update

koptilnya/engine_remastered/wheel/wheel.txt

@@ -14,9 +14,10 @@ function Wheel:initialize(config)
 
     self.mass = config.Mass or 20
     self.radius = config.Radius or 0.27
-    self.rollingResistance = config.RollingResistance or 40
+    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.forwardFriction = Friction:new(config.ForwardFriction)
     self.sideFriction = Friction:new(config.SideFriction)
@@ -35,6 +36,7 @@ function Wheel:initialize(config)
 
     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)
@@ -168,73 +170,26 @@ function Wheel:slipCircle(Sx, Sy, Fx, Fy, slipCircleShape)
     return Sx, Sy, Fx, Fy
 end
 
-function Wheel:selfAligningTorque(Vx, Vy, Lc)
-    local VxAbs = math.abs(Vx)
-    local Sy = 0
-
-    if VxAbs > 0.3 then
-        Sy = math.deg(math.atan(Vy / VxAbs))
-    else
-        Sy = Vy * (0.003 / TICK_INTERVAL)
-    end
-
-    Sy = math.clamp(Sy, -90, 90)
-    --local phi = (1 - self.E) * Sy + (self.E / self.B) * math.atan(self.B * Sy)
-    --local Mz = -slipSign * self.satFrictionPreset:evaluate(math.abs(phi), self.B, C, self.D, 0) * Lc
-
-    return self.satFrictionPreset:evaluate(math.abs(Sy)) * -math.sign(Sy)
-end
-
-function Wheel:selfAligningTorque2(Vx, Vy, Fz)
-
-    if Fz == 0 then
+function Wheel:selfAligningTorque(Sy, load)
+    if math.abs(Sy) < 0.001 or load < 0.001 then
         return 0
     end
 
-    local VxAbs = math.abs(Vx)
-    local Sy = 0
+    local B = self.satFrictionPreset.B
+    local C = self.satFrictionPreset.C
+    local D = self.satFrictionPreset.D
+    local E = self.satFrictionPreset.E
 
-    if VxAbs > 0.3 then
-        Sy = math.deg(math.atan(Vy / VxAbs))
-    else
-        Sy = Vy * (0.003 / TICK_INTERVAL)
-    end
+    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
 
-    Sy = math.clamp(Sy, -1, 1)
+    local term = B * Sy - E * (B * Sy - math.atan(B * Sy))
+    local Mz = D_scaled * math.sin(C * math.atan(term))
 
-    local a = {
-        -2.72,
-        -2.28,
-        -1.86,
-        -2.73,
-        0.110,
-        -0.070,
-        0.643,
-        -4.04,
-        0.015,
-        -0.066,
-        0.945,
-        0.030,
-        0.070
-    }
-    local FzSqr = math.pow(Fz, 2)
-
-    local C = 2.4
-    local D = a[1] * FzSqr + a[2] * Fz
-    local BCD = (a[3] * FzSqr + a[4] * Fz) / math.pow(math.exp(1), a[5] * Fz)
-    local B = BCD / (C * D)
-    local E = a[6] * FzSqr + a[7] * Fz + a[8]
-
-    local phi = (1 - E) * Sy + (E / B) * math.atan(B * Sy)
-    self.phi = phi
-
-    return D * math.sin(C * math.atan(B * phi))
-end
-
-function Wheel:selfAligningTorque3(Mx, My, Sx, Sy)
-    local M = Mx * math.cos(Sy) + My * math.cos(Sx)
-
-    return self.radius * M
+    return Mz
 end
 
 function Wheel:update()
@@ -251,10 +206,27 @@ function Wheel:update()
     self.longitudinalLoadCoefficient = self:getLongitudinalLoadCoefficient(self.load * 1000)
     self.lateralLoadCoefficient = self:getLateralLoadCoefficient(self.load * 1000)
 
-    --self.steerAngle = self.steerAngle + self.mz / self.inertia
+    local baseForward = self.entity:getForward()
+    local baseUp = self.entity:getUp()
+    local baseRight = self.entity:getRight()
 
-    self.forward = self.entity:getForward():rotateAroundAxis(self.entity:getUp(), -self.steerAngle)
-    self.right = self.entity:getRight():rotateAroundAxis(self.entity:getUp(), -self.steerAngle)
+    local steerRotatedForward = baseForward:rotateAroundAxis(baseUp, -self.steerAngle)
+    local finalForward = steerRotatedForward:rotateAroundAxis(baseRight, nil, self.casterAngle)
+
+    self.forward = finalForward:getNormalized()
+    self.right = baseUp:cross(self.forward):getNormalized()
+    self.up = self.forward:cross(self.right):getNormalized()
+
+
+    -- local steerRotated = self.entity:getForward():rotateAroundAxis(self.entity:getUp(), -self.steerAngle)
+    -- self.forward = steerRotated:rotateAroundAxis(self.entity:getRight(), self.casterAngle)
+
+    
+    -- local steerRotatedRight = self.entity:getRight():rotateAroundAxis(self.entity:getUp(), -self.steerAngle)
+    -- self.right = steerRotatedRight:rotateAroundAxis(self.entity:getRight(), self.casterAngle)
+
+    -- self.forward = self.entity:getForward():rotateAroundAxis(self.entity:getUp(), -self.steerAngle)
+    -- self.right = self.entity:getRight():rotateAroundAxis(self.entity:getUp(), -self.steerAngle)
 
     local forwardSpeed = 0
     local sideSpeed = 0
@@ -272,16 +244,16 @@ function Wheel:update()
         self.longitudinalLoadCoefficient,
         self.radius,
         self.inertia,
-        0.95, -- Force coeff
-        0.9 -- Slip coeff
+        0.95,
+        0.9
     )
 
     local Sy, Fy = self:stepLateral(
         forwardSpeed,
         sideSpeed,
         self.lateralLoadCoefficient,
-        0.95, -- Force coeff
-        0.9 -- Slip coeff
+        0.95,
+        0.9
 
     )
 
@@ -290,15 +262,10 @@ function Wheel:update()
         Sy,
         Fx,
         Fy,
-        1.05 -- Shape of the slip circle / ellipse.
+        1.05
     )
 
-    --local Mx = Fy * (math.cos(Sx) - 1) + Fx * math.sin(Sx)
-    --local My = Fx * (math.cos(Sy) - 1) + Fy * math.sin(Sy)
-    --local Mz = self:selfAligningTorque3(Mx, My, Sx, Sy)
-    local Mz = self:selfAligningTorque2(forwardSpeed, sideSpeed, self.load)
-
-    self.mz = Mz
+    self.mz = self:selfAligningTorque(Sy, self.load)
 
     self.angularVelocity = W
     self.counterTorque = CounterTq