update

koptilnya/engine_remastered/powertrain/differential.txt

@@ -131,7 +131,6 @@ function Differential:forwardStep(torque, inertia)
             self.steerLock
         )
 
-        -- Аккерман
         local wheelbase = 2.05
         local trackWidth = 1.124
         local radius = wheelbase / math.tan(math.rad(self.steerAngle))

koptilnya/engine_remastered/powertrain/wheel.txt

@@ -11,6 +11,8 @@ require('/koptilnya/libs/entity.txt')
 
 local Wheel = class('Wheel', PowertrainComponent)
 
+local DEBUG = false
+
 function Wheel:initialize(vehicle, name, config)
     PowertrainComponent.initialize(self, vehicle, name, config)
 
@@ -30,7 +32,6 @@ function Wheel:initialize(vehicle, name, config)
     }
 
     self.rot = 0
-    self.offset = config.Offset or 0
 
     self.entity = config.Entity or NULL_ENTITY
 
@@ -49,28 +50,35 @@ function Wheel:initialize(vehicle, name, config)
 
             self.holo = self:createHolo(self.entity)
 
+            if DEBUG then
+                self.debugHoloF:setPos(self.entity:getPos())
+                self.debugHoloR:setPos(self.entity:getPos())
+                self.debugHoloU:setPos(self.entity:getPos())
+
+                self.debugHoloF:setParent(self.entity)
+                self.debugHoloR:setParent(self.entity)
+                self.debugHoloU:setParent(self.entity)
+            end
+
             if not config.Radius then
                 self.customWheel.radius = self:getEntityRadius()
             end
         end
     end)
 
-    local right = self.entity:getRight():getRotated(Angle(0, 90, 0))
-    local offsetRight = self.entity:getRight():rotateAroundAxis(self.entity:getUp(), self.offset)
+    if DEBUG then
+        self.debugHoloF = holograms.create(Vector(), Angle(), 'models/sprops/rectangles_thin/size_0/rect_1_5x48x1_5.mdl')
+        self.debugHoloR = holograms.create(Vector(), Angle(), 'models/sprops/rectangles_thin/size_0/rect_1_5x48x1_5.mdl')
+        self.debugHoloU = holograms.create(Vector(), Angle(), 'models/sprops/rectangles_thin/size_0/rect_1_5x48x1_5.mdl')
 
-    self.dir = right:dot(offsetRight)
+        self.debugHoloF:setMaterial('models/debug/debugwhite')
+        self.debugHoloR:setMaterial('models/debug/debugwhite')
+        self.debugHoloU:setMaterial('models/debug/debugwhite')
 
-    self.debugHolo1 = holograms.create(
-        Vector(),
-        Angle(),
-        'models/sprops/geometry/sphere_3.mdl'
-    )
-
-    self.debugHolo2 = holograms.create(
-        Vector(),
-        Angle(),
-        'models/sprops/geometry/sphere_3.mdl'
-    )
+        self.debugHoloF:setColor(Color(255, 0, 0))
+        self.debugHoloR:setColor(Color(0, 255, 0))
+        self.debugHoloU:setColor(Color(0, 0, 255))
+    end
 
     self.steerVelocity = 0
 end
@@ -90,13 +98,12 @@ function Wheel:createHolo(entity)
 
     local holo = holograms.create(
             entity:getPos(),
-            entity:getAngles() + Angle(0, self.offset, 0),
+            entity:getAngles(),
             self.CONFIG.Model or ''
     )
     
     holo:setParent(entity)
 
-    -- holo:setColor(Color(255,255,255,110))
     entity:setColor(Color(0,0,0,0))
 
     return holo
@@ -121,9 +128,9 @@ function Wheel:forwardStep(torque, inertia)
         return 0
     end
 
-    -- self.customWheel.steerAngle = self.vehicle.steer * self.steerLock
-    --self.customWheel.inertia = inertia
-    --self.customWheel:setInertia(inertia)
+    -- print(inertia)
+    -- self.customWheel:setInertia(inertia)
+
     self.customWheel.motorTorque = torque
     self.customWheel.brakeTorque = math.max(self.brakePower * self.vehicle.brake, self.handbrakePower * self.vehicle.handbrake)
 
@@ -131,8 +138,6 @@ function Wheel:forwardStep(torque, inertia)
 
     self.angularVelocity = self.customWheel.angularVelocity
 
-    self.debugHolo1:setPos(self.entity:localToWorld(Vector(0, 0, -self.entity:getModelRadius())))
-
     if self.customWheel.hasHit and isValid(self.vehicle.basePhysObject) then
         local surfaceForceVector = self.customWheel.right * self.customWheel.sideFriction.force + self.customWheel.forward * self.customWheel.forwardFriction.force
 
@@ -140,30 +145,21 @@ function Wheel:forwardStep(torque, inertia)
     end
 
     if isValid(self.holo) then
+        if DEBUG then
+            self.debugHoloF:setAngles(self.customWheel.forward:getAngle())
+            self.debugHoloR:setAngles(self.customWheel.right:getAngle())
+            self.debugHoloU:setAngles(self.customWheel.up:getAngle())
+        end
 
-        local spinAxis = self.customWheel.up:cross(self.customWheel.forward):getNormalized()
+        local entityAngles = self.entity:getAngles()
 
-        self.debugHolo2:setPos(self.entity:localToWorld(self.customWheel.up * math.sin(timer.curtime()) * 20))
+        self.rot = self.rot + self.angularVelocity * TICK_INTERVAL
 
-        local rotatedForwardAngle = self.customWheel.forward:getAngle() + Angle(0, 90, 0)
+        local steerRotated = entityAngles:rotateAroundAxis(self.customWheel.up, nil, math.rad(-self.customWheel.steerAngle) + self.customWheel.toeAngle)
+        local camberRotated = steerRotated:rotateAroundAxis(self.customWheel.forward, nil, -self.customWheel.camberAngle)
+        local angularVelocityRotated = camberRotated:rotateAroundAxis(self.customWheel.right, nil, self.rot)
 
-
-        -- self.holo:setAngles(rotatedForwardAngle)
-
-
-        -- local ang = up:getAngle()
-        -- self.holo:setAngles(self.customWheel.forward:getAngle())
-
-        -- self.holo:setAngles(self.holo:getAngles():rotateAroundAxis(self.customWheel.right, 0))
-        -- self.holo:setAngles(self.holo:getAngles():rotateAroundAxis(self.customWheel.right, nil, self.angularVelocity * TICK_INTERVAL))
-
-
-        self.holo:setAngles(self.holo:getAngles():rotateAroundAxis(self.customWheel.right, nil, self.angularVelocity * TICK_INTERVAL))
-
-        -- local steerAngle = self.entity:localToWorldAngles(Angle(0, self.offset - self.customWheel.steerAngle, 0) + self.rotationAxle * self.rot)
-        -- local angle = steerAngle
-
-        -- self.holo:setAngles(angle)
+        self.holo:setAngles(angularVelocityRotated)
     end
 
     return self.customWheel.counterTorque