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Tweak tyres, fix asymmetry in pacejka formula

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sergeypdev 2025-03-20 00:46:50 +04:00
parent b6866f53f3
commit 22c2224dea
4 changed files with 58 additions and 39 deletions
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4
game/game.odin
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@ -320,7 +320,7 @@ update_runtime_world :: proc(runtime_world: ^Runtime_World, dt: f32) {
wheel_extent_x := f32(1.7) wheel_extent_x := f32(1.7)
wheel_y := f32(-0.5) wheel_y := f32(-0.5)
rest := f32(1) rest := f32(1)
natural_frequency := f32(0.3) natural_frequency := f32(0.4)
damping := f32(0.08) damping := f32(0.08)
radius := f32(0.6) radius := f32(0.6)
wheel_front_z := f32(3.05) wheel_front_z := f32(3.05)
@ -393,7 +393,7 @@ update_runtime_world :: proc(runtime_world: ^Runtime_World, dt: f32) {
front_wheels := turn_wheels front_wheels := turn_wheels
back_wheels := drive_wheels back_wheels := drive_wheels
DRIVE_IMPULSE :: 2000 DRIVE_IMPULSE :: 3000
BRAKE_IMPULSE :: 500 BRAKE_IMPULSE :: 500
TURN_ANGLE :: -f32(30) * math.RAD_PER_DEG TURN_ANGLE :: -f32(30) * math.RAD_PER_DEG
// 68% front, 32% rear // 68% front, 32% rear

4
game/physics/pacejka.odin
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@ -4,7 +4,7 @@ import "core:math"
Pacejka96_Params :: [11]f32 Pacejka96_Params :: [11]f32
DEFAULT_PACEJKA96_PARAMS :: Pacejka96_Params{1.65, 1, 1750, 0, 229, 0.0, 0, 0, -12, 0, 0} DEFAULT_PACEJKA96_PARAMS :: Pacejka96_Params{1.65, -200, 1900, 0, 229, 0.0, 0, 0, 0, 0, 0}
// X is slip ratio percentage [-100, 100] or slip angle in degrees, where positive angle is turning left // X is slip ratio percentage [-100, 100] or slip angle in degrees, where positive angle is turning left
// Output is the friction coefficient // Output is the friction coefficient
@ -12,7 +12,7 @@ pacejka_96 :: proc(b: Pacejka96_Params, x: f32, f_z: f32, s_v: f32 = 0) -> f32 {
C := b[0] C := b[0]
D := (b[1] * f_z + b[2]) * f_z D := (b[1] * f_z + b[2]) * f_z
B := ((b[3] * f_z * f_z + b[4] * f_z) * math.exp(-b[5] * f_z)) / (C * D) B := ((b[3] * f_z * f_z + b[4] * f_z) * math.exp(-b[5] * f_z)) / (C * D)
E := -(1 - (b[6] * f_z * f_z + b[7] * f_z + b[8])) E := (b[6] * f_z * f_z + b[7] * f_z + b[8])
s_h := b[9] * f_z + b[10] s_h := b[9] * f_z + b[10]
X := x + s_h X := x + s_h

5
game/physics/simulation.odin
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@ -550,7 +550,6 @@ pgs_solve_suspension :: proc(sim_state: ^Sim_State, config: Solver_Config, dt: f
apply_velocity_correction(body, incremental_impulse * dir, wheel_world_pos) apply_velocity_correction(body, incremental_impulse * dir, wheel_world_pos)
} }
body_right := body_local_to_world_vec(body, Vec3{1, 0, 0})
right := wheel_get_right_vec(body, v) right := wheel_get_right_vec(body, v)
// Positive means spinning forward // Positive means spinning forward
@ -638,7 +637,7 @@ pgs_solve_suspension :: proc(sim_state: ^Sim_State, config: Solver_Config, dt: f
applied_impulse := new_total_impulse - v.lateral_impulse applied_impulse := new_total_impulse - v.lateral_impulse
v.lateral_impulse = new_total_impulse v.lateral_impulse = new_total_impulse
apply_velocity_correction(body, applied_impulse * body_right, v.hit_point) apply_velocity_correction(body, applied_impulse * right, v.hit_point)
} }
} else { } else {
v.lateral_impulse = 0 v.lateral_impulse = 0
@ -693,7 +692,7 @@ pgs_substep :: proc(sim_state: ^Sim_State, config: Solver_Config, dt: f32, inv_d
p := body_local_to_world(body, s.rel_pos) p := body_local_to_world(body, s.rel_pos)
hit_p := body_local_to_world(body, s.rel_pos + s.rel_dir * s.hit_t) hit_p := body_local_to_world(body, s.rel_pos + s.rel_dir * s.hit_t)
forward := wheel_get_forward_vec(body, s) forward := wheel_get_forward_vec(body, s)
right := body_local_to_world_vec(body, Vec3{1, 0, 0}) right := wheel_get_right_vec(body, s)
apply_velocity_correction( apply_velocity_correction(
body, body,

84
research/pacejka96.ipynb
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