Refactored vehicle components

koptilnya/engine_remastered/clutch.txt

@@ -1,72 +1,67 @@
--- @include ./wire_component.txt
+--@include ./powertrain_component.txt
 --@include ./enums/gearbox.txt
 --@include /koptilnya/libs/constants.txt
+
 require('/koptilnya/libs/constants.txt')
-require('./wire_component.txt')
+require('./powertrain_component.txt')
 local gearboxTypes = require('./enums/gearbox.txt')
 
-Clutch = class('Clutch', WireComponent)
+Clutch = class('Clutch', PowertrainComponent)
 
 function Clutch:initialize(config)
-    self.stiffness = config.Stiffness
+    PowertrainComponent.initialize(self, 'Clutch')
-    self.damping = config.Damping
-    self.maxTorque = config.MaxTorque
 
-    self.press = 0
+    self.wireInputs = {
-    self.slip = 0
-    self.targetTorque = 0
-    self.torque = 0
-
-    self.engine = nil
-    self.gearbox = nil
-end
-
-function Clutch:linkEngine(eng)
-    self.engine = eng
-end
-
-function Clutch:linkGearbox(gbox)
-    self.gearbox = gbox
-end
-
-function Clutch:getInputs()
-    if self.gearbox ~= nil and self.gearbox.type == gearboxTypes.MANUAL then
-        return {
         Clutch = 'number'
     }
-    else
+    self.wireOutputs = {
-        return {}
+        Clutch_Torque = 'number'
-    end
-end
-
-function Clutch:getOutputs()
-    return {
-        Clutch_Torque = 'number',
-        Clutch_Slip = 'number'
     }
+
+    self.inertia = config.Inertia or 0.1
+    self.slipTorque = config.SlipTorque or 1000
 end
 
-function Clutch:updateOutputs()
+function Clutch:updateWireOutputs()
     wire.ports.Clutch_Torque = self.torque
-    wire.ports.Clutch_Slip = self.slip
 end
 
 function Clutch:getPress()
-    if self.gearbox ~= nil and self.gearbox.type == gearboxTypes.MANUAL then
+    return 1 - wire.ports.Clutch
-        return wire.ports.Clutch
-    else
-        return self.press
-    end
 end
 
-function Clutch:update()
+function Clutch:queryInertia()
-    local engRPM = self.engine and self.engine.rpm or 0
+    if self.output == nil then
-    local gboxRPM = self.gearbox and self.gearbox.rpm or 0
+        return self.inertia
-    local gboxRatio = self.gearbox and self.gearbox.ratio or 0
+    end
-    local gboxRatioNotZero = gboxRatio ~= 0 and 1 or 0
+
-
+    return self.inertia + self.output:queryInertia() * self:getPress()
-    self.slip = ((engRPM - gboxRPM) * RPM_TO_RAD) * gboxRatioNotZero / 2
+end
-    self.targetTorque = math.clamp(self.slip * self.stiffness * (1 - self:getPress()), -self.maxTorque, self.maxTorque)
+
-
+function Clutch:queryAngularVelocity(angularVelocity)
-    self.torque = math.lerp(self.damping, self.torque, self.targetTorque)
+    self.angularVelocity = angularVelocity
+
+    if self.output == nil then
+        return angularVelocity
+    end
+
+    local outputW = self.output:queryAngularVelocity(angularVelocity) * self:getPress()
+    local inputW = angularVelocity * (1 - self:getPress())
+
+    return outputW + inputW
+end
+
+function Clutch:forwardStep(torque, inertia)
+    if self.output == nil then
+        return torque
+    end
+
+    local press = self:getPress()
+
+    self.torque = math.clamp(torque, -self.slipTorque, self.slipTorque)
+    self.torque = self.torque * (1 - (1 - math.pow(press, 0.3)))
+
+    local returnTorque = self.output:forwardStep(self.torque, inertia * press + self.inertia) * press
+
+    return math.clamp(returnTorque, -self.slipTorque, self.slipTorque)
 end

koptilnya/engine_remastered/differential.txt

@@ -1,207 +1,148 @@
--- @server
 --@include /koptilnya/libs/constants.txt
--- @include ./wire_component.txt
+--@include ./powertrain_component.txt
-require('/koptilnya/libs/constants.txt')
+--@include ./wheel.txt
-require('./wire_component.txt')
 
-Differential = class('Differential', WireComponent)
+require('/koptilnya/libs/constants.txt')
+require('./powertrain_component.txt')
+require('./wheel.txt')
+
+Differential = class('Differential', PowertrainComponent)
 
 function Differential:initialize(config, order)
-    self.power = config.Power or 1
+    PowertrainComponent.initialize(self, 'Axle')
-    self.coast = config.Coast or 1
+
-    self.finalDrive = config.FinalDrive or 1
+    local prefix = 'Axle' .. (order or '') .. '_'
+
+    self.finalDrive = config.FinalDrive or 4
+    self.biasAB = config.Bias or 0.5
+    self.coastRamp = config.CoastRamp or 0.5
+    self.powerRamp = config.PowerRamp or 1
     self.preload = config.Preload or 10
-    self.order = order or 1
+    self.slipTorque = config.SlipTorque or 1000
 
-    self.viscousCoeff = config.ViscousCoeff or 0.9
+    local wheelConfig = {
+        CalculateInertia = true
+    }
+    self.outputA = Wheel:new(wheelConfig, prefix .. 'Left')
+    self.outputB = Wheel:new(wheelConfig, prefix .. 'Right')
 
