driver is Connection now

Assets/Materials/emo.vmat

@@ -0,0 +1,42 @@
+// THIS FILE IS AUTO-GENERATED
+
+Layer0
+{
+	shader "shaders/complex.shader"
+
+	//---- Rendering ----
+	F_DO_NOT_CAST_SHADOWS 1
+
+	//---- Ambient Occlusion ----
+	g_flAmbientOcclusionDirectDiffuse "0.000"
+	g_flAmbientOcclusionDirectSpecular "0.000"
+	TextureAmbientOcclusion "materials/default/default_ao.tga"
+
+	//---- