.entity:setNoDraw(false)
@@ -72,12 +89,12 @@ function Wheel:setEntity(entity)
self.physObj:enableDrag(false)
self.physObj:setDragCoefficient(0)
self.physObj:setAngleDragCoefficient(0)
self:setInertia(0.6 * self.mass * math.pow(self.radius, 2))
end
end
function Wheel:setInertia(inertia)
if isValid(self.physObj) then
print(inertia)
self.physObj:setInertia(Vector(inertia))
self.inertia = inertia
end
@@ -104,7 +121,7 @@ function Wheel:stepLongitudinal(Tm, Tb, Vx, W, Lc, R, I)
local VxAbs = math.abs(Vx)
local Sx = 0
if Lc / 1000 < 0.01 then
if Lc < 0.01 then
Sx = 0
elseif VxAbs >= 0.01 then
Sx = (W * R - Vx) / VxAbs
@@ -116,6 +133,10 @@ function Wheel:stepLongitudinal(Tm, Tb, Vx, W, Lc, R, I)
W = W + Tm / I * TICK_INTERVAL
if self.name == 'WheelRL' or self.name == 'WheelRR' then
self.printDebounced(Color(255, 255, 0), string.format('[%s] ', self.name), Color(255, 255, 255), string.format('W: %.2f', W))
end
Tb = Tb * (W > 0 and -1 or 1)
local TbCap = math.abs(W) * I / TICK_INTERVAL
local Tbr = math.abs(Tb) - math.abs(TbCap)
@@ -125,13 +146,11 @@ function Wheel:stepLongitudinal(Tm, Tb, Vx, W, Lc, R, I)
local maxTorque = self.longitudinalFrictionPreset:evaluate(math.abs(Sx)) * Lc * R
-- local inertiaSum = (I + self.vehicle.basePhysObject:getInertia():getLength())
local errorTorque = (W - Vx / R) * I / TICK_INTERVAL
local surfaceTorque = math.clamp(errorTorque, -maxTorque, maxTorque)
if self.name == 'WheelFL' or self.name == 'WheelFR' then
surfaceTorque = surfaceTorque
end
W = W - surfaceTorque / I * TICK_INTERVAL
local Fx = surfaceTorque / R
@@ -143,13 +162,6 @@ function Wheel:stepLongitudinal(Tm, Tb, Vx, W, Lc, R, I)
local deltaOmegaTorque = (W - Winit) * I / TICK_INTERVAL
local Tcnt = -surfaceTorque + Tb + Tb2 - deltaOmegaTorque
-- self.printDebounced(
-- Color(255, 255, 0),
-- string.format('[%s] ', self.name),
-- Color(255, 255, 255),
-- string.format('%s | %s | %s', math.round(Fx), math.round(W), math.round(R))
-- )
return W, Sx, Fx, Tcnt
end
@@ -202,7 +214,7 @@ function Wheel:stepLateral(Vx, Vy, Lc)
local VxAbs = math.abs(Vx)
local Sy = 0
if Lc / 1000 < 0.01 then
if Lc < 0.01 then
Sy = 0
elseif VxAbs > 0.1 then
Sy = math.deg(math.atan(Vy / VxAbs))
@@ -237,7 +249,7 @@ function Wheel:slipCircle(Sx, Sy, Fx, Fy, slipCircleShape)
return Sx, Sy, Fx, Fy
end
function Wheel:selfAligningTorque(Sy, load)
function Wheel:selfAligningTorque(Sy, Fy, load)
if math.abs(Sy) < 0.001 or load < 0.001 then
return 0
end
@@ -247,32 +259,34 @@ function Wheel:selfAligningTorque(Sy, load)
local D = self.aligningFrictionPreset.D
local E = self.aligningFrictionPreset.E
local entityWheelDown = self.entity:localToWorld(Vector(0, 0, -self.radius))
local physWheelDown = self.entity:localToWorld(-self.up * self.radius)
local mechanicalTrail = entityWheelDown:getDistance(physWheelDown) * 10
local entityWheelDown = self.entity:localToWorld(Vector(0, 0, -self.radius * UNITS_PER_METER))
local physWheelDown = self.entity:localToWorld(-self.up * self.radius * UNITS_PER_METER)
local casterEffect = math.tan(self.casterAngle) * self.direction
local camberTrailEffect = self.camberAngle * 0.005 * self.direction
-- local toeSyOffset = math.tan(self.toeAngle * self.direction) * 0.1
local mechanicalTrail = entityWheelDown:getDistance(physWheelDown) * UNITS_TO_METERS
local pneumaticTrail = 0.2 * math.exp(-5 * math.abs(Sy))
local effectiveTrail = mechanicalTrail * self.radius
