92 lines
2.1 KiB
Lua
92 lines
2.1 KiB
Lua
--@include ./powertrain_component.txt
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--@include /koptilnya/libs/constants.txt
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local PowertrainComponent = require('./powertrain_component.txt')
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require('/koptilnya/libs/constants.txt')
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---@class ClutchConfig: PowertrainComponentConfig
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---@field SlipTorque? number
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---@class Clutch: PowertrainComponent
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---@field slipTorque number
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local Clutch = class('Clutch', PowertrainComponent)
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---@private
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---@param vehicle KPTLVehicle
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---@param name string
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---@param config ClutchConfig
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function Clutch:initialize(vehicle, name, config)
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PowertrainComponent.initialize(self, vehicle, name, config)
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if CLIENT then
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return
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end
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self.wireInputs = {
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Clutch = 'number',
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}
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self.wireOutputs = {
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Clutch_Torque = 'number',
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}
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self.inertia = config.Inertia or 0.1
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self.slipTorque = config.SlipTorque or 1000
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end
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---@return nil
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function Clutch:updateWireOutputs()
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PowertrainComponent.updateWireOutputs(self)
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wire.ports.Clutch_Torque = self.torque
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end
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---@return number
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function Clutch:getPress()
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return 1 - wire.ports.Clutch
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end
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---@return number
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function Clutch:queryInertia()
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if self.output == nil then
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return self.inertia
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end
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return self.inertia + self.output:queryInertia() * self:getPress()
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end
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---@param angularVelocity number
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---@return number
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function Clutch:queryAngularVelocity(angularVelocity)
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self.angularVelocity = angularVelocity
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if self.output == nil then
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return angularVelocity
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end
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local outputW = self.output:queryAngularVelocity(angularVelocity) * self:getPress()
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local inputW = angularVelocity * (1 - self:getPress())
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return outputW + inputW
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end
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---@param torque number
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---@param inertia number
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---@return number
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function Clutch:forwardStep(torque, inertia)
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if self.output == nil then
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return torque
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end
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local press = self:getPress()
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self.torque = math.clamp(torque, -self.slipTorque, self.slipTorque)
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self.torque = self.torque * (1 - (1 - math.pow(press, 0.3)))
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local returnTorque = self.output:forwardStep(self.torque, inertia * press + self.inertia) * press
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return math.clamp(returnTorque, -self.slipTorque, self.slipTorque)
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end
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return Clutch
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