types

koptilnya/engine_remastered/configs/new_sx240.txt

@@ -8,11 +8,10 @@ local Differential = require('/koptilnya/engine_remastered/powertrain/differenti
 
 -- Michelin Pilot Sport 4S (High-Performance Road Tire)
 local WheelConfig = {
-	DEBUG = true,
+	DEBUG = false,
 	BrakePower = 1200,
 	CustomWheel = {
 		Mass = 30,
-
 		LateralFrictionPreset = {
 			B = 12.0,
 			C = 1.3,
@@ -49,16 +48,24 @@ local FrontWheelsConfig = table.merge(table.copy(WheelConfig), {
 })
 
 local RearWheelsConfig = table.merge(table.copy(WheelConfig), {
-	BrakePower = 600,
+	BrakePower = 0,
 	HandbrakePower = 2200,
 	CustomWheel = {
 		CamberAngle = -2,
+		LongitudinalFrictionPreset = nil,
+		LateralFrictionPreset = nil,
 		-- LongitudinalFrictionPreset = {
 		-- 	B = 0.1,
 		-- 	C = 1,
 		-- 	D = 0.9,
 		-- 	E = 0.9,
 		-- },
+		-- LateralFrictionPreset = {
+		-- 	B = 0.1,
+		-- 	C = 1,
+		-- 	D = 0.9,
+		-- 	E = 0.9,
+		-- },
 	},
 })
 
@@ -201,7 +208,7 @@ Vehicle:new({
 	},
 	{
 		Name = 'AxleFront',
-		-- Input = 'Axle',
+		Input = 'Axle',
 		Type = POWERTRAIN_COMPONENT.Differential,
 		Config = {
 			Type = Differential.TYPES.Open,
@@ -230,7 +237,7 @@ Vehicle:new({
 	},
 	{
 		Name = 'AxleBack',
-		Input = 'Gearbox',
+		Input = 'Axle',
 		Type = POWERTRAIN_COMPONENT.Differential,
 		Config = {
 			Type = Differential.TYPES.Open,
@@ -239,17 +246,17 @@ Vehicle:new({
 			BiasAB = 0.5,
 			CoastRamp = 1,
 			PowerRamp = 1,
-			Stiffness = 0.9,
+			Stiffness = 1,
 			SlipTorque = 1000,
 			ToeAngle = 0.5,
 		},
 	},
 	{
 		Name = 'Axle',
-		-- Input = 'Gearbox',
+		Input = 'Gearbox',
 		Type = POWERTRAIN_COMPONENT.Differential,
 		Config = {
-			Type = Differential.TYPES.Open,
+			Type = Differential.TYPES.Locking,
 			FinalDrive = 1,
 			Inertia = 0.01,
 			BiasAB = 0.5,

koptilnya/engine_remastered/powertrain/clutch.txt

@@ -1,6 +1,7 @@
 --@include ./powertrain_component.txt
 --@include /koptilnya/libs/constants.txt
 
+---@type PowertrainComponent
 local PowertrainComponent = require('./powertrain_component.txt')
 
 require('/koptilnya/libs/constants.txt')
@@ -88,4 +89,7 @@ function Clutch:forwardStep(torque, inertia)
 	return math.clamp(returnTorque, -self.slipTorque, self.slipTorque)
 end
 
+---@type fun(vehicle: KPTLVehicle, name?: string, config?: ClutchConfig): Clutch
+Clutch.new = Clutch.new
+
 return Clutch

koptilnya/engine_remastered/powertrain/differential.txt

@@ -1,6 +1,7 @@
 --@include /koptilnya/libs/constants.txt
 --@include ./powertrain_component.txt
 
