update

koptilnya/.idea/.gitignore

@@ -1,5 +0,0 @@
-# Default ignored files
-/shelf/
-/workspace.xml
-# Editor-based HTTP Client requests
-/httpRequests/

koptilnya/.idea/koptilnya.iml

@@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module type="WEB_MODULE" version="4">
-  <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$">
-      <excludeFolder url="file://$MODULE_DIR$/temp" />
-      <excludeFolder url="file://$MODULE_DIR$/.tmp" />
-      <excludeFolder url="file://$MODULE_DIR$/tmp" />
-    </content>
-    <orderEntry type="inheritedJdk" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-</module>

koptilnya/.idea/modules.xml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/koptilnya.iml" filepath="$PROJECT_DIR$/.idea/koptilnya.iml" />
-    </modules>
-  </component>
-</project>

koptilnya/.idea/vcs.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
-  </component>
-</project>

koptilnya/data/models/audi_a6.txt

@@ -1,8 +1,8 @@
 --@shared
 --@name Audi A6 2012
 --@author Opti1337, DarkSupah
--- @include /koptilnya/mesh_loader/builder.txt
-require("/koptilnya/mesh_loader/builder.txt")
+--@include /libs/meshbuilder.txt
+local MeshBuilder = require("/libs/meshbuilder.txt")
 
 DEBUG_MODE = true
 
@@ -193,10 +193,5 @@ if SERVER then
 
     builder:build("DashDials", Vector(0), Angle(0), SCALE, Colors.DashDials, Materials.DashDials, this, this)
 
-    local result = builder:getResult()
-else
-    PERMA.onPermissionsGained = function()
-        builder = MeshBuilder:new(LINK)
-    end
-    PERMA.build()
+    builder:apply()
 end

koptilnya/data/models/bmw_850csi_96.txt

@@ -1,15 +1,16 @@
 --@shared
 --@name BMW 850CSi 96
 --@author Opti1337, DarkSupah
--- @include /koptilnya/mesh_loader/builder.txt
+--@include /libs/meshbuilder.txt
+
 --@include koptilnya/libs/flux.txt
 
 local flux = require("koptilnya/libs/flux.txt")
-require("/koptilnya/mesh_loader/builder.txt")
+local MeshBuilder = require("/libs/meshbuilder.txt")
 
 DEBUG_MODE = true
 
-local LINK = "http://82.179.248.158/bmw_850csi_96.obj#baaz"
+local LINK = "https://raw.githubusercontent.com/koptilnya/gmod-data/main/bmw_850csi_96.obj"
 local SCALE = Vector(1)
 
 local Materials =
@@ -129,7 +130,7 @@ if SERVER then
     builder:build("headlightl_black_plastic", Vector(0), Angle(0), SCALE, Colors.BlackPlastic, Materials.BlackPlastic, headlightL, this)
     builder:build("headlightl_chrome", Vector(0), Angle(0), SCALE, Colors.Chrome, Materials.Chrome, headlightL, this)
       
-    local result = builder:getResult()
+    local result = builder:apply()
     
     local headlightl = {
         angle = 0
@@ -140,8 +141,8 @@ if SERVER then
     }
     
     function openHeadlights()
-        flux.to(headlightl, 1, { angle = 28 }):delay(0.3):ease("quartout")
-        flux.to(headlightr, 1, { angle = 28 }):ease("quartout")
+        flux.to(headlightl, 1, { angle = 2 }):delay(0.3):ease("quartout")
+        flux.to(headlightr, 1, { angle = -2 }):ease("quartout")
     end
     
     function closeHeadlights()
@@ -165,9 +166,4 @@ if SERVER then
             closeHeadlights()
         end        
     end)
-else
-    PERMA.onPermissionsGained = function()
-        builder = MeshBuilder:new(LINK)
-    end
-    PERMA.build()
 end

koptilnya/data/models/bmw_m4_g82.txt

@@ -1,8 +1,8 @@
 --@shared
 --@name BMW M4 G82 Competition
 --@author Koptilnya1337
--- @include /koptilnya/mesh_loader/builder.txt
-require("/koptilnya/mesh_loader/builder.txt")
+--@include /libs/meshbuilder.txt
+local MeshBuilder = require("/libs/meshbuilder.txt")
 
