update attempt
This commit is contained in:
Ivan Grachyov
parent
14ab069846
commit
ae5133bd87
@ -7,13 +7,49 @@
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local Vehicle, POWERTRAIN_COMPONENT = unpack(require('/koptilnya/engine_remastered/vehicle.txt'))
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local Differential = require('/koptilnya/engine_remastered/powertrain/differential.txt')
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-- Michelin Pilot Sport 4S (High-Performance Road Tire)
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local WheelConfig = {
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BrakePower = 1200,
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CustomWheel = { Mass = 80 },
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CustomWheel = {
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Mass = 30,
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LateralFrictionPreset = {
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B = 12.0,
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C = 1.3,
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D = 1.8,
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E = -1.8
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},
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LongitudinalFrictionPreset = {
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B = 18.0,
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C = 1.5,
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D = 1.5,
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E = 0.3
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},
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AligningFrictionPreset = {
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B = 2.8,
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C = 2.1,
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D = 0.10,
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E = -2.5
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},
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},
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Model = 'models/sprops/trans/wheel_a/wheel25.mdl'
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}
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local FrontWheelsConfig = table.merge(table.copy(WheelConfig), { SteerLock = 33, CustomWheel = { CasterAngle = 3 } })
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local RearWheelsConfig = table.merge(table.copy(WheelConfig), { HandbrakePower = 2200 })
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local FrontWheelsConfig = table.merge(
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table.copy(WheelConfig),
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{
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SteerLock = 33,
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CustomWheel = {
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CasterAngle = 3
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}
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}
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)
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local RearWheelsConfig = table.merge(
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table.copy(WheelConfig),
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{
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HandbrakePower = 2200
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}
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)
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Vehicle:new({
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{
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@ -77,13 +113,13 @@ Vehicle:new({
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Name = 'WheelFL',
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Type = POWERTRAIN_COMPONENT.Wheel,
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Input = 'AxleFront',
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Config = table.merge(table.copy(FrontWheelsConfig), { Offset = 0, CustomWheel = { CamberAngle = -3, ToeAngle = -0.5 } })
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Config = table.merge(table.copy(FrontWheelsConfig), { Offset = 0, CustomWheel = { CamberAngle = -3, ToeAngle = 0.5 } })
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},
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{
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Name = 'WheelFR',
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Type = POWERTRAIN_COMPONENT.Wheel,
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Input = 'AxleFront',
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Config = table.merge(table.copy(FrontWheelsConfig), { Offset = 180, CustomWheel = { CamberAngle = 3, ToeAngle = 0.5 } })
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Config = table.merge(table.copy(FrontWheelsConfig), { Offset = 180, CustomWheel = { CamberAngle = -3, ToeAngle = 0.5 } })
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},
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{
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Name = 'AxleBack',
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@ -119,12 +155,12 @@ Vehicle:new({
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Name = 'WheelRL',
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Input = 'AxleBack',
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Type = POWERTRAIN_COMPONENT.Wheel,
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Config = table.merge(table.copy(RearWheelsConfig), { Offset = 0, CustomWheel = { CamberAngle = -1, ToeAngle = -0.5 } })
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Config = table.merge(table.copy(RearWheelsConfig), { Offset = 0, CustomWheel = { CamberAngle = -1, ToeAngle = 0.5 } })
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},
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{
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Name = 'WheelRR',
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Input = 'AxleBack',
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Type = POWERTRAIN_COMPONENT.Wheel,
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Config = table.merge(table.copy(RearWheelsConfig), { Offset = 180, CustomWheel = { CamberAngle = 1, ToeAngle = 0.5 } })
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Config = table.merge(table.copy(RearWheelsConfig), { Offset = 180, CustomWheel = { CamberAngle = -1, ToeAngle = 0.5 } })
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}
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})
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@ -112,16 +112,27 @@ function Differential:forwardStep(torque, inertia)
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-- // REFACTOR
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if self.steerLock ~= 0 then
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local steerInertia = (aI + bI) / 2
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local inputForce = 228.0
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local driverInput = 5
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local localVelocityLength = chip():getVelocity():getLength()
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local MPH = localVelocityLength * (15 / 352)
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local KPH = MPH * 1.609
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local assist = math.clamp(10.0 / math.sqrt(KPH / 3), 2.0, 10.0)
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local inputForce = driverInput * assist
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local maxSteerSpeed = math.rad(1337)
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local inputTorque = self.vehicle.steer * inputForce
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local avgSteerAngle = (self.outputA.customWheel.steerAngle + self.outputB.customWheel.steerAngle) / 2
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local mz = self.outputA.customWheel.mz + self.outputB.customWheel.mz
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local mzDiff = self.outputA.customWheel.mz - self.outputB.customWheel.mz
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local avgMz = (self.outputA.customWheel.mz + self.outputB.customWheel.mz) / 2
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local maxMz = math.max(self.outputA.customWheel.mz + self.outputB.customWheel.mz)
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local steerTorque = mz * -1 + inputTorque