+---@type PowertrainComponent
 local PowertrainComponent = require('./powertrain_component.txt')
 
 require('/koptilnya/libs/constants.txt')
@@ -47,8 +48,7 @@ function Differential:initialize(vehicle, name, config)
 
 	self.wireOutputs = {
 		[string.format('%s_Torque', self.name)] = 'number',
-		[string.format('%s_W', self.name)] = 'number',
-		[string.format('%s_MzDiff', self.name)] = 'number',
+		[string.format('%s_RPMDiff', self.name)] = 'number',
 	}
 
 	self.finalDrive = config.FinalDrive or 4
@@ -66,6 +66,7 @@ function Differential:initialize(vehicle, name, config)
 	self.steerAngle = 0
 
 	self.mzDiff = 0
+	self.rpmDiff = 0
 end
 
 ---@param component PowertrainComponent
@@ -90,8 +91,7 @@ function Differential:updateWireOutputs()
 	PowertrainComponent.updateWireOutputs(self)
 
 	wire.ports[string.format('%s_Torque', self.name)] = self.torque
-	wire.ports[string.format('%s_W', self.name)] = self.angularVelocity
-	wire.ports[string.format('%s_MzDiff', self.name)] = self.mzDiff
+	wire.ports[string.format('%s_RPMDiff', self.name)] = self.rpmDiff
 
 	if self.outputA ~= nil then
 		self.outputA:updateWireOutputs()
@@ -157,49 +157,60 @@ function Differential:forwardStep(torque, inertia)
 	tqA = self.outputA:forwardStep(tqA, inertia * 0.5 * math.pow(self.finalDrive, 2) + aI)
 	tqB = self.outputB:forwardStep(tqB, inertia * 0.5 * math.pow(self.finalDrive, 2) + bI)
 
+	if self.CONFIG.Type == DIFFERENTIAL_TYPES.Locking then
+		local avg = (self.outputA.angularVelocity + self.outputB.angularVelocity) / 2
+
+		self.outputA:queryAngularVelocity(avg)
+		self.outputB:queryAngularVelocity(avg)
+	end
+
+	self.rpmDiff = self.outputA:getRPM() - self.outputB:getRPM()
+
 	-- // REFACTOR
-	if self.steerLock ~= 0 then
-		local outputA = self.outputA --[[@as Wheel]]
-		local outputB = self.outputB --[[@as Wheel]]
+	if self.outputA.customWheel ~= nil and self.outputB.customWheel ~= nil then
+		if self.steerLock ~= 0 then
+			local outputA = self.outputA --[[@as Wheel]]
+			local outputB = self.outputB --[[@as Wheel]]
 
-		local steerInertia = (aI + bI) / 2
-		local driverInput = 15
+			local steerInertia = (aI + bI)
+			local driverInput = 3
 
-		local localVelocityLength = chip():getVelocity():getLength()
-		local MPH = localVelocityLength * (15 / 352)
-		local KPH = MPH * 1.609
+			local localVelocityLength = chip():getVelocity():getLength()
+			local MPH = localVelocityLength * (15 / 352)
+			local KPH = MPH * 1.609
 
-		local assist = math.clamp(10.0 / math.sqrt(KPH / 3), 2.0, 10.0)
+			local assist = math.clamp(10.0 / math.sqrt(KPH / 3), 2.0, 10.0) / 2
 
-		local inputForce = driverInput * assist
+			local inputForce = driverInput * assist
 
-		local inputTorque = self.vehicle.steer * inputForce
+			local inputTorque = self.vehicle.steer * inputForce
 
-		local mzDiff = outputA.customWheel.mz - outputB.customWheel.mz
+			local mzDiff = (outputB.customWheel.mz - outputA.customWheel.mz) * TICK_INTERVAL / 2
 
-		self.mzDiff = mzDiff
+			self.mzDiff = math.lerp(0.1, self.mzDiff, mzDiff)
 
-		local steerTorque = mzDiff * -1 + inputTorque
+			local steerTorque = self.mzDiff * 1 + inputTorque
 
-		local steerAngularAccel = steerTorque / steerInertia
+			local steerAngularAccel = steerTorque / steerInertia
 
-		self.steerAngle = math.clamp(self.steerAngle + steerAngularAccel * TICK_INTERVAL, -self.steerLock, self.steerLock)
+			self.steerAngle = math.clamp(self.steerAngle + math.deg(steerAngularAccel) * TICK_INTERVAL, -self.steerLock, self.steerLock)
 
-		local wheelbase = 2.05
-		local trackWidth = 1.124
-		local radius = wheelbase / math.tan(math.rad(self.steerAngle))
+			local wheelbase = 2.05
+			local trackWidth = 1.124
+			local radius = wheelbase / math.tan(math.rad(self.steerAngle))
 