 DEBUG_MODE = true
 
@@ -36,10 +36,5 @@ if SERVER then
     builder:build("Trunk", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
     builder:build("Roof", Vector(0), Angle(0), SCALE, Colors.Carbon, Materials.Carbon, this, this)
 
-    local result = builder:getResult()
-else
-    PERMA.onPermissionsGained = function()
-        builder = MeshBuilder:new(LINK)
-    end
-    PERMA.build()
+    builder:apply()
 end

koptilnya/data/models/ford mustang gt 2015.txt

@@ -1,10 +1,8 @@
 --@shared
 --@name Ford Mustang GT 2015
 --@author Opti1337, DarkSupah
--- @include /koptilnya/mesh_loader/builder.txt
--- @include /koptilnya/car_systems/lights_controller.txt
-require("/koptilnya/mesh_loader/builder.txt")
-require("/koptilnya/car_systems/lights_controller.txt")
+--@include /libs/meshbuilder.txt
+local MeshBuilder = require("/libs/meshbuilder.txt")
 
 DEBUG_MODE = true
 
@@ -50,8 +48,10 @@ local COLORS = {
 local builder = {}
 local lightsController = {}
 
-if SERVER then
 builder = MeshBuilder:new(LINK)
+
+if SERVER then
+    
     builder.onObjectParsed = function(builder, objectsNames)
         printTable(objectsNames)
     end
@@ -91,52 +91,5 @@ if SERVER then
     local HighBeamLights = builder:build("HighBeamLights_body1_model0.017", Vector(0), Angle(0), SCALE, COLORS.LightsBase, MATERIALS.LightsBase, chip(), chip())
     local FogLights = builder:build("FogLights_body1_model0.018", Vector(0), Angle(0), SCALE, COLORS.LightsBase, MATERIALS.LightsBase, chip(), chip())
 
-    local result = builder:getResult()
-
-    local lights = {
-        StopLights = {Entities = {LeftStopLight1, LeftStopLight2, LeftStopLight3, RightStopLight1, RightStopLight2, RightStopLight3}, LerpSpeed = 0.2, Colors = {On = Color(250, 0, 0), Off = Color(30, 0, 0), Active = Color(90, 0, 0)}},
-        ReverseLights = {Entities = {ReverseLights}, LerpSpeed = 0.1, Colors = {On = Color(255, 255, 255), Off = Color(20, 20, 20)}},
-        LowBeamLights = {Entities = {LowBeamLights}, LerpSpeed = 0.1, Colors = {On = Color(255, 255, 255), Off = Color(20, 20, 20)}},
-        HighBeamLights = {Entities = {HighBeamLights}, LerpSpeed = 0.1, Colors = {On = Color(255, 255, 255), Off = Color(20, 20, 20)}},
-        FogLights = {Entities = {FogLights}, LerpSpeed = 0.1, Colors = {On = Color(255, 255, 255), Off = Color(20, 20, 20)}}
-        TurnLights = {LeftEntities = {LeftStopLight1, LeftStopLight2, LeftStopLight3}, RightEntities = {RightStopLight1, RightStopLight2, RightStopLight3}, LerpSpeed = 0.2, Colors = {On = Color(250, 120, 0), Off = Color(30, 0, 0)}}
-    }
-
-    -- local lightsEntities = {StopLights = {StopLights}, ReverseLights = {ReverseLights}, LowBeamLights = {LowBeamLights}, HighBeamLights = {HighBeamLights}}
-    -- local lightColors = {StopLights = {On = Color(250, 0, 0), Off = Color(30, 0, 0), Active = Color(90, 0, 0)}, ReverseLights = {On = Color(255, 255, 255), Off = Color(20, 20, 20), Active = Color(20, 20, 20)}}
-    -- local lights = {Lights = lightsEntities, Colors = lightColors}
-
-    lightsController = LightsController:new(lights)
-
-    wire.adjustPorts({LightInputs = "table"}, {})
-
-    hook.add("think", "lights", function()
-        lightsController:useStopLights(wire.ports.LightInputs.Stop)
-        lightsController:useReverseLights(wire.ports.LightInputs.Reverse)
-        lightsController:useLowBeam(wire.ports.LightInputs.LowBeam)
-        lightsController:useHighBeam(wire.ports.LightInputs.HighBeam)
-
-        lightsController:setActive(wire.ports.LightInputs.LowBeam == 1)
-
-        lightsController:update()
-    end
-)
-else
-    function init()
-        builder = MeshBuilder:new(LINK)
-    end
-
-
-    if hasPermission("http.get") and hasPermission("mesh") and hasPermission("entities.setRenderProperty", chip()) then
-        init()
-    else
-        setupPermissionRequest({"http.get", "mesh", "entities.setRenderProperty"}, "", true)
-
-        hook.add("permissionrequest", "_permissionrequest", function()
-            if permissionRequestSatisfied() then
-                init()
-            end
-        end
-)
-    end
+    builder:apply()
 end

