iceflower/speed-dreams-code
1
0
Fork 0
forked from speed-dreams/speed-dreams-code
Code Pull requests Activity

Heave spring: add speed for damper, better distribute initial weight

Browse source 
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@5641 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 53e2f0579871044b4f0d926da06449809990abdf
Former-commit-id: 74f5c60a8e1fa9f0d9b33f32c731647ced63ca9d
This commit is contained in:
kakukri 2013-07-31 20:13:14 +00:00
parent 7d3c987ad2
commit aebb440e5b
3 changed files with 27 additions and 14 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

11
src/modules/simu/simuv4/axle.cpp
View file

@ -22,7 +22,7 @@
static const char *AxleSect[2] = {SECT_FRNTAXLE, SECT_REARAXLE}; static const char *AxleSect[2] = {SECT_FRNTAXLE, SECT_REARAXLE};
static const char *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL}; static const char *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
void SimAxleConfig(tCar *car, int index) void SimAxleConfig(tCar *car, int index, tdble weight0)
{ {
void *hdle = car->params; void *hdle = car->params;
tdble rollCenter, x0r, x0l; tdble rollCenter, x0r, x0l;
@ -39,11 +39,11 @@ void SimAxleConfig(tCar *car, int index)
if (index == 0) { if (index == 0) {
SimSuspConfig(hdle, SECT_FRNTARB, &(axle->arbSusp), 0, 0); SimSuspConfig(hdle, SECT_FRNTARB, &(axle->arbSusp), 0, 0);
axle->arbSusp.spring.K = -axle->arbSusp.spring.K; axle->arbSusp.spring.K = -axle->arbSusp.spring.K;
SimSuspConfig(hdle, SECT_FRNTHEAVE, &(axle->heaveSusp), 0.0, 0.5*(x0r+x0l)); SimSuspConfig(hdle, SECT_FRNTHEAVE, &(axle->heaveSusp), weight0, 0.5*(x0r+x0l));
} else { } else {
SimSuspConfig(hdle, SECT_REARARB, &(axle->arbSusp), 0, 0); SimSuspConfig(hdle, SECT_REARARB, &(axle->arbSusp), 0, 0);
axle->arbSusp.spring.K = -axle->arbSusp.spring.K; axle->arbSusp.spring.K = -axle->arbSusp.spring.K;
SimSuspConfig(hdle, SECT_REARHEAVE, &(axle->heaveSusp), 0.0, 0.5*(x0r+x0l)); SimSuspConfig(hdle, SECT_REARHEAVE, &(axle->heaveSusp), weight0, 0.5*(x0r+x0l));
} }
car->wheel[index*2].feedBack.I += (tdble) (axle->I / 2.0); car->wheel[index*2].feedBack.I += (tdble) (axle->I / 2.0);
@ -56,10 +56,12 @@ void SimAxleConfig(tCar *car, int index)
void SimAxleUpdate(tCar *car, int index) void SimAxleUpdate(tCar *car, int index)
{ {
tAxle *axle = &(car->axle[index]); tAxle *axle = &(car->axle[index]);
tdble str, stl, sgn; tdble str, stl, sgn, vtl, vtr;
str = car->wheel[index*2].susp.x; str = car->wheel[index*2].susp.x;
stl = car->wheel[index*2+1].susp.x; stl = car->wheel[index*2+1].susp.x;
vtr = car->wheel[index*2].susp.v;
vtl = car->wheel[index*2+1].susp.v;
sgn = (tdble) (SIGN(stl - str)); sgn = (tdble) (SIGN(stl - str));
axle->arbSusp.x = fabs(stl - str); axle->arbSusp.x = fabs(stl - str);
@ -77,6 +79,7 @@ void SimAxleUpdate(tCar *car, int index)
/* heave/center spring */ /* heave/center spring */
axle->heaveSusp.x = 0.5 * (stl + str); axle->heaveSusp.x = 0.5 * (stl + str);
axle->heaveSusp.v = 0.5 * (vtl + vtr);
SimSuspUpdate(&(axle->heaveSusp)); SimSuspUpdate(&(axle->heaveSusp));
f = 0.5 * axle->heaveSusp.force; f = 0.5 * axle->heaveSusp.force;
car->wheel[index*2].axleFz += f; car->wheel[index*2].axleFz += f;