-		local innerAngle = math.deg(math.atan(wheelbase / (radius - (trackWidth / 2))))
-		local outerAngle = math.deg(math.atan(wheelbase / (radius + (trackWidth / 2))))
+			local innerAngle = math.deg(math.atan(wheelbase / (radius - (trackWidth / 2))))
+			local outerAngle = math.deg(math.atan(wheelbase / (radius + (trackWidth / 2))))
 
-		outputA.customWheel.steerAngle = outerAngle + self.toeAngle * outputA.customWheel.direction
-		outputB.customWheel.steerAngle = innerAngle + self.toeAngle * outputB.customWheel.direction
-	else
-		local outputA = self.outputA --[[@as Wheel]]
-		local outputB = self.outputB --[[@as Wheel]]
+			outputA.customWheel.steerAngle = outerAngle + self.toeAngle * outputA.customWheel.direction
+			outputB.customWheel.steerAngle = innerAngle + self.toeAngle * outputB.customWheel.direction
+		else
+			local outputA = self.outputA --[[@as Wheel]]
+			local outputB = self.outputB --[[@as Wheel]]
 
-		outputA.customWheel.steerAngle = self.toeAngle * outputA.customWheel.direction
-		outputB.customWheel.steerAngle = self.toeAngle * outputB.customWheel.direction
+			outputA.customWheel.steerAngle = self.toeAngle * outputA.customWheel.direction
+			outputB.customWheel.steerAngle = self.toeAngle * outputB.customWheel.direction
+		end
 	end
 
 	return tqA + tqB
@@ -212,21 +223,63 @@ end
 
 ---@return number, number
 local function _lockingDiffTorqueSplit(tq, aW, bW, aI, bI, biasAB, preload, stiffness, powerRamp, coastRamp, slipTorque)
-	aTq = tq * 0.5
-	bTq = tq * 0.5
+	return tq * 0.5, tq * 0.5
+	-- -- Разность скоростей между выходами
+	-- local deltaW = aW - bW
 
-	local syncTorque = (aW - bW) * stiffness * (aI + bI) * 0.5 / TICK_INTERVAL
+	-- -- Расчет "проскальзывающего" момента между сторонами
+	-- local slip = math.abs(deltaW)
 
-	aTq = aTq - syncTorque
-	bTq = bTq + syncTorque
+	-- -- Применяем преднагрузку и жесткость, чтобы определить базовый момент блокировки
+	-- local lockingTorque = preload + stiffness * deltaW
+
+	-- -- Определение направления нагрузки: ускорение или торможение
+	-- local ramp = tq >= 0 and powerRamp or coastRamp
+
+	-- -- Применяем ramp к разности скоростей, усиливая/ослабляя блокировку
+	-- local rampTorque = slip * ramp
+
+	-- -- Итоговый момент передачи между сторонами
+	-- local transferTorque = lockingTorque + rampTorque
+
+	-- -- Ограничиваем передачу момента порогом проскальзывания
+	-- if transferTorque > slipTorque then
+	-- 	transferTorque = slipTorque
+	-- end
+
+	-- -- Учитываем биас (смещение баланса)
+	-- local maxBias = biasAB
+	-- local biasLimit = tq * (maxBias - 1) / (maxBias + 1)
+
+	-- -- Финальный момент, передаваемый между сторонами, с учетом направления
+	-- local direction = deltaW > 0 and -1 or 1
+	-- local finalTorque = direction * transferTorque
+
+	-- -- Применяем финальный момент к каждой стороне, ограничивая его bias'ом
+	-- local aTorque = tq * 0.5 + math.min(finalTorque, biasLimit)
+	-- local bTorque = tq * 0.5 - math.min(finalTorque, biasLimit)
+
+	-- -- Возвращаем обновленные значения угловых скоростей
+	-- return aTorque, bTorque
+
+	-- local aTq = tq * 0.5
+	-- local bTq = tq * 0.5
+
+	-- local syncTorque = (aW - bW) * 1e6 * (aI + bI) / TICK_INTERVAL
+
+	-- aTq = aTq - syncTorque
+	-- bTq = bTq + syncTorque
+
+	-- -- print(aTq, bTq)
+
+	-- return aTq, bTq
 