koptilnya/data/models/ford_f-150_raptor.txt

@@ -1,8 +1,8 @@
 --@shared
 --@name Ford F-150 Raptor
 --@author Opti1337, .hemp
--- @include /koptilnya/mesh_loader/builder.txt
-require("/koptilnya/mesh_loader/builder.txt")
+--@include /libs/meshbuilder.txt
+local MeshBuilder = require("/libs/meshbuilder.txt")
 
 DEBUG_MODE = true
 
@@ -50,10 +50,5 @@ if SERVER then
 
     builder:build("Railing", Vector(0), Angle(0), SCALE, Color(255, 255, 255), "sprops/trans/wheels/wheel_d_rim1", chip(), chip())
 
-    local result = builder:getResult()
-else
-    PERMA.onPermissionsGained = function()
-        builder = MeshBuilder:new(LINK)
-    end
-    PERMA.build()
+    builder:apply()
 end

koptilnya/data/models/jdm_wheels.txt

@@ -1,9 +1,8 @@
 --@shared
 --@name JDM Wheels
 --@author Opti1337, .hemp
--- @include /koptilnya/mesh_loader/builder.txt
-
-require("/koptilnya/mesh_loader/builder.txt")
+--@include /libs/meshbuilder.txt
+local MeshBuilder = require("/libs/meshbuilder.txt")
 
 local LINK = "https://raw.githubusercontent.com/koptilnya/gmod-data/main/jdmwheel1.obj?d=1"
 local SCALE = Vector(0.6)
@@ -63,12 +62,7 @@ if SERVER then
                     }, wheel, wheel)
             end
 
-            builder:getResult()
+            builder:apply()
         end
     end)
-else
-    PERMA.onPermissionsGained = function()
-        builder = MeshBuilder:new(LINK)
-    end
-    PERMA.build()
 end

koptilnya/data/models/porsche 911 turbo s 2017.txt

@@ -1,8 +1,8 @@
 --@shared
 --@name Porsche 911 Turbo S 2017
 --@author Opti1337, DarkSupah
--- @include /koptilnya/mesh_loader/builder.txt
-require("/koptilnya/mesh_loader/builder.txt")
+--@include /libs/meshbuilder.txt
+local MeshBuilder = require("/libs/meshbuilder.txt")
 
 DEBUG_MODE = true
 
@@ -11,21 +11,80 @@ local SCALE = Vector(0.9)
 
 local builder = {}
 
+local objectNames = {"Gear_stick_handle",
+"Locks",
+"Left_door_panel",
+"Seat_base",
+"Torpedo",
+"Front_bumper_details",
+"Dashboard_interior",
+"Right_door_body",
+"Body",
+"Seatbelts",
+"Seatbelts_caps",
+"Dials",
+"Dashboard_panel",
+"Lower_dashboard",
+"Rear_mirror",
+"Dials_base",
+"Front_lights_glass",
+"Rear_logo",
+"Exhaust_pipes",
+"Torpedo_panel",
+"Seats",
+"Dials_glass",
+"Gear_stick_base",
+"Bonnet",
+"Rear_lights_base",
+"Torpedo_buttons",
+"Seat_controls",
+"Carpets",
+"Steering_wheel",
+"Interior_base",
+"Front_bumper",
+"Front_lights_bulbs",
+"Doors_rubbers",
+"Bottom",
+"Seatbelts_caps_plastic",
+"Windows_lines",
+"Exterior_plastic",
+"Front_lights_strips",
+"Gear_stick_details",
+"Exhaust_collector",
+"Left_door_mirror",
+"Dashboard_vents",
+"Dashboard_plastic",
+"Seatbelts_locks",
+"Right_door_panel",
+"Left_door_body",
+"Right_door_mirror",
+"Rear_lights_glass",
+"Stitches",
+"Right_front_turn",
+"Timer",
+"Front_lights_borders",
+"Front_indicators_glass",
+"Door_frames",
+"Front_lights_base",
+"Left_front_turn",
+"Rear_details",
+"Rear_spoiler_glass",
+"Clothes_hooks",
+"Exhaust_bumper",
+"Left_side_indicator",
+"Dashboard",
+"Door_plastic",
+"Rear_bumper",
+"Seats_plastic",
+"Right_side_indicator",
+"Steering_wheel_details"}
+
 if SERVER then
     builder = MeshBuilder:new(LINK)
-    builder.onObjectParsed = function(builder, objectsNames)
-        timer.simple(3, function()
-            for k, v in pairs(objectsNames) do
+                for k, v in pairs(objectNames) do
                 
