types

.gitattributes

@@ -0,0 +1 @@
+*.txt linguist-language=Lua

.gitignore

@@ -3,4 +3,4 @@
 !/koptilnya
 !README.md
 !.gitignore
-!.lua-format
+!.gitattributes

.lua-format

@@ -1,12 +0,0 @@
-# Install vs-code extension: koihik.vscode-lua-format
-# Then set the config file
-
-column_limit: 280
-line_breaks_after_function_body: 2
-keep_simple_control_block_one_line: false
-keep_simple_function_one_line: false
-break_after_functioncall_lp: false
-break_before_functioncall_rp: false
-use_tab: false
-continuation_indent_width: 1
-

koptilnya/engine_remastered/configs/new_sx240.txt

@@ -8,28 +8,27 @@ local Differential = require('/koptilnya/engine_remastered/powertrain/differenti
 
 -- Michelin Pilot Sport 4S (High-Performance Road Tire)
 local WheelConfig = {
-    DEBUG = true,
+	DEBUG = false,
 	BrakePower = 1200,
 	CustomWheel = {
 		Mass = 30,
-
 		LateralFrictionPreset = {
 			B = 12.0,
 			C = 1.3,
 			D = 1.8,
-            E = -1.8
+			E = -1.8,
 		},
 		LongitudinalFrictionPreset = {
 			B = 18.0,
 			C = 1.5,
 			D = 1.5,
-            E = 0.3
+			E = 0.3,
 		},
 		AligningFrictionPreset = {
 			B = 2.8,
 			C = 2.1,
 			D = 0.10,
-            E = -2.5
+			E = -2.5,
 		},
 		-- AligningFrictionPreset = {
 		--     B = 13,
@@ -38,29 +37,37 @@ local WheelConfig = {
 		--     E = 0.48
 		-- }
 	},
-    Model = 'models/sprops/trans/wheel_a/wheel25.mdl'
+	Model = 'models/sprops/trans/wheel_a/wheel25.mdl',
 }
-local FrontWheelsConfig = table.merge(
+local FrontWheelsConfig = table.merge(table.copy(WheelConfig), {
-    table.copy(WheelConfig),
+	BrakePower = 1600,
-    {
 	CustomWheel = {
 		CasterAngle = 7,
 		CamberAngle = -3,
-            ToeAngle = 0.5
+	},
-        }
+})
-    }
-)
 
-local RearWheelsConfig = table.merge(
+local RearWheelsConfig = table.merge(table.copy(WheelConfig), {
-    table.copy(WheelConfig),
+	BrakePower = 0,
-    {
 	HandbrakePower = 2200,
 	CustomWheel = {
 		CamberAngle = -2,
-            ToeAngle = 0.5
+		LongitudinalFrictionPreset = nil,
-        }
+		LateralFrictionPreset = nil,
-    }
+		-- LongitudinalFrictionPreset = {
-)
+		-- 	B = 0.1,
+		-- 	C = 1,
+		-- 	D = 0.9,
+		-- 	E = 0.9,
+		-- },
+		-- LateralFrictionPreset = {
+		-- 	B = 0.1,
+		-- 	C = 1,
+		-- 	D = 0.9,
+		-- 	E = 0.9,
+		-- },
+	},
+})
 
 Vehicle:new({
 	{
@@ -74,15 +81,109 @@ Vehicle:new({
 			FrictionCoeff = 0.01,
 			LimiterDuration = 0.06,
 			TorqueMap = {
-                118.89918444138, 122.0751393736, 125.25109430583, 128.42704923806, 131.60300417029, 134.77895910251, 137.95491403474, 141.13086896697, 144.3068238992, 147.48277883143, 150.65873376365, 153.83468869588, 157.01064362811, 160.18659856034, 163.36255349256,
+				118.89918444138,
-                166.53850842479, 169.71446335702, 172.89041828925, 176.06637322148, 179.2423281537, 182.41828308593, 185.59423801816, 188.77019295039, 191.94614788261, 195.12210281484, 198.29805774707, 201.4740126793, 204.64996761153, 207.82592254375, 211.00187747598,
+				122.0751393736,
-                214.17783240821, 217.35378734044, 220.52974227266, 223.70569720489, 226.88165213712, 227.9621903219, 229.04272850669, 230.12326669147, 231.20380487625, 232.28434306104, 233.36488124582, 234.4454194306, 235.52595761538, 236.60649580017, 237.68703398495,
+				125.25109430583,
-                238.76757216973, 239.84811035452, 240.9286485393, 242.00918672408, 243.08972490886, 244.17026309365, 245.25080127843, 246.33133946321, 247.411877648, 248.49241583278, 249.57295401756, 250.65349220234, 251.73403038713, 252.81456857191, 253.89510675669, 254.97564494148,
+				128.42704923806,
-                256.05618312626, 257.13672131104, 258.21725949582, 259.29779768061, 260.37833586539, 261.29278066787, 262.20722547034, 263.12167027282, 264.0361150753, 264.95055987777, 265.86500468025, 266.77944948273, 267.6938942852, 268.60833908768, 269.52278389016,
+				131.60300417029,
-                270.43722869263, 271.35167349511, 272.26611829758, 273.18056310006, 274.09500790254, 275.00945270501, 275.92389750749, 276.83834230997, 275.50329427594, 274.16824624192, 272.8331982079, 271.49815017388, 270.16310213985, 268.82805410583, 267.49300607181,
+				134.77895910251,
-                266.15795803778, 264.82291000376, 263.48786196974, 262.15281393572, 260.81776590169, 259.48271786767, 250.23203287321, 240.98134787874, 231.73066288428, 222.47997788981
+				137.95491403474,
-            }
+				141.13086896697,
-        }
+				144.3068238992,
+				147.48277883143,
+				150.65873376365,
+				153.83468869588,
+				157.01064362811,
+				160.18659856034,
+				163.36255349256,
+				166.53850842479,
+				169.71446335702,
+				172.89041828925,
+				176.06637322148,
+				179.2423281537,
+				182.41828308593,
+				185.59423801816,
+				188.77019295039,
+				191.94614788261,
+				195.12210281484,
+				198.29805774707,
+				201.4740126793,
+				204.64996761153,
+				207.82592254375,
+				211.00187747598,
+				214.17783240821,
+				217.35378734044,
+				220.52974227266,
+				223.70569720489,
+				226.88165213712,
+				227.9621903219,
+				229.04272850669,
+				230.12326669147,
+				231.20380487625,
+				232.28434306104,
+				233.36488124582,
+				234.4454194306,
+				235.52595761538,
+				236.60649580017,
+				237.68703398495,
+				238.76757216973,
+				239.84811035452,
+				240.9286485393,
+				242.00918672408,
+				243.08972490886,
+				244.17026309365,
+				245.25080127843,
+				246.33133946321,
+				247.411877648,
+				248.49241583278,
+				249.57295401756,
+				250.65349220234,
+				251.73403038713,
+				252.81456857191,
+				253.89510675669,
+				254.97564494148,
+				256.05618312626,
+				257.13672131104,
+				258.21725949582,
+				259.29779768061,
+				260.37833586539,
+				261.29278066787,
+				262.20722547034,
+				263.12167027282,
+				264.0361150753,
+				264.95055987777,
+				265.86500468025,
+				266.77944948273,
+				267.6938942852,
+				268.60833908768,
+				269.52278389016,
+				270.43722869263,
+				271.35167349511,
+				272.26611829758,
+				273.18056310006,
+				274.09500790254,
+				275.00945270501,
+				275.92389750749,
+				276.83834230997,
+				275.50329427594,
+				274.16824624192,
+				272.8331982079,
+				271.49815017388,
+				270.16310213985,
+				268.82805410583,
+				267.49300607181,
+				266.15795803778,
+				264.82291000376,
+				263.48786196974,
+				262.15281393572,
+				260.81776590169,
+				259.48271786767,
+				250.23203287321,
+				240.98134787874,
+				231.73066288428,
+				222.47997788981,
+			},
+		},
 	},
 	{
 		Name = 'Clutch',
@@ -90,8 +191,8 @@ Vehicle:new({
 		Type = POWERTRAIN_COMPONENT.Clutch,
 		Config = {
 			Inertia = 0.002,
-            SlipTorque = 1000
+			SlipTorque = 1000,
-        }
+		},
 	},
 	{
 		Name = 'Gearbox',
@@ -102,8 +203,8 @@ Vehicle:new({
 			ShiftTime = 3,
 			Inertia = 0.01,
 			Ratios = { 3.626, 2.200, 1.541, 1.213, 1.000, 0.767 },
-            Reverse = 3.437
+			Reverse = 3.437,
-        }
+		},
 	},
 	{
 		Name = 'AxleFront',
@@ -118,20 +219,21 @@ Vehicle:new({
 			PowerRamp = 1,
 			Stiffness = 0.1,
 			SlipTorque = 0,
-            SteerLock = 45
+			SteerLock = 50,
-        }
+			ToeAngle = 0.5,
+		},
 	},
 	{
 		Name = 'WheelFL',
 		Type = POWERTRAIN_COMPONENT.Wheel,
 		Input = 'AxleFront',
-        Config = table.merge(table.copy(FrontWheelsConfig), { Offset = 0 })
+		Config = table.merge(table.copy(FrontWheelsConfig), { Offset = 0 }),
 	},
 	{
 		Name = 'WheelFR',
 		Type = POWERTRAIN_COMPONENT.Wheel,
 		Input = 'AxleFront',
-        Config = table.merge(table.copy(FrontWheelsConfig), { Offset = 180 })
+		Config = table.merge(table.copy(FrontWheelsConfig), { Offset = 180 }),
 	},
 	{
 		Name = 'AxleBack',
@@ -144,35 +246,36 @@ Vehicle:new({
 			BiasAB = 0.5,
 			CoastRamp = 1,
 			PowerRamp = 1,
-            Stiffness = 0.1,
+			Stiffness = 1,
-            SlipTorque = 0,
+			SlipTorque = 1000,
-        }
+			ToeAngle = 0.5,
+		},
 	},
 	{
 		Name = 'Axle',
 		Input = 'Gearbox',
 		Type = POWERTRAIN_COMPONENT.Differential,
 		Config = {
-            Type = Differential.TYPES.Open,
+			Type = Differential.TYPES.Locking,
 			FinalDrive = 1,
 			Inertia = 0.01,
 			BiasAB = 0.5,
 			CoastRamp = 1,
 			PowerRamp = 1,
 			Stiffness = 1,
-            SlipTorque = 0
+			SlipTorque = 1000,
-        }
+		},
 	},
 	{
 		Name = 'WheelRL',
 		Input = 'AxleBack',
 		Type = POWERTRAIN_COMPONENT.Wheel,
-        Config = table.merge(table.copy(RearWheelsConfig), { Offset = 0 })
+		Config = table.merge(table.copy(RearWheelsConfig), { Offset = 0 }),
 	},
 	{
 		Name = 'WheelRR',
 		Input = 'AxleBack',
 		Type = POWERTRAIN_COMPONENT.Wheel,
-        Config = table.merge(table.copy(RearWheelsConfig), { Offset = 180 })
+		Config = table.merge(table.copy(RearWheelsConfig), { Offset = 180 }),
-    }
+	},
 })