-    self.distributionCoeff = config.DistributionCoeff or 1
+    table.merge(self.wireInputs, self.outputA.wireInputs)
-    self.maxCorrectingTorque = config.MaxCorrectingTorque or 200
+    table.merge(self.wireInputs, self.outputB.wireInputs)
-
+    table.merge(self.wireOutputs, self.outputA.wireOutputs)
-    self.avgRPM = 0
+    table.merge(self.wireOutputs, self.outputB.wireOutputs)
-
-    self.prefix = 'Axle' .. self.order .. '_'
-
-    self.leftWheel = wire.ports[self.prefix .. 'LeftWheel']
-    self.rightWheel = wire.ports[self.prefix .. 'RightWheel']
-
-    self.lwPowerCoeff = 0
-    self.rwPowerCoeff = 0
-
-    self.lwtq_div_rwtq = 0
-    self.rwtq_div_lwtq = 0
-
-    self.lwtq = 0
-    self.rwtq = 0
-
-    self.lwav = 0
-    self.rwav = 0
-
-    hook.add('input', 'wire_axle_update' .. self.order, function(key, val)
-        if key == self.prefix .. 'LeftWheel' then
-            self.leftWheel = val
 end
 
-        if key == self.prefix .. 'RightWheel' then
+function Differential:updateWireOutputs()
-            self.rightWheel = val
+    if self.outputA ~= nil then
-        end
+        self.outputA:updateWireOutputs()
-    end)
     end
 
-function Differential:getInputs()
+    if self.outputB ~= nil then
-    local inputs = {}
+        self.outputB:updateWireOutputs()
-
-    inputs[self.prefix .. 'LeftWheel'] = 'entity'
-    inputs[self.prefix .. 'RightWheel'] = 'entity'
-
-    return inputs
-end
-
-function Differential:getOutputs()
-    local outputs = {}
-
-    outputs[self.prefix .. 'LWPowerCoeff'] = 'number'
-    outputs[self.prefix .. 'RWPowerCoeff'] = 'number'
-    outputs[self.prefix .. 'LWTq'] = 'number'
-    outputs[self.prefix .. 'RWTq'] = 'number'
-    outputs[self.prefix .. 'LWAV'] = 'number'
-    outputs[self.prefix .. 'RWAV'] = 'number'
-    outputs[self.prefix .. 'AvgRPM'] = 'number'
-    outputs[self.prefix .. 'LW_div_RW'] = 'number'
-    outputs[self.prefix .. 'RW_div_LW'] = 'number'
-    -- outputs[self.prefix .. 'SGAV'] = 'number'
-
-    return outputs
-end
-
-function Differential:updateOutputs()
-    wire.ports[self.prefix .. 'LWPowerCoeff'] = self.lwPowerCoeff
-    wire.ports[self.prefix .. 'RWPowerCoeff'] = self.rwPowerCoeff
-    wire.ports[self.prefix .. 'LWTq'] = self.lwtq
-    wire.ports[self.prefix .. 'RWTq'] = self.rwtq
-    wire.ports[self.prefix .. 'RWTq'] = self.rwtq
-    wire.ports[self.prefix .. 'LWAV'] = self.lwav
-    wire.ports[self.prefix .. 'RWAV'] = self.rwav
-    wire.ports[self.prefix .. 'AvgRPM'] = self.avgRPM
-    wire.ports[self.prefix .. 'LW_div_RW'] = self.lwtq_div_rwtq
-    wire.ports[self.prefix .. 'RW_div_LW'] = self.rwtq_div_lwtq
-    -- wire.ports[self.prefix .. 'SGAV'] = self.sgav
-end
-
-function Differential:linkGearbox(gbox)
-    self.gearbox = gbox
-end
-
--- this is a test function that can spin wheels in different directions
-function Differential:testUpdate()
-    if isValid(self.leftWheel) and isValid(self.rightWheel) then
-        local lwav = math.rad(self.leftWheel:getAngleVelocity()[2])
-        local rwav = math.rad(self.rightWheel:getAngleVelocity()[2])
-
-        self.avgRPM = (lwav - rwav) / 2 * RAD_TO_RPM * self.finalDrive
-
-        self.lwav = lwav
-        self.rwav = rwav
-
-        -- spider gear angular velocity
-        local sgav = (lwav + rwav) / 2
-
-        self.sgav = sgav
-
-        -- RAV = relative angular velocity
-        local lwrav = lwav - sgav
-        local rwrav = rwav - sgav
-
-        local lwInertia = self.leftWheel:getInertia():getLength()
-        local rwInertia = self.rightWheel:getInertia():getLength()
-
-        local lwtq = lwrav * lwInertia * 2
-        local rwtq = rwrav * rwInertia * 2
-
-        self.lwtq = lwtq
-        self.rwtq = rwtq
-
-        local lwDampingTorque = self.viscousCoeff * lwtq
-        local rwDampingTorque = self.viscousCoeff * rwtq
-
-        local gboxTorque = self.gearbox and self.gearbox.torque / 10 or 0
-
-        local usedCoeff = gboxTorque > self.preload and self.power or self.coast
-
-        local lwCorrectingTorque = math.clamp(lwDampingTorque * usedCoeff, -self.maxCorrectingTorque,
-            self.maxCorrectingTorque)
-        local rwCorrectingTorque = math.clamp(rwDampingTorque * usedCoeff, -self.maxCorrectingTorque,
-            self.maxCorrectingTorque)
-
-        local driveTorque = gboxTorque * self.distributionCoeff * 52.49 * self.finalDrive
-
-        local lwCorrectedTorque = lwCorrectingTorque * 600 - driveTorque
-        local rwCorrectedTorque = rwCorrectingTorque * 600 + driveTorque
-
-        self.leftWheel:applyTorque(lwCorrectedTorque * self.leftWheel:getRight() * TICK_INTERVAL)
-        self.rightWheel:applyTorque(rwCorrectedTorque * self.rightWheel:getRight() * TICK_INTERVAL)
     end
 end
 
