| 27 | function WheelsUtil.registerTireType(name, frictionCoeffs, frictionCoeffsWet) |
| 28 | local tireType = WheelsUtil.getTireType(name); |
| 29 | if tireType ~= nil then |
| 30 | print("Warning: Adding duplicate tire type '"..name.."'"); |
| 31 | return; |
| 32 | end |
| 33 | |
| 34 | local function getNoNilCoeffs(frictionCoeffs) |
| 35 | local localCoeffs = {}; |
| 36 | if frictionCoeffs[1] == nil then |
| 37 | localCoeffs[1] = 1.15; |
| 38 | for i=2,WheelsUtil.NUM_GROUNDS do |
| 39 | if frictionCoeffs[i] ~= nil then |
| 40 | localCoeffs[1] = frictionCoeffs[i]; |
| 41 | break; |
| 42 | end |
| 43 | end |
| 44 | else |
| 45 | localCoeffs[1] = frictionCoeffs[1]; |
| 46 | end |
| 47 | for i=2,WheelsUtil.NUM_GROUNDS do |
| 48 | localCoeffs[i] = frictionCoeffs[i] or frictionCoeffs[i-1]; |
| 49 | end |
| 50 | return localCoeffs |
| 51 | end |
| 52 | |
| 53 | local tireType = {}; |
| 54 | tireType.name = name; |
| 55 | tireType.frictionCoeffs = getNoNilCoeffs(frictionCoeffs); |
| 56 | tireType.frictionCoeffsWet = getNoNilCoeffs(frictionCoeffsWet or frictionCoeffs); |
| 57 | table.insert(WheelsUtil.tireTypes, tireType); |
| 58 | end |
| 137 | function WheelsUtil.updateWheelsPhysics(self, dt, currentSpeed, acceleration, doHandbrake, requiredDriveMode) |
| 138 | local accelerationPedal = 0; |
| 139 | local brakePedal = 0; |
| 140 | |
| 141 | if not g_currentMission.missionInfo.stopAndGoBraking then |
| 142 | |
| 143 | self.hasStopped = Utils.getNoNil(self.hasStopped, false); |
| 144 | self.nextMovingDirection = Utils.getNoNil(self.nextMovingDirection, 0); |
| 145 | |
| 146 | if math.abs(acceleration) < 0.001 and math.abs(self.lastSpeedAcceleration) < 0.0001 and math.abs(self.lastSpeedReal) < 0.0001 and math.abs(self.lastMovedDistance) < 0.001 then |
| 147 | self.hasStopped = true; |
| 148 | accelerationPedal = 0; |
| 149 | brakePedal = 1; |
| 150 | elseif math.abs(self.lastSpeedReal) > 0.0001 then |
| 151 | self.hasStopped = false; |
| 152 | end |
| 153 | |
| 154 | if self.hasStopped and math.abs(acceleration) > 0.001 then |
| 155 | self.nextMovingDirection = acceleration; |
| 156 | end |
| 157 | if self.nextMovingDirection * acceleration > 0.001 then |
| 158 | accelerationPedal = acceleration; |
| 159 | brakePedal = 0; |
| 160 | elseif not self.hasStopped then |
| 161 | accelerationPedal = 0; |
| 162 | if self.nextMovingDirection == 0 then |
| 163 | brakePedal = 1; |
| 164 | else |
| 165 | --brakePedal = math.abs(acceleration); |
| 166 | |
| 167 | if math.abs(acceleration) < 0.001 then |
| 168 | if currentSpeed < self.motor.lowBrakeForceSpeedLimit or doHandbrake then |
| 169 | if math.abs(self.rotatedTime) < 0.01 or self.articulatedAxis == nil then |
| 170 | brakePedal = 1; |
| 171 | end |
| 172 | else |
| 173 | brakePedal = self.motor.lowBrakeForceScale; |
| 174 | end |
| 175 | else |
| 176 | brakePedal = math.abs(acceleration); |
| 177 | end |
| 178 | |
| 179 | end |
| 180 | end |
| 181 | |
| 182 | else |
| 183 | |
| 184 | local brakeAcc = false; |
| 185 | if (self.movingDirection*currentSpeed*Utils.sign(acceleration*self.reverserDirection)) < -0.0003 then -- 0.0003 * 3600 = 1.08 km/h |
| 186 | -- do we want to accelerate in the opposite direction of the vehicle speed? |
