diff options
Diffstat (limited to 'NET/worlds/scape/VehicleDriver.java')
| -rw-r--r-- | NET/worlds/scape/VehicleDriver.java | 1086 |
1 files changed, 1086 insertions, 0 deletions
diff --git a/NET/worlds/scape/VehicleDriver.java b/NET/worlds/scape/VehicleDriver.java new file mode 100644 index 0000000..79b6406 --- /dev/null +++ b/NET/worlds/scape/VehicleDriver.java @@ -0,0 +1,1086 @@ +/* */ package NET.worlds.scape; +/* */ +/* */ import java.io.PrintStream; +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ public class VehicleDriver +/* */ extends SwitchableBehavior +/* */ implements MouseDeltaHandler, KeyUpHandler, KeyDownHandler, MouseDownHandler, MouseUpHandler, FrameHandler +/* */ { +/* */ protected VehicleShape vehicle; +/* */ static final boolean debug = true; +/* */ static final float gravity = 32.1F; +/* */ static final float densityOfAir = 0.0801F; +/* */ static final float dragCoefficient = 0.3F; +/* */ static final float feetToWorld = 30.48F; +/* */ static final float worldToFeet = 0.0328084F; +/* */ static final float epsilon = 0.001F; +/* */ static final float maxCamber = 0.4F; +/* */ static final float rotationalDampener = 0.5F; +/* */ static final int asphalt = 0; +/* */ static final int grass = 1; +/* */ static final int numTerrainTypes = 2; +/* 66 */ float acceleratorDepression = 0.0F; +/* */ +/* 68 */ float brakesDepression = 0.0F; +/* */ +/* 70 */ int currentGear = 1; +/* */ +/* 72 */ float steeringWheelPosition = 0.0F; +/* */ +/* 74 */ boolean gasKeyDown = false; boolean brakeKeyDown = false; +/* 75 */ boolean leftKeyDown = false; boolean rightKeyDown = false; +/* */ +/* */ +/* 78 */ Point3 velocityVector = new Point3(0.0F, 0.0F, 0.0F); +/* 79 */ Point3 velocityVectorCarFrame = new Point3(0.0F, 0.0F, 0.0F); +/* 80 */ float velocity = 0.0F; +/* */ +/* 82 */ Point3 angularVelocity = new Point3(0.0F, 0.0F, 0.0F); +/* 83 */ Point3 angularVelocityCarFrame = new Point3(0.0F, 0.0F, 0.0F); +/* */ +/* 85 */ Point3 worldCenterOfMass = new Point3(0.0F, 0.0F, 0.0F); +/* 86 */ float engineRPM = 0.0F; +/* */ +/* */ +/* */ +/* 90 */ Point3 integratedForce = new Point3(0.0F, 0.0F, 0.0F); +/* */ +/* 92 */ Point3 integratedTorque = new Point3(0.0F, 0.0F, 0.0F); +/* */ +/* */ +/* 95 */ boolean disabled = false; +/* */ +/* */ float[] minRPMs; +/* */ Tire[] tires; +/* */ protected Room room; +/* */ protected Pilot pilot; +/* */ +/* */ protected class Tire +/* */ { +/* */ Point3 force; +/* */ Point3 torque; +/* */ Point3 relativePos; +/* */ float underGround; +/* */ double driveForce; +/* */ float wheelAngle; +/* */ boolean slipping; +/* */ +/* */ public Tire() +/* */ { +/* 114 */ this.force = new Point3(); +/* 115 */ this.torque = new Point3(); +/* 116 */ this.relativePos = new Point3(); +/* 117 */ this.driveForce = 0.0D; +/* 118 */ this.underGround = 0.0F; +/* 119 */ this.wheelAngle = 0.0F; +/* 120 */ this.slipping = false; +/* */ } +/* */ } +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ public VehicleDriver(VehicleShape p_Vehicle) +/* */ { +/* 132 */ this.vehicle = p_Vehicle; +/* */ +/* 134 */ initLateralForceTable(); +/* 135 */ initTorqueTable(); +/* 136 */ initRPMTable(); +/* 137 */ this.tires = new Tire[4]; +/* 138 */ for (int tire = 0; tire < 4; tire++) +/* */ { +/* 140 */ this.tires[tire] = new Tire(); +/* 141 */ this.tires[tire].relativePos.copy(this.vehicle.tirePositions[tire]); +/* */ } +/* */ } +/* */ +/* */ +/* */ +/* */ +/* */ public boolean handle(MouseDeltaEvent e) +/* */ { +/* 150 */ if (UniverseHandler.handle(e)) { +/* 151 */ return true; +/* */ } +/* 153 */ return false; +/* */ } +/* */ +/* */ public boolean handle(KeyDownEvent e) +/* */ { +/* 158 */ if (UniverseHandler.handle(e)) { +/* 159 */ return true; +/* */ } +/* 161 */ switch (e.key) +/* */ { +/* */ +/* */ case '': +/* 165 */ this.gasKeyDown = true; +/* 166 */ break; +/* */ +/* */ +/* */ +/* */ case '': +/* 171 */ this.brakeKeyDown = true; +/* 172 */ break; +/* */ +/* */ +/* */ +/* */ case '': +/* 177 */ this.leftKeyDown = true; +/* 178 */ break; +/* */ +/* */ +/* */ +/* */ case '': +/* 183 */ this.rightKeyDown = true; +/* 184 */ break; +/* */ +/* */ +/* */ +/* */ case 'R': +/* */ case 'r': +/* 190 */ this.currentGear = 0; +/* 191 */ break; +/* */ +/* */ +/* */ +/* */ case '1': +/* 196 */ if (this.vehicle.stickShift) this.currentGear = 1; +/* 197 */ break; +/* */ +/* */ +/* */ +/* */ case '2': +/* 202 */ if (this.vehicle.stickShift) this.currentGear = 2; +/* 203 */ break; +/* */ +/* */ +/* */ +/* */ case '3': +/* 208 */ if (this.vehicle.stickShift) this.currentGear = 3; +/* 209 */ break; +/* */ +/* */ +/* */ +/* */ case '4': +/* 214 */ if (this.vehicle.stickShift) this.currentGear = 4; +/* 215 */ break; +/* */ +/* */ +/* */ +/* */ case '5': +/* 220 */ if (this.vehicle.stickShift) { this.currentGear = 5; +/* */ } +/* */ break; +/* */ } +/* */ +/* 225 */ return true; +/* */ } +/* */ +/* */ public boolean handle(KeyUpEvent e) +/* */ { +/* 230 */ if (UniverseHandler.handle(e)) { +/* 231 */ return true; +/* */ } +/* 233 */ switch (e.key) +/* */ { +/* */ +/* */ case '': +/* 237 */ this.gasKeyDown = false; +/* 238 */ break; +/* */ +/* */ +/* */ +/* */ case '': +/* 243 */ this.brakeKeyDown = false; +/* 244 */ break; +/* */ +/* */ +/* */ +/* */ case '': +/* 249 */ this.leftKeyDown = false; +/* 250 */ break; +/* */ +/* */ +/* */ +/* */ case '': +/* 255 */ this.rightKeyDown = false; +/* */ } +/* */ +/* */ +/* */ +/* 260 */ return true; +/* */ } +/* */ +/* */ public boolean handle(MouseDownEvent e) +/* */ { +/* 265 */ return false; +/* */ } +/* */ +/* */ public boolean handle(MouseUpEvent e) +/* */ { +/* 270 */ return false; +/* */ } +/* */ +/* 273 */ static float lastTime = 0.0F; +/* */ static final int lateralForceIncrements = 1000; +/* */ static float[][] muTable; +/* */ +/* */ public boolean handle(FrameEvent e) { +/* 278 */ if (!(e.receiver instanceof Pilot)) { +/* 279 */ return true; +/* */ } +/* 281 */ this.pilot = ((Pilot)e.receiver); +/* 282 */ if (!this.pilot.isActive()) { +/* 283 */ return true; +/* */ } +/* */ +/* 286 */ Point3Temp com = Point3Temp.make(this.vehicle.centerOfGravity); +/* 287 */ com.times(30.48F); +/* 288 */ com.times(this.pilot.getObjectToWorldMatrix()); +/* */ +/* 290 */ com.times(0.0328084F); +/* 291 */ this.worldCenterOfMass.set(com.x, com.y, com.z); +/* */ +/* */ +/* 294 */ this.room = this.pilot.getRoom(); +/* */ +/* */ +/* */ +/* 298 */ int now = e.time; +/* 299 */ float dt = (now - lastTime) / 1000.0F; +/* 300 */ lastTime = now; +/* */ +/* */ +/* */ +/* 304 */ if (dt <= 0.0F) { +/* 305 */ return true; +/* */ } +/* */ +/* */ +/* 309 */ if (dt > 0.33F) { +/* 310 */ dt = 0.33F; +/* */ } +/* */ +/* 313 */ if (this.gasKeyDown) { +/* 314 */ this.acceleratorDepression = ((float)(this.acceleratorDepression + 1.2D * dt)); +/* */ } else +/* 316 */ this.acceleratorDepression = 0.0F; +/* 317 */ if (this.acceleratorDepression > 1.0D) { +/* 318 */ this.acceleratorDepression = 1.0F; +/* */ } +/* 320 */ if (this.brakeKeyDown) { +/* 321 */ this.brakesDepression = ((float)(this.brakesDepression + 1.2D * dt)); +/* */ } else +/* 323 */ this.brakesDepression = 0.0F; +/* 324 */ if (this.brakesDepression > 1.0D) { +/* 325 */ this.brakesDepression = 1.0F; +/* */ } +/* 327 */ float wheelDelta = 0.282F * dt; +/* */ +/* */ +/* 330 */ if (Math.abs(this.velocityVectorCarFrame.y) < 10.0F) { +/* 331 */ wheelDelta = (float)(wheelDelta * 0.5D); +/* */ } +/* 333 */ if (this.leftKeyDown) { +/* 334 */ this.steeringWheelPosition -= wheelDelta; +/* 335 */ } else if (this.rightKeyDown) { +/* 336 */ this.steeringWheelPosition += wheelDelta; +/* */ } else +/* 338 */ this.steeringWheelPosition = 0.0F; +/* 339 */ if (this.steeringWheelPosition > 0.5D) +/* 340 */ this.steeringWheelPosition = 0.5F; +/* 341 */ if (this.steeringWheelPosition < -0.5D) { +/* 342 */ this.steeringWheelPosition = -0.5F; +/* */ } +/* 344 */ DoPhysics(dt); +/* */ +/* 346 */ return true; +/* */ } +/* */ +/* */ +/* */ +/* */ protected void DoPhysics(float dt) +/* */ { +/* 353 */ System.out.println("-----------------------------"); +/* */ +/* */ +/* 356 */ float engineTorque = this.vehicle.maxEngineTorque * +/* 357 */ this.acceleratorDepression * getTorque(this.engineRPM); +/* */ +/* 359 */ assert (this.vehicle.wheelDiameter != 0.0F); +/* */ +/* 361 */ float gearRatio = getGearRatio(this.currentGear); +/* */ +/* */ +/* */ +/* 365 */ float wheelForce = engineTorque * this.vehicle.rearEndRatio * +/* 366 */ gearRatio / (this.vehicle.wheelDiameter * 0.5F); +/* */ +/* */ +/* 369 */ if (Math.abs(this.velocityVectorCarFrame.y) > 2.0D) +/* */ { +/* 371 */ wheelForce -= this.brakesDepression * this.vehicle.mass * 100.0F; +/* */ +/* */ +/* */ } +/* 375 */ else if (this.brakesDepression > 0.0F) { +/* 376 */ this.velocityVectorCarFrame.y = 0.0F; +/* */ } +/* */ +/* */ +/* 380 */ if (gearRatio == 0.0F) { +/* 381 */ wheelForce *= -1.0F; +/* */ } +/* */ +/* 384 */ if (this.disabled) { +/* 385 */ wheelForce = 0.0F; +/* */ } +/* */ +/* 388 */ switch (this.vehicle.driveType) +/* */ { +/* */ +/* */ case 0: +/* 392 */ wheelForce = (float)(wheelForce * 0.25D); +/* 393 */ this.tires[0].driveForce = (this.tires[1].driveForce = +/* 394 */ wheelForce); +/* 395 */ this.tires[2].driveForce = (this.tires[3].driveForce = +/* 396 */ wheelForce); +/* 397 */ break; +/* */ +/* */ +/* */ +/* */ case 1: +/* 402 */ wheelForce = (float)(wheelForce * 0.5D); +/* 403 */ this.tires[0].driveForce = (this.tires[1].driveForce = +/* 404 */ wheelForce); +/* 405 */ this.tires[2].driveForce = (this.tires[3].driveForce = 0.0D); +/* 406 */ break; +/* */ +/* */ +/* */ +/* */ case 2: +/* */ default: +/* 412 */ wheelForce = (float)(wheelForce * 0.5D); +/* 413 */ this.tires[0].driveForce = (this.tires[1].driveForce = 0.0D); +/* 414 */ this.tires[2].driveForce = (this.tires[3].driveForce = +/* 415 */ wheelForce); +/* */ } +/* */ +/* */ +/* */ +/* */ +/* 421 */ float wheelAngle = this.steeringWheelPosition * 1.57F; +/* */ +/* 423 */ this.tires[0].wheelAngle = (this.tires[1].wheelAngle = -wheelAngle); +/* */ +/* */ +/* 426 */ float wheelRPM = 60.0F * this.velocityVectorCarFrame.y / ( +/* 427 */ 3.1415927F * this.vehicle.wheelDiameter); +/* 428 */ this.engineRPM = (wheelRPM * this.vehicle.rearEndRatio * gearRatio); +/* 429 */ if (this.engineRPM < this.vehicle.idleRPM) { +/* 430 */ this.engineRPM = this.vehicle.idleRPM; +/* */ } +/* 432 */ if (!this.vehicle.stickShift) +/* */ { +/* 434 */ if (this.engineRPM > this.vehicle.rpmTorquePeak) +/* */ { +/* 436 */ if (this.currentGear < 5) +/* 437 */ this.currentGear += 1; +/* */ } +/* 439 */ if (this.engineRPM < this.minRPMs[this.currentGear]) +/* */ { +/* 441 */ if (this.currentGear > 1) { +/* 442 */ this.currentGear -= 1; +/* */ } +/* */ } +/* */ } +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* 452 */ Point3Temp netForce = Point3Temp.make(0.0F, 0.0F, 0.0F); +/* 453 */ Point3Temp netTorque = Point3Temp.make(0.0F, 0.0F, 0.0F); +/* 454 */ for (int wheel = 0; wheel < 4; wheel++) +/* */ { +/* 456 */ calculateForces(this.tires[wheel]); +/* 457 */ netForce.plus(this.tires[wheel].force); +/* 458 */ netTorque.plus(this.tires[wheel].torque); +/* */ } +/* */ +/* */ +/* 462 */ Point3Temp airFriction = Point3Temp.make(this.velocityVectorCarFrame); +/* 463 */ airFriction.negate(); +/* 464 */ airFriction.normalize(); +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* 471 */ float drag = 0.15F * this.vehicle.frontalArea * +/* 472 */ 0.0801F * this.velocity * this.velocity / 32.1F; +/* 473 */ airFriction.times(drag); +/* 474 */ netForce.plus(airFriction); +/* */ +/* */ +/* 477 */ netForce.vectorTimes(this.pilot.getObjectToWorldMatrix()); +/* */ +/* */ +/* */ +/* 481 */ System.out.println("Net force " + netForce.x + " " + +/* 482 */ netForce.y + " " + netForce.z); +/* 483 */ System.out.println("Net torque " + netTorque.x + " " + +/* 484 */ netTorque.y + " " + netTorque.z); +/* */ +/* */ +/* */ +/* */ +/* 489 */ Point3Temp gravityForce = Point3Temp.make(0.0F, 0.0F, +/* 490 */ -this.vehicle.mass * 32.1F); +/* 491 */ netForce.plus(gravityForce); +/* */ +/* */ +/* */ +/* */ +/* */ +/* 497 */ Point3Temp inertialDampener = Point3Temp.make(0.5F, +/* 498 */ 0.5F, 0.5F); +/* 499 */ inertialDampener.times(this.angularVelocityCarFrame); +/* 500 */ inertialDampener.times(this.vehicle.momentsOfInertia); +/* 501 */ inertialDampener.times(1.0F / dt); +/* 502 */ netTorque.minus(inertialDampener); +/* */ +/* */ +/* */ +/* 506 */ this.integratedForce.plus(netForce); +/* 507 */ this.integratedForce.times(0.5F); +/* 508 */ this.integratedTorque.plus(netTorque); +/* 509 */ this.integratedTorque.times(0.5F); +/* */ +/* */ +/* */ +/* 513 */ Point3Temp acceleration = Point3Temp.make(this.integratedForce); +/* 514 */ acceleration.times(1.0F / this.vehicle.mass); +/* */ +/* 516 */ Point3Temp dV = Point3Temp.make(acceleration); +/* 517 */ dV.times(dt); +/* */ +/* */ +/* 520 */ Point3Temp lastV = Point3Temp.make(this.velocityVector); +/* 521 */ Point3Temp lastW = Point3Temp.make(this.angularVelocityCarFrame); +/* 522 */ this.velocityVector.plus(dV); +/* 523 */ this.velocityVector.plus(lastV); +/* 524 */ this.velocityVector.times(0.5F); +/* 525 */ this.velocity = this.velocityVector.length(); +/* 526 */ this.velocityVectorCarFrame.copy(this.velocityVector); +/* 527 */ this.velocityVectorCarFrame.vectorTimes( +/* 528 */ this.pilot.getObjectToWorldMatrix().invert()); +/* */ +/* */ +/* 531 */ Point3Temp dw = Point3Temp.make(this.integratedTorque); +/* 532 */ dw.times(dt); +/* 533 */ dw.dividedBy(this.vehicle.momentsOfInertia); +/* */ +/* 535 */ this.angularVelocityCarFrame.plus(dw); +/* 536 */ this.angularVelocityCarFrame.plus(lastW); +/* 537 */ this.angularVelocityCarFrame.times(0.5F); +/* 538 */ this.angularVelocity.copy(this.angularVelocityCarFrame); +/* 539 */ this.angularVelocity.vectorTimes(this.pilot.getObjectToWorldMatrix()); +/* */ +/* */ +/* 542 */ Point3Temp dx = Point3Temp.make(this.velocityVector); +/* 543 */ dx.times(dt); +/* */ +/* 545 */ float