Reworking vehicle controller

koptilnya/engine/eng_comf_config.txt

@@ -1,5 +1,5 @@
 config = {
-    Name = "Jopa",
+    Name = 'Jopa',
     Engine = {
         IdleRPM = 900,
         MaxRPM = 7000,
@@ -35,7 +35,7 @@ config = {
         MaxTorque = 600
     },
     Gearbox = {
-        Type = "AUTO",
+        Type = 'AUTO',
         ShiftDuration = 0.2,
         ShiftSmoothness = 0.3,
         Ratios = {13.45, 8.12, 5.51, 4.16, 3.36, 2.83},
@@ -61,10 +61,10 @@ config = {
         FinalDrive = 1
     }},
     Systems = {{
-        Type = "LAUNCH",
+        Type = 'LAUNCH',
         RPMLimit = 3500
     }, {
-        Type = "TRACTION",
+        Type = 'TRACTION',
         Slip = 1.5
     }}
 }

koptilnya/engine_remastered/clutch.txt

@@ -38,11 +38,15 @@ function Clutch:getOutputs()
     }
 end
 
-function Clutch:update()
+function Clutch:getPress()
-    if self._gearbox.type == gearboxTypes.MANUAL then
+    if self._gearbox ~= nil and self._gearbox.type == gearboxTypes.MANUAL then
-        self.press = wire.ports.Clutch
+        return wire.ports.Clutch
+    else
+        return self.press
     end
+end
 
+function Clutch:update()
     local someConversionCoeff = 0.10472
 
     local engRPM = self._engine and self._engine.rpm or 0
@@ -51,7 +55,7 @@ function Clutch:update()
     local gboxRatioNotZero = gboxRatio ~= 0 and 1 or 0
 
     self.slip = ((engRPM - gboxRPM) * someConversionCoeff) * gboxRatioNotZero / 2
-    self.targetTorque = math.clamp(self.slip * self.stiffness * (1 - self.press), -self.maxTorque, self.maxTorque)
+    self.targetTorque = math.clamp(self.slip * self.stiffness * (1 - self:getPress()), -self.maxTorque, self.maxTorque)
 
     self.torque = math.lerp(self.damping, self.torque, self.targetTorque)
 end

koptilnya/engine_remastered/configs/sample.txt

@@ -36,11 +36,11 @@ Vehicle:new({
     },
     Clutch = {
         Stiffness = 22,
-        Damping = 0.8,
+        Damping = 0.5,
         MaxTorque = 600
     },
     Gearbox = {
-        Type = "AUTO",
+        Type = "MANUAL",
         ShiftDuration = 0.2,
         ShiftSmoothness = 0.3,
         Ratios = {13.45, 8.12, 5.51, 4.16, 3.36, 2.83},

koptilnya/engine_remastered/differential.txt

@@ -0,0 +1,33 @@
+-- @include ./wire_component.txt
+require('./wire_component.txt')
+
+Differential = class('Differential', WireComponent)
+
+function Differential:initialize(config)
+    self.power = config.Power or 1
+    self.coast = config.Coast or 1
+    self.preload = config.Preload or 10
+
+    self.viscousCoeff = config.ViscousCoeff or 0.9
+    self.usePowerBias = config.UsePowerBias or 10
+
+    self.distributionCoeff = config.DistributionCoeff or 1
+    self.maxCorrectingTorque = config.MaxCorrectingTorque or 200
+
+    self.avgRPM = 0
+
+    self.leftWheel = nil
+    self.rightWheel = nil
+end
+
+function Differential:getInputs()
+    local leftWheelName = 'Axle_' + self.order + '_LeftWheel'
+    local rightWheelName = 'Axle_' + self.order + '_RightWheel'
+
+    local inputs = {}
+
+    inputs[leftWheelName] = 'entity'
+    inputs[rightWheelName] = 'entity'
+
+    return inputs
+end

