nodeVecPlanarCosRightForward
Definition
-- @/=[C]:-1
function nodeVecPlanarCosRightForward(...)
Callers
@/lua/vehicle/extensions/tech/trailSim.lua
local steeringSign = sign(electrics.values.steering or 0)
local frontLeftWheelAngle = acos(obj:nodeVecPlanarCosRightForward(frontLeftWheel.node2, frontLeftWheel.node1)) * steeringSign
local frontRightWheelAngle = acos(obj:nodeVecPlanarCosRightForward(frontRightWheel.node1, frontRightWheel.node2)) * steeringSign
local frontLeftWheelAngle = acos(obj:nodeVecPlanarCosRightForward(frontLeftWheel.node2, frontLeftWheel.node1)) * steeringSign
local frontRightWheelAngle = acos(obj:nodeVecPlanarCosRightForward(frontRightWheel.node1, frontRightWheel.node2)) * steeringSign
@/lua/vehicle/controller/drivingDynamics/sensors/vehicleData.lua
M.frontLeftWheelAngle = acos(obj:nodeVecPlanarCosRightForward(frontLeftWheel.node2, frontLeftWheel.node1)) * steeringSign
M.frontRightWheelAngle = acos(obj:nodeVecPlanarCosRightForward(frontRightWheel.node1, frontRightWheel.node2)) * steeringSign
M.frontLeftWheelAngle = acos(obj:nodeVecPlanarCosRightForward(frontLeftWheel.node2, frontLeftWheel.node1)) * steeringSign
M.frontRightWheelAngle = acos(obj:nodeVecPlanarCosRightForward(frontRightWheel.node1, frontRightWheel.node2)) * steeringSign
M.rearLeftWheelAngle = acos(obj:nodeVecPlanarCosRightForward(rearLeftWheel.node2, rearLeftWheel.node1))
M.frontRightWheelAngle = acos(obj:nodeVecPlanarCosRightForward(frontRightWheel.node1, frontRightWheel.node2)) * steeringSign
M.rearLeftWheelAngle = acos(obj:nodeVecPlanarCosRightForward(rearLeftWheel.node2, rearLeftWheel.node1))
M.rearRightWheelAngle = acos(obj:nodeVecPlanarCosRightForward(rearRightWheel.node1, rearRightWheel.node2))
M.rearLeftWheelAngle = acos(obj:nodeVecPlanarCosRightForward(rearLeftWheel.node2, rearLeftWheel.node1))
M.rearRightWheelAngle = acos(obj:nodeVecPlanarCosRightForward(rearRightWheel.node1, rearRightWheel.node2))
@/lua/vehicle/controller/tech/tyreBarrier.lua
local FLWh, FRWh = wheels.wheelRotators[wheels.wheelRotatorIDs.FL], wheels.wheelRotators[wheels.wheelRotatorIDs.FR]
local frontLeftWheelAngle = acos(obj:nodeVecPlanarCosRightForward(FLWh.node2, FLWh.node1)) * steeringSign
local frontRightWheelAngle = acos(obj:nodeVecPlanarCosRightForward(FRWh.node1, FRWh.node2)) * steeringSign
local frontLeftWheelAngle = acos(obj:nodeVecPlanarCosRightForward(FLWh.node2, FLWh.node1)) * steeringSign
local frontRightWheelAngle = acos(obj:nodeVecPlanarCosRightForward(FRWh.node1, FRWh.node2)) * steeringSign
return frontLeftWheelAngle, frontRightWheelAngle
@/lua/vehicle/controller/esc.lua
wheelAngleFront = acos(obj:nodeVecPlanarCosRightForward(wheelFront.node1, wheelFront.node2))
wheelAngleRear = acos(obj:nodeVecPlanarCosRightForward(wheelRear.node1, wheelRear.node2))
wheelAngleFront = acos(obj:nodeVecPlanarCosRightForward(wheelFront.node1, wheelFront.node2))
wheelAngleRear = acos(obj:nodeVecPlanarCosRightForward(wheelRear.node1, wheelRear.node2))
if wheelAngleFront > 1.5708 then
@/lua/vehicle/controller/tech/cosimulationCoupling.lua
wOut[wCtr + 5] = frictionTorque -- Friction torque, Nm.
wOut[wCtr + 6] = acos(obj:nodeVecPlanarCosRightForward(wheel.node1, wheel.node2)) * stInSign -- Road wheel angle, rad.
wCtr = wCtr + 7