From 0905876b993ab39794fd626f116df05360bd1e93 Mon Sep 17 00:00:00 2001
From: Valera <108022376+kekobka@users.noreply.github.com>
Date: Fri, 18 Jul 2025 16:05:48 +0700
Subject: [PATCH] update
---
Assets/frictions/default.tire | 54 +----
Code/Base/VeloXBase.Phys.cs | 19 +-
Code/Base/Wheel/Pacejka.cs | 314 +++---------------------------
Code/Base/Wheel/VeloXWheel.cs | 268 +++++++++++++------------
Code/Car/VeloXCar.Steering.cs | 8 +-
Code/Utils/PhysicsExtensions.cs | 91 ++++-----
Editor/Wheel/PacejkaWidget.cs | 46 +----
Editor/Wheel/TirePresetEditor.cs | 70 -------
Editor/Wheel/TirePresetPreview.cs | 229 ++++++++++------------
9 files changed, 347 insertions(+), 752 deletions(-)
delete mode 100644 Editor/Wheel/TirePresetEditor.cs
diff --git a/Assets/frictions/default.tire b/Assets/frictions/default.tire
index 728b15d..c64e7a2 100644
--- a/Assets/frictions/default.tire
+++ b/Assets/frictions/default.tire
@@ -1,54 +1,16 @@
{
"Pacejka": {
"Lateral": {
- "a0": 1.4,
- "a1": -0,
- "a2": 1688,
- "a3": 2400,
- "a4": 6.026,
- "a5": 0,
- "a6": -0.359,
- "a7": 1,
- "a8": 0,
- "a9": 0,
- "a10": 0,
- "a111": 0,
- "a112": 0,
- "a12": 0,
- "a13": 0
+ "B": 12,
+ "C": 1.3,
+ "D": 1.8,
+ "E": -1.8
},
"Longitudinal": {
- "b0": 1.65,
- "b1": 0,
- "b2": 1690,
- "b3": 0,
- "b4": 229,
- "b5": 0,
- "b6": 0,
- "b7": 0,
- "b8": -10,
- "b9": 0,
- "b10": 0
- },
- "Aligning": {
- "c0": 2,
- "c1": -3.8,
- "c2": -3.14,
- "c3": -1.16,
- "c4": -7.2,
- "c5": 0,
- "c6": 0,
- "c7": 0.044,
- "c8": -0.58,
- "c9": 0.18,
- "c10": 0,
- "c11": 0,
- "c12": 0,
- "c13": 0,
- "c14": 0.14,
- "c15": -1.029,
- "c16": 0,
- "c17": 0
+ "B": 10.86,
+ "C": 2.15,
+ "D": 2,
+ "E": 0.992
}
},
"RollResistanceLin": 0.001,
diff --git a/Code/Base/VeloXBase.Phys.cs b/Code/Base/VeloXBase.Phys.cs
index 8c52b3f..79d90cf 100644
--- a/Code/Base/VeloXBase.Phys.cs
+++ b/Code/Base/VeloXBase.Phys.cs
@@ -1,4 +1,7 @@
-namespace VeloX;
+using Sandbox;
+using System;
+
+namespace VeloX;
public abstract partial class VeloXBase
{
@@ -19,6 +22,20 @@ public abstract partial class VeloXBase
foreach ( var v in Wheels )
if ( v.AutoPhysics ) v.DoPhysics( this );
+ var totalSpeed = TotalSpeed + Math.Abs( Body.AngularVelocity.z );
+
+ var factor = 1 - Math.Clamp( totalSpeed / 30, 0, 1 );
+
+ if ( factor > 0.1f )
+ {
+ var vel = Body.Velocity;
+
+ var rt = WorldRotation.Right;
+
+ var force = rt.Dot( vel ) / Time.Delta * mass * factor * rt;
+ Body.ApplyForce( -force );
+ }
+
Body.ApplyTorque( angForce );
}
}
diff --git a/Code/Base/Wheel/Pacejka.cs b/Code/Base/Wheel/Pacejka.cs
index ac3dde6..65c8b1d 100644
--- a/Code/Base/Wheel/Pacejka.cs
+++ b/Code/Base/Wheel/Pacejka.cs
@@ -1,303 +1,43 @@
using Sandbox;
using Sandbox.Services;
using System;
+using System.Threading;
namespace VeloX;
public class Pacejka
{
- public struct LateralForce()
+ public class PacejkaPreset
{
- [Description( "Shape factor" )]
- [Range( 1, 3 )] public float a0 { get; set; } = 1.4f; // 0
+ [KeyProperty] public float B { get; set; } = 10.86f;
+ [KeyProperty] public float C { get; set; } = 2.15f;
+ [KeyProperty] public float D { get; set; } = 0.933f;
+ [KeyProperty] public float E { get; set; } = 0.992f;
- [Description( "Load infl on lat friction coeff (*1000) (1/kN)" )]
- [Range( -100, 100 )] public float a1 { get; set; } = -0f; // 1
+ public float Evaluate( float slip ) => D * MathF.Sin( C * MathF.Atan( B * slip - E * (B * slip - MathF.Atan( B * slip )) ) );
- [Description( "Lateral friction coefficient at load = 0 (*1000)" )]
- [Range( 1, 2500 )] public float a2 { get; set; } = 1688f; // 2
-
- [Description( "Maximum stiffness (N/deg)" )]
- [Range( 1, 5000 )] public float a3 { get; set; } = 2400f; // 3
-
- [Description( "Load at maximum stiffness (kN)" )]
- [Range( -100, 100 )] public float a4 { get; set; } = 6.026f; // 4
-
- [Description( "Camber infiuence on stiffness (%/deg/100)" )]
- [Range( -10, 10 )] public float a5 { get; set; } = 0f; // 5
-
- [Description( "Curvature change with load" )]
- [Range( -10, 10 )] public float a6 { get; set; } = -0.359f; // 6
-
- [Description( "Curvature at load = 0" )]
- [Range( -10, 10 )] public float a7 { get; set; } = 1.0f; // 7
-
- [Description( "Horizontal shift because of camber (deg/deg)" )]
- [Range( -10, 10 )] public float a8 { get; set; } = 0f; // 8
-
- [Description( "Load influence on horizontal shift (deg/kN)" )]
- [Range( -10, 10 )] public float a9 { get; set; } = 0;// 9
-
- [Description( "Horizontal shift at load = 0 (deg)" )]
- [Range( -10, 10 )] public float a10 { get; set; } = 0;// 10
-
- [Description( "Camber influence on vertical shift (N/deg/kN)" )]
- [Range( -10, 100 )] public float a111 { get; set; } = 0f; // 11
-
- [Description( "Camber influence on vertical shift (N/deg/kN**2" )]
- [Range( -10, 10 )] public float a112 { get; set; } = 0f; // 12
-
- [Description( "Load influence on vertical shift (N/kN)" )]
- [Range( -100, 100 )] public float a12 { get; set; } = 0f; // 13
-
- [Description( "Vertical shift at load = 0 (N)" )]
- [Range( -10, 10 )] public float a13 { get; set; } = 0f; // 14
- }
-
- public struct LongitudinalForce()
- {
- [Description( "Shape factor" )]
