Implementing better steering

koptilnya/better_steering/config/sample.txt

@@ -0,0 +1,42 @@
+-- @name Better steering sample config
+-- @author Koptilnya1337
+-- @server
+-- @include /koptilnya/better_steering/steering.txt
+require('/koptilnya/better_steering/steering.txt')
+
+Steering:new({
+    Sensitivity = 0.04,
+    Slaves = {{
+        Lock = 30,
+        Camber = -2,
+        Caster = 5,
+        Ackermann = 15.43,
+        Toe = 0,
+        Offset = 180
+    }, {
+        Lock = 30,
+        Camber = -2,
+        Caster = 5,
+        Ackermann = 15.43,
+        Toe = 0,
+        Offset = 180,
+        IsRight = true
+    }, {
+        Lock = 1,
+        Camber = -2,
+        Caster = 0,
+        Ackermann = 0,
+        Toe = 0,
+        Offset = 180,
+        Direction = -1
+    }, {
+        Lock = 1,
+        Camber = -2,
+        Caster = 0,
+        Ackermann = 0,
+        Toe = 0,
+        Offset = 180,
+        IsRight = true,
+        Direction = -1
+    }}
+})

koptilnya/better_steering/slave.txt

@@ -0,0 +1,114 @@
+-- @include /koptilnya/libs/wire_component.txt
+-- @include /koptilnya/libs/constants.txt
+require('/koptilnya/libs/wire_component.txt')
+require('/koptilnya/libs/constants.txt')
+
+Slave = class('Slave', WireComponent)
+
+function Slave:initialize(options)
+    options = options or {}
+
+    self.lock = options.Lock or 0
+    self.camber = options.Camber or 0
+    self.caster = options.Caster or 0
+    self.ackermann = options.Ackermann or 0
+    self.toe = options.Toe or 0
+    self.offset = options.Offset or 0
+    self.isRight = options.IsRight or false
+    self.direction = options.Direction or 1
+
+    self.order = options.Order or 0
+
+    self.entity = nil
+    self.wheel = nil
+    self.base = options.Base or nil
+
+    self.steer = 0
+    self.steeringAngle = 0
+    self.lateralVel = 0
+    self.lateralForce = 0
+    self.selfAligningTorque = 0
+    self.correctingAngle = 0
+end
+
+function Slave:getInputs()
+    local inputs = {}
+    inputs['SL_' .. self.order] = 'entity'
+    inputs['W_' .. self.order] = 'entity'
+
+    return inputs
+end
+
+function Slave:getOutputs()
+    local outputs = {}
+
+    outputs['SL_' .. self.order .. '_LateralForce'] = 'number'
+    outputs['SL_' .. self.order .. '_SelfAligningTq'] = 'number'
+    outputs['SL_' .. self.order .. '_CorrectingAngle'] = 'number'
+    outputs['W_' .. self.order .. '_LateralVel'] = 'number'
+
+    return outputs
+end
+
+function Slave:updateOutputs()
+    wire.ports['SL_' .. self.order .. '_LateralForce'] = self.lateralForce
+    wire.ports['SL_' .. self.order .. '_SelfAligningTq'] = self.selfAligningTorque
+    wire.ports['SL_' .. self.order .. '_CorrectingAngle'] = self.correctingAngle
+    wire.ports['W_' .. self.order .. '_LateralVel'] = self.lateralVel
+end
+
+function Slave:update()
+    self.entity = wire.ports['SL_' .. self.order]
+    self.wheel = wire.ports['W_' .. self.order]
+
+    if isValid(self.entity) and isValid(self.base) and isValid(self.wheel) then
+        local wheelMass = self.wheel:getMass()
+        local wheelInertia = self.wheel:getInertia():getLength()
+        local wheelRadius = self.wheel:getModelRadius() / UNITS_PER_METER
+        local wheelFriction = self.wheel:getFriction()
+        local lateralVel = self.wheel:worldToLocal(self.wheel:getVelocity() + self.wheel:getPos())[2]
+
+        self.lateralVel = lateralVel
+
+        if math.abs(self.steer) > 0 then
+            self.correctingAngle = 0
+        else
+            self.lateralForce = wheelFriction * wheelMass * lateralVel / TICK_INTERVAL /
+                                    UNITS_PER_METER
+            self.selfAligningTorque = self.lateralForce * wheelRadius * 2
+            self.correctingAngle = self.selfAligningTorque / wheelInertia * TICK_INTERVAL
+        end
+
+        if self.isRight then
+            self.correctingAngle = self.correctingAngle * -1
+        end
+
+        self.correctingAngle = 0
+
+        if not self.entity:isFrozen() and not self.entity:isPlayerHolding() then
+            self.entity:setFrozen(1)
+        end
+
+        local inc = self.steer * self.lock * self.direction
+        self.steeringAngle = math.clamp(self.steeringAngle + inc + self.correctingAngle, -self.lock, self.lock)
+
+        local camber = self.isRight and -self.camber or self.camber
+        local steerRatio = self.lock ~= 0 and self.steeringAngle / self.lock or 0
+        local caster = steerRatio * self.caster
+        local toe = self.isRight and self.toe or -self.toe
+        local ackermann = 0
+
+        if steerRatio > 0 then
+            ackermann = self.isRight and -steerRatio * self.ackermann or steerRatio * self.ackermann
+        elseif steerRatio < 0 then
+            ackermann = self.isRight and steerRatio * self.ackermann or -steerRatio * self.ackermann
+        end
+
+        -- Dividing ackermann by 2 because ackermann angle is difference between wheels angle
+        -- So if we don't divide it by 2, the result angle will be 2 times more than expected
+        local angle = Angle(0, self.offset + self.steeringAngle + toe + ackermann / 2, camber - caster)
+        local localizedAngle = self.base:localToWorldAngles(angle)
+
+        self.entity:setAngles(localizedAngle)
+    end
+end

