[AdomaX]

Graphics 800,600
SetBuffer BackBuffer()

;physics variables
Global delta_t# = 0.01
Global M_PI# = 3.1415926
Global DRAG# = 5.0
Global RESISTANCE# = 30.0
Global CA_R# = -5.20
Global CA_F# = -5.0
Global MAX_GRIP# = 2.0* *
Global MULT# = 57
Global MULT2# = 0.01745

Global CAR1_cartype = 1
Global CAR1_cartype_b# = 1.0
Global CAR1_cartype_c# = 1.0
Global CAR1_cartype_wheelbase# = CAR1_cartype_b# + CAR1_cartype_c#
Global CAR1_cartype_h# = 1.0
Global CAR1_cartype_mass# = 1500
Global CAR1_cartype_inertia# = 1500
Global CAR1_cartype_width# = 1.5
Global CAR1_cartype_length# = 3.0
Global CAR1_cartype_wheellength# = 0.7
Global CAR1_cartype_wheelwidth# = 0.3
Global CAR1_car_position_wc_x# = 400.0
Global CAR1_car_position_wc_y# = 300.0
Global CAR1_car_velocity_wc_x# = 0
Global CAR1_car_velocity_wc_y# = 0
Global CAR1_car_angle# = 0
Global CAR1_car_angularvelocity# = 0
Global CAR1_car_steerangle# = 0
Global CAR1_car_throttle# = 0
Global CAR1_car_brake# = 0

Global front_slip = 0
Global rear_slip = 0

Global velocity_x#
Global velocity_y#
Global yawspeed#
Global sn#, cs#
Global xpos#, ypos#
Global rot_angle#
Global sideslip#
Global slipanglefront#
Global slipanglerear#
Global flatf_x#, flatf_y#
Global flatr_x#, flatr_y#
Global weight#
Global ftraction_x#, ftraction_y#
Global resistance_x#, resistance_y#
Global force_x#, force_y#
Global torque#
Global acceleration_x#, acceleration_y#, angular_acceleration#
Global acceleration_wc_x#, acceleration_wc_y#


;main loop
While ( KeyHit(1)=0 )

* * Cls

* * FUNC_do_input()
* *
* * FUNC_do_physics()
* * * *
* * Flip
* *
Wend

End




;input routine from joystick/pad/wheel
Function FUNC_do_input()

* * If ( KeyDown(200)) CAR1_car_throttle# = 2000.0
* * If ( KeyDown(20) CAR1_car_throttle# = 0.0
* * If ( KeyDown(57))
* * * * CAR1_car_throttle# = 0.0
* * * * CAR1_car_brake# = 100.0
* * Else
* * * * CAR1_car_brake# = 0.0
* * EndIf

* * CAR1_car_steerangle# = 0.0
* * If ( KeyDown(205)) CAR1_car_steerangle# = (-M_PI# / 4.0) * 0.15;* MULT2#
* * If ( KeyDown(203)) CAR1_car_steerangle# = (M_PI# / 4.0) * 0.15; MULT2#

* * rear_slip = 0;
* * If ( KeyDown(57) ) rear_slip = 1;
* *
* * ;temp display of vars
* * Text 0,0,Str(CAR1_car_position_wc_x#)
* * Text 0,12,Str(CAR1_car_position_wc_y#)
* * Text 0,24,Str(CAR1_car_steerangle#)

* * CAR1_car_angle#=CAR1_car_angle#+CAR1_car_steerangl e#

* * xpos# = CAR1_car_position_wc_x#
* * ypos# = CAR1_car_position_wc_y#

* * ;render a small moving car rep.
* * renda1# =( -CAR1_car_angle# * MULT# ) - 60
* * If (renda1#<0.0) Then renda1#=360.0+renda1#
* * renda2# =( -CAR1_car_angle# * MULT# ) + 60
* * If (renda2#>359.0) Then renda2#=renda2#-360.0
* * renda3# =( -CAR1_car_angle# * MULT# ) - 120
* * If (renda3#<0.0) Then renda3#=360.0+renda3#
* * renda4# =( -CAR1_car_angle# * MULT# ) + 120
* * If (renda4#>359.0) Then renda4#=renda4#-360.0

* * rendx1#=25*Cos(renda1#) : rendy1#=25*Sin(renda1#)
* * rendx2#=25*Cos(renda2#) : rendy2#=25*Sin(renda2#)
* * rendx3#=25*Cos(renda3#) : rendy3#=25*Sin(renda3#)
* * rendx4#=25*Cos(renda4#) : rendy4#=25*Sin(renda4#)

