From 55a178e8c524ca8e4583511b4106a022e7109ca6 Mon Sep 17 00:00:00 2001
From: Valera <108022376+kekobka@users.noreply.github.com>
Date: Mon, 16 Jun 2025 14:46:43 +0700
Subject: [PATCH] cleanup code

---
 Code/Base/Wheel/VeloXWheel.cs | 103 +++++++++++++++-------------------
 1 file changed, 44 insertions(+), 59 deletions(-)

diff --git a/Code/Base/Wheel/VeloXWheel.cs b/Code/Base/Wheel/VeloXWheel.cs
index 6e84067..9855dfc 100644
--- a/Code/Base/Wheel/VeloXWheel.cs
+++ b/Code/Base/Wheel/VeloXWheel.cs
@@ -151,15 +151,6 @@ public partial class VeloXWheel : Component
 
 		var vel = vehicle.Body.GetVelocityAtPoint( contactPos );
 
-		//var vel = vehicle.Body.GetVelocityAtPoint( pos );
-
-		if ( !IsOnGround )
-		{
-			forwardFriction = new Friction();
-			sideFriction = new Friction();
-			return;
-		}
-
 		var offset = maxLen - (fraction * maxLen);
 		var springForce = (offset * SpringStrength);
 		var damperForce = (lastSpringOffset - offset) * SpringDamper;
@@ -194,71 +185,65 @@ public partial class VeloXWheel : Component
 
 		load = Math.Max( force.z, 0 ).InchToMeter();
 
+		float forwardSpeed = vel.Dot( forward ).InchToMeter();
+		float sideSpeed = vel.Dot( right ).InchToMeter();
+
+		float camber_rad = CamberAngle.DegreeToRadian();
+		float R = Radius.InchToMeter();
+
+		float linearSpeed = angularVelocity * Radius.InchToMeter();
+
+		float F_roll = TirePreset.GetRollingResistance( linearSpeed, 1.0f );
+		F_roll *= -Math.Clamp( linearSpeed * 0.25f, -1, 1 );
+
+		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 )
 		{
-			float forwardSpeed = vel.Dot( forward ).InchToMeter();
-			float sideSpeed = vel.Dot( right ).InchToMeter();
-
-			float camber_rad = CamberAngle.DegreeToRadian();
-			float R = Radius.InchToMeter();
-
-			//TirePreset.ComputeState(
-			//	load,
-			//	angularVelocity,
-			//	forwardSpeed,
-			//	sideSpeed,
-			//	camber_rad,
-			//	R,
-			//	Inertia,
-			//	out var tireState
-			//);
-
-			float linearSpeed = angularVelocity * Radius.InchToMeter();
-			float F_roll = TirePreset.GetRollingResistance( linearSpeed, 1.0f );
-			F_roll *= -Math.Clamp( linearSpeed * 0.25f, -1, 1 );
-
-			//float Fx_total = tireState.fx + F_roll;
-
-			float T_brake = Brake * BrakePowerMax;
-
-			if ( angularVelocity > 0 ) T_brake = -T_brake;
-			else T_brake = angularVelocity < 0 ? T_brake : -MathF.Sign( Torque ) * T_brake;
-			//float totalTorque = Torque + tireState.fx;
-
-			angularVelocity += Torque / Inertia * Time.Delta;
-			angularVelocity += T_brake / Inertia * Time.Delta;
-			angularVelocity += F_roll * 9.80665f / Inertia * Time.Delta;
 			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) * Inertia / Time.Delta;
+			var errorTorque = (angularVelocity - forwardSpeed / R) * BaseInertia / Time.Delta;
 
 			var surfaceTorque = Math.Clamp( errorTorque, -maxTorque, maxTorque );
 
 			angularVelocity -= surfaceTorque / Inertia * Time.Delta;
 
-			forwardFriction = new Friction()
-			{
-				Slip = slip,
-				Force = -fx,
-				Speed = forwardSpeed
-			};
 
-			sideFriction = new Friction()
-			{
-				Slip = slip_ang,
-				Force = fy,
-				Speed = sideSpeed
-			};
+			float deltaOmegaTorque = (angularVelocity - Winit) * Inertia / Time.Delta;
 
-			Vector3 frictionForce = forward * forwardFriction.Force + right * sideFriction.Force;
+			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 );
-			vehicle.Body.ApplyForceAt( pos, frictionForce * ProjectSettings.Physics.SubSteps );
 
+			Vector3 frictionForce = forward * forwardFriction.Force + right * sideFriction.Force;
+			vehicle.Body.ApplyForceAt( pos, frictionForce * ProjectSettings.Physics.SubSteps );
 		}
+		else
+		{
+			forwardFriction = new();
+			sideFriction = new();
+		}
+
+
 
 
 	}
@@ -298,8 +283,8 @@ public partial class VeloXWheel : Component
 	// 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.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 );
 	}
 }