local Mz = -Fy * (mechanicalTrail + pneumaticTrail)
local D_scaled = D * load * effectiveTrail
if self.name == 'WheelFL' or self.name == 'WheelFR' then
-- self.printDebounced(
-- Color(255, 255, 0),
-- string.format('[%s] ', self.name),
-- Color(255, 255, 255),
-- string.format('Mz: %.2f | Sy: %.2f | Fy: %.2f | mechanicalTrail: %.3f', Mz, Sy, Fy, mechanicalTrail)
-- )
end
-- Sy = Sy + toeSyOffset
local term = B * Sy - E * (B * Sy - math.atan(B * Sy))
local Mz = D_scaled * math.sin(C * math.atan(term))
return Mz * self.direction -- / TICK_INTERVAL
return Mz -- TICK_INTERVAL
end
function Wheel:rotateAxes()
local ang = self.entity:getAngles()
local ang = self.physObj:getAngles()
-- Base directions
---@type Vector
local forward = ang:getForward() * self.direction
local up = ang:getUp()
---@type Vector
local right = -ang:getRight() * self.direction
-- Step 1: Steer + Toe (rotate forward/right around up)
@@ -301,15 +315,44 @@ function Wheel:update()
return
end
local externalStress = self.physObj:getStress()
local velocity = self.physObj:getVelocity() * UNITS_TO_METERS
local frictionSnapshot = self.physObj:getFrictionSnapshot()
local externalStress, internalStress = self.physObj:getStress()
self.hasHit = externalStress ~= 0
self.load = externalStress * KG_TO_KN * 1000
self.hasHit = #frictionSnapshot > 0
self.load = self.hasHit and externalStress * KG_TO_N or 0
---@type PhysObj?
local frictionSnapshotItem = self.hasHit and frictionSnapshot[1] or nil
local surfaceVelocity = Vector(0, 0, 0)
if frictionSnapshotItem ~= nil then
surfaceVelocity = frictionSnapshotItem.Other:getVelocityAtPoint(frictionSnapshotItem.ContactPoint)
end
local velocity = (self.parentPhysObj:getVelocityAtPoint(self.entity:getPos()) - surfaceVelocity) * UNITS_TO_METERS
-- local velocity = self.physObj:getVelocity() * UNITS_TO_METERS
-- self.load = frictionSnapshotItem and frictionSnapshotItem.NormalForce / KG_TO_N or 0
self.longitudinalLoadCoefficient = self:getLongitudinalLoadCoefficient(self.load)
self.lateralLoadCoefficient = self:getLateralLoadCoefficient(self.load)
-- if self.name == 'WheelRL' or self.name == 'WheelRR' then
-- self.printDebounced(
-- Color(255, 255, 0),
-- string.format('[%s] ', self.name),
-- Color(255, 255, 255),
-- string.format(
-- 'Load: %.2f | LonLc: %.2f | LaLc: %.2f | externalStress: %.2f',
-- self.load,
-- self.longitudinalLoadCoefficient,
-- self.lateralLoadCoefficient,
-- externalStress
-- )
-- )
-- end
self:rotateAxes()
local forwardSpeed = 0
@@ -332,9 +375,19 @@ function Wheel:update()
local Sy, Fy = self:stepLateral(forwardSpeed, sideSpeed, self.lateralLoadCoefficient)
Sx, Sy, Fx, Fy = self:slipCircle(Sx, Sy, Fx, Fy, 1.05)
Sx, Sy, Fx, Fy = self:slipCircle(Sx, Sy, Fx, Fy, self.slipCircleShape)
self.mz = self:selfAligningTorque(Sy, self.load)
-- Traction circle: ограничение по максимальной силе сцепления
-- local mu = 1.0 -- коэффициент трения (может быть в пресете)
-- local F_max = self.load * mu
-- local F_total = math.sqrt(Fx * Fx + Fy * Fy)
-- if F_total > F_max and F_total > 0 then
-- local scale = F_max / F_total
-- Fx = Fx * scale
-- Fy = Fy * scale
-- end
self.mz = self:selfAligningTorque(Sy, Fy, self.load)
self.angularVelocity = W
self.counterTorque = CounterTq * self.direction
@@ -346,4 +399,7 @@ function Wheel:update()
self.sideFriction.speed = sideSpeed
end
---@type fun(config: CustomWheelConfig): CustomWheel
Wheel.new = Wheel.new
return Wheel