-function Differential:update()
+function Differential:queryInertia()
-    if isValid(self.leftWheel) and isValid(self.rightWheel) then
+    if self.outputA == nil or self.outputB == nil then
-        local lwav = math.rad(self.leftWheel:getAngleVelocity()[2])
+        return self.inertia
-        local rwav = math.rad(self.rightWheel:getAngleVelocity()[2]) * -1
-
-        self.lwav = lwav
-        self.rwav = rwav
-
-        -- RAV = relative anglar velocity
-        local lwrav = rwav - lwav
-        local rwrav = lwav - rwav
-
-        local lwInertia = self.leftWheel:getInertia()[2]
-        local rwInertia = self.rightWheel:getInertia()[2]
-
-        local lwtq = lwrav * lwInertia
-        local rwtq = rwrav * rwInertia
-
-        self.lwtq = lwtq
-        self.rwtq = rwtq
-
-        -- Whether use diff power or diff coast
-        local usePower = self.gearbox and self.gearbox.torque > self.preload and false
-        local usedCoeff = usePower and self.power or self.coast
-
-        -- Calculating damping torque  here
-        local lwDampingTorque = self.viscousCoeff * lwtq * usedCoeff
-        local rwDampingTorque = self.viscousCoeff * rwtq * usedCoeff
-
-        local lwav_abs = math.abs(lwav)
-        local rwav_abs = math.abs(rwav)
-
-        local avg_abs = lwav_abs + rwav_abs
-
-        local lwav_to_avg = avg_abs ~= 0 and 2 * lwav_abs / avg_abs or 0
-        local rwav_to_avg = avg_abs ~= 0 and 2 * rwav_abs / avg_abs or 0
-
-        self.lwtq_div_rwtq = lwav_to_avg
-        self.rwtq_div_lwtq = rwav_to_avg
-
-        local lwPowerCoeff = math.clamp(lwav_to_avg, usedCoeff, 1 + (1 - usedCoeff))
-        local rwPowerCoeff = math.clamp(rwav_to_avg, usedCoeff, 1 + (1 - usedCoeff))
-
-        self.lwPowerCoeff = lwPowerCoeff
-        self.rwPowerCoeff = rwPowerCoeff
-
-        local lwCorrectingTorque = math.clamp(lwDampingTorque, -self.maxCorrectingTorque, self.maxCorrectingTorque)
-        local rwCorrectingTorque = math.clamp(rwDampingTorque, -self.maxCorrectingTorque, self.maxCorrectingTorque)
-
-        local gboxTorque = self.gearbox and self.gearbox.torque or 0
-
-        local driveTorque = gboxTorque / 2 * self.distributionCoeff * self.finalDrive
-
-        local lwCorrectedTorque = lwCorrectingTorque * 20 + driveTorque * lwPowerCoeff -- * lwPowerCoeff
-        local rwCorrectedTorque = rwCorrectingTorque * 20 + driveTorque * rwPowerCoeff -- * rwPowerCoeff
-
-        self.leftWheel:applyTorque(lwCorrectedTorque * -self.leftWheel:getRight())
-        self.rightWheel:applyTorque(rwCorrectedTorque * self.rightWheel:getRight())
-
-        self.avgRPM = (lwav + rwav) / 2 * RAD_TO_RPM * self.finalDrive
     end
+
+    return self.inertia + self.outputA:queryInertia() + self.outputB:queryInertia()
+end
+
+function Differential:queryAngularVelocity(angularVelocity)
+    self.angularVelocity = angularVelocity
+
+    if self.outputA == nil or self.outputB == nil then
+        return angularVelocity
+    end
+
+    local aW = self.outputA:queryAngularVelocity(angularVelocity)
+    local bW = self.outputB:queryAngularVelocity(angularVelocity)
+
+    return (aW - bW) * self.finalDrive * 0.5
+end
+
+function Differential:forwardStep(torque, inertia)
+    if self.outputA == nil or self.outputB == nil then
+        return torque
+    end
+
+    local aW = self.outputA:queryAngularVelocity(self.angularVelocity)
+    local bW = -self.outputB:queryAngularVelocity(self.angularVelocity)
+    local aI = self.outputA:queryInertia()
+    local bI = self.outputB:queryInertia()
+
+    local tqA, tqB = self:_openDiffTorqueSplit(
+            torque * self.finalDrive,
+            aW,
+            bW,
+            aI,
+            bI,
+            self.biasAB,
+            self.preload,
+            self.stiffness,
+            self.powerRamp,
+            self.coastRamp,
+            self.slipTorque
+    )
+
+    --tqA = tqA * aI * TICK_INTERVAL
+    --tqB = tqB * bI * TICK_INTERVAL
+
+    tqA = self.outputA:forwardStep(tqA, inertia * 0.5 + aI)
+    tqB = self.outputB:forwardStep(tqB, inertia * 0.5 + bI)
+
+    return tqA + tqB
+end
+
+function Differential:_openDiffTorqueSplit(tq, aW, bW, aI, bI, biasAB, preload, stiffness, powerRamp, coastRamp, slipTorque)
+    return tq * (1 - biasAB), tq * biasAB;
+end
+
+function Differential:_lockingDiffTorqueSplit(tq, aW, bW, aI, bI, biasAB, preload, stiffness, powerRamp, coastRamp, slipTorque)
+    local sumI = aI + bI
+    local w = aI / sumI * aW + bI / sumI * bW
+    local aTqCorr = (w - aW) * aI -- / dt
+    aTqCorr = aTqCorr * stiffness
+
+    local bTqCorr = (w - bW) * bI -- / dt
+    bTqCorr = bTqCorr * stiffness
+
+    local biasA = clamp(0.5 + (bW - aW) * 0.1 * stiffness, 0, 1)
+
+    return tq * biasA + aTqCorr, tq * (1 - biasA) * bTqCorr
+end
+
+function Differential:_VLSDTorqueSplit(tq, aW, bW, aI, bI, biasAB, preload, stiffness, powerRamp, coastRamp, slipTorque)
+    if aW < 0 or bW < 0 then
+        return tq * (1 - biasAB), tq * biasAB
+    end
+
+    local c = tq > 0 and powerRamp or coastRamp
+    local totalW = math.abs(aW) + math.abs(bW)
+    local slip = 0
+    if aW > 0 or bW > 0 then
+        slip = (aW - bW) / totalW
+    end
+    local dTq = slip * stiffness * c * slipTorque
+
+    return tq * (1 - biasAB) - dTq, tq * biasAB + dTq
+end
+
+function Differential:_HLSDTorqueSplit(tq, aW, bW, aI, bI, biasAB, preload, stiffness, powerRamp, coastRamp, slipTorque)
+    if aW < 0 or bW < 0 then
+        return tq * (1 - biasAB), tq * biasAB
+    end
+
+    local c = tq > 0 and powerRamp or coastRamp
+    local tqFactor = math.clamp(math.abs(tq) / slipTorque, -1, 1)
+    local totalW = math.abs(aW) + math.abs(bW)
+    local slip = 0
+    if aW > 0 or bW > 0 then
+        slip = (aW - bW) / totalW
+    end
+    local dTq = slip * stiffness * c * slipTorque * tqFactor
+
+    return tq * (1 - biasAB) - dTq, tq * biasAB + dTq
 end