-                builder:build(v, Vector(0), Angle(0), SCALE, Color(360 / #objectsNames * k, 1, 1):hsvToRGB(), "models/debug/debugwhite", chip(), chip())
+                builder:build(v, Vector(0), Angle(0), SCALE, Color(360 / #objectNames * k, 1, 1):hsvToRGB(), "models/debug/debugwhite", chip(), chip())
             end
             
-            local result = builder:getResult()
-        end)
-    end    
-else
-    PERMA.onPermissionsGained = function()
-        builder = MeshBuilder:new(LINK)
-    end
-    PERMA.build()
+            builder:apply()  
 end

koptilnya/data/models/toyota_altezza.txt

@@ -1,18 +1,18 @@
 --@shared
 --@name Toyota Altezza
 --@author Opti1337, .hemp
--- @include /koptilnya/mesh_loader/builder.txt
-require("/koptilnya/mesh_loader/builder.txt")
+--@include /libs/meshbuilder.txt
+local MeshBuilder = require("/libs/meshbuilder.txt")
 
 DEBUG_MODE = true
 
 local LINK = "https://www.dropbox.com/s/0vnd3nir8cyolz5/is300_3.obj?dl=1"
 local SCALE = Vector(0.8, 0.79, 0.8)
 
-local builder = {}
+local builder = MeshBuilder:new(LINK)
 
 if SERVER then
-    builder = MeshBuilder:new(LINK)
+    
 
     builder:build("body_Mesh_0", Vector(0), Angle(0), SCALE, Color(40, 40, 40), "models/debug/debugwhite", chip(), chip())
     builder:build("chrome_Mesh_1", Vector(0), Angle(0), SCALE, Color(255, 255, 255), "sprops/textures/sprops_chrome", chip(), chip())
@@ -24,33 +24,5 @@ if SERVER then
     builder:build("Reshetka_Mesh_7", Vector(0), Angle(0), SCALE, Color(225, 255, 255, 255), "models/props_interiors/metalfence007a", chip(), chip())
     builder:build("w_plastic_Mesh_8", Vector(0), Angle(0), SCALE, Color(225, 255, 255, 255), "models/combine_scanner/scanner_eye", chip(), chip())
 
-    builder:getResult()
-else
-    function init()
-        builder = MeshBuilder:new(LINK)
-        builder.onHologramsReceived = function(builder, objects)
-            local mat = material.create("VertexLitGeneric")
-            mat:setTextureURL("$basetexture", "https://i.imgur.com/gw4kfYv.jpg", 
-                function(m, url, w, h, layout)
-                    layout(0, 0, 2048, 2048)
-                end,
-                function(m, url)
-                    objects[1].holo:setMaterial("")
-                    objects[1].holo:setMeshMaterial(m)
-                end
-            )
-        end
-    end
-
-    if hasPermission("http.get") and hasPermission("mesh") and hasPermission("entities.setRenderProperty", chip()) then
-        init()
-    else
-        setupPermissionRequest({"http.get", "mesh", "entities.setRenderProperty"}, "", true)
-
-        hook.add("permissionrequest", "_permissionrequest", function()
-            if permissionRequestSatisfied() then
-                init()
-            end
-        end)
-    end
+    builder:apply()
 end