koptilnya/better_steering/steering.txt

@@ -0,0 +1,79 @@
+-- @include /koptilnya/libs/wire_component.txt
+-- @include ./slave.txt
+-- @include /koptilnya/libs/table.txt
+require('/koptilnya/libs/wire_component.txt')
+require('./slave.txt')
+require('/koptilnya/libs/table.txt')
+
+Steering = class('Steering', WireComponent)
+
+function Steering:initialize(options)
+    options = options or {}
+    self.slaves = {}
+    self.steer = 0
+    self.sensitivity = options.Sensitivity or 1
+
+    for key, slave in ipairs(options.Slaves) do
+        slave.Order = key
+        slave.Base = wire.ports.Base
+        table.insert(self.slaves, Slave:new(slave))
+    end
+
+    self:_adjustPorts()
+
+    hook.add('tick', 'update', function()
+        self:update()
+    end)
+end
+
+function Steering:_adjustPorts()
+    local inputs = {}
+    local outputs = {}
+
+    inputs = table.merge(inputs, self:getInputs())
+    outputs = table.merge(outputs, self:getOutputs())
+
+    for _, slave in ipairs(self.slaves) do
+        inputs = table.merge(inputs, slave:getInputs())
+        outputs = table.merge(outputs, slave:getOutputs())
+    end
+
+    wire.adjustPorts(inputs, outputs)
+end
+
+function Steering:getInputs()
+    return {
+        TargetSteer = 'number',
+        Base = 'entity'
+    }
+end
+
+function Steering:getOutputs()
+    return {
+        Steer = 'number'
+    }
+end
+
+function Steering:updateOutputs()
+    local totalSteeringAngle = table.reduce(self.slaves, function(steer, slave)
+        return steer + slave.direction * slave.steeringAngle / (slave.lock ~= 0 and slave.lock or 1)
+    end, 0)
+
+    local steerableSlaves = table.filter(self.slaves, function(slave)
+        return slave.lock ~= 0
+    end)
+
+    wire.ports.Steer = totalSteeringAngle / #steerableSlaves
+end
+
+function Steering:update()
+    self.steer = wire.ports.TargetSteer * self.sensitivity
+
+    self:updateOutputs()
+
+    for _, slave in ipairs(self.slaves) do
+        slave.steer = self.steer
+        slave:update()
+        slave:updateOutputs()
+    end
+end

