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add inertia and fix physics

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This commit is contained in:
fnicon 2026-03-21 10:10:59 +09:00
parent 981fb4cbb4
commit d972017f57
5 changed files with 129 additions and 71 deletions
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51
game/love_src/src/system/racing_phy.lua
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@ -13,51 +13,46 @@ local function accelerate(dt, gas_input, speed, max_speed, accel, min_speed)
return new_speed
end
local function centrifugal_force(dt, speed, max_speed)
local function centrifugal_force(dt, mass, speed, max_speed)
local speed_percent = (speed/max_speed)
local dx = dt * 2 * speed_percent
local dy = dt * 2 * speed_percent
-- assume mass is 1
return 1 * dy * speed * speed
return mass * dy * speed * speed
end
local function drift(dt, pos_x, pos_y, speed, max_speed, angle, centrifugal)
local function drift(dt, pos_x, pos_y, speed, max_speed, angle, scale_x, scale_y)
local speed_percent = (speed/max_speed)
local dx = dt * 2 * speed_percent -- at top speed, should be able to cross from left to right (-1 to 1) in 1 second
local dy = dt * 2 * speed_percent
local dx = dt * 2.0 * speed_percent -- at top speed, should be able to cross from left to right (-1 to 1) in 1 second
local dy = dt * 2.0 * speed_percent
cos = math.cos(angle)
sin = math.sin(angle)
return pos_x + (dx * speed_percent * cos * centrifugal),
pos_y + (dy * speed_percent * sin * centrifugal)
return pos_x + (dx * speed_percent * cos) * (scale_x or 1),
pos_y + (dy * speed_percent * sin) * (scale_y or 1)
end
local function gas(accel, drag, friction)
friction = friction or 0
return accel - drag - friction
end
-- local function gas(accel, drag, friction)
-- friction = friction or 0
-- return accel - drag - friction
-- end
local function brake(decel, drag, grip, friction)
friction = friction or 0
return - decel - drag - grip - friction
end
-- local function brake(decel, drag, grip, friction)
-- friction = friction or 0
-- return - decel - drag - grip - friction
-- end
local function roam(decel, drag, friction)
friction = friction or 0
return - decel - drag - friction
end
-- local function roam(decel, drag, friction)
-- friction = friction or 0
-- return - decel - drag - friction
-- end
local function steer(_steer, grip, drag, velocity, friction)
friction = friction or 0
return _steer + grip + drag - velocity + friction
end
-- local function steer(_steer, grip, drag, velocity, friction)
-- friction = friction or 0
-- return _steer + grip + drag - velocity + friction
-- end
return {
accelerate = accelerate,
drift = drift,
gas = gas,
brake = brake,
steer = steer,
roam = roam,
centrifugal_force = centrifugal_force
}

9
game/love_src/src/world/top_down_race/component/race.lua
View File

@ -9,7 +9,8 @@ components.dict = {
brake = "race.brake",
decel = "race.decel",
drag = "race.drag",
direction = "race.direction"
mass = "race.mass",
inertia = "race.inertia"
}
function components.velocity (c, x)
@ -44,8 +45,12 @@ function components.drag (c, x)
c.data = x
end
function components.direction (c, x)
function components.mass (c, x)
c.data = x
end
function components.inertia (c, x, y)
c.data = {x, y}
end
return components

15
game/love_src/src/world/top_down_race/init.lua
View File

@ -32,13 +32,14 @@ function wrapper:load(_args)
assemblage = racer.assemble,
data = {
accel = 20.0,
brake = 10.0,
grip = 2.0,
max_speed = 100.0,
steer = 2.0,
velocity = 10.0,
decel = 10.0,
drag = 2.0
brake = 1.0,
grip = 1.0,
max_speed = 50.0,
steer = 1.0,
velocity = 0.0,
inertia = {0.0, 0.0},
drag = 1.0,
mass = 1.0
}
}
})