| 187 | brakeAcc = true; |
| 188 | end; |
| 189 | |
| 190 | if math.abs(acceleration) < 0.001 then |
| 191 | accelerationPedal = 0; |
| 192 | |
| 193 | if currentSpeed < self.motor.lowBrakeForceSpeedLimit or doHandbrake then |
| 194 | if math.abs(self.rotatedTime) < 0.01 or self.articulatedAxis == nil then |
| 195 | brakePedal = 1; |
| 196 | end; |
| 197 | else |
| 198 | brakePedal = self.motor.lowBrakeForceScale; |
| 199 | end; |
| 200 | else |
| 201 | if not brakeAcc then |
| 202 | accelerationPedal = acceleration; |
| 203 | brakePedal = 0; |
| 204 | else |
| 205 | accelerationPedal = 0; |
| 206 | brakePedal = math.abs(acceleration); |
| 207 | end; |
| 208 | end; |
| 209 | |
| 210 | end |
| 211 | |
| 212 | local automaticBrake = self.motor.lowBrakeForceScale == brakePedal; |
| 213 | |
| 214 | if g_currentMission.missionInfo.stopAndGoBraking then |
| 215 | self:setBrakeLightsVisibility(not automaticBrake and math.abs(brakePedal) > 0 and currentSpeed > 0.0006); |
| 216 | else |
| 217 | self:setBrakeLightsVisibility(not automaticBrake and math.abs(brakePedal) > 0 and not self.hasStopped); |
| 218 | end |
| 219 | |
| 220 | self:setReverseLightsVisibility(self.movingDirection < 0 and (currentSpeed > 0.0006 or accelerationPedal < 0) and self.reverserDirection == 1); |
| 221 | |
| 222 | self.motor:updateMotorRpm(dt); |
| 223 | self.motor:updateGear(accelerationPedal, dt); |
| 224 | |
| 225 | local absAccelerationPedal = math.abs(accelerationPedal); |
| 226 | local wheelDriveTorque = 0; |
| 227 | |
| 228 | if next(self.differentials) ~= nil and self.motorizedNode ~= nil then |
| 229 | --print(string.format("set vehicle props: %.2fkN %.1frpm ratio: %.1f", self.motor:getTorque(accelerationPedal, false), self.motor:getCurMaxRpm(), self.motor:getGearRatio())); |
| 230 | local maxRotSpeed = self.motor:getCurMaxRpm() * math.pi / 30; |
| 231 | local torque = self.motor:getTorque(accelerationPedal * self.reverserDirection, false); |
| 232 | |
| 233 | setVehicleProps(self.motorizedNode, torque, maxRotSpeed, self.motor:getGearRatio() * self.reverserDirection, self.motor:getMaxClutchTorque(), self.motor:getRotInertia(), self.motor:getDampingRate()); |
| 234 | else |
| 235 | local numTouching = 0; |
| 236 | local numNotTouching = 0; |
| 237 | local numHandbrake = 0; |
| 238 | |
| 239 | for _, wheel in pairs(self.wheels) do |
| 240 | if wheel.driveMode >= requiredDriveMode then |
| 241 | if doHandbrake and wheel.hasHandbrake then |
| 242 | numHandbrake = numHandbrake +1; |
| 243 | else |
| 244 | if wheel.hasGroundContact then |
| 245 | numTouching = numTouching+1; |
| 246 | else |
| 247 | numNotTouching = numNotTouching+1; |
| 248 | end |
| 249 | end |
| 250 | end |
| 251 | end |
| 252 | |
| 253 | if numTouching > 0 and absAccelerationPedal > 0.01 then |
| 254 | local axisTorque, brakePedalMotor = WheelsUtil.getWheelTorque(self, accelerationPedal); |
| 255 | if axisTorque ~= 0 then |
| 256 | wheelDriveTorque = axisTorque / (numTouching+numNotTouching); --*0.7); |
| 257 | else |
| 258 | brakePedal = brakePedalMotor; |
| 259 | end |
| 260 | end |
| 261 | end |
| 262 | |
| 263 | local doBrake = brakePedal > 0; |
| 264 | for _, implement in pairs(self.attachedImplements) do |
