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Valera 2025-07-18 16:05:48 +07:00
parent 55a178e8c5
commit 0905876b99
9 changed files with 347 additions and 752 deletions
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54
Assets/frictions/default.tire
View File

@ -1,54 +1,16 @@
{ {
"Pacejka": { "Pacejka": {
"Lateral": { "Lateral": {
"a0": 1.4, "B": 12,
"a1": -0, "C": 1.3,
"a2": 1688, "D": 1.8,
"a3": 2400, "E": -1.8
"a4": 6.026,
"a5": 0,
"a6": -0.359,
"a7": 1,
"a8": 0,
"a9": 0,
"a10": 0,
"a111": 0,
"a112": 0,
"a12": 0,
"a13": 0
}, },
"Longitudinal": { "Longitudinal": {
"b0": 1.65, "B": 10.86,
"b1": 0, "C": 2.15,
"b2": 1690, "D": 2,
"b3": 0, "E": 0.992
"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
} }
}, },
"RollResistanceLin": 0.001, "RollResistanceLin": 0.001,

19
Code/Base/VeloXBase.Phys.cs
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@ -1,4 +1,7 @@
namespace VeloX; using Sandbox;
using System;
namespace VeloX;
public abstract partial class VeloXBase public abstract partial class VeloXBase
{ {
@ -19,6 +22,20 @@ public abstract partial class VeloXBase
foreach ( var v in Wheels ) foreach ( var v in Wheels )
if ( v.AutoPhysics ) v.DoPhysics( this ); 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 ); Body.ApplyTorque( angForce );
} }
} }

314
Code/Base/Wheel/Pacejka.cs
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@ -1,303 +1,43 @@
using Sandbox; using Sandbox;
using Sandbox.Services; using Sandbox.Services;
using System; using System;
using System.Threading;
namespace VeloX; namespace VeloX;
public class Pacejka public class Pacejka
{ {
public struct LateralForce() public class PacejkaPreset
{ {
[Description( "Shape factor" )] [KeyProperty] public float B { get; set; } = 10.86f;
[Range( 1, 3 )] public float a0 { get; set; } = 1.4f; // 0 [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)" )] public float Evaluate( float slip ) => D * MathF.Sin( C * MathF.Atan( B * slip - E * (B * slip - MathF.Atan( B * slip )) ) );
[Range( -100, 100 )] public float a1 { get; set; } = -0f; // 1
[Description( "Lateral friction coefficient at load = 0 (*1000)" )] public float GetPeakSlip()
[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()
{ {
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 float PacejkaFx( float slip ) => Longitudinal.Evaluate( slip );
public LongitudinalForce Longitudinal { get; set; } = new(); public float PacejkaFy( float slip ) => Lateral.Evaluate( slip );
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) );
}
} }