-	return aTq, bTq
 	-- local sumI = aI + bI
 	-- local w = aI / sumI * aW + bI / sumI * bW
-	-- local aTqCorr = (w - aW) * aI -- / dt
+	-- local aTqCorr = (w - aW) * aI / TICK_INTERVAL
 	-- aTqCorr = aTqCorr * stiffness
 
-	-- local bTqCorr = (w - bW) * bI -- / dt
+	-- local bTqCorr = (w - bW) * bI / TICK_INTERVAL
 	-- bTqCorr = bTqCorr * stiffness
 
 	-- local biasA = math.clamp(0.5 + (bW - aW) * 0.1 * stiffness, 0, 1)
@@ -293,4 +346,7 @@ end
 
 Differential.TYPES = DIFFERENTIAL_TYPES
 
+---@type fun(vehicle: KPTLVehicle, name?: string, config?: DifferentialConfig): Differential
+Differential.new = Differential.new
+
 return Differential

koptilnya/engine_remastered/powertrain/engine.txt

@@ -1,6 +1,7 @@
 --@include ./powertrain_component.txt
 --@include /koptilnya/libs/constants.txt
 
+---@type PowertrainComponent
 local PowertrainComponent = require('./powertrain_component.txt')
 
 require('/koptilnya/libs/constants.txt')
@@ -65,10 +66,10 @@ function Engine:initialize(vehicle, name, config)
 	self.returnedTorque = 0
 
 	if CLIENT then
-		-- --@include /koptilnya/engine_sound_2.txt
-		-- local Sound = require('/koptilnya/engine_sound_2.txt')
+		--@include /koptilnya/engine_sound_2.txt
+		local Sound = require('/koptilnya/engine_sound_2.txt')
 
-		-- Sound(self.maxRPM, chip())
+		Sound(self.maxRPM, chip())
 	end
 end
 
@@ -152,16 +153,19 @@ function Engine:forwardStep(torque, inertia)
 	self.angularVelocity = self.angularVelocity + finalTorque / inertiaSum * TICK_INTERVAL
 	self.angularVelocity = math.max(self.angularVelocity, 0)
 
-	-- net.start('ENGINE_RPM')
-	-- net.writeFloat(self:getRPM() / self.maxRPM)
-	-- net.send(self.vehicle.playersConnectedToHUD, true)
+	net.start('ENGINE_RPM')
+	net.writeFloat(self:getRPM() / self.maxRPM)
+	net.send(self.vehicle.playersConnectedToHUD, true)
 
-	-- net.start('ENGINE_FULLRPM')
-	-- net.writeUInt(self:getRPM(), 16)
-	-- net.writeFloat(self.masterThrottle)
-	-- net.send(nil, true)
+	net.start('ENGINE_FULLRPM')
+	net.writeUInt(self:getRPM(), 16)
+	net.writeFloat(self.masterThrottle)
+	net.send(nil, true)
 
 	return 0
 end
 
+---@type fun(vehicle: KPTLVehicle, name?: string, config?: EngineConfig): Engine
+Engine.new = Engine.new
+
 return Engine

koptilnya/engine_remastered/powertrain/powertrain_component.txt

@@ -129,4 +129,7 @@ function PowertrainComponent:serializeDebugData() end
 ---@return nil
 function PowertrainComponent:deserializeDebugData(result) end
 
+---@type fun(vehicle: KPTLVehicle, name?: string, config?: PowertrainComponentConfig): PowertrainComponent
+PowertrainComponent.new = PowertrainComponent.new
+
 return PowertrainComponent

koptilnya/engine_remastered/powertrain/wheel.txt

@@ -3,7 +3,10 @@
 --@include /koptilnya/libs/constants.txt
 --@include /koptilnya/libs/entity.txt
 
+---@type PowertrainComponent
 local PowertrainComponent = require('./powertrain_component.txt')
+
+---@type CustomWheel
 local CustomWheel = require('../wheel/wheel.txt')
 
 require('/koptilnya/libs/constants.txt')
@@ -18,13 +21,11 @@ require('/koptilnya/libs/entity.txt')
 ---@field CustomWheel? CustomWheelConfig
 
