pushing some shit

koptilnya/.idea/.gitignore

@@ -0,0 +1,5 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/

koptilnya/.idea/koptilnya.iml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="WEB_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$">
+      <excludeFolder url="file://$MODULE_DIR$/temp" />
+      <excludeFolder url="file://$MODULE_DIR$/.tmp" />
+      <excludeFolder url="file://$MODULE_DIR$/tmp" />
+    </content>
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>

koptilnya/.idea/modules.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/koptilnya.iml" filepath="$PROJECT_DIR$/.idea/koptilnya.iml" />
+    </modules>
+  </component>
+</project>

koptilnya/.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
+  </component>
+</project>

koptilnya/better_steering/config/sample.txt

@@ -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
     }}
 })

koptilnya/better_steering/slave.txt

@@ -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

koptilnya/better_steering/steering.txt

@@ -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

koptilnya/better_steering/steering_axle.txt

@@ -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

koptilnya/engine_remastered/configs/sx240.txt

@@ -26,7 +26,8 @@ Vehicle:new({
     Clutch = {Stiffness = 20, Damping = 0.5, MaxTorque = 400},
     Gearbox = {Type = 'MANUAL', ShiftDuration = 0.2, ShiftSmoothness = 0.3, Ratios = {3.321, 1.902, 1.308, 1, 0.838}, Reverse = 3.382},
     Axles = {
-        {Power = 0.96, Coast = 0.96, Preload = 10, UsePowerBias = 10, ViscousCoeff = 0.96, Axle = Vector(1, 0, 0), DistributionCoeff = 1, FinalDrive = 3.9}
+        {Power = 0.96, Coast = 0.96, Preload = 10, UsePowerBias = 10, ViscousCoeff = 0.96, Axle = Vector(1, 0, 0), DistributionCoeff = 0.8, FinalDrive = 3.9},
+        {Power = 0.96, Coast = 0.96, Preload = 10, UsePowerBias = 10, ViscousCoeff = 0.96, Axle = Vector(1, 0, 0), DistributionCoeff = 1.2, FinalDrive = 3.9},
     },
     Systems = {{Type = 'LAUNCH', Limit = 3500}, {Type = 'TRACTION', Limit = 1.5}}
 })

koptilnya/input_system/configs/sample.txt

@@ -15,6 +15,11 @@ Axles = {
         Gravity = 0.15,
         Sensitivity = 0.25
     },
+    Brakes = {
+        Positive = KEY.S,
+        Gravity = 0.15,
+        Sensitivity = 0.25
+    },
     Shifter = {
         Positive = MOUSE.LEFT,
         Negative = MOUSE.RIGHT,