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+"""
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+
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+CarSetup
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+
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+
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+"""
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+
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+#import blender game engine content
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+from bge import logic, constraints
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+
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+#import other modules
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+import math, mathutils
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+
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+
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+os = 'Windows'
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+from sys import platform
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+if platform != "win32":
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+ os = 'Linux'
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+def onWindows():
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+ return os == 'Windows'
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+import bge
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+import GameLogic
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+import ctypes
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+
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+
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+
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+
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+reduction = 400000
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+axisTh = 0.03
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+
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+cont = GameLogic.getCurrentController()
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+obj = bge.logic.getCurrentScene().objects
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+own = cont.owner
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+#Sensor logic bricks connected to the python Controller
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+aXis = cont.sensors["sCont"]
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+bUtt = cont.sensors["sContb"]
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+
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+
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+onW = onWindows()
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+
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+# windows stuff
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+lar_lts = 0
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+uad_lts = 1
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+lt = 4 if onW else 2
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+lar_rts = 2 if onW else 3
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+uad_rts = 3 if onW else 4
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+rt = 5
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+
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+a_but = 0 if onW else 0
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+b_but = 1 if onW else 1
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+x_but = 2 if onW else 2
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+y_but = 3 if onW else 3
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+l_bump = 9 if onW else 4
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+r_bump = 10 if onW else 5
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+bk_but = 4 if onW else 6
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+st_but = 6 if onW else 7
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+xb_but = 5 if onW else 8
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+lts_pr = 7 if onW else 9
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+rts_pr = 8 if onW else 10
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+l_dp = 13 if onW else 11
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+r_dp = 14 if onW else 12
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+u_dp = 11 if onW else 13
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+d_dp = 12 if onW else 14
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+
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+
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+
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+
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+
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+
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+
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+class CarSetup:
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+
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+ def __init__(self):
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+
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+ #list of cars
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+ self.carList = {}
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+
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+ #list of tires
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+ self.tires = {}
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+
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+ #car turn amount
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+ self.turnAmount = {}
