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This commit is contained in:
Ivan Grachyov 2021-11-29 23:02:31 +05:00
parent 1a2aea0fdb
commit 4f6d4a04df
4 changed files with 139 additions and 43 deletions
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2
koptilnya/engine_remastered/configs/sample.txt
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@ -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,

4
koptilnya/engine_remastered/configs/sx240.txt
View File

@ -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}}
})

172
koptilnya/engine_remastered/differential.txt
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@ -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.rightWheelInput = 'Axle' .. self.order .. '_RightWheel'
self.prefix = 'Axle' .. self.order .. '_'
self.leftWheel = wire.ports[self.leftWheelInput]
self.rightWheel = wire.ports[self.rightWheelInput]
self.leftWheel = wire.ports[self.prefix .. 'LeftWheel']
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.rightWheelInput] = 'entity'
inputs[self.prefix .. 'LeftWheel'] = '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 rwInertia = self.rightWheel:getInertia():getLength()
local lwInertia = self.leftWheel:getInertia()[2]
local rwInertia = self.rightWheel:getInertia()[2]
local lwtq = lwrav * lwInertia
local rwtq = rwrav * rwInertia
-- Calculating damping torque here
local lwDampingTorque = self.viscousCoeff * lwtq
local rwDampingTorque = self.viscousCoeff * rwtq
self.lwtq = lwtq
self.rwtq = 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
local rwPowerCoeff = usedCoeff
-- Calculating damping torque here
local lwDampingTorque = self.viscousCoeff * lwtq * usedCoeff
local rwDampingTorque = self.viscousCoeff * rwtq * usedCoeff
-- this could probably be shortened?
-- if lwtq - rwtq > self.preload then
-- lwPowerCoeff = usedCoeff
-- rwPowerCoeff = usedCoeff
-- end
local lwav_abs = math.abs(lwav)
local rwav_abs = math.abs(rwav)
-- if rwtq - lwtq > self.preload then
-- lwPowerCoeff = usedCoeff
-- rwPowerCoeff = usedCoeff
-- end
local avg_abs = lwav_abs + rwav_abs
local lwCorrectingTorque = math.clamp(lwDampingTorque * lwPowerCoeff, -self.maxCorrectingTorque,
self.maxCorrectingTorque)
local rwCorrectingTorque = math.clamp(rwDampingTorque * rwPowerCoeff, -self.maxCorrectingTorque,
self.maxCorrectingTorque)
local lwav_to_avg = avg_abs ~= 0 and 2 * lwav_abs / avg_abs or 0
local rwav_to_avg = avg_abs ~= 0 and 2 * rwav_abs / avg_abs or 0
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 lwCorrectedTorque = lwCorrectingTorque * 600 + driveTorque
local rwCorrectedTorque = rwCorrectingTorque * 600 + driveTorque
local driveTorque = gboxTorque / 2 * self.distributionCoeff * self.finalDrive
self.leftWheel:applyTorque(lwCorrectedTorque * -self.leftWheel:getRight() * TICK_INTERVAL)
self.rightWheel:applyTorque(rwCorrectedTorque * self.rightWheel:getRight() * TICK_INTERVAL)
local lwCorrectedTorque = lwCorrectingTorque * 20 + driveTorque * lwPowerCoeff -- * lwPowerCoeff
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

4
koptilnya/engine_remastered/vehicle.txt
View File

@ -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 = {}