* * Color 255,255,255
* * Line rendx1#+xpos#,rendy1#+ypos#,rendx2#+xpos#,rendy2#+ ypos#
* * Line rendx2#+xpos#,rendy2#+ypos#,rendx4#+xpos#,rendy4#+ ypos#
* * Line rendx4#+xpos#,rendy4#+ypos#,rendx3#+xpos#,rendy3#+ ypos#
* * Line rendx3#+xpos#,rendy3#+ypos#,rendx1#+xpos#,rendy1#+ ypos#

End Function






;type of car - 1=rear 2=front 3=four
Global CAR1_car_drivetype = 3




Function FUNC_do_physics()

* * ; SAE convention: x is To the front of the car, y is To the Right, z is down



* * ;--------------------------
* * ; TRANSFORM VELOCITY
* * ;--------------------------
* * * * ; transform velocity in world reference frame To velocity in car reference frame
* * * * sn# = Sin(CAR1_car_angle# * MULT#); * MULT2#
* * * * cs# = Cos(CAR1_car_angle# * MULT#) ;* MULT2#
* * * * velocity_x# = cs# * CAR1_car_velocity_wc_y# + sn# * CAR1_car_velocity_wc_x#
* * * * velocity_y# = -sn# * CAR1_car_velocity_wc_y# + cs# * CAR1_car_velocity_wc_x#


* * ;--------------------------
* * ; LATERAL FORCES ON WHEELS
* * ;--------------------------
* * * * ; Resulting velocity of the wheels as result of the yaw rate of the car body
* * * * ; v = yawrate * r where r is distance of wheel To CG (approx. half wheel base)
* * * * ; yawrate (ang.velocity) must be in rad/s

* * * * ; 0.5 in this line becomes front/rear pos of COG - alter this later
* * * * yawspeed# = CAR1_cartype_wheelbase# * 0.5 * CAR1_car_angularvelocity#
* * * * If( velocity_x# = 0 )
* * * * * * rot_angle# = 0
* * * * Else
* * * * * * rot_angle# = ATan2( (yawspeed# ) , (velocity_x#) ) * MULT2#
* * * * EndIf


* * ;-------------------------
* * ; SIDESLIP ANGLE
* * ;-------------------------
* * * * ; Calculate the side slip angle of the car (a.k.a. beta)
* * * * If( velocity_x# = 0 )
* * * * * * sideslip# = 0.0
* * * * Else
* * * * * * sideslip# = ATan2( (velocity_y# ) , (velocity_x#) )* * * MULT2#* *
* * * * EndIf


* * ;-------------------------
* * ; SLIP ANGLES FRONT/REAR
* * ;-------------------------
* * * * ; Calculate slip angles For front And rear wheels (a.k.a. alpha)
* * * * slipanglefront# = sideslip# + rot_angle# - CAR1_car_steerangle#
* * * * slipanglerear# = (sideslip# - rot_angle#)


* * ;-------------------------
* * ; WEIGHT PER AXLE
* * ;-------------------------
* * * * ; weight per axle = half car mass times 1G (=9.8m/s^2)
* * * * ; need to split this into front and rear masses - according to position of COG
* * * * weight# = CAR1_cartype_mass# * 9.8 * 0.5


* * ;--------------------------
* * ; LATERAL FORCES ON WHEELS
* * ;--------------------------
* * * * ; (Ca * slip angle) capped To friction circle * load
* * * * flatf_x# = 0.0
* * * * flatr_x# = 0.0

* * * * ;check for front / rear / 4 wheel drive
* * * * If ( CAR1_car_drivetype = 1 )

* * * * * * ;rear wheel drive
* * * * * * flatr_y# = CA_R# * slipanglerear# / ((CAR1_car_throttle# / 5000.0)+1)
* * * * * * flatf_y# = CA_F# * slipanglefront#

* * * * Else If ( CAR1_car_drivetype = 2 )

* * * * * * ;front wheel drive
* * * * * * flatr_y# = CA_R# * slipanglerear#
* * * * * * flatf_y# = CA_F# * slipanglefront# / ((CAR1_car_throttle# / 5000.0)+1)

* * * * Else If ( CAR1_car_drivetype = 3 )
* *
* * * * * * ;4 wheel drive
* * * * * * flatr_y# = CA_R# * slipanglerear# / ((CAR1_car_throttle# / 5000.0)+1)
* * * * * * flatf_y# = CA_F# * slipanglefront# / ((CAR1_car_throttle# / 5000.0)+1)
* * * *
* * * * EndIf
* * * * * *
* * * * flatf_y# = flatf_y# * weight#
* * * * flatr_y# = flatr_y# * weight#