koptilnya/data/models/bmw_m4_g82.txt

@@ -0,0 +1,45 @@
+-- @shared
+-- @name BMW M4 G82 Competition
+-- @author Koptilnya1337
+-- @include /koptilnya/mesh_loader/builder.txt
+require("/koptilnya/mesh_loader/builder.txt")
+
+DEBUG_MODE = true
+
+local LINK = "https://drive.google.com/u/0/uc?id=1yxjPtVhoMROwSB56tfL_dbBPrW1Yjr9h&export=download"
+local SCALE = Vector(1)
+
+local Materials =
+{
+    Body = "phoenix_storms/fender_white",
+    Carbon = "sprops/textures/sprops_cfiber2"
+}
+
+local Colors =
+{
+    Body = Color(115,218,201),
+    Carbon = Color(255,255,255)
+}
+
+local builder = {}
+
+if SERVER then
+    builder = MeshBuilder:new(LINK)
+    
+    local this = chip()
+    
+    -- Body group
+    builder:build("Body", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
+    builder:build("LeftDoor", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
+    builder:build("RightDoor", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
+    builder:build("Bonnet", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
+    builder:build("Trunk", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
+    builder:build("Roof", Vector(0), Angle(0), SCALE, Colors.Carbon, Materials.Carbon, this, this)
+
+    local result = builder:getResult()
+else
+    PERMA.onPermissionsGained = function()
+        builder = MeshBuilder:new(LINK)
+    end
+    PERMA.build()
+end

koptilnya/engine_remastered/clutch.txt

@@ -1,8 +1,8 @@
--- @include ./wire_component.txt
+-- @include /koptilnya/libs/wire_component.txt
 -- @include ./enums/gearbox.txt
 -- @include /koptilnya/libs/constants.txt
 require('/koptilnya/libs/constants.txt')
-require('./wire_component.txt')
+require('/koptilnya/libs/wire_component.txt')
 local gearboxTypes = require('./enums/gearbox.txt')
 
 Clutch = class('Clutch', WireComponent)

koptilnya/engine_remastered/differential.txt

@@ -1,8 +1,8 @@
 -- @server
 -- @include /koptilnya/libs/constants.txt
--- @include ./wire_component.txt
+-- @include /koptilnya/libs/wire_component.txt
 require('/koptilnya/libs/constants.txt')
-require('./wire_component.txt')
+require('/koptilnya/libs/wire_component.txt')
 
 Differential = class('Differential', WireComponent)
 

koptilnya/engine_remastered/engine.txt

@@ -1,6 +1,6 @@
--- @include ./wire_component.txt
+-- @include /koptilnya/libs/wire_component.txt
 -- @include /koptilnya/libs/constants.txt
-require('./wire_component.txt')
+require('/koptilnya/libs/wire_component.txt')
 require('/koptilnya/libs/constants.txt')
 
 Engine = class('Engine', WireComponent)

koptilnya/engine_remastered/gearboxes/base.txt

@@ -1,5 +1,5 @@
--- @include ../wire_component.txt
+-- @include /koptilnya/libs/wire_component.txt
-require('../wire_component.txt')
+require('/koptilnya/libs/wire_component.txt')
 
 Gearbox = class('Gearbox', WireComponent)
 

koptilnya/engine_remastered/novojiloff_diff.txt

@@ -1,8 +1,8 @@
 -- @server
 -- @include /koptilnya/libs/constants.txt
--- @include ./wire_component.txt
+-- @include /koptilnya/libs/wire_component.txt
 require('/koptilnya/libs/constants.txt')
-require('./wire_component.txt')
+require('/koptilnya/libs/wire_component.txt')
 