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+
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+
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+ def carInitialized(self, car):
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+
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+ #check for initialized property
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+ if "initialized" in car:
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+
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+ #check if car is initialized
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+ if car["initialized"] == True:
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+
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+ #car is initialized
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+ return True
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+
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+ #car is not initialized
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+ return False
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+
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+
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+ def carConstraint(self, car):
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+
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+ #get physics ID
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+ carPhysicsID = car.getPhysicsId()
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+
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+ #create a vehicle constraint
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+ vehicleConstraint = constraints.createConstraint(carPhysicsID, 0, 11)
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+
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+ #get the constraint ID
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+ constraintID = vehicleConstraint.getConstraintId()
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+
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+ #get the vehicle constraint ID
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+ vehicleID = constraints.getVehicleConstraint(constraintID)
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+
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+ #save vehicle constraint ID as an object variable
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+ car["vehicleID"] = vehicleID
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+
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+ #return vehicle ID
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+ return vehicleID
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+
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+
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+ def positionTires(self, car):
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+
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+ #get the list of tires
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+ tireList = self.tires[car]
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+
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+ tire1 = tireList["TireFD"] #tire front drivers
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+ tire2 = tireList["TireFP"] #tire front passengers
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+ tire3 = tireList["TireRD"] #tire rear drivers
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+ tire4 = tireList["TireRP"] #tire rear passnengers
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+
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+ tire1Pos = tire1.worldPosition #tire front drivers
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+ tire2Pos = tire2.worldPosition #tire front passengers
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+ tire3Pos = tire3.worldPosition #tire rear drivers
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+ tire4Pos = tire4.worldPosition #tire rear passnengers
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+
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+ #car position
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+ carPos = car.worldPosition
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+
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+ #tire front drivers
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+ tire1Pos = [tire1Pos[0] - carPos[0],
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+ tire1Pos[1] - carPos[1],
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+ tire1Pos[2] - carPos[2]]
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+
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+ #tire front passengers
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+ tire2Pos = [tire2Pos[0] - carPos[0],
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+ tire2Pos[1] - carPos[1],
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+ tire2Pos[2] - carPos[2]]
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+
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+ #tire rear drivers
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+ tire3Pos = [tire3Pos[0] - carPos[0],
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+ tire3Pos[1] - carPos[1],
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+ tire3Pos[2] - carPos[2]]
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+
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+ #tire rear passengers
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+ tire4Pos = [tire4Pos[0] - carPos[0],
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+ tire4Pos[1] - carPos[1],