maxUnderground = 0.0F; +/* 546 */ for (int tire = 0; tire < 4; tire++) +/* */ { +/* 548 */ float diff = -this.tires[tire].underGround; +/* 549 */ if (diff > maxUnderground) +/* 550 */ maxUnderground = diff; +/* */ } +/* 552 */ dx.z += maxUnderground; +/* */ +/* */ +/* 555 */ dx.times(30.48F); +/* */ +/* 557 */ Point3Temp da = Point3Temp.make(this.angularVelocity); +/* 558 */ da.times(dt); +/* */ +/* 560 */ this.pilot.premoveThrough(dx); +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* 567 */ float convert = 57.295776F; +/* 568 */ this.pilot.pitch(da.x * convert); +/* 569 */ this.pilot.roll(da.y * convert); +/* 570 */ this.pilot.yaw(da.z * convert); +/* */ +/* */ +/* */ +/* 574 */ System.out.println("dx " + dx.x + " " + dx.y + " " + dx.z); +/* 575 */ System.out.println("da " + da.x + " " + da.y + " " + da.z); +/* 576 */ System.out.println("pos" + this.pilot.getX() + " " + +/* 577 */ this.pilot.getY() + " " + this.pilot.getZ()); +/* */ } +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ protected void calculateForces(Tire tire) +/* */ { +/* 587 */ tire.force.set(0.0F, 0.0F, 0.0F); +/* 588 */ tire.torque.set(0.0F, 0.0F, 0.0F); +/* */ +/* */ +/* 591 */ Transform o2w = this.pilot.getObjectToWorldMatrix(); +/* 592 */ Transform w2o = this.pilot.getObjectToWorldMatrix().invert(); +/* */ +/* 594 */ Point3Temp worldPos = Point3Temp.make(tire.relativePos); +/* 595 */ worldPos.plus(this.vehicle.centerOfGravity); +/* */ +/* */ +/* 598 */ worldPos.times(30.48F); +/* */ +/* 600 */ worldPos.times(o2w); +/* */ +/* */ +/* 603 */ double groundZ = this.room.floorHeight(worldPos.x, worldPos.y, +/* 604 */ worldPos.z); +/* */ +/* 606 */ Point3 N = this.room.surfaceNormal(worldPos.x, worldPos.y, +/* 607 */ worldPos.z); +/* */ +/* */ +/* 610 */ groundZ *= 0.03280840069055557D; +/* 611 */ worldPos.times(0.0328084F); +/* */ +/* 613 */ tire.underGround = ((float)(worldPos.z - groundZ)); +/* */ +/* */ +/* 616 */ if (tire.underGround > this.vehicle.shockLength) { return; +/* */ } +/* */ +/* */ +/* 620 */ Point3Temp R = Point3Temp.make(tire.relativePos); +/* 621 */ R.vectorTimes(o2w); +/* */ +/* 623 */ Point3Temp w = Point3Temp.make(this.angularVelocity); +/* 624 */ w.cross(R); +/* 625 */ w.plus(this.velocityVector); +/* 626 */ Point3Temp Vp = Point3Temp.make(w); +/* */ +/* */ +/* */ +/* 630 */ System.out.println("R " + R.x + " " + R.y + " " + R.z); +/* 631 */ System.out.println("Vp " + Vp.x + " " + Vp.y + " " + +/* 632 */ Vp.z); +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* 639 */ double normalSpeed = Vp.dot(N); +/* */ +/* */ +/* 642 */ Point3Temp No = Point3Temp.make(N); +/* 643 */ No.vectorTimes(w2o); +/* */ +/* */ +/* 646 */ Point3Temp tmp = Point3Temp.make(No); +/* 647 */ double scalarInertialMoment = tmp.dot( +/* 648 */ this.vehicle.momentsOfInertia); +/* 649 */ scalarInertialMoment = Math.abs(scalarInertialMoment); +/* */ +/* */ +/* 652 */ Point3Temp orthoNormal = Point3Temp.make(R); +/* 653 */ orthoNormal.cross(N); +/* 654 */ double r = orthoNormal.length(); +/* */ +/* */ +/* 657 */ double denominator = r * this.vehicle.mass + scalarInertialMoment; +/* 658 */ assert (denominator != 0.0D); +/* 659 */ double myMass = this.vehicle.mass * 0.25D; +/* 660 */ double weight = scalarInertialMoment * myMass / +/* 661 */ denominator; +/* 662 */ if (weight < 0.0D) weight = 0.0D; +/* 663 */ if (weight > this.vehicle.mass) { weight = myMass; +/* */ } +/* */ +/* 666 */ assert (this.vehicle.shockLength != 0.0F); +/* 667 */ double k = weight * 32.099998474121094D / this.vehicle.shockLength; +/* 668 */ double springLength = worldPos.z - (groundZ + +/* 669 */ this.vehicle.shockLength); +/* */ +/* 671 */ if (springLength < -this.vehicle.shockLength) +/* 672 */ springLength = -this.vehicle.shockLength; +/* 673 */ if (springLength > this.vehicle.shockLength) { +/* 674 */ springLength = this.vehicle.shockLength; +/* */ } +/* 676 */ double x = springLength; +/* 677 */ double groundForce = -k * x; +/* 678 */ double term = k * weight; +/* 679 */ assert (term >= 0.0D); +/* 680 */ double damp = -Math.sqrt(term) * normalSpeed * +/* 681 */ this.vehicle.shockDampingCoeff; +/* 682 */ groundForce += damp; +/* */ +/* */ +/* 685 */ Point3Temp groundForceVector = Point3Temp.make(No); +/* 686 */ groundForceVector.normalize(); +/* 687 */ groundForceVector.times((float)groundForce); +/* */ +/* */ +/* */ +/* 691 */ tire.force.plus(groundForceVector); +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* 701 */ Point3Temp VpCarFrame = Point3Temp.make(Vp); +/* 702 */ VpCarFrame.vectorTimes(w2o); +/* */ +/* 704 */ Point3Temp normalVelocity = Point3Temp.make(VpCarFrame); +/* 705 */ normalVelocity.z = 0.0F; +/* */ +/* */ +/* */ +/* */ +/* 710 */ Point3Temp intendedForce = Point3Temp.make(0.0F, 0.0F, 0.0F); +/* */ +/* 712 */ Transform wheelXform = Transform.make(); +/* 713 */ wheelXform.yaw(tire.wheelAngle * +/* 714 */ 229.1831F); +/* */ float mu; +/* */ float mu; +/* 717 */ if (normalVelocity.length() < 0.001F) +/* */ { +/* */ +/* 720 */ mu = 0.0F; +/* */ } else { float mu; +/* 722 */ if (Math.abs(No.x) > 0.4F) +/* */ { +/* */ +/* 725 */ mu = 0.0F; +/* */ } +/* */ else +/* */ { +/* 729 */ normalVelocity.normalize(); +/* */ +/* */ +/* */ +/* 733 */ Point3Temp wheelDirection = Point3Temp.make(0.0F, 1.0F, 0.0F); +/* 734 */ wheelDirection.vectorTimes(wheelXform); +/* */ +/* 736 */ wheelDirection.normalize(); +/* 737 */ float cosSlipAngle = normalVelocity.dot(wheelDirection); +/* */ +/* */ +/* */ +/* 741 */ System.out.println("wheel direction " + +/* 742 */ wheelDirection.x + " " + wheelDirection.y + +/* 743 */ " " + wheelDirection.z); +/* 744 */ System.out.println("normal velocity " + +/* 745 */ normalVelocity.x + " " + normalVelocity.y + +/* 746 */ " " + normalVelocity.z); +/* 747 */ System.out.println("cos of slip angle " + +/* 748 */ cosSlipAngle); +/* */ +/* */ +/* */ +/* */ +/* 753 */ mu = getLateralForceCoef(cosSlipAngle, 0); +/* */ +/* 755 */ float crossZ = normalVelocity.x * wheelDirection.y - +/* 756 */ normalVelocity.y * wheelDirection.x; +/* 757 */ if (crossZ > 0.0F) +/* 758 */ mu *= -1.0F; +/* */ } +/* */ } +/* 761 */ intendedForce.x = (mu * (float)groundForce); +/* */ +/* */ +/* 764 */ intendedForce.y = ((float)tire.driveForce); +/* */ +/* */ +/* */ +/* 768 */ System.out.println("Lateral forces " + intendedForce.x + +/* 769 */ ", " + intendedForce.y); +/* */ +/* */ +/* */ +/* 773 */ float forceMag = intendedForce.length(); +/* 774 */ float maxForce = (float)groundForce * this.vehicle.tireAdhesiveLimit; +/* 775 */ if (forceMag > maxForce) +/* */ { +/* 777 */ intendedForce.normalize(); +/* 778 */ intendedForce.times(maxForce); +/* 779 */ tire.slipping = true; +/* */ } +/* */ else +/* */ { +/* 783 */ tire.slipping = false; +/* */ } +/* */ +/* */ +/* */ +/* 788 */ intendedForce.vectorTimes(wheelXform); +/* */ +/* */ +/* 791 */ tire.force.plus(intendedForce); +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* 806 */ Point3Temp rollingFriction = Point3Temp.make(0.0F, 