Gears and engine->wheel power transfer. Not working well yet, it's losing a lot of power somewhere. Maybe it needs to be a position constraint
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c3945a80e5
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cbe0dd20e5
@ -53,6 +53,7 @@ Runtime_World :: struct {
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solver_state: physics.Solver_State,
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car_com: rl.Vector3,
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car_handle: physics.Body_Handle,
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engine_handle: physics.Engine_Handle,
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camera_yaw_pitch: rl.Vector2,
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camera_speed: f32,
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camera: rl.Camera3D,
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@ -331,7 +332,7 @@ update_runtime_world :: proc(runtime_world: ^Runtime_World, dt: f32) {
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radius := f32(0.2888)
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wheel_front_z := f32(1.3)
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wheel_back_z := f32(-1.1)
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wheel_mass := f32(30)
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wheel_mass := f32(14)
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wheel_fl := physics.immediate_suspension_constraint(
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&world.physics_scene,
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@ -394,21 +395,21 @@ update_runtime_world :: proc(runtime_world: ^Runtime_World, dt: f32) {
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},
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)
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engine := physics.immediate_engine(
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runtime_world.engine_handle = physics.immediate_engine(
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&world.physics_scene,
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&runtime_world.solver_state,
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#hash("engine", "fnv32a"),
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physics.Engine_Config {
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rpm_torque_curve = assets.get_curve_2d(&g_mem.assetman, "assets/ae86_rpm_torque.csv").points,
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lowest_rpm = 1000,
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inertia = 10,
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internal_friction = 8,
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inertia = 0.0264,
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internal_friction = 0.00,
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gear_ratios = []f32{3.48, 3.587, 2.022, 1.384, 1, 0.861},
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axle = physics.Drive_Axle_Config {
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wheels = {wheel_rl, wheel_rr},
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wheel_count = 2,
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diff_type = .Fixed,
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final_drive_ratio = 4.3,
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final_drive_ratio = 4.1,
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},
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},
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)
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@ -445,7 +446,15 @@ update_runtime_world :: proc(runtime_world: ^Runtime_World, dt: f32) {
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wheel.brake_impulse = brake_input * (1.0 - BRAKE_BIAS) * BRAKE_IMPULSE
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}
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physics.get_engine(sim_state, engine).throttle = gas_input
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engine := physics.get_engine(sim_state, runtime_world.engine_handle)
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engine.throttle = gas_input
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if rl.IsKeyPressed(.LEFT_SHIFT) || rl.IsGamepadButtonPressed(0, .RIGHT_FACE_DOWN) {
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engine.gear += 1
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}
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if rl.IsKeyPressed(.LEFT_CONTROL) || rl.IsGamepadButtonPressed(0, .RIGHT_FACE_LEFT) {
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engine.gear -= 1
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}
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car_body := physics.get_body(sim_state, runtime_world.car_handle)
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turn_vel_correction := clamp(30.0 / linalg.length(car_body.v), 0, 1)
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@ -867,13 +876,17 @@ draw :: proc() {
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}
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} else {
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car := physics.get_body(sim_state, runtime_world.car_handle)
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engine := physics.get_engine(sim_state, runtime_world.engine_handle)
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gear_ratios := physics.get_gear_ratios(sim_state, engine.gear_ratios)
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rl.DrawText(
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fmt.ctprintf(
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"p: %v\nv: %v\nw: %v\ng: %v",
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"p: %v\nv: %v\ngear: %v\nratio: %v\nrpm: %v\nspeed: %v km/h",
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car.x,
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car.v,
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car.w,
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SOLVER_CONFIG.gravity,
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engine.gear,
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physics.lookup_gear_ratio(gear_ratios, engine.gear),
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physics.angular_velocity_to_rpm(engine.w),
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linalg.length(car.v) * 3.6,
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),
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5,
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32,
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@ -12,6 +12,7 @@ import "core:slice"
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import "game:container/spanpool"
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import "libs:tracy"
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_ :: log
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_ :: rand
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_ :: math
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_ :: fmt
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@ -484,6 +485,23 @@ pgs_solve_contacts :: proc(
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}
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}
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// Returns index into the gear ratios array
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// -1 (revers) mapped to 0
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// 1..N mapped to 0..N-1
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lookup_gear_ratio :: #force_inline proc(gear_ratios: []f32, gear: i32) -> (ratio: f32) {
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assert(len(gear_ratios) > 1)
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if gear == 0 {
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return 0
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} else {
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index := int(gear + 1)
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if index > 0 {
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index -= 1
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}
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index = clamp(index, 0, len(gear_ratios) - 1)
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return gear_ratios[index]
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}
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}
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pgs_solve_engines :: proc(sim_state: ^Sim_State, config: Solver_Config, dt: f32, inv_dt: f32) {
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for &engine in sim_state.engines {
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if engine.alive {
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@ -506,6 +524,38 @@ pgs_solve_engines :: proc(sim_state: ^Sim_State, config: Solver_Config, dt: f32,
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engine.w += applied_impulse / engine.inertia
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}
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// Throttle
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{
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rpm := angular_velocity_to_rpm(engine.w)
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torque: f32
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idx, _ := slice.binary_search_by(
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rpm_torque_curve,
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rpm,
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proc(a: [2]f32, k: f32) -> slice.Ordering {
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return slice.cmp(a[0], k)
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},
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)
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if idx > 0 && idx < len(rpm_torque_curve) - 1 {
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cur_point := rpm_torque_curve[idx]
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next_point := rpm_torque_curve[idx + 1]
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rpm_diff := next_point[0] - cur_point[0]
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alpha := (rpm - cur_point[0]) / rpm_diff