 Differential = class('Differential', WireComponent)
 

koptilnya/grip_steering/main.txt

@@ -1,188 +0,0 @@
--- @name Grip Steering
--- @author DarkSupah
--- @server
--- @include ./slave.txt
-Steering = class('Steering')
-
-require('./slave.txt')
-
-function inrange(val, min, max)
-    return val >= min and val <= max
-end
-
-function isNaN(val)
-    return val ~= val
-end
-
-function vectorIsNaN(vec)
-    return isNaN(vec[1]) or isNaN(vec[2]) or isNaN(vec[3])
-end
-
-function getLocalVelocity(ent)
-    return ent:worldToLocal((ent:getVelocity() + ent:getPos()))
-end
-
-local options = {
-    Camber = -2,
-    Caster = 5,
-    Ackermann = 15,
-    Lock = 45,
-
-    ZeroThreshold = 2,
-
-    StartSpeedThreshold = 40,
-    EndSpeedThreshold = 150,
-    SpeedCoeff = 0.2,
-
-    StartCorrectionThreshold = 5,
-    EndCorrectionThreshold = 40,
-    CorrectionOnCoeff = 0.6,
-    CorrectionOffCoeff = 1,
-    CorrectionOnLerp = 0.3,
-    CorrectionOffLerp = 0.6
-}
-
-function Steering:_adjustPorts()
-    local inputs = {
-        Axles = 'table',
-        Base = 'entity',
-        LeftSlave = 'entity',
-        RightSlave = 'entity'
-    }
-
-    local outputs = {
-        SteerAngle = 'number',
-        TargetAngle = 'number',
-        CorrectionAngle = 'number'
-    }
-
-    wire.adjustPorts(inputs, outputs)
-end
-
-function Steering:_createSlaves()
-    local entities = {wire.ports.LeftSlave, wire.ports.RightSlave}
-    local slaves = {}
-
-    for k, v in pairs(entities) do
-        local slave = Slave:new({
-            Entity = v,
-            IsLeft = k % 2 == 1,
-            Offset = 180,
-            Base = wire.ports.Base,
-            Camber = self.slavesConfig.Camber,
-            Caster = self.slavesConfig.Caster,
-            Ackermann = self.slavesConfig.Ackermann
-        })
-
-        table.insert(self.slaves, slave)
-    end
-end
-
-function Steering:_updateOutputs()
-    wire.ports.TargetAngle = self.targetAngle
-    wire.ports.SteerAngle = self.angle
-    wire.ports.CorrectionAngle = self.correction
-end
-
-function Steering:_getCorrectionGradient(speed)
-    return math.clamp(math.remap(speed, self.startCorrectionThreshold, self.endCorrectionThreshold, 0, 1), 0, 1)
-end
-
-function Steering:getBaseSpeed()
-    local MPH = self.base:getVelocity():getLength() * 3600 / 63360
-    local KPH = MPH * 1.609
-
-    return KPH
-end
-
-function Steering:_getSpeedCorrectionGradient(speed)
-    return math.clamp(math.remap(speed, self.startSpeedThreshold, self.endSpeedThreshold, 0, 1), 0, 1)
-end
-
-function Steering:_getCorrectionAngle()
-    local localVel = getLocalVelocity(self.base)
-    local forwardVel = (localVel * Vector(1, 0, 0)):getNormalized()
-    local planarVec = (localVel * Vector(1, 1, 0)):getNormalized()
-
-    forwardVel = vectorIsNaN(forwardVel) and Vector(0, 0, 0) or forwardVel
-    planarVec = vectorIsNaN(planarVec) and Vector(0, 0, 0) or planarVec
-
-    local cross = forwardVel:cross(planarVec)
-
-    return math.deg(math.acos(forwardVel:dot(planarVec))) * math.sign(localVel[2])
-end
-
-function Steering:initialize(options)
-    self:_adjustPorts()
-
-    options = options or {}
-
-    self.base = wire.ports.Base
-
-    self.slavesConfig = {
-        Camber = options.Camber,
-        Caster = options.Caster,
-        Ackermann = options.Ackermann
-    }
-
-    self.lock = options.Lock
-
-    self.targetAngle = 0
-    self.angle = 0
-
-    self.zeroThreshold = options.ZeroThreshold
-
-    self.speedCoeff = options.SpeedCoeff
-    self.startSpeedThreshold = options.StartSpeedThreshold
-    self.endSpeedThreshold = options.EndSpeedThreshold
-
-    self.startCorrectionThreshold = options.StartCorrectionThreshold
-    self.endCorrectionThreshold = options.EndCorrectionThreshold
-    self.correctionOnCoeff = options.CorrectionOnCoeff
-    self.correctionOffCoeff = options.CorrectionOffCoeff
-
-    self.correctionOnLerp = options.CorrectionOnLerp
-    self.correctionOffLerp = options.CorrectionOffLerp
-
-    self.correction = 0
-
-    self.slaves = {}
-
-    self:_createSlaves()
-end
-
-function Steering:update()
-    local horizontal = wire.ports.Axles.Horizontal.Value
-    local horizontalTarget = wire.ports.Axles.Horizontal.Target
-
-    local baseSpeedKMH = self:getBaseSpeed()
-    local angleCorrection = self:_getCorrectionGradient(baseSpeedKMH)
-    local speedCorrection = self.angle * self:_getSpeedCorrectionGradient(baseSpeedKMH) * self.speedCoeff
-
-    self.targetAngle = horizontal * self.lock
-
-    local correctionCoeff = horizontalTarget ~= 0 and self.correctionOnCoeff or self.correctionOffCoeff
-    local correctionLerpCoeff = horizontalTarget ~= 0 and self.correctionOnLerp or self.correctionOffLerp
-    local correction = self:_getCorrectionAngle() * angleCorrection * correctionCoeff
-    self.correction = math.lerp(correctionLerpCoeff, self.correction, isNaN(correction) and 0 or correction)
-
-    local possibleAngle = math.clamp(horizontal * self.lock + speedCorrection + self.correction, -self.lock, self.lock)
-
-    if inrange(possibleAngle, -self.zeroThreshold, self.zeroThreshold) then
-        self.angle = 0
-    else
-        self.angle = possibleAngle
-    end
-
-    for k, v in pairs(self.slaves) do
-        v:rotate(self.angle)
-    end
-
-    self:_updateOutputs()
-end
-
-local steering = Steering:new(options)
-
-hook.add('think', 'SteeringUpdate', function()
-    steering:update()
-end)