koptilnya/engine_remastered/engine.txt

@@ -1,53 +1,40 @@
--- @include ./wire_component.txt
+--@include ./powertrain_component.txt
 --@include /koptilnya/libs/constants.txt
-require('./wire_component.txt')
+
+require('./powertrain_component.txt')
 require('/koptilnya/libs/constants.txt')
 
-Engine = class('Engine', WireComponent)
+Engine = class('Engine', PowertrainComponent)
 
 function Engine:initialize(config, clutch)
-    self.idleRPM = config.IdleRPM
+    PowertrainComponent.initialize(self, 'Engine')
-    self.maxRPM = config.MaxRPM
 
-    self.flywheelMass = config.FlywheelMass
+    self.wireInputs = {
-    self.flywheelRadius = config.FlywheelRadius
-
-    self.startFriction = config.StartFriction
-    self.frictionCoeff = config.FrictionCoeff
-
-    self.torque = 0
-    self.rpmFrac = 0
-    self.rpm = self.idleRPM
-    self.friction = 0
-    self.masterThrottle = 0
-
-    self.limiterDuration = config.LimiterDuration
-
-    self.torqueMap = config.TorqueMap or {}
-
-    self._fwInertia = self.flywheelMass * self.flywheelRadius ^ 2 / 2
-    self._limiterTime = 0
-
-    self.clutch = clutch
-    clutch:linkEngine(self)
-end
-
-function Engine:getInputs()
-    return {
         Throttle = 'number'
     }
-end
+    self.wireOutputs = {
-
-function Engine:getOutputs()
-    return {
         Engine_RPM = 'number',
         Engine_Torque = 'number',
         Engine_MasterThrottle = 'number'
     }
+
+    self.idleRPM = config.IdleRPM or 900
+    self.maxRPM = config.MaxRPM or 7000
+    self.inertia = config.Inertia or 0.4
+    self.startFriction = config.StartFriction or -50
+    self.frictionCoeff = config.FrictionCoeff or 0.02
+    self.limiterDuration = config.LimiterDuration or 0.05
+    self.torqueMap = config.TorqueMap or {}
+
+    self.rpmFrac = 0
+    self.friction = 0
+    self.masterThrottle = 0
+
+    self.limiterTimer = 0
 end
 
-function Engine:updateOutputs()
+function Engine:updateWireOutputs()
-    wire.ports.Engine_RPM = self.rpm
+    wire.ports.Engine_RPM = self:getRPM()
     wire.ports.Engine_Torque = self.torque
     wire.ports.Engine_MasterThrottle = self.masterThrottle
 end
@@ -56,35 +43,53 @@ function Engine:getThrottle()
     return wire.ports.Throttle
 end
 
