*

2025-05-13 03:19:28 +03:00
parent e2847b060d
commit 762dcf4524
784 changed files with 542617 additions and 2 deletions
@@ -0,0 +1,150 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections;
+using System;
+
+[ExecuteInEditMode]
+public class Tyre : MonoBehaviour {
+    public double height = 0.15f;
+    public double k_RollLinear = 0.0038;
+    public double k_RollQuad = 0.000026;
+
+    public double GetRollingResistance(double Fz, double wheelEffectiveRadius, double velocity, double resistanceFactor) {
+        return Fz * wheelEffectiveRadius * resistanceFactor * (k_RollLinear + k_RollQuad * (velocity )) * Math.Sign(velocity);
+    }
+
+    private double oldLatSlip;
+    public double latFilter = 0.85f;
+
+
+    public PacejkaParameters pacejkaParams;
+
+ 
+
+   /* public void Slip(double patch_speed, Vector3 hub_velocity, out double slipLon, out double slipLat) {
+        var absLongVelocity = (double)Mathf.Abs(hub_velocity.z);
+        absLongVelocity = Math.Max(absLongVelocity, dampAbsRoadVelo);
+        slipLon = CalcSlipRatio(patch_speed, hub_velocity) * 100.0f;
+        slipLat = (Mathf.Atan2(hub_velocity.x, (float)absLongVelocity)) * Mathf.Rad2Deg;
+    }
+
+    public Double3 FrictionForce(double normalForce, double slipLon, double slipLat, double camber, PacejkaCoeffs coeffs) {
+        if(normalForce < 1e-4f) { return Double3.zero; }
+
+        normalForce = MathEx.Clamp(normalForce, 0, 100000);
+
+        //compute Pacejka params
+        var lateralParams = Pacejka.LateralParams(normalForce, camber, coeffs);
+        var longitudinalParams = Pacejka.LongitudinalParams(normalForce, coeffs);
+        var aligningParams = Pacejka.AligningParams(normalForce, camber, coeffs);
+
+        //compute friction forces
+        Double3 result;
+        result.x = Pacejka.MagicFormula(slipLon, longitudinalParams);
+        result.y = Pacejka.MagicFormula(slipLat, lateralParams);
+        result.z = Pacejka.MagicFormula(slipLat, aligningParams);
+
+       /* //do combined friction
+        double d_lon = slipLon / (1.0 + slipLon);
+        double d_lat = Math.Tan(slipLat) / (1.0 + slipLon);
+        double d = Math.Sqrt(d_lat * d_lat + d_lon * d_lon);
+
+        if(d > 0.001) {
+            result.x *= (float)Math.Abs(d_lon / d);
+            result.y *= (float)Math.Abs(d_lat / d);
+        }*/
+       // return result;
+   // }
+
+
+    void OnValidate() {
+        if(enabled) {
+            if(transform.parent != null && gameObject.activeInHierarchy)
+            {
+                SceneView.RepaintAll();
+                //   transform.parent.gameObject.SendMessage("OnValidate");
+            }
+        }
+    }
+
+
+    // SAE950311 implementation
+   // private double lastU;
+  //  private double signU = 1;
+     //private double oldSlip = 0;
+ //   public double tau;
+   // public double B = 0.091f;//relaxationLengthLong
+    public double relaxLong = 0.00172688486f;
+  //  private double _integratedSlip;
+    public double speedThreshold = 3.0f;
+    public double dampAbsRoadVelo = 1;
+    public double kBLong = 0.35f;
+
+    public double fixedTimeBase = 0.02f;
+
+
+    public double CalcSlipRatio(double patch_speed, Vector3 hub_velocity) {
+        bool IsOnSurface = true;
+        if(!IsOnSurface) {
+           // _integratedSlip = 0;
+            return 0;
+        }
+
+      /*  double deltaTime = Time.fixedDeltaTime;
+        double dampSRreversal = 0.5f;
+        double B = relaxLong*100;
+        double fixedTimeStepScalar = fixedTimeBase / Time.fixedDeltaTime;
+        double invFixedTimeStepScalar = 1.0f / fixedTimeStepScalar;
+
+        if(B < kBLong * invFixedTimeStepScalar)
+            B = kBLong * invFixedTimeStepScalar;
+
+        // damp sliAngle and slipRatio oscilation
+
+
+        double factor = hub_velocity.z * 3.6f * 0.02f; // divided by 50
+        if(factor < 1)
+            factor = 1;
+        B *= factor;
+        */
+
+        // SAE950311 algorithm
+      
+        var longVelocity = (double)hub_velocity.z;
+      //  var absLongVelocity = Math.Abs(longVelocity);
+
+
+
+        if (Math.Abs(longVelocity - patch_speed) > 1.0e-4)
+        {
+            double denom = Math.Max(Math.Abs(longVelocity), dampAbsRoadVelo);
+            return MathEx.Clamp((patch_speed - longVelocity)/denom, -1.0, 1.0);
+        }
+        else
+        {
+            return 0;
+        }
+
+
+
+/*
+        absLongVelocity = Math.Max(absLongVelocity, dampAbsRoadVelo);
+
+       
+
+
+        if((lastU < 0 && longVelocity >= 0) || (lastU >= 0 && longVelocity < 0)) {
+            _integratedSlip = -dampSRreversal * _integratedSlip;
+        }
+
+        lastU = Math.Sign(longVelocity);
+
+        double derivative = (patch_speed - longVelocity) - absLongVelocity * _integratedSlip;
+        derivative /= B;
+
+        // Integrate
+        _integratedSlip += derivative * deltaTime;
+
+        return MathEx.Clamp(_integratedSlip + tau * derivative, -1.5, 1.5);*/
+    }
+}