func LoadSceneAsModel(filename string) (*Model, error) {
doc, err := collada.LoadDocument(filename)
if err != nil {
return nil, err
}
index, err := NewIndex(doc)
if err != nil {
return nil, err
}
model := EmptyModel("scene")
switch doc.Asset.UpAxis {
case collada.Xup:
case collada.Yup:
case collada.Zup:
model.Transform = glm.HomogRotate3DXd(-90).Mul4(glm.HomogRotate3DZd(90))
}
geometryTemplates := make(map[collada.Id][]*Geometry)
for id, mesh := range index.Mesh {
geoms := make([]*Geometry, 0)
for _, pl := range mesh.Polylist {
elements := make([]*DrawElements, 0)
drawElements := NewDrawElements(pl.TriangleElements, gl.TRIANGLES)
if drawElements != nil {
elements = append(elements, drawElements)
}
geometry := NewGeometry(string(id), pl.VertexData, pl.NormalData, elements)
geoms = append(geoms, geometry)
}
if len(geoms) > 0 {
geometryTemplates[id] = geoms
}
}
for _, node := range index.VisualScene.Node {
child, ok := LoadModel(index, node, geometryTemplates)
if ok {
model.AddChild(child)
}
}
return model, nil
}
func (car *Car) Simulate(controls Controls, timestep float64) {
p := car.Center
v := car.Velocity
u := car.Direction
at := car.TransientAcceleration
rwav := car.RearWheelAngularVelocity
m := car.Profile.Mass
d := car.Profile.Drag
rr := car.Profile.RollingResistance
h := car.Profile.CenterOfGravityHeight
fl := car.Profile.FrontAxelDisplacement
rl := car.Profile.RearAxelDisplacement
xg := car.Profile.GearRatio
xd := car.Profile.DifferentialRatio
te := car.Profile.TransmissionEfficiency
wr := car.Profile.WheelRadius
wm := car.Profile.WheelMass
bmax := car.Profile.BreakingPower
bmaxToruqe := bmax / wr
mu := car.Profile.TyreFrictionMu
tc := car.Profile.TyreTractionConstant
g := Gravity
dt := timestep
vmag := v.Len()
staticWeight := g * m
axelDisplacement := fl + rl
// maxFrontTyreTraction := rl / axelDisplacement * weight - (h-wr)/axelLength * m * at.Dot(u)
dynamicWeight := (h - wr) / axelDisplacement * m * at.Dot(u)
weight := fl/axelDisplacement*staticWeight + dynamicWeight
maxRearTyreTraction := mu * weight
freeRollingAV := v.Dot(u) / wr
rwav = freeRollingAV
slipRatio := 0.0
if !IsZero(v) {
slipRatio = (rwav*wr - v.Dot(u)) / vmag
}
// else {
// // slipRatio = rwav * wr //-rwav * wr
// }
tractionForce := math.Min(tc*slipRatio, maxRearTyreTraction)
tractionTorque := tractionForce * wr
// fmt.Println("tyre traction force", tractionForce)
vn := glm.Vec4d{}
if !IsZero(v) {
vn = v.Normalize()
}
brakeTorque := bmaxToruqe * vn.Dot(u) * controls.BreakPedal
rpm := freeRollingAV * xg * xd * 60 / (2 * math.Pi)
engineTorque := car.Profile.Engine.Torque(rpm)
appliedTorque := engineTorque * controls.FuelPedal
driveTorque := appliedTorque * xg * xd * te
driveForce := driveTorque / wr
totalTorque := driveTorque - 2*tractionTorque - brakeTorque
// fmt.Println("wrav", rwav)
// fmt.Println("driveTorque", driveTorque)
// fmt.Println("tractionTorque", tractionTorque)
// fmt.Println("brakeTorque", brakeTorque)
// fmt.Println("totalTorque", totalTorque)
b := bmax * controls.BreakPedal
rearForceTraction := math.Copysign(math.Min(math.Abs(driveForce), maxRearTyreTraction), driveForce)
forceTraction := u.Mul(rearForceTraction)
forceBreaking := u.Mul(-b * vn.Dot(u))
forceDrag := v.Mul(-d * vmag)
forceRollingResistance := v.Mul(-rr)
force := forceTraction.Add(forceDrag).Add(forceRollingResistance).Add(forceBreaking)
rearWheelInertia := wm * wr * wr / 2
wheelAcceleration := totalTorque / rearWheelInertia
drwav := wheelAcceleration * dt
a := force.Mul(1.0 / m)
dv := a.Mul(dt)
dp := v.Mul(dt).Add(a.Mul(dt * dt * 0.5))