 ---@class Wheel: PowertrainComponent
----@field entity Entity
 ---@field brakePower number
 ---@field handbrakePower number
 ---@field direction integer
 ---@field private rot number
 ---@field model string
----@field holo Hologram | Entity
 ---@field customWheel CustomWheel
 local Wheel = class('Wheel', PowertrainComponent)
 
@@ -55,11 +56,11 @@ function Wheel:initialize(vehicle, name, config)
 			render.setMaterial(mat)
 			render.setColor(Color(255, 0, 0, 200))
 			lerpForwardFrictionForce = math.lerp(0.1, lerpForwardFrictionForce, self.DEBUG_DATA.forwardFrictionForce)
-			render.draw3DBeam(pos, pos + ((lerpForwardFrictionForce / 500 + 16) * self.DEBUG_DATA.forward), 1, 0, 0)
+			render.draw3DBeam(pos, pos + ((lerpForwardFrictionForce / 500 + 0) * self.DEBUG_DATA.forward), 1, 0, 0)
 
 			render.setColor(Color(0, 255, 0, 255))
 			lerpSideFrictionForce = math.lerp(0.1, lerpSideFrictionForce, self.DEBUG_DATA.sideFrictionForce)
-			render.draw3DBeam(pos, pos + ((lerpSideFrictionForce / 500 + 16) * self.DEBUG_DATA.right), 1, 0, 0)
+			render.draw3DBeam(pos, pos + ((lerpSideFrictionForce / 500 + 0) * self.DEBUG_DATA.right), 1, 0, 0)
 
 			render.setColor(Color(0, 0, 255, 200))
 			lerpLoad = math.lerp(0.1, lerpLoad, self.DEBUG_DATA.load)
@@ -72,7 +73,6 @@ function Wheel:initialize(vehicle, name, config)
 		return
 	end
 
-	self.entity = config.Entity or NULL_ENTITY
 	self.brakePower = config.BrakePower or 0
 	self.handbrakePower = config.HandbrakePower or 0
 	self.model = config.Model or ''
@@ -84,33 +84,52 @@ function Wheel:initialize(vehicle, name, config)
 	}
 	self.wireOutputs = {
 		[string.format('%s_RPM', self.name)] = 'number',
-		[string.format('%s_Fx', self.name)] = 'number',
-		[string.format('%s_CTq', self.name)] = 'number',
 	}
 
 	self.rot = 0
 
-	self.holo = self:createHolo(self.entity)
+	---@type Entity?
+	self.entity = nil
 
-	self.customWheel = CustomWheel:new(table.merge(table.copy(config.CustomWheel), { Direction = self.direction, Name = self.name }))
+	---@type Hologram?
+	self.holo = nil
+
+	self.customWheel = CustomWheel:new(
+		table.merge(
+			table.copy(config.CustomWheel),
+			{ Direction = self.direction, Name = self.name, ParentPhysObj = vehicle.basePhysObject }
+		)
+	)
 
 	hook.add('Input', 'vehicle_wheel_update' .. self.name, function(name, value)
 		if name == self.name then
-			self.entity = value
-			self.customWheel:setEntity(value)
-
-			if isValid(self.holo) then
-				self.holo:remove()
-			end
-
-			self.holo = self:createHolo(self.entity)
-			self.customWheel.radius = self:getEntityRadius()
+			self:setEntity(value)
 		end
 	end)
-
-	self.steerVelocity = 0
 end
 
+---@override
+---@return nil
+function Wheel:onWirePortsReady()
+	self:setEntity(self.CONFIG.Entity or wire.ports[self.name])
+end
+
+---@private
+---@param entity Entity
+---@return nil
+function Wheel:setEntity(entity)
+	self.entity = entity
+	self.customWheel:setEntity(entity)
+	self.customWheel.radius = self:getEntityRadius()
+
+	if isValid(self.holo) then
+		self.holo:remove()
+	end
+
+	self.holo = self:createHolo(self.entity)
+end
+
+---@return number
 function Wheel:getEntityRadius()
 	if not isValid(self.entity) then
 		return 0
@@ -119,16 +138,16 @@ function Wheel:getEntityRadius()
 	return self.entity:getModelRadius() * UNITS_TO_METERS
 end
 
----@return Hologram | Entity
+---@return Hologram?
 function Wheel:createHolo(entity)
 	if not isValid(entity) then
-		return NULL_ENTITY
+		return nil
 	end
 
 	local holo = hologram.create(entity:getPos(), entity:getAngles(), self.model or '')
 
