This is a car. Although emm doesn't match the label, I have a question about how to adjust the steering angle of the wheel. I found that there seems to be no graphic part in this part. It is completely controlled by the Servo Steering part, but I haven't found anything like the rotation point or anything else that can make the wheel The code with such a large rotation amplitude does not look like moving left and right but swinging back and forth! I hope someone can answer my question.
The steering should be defined in the physics section of the aircraft. Each wheel should have its own rigidbody with full suspension setup so get the most out of the physics engine. The hinges are defined as joints and the pivot is the hinge point.
krzysk Has published a Bugatti on its GutHub page:
Take a look there, how he programmed it, and then take over accordingly.
I think these are physics section of the aircraft because at present, the modification of these data has the effect of turning to it.
Code<[output_free][ServoBrakeOutput][] <[string8][Input][ServoBrake.Output]> > <[servoclassic][ServoThrottle][] <[string8][Input][ThrottleInput.Output]> <[float64][Speed][10.0]> <[float64][P0][0.0]> <[float64][P1][1.0]> > <[output_free][ServoThrottleOutput][] <[string8][Input][ServoThrottle.Output]> > <[servoclassic][ServoSteering][] <[string8][Input][RudderInput.Output]> <[float64][Speed][4.0]> <[float64][P0][0.0]> <[float64][P1][-0.4]> > <[output_free][ServoSteeringOutput][] <[string8][Input][ServoSteering.Output]> >
No thats just the steering actuator inside the physics section, not the steering or wheel physics itself. Look for rigidbody or multibody joints
krzysk Has published a Bugatti on its GutHub page:
Take a look there, how he programmed it, and then take over accordingly.
Haha, I noticed that car. Unfortunately, the tmd code of this car was modified by Bugatti.
No thats just the steering actuator inside the physics section, not the steering or wheel physics itself. Look for rigidbody or multibody joints
I found these. How can I modify them so that the wheel turns to look more normal? Thank you for your answer.
<[rigidbody][LeftFrontGear][]
<[float64][Mass][13.5]>
<[tmvector3d][InertiaLength][ 0.6896 0.27 0.6896 ]>
<[tmvector3d][R0][ 1.404576 0.764594 0.3448 ]>
<[tmmatrix3d][B0][1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0]>
>
<[multibody_joint][JointFuselageLeftFrontGear][]
<[string8][Body0][Fuselage]>
<[string8][Body1][LeftFrontGear]>
<[tmvector3d][X0][0.0 0.0 1.0]>
<[float64][Kp][1110000.30756]>
<[float64][Kd][2220.1538]>
<[tmvector3d][R0][ 1.3052 0.77 0.3448 ]>
<[uint32][Type][0]>
<[string8][InputLock][1.0]>
<[string8][InputPosition][ServoSteering.Output]>
>
<[rigidbody][RightFrontGear][]
<[float64][Mass][13.5]>
<[tmvector3d][InertiaLength][ 0.6896 0.27 0.6896 ]>
<[tmvector3d][R0][ 1.425732 -0.745267 0.3448 ]>
<[tmmatrix3d][B0][1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0]>
>
<[multibody_joint][JointFuselageRightFrontGear][]
<[string8][Body0][Fuselage]>
<[string8][Body1][RightFrontGear]>
<[tmvector3d][X0][0.0 0.0 1.0]>
<[float64][Kp][1110000.30756]>
<[float64][Kd][2220.1538]>
<[tmvector3d][R0][ 1.3052 -0.77 0.3448 ]>
<[uint32][Type][0]>
<[string8][InputLock][1.0]>
<[string8][InputPosition][ServoSteering.Output]>
>
<[rigidbody][LeftRearGear][]
<[float64][Mass][18.5]>
<[tmvector3d][InertiaLength][ 0.7236 0.34 0.7236 ]>
<[tmvector3d][R0][ -1.3342 0.71884 0.3618 ]>
<[tmmatrix3d][B0][1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0]>
>
<[multibody_joint][JointFuselageLeftRearGear][]
<[string8][Body0][Fuselage]>
<[string8][Body1][LeftRearGear]>
<[tmvector3d][X0][0.0 0.0 1.0]>
<[float64][Kp][511000.3]>
<[float64][Kd][5220.1]>
<[tmvector3d][R0][ -1.3342 0.65 0.3618 ]>
<[uint32][Type][1]>
>
<[rigidbody][RightRearGear][]
<[float64][Mass][18.5]>
<[tmvector3d][InertiaLength][ 0.7236 0.34 0.7236 ]>
<[tmvector3d][R0][ -1.3342 -0.729769 0.3618 ]>
<[tmmatrix3d][B0][1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0]>
>
<[multibody_joint][JointFuselageRightRearGear][]
<[string8][Body0][Fuselage]>
<[string8][Body1][RightRearGear]>
<[tmvector3d][X0][0.0 0.0 1.0]>
<[float64][Kp][511000.3]>
<[float64][Kd][5220.1]>
<[tmvector3d][R0][ -1.3342 -0.65 0.3618 ]>
<[uint32][Type][1]>
>For each of the multibody_joint objects set the R0 property to the correct 3d model pivot point.
For each of the multibody_joint objects set the R0 property to the correct 3d model pivot point.
Thank you and my problem has solved
The code is slightly more extensive than normally necessary. The reason is that the pushback truck, when it is coupled with an aircraft, needs a short idle when switching forward-backward to position itself correctly. I solved that with a kind of hydraulic coupling.
// gear lever (forwards-idle-backwards)
//######################################################################
<[input_discrete][GearLeverInput][]
<[string8][Message][Truck.GearLever]>
<[tmvector2d][Range][ -1.0 1.0 ]>
<[float64][Value][1.0]>
>
<[logic_equal][GearLeverForward][]
<[string8][Input0][GearLeverInput.Output]>
<[string8][Input1][1.0]>
>
<[logic_range][GearLeverNeutral][]
<[float64][Input][GearLeverInput.Output]>
<[float64][Range][ -0.8 0.8 ]>
>
<[logic_invert][GearLeverForwardOrBackward][]
<[string8][Input][GearLeverNeutral.Output]>
>
<[logic_equal][GearLeverBackward][]
<[string8][Input0][GearLeverInput.Output]>
<[string8][Input1][-1.0]>
>
<[servoclassic][ServoGearLever][]
<[string8][Input][GearLeverInput.Output]>
<[float64][Speed][15.0]>
<[float64][P1][1.0]>
<[float64][Position][1.0]>
>
<[output][ServoGearLeverOutput][]
>
<[delay_clamped][HydraulicClutchInput][]
<[string8][Input][GearLeverInput.Output]>
<[tmvector2d][Threshold][ -1.0 1.0 ]>
<[float64][Speed][1.0]>
>
<[absolute][HydraulicClutch][]
<[string8][Input][HydraulicClutchInput.Output]>
>