koptilnya/grip_steering/slave.txt

@@ -1,29 +0,0 @@
-Slave = class('Slave')
-
-function Slave:initialize(options)
-    options = options or {}
-
-    self.entity = options.Entity
-    self.base = options.Base
-
-    self.camber = options.Camber
-    self.caster = options.Caster
-    self.ackermann = options.Ackermann
-    self.isLeft = options.IsLeft
-    self.offset = options.Offset
-end
-
-function Slave:rotate(ang)
-    if self.entity:isFrozen() == false then
-        self.entity:setFrozen(1)
-    end
-
-    local ackermann = math.sin(math.rad(ang)) ^ 2 * self.ackermann * (self.isLeft and -1 or 1)
-    local yaw = self.offset + ang + ackermann
-    local roll = (self.isLeft and 1 or -1) * self.camber - ang / 270 * self.caster
-
-    local angle = Angle(0, yaw, roll)
-    local transformedAngle = self.base:localToWorldAngles(angle)
-
-    self.entity:setAngles(transformedAngle)
-end

koptilnya/input_system/configs/sample.txt

@@ -2,8 +2,8 @@ Axles = {
     Horizontal = {
         Negative = KEY.D,
         Positive = KEY.A,
-        Gravity = 0.1,
+        Gravity = 1,
-        Sensitivity = 0.2
+        Sensitivity = 1
     },
     Throttle = {
         Positive = KEY.W,
@@ -20,5 +20,5 @@ Axles = {
         Negative = MOUSE.RIGHT,
         Gravity = 1,
         Sensitivity = 1
-    },
+    }
 }