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+ tire4Pos[2] - carPos[2]]
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+
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+ return (tire1Pos, tire2Pos, tire3Pos, tire4Pos)
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+
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+
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+ def tireRadius(self, car):
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+
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+ #get the list of tires
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+ tireList = self.tires[car]
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+
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+ tire1Radius = tireList["TireFD"].localScale[2]/2 #tire front drivers
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+ tire2Radius = tireList["TireFP"].localScale[2]/2 #tire front passengers
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+ tire3Radius = tireList["TireRD"].localScale[2]/2 #tire rear drivers
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+ tire4Radius = tireList["TireRP"].localScale[2]/2 #tire rear passengers
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+
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+ #check for radius override
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+ if "Radius" in tireList["TireFD"]:
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+ tire1Radius = tireList["TireFD"]["Radius"]
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+
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+ if "Radius" in tireList["TireFP"]:
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+ tire2Radius = tireList["TireFP"]["Radius"]
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+
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+ if "Radius" in tireList["TireRD"]:
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+ tire3Radius = tireList["TireRD"]["Radius"]
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+
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+ if "Radius" in tireList["TireRP"]:
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+ tire4Radius = tireList["TireRP"]["Radius"]
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+
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+ #return (tire1Radius, tire2Radius, tire3Radius, tire4Radius)
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+ return (.2, .2, .2, .2)
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+
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+
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+ def suspensionHeight(self, car):
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+
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+ tireList = self.tires[car]
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+
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+ tire1height = 0.2 #tire front drivers
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+ tire2height = 0.2 #tire front passengers
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+ tire3height = 0.2 #tire rear drivers
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+ tire4height = 0.2 #tire rear passengers
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+
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+ #check for suspension height override
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+ if "Height" in tireList["TireFD"]:
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+ tire1height = tireList["TireFD"]["Height"]
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+
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+ if "Height" in tireList["TireFP"]:
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+ tire2height = tireList["TireFP"]["Height"]
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+
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+ if "Height" in tireList["TireRD"]:
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+ tire3height = tireList["TireRD"]["Height"]
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+
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+ if "Height" in tireList["TireRP"]:
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+ tire4height = tireList["TireRP"]["Height"]
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+
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+ return (tire1height, tire2height, tire3height, tire4height)
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+
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+
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+ def suspensionAngle(self):
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+
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+ tire1Angle = [0, 0, -1] #tire front drivers
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+ tire2Angle = [0, 0, -1] #tire front passengers
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+ tire3Angle = [0, 0, -1] #tire rear drivers
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+ tire4Angle = [0, 0, -1] #tire rear passengers
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+
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+ return (tire1Angle, tire2Angle, tire3Angle, tire4Angle)
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+
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+
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+ def tireAxis(self):
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+
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+ tire1Axis = [-1, 0, 0] #tire front drivers
