Finished stuff with manual gearbox

koptilnya/engine_remastered/differential.txt

@@ -1,12 +1,17 @@
+-- @server
+-- @include /koptilnya/libs/constants.txt
 -- @include ./wire_component.txt
+require('/koptilnya/libs/constants.txt')
 require('./wire_component.txt')
 
 Differential = class('Differential', WireComponent)
 
-function Differential:initialize(config)
+function Differential:initialize(config, order)
     self.power = config.Power or 1
     self.coast = config.Coast or 1
+    self.finalDrive = config.FinalDrive or 1
     self.preload = config.Preload or 10
+    self.order = order or 1
 
     self.viscousCoeff = config.ViscousCoeff or 0.9
     self.usePowerBias = config.UsePowerBias or 10
@@ -16,18 +21,87 @@ function Differential:initialize(config)
 
     self.avgRPM = 0
 
-    self.leftWheel = nil
-    self.rightWheel = nil
+    self.leftWheelInput = 'Axle' .. self.order .. '_LeftWheel'
+    self.rightWheelInput = 'Axle' .. self.order .. '_RightWheel'
+
+    self.leftWheel = wire.ports[self.leftWheelInput]
+    self.rightWheel = wire.ports[self.rightWheelInput]
+
+    hook.add('input', 'wire_axle_update' .. self.order, function(key, val)
+        if key == self.leftWheelInput then
+            self.leftWheel = val
+        end
+
+        if key == self.rightWheelInput then
+            self.rightWheel = val
+        end
+    end)
 end
 
 function Differential:getInputs()
-    local leftWheelName = 'Axle_' + self.order + '_LeftWheel'
-    local rightWheelName = 'Axle_' + self.order + '_RightWheel'
-
     local inputs = {}
 
-    inputs[leftWheelName] = 'entity'
-    inputs[rightWheelName] = 'entity'
+    inputs[self.leftWheelInput] = 'entity'
+    inputs[self.rightWheelInput] = 'entity'
 
     return inputs
 end
+
+function Differential:linkGearbox(gbox)
+    self.gearbox = gbox
+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
+
+        -- 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 lwtq = lwrav * lwInertia
+        local rwtq = rwrav * rwInertia
+
+        -- Calculating damping torque  here
+        local lwDampingTorque = self.viscousCoeff * lwtq
+        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 usedCoeff = usePower and self.power or self.coast
+
+        local lwPowerCoeff = usedCoeff
+        local rwPowerCoeff = usedCoeff
+
+        -- this could probably be shortened?
+        -- if lwtq - rwtq > self.preload then
+        --     lwPowerCoeff = usedCoeff
+        --     rwPowerCoeff = usedCoeff
+        -- end
+
+        -- if rwtq - lwtq > self.preload then
+        --     lwPowerCoeff = usedCoeff
+        --     rwPowerCoeff = usedCoeff
+        -- end
+
+        local lwCorrectingTorque = math.clamp(lwDampingTorque * lwPowerCoeff, -self.maxCorrectingTorque,
+            self.maxCorrectingTorque)
+        local rwCorrectingTorque = math.clamp(rwDampingTorque * rwPowerCoeff, -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
+
+        self.leftWheel:applyTorque(lwCorrectedTorque * -self.leftWheel:getRight() * TICK_INTERVAL)
+        self.rightWheel:applyTorque(rwCorrectedTorque * self.rightWheel:getRight() * TICK_INTERVAL)
+    end
+end