View source for Arma Reforger:Vehicle: Wheeled Simulation

{{TOC|side}}
== Input (Controller) ==

=== SCR_CarControllerComponent ===

==== General ====

{| class="wikitable sortable"
! Param
! Type
! Unit
! Description
|-
|
====== Type ======
|
|
| Type of gearbox

* '''Automatic''' - Automatic shifting and transition to reversing, W/S - throttle/brake or brake/throttle when reversing.
* '''Manual''' - Manual shifting, W - always throttle, S - always brake, Q/E to shift gears
|-
|
====== Transmission RND ======
| ''bool''
|
| Transmission have three settings: reverse, neutral and drive
|}

==== Steering speed coefficients ====

The following are properties for smoothing the digital or small range/insensitive analog input (gamepad thumbstick). The setup should be quick and responsive enough while allowing the player to keep a smooth ride (e.g. by tapping the keys), without having to constantly counter compensate.

{| class="wikitable sortable"
! Param
! Type
! Unit
! Description
|-
|
====== Steering Forward Speed ======
| ''pairs of floats''
| <code style="display: block">[vehicle speed in km/h, steering speed in °/s]</code>
| Pairs of velocity and steering speed at the given velocity
|-
|
====== Steering Backward Speed ======
| ''pairs of floats''
| <code style="display: block">[vehicle speed in km/h, steering speed in °/s]</code>
| Pairs of velocity and counter-steering speed (recentering via input) at the given velocity
|-
|
====== Steering Center Speed ======
| ''pairs of floats''
| <code style="display: block">[vehicle speed in km/h, centering speed in °/s]</code>
| Pairs of velocity and recentering speed (when no steering input is given / caster effect) at the given velocity
|}

==== Throttle ====

{| class="wikitable sortable"
! Param
! Type
! Unit
! Description
|-
|
====== Throttle Curve ======
| ''pairs of floats''
| <code style="display: block">[engine rpm, amount of throttle]</code>
| Throttle application with respect to engine's RPM
|-
|
====== Reverse Curve ======
| ''pairs of floats''
| <code style="display: block">[engine rpm, amount of throttle]</code>
| Throttle application with respect to engine's RPM while in reverse
|-
|
====== Throttle Reaction Time ======
| ''float''
| <code style="display: block">s</code>
| Time (in seconds) it takes to get wanted value of throttle - e.g. to interpolate from 0.0 to 1.0 throttle input
|-
|
====== Throttle Turbo Time ======
| ''float''
| <code style="display: block">s</code>
| Time (in seconds) to reach wanted value of throttle in turbo mode
|-
|
====== Throttle Turbo ======
| ''float''
|
| Amount of throttle that is reserved for turbo mode. For instance 0.2 means that without turbo, vehicle will be moving with maximum 0.8 throttle
|}

==== Brake ====

{| class="wikitable sortable"
! Param
! Type
! Unit
! Description
|-
|
====== Braking Curve ======
| ''pairs of floats''
| <code style="display: block">[time in seconds, amount of braking force]</code>
| Brake application over time
|-
|
====== Brake Turbo Time ======
| ''float''
| <code style="display: block">s</code>
| Time to reach wanted value of brake in turbo mode
|}

==== Engine ====

{| class="wikitable sortable"
! Param
! Type
! Unit
! Description
|-
|
====== Max Startup Time ======
| ''float''
| <code style="display: block">seconds</code>
| Failsafe time for the engine to start (it can also bypass animations if it is shorter)
|-
|
====== Max Startup Attempts ======
| ''float''
|
| How many times you can be "stuck" in the startup loop animation
|-
|
====== Engine Startup Chance ======
| ''float''
| <code style="display: block">%</code>
| Probability that each startup attempt has to turn on the engine (0 - 100) (should be tied to engine below "damaged" threshold)
|-
|
====== Air Intakes ======
| ''float''
| <code style="display: block">array of PointInfo classes</code>
| Air intake positions in local vehicle space
|-
|
====== Drowning Time ======
| ''float''
| <code style="display: block">s</code>
| Amount of time needed to completely drown the engine when all air intakes are underwater
|-
|
====== Shutdown Time ======
| ''float''
| <code style="display: block">s</code>
| Amount of time (some) vehicle systems automatically toggle off after the shutdown
|-
|
====== Max Lights Time ======
| ''float''
| <code style="display: block">s</code>
| Maximum amount of time the light toggle should take (or if there are no animations)
|}