-	if holo == nil or isValid(holo) then
-		return NULL_ENTITY
+	if holo == nil or not isValid(holo) then
+		return nil
 	end
 
 	holo:setParent(entity)
@@ -143,8 +162,6 @@ function Wheel:updateWireOutputs()
 	PowertrainComponent.updateWireOutputs(self)
 
 	wire.ports[string.format('%s_RPM', self.name)] = self.customWheel:getRPM()
-	wire.ports[string.format('%s_Fx', self.name)] = self.customWheel.forwardFriction.force
-	wire.ports[string.format('%s_CTq', self.name)] = self.customWheel.counterTorque
 end
 
 ---@return number
@@ -153,8 +170,10 @@ function Wheel:queryInertia()
 end
 
 ---@return number
-function Wheel:queryAngularVelocity()
-	return self.angularVelocity
+function Wheel:queryAngularVelocity(angularVelocity)
+	self.customWheel.angularVelocity = angularVelocity
+
+	return self.customWheel.angularVelocity
 end
 
 ---@param torque number
@@ -228,4 +247,7 @@ function Wheel:deserializeDebugData(result)
 	result.sideFrictionForce = net.readFloat()
 end
 
+---@type fun(vehicle: KPTLVehicle, name?: string, config?: WheelConfig): Wheel
+Wheel.new = Wheel.new
+
 return Wheel

koptilnya/engine_remastered/vehicle.txt

@@ -13,7 +13,7 @@ require('/koptilnya/libs/table.txt')
 require('/koptilnya/libs/constants.txt')
 
 ---@class KPTLVehicle
----@field config { [string]: any }
+---@field config { Name: string, Input?: string, Config?: table }[]
 ---@field components PowertrainComponent[]
 ---@field headComponents PowertrainComponent[]
 ---@field steer number
@@ -23,6 +23,7 @@ require('/koptilnya/libs/constants.txt')
 ---@field base? Entity
 ---@field basePhysObject? PhysObj
 ---@field initialized boolean
+---@field initializedPlayers Player[]
 local Vehicle = class('Vehicle')
 
 ---@param config { [string]: any }
@@ -40,6 +41,7 @@ function Vehicle:initialize(config)
 	self.steer = 0
 	self.brake = 0
 	self.handbrake = 0
+	self.initializedPlayers = {}
 	self.playersConnectedToHUD = {}
 
 	if SERVER then
@@ -67,6 +69,15 @@ function Vehicle:initialize(config)
 		hook.add('PlayerDisconnected', 'vehicle_huddisconnected', function(ply)
 			table.removeByValue(self.playersConnectedToHUD, ply)
 		end)
+
+		hook.add('ClientInitialized', 'vehicle_clientinitialized', function(ply)
+			table.insert(self.initializedPlayers, ply)
+
+			if self.initialized then
+				net.start('VEHICLE_READY')
+				net.send(ply, true)
+			end
+		end)
 	else
 		--@include ./hud.txt
 		require('./hud.txt')
@@ -88,11 +99,9 @@ function Vehicle:start()
 
 	self.initialized = true
 
-	print('VEHICLE READY')
-
 	if SERVER then
 		net.start('VEHICLE_READY')
-		net.send(find.allPlayers(), true)
+		net.send(self.initializedPlayers, true)
 	end
 end
 
@@ -144,8 +153,10 @@ function Vehicle:linkComponents()
 	end
 
 	if SERVER then
+		print(Color(0, 255, 0), 'Powertrain tree:')
 		for _, component in pairs(self.headComponents) do
-			self:printComponentTree(component)
+			PrintTree(component)
+			print(' ')
 		end
 	end
 end
@@ -166,6 +177,10 @@ function Vehicle:createIO()
 	end
 
 	wire.adjustPorts(inputs, outputs)
+
+	for _, component in ipairs(self.components) do
+		component:onWirePortsReady()
+	end
 end
 
 ---@return nil
@@ -212,18 +227,67 @@ function Vehicle:update()
 	--end
 end
 
----@param component PowertrainComponent
----@param result? string
 ---@return nil
-function Vehicle:printComponentTree(component, result)
-	-- result = result or component.name
+function PrintTree(root)
+	if root == nil then
+		return
+	end
 
