differential.cpp

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/***************************************************************************
 
    file                 : differential.cpp
    created              : Sun Mar 19 00:06:33 CET 2000
    copyright            : (C) 2000-2026 by Eric Espie, Bernhard Wymann
    email                : berniw@bluewin.ch
 
 ***************************************************************************/
 
/***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 ***************************************************************************/
 
#include "sim.h"
 

static tdble
applyBrakeToSpinVel(tdble spinVel, tdble brkTq, tdble inertia)
{
    tdble BrTq = - (tdble) SIGN(spinVel) * brkTq;
    tdble ndot = SimDeltaTime * BrTq / inertia;
 
    if (((ndot * spinVel) < 0.0f) && (fabs(ndot) > fabs(spinVel))) {
        ndot = -spinVel;
    }
    if ((spinVel == 0.0f) && (ndot < 0.0f)) {
        ndot = 0.0f;
    }
 
    return spinVel + ndot;
}
 
void SimDifferentialConfig(void *hdle, const char *section, tDifferential *differential)
{
    differential->I        = GfParmGetNum(hdle, section, PRM_INERTIA, (char*)NULL, 0.1f);
    differential->efficiency  = GfParmGetNum(hdle, section, PRM_EFFICIENCY, (char*)NULL, 1.0f);
    differential->ratio        = GfParmGetNum(hdle, section, PRM_RATIO, (char*)NULL, 1.0f);
    differential->dTqMin  = GfParmGetNum(hdle, section, PRM_MIN_TQ_BIAS, (char*)NULL, 0.05f);
    differential->dTqMax  = GfParmGetNum(hdle, section, PRM_MAX_TQ_BIAS, (char*)NULL, 0.80f) - differential->dTqMin;
    if (differential->dTqMax < 0.0f) differential->dTqMax = 0.0f;
    differential->dSlipMax  = GfParmGetNum(hdle, section, PRM_MAX_SLIP_BIAS, (char*)NULL, 0.03f);
    differential->lockInputTq    = GfParmGetNum(hdle, section, PRM_LOCKING_TQ, (char*)NULL, 3000.0f);
    differential->lockBrakeInputTq = GfParmGetNum(hdle, section, PRM_LOCKINGBRAKE_TQ, (char*)NULL, differential->lockInputTq*0.33f);
    differential->viscosity    = GfParmGetNum(hdle, section, PRM_VISCOSITY_FACTOR, (char*)NULL, 1.0f);
    
    const char* type = GfParmGetStr(hdle, section, PRM_TYPE, VAL_DIFF_NONE);
    if (strcmp(type, VAL_DIFF_LIMITED_SLIP) == 0) {
        differential->type = DIFF_LIMITED_SLIP; 
    } else if (strcmp(type, VAL_DIFF_VISCOUS_COUPLER) == 0) {
        differential->type = DIFF_VISCOUS_COUPLER;
    } else if (strcmp(type, VAL_DIFF_SPOOL) == 0) {
        differential->type = DIFF_SPOOL;
    }  else if (strcmp(type, VAL_DIFF_FREE) == 0) {
        differential->type = DIFF_FREE;
    } else {
        differential->type = DIFF_NONE; 
    }
        
    differential->feedBack.I = differential->I * differential->ratio * differential->ratio +
        (differential->inAxis[0]->I + differential->inAxis[1]->I) / differential->efficiency;
}
 
 
void SimDifferentialReConfig(tCar* car, int index)
{   
    tDifferential *differential = &car->transmission.differential[index];
 
    // Ratio
    tCarPitSetupValue* v = &car->carElt->pitcmd.setup.diffratio[index];
    if (SimAdjustPitCarSetupParam(v)) {
        differential->ratio = v->value;
        differential->feedBack.I = differential->I * differential->ratio * differential->ratio +
            (differential->inAxis[0]->I + differential->inAxis[1]->I) / differential->efficiency;
    }
 
