Насрал типами, но еще не до конца
This commit is contained in:
Никита Круглицкий
@@ -1,289 +1,349 @@
|
||||
--@include ./friction.txt
|
||||
--@include ./friction_preset.txt
|
||||
--@include /koptilnya/libs/constants.txt
|
||||
--@include /koptilnya/libs/utils.txt
|
||||
|
||||
local Friction = require('./friction.txt')
|
||||
local FrictionPreset = require('./friction_preset.txt')
|
||||
|
||||
require('/koptilnya/libs/constants.txt')
|
||||
require('/koptilnya/libs/utils.txt')
|
||||
|
||||
---@class CustomWheelConfig
|
||||
---@field Name? string
|
||||
---@field Direction? integer
|
||||
|
||||
---@class CustomWheel
|
||||
local Wheel = class('Wheel')
|
||||
|
||||
function Wheel:initialize(config)
|
||||
config = config or {}
|
||||
config = config or {}
|
||||
|
||||
self.direction = config.Direction or 1
|
||||
self.mass = config.Mass or 20
|
||||
self.radius = config.Radius or 0.27
|
||||
self.rollingResistance = config.RollingResistance or 20
|
||||
self.squat = config.Squat or 0.1
|
||||
self.slipCircleShape = config.SlipCircleShape or 1.05
|
||||
self.casterAngle = math.rad(config.CasterAngle or 0) * self.direction
|
||||
self.camberAngle = math.rad(config.CamberAngle or 0)
|
||||
self.toeAngle = math.rad(config.ToeAngle or 0) * -self.direction
|
||||
self.name = config.Name
|
||||
self.direction = config.Direction or 1
|
||||
self.mass = config.Mass or 20
|
||||
self.radius = config.Radius or 0.27
|
||||
self.rollingResistance = config.RollingResistance or 20
|
||||
self.squat = config.Squat or 0.1
|
||||
self.slipCircleShape = config.SlipCircleShape or 1.05
|
||||
self.casterAngle = math.rad(config.CasterAngle or 0)
|
||||
self.camberAngle = math.rad(config.CamberAngle or 0)
|
||||
self.toeAngle = math.rad(config.ToeAngle or 0)
|
||||
|
||||
self.forwardFriction = Friction:new(config.ForwardFriction)
|
||||
self.sideFriction = Friction:new(config.SideFriction)
|
||||
self.forwardFriction = Friction:new(config.ForwardFriction)
|
||||
self.sideFriction = Friction:new(config.SideFriction)
|
||||
|
||||
self.lateralFrictionPreset = FrictionPreset:new(config.LateralFrictionPreset)
|
||||
self.longitudinalFrictionPreset = FrictionPreset:new(config.LongitudinalFrictionPreset)
|
||||
self.aligningFrictionPreset = FrictionPreset:new(config.AligningFrictionPreset)
|
||||
self.lateralFrictionPreset = FrictionPreset:new(config.LateralFrictionPreset)
|
||||
self.longitudinalFrictionPreset = FrictionPreset:new(config.LongitudinalFrictionPreset)
|
||||
self.aligningFrictionPreset = FrictionPreset:new(config.AligningFrictionPreset)
|
||||
|
||||
self.motorTorque = 0
|
||||
self.brakeTorque = 0
|
||||
self.steerAngle = 0
|
||||
self.hasHit = false
|
||||
self.counterTorque = 0
|
||||
self.inertia = 0
|
||||
self.load = 0
|
||||
self.angularVelocity = 0
|
||||
self.mz = 0
|
||||
self.motorTorque = 0
|
||||
self.brakeTorque = 0
|
||||
self.steerAngle = 0
|
||||
self.hasHit = false
|
||||
self.counterTorque = 0
|
||||
self.inertia = 0
|
||||
self.load = 0
|
||||
self.angularVelocity = 0
|
||||
self.mz = 0
|
||||
|
||||
self.forward = Vector(0)
|
||||
self.right = Vector(0)
|
||||
self.up = Vector(0)
|
||||
self.entity = NULL_ENTITY
|
||||
self.physObj = nil
|
||||
self.baseInertia = 0.5 * self.mass * math.pow(self.radius, 2)
|
||||
self.inertia = self.baseInertia
|
||||
self.forward = Vector(0)
|
||||
self.right = Vector(0)
|
||||
self.up = Vector(0)
|
||||
self.entity = NULL_ENTITY
|
||||
self.physObj = nil
|
||||
self.baseInertia = 0.5 * self.mass * math.pow(self.radius, 2)
|
||||
self.inertia = self.baseInertia
|
||||
|
||||
self.printDebounced = debounce(function(...)