-function Engine:update()
+function Engine:_generateTorque()
     local throttle = self:getThrottle()
+    local rpm = self:getRPM()
 
-    self.rpmFrac = math.clamp((self.rpm - self.idleRPM) / (self.maxRPM - self.idleRPM), 0, 1)
+    local rpmFrac = math.clamp((rpm - self.idleRPM) / (self.maxRPM - self.idleRPM), 0, 1)
-    self.friction = self.startFriction - self.rpm * self.frictionCoeff
+    self.friction = self.startFriction - self:getRPM() * self.frictionCoeff
 
-    local tqIdx = math.clamp(math.floor(self.rpmFrac * #self.torqueMap), 1, #self.torqueMap)
+    local tqIdx = math.clamp(math.floor(rpmFrac * #self.torqueMap), 1, #self.torqueMap)
     local maxInitialTorque = self.torqueMap[tqIdx] - self.friction
-
+    local idleFadeStart = math.clamp(math.remap(rpm, self.idleRPM - 300, self.idleRPM, 1, 0), 0, 1)
-    local idleFadeStart = math.clamp(math.remap(self.rpm, self.idleRPM - 300, self.idleRPM, 1, 0), 0, 1)
+    local idleFadeEnd = math.clamp(math.remap(rpm, self.idleRPM, self.idleRPM + 600, 1, 0), 0, 1)
-    local idleFadeEnd = math.clamp(math.remap(self.rpm, self.idleRPM, self.idleRPM + 600, 1, 0), 0, 1)
-
     local additionalEnergySupply = idleFadeEnd * (-self.friction / maxInitialTorque) + idleFadeStart
 
-    if self.rpm > self.maxRPM then
+    if rpm > self.maxRPM then
         throttle = 0
-        self._limiterTime = timer.systime()
+        self.limiterTimer = timer.systime()
     else
-        throttle = timer.systime() >= self._limiterTime + self.limiterDuration and throttle or 0
+        throttle = timer.systime() >= self.limiterTimer + self.limiterDuration and throttle or 0
     end
 
     self.masterThrottle = math.clamp(additionalEnergySupply + throttle, 0, 1)
 
     local realInitialTorque = maxInitialTorque * self.masterThrottle
 
-    local loadTorque = self.clutch and self.clutch.torque or 0
-
     self.torque = realInitialTorque + self.friction
 
-    self.rpm = self.rpm + (self.torque - loadTorque) / self._fwInertia * RAD_TO_RPM * TICK_INTERVAL
+    return self.torque
-    self.rpm = math.max(self.rpm, 0)
+end
+
+function Engine:integrateDownwards()
+    if self.output == nil then
+        local generatedTorque = self:_generateTorque()
+
+        self.angularVelocity = self.angularVelocity + generatedTorque / self.inertia * TICK_INTERVAL
+        self.angularVelocity = math.max(self.angularVelocity, 0)
+    end
+
+    local outputInertia = self.output:queryInertia()
+    local inertiaSum = self.inertia + outputInertia
+    local outputW = self.output:queryAngularVelocity(self.angularVelocity)
+    local targetW = self.inertia / inertiaSum * self.angularVelocity + outputInertia / inertiaSum * outputW
+
+    local generatedTorque = self:_generateTorque()
+    local reactTorque = (targetW - self.angularVelocity) * self.inertia / TICK_INTERVAL
+    local returnedTorque = self.output:forwardStep(generatedTorque - reactTorque, 0) -- ??? 0 -> self.inertia
+    local finalTorque = generatedTorque + returnedTorque + reactTorque
+
+    self.angularVelocity = self.angularVelocity + finalTorque / inertiaSum * TICK_INTERVAL
+    self.angularVelocity = math.max(self.angularVelocity, 0)
 end

koptilnya/engine_remastered/gearboxes/base.txt

@@ -1,82 +1,64 @@
--- @include ../wire_component.txt
+--@include ../powertrain_component.txt
-require('../wire_component.txt')
 
-Gearbox = class('Gearbox', WireComponent)
+require('../powertrain_component.txt')
 
-function Gearbox:initialize(config, clutch, axles)
+Gearbox = class('Gearbox', PowertrainComponent)
-    self.ratios = config.Ratios
-    self.reverse = config.Reverse
 
-    self.rpm = 0
+function Gearbox:initialize(config)
-    self.gear = 0
+    PowertrainComponent.initialize(self, 'Gearbox')
-    self.torque = 0
 
-    self.axles = axles or {}
+    self.wireInputs = {
-    self.clutch = clutch
-
-    self.type = config.Type
-
-    clutch:linkGearbox(self)
-
-    for _, axle in pairs(axles) do
-        axle:linkGearbox(self)
-    end
-
-    self:recalcRatio()
-end
-
-function Gearbox:getInputs()
-    return {
         Upshift = 'number',
         Downshift = 'number'
     }
-end
+    self.wireOutputs = {
-
-function Gearbox:getOutputs()
-    return {
         Gearbox_RPM = 'number',
         Gearbox_Torque = 'number',
-        Gearbox_Gear = 'number',
         Gearbox_Ratio = 'number'
     }
+
+    self.type = config.Type or 'MANUAL'
+    self.inertia = config.Inertia or 1000
+
+    self.ratio = 0
 end
 
