Updated diff

koptilnya/engine_remastered/configs/sample.txt

@@ -50,7 +50,6 @@ Vehicle:new({
         Power = 0.3,
         Coast = 0.15,
         Preload = 10,
-        UsePowerBias = 10,
         ViscousCoeff = 0.96,
         Axle = Vector(1, 0, 0),
         DistributionCoeff = 0.4,
@@ -59,7 +58,6 @@ Vehicle:new({
         Power = 0.4,
         Coast = 0.3,
         Preload = 10,
-        UsePowerBias = 10,
         ViscousCoeff = 0.96,
         Axle = Vector(1, 0, 0),
         DistributionCoeff = 0.6,

koptilnya/engine_remastered/configs/sx240.txt

@@ -24,9 +24,9 @@ Vehicle:new({
         }
     },
     Clutch = {Stiffness = 20, Damping = 0.5, MaxTorque = 400},
-    Gearbox = {Type = 'MANUAL', ShiftDuration = 0.2, ShiftSmoothness = 0.3, Ratios = {3.67, 2.1, 1.35, 1.1, 0.901}, Reverse = 3.818},
+    Gearbox = {Type = 'MANUAL', ShiftDuration = 0.2, ShiftSmoothness = 0.3, Ratios = {3.321, 1.902, 1.308, 1, 0.838}, Reverse = 3.382},
     Axles = {
-        {Power = 0.96, Coast = 0.96, Preload = 10, UsePowerBias = 10, ViscousCoeff = 0.96, Axle = Vector(1, 0, 0), DistributionCoeff = 0.6, FinalDrive = 3.9}
+        {Power = 0.5, Coast = 0.3, Preload = 30, ViscousCoeff = 0.96, Axle = Vector(1, 0, 0), DistributionCoeff = 1, FinalDrive = 4.08}
     },
     Systems = {{Type = 'LAUNCH', Limit = 3500}, {Type = 'TRACTION', Limit = 1.5}}
 })

koptilnya/engine_remastered/differential.txt

@@ -14,25 +14,35 @@ function Differential:initialize(config, order)
     self.order = order or 1
 
     self.viscousCoeff = config.ViscousCoeff or 0.9
-    self.usePowerBias = config.UsePowerBias or 10
 
     self.distributionCoeff = config.DistributionCoeff or 1
     self.maxCorrectingTorque = config.MaxCorrectingTorque or 200
 
     self.avgRPM = 0
 
-    self.leftWheelInput = 'Axle' .. self.order .. '_LeftWheel'
+    self.prefix = 'Axle' .. self.order .. '_'
-    self.rightWheelInput = 'Axle' .. self.order .. '_RightWheel'
 
-    self.leftWheel = wire.ports[self.leftWheelInput]
+    self.leftWheel = wire.ports[self.prefix .. 'LeftWheel']
-    self.rightWheel = wire.ports[self.rightWheelInput]
+    self.rightWheel = wire.ports[self.prefix .. 'RightWheel']
+
+    self.lwPowerCoeff = 0
+    self.rwPowerCoeff = 0
+
+    self.lwtq_div_rwtq = 0
+    self.rwtq_div_lwtq = 0
+
+    self.lwtq = 0
+    self.rwtq = 0
+
+    self.lwav = 0
+    self.rwav = 0
 
     hook.add('input', 'wire_axle_update' .. self.order, function(key, val)
-        if key == self.leftWheelInput then
+        if key == self.prefix .. 'LeftWheel' then
             self.leftWheel = val
         end
 
-        if key == self.rightWheelInput then
+        if key == self.prefix .. 'RightWheel' then
             self.rightWheel = val
         end
     end)
@@ -41,67 +51,157 @@ end
 function Differential:getInputs()
     local inputs = {}
 
-    inputs[self.leftWheelInput] = 'entity'
+    inputs[self.prefix .. 'LeftWheel'] = 'entity'
-    inputs[self.rightWheelInput] = 'entity'
+    inputs[self.prefix .. 'RightWheel'] = 'entity'
 
