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Increase lowest rpm to fix no torque when starting to go uphill

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This commit is contained in:
sergeypdev 2025-04-27 17:29:01 +04:00
parent ef8245d712
commit b0fb81d88c
2 changed files with 32 additions and 12 deletions
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6
game/game.odin
View File

@ -266,7 +266,7 @@ update_runtime_world :: proc(runtime_world: ^Runtime_World, dt: f32) {
physics.Body_Config { physics.Body_Config {
initial_pos = {0, 0, 0}, initial_pos = {0, 0, 0},
initial_rot = linalg.quaternion_from_euler_angle_x_f32(-10 * math.RAD_PER_DEG), initial_rot = linalg.quaternion_from_euler_angle_x_f32(-10 * math.RAD_PER_DEG),
shape = physics.Shape_Box{size = {5, 1, 10}}, shape = physics.Shape_Box{size = {5, 1, 100}},
}, },
) )
@ -294,7 +294,7 @@ update_runtime_world :: proc(runtime_world: ^Runtime_World, dt: f32) {
}, },
) )
if true { if false {
for x in 0 ..< 10 { for x in 0 ..< 10 {
for y in 0 ..< 10 { for y in 0 ..< 10 {
physics.immediate_body( physics.immediate_body(
@ -412,7 +412,7 @@ update_runtime_world :: proc(runtime_world: ^Runtime_World, dt: f32) {
#hash("engine", "fnv32a"), #hash("engine", "fnv32a"),
physics.Engine_Config { physics.Engine_Config {
rpm_torque_curve = assets.get_curve_2d(&g_mem.assetman, "assets/ae86_rpm_torque.csv").points, rpm_torque_curve = assets.get_curve_2d(&g_mem.assetman, "assets/ae86_rpm_torque.csv").points,
lowest_rpm = 1000, lowest_rpm = 1100,
inertia = 0.264, inertia = 0.264,
internal_friction = 0.01, internal_friction = 0.01,
gear_ratios = []f32{3.48, 3.587, 2.022, 1.384, 1, 0.861}, gear_ratios = []f32{3.48, 3.587, 2.022, 1.384, 1, 0.861},

38
game/physics/simulation.odin
View File

@ -655,6 +655,7 @@ pgs_solve_engines :: proc(sim_state: ^Sim_State, config: Solver_Config, dt: f32,
delta_omega := avg_wheel_vel * ratio - (-engine.w) delta_omega := avg_wheel_vel * ratio - (-engine.w)
incremental_impulse := -inv_w * delta_omega incremental_impulse := -inv_w * delta_omega
engine.axle.engine_impulse += incremental_impulse
engine.w += incremental_impulse * w1 engine.w += incremental_impulse * w1
wheel1.w += incremental_impulse * w2 * inv_ratio wheel1.w += incremental_impulse * w2 * inv_ratio
@ -682,6 +683,7 @@ pgs_solve_engines :: proc(sim_state: ^Sim_State, config: Solver_Config, dt: f32,
delta_omega := wheel2.w - wheel1.w delta_omega := wheel2.w - wheel1.w
incremental_impulse := -inv_w * delta_omega incremental_impulse := -inv_w * delta_omega
engine.axle.diff_impulse += incremental_impulse
wheel1.w += -incremental_impulse * wheel1.inv_inertia wheel1.w += -incremental_impulse * wheel1.inv_inertia
wheel2.w += incremental_impulse * wheel2.inv_inertia wheel2.w += incremental_impulse * wheel2.inv_inertia
@ -955,18 +957,36 @@ pgs_substep :: proc(
e.w += e.friction_impulse / e.inertia e.w += e.friction_impulse / e.inertia
if true { // Warm start engine torque
if false {
drive_wheel1 := &e.axle.wheels[0]
wheel1 := get_suspension_constraint(sim_state, drive_wheel1.wheel)
drive_wheel2 := &e.axle.wheels[1]
wheel2 := get_suspension_constraint(sim_state, drive_wheel2.wheel)
gear_ratio := lookup_gear_ratio(gear_ratios, e.gear)
if e.gear != 0 { if e.gear != 0 {
for i in 0 ..< e.axle.wheel_count { ratio := gear_ratio * e.axle.final_drive_ratio
drive_wheel := &e.axle.wheels[i] inv_ratio := f32(1.0 / (ratio))
wheel := get_suspension_constraint(sim_state, drive_wheel.wheel)
ratio := w1 := f32(1.0 / (e.inertia * ratio * ratio))
lookup_gear_ratio(gear_ratios, e.gear) * e.axle.final_drive_ratio w2 := wheel1.inv_inertia
inv_ratio := f32(1.0 / ratio) w3 := wheel2.inv_inertia
wheel.w += drive_wheel.impulse * wheel.inv_inertia * inv_ratio e.w += e.axle.engine_impulse * w1
e.w += (drive_wheel.impulse / (e.inertia * ratio * ratio)) wheel1.w += e.axle.engine_impulse * w2 * inv_ratio
wheel2.w += e.axle.engine_impulse * w3 * inv_ratio
}
// Warmp start diff impulse
if false {
switch e.axle.diff_type {
case .Open:
case .Fixed:
wheel1.w += -e.axle.diff_impulse * wheel1.inv_inertia
wheel2.w += e.axle.diff_impulse * wheel2.inv_inertia
} }
} }
} }