- [Range( 1, 3 )] public float b0 { get; set; } = 1.65f; // 0
-
- [Description( "Load infl on long friction coeff (*1000) (1/kN)" )]
- [Range( -300, 300 )] public float b1 { get; set; } = 0f; // 1
-
- [Description( "Longitudinal friction coefficient at load = 0 (*1000)" )]
- [Range( 0, 10000 )] public float b2 { get; set; } = 1690f; // 2
-
- [Description( "Curvature factor of stiffness (N/%/kN**2)" )]
- [Range( -100, 100 )] public float b3 { get; set; } = 0f; // 3
-
- [Description( "Change of stiffness with load at load = 0 (N/%/kN)" )]
- [Range( -1000, 1000 )] public float b4 { get; set; } = 229f; // 4
-
- [Description( "Change of progressivity of stiffness/load (1/kN)" )]
- [Range( -10, 10 )] public float b5 { get; set; } = 0f; // 5
-
- [Description( "Curvature change with load" )]
- [Range( -10, 10 )] public float b6 { get; set; } = 0f; // 6
-
- [Description( "Curvature change with load" )]
- [Range( -10, 10 )] public float b7 { get; set; } = 0f; // 7
-
- [Description( "Curvature at load = 0" )]
- [Range( -10, 10 )] public float b8 { get; set; } = -10f; // 7
-
- [Description( "Load influence on horizontal shift (%/kN)" )]
- [Range( -10, 10 )] public float b9 { get; set; } = 0f; // 9
-
- [Description( "Horizontal shift at load = 0 (%)" )]
- [Range( -10, 10 )] public float b10 { get; set; } = 0f; // 10
- }
-
-
- public struct AligningMoment()
- {
- [Description( "Shape factor" )]
- [Range( 1, 7 )] public float c0 { get; set; } = 2.0f; // 0
-
- [Description( "Load influence of peak value (Nm/kN**2)" )]
- [Range( -10, 10 )] public float c1 { get; set; } = -3.8f; // 1
-
- [Description( "Load influence of peak value (Nm/kN)" )]
- [Range( -10, 10 )] public float c2 { get; set; } = -3.14f; // 2
-
- [Description( "Curvature factor of stiffness (Nm/deg/kN**2" )]
- [Range( -10, 10 )] public float c3 { get; set; } = -1.16f; // 3
-
- [Description( "Change of stiffness with load at load = 0 (Nm/deg/kN)" )]
- [Range( -100, 100 )] public float c4 { get; set; } = -7.2f; // 4
-
- [Description( "Change of progressivity of stiffness/load (1/kN)" )]
- [Range( -10, 10 )] public float c5 { get; set; } = 0.0f; // 5
-
- [Description( "Camber influence on stiffness (%/deg/100)" )]
- [Range( -10, 10 )] public float c6 { get; set; } = 0.0f; // 6
-
- [Description( "Curvature change with load" )]
- [Range( -10, 10 )] public float c7 { get; set; } = 0.044f; // 7
-
- [Description( "Curvature change with load" )]
- [Range( -10, 10 )] public float c8 { get; set; } = -0.58f; // 8
-
- [Description( "Curvature at load = 0" )]
- [Range( -10, 10 )] public float c9 { get; set; } = 0.18f; // 9
-
- [Description( "Camber influence of stiffness" )]
- [Range( -10, 10 )] public float c10 { get; set; } = 0.0f; // 10
-
- [Description( "Camber influence on horizontal shift (deg/deg)" )]
- [Range( -10, 10 )] public float c11 { get; set; } = 0.0f; // 11
-
- [Description( "Load influence on horizontal shift (deg/kN)" )]
- [Range( -10, 10 )] public float c12 { get; set; } = 0.0f; // 12
-
- [Description( "Horizontal shift at load = 0 (deg)" )]
- [Range( -10, 10 )] public float c13 { get; set; } = 0.0f; // 13
-
- [Description( "Camber influence on vertical shift (Nm/deg/kN**2" )]
- [Range( -10, 10 )] public float c14 { get; set; } = 0.14f; // 14
-
- [Description( "Camber influence on vertical shift (Nm/deg/kN)" )]
- [Range( -10, 10 )] public float c15 { get; set; } = -1.029f; // 15
-
- [Description( "Load influence on vertical shift (Nm/kN)" )]
- [Range( -10, 10 )] public float c16 { get; set; } = 0.0f; // 16
-
- [Description( "Vertical shift at load = 0 (Nm)" )]
- [Range( -10, 10 )] public float c17 { get; set; } = 0.0f; // 17
- }
- public struct CombiningForce
- {
- public float gy1 = 1; // 0
- public float gy2 = 1; // 1
- public float gx1 = 1; // 2
- public float gx2 = 1f; // 3
-
- public CombiningForce()
+ public float GetPeakSlip()
{
+ float peakSlip = -1;
+ float yMax = 0;
+
+ for ( float i = 0; i < 1f; i += 0.01f )
+ {
+ float y = Evaluate( i );
+ if ( y > yMax )
+ {
+ yMax = y;
+ peakSlip = i;
+ }
+ }
+
+ return peakSlip;
}
+
}
+ public PacejkaPreset Lateral { get; set; } = new();
+ public PacejkaPreset Longitudinal { get; set; } = new();
- public LateralForce Lateral { get; set; } = new();
- public LongitudinalForce Longitudinal { get; set; } = new();
- public AligningMoment Aligning { get; set; } = new();
- public CombiningForce Combining = new();
-
-
-
- /// pacejka magic formula for longitudinal force
- public float PacejkaFx( float sigma, float Fz, float friction_coeff, out float maxforce_output )
- {
- var b = Longitudinal;
-
- // shape factor
- float C = b.b0;
-
- // peak factor
- float D = (b.b1 * Fz + b.b2) * Fz;
-
- // stiffness at sigma = 0
- float BCD = (b.b3 * Fz + b.b4) * Fz * MathF.Exp( -b.b5 * Fz );
-
- // stiffness factor
- float B = BCD / (C * D);
-
- // curvature factor
- float E = (b.b6 * Fz + b.b7) * Fz + b.b8;
-
- // horizontal shift
- float Sh = b.b9 * Fz + b.b10;
-
- // composite
- float S = 100 * sigma + Sh;
-
- // longitudinal force
- float BS = B * S;
- float Fx = D * MathF.Sin( C * MathF.Atan( BS - E * (BS - MathF.Atan( BS )) ) );
-
- // scale by surface friction