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+ tire2Axis = [-1, 0, 0] #tire front passengers
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+ tire3Axis = [-1, 0, 0] #tire rear drivers
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+ tire4Axis = [-1, 0, 0] #tire rear passengers
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+
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+ return (tire1Axis, tire2Axis, tire3Axis, tire4Axis)
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+
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+
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+ def tireSteering(self):
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+
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+ tire1Steer = True #tire front drivers
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+ tire2Steer = True #tire front passengers
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+ tire3Steer = False #tire rear drivers
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+ tire4Steer = False #tire rear passengers
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+
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+ return (tire1Steer, tire2Steer, tire3Steer, tire4Steer)
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+
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+
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+ def addTires(self, car, vehicleID):
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+
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+ #get the list of tires
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+ tireList = self.tires[car]
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+
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+ #list the tires
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+ tires = [tireList["TireFD"],
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+ tireList["TireFP"],
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+ tireList["TireRD"],
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+ tireList["TireRP"]]
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+
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+ #position the tires
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+ tirePos = self.positionTires(car)
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+
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+ #calculate tire radius
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+ tireRadius = self.tireRadius(car)
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+
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+ #get the suspension heght
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+ suspensionHeight = self.suspensionHeight(car)
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+
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+ #get the suspension angle
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+ suspensionAngle = self.suspensionAngle()
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+
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+ #get the tire axis
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+ tireAxis = self.tireAxis()
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+
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+ #get which wheels turn
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+ tireSteer = self.tireSteering()
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+
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+ for tire in range(0, 4):
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+
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+ #tire object
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+ obj = tires[tire]
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+
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+ #tire position
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+ pos = tirePos[tire]
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+
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+ #tire suspension height
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+ suspenHeight = suspensionHeight[tire]
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+
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+ #angle of suspension
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+ suspenAngle = suspensionAngle[tire]
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+
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+ #tire rotation axis
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+ axis = tireAxis[tire]
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+
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+ #tire radius
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+ radius = tireRadius[tire]
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+
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+ #tire steering
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+ steering = tireSteer[tire]
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+
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+ #add wheel to car
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+ vehicleID.addWheel(obj, pos, suspenAngle, axis, suspenHeight, radius, steering)
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+
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+
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+ def tireGrip(self, car, vehicleID):
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+
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+ #list of tires