    // Min torque bias
    v = &car->carElt->pitcmd.setup.diffmintqbias[index];
    if (SimAdjustPitCarSetupParam(v)) {
        differential->dTqMin = v->value;
    }
 
    // Max torque bias
    v = &car->carElt->pitcmd.setup.diffmaxtqbias[index];
    if (SimAdjustPitCarSetupParam(v)) {
        differential->dTqMax = v->value - differential->dTqMin;
        if (differential->dTqMax < 0.0f) {
            differential->dTqMax = 0.0f;
            v->value = differential->dTqMin;
        }
    }
 
    // Slip bias
    v = &car->carElt->pitcmd.setup.diffslipbias[index];
    if (SimAdjustPitCarSetupParam(v)) {
        differential->dSlipMax = v->value;
    }
 
    // Locking input torque
    v = &car->carElt->pitcmd.setup.difflockinginputtq[index];
    if (SimAdjustPitCarSetupParam(v)) {
        differential->lockInputTq = v->value;
    }
 
    // Locking brake input torque
    v = &car->carElt->pitcmd.setup.difflockinginputbraketq[index];
    if (SimAdjustPitCarSetupParam(v)) {
        differential->lockBrakeInputTq = v->value;
    }
}
 
 
static void updateSpool(tCar *car, tDifferential *differential, int first)
{
    tdble  DrTq;
    tdble  ndot;
    tdble  spinVel;
    tdble  engineReaction;
    tdble  I;
    tdble  inTq, brkTq;
    
    DrTq = differential->in.Tq;
    
    I = differential->outAxis[0]->I + differential->outAxis[1]->I;
    inTq = differential->inAxis[0]->Tq + differential->inAxis[1]->Tq;
    brkTq = differential->inAxis[0]->brkTq + differential->inAxis[1]->brkTq;
    
    ndot = SimDeltaTime * (DrTq - inTq) / I;
    spinVel = differential->inAxis[0]->spinVel + ndot;
    spinVel = applyBrakeToSpinVel(spinVel, brkTq, I);
    if (first) {
        engineReaction = SimEngineUpdateRpm(car, spinVel);
        if (engineReaction != 0.0f) {
            spinVel = engineReaction;
        }
    }
    differential->outAxis[0]->spinVel = differential->outAxis[1]->spinVel = spinVel;
    
    differential->outAxis[0]->Tq = (differential->outAxis[0]->spinVel - differential->inAxis[0]->spinVel) / SimDeltaTime * differential->outAxis[0]->I;
    differential->outAxis[1]->Tq = (differential->outAxis[1]->spinVel - differential->inAxis[1]->spinVel) / SimDeltaTime * differential->outAxis[1]->I;
}
 
 
void 
SimDifferentialUpdate(tCar *car, tDifferential *differential, int first)
{
    tdble  DrTq, DrTq0, DrTq1;
    tdble  ndot0, ndot1;
    tdble  spinVel0, spinVel1;
    tdble  inTq0, inTq1;
    tdble  spdRatioMax, commomSpinVel;
    tdble  deltaSpd, deltaTq, bias, lockTq, biassign;
    tdble  engineReaction;
    tdble  meanv;
    
    if (differential->type == DIFF_SPOOL) {
        updateSpool(car, differential, first);
        return;
    }
    
