19 lines
451 B
Lua
19 lines
451 B
Lua
local FrictionPreset = class('FrictionPreset')
|
|
|
|
function FrictionPreset:initialize(config)
|
|
config = config or {}
|
|
|
|
self.B = config.B or 10.86
|
|
self.C = config.C or 2.15
|
|
self.D = config.D or 0.933
|
|
self.E = config.E or 0.992
|
|
end
|
|
|
|
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
|
|
|
|
return FrictionPreset
|