|
||||
print(...)
|
||||
end, 1)
|
||||
end
|
||||
|
||||
function Wheel:setEntity(entity)
|
||||
self.entity = entity
|
||||
self.entity:setNoDraw(false)
|
||||
self.entity = entity
|
||||
self.entity:setNoDraw(false)
|
||||
|
||||
self.physObj = isValid(entity) and entity:getPhysicsObject() or nil
|
||||
self.physObj = isValid(entity) and entity:getPhysicsObject() or nil
|
||||
|
||||
if isValid(self.physObj) then
|
||||
self.physObj:setMaterial('friction_00')
|
||||
self.physObj:setMass(self.mass)
|
||||
self.physObj:enableDrag(false)
|
||||
self.physObj:setDragCoefficient(0)
|
||||
self.physObj:setAngleDragCoefficient(0)
|
||||
end
|
||||
if isValid(self.physObj) then
|
||||
self.physObj:setMaterial('friction_00')
|
||||
self.physObj:setMass(self.mass)
|
||||
self.physObj:enableDrag(false)
|
||||
self.physObj:setDragCoefficient(0)
|
||||
self.physObj:setAngleDragCoefficient(0)
|
||||
end
|
||||
end
|
||||
|
||||
function Wheel:setInertia(inertia)
|
||||
if isValid(self.physObj) then
|
||||
print(inertia)
|
||||
self.physObj:setInertia(Vector(inertia))
|
||||
self.inertia = inertia
|
||||
end
|
||||
if isValid(self.physObj) then
|
||||
print(inertia)
|
||||
self.physObj:setInertia(Vector(inertia))
|
||||
self.inertia = inertia
|
||||
end
|
||||
end
|
||||
|
||||
function Wheel:isValid()
|
||||
return isValid(self.entity) and isValid(self.physObj)
|
||||
return isValid(self.entity) and isValid(self.physObj)
|
||||
end
|
||||
|
||||
function Wheel:getRPM()
|
||||
return self.angularVelocity * RAD_TO_RPM
|
||||
return self.angularVelocity * RAD_TO_RPM
|
||||
end
|
||||
|
||||
function Wheel:getLongitudinalLoadCoefficient(load)
|
||||
return 11000 * (1 - math.exp(-0.00014 * load));
|
||||
return 11000 * (1 - math.exp(-0.00014 * load))
|
||||
end
|
||||
|
||||
function Wheel:getLateralLoadCoefficient(load)
|
||||
return 18000 * (1 - math.exp(-0.0001 * load));
|
||||
return 18000 * (1 - math.exp(-0.0001 * load))
|
||||
end
|
||||
|
||||
function Wheel:stepLongitudinal(Tm, Tb, Vx, W, Lc, R, I, kFx, kSx)
|
||||
local Winit = W
|
||||
local VxAbs = math.abs(Vx)
|
||||
local Sx = 0
|
||||
function Wheel:stepLongitudinal(Tm, Tb, Vx, W, Lc, R, I)
|
||||
local Winit = W
|
||||
local VxAbs = math.abs(Vx)
|
||||
local Sx = 0
|
||||
|
||||
if VxAbs >= 0.1 then
|
||||
Sx = (Vx - W * R) / VxAbs
|
||||
else
|
||||
Sx = (Vx - W * R) * 0.6
|
||||
end
|
||||
if Lc / 1000 < 0.01 then
|
||||
Sx = 0
|
||||
elseif VxAbs >= 0.01 then
|
||||
Sx = (W * R - Vx) / VxAbs
|
||||
else
|
||||
Sx = (W * R - Vx) * 0.6
|
||||
end
|
||||
|
||||
Sx = Sx * kSx;
|
||||
Sx = math.clamp(Sx, -1, 1)
|
||||
Sx = math.clamp(Sx, -1, 1)
|
||||
|
||||
W = W + Tm / I * TICK_INTERVAL
|
||||
W = W + Tm / I * TICK_INTERVAL
