/// <summary>
/// one wheel of the vehicle
/// </summary>
/// <param name="wheel">which wheel?</param>
public Wheel(ImportantClasses.Enums.Wheels wheel)
{
_actualCalculation = new WheelOutput();
_wheel = wheel;
}
/// <summary>
/// Calculates the overall car according to the results of all the other classes
/// </summary>
public void Calculate()
{
Vector3 totalLongitudinalAcForce = new Vector3(); //saves the longitudal acceleration force of all wheels
Vector3 totalLongitudinalDeForce = new Vector3(); //saves the longitudal deceleration force of all wheels
Vector3 totalLateralAcceleration = new Vector3(); //saves the lateral acceleration of all wheels
//accumulate the forces of all wheels
for (int i = 0; i < 4; i++)
{
WheelOutput wheelOutput = WheelOutput.GetWheelOutput((ImportantClasses.Enums.Wheels)i);
totalLongitudinalAcForce += wheelOutput.LongitudinalAccelerationForce * wheelOutput.Direction;
totalLongitudinalDeForce += wheelOutput.LongitudinalDecelerationForce * wheelOutput.Direction;
if (!float.IsNaN(wheelOutput.LateralAcceleration))
{
totalLateralAcceleration += wheelOutput.LateralAcceleration *
wheelOutput.Direction.Rotate(-Math.PI / 2);
}
}
//calculate the change of the speed due to the acceleration, the air drag and the deceleration from the brake
Vector3 velocityChangeAc = (totalLongitudinalAcForce / Weight + totalLateralAcceleration) * CalculationController.Instance.Duration;
Vector3 velocityChangeDrag = Drag.Interpolate(OverallCarOutput.LastCalculation.Speed) *
OverallCarOutput.LastCalculation.Direction *
CalculationController.Instance.Duration;
Vector3 velocityChangeDe = totalLongitudinalDeForce * CalculationController.Instance.Duration / Weight;
//calculate the speed which would the car have if the brake is not pushed
_actualCalculation.Speed =
(OverallCarOutput.LastCalculation.Speed * OverallCarOutput.LastCalculation.Direction +
((Vector2)velocityChangeAc).Projection((Vector2)OverallCarOutput.LastCalculation.Direction) -
velocityChangeDrag).Magnitude;
//calculate the driving direction of the car
Vector3 directionBuffer =
(OverallCarOutput.LastCalculation.Speed * OverallCarOutput.LastCalculation.Direction + velocityChangeAc -
velocityChangeDrag);
if (directionBuffer.Magnitude > 1e-3f) //change the direction just if the car is moving. Otherwise the direction can get lost.
{
_actualCalculation.Direction = directionBuffer.Normalize();
}
//add the deceleration of the brake and make sure that it cannot accelerate the car backwards
if (velocityChangeDe.Magnitude > Math.Abs(_actualCalculation.Speed))
{
_actualCalculation.Speed = 0;
}
else if (_actualCalculation.Speed > 0)
{
_actualCalculation.Speed -= velocityChangeDe.Magnitude;
}
else
{
_actualCalculation.Speed += velocityChangeDe.Magnitude;
}
//calculates the new position of the car
_actualCalculation.Position = OverallCarOutput.LastCalculation.Position +
_actualCalculation.Speed * CalculationController.Instance.Duration * _actualCalculation.Direction;
if (OnCalculationReady != null)
{
OnCalculationReady();
}
}
/// <summary>
/// stores the calculation results of the wheel
/// </summary>
public void StoreResult()
{
WheelOutput.SetWheelOutput(_wheel, _actualCalculation);
}
