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Re #172: calculate torque for force feedback in simuv4

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git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6408 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 21396fe2876b12b315df7d62e0c0ddd08918047d
Former-commit-id: 38da0a36af94f235b9e62bafb40fc6dabbb74818
This commit is contained in:
kakukri 2016-05-22 17:59:18 +00:00
parent 29564c2b19
commit edd58d709b
4 changed files with 20 additions and 4 deletions
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7
src/interfaces/car.h
View file

@ -432,7 +432,8 @@ typedef struct
tCollisionState collision_state; /**< collision state ; Simu V3 only */
tMemPoolCar memoryPool;
tdble driveSkill; /**< Skill level for robots: 0.0 means as fast as possible; 10.0 means at a slower speed so players can easier win */
tdble steerTq; /**< torque on steering wheel for force feedback */
tdble steerTqCenter; /**< torques on steering wheel for force feedback, this is the centering torque, linear with steering angle */
tdble steerTqAlign; /**< force feedback torque: tire aligning torque from magic formula */
tDashboardItem dashboardInstant[NR_DI_INSTANT];
int dashboardInstantNb; /* number and list of immediately changing items in dashboard */
tDashboardItem dashboardRequest[NR_DI_REQUEST];
@ -470,7 +471,9 @@ typedef struct
#define _smoke priv.smoke
#define _normal priv.normal
#define _coll2Pos priv.collpos
#define _steerTq priv.steerTq
#define _steerTqCenter priv.steerTqCenter
#define _steerTqAlign priv.steerTqAlign
#define _newTrackMemPool priv.memoryPool.newTrack
#define _newRaceMemPool priv.memoryPool.newRace

8
src/modules/simu/simuv4/simu.cpp
View file

@ -546,7 +546,9 @@ SimUpdate(tSituation *s, double deltaTime)
carElt->_fuel = car->fuel;
carElt->priv.collision |= car->collision;
carElt->_dammage = car->dammage;
carElt->_steerTq = -car->ctrl->steer; /*TODO: torque from Pacejka*/
carElt->_steerTqCenter = -car->ctrl->steer;
carElt->_steerTqAlign = car->wheel[FRNT_RGT].torqueAlign + car->wheel[FRNT_LFT].torqueAlign;
printf("Center=%g Align=%g\n",carElt->_steerTqCenter,carElt->_steerTqAlign);
}
}
@ -671,6 +673,8 @@ SimUpdateSingleCar(int index, double deltaTime,tSituation *s)
carElt->_fuel = car->fuel;
carElt->priv.collision |= car->collision;
carElt->_dammage = car->dammage;
carElt->_steerTq = -car->ctrl->steer; /*TODO: torque from Pacejka*/
carElt->_steerTqCenter = -car->ctrl->steer;
carElt->_steerTqAlign = car->wheel[FRNT_RGT].torqueAlign + car->wheel[FRNT_LFT].torqueAlign;
printf("Center=%g Align=%g\n",carElt->_steerTqCenter,carElt->_steerTqAlign);
}

8
src/modules/simu/simuv4/wheel.cpp
View file

@ -408,6 +408,14 @@ void SimWheelUpdateForce(tCar *car, int index)
}
F *= wheel->forces.z * mu * wheel->trkPos.seg->surface->kFriction; /* coeff */
/* force feedback torque */
if (s > 0.000001f) {
//version A: same magic formula as or force
//wheel->torqueAlign = 0.025 * F * sy / (s * (1.0f + stmp * simSkidFactor[car->carElt->_skillLevel]));
//version B: quicker torque decrease by setting mfE = 0 for torque
wheel->torqueAlign = 0.025 * wheel->forces.z * mu * wheel->trkPos.seg->surface->kFriction * sin(wheel->mfC * atan(Bx )) * sy / s;
} else wheel->torqueAlign = 0.0f;
// For debugging weather simultation on some tracks
#ifdef SD_DEBUG

1
src/modules/simu/simuv4/wheel.h
View file

@ -32,6 +32,7 @@ typedef struct
/* dynamic */
t3Dd forces; /* forces acting on car */
t3Dd torques; /* torques acting on car (gyroscopic forces) */
tdble torqueAlign; /* torque for force feedback from magic formula */
tdble rollRes; /* Rolling Resistance (summed over the car) */
tdble rideHeight; /* height of the bottom of the car */
tdble zRoad; /* z of the road */