|
||||
|
||||
Tb = Tb * (W > 0 and -1 or 1)
|
||||
local TbCap = math.abs(W) * I / TICK_INTERVAL
|
||||
local Tbr = math.abs(Tb) - math.abs(TbCap)
|
||||
Tbr = math.max(Tbr, 0)
|
||||
Tb = math.clamp(Tb, -TbCap, TbCap)
|
||||
W = W + Tb / I * TICK_INTERVAL
|
||||
Tb = Tb * (W > 0 and -1 or 1)
|
||||
local TbCap = math.abs(W) * I / TICK_INTERVAL
|
||||
local Tbr = math.abs(Tb) - math.abs(TbCap)
|
||||
Tbr = math.max(Tbr, 0)
|
||||
Tb = math.clamp(Tb, -TbCap, TbCap)
|
||||
W = W + Tb / I * TICK_INTERVAL
|
||||
|
||||
local maxTorque = self.longitudinalFrictionPreset:evaluate(math.abs(Sx)) * Lc * kFx * R
|
||||
local errorTorque = (W - Vx / R) * I / TICK_INTERVAL
|
||||
local surfaceTorque = math.clamp(errorTorque, -maxTorque, maxTorque)
|
||||
local maxTorque = self.longitudinalFrictionPreset:evaluate(math.abs(Sx)) * Lc * R
|
||||
|
||||
W = W - surfaceTorque / I * TICK_INTERVAL
|
||||
local Fx = surfaceTorque / R
|
||||
local errorTorque = (W - Vx / R) * I / TICK_INTERVAL
|
||||
local surfaceTorque = math.clamp(errorTorque, -maxTorque, maxTorque)
|
||||
|
||||
Tbr = Tbr * (W > 0 and -1 or 1)
|
||||
local TbCap2 = math.abs(W) * I / TICK_INTERVAL
|
||||
local Tb2 = math.clamp(Tbr, -TbCap2, TbCap2)
|
||||
W = W + Tb2 / I * TICK_INTERVAL
|
||||
if self.name == 'WheelFL' or self.name == 'WheelFR' then
|
||||
surfaceTorque = surfaceTorque
|
||||
end
|
||||
|
||||
local deltaOmegaTorque = (W - Winit) * I / TICK_INTERVAL
|
||||
local Tcnt = -surfaceTorque + Tb + Tb2 - deltaOmegaTorque
|
||||
W = W - surfaceTorque / I * TICK_INTERVAL
|
||||
local Fx = surfaceTorque / R
|
||||
|
||||
if Lc < 0.001 then
|
||||
Sx = 0
|
||||
end
|
||||
Tbr = Tbr * (W > 0 and -1 or 1)
|
||||
local TbCap2 = math.abs(W) * I / TICK_INTERVAL
|
||||
local Tb2 = math.clamp(Tbr, -TbCap2, TbCap2)
|
||||
W = W + Tb2 / I * TICK_INTERVAL
|
||||
|
||||
return W, Sx, Fx, Tcnt
|
||||
local deltaOmegaTorque = (W - Winit) * I / TICK_INTERVAL
|
||||
local Tcnt = -surfaceTorque + Tb + Tb2 - deltaOmegaTorque
|
||||
|
||||
-- self.printDebounced(
|
||||
-- Color(255, 255, 0),
|
||||
-- string.format('[%s] ', self.name),
|
||||
-- Color(255, 255, 255),
|
||||
-- string.format('%s | %s | %s', math.round(Fx), math.round(W), math.round(R))
|
||||
-- )
|
||||
|
||||
return W, Sx, Fx, Tcnt
|
||||
end
|
||||
|
||||
function Wheel:stepLateral(Vx, Vy, Lc, kFy, kSy)
|
||||
local VxAbs = math.abs(Vx)
|
||||
local Sy = 0
|
||||
function Wheel:stepLongitudinal2(Tm, Tb, Vx, W, Lc, R, I)
|
||||
-- Параметры Pacejka (примерные значения, можно калибровать под задачу)
|
||||
local B = 10.0 -- stiffness factor
|
||||
local C = 1.9 -- shape factor
|
||||
local D = Lc -- peak factor (максимальное сцепление зависит от нагрузки)