266
Code/Base/Wheel/VeloXWheel.cs
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@ -1,8 +1,10 @@
using Sandbox; using Sandbox;
using Sandbox.Rendering; using Sandbox.Rendering;
using Sandbox.Services; using Sandbox.Services;
using Sandbox.UI;
using System; using System;
using System.Collections.Specialized; using System.Collections.Specialized;
using System.Diagnostics.Metrics;
using System.Numerics; using System.Numerics;
using System.Text.RegularExpressions; using System.Text.RegularExpressions;
using System.Threading; using System.Threading;
@ -23,8 +25,8 @@ public partial class VeloXWheel : Component
[Property] public float SlipCircleShape { get; set; } = 1.05f; [Property] public float SlipCircleShape { get; set; } = 1.05f;
[Property] public TirePreset TirePreset { get; set; } [Property] public TirePreset TirePreset { get; set; }
[Property] public float Width { get; set; } = 6; [Property] public float Width { get; set; } = 6;
public float SideSlip => sideFriction.Slip.MeterToInch(); public float SideSlip { get; private set; }
public float ForwardSlip => forwardFriction.Slip.MeterToInch(); public float ForwardSlip { get; private set; }
[Sync] public float Torque { get; set; } [Sync] public float Torque { get; set; }
[Sync, Range( 0, 1 )] public float Brake { get; set; } [Sync, Range( 0, 1 )] public float Brake { get; set; }
[Property] float BrakePowerMax { get; set; } = 3000; [Property] float BrakePowerMax { get; set; } = 3000;
@ -64,8 +66,8 @@ public partial class VeloXWheel : Component
private Vector3 right; private Vector3 right;
private Vector3 up; private Vector3 up;
private Friction forwardFriction; private float forwardFriction;
private Friction sideFriction; private float sideFriction;
private Vector3 force; private Vector3 force;
public float CounterTorque { get; private set; } 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 GetLongitudinalLoadCoefficient( float load ) => 11000 * (1 - MathF.Exp( -0.00014f * load ));
private static float GetLateralLoadCoefficient( float load ) => 18000 * (1 - MathF.Exp( -0.0001f * load )); private static float GetLateralLoadCoefficient( float load ) => 18000 * (1 - MathF.Exp( -0.0001f * load ));
float lastload;
private float inertia; 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 ) public void DoPhysics( VeloXBase vehicle )
{ {
var pos = vehicle.WorldTransform.PointToWorld( StartPos ); var pos = vehicle.WorldTransform.PointToWorld( StartPos );
@ -128,163 +222,95 @@ public partial class VeloXWheel : Component
.Cylinder( Width, Radius, pos, endPos ) .Cylinder( Width, Radius, pos, endPos )
.Rotated( vehicle.WorldTransform.Rotation * CylinderOffset ) .Rotated( vehicle.WorldTransform.Rotation * CylinderOffset )
.UseRenderMeshes( false ) .UseRenderMeshes( false )
.UseHitPosition( false ) .UseHitPosition( true )
.WithoutTags( vehicle.WheelIgnoredTags ) .WithoutTags( vehicle.WheelIgnoredTags )
.Run(); .Run();
//forward = ang.Forward;
//right = ang.Right;
up = ang.Up;
forward = Vector3.VectorPlaneProject( ang.Forward, Trace.Normal ).Normal; forward = Vector3.VectorPlaneProject( ang.Forward, Trace.Normal );
right = Vector3.VectorPlaneProject( ang.Right, Trace.Normal ).Normal; right = Vector3.VectorPlaneProject( ang.Right, Trace.Normal );
var fraction = Trace.Fraction; var fraction = Trace.Fraction;