| 265 | if implement.object ~= nil then |
| 266 | if doBrake then |
| 267 | implement.object:onBrake(brakePedal); |
| 268 | else |
| 269 | implement.object:onReleaseBrake(); |
| 270 | end |
| 271 | end |
| 272 | end |
| 273 | |
| 274 | for _, wheel in pairs(self.wheels) do |
| 275 | WheelsUtil.updateWheelPhysics(self, wheel, doHandbrake, wheelDriveTorque, brakePedal, requiredDriveMode, dt) |
| 276 | end |
| 277 | |
| 278 | end |
| 335 | function WheelsUtil.updateWheelSteeringAngle(self, wheel, dt) |
| 336 | local steeringAngle = wheel.steeringAngle; |
| 337 | local rotatedTime = self.rotatedTime; |
| 338 | if wheel.steeringAxleScale ~= 0 then |
| 339 | steeringAngle = Utils.clamp(self.steeringAxleAngle * wheel.steeringAxleScale, wheel.steeringAxleRotMin, wheel.steeringAxleRotMax); |
| 340 | elseif wheel.versatileYRot and self:getIsVersatileYRotActive(wheel) then |
| 341 | if self.isServer then |
| 342 | if wheel.forceVersatility or wheel.hasGroundContact then |
| 343 | steeringAngle = Utils.getVersatileRotation(wheel.repr, wheel.node, dt, wheel.positionX, wheel.positionY, wheel.positionZ, wheel.steeringAngle, wheel.rotMin, wheel.rotMax); |
| 344 | end |
| 345 | end |
| 346 | elseif wheel.rotSpeed ~= nil and wheel.rotMax ~= nil and wheel.rotMin ~= nil then |
| 347 | if rotatedTime > 0 or wheel.rotSpeedNeg == nil then |
| 348 | steeringAngle = rotatedTime * wheel.rotSpeed; |
| 349 | else |
| 350 | steeringAngle = rotatedTime * wheel.rotSpeedNeg; |
| 351 | end |
| 352 | if steeringAngle > wheel.rotMax then |
| 353 | steeringAngle = wheel.rotMax; |
| 354 | elseif steeringAngle < wheel.rotMin then |
| 355 | steeringAngle = wheel.rotMin; |
| 356 | end |
| 357 | if self.updateSteeringAngle ~= nil then |
| 358 | steeringAngle = self:updateSteeringAngle(wheel, dt, steeringAngle); |
| 359 | end |
| 360 | end |
| 361 | wheel.steeringAngle = steeringAngle; |
| 362 | end |
| 397 | function WheelsUtil.updateWheelsGraphics(self, dt) |
| 398 | if self.isServer then |
| 399 | self.hasWheelGroundContact = false; |
| 400 | end |
| 401 | |
| 402 | for _, wheel in pairs(self.wheels) do |
| 403 | WheelsUtil.updateWheelSteeringAngle(self, wheel, dt); |
| 404 | if self.isServer and self.isAddedToPhysics then |
| 405 | WheelsUtil.updateWheelHasGroundContact(wheel); |
| 406 | if wheel.hasGroundContact then |
| 407 | self.hasWheelGroundContact = true; |
| 408 | end |
| 409 | |
| 410 | if wheel.updateWheel then |
| 411 | local x,y,z, xDrive, suspensionLength = getWheelShapePosition(wheel.node, wheel.wheelShape); |
| 412 | xDrive = xDrive + wheel.xDriveOffset |
| 413 | WheelsUtil.updateWheelGraphics(self, wheel, x, y, z, xDrive, suspensionLength); |
| 414 | |
| 415 | --fill netinfo (on server) |
| 416 | wheel.netInfo.x = x; |
| 417 | wheel.netInfo.y = y; |
| 418 | wheel.netInfo.z = z; |
| 419 | wheel.netInfo.xDrive = xDrive; |
| 420 | wheel.netInfo.suspensionLength = suspensionLength; |
| 421 | else |
| 422 | wheel.updateWheel = true |
| 423 | end |
| 424 | else |
| 425 | -- client code |
| 426 | local x, y, z = wheel.netInfo.x, wheel.netInfo.y, wheel.netInfo.z; |
| 427 | local xDrive = wheel.netInfo.xDrive; |
| 428 | local suspensionLength = wheel.netInfo.suspensionLength |