==== Clutch ====

{| class="wikitable sortable"
! Param
! Type
! Unit
! Description
|-
|
====== Clutch Uncouple Time ======
| ''float''
| <code style="display: block">seconds</code>
| Time to disengage clutch before switching gears
|-
|
====== Clutch Couple Time ======
| ''float''
| <code style="display: block">seconds</code>
| Time to engage clutch after switching gears
|-
|
====== Clutch Uncouple Rpm ======
| ''float''
| <code style="display: block">RPM</code>
| Engine RPM at which clutch is fully uncoupled while moving off
|-
|
====== Clutch Couple Rpm ======
| ''float''
| <code style="display: block">RPM</code>
| Engine RPM at which clutch is fully coupled while moving off
|-
|
====== Clutch Uncouple Factor ======
| ''float''
|
| Clutch uncouple RPM factor while moving off uphill or downhill
|-
|
====== Clutch Couple Factor ======
| ''float''
|
| Clutch couple RPM factor while moving off uphill or downhill
|-
|
====== Clutch Minimum Position ======
| ''float''
|
| Minimum clutch position while moving off
|-
|
====== Clutch Minimum Factor ======
| ''float''
|
| Minimum clutch position factor while moving off uphill or downhill
|}

==== Shifting ====

{| class="wikitable sortable"
! Param
! Type
! Unit
! Description
|-
|
====== Slope Smoothing ======
| ''float''
|
| Factor of filter that smooths out upshift and downshift RPMs
|-
|
====== Latency ======
| ''float''
| <code style="display: block">seconds</code>
| Minimum time between gear switches
|-
|
====== Up Shift Factor ======
| ''float''
|
| Upshift RPM factor while going uphill or downhill
|-
|
====== Up Shift Rpm ======
| ''float''
| <code style="display: block">RPM</code>
| Engine RPM required for upshifting
|-
|
====== Down Shift Factor ======
| ''float''
|
| Downshift RPM factor while going uphill or downhill
|-
|
====== Down Shift Rpm ======
| ''float''
| <code style="display: block">RPM</code>
| Engine RPM required for downshifting
|-
|
====== Turbo Shift Factor ======
| ''float''
|
| Upshifting and downshifting RPM ratio in Turbo mode
|}

== Simulation ==

=== VehicleWheeledSimulation ===

==== General ====

{| class="wikitable sortable"
! Param
! Type
! Unit
! Description
|-
|
====== Solver Type ======
|
|
| Solver selector - only V1 solver is available right now
|-
|
====== Solver Update Rate ======
|
| <code style="display: block">Hz</code>
| Solver update rate in Hz (number of ticks per second)
|}

==== Engine ====
Controls engine power and its other properties. All values must be greater than 0 to be accepted as valid.

The engine is simulated as rotating cylinder around its central axis (simplification of crankshaft).
{| class="wikitable"
! Param
! Type
! Unit
! Description
! References
|-
|
====== Inertia ======
| ''float''
| <code style="display: block">kg.m<sup>2</sup></code>
| Moment of inertia
|[[File:armareforger-new-engine-inertia.png|500px]]
<nowiki>https://www.researchgate.net/publication/258176892_Evaluation_of_variable_mass_moment_of_inertia_of_the_piston-crank_mechanism_of_an_internal_combustion_engine</nowiki>
|-
|
====== Max Power ======
| ''float''
| <code style="display: block">kW</code>
| Maximum power that the engine can provide
| rowspan="9" |
*
* [[File:armareforger-vehicle-wheeled-engine-graph.png|500px]]
You can use [https://www.desmos.com/calculator/j63rwoyvnh '''this calculator'''] to visualize RPM curve
* <code style="display: block">maxTorqueRPM <= maxPowerRPM < maxRPM</code>
* Use <nowiki>https://www.automobile-catalog.com/</nowiki>, <nowiki>https://www.dieselhub.com/</nowiki> and similar sources to check for real torque/power curves of the engines
|-
|
====== Max Torque ======
| ''float''
| <code style="display: block">Nm</code>
| Maximum torque that engine can provide (peak torque)
|-
|
====== Rpm Max Power ======
| ''float''
| <code style="display: block">RPM</code>
| RPM where engine outputs maximum power
|-
|
====== Rpm MaxT orque ======
| ''float''
| <code style="display: block">RPM</code>
| RPM where maximum torque is produced
|-
|
====== Rpm Idle ======
| ''float''
| <code style="display: block">RPM</code>
| RPM when engine is idling, e.g. in neutral
|-
|
====== Rpm Redline ======
| ''float''
| <code style="display: block">RPM</code>
| Redline RPM

