major rework

2026-02-16 18:32:48 +01:00
parent bbd82da07e
commit 932734e5b4
24 changed files with 1706 additions and 893 deletions
--- a/simulation/Core/Components/WheelSystem.cs
+++ b/simulation/Core/Components/WheelSystem.cs
@@ -0,0 +1,95 @@
+using Car_simulation.Core.Physics;
+
+namespace Car_simulation.Core.Components
+{
+    public class WheelSystem : ICarComponent
+    {
+        // Physical properties
+        public float Radius { get; set; } = 0.3f;
+        public float WheelInertia { get; set; } = 2.0f;
+        public float CarMass { get; set; } = 1500f;
+        public int WheelCount { get; set; } = 4;
+        public int DrivenWheels { get; set; } = 2;
+
+        // State
+        public float TotalEnergy { get; set; } = 0f;
+        public float AngularVelocity => GetOmega();
+        public float RPM => GetRPM();
+        public float CarSpeed => GetCarSpeed();
+
+        // Derived properties
+        public float GetTotalRotationalInertia() => WheelInertia * WheelCount;
+        public float GetEquivalentCarInertia() => CarMass * Radius * Radius;
+        public float GetTotalInertia() => GetTotalRotationalInertia() + GetEquivalentCarInertia();
+
+        // Calculations
+        public float GetOmega()
+        {
+            if (TotalEnergy <= 0 || GetTotalInertia() <= 0) return 0f;
+            return MathF.Sqrt(2f * TotalEnergy / GetTotalInertia());
+        }
+
+        public float GetRPM() => AngularVelocity * PhysicsUtil.RAD_PER_SEC_TO_RPM;
+        public float GetCarSpeed() => AngularVelocity * Radius;
+
+        public float GetRotationalEnergy()
+        {
+            float omega = GetOmega();
+            return 0.5f * GetTotalRotationalInertia() * omega * omega;
+        }
+
+        public float GetTranslationalEnergy()
+        {
+            float speed = GetCarSpeed();
+            return 0.5f * CarMass * speed * speed;
+        }
+
+        public float GetEnergyFromSpeed(float speed)
+        {
+            float omega = speed / Radius;
+            float rotationalEnergy = 0.5f * GetTotalRotationalInertia() * omega * omega;
+            float translationalEnergy = 0.5f * CarMass * speed * speed;
+            return rotationalEnergy + translationalEnergy;
+        }
+
+        public void SetSpeed(float speed) => TotalEnergy = GetEnergyFromSpeed(speed);
+
+        public void ApplyWork(float work)
+        {
+            TotalEnergy += work;
+            TotalEnergy = Math.Max(TotalEnergy, 0);
+        }
+
+        public void ApplyTorque(float torque, float deltaTime)
+        {
+            if (torque == 0) return;
+            float work = torque * AngularVelocity * deltaTime;
+            ApplyWork(work);
+        }
+
+        public void ApplyResistance(float resistanceTorque, float deltaTime)
+        {
+            if (resistanceTorque <= 0 || AngularVelocity == 0) return;
+
+            float omega = AngularVelocity;
+            if (MathF.Abs(omega) < 0.1f) return;
+
+            float resistanceSign = -MathF.Sign(omega);
+            float alpha = (resistanceSign * resistanceTorque) / GetTotalInertia();
+            float omegaNew = omega + alpha * deltaTime;
+
+            if (MathF.Sign(omegaNew) != MathF.Sign(omega))
+            {
+                omegaNew = 0;
+            }
+
+            float energyNew = 0.5f * GetTotalInertia() * omegaNew * omegaNew;
+            TotalEnergy = Math.Max(energyNew, 0);
+        }
+
+        public void Update(float deltaTime)
+        {
+            // WheelSystem updates are handled by Car through other components
+        }
+    }
+}