* * * * ; allow for handbrake / reduced grip levels - use this for different surfaces later* *
* * * * If(front_slip=1) flatf_y# = flatf_y# * 0.5
* * * * If(rear_slip = 1) flatr_y# = flatr_y# * 0.5


* * ;-----------------------------
* * ; LONGITUDINAL FORCES
* * ;-----------------------------
* * * * ; longtitudinal force on rear wheels - very simple traction model
* * * * ftraction_x# = 100.0 * (CAR1_car_throttle# - CAR1_car_brake# * Sgn(velocity_x#))
* * * * ftraction_y# = 0.0

* * * * ; allow for handbrake
* * * * If(rear_slip = 1) ftraction_x# = ftraction_x# * 0.5



* * ;-------------------------------
* * ; SUM FORCES AND TORQUE ON BODY
* * ;-------------------------------
* * * * ; drag And rolling resistance
* * * * resistance_x# = -( RESISTANCE# * velocity_x# + DRAG# * velocity_x# * Abs( velocity_x# ) )
* * * * resistance_y# = -( RESISTANCE# * velocity_y# + DRAG# * velocity_y# * Abs( velocity_y# ) )

* * * * ; sum forces
* * * * force_x# = ftraction_x# + (Sin( CAR1_car_steerangle# * MULT# )) * flatf_x# + flatr_x# + resistance_x#
* * * * force_y# = ftraction_y# + (Cos( CAR1_car_steerangle# * MULT# )) * flatf_y# + flatr_y# + resistance_y#* *

* * * *
* * * * ; torque on body from lateral forces
* * * * torque# = CAR1_cartype_b# * flatf_y# - CAR1_cartype_c# * flatr_y#

* * * * ; Acceleration - Newton F = m.a, therefore a = F/m
* * * * acceleration_x# = force_x# / CAR1_cartype_mass#
* * * * acceleration_y# = force_y# / CAR1_cartype_mass#
* *
* * * * ; angular acceleration around COG
* * * * angular_acceleration# = torque# / CAR1_cartype_inertia#

* * * * ; Velocity And position
* * * * ; transform acceleration from car reference frame To world reference frame
* * * * acceleration_wc_x# = cs# * acceleration_y# + sn# * acceleration_x#
* * * * acceleration_wc_y# = -sn# * acceleration_y# + cs# * acceleration_x#

* * * * ; velocity is integrated acceleration
* * * * CAR1_car_velocity_wc_x# = CAR1_car_velocity_wc_x# + (delta_t# * acceleration_wc_x#)
* * * * CAR1_car_velocity_wc_y# = CAR1_car_velocity_wc_y# + (delta_t# * acceleration_wc_y#)

* * * * ; position is integrated velocity
* * * * CAR1_car_position_wc_x# = CAR1_car_position_wc_x# + (delta_t# * CAR1_car_velocity_wc_x#)
* * * * CAR1_car_position_wc_y# = CAR1_car_position_wc_y# + (delta_t# * CAR1_car_velocity_wc_y#)

* * * * ; Angular velocity And heading
* * * * ; integrate angular acceleration To get angular velocity
* * * * CAR1_car_angularvelocity# = CAR1_car_angularvelocity# + (delta_t# * angular_acceleration#)

* * * * ; move COG left / right according to body's angular rotation
* * * * CAR1_car_COGx# = (CAR1_car_angularvelocity# * 10.0)
* * * * CAR1_car_COGy# = CAR1_car_throttle# / 100.0
* * * *
* * * * ; integrate angular velocity To get angular orientation
* * * * CAR1_car_angle# = CAR1_car_angle# + (delta_t# * CAR1_car_angularvelocity#)





* * ;TEMP - SCREEN LIMITS
* * If ( CAR1_car_position_wc_x# < 0.0 ) CAR1_car_position_wc_x# = 800.0
* * If ( CAR1_car_position_wc_x# > 800.0 ) CAR1_car_position_wc_x# = 0.0
* * If ( CAR1_car_position_wc_y# < 0.0 ) CAR1_car_position_wc_y# = 600.0
* * If ( CAR1_car_position_wc_y# > 600.0 ) CAR1_car_position_wc_y# = 0.0
* *
End Function

Вот физика а как ее приделать к модели машины?
если можно с примером очень прошу..