'''This parameter is currently ignored'''
|-
|
====== Rpm Max ======
| ''float''
| <code style="display: block">RPM</code>
| Maximum RPM
|-
|
====== Steepness ======
| ''float''
|
| Controls how fast engine can reach max torque. It can be used to flatten the torque curve before max torque rpm are reached
|-
|
====== Friction ======
| ''float''
|
| Engine's braking torque
|-
|
====== Output ======
|
|
| Powertrain part driven by the engine (clutch)
|
|}

==== Clutch ====

{| class="wikitable sortable"
! Param
! Type
! Unit
! Description
|-
|
====== Max Clutch Torque ======
| ''float''
| <code style="display: block">Nm</code>
| Maximum torque that clutch can provide. (1.6*MaxTorque can be a good starting point)

'''This parameter is currently ignored'''
|-
|
====== Output ======
|
|
| Powertrain part driven by the clutch (gearbox)
|}

==== Gearbox ====

{| class="wikitable sortable"
! Param
! Type
! Unit
! Description
|-
|
====== Reverse ======
| ''float''
|
| Reverse gear ratio
|-
|
====== Forward ======
| ''array of floats''
|
| Array of forward gear ratios, order of the values are mapped to gears respectively
|-
|
====== Efficiency ======
| ''float''
|
| Transmission efficiency - scales the engine output passed down
|-
|
====== Output ======
|
|
| Powertrain part driven by the gearbox (differential)
|}

==== Differentials ====
{| class="wikitable"
! Param
! Type
! Unit
! Description
|-
| rowspan="2" |
====== Type ======
| '''Open'''
|
| Same torque on both outputs, different rotational speeds
|-
| '''LSD'''
|
| Limited slip differential - limiting rotational difference between outputs. Opens Anti slip and Anti slip torque parameters.
|-
|
====== Ratio ======
| ''float''
|
| Differential ratio (sometime "final drive")
|-
|
====== Strength ======
| ''float''
|
| Determines the magnitude of the extra force that is applied to the gripping wheel
|-
|
====== Output0 ======
|
|
| rowspan="2" |Powertrain parts driven by the differential (other differential or axle differential)
|-
|
====== Output1 ======
|
|
|}

==== Axles ====

{| class="wikitable sortable"
! Param
! Type
! Unit
! Description
|-
|
====== Torque Share ======
| ''float''
|
| Defines how much torque is delivered to this axle. Sum of Torque Share for all axles should be equal to 1
|-
|
====== Has Handbrake ======
| ''bool''
|
| Determines whether this axle is used for handbrakes. Handbrake force is same as Brake Torque
|}

===== (Axle) Differential =====
{| class="wikitable"
! Param
! Type
! Unit
! Description
|-
| colspan="4" |<same as differentials>
|-
|
====== Output0 ======
|
|
| rowspan="2" |Driven wheels
|-
|
====== Output1 ======
|
|
|}

===== Suspension =====
Accelerating/braking/turning should noticeably shift the weight of the vehicle. Weight shifting affects the grip of the tires - allowing more grip on the side with more weight. Center of mass should be set realistically high and the tendency to roll should be limited by a sway (anti-roll) bar if necesary, not by setting the CoM below the vehicle or just the wheel center.