koptilnya/engine_remastered/gearboxes/base.txt

@@ -0,0 +1,49 @@
+Gearbox = class('Gearbox')
+
+function Gearbox:initialize(config, clutch, axles)
+    self.ratios = config.Ratios
+    self.reverse = config.Reverse
+
+    self.rpm = 0
+    self.gear = 0
+    self.torque = 0
+
+    self.axles = axles or {}
+    self.clutch = clutch
+
+    self:recalcRatio()
+end
+
+function Gearbox:setGear(gear)
+    if gear >= -1 and gear <= #self.ratios then
+        self.gear = gear
+        self:recalcRatio()
+    end
+end
+
+function Gearbox:recalcRatio()
+    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()
+    if self.clutch ~= nil then
+        self.torque = self.clutch.torque * self.ratio
+    end
+
+    local axlesRPM = table.map(self.axles, function(diff)
+        return diff.avgRPM
+    end)
+
+    local maxAxlesRPM = math.max(unpack(axlesRPM))
+
+    self.rpm = maxAxlesRPM * self.ratio
+end
+
+function Gearbox:shift()
+end

koptilnya/engine_remastered/gearboxes/manual.txt

@@ -1,29 +1,76 @@
-ManualGearbox = class('ManualGearbox')
+-- @include /koptilnya/libs/watcher.txt
+-- @include ./base.txt
+require('/koptilnya/libs/watcher.txt')
+require('./base.txt')
 
-function ManualGearbox:initialize(config)
+ManualGearbox = class('ManualGearbox', Gearbox)
-    self.ratios = config.Ratios
-    self.reverse = config.Reverse
 
-    self.rpm = 0
+function ManualGearbox:initialize(config, clutch)
-    self.torque = 0
+    Gearbox.initialize(self, config, clutch)
-    self.gear = 0
 
-    self:recalcRatio()
+    -- self.ratios = config.Ratios
+    -- self.reverse = config.Reverse
+
+    -- self.rpm = 0
+    -- self.torque = 0
+    -- self.gear = 0
+
+    -- self:recalcRatio()
+
+    -- self.axles = {}
+    -- self.clutch = nil
+
+    -- self.torque = 0
+
+    -- self.shiftWatcher = watcher(function()
+    --     return wire.ports.Upshift - wire.ports.Downshift
+    -- end, function(val)
+    --     if val ~= 0 then
+    --         self:shift(val)
+    --     end
+    -- end)
+end
+
+function ManualGearbox:recalcRatio()
+    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 ManualGearbox:getInputs()
+    return {
+        Upshift = 'number',
+        Downshift = 'number'
+    }
+end
+
+function ManualGearbox:getOutputs()
+    return {
+        Gearbox_RPM = 'number',
+        Gearbox_Torque = 'number'
+    }
+end
+
+function ManualGearbox:updateOutputs()
 
-    self.axles = {}
-    self.clutch = {}
 end
 
 function ManualGearbox:update()
-    if self.clutch ~= nil then
+    -- if self.clutch ~= nil then
-        self.torque = self.clutch.torque * self.ratio
+    --     self.torque = self.clutch.torque * self.ratio
-    end
+    -- end
 
-    local axlesRPM = table.map(self.axles, function(diff)
+    -- local axlesRPM = table.map(self.axles, function(diff)
-        return diff.avgRPM
+    --     return diff.avgRPM
-    end)
+    -- end)
 
-    local maxAxlesRPM = math.max(unpack(axlesRPM))
+    -- local maxAxlesRPM = math.max(unpack(axlesRPM))
 
-    self.rpm = maxAxlesRPM * self.ratio
+    -- self.rpm = maxAxlesRPM * self.ratio
+
+    -- self.shiftWatcher()
 end

koptilnya/engine_remastered/vehicle.txt

@@ -22,7 +22,13 @@ function Vehicle:initialize(config)
 
     self.clutch = Clutch:new(config.Clutch)
     self.engine = Engine:new(config.Engine, self.clutch)
-    self.gearbox = GearboxFactory.create(config.Gearbox, self.clutch)
+
+    self.axles = table.map(config.Axles, function(config)
+        return Differential:new(config)
+    end)
+
+    self.gearbox = GearboxFactory.create(config.Gearbox, self.clutch, self.axles)
+
     -- self.axles = table.map(config.Axles, function(config)
     --     return Differential:new(config)
     -- end)
@@ -30,7 +36,7 @@ function Vehicle:initialize(config)
     --     return SystemsBuilder:create(config)
     -- end)
 
-    self.components = {self.clutch, self.engine} -- , self.gearbox, self.clutch}
+    self.components = {self.clutch, self.engine, self.gearbox} -- , self.gearbox, self.clutch}
     -- self.components = table.add(self.components, self.axles)
     -- self.components = table.add(self.components, self.systems)