if v.Len() < forceBreaking.Len()*dt/m {
dv = v.Mul(-1)
}
// fmt.Println(rwav, dv)
p = p.Add(dp)
v = v.Add(dv)
rwav = rwav + drwav
rwav = v.Dot(u) / wr
car.FrontWheelO = car.FrontWheelO + controls.WheelAngularVelocity*dt
car.FrontWheelO = math.Copysign(math.Min(math.Abs(car.FrontWheelO), car.Profile.MaxStreeringAngle), car.FrontWheelO)
if math.Abs(car.FrontWheelO) > 0.0001 {
turningRadius := axelDisplacement / math.Sin(car.FrontWheelO)
angularVelocity := v.Dot(u) / turningRadius
rotation := dt * angularVelocity
m := glm.HomogRotate3DZd(-rotation * 180 / math.Pi)
u = m.Mul4x1(u)
v = m.Mul4x1(v)
}
car.Center = p
car.Velocity = v
car.TransientAcceleration = a
car.RearWheelAngularVelocity = rwav
car.Direction = u
car.FrontWheelAngularDeviation += freeRollingAV * dt
car.RearWheelAngularDeviation += car.RearWheelAngularVelocity * dt
}
func (r *Receiver) LoadScene(filename string) {
doc, err := collada.LoadDocument(filename)
panicOnErr(err)
index, err := gtk.NewIndex(doc)
panicOnErr(err)
r.SceneIndex = index
model := gtk.EmptyModel("scene")
switch doc.Asset.UpAxis {
case collada.Xup:
case collada.Yup:
case collada.Zup:
model.Transform = glm.HomogRotate3DXd(-90).Mul4(glm.HomogRotate3DZd(90))
}
portalPattern, _ := regexp.Compile("^Portal_(\\d+)_(\\d+)")
geometryTemplates := make(map[collada.Id][]*gtk.Geometry)
for id, mesh := range r.SceneIndex.Mesh {
geoms := make([]*gtk.Geometry, 0)
for _, pl := range mesh.Polylist {
matches := portalPattern.FindStringSubmatch(mesh.VerticesId)
if matches == nil {
elements := make([]*gtk.DrawElements, 0)
drawElements := gtk.NewDrawElements(pl.TriangleElements, gl.TRIANGLES)
if drawElements != nil {
elements = append(elements, drawElements)
}
geometry := gtk.NewGeometry(string(id), pl.VertexData, pl.NormalData, elements)
geoms = append(geoms, geometry)
} else {
fmt.Println("ignoring Portal")
}
}
if len(geoms) > 0 {
geometryTemplates[id] = geoms
}
}
portalLink := map[int]int{}
portals := map[int]portal.Quad{}
for _, node := range r.SceneIndex.VisualScene.Node {
matches := portalPattern.FindStringSubmatch(node.Name)
transform := r.SceneIndex.Transforms[node.Id]
if matches == nil {
geoms := make([]*gtk.Geometry, 0)
for _, geoinstance := range node.InstanceGeometry {
geoid, _ := geoinstance.Url.Id()
geoms = append(geoms, geometryTemplates[geoid]...)
}
if len(geoms) > 0 {
child := gtk.NewModel(node.Name, []*gtk.Model{}, geoms, transform)
model.AddChild(child)
}
} else {
index, err := strconv.Atoi(matches[1])
if err != nil {
panic(err)
}
exit, err := strconv.Atoi(matches[2])
if err != nil {
panic(err)
}
mt := model.Transform.Mul4(transform)
center := mt.Mul4x1(glm.Vec4d{0, 0, 0, 1})
normal := mt.Mul4x1(glm.Vec4d{0, 0, 1, 0}).Normalize()
planev := mt.Mul4x1(glm.Vec4d{1, 0, 0, 0}).Normalize()
scale := glm.Vec4d{}
n := 0
for i := 0; i < 3; i++ {
sum := 0.0
for j := 0; j < 3; j++ {
sum += float64(mt[n] * mt[n])
n++
}
n++
scale[i] = math.Sqrt(sum)
}
quad := portal.Quad{
center,
normal,
planev,
scale,
}
portalLink[index] = exit
portals[index] = quad
// fmt.Println("portal node", node.Name, quad)
}
}
r.Data.Scene.AddChild(model)
for id, quad := range portals {
exit, ok := portals[portalLink[id]]
if ok {
up := portal.Cross3D(exit.Normal, exit.PlaneV)
// fmt.Println("pre ",exit)
exit = exit.Apply(glm.HomogRotate3Dd(math.Pi, up))
// fmt.Println("post",exit)
_, inverse, pva, _ := portal.PortalTransform(quad, exit)
portal := portal.Portal{quad, inverse, pva}
r.Portals = append(r.Portals, portal)
} else {
fmt.Println("no exit for portal", id, portalLink[id])
}
}
}