115
game/love_src/src/world/top_down_race/system/velocity.lua
View File

@ -18,8 +18,9 @@ system.pool = {
race.dict.max_speed,
race.dict.steer,
race.dict.velocity,
race.dict.decel,
race.dict.drag
race.dict.inertia,
race.dict.drag,
race.dict.mass
}
}
@ -30,8 +31,9 @@ system.components = {
[race.dict.max_speed] = race.max_speed,
[race.dict.steer] = race.steer,
[race.dict.velocity] = race.velocity,
[race.dict.decel] = race.decel,
[race.dict.drag] = race.drag
[race.dict.inertia] = race.inertia,
[race.dict.drag] = race.drag,
[race.dict.mass] = race.mass
}
function system.new()
@ -55,7 +57,8 @@ local function get(e)
e[race.dict.steer].data,
e[race.dict.velocity].data,
e[race.dict.drag].data,
e[race.dict.decel].data
e[race.dict.inertia].data,
e[race.dict.mass].data
end
local function draw(text, x, y, sx, sy, angle, image, origin)
@ -101,7 +104,7 @@ local frictions = {
0, 0, lw/2, lh
},
color = {0, 255/255, 0},
friction = 5
friction = 2
},
{
name = "pavement",
@ -110,32 +113,70 @@ local frictions = {
lw/2, 0, lw/2, lh
},
color = {0, 255/255, 255/255},
friction = 0
friction = 1
}
}
local function get_velocity(dt, up, down, accel, drag, decel, grip, velocity, max_speed, friction)
local new_accel
local new_min_speed = 0
local function accel_force(up, down, accel, brake, inertia)
local force
if (up) then
new_accel = racing_phy.gas(accel, drag, friction)
force = accel - inertia
elseif(down) then
new_accel = racing_phy.brake(decel, drag, grip, friction)
new_min_speed = -max_speed
force = - brake + inertia
else
new_accel = racing_phy.roam(decel, drag, friction)
force = inertia
end
return racing_phy.accelerate(dt, 1, velocity, max_speed, new_accel, new_min_speed)
return force
end
local function get_angle(dt, left, right, steer, grip, drag, velocity, max_speed, friction)
local new_angle = 0
local function steer_force(left, right, steer, inertia)
if (left) then
new_angle = - 1 * racing_phy.steer(steer, grip, drag, velocity / max_speed, friction) * dt
elseif (right) then
new_angle = 1 * racing_phy.steer(steer, grip, drag, velocity / max_speed, friction) * dt
force = -steer + inertia
elseif(right) then
force = steer - inertia
else
force = inertia
end
return new_angle
return force
end
local function grip_force(grip, friction)
return friction * grip
end
local function add_friction(force, grip, friction, tire_c, floor_c)
local f_grip = grip_force(grip, friction)
if (force > 0) then
-- tire - floor
force = force + tire_c * f_grip - floor_c * f_grip
elseif (force < 0) then
force = force - tire_c * f_grip + floor_c * f_grip
else
force = force
end
return force
end
local function add_drag(force, drag)
if (force > 0) then
force = force - drag
elseif (force < 0) then
force = force + drag
else
force = force
end
return force
end
local function add_centrifugal(force, centrifugal)
if (force > 0) then
force = force - centrifugal
elseif (force < 0) then
force = force + centrifugal
else
force = force
end
return force
end
-- x1 y1 -- (x1 + w1) y1
@ -162,7 +203,7 @@ end
function system:update(dt)
for _, e in ipairs(self.pool) do
local accel, brake, grip, max_speed, steer, velocity, drag, decel = get(e)
local accel, brake, grip, max_speed, steer, velocity, drag, inertia, mass = get(e)
local up = love.keyboard.isDown("up")
local down = love.keyboard.isDown("down")
@ -173,17 +214,31 @@ function system:update(dt)
local friction = get_friction(pos_x, pos_y, frictions)
e[race.dict.velocity].data = get_velocity(dt, up, down, accel, drag, decel, grip, velocity, max_speed, friction)
local f_forward = accel_force(up, down, accel, brake, inertia[1])
local f_lateral = steer_force(left, right, steer, inertia[2])
local angle = e["race.angle"].data
local new_angle = get_angle(dt, left, right, steer, grip, drag,velocity, max_speed, friction)
e["race.angle"].data = angle + new_angle
f_forward = add_friction(f_forward, grip, friction, 1.0, 0.5)
f_lateral = add_friction(f_lateral, grip, friction, 1.0, 0.5)
velocity = e[race.dict.velocity].data
angle = e["race.angle"].data
f_forward = add_drag(f_forward, drag)
f_lateral = add_drag(f_lateral, drag)
local centrifugal = racing_phy.centrifugal_force(dt, velocity, max_speed)
local goal_x, goal_y = racing_phy.drift(dt, pos_x, pos_y, velocity, max_speed, angle, centrifugal)
if (mass == 0) then
mass = 1
end
local new_velocity = racing_phy.accelerate(dt, 1, velocity, max_speed, f_forward*dt/mass, 0)
local centrifugal = racing_phy.centrifugal_force(dt, mass, new_velocity, max_speed)
f_lateral = add_centrifugal(f_lateral, centrifugal)
e[race.dict.inertia].data = {f_forward * dt, f_lateral * dt}
local new_angle = e["race.angle"].data + f_lateral * dt/mass
e["race.angle"].data = new_angle
e[race.dict.velocity].data = new_velocity
local goal_x, goal_y = racing_phy.drift(dt, pos_x, pos_y, new_velocity, max_speed, new_angle, 100000, 100000)
-- print("force_forward", f_forward, "f_lateral", f_lateral, "velocity", new_velocity, "angle", new_angle, "goal_x", goal_x, "goal_y", goal_y)
e["race.pos"].data[1] = goal_x
e["race.pos"].data[2] = goal_y

10
game/love_src/src/world/top_down_race/template/racer.lua
View File

@ -8,9 +8,10 @@ template.default_data = {
grip = 10.0,
max_speed = 10.0,
steer = 10.0,
velocity = 10.0,
decel = 5.0,
drag = 2.0
velocity = 0.0,
inertia = {0.0, 0.0},
drag = 2.0,
mass = 10.0
}
function template.assemble(e, data)
e:give(race.dict.accel, data.accel)
@ -19,8 +20,9 @@ function template.assemble(e, data)
e:give(race.dict.max_speed, data.max_speed)
e:give(race.dict.steer, data.steer)
e:give(race.dict.velocity, data.velocity)
e:give(race.dict.decel, data.decel)
e:give(race.dict.inertia, data.inertia[1], data.inertia[2])
e:give(race.dict.drag, data.drag)
e:give(race.dict.mass, data.mass)
end
return template