koptilnya/engine_remastered/configs/new_sx240.txt

@@ -8,13 +8,12 @@ local Vehicle, POWERTRAIN_COMPONENT = unpack(require('/koptilnya/engine_remaster
 local Differential = require('/koptilnya/engine_remastered/powertrain/differential.txt')
 
 local WheelConfig = {
-    BrakePower = 800,
-    CustomWheel = {},
-    Model = 'models/sprops/trans/wheel_d/t_wheel25.mdl',
-    RotationAxle = Angle(1, 0, 0)
+    BrakePower = 1200,
+    CustomWheel = { Mass = 80 },
+    Model = 'models/sprops/trans/wheel_d/t_wheel25.mdl'
 }
-local FrontWheelsConfig = table.merge(table.copy(WheelConfig), { SteerLock = 35 })
-local RearWheelsConfig = table.merge(table.copy(WheelConfig), { HandbrakePower = 2000 })
+local FrontWheelsConfig = table.merge(table.copy(WheelConfig), { SteerLock = 33, CustomWheel = { Mass = 80, CasterAngle = 7 } })
+local RearWheelsConfig = table.merge(table.copy(WheelConfig), { HandbrakePower = 2200 })
 
 Vehicle:new({
     {
@@ -58,12 +57,31 @@ Vehicle:new({
             Reverse = 3.437
         }
     },
+    {
+        Name = 'AxleFront',
+        Type = POWERTRAIN_COMPONENT.Differential,
+        Config = {
+            SteerLock = 50
+        }
+    },
+    {
+        Name = 'WheelFL',
+        Type = POWERTRAIN_COMPONENT.Wheel,
+        Input = 'AxleFront',
+        Config = table.merge(table.copy(FrontWheelsConfig), { Offset = 0 })
+    },
+    {
+        Name = 'WheelFR',
+        Type = POWERTRAIN_COMPONENT.Wheel,
+        Input = 'AxleFront',
+        Config = table.merge(table.copy(FrontWheelsConfig), { Offset = 180 })
+    },
     {
         Name = 'Axle1',
         Input = 'Gearbox',
         Type = POWERTRAIN_COMPONENT.Differential,
         Config = {
-            Type = Differential.TYPES.HLSD,
+            Type = Differential.TYPES.Open,
             FinalDrive = 3.392,
             Inertia = 0.01,
             BiasAB = 0.5,
@@ -73,25 +91,15 @@ Vehicle:new({
             SlipTorque = 1000
         }
     },
-    {
-        Name = 'WheelFL',
-        Input = 'Axle1',
-        Type = POWERTRAIN_COMPONENT.Wheel,
-        Config = table.merge(table.copy(FrontWheelsConfig), { Offset = 0 })
-    },
-    {
-        Name = 'WheelFR',
-        Input = 'Axle1',
-        Type = POWERTRAIN_COMPONENT.Wheel,
-        Config = table.merge(table.copy(FrontWheelsConfig), { Offset = 180 })
-    },
     {
         Name = 'WheelRL',
+        Input = 'Axle1',   
         Type = POWERTRAIN_COMPONENT.Wheel,
         Config = table.merge(table.copy(RearWheelsConfig), { Offset = 0 })
     },
     {
         Name = 'WheelRR',
+        Input = 'Axle1',        
         Type = POWERTRAIN_COMPONENT.Wheel,
         Config = table.merge(table.copy(RearWheelsConfig), { Offset = 180 })
     }

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

koptilnya/engine_remastered/vehicle.txt

@@ -63,7 +63,7 @@ function Vehicle:linkComponents()
     for _, componentConfig in pairs(self.config) do
         local component = self:getComponentByName(componentConfig.Name)
 
-        if componentConfig.Type == POWERTRAIN_COMPONENT.Wheel and componentConfig.Input == nil then
+        if componentConfig.Input == nil && component ~= self:getRootComponent() then
             table.insert(self.independentComponents, component)
         else
             local inputComponent = self:getComponentByName(componentConfig.Input)

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

koptilnya/mesh_loader/builder.txt

@@ -2,6 +2,7 @@
 --@include sv_builder.txt
 --@include cl_builder.txt
 --@include /koptilnya/libs/perma.txt
+--@shared
 
 require("/koptilnya/libs/perma.txt")