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torque = math.lerp(cur_point[1], next_point[1], alpha)
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} else {
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torque = rpm_torque_curve[math.clamp(idx, 0, len(rpm_torque_curve) - 1)][1]
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}
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log.debugf("torque: %v Nm", torque)
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torque *= engine.throttle
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engine.w += (torque / engine.inertia) * dt
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}
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// Internal Friction
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{
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delta_omega := -engine.w
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@ -532,67 +582,34 @@ pgs_solve_engines :: proc(sim_state: ^Sim_State, config: Solver_Config, dt: f32,
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engine.w += applied_impulse / engine.inertia
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}
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// Throttle
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{
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rpm := angular_velocity_to_rpm(engine.w)
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torque: f32
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idx, _ := slice.binary_search_by(
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rpm_torque_curve,
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rpm,
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proc(a: [2]f32, k: f32) -> slice.Ordering {
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return slice.cmp(a[0], k)
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},
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)
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if idx > 0 && idx < len(rpm_torque_curve) - 1 {
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cur_point := rpm_torque_curve[idx]
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next_point := rpm_torque_curve[idx + 1]
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rpm_diff := next_point[0] - cur_point[0]
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alpha := (rpm - cur_point[0]) / rpm_diff
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torque = math.lerp(cur_point[1], next_point[1], alpha)
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} else {
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torque = rpm_torque_curve[math.clamp(idx, 0, len(rpm_torque_curve) - 1)][1]
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}
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torque *= engine.throttle
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engine.w += torque / engine.inertia
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}
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// Transmission
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{
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// TODO: update from game
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engine.gear = 1
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gear_ratio := lookup_gear_ratio(gear_ratios, engine.gear)
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power_split := 1.0 / f32(engine.axle.wheel_count)
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for i in 0 ..< engine.axle.wheel_count {
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drive_wheel := &engine.axle.wheels[i]
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wheel := get_suspension_constraint(sim_state, drive_wheel.wheel)
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if engine.gear != 0 {
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for i in 0 ..< engine.axle.wheel_count {
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drive_wheel := &engine.axle.wheels[i]
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wheel := get_suspension_constraint(sim_state, drive_wheel.wheel)
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ratio := gear_ratios[1] * engine.axle.final_drive_ratio
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inv_ratio := f32(1.0 / ratio)
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ratio := gear_ratio * engine.axle.final_drive_ratio
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inv_ratio := f32(1.0 / (ratio))
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w1 := wheel.inv_inertia
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w2 := f32(1.0 / (engine.inertia * ratio))
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w1 := wheel.inv_inertia
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w2 := f32(1.0 / (engine.inertia * ratio * ratio))
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w := w1 + w2
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inv_w := f32(1.0 / w)
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w := w1 + w2
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inv_w := f32(1.0 / w)
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delta_omega := -engine.w - wheel.w * ratio
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delta_omega := wheel.w * ratio - (-engine.w)
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incremental_impulse := -inv_w * delta_omega * power_split
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drive_wheel.impulse += incremental_impulse
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incremental_impulse := -inv_w * delta_omega
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// drive_wheel.impulse += incremental_impulse
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wheel.w += -incremental_impulse * wheel.inv_inertia * inv_ratio
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engine.w += -(incremental_impulse / engine.inertia)
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wheel.w += incremental_impulse * w1 * inv_ratio
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engine.w += incremental_impulse / (engine.inertia * ratio * ratio)
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}
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}
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}
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// tracy.Plot("rpm", f64(angular_velocity_to_rpm(engine.w)))
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log.debugf("rpm: %v", angular_velocity_to_rpm(engine.w))
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}
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}
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}
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@ -844,15 +861,20 @@ pgs_substep :: proc(sim_state: ^Sim_State, config: Solver_Config, dt: f32, inv_d
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e.w += e.friction_impulse / e.inertia
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for i in 0 ..< e.axle.wheel_count {
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drive_wheel := &e.axle.wheels[i]
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wheel := get_suspension_constraint(sim_state, drive_wheel.wheel)
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if true {
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if e.gear != 0 {
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for i in 0 ..< e.axle.wheel_count {
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drive_wheel := &e.axle.wheels[i]
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wheel := get_suspension_constraint(sim_state, drive_wheel.wheel)
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ratio := gear_ratios[1] * e.axle.final_drive_ratio
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inv_ratio := f32(1.0 / ratio)
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ratio :=
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lookup_gear_ratio(gear_ratios, e.gear) * e.axle.final_drive_ratio
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inv_ratio := f32(1.0 / ratio)
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wheel.w += -drive_wheel.impulse * wheel.inv_inertia * inv_ratio
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e.w += -(drive_wheel.impulse / e.inertia)
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wheel.w += drive_wheel.impulse * wheel.inv_inertia * inv_ratio
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e.w += (drive_wheel.impulse / (e.inertia * ratio * ratio))
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}
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}
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}
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}
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}
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@ -23,14 +23,14 @@
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"execution_count": 29,
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"id": "3074424c",
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"metadata": {},
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"outputs": [
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{
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"data": {
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"application/vnd.jupyter.widget-view+json": {
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"model_id": "dfc8c93ea1774a788835f524f65b6843",
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"model_id": "c2fcd32bbbd1482ebe2be970bfe3ed33",
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"version_major": 2,
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"version_minor": 0
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},
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@ -58,7 +58,7 @@
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"10"
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]
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},
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"execution_count": 28,
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"execution_count": 29,
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"metadata": {},
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"output_type": "execute_result"
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}
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