-function Gearbox:updateOutputs()
+function Gearbox:updateWireOutputs()
-    wire.ports.Gearbox_RPM = self.rpm
+    wire.ports.Gearbox_RPM = self:getRPM()
     wire.ports.Gearbox_Torque = self.torque
-    wire.ports.Gearbox_Gear = self.gear
     wire.ports.Gearbox_Ratio = self.ratio
 end
 
-function Gearbox:setGear(gear)
+function Gearbox:queryInertia()
-    if gear >= -1 and gear <= #self.ratios then
+    if self.output == nil or self.ratio == 0 then
-        self.gear = gear
+        return self.inertia
-        self:recalcRatio()
-    end
     end
 
-function Gearbox:recalcRatio()
+    return self.inertia + self.output:queryInertia() / math.pow(self.ratio, 2)
-    if self.gear == -1 then
-        self.ratio = -self.reverse
-    elseif self.gear == 0 then
-        self.ratio = 0
-    else
-        self.ratio = self.ratios[self.gear]
-    end
 end
 
-function Gearbox:update()
+function Gearbox:queryAngularVelocity(angularVelocity)
-    if self.clutch ~= nil then
+    self.angularVelocity = angularVelocity
-        self.torque = self.clutch.torque * self.ratio
+
+    if self.output == nil or self.ratio == 0 then
+        return angularVelocity
     end
 
-    local maxAxlesRPM = 0
+    return self.output:queryAngularVelocity(angularVelocity) * self.ratio
-
-    if #self.axles > 0 then
-        maxAxlesRPM = math.max(unpack(table.map(self.axles, function(diff)
-            return diff.avgRPM
-        end)))
 end
 
-    self.rpm = maxAxlesRPM * self.ratio
+function Gearbox:forwardStep(torque, inertia)
+    if self.output == nil then
+        return torque
+    end
+
+    if self.ratio == 0 then
+        self.output:forwardStep(0, inertia)
+
+        return torque
+    end
+
+    self.torque = torque * self.ratio
+
+    return self.output:forwardStep(self.torque, (inertia + self.inertia) * math.pow(self.ratio, 2)) / self.ratio
 end

koptilnya/engine_remastered/gearboxes/manual.txt

@@ -1,12 +1,22 @@
 --@include /koptilnya/libs/watcher.txt
 --@include ./base.txt
+
 require('/koptilnya/libs/watcher.txt')
 require('./base.txt')
 
 ManualGearbox = class('ManualGearbox', Gearbox)
 
-function ManualGearbox:initialize(...)
+function ManualGearbox:initialize(config)
-    Gearbox.initialize(self, ...)
+    Gearbox.initialize(self, config)
+
+    table.merge(self.wireOutputs, {
+        Gearbox_Gear = 'number'
+    })
+
+    self.ratios = config.Ratios or { 3.6, 2.2, 1.5, 1.2, 1.0, 0.8}
+    self.reverse = config.Reverse or 3.4
+
+    self.gear = 0
 
     function shiftFunc()
         local upshift = wire.ports.Upshift or 0
@@ -20,6 +30,21 @@ function ManualGearbox:initialize(...)
             self:shift(val)
         end
     end)
+
+    self:recalcRatio()
+end
+
+function ManualGearbox:updateWireOutputs()
+    Gearbox.updateWireOutputs(self)
+
+    wire.ports.Gearbox_Gear = self.gear
+end
+
+function ManualGearbox:setGear(gear)
+    if gear >= -1 and gear <= #self.ratios then
+        self.gear = gear
+        self:recalcRatio()
+    end
 end
 
 function ManualGearbox:recalcRatio()
@@ -36,19 +61,10 @@ function ManualGearbox:shift(dir)
     self:setGear(self.gear + dir)
 end
 
--- function ManualGearbox:getOutputs()
+function ManualGearbox:forwardStep(torque, inertia)
---     return {
+    local result = Gearbox.forwardStep(self, torque, inertia)
---         Gearbox_RPM = 'number',
---         Gearbox_Torque = 'number'
---     }
--- end
-
--- function ManualGearbox:updateOutputs()
-
--- end
-
-function ManualGearbox:update()
-    Gearbox.update(self)
 