- Fx *= friction_coeff;
- maxforce_output = D;
-
- return Fx;
- }
-
- /// pacejka magic formula for lateral force
- public float PacejkaFy( float alpha, float Fz, float gamma, float friction_coeff, out float camber_alpha )
- {
- var a = Lateral;
-
- // shape factor
- float C = a.a0;
-
- // peak factor
- float D = (a.a1 * Fz + a.a2) * Fz;
-
- // stiffness at alpha = 0
- float BCD = a.a3 * MathF.Atan2( Fz, a.a4 ) * (1 - a.a5 * MathF.Abs( gamma ));
- // stiffness factor
- float B = BCD / (C * D);
-
- // curvature factor
- float E = a.a6 * Fz + a.a7;
-
- // horizontal shift
- float Sh = a.a8 * gamma + a.a9 * Fz + a.a10;
-
- // vertical shift
- float Sv = ((a.a111 * Fz + a.a112) * gamma + a.a12) * Fz + a.a13;
-
- // composite slip angle
- float S = alpha + Sh;
-
- // lateral force
- float BS = B * S;
- float Fy = D * MathF.Sin( C * MathF.Atan( BS - E * (BS - MathF.Atan( BS )) ) ) + Sv;
-
- // scale by surface friction
- Fy *= friction_coeff;
- camber_alpha = Sh + Sv / BCD * friction_coeff;
-
- return Fy;
- }
-
- /// pacejka magic formula for aligning torque
- public float PacejkaMz( float alpha, float Fz, float gamma, float friction_coeff )
- {
- var c = Aligning;
-
- // shape factor
- float C = c.c0;
-
- // peak factor
- float D = (c.c1 * Fz + c.c2) * Fz;
-
- // stiffness at alpha = 0
- float BCD = (c.c3 * Fz + c.c4) * Fz * (1 - c.c6 * MathF.Abs( gamma )) * MathF.Exp( -c.c5 * Fz );
-
- // stiffness factor
- float B = BCD / (C * D);
-
- // curvature factor
- float E = (c.c7 * Fz * Fz + c.c8 * Fz + c.c9) * (1 - c.c10 * MathF.Abs( gamma ));
-
- // horizontal shift
- float Sh = c.c11 * gamma + c.c12 * Fz + c.c13;
-
- // composite slip angle
- float S = alpha + Sh;
-
- // vertical shift
- float Sv = (c.c14 * Fz * Fz + c.c15 * Fz) * gamma + c.c16 * Fz + c.c17;
-
- // self-aligning torque
- float BS = B * S;
- float Mz = D * MathF.Sin( C * MathF.Atan( BS - E * (BS - MathF.Atan( BS )) ) ) + Sv;
-
- // scale by surface friction
- Mz *= friction_coeff;
-
- return Mz;
- }
-
- /// pacejka magic formula for the longitudinal combining factor
- public float PacejkaGx( float sigma, float alpha )
- {
- var p = Combining;
- float a = p.gx2 * sigma;
- float b = p.gx1 * alpha;
- float c = a * a + 1;
- return MathF.Sqrt( c / (c + b * b) );
- }
-
- /// pacejka magic formula for the lateral combining factor
- public float PacejkaGy( float sigma, float alpha )
- {
- var p = Combining;
- float a = p.gy2 * alpha;
- float b = p.gy1 * sigma;
- float c = a * a + 1;
- return MathF.Sqrt( c / (c + b * b) );
- }
+ public float PacejkaFx( float slip ) => Longitudinal.Evaluate( slip );
+ public float PacejkaFy( float slip ) => Lateral.Evaluate( slip );
}
diff --git a/Code/Base/Wheel/VeloXWheel.cs b/Code/Base/Wheel/VeloXWheel.cs
index 9855dfc..4908d34 100644
--- a/Code/Base/Wheel/VeloXWheel.cs
+++ b/Code/Base/Wheel/VeloXWheel.cs
@@ -1,8 +1,10 @@
using Sandbox;
using Sandbox.Rendering;
using Sandbox.Services;
+using Sandbox.UI;
using System;
using System.Collections.Specialized;
+using System.Diagnostics.Metrics;
using System.Numerics;
using System.Text.RegularExpressions;
using System.Threading;
@@ -23,8 +25,8 @@ public partial class VeloXWheel : Component
[Property] public float SlipCircleShape { get; set; } = 1.05f;
[Property] public TirePreset TirePreset { get; set; }
[Property] public float Width { get; set; } = 6;
- public float SideSlip => sideFriction.Slip.MeterToInch();
- public float ForwardSlip => forwardFriction.Slip.MeterToInch();
+ public float SideSlip { get; private set; }
+ public float ForwardSlip { get; private set; }
[Sync] public float Torque { get; set; }
[Sync, Range( 0, 1 )] public float Brake { get; set; }
[Property] float BrakePowerMax { get; set; } = 3000;
@@ -64,8 +66,8 @@ public partial class VeloXWheel : Component
private Vector3 right;
private Vector3 up;
- private Friction forwardFriction;
- private Friction sideFriction;
+ private float forwardFriction;
+ private float sideFriction;
private Vector3 force;
public float CounterTorque { get; private set; }
@@ -111,9 +113,101 @@ public partial class VeloXWheel : Component
private static float GetLongitudinalLoadCoefficient( float load ) => 11000 * (1 - MathF.Exp( -0.00014f * load ));
private static float GetLateralLoadCoefficient( float load ) => 18000 * (1 - MathF.Exp( -0.0001f * load ));
- float lastload;
private float inertia;
+
+ private (float, float, float, float) StepLongitudinal( float Tm, float Tb, float Vx, float W, float Lc, float R, float I )
+ {
+ float wInit = W;
+ float vxAbs = Math.Abs( Vx );
+ float Sx;
+ if ( Lc < 0.01f )
+ {
+ Sx = 0;
+ }
+ else if ( vxAbs >= 0.01f )
+ {
+ Sx = (W * R - Vx) / vxAbs;
+ }
+ else
+ {
+ Sx = (W * R - Vx) * 0.6f;
+ }
+
+ Sx = Math.Clamp( Sx, -1, 1 );
+
+ W += Tm / I * Time.Delta;
+
+ Tb *= W > 0 ? -1 : 1;
+
+ float tbCap = Math.Abs( W ) * I / Time.Delta;
+ float tbr = Math.Abs( Tb ) - Math.Abs( tbCap );
+ tbr = Math.Max( tbr, 0 );
+
+ Tb = Math.Clamp( Tb, -tbCap, tbCap );
+
+ W += Tb / I * Time.Delta;
+
+ float maxTorque = TirePreset.Pacejka.PacejkaFx( Math.Abs( Sx ) ) * Lc * R;
+
+ float errorTorque = (W - Vx / R) * I / Time.Delta;