|
||||
local E = 0.97 -- curvature factor
|
||||
|
||||
if VxAbs > 0.1 then
|
||||
Sy = math.deg(math.atan(Vy / VxAbs))
|
||||
Sy = Sy / 50
|
||||
else
|
||||
Sy = Vy * (0.003 / TICK_INTERVAL)
|
||||
end
|
||||
-- Угловая скорость колеса и радиус
|
||||
local wheelSpeed = W * R
|
||||
|
||||
Sy = Sy * kSy * 0.95
|
||||
Sy = math.clamp(Sy, -1, 1)
|
||||
local slipSign = Sy < 0 and -1 or 1
|
||||
local Fy = -slipSign * self.lateralFrictionPreset:evaluate(math.abs(Sy)) * Lc * kFy
|
||||
-- Slip ratio (проверка на деление на 0)
|
||||
local slip
|
||||
if math.abs(Vx) < 0.1 then
|
||||
slip = 0.0
|
||||
else
|
||||
slip = (wheelSpeed - Vx) / math.abs(Vx)
|
||||
end
|
||||
|
||||
if Lc < 0.0001 then
|
||||
Sy = 0
|
||||
end
|
||||
-- Формула Pacejka для расчета силы тяги (longitudinal force)
|
||||
local Fx = D * math.sin(C * math.atan(B * slip - E * (B * slip - math.atan(B * slip))))
|
||||
|
||||
return Sy, Fy
|
||||
-- Добавим моторный момент и торможение, сопротивление качению
|
||||
local driveForce = Tm / R
|
||||
local brakeForce = Tb / R
|
||||
local rollingResistanceTorque = self.rollingResistance * R
|
||||
|
||||
local tractionTorque = Fx * R
|
||||
|
||||
-- Суммарный момент, действующий на колесо
|
||||
local netTorque = Tm - Tb - rollingResistanceTorque - tractionTorque
|
||||
|
||||
-- Угловое ускорение
|
||||
local angularAcceleration = netTorque / I
|
||||
|
||||
-- Обновляем угловую скорость
|
||||
local newAngularVelocity = W + angularAcceleration * TICK_INTERVAL
|
||||
|
||||
-- Суммарная продольная сила (на автомобиль)
|
||||
local totalLongitudinalForce = Fx + (Tm - Tb - rollingResistanceTorque) / R
|
||||
|
||||
-- print(newAngularVelocity, slip, totalLongitudinalForce, -tractionTorque)
|
||||
|
||||
return newAngularVelocity, slip, totalLongitudinalForce, tractionTorque
|
||||
end
|
||||
|
||||
function Wheel:stepLateral(Vx, Vy, Lc)
|
||||
local VxAbs = math.abs(Vx)
|
||||
local Sy = 0
|
||||
|
||||
if Lc / 1000 < 0.01 then
|
||||
Sy = 0
|
||||
elseif VxAbs > 0.1 then
|
||||
Sy = math.deg(math.atan(Vy / VxAbs))
|
||||
Sy = Sy / 50
|
||||
else
|
||||
Sy = Vy * (0.003 / TICK_INTERVAL)
|
||||
end
|
||||
|
||||
Sy = Sy -- * 0.95
|
||||
Sy = math.clamp(Sy, -1, 1)
|
||||
local slipSign = Sy < 0 and -1 or 1
|
||||
local Fy = -slipSign * self.lateralFrictionPreset:evaluate(math.abs(Sy)) * Lc
|
||||
|
||||
return Sy, Fy
|
||||
end
|
||||
|
||||
function Wheel:slipCircle(Sx, Sy, Fx, Fy, slipCircleShape)
|
||||
local SxAbs = math.abs(Sx)
|
||||
local SxAbs = math.abs(Sx)
|
||||
|
||||
if SxAbs > 0.01 then
|
||||
local SxClamped = math.clamp(Sx, -1, 1)
|
||||
local SyClamped = math.clamp(Sy, -1, 1)
|
||||
local combinedSlip = Vector2(
|
||||
