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Fixes #841, that is cars flipping or flying with the "fixed wheel force" patch. Also added initial code for inerter in the suspension.

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git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6041 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: c6ba6ae0b85fda5b5fafd0373d8ef8bec15b2c4f
Former-commit-id: f76b616080744c62680f64b4ebfb724c7c7afef9
This commit is contained in:
kakukri 2015-07-26 15:09:01 +00:00
parent 17d5058ddb
commit bd1d82458f
3 changed files with 24 additions and 13 deletions
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10
src/modules/simu/simuv4/susp.cpp
View file

@ -96,15 +96,16 @@ static tdble springForce(tSuspension *susp)
void SimSuspCheckIn(tSuspension *susp) void SimSuspCheckIn(tSuspension *susp)
{ {
susp->state = 0; /*susp->state = 0;*/
/* note: susp->state is reset in SimWheelUpdateRide in wheel.cpp */
if (susp->x < susp->spring.packers) { if (susp->x < susp->spring.packers) {
susp->x = susp->spring.packers; susp->x = susp->spring.packers;
susp->state = SIM_SUSP_COMP; susp->state |= SIM_SUSP_COMP;
} }
susp->x *= susp->spring.bellcrank; susp->x *= susp->spring.bellcrank;
if (susp->x >= susp->spring.xMax) { if (susp->x >= susp->spring.xMax) {
susp->x = susp->spring.xMax; susp->x = susp->spring.xMax;
susp->state = SIM_SUSP_EXT; susp->state |= SIM_SUSP_EXT;
} }
} }
@ -113,7 +114,7 @@ void SimSuspCheckIn(tSuspension *susp)
void SimSuspUpdate(tSuspension *susp) void SimSuspUpdate(tSuspension *susp)
{ {
susp->force = (springForce(susp) + damperForce(susp)) * susp->spring.bellcrank; susp->force = (springForce(susp) + damperForce(susp) + susp->inertance * susp->a) * susp->spring.bellcrank;
} }
@ -136,6 +137,7 @@ void SimSuspConfig(void *hdle, const char *section, tSuspension *susp, tdble F0,
susp->damper.rebound.C2 = GfParmGetNum(hdle, section, PRM_FASTREBOUND, (char*)NULL, 0.0f); susp->damper.rebound.C2 = GfParmGetNum(hdle, section, PRM_FASTREBOUND, (char*)NULL, 0.0f);
susp->damper.bump.v1 = GfParmGetNum(hdle, section, PRM_BUMPLVEL, (char*)NULL, 0.5f); susp->damper.bump.v1 = GfParmGetNum(hdle, section, PRM_BUMPLVEL, (char*)NULL, 0.5f);
susp->damper.rebound.v1 = GfParmGetNum(hdle, section, PRM_REBOUNDLVEL, (char*)NULL, 0.5f); susp->damper.rebound.v1 = GfParmGetNum(hdle, section, PRM_REBOUNDLVEL, (char*)NULL, 0.5f);
susp->inertance = 0.0;
susp->spring.x0 = susp->spring.bellcrank * X0; susp->spring.x0 = susp->spring.bellcrank * X0;
susp->spring.F0 = F0 / susp->spring.bellcrank; susp->spring.F0 = F0 / susp->spring.bellcrank;

4
src/modules/simu/simuv4/susp.h
View file

@ -48,15 +48,17 @@ typedef struct Suspension
{ {
tSpring spring; tSpring spring;
tDamper damper; tDamper damper;
tdble inertance;
tdble x; /* suspension travel */ tdble x; /* suspension travel */
tdble v; /* suspension travel speed */ tdble v; /* suspension travel speed */
tdble a; /* suspension travel acceleration */
tdble force; /* generated force */ tdble force; /* generated force */
int state; /* indicate the state of the suspension */ int state; /* indicate the state of the suspension */
#define SIM_SUSP_COMP 1 /* the suspension is fully compressed */ #define SIM_SUSP_COMP 1 /* the suspension is fully compressed */
#define SIM_SUSP_EXT 2 /* the suspension is fully extended */ #define SIM_SUSP_EXT 2 /* the suspension is fully extended */
#define SIM_SUSP_INAIR 4 /* the suspension is in the air, can be combined with the other states */
} tSuspension; } tSuspension;

23
src/modules/simu/simuv4/wheel.cpp
View file

@ -160,19 +160,29 @@ void SimWheelUpdateRide(tCar *car, int index)
tdble max_extend = wheel->pos.z - Zroad; tdble max_extend = wheel->pos.z - Zroad;
wheel->rideHeight = max_extend; wheel->rideHeight = max_extend;
if (car->features & FEAT_FIXEDWHEELFORCE) {
if (max_extend > new_susp_x + 0.01) {
wheel->susp.state = SIM_SUSP_INAIR;
} else {wheel->susp.state = 0;}
} else {
wheel->susp.state = 0;
}
if (max_extend < new_susp_x) { if (max_extend < new_susp_x) {
new_susp_x = max_extend; new_susp_x = max_extend;
wheel->rel_vel = 0.0f; wheel->rel_vel = 0.0f;
} else if (new_susp_x < wheel->susp.spring.packers) { } else if (new_susp_x < wheel->susp.spring.packers) {
wheel->rel_vel = 0.0f; wheel->rel_vel = 0.0f;
} }
tdble prex = wheel->susp.x;
wheel->susp.x = new_susp_x;
tdble prex = wheel->susp.x;
tdble prev = wheel->susp.v;
wheel->susp.x = new_susp_x;
// verify the suspension travel, beware, wheel->susp.x will be scaled by SimSuspCheckIn // verify the suspension travel, beware, wheel->susp.x will be scaled by SimSuspCheckIn
SimSuspCheckIn(&(wheel->susp)); SimSuspCheckIn(&(wheel->susp));
wheel->susp.v = (prex - wheel->susp.x) / SimDeltaTime; wheel->susp.v = (prex - wheel->susp.x) / SimDeltaTime;
wheel->susp.a = (prev - wheel->susp.v) / SimDeltaTime;
// update wheel brake // update wheel brake
SimBrakeUpdate(car, wheel, &(wheel->brake)); SimBrakeUpdate(car, wheel, &(wheel->brake));
@ -210,13 +220,10 @@ void SimWheelUpdateForce(tCar *car, int index)
// VERTICAL STUFF CONSIDERING SMALL PITCH AND ROLL ANGLES // VERTICAL STUFF CONSIDERING SMALL PITCH AND ROLL ANGLES
// update suspension force // update suspension force
SimSuspUpdate(&(wheel->susp)); SimSuspUpdate(&(wheel->susp));
// check suspension state // check suspension state
wheel->state |= wheel->susp.state; wheel->state |= wheel->susp.state;
if ((wheel->state & SIM_SUSP_EXT) == 0) { if ( ((wheel->state & SIM_SUSP_EXT) == 0) && ((wheel->state & SIM_SUSP_INAIR) == 0) ) {
wheel->forces.z = axleFz + wheel->susp.force; wheel->forces.z = axleFz + wheel->susp.force + wheel->axleFz3rd;
if(wheel->susp.force > 0)
{wheel->forces.z += wheel->axleFz3rd;}
reaction_force = wheel->forces.z; reaction_force = wheel->forces.z;
if (car->features & FEAT_FIXEDWHEELFORCE) { if (car->features & FEAT_FIXEDWHEELFORCE) {
wheel->rel_vel -= SimDeltaTime * wheel->forces.z / wheel->mass; wheel->rel_vel -= SimDeltaTime * wheel->forces.z / wheel->mass;