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+ tireList = self.tires[car]
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+ #10
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+ tire1Grip = 8 #tire front drivers
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+ tire2Grip = 8 #tire front Passengers
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+ tire3Grip = 8 #tire rear drivers
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+ tire4Grip = 8 #tire rear passengers
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+
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+ #check for grip override
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+ if "Grip" in tireList["TireFD"]:
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+ tire1Grip = tireList["TireFD"]["Grip"]
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+
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+ if "Grip" in tireList["TireFP"]:
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+ tire2Grip = tireList["TireFP"]["Grip"]
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+
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+ if "Grip" in tireList["TireRD"]:
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+ tire3Grip = tireList["TireRD"]["Grip"]
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+
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+ if "Grip" in tireList["TireRP"]:
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+ tire4Grip = tireList["TireRP"]["Grip"]
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+
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+ vehicleID.setTyreFriction(tire1Grip, 0) #tire front drivers
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+ vehicleID.setTyreFriction(tire2Grip, 1) #tire front Passengers
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+ vehicleID.setTyreFriction(tire3Grip, 2) #tire rear drivers
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+ vehicleID.setTyreFriction(tire4Grip, 3) #tire rear passengers
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+
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+
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+ def suspensionCompression(self, car, vehicleID):
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+
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+ #list of tires
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+ tireList = self.tires[car]
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+ #6
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+ tire1Compress = 6 #tire front drivers
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+ tire2Compress = 6 #tire front Passengers
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+ tire3Compress = 6 #tire rear drivers
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+ tire4Compress = 6 #tire rear passengers
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+
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+ #check for compression override
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+ if "Compression" in tireList["TireFD"]:
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+ tire1Compress = tireList["TireFD"]["Compression"]
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+
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+ if "Compression" in tireList["TireFP"]:
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+ tire2Compress = tireList["TireFP"]["Compression"]
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+
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+ if "Compression" in tireList["TireRD"]:
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+ tire3Compress = tireList["TireRD"]["Compression"]
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+
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+ if "Compression" in tireList["TireRP"]:
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+ tire4Compress = tireList["TireRP"]["Compression"]
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+
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+ vehicleID.setSuspensionCompression(tire1Compress, 0) #tire front drivers
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+ vehicleID.setSuspensionCompression(tire2Compress, 1) #tire front Passengers
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+ vehicleID.setSuspensionCompression(tire3Compress, 2) #tire rear drivers
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+ vehicleID.setSuspensionCompression(tire4Compress, 3) #tire rear passengers
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+
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+
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+ def suspensionDamping(self, car, vehicleID):
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+
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+ #list of tires
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+ tireList = self.tires[car]
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+
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+ tire1Damp = 5 #tire front drivers
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+ tire2Damp = 5 #tire front Passengers
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+ tire3Damp = 5 #tire rear drivers
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+ tire4Damp = 5 #tire rear passengers
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+
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+ #check for damping override
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+ if "Damping" in tireList["TireFD"]:
