Branch data     Line data    Source code

       1                 :             : #include "FFBEngine.h"
       2                 :             : #include "Logger.h"
       3                 :             : #include <cmath>
       4                 :             : #include <algorithm>
       5                 :             : 
       6                 :             : // ---------------------------------------------------------------------------
       7                 :             : // Steering & Wheel Mechanics methods have been moved from FFBEngine.cpp.
       8                 :             : // This includes the Soft Lock logic which prevents the wheel from rotating
       9                 :             : // beyond the car's physical steering rack limits.
      10                 :             : // ---------------------------------------------------------------------------
      11                 :             : 
      12                 :             : // Helper: Calculate Soft Lock (v0.7.61 - Issue #117)
      13                 :             : // Provides a progressive spring-damping force when the wheel exceeds 100% lock.
      14                 :       15838 : void FFBEngine::calculate_soft_lock(const TelemInfoV01* data, FFBCalculationContext& ctx) {
      15                 :       15838 :     ctx.soft_lock_force = 0.0;
      16         [ +  + ]:       15838 :     if (!m_soft_lock_enabled) return;
      17                 :             : 
      18                 :       15830 :     double steer = data->mUnfilteredSteering;
      19         [ +  + ]:       15830 :     if (!std::isfinite(steer)) return;
      20                 :             : 
      21                 :       15828 :     double abs_steer = std::abs(steer);
      22         [ +  + ]:       15828 :     if (abs_steer > 1.0) {
      23         [ +  + ]:         132 :         if (!m_safety.was_soft_locked) {
      24   [ +  -  +  - ]:          13 :             Logger::Get().LogFile("[Safety] Soft Lock Engaged: Steering %.1f%%", steer * 100.0);
      25                 :          13 :             m_safety.was_soft_locked = true;
      26                 :             :         }
      27                 :             : 
      28                 :         132 :         double excess = abs_steer - 1.0;
      29         [ +  + ]:         132 :         double sign = (steer > 0.0) ? 1.0 : -1.0;
      30                 :             : 
      31                 :             :         // NEW: Steep Spring Ramp reaching hardware max torque quickly.
      32                 :             :         // This ensures the soft lock feels like a solid wall that doesn't "give"
      33                 :             :         // under pressure, even at zero velocity.
      34                 :             :         // At stiffness 20 (default), reaches 100% force at 0.25% excess.
      35                 :             :         // At stiffness 100 (max), reaches 100% force at 0.05% excess.
      36                 :         132 :         double stiffness = (double)(std::max)(1.0f, m_soft_lock_stiffness);
      37                 :         132 :         double excess_for_max = 5.0 / (stiffness * 100.0);
      38                 :         132 :         double spring_nm = (std::min)(1.0, excess / excess_for_max) * (double)m_wheelbase_max_nm * 2.0;
      39                 :             : 
      40                 :             :         // Damping Force: opposes movement to prevent bouncing.
      41                 :             :         // Scaled by hardware torque to remain relevant across all wheelbases.
      42                 :         132 :         double damping_nm = m_steering_velocity_smoothed * m_soft_lock_damping * (double)m_wheelbase_max_nm * 0.1;
      43                 :         132 :         damping_nm = std::clamp(damping_nm, -(double)m_wheelbase_max_nm * 0.5, (double)m_wheelbase_max_nm * 0.5);
      44                 :             : 
      45                 :             :         // Total Soft Lock force (opposing the steering direction)
      46                 :         132 :         ctx.soft_lock_force = -(spring_nm * sign + damping_nm);
      47                 :             : 
      48   [ +  -  +  +  :         132 :         if (std::abs(ctx.soft_lock_force) > 5.0 && !m_safety.soft_lock_significant) {
                   +  + ]
      49   [ +  -  +  - ]:          13 :             Logger::Get().LogFile("[Safety] Soft Lock Significant Influence: %.1f Nm", ctx.soft_lock_force);
      50                 :          13 :             m_safety.soft_lock_significant = true;
      51         [ -  + ]:         119 :         } else if (std::abs(ctx.soft_lock_force) < 4.0) {
      52                 :           0 :             m_safety.soft_lock_significant = false;
      53                 :             :         }
      54                 :             :     } else {
      55         [ +  + ]:       15696 :         if (m_safety.was_soft_locked) {
      56                 :           1 :             Logger::Get().LogFile("[Safety] Soft Lock Disengaged");
      57                 :           1 :             m_safety.was_soft_locked = false;
      58                 :             :         }
      59                 :       15696 :         m_safety.soft_lock_significant = false;
      60                 :             :     }
      61                 :             : }