    DrTq = differential->in.Tq;
    
    spinVel0 = differential->inAxis[0]->spinVel;
    spinVel1 = differential->inAxis[1]->spinVel;
    
    inTq0 = differential->inAxis[0]->Tq;
    inTq1 = differential->inAxis[1]->Tq;
 
    commomSpinVel = (tdble) (fabs(spinVel0) + fabs(spinVel1));
    if (commomSpinVel != 0) {
        tdble spdRatio = (tdble) fabs(spinVel0 - spinVel1) / commomSpinVel;
        
        switch (differential->type) {
        case DIFF_FREE:                
            {
                tdble spiderTq = inTq1 - inTq0;
                DrTq0 = (DrTq + spiderTq)*0.5f;
                DrTq1 = (DrTq - spiderTq)*0.5f;
            }
            break;
        case DIFF_LIMITED_SLIP:
            if (DrTq > differential->lockInputTq || DrTq < -differential->lockBrakeInputTq) {
                updateSpool(car, differential, first);
                return;
            }
 
            if (DrTq >= 0.0f) {
                lockTq = differential->lockInputTq;
                biassign = 1.0f;
            } else {
                lockTq = -differential->lockBrakeInputTq;
                biassign = -1.0f;
            }
 
            spdRatioMax = differential->dSlipMax - DrTq * differential->dSlipMax / lockTq;
            bias = 0.0f;
            if (spdRatio > spdRatioMax) {
                deltaSpd = (spdRatio - spdRatioMax) * commomSpinVel / 2.0f;
                if (spinVel0 > spinVel1) {
                    spinVel0 -= deltaSpd;
                    spinVel1 += deltaSpd;
                    bias = -(spdRatio - spdRatioMax);
                } else {
                    spinVel0 += deltaSpd;
                    spinVel1 -= deltaSpd;
                    bias = (spdRatio - spdRatioMax);
                }
            }
 
            {
                tdble spiderTq = inTq1 - inTq0;
                DrTq0 = (DrTq*(1.0f + bias*biassign) + spiderTq)*0.5f;
                DrTq1 = (DrTq*(1.0f - bias*biassign) - spiderTq)*0.5f;
            }           
            break;
        case DIFF_VISCOUS_COUPLER:
            if (spinVel0 >= spinVel1) {
                DrTq0 = DrTq * differential->dTqMin;
                DrTq1 = DrTq * (1.0f - differential->dTqMin);
            } else {
                deltaTq = differential->dTqMin + (1.0f - (tdble) exp(-fabs(differential->viscosity * (spinVel0 - spinVel1)))) * differential->dTqMax;
                DrTq0 = DrTq * deltaTq;
                DrTq1 = DrTq * (1.0f - deltaTq);
            }
        
            break;
        default: /* NONE ? */
            DrTq0 = DrTq1 = 0.0f;
            break;
        }
    } else {
        DrTq0 = DrTq / 2.0f;
        DrTq1 = DrTq / 2.0f;
    }
    
    ndot0 = SimDeltaTime * (DrTq0 - inTq0) / differential->outAxis[0]->I;
    spinVel0 += ndot0;
    ndot1 = SimDeltaTime * (DrTq1 - inTq1) / differential->outAxis[1]->I;
    spinVel1 += ndot1;
 
    spinVel0 = applyBrakeToSpinVel(spinVel0, differential->inAxis[0]->brkTq, differential->outAxis[0]->I);
    spinVel1 = applyBrakeToSpinVel(spinVel1, differential->inAxis[1]->brkTq, differential->outAxis[1]->I);
    
    if (first) {
        meanv = (spinVel0 + spinVel1) / 2.0f;
        engineReaction = SimEngineUpdateRpm(car, meanv);
        if (meanv != 0.0f) {
            engineReaction = engineReaction / meanv;
            if (engineReaction != 0.0f) {
                spinVel1 *= engineReaction;
                spinVel0 *= engineReaction;
            }
        }
    }
    
    differential->outAxis[0]->spinVel = spinVel0;
    differential->outAxis[1]->spinVel = spinVel1;
    
    differential->outAxis[0]->Tq = (differential->outAxis[0]->spinVel - differential->inAxis[0]->spinVel) / SimDeltaTime * differential->outAxis[0]->I;
    differential->outAxis[1]->Tq = (differential->outAxis[1]->spinVel - differential->inAxis[1]->spinVel) / SimDeltaTime * differential->outAxis[1]->I; 
}