koptilnya/engine_remastered/hud.txt

@@ -1,18 +1,17 @@
 --@client
-local fontArial92 = render.createFont("Arial", 92, 250, true, false, false, false, 0, false, 0)
+local fontArial92 = render.createFont('Arial', 92, 250, true, false, false, false, 0, false, 0)
-local fontArial46 = render.createFont("Arial", 46, 250, true, false, false, false, 0, false, 0)
+local fontArial46 = render.createFont('Arial', 46, 250, true, false, false, false, 0, false, 0)
-ENGINE_RPM, CAR_SPEED, GEARBOX_GEAR = 0, 123, 0
+ENGINE_RPM, CAR_SPEED, GEARBOX_GEAR = 0, 'SPD', 0
 local resx, resy = render.getGameResolution()
 local linesmatrix = Matrix()
 local linesposx, linesposy = resx - 200, resy - 150
 linesmatrix:setTranslation(Vector(linesposx, linesposy, 0))
 linesmatrix:setAngles(Angle(0, 15, 0))
 linesmatrix:setScale(Vector(0.7))
-hook.add("DrawHud", "CARHUD", function()
+hook.add('DrawHud', 'CARHUD', function()
 	render.pushMatrix(linesmatrix)
 	render.enableScissorRect(linesposx - 50, linesposy + 30, linesposx + 208, linesposy + 50)
 	for x = 0, 208, 4 do
-
 		if ENGINE_RPM > x / 220 then
 			col = 55 + x / 220 * 200
 			render.setRGBA(col, col, col, 250)
@@ -25,7 +24,6 @@ hook.add("DrawHud", "CARHUD", function()
 	render.disableScissorRect()
 	render.enableScissorRect(linesposx - 50, linesposy + 20, linesposx + 212, linesposy + 50)
 	for x = 212, 220, 4 do
-
 		if ENGINE_RPM > x / 220 then
 			render.setRGBA(200, 71, 71, 200)
 		else
@@ -42,42 +40,42 @@ hook.add("DrawHud", "CARHUD", function()
 	render.setRGBA(151, 151, 151, 220)
 
 	render.setFont(fontArial92)
-    local str = string.rep("0", 3 - #tostring(CAR_SPEED)) .. CAR_SPEED
+	local str = string.rep('0', 3 - #tostring(CAR_SPEED)) .. CAR_SPEED
 	render.setRGBA(51, 51, 51, 256)
 
 	for k = 1, 3 do
 		local num = string.sub(str, k, k)
-        if num ~= "0" then
+		if num ~= '0' then
 			render.setRGBA(255, 255, 255, 250)
 		end
 		render.drawText(linesposx - 60 + k * 46, resy - 130 - 80, num)
 	end
 	render.setFont(fontArial46)
 	render.setRGBA(200, 51, 51, 256)
-    local t = "N"
+	local t = 'N'
 	if GEARBOX_GEAR == -1 then
-        t = "R"
+		t = 'R'
 	elseif GEARBOX_GEAR == 0 then
-        t = "N"
+		t = 'N'
 	else
 		t = GEARBOX_GEAR
 	end
 	render.drawText(linesposx - 35 + 164, resy - 130 - 40, t)
 end)
 
-net.receive("ENGINE_RPM", function()
+net.receive('ENGINE_RPM', function()
 	local rpm = net.readFloat()
 	if rpm then
 		ENGINE_RPM = rpm
 	end
 end)
-net.receive("CAR_SPEED", function()
+net.receive('CAR_SPEED', function()
 	local speed = net.readUInt(12)
 	if speed then
 		CAR_SPEED = math.clamp(speed, 0, 999)
 	end
 end)
-net.receive("GEARBOX_GEAR", function()
+net.receive('GEARBOX_GEAR', function()
 	local gear = net.readInt(5)
 	if gear then
 		GEARBOX_GEAR = gear

koptilnya/engine_remastered/powertrain/clutch.txt

@@ -1,38 +1,53 @@
 --@include ./powertrain_component.txt
 --@include /koptilnya/libs/constants.txt
 
+---@type PowertrainComponent
 local PowertrainComponent = require('./powertrain_component.txt')
 
 require('/koptilnya/libs/constants.txt')
 
+---@class ClutchConfig: PowertrainComponentConfig
+---@field SlipTorque? number
+
+---@class Clutch: PowertrainComponent
+---@field slipTorque number
 local Clutch = class('Clutch', PowertrainComponent)
 
+---@private
+---@param vehicle KPTLVehicle
+---@param name string
+---@param config ClutchConfig
 function Clutch:initialize(vehicle, name, config)
 	PowertrainComponent.initialize(self, vehicle, name, config)
 
-    if CLIENT then return end
+	if CLIENT then
+		return
+	end
 
 	self.wireInputs = {
-        Clutch = 'number'
+		Clutch = 'number',
 	}
 	self.wireOutputs = {
-        Clutch_Torque = 'number'
+		Clutch_Torque = 'number',
 	}
 
 	self.inertia = config.Inertia or 0.1
 	self.slipTorque = config.SlipTorque or 1000
 end
 
+---@return nil
 function Clutch:updateWireOutputs()
 	PowertrainComponent.updateWireOutputs(self)
 
 	wire.ports.Clutch_Torque = self.torque
 end
 
+---@return number
 function Clutch:getPress()
 	return 1 - wire.ports.Clutch
 end
 
+---@return number
 function Clutch:queryInertia()
 	if self.output == nil then
 		return self.inertia
@@ -41,6 +56,8 @@ function Clutch:queryInertia()
 	return self.inertia + self.output:queryInertia() * self:getPress()
 end
 
+---@param angularVelocity number
+---@return number
 function Clutch:queryAngularVelocity(angularVelocity)
 	self.angularVelocity = angularVelocity
 
@@ -54,6 +71,9 @@ function Clutch:queryAngularVelocity(angularVelocity)
 	return outputW + inputW
 end
 
+---@param torque number
+---@param inertia number
+---@return number
 function Clutch:forwardStep(torque, inertia)
 	if self.output == nil then
 		return torque
@@ -69,4 +89,7 @@ function Clutch:forwardStep(torque, inertia)
 	return math.clamp(returnTorque, -self.slipTorque, self.slipTorque)
 end
 
+---@type fun(vehicle: KPTLVehicle, name?: string, config?: ClutchConfig): Clutch
+Clutch.new = Clutch.new
+
 return Clutch

koptilnya/engine_remastered/powertrain/differential.txt

@@ -1,24 +1,54 @@
 --@include /koptilnya/libs/constants.txt
 --@include ./powertrain_component.txt
 
+---@type PowertrainComponent
 local PowertrainComponent = require('./powertrain_component.txt')
-local WheelComponent = require('./wheel.txt')
 
 require('/koptilnya/libs/constants.txt')
 
+---@alias DifferentialSplitStrategyFn fun(tq: number, aW: number, bW: number, aI: number, bI: number, biasAB: number, preload: number, stiffness: number, powerRamp: number, coastRamp: number, slipTorque: number): number, number
+
+---@class DifferentialConfig: PowertrainComponentConfig
+---@field Type? string
+---@field FinalDrive? number
+---@field Bias? number
+---@field CoastRamp? number
+---@field PowerRamp? number
+---@field Preload? number
+---@field Stiffness? number
+---@field SlipTorque? number
+---@field SteerLock? number
+---@field ToeAngle? number
+
+---@class Differential: PowertrainComponent
+---@field finalDrive number
+---@field biasAB number
+---@field coastRamp number
+---@field powerRamp number
+---@field preload number
+---@field stiffness number
+---@field slipTorque number
+---@field private splitStrategy DifferentialSplitStrategyFn
+---@field steerLock number
+---@field toeAngle number
+---@field steerAngle number
+---@field private mzDiff number
 local Differential = class('Differential', PowertrainComponent)
 
-function Differential.getSplitStrategy(type)
+---@private
-    return SPLIT_STRATEGIES[type] or SPLIT_STRATEGIES[Differential.TYPES.Open]
+---@param vehicle KPTLVehicle
-end
+---@param name string
-
+---@param config DifferentialConfig
 function Differential:initialize(vehicle, name, config)
 	PowertrainComponent.initialize(self, vehicle, name, config)
 
-    if CLIENT then return end
+	if CLIENT then
+		return
+	end
 
 	self.wireOutputs = {
-        [string.format('%s_Torque', self.name)] = 'number'
+		[string.format('%s_Torque', self.name)] = 'number',
+		[string.format('%s_RPMDiff', self.name)] = 'number',
 	}
 
 	self.finalDrive = config.FinalDrive or 4
@@ -29,13 +59,20 @@ function Differential:initialize(vehicle, name, config)
 	self.preload = config.Preload or 10
 	self.stiffness = config.Stiffness or 0.1
 	self.slipTorque = config.SlipTorque or 1000
-    self.splitStrategy = Differential.getSplitStrategy(config.Type or Differential.TYPES.Open)
+	self.splitStrategy = Differential.getSplitStrategy(config.Type or DIFFERENTIAL_TYPES.Open)
 
 	self.steerLock = config.SteerLock or 0
+	self.toeAngle = config.ToeAngle or 0
 	self.steerAngle = 0
+
+	self.mzDiff = 0
+	self.rpmDiff = 0
 end
 
+---@param component PowertrainComponent
+---@return nil
 function Differential:linkComponent(component)
+	---@diagnostic disable-next-line: undefined-field
 	if not component:isInstanceOf(PowertrainComponent) then
 		return
 	end
@@ -49,10 +86,12 @@ function Differential:linkComponent(component)
 	end
 end
 
+---@return nil
 function Differential:updateWireOutputs()
 	PowertrainComponent.updateWireOutputs(self)
 
 	wire.ports[string.format('%s_Torque', self.name)] = self.torque
+	wire.ports[string.format('%s_RPMDiff', self.name)] = self.rpmDiff
 
 	if self.outputA ~= nil then
 		self.outputA:updateWireOutputs()
@@ -63,6 +102,7 @@ function Differential:updateWireOutputs()
 	end
 end
 
+---@return number
 function Differential:queryInertia()
 	if self.outputA == nil or self.outputB == nil then
 		return self.inertia
@@ -71,6 +111,7 @@ function Differential:queryInertia()
 	return self.inertia + (self.outputA:queryInertia() + self.outputB:queryInertia()) / math.pow(self.finalDrive, 2)
 end
 
+---@return number
 function Differential:queryAngularVelocity(angularVelocity)
 	self.angularVelocity = angularVelocity
 
@@ -84,6 +125,9 @@ function Differential:queryAngularVelocity(angularVelocity)
 	return (aW + bW) * self.finalDrive * 0.5
 end
 
+---@param torque number
+---@param inertia number
+---@return number
 function Differential:forwardStep(torque, inertia)
 	if self.outputA == nil or self.outputB == nil then
 		return torque
@@ -96,7 +140,7 @@ function Differential:forwardStep(torque, inertia)
 
 	self.torque = torque * self.finalDrive
 
-    local tqA, tqB = self:splitStrategy(
+	local tqA, tqB = self.splitStrategy(
 		self.torque,
 		aW,
 		bW,
@@ -113,38 +157,43 @@ function Differential:forwardStep(torque, inertia)
 	tqA = self.outputA:forwardStep(tqA, inertia * 0.5 * math.pow(self.finalDrive, 2) + aI)
 	tqB = self.outputB:forwardStep(tqB, inertia * 0.5 * math.pow(self.finalDrive, 2) + bI)
 