28
src/modules/simu/simuv4/car.cpp
View file

@ -25,6 +25,7 @@
#include "sim.h" #include "sim.h"
const tdble aMax = 1.0f; /* */ const tdble aMax = 1.0f; /* */
static const char *SuspSect[4] = {SECT_FRNTRGTSUSP, SECT_FRNTLFTSUSP, SECT_REARRGTSUSP, SECT_REARLFTSUSP};
void void
SimCarConfig(tCar *car) SimCarConfig(tCar *car)
@ -94,25 +95,34 @@ SimCarConfig(tCar *car)
car->Iinv.z = (tdble) (12.0 / (car->mass * k * (car->dimension.y * car->dimension.y + car->dimension.x * car->dimension.x))); car->Iinv.z = (tdble) (12.0 / (car->mass * k * (car->dimension.y * car->dimension.y + car->dimension.x * car->dimension.x)));
/* configure components */ /* configure components */
tdble K[4], Kfheave, Krheave;
for (i = 0; i < 4; i++) {
K[i] = GfParmGetNum(hdle, SuspSect[i], PRM_SPR, (char*)NULL, 175000.0f);
}
Kfheave = GfParmGetNum(hdle, SECT_FRNTHEAVE, PRM_SPR, (char*)NULL, 175000.0f);
Krheave = GfParmGetNum(hdle, SECT_REARHEAVE, PRM_SPR, (char*)NULL, 175000.0f);
w = car->mass * G; w = car->mass * G;
wf0 = w * gcfr; wf0 = w * gcfr;
wr0 = w * (1 - gcfr); wr0 = w * (1 - gcfr);
car->wheel[FRNT_RGT].weight0 = wf0 * gcfrl; car->wheel[FRNT_RGT].weight0 = wf0 * gcfrl * K[FRNT_RGT] / (K[FRNT_RGT] + 0.5*Kfheave);
car->wheel[FRNT_LFT].weight0 = wf0 * (1 - gcfrl); car->wheel[FRNT_LFT].weight0 = wf0 * (1 - gcfrl) * K[FRNT_LFT] / (K[FRNT_LFT] + 0.5*Kfheave);
car->wheel[REAR_RGT].weight0 = wr0 * gcrrl; car->wheel[REAR_RGT].weight0 = wr0 * gcrrl * K[REAR_RGT] / (K[REAR_RGT] + 0.5*Krheave);
car->wheel[REAR_LFT].weight0 = wr0 * (1 - gcrrl); car->wheel[REAR_LFT].weight0 = wr0 * (1 - gcrrl) * K[REAR_LFT] / (K[REAR_LFT] + 0.5*Krheave);
for (i = 0; i < 2; i++) { /*for (i = 0; i < 2; i++) {
SimAxleConfig(car, i); SimAxleConfig(car, i, 0.0);
} }*/
wf0 = (wf0 - car->wheel[FRNT_RGT].weight0 - car->wheel[FRNT_LFT].weight0);
wr0 = (wr0 - car->wheel[REAR_RGT].weight0 - car->wheel[REAR_LFT].weight0);
SimAxleConfig(car, FRNT, wf0);
SimAxleConfig(car, REAR, wr0);
for (i = 0; i < 4; i++) { for (i = 0; i < 4; i++) {
SimWheelConfig(car, i); SimWheelConfig(car, i);
} }
SimEngineConfig(car); SimEngineConfig(car);
SimTransmissionConfig(car); SimTransmissionConfig(car);
SimSteerConfig(car); SimSteerConfig(car);

2
src/modules/simu/simuv4/sim.h
View file

@ -46,7 +46,7 @@ extern void SimUpdateSingleCar(int index, double deltaTime,tSituation *s);
extern tDynPt* GetSimCarTable(int index); extern tDynPt* GetSimCarTable(int index);
extern void SimAxleConfig(tCar *car, int index); extern void SimAxleConfig(tCar *car, int index, tdble weight0);
extern void SimAxleUpdate(tCar *car, int index); extern void SimAxleUpdate(tCar *car, int index);
extern void SimCarConfig(tCar *car); extern void SimCarConfig(tCar *car);