Attempts to fix new vehicle system

koptilnya/engine_remastered/differential.txt

@@ -11,13 +11,19 @@ Differential = class('Differential', PowertrainComponent)
 function Differential:initialize(config, order)
     PowertrainComponent.initialize(self, 'Axle')
 
+    self.wireOutputs = {
+        Diff_Torque = 'number'
+    }
+
     local prefix = 'Axle' .. (order or '') .. '_'
 
     self.finalDrive = config.FinalDrive or 4
+    self.inertia = config.Inertia or 0.2
     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.stiffness = config.Stiffness or 0.1
     self.slipTorque = config.SlipTorque or 1000
 
     local wheelConfig = {
@@ -33,6 +39,8 @@ function Differential:initialize(config, order)
 end
 
 function Differential:updateWireOutputs()
+    wire.ports.Diff_Torque = self.torque
+
     if self.outputA ~= nil then
         self.outputA:updateWireOutputs()
     end
@@ -60,7 +68,7 @@ function Differential:queryAngularVelocity(angularVelocity)
     local aW = self.outputA:queryAngularVelocity(angularVelocity)
     local bW = self.outputB:queryAngularVelocity(angularVelocity)
 
-    return (aW - bW) * self.finalDrive * 0.5
+    return (aW + bW) * self.finalDrive * 0.5
 end
 
 function Differential:forwardStep(torque, inertia)
@@ -69,12 +77,14 @@ function Differential:forwardStep(torque, inertia)
     end
 
     local aW = self.outputA:queryAngularVelocity(self.angularVelocity)
-    local bW = -self.outputB:queryAngularVelocity(self.angularVelocity)
+    local bW = self.outputB:queryAngularVelocity(self.angularVelocity)
     local aI = self.outputA:queryInertia()
     local bI = self.outputB:queryInertia()
 
+    self.torque = torque * self.finalDrive
+
     local tqA, tqB = self:_openDiffTorqueSplit(
-            torque * self.finalDrive,
+            self.torque,
             aW,
             bW,
             aI,
@@ -87,13 +97,10 @@ function Differential:forwardStep(torque, inertia)
             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
+    return (tqA + tqB) / self.finalDrive
 end
 
 function Differential:_openDiffTorqueSplit(tq, aW, bW, aI, bI, biasAB, preload, stiffness, powerRamp, coastRamp, slipTorque)
@@ -109,7 +116,7 @@ function Differential:_lockingDiffTorqueSplit(tq, aW, bW, aI, bI, biasAB, preloa
     local bTqCorr = (w - bW) * bI -- / dt
     bTqCorr = bTqCorr * stiffness
 
-    local biasA = clamp(0.5 + (bW - aW) * 0.1 * stiffness, 0, 1)
+    local biasA = math.clamp(0.5 + (bW - aW) * 0.1 * stiffness, 0, 1)
 
     return tq * biasA + aTqCorr, tq * (1 - biasA) * bTqCorr
 end

koptilnya/engine_remastered/wheel.txt

@@ -18,7 +18,8 @@ function Wheel:initialize(config, prefix)
         [prefix .. 'Wheel'] = 'entity'
     }
     self.wireOutputs = {
-        [prefix .. 'WheelRPM'] = 'number'
+        [prefix .. 'WheelRPM'] = 'number',
+        [prefix .. 'WheelTorque'] = 'number'
     }
 
     self.entity = NULL_ENTITY
@@ -32,8 +33,7 @@ function Wheel:initialize(config, prefix)
             end
 
             if config.CalculateInertia then
-                --self.entity:setInertia(calculateWheelInertia(val))
+                self.entity:setInertia(calculateWheelInertia(val))
-                --print(calculateWheelInertia(val))
             end
 
             self.inertia = self.entity:getInertia().y
@@ -41,8 +41,17 @@ function Wheel:initialize(config, prefix)
     end)
 end
 
+function Wheel:getRadius()
+    if not isValid(self.entity) then
+        return 0
+    end
+
+    return self.entity:getModelRadius() * UNITS_TO_METERS
+end
+
 function Wheel:updateWireOutputs()
     wire.ports[self.prefix .. 'WheelRPM'] = self:getRPM()
+    wire.ports[self.prefix .. 'WheelTorque'] = self.torque
 end
 
 function Wheel:queryAngularVelocity()
@@ -54,9 +63,14 @@ function Wheel:forwardStep(torque, inertia)
         return 0
     end
 
-    --self.entity:setInertia(self.entity:getInertia():setY(inertia))
+    local initialAngularVelocity = self.angularVelocity
-    self.entity:applyTorque(torque * self.direction * self.entity:getRight())
-    self.angularVelocity = self.entity:getAngleVelocity().y * self.direction * TICK_INTERVAL
 
-    return self.angularVelocity * self.inertia
+    --self.entity:setInertia(self.entity:getInertia():setY(inertia))
+    self.torque = math.deg(torque) * 1.33 * -self.direction
+    self.entity:applyTorque(self.torque * TICK_INTERVAL * self.entity:getRight())
+    self.angularVelocity = math.rad(self.entity:getAngleVelocity().y) * self.direction
+
+    local deltaOmegaTorque = (self.angularVelocity - initialAngularVelocity) * self.inertia / TICK_INTERVAL
+
+    return torque
 end

koptilnya/libs/constants.txt

@@ -6,3 +6,4 @@ TICK_INTERVAL = game.getTickInterval()
 RAD_TO_RPM = 9.5493
 RPM_TO_RAD = 0.10472
 UNITS_PER_METER = 39.37
+UNITS_TO_METERS = 0.01905

koptilnya/libs/entity.txt

@@ -1,3 +1,7 @@
+--@include ./constants.txt
+
+require('./constants.txt')
+
 function getLocalVelocity(entity)
     if not entity:isValid() then
         return
@@ -11,7 +15,5 @@ function calculateWheelInertia(entity)
         return Vector(0)
     end
 
-    local originalInertia = entity:getInertia()
+    return entity:getInertia():setY(0.5 * entity:getMass() * math.pow(entity:getModelRadius() * UNITS_TO_METERS, 2))
-
-    return Vector(originalInertia)
 end