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pushing some shit

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This commit is contained in:
Ivan Grachyov
2022-01-24 20:28:12 +05:00
parent 0b71940310
commit e2de173e25
10 changed files with 166 additions and 83 deletions
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30
koptilnya/better_steering/config/sample.txt
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@@ -6,37 +6,23 @@ require('/koptilnya/better_steering/steering.txt')
Steering:new({
Sensitivity = 0.04,
Slaves = {{
PowerSteer = 0.5,
Axles = {{
Lock = 30,
Camber = -2,
Caster = 5,
Caster = 8,
Ackermann = 15.43,
Toe = 0,
Offset = 180
LeftOffset = 180,
RightOffset = 180
}, {
Lock = 30,
Camber = -2,
Caster = 5,
Ackermann = 15.43,
Toe = 0,
Offset = 180,
IsRight = true
}, {
Lock = 1,
Lock = 0,
Camber = -2,
Caster = 0,
Ackermann = 0,
Toe = 0,
Offset = 180,
Direction = -1
}, {
Lock = 1,
Camber = -2,
Caster = 0,
Ackermann = 0,
Toe = 0,
Offset = 180,
IsRight = true,
LeftOffset = 180,
RightOffset = 180,
Direction = -1
}}
})

69
koptilnya/better_steering/slave.txt
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@@ -1,7 +1,9 @@
-- @include /koptilnya/libs/wire_component.txt
-- @include /koptilnya/libs/constants.txt
-- @include /koptilnya/libs/entity.txt
require('/koptilnya/libs/wire_component.txt')
require('/koptilnya/libs/constants.txt')
require('/koptilnya/libs/entity.txt')
Slave = class('Slave', WireComponent)
@@ -19,26 +21,19 @@ function Slave:initialize(options)
self.order = options.Order or 0
self.entity = nil
self.wheel = nil
self.entity = options.Slave
self.wheel = options.Wheel
self.base = options.Base or nil
self.steer = 0
self.steeringAngle = 0
self.lateralVel = 0
self.baseLngVel = 0
self.lateralForce = 0
self.selfAligningTorque = 0
self.correctingAngle = 0
end
function Slave:getInputs()
local inputs = {}
inputs['SL_' .. self.order] = 'entity'
inputs['W_' .. self.order] = 'entity'
return inputs
end
function Slave:getOutputs()
local outputs = {}
@@ -46,6 +41,8 @@ function Slave:getOutputs()
outputs['SL_' .. self.order .. '_SelfAligningTq'] = 'number'
outputs['SL_' .. self.order .. '_CorrectingAngle'] = 'number'
outputs['W_' .. self.order .. '_LateralVel'] = 'number'
outputs['SL_' .. self.order .. '_SteeringAngle'] = 'number'
outputs['SL_' .. self.order .. '_BaseLngVel'] = 'number'
return outputs
end
@@ -55,42 +52,24 @@ function Slave:updateOutputs()
wire.ports['SL_' .. self.order .. '_SelfAligningTq'] = self.selfAligningTorque
wire.ports['SL_' .. self.order .. '_CorrectingAngle'] = self.correctingAngle
wire.ports['W_' .. self.order .. '_LateralVel'] = self.lateralVel
wire.ports['SL_' .. self.order .. '_SteeringAngle'] = self.steeringAngle
wire.ports['SL_' .. self.order .. '_BaseLngVel'] = self.baseLngVel
end
function Slave:update()