     self.shiftWatcher()
+
+    return result
 end

koptilnya/engine_remastered/novojiloff_diff.txt

@@ -1,99 +0,0 @@
--- @server
--- @include /koptilnya/libs/constants.txt
--- @include ./wire_component.txt
-require('/koptilnya/libs/constants.txt')
-require('./wire_component.txt')
-
-Differential = class('Differential', WireComponent)
-
-function Differential:initialize(config, order)
-    self.finalDrive = config.FinalDrive or 1
-    self.distributionCoeff = config.DistributionCoeff or 1
-    self.axle = config.Axle or Vector(1, 0, 0)
-
-    self.order = order
-
-    self.avgRPM = 0
-
-    self.prefix = 'Axle' .. self.order .. '_'
-
-    self.leftWheel = wire.ports[self.prefix .. 'LeftWheel']
-    self.rightWheel = wire.ports[self.prefix .. 'RightWheel']
-
-    self.lwav = 0
-    self.rwav = 0
-
-    hook.add('input', 'wire_axle_update' .. self.order, function(key, val)
-        if key == self.prefix .. 'LeftWheel' then
-            self.leftWheel = val
-        end
-
-        if key == self.prefix .. 'RightWheel' then
-            self.rightWheel = val
-        end
-    end)
-end
-
-function Differential:getInputs()
-    local inputs = {}
-
-    inputs[self.prefix .. 'LeftWheel'] = 'entity'
-    inputs[self.prefix .. 'RightWheel'] = 'entity'
-
-    return inputs
-end
-
-function Differential:getOutputs()
-    local outputs = {}
-
-    outputs[self.prefix .. 'LWAV'] = 'number'
-    outputs[self.prefix .. 'RWAV'] = 'number'
-    outputs[self.prefix .. 'AvgRPM'] = 'number'
-    outputs[self.prefix .. 'Test'] = 'number'
-
-    return outputs
-end
-
-function Differential:updateOutputs()
-    wire.ports[self.prefix .. 'LWAV'] = self.lwav
-    wire.ports[self.prefix .. 'RWAV'] = self.rwav
-    wire.ports[self.prefix .. 'AvgRPM'] = self.avgRPM
-end
-
-function Differential:linkGearbox(gbox)
-    self.gearbox = gbox
-end
-
-function Differential:getAngleVelocity()
-    local lwav = math.rad(self.leftWheel:getAngleVelocity()[2])
-    local rwav = math.rad(-self.rightWheel:getAngleVelocity()[2])
-    local awav = (lwav + rwav) / 2
-
-    return lwav, rwav, awav
-end
-
-function Differential:getRPM()
-    local lwav, rwav, awav = self:getAngleVelocity()
-
-    return lwav * RAD_TO_RPM, rwav * RAD_TO_RPM, awav * RAD_TO_RPM
-end
-
-function Differential:update()
-    if isValid(self.leftWheel) and isValid(self.rightWheel) then
-        local lwav, rwav = self:getAngleVelocity()
-
-        local inertia = self.leftWheel:getInertia().y + self.rightWheel:getInertia().y
-        local gboxTorque = self.gearbox and self.gearbox.torque or 0
-        local simmetric = gboxTorque * self.distributionCoeff * self.finalDrive / 2
-        local lock100 = (lwav - rwav) / 2 * inertia * TICK_INTERVAL
-        
-        wire.ports[self.prefix .. 'Test'] = (gboxTorque * self.distributionCoeff * self.finalDrive) - ((simmetric - lock100) + (simmetric + lock100))
-
-        self.leftWheel:applyTorque((simmetric - lock100) * 1.33 * -self.leftWheel:getRight())
-        self.rightWheel:applyTorque((simmetric + lock100) * 1.33 * self.rightWheel:getRight())
-
-        self.lwav, self.rwav = self:getAngleVelocity()
-        _, _, self.avgRPM = self:getRPM()
-        self.avgRPM = self.avgRPM * self.finalDrive
-    end
-end

koptilnya/engine_remastered/powertrain_component.txt

@@ -0,0 +1,49 @@
+--@include /koptilnya/libs/constants.txt
+--@include ./wire_component.txt
+
+require('/koptilnya/libs/constants.txt')
+require('./wire_component.txt')
+
+PowertrainComponent = class('PowertrainComponent', WireComponent)
+
+function PowertrainComponent:initialize(name)
+    WireComponent.initialize(self)
+
+    self.name = name or 'PowertrainComponent'
+    self.input = nil
+    self.output = nil
+
+    self.inertia = 0.02
+    self.angularVelocity = 0
+    self.torque = 0
+end
+
+function PowertrainComponent:getRPM()
+    return self.angularVelocity * RAD_TO_RPM
+end
+
+function PowertrainComponent:queryInertia()
+    if self.output == nil then
+        return self.inertia
+    end
+
+    return self.inertia + self.output:queryInertia()
+end
+
+function PowertrainComponent:queryAngularVelocity(angularVelocity)
+    self.angularVelocity = angularVelocity
+
+    if self.output == nil then
+        return 0
+    end
+
+    return self.output:queryAngularVelocity(angularVelocity)
+end
+
+function PowertrainComponent:forwardStep(torque, inertia)
+    if self.output == nil then
+        return self.torque
+    end
+
+    return self.output:forwardStep(self.torque, self.inertia + inertia)
+end

koptilnya/engine_remastered/vehicle.txt

@@ -1,68 +1,74 @@
--- Core components
+--@server
---
 --@include ./engine.txt
 --@include ./clutch.txt
 --@include ./differential.txt
--- @include ./novojiloff_diff.txt
---
--- Helpers & stuff
 --@include ./factories/gearbox.txt
 --@include /koptilnya/libs/table.txt
 --@include /koptilnya/libs/constants.txt
+
 require('./engine.txt')
 require('./clutch.txt')
---require('./differential.txt')
+require('./differential.txt')
-require('./novojiloff_diff.txt')
 require('./factories/gearbox.txt')
-
 require('/koptilnya/libs/table.txt')
 require('/koptilnya/libs/constants.txt')
 
 Vehicle = class('Vehicle')
 
 function Vehicle:initialize(config)
-    -- should probably validate config here
     if config == nil then
         throw('Vehicle config not provided')
     end
 
+    self.engine = Engine:new(config.Engine)
     self.clutch = Clutch:new(config.Clutch)
-    self.engine = Engine:new(config.Engine, self.clutch)
+    self.gearbox = GearboxFactory.create(config.Gearbox)
-
+    self.axles = table.map(config.Axles, function(config, idx)
-    local axleOrder = 0
+        return Differential:new(config, idx)
-    self.axles = table.map(config.Axles, function(config)
-        axleOrder = axleOrder + 1
-        return Differential:new(config, axleOrder)
     end)
 