     return inputs
 end
 
+function Differential:getOutputs()
+    local outputs = {}
+
+    outputs[self.prefix .. 'LWPowerCoeff'] = 'number'
+    outputs[self.prefix .. 'RWPowerCoeff'] = 'number'
+    outputs[self.prefix .. 'LWTq'] = 'number'
+    outputs[self.prefix .. 'RWTq'] = 'number'
+    outputs[self.prefix .. 'LWAV'] = 'number'
+    outputs[self.prefix .. 'RWAV'] = 'number'
+    outputs[self.prefix .. 'AvgRPM'] = 'number'
+    outputs[self.prefix .. 'LW_div_RW'] = 'number'
+    outputs[self.prefix .. 'RW_div_LW'] = 'number'
+    -- outputs[self.prefix .. 'SGAV'] = 'number'
+
+    return outputs
+end
+
+function Differential:updateOutputs()
+    wire.ports[self.prefix .. 'LWPowerCoeff'] = self.lwPowerCoeff
+    wire.ports[self.prefix .. 'RWPowerCoeff'] = self.rwPowerCoeff
+    wire.ports[self.prefix .. 'LWTq'] = self.lwtq
+    wire.ports[self.prefix .. 'RWTq'] = self.rwtq
+    wire.ports[self.prefix .. 'RWTq'] = self.rwtq
+    wire.ports[self.prefix .. 'LWAV'] = self.lwav
+    wire.ports[self.prefix .. 'RWAV'] = self.rwav
+    wire.ports[self.prefix .. 'AvgRPM'] = self.avgRPM
+    wire.ports[self.prefix .. 'LW_div_RW'] = self.lwtq_div_rwtq
+    wire.ports[self.prefix .. 'RW_div_LW'] = self.rwtq_div_lwtq
+    -- wire.ports[self.prefix .. 'SGAV'] = self.sgav
+end
+
 function Differential:linkGearbox(gbox)
     self.gearbox = gbox
 end
 
+-- this is a test function that can spin wheels in different directions
+function Differential:testUpdate()
+    if isValid(self.leftWheel) and isValid(self.rightWheel) then
+        local lwav = math.rad(self.leftWheel:getAngleVelocity()[2])
+        local rwav = math.rad(self.rightWheel:getAngleVelocity()[2])
+
+        self.avgRPM = (lwav - rwav) / 2 * RAD_TO_RPM * self.finalDrive
+
+        self.lwav = lwav
+        self.rwav = rwav
+
+        -- spider gear angular velocity
+        local sgav = (lwav + rwav) / 2
+
+        self.sgav = sgav
+
+        -- RAV = relative angular velocity
+        local lwrav = lwav - sgav
+        local rwrav = rwav - sgav
+
+        local lwInertia = self.leftWheel:getInertia():getLength()
+        local rwInertia = self.rightWheel:getInertia():getLength()
+
+        local lwtq = lwrav * lwInertia * 2
+        local rwtq = rwrav * rwInertia * 2
+
+        self.lwtq = lwtq
+        self.rwtq = rwtq
+
+        local lwDampingTorque = self.viscousCoeff * lwtq
+        local rwDampingTorque = self.viscousCoeff * rwtq
+
+        local gboxTorque = self.gearbox and self.gearbox.torque / 10 or 0
+
+        local usedCoeff = gboxTorque > self.preload and self.power or self.coast
+
+        local lwCorrectingTorque = math.clamp(lwDampingTorque * usedCoeff, -self.maxCorrectingTorque,
+            self.maxCorrectingTorque)
+        local rwCorrectingTorque = math.clamp(rwDampingTorque * usedCoeff, -self.maxCorrectingTorque,
+            self.maxCorrectingTorque)
+
+        local driveTorque = gboxTorque * self.distributionCoeff * 52.49 * self.finalDrive
+
+        local lwCorrectedTorque = lwCorrectingTorque * 600 - driveTorque
+        local rwCorrectedTorque = rwCorrectingTorque * 600 + driveTorque
+
+        self.leftWheel:applyTorque(lwCorrectedTorque * self.leftWheel:getRight() * TICK_INTERVAL)
+        self.rightWheel:applyTorque(rwCorrectedTorque * self.rightWheel:getRight() * TICK_INTERVAL)
+    end
+end
+
 function Differential:update()
     if isValid(self.leftWheel) and isValid(self.rightWheel) then
         local lwav = math.rad(self.leftWheel:getAngleVelocity()[2])
         local rwav = math.rad(self.rightWheel:getAngleVelocity()[2]) * -1
 
-        self.avgRPM = (lwav + rwav) / 2 * RAD_TO_RPM * self.finalDrive
+        self.lwav = lwav
+        self.rwav = rwav
 
         -- RAV = relative anglar velocity
         local lwrav = rwav - lwav
         local rwrav = lwav - rwav
 
-        local lwInertia = self.leftWheel:getInertia():getLength()
+        local lwInertia = self.leftWheel:getInertia()[2]
-        local rwInertia = self.rightWheel:getInertia():getLength()
+        local rwInertia = self.rightWheel:getInertia()[2]
 
         local lwtq = lwrav * lwInertia
         local rwtq = rwrav * rwInertia
 
-        -- Calculating damping torque  here
+        self.lwtq = lwtq
-        local lwDampingTorque = self.viscousCoeff * lwtq
+        self.rwtq = rwtq
-        local rwDampingTorque = self.viscousCoeff * rwtq
 