self.entity = wire.ports['SL_' .. self.order]
self.wheel = wire.ports['W_' .. self.order]
if isValid(self.entity) and isValid(self.base) and isValid(self.wheel) then
local wheelMass = self.wheel:getMass()
local wheelInertia = self.wheel:getInertia():getLength()
local wheelRadius = self.wheel:getModelRadius() / UNITS_PER_METER
local wheelFriction = self.wheel:getFriction()
local lateralVel = self.wheel:worldToLocal(self.wheel:getVelocity() + self.wheel:getPos())[2]
self.lateralVel = lateralVel
if math.abs(self.steer) > 0 then
self.correctingAngle = 0
else
self.lateralForce = wheelFriction * wheelMass * lateralVel / TICK_INTERVAL /
UNITS_PER_METER
self.selfAligningTorque = self.lateralForce * wheelRadius * 2
self.correctingAngle = self.selfAligningTorque / wheelInertia * TICK_INTERVAL
end
if self.isRight then
self.correctingAngle = self.correctingAngle * -1
end
self.correctingAngle = 0
if not self.entity:isFrozen() and not self.entity:isPlayerHolding() then
self.entity:setFrozen(1)
end
local inc = self.steer * self.lock * self.direction
self.steeringAngle = math.clamp(self.steeringAngle + inc + self.correctingAngle, -self.lock, self.lock)
local wheelMass = self.wheel:getMass()
local wheelInertia = self.wheel:getInertia():getLength()
local wheelRadius = self.wheel:getModelRadius() / UNITS_PER_METER
local wheelFriction = self.wheel:getFriction()
local wheelLocalVel = getLocalVelocity(self.wheel)
local baseLocalVel = getLocalVelocity(self.base)
local lateralVel = wheelLocalVel[2]
local baseLngVel = baseLocalVel[1]
local camber = self.isRight and -self.camber or self.camber
local steerRatio = self.lock ~= 0 and self.steeringAngle / self.lock or 0
@@ -104,11 +83,23 @@ function Slave:update()
ackermann = self.isRight and steerRatio * self.ackermann or -steerRatio * self.ackermann
end
self.lateralForce = wheelFriction * wheelMass * lateralVel / UNITS_PER_METER
self.selfAligningTorque = self.lateralForce * wheelRadius
self.correctingAngle = self.selfAligningTorque / wheelInertia * math.sin(math.rad(math.abs(self.caster * 2))) *
math.sign(baseLngVel) * (self.isRight and -1 or 1)
local inc = self.steer * self.lock * self.direction * math.cos(math.rad(math.abs(self.caster * 2)))
self.steeringAngle = math.clamp(self.steeringAngle + inc + self.correctingAngle, -self.lock, self.lock)
-- Dividing ackermann by 2 because ackermann angle is difference between wheels angle
-- So if we don't divide it by 2, the result angle will be 2 times more than expected
local angle = Angle(0, self.offset + self.steeringAngle + toe + ackermann / 2, camber - caster)
local angle = Angle(0, self.offset + self.steeringAngle + toe + ackermann / 2, camber + caster)
local localizedAngle = self.base:localToWorldAngles(angle)
self.entity:setAngles(localizedAngle)
self.lateralVel = lateralVel
self.baseLngVel = baseLngVel
end
end