+	if self.CONFIG.Type == DIFFERENTIAL_TYPES.Locking then
+		local avg = (self.outputA.angularVelocity + self.outputB.angularVelocity) / 2
+
+		self.outputA:queryAngularVelocity(avg)
+		self.outputB:queryAngularVelocity(avg)
+	end
+
+	self.rpmDiff = self.outputA:getRPM() - self.outputB:getRPM()
+
 	-- // REFACTOR
+	if self.outputA.customWheel ~= nil and self.outputB.customWheel ~= nil then
 		if self.steerLock ~= 0 then
-        local steerInertia = (aI + bI) / 2
+			local outputA = self.outputA --[[@as Wheel]]
-        local driverInput = 5
+			local outputB = self.outputB --[[@as Wheel]]
+
+			local steerInertia = (aI + bI)
+			local driverInput = 3
 
 			local localVelocityLength = chip():getVelocity():getLength()
 			local MPH = localVelocityLength * (15 / 352)
 			local KPH = MPH * 1.609
 
-        local assist = math.clamp(10.0 / math.sqrt(KPH / 3), 2.0, 10.0)
+			local assist = math.clamp(10.0 / math.sqrt(KPH / 3), 2.0, 10.0) / 2
-        local inputForce = driverInput * assist
 
-        local maxSteerSpeed = math.rad(1337)
+			local inputForce = driverInput * assist
 
 			local inputTorque = self.vehicle.steer * inputForce
 
-        local avgSteerAngle = (self.outputA.customWheel.steerAngle + self.outputB.customWheel.steerAngle) / 2
+			local mzDiff = (outputB.customWheel.mz - outputA.customWheel.mz) * TICK_INTERVAL / 2
-        local mz = self.outputA.customWheel.mz + self.outputB.customWheel.mz
-        local mzDiff = self.outputA.customWheel.mz - self.outputB.customWheel.mz
-        local avgMz = (self.outputA.customWheel.mz + self.outputB.customWheel.mz) / 2
-        local maxMz = math.max(self.outputA.customWheel.mz + self.outputB.customWheel.mz)
-        local minMz = math.min(self.outputA.customWheel.mz + self.outputB.customWheel.mz)
 
-        local steerTorque = mzDiff / 2 * -1 + inputTorque
+			self.mzDiff = math.lerp(0.1, self.mzDiff, mzDiff)
+
+			local steerTorque = self.mzDiff * 1 + inputTorque
 
 			local steerAngularAccel = steerTorque / steerInertia
 
-        self.steerAngle = math.clamp(
+			self.steerAngle = math.clamp(self.steerAngle + math.deg(steerAngularAccel) * TICK_INTERVAL, -self.steerLock, self.steerLock)
-            self.steerAngle + steerAngularAccel * TICK_INTERVAL,
-            -self.steerLock,
-            self.steerLock
-        )
 
 			local wheelbase = 2.05
 			local trackWidth = 1.124
@@ -153,33 +202,84 @@ function Differential:forwardStep(torque, inertia)
 			local innerAngle = math.deg(math.atan(wheelbase / (radius - (trackWidth / 2))))
 			local outerAngle = math.deg(math.atan(wheelbase / (radius + (trackWidth / 2))))
 
-        self.outputA.customWheel.steerAngle = outerAngle
+			outputA.customWheel.steerAngle = outerAngle + self.toeAngle * outputA.customWheel.direction
-        self.outputB.customWheel.steerAngle = innerAngle
+			outputB.customWheel.steerAngle = innerAngle + self.toeAngle * outputB.customWheel.direction
+		else
+			local outputA = self.outputA --[[@as Wheel]]
+			local outputB = self.outputB --[[@as Wheel]]
+
+			outputA.customWheel.steerAngle = self.toeAngle * outputA.customWheel.direction
+			outputB.customWheel.steerAngle = self.toeAngle * outputB.customWheel.direction
+		end
 	end
 
 	return tqA + tqB
 end
 
-function Differential:_openDiffTorqueSplit(tq, aW, bW, aI, bI, biasAB, preload, stiffness, powerRamp, coastRamp, slipTorque)
+---@return number, number
-    return tq * (1 - biasAB), tq * biasAB;
+local function _openDiffTorqueSplit(tq, aW, bW, aI, bI, biasAB, preload, stiffness, powerRamp, coastRamp, slipTorque)
+	return tq * (1 - biasAB), tq * biasAB
 end
 
-function Differential:_lockingDiffTorqueSplit(tq, aW, bW, aI, bI, biasAB, preload, stiffness, powerRamp, coastRamp, slipTorque)
+---@return number, number
-        Ta = tq * (1 - biasAB);
+local function _lockingDiffTorqueSplit(tq, aW, bW, aI, bI, biasAB, preload, stiffness, powerRamp, coastRamp, slipTorque)
-		Tb = tq * biasAB;
+	return tq * 0.5, tq * 0.5
+	-- -- Разность скоростей между выходами
+	-- local deltaW = aW - bW
 
-		local syncTorque = (aW - bW) * stiffness * (aI + bI) * 0.5 / TICK_INTERVAL;
+	-- -- Расчет "проскальзывающего" момента между сторонами
+	-- local slip = math.abs(deltaW)
 
-		Ta = Ta - syncTorque;
+	-- -- Применяем преднагрузку и жесткость, чтобы определить базовый момент блокировки
-		Tb = Tb + syncTorque;
+	-- local lockingTorque = preload + stiffness * deltaW
+
+	-- -- Определение направления нагрузки: ускорение или торможение
+	-- local ramp = tq >= 0 and powerRamp or coastRamp
+
+	-- -- Применяем ramp к разности скоростей, усиливая/ослабляя блокировку
+	-- local rampTorque = slip * ramp
+
+	-- -- Итоговый момент передачи между сторонами
+	-- local transferTorque = lockingTorque + rampTorque
+
+	-- -- Ограничиваем передачу момента порогом проскальзывания
+	-- if transferTorque > slipTorque then
+	-- 	transferTorque = slipTorque
+	-- end
+
+	-- -- Учитываем биас (смещение баланса)
+	-- local maxBias = biasAB
+	-- local biasLimit = tq * (maxBias - 1) / (maxBias + 1)
+
+	-- -- Финальный момент, передаваемый между сторонами, с учетом направления
+	-- local direction = deltaW > 0 and -1 or 1
+	-- local finalTorque = direction * transferTorque
+
+	-- -- Применяем финальный момент к каждой стороне, ограничивая его bias'ом
+	-- local aTorque = tq * 0.5 + math.min(finalTorque, biasLimit)
+	-- local bTorque = tq * 0.5 - math.min(finalTorque, biasLimit)
+
+	-- -- Возвращаем обновленные значения угловых скоростей
+	-- return aTorque, bTorque
+
+	-- local aTq = tq * 0.5
+	-- local bTq = tq * 0.5
+
+	-- local syncTorque = (aW - bW) * 1e6 * (aI + bI) / TICK_INTERVAL
+
+	-- aTq = aTq - syncTorque
+	-- bTq = bTq + syncTorque
+
+	-- -- print(aTq, bTq)
+
+	-- return aTq, bTq
 
-        return Ta, Tb
 	-- local sumI = aI + bI
 	-- local w = aI / sumI * aW + bI / sumI * bW
-    -- local aTqCorr = (w - aW) * aI -- / dt
+	-- local aTqCorr = (w - aW) * aI / TICK_INTERVAL
 	-- aTqCorr = aTqCorr * stiffness
 
-    -- local bTqCorr = (w - bW) * bI -- / dt
+	-- local bTqCorr = (w - bW) * bI / TICK_INTERVAL
 	-- bTqCorr = bTqCorr * stiffness
 
 	-- local biasA = math.clamp(0.5 + (bW - aW) * 0.1 * stiffness, 0, 1)
@@ -187,7 +287,8 @@ function Differential:_lockingDiffTorqueSplit(tq, aW, bW, aI, bI, biasAB, preloa
 	-- return tq * biasA + aTqCorr, tq * (1 - biasA) * bTqCorr
 end
 
-function Differential:_VLSDTorqueSplit(tq, aW, bW, aI, bI, biasAB, preload, stiffness, powerRamp, coastRamp, slipTorque)
+---@return number, number
+local function _VLSDTorqueSplit(tq, aW, bW, aI, bI, biasAB, preload, stiffness, powerRamp, coastRamp, slipTorque)
 	if aW < 0 or bW < 0 then
 		return tq * (1 - biasAB), tq * biasAB
 	end
@@ -203,7 +304,8 @@ function Differential:_VLSDTorqueSplit(tq, aW, bW, aI, bI, biasAB, preload, stif
 	return tq * (1 - biasAB) - dTq, tq * biasAB + dTq
 end
 
-function Differential:_HLSDTorqueSplit(tq, aW, bW, aI, bI, biasAB, preload, stiffness, powerRamp, coastRamp, slipTorque)
+---@return number, number
+local function _HLSDTorqueSplit(tq, aW, bW, aI, bI, biasAB, preload, stiffness, powerRamp, coastRamp, slipTorque)
 	if aW < 0 or bW < 0 then
 		return tq * (1 - biasAB), tq * biasAB
 	end
@@ -220,18 +322,31 @@ function Differential:_HLSDTorqueSplit(tq, aW, bW, aI, bI, biasAB, preload, stif
 	return tq * (1 - biasAB) - dTq, tq * biasAB + dTq
 end
 
-Differential.TYPES = {
+---@enum DIFFERENTIAL_TYPE
+DIFFERENTIAL_TYPES = {
 	Open = 'Open',
 	Locking = 'Locking',
 	VLSD = 'VLSD',
 	HLSD = 'HLSD',
 }
 
-SPLIT_STRATEGIES = {
+---@type { [DIFFERENTIAL_TYPE]: DifferentialSplitStrategyFn }
-    [Differential.TYPES.Open] = Differential._openDiffTorqueSplit,
+local SPLIT_STRATEGIES = {
-    [Differential.TYPES.Locking] = Differential._lockingDiffTorqueSplit,
+	[DIFFERENTIAL_TYPES.Open] = _openDiffTorqueSplit,
-    [Differential.TYPES.VLSD] = Differential._VLSDTorqueSplit,
+	[DIFFERENTIAL_TYPES.Locking] = _lockingDiffTorqueSplit,
-    [Differential.TYPES.HLSD] = Differential._HLSDTorqueSplit,
+	[DIFFERENTIAL_TYPES.VLSD] = _VLSDTorqueSplit,
+	[DIFFERENTIAL_TYPES.HLSD] = _HLSDTorqueSplit,
 }
 
+---@param type DIFFERENTIAL_TYPE
+---@return DifferentialSplitStrategyFn
+Differential.getSplitStrategy = function(type)
+	return SPLIT_STRATEGIES[type] or SPLIT_STRATEGIES[DIFFERENTIAL_TYPES.Open]
+end
+
+Differential.TYPES = DIFFERENTIAL_TYPES
+
+---@type fun(vehicle: KPTLVehicle, name?: string, config?: DifferentialConfig): Differential
+Differential.new = Differential.new
+
 return Differential

koptilnya/engine_remastered/powertrain/engine.txt

@@ -1,19 +1,43 @@
 --@include ./powertrain_component.txt
 --@include /koptilnya/libs/constants.txt
 
+---@type PowertrainComponent
 local PowertrainComponent = require('./powertrain_component.txt')
 
-
-
 require('/koptilnya/libs/constants.txt')
 
+---@class EngineConfig: PowertrainComponentConfig
+---@field IdleRPM? number
+---@field MaxRPM? number
+---@field StartFriction? number
+---@field FrictionCoeff? number
+---@field LimiterDuration? number
+---@field TorqueMap? number[]
+
+---@class Engine: PowertrainComponent
+---@field idleRPM number
+---@field maxRPM number
+---@field startFriction number
+---@field frictionCoeff number
+---@field limiterDuration number
+---@field torqueMap number[]
+---@field friction number
+---@field masterThrottle number
+---@field finalTorque number
+---@field reactTorque number
+---@field returnedTorque number
+---@field private limiterTimer number
 local Engine = class('Engine', PowertrainComponent)
 