contactPos = pos - maxLen * fraction * up; contactPos = pos - maxLen * fraction * ang.Up;
LocalPosition = vehicle.WorldTransform.PointToLocal( contactPos ); LocalPosition = vehicle.WorldTransform.PointToLocal( contactPos );
DoSuspensionSounds( vehicle, fraction - lastFraction ); DoSuspensionSounds( vehicle, fraction - lastFraction );
lastFraction = fraction; lastFraction = fraction;
var normal = Trace.Normal; if ( !IsOnGround )
return;
var vel = vehicle.Body.GetVelocityAtPoint( contactPos ); var vel = vehicle.Body.GetVelocityAtPoint( contactPos );
var offset = maxLen - (fraction * maxLen); var offset = maxLen - (fraction * maxLen);
var springForce = (offset * SpringStrength); var springForce = offset * SpringStrength;
var damperForce = (lastSpringOffset - offset) * SpringDamper; var damperForce = (lastSpringOffset - offset) * SpringDamper;
lastSpringOffset = offset; 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 ) if ( velU < 0 && offset + Math.Abs( velU * Time.Delta ) > SuspensionLength )
{ {
var impulse = (-velU / Time.Delta) * normal; vehicle.Body.CalculateVelocityOffset( -velU / Time.Delta * Trace.Normal, pos, out var linearImp, out var angularImp );
var body = vehicle.Body.PhysicsBody;
Vector3 com = body.MassCenter;
Rotation bodyRot = body.Rotation;
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 ); vehicle.WorldPosition += lin / Time.Delta;
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;
damperForce = 0; 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 forwardSpeed = vel.Dot( forward ).InchToMeter();
float sideSpeed = vel.Dot( right ).InchToMeter(); float sideSpeed = vel.Dot( right ).InchToMeter();
float camber_rad = CamberAngle.DegreeToRadian(); float longitudinalLoadCoefficient = GetLongitudinalLoadCoefficient( load );
float R = Radius.InchToMeter(); float lateralLoadCoefficient = GetLateralLoadCoefficient( load );
float linearSpeed = angularVelocity * Radius.InchToMeter(); float F_roll = TirePreset.GetRollingResistance( angularVelocity * R, 1.0f ) * 10000;
float F_roll = TirePreset.GetRollingResistance( linearSpeed, 1.0f ); ( float W, float Sx, float Fx, float counterTq) = StepLongitudinal(
F_roll *= -Math.Clamp( linearSpeed * 0.25f, -1, 1 ); Torque,
Brake * BrakePowerMax + F_roll,
forwardSpeed,
angularVelocity,
longitudinalLoadCoefficient,
R,
Inertia
);
float T_brake = Brake * BrakePowerMax; StepLateral( forwardSpeed, sideSpeed, lateralLoadCoefficient, out float Sy, out float Fy );
T_brake *= -Math.Clamp( linearSpeed * 0.25f, -1, 1 );
float Winit = angularVelocity; SlipCircle( Sx, Sy, Fx, ref Fy );
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();
}
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 #if DEBUG
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
protected override void OnUpdate() protected override void OnUpdate()
{ {
//DebugOverlay.Normal( contactPos, forward * forwardFriction.Force / 1000f, Color.Red, overlay: true ); DebugOverlay.Normal( contactPos, forward * forwardFriction, Color.Red, overlay: true );
//DebugOverlay.Normal( contactPos, right * sideFriction.Force / 1000f, Color.Green, overlay: true ); DebugOverlay.Normal( contactPos, right * sideFriction, Color.Green, overlay: true );
//DebugOverlay.Normal( contactPos, up * force / 1000f, Color.Blue, overlay: true ); DebugOverlay.Normal( contactPos, up * force / 1000f, Color.Blue, overlay: true );
} }
#endif
} }

