torcs - 1.2.2

src/modules/simu/simuv2.sav/wheel.h

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00001 /***************************************************************************
00002 
00003     file                 : wheel.h
00004     created              : Sun Mar 19 00:09:18 CET 2000
00005     copyright            : (C) 2000 by Eric Espie
00006     email                : torcs@free.fr
00007     version              : $Id: wheel.h,v 1.3 2002/04/18 19:18:24 torcs Exp $
00008 
00009  ***************************************************************************/
00010 
00011 /***************************************************************************
00012  *                                                                         *
00013  *   This program is free software; you can redistribute it and/or modify  *
00014  *   it under the terms of the GNU General Public License as published by  *
00015  *   the Free Software Foundation; either version 2 of the License, or     *
00016  *   (at your option) any later version.                                   *
00017  *                                                                         *
00018  ***************************************************************************/
00019 
00020 #ifndef _WHEEL_H__
00021 #define _WHEEL_H__
00022 
00023 #include "differential.h"
00024 
00025 typedef struct
00026 {
00027 
00028     /* internal data */
00029     tSuspension  susp;          /* associated suspension */
00030     tBrake       brake;         /* associated brake disk */
00031 
00032     /* dynamic */
00033     t3Dd        forces;         /* forces acting on car */
00034     tdble       rollRes;        /* Rolling Resistance (summed over the car) */
00035     tdble       rideHeight;     /* height of the bottom of the car */
00036     tdble       zRoad;          /* z of the road */
00037     t3Dd        pos;            /* world related */
00038     t3Dd        bodyVel;        /* world related */
00039     tdble       driveTq;        /* engine torque */
00040     tdble       vt;
00041 
00042     tdble       spinTq;         /* spin torque feedback */
00043     tdble       spinVel;        /* spin velocity */
00044     tdble       prespinVel;     /* spin velocity */
00045     int         state;          /* wheel state */
00046     /* 1 and 2 are for suspension state */
00047 #define SIM_WH_SPINNING 4       /* the wheel is spinning */
00048 #define SIM_WH_LOCKED   8       /* the wheel is locked */
00049     tdble       axleFz;         /* force from axle (anti-roll bar) */
00050     tTrkLocPos  trkPos;         /* current track position */
00051     tPosd       relPos;         /* relative pos / GC */
00052     tdble       sa;             /* slip angle */
00053     tdble       sx;             /* longitudinal slip value */
00054     tdble       steer;
00055     
00056     /* static */
00057     tPosd       staticPos;      /* pos relative to the GC (z is suspension travel at rest) */
00058                                 /* and angles are camber (ax), caster (ay) and toe (az) */
00059     tdble       rollCenter;
00060 
00061     tdble       weight0;        /* initial weight on this wheel */
00062     tdble       tireSpringRate;
00063     tdble       radius;
00064     tdble       mu;
00065     tdble       I;              /* I = inertial moment of the wheel */
00066     tdble       curI;           /* Current inertia for the wheel (including transmission) */
00067     tdble       mfC;            /* Magic Formula C coeff */
00068     tdble       mfB;            /* Magic Formula B coeff */
00069     tdble       mfE;            /* Magic Formula E coeff */
00070     tdble       lfMax;          /* Load factor */
00071     tdble       lfMin;          /* Load factor */
00072     tdble       lfK;            /* Load factor */
00073     tdble       opLoad;         /* Operating load */
00074     tdble       mass;           /* total wheel mass (incl. brake) (unsprung mass) */
00075     tdble       camber;         /* camber, negative toward exterior on both sides */
00076     tdble       pressure;       /* tire pressure */
00077 
00078     tDynAxis    in;
00079     tDynAxis    feedBack;
00080 
00081     tdble       preFn, preFt;
00082 } tWheel;
00083 
00084     
00085 
00086 #endif /* _WHEEL_H__ */ 
00087 
00088 
00089 

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TORCS © Eric Espié 1999, 2002.