+ float surfaceTorque = Math.Clamp( errorTorque, -maxTorque, maxTorque );
+
+ W -= surfaceTorque / I * Time.Delta;
+ float Fx = surfaceTorque / R;
+
+ tbr *= (W > 0 ? -1 : 1);
+ float TbCap2 = Math.Abs( W ) * I / Time.Delta;
+ float Tb2 = Math.Clamp( tbr, -TbCap2, TbCap2 );
+ W += Tb2 / I * Time.Delta;
+
+ float deltaOmegaTorque = (W - wInit) * I / Time.Delta;
+ float Tcnt = -surfaceTorque + Tb + Tb2 - deltaOmegaTorque;
+
+ return (W, Sx, Fx, Tcnt);
+ }
+
+ private void StepLateral( float Vx, float Vy, float Lc, out float Sy, out float Fy )
+ {
+ float VxAbs = Math.Abs( Vx );
+
+ if ( Lc < 0.01f )
+ {
+ Sy = 0;
+ }
+ else if ( VxAbs > 0.1f )
+ {
+
+ Sy = MathX.RadianToDegree( MathF.Atan( Vy / VxAbs ) ) / 50;
+ }
+ else
+ {
+
+ Sy = Vy * (0.003f / Time.Delta);
+ }
+
+ Sy = Math.Clamp( Sy, -1, 1 );
+ float slipSign = Sy < 0 ? -1 : 1;
+ Fy = -slipSign * TirePreset.Pacejka.PacejkaFy( Math.Abs( Sy ) ) * Lc;
+ }
+
+ private void SlipCircle( float Sx, float Sy, float Fx, ref float Fy )
+ {
+ float SxAbs = Math.Abs( Sx );
+ if ( SxAbs > 0.01f )
+ {
+ float SxClamped = Math.Clamp( Sx, -1, 1 );
+ float SyClamped = Math.Clamp( Sy, -1, 1 );
+ Vector2 combinedSlip = new( SxClamped * 1.05f, SyClamped );
+ Vector2 slipDir = combinedSlip.Normal;
+
+ float F = MathF.Sqrt( Fx * Fx + Fy * Fy );
+ float absSlipDirY = Math.Abs( slipDir.y );
+
+ Fy = F * absSlipDirY * (Fy < 0 ? -1 : 1);
+ }
+ }
+
public void DoPhysics( VeloXBase vehicle )
{
var pos = vehicle.WorldTransform.PointToWorld( StartPos );
@@ -128,163 +222,95 @@ public partial class VeloXWheel : Component
.Cylinder( Width, Radius, pos, endPos )
.Rotated( vehicle.WorldTransform.Rotation * CylinderOffset )
.UseRenderMeshes( false )
- .UseHitPosition( false )
+ .UseHitPosition( true )
.WithoutTags( vehicle.WheelIgnoredTags )
.Run();
- //forward = ang.Forward;
- //right = ang.Right;
- up = ang.Up;
- forward = Vector3.VectorPlaneProject( ang.Forward, Trace.Normal ).Normal;
- right = Vector3.VectorPlaneProject( ang.Right, Trace.Normal ).Normal;
+ forward = Vector3.VectorPlaneProject( ang.Forward, Trace.Normal );
+ right = Vector3.VectorPlaneProject( ang.Right, Trace.Normal );
var fraction = Trace.Fraction;
- contactPos = pos - maxLen * fraction * up;
+ contactPos = pos - maxLen * fraction * ang.Up;
LocalPosition = vehicle.WorldTransform.PointToLocal( contactPos );
DoSuspensionSounds( vehicle, fraction - lastFraction );
lastFraction = fraction;
- var normal = Trace.Normal;
+ if ( !IsOnGround )
+ return;
var vel = vehicle.Body.GetVelocityAtPoint( contactPos );
var offset = maxLen - (fraction * maxLen);
- var springForce = (offset * SpringStrength);
+ var springForce = offset * SpringStrength;
var damperForce = (lastSpringOffset - offset) * SpringDamper;
+
lastSpringOffset = offset;
- // Vector3.CalculateVelocityOffset is broken (need fix)
- var velU = normal.Dot( vel );
+
+ var velU = Trace.Normal.Dot( vel );
+
if ( velU < 0 && offset + Math.Abs( velU * Time.Delta ) > SuspensionLength )
{
- var impulse = (-velU / Time.Delta) * normal;
- var body = vehicle.Body.PhysicsBody;
- Vector3 com = body.MassCenter;
- Rotation bodyRot = body.Rotation;
+ vehicle.Body.CalculateVelocityOffset( -velU / Time.Delta * Trace.Normal, pos, out var linearImp, out var angularImp );
- Vector3 r = pos - com;
+ vehicle.Body.Velocity += linearImp;
+ vehicle.Body.AngularVelocity += angularImp;
+ vehicle.Body.CalculateVelocityOffset( Trace.HitPosition - (contactPos + Trace.Normal * velU * Time.Delta), pos, out var lin, out _ );
- Vector3 torque = Vector3.Cross( r, impulse );
-
- Vector3 torqueLocal = bodyRot.Inverse * torque;
- Vector3 angularVelocityLocal = torqueLocal * body.Inertia.Inverse;
-
- var centerAngularVelocity = bodyRot * angularVelocityLocal;
-
- var centerVelocity = impulse * (1 / body.Mass);
-
- vehicle.Body.Velocity += centerVelocity * 10;
- vehicle.Body.AngularVelocity += centerAngularVelocity;
+ vehicle.WorldPosition += lin / Time.Delta;
damperForce = 0;
+
}
- force = (springForce - damperForce) * MathF.Max( 0, up.Dot( normal ) ) * normal;
+ force = (springForce - damperForce) * Trace.Normal;
- load = Math.Max( force.z, 0 ).InchToMeter();
+ load = Math.Max( springForce - damperForce, 0 );
+ float R = Radius.InchToMeter();
float forwardSpeed = vel.Dot( forward ).InchToMeter();
float sideSpeed = vel.Dot( right ).InchToMeter();
- float camber_rad = CamberAngle.DegreeToRadian();
- float R = Radius.InchToMeter();
+ float longitudinalLoadCoefficient = GetLongitudinalLoadCoefficient( load );
+ float lateralLoadCoefficient = GetLateralLoadCoefficient( load );
- float linearSpeed = angularVelocity * Radius.InchToMeter();
+ float F_roll = TirePreset.GetRollingResistance( angularVelocity * R, 1.0f ) * 10000;
+
+ ( float W, float Sx, float Fx, float counterTq) = StepLongitudinal(
+ Torque,
+ Brake * BrakePowerMax + F_roll,
+ forwardSpeed,
+ angularVelocity,
+ longitudinalLoadCoefficient,
+ R,
+ Inertia
+ );
- float F_roll = TirePreset.GetRollingResistance( linearSpeed, 1.0f );
- F_roll *= -Math.Clamp( linearSpeed * 0.25f, -1, 1 );
+ StepLateral( forwardSpeed, sideSpeed, lateralLoadCoefficient, out float Sy, out float Fy );