8
Code/Car/VeloXCar.Steering.cs
View File

@ -34,12 +34,12 @@ public partial class VeloXCar
var inputSteer = Input.AnalogMove.y; 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 steerConeFactor = Math.Clamp( TotalSpeed / SteerConeMaxSpeed, 0, 1 );
var steerCone = 1 - steerConeFactor * (1 - SteerConeMaxAngle); //var steerCone = 1 - steerConeFactor * (1 - SteerConeMaxAngle);
inputSteer = ExpDecay( this.inputSteer, inputSteer * steerCone, SteerConeChangeRate, dt ); inputSteer = ExpDecay( this.inputSteer, inputSteer, SteerConeChangeRate, dt );
this.inputSteer = inputSteer; this.inputSteer = inputSteer;
float target = -inputSteer * MaxSteerAngle; float target = -inputSteer * MaxSteerAngle;

91
Code/Utils/PhysicsExtensions.cs
View File

@ -28,44 +28,38 @@ public static class PhysicsExtensions
value.x * (xz2 - wy2) + value.y * (yz2 + wx2) + value.z * (1.0f - xx2 - yy2) value.x * (xz2 - wy2) + value.y * (yz2 + wx2) + value.z * (1.0f - xx2 - yy2)
); );
} }
/// <summary> /// <summary>
/// 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.
/// </summary> /// </summary>
/// <param name="physObj">The physics object</param> /// <param name="physObj">The physics object</param>
/// <param name="impulse">The impulse acting on the object in kg*units/s (World frame)</param> /// <param name="impulse">The impulse acting on the object in kg*units/s (World frame)</param>
/// <param name="position">The location of the impulse in world coordinates</param> /// <param name="position">The location of the impulse in world coordinates</param>
/// <returns> /// <param name="LinearVelocity">Linear velocity on center of mass (World frame)</param>
/// Vector1: Linear velocity from the impulse (World frame) /// <param name="AngularVelocity">Angular velocity on center of mass (World frame)</param>
/// Vector2: Angular velocity from the impulse (Local frame) public static void CalculateVelocityOffset(
/// </returns> this Rigidbody physObj,
public static (Vector3 LinearVelocity, Vector3 AngularVelocity) CalculateVelocityOffset( this PhysicsBody physObj, Vector3 impulse, Vector3 position ) Vector3 impulse,
Vector3 position,
out Vector3 LinearVelocity,
out Vector3 AngularVelocity )
{ {
if ( !physObj.IsValid() || !physObj.MotionEnabled ) 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 - com;
Vector3 torque = Vector3.Cross( r, impulse );
Vector3 r = position - physObj.MassCenter; Vector3 torqueLocal = bodyRot.Inverse * torque;
Vector3 angularVelocityLocal = torqueLocal * physObj.PhysicsBody.Inertia.Inverse;
AngularVelocity = bodyRot * angularVelocityLocal;
// Calculate torque impulse in world frame: τ = r × impulse LinearVelocity = impulse * (1 / physObj.Mass);
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);
} }
/// <summary> /// <summary>
@ -74,34 +68,31 @@ public static class PhysicsExtensions
/// <param name="physObj">The physics object</param> /// <param name="physObj">The physics object</param>
/// <param name="impulse">The impulse acting on the object in kg*units/s (World frame)</param> /// <param name="impulse">The impulse acting on the object in kg*units/s (World frame)</param>
/// <param name="position">The location of the impulse in world coordinates</param> /// <param name="position">The location of the impulse in world coordinates</param>
/// <returns> /// <param name="LinearImpulse">Linear impulse on center of mass (World frame)</param>
/// Vector1: Linear impulse on center of mass (World frame) /// <param name="AngularImpulse">Angular impulse on center of mass (World frame)</param>
/// Vector2: Angular impulse on center of mass (Local frame) public static void CalculateForceOffset(
/// </returns> this Rigidbody physObj,
public static (Vector3 LinearImpulse, Vector3 AngularImpulse) CalculateForceOffset(
this PhysicsBody physObj,
Vector3 impulse, Vector3 impulse,
Vector3 position ) Vector3 position,
out Vector3 LinearImpulse,
out Vector3 AngularImpulse )
{ {
if ( !physObj.IsValid() || !physObj.MotionEnabled ) 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 com = physObj.WorldTransform.PointToWorld( physObj.MassCenter );
Vector3 linearImpulse = impulse; Rotation bodyRot = physObj.PhysicsBody.Rotation;
// 2. Calculate angular impulse (torque) from the offset force Vector3 r = position - com;
// τ = r * F (cross product of position relative to COM and force) Vector3 torque = Vector3.Cross( r, impulse );
Vector3 centerOfMass = physObj.MassCenter; Vector3 torqueLocal = bodyRot.Inverse * torque;
Vector3 relativePosition = position - centerOfMass; Vector3 angularImpulseLocal = torqueLocal * physObj.PhysicsBody.Inertia.Inverse;
Vector3 worldAngularImpulse = relativePosition.Cross( impulse ); AngularImpulse = bodyRot * angularImpulseLocal;
LinearImpulse = 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);
} }
} }