42
koptilnya/better_steering/steering.txt
View File

@@ -1,22 +1,22 @@
-- @include /koptilnya/libs/wire_component.txt
-- @include ./slave.txt
-- @include ./steering_axle.txt
-- @include /koptilnya/libs/table.txt
require('/koptilnya/libs/wire_component.txt')
require('./slave.txt')
require('./steering_axle.txt')
require('/koptilnya/libs/table.txt')
Steering = class('Steering', WireComponent)
function Steering:initialize(options)
options = options or {}
self.slaves = {}
self.axles = {}
self.steer = 0
self.sensitivity = options.Sensitivity or 1
for key, slave in ipairs(options.Slaves) do
slave.Order = key
slave.Base = wire.ports.Base
table.insert(self.slaves, Slave:new(slave))
for key, axle in ipairs(options.Axles) do
axle.Order = key
axle.Base = wire.ports.Base
table.insert(self.axles, SteeringAxle:new(axle))
end
self:_adjustPorts()
@@ -33,9 +33,9 @@ function Steering:_adjustPorts()
inputs = table.merge(inputs, self:getInputs())
outputs = table.merge(outputs, self:getOutputs())
for _, slave in ipairs(self.slaves) do
inputs = table.merge(inputs, slave:getInputs())
outputs = table.merge(outputs, slave:getOutputs())
for _, axle in ipairs(self.axles) do
inputs = table.merge(inputs, axle:getInputs())
outputs = table.merge(outputs, axle:getOutputs())
end
wire.adjustPorts(inputs, outputs)
@@ -55,15 +55,15 @@ function Steering:getOutputs()
end
function Steering:updateOutputs()
local totalSteeringAngle = table.reduce(self.slaves, function(steer, slave)
return steer + slave.direction * slave.steeringAngle / (slave.lock ~= 0 and slave.lock or 1)
end, 0)
-- local totalSteeringAngle = table.reduce(self.slaves, function(steer, slave)
-- return steer + slave.direction * slave.steeringAngle / (slave.lock ~= 0 and slave.lock or 1)
-- end, 0)
local steerableSlaves = table.filter(self.slaves, function(slave)
return slave.lock ~= 0
end)
-- local steerableSlaves = table.filter(self.slaves, function(slave)
-- return slave.lock ~= 0
-- end)
wire.ports.Steer = totalSteeringAngle / #steerableSlaves
-- wire.ports.Steer = totalSteeringAngle / #steerableSlaves
end
function Steering:update()
@@ -71,9 +71,9 @@ function Steering:update()
self:updateOutputs()
for _, slave in ipairs(self.slaves) do
slave.steer = self.steer
slave:update()
slave:updateOutputs()
for _, axle in ipairs(self.axles) do
axle.steer = self.steer
axle:update()
axle:updateOutputs()
end
end

69
koptilnya/better_steering/steering_axle.txt Normal file
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@@ -0,0 +1,69 @@
-- @include /koptilnya/libs/wire_component.txt
-- @include /koptilnya/libs/constants.txt
-- @include /koptilnya/libs/entity.txt
-- @include ./slave.txt
require('/koptilnya/libs/wire_component.txt')
require('/koptilnya/libs/constants.txt')
require('/koptilnya/libs/entity.txt')
require('./slave.txt')
SteeringAxle = class('SteeringAxle', WireComponent)
function SteeringAxle:createSlave(options, isRight)
local config = {
Lock = options.Lock,
Camber = options.Camber,
Caster = options.Caster,
Ackermann = options.Ackermann,
Toe = options.Toe,
Direction = options.Direction,
IsRight = isRight,
Slave = wire.ports[self._prefix .. (isRight and '_RightSlave' or '_LeftSlave')],
Wheel = wire.ports[self._prefix .. (isRight and '_RightWheel' or '_LeftWheel')],
Offset = isRight and options.RightOffset or options.LeftOffset,
Prefix = self._prefix .. (isRight and '_RightWheel' or '_LeftWheel'),
Base = wire.ports.Base
}
return Slave:new(config)
end
function SteeringAxle:initialize(options)
options = options or {}
self.steer = 0
self._prefix = 'Axle' .. options.Order
self.leftSlave = self:createSlave(options, false)
self.rightSlave = self:createSlave(options, true)
end
function SteeringAxle:getInputs()
local inputs = {}
inputs[self._prefix .. '_LeftSlave'] = 'entity'
inputs[self._prefix .. '_RightSlave'] = 'entity'
inputs[self._prefix .. '_LeftWheel'] = 'entity'
inputs[self._prefix .. '_RightWheel'] = 'entity'
return inputs
end
function SteeringAxle:getOutputs()
local outputs = {}
table.merge(outputs, self.leftSlave:getOutputs())
table.merge(outputs, self.rightSlave:getOutputs())
return outputs
end
function SteeringAxle:updateOutputs()
self.leftSlave:updateOutputs()
self.rightSlave:updateOutputs()
end
function SteeringAxle:update()
self.leftSlave:update()
self.rightSlave:update()
end