- float T_brake = Brake * BrakePowerMax;
- T_brake *= -Math.Clamp( linearSpeed * 0.25f, -1, 1 );
-
- float Winit = angularVelocity;
-
- angularVelocity += F_roll * 9.80665f / Inertia * Time.Delta;
-
- angularVelocity += Torque / Inertia * Time.Delta;
-
-
- angularVelocity += T_brake / Inertia * Time.Delta;
-
- if ( IsOnGround )
- {
- TirePreset.ComputeSlip( forwardSpeed, sideSpeed, angularVelocity, R, out var slip, out var slip_ang );
- var fx = TirePreset.Pacejka.PacejkaFx( slip, load, 1, out var maxTorque );
- var fy = TirePreset.Pacejka.PacejkaFy( slip_ang * load, load, camber_rad, 1, out var _ );
-
- maxTorque *= R;
- var errorTorque = (angularVelocity - forwardSpeed / R) * BaseInertia / Time.Delta;
-
- var surfaceTorque = Math.Clamp( errorTorque, -maxTorque, maxTorque );
-
- angularVelocity -= surfaceTorque / Inertia * Time.Delta;
-
-
- float deltaOmegaTorque = (angularVelocity - Winit) * Inertia / Time.Delta;
-
- CounterTorque = -surfaceTorque - deltaOmegaTorque;
- forwardFriction.Slip = slip;
- forwardFriction.Force = -fx;
- forwardFriction.Speed = forwardSpeed;
- sideFriction.Slip = slip_ang;
- sideFriction.Force = fy;
- sideFriction.Speed = sideSpeed;
-
- vehicle.Body.ApplyForceAt( pos, force / Time.Delta * ProjectSettings.Physics.SubSteps );
-
- Vector3 frictionForce = forward * forwardFriction.Force + right * sideFriction.Force;
- vehicle.Body.ApplyForceAt( pos, frictionForce * ProjectSettings.Physics.SubSteps );
- }
- else
- {
- forwardFriction = new();
- sideFriction = new();
- }
+ SlipCircle( Sx, Sy, Fx, ref Fy );
+ CounterTorque = counterTq;
+ angularVelocity = W;
+ force += forward * Fx;
+ force += right * Fy * Math.Clamp( vehicle.TotalSpeed * 0.005f, 0, 1 );
+ ForwardSlip = Sx;
+ SideSlip = Sy * Math.Clamp( vehicle.TotalSpeed * 0.005f, 0, 1 );
+ vehicle.Body.ApplyForceAt( pos, force / Time.Delta );
}
- //todo
- protected (float Mass, float Inertia) CalcMassAndInertia()
- {
- // section width in millimeters, measured from sidewall to sidewall
- // ratio of sidewall height to section width in percent
- // diameter of the wheel in inches
- var tire_size = new Vector3( 215, 45, 17 );
-
- float tire_width = tire_size[0] * 0.001f;
- float tire_aspect_ratio = tire_size[1] * 0.01f;
- float tire_radius = tire_size[2] * 0.5f * 0.0254f + tire_width * tire_aspect_ratio;
- float tire_thickness = 0.02f;
- float tire_density = 1000; // rubber
-
- float rim_radius = tire_radius - tire_width * tire_aspect_ratio;
- float rim_width = tire_width;
- float rim_thickness = 0.01f;
- float rim_density = 2700; // aluminium
-
- float tire_volume = float.Pi * tire_width * tire_thickness * (2 * tire_radius - tire_thickness);
- float rim_volume = float.Pi * rim_width * rim_thickness * (2 * rim_radius - rim_thickness);
- float tire_mass = tire_density * tire_volume;
- float rim_mass = rim_density * rim_volume;
- float tire_inertia = tire_mass * tire_radius * tire_radius;
- float rim_inertia = rim_mass * rim_radius * rim_radius;
-
- float mass = tire_mass + rim_mass;
- float inertia = tire_inertia + rim_inertia;
-
- return (mass, inertia);
- }
-
- // debug
+#if DEBUG
protected override void OnUpdate()
{
- //DebugOverlay.Normal( contactPos, forward * forwardFriction.Force / 1000f, Color.Red, overlay: true );
- //DebugOverlay.Normal( contactPos, right * sideFriction.Force / 1000f, Color.Green, overlay: true );
- //DebugOverlay.Normal( contactPos, up * force / 1000f, Color.Blue, overlay: true );
+ DebugOverlay.Normal( contactPos, forward * forwardFriction, Color.Red, overlay: true );
+ DebugOverlay.Normal( contactPos, right * sideFriction, Color.Green, overlay: true );
+ DebugOverlay.Normal( contactPos, up * force / 1000f, Color.Blue, overlay: true );
}
+#endif
+
}
diff --git a/Code/Car/VeloXCar.Steering.cs b/Code/Car/VeloXCar.Steering.cs
index b110430..55399bb 100644
--- a/Code/Car/VeloXCar.Steering.cs
+++ b/Code/Car/VeloXCar.Steering.cs
@@ -34,12 +34,12 @@ public partial class VeloXCar
var inputSteer = Input.AnalogMove.y;
- VelocityAngle = -SignedAngle( Body.Velocity, WorldRotation.Forward, WorldRotation.Up );
+ VelocityAngle = 0;// -SignedAngle( Body.Velocity, WorldRotation.Forward, WorldRotation.Up );
- var steerConeFactor = Math.Clamp( TotalSpeed / SteerConeMaxSpeed, 0, 1 );
- var steerCone = 1 - steerConeFactor * (1 - SteerConeMaxAngle);
+ //var steerConeFactor = Math.Clamp( TotalSpeed / SteerConeMaxSpeed, 0, 1 );
+ //var steerCone = 1 - steerConeFactor * (1 - SteerConeMaxAngle);
- inputSteer = ExpDecay( this.inputSteer, inputSteer * steerCone, SteerConeChangeRate, dt );
+ inputSteer = ExpDecay( this.inputSteer, inputSteer, SteerConeChangeRate, dt );
this.inputSteer = inputSteer;
float target = -inputSteer * MaxSteerAngle;
diff --git a/Code/Utils/PhysicsExtensions.cs b/Code/Utils/PhysicsExtensions.cs
index b14b0a1..28bc8bd 100644
--- a/Code/Utils/PhysicsExtensions.cs
+++ b/Code/Utils/PhysicsExtensions.cs
@@ -28,44 +28,38 @@ public static class PhysicsExtensions
value.x * (xz2 - wy2) + value.y * (yz2 + wx2) + value.z * (1.0f - xx2 - yy2)
);
}
+
///
- /// Calculates the linear and angular velocities on the center of mass for an offset impulse.