{| class="wikitable sortable"
! Param
! Type
! Unit
! Description
|-
|
====== Max Steering Angle ======
| ''float''
| <code style="display: block">degrees</code>
| Specifies the maximum steering angle of this axle, if negative value is given, the axis will steer in opposite direction of the steering wheel.
|-
|
====== Spring Rate ======
| ''float''
|
 N/mm
| Spring force per mm.
|-
|
====== Compression Damper ======
| ''float''
|
 Ns/m
| Compression damper force per 1m/s.
|-
|
====== Relaxation Damper ======
| ''float''
|
 Ns/m
| Relaxation damper force per 1m/s.
|-
|
====== Max Travel Up ======
| ''float''
| <code style="display: block">m</code>
| Maximum distance that the suspension can be compressed from modeled position. Standard cars 0.06 - 0.1 m. Off-road cars >0.1 m.
|-
|
====== Max Travel Down ======
| ''float''
| <code style="display: block">m</code>
| Maximum distance that the suspension can be expanded from modeled position. Standard cars 0.07 - 0.12 m. Off-road cars >0.1 m.
|}

===== Wheel =====

{| class="wikitable sortable"
! Param
! Type
! Unit
! Description
|-
|
====== Radius ======
| ''float''
| <code style="display: block">m</code>
| Radius of the wheel
|-
|
====== Ratio ======
| ''float''
|
| Wheel reduction ratio
|-
|
====== Mass ======
| ''float''
| <code style="display: block">kg</code>
| Mass of the wheel on this axle
|-
|
====== Brake Torque ======
| ''float''
| <code style="display: block">Nm</code>
| Amount of brake torque applied to each wheel on this axle
|}

===== Tyre =====

{| class="wikitable sortable"
! Param
! Type
! Unit
! Description
|-
|
====== Rolling Resistance ======
| ''float''
|
| '''Currently not used in game '''

Linearly proportional to speed. Acts against the wheel torque. For limiting acceleration. (in addition to surface property)
|-
|
====== Rolling Drag ======
| ''float''
|
| '''Currently not used in game '''

Proportional to speed squared. For limiting high speeds. (in addition to surface property)
|-
|
====== Roughness ======
| ''float''
| <code style="display: block">m</code>
| Bumpiness height - how bumpy is the wheel itself (in addition to surface property)
|-
|
====== Longitudinal Friction ======
| ''float''
|
| Directly affects tyre grip in longitudinal direction
|-
|
====== Lateral Friction ======
| ''float''
|
| Directly affects tyre grip in lateral direction
|-
|
====== Tread ======
| ''float''
|
| Ratio of the "Thread" - related to how well wheel performs on specific surface.
|}

===== Swaybar =====

{| class="wikitable sortable"
! Param
! Type
! Unit
! Description
|-
|
====== Stiffness ======
| ''float''
| <code style="display: block">N</code>
| Sway bar stiffness ( anti-roll force )
|}

===== WheelPositions =====

==== Inertia ====

[[Image:armareforger-vehicle-wheeled-inertia.png|right]]
* '''InertiaOverrideEnable'''
** Enables manual override of vehicle inertia - the way how to "simulate" mass distribution on the vehicle.
* '''InertiaOverride'''
** Inertia values around each axis. Copy initial values from diag or via context menu opened on <code style="display: block">VehicleWheeledSimulation</code> on the Entity instance (you have to ''Apply to prefab'' later)
{{Clear}}

===== Aerodynamics =====

{| class="wikitable sortable"
! Param
! Type
! Unit
! Description
|-
|
====== Reference Area ======
| ''float''
| <code style="display: block">m<sup>2</sup></code>
| Drag reference area - see following page for more details <nowiki>https://en.wikipedia.org/wiki/Automobile_drag_coefficient#Drag_area</nowiki>
|-
|
====== Drag coefficient ======
| ''float''
|
| Drag coefficient - see following page for more details <nowiki>https://en.wikipedia.org/wiki/Automobile_drag_coefficient#Typical_drag_coefficients</nowiki>
|}

==== Pacejka ====
[[Image:armareforger-vehicle-wheeled-pacejka.png|right]]
* <nowiki>https://www.edy.es/dev/docs/pacejka-94-parameters-explained-a-comprehensive-guide/</nowiki>
* <nowiki>http://www.racer.nl/pacejka/pacplay.htm</nowiki>

Fill in initial values via context menu opened on <code style="display: block">VehicleWheeledSimulation</code> on the Entity instance (you have to ''Apply to prefab'' later)
{{Clear}}
===== Longitudinal =====


{| class="wikitable sortable"
! Param
! Role
! Units
! Typical range
! Sample
! Description
! Dependency
|-
====== b0 ======
| Shape factor
|
| <code style="display: block">1.4 .. 1.8</code>
| <code style="display: block">1.5</code>
| General shape of the curve. Defines the amount of falloff after the peak.
''The Pacejka model defines b0 = 1.65 for the longitudinal force.''
| ''Load-independent''
|-
|
====== b1 ======
| Load influence on longitudinal friction coefficient (*1000)
| <code style="display: block">1/kN</code>
| <code style="display: block">-80 .. +80</code>
| <code style="display: block">0</code>
| Change of the friction coefficient at the peak.