46
Editor/Wheel/PacejkaWidget.cs
View File

@ -9,7 +9,7 @@ public class PacejkaWidget : ControlObjectWidget
public override bool SupportsMultiEdit => false; public override bool SupportsMultiEdit => false;
public override bool IncludeLabel => false; public override bool IncludeLabel => false;
[CustomEditor( typeof( Pacejka.LateralForce ) )] [CustomEditor( typeof( Pacejka.PacejkaPreset ) )]
private class LateralForceWidget : ControlObjectWidget private class LateralForceWidget : ControlObjectWidget
{ {
public LateralForceWidget( SerializedProperty property ) : base( property, true ) public LateralForceWidget( SerializedProperty property ) : base( property, true )
@ -17,7 +17,7 @@ public class PacejkaWidget : ControlObjectWidget
Layout = Layout.Column(); Layout = Layout.Column();
Layout.Margin = 8f; Layout.Margin = 8f;
Layout.Spacing = 8; Layout.Spacing = 8;
foreach ( var item in TypeLibrary.GetType<Pacejka.LateralForce>().Properties ) foreach ( var item in TypeLibrary.GetType<Pacejka.PacejkaPreset>().Properties )
{ {
var row = Layout.AddRow(); var row = Layout.AddRow();
row.Spacing = 8; 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<Pacejka.LongitudinalForce>().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<Pacejka.AligningMoment>().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; private Pacejka Pacejka;
public PacejkaWidget( SerializedProperty property ) : base( property, true ) public PacejkaWidget( SerializedProperty property ) : base( property, true )
{ {
@ -83,8 +44,5 @@ public class PacejkaWidget : ControlObjectWidget
tabs.AddPage( nameof( Pacejka.Longitudinal ), null, tabs.AddPage( nameof( Pacejka.Longitudinal ), null,
Layout.Add( Create( obj.GetProperty( nameof( Pacejka.Longitudinal ) ) ) ) Layout.Add( Create( obj.GetProperty( nameof( Pacejka.Longitudinal ) ) ) )
); );
tabs.AddPage( nameof( Pacejka.Aligning ), null,
Layout.Add( Create( obj.GetProperty( nameof( Pacejka.Aligning ) ) ) )
);
} }
} }

70
Editor/Wheel/TirePresetEditor.cs
View File

@ -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<TirePreset>();
RebuildSheet();
}
}

229
Editor/Wheel/TirePresetPreview.cs
View File

@ -9,29 +9,17 @@ using System.Threading.Tasks;
namespace VeloX; namespace VeloX;
[AssetPreview( "tire" )] [AssetPreview( "tire" )]
class TirePresetPreview( Asset asset ) : PixmapAssetPreview( asset ) class TirePresetPreview : AssetPreview
{ {
private Texture texture;
private TirePreset Tire = asset.LoadResource<TirePreset>(); public override bool IsAnimatedPreview => false;
[Range( 0.01f, 1 )] private float Zoom { get; set; } = 1;
private TirePreset Tire;
public AssetPreviewWidget Widget { get; private set; } 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 ) public override Widget CreateWidget( Widget parent )
{ {
Widget = parent as AssetPreviewWidget; Widget = parent as AssetPreviewWidget;
Task.Run( async () =>
{
while ( Widget != null )
{
await MainThread.Wait();
await Widget.UpdatePixmap();
await Task.Delay( 100 );
}
} );
return null; return null;
} }
public override Widget CreateToolbar() public override Widget CreateToolbar()
@ -42,116 +30,6 @@ class TirePresetPreview( Asset asset ) : PixmapAssetPreview( asset )
info.MouseLeftPress = () => OpenSettings( info ); info.MouseLeftPress = () => OpenSettings( info );
return info; return info;
} }
static List<Vector2> 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 ) public void OpenSettings( Widget parent )
{ {
var popup = new PopupWidget( parent ) var popup = new PopupWidget( parent )
@ -164,9 +42,7 @@ class TirePresetPreview( Asset asset ) : PixmapAssetPreview( asset )
var ps = new ControlSheet(); var ps = new ControlSheet();
ps.AddProperty( this, x => x.Load );
ps.AddProperty( this, x => x.Zoom ); ps.AddProperty( this, x => x.Zoom );
ps.AddProperty( this, x => x.Camber );
popup.Layout.Add( ps ); popup.Layout.Add( ps );
popup.MaximumWidth = 300; popup.MaximumWidth = 300;
@ -175,4 +51,99 @@ class TirePresetPreview( Asset asset ) : PixmapAssetPreview( asset )
popup.ConstrainToScreen(); popup.ConstrainToScreen();
} }
public override async Task InitializeAsset()
{
await Task.Yield();
using ( Scene.Push() )
{
PrimaryObject = new()
{
WorldTransform = Transform.Zero
};
var plane = PrimaryObject.AddComponent<ModelRenderer>();
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<Vector2> pointCache = [];
public TirePresetPreview( Asset asset ) : base( asset )
{
texture = Texture.CreateRenderTarget().WithDynamicUsage().WithScreenFormat().WithSize( 512, 512 ).Create();
Tire = Asset.LoadResource<TirePreset>();
}
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 );
}
} }