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+ tire1Damp = tireList["TireFD"]["Damping"]
|
|
372
|
+
|
|
373
|
+ if "Damping" in tireList["TireFP"]:
|
|
374
|
+ tire2Damp = tireList["TireFP"]["Damping"]
|
|
375
|
+
|
|
376
|
+ if "Damping" in tireList["TireRD"]:
|
|
377
|
+ tire3Damp = tireList["TireRD"]["Damping"]
|
|
378
|
+
|
|
379
|
+ if "Damping" in tireList["TireRP"]:
|
|
380
|
+ tire4Damp = tireList["TireRP"]["Damping"]
|
|
381
|
+
|
|
382
|
+ vehicleID.setSuspensionDamping(tire1Damp, 0) #tire front drivers
|
|
383
|
+ vehicleID.setSuspensionDamping(tire2Damp, 1) #tire front Passengers
|
|
384
|
+ vehicleID.setSuspensionDamping(tire3Damp, 2) #tire rear drivers
|
|
385
|
+ vehicleID.setSuspensionDamping(tire4Damp, 3) #tire rear passengers
|
|
386
|
+
|
|
387
|
+
|
|
388
|
+ def suspensionStiffness(self, car, vehicleID):
|
|
389
|
+
|
|
390
|
+ #list of tires
|
|
391
|
+ tireList = self.tires[car]
|
|
392
|
+
|
|
393
|
+ tire1Stiffness = 12.5 #tire front drivers
|
|
394
|
+ tire2Stiffness = 12.5 #tire front Passengers
|
|
395
|
+ tire3Stiffness = 12.5 #tire rear drivers
|
|
396
|
+ tire4Stiffness = 12.5 #tire rear passengers
|
|
397
|
+
|
|
398
|
+ #check for stiffness override
|
|
399
|
+ if "Stiffness" in tireList["TireFD"]:
|
|
400
|
+ tire1Stiffness = tireList["TireFD"]["Stiffness"]
|
|
401
|
+
|
|
402
|
+ if "Stiffness" in tireList["TireFP"]:
|
|
403
|
+ tire2Stiffness = tireList["TireFP"]["Stiffness"]
|
|
404
|
+
|
|
405
|
+ if "Stiffness" in tireList["TireRD"]:
|
|
406
|
+ tire3Stiffness = tireList["TireRD"]["Stiffness"]
|
|
407
|
+
|
|
408
|
+ if "Stiffness" in tireList["TireRP"]:
|
|
409
|
+ tire4Stiffness = tireList["TireRP"]["Stiffness"]
|
|
410
|
+
|
|
411
|
+ vehicleID.setSuspensionStiffness(tire1Stiffness, 0) #tire front drivers
|
|
412
|
+ vehicleID.setSuspensionStiffness(tire2Stiffness, 1) #tire front Passengers
|
|
413
|
+ vehicleID.setSuspensionStiffness(tire3Stiffness, 2) #tire rear drivers
|
|
414
|
+ vehicleID.setSuspensionStiffness(tire4Stiffness, 3) #tire rear passengers
|
|
415
|
+
|
|
416
|
+
|
|
417
|
+ def suspensionRollInfluence(self, car, vehicleID):
|
|
418
|
+
|
|
419
|
+ #list of tires
|
|
420
|
+ tireList = self.tires[car]
|
|
421
|
+
|
|
422
|
+ tire1Roll = -0.16 #tire front drivers
|
|
423
|
+ tire2Roll = -0.16 #tire front Passengers
|
|
424
|
+ tire3Roll = -0.16 #tire rear drivers
|
|
425
|
+ tire4Roll = -0.16 #tire rear passengers
|
|
426
|
+
|
|
427
|
+ #check for roll influence override
|
|
428
|
+ if "RollInfluence" in tireList["TireFD"]:
|
|
429
|
+ tire1Roll = -tireList["TireFD"]["RollInfluence"]
|
|
430
|
+
|
|
431
|
+ if "Roll" in tireList["TireFP"]:
|
|
432
|
+ tire2Roll = -tireList["TireFP"]["RollInfluence"]
|
|
433
|
+
|
|
434
|
+ if "Roll" in tireList["TireRD"]:
|
|
435
|
+ tire3Roll = -tireList["TireRD"]["RollInfluence"]
|
|
436
|
+
|
|
437
|
+ if "Roll" in tireList["TireRP"]:
|
|
438
|
+ tire4Roll = -tireList["TireRP"]["RollInfluence"]
|
|
439
|
+
|
|
440
|
+ vehicleID.setRollInfluence(tire1Roll, 0) #tire front drivers
|
|
441
|
+ vehicleID.setRollInfluence(tire2Roll, 1) #tire front Passengers
|
|
442
|
+ vehicleID.setRollInfluence(tire3Roll, 2) #tire rear drivers
|
|
443
|
+ vehicleID.setRollInfluence(tire4Roll, 3) #tire rear passengers
|
|
444
|
+
|
|
445
|
+
|
|
446
|
+#create CarSetup object
|
|
447
|
+carsetup = CarSetup()
|
|
448
|
+
|
|
449
|
+
|
|
450
|
+def _initialize(controller):
|
|
451
|
+
|
|
452
|
+ #get the car object
|
|
453
|
+ car = controller.owner
|
|
454
|
+
|
|
455
|
+ #get current orientation
|
|
456
|
+ carOrient = car.worldOrientation
|
|
457
|
+
|
|
458
|
+ #convert orientation to euler
|
|
459
|
+ carEuler = carOrient.to_euler()
|
|
460
|
+ newCarEuler = carOrient.to_euler()
|
|
461
|
+
|
|
462
|
+ #set euler rotation
|
|
463
|
+ newCarEuler[0] = 0
|
|
464
|
+ newCarEuler[1] = 0
|
|
465
|
+ newCarEuler[2] = 0
|
|
466
|
+
|
|
467
|
+ #set car orientation
|
|
468
|
+ car.worldOrientation = newCarEuler.to_matrix()
|
|
469
|
+
|
|
470
|
+ if not car.name in carsetup.carList:
|
|
471
|
+
|
|
472
|
+ #assign the car
|
|
473
|
+ carsetup.carList[car] = car
|
|
474
|
+
|
|
475
|
+ tires = {}
|
|
476
|
+
|
|
477
|
+ #look for tires
|
|
478
|
+ for c in car.children:
|
|
479
|
+
|
|
480
|
+ tire = "Tire"
|
|
481
|
+
|
|
482
|
+ #check if tire object
|
|
483
|
+ if "Tire" in c:
|
|
484
|
+
|
|
485
|
+ #build the tire name
|
|
486
|
+ tire += c["Tire"]
|
|
487
|
+
|
|
488
|
+ #add tire to list
|
|
489
|
+ tires[tire] = c
|
|
490
|
+
|
|
491
|
+ #assign tires owner
|
|
492
|
+ c["owner"] = car.name
|
|
493
|
+
|
|
494
|
+ #clear tire parent
|
|
495
|
+ c.removeParent()
|
|
496
|
+
|
|
497
|
+ #add tires to list of tires
|
|
498
|
+ carsetup.tires[car] = tires
|
|
499
|
+
|
|
500
|
+ #build the car constraint
|
|
501
|
+ vehicleID = carsetup.carConstraint(car)
|
|
502
|
+
|
|
503
|
+ #add tires to car
|
|
504
|
+ carsetup.addTires(car, vehicleID)
|
|
505
|
+
|
|
506
|
+ #set tire grip
|
|
507
|
+ carsetup.tireGrip(car, vehicleID)
|
|
508
|
+
|
|
509
|
+ #set suspension compression
|
|
510
|
+ carsetup.suspensionCompression(car, vehicleID)
|
|
511
|
+
|
|
512
|
+ #set suspension damping
|
|
513
|
+ carsetup.suspensionDamping(car, vehicleID)
|
|
514
|
+
|
|
515
|
+ #set suspension stiffness
|
|
516
|
+ carsetup.suspensionStiffness(car, vehicleID)
|
|
517
|
+
|
|
518
|
+ #set suspension roll influence
|
|
519
|
+ carsetup.suspensionRollInfluence(car, vehicleID)
|
|
520
|
+
|
|
521
|
+ #set car orientation
|
|
522
|
+ car.worldOrientation = carEuler.to_matrix()
|
|
523
|
+
|
|
524
|
+ #set car to initialized
|
|
525
|
+ car["initialized"] = True
|
|
526
|
+
|
|
527
|
+ #set turn amount