+ /// Calculates the linear and angular velocities on the object's center of mass for an offset impulse.
///
/// The physics object
/// The impulse acting on the object in kg*units/s (World frame)
/// The location of the impulse in world coordinates
- ///
- /// Vector1: Linear velocity from the impulse (World frame)
- /// Vector2: Angular velocity from the impulse (Local frame)
- ///
- public static (Vector3 LinearVelocity, Vector3 AngularVelocity) CalculateVelocityOffset( this PhysicsBody physObj, Vector3 impulse, Vector3 position )
+ /// Linear velocity on center of mass (World frame)
+ /// Angular velocity on center of mass (World frame)
+ public static void CalculateVelocityOffset(
+ this Rigidbody physObj,
+ Vector3 impulse,
+ Vector3 position,
+ out Vector3 LinearVelocity,
+ out Vector3 AngularVelocity )
{
if ( !physObj.IsValid() || !physObj.MotionEnabled )
- return (Vector3.Zero, Vector3.Zero);
+ {
+ LinearVelocity = 0;
+ AngularVelocity = 0;
+ return;
+ }
+ Vector3 com = physObj.WorldTransform.PointToWorld( physObj.MassCenter );
+ Rotation bodyRot = physObj.PhysicsBody.Rotation;
- Vector3 linearVelocity = impulse / physObj.Mass;
-
- Vector3 r = position - physObj.MassCenter;
-
-
- // Calculate torque impulse in world frame: τ = r × impulse
- Vector3 torqueImpulseWorld = r.Cross( impulse );
- Rotation worldToLocal = physObj.Rotation.Inverse;
- Vector3 torqueImpulseLocal = torqueImpulseWorld.Transform( worldToLocal );
-
- var InverseInertiaDiagLocal = physObj.Inertia.Inverse;
-
- // Compute angular velocity change in rad/s (local frame)
- Vector3 angularVelocityRadLocal = new(
- InverseInertiaDiagLocal.x * torqueImpulseLocal.x,
- InverseInertiaDiagLocal.y * torqueImpulseLocal.y,
- InverseInertiaDiagLocal.z * torqueImpulseLocal.z
- );
- const float radToDeg = 180f / MathF.PI;
- Vector3 angularVelocityDegLocal = angularVelocityRadLocal * radToDeg;
-
- return (linearVelocity, angularVelocityDegLocal);
+ Vector3 r = position - com;
+ Vector3 torque = Vector3.Cross( r, impulse );
+ Vector3 torqueLocal = bodyRot.Inverse * torque;
+ Vector3 angularVelocityLocal = torqueLocal * physObj.PhysicsBody.Inertia.Inverse;
+ AngularVelocity = bodyRot * angularVelocityLocal;
+ LinearVelocity = impulse * (1 / physObj.Mass);
}
///
@@ -74,34 +68,31 @@ public static class PhysicsExtensions
/// The physics object
/// The impulse acting on the object in kg*units/s (World frame)
/// The location of the impulse in world coordinates
- ///
- /// Vector1: Linear impulse on center of mass (World frame)
- /// Vector2: Angular impulse on center of mass (Local frame)
- ///
- public static (Vector3 LinearImpulse, Vector3 AngularImpulse) CalculateForceOffset(
- this PhysicsBody physObj,
+ /// Linear impulse on center of mass (World frame)
+ /// Angular impulse on center of mass (World frame)
+ public static void CalculateForceOffset(
+ this Rigidbody physObj,
Vector3 impulse,
- Vector3 position )
+ Vector3 position,
+ out Vector3 LinearImpulse,
+ out Vector3 AngularImpulse )
{
if ( !physObj.IsValid() || !physObj.MotionEnabled )
{
- return (Vector3.Zero, Vector3.Zero);
+ LinearImpulse = 0;
+ AngularImpulse = 0;
+ return;
}
- // 1. Linear impulse is the same as the input impulse (conservation of momentum)
- Vector3 linearImpulse = impulse;
+ Vector3 com = physObj.WorldTransform.PointToWorld( physObj.MassCenter );
+ Rotation bodyRot = physObj.PhysicsBody.Rotation;
- // 2. Calculate angular impulse (torque) from the offset force
- // τ = r * F (cross product of position relative to COM and force)
- Vector3 centerOfMass = physObj.MassCenter;
- Vector3 relativePosition = position - centerOfMass;
- Vector3 worldAngularImpulse = relativePosition.Cross( impulse );
-
- // Convert angular impulse to local space (since we'll use it with LocalInertia)
- Rotation bodyRotation = physObj.Transform.Rotation;
- Vector3 localAngularImpulse = bodyRotation.Inverse * worldAngularImpulse;
-
- return (linearImpulse, localAngularImpulse);
+ Vector3 r = position - com;
+ Vector3 torque = Vector3.Cross( r, impulse );
+ Vector3 torqueLocal = bodyRot.Inverse * torque;
+ Vector3 angularImpulseLocal = torqueLocal * physObj.PhysicsBody.Inertia.Inverse;
+ AngularImpulse = bodyRot * angularImpulseLocal;
+ LinearImpulse = impulse;
}
}
diff --git a/Editor/Wheel/PacejkaWidget.cs b/Editor/Wheel/PacejkaWidget.cs
index 37ded7c..8efcaa8 100644
--- a/Editor/Wheel/PacejkaWidget.cs
+++ b/Editor/Wheel/PacejkaWidget.cs
@@ -9,7 +9,7 @@ public class PacejkaWidget : ControlObjectWidget
public override bool SupportsMultiEdit => false;
public override bool IncludeLabel => false;
- [CustomEditor( typeof( Pacejka.LateralForce ) )]
+ [CustomEditor( typeof( Pacejka.PacejkaPreset ) )]
private class LateralForceWidget : ControlObjectWidget
{
public LateralForceWidget( SerializedProperty property ) : base( property, true )
@@ -17,7 +17,7 @@ public class PacejkaWidget : ControlObjectWidget
Layout = Layout.Column();
Layout.Margin = 8f;
Layout.Spacing = 8;
