update

koptilnya/engine_remastered/powertrain/differential.txt

@@ -1,7 +1,6 @@
 --@include /koptilnya/libs/constants.txt
 --@include ./powertrain_component.txt
 
-
 local PowertrainComponent = require('./powertrain_component.txt')
 local WheelComponent = require('./wheel.txt')
 
@@ -29,6 +28,9 @@ function Differential:initialize(vehicle, name, config)
     self.stiffness = config.Stiffness or 0.1
     self.slipTorque = config.SlipTorque or 1000
     self.splitStrategy = Differential.getSplitStrategy(config.Type or Differential.TYPES.Open)
+
+    self.steerLock = config.SteerLock or 0
+    self.steerAngle = 0
 end
 
 function Differential:linkComponent(component)
@@ -107,6 +109,40 @@ function Differential:forwardStep(torque, inertia)
     tqA = self.outputA:forwardStep(tqA, inertia * 0.5 * math.pow(self.finalDrive, 2) + aI) / self.finalDrive
     tqB = self.outputB:forwardStep(tqB, inertia * 0.5 * math.pow(self.finalDrive, 2) + bI) / self.finalDrive
 
+    -- // REFACTOR
+    if self.steerLock ~= 0 then
+        local steerInertia = (aI + bI) / 2
+        local inputForce = 228.0
+        local maxSteerSpeed = math.rad(1337)
+
+        local inputTorque = self.vehicle.steer * inputForce
+
+        local avgSteerAngle = (self.outputA.customWheel.steerAngle + self.outputB.customWheel.steerAngle) / 2
+        local mz = self.outputA.customWheel.mz + self.outputB.customWheel.mz
+        local avgMz = (self.outputA.customWheel.mz + self.outputB.customWheel.mz) / 2
+        local maxMz = math.max(self.outputA.customWheel.mz + self.outputB.customWheel.mz)
+        local steerTorque = mz * -1 + inputTorque
+
+        local steerAngularAccel = steerTorque / steerInertia
+
+        self.steerAngle = math.clamp(
+            self.steerAngle + steerAngularAccel * TICK_INTERVAL,
+            -self.steerLock,
+            self.steerLock
+        )
+
+        -- Аккерман
+        local wheelbase = 2.05
+        local trackWidth = 1.124
+        local radius = wheelbase / math.tan(math.rad(self.steerAngle))
+
+        local innerAngle = math.deg(math.atan(wheelbase / (radius - (trackWidth / 2))))
+        local outerAngle = math.deg(math.atan(wheelbase / (radius + (trackWidth / 2))))
+
+        self.outputA.customWheel.steerAngle = outerAngle
+        self.outputB.customWheel.steerAngle = innerAngle
+    end
+
     return (tqA + tqB) / self.finalDrive
 end
 

koptilnya/engine_remastered/powertrain/wheel.txt

@@ -55,10 +55,24 @@ function Wheel:initialize(vehicle, name, config)
         end
     end)
 
-    local right = self.entity:getRight()
+    local right = self.entity:getRight():getRotated(Angle(0, 90, 0))
     local offsetRight = self.entity:getRight():rotateAroundAxis(self.entity:getUp(), self.offset)
 
     self.dir = right:dot(offsetRight)
+
+    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.steerVelocity = 0
 end
 
 function Wheel:getEntityRadius()
@@ -79,8 +93,10 @@ function Wheel:createHolo(entity)
             entity:getAngles() + Angle(0, self.offset, 0),
             self.CONFIG.Model or ''
     )
+    
     holo:setParent(entity)
 
+    -- holo:setColor(Color(255,255,255,110))
     entity:setColor(Color(0,0,0,0))
 
     return holo
@@ -105,7 +121,7 @@ function Wheel:forwardStep(torque, inertia)
         return 0
     end
 
-    self.customWheel.steerAngle = self.vehicle.steer * self.steerLock
+    -- self.customWheel.steerAngle = self.vehicle.steer * self.steerLock
     --self.customWheel.inertia = inertia
     --self.customWheel:setInertia(inertia)
     self.customWheel.motorTorque = torque
@@ -115,19 +131,39 @@ 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
 
-        self.vehicle.basePhysObject:applyForceOffset(surfaceForceVector, self.entity:getPos() - Vector(0, 0, self.customWheel.radius))
+        self.vehicle.basePhysObject:applyForceOffset(surfaceForceVector, self.entity:localToWorld(Vector(0, 0, -self.entity:getModelRadius())))
     end
 
     if isValid(self.holo) then
-        self.rot = self.rot + math.deg(self.angularVelocity) * TICK_INTERVAL * self.dir
 
-        local steerAngle = self.entity:localToWorldAngles(Angle(0, self.offset - self.customWheel.steerAngle, 0) + self.rotationAxle * self.rot)
-        local angle = steerAngle
+        local spinAxis = self.customWheel.up:cross(self.customWheel.forward):getNormalized()
 
-        self.holo:setAngles(angle)
+        self.debugHolo2:setPos(self.entity:localToWorld(self.customWheel.up * math.sin(timer.curtime()) * 20))
+
+        local rotatedForwardAngle = self.customWheel.forward:getAngle() + Angle(0, 90, 0)
+
+
+        -- 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)
     end
 
     return self.customWheel.counterTorque