advanced physics (began WSL integration)

AndreiMoraru123 · Jun 19, 2023 · c0b391c · c0b391c
1 parent 3d07ea1
commit c0b391c
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Showing 4 changed files with 13 additions and 9 deletions.
diff --git a/Control/controller.cpp b/Control/controller.cpp
@@ -32,8 +32,6 @@ void EgoCarController::handleKeyboardInput() {
   } else if (keyStates_["Down"]) {
     car_.accelerate(3.0, -1);
   } else if (keyStates_["space"]) {
-    car_.accelerate(-15.0, 1);
-  } else {
     car_.accelerate(0.0, 1);
   }
 

diff --git a/Objects/car.cpp b/Objects/car.cpp
@@ -15,7 +15,9 @@ Car::Car()
       steering(0), rollingInstance(0), frontCenterDistance(0),
       control_index(0),
       sinNegAngle(0),
-      cosNegAngle(0) {}
+      cosNegAngle(0),
+      air_resistance(0.01),
+      tire_friction(0.1) {}
 
 Car::Car(
     Vect3 setPosition, Vect3 setDimensions, Color setColor,
@@ -33,6 +35,8 @@ Car::Car(
   velocity = 0;
   control_index = 0;
   rollingInstance = 0.5;
+  air_resistance = 0.01;
+  tire_friction = 0.1;
 }
 
 void Car::renderBottom(pcl::visualization::PCLVisualizer::Ptr& viewer) const {
@@ -101,21 +105,19 @@ void Car::renderWindshields(pcl::visualization::PCLVisualizer::Ptr &viewer) cons
   }
 }
 
-
 void Car::render(pcl::visualization::PCLVisualizer::Ptr& viewer) const {
   renderBottom(viewer);
   renderTop(viewer);
   renderWheels(viewer);
   renderWindshields(viewer);
 }
 
-
 void Car::accelerate(float acc, int dir) {
-  acceleration = acc * dir;
+  acceleration = acc * dir - air_resistance * velocity * abs(velocity) - tire_friction * sign(velocity);
 }
 
 void Car::steer(float s) {
-  steering = s;
+  steering = s / (1 + abs(velocity));
 }
 
 void Car::control(const std::vector<Control>& c) {
@@ -139,7 +141,6 @@ void Car::move(float dt, int time_us) {
   orientation = Eigen::Quaternionf(Eigen::AngleAxisf(angle, Eigen::Vector3f::UnitZ()));
   velocity += acceleration * dt;
 
-  // Apply rolling instance if there is no acceleration input
   if (acceleration == 0) {
     if (velocity > 0) {
       velocity -= rollingInstance;

diff --git a/Objects/car.hpp b/Objects/car.hpp
@@ -67,6 +67,8 @@ class Car {
   int control_index;
   double sinNegAngle;
   double cosNegAngle;
+  float air_resistance;
+  float tire_friction;
 public:
   Car();
   Car(Vect3 setPosition, Vect3 setDimensions, Color setColor, float setAngle,
@@ -94,4 +96,8 @@ class Car {
   pcl::ModelCoefficients generateWheelCoefficients(int i, int j) const;
 };
 
+inline int sign(float x) {
+  return (x > 0) - (x < 0);
+}
+
 #endif // NFS_CAR_HPP
diff --git a/main.cpp b/main.cpp
@@ -11,7 +11,6 @@ int main() {
   viewer->setBackgroundColor(0, 0, 0);
   viewer->addCoordinateSystem(1.0);
   viewer->initCameraParameters();
-
   int* screenSize = viewer->getRenderWindow()->GetScreenSize();
   viewer->setSize(screenSize[0], screenSize[1]);