Positive = more friction with more load. Negative = less friction with more load.
| Load-dependent
|-
|
====== b2 ======
| Longitudinal friction coefficient (*1000)
|
| <code style="display: block">900 .. 1700</code>
| <code style="display: block">1100</code>
| Friction coefficient at the peak (vertical coordinate) *1000.
| ''Load-independent''
|-
|
====== b3 ======
| Curvature factor of stiffness/load
| <code style="display: block">N/%/kN^2</code>
| <code style="display: block">-20 .. +20</code>
| <code style="display: block">0</code>
| Change of the peak’s horizontal position.

Positive = increases ascent rate with load (moves to the left). Negative = decreases ascent rate with load (moves to the right).
| Load-dependent
|-
|
====== b4 ======
| Change of stiffness with slip
| <code style="display: block">N/%</code>
| <code style="display: block">100 .. 500</code>
| <code style="display: block">300</code>
| Peak’s horizontal position specified as “ascent rate”.
| ''Load-independent''
|-
|
====== b5 ======
| Change of progressivity of stiffness/load
| <code style="display: block">1/kN</code>
| <code style="display: block">-1 .. +1</code>
| <code style="display: block">0</code>
| Lineal change of the peak’s horizontal position. Similar to b3 but more lineal and with reverse effect positive-negative.

Positive = decreases ascent rate with load. Negative = increases ascent rate with load.
| Load-dependent
|-
|
====== b6 ======
| Curvature change with load^2
|
| <code style="display: block">-0.1 .. +0.1</code>
| <code style="display: block">0</code>
| Quadratic change of the curvature at the peak.

Positive = more flat with load. Negative = sharper with load.
| Load-dependent
|-
|
====== b7 ======
| Curvature change with load
|
| <code style="display: block">-1 .. +1</code>
| <code style="display: block">0</code>
| Change of the curvature at the peak. Same as b6 but more lineal.

Positive = more flat with load. Negative = sharper with load.
| Load-dependent
|-
|
====== b8 ======
| Curvature factor
|
| <code style="display: block">-20 .. +1</code>
| <code style="display: block">-2</code>
| Curvature at the peak. The more negative = more “sharp”. Has influence on the falloff afterwards.
| ''Load-independent''
|-
|
====== b9 ======
| Load influence on horizontal shift
| <code style="display: block">%/kN</code>
| <code style="display: block">-1 .. +1</code>
| <code style="display: block">0</code>
| Change of the horizontal shift.

Positive = shifts to the left with more load. Negative = shifts to the right with more load.
| Load-dependent
|-
|
====== b10 ======
| Horizontal shift
| <code style="display: block">%</code>
| <code style="display: block">-5 .. +5</code>
| <code style="display: block">0</code>
| Curve’s horizontal shift
| ''Load-independent''
|}

===== Lateral =====

{| class="wikitable sortable"
! Param
! Role
! Units
! Typical range
! Sample
! Description
! Dependency
|-
====== a0 ======
| Shape factor
|
| <code style="display: block">1.2 .. 18</code>
| <code style="display: block">1.4</code>
| General shape of the curve. Defines the amount of falloff after the peak.
''The Pacejka model defines a0 = 1.3 for the lateral force.''
|
|-
|
====== a1 ======
| Load influence on lateral friction coefficient (*1000)
| <code style="display: block">1/kN</code>
| <code style="display: block">-80 .. +80</code>
| <code style="display: block">0</code>
| Change of the friction coefficient at the peak.