|
|
528
|
+ carsetup.turnAmount[car] = 0
|
|
529
|
+
|
|
530
|
+ #check for "TurnAmount" property in car
|
|
531
|
+ if not "TurnAmount" in car:
|
|
532
|
+
|
|
533
|
+ #set default turn amount
|
|
534
|
+ car["TurnAmount"] = 50#35
|
|
535
|
+
|
|
536
|
+ #check for "TurnSpeed" property in car
|
|
537
|
+ if not "TurnSpeed" in car:
|
|
538
|
+
|
|
539
|
+ #set default turn speed
|
|
540
|
+ car["TurnSpeed"] = 1
|
|
541
|
+ car["TurnSpeed2"] = 20#2
|
|
542
|
+
|
|
543
|
+
|
|
544
|
+
|
|
545
|
+def _constraintID(car):
|
|
546
|
+
|
|
547
|
+ # get saved vehicle Constraint ID
|
|
548
|
+ vehicleID = car["vehicleID"]
|
|
549
|
+
|
|
550
|
+ return vehicleID
|
|
551
|
+
|
|
552
|
+
|
|
553
|
+def _powertrain(controller, car):
|
|
554
|
+
|
|
555
|
+ #declare variables
|
|
556
|
+ gas = None
|
|
557
|
+ reverse = None
|
|
558
|
+ brake = None
|
|
559
|
+ ebrake = None
|
|
560
|
+
|
|
561
|
+ #get the vehicl id
|
|
562
|
+ vehicleID = _constraintID(car)
|
|
563
|
+
|
|
564
|
+ #engine power
|
|
565
|
+ power = 0
|
|
566
|
+
|
|
567
|
+ #engine
|
|
568
|
+ engine = True
|
|
569
|
+
|
|
570
|
+ #check for engine override
|
|
571
|
+ if "Engine" in car:
|
|
572
|
+ engine = car["Engine"]
|
|
573
|
+
|
|
574
|
+
|
|
575
|
+
|
|
576
|
+ #set default values
|
|
577
|
+ forwardSpeed = 70
|
|
578
|
+
|
|
579
|
+ reverseSpeed = 200
|
|
580
|
+ brakeAmount = 10
|
|
581
|
+ eBrakeAmount = 40
|
|
582
|
+ backdrive = True
|
|
583
|
+ frontdrive = False
|
|
584
|
+
|
|
585
|
+ #check for forward speed override
|
|
586
|
+ if "ForwardSpeed" in car:
|
|
587
|
+
|
|
588
|
+ #set forward speed
|
|
589
|
+ forwardSpeed = car["ForwardSpeed"]
|
|
590
|
+
|
|
591
|
+ #check for reverse speed override
|
|
592
|
+ if "ReverseSpeed" in car:
|
|
593
|
+
|
|
594
|
+ #set reverse speed
|
|
595
|
+ reverseSpeed = car["ReverseSpeed"]
|
|
596
|
+
|
|
597
|
+ #check for brake amount override
|
|
598
|
+ if "BrakeAmount" in car:
|
|
599
|
+
|
|
600
|
+ #set brake amount
|
|
601
|
+ brakeAmount = car["BrakeAmount"]
|
|
602
|
+
|
|
603
|
+ #check for E-brake amount override
|
|
604
|
+ if "EBrakeAmount" in car:
|
|
605
|
+
|
|
606
|
+ #set brake amount
|
|
607
|
+ eBrakeAmount = car["EBrakeAmount"]
|
|
608
|
+
|
|
609
|
+ #check for BackWheelDrive override
|
|
610
|
+ if "BackWheelDrive" in car:
|
|
611
|
+
|
|
612
|
+ #set back wheel drive
|
|
613
|
+ backdrive = car["BackWheelDrive"]
|
|
614
|
+
|
|
615
|
+ #check for FrontWheelDrive override
|
|
616
|
+ if "FrontWheelDrive" in car:
|
|
617
|
+
|
|
618
|
+ #set front wheel drive
|
|
619
|
+ frontdrive = car["FrontWheelDrive"]
|
|
620
|
+
|
|
621
|
+ #check for gas sensor
|
|
622
|
+ if "Gas" in controller.sensors:
|
|
623
|
+ #gas = controller.sensors["Gas"]
|
|
624
|
+ gas = own['gas']
|
|
625
|
+ #check for reverse sensor
|
|
626
|
+ #if "Reverse" in controller.sensors:
|
|
627
|
+ #reverse = controller.sensors["Reverse"]
|
|
628
|
+ reverse = own['reverse']
|
|
629
|
+ #check for brake sensor
|
|
630
|
+ #if "Brake" in controller.sensors:
|
|
631
|
+ #brake = controller.sensors["Brake"]
|
|
632
|
+ brake = own['brake']
|
|
633
|
+ #check for E-brake sensor
|
|
634
|
+ if "EBrake" in controller.sensors:
|
|
635
|
+ ebrake = controller.sensors["EBrake"]
|
|
636
|
+
|
|
637
|
+ #check if gas exists
|
|
638
|
+ if gas:
|
|
639
|
+
|
|
640
|
+ #check if gas is positive
|
|
641
|
+ if gas == 1:
|
|
642
|
+
|
|
643
|
+ #check if engine is on
|
|
644
|
+ if engine:
|
|
645
|
+ #set power
|
|
646
|
+ power = -forwardSpeed
|
|
647
|
+
|
|
648
|
+ #check if reverse exists
|
|
649
|
+ #if reverse:
|
|
650
|
+
|
|
651
|
+ #check if reverse is positive
|
|
652
|
+ if reverse == 1:
|
|
653
|
+
|
|
654
|
+ #check if engine is on
|
|
655
|
+ if engine:
|
|
656
|
+
|
|
657
|
+ #set power
|
|
658
|
+ power = reverseSpeed
|
|
659
|
+
|
|
660
|
+ #check if gas exists
|
|
661
|
+ if gas:
|
|
662
|
+
|
|
663
|
+ #check if gas is positive
|
|
664
|
+ if gas == 1:
|
|
665
|
+
|
|
666
|
+ #set power
|
|
667
|
+ power = 0
|
|
668
|
+
|
|
669
|
+ #check if brake exists
|
|
670
|
+ #if brake:
|
|
671
|
+
|
|
672
|
+ #check if brake is positive
|
|
673
|
+ if brake == 1:
|
|
674
|
+
|
|
675
|
+ #apply braking
|
|
676
|
+ vehicleID.applyBraking(brakeAmount, 2)
|
|
677
|
+ vehicleID.applyBraking(brakeAmount, 3)
|
|
678
|
+
|
|
679
|
+ #set power
|
|
680
|
+ power = 0
|
|
681
|
+
|
|
682
|
+ else:
|
|
683
|
+ #remove braking
|
|
684
|
+ vehicleID.applyBraking(0, 2)
|
|
685
|
+ vehicleID.applyBraking(0, 3)
|
|
686
|
+
|
|
687
|
+ #check if e brake exists
|
|
688
|
+ if ebrake:
|
|
689
|
+
|
|
690
|
+ #check if e brake is positive
|
|
691
|
+ if ebrake.positive:
|
|
692
|
+
|
|
693
|
+ #apply braking
|
|
694
|
+ vehicleID.applyBraking(eBrakeAmount, 2)
|
|
695
|
+ vehicleID.applyBraking(eBrakeAmount, 3)
|
|
696
|
+
|
|
697
|
+ #set power
|
|
698
|
+ power = 0
|
|
699
|
+
|
|
700
|
+
|
|
701
|
+ #check if back wheel drive
|
|
702
|
+ if backdrive:
|
|
703
|
+
|
|
704
|
+ #apply power
|
|
705
|
+ vehicleID.applyEngineForce(-power, 2)
|
|
706
|
+ vehicleID.applyEngineForce(-power, 3)
|
|
707
|
+
|
|
708
|
+ #check if front wheel drive
|
|
709
|
+ if frontdrive:
|
|
710
|
+
|
|
711
|
+ #apply power
|
|
712
|
+ vehicleID.applyEngineForce(-power, 0)
|
|
713
|
+ vehicleID.applyEngineForce(-power, 1)
|
|
714
|
+
|
|
715
|
+
|
|
716
|
+def _steer(controller, car):
|
|
717
|
+
|
|
718
|
+ #declare variables
|
|
719
|
+ #left = None
|
|
720
|
+ #right = None
|
|
721
|
+ left = own['left']
|
|
722
|
+ right = own['right']
|
|
723
|
+ #turn amount
|
|
724
|
+ turnAmount = math.radians(car["TurnAmount"])
|
|
725
|
+
|
|
726
|
+ #get turn speed
|
|
727
|
+ turnSpeed = car["TurnSpeed"] * 0.01