SxClamped * slipCircleShape,
|
||||
SyClamped
|
||||
)
|
||||
local slipDir = combinedSlip:getNormalized()
|
||||
if SxAbs > 0.01 then
|
||||
local SxClamped = math.clamp(Sx, -1, 1)
|
||||
local SyClamped = math.clamp(Sy, -1, 1)
|
||||
local combinedSlip = Vector2(SxClamped * slipCircleShape, SyClamped)
|
||||
local slipDir = combinedSlip:getNormalized()
|
||||
|
||||
local F = math.sqrt(Fx * Fx + Fy * Fy)
|
||||
local absSlipDirY = math.abs(slipDir.y)
|
||||
local F = math.sqrt(Fx * Fx + Fy * Fy)
|
||||
local absSlipDirY = math.abs(slipDir.y)
|
||||
|
||||
Fy = F * absSlipDirY * (Fy < 0 and -1 or 1)
|
||||
end
|
||||
Fy = F * absSlipDirY * (Fy < 0 and -1 or 1)
|
||||
end
|
||||
|
||||
return Sx, Sy, Fx, Fy
|
||||
return Sx, Sy, Fx, Fy
|
||||
end
|
||||
|
||||
function Wheel:selfAligningTorque(Sy, load)
|
||||
if math.abs(Sy) < 0.001 or load < 0.001 then
|
||||
return 0
|
||||
end
|
||||
if math.abs(Sy) < 0.001 or load < 0.001 then
|
||||
return 0
|
||||
end
|
||||
|
||||
local B = self.aligningFrictionPreset.B
|
||||
local C = self.aligningFrictionPreset.C
|
||||
local D = self.aligningFrictionPreset.D
|
||||
local E = self.aligningFrictionPreset.E
|
||||
local B = self.aligningFrictionPreset.B
|
||||
local C = self.aligningFrictionPreset.C
|
||||
local D = self.aligningFrictionPreset.D
|
||||
local E = self.aligningFrictionPreset.E
|
||||
|
||||
local loadScale = load * 1000
|
||||
local mechanicalTrail = 0.15
|
||||
local casterEffect = math.tan(self.casterAngle)
|
||||
local effectiveTrail = mechanicalTrail + casterEffect * self.radius
|
||||
local D_scaled = D * loadScale * effectiveTrail
|
||||
local entityWheelDown = self.entity:localToWorld(Vector(0, 0, -self.radius))
|
||||
local physWheelDown = self.entity:localToWorld(-self.up * self.radius)
|
||||
local mechanicalTrail = entityWheelDown:getDistance(physWheelDown) * 10
|
||||
|
||||
local camberEffect = 1 + 0.5 * math.abs(self.camberAngle)
|
||||
local toeEffect = 1 + 0.3 * math.abs(self.toeAngle)
|
||||
local casterEffect = math.tan(self.casterAngle) * self.direction
|
||||
local camberTrailEffect = self.camberAngle * 0.005 * self.direction
|
||||
-- local toeSyOffset = math.tan(self.toeAngle * self.direction) * 0.1
|
||||
|
||||
local term = B * Sy - E * (B * Sy - math.atan(B * Sy))
|
||||
local Mz = D_scaled * camberEffect * toeEffect * math.sin(C * math.atan(term))
|
||||
local effectiveTrail = mechanicalTrail * self.radius
|
||||
|
||||
return Mz
|
||||
local D_scaled = D * load * effectiveTrail
|
||||
|
||||
-- Sy = Sy + toeSyOffset
|
||||
|
||||
local term = B * Sy - E * (B * Sy - math.atan(B * Sy))
|
||||
local Mz = D_scaled * math.sin(C * math.atan(term))
|
||||
|
||||
return Mz * self.direction -- / TICK_INTERVAL