-	-- if component.output then
-	-- 	result = result .. component.name
-	-- 	return self:printComponentTree(component.output, result .. ' -> ')
-	-- else
-	-- 	print(result)
-	-- end
+	local lines = { { Color(255, 255, 255), root.name } }
+	local subtreeLines = PrintSubtree(root, '')
+	for _, line in ipairs(subtreeLines) do
+		table.insert(lines, line)
+	end
+
+	for _, line in ipairs(lines) do
+		print(unpack(line))
+	end
+end
+
+---@return (string | Color)[]
+function PrintSubtree(root, prefix)
+	if root == nil then
+		return {}
+	end
+
+	---@type (string | Color)[]
+	local lines = {}
+
+	local left = root.outputB
+	local right = root.output or root.outputA
+
+	local hasLeft = left ~= nil
+	local hasRight = right ~= nil
+
+	if not hasLeft and not hasRight then
+		return lines
+	end
+
+	if hasRight then
+		local printStrand = hasLeft and (right.output ~= nil or right.outputA ~= nil or right.outputB ~= nil)
+		local newPrefix = prefix .. (printStrand and '│ \t' or '\t\t')
+
+		table.insert(
+			lines,
+			{ Color(80, 80, 80), prefix .. (hasLeft and '├── ' or '└── '), Color(255, 255, 255), tostring(right.name) }
+		)
+
+		local rightLines = PrintSubtree(right, newPrefix)
+		for _, line in ipairs(rightLines) do
+			table.insert(lines, line)
+		end
+	end
+
+	if hasLeft then
+		table.insert(lines, { Color(80, 80, 80), (hasRight and prefix or '') .. '└── ', Color(255, 255, 255), tostring(left.name) })
+
+		local leftLines = PrintSubtree(left, prefix .. '\t\t')
+		for _, line in ipairs(leftLines) do
+			table.insert(lines, line)
+		end
+	end
+
+	return lines
 end
 
 return {

koptilnya/engine_remastered/wheel/friction.txt

@@ -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

koptilnya/engine_remastered/wheel/friction_preset.txt

@@ -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

koptilnya/engine_remastered/wheel/wheel.txt

@@ -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

koptilnya/engine_remastered/wire_component.txt

@@ -19,6 +19,9 @@ function WireComponent:initialize()
 	self.wireOutputs = {}
 end
 
+---@return nil
+function WireComponent:onWirePortsReady() end
+
 ---@return nil
 function WireComponent:updateWireOutputs() end
 

koptilnya/engine_sound_2.txt

@@ -30,7 +30,7 @@ function Sound:initialize(redline, parent, sounds)
 			[8500] = 'https://raw.githubusercontent.com/koptilnya/gmod-data/main/engine_sounds/bmw_s54/ext_e30s54_on_8500.ogg',
 		}
 	local redline = redline or 7000
-	self.active = false
+	self.active = true
 	local soundObjects = {}
 	local soundRpms = {}
 	local maxValue = 0

koptilnya/libs/constants.txt

@@ -1,13 +1,13 @@
 --@name koptilnya/libs/constants
 
-_G.NULL_ENTITY = entity(0)
-_G.CURRENT_PLAYER = player()
-_G.OWNER = owner()
-_G.IS_ME = CURRENT_PLAYER == OWNER
-_G.TICK_INTERVAL = game.getTickInterval()
-_G.RAD_TO_RPM = 9.5493
-_G.RPM_TO_RAD = 0.10472
-_G.UNITS_PER_METER = 39.37
-_G.UNITS_TO_METERS = 0.01905
-_G.KG_TO_N = 9.80665
-_G.KG_TO_KN = 0.00980665
+NULL_ENTITY = entity(0)
+CURRENT_PLAYER = player()
+OWNER = owner()
+IS_ME = CURRENT_PLAYER == OWNER
+TICK_INTERVAL = game.getTickInterval()
+RAD_TO_RPM = 9.5493
+RPM_TO_RAD = 0.10472
+UNITS_PER_METER = 39.37
+UNITS_TO_METERS = 0.01905
+KG_TO_N = 9.80665
+KG_TO_KN = 0.00980665