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local minMz = math.min(self.outputA.customWheel.mz + self.outputB.customWheel.mz)
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local steerTorque = mzDiff * -1 + inputTorque
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local steerAngularAccel = steerTorque / steerInertia
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@ -11,7 +11,7 @@ require('/koptilnya/libs/entity.txt')
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local Wheel = class('Wheel', PowertrainComponent)
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local DEBUG = false
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local DEBUG = true
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function Wheel:initialize(vehicle, name, config)
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PowertrainComponent.initialize(self, vehicle, name, config)
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@ -22,6 +22,8 @@ function Wheel:initialize(vehicle, name, config)
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self.rotationAxle = config.RotationAxle or Angle(0, 0, 1)
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self.direction = math.sign(math.cos(math.rad(config.Offset or 0)))
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self.wireInputs = {
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[self.name] = 'entity'
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}
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@ -51,9 +53,9 @@ function Wheel:initialize(vehicle, name, config)
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self.holo = self:createHolo(self.entity)
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if DEBUG then
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self.debugHoloF:setPos(self.entity:getPos())
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self.debugHoloR:setPos(self.entity:getPos())
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self.debugHoloU:setPos(self.entity:getPos())
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self.debugHoloF:setPos(self.entity:localToWorld(Vector(24,0,0)))
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self.debugHoloR:setPos(self.entity:localToWorld(Vector(0,24,0)))
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self.debugHoloU:setPos(self.entity:localToWorld(Vector(0,0,0)))
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self.debugHoloF:setParent(self.entity)
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self.debugHoloR:setParent(self.entity)
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@ -128,15 +130,12 @@ function Wheel:forwardStep(torque, inertia)
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return 0
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end
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-- print(inertia)
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-- self.customWheel:setInertia(inertia)
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self.customWheel.motorTorque = torque
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self.customWheel.motorTorque = torque * self.direction
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self.customWheel.brakeTorque = math.max(self.brakePower * self.vehicle.brake, self.handbrakePower * self.vehicle.handbrake)
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self.customWheel:update()
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self.angularVelocity = self.customWheel.angularVelocity
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self.angularVelocity = self.customWheel.angularVelocity * self.direction
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if self.customWheel.hasHit and isValid(self.vehicle.basePhysObject) then
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local surfaceForceVector = self.customWheel.right * self.customWheel.sideFriction.force + self.customWheel.forward * self.customWheel.forwardFriction.force
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@ -153,7 +152,7 @@ function Wheel:forwardStep(torque, inertia)
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local entityAngles = self.entity:getAngles()
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self.rot = self.rot + self.angularVelocity * TICK_INTERVAL
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self.rot = self.rot + self.angularVelocity * TICK_INTERVAL * self.direction
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local steerRotated = entityAngles:rotateAroundAxis(self.customWheel.up, nil, math.rad(-self.customWheel.steerAngle) + self.customWheel.toeAngle)
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local camberRotated = steerRotated:rotateAroundAxis(self.customWheel.forward, nil, -self.customWheel.camberAngle)
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@ -23,8 +23,10 @@ function Wheel:initialize(config)
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self.forwardFriction = Friction:new(config.ForwardFriction)
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self.sideFriction = Friction:new(config.SideFriction)
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self.frictionPreset = FrictionPreset:new(config.FrictionPreset)
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self.satFrictionPreset = FrictionPreset:new()
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self.lateralFrictionPreset = FrictionPreset:new(config.LateralFrictionPreset)
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self.longitudinalFrictionPreset = FrictionPreset:new(config.LongitudinalFrictionPreset)
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self.aligningFrictionPreset = FrictionPreset:new(config.AligningFrictionPreset)
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self.motorTorque = 0
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self.brakeTorque = 0
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@ -107,7 +109,7 @@ function Wheel:stepLongitudinal(Tm, Tb, Vx, W, Lc, R, I, kFx, kSx)
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Tb = math.clamp(Tb, -TbCap, TbCap)
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W = W + Tb / I * TICK_INTERVAL
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local maxTorque = self.frictionPreset:evaluate(math.abs(Sx)) * Lc * kFx * R
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local maxTorque = self.longitudinalFrictionPreset:evaluate(math.abs(Sx)) * Lc * kFx * R
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local errorTorque = (W - Vx / R) * I / TICK_INTERVAL
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local surfaceTorque = math.clamp(errorTorque, -maxTorque, maxTorque)
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@ -143,7 +145,7 @@ function Wheel:stepLateral(Vx, Vy, Lc, kFy, kSy)
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Sy = Sy * kSy * 0.95
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Sy = math.clamp(Sy, -1, 1)
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local slipSign = Sy < 0 and -1 or 1
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local Fy = -slipSign * self.frictionPreset:evaluate(math.abs(Sy)) * Lc * kFy
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local Fy = -slipSign * self.lateralFrictionPreset:evaluate(math.abs(Sy)) * Lc * kFy
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if Lc < 0.0001 then
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Sy = 0
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@ -178,10 +180,10 @@ function Wheel:selfAligningTorque(Sy, load)
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return 0
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end
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local B = self.satFrictionPreset.B
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local C = self.satFrictionPreset.C
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local D = self.satFrictionPreset.D
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local E = self.satFrictionPreset.E
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local B = self.aligningFrictionPreset.B
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local C = self.aligningFrictionPreset.C
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local D = self.aligningFrictionPreset.D
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local E = self.aligningFrictionPreset.E
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local loadScale = load * 1000
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local mechanicalTrail = 0.15
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