- foreach ( var item in TypeLibrary.GetType().Properties )
+ foreach ( var item in TypeLibrary.GetType().Properties )
{
var row = Layout.AddRow();
row.Spacing = 8;
@@ -27,45 +27,6 @@ public class PacejkaWidget : ControlObjectWidget
}
}
}
-
- [CustomEditor( typeof( Pacejka.LongitudinalForce ) )]
- private class LongitudinalForceWidget : ControlObjectWidget
- {
- public LongitudinalForceWidget( SerializedProperty property ) : base( property, true )
- {
- Layout = Layout.Column();
- Layout.Margin = 8f;
- Layout.Spacing = 8;
- foreach ( var item in TypeLibrary.GetType().Properties )
- {
- var row = Layout.AddRow();
- row.Spacing = 8;
- var propetry = SerializedObject.GetProperty( item.Name );
- row.Add( new Label( propetry.Name ) );
- row.Add( Create( propetry ) );
- }
- }
- }
-
- [CustomEditor( typeof( Pacejka.AligningMoment ) )]
- private class AligningMomentWidget : ControlObjectWidget
- {
- public AligningMomentWidget( SerializedProperty property ) : base( property, true )
- {
- Layout = Layout.Column();
- Layout.Margin = 8f;
- Layout.Spacing = 8;
- foreach ( var item in TypeLibrary.GetType().Properties )
- {
- var row = Layout.AddRow();
- row.Spacing = 8;
- var propetry = SerializedObject.GetProperty( item.Name );
- row.Add( new Label( propetry.Name ) );
- row.Add( Create( propetry ) );
- }
- }
- }
-
private Pacejka Pacejka;
public PacejkaWidget( SerializedProperty property ) : base( property, true )
{
@@ -83,8 +44,5 @@ public class PacejkaWidget : ControlObjectWidget
tabs.AddPage( nameof( Pacejka.Longitudinal ), null,
Layout.Add( Create( obj.GetProperty( nameof( Pacejka.Longitudinal ) ) ) )
);
- tabs.AddPage( nameof( Pacejka.Aligning ), null,
- Layout.Add( Create( obj.GetProperty( nameof( Pacejka.Aligning ) ) ) )
- );
}
}
diff --git a/Editor/Wheel/TirePresetEditor.cs b/Editor/Wheel/TirePresetEditor.cs
deleted file mode 100644
index 695161d..0000000
--- a/Editor/Wheel/TirePresetEditor.cs
+++ /dev/null
@@ -1,70 +0,0 @@
-using Editor;
-using Editor.Assets;
-using Editor.Inspectors;
-using Sandbox;
-using static Editor.Inspectors.AssetInspector;
-
-namespace VeloX;
-
-[CanEdit( "asset:tire" )]
-public class TirePresetEditor : Widget, IAssetInspector
-{
- TirePreset Tire;
- ControlSheet MainSheet;
- TirePresetPreview TirePreview;
- public TirePresetEditor( Widget parent ) : base( parent )
- {
- Layout = Layout.Column();
- Layout.Margin = 4;
- Layout.Spacing = 4;
-
- // Create a ontrolSheet that will display all our Properties
- MainSheet = new ControlSheet();
- Layout.Add( MainSheet );
-
- //// Add a randomize button below the ControlSheet
- //var button = Layout.Add( new Button( "Randomize", "casino", this ) );
- //button.Clicked += () =>
- //{
- // foreach ( var prop in Test.GetSerialized() )
- // {
- // // Randomize all the float values from 0-100
- // if ( prop.PropertyType != typeof( float ) ) continue;
- // prop.SetValue( Random.Shared.Float( 0, 100 ) );
- // }
- //};
-
- Layout.AddStretchCell();
-
- RebuildSheet();
- Focus();
-
- }
-
- [EditorEvent.Hotload]
- void RebuildSheet()
- {
- if ( Tire is null ) return;
- if ( MainSheet is null ) return;
- MainSheet.Clear( true );
-
- var so = Tire.GetSerialized();
- so.OnPropertyChanged += x =>
- {
- Tire.StateHasChanged();
- TirePreview.Widget.UpdatePixmap();
- };
- MainSheet.AddObject( so );
- }
-
- void IAssetInspector.SetAssetPreview( AssetPreview preview )
- {
- TirePreview = preview as TirePresetPreview;
- }
-
- public void SetAsset( Asset asset )
- {
- Tire = asset.LoadResource();
- RebuildSheet();
- }
-}
diff --git a/Editor/Wheel/TirePresetPreview.cs b/Editor/Wheel/TirePresetPreview.cs
index 4bf7564..7575ddf 100644
--- a/Editor/Wheel/TirePresetPreview.cs
+++ b/Editor/Wheel/TirePresetPreview.cs
@@ -9,29 +9,17 @@ using System.Threading.Tasks;
namespace VeloX;
[AssetPreview( "tire" )]
-class TirePresetPreview( Asset asset ) : PixmapAssetPreview( asset )
+class TirePresetPreview : AssetPreview
{
-
- private TirePreset Tire = asset.LoadResource();
+ private Texture texture;
+ public override bool IsAnimatedPreview => false;
+ [Range( 0.01f, 1 )] private float Zoom { get; set; } = 1;
+ private TirePreset Tire;
public AssetPreviewWidget Widget { get; private set; }
- [Range( 100, 10000 )] private float Load { get; set; } = 2500f;
- [Range( 0, 1 )] private float Zoom { get; set; } = 0;
- [Range( -10, 10 )] private float Camber { get; set; } = 0;
-
public override Widget CreateWidget( Widget parent )
{
Widget = parent as AssetPreviewWidget;
- Task.Run( async () =>
- {
- while ( Widget != null )
- {
- await MainThread.Wait();
- await Widget.UpdatePixmap();
- await Task.Delay( 100 );
- }
- } );
-
return null;
}
public override Widget CreateToolbar()
@@ -42,116 +30,6 @@ class TirePresetPreview( Asset asset ) : PixmapAssetPreview( asset )
info.MouseLeftPress = () => OpenSettings( info );
return info;
}
- static List pointCache = [];
- private void DrawPacejka()
- {
-
- float load = Load * 0.001f;
- float zoom = (1.0f - Zoom) * 4.0f + 0.1f;
- var tire = Tire.Pacejka;