| 429 | WheelsUtil.updateWheelGraphics(self, wheel, x, y, z, xDrive, suspensionLength); |
| 430 | end |
| 431 | end |
| 432 | end |
| 442 | function WheelsUtil.updateWheelGraphics(self, wheel, x, y, z, xDrive, suspensionLength) |
| 443 | local steeringAngle = wheel.steeringAngle; |
| 444 | if not wheel.showSteeringAngle then |
| 445 | steeringAngle = 0; |
| 446 | end |
| 447 | |
| 448 | local dirX, dirY, dirZ = 0, -1, 0 |
| 449 | if wheel.repr == wheel.driveNode then |
| 450 | setRotation(wheel.repr, xDrive, steeringAngle, 0); |
| 451 | else |
| 452 | dirX, dirY, dirZ = localDirectionToLocal(wheel.repr, getParent(wheel.repr), 0, -1, 0); |
| 453 | setRotation(wheel.repr, 0, steeringAngle, 0); |
| 454 | setRotation(wheel.driveNode, xDrive, 0, 0); |
| 455 | end |
| 456 | |
| 457 | if wheel.wheelTire ~= nil then |
| 458 | local x, y, z, _ = getShaderParameter(wheel.wheelTire, "morphPosition"); |
| 459 | local deformation = Utils.clamp((wheel.deltaY+0.04-suspensionLength)*0.7, 0, wheel.maxDeformation) |
| 460 | |
| 461 | setShaderParameter(wheel.wheelTire, "morphPosition", x, y, z, deformation, false); |
| 462 | |
| 463 | if wheel.additionalWheels ~= nil then |
| 464 | for _, additionalWheel in pairs(wheel.additionalWheels) do |
| 465 | local x, y, z, _ = getShaderParameter(additionalWheel.wheelTire, "morphPosition"); |
| 466 | setShaderParameter(additionalWheel.wheelTire, "morphPosition", x, y, z, deformation, false); |
| 467 | end |
| 468 | end |
| 469 | |
| 470 | suspensionLength = suspensionLength+deformation |
| 471 | end |
| 472 | |
| 473 | suspensionLength = suspensionLength - wheel.deltaY |
| 474 | setTranslation(wheel.repr, wheel.startPositionX + dirX*suspensionLength, wheel.startPositionY + dirY*suspensionLength, wheel.startPositionZ + dirZ*suspensionLength); |
| 475 | |
| 476 | if wheel.steeringNode ~= nil then |
| 477 | local refAngle = wheel.steeringNodeMaxRot; |
| 478 | local refTrans = wheel.steeringNodeMaxTransX |
| 479 | local refRot = wheel.steeringNodeMaxRotY; |
| 480 | if steeringAngle < 0 then |
| 481 | refAngle = wheel.steeringNodeMinRot; |
| 482 | refTrans = wheel.steeringNodeMinTransX; |
| 483 | refRot = wheel.steeringNodeMinRotY; |
| 484 | end |
| 485 | local steering = 0; |
| 486 | if refAngle ~= 0 then |
| 487 | steering = steeringAngle / refAngle; |
| 488 | end |
| 489 | |
| 490 | if wheel.steeringNodeMinTransX ~= nil then |
| 491 | local x,y,z = getTranslation(wheel.steeringNode); |
| 492 | x = refTrans * steering; |
| 493 | setTranslation(wheel.steeringNode, x, y, z); |
| 494 | end |
| 495 | if wheel.steeringNodeMinRotY ~= nil then |
| 496 | local rotX,rotY,rotZ = getRotation(wheel.steeringNode); |
| 497 | rotY = refRot * steering; |
| 498 | setRotation(wheel.steeringNode, rotX, rotY, rotZ); |
| 499 | end |
| 500 | end |
| 501 | |
| 502 | if wheel.fenderNode ~= nil then |
| 503 | local angleDif = 0; |
| 504 | if steeringAngle > wheel.fenderRotMax then |
| 505 | angleDif = wheel.fenderRotMax - steeringAngle; |
| 506 | elseif steeringAngle < wheel.fenderRotMin then |
| 507 | angleDif = wheel.fenderRotMin - steeringAngle; |
| 508 | end |
| 509 | setRotation(wheel.fenderNode, 0, angleDif, 0); |
| 510 | end |
| 511 | end |