Positive = more friction with more load. Negative = less friction with more load.
| Load-dependent
|-
|
====== a2 ======
| Lateral friction coefficient (*1000)
|
| <code style="display: block">900 .. 1700</code>
| <code style="display: block">1100</code>
| Friction coefficient at the peak (vertical coordinate) *1000.
|
|-
|
====== a3* ======
| Change of stiffness with slip
| <code style="display: block">N/deg</code>
| <code style="display: block">500 .. 2000</code>
| <code style="display: block">1100</code>
| Peak’s horizontal position at the reference load, specified as “ascent rate”.
|
|-
|
====== a4* ======
| Change of progressivity of stiffness / load
| <code style="display: block">1/kN</code>
| <code style="display: block">0 .. 50</code>
| <code style="display: block">10</code>
| Change of the peak’s horizontal position with load. Smaller value = bigger change with load.
|
|-
|
====== a5 ======
| Camber influence on stiffness
| <code style="display: block">%/deg/100</code>
| <code style="display: block">-0.1 .. +0.1</code>
| <code style="display: block">0</code>
| Change of the peak’s horizontal position.

Positive = decreases ascent rate with camber (moves to the right).

Negative = increases ascent rate with load (moves to the left).
| Camber-dependent
|-
|
====== a6 ======
| Curvature change with load
|
| <code style="display: block">-2 .. +2</code>
| <code style="display: block">0</code>
| Change of the curvature at the peak.

Positive = more flat with load. Negative = sharper with load.
| Load-dependent
|-
|
====== a7 ======
| Curvature factor
|
| <code style="display: block">-20 .. +1</code>
| <code style="display: block">-2</code>
| Curvature at the peak. The more negative = more “sharp”. Has influence on the falloff afterwards
|
|-
|
====== a8 ======
| Load influence on horizontal shift
| <code style="display: block">deg/kN</code>
| <code style="display: block">-1 .. +1</code>
| <code style="display: block">0</code>
| Change of the horizontal shift.

Positive = shifts to the left with more load. Negative = shifts to the right with more load.
| Load-dependent
|-
|
====== a9 ======
| Horizontal shift at load = 0 and camber = 0
| <code style="display: block">deg</code>
| <code style="display: block">-1 .. +1</code>
| <code style="display: block">0</code>
| Curve’s horizontal shift
|
|-
|
====== a10 ======
| Camber influence on horizontal shift
| <code style="display: block">deg/deg</code>
| -0.1 .. +0.1
| 0
| Change of the horizontal shift.

Same sign as camber = shifts to the left. Opposite sign as camber = shifts to the right.
| Camber-dependent
|-
|
====== a11 ======
| Vertical shift
| <code style="display: block">N</code>
| -200 .. +200
| 0
| Curve’s vertical shift
|
|-
|
====== a12 ======
| Vertical shift at load = 0
| <code style="display: block">N</code>
| -10 .. +10
| 0
| Vertical shift when approaching zero load.

Must be verified for coherency at the configured minimum load.
| Load-dependent
|-
|
====== a13 ======
| Camber influence on vertical shift, load dependent
| <code style="display: block">N/deg/kN</code>
| -10 .. +10
| 0
| Change of the vertical shift according to camber and load.

Same sign as camber = shifts upwards. Opposite sign as camber = shifts downwards.

The more load the more camber effect.
| Camber-dependent
|-
|
====== a14 ======
| Camber influence on vertical shift
| <code style="display: block">N/deg</code>
| -15 .. +15
| 0
| Change of the vertical shift.

Same sign as camber = shifts upwards. Opposite sign as camber = shifts downwards.
| Camber-dependent
|}
<sup>* Configure the horizontal behavior with load</sup>

===== Aligning =====

{| class="wikitable sortable"
! Param
! Role
! Units
! Typical range
! Sample
! Description
! Dependency
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====== c2 ======
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====== c3 ======
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====== c6 ======
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====== c7 ======
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====== c9 ======
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====== c18 ======
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|}

==== RaycastLayer ====

* LayerPreset in which the wheel raycast is performed (should be "Vehicle")


== RigidBody and Center of Mass ==

* All vehicles are set to curb weight (assuming dynamic weight could happen at some point in the future)
* Center of Mass plays a crucial role in vehicle handling - it should be high enough to allow for weight shifting and changes in the wheel grip due to the changing pressure.


{{GameCategory|armaR|Modding|Guidelines|Assets}}