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Added direction option to wheel config

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This commit is contained in:
Nikita Kruglickiy 2022-07-28 16:06:48 +03:00
parent d432b3220a
commit ca83cc2515
2 changed files with 6 additions and 5 deletions
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2
koptilnya/engine_remastered/differential.txt
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@ -24,7 +24,7 @@ function Differential:initialize(config, order)
CalculateInertia = true CalculateInertia = true
} }
self.outputA = Wheel:new(wheelConfig, prefix .. 'Left') self.outputA = Wheel:new(wheelConfig, prefix .. 'Left')
self.outputB = Wheel:new(wheelConfig, prefix .. 'Right') self.outputB = Wheel:new(table.merge(wheelConfig, { Direction = -1 }), prefix .. 'Right')
table.merge(self.wireInputs, self.outputA.wireInputs) table.merge(self.wireInputs, self.outputA.wireInputs)
table.merge(self.wireInputs, self.outputB.wireInputs) table.merge(self.wireInputs, self.outputB.wireInputs)

9
koptilnya/engine_remastered/wheel.txt
View File

@ -12,12 +12,13 @@ function Wheel:initialize(config, prefix)
PowertrainComponent.initialize(self) PowertrainComponent.initialize(self)
self.prefix = prefix self.prefix = prefix
self.direction = config.Direction or 1
self.wireInputs = { self.wireInputs = {
[prefix .. 'Wheel'] = 'entity' [prefix .. 'Wheel'] = 'entity'
} }
self.wireOutputs = { self.wireOutputs = {
[prefix .. 'RPM'] = 'number' [prefix .. 'WheelRPM'] = 'number'
} }
self.entity = NULL_ENTITY self.entity = NULL_ENTITY
@ -41,7 +42,7 @@ function Wheel:initialize(config, prefix)
end end
function Wheel:updateWireOutputs() function Wheel:updateWireOutputs()
wire.ports[self.prefix .. 'RPM'] = self:selfRPM() wire.ports[self.prefix .. 'WheelRPM'] = self:getRPM()
end end
function Wheel:queryAngularVelocity() function Wheel:queryAngularVelocity()
@ -54,8 +55,8 @@ function Wheel:forwardStep(torque, inertia)
end end
--self.entity:setInertia(self.entity:getInertia():setY(inertia)) --self.entity:setInertia(self.entity:getInertia():setY(inertia))
self.entity:applyTorque(torque * self.entity:getRight()) self.entity:applyTorque(torque * self.direction * self.entity:getRight())
self.angularVelocity = self.entity:getAngleVelocity().y self.angularVelocity = self.entity:getAngleVelocity().y * self.direction * TICK_INTERVAL
return self.angularVelocity * self.inertia return self.angularVelocity * self.inertia
end end