77 lines
2.0 KiB
Plaintext
77 lines
2.0 KiB
Plaintext
--@include ./powertrain_component.txt
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--@include /koptilnya/libs/constants.txt
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--@include /koptilnya/libs/entity.txt
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require('./powertrain_component.txt')
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require('/koptilnya/libs/constants.txt')
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require('/koptilnya/libs/entity.txt')
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Wheel = class('Wheel', PowertrainComponent)
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function Wheel:initialize(config, prefix)
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PowertrainComponent.initialize(self)
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self.prefix = prefix
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self.direction = config.Direction or 1
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self.wireInputs = {
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[prefix .. 'Wheel'] = 'entity'
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}
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self.wireOutputs = {
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[prefix .. 'WheelRPM'] = 'number',
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[prefix .. 'WheelTorque'] = 'number'
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}
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self.entity = NULL_ENTITY
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hook.add('input', 'vehicle_wheel_update' .. prefix, function(key, val)
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if key == prefix .. 'Wheel' then
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self.entity = val
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if not isValid(val) then
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return
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end
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if config.CalculateInertia then
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self.entity:setInertia(calculateWheelInertia(val))
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end
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self.inertia = self.entity:getInertia().y
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end
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end)
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end
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function Wheel:getRadius()
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if not isValid(self.entity) then
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return 0
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end
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return self.entity:getModelRadius() * UNITS_TO_METERS
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end
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function Wheel:updateWireOutputs()
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wire.ports[self.prefix .. 'WheelRPM'] = self:getRPM()
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wire.ports[self.prefix .. 'WheelTorque'] = self.torque
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end
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function Wheel:queryAngularVelocity()
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return self.angularVelocity
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end
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function Wheel:forwardStep(torque, inertia)
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if not isValid(self.entity) then
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return 0
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end
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local initialAngularVelocity = self.angularVelocity
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--self.entity:setInertia(self.entity:getInertia():setY(inertia))
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self.torque = math.deg(torque) * 1.33 * -self.direction
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self.entity:applyTorque(self.torque * TICK_INTERVAL * self.entity:getRight())
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self.angularVelocity = math.rad(self.entity:getAngleVelocity().y) * self.direction
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local deltaOmegaTorque = (self.angularVelocity - initialAngularVelocity) * self.inertia / TICK_INTERVAL
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return torque
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end
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