+---@private
+---@param vehicle KPTLVehicle
+---@param name string
+---@param config EngineConfig
 function Engine:initialize(vehicle, name, config)
 	PowertrainComponent.initialize(self, vehicle, name, config)
 
 	self.wireInputs = {
-        Throttle = 'number'
+		Throttle = 'number',
 	}
 	self.wireOutputs = {
 		Engine_RPM = 'number',
@@ -21,7 +45,7 @@ function Engine:initialize(vehicle, name, config)
 		Engine_MasterThrottle = 'number',
 		Engine_ReactTorque = 'number',
 		Engine_ReturnedTorque = 'number',
-        Engine_FinalTorque = 'number'
+		Engine_FinalTorque = 'number',
 	}
 
 	self.idleRPM = config.IdleRPM or 900
@@ -37,6 +61,7 @@ function Engine:initialize(vehicle, name, config)
 
 	self.limiterTimer = 0
 
+	self.finalTorque = 0
 	self.reactTorque = 0
 	self.returnedTorque = 0
 
@@ -44,10 +69,11 @@ function Engine:initialize(vehicle, name, config)
 		--@include /koptilnya/engine_sound_2.txt
 		local Sound = require('/koptilnya/engine_sound_2.txt')
 
-        Sound(config.MaxRPM or 7000, chip())
+		Sound(self.maxRPM, chip())
 	end
 end
 
+---@return nil
 function Engine:updateWireOutputs()
 	PowertrainComponent.updateWireOutputs(self)
 
@@ -59,11 +85,14 @@ function Engine:updateWireOutputs()
 	wire.ports.Engine_FinalTorque = self.finalTorque
 end
 
+---@return number
 function Engine:getThrottle()
 	return wire.ports.Throttle
 end
 
-function Engine:_generateTorque()
+---@private
+---@return number
+function Engine:generateTorque()
 	local throttle = self:getThrottle()
 	local rpm = self:getRPM()
 
@@ -92,12 +121,17 @@ function Engine:_generateTorque()
 	return self.torque
 end
 
+---@param torque number
+---@param inertia number
+---@return number
 function Engine:forwardStep(torque, inertia)
 	if self.output == nil then
-        local generatedTorque = self:_generateTorque()
+		local generatedTorque = self:generateTorque()
 
 		self.angularVelocity = self.angularVelocity + generatedTorque / self.inertia * TICK_INTERVAL
 		self.angularVelocity = math.max(self.angularVelocity, 0)
+
+		return 0
 	end
 
 	local outputInertia = self.output:queryInertia()
@@ -105,9 +139,9 @@ function Engine:forwardStep(torque, inertia)
 	local outputW = self.output:queryAngularVelocity(self.angularVelocity)
 	local targetW = self.inertia / inertiaSum * self.angularVelocity + outputInertia / inertiaSum * outputW
 
-    local generatedTorque = self:_generateTorque()
+	local generatedTorque = self:generateTorque()
 	local reactTorque = (targetW - self.angularVelocity) * self.inertia / TICK_INTERVAL
-    local returnedTorque = self.output:forwardStep(torque + generatedTorque - reactTorque, inertia + self.inertia)
+	local returnedTorque = self.output:forwardStep(generatedTorque - reactTorque, 0)
 
 	self.reactTorque = reactTorque
 	self.returnedTorque = returnedTorque
@@ -119,14 +153,19 @@ function Engine:forwardStep(torque, inertia)
 	self.angularVelocity = self.angularVelocity + finalTorque / inertiaSum * TICK_INTERVAL
 	self.angularVelocity = math.max(self.angularVelocity, 0)
 
-    -- net.start("ENGINE_RPM")
+	net.start('ENGINE_RPM')
-    --     net.writeFloat(self:getRPM() / self.maxRPM)
+	net.writeFloat(self:getRPM() / self.maxRPM)
-    -- net.send(self.vehicle.playersConnectedToHUD, true)
+	net.send(self.vehicle.playersConnectedToHUD, true)
 
-    -- net.start("ENGINE_FULLRPM")
+	net.start('ENGINE_FULLRPM')
-    --     net.writeUInt(self:getRPM(), 16)
+	net.writeUInt(self:getRPM(), 16)
-    --     net.writeFloat(self.masterThrottle)
+	net.writeFloat(self.masterThrottle)
-    -- net.send(nil, true)
+	net.send(nil, true)
+
+	return 0
 end
 
+---@type fun(vehicle: KPTLVehicle, name?: string, config?: EngineConfig): Engine
+Engine.new = Engine.new
+
 return Engine

koptilnya/engine_remastered/powertrain/gearboxes/base.txt

@@ -7,16 +7,18 @@ local Gearbox = class('Gearbox', PowertrainComponent)
 function Gearbox:initialize(vehicle, name, config)
 	PowertrainComponent.initialize(self, vehicle, name, config)
 
-    if CLIENT then return end
+	if CLIENT then
+		return
+	end
 
 	self.wireInputs = {
 		Upshift = 'number',
-        Downshift = 'number'
+		Downshift = 'number',
 	}
 	self.wireOutputs = {
 		[string.format('%s_RPM', self.name)] = 'number',
 		[string.format('%s_Torque', self.name)] = 'number',
-        [string.format('%s_Ratio', self.name)] = 'number'
+		[string.format('%s_Ratio', self.name)] = 'number',
 	}
 
 	self.type = config.Type or 'MANUAL'

koptilnya/engine_remastered/powertrain/gearboxes/manual.txt

@@ -12,10 +12,12 @@ local ManualGearbox = class('ManualGearbox', BaseGearbox)
 function ManualGearbox:initialize(vehicle, name, config)
 	BaseGearbox.initialize(self, vehicle, name, config)
 
-    if CLIENT then return end
+	if CLIENT then
+		return
+	end
 
 	table.merge(self.wireOutputs, {
-        [string.format('%s_Gear', self.name)] = 'number'
+		[string.format('%s_Gear', self.name)] = 'number',
 	})
 
 	self.ratios = config.Ratios or { 3.6, 2.2, 1.5, 1.2, 1.0, 0.8 }
@@ -24,7 +26,9 @@ function ManualGearbox:initialize(vehicle, name, config)
 	self.gear = 0
 
 	function shiftFunc()
-        if wire.ports.Clutch == 0 then return 0 end
+		if wire.ports.Clutch == 0 then
+			return 0
+		end
 
 		local upshift = wire.ports.Upshift or 0
 		local downshift = wire.ports.Downshift or 0

koptilnya/engine_remastered/powertrain/powertrain_component.txt

@@ -1,14 +1,35 @@
 --@include /koptilnya/libs/constants.txt
 --@include /koptilnya/libs/utils.txt
 --@include ../wire_component.txt
+--@include ../vehicle.txt
 
 local WireComponent = require('../wire_component.txt')
 
 require('/koptilnya/libs/constants.txt')
 require('/koptilnya/libs/utils.txt')
 
+---@class PowertrainComponentConfig
+---@field Name? string
+---@field DEBUG? boolean
+---@field Inertia? number
+
+---@class PowertrainComponent: KPTLWireComponent
+---@field vehicle KPTLVehicle
+---@field name string
+---@field CONFIG PowertrainComponentConfig
+---@field DEBUG boolean
+---@field input? PowertrainComponent
+---@field output? PowertrainComponent
+---@field inertia number
+---@field angularVelocity number
+---@field torque number
+---@field DEBUG_DATA? table
 local PowertrainComponent = class('PowertrainComponent', WireComponent)
 
+---@protected
+---@param vehicle KPTLVehicle
+---@param name? string
+---@param config? PowertrainComponentConfig
 function PowertrainComponent:initialize(vehicle, name, config)
 	config = config or {}
 
@@ -20,12 +41,10 @@ function PowertrainComponent:initialize(vehicle, name, config)
 	self.DEBUG = config.DEBUG or false
 	self.input = nil
 	self.output = nil
-
 	self.inertia = 0.02
 	self.angularVelocity = 0
 	self.torque = 0
 
-
 	if self.DEBUG then
 		if CLIENT then
 			self.DEBUG_DATA = {}
@@ -36,17 +55,17 @@ function PowertrainComponent:initialize(vehicle, name, config)
 		end
 
 		self.DEBUG_SEND_DATA_DEBOUNCED = debounce(function()
-            net.start("DEBUG_" .. self.name)
+			net.start('DEBUG_' .. self.name)
 			self:serializeDebugData()
 			net.send(self.vehicle.playersConnectedToHUD, true)
 		end, 1 / 10)
 	end
 end
 
-function PowertrainComponent:start()
+---@param component PowertrainComponent
-end
+---@return nil
-
 function PowertrainComponent:linkComponent(component)
+	---@diagnostic disable-next-line: undefined-field
 	if not component:isInstanceOf(PowertrainComponent) then
 		return
 	end
@@ -57,10 +76,12 @@ function PowertrainComponent:linkComponent(component)
 	end
 end
 
+---@return number
 function PowertrainComponent:getRPM()
 	return self.angularVelocity * RAD_TO_RPM
 end
 
+---@return number
 function PowertrainComponent:queryInertia()
 	if self.output == nil then
 		return self.inertia
@@ -69,6 +90,8 @@ function PowertrainComponent:queryInertia()
 	return self.inertia + self.output:queryInertia()
 end
 
+---@param angularVelocity number
+---@return number
 function PowertrainComponent:queryAngularVelocity(angularVelocity)
 	self.angularVelocity = angularVelocity
 
@@ -79,6 +102,9 @@ function PowertrainComponent:queryAngularVelocity(angularVelocity)
 	return self.output:queryAngularVelocity(angularVelocity)
 end
 
+---@param torque number
+---@param inertia number
+---@return number
 function PowertrainComponent:forwardStep(torque, inertia)
 	if self.output == nil then
 		return self.torque
@@ -87,6 +113,7 @@ function PowertrainComponent:forwardStep(torque, inertia)
 	return self.output:forwardStep(self.torque, self.inertia + inertia)
 end
 
+---@return nil
 function PowertrainComponent:updateWireOutputs()
 	WireComponent.updateWireOutputs(self)
 
@@ -95,10 +122,14 @@ function PowertrainComponent:updateWireOutputs()
 	end
 end
 
-function PowertrainComponent:serializeDebugData()
+---@return nil
-end
+function PowertrainComponent:serializeDebugData() end
 
-function PowertrainComponent:deserializeDebugData(result)
+---@param result table
-end
+---@return nil
+function PowertrainComponent:deserializeDebugData(result) end
+
+---@type fun(vehicle: KPTLVehicle, name?: string, config?: PowertrainComponentConfig): PowertrainComponent
+PowertrainComponent.new = PowertrainComponent.new
 
 return PowertrainComponent

koptilnya/engine_remastered/powertrain/wheel.txt

@@ -3,96 +3,133 @@
 --@include /koptilnya/libs/constants.txt
 --@include /koptilnya/libs/entity.txt
 
+---@type PowertrainComponent
 local PowertrainComponent = require('./powertrain_component.txt')
+
+---@type CustomWheel
 local CustomWheel = require('../wheel/wheel.txt')
 
 require('/koptilnya/libs/constants.txt')
 require('/koptilnya/libs/entity.txt')
 