-    self.gearbox = GearboxFactory.create(config.Gearbox, self.clutch, self.axles)
+    self.components = { self.engine, self.clutch, self.gearbox }
+    table.add(self.components, self.axles)
 
-    -- self.systems = table.map(config.Systems, function(config)
+    self:linkComponents()
-    --     return SystemsFactory.create(config)
+    self:createIO()
-    -- end)s
-    self.components = {self.clutch, self.gearbox}
-    self.components = table.add(self.components, self.axles)
-    self.components = table.add(self.components, {self.gearbox, self.clutch, self.engine})
-    -- self.components = table.add(self.components, self.systems)
 
+    hook.add('tick', 'vehicle_update', function()
+        self:update()
+    end)
+end
+
+function Vehicle:createIO()
     local inputs = {
         Base = "entity"
     }
     local outputs = {}
 
-    for _, comp in ipairs(self.components) do
+    for _, component in ipairs(self.components) do
-        inputs = table.merge(inputs, comp:getInputs())
+        inputs = table.merge(inputs, component.wireInputs)
-        outputs = table.merge(outputs, comp:getOutputs())
+        outputs = table.merge(outputs, component.wireOutputs)
     end
 
     wire.adjustPorts(inputs, outputs)
+end
 
-    hook.add('tick', 'vehicle_update', function()
+function Vehicle:linkComponents()
+    self.engine.output = self.clutch
+    self.clutch.output = self.gearbox
+    self.gearbox.output = self.axles[1]
+
+    self.axles[1].input = self.gearbox
+    self.gearbox.input = self.clutch
+    self.clutch.input = self.engine
+end
+
+function Vehicle:update()
     local base = wire.ports.Base
 
-        for _, comp in pairs(self.components) do
+    self.engine:integrateDownwards()
-            comp:update()
+
-            comp:updateOutputs()
+    for _, component in pairs(self.components) do
+        component:updateWireOutputs()
     end
 
     if isValid(base) and (self.clutch:getPress() == 1 or self.gearbox.ratio == 0) then
@@ -71,5 +77,4 @@ function Vehicle:initialize(config)
         base:applyForceOffset(base:getUp() * tiltForce, base:getMassCenter() + base:getRight() * UNITS_PER_METER)
         base:applyForceOffset(-base:getUp() * tiltForce, base:getMassCenter() - base:getRight() * UNITS_PER_METER)
     end
-    end)
 end

koptilnya/engine_remastered/wheel.txt

@@ -0,0 +1,61 @@
+--@include ./powertrain_component.txt
+--@include /koptilnya/libs/constants.txt
+--@include /koptilnya/libs/entity.txt
+
+require('./powertrain_component.txt')
+require('/koptilnya/libs/constants.txt')
+require('/koptilnya/libs/entity.txt')
+
+Wheel = class('Wheel', PowertrainComponent)
+
+function Wheel:initialize(config, prefix)
+    PowertrainComponent.initialize(self)
+
+    self.prefix = prefix
+
+    self.wireInputs = {
+        [prefix .. 'Wheel'] = 'entity'
+    }
+    self.wireOutputs = {
+        [prefix .. 'RPM'] = 'number'
+    }
+
+    self.entity = NULL_ENTITY
+
+    hook.add('input', 'vehicle_wheel_update' .. prefix, function(key, val)
+        if key == prefix .. 'Wheel' then
+            self.entity = val
+
+            if not isValid(val) then
+                return
+            end
+
+            if config.CalculateInertia then
+                --self.entity:setInertia(calculateWheelInertia(val))
+                --print(calculateWheelInertia(val))
+            end
+
+            self.inertia = self.entity:getInertia().y
+        end
+    end)
+end
+
+function Wheel:updateWireOutputs()
+    wire.ports[self.prefix .. 'RPM'] = self:selfRPM()
+end
+
+function Wheel:queryAngularVelocity()
+    return self.angularVelocity
+end
+
+function Wheel:forwardStep(torque, inertia)
+    if not isValid(self.entity) then
+        return 0
+    end
+
+    --self.entity:setInertia(self.entity:getInertia():setY(inertia))
+    self.entity:applyTorque(torque * self.entity:getRight())
+    self.angularVelocity = self.entity:getAngleVelocity().y
+
+    return self.angularVelocity * self.inertia
+end

koptilnya/engine_remastered/wire_component.txt

@@ -1,12 +1,9 @@
 WireComponent = class('WireComponent')
 
-function WireComponent:getInputs()
+function WireComponent:initialize()
-    return {}
+   self.wireInputs = {}
+   self.wireOutputs = {}
 end
 
-function WireComponent:getOutputs()
+function WireComponent:updateWireOutputs()
-    return {}
-end
-
-function WireComponent:updateOutputs()
 end

koptilnya/libs/entity.txt

@@ -5,3 +5,13 @@ function getLocalVelocity(entity)
 
     return entity:worldToLocal(entity:getVelocity() + entity:getPos())
 end
+
+function calculateWheelInertia(entity)
+    if not isValid(entity) then
+        return Vector(0)
+    end
+
+    local originalInertia = entity:getInertia()
+
+    return Vector(originalInertia)
+end