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Get rid of wheel->rel_vel and merge it into wheel->susp.v, also fix the logic of wheel->force.z calculation in extreme cases.

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git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6203 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 21ef52e82bae72722136b4260c54863ae699d29d
Former-commit-id: 986b177a7f442cc0087fb744f50b6760675959c3
This commit is contained in:
kakukri 2015-11-09 00:40:18 +00:00
parent ef4c071cfb
commit b11773ddb4
2 changed files with 19 additions and 25 deletions
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43
src/modules/simu/simuv4/wheel.cpp
View file

@ -139,7 +139,6 @@ SimWheelConfig(tCar *car, int index)
wheel->feedBack.spinVel = 0.0f;
wheel->feedBack.Tq = 0.0f;
wheel->feedBack.brkTq = 0.0f;
wheel->rel_vel = 0.0f;
wheel->torques.x = wheel->torques.y = wheel->torques.z = 0.0f;
}
@ -155,25 +154,17 @@ void SimWheelUpdateRide(tCar *car, int index)
// Wheel susp.x is not the wheel movement, look at SimSuspCheckIn, it becomes there scaled with
// susp->spring.bellcrank, so we invert this here.
tdble prexwheel = wheel->susp.x / wheel->susp.spring.bellcrank;
tdble new_susp_x= prexwheel - wheel->rel_vel * SimDeltaTime;
tdble new_susp_x = (wheel->susp.x - wheel->susp.v * SimDeltaTime) / wheel->susp.spring.bellcrank;
tdble max_extend = wheel->pos.z - Zroad;
wheel->rideHeight = max_extend;
if (car->features & FEAT_FIXEDWHEELFORCE) {
if (max_extend > new_susp_x + 0.01) {
wheel->susp.state = SIM_WH_INAIR;
} else {wheel->susp.state = 0;}
} else {
wheel->susp.state = 0;
}
if (max_extend > new_susp_x + 0.01) {
wheel->susp.state = SIM_WH_INAIR;
} else {wheel->susp.state = 0;}
if (max_extend < new_susp_x) {
new_susp_x = max_extend;
wheel->rel_vel = 0.0f;
} else if (new_susp_x < wheel->susp.spring.packers) {
wheel->rel_vel = 0.0f;
}
tdble prex = wheel->susp.x;
@ -225,26 +216,30 @@ void SimWheelUpdateForce(tCar *car, int index)
wheel->state |= wheel->susp.state;
if ( ((wheel->state & SIM_SUSP_EXT) == 0) && ((wheel->state & SIM_WH_INAIR) == 0) ) {
wheel->forces.z = axleFz + wheel->susp.force + wheel->axleFz3rd;
reaction_force = wheel->forces.z;
if (car->features & FEAT_FIXEDWHEELFORCE) {
wheel->rel_vel -= SimDeltaTime * wheel->forces.z / wheel->mass;
wheel->susp.v -= wheel->susp.spring.bellcrank * SimDeltaTime * wheel->forces.z / wheel->mass;
} else {
wheel->rel_vel -= SimDeltaTime * wheel->susp.force / wheel->mass;
wheel->susp.v -= wheel->susp.spring.bellcrank * SimDeltaTime * wheel->susp.force / wheel->mass;
}
if (wheel->forces.z < 0.0f) {
wheel->forces.z = 0.0f;
}
} else {
if (wheel->rel_vel < 0.0) {
wheel->rel_vel = 0.0;
}
if (car->features & FEAT_FIXEDWHEELFORCE) {
wheel->rel_vel -= SimDeltaTime * wheel->forces.z / wheel->mass;
} else {
wheel->rel_vel -= SimDeltaTime * wheel->susp.force / wheel->mass;
if (wheel->state & SIM_SUSP_EXT) {
/* calculate the force needed to reach susp->spring.xMax */
wheel->forces.z = -wheel->susp.a * wheel->mass / wheel->susp.spring.bellcrank;
wheel->susp.v = 0.0f;
} else { //SIM_WH_INAIR
wheel->forces.z = axleFz + wheel->susp.force + wheel->axleFz3rd;
if (car->features & FEAT_FIXEDWHEELFORCE) {
wheel->susp.v -= wheel->susp.spring.bellcrank * SimDeltaTime * wheel->forces.z / wheel->mass;
} else {
wheel->susp.v -= wheel->susp.spring.bellcrank * SimDeltaTime * wheel->susp.force / wheel->mass;
}
wheel->forces.z = 0.0f; /* zero for zero grip and prevent getting into the air */
}
wheel->forces.z = 0.0f;
}
reaction_force = wheel->forces.z;
// update wheel coord, center relative to GC
wheel->relPos.z = - wheel->susp.x / wheel->susp.spring.bellcrank + wheel->radius;

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

@ -78,7 +78,6 @@ typedef struct
tdble mass; /* total wheel mass (incl. brake) (unsprung mass) */
tdble camber; /* camber, negative toward exterior on both sides */
tdble pressure; /* tire pressure */
tdble rel_vel; /* relative velocity - used for realstic suspension movement*/
tdble Ttire; /* tire temperature in K */
tdble Topt; /* optimal temperature in K, where mu maximal */