         -- Whether use diff power or diff coast
-        local usePower = self.gearbox and self.gearbox.torque > self.usePowerBias or false
+        local usePower = self.gearbox and self.gearbox.torque > self.preload and false
         local usedCoeff = usePower and self.power or self.coast
 
-        local lwPowerCoeff = usedCoeff
+        -- Calculating damping torque  here
-        local rwPowerCoeff = usedCoeff
+        local lwDampingTorque = self.viscousCoeff * lwtq * usedCoeff
+        local rwDampingTorque = self.viscousCoeff * rwtq * usedCoeff
 
-        -- this could probably be shortened?
+        local lwav_abs = math.abs(lwav)
-        -- if lwtq - rwtq > self.preload then
+        local rwav_abs = math.abs(rwav)
-        --     lwPowerCoeff = usedCoeff
-        --     rwPowerCoeff = usedCoeff
-        -- end
 
-        -- if rwtq - lwtq > self.preload then
+        local avg_abs = lwav_abs + rwav_abs
-        --     lwPowerCoeff = usedCoeff
-        --     rwPowerCoeff = usedCoeff
-        -- end
 
-        local lwCorrectingTorque = math.clamp(lwDampingTorque * lwPowerCoeff, -self.maxCorrectingTorque,
+        local lwav_to_avg = avg_abs ~= 0 and 2 * lwav_abs / avg_abs or 0
-            self.maxCorrectingTorque)
+        local rwav_to_avg = avg_abs ~= 0 and 2 * rwav_abs / avg_abs or 0
-        local rwCorrectingTorque = math.clamp(rwDampingTorque * rwPowerCoeff, -self.maxCorrectingTorque,
+
-            self.maxCorrectingTorque)
+        self.lwtq_div_rwtq = lwav_to_avg
+        self.rwtq_div_lwtq = rwav_to_avg
+
+        local lwPowerCoeff = math.clamp(lwav_to_avg, usedCoeff, 1 + (1 - usedCoeff))
+        local rwPowerCoeff = math.clamp(rwav_to_avg, usedCoeff, 1 + (1 - usedCoeff))
+
+        self.lwPowerCoeff = lwPowerCoeff
+        self.rwPowerCoeff = rwPowerCoeff
+
+        local lwCorrectingTorque = math.clamp(lwDampingTorque, -self.maxCorrectingTorque, self.maxCorrectingTorque)
+        local rwCorrectingTorque = math.clamp(rwDampingTorque, -self.maxCorrectingTorque, self.maxCorrectingTorque)
 
         local gboxTorque = self.gearbox and self.gearbox.torque or 0
 
-        local driveTorque = gboxTorque * self.distributionCoeff * 52.49 * self.finalDrive
+        local driveTorque = gboxTorque / 2 * self.distributionCoeff * self.finalDrive
-        local lwCorrectedTorque = lwCorrectingTorque * 600 + driveTorque
-        local rwCorrectedTorque = rwCorrectingTorque * 600 + driveTorque
 
-        self.leftWheel:applyTorque(lwCorrectedTorque * -self.leftWheel:getRight() * TICK_INTERVAL)
+        local lwCorrectedTorque = lwCorrectingTorque * 20 + driveTorque * lwPowerCoeff -- * lwPowerCoeff
-        self.rightWheel:applyTorque(rwCorrectedTorque * self.rightWheel:getRight() * TICK_INTERVAL)
+        local rwCorrectedTorque = rwCorrectingTorque * 20 + driveTorque * rwPowerCoeff -- * rwPowerCoeff
+
+        self.leftWheel:applyTorque(lwCorrectedTorque * -self.leftWheel:getRight())
+        self.rightWheel:applyTorque(rwCorrectedTorque * self.rightWheel:getRight())
+
+        self.avgRPM = (lwav + rwav) / 2 * RAD_TO_RPM * self.finalDrive
     end
 end

koptilnya/engine_remastered/vehicle.txt

@@ -35,11 +35,9 @@ function Vehicle:initialize(config)
 
     -- self.systems = table.map(config.Systems, function(config)
     --     return SystemsFactory.create(config)
-    -- end)
+    -- end)s
-
     self.components = {self.clutch, self.engine, self.gearbox}
     self.components = table.add(self.components, self.axles)
-    -- self.components = table.add(self.components, self.axles)
     -- self.components = table.add(self.components, self.systems)
 
     local inputs = {}