|
||||
end
|
||||
|
||||
function Wheel:rotateVector(vector, jopa)
|
||||
local ang = self.entity:getAngles()
|
||||
local baseForward = ang:getForward()
|
||||
local baseUp = ang:getUp()
|
||||
local baseRight = -ang:getRight()
|
||||
function Wheel:rotateAxes()
|
||||
local ang = self.entity:getAngles()
|
||||
|
||||
local steerRotated = vector:rotateAroundAxis(baseUp, nil, math.rad(-self.steerAngle) + self.toeAngle)
|
||||
local camberRotated = steerRotated:rotateAroundAxis(baseForward, nil, -self.camberAngle)
|
||||
local casterRotated = camberRotated:rotateAroundAxis(baseRight, nil, -self.casterAngle)
|
||||
-- Base directions
|
||||
local forward = ang:getForward() * self.direction
|
||||
local up = ang:getUp()
|
||||
local right = -ang:getRight() * self.direction
|
||||
|
||||
return casterRotated:getNormalized()
|
||||
-- Step 1: Steer + Toe (rotate forward/right around up)
|
||||
local steerAngle = -self.steerAngle
|
||||
forward = forward:rotateAroundAxis(up, steerAngle)
|
||||
right = right:rotateAroundAxis(up, steerAngle)
|
||||
|
||||
-- Step 2: Caster (rotate forward/up around right)
|
||||
local casterAngle = -self.casterAngle -- * self.direction
|
||||
forward = forward:rotateAroundAxis(right, nil, casterAngle)
|
||||
up = up:rotateAroundAxis(right, nil, casterAngle)
|
||||
|
||||
-- Step 3: Camber (rotate up/right around forward)
|
||||
local camberAngle = -self.camberAngle * self.direction
|
||||
up = up:rotateAroundAxis(forward, nil, camberAngle)
|
||||
right = right:rotateAroundAxis(forward, nil, camberAngle)
|
||||
|
||||
-- Normalize final vectors
|
||||
self.forward = forward:getNormalized()
|
||||
self.right = right:getNormalized() * self.direction
|
||||
self.up = up:getNormalized()
|
||||
end
|
||||
|
||||
function Wheel:update()
|
||||
if not isValid(self.entity) or not isValid(self.physObj) then
|
||||
return
|
||||
end
|
||||
if not isValid(self.entity) or not isValid(self.physObj) then
|
||||
return
|
||||
end
|
||||
|
||||
local externalStress = self.physObj:getStress()
|
||||
local velocity = self.physObj:getVelocity() * UNITS_TO_METERS
|
||||
local externalStress = self.physObj:getStress()
|
||||
local velocity = self.physObj:getVelocity() * UNITS_TO_METERS
|
||||
|
||||
self.hasHit = externalStress ~= 0
|
||||
self.load = externalStress * KG_TO_KN
|
||||
self.hasHit = externalStress ~= 0
|
||||
self.load = externalStress * KG_TO_KN * 1000
|
||||
|
||||
self.longitudinalLoadCoefficient = self:getLongitudinalLoadCoefficient(self.load * 1000)
|
||||
self.lateralLoadCoefficient = self:getLateralLoadCoefficient(self.load * 1000)
|
||||
self.longitudinalLoadCoefficient = self:getLongitudinalLoadCoefficient(self.load)