|
|
728
|
+ turnSpeed2 = car["TurnSpeed2"] * 0.01
|
|
729
|
+
|
|
730
|
+ #get vehicle id
|
|
731
|
+ vehicleID = _constraintID(car)
|
|
732
|
+
|
|
733
|
+ #check for left sensor
|
|
734
|
+ #if "Left" in controller.sensors:
|
|
735
|
+ #left = controller.sensors["Left"]
|
|
736
|
+
|
|
737
|
+ #check for right sensor
|
|
738
|
+ #if "Right" in controller.sensors:
|
|
739
|
+ #right = controller.sensors["Right"]
|
|
740
|
+
|
|
741
|
+ #check if the sensors exist
|
|
742
|
+ #if left and right:
|
|
743
|
+
|
|
744
|
+ #check if both are positive
|
|
745
|
+ #if left.positive and right.positive:
|
|
746
|
+
|
|
747
|
+ #pass
|
|
748
|
+
|
|
749
|
+ #check if left is positive
|
|
750
|
+ #elif left.positive and not right.positive:
|
|
751
|
+ if left == True:
|
|
752
|
+ #check turn amount
|
|
753
|
+ if carsetup.turnAmount[car] < turnAmount:
|
|
754
|
+
|
|
755
|
+ #add to turn value
|
|
756
|
+ carsetup.turnAmount[car] += turnSpeed
|
|
757
|
+
|
|
758
|
+ #apply steering
|
|
759
|
+ vehicleID.setSteeringValue(carsetup.turnAmount[car],0)
|
|
760
|
+ vehicleID.setSteeringValue(carsetup.turnAmount[car],1)
|
|
761
|
+
|
|
762
|
+ #check if right is positive
|
|
763
|
+ #elif not left.positive and right.positive:
|
|
764
|
+ elif right == True:
|
|
765
|
+ #check turn amount
|
|
766
|
+ if carsetup.turnAmount[car] > -turnAmount:
|
|
767
|
+
|
|
768
|
+ #subtract from turn value
|
|
769
|
+ carsetup.turnAmount[car] -= turnSpeed
|
|
770
|
+
|
|
771
|
+ #apply steering
|
|
772
|
+ vehicleID.setSteeringValue(carsetup.turnAmount[car],0)
|
|
773
|
+ vehicleID.setSteeringValue(carsetup.turnAmount[car],1)
|
|
774
|
+
|
|
775
|
+ #check if none are positive
|
|
776
|
+ #elif not left.positive and not right.positive:
|
|
777
|
+ elif right == 0 and left == 0:
|
|
778
|
+ #print(round(carsetup.turnAmount[car],2))
|
|
779
|
+ #check if steering right
|
|
780
|
+ if carsetup.turnAmount[car] <= -turnSpeed2:
|
|
781
|
+ #print("less than, subtract")
|
|
782
|
+ #add to turn value
|
|
783
|
+ carsetup.turnAmount[car] += turnSpeed2
|
|
784
|
+ #check if steering left
|
|
785
|
+ elif carsetup.turnAmount[car] > turnSpeed2:
|
|
786
|
+ #print("greater than add")
|
|
787
|
+ #subtract from turn value
|
|
788
|
+ carsetup.turnAmount[car] -= turnSpeed2
|
|
789
|
+ else:
|
|
790
|
+ carsetup.turnAmount[car] = 0
|
|
791
|
+
|
|
792
|
+ #apply steering
|
|
793
|
+ vehicleID.setSteeringValue(carsetup.turnAmount[car],0)
|
|
794
|
+ vehicleID.setSteeringValue(carsetup.turnAmount[car],1)
|
|
795
|
+
|
|
796
|
+
|
|
797
|
+def main(controller):
|
|
798
|
+
|
|
799
|
+ lLR = aXis.axisValues[lar_lts] / reduction
|
|
800
|
+ lUD = aXis.axisValues[uad_lts] / reduction
|
|
801
|
+ rLR = aXis.axisValues[lar_rts] / reduction
|
|
802
|
+ rUD = aXis.axisValues[uad_rts] / reduction
|
|
803
|
+ lTrig = aXis.axisValues[lt] / reduction
|
|
804
|
+ rTrig = aXis.axisValues[rt] / reduction
|
|
805
|
+ aBut = bUtt.getButtonStatus(a_but)
|
|
806
|
+ bBut = bUtt.getButtonStatus(b_but)
|
|
807
|
+ xBut = bUtt.getButtonStatus(x_but)
|
|
808
|
+ yBut = bUtt.getButtonStatus(y_but)
|
|
809
|
+ lBump = bUtt.getButtonStatus(l_bump)
|
|
810
|
+ rBump = bUtt.getButtonStatus(r_bump)
|
|
811
|
+ bkBut = bUtt.getButtonStatus(bk_but)
|
|
812
|
+ stBut = bUtt.getButtonStatus(st_but)
|
|
813
|
+ xbBut = bUtt.getButtonStatus(xb_but)
|
|
814
|
+ ltsBut = bUtt.getButtonStatus(lts_pr)
|
|
815
|
+ rtsBut = bUtt.getButtonStatus(rts_pr)
|
|
816
|
+ ldPad = bUtt.getButtonStatus(l_dp)
|
|
817
|
+ rdPad = bUtt.getButtonStatus(r_dp)
|
|
818
|
+ udPad = bUtt.getButtonStatus(u_dp)
|
|
819
|
+ ddPad = bUtt.getButtonStatus(d_dp)
|
|
820
|
+
|
|
821
|
+ #no input
|
|
822
|
+ def cutOff():
|
|
823
|
+ if (abs(lLR) < axisTh
|
|
824
|
+ and abs(lUD) < axisTh
|
|
825
|
+ and abs(rLR) < axisTh
|
|
826
|
+ and abs(rUD) < axisTh
|
|
827
|
+ and aBut == False):
|
|
828
|
+ return True
|
|
829
|
+
|
|
830
|
+ #print(rTrig)
|
|
831
|
+ own['ForwardSpeed'] = rTrig * 6500
|
|
832
|
+ #if own['ForwardSpeed'] < 500:
|
|
833
|
+ #own['ForwardSpeed'] = 500:
|
|
834
|
+ if rTrig > .01:
|
|
835
|
+ own['gas'] = 1
|
|
836
|
+ else:
|
|
837
|
+ own['gas'] = 0
|
|
838
|
+ if lTrig > .01:
|
|
839
|
+ own['brake'] = 1
|
|
840
|
+ else:
|
|
841
|
+ own['brake'] = 0
|
|
842
|
+ if lLR > .04:
|
|
843
|
+ own['right'] = 1
|
|
844
|
+ else:
|
|
845
|
+ own['right'] = 0
|
|
846
|
+ if lLR < -.04:
|
|
847
|
+ own['left'] = 1
|
|
848
|
+ else:
|
|
849
|
+ own['left'] = 0
|
|
850
|
+ if aBut == 1:
|
|
851
|
+ own['reverse'] = 1
|
|
852
|
+ else:
|
|
853
|
+ own['reverse'] = 0
|
|
854
|
+
|
|
855
|
+
|
|
856
|
+ #get the car object
|
|
857
|
+ car = controller.owner
|
|
858
|
+
|
|
859
|
+ #check if car was initialized
|
|
860
|
+ if not carsetup.carInitialized(car):
|
|
861
|
+
|
|
862
|
+ #initialize the car
|
|
863
|
+ _initialize(controller)
|
|
864
|
+
|
|
865
|
+ #exit
|
|
866
|
+ return
|
|
867
|
+
|
|
868
|
+ #build the car constraint
|
|
869
|
+ vehicleID = _constraintID(car)
|
|
870
|
+
|
|
871
|
+ #set tire grip
|
|
872
|
+ carsetup.tireGrip(car, vehicleID)
|
|
873
|
+
|
|
874
|
+ #set suspension compression
|
|
875
|
+ carsetup.suspensionCompression(car, vehicleID)
|
|
876
|
+
|
|
877
|
+ #set suspension damping
|
|
878
|
+ carsetup.suspensionDamping(car, vehicleID)
|
|
879
|
+
|
|
880
|
+ #set suspension stiffness
|
|
881
|
+ carsetup.suspensionStiffness(car, vehicleID)
|
|
882
|
+
|
|
883
|
+ #set suspension roll influence
|
|
884
|
+ carsetup.suspensionRollInfluence(car, vehicleID)
|
|
885
|
+
|
|
886
|
+ #run powertrain
|
|
887
|
+ _powertrain(controller, car)
|
|
888
|
+
|
|
889
|
+ #run powertrain
|
|
890
|
+ _steer(controller, car)
|