0.0F, 0.0F); +/* 807 */ float S = 1.0F; +/* 808 */ float magV = Vp.length(); +/* 809 */ rollingFriction.y = +/* 810 */ ((float)groundForce * 0.001F * (5.7F + 0.036F * magV * 0.6818182F) * S); +/* 811 */ if (this.velocityVectorCarFrame.y > 0.0F) { +/* 812 */ rollingFriction.y *= -1.0F; +/* */ } +/* 814 */ rollingFriction.vectorTimes(wheelXform); +/* */ +/* */ +/* */ +/* 818 */ System.out.println("Rolling friction " + +/* 819 */ rollingFriction.x + " " + rollingFriction.y + +/* 820 */ " " + rollingFriction.z); +/* */ +/* */ +/* */ +/* */ +/* */ +/* 826 */ wheelXform.recycle(); +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* 833 */ Point3Temp rCopy = Point3Temp.make(tire.relativePos); +/* 834 */ rCopy.negate(); +/* 835 */ tire.torque.copy(tire.force); +/* 836 */ tire.torque.cross(rCopy); +/* */ +/* */ +/* */ +/* 840 */ System.out.println("Underground " + springLength + +/* 841 */ " damping " + damp); +/* 842 */ System.out.println("Force " + tire.force.x + " " + +/* 843 */ tire.force.y + " " + tire.force.z); +/* */ +/* */ +/* 846 */ System.out.println("Torque " + tire.torque.x + " " + +/* 847 */ tire.torque.y + " " + tire.torque.z); +/* 848 */ System.out.println(); } +/* */ +/* */ private float getGearRatio(int gearNumber) { float gearRatio; +/* */ float gearRatio; +/* */ float gearRatio; +/* */ float gearRatio; +/* */ float gearRatio; +/* 855 */ float gearRatio; float gearRatio; switch (gearNumber) +/* */ { +/* */ +/* */ case 0: +/* 859 */ gearRatio = this.vehicle.gearRatio1; +/* 860 */ break; +/* */ +/* */ +/* */ +/* */ case 1: +/* 865 */ gearRatio = this.vehicle.gearRatio1; +/* 866 */ break; +/* */ +/* */ +/* */ +/* */ case 2: +/* 871 */ gearRatio = this.vehicle.gearRatio2; +/* 872 */ break; +/* */ +/* */ +/* */ +/* */ case 3: +/* 877 */ gearRatio = this.vehicle.gearRatio3; +/* 878 */ break; +/* */ +/* */ +/* */ +/* */ case 4: +/* 883 */ gearRatio = this.vehicle.gearRatio4; +/* 884 */ break; +/* */ +/* */ +/* */ +/* */ case 5: +/* 889 */ gearRatio = this.vehicle.gearRatio5; +/* 890 */ break; +/* */ +/* */ +/* */ +/* */ default: +/* 895 */ System.out.println("Illegal gear " + this.currentGear); +/* 896 */ gearRatio = 1.0F; +/* */ } +/* */ +/* */ +/* */ +/* 901 */ return gearRatio; +/* */ } +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ protected float getLateralForceCoef(float cosSlipAngle, int terrainType) +/* */ { +/* 911 */ if (cosSlipAngle > 1.0D) cosSlipAngle = 1.0F; +/* 912 */ if (cosSlipAngle < -1.0D) cosSlipAngle = -1.0F; +/* 913 */ float index = (float)Math.ceil(Math.abs(cosSlipAngle) * +/* 914 */ 1000.0F / 1.0F); +/* 915 */ return muTable[terrainType][((int)index)]; +/* */ } +/* */ +/* 918 */ static boolean lateralForceTableInited = false; +/* */ +/* */ +/* */ static final int torqueIncrements = 500; +/* */ +/* */ +/* */ static final float maxRPM = 7000.0F; +/* */ +/* */ +/* */ static final float minRPM = 1500.0F; +/* */ +/* */ +/* */ static final float rpmInc = 500.0F; +/* */ +/* */ static final int numRPMs = 12; +/* */ +/* */ static float[] torqueTable; +/* */ +/* */ +/* */ protected void initLateralForceTable() +/* */ { +/* 939 */ if (lateralForceTableInited) return; +/* 940 */ lateralForceTableInited = true; +/* */ +/* 942 */ muTable = new float[2]['ϩ']; +/* */ +/* 944 */ for (int type = 0; type < 2; type++) +/* */ { +/* 946 */ for (int i = 0; i <= 1000; i++) +/* */ { +/* 948 */ float degrees = (float)Math.acos(i / +/* 949 */ 1000.0F); +/* 950 */ degrees = degrees * 360.0F / 6.2831855F; +/* */ +/* 952 */ switch (type) +/* */ { +/* */ +/* */ +/* */ +/* */ case 0: +/* 958 */ if (degrees > 45.0F) degrees = 45.0F; +/* 959 */ muTable[type][i] = +/* */ +/* */ +/* */ +/* */ +/* */ +/* 965 */ (-0.084496F + 0.1241739F * degrees - 0.003676377F * (float)Math.pow(degrees, 2.0D) - 5.5137E-6F * (float)Math.pow(degrees, 3.0D) + 6.461E-7F * (float)Math.pow( +/* 966 */ degrees, 4.0D)); +/* 967 */ break; +/* */ +/* */ +/* */ +/* */ case 1: +/* 972 */ muTable[type][i] = +/* */ +/* 974 */ (0.055731F + 0.069871F * degrees - 0.002175398F * degrees * degrees); +/* */ } +/* */ +/* */ +/* */ +/* 979 */ if (muTable[type][i] < 0.0F) { +/* 980 */ muTable[type][i] = 0.0F; +/* */ } +/* */ } +/* */ } +/* */ } +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* */ +/* 993 */ static boolean torqueTableInited = false; +/* */ +/* */ float getTorque(float rpm) +/* */ { +/* 997 */ if (rpm > 7000.0F) +/* 998 */ rpm = 7000.0F; +/* 999 */ if (rpm < 1500.0F) { +/* 1000 */ rpm = 1500.0F; +/* */ } +/* 1002 */ int index = (int)(rpm / 7000.0F); +/* 1003 */ return torqueTable[index]; +/* */ } +/* */ +/* 1006 */ static float[] rawTorqueData = { 80.0F, 82.0F, 91.0F, 92.0F, 89.0F, 90.0F, 98.0F, 93.0F, +/* 1007 */ 94.0F, 78.0F, 83.0F, 75.0F }; +/* */ +/* */ static final float torqueMax = 98.0F; +/* */ +/* */ void initTorqueTable() +/* */ { +/* 1013 */ if (torqueTableInited) return; +/* 1014 */ torqueTableInited = true; +/* */ +/* 1016 */ torqueTable = new float['ǵ']; +/* */ +/* 1018 */ for (int i = 0; i <= 500; i++) +/* */ { +/* 1020 */ float rpm = i / 500.0F * 7000.0F; +/* 1021 */ if (rpm < 1500.0F) rpm = 1500.0F; +/* 1022 */ int closest = 0; +/* 1023 */ for (int j = 0; j < 12; j++) +/* */ { +/* 1025 */ float thisRpm = j * 500.0F + 1500.0F; +/* 1026 */ if (thisRpm >= rpm) +/* */ { +/* 1028 */ closest = j; +/* 1029 */ break; +/* */ } +/* */ } +/* */ +/* 1033 */ if (closest == 0) +/* */ { +/* 1035 */ torqueTable[i] = (rawTorqueData[0] / 98.0F); +/* */ +/* */ } +/* */ else +/* */ { +/* 1040 */ Point2 low = new Point2(); +/* 1041 */ Point2 high = new Point2(); +/* 1042 */ Point2 result = new Point2(); +/* 1043 */ low.x = ((closest - 1) * 500.0F + 1500.0F); +/* 1044 */ low.y = rawTorqueData[(closest - 1)]; +/* 1045 */ low.x += 500.0F; +/* 1046 */ high.y = rawTorqueData[closest]; +/* 1047 */ float alpha = (rpm - low.x) / 500.0F; +/* */ +/* */ +/* */ +/* 1051 */ result.x = (low.x * alpha + high.x * (1.0F - alpha)); +/* 1052 */ result.y = (low.y * alpha + high.y * (1.0F - alpha)); +/* */ +/* 1054 */ torqueTable[i] = (result.y / 98.0F); +/* */ } +/* */ } +/* */ } +/* */ +/* */ +/* */ private void initRPMTable() +/* */ { +/* 1062 */ this.minRPMs = new float[6]; +/* */ +/* 1064 */ float[] maxVel = new float[5]; +/* 1065 */ for (int x = 0; x < 5; x++) +/* */ { +/* 1067 */ maxVel[x] = +/* */ +/* 1069 */ (this.vehicle.rpmTorquePeak * 3.1415927F * this.vehicle.wheelDiameter / (60.0F * this.vehicle.rearEndRatio * getGearRatio(x))); +/* */ } +/* */ +/* 1072 */ this.minRPMs[0] = 0.0F; +/* 1073 */ for (int x = 1; x <= 5; x++) +/* */ { +/* 1075 */ this.minRPMs[x] = +/* */ +/* 1077 */ (60.0F * maxVel[(x - 1)] * this.vehicle.rearEndRatio * getGearRatio(x) / (3.1415927F * this.vehicle.wheelDiameter)); +/* */ } +/* */ } +/* */ } + + +/* Location: C:\Program Files (x86)\Worlds Inc\WorldsPlayer - Win7\lib\worlds.jar!\NET\worlds\scape\VehicleDriver.class + * Java compiler version: 6 (50.0) + * JD-Core Version: 0.7.1 + */
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