|
||||
self.lateralLoadCoefficient = self:getLateralLoadCoefficient(self.load)
|
||||
|
||||
local ang = self.entity:getAngles()
|
||||
local baseForward = ang:getForward() * self.direction
|
||||
local baseUp = ang:getUp()
|
||||
local baseRight = -ang:getRight() * self.direction
|
||||
|
||||
self.forward = self:rotateVector(baseForward)
|
||||
self.right = self:rotateVector(baseRight)
|
||||
self.up = self:rotateVector(baseUp)
|
||||
self:rotateAxes()
|
||||
|
||||
local forwardSpeed = 0
|
||||
local sideSpeed = 0
|
||||
local forwardSpeed = 0
|
||||
local sideSpeed = 0
|
||||
|
||||
if self.hasHit then
|
||||
forwardSpeed = velocity:dot(self.forward)
|
||||
sideSpeed = velocity:dot(self.right)
|
||||
end
|
||||
if self.hasHit then
|
||||
forwardSpeed = velocity:dot(self.forward)
|
||||
sideSpeed = velocity:dot(self.right)
|
||||
end
|
||||
|
||||
local W, Sx, Fx, CounterTq = self:stepLongitudinal(
|
||||
self.motorTorque,
|
||||
self.brakeTorque + self.rollingResistance,
|
||||
forwardSpeed,
|
||||
self.angularVelocity,
|
||||
self.longitudinalLoadCoefficient,
|
||||
self.radius,
|
||||
self.inertia,
|
||||
0.95,
|
||||
0.9
|
||||
)
|
||||
local W, Sx, Fx, CounterTq = self:stepLongitudinal(
|
||||
self.motorTorque,
|
||||
self.brakeTorque + self.rollingResistance,
|
||||
forwardSpeed,
|
||||
self.angularVelocity,
|
||||
self.longitudinalLoadCoefficient,
|
||||
self.radius,
|
||||
self.inertia
|
||||
)
|
||||
|
||||
local Sy, Fy = self:stepLateral(
|
||||
forwardSpeed,
|
||||
sideSpeed,
|
||||
self.lateralLoadCoefficient,
|
||||
0.95,
|
||||
0.9
|
||||
local Sy, Fy = self:stepLateral(forwardSpeed, sideSpeed, self.lateralLoadCoefficient)
|
||||
|
||||
)
|
||||
Sx, Sy, Fx, Fy = self:slipCircle(Sx, Sy, Fx, Fy, 1.05)
|
||||
|
||||
Sx, Sy, Fx, Fy = self:slipCircle(
|
||||
Sx,
|
||||
Sy,
|
||||
Fx,
|
||||
Fy,
|
||||
1.05
|
||||
)
|
||||
self.mz = self:selfAligningTorque(Sy, self.load)
|
||||
|
||||
self.mz = self:selfAligningTorque(Sy, self.load)
|
||||
|
||||
self.angularVelocity = W
|
||||
self.counterTorque = CounterTq
|
||||
self.forwardFriction.slip = Sx
|
||||
self.forwardFriction.force = Fx
|
||||
self.forwardFriction.speed = forwardSpeed
|
||||
self.sideFriction.slip = Sy
|
||||
self.sideFriction.force = Fy
|
||||
self.sideFriction.speed = sideSpeed
|
||||
self.angularVelocity = W
|
||||
self.counterTorque = CounterTq * self.direction
|
||||
self.forwardFriction.slip = Sx
|
||||
self.forwardFriction.force = Fx
|
||||
self.forwardFriction.speed = forwardSpeed
|
||||
self.sideFriction.slip = Sy
|
||||
self.sideFriction.force = Fy
|
||||
self.sideFriction.speed = sideSpeed
|
||||
end
|
||||
|
||||
return Wheel
|
||||
|
||||
Reference in New Issue
Block a user