- var width = Paint.LocalRect.Width;
- var height = Paint.LocalRect.Height;
-
-
- { // draw lateral line
- pointCache.Clear();
-
- Paint.SetPen( Color.Red, 1 );
- float x0 = -zoom * 0.5f * 20.0f;
- float xn = zoom * 0.5f * 20.0f;
- float ymin = -1000.0f;
- float ymax = 1000.0f;
- int points = 500;
-
-
- for ( float x = x0; x <= xn; x += (xn - x0) / points )
- {
-
- float yval = tire.PacejkaFy( x, load, Camber, 1.0f, out float _ ) / load;
- float xval = width * (x - x0) / (xn - x0);
- yval /= ymax - ymin;
- yval = (yval + 1.0f) * 0.5f;
- yval = 1.0f - yval;
- yval *= height;
- pointCache.Add( new( xval, yval ) );
- }
-
- Paint.DrawLine( pointCache );
- }
-
- { // draw longitudinal line
- pointCache.Clear();
-
- Paint.SetPen( Color.Green, 1 );
- float x0 = -zoom * 0.5f;
- float xn = zoom * 0.5f;
- float ymin = -1000.0f;
- float ymax = 1000.0f;
- int points = 500;
-
- for ( float x = x0; x <= xn; x += (xn - x0) / points )
- {
- float yval = tire.PacejkaFx( x, load, 1.0f, out var _ ) / load;
- float xval = width * (x - x0) / (xn - x0);
- yval /= ymax - ymin;
- yval = (yval + 1.0f) * 0.5f;
- yval = 1.0f - yval;
- yval *= height;
- pointCache.Add( new( xval, yval ) );
- }
- Paint.DrawLine( pointCache );
- }
-
- { // draw aligning line
- pointCache.Clear();
-
- Paint.SetPen( Color.Blue, 1 );
- float x0 = -zoom * 0.5f * 10.0f;
- float xn = zoom * 0.5f * 10.0f;
- float ymin = -60.0f;
- float ymax = 60.0f;
- int points = 500;
-
- for ( float x = x0; x <= xn; x += (xn - x0) / points )
- {
- float yval = tire.PacejkaMz( x, load, Camber * (180.0f / MathF.PI), 1.0f ) / load;
- float xval = width * (x - x0) / (xn - x0);
- yval /= ymax - ymin;
- yval = (yval + 1.0f) * 0.5f;
- yval = 1.0f - yval;
- yval *= height;
- pointCache.Add( new( xval, yval ) );
- }
- Paint.DrawLine( pointCache );
- }
-
- pointCache.Clear();
- }
-
- public override Task RenderToPixmap( Pixmap pixmap )
- {
- Paint.ToPixmap( pixmap );
- Paint.Antialiasing = true;
-
- Paint.SetBrush( Color.Gray );
- Paint.DrawRect( Paint.LocalRect );
- Paint.ClearBrush();
-
- Paint.SetPen( Color.Black, 1 );
-
- var width = Paint.LocalRect.Width;
- var height = Paint.LocalRect.Height;
- float xc = width / 2;
- float yc = height / 2;
-
- Paint.DrawLine( new( xc, 0 ), new( xc, yc * 2 ) );
- Paint.DrawLine( new( 0, yc ), new( xc * 2, yc ) );
-
- DrawPacejka();
-
- return Task.CompletedTask;
- }
-
public void OpenSettings( Widget parent )
{
var popup = new PopupWidget( parent )
@@ -164,9 +42,7 @@ class TirePresetPreview( Asset asset ) : PixmapAssetPreview( asset )
var ps = new ControlSheet();
- ps.AddProperty( this, x => x.Load );
ps.AddProperty( this, x => x.Zoom );
- ps.AddProperty( this, x => x.Camber );
popup.Layout.Add( ps );
popup.MaximumWidth = 300;
@@ -175,4 +51,99 @@ class TirePresetPreview( Asset asset ) : PixmapAssetPreview( asset )
popup.ConstrainToScreen();
}
+
+ public override async Task InitializeAsset()
+ {
+ await Task.Yield();
+
+ using ( Scene.Push() )
+ {
+ PrimaryObject = new()
+ {
+ WorldTransform = Transform.Zero
+ };
+
+ var plane = PrimaryObject.AddComponent();
+ plane.Model = Model.Plane;
+ plane.LocalScale = new Vector3( 1, 1, 1 );
+ plane.MaterialOverride = Material.Load( "materials/dev/reflectivity_30.vmat" );
+ plane.Tint = new Color( 0.02f, 0.04f, 0.03f );
+
+ var bounds = PrimaryObject.GetBounds();
+ SceneCenter = bounds.Center;
+ SceneSize = bounds.Size;
+ }
+
+ return;
+ }
+ public override void UpdateScene( float cycle, float timeStep )
+ {
+ if ( !Widget.IsValid() )
+ return;
+
+ Camera.WorldPosition = Vector3.Up * 300;
+ Camera.Orthographic = true;
+ Camera.WorldRotation = new Angles( 90, 0, 0 );
+
+ var bitmap = new Bitmap( 512, 512 );
+
+ Draw( bitmap );
+
+ texture.Clear( Color.Black );
+ //texture.Update( bitmap );
+ DebugOverlaySystem.Current.Texture( texture, new Rect( 0, Widget.Size ) );
+
+ FrameScene();
+ }
+
+ private readonly List pointCache = [];
+
+ public TirePresetPreview( Asset asset ) : base( asset )
+ {
+ texture = Texture.CreateRenderTarget().WithDynamicUsage().WithScreenFormat().WithSize( 512, 512 ).Create();
+ Tire = Asset.LoadResource();
+ }
+
+ private void DrawPacejka( Bitmap bitmap )
+ {
+ var tire = Tire.Pacejka;
+ var width = bitmap.Width;
+ var height = bitmap.Height;
+
+
+ { // draw lateral line
+ pointCache.Clear();
+
+ bitmap.SetPen( Color.Red, 1 );
+
+ for ( float x = 0; x <= 1; x += 0.01f )
+ {
+ float val = tire.PacejkaFy( x ) * Zoom;
+ pointCache.Add( new( width * x, height - height * val ) );
+ }
+
+ bitmap.DrawLines( pointCache.ToArray() );
+ }
+
+ { // draw longitudinal line
+ pointCache.Clear();
+
+ bitmap.SetPen( Color.Green, 1 );
+
+ for ( float x = 0; x <= 1; x += 0.01f )
+ {
+ float val = tire.PacejkaFx( x ) * Zoom;
+ pointCache.Add( new( width * x, height - height * val ) );
+ }
+ bitmap.DrawLines( pointCache.ToArray() );
+ }
+
+ pointCache.Clear();
+ }
+ private void Draw( Bitmap bitmap )
+ {
+ bitmap.Clear( Color.Black );
+ bitmap.SetAntialias( true );
+ DrawPacejka( bitmap );
+ }
}