+---@class WheelConfig: PowertrainComponentConfig
+---@field Entity? Entity
+---@field BrakePower? number
+---@field HandbrakePower? number
+---@field Model? string
+---@field Offset? number In degrees
+---@field CustomWheel? CustomWheelConfig
+
+---@class Wheel: PowertrainComponent
+---@field brakePower number
+---@field handbrakePower number
+---@field direction integer
+---@field private rot number
+---@field model string
+---@field customWheel CustomWheel
 local Wheel = class('Wheel', PowertrainComponent)
 
-local DEBUG = true
+---@private
-
+---@param vehicle KPTLVehicle
+---@param name string
+---@param config WheelConfig
 function Wheel:initialize(vehicle, name, config)
 	PowertrainComponent.initialize(self, vehicle, name, config)
 
 	if CLIENT and self.DEBUG then
-        local scale = 0.1
-        local font = render.createFont("Roboto", 256, 400, true)
 		local mat = render.createMaterial('models/debug/debugwhite')
 
 		local lerpLoad = 0
 		local lerpForwardFrictionForce = 0
 		local lerpSideFrictionForce = 0
-        hook.add("PostDrawTranslucentRenderables", "DEBUG_RENDER_" .. self.name, function()
-            if next(self.DEBUG_DATA) == nil then return end
-            if not isValid(self.DEBUG_DATA.entity) then return end
 
-            local pos = self.DEBUG_DATA.entity:getPos()
+		hook.add('PostDrawTranslucentRenderables', 'DEBUG_RENDER_' .. self.name, function()
+			if next(self.DEBUG_DATA) == nil then
+				return
+			end
+			if not isValid(self.DEBUG_DATA.entity) then
+				return
+			end
+
+			local pos = self.DEBUG_DATA.entity:localToWorld(Vector(0, 0, -self.DEBUG_DATA.radius * UNITS_PER_METER))
 
 			render.setMaterial(mat)
 			render.setColor(Color(255, 0, 0, 200))
 			lerpForwardFrictionForce = math.lerp(0.1, lerpForwardFrictionForce, self.DEBUG_DATA.forwardFrictionForce)
-            render.draw3DBeam(pos, pos + ((lerpForwardFrictionForce / 500 + 16) * self.DEBUG_DATA.forward), 1, 0, 0)
+			render.draw3DBeam(pos, pos + ((lerpForwardFrictionForce / 500 + 0) * self.DEBUG_DATA.forward), 1, 0, 0)
 
 			render.setColor(Color(0, 255, 0, 255))
 			lerpSideFrictionForce = math.lerp(0.1, lerpSideFrictionForce, self.DEBUG_DATA.sideFrictionForce)
-            render.draw3DBeam(pos, pos + ((lerpSideFrictionForce / 500 + 16) * self.DEBUG_DATA.right), 1, 0, 0)
+			render.draw3DBeam(pos, pos + ((lerpSideFrictionForce / 500 + 0) * self.DEBUG_DATA.right), 1, 0, 0)
 
 			render.setColor(Color(0, 0, 255, 200))
 			lerpLoad = math.lerp(0.1, lerpLoad, self.DEBUG_DATA.load)
-            render.draw3DBeam(pos, pos + ((lerpLoad * 4 + 16) * self.DEBUG_DATA.up), 1, 0, 0)
+			render.draw3DBeam(pos, pos + ((lerpLoad / 1000 * 4 + 16) * self.DEBUG_DATA.up), 1, 0, 0)
 		end)
 
 		if player() == owner() and not render.isHUDActive() then
-            enableHud(nil, true)
+			enableHud(owner(), true)
 		end
-
 		return
 	end
 
-    self.steerLock = config.SteerLock or 0
 	self.brakePower = config.BrakePower or 0
 	self.handbrakePower = config.HandbrakePower or 0
+	self.model = config.Model or ''
 
 	self.direction = math.sign(math.cos(math.rad(config.Offset or 0)))
 
 	self.wireInputs = {
-        [self.name] = 'entity'
+		[self.name] = 'entity',
 	}
 	self.wireOutputs = {
 		[string.format('%s_RPM', self.name)] = 'number',
-        [string.format('%s_W', self.name)] = 'number'
 	}
 
 	self.rot = 0
 
-    self.entity = config.Entity or NULL_ENTITY
+	---@type Entity?
+	self.entity = nil
 
-    self.holo = self:createHolo(self.entity)
+	---@type Hologram?
+	self.holo = nil
 
-    self.customWheel = CustomWheel:new(table.merge(table.copy(config.CustomWheel), { Direction = self.direction }))
+	self.customWheel = CustomWheel:new(
+		table.merge(
+			table.copy(config.CustomWheel),
+			{ Direction = self.direction, Name = self.name, ParentPhysObj = vehicle.basePhysObject }
+		)
+	)
 
-    hook.add('input', 'vehicle_wheel_update' .. self.name, function(name, value)
+	hook.add('Input', 'vehicle_wheel_update' .. self.name, function(name, value)
 		if name == self.name then
-            self.entity = value
+			self:setEntity(value)
-            self.customWheel:setEntity(value)
+		end
+	end)
+end
+
+---@override
+---@return nil
+function Wheel:onWirePortsReady()
+	self:setEntity(self.CONFIG.Entity or wire.ports[self.name])
+end
+
+---@private
+---@param entity Entity
+---@return nil
+function Wheel:setEntity(entity)
+	self.entity = entity
+	self.customWheel:setEntity(entity)
+	self.customWheel.radius = self:getEntityRadius()
 
 	if isValid(self.holo) then
 		self.holo:remove()
 	end
 
 	self.holo = self:createHolo(self.entity)
-
-            if not config.Radius then
-                self.customWheel.radius = self:getEntityRadius()
-            end
-        end
-    end)
-
-    self.steerVelocity = 0
 end
 
+---@return number
 function Wheel:getEntityRadius()
 	if not isValid(self.entity) then
 		return 0
@@ -101,16 +138,17 @@ function Wheel:getEntityRadius()
 	return self.entity:getModelRadius() * UNITS_TO_METERS
 end
 
+---@return Hologram?
 function Wheel:createHolo(entity)
 	if not isValid(entity) then
-        return NULL_ENTITY
+		return nil
 	end
 
-    local holo = holograms.create(
+	local holo = hologram.create(entity:getPos(), entity:getAngles(), self.model or '')
-            entity:getPos(),
+
-            entity:getAngles(),
+	if holo == nil or not isValid(holo) then
-            self.CONFIG.Model or ''
+		return nil
-    )
+	end
 
 	holo:setParent(entity)
 
@@ -119,21 +157,28 @@ function Wheel:createHolo(entity)
 	return holo
 end
 
+---@return nil
 function Wheel:updateWireOutputs()
 	PowertrainComponent.updateWireOutputs(self)
 
 	wire.ports[string.format('%s_RPM', self.name)] = self.customWheel:getRPM()
-    wire.ports[string.format('%s_W', self.name)] = self.customWheel.angularVelocity
 end
 
+---@return number
 function Wheel:queryInertia()
 	return self.customWheel.inertia
 end
 
-function Wheel:queryAngularVelocity()
+---@return number
-    return self.angularVelocity
+function Wheel:queryAngularVelocity(angularVelocity)
+	self.customWheel.angularVelocity = angularVelocity
+
+	return self.customWheel.angularVelocity
 end
 
+---@param torque number
+---@param inertia number
+---@return number
 function Wheel:forwardStep(torque, inertia)
 	if not isValid(self.customWheel) then
 		return 0
@@ -147,28 +192,38 @@ function Wheel:forwardStep(torque, inertia)
 	self.angularVelocity = self.customWheel.angularVelocity
 
 	if self.customWheel.hasHit and isValid(self.vehicle.basePhysObject) then
-        local surfaceForceVector = self.customWheel.right * self.customWheel.sideFriction.force + self.customWheel.forward * self.customWheel.forwardFriction.force
+		local surfaceForceVector = self.customWheel.right * self.customWheel.sideFriction.force
+			+ self.customWheel.forward * self.customWheel.forwardFriction.force
 
-        self.vehicle.basePhysObject:applyForceOffset(surfaceForceVector, self.entity:localToWorld(Vector(0, 0, -self.entity:getModelRadius())))
+		self.vehicle.basePhysObject:applyForceOffset(
+			surfaceForceVector,
+			self.entity:localToWorld(Vector(0, 0, -self.customWheel.radius * UNITS_PER_METER))
+		)
 	end
 
 	if isValid(self.holo) then
-        local entityAngles = self.entity:getAngles()
+		-- Step 1: Update rotational state
+		self.rot = self.rot + self.angularVelocity * TICK_INTERVAL * self.direction
+		self.rot = self.rot % (2 * math.pi)
 
-        self.rot = self.rot + self.angularVelocity * TICK_INTERVAL
+		-- Step 2: Apply spin (rolling) to forward and up directions
+		local spunFwd = self.customWheel.forward:rotateAroundAxis(self.customWheel.right, nil, self.rot)
+		local spunUp = self.customWheel.up:rotateAroundAxis(self.customWheel.right, nil, self.rot)
 
-        local steerRotated = entityAngles:rotateAroundAxis(self.customWheel.up, nil, math.rad(-self.customWheel.steerAngle) + self.customWheel.toeAngle)
+		-- Step 3: Get quaternion from spun directions
-        local camberRotated = steerRotated:rotateAroundAxis(self.customWheel.forward, nil, -self.customWheel.camberAngle * self.direction)
+		local visualQuat = spunFwd:getQuaternion(spunUp)
-        local angularVelocityRotated = camberRotated:rotateAroundAxis(self.customWheel.right, nil, self.rot)
 
-        self.holo:setAngles(angularVelocityRotated)
+		-- Step 4: Apply orientation to holo
+		self.holo:setAngles(visualQuat:getEulerAngle())
 	end
 
 	return self.customWheel.counterTorque
 end
 
+---@return nil
 function Wheel:serializeDebugData()
 	net.writeEntity(self.entity)
+	net.writeFloat(self.customWheel.radius)
 	net.writeVector(self.customWheel.forward)
 	net.writeVector(self.customWheel.right)
 	net.writeVector(self.customWheel.up)
@@ -177,10 +232,13 @@ function Wheel:serializeDebugData()
 	net.writeFloat(self.customWheel.sideFriction.force)
 end
 
+---@param result table
+---@return nil
 function Wheel:deserializeDebugData(result)
 	net.readEntity(function(ent)
 		result.entity = ent
 	end)
+	result.radius = net.readFloat()
 	result.forward = net.readVector()
 	result.right = net.readVector()
 	result.up = net.readVector()
@@ -189,4 +247,7 @@ function Wheel:deserializeDebugData(result)
 	result.sideFrictionForce = net.readFloat()
 end
 
+---@type fun(vehicle: KPTLVehicle, name?: string, config?: WheelConfig): Wheel
+Wheel.new = Wheel.new
+
 return Wheel

koptilnya/engine_remastered/vehicle.txt

@@ -6,42 +6,55 @@
 local Task = require('/libs/task.txt')
 
 local PowertrainComponentFactory = require('./factories/powertrain_component.txt')
-local CustomWheel = require('./wheel/wheel.txt')
 
 local POWERTRAIN_COMPONENT = require('./enums/powertrain_component.txt')
 
 require('/koptilnya/libs/table.txt')
 require('/koptilnya/libs/constants.txt')
 
+---@class KPTLVehicle
+---@field config { Name: string, Input?: string, Config?: table }[]
+---@field components PowertrainComponent[]
+---@field headComponents PowertrainComponent[]
+---@field steer number
+---@field brake number
+---@field handbrake number
+---@field playersConnectedToHUD Player[]
+---@field base? Entity
+---@field basePhysObject? PhysObj
+---@field initialized boolean
+---@field initializedPlayers Player[]
 local Vehicle = class('Vehicle')
 
+---@param config { [string]: any }
 function Vehicle:initialize(config)
 	if not Vehicle:validateConfig(config) then
 		throw('Please check your vehicle configuration!')
 	end
 
+	self.initialized = false
+
 	self.config = config
 	self.components = {}
 	self.headComponents = {}
 
-    self:createComponents()
-    self:linkComponents()
-
-    if SERVER then
-        self:createIO()
-    end
-
-    if SERVER then
 	self.steer = 0
 	self.brake = 0
 	self.handbrake = 0
+	self.initializedPlayers = {}
 	self.playersConnectedToHUD = {}
 
-        hook.add('input', 'vehicle_wire_input', function(name, value)
+	if SERVER then
+		self.playersConnectedToHUD = find.allPlayers(function(ply)
+			return isValid(ply) and ply:isHUDActive()
+		end)
+
+		hook.add('Input', 'vehicle_wire_input', function(name, value)
 			self:handleWireInput(name, value)
 		end)
 
-        hook.add('tick', 'vehicle_update', function()
+		---@diagnostic disable-next-line: param-type-mismatch
+		hook.add('Tick', 'vehicle_update', function()
 			self:update()
 		end)
 
@@ -49,26 +62,72 @@ function Vehicle:initialize(config)
 			table.insert(self.playersConnectedToHUD, ply)
 		end)
 
-    
 		hook.add('HUDDisconnected', 'vehicle_huddisconnected', function(ent, ply)
 			table.removeByValue(self.playersConnectedToHUD, ply)
 		end)
+
+		hook.add('PlayerDisconnected', 'vehicle_huddisconnected', function(ply)
+			table.removeByValue(self.playersConnectedToHUD, ply)
+		end)
+
+		hook.add('ClientInitialized', 'vehicle_clientinitialized', function(ply)
+			table.insert(self.initializedPlayers, ply)
+
+			if self.initialized then
+				net.start('VEHICLE_READY')
+				net.send(ply, true)
+			end
+		end)
 	else
 		--@include ./hud.txt
-        require("./hud.txt")
+		require('./hud.txt')
+
+		net.receive('VEHICLE_READY', function()
+			self:start()
+		end)
 	end
 end
 
-function Vehicle.static:validateConfig(config)
+---@return nil
+function Vehicle:start()
+	self:createComponents()
+	self:linkComponents()
+
+	if SERVER then
+		self:createIO()
+	end
+
+	self.initialized = true
+
+	if SERVER then
+		net.start('VEHICLE_READY')
+		net.send(self.initializedPlayers, true)
+	end
+end
+
+---@param config any
+---@return boolean
+function Vehicle:validateConfig(config)
 	return type(config) == 'table'
 end
 
+---@param name string
+---@return PowertrainComponent
 function Vehicle:getComponentByName(name)
 	return table.find(self.components, function(component)
 		return component.name == name
 	end)
 end
 
+-- ---@param type string
+-- ---@return PowertrainComponent[]
+-- function Vehicle:getComponentsByType(type)
+-- 	return table.find(self.components, function(component)
+-- 		return component.name == name
+-- 	end)
+-- end
+
+---@return nil
 function Vehicle:createComponents()
 	for _, componentConfig in pairs(self.config) do
 		local component = PowertrainComponentFactory:create(self, componentConfig.Type, componentConfig.Name, componentConfig.Config)
@@ -77,6 +136,7 @@ function Vehicle:createComponents()
 	end
 end
 
+---@return nil
 function Vehicle:linkComponents()
 	for _, componentConfig in pairs(self.config) do
 		local component = self:getComponentByName(componentConfig.Name)
@@ -91,14 +151,23 @@ function Vehicle:linkComponents()
 			end
 		end
 	end
+
+	if SERVER then
+		print(Color(0, 255, 0), 'Powertrain tree:')
+		for _, component in pairs(self.headComponents) do
+			PrintTree(component)
+			print(' ')
+		end
+	end
 end
 
+---@return nil
 function Vehicle:createIO()
 	local inputs = {
 		Base = 'entity',
 		Steer = 'number',
 		Brake = 'number',
-        Handbrake = 'number'
+		Handbrake = 'number',
 	}
 	local outputs = {}
 
@@ -108,14 +177,13 @@ function Vehicle:createIO()
 	end
 
 	wire.adjustPorts(inputs, outputs)
+
+	for _, component in ipairs(self.components) do
+		component:onWirePortsReady()
+	end
 end
 
-function Vehicle:getRootComponent()
+---@return nil
-    return table.find(self.components, function(component)
-        return component.input == nil
-    end)
-end
-
 function Vehicle:handleWireInput(name, value)
 	if name == 'Base' then
 		self.base = value
@@ -127,8 +195,13 @@ function Vehicle:handleWireInput(name, value)
 	elseif name == 'Handbrake' then
 		self.handbrake = value
 	end
+
+	if not self.initialized and self.base ~= nil and self.basePhysObject ~= nil then
+		self:start()
+	end
 end
 
+---@return nil
 function Vehicle:update()
 	if SERVER then
 		local base = wire.ports.Base
@@ -154,7 +227,70 @@ function Vehicle:update()
 	--end
 end
 
+---@return nil
+function PrintTree(root)
+	if root == nil then
+		return
+	end
+
+	local lines = { { Color(255, 255, 255), root.name } }
+	local subtreeLines = PrintSubtree(root, '')
+	for _, line in ipairs(subtreeLines) do
+		table.insert(lines, line)
+	end
+
+	for _, line in ipairs(lines) do
+		print(unpack(line))
+	end
+end
+
+---@return (string | Color)[]
+function PrintSubtree(root, prefix)
+	if root == nil then
+		return {}
+	end
+
+	---@type (string | Color)[]
+	local lines = {}
+
+	local left = root.outputB
+	local right = root.output or root.outputA
+
+	local hasLeft = left ~= nil
+	local hasRight = right ~= nil
+
+	if not hasLeft and not hasRight then
+		return lines
+	end
+
+	if hasRight then
+		local printStrand = hasLeft and (right.output ~= nil or right.outputA ~= nil or right.outputB ~= nil)
+		local newPrefix = prefix .. (printStrand and '│ \t' or '\t\t')
+
+		table.insert(
+			lines,
+			{ Color(80, 80, 80), prefix .. (hasLeft and '├── ' or '└── '), Color(255, 255, 255), tostring(right.name) }
+		)
+
+		local rightLines = PrintSubtree(right, newPrefix)
+		for _, line in ipairs(rightLines) do
+			table.insert(lines, line)
+		end
+	end
+
+	if hasLeft then
+		table.insert(lines, { Color(80, 80, 80), (hasRight and prefix or '') .. '└── ', Color(255, 255, 255), tostring(left.name) })
+
+		local leftLines = PrintSubtree(left, prefix .. '\t\t')
+		for _, line in ipairs(leftLines) do
+			table.insert(lines, line)
+		end
+	end
+
+	return lines
+end
+
 return {
 	Vehicle,
-    POWERTRAIN_COMPONENT
+	POWERTRAIN_COMPONENT,
 }

koptilnya/engine_remastered/wheel/friction.txt

@@ -1,14 +1,16 @@
+---@class Friction
+---@field force number
+---@field slip number
+---@field speed number
 local Friction = class('Friction')
 
-function Friction:initialize(config)
+function Friction:initialize()
-    config = config or {}
-
-    self.slipCoefficient = config.SlipCoefficient or 0.8
-    self.forceCoefficient = config.ForceCoefficient or 1.2
-
 	self.force = 0
 	self.slip = 0
 	self.speed = 0
 end
 
+---@type fun(): Friction
+Friction.new = Friction.new
+
 return Friction

koptilnya/engine_remastered/wheel/friction_preset.txt

@@ -1,5 +1,17 @@
+---@class FrictionPresetConfig
+---@field B? number
+---@field C? number
+---@field D? number
+---@field E? number
+
+---@class FrictionPreset
+---@field B number
+---@field C number
+---@field D number
+---@field E number
 local FrictionPreset = class('FrictionPreset')
 
+---@param config FrictionPresetConfig
 function FrictionPreset:initialize(config)
 	config = config or {}
 
@@ -9,10 +21,15 @@ function FrictionPreset:initialize(config)
 	self.E = config.E or 0.992
 end
 
+---@param slip number
+---@return number
 function FrictionPreset:evaluate(slip)
 	local t = math.abs(slip)
 
 	return self.D * math.sin(self.C * math.atan(self.B * t - self.E * (self.B * t - math.atan(self.B * t))))
 end
 
+---@type fun(config?: FrictionPresetConfig): FrictionPreset
+FrictionPreset.new = FrictionPreset.new
+
 return FrictionPreset

koptilnya/engine_remastered/wheel/wheel.txt

@@ -1,33 +1,53 @@
 --@include ./friction.txt
 --@include ./friction_preset.txt
 --@include /koptilnya/libs/constants.txt
+--@include /koptilnya/libs/utils.txt
 
+---@type Friction
 local Friction = require('./friction.txt')
+
+---@type FrictionPreset
 local FrictionPreset = require('./friction_preset.txt')
 
 require('/koptilnya/libs/constants.txt')
+require('/koptilnya/libs/utils.txt')
 
+---@class CustomWheelConfig
+---@field ParentPhysObj PhysObj
+---@field Name? string
+---@field Direction? integer
+---@field LateralFrictionPreset? FrictionPresetConfig
+---@field LongitudinalFrictionPreset? FrictionPresetConfig
+---@field AligningFrictionPreset? FrictionPresetConfig
+
+---@class CustomWheel
 local Wheel = class('Wheel')
 
+---@param config CustomWheelConfig
 function Wheel:initialize(config)
 	config = config or {}
 
+	---@type string
+	self.name = config.Name
+
 	self.direction = config.Direction or 1
 	self.mass = config.Mass or 20
 	self.radius = config.Radius or 0.27
 	self.rollingResistance = config.RollingResistance or 20
-    self.squat = config.Squat or 0.1
-    self.slipCircleShape = config.SlipCircleShape or 1.05
-    self.casterAngle = math.rad(config.CasterAngle or 0) * self.direction
-    self.camberAngle = math.rad(config.CamberAngle or 0)
-    self.toeAngle = math.rad(config.ToeAngle or 0) * -self.direction
 
-    self.forwardFriction = Friction:new(config.ForwardFriction)
+	self.casterAngle = math.rad(config.CasterAngle or 0)
-    self.sideFriction = Friction:new(config.SideFriction)
+	self.camberAngle = math.rad(config.CamberAngle or 0)
+	self.toeAngle = math.rad(config.ToeAngle or 0)
+
+	self.forwardFriction = Friction:new()
+	self.sideFriction = Friction:new()
 
 	self.lateralFrictionPreset = FrictionPreset:new(config.LateralFrictionPreset)
+
 	self.longitudinalFrictionPreset = FrictionPreset:new(config.LongitudinalFrictionPreset)
+
 	self.aligningFrictionPreset = FrictionPreset:new(config.AligningFrictionPreset)
+	self.slipCircleShape = config.SlipCircleShape or 1.05
 
 	self.motorTorque = 0
 	self.brakeTorque = 0
@@ -43,11 +63,20 @@ function Wheel:initialize(config)
 	self.right = Vector(0)
 	self.up = Vector(0)
 	self.entity = NULL_ENTITY
+
+	---@type PhysObj?
 	self.physObj = nil
-    self.baseInertia = 0.5 * self.mass * math.pow(self.radius, 2)
+	self.baseInertia = 0.6 * self.mass * math.pow(self.radius, 2)
 	self.inertia = self.baseInertia
+
+	self.printDebounced = debounce(function(...)
+		print(...)
+	end, 1)
+
+	self.parentPhysObj = config.ParentPhysObj
 end
 
+---@param entity Entity
 function Wheel:setEntity(entity)
 	self.entity = entity
 	self.entity:setNoDraw(false)
@@ -60,12 +89,12 @@ function Wheel:setEntity(entity)
 		self.physObj:enableDrag(false)
 		self.physObj:setDragCoefficient(0)
 		self.physObj:setAngleDragCoefficient(0)
+		self:setInertia(0.6 * self.mass * math.pow(self.radius, 2))
 	end
 end
 
 function Wheel:setInertia(inertia)
 	if isValid(self.physObj) then
-        print(inertia)
 		self.physObj:setInertia(Vector(inertia))
 		self.inertia = inertia
 	end
@@ -80,29 +109,34 @@ function Wheel:getRPM()
 end
 
 function Wheel:getLongitudinalLoadCoefficient(load)
-    return 11000 * (1 - math.exp(-0.00014 * load));
+	return 11000 * (1 - math.exp(-0.00014 * load))
 end
 
 function Wheel:getLateralLoadCoefficient(load)
-    return 18000 * (1 - math.exp(-0.0001 * load));
+	return 18000 * (1 - math.exp(-0.0001 * load))
 end
 
-function Wheel:stepLongitudinal(Tm, Tb, Vx, W, Lc, R, I, kFx, kSx)
+function Wheel:stepLongitudinal(Tm, Tb, Vx, W, Lc, R, I)
 	local Winit = W
 	local VxAbs = math.abs(Vx)
 	local Sx = 0
 
-    if VxAbs >= 0.1 then
+	if Lc < 0.01 then
-        Sx = (Vx - W * R) / VxAbs
+		Sx = 0
+	elseif VxAbs >= 0.01 then
+		Sx = (W * R - Vx) / VxAbs
 	else
-        Sx = (Vx - W * R) * 0.6
+		Sx = (W * R - Vx) * 0.6
 	end
 
-    Sx = Sx * kSx;
 	Sx = math.clamp(Sx, -1, 1)
 
 	W = W + Tm / I * TICK_INTERVAL
 
+	if self.name == 'WheelRL' or self.name == 'WheelRR' then
+		self.printDebounced(Color(255, 255, 0), string.format('[%s] ', self.name), Color(255, 255, 255), string.format('W: %.2f', W))
+	end
+
 	Tb = Tb * (W > 0 and -1 or 1)
 	local TbCap = math.abs(W) * I / TICK_INTERVAL
 	local Tbr = math.abs(Tb) - math.abs(TbCap)
@@ -110,7 +144,10 @@ function Wheel:stepLongitudinal(Tm, Tb, Vx, W, Lc, R, I, kFx, kSx)
 	Tb = math.clamp(Tb, -TbCap, TbCap)
 	W = W + Tb / I * TICK_INTERVAL
 
-    local maxTorque = self.longitudinalFrictionPreset:evaluate(math.abs(Sx)) * Lc * kFx * R
+	local maxTorque = self.longitudinalFrictionPreset:evaluate(math.abs(Sx)) * Lc * R
+
+	-- local inertiaSum = (I + self.vehicle.basePhysObject:getInertia():getLength())
+
 	local errorTorque = (W - Vx / R) * I / TICK_INTERVAL
 	local surfaceTorque = math.clamp(errorTorque, -maxTorque, maxTorque)
 
@@ -125,32 +162,71 @@ function Wheel:stepLongitudinal(Tm, Tb, Vx, W, Lc, R, I, kFx, kSx)
 	local deltaOmegaTorque = (W - Winit) * I / TICK_INTERVAL
 	local Tcnt = -surfaceTorque + Tb + Tb2 - deltaOmegaTorque
 
-    if Lc < 0.001 then
-    Sx = 0
-    end
-
 	return W, Sx, Fx, Tcnt
 end
 
-function Wheel:stepLateral(Vx, Vy, Lc, kFy, kSy)
+function Wheel:stepLongitudinal2(Tm, Tb, Vx, W, Lc, R, I)
+	-- Параметры Pacejka (примерные значения, можно калибровать под задачу)
+	local B = 10.0 -- stiffness factor
+	local C = 1.9 -- shape factor
+	local D = Lc -- peak factor (максимальное сцепление зависит от нагрузки)
+	local E = 0.97 -- curvature factor
+
+	-- Угловая скорость колеса и радиус
+	local wheelSpeed = W * R
+
+	-- Slip ratio (проверка на деление на 0)
+	local slip
+	if math.abs(Vx) < 0.1 then
+		slip = 0.0
+	else
+		slip = (wheelSpeed - Vx) / math.abs(Vx)
+	end
+
+	-- Формула Pacejka для расчета силы тяги (longitudinal force)
+	local Fx = D * math.sin(C * math.atan(B * slip - E * (B * slip - math.atan(B * slip))))
+
+	-- Добавим моторный момент и торможение, сопротивление качению
+	local driveForce = Tm / R
+	local brakeForce = Tb / R
+	local rollingResistanceTorque = self.rollingResistance * R
+
+	local tractionTorque = Fx * R
+
+	-- Суммарный момент, действующий на колесо
+	local netTorque = Tm - Tb - rollingResistanceTorque - tractionTorque
+
+	-- Угловое ускорение
+	local angularAcceleration = netTorque / I
+
+	-- Обновляем угловую скорость
+	local newAngularVelocity = W + angularAcceleration * TICK_INTERVAL
+
+	-- Суммарная продольная сила (на автомобиль)
+	local totalLongitudinalForce = Fx + (Tm - Tb - rollingResistanceTorque) / R
+
+	-- print(newAngularVelocity, slip, totalLongitudinalForce, -tractionTorque)
+
+	return newAngularVelocity, slip, totalLongitudinalForce, tractionTorque
+end
+
+function Wheel:stepLateral(Vx, Vy, Lc)
 	local VxAbs = math.abs(Vx)
 	local Sy = 0
 
-    if VxAbs > 0.1 then
+	if Lc < 0.01 then
+		Sy = 0
+	elseif VxAbs > 0.1 then
 		Sy = math.deg(math.atan(Vy / VxAbs))
 		Sy = Sy / 50
 	else
 		Sy = Vy * (0.003 / TICK_INTERVAL)
 	end
 
-    Sy = Sy * kSy * 0.95
+	Sy = Sy -- * 0.95
 	Sy = math.clamp(Sy, -1, 1)
 	local slipSign = Sy < 0 and -1 or 1
-    local Fy = -slipSign * self.lateralFrictionPreset:evaluate(math.abs(Sy)) * Lc * kFy
+	local Fy = -slipSign * self.lateralFrictionPreset:evaluate(math.abs(Sy)) * Lc
-
-    if Lc < 0.0001 then
-    Sy = 0
-    end
 
 	return Sy, Fy
 end
@@ -161,10 +237,7 @@ function Wheel:slipCircle(Sx, Sy, Fx, Fy, slipCircleShape)
 	if SxAbs > 0.01 then
 		local SxClamped = math.clamp(Sx, -1, 1)
 		local SyClamped = math.clamp(Sy, -1, 1)
-        local combinedSlip = Vector2(
+		local combinedSlip = Vector2(SxClamped * slipCircleShape, SyClamped)
-            SxClamped * slipCircleShape,
-            SyClamped
-        )
 		local slipDir = combinedSlip:getNormalized()
 
 		local F = math.sqrt(Fx * Fx + Fy * Fy)
@@ -176,7 +249,7 @@ function Wheel:slipCircle(Sx, Sy, Fx, Fy, slipCircleShape)
 	return Sx, Sy, Fx, Fy
 end
 
-function Wheel:selfAligningTorque(Sy, load)
+function Wheel:selfAligningTorque(Sy, Fy, load)
 	if math.abs(Sy) < 0.001 or load < 0.001 then
 		return 0
 	end
@@ -186,32 +259,55 @@ function Wheel:selfAligningTorque(Sy, load)
 	local D = self.aligningFrictionPreset.D
 	local E = self.aligningFrictionPreset.E
 
-    local loadScale = load * 1000
+	local entityWheelDown = self.entity:localToWorld(Vector(0, 0, -self.radius * UNITS_PER_METER))
-    local mechanicalTrail = 0.15
+	local physWheelDown = self.entity:localToWorld(-self.up * self.radius * UNITS_PER_METER)
-    local casterEffect = math.tan(self.casterAngle)
-    local effectiveTrail = mechanicalTrail + casterEffect * self.radius
-    local D_scaled = D * loadScale * effectiveTrail
 
-    local camberEffect = 1 + 0.5 * math.abs(self.camberAngle)
+	local mechanicalTrail = entityWheelDown:getDistance(physWheelDown) * UNITS_TO_METERS
-    local toeEffect = 1 + 0.3 * math.abs(self.toeAngle)
+	local pneumaticTrail = 0.2 * math.exp(-5 * math.abs(Sy))
 
-    local term = B * Sy - E * (B * Sy - math.atan(B * Sy))
+	local Mz = -Fy * (mechanicalTrail + pneumaticTrail)
-    local Mz = D_scaled * camberEffect * toeEffect * math.sin(C * math.atan(term))
 
-    return Mz
+	if self.name == 'WheelFL' or self.name == 'WheelFR' then
+		-- self.printDebounced(
+		-- 	Color(255, 255, 0),
+		-- 	string.format('[%s] ', self.name),
+		-- 	Color(255, 255, 255),
+		-- 	string.format('Mz: %.2f | Sy: %.2f | Fy: %.2f | mechanicalTrail: %.3f', Mz, Sy, Fy, mechanicalTrail)
+		-- )
 	end
 
-function Wheel:rotateVector(vector, jopa)
+	return Mz -- TICK_INTERVAL
-    local ang = self.entity:getAngles()
+end
-    local baseForward = ang:getForward()
-    local baseUp = ang:getUp()
-    local baseRight = -ang:getRight()
 
-    local steerRotated = vector:rotateAroundAxis(baseUp, nil, math.rad(-self.steerAngle) + self.toeAngle)
+function Wheel:rotateAxes()
-    local camberRotated = steerRotated:rotateAroundAxis(baseForward, nil, -self.camberAngle)
+	local ang = self.physObj:getAngles()
-    local casterRotated = camberRotated:rotateAroundAxis(baseRight, nil, -self.casterAngle)
 
-    return casterRotated:getNormalized()
+	-- Base directions
+	---@type Vector
+	local forward = ang:getForward() * self.direction
+	local up = ang:getUp()
+	---@type Vector
+	local right = -ang:getRight() * self.direction
+
+	-- Step 1: Steer + Toe (rotate forward/right around up)
+	local steerAngle = -self.steerAngle
+	forward = forward:rotateAroundAxis(up, steerAngle)
+	right = right:rotateAroundAxis(up, steerAngle)
+
+	-- Step 2: Caster (rotate forward/up around right)
+	local casterAngle = -self.casterAngle -- * self.direction
+	forward = forward:rotateAroundAxis(right, nil, casterAngle)
+	up = up:rotateAroundAxis(right, nil, casterAngle)
+
+	-- Step 3: Camber (rotate up/right around forward)
+	local camberAngle = -self.camberAngle * self.direction
+	up = up:rotateAroundAxis(forward, nil, camberAngle)
+	right = right:rotateAroundAxis(forward, nil, camberAngle)
+
+	-- Normalize final vectors
+	self.forward = forward:getNormalized()
+	self.right = right:getNormalized() * self.direction
+	self.up = up:getNormalized()
 end
 
 function Wheel:update()
@@ -219,23 +315,45 @@ function Wheel:update()
 		return
 	end
 
-    local externalStress = self.physObj:getStress()
+	local frictionSnapshot = self.physObj:getFrictionSnapshot()
-    local velocity = self.physObj:getVelocity() * UNITS_TO_METERS
+	local externalStress, internalStress = self.physObj:getStress()
 
-    self.hasHit = externalStress ~= 0
+	self.hasHit = #frictionSnapshot > 0
-    self.load = externalStress * KG_TO_KN
+	self.load = self.hasHit and externalStress * KG_TO_N or 0
 
-    self.longitudinalLoadCoefficient = self:getLongitudinalLoadCoefficient(self.load * 1000)
+	---@type PhysObj?
-    self.lateralLoadCoefficient = self:getLateralLoadCoefficient(self.load * 1000)
+	local frictionSnapshotItem = self.hasHit and frictionSnapshot[1] or nil
 
-    local ang = self.entity:getAngles()
+	local surfaceVelocity = Vector(0, 0, 0)
-    local baseForward = ang:getForward() * self.direction
-    local baseUp = ang:getUp()
-    local baseRight = -ang:getRight() * self.direction
 
-    self.forward = self:rotateVector(baseForward)
+	if frictionSnapshotItem ~= nil then
-    self.right = self:rotateVector(baseRight)
+		surfaceVelocity = frictionSnapshotItem.Other:getVelocityAtPoint(frictionSnapshotItem.ContactPoint)
-    self.up = self:rotateVector(baseUp)
+	end
+
+	local velocity = (self.parentPhysObj:getVelocityAtPoint(self.entity:getPos()) - surfaceVelocity) * UNITS_TO_METERS
+	-- local velocity = self.physObj:getVelocity() * UNITS_TO_METERS
+
+	-- self.load = frictionSnapshotItem and frictionSnapshotItem.NormalForce / KG_TO_N or 0
+
+	self.longitudinalLoadCoefficient = self:getLongitudinalLoadCoefficient(self.load)
+	self.lateralLoadCoefficient = self:getLateralLoadCoefficient(self.load)
+
+	-- if self.name == 'WheelRL' or self.name == 'WheelRR' then
+	-- 	self.printDebounced(
+	-- 		Color(255, 255, 0),
+	-- 		string.format('[%s] ', self.name),
+	-- 		Color(255, 255, 255),
+	-- 		string.format(
+	-- 			'Load: %.2f | LonLc: %.2f | LaLc: %.2f | externalStress: %.2f',
+	-- 			self.load,
+	-- 			self.longitudinalLoadCoefficient,
+	-- 			self.lateralLoadCoefficient,
+	-- 			externalStress
+	-- 		)
+	-- 	)
+	-- end
+
+	self:rotateAxes()
 
 	local forwardSpeed = 0
 	local sideSpeed = 0
@@ -252,32 +370,27 @@ function Wheel:update()
 		self.angularVelocity,
 		self.longitudinalLoadCoefficient,
 		self.radius,
-        self.inertia,
+		self.inertia
-        0.95,
-        0.9
 	)
 
-    local Sy, Fy = self:stepLateral(
+	local Sy, Fy = self:stepLateral(forwardSpeed, sideSpeed, self.lateralLoadCoefficient)
-        forwardSpeed,
-        sideSpeed,
-        self.lateralLoadCoefficient,
-        0.95,
-        0.9
 
-    )
+	Sx, Sy, Fx, Fy = self:slipCircle(Sx, Sy, Fx, Fy, self.slipCircleShape)
 
-    Sx, Sy, Fx, Fy = self:slipCircle(
+	-- Traction circle: ограничение по максимальной силе сцепления
-        Sx,
+	-- local mu = 1.0 -- коэффициент трения (может быть в пресете)
-        Sy,
+	-- local F_max = self.load * mu
-        Fx,
+	-- local F_total = math.sqrt(Fx * Fx + Fy * Fy)
-        Fy,
+	-- if F_total > F_max and F_total > 0 then
-        1.05
+	-- 	local scale = F_max / F_total
-    )
+	-- 	Fx = Fx * scale
+	-- 	Fy = Fy * scale
+	-- end
 
-    self.mz = self:selfAligningTorque(Sy, self.load)
+	self.mz = self:selfAligningTorque(Sy, Fy, self.load)
 
 	self.angularVelocity = W
-    self.counterTorque = CounterTq
+	self.counterTorque = CounterTq * self.direction
 	self.forwardFriction.slip = Sx
 	self.forwardFriction.force = Fx
 	self.forwardFriction.speed = forwardSpeed
@@ -286,4 +399,7 @@ function Wheel:update()
 	self.sideFriction.speed = sideSpeed
 end
 
+---@type fun(config: CustomWheelConfig): CustomWheel
+Wheel.new = Wheel.new
+
 return Wheel

koptilnya/engine_remastered/wire_component.txt

@@ -1,13 +1,28 @@
+---@alias KPTLWirePortType
+---| "number"
+---| "normal"
+---| "string"
+---| "entity"
+
+---@class KPTLWireComponent
+---@field wireInputs { [string]: KPTLWirePortType }
+---@field wireOutputs { [string]: KPTLWirePortType }
 local WireComponent = class('WireComponent')
 
+---@return nil
 function WireComponent:initialize()
-    if CLIENT then return end
+	if CLIENT then
+		return
+	end
 
 	self.wireInputs = {}
 	self.wireOutputs = {}
 end
 
-function WireComponent:updateWireOutputs()
+---@return nil
-end
+function WireComponent:onWirePortsReady() end
+
+---@return nil
+function WireComponent:updateWireOutputs() end
 
 return WireComponent

koptilnya/engine_sound_2.txt

@@ -2,7 +2,7 @@
 --@include /libs/task.txt
 local Task = require('/libs/task.txt')
 
-local Sound = class("Sound")
+local Sound = class('Sound')
 
 local function map(x, a, b, c, d)
 	return (x - a) / (b - a) * (d - c) + c
@@ -21,15 +21,16 @@ local function fade(n, min, mid, max)
 end
 
 function Sound:initialize(redline, parent, sounds)
-    local sounds = sounds or {
+	local sounds = sounds
-        [900] = "https://raw.githubusercontent.com/koptilnya/gmod-data/main/engine_sounds/bmw_s54/ext_e30s54_idle.ogg",
+		or {
-        [2500] = "https://raw.githubusercontent.com/koptilnya/gmod-data/main/engine_sounds/bmw_s54/ext_e30s54_on_2500.ogg",
+			[900] = 'https://raw.githubusercontent.com/koptilnya/gmod-data/main/engine_sounds/bmw_s54/ext_e30s54_idle.ogg',
-        [4000] = "https://raw.githubusercontent.com/koptilnya/gmod-data/main/engine_sounds/bmw_s54/ext_e30s54_on_4000.ogg",
+			[2500] = 'https://raw.githubusercontent.com/koptilnya/gmod-data/main/engine_sounds/bmw_s54/ext_e30s54_on_2500.ogg',
-        [6750] = "https://raw.githubusercontent.com/koptilnya/gmod-data/main/engine_sounds/bmw_s54/ext_e30s54_on_6750.ogg",
+			[4000] = 'https://raw.githubusercontent.com/koptilnya/gmod-data/main/engine_sounds/bmw_s54/ext_e30s54_on_4000.ogg',
-        [8500] = "https://raw.githubusercontent.com/koptilnya/gmod-data/main/engine_sounds/bmw_s54/ext_e30s54_on_8500.ogg"
+			[6750] = 'https://raw.githubusercontent.com/koptilnya/gmod-data/main/engine_sounds/bmw_s54/ext_e30s54_on_6750.ogg',
+			[8500] = 'https://raw.githubusercontent.com/koptilnya/gmod-data/main/engine_sounds/bmw_s54/ext_e30s54_on_8500.ogg',
 		}
 	local redline = redline or 7000
-    self.active = false
+	self.active = true
 	local soundObjects = {}
 	local soundRpms = {}
 	local maxValue = 0
@@ -40,7 +41,7 @@ function Sound:initialize(redline, parent, sounds)
 
 	Task.run(function()
 		for soundRpm, soundPath in pairs(sounds) do
-            local sound = await* soundLoad(soundPath, "3d noblock noplay")
+			local sound = await * soundLoad(soundPath, '3d noblock noplay')
 			soundObjects[soundRpm] = sound
 			table.insert(soundRpms, soundRpm)
 			if maxValue < soundRpm then
@@ -50,7 +51,7 @@ function Sound:initialize(redline, parent, sounds)
 
 		table.sort(soundRpms)
 
-        hook.add("think", table.address({}), function()
+		hook.add('think', table.address({}), function()
 			if not self.active then
 				return
 			end
@@ -77,7 +78,7 @@ function Sound:initialize(redline, parent, sounds)
 		end)
 	end)
 
-    net.receive("ENGINE_FULLRPM", function()
+	net.receive('ENGINE_FULLRPM', function()
 		local rpm = net.readUInt(16)
 		engineRpm = rpm * (maxValue / redline)
 		throttle = math.max(net.readFloat(), 0)
@@ -85,5 +86,3 @@ function Sound:initialize(redline, parent, sounds)
 end
 
 return Sound
-
-

koptilnya/libs/utils.txt

@@ -1,16 +1,16 @@
 -- @name koptilnya/libs/utils
 function checkVarClass(var, class, message)
-    if type(var) ~= "table" or var["class"] == nil or not var:isInstanceOf(class) then
+	if type(var) ~= 'table' or var['class'] == nil or not var:isInstanceOf(class) then
-        throw(message == nil and "Wrong variable class." or message, 1, true)
+		throw(message == nil and 'Wrong variable class.' or message, 1, true)
 	end
 end
 
 function accessorFunc(tbl, varName, name, defaultValue)
 	tbl[varName] = defaultValue
-    tbl["get" .. name] = function(self)
+	tbl['get' .. name] = function(self)
 		return self[varName]
 	end
-    tbl["set" .. name] = function(self, value)
+	tbl['set' .. name] = function(self, value)
 		self[varName] = value
 	end
 end
@@ -25,23 +25,23 @@ function rotateAround(entity, pivot, angles)
 end
 
 function tobase(number, base)
-    local ret = ""
+	local ret = ''
 
 	if base < 2 or base > 36 or number == 0 then
-        return "0"
+		return '0'
 	end
 
 	if base == 10 then
 		return tostring(number)
 	end
 
-    local chars = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+	local chars = '0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ'
 	local loops = 0
 	while number > 0 do
 		loops = loops + 1
 		number, d = math.floor(number / base), (number % base) + 1
 		ret = string.sub(chars, d, d) .. ret
-        if (loops > 32000) then
+		if loops > 32000 then
 			break
 		end
 	end
@@ -49,7 +49,7 @@ function tobase(number, base)
 end
 
 function bytesToHex(bytes)
-    local hex = "0x"
+	local hex = '0x'
 
 	for _, v in pairs(bytes) do
 		hex = hex .. bit.tohex(v, 2)
@@ -69,9 +69,9 @@ function byteTable(str, start, length)
 end
 
 function isURL(str)
-    local _1, _2, prefix = str:find("^(%w-):")
+	local _1, _2, prefix = str:find('^(%w-):')
 
-    return prefix == "http" or prefix == "https" or prefix == "data"
+	return prefix == 'http' or prefix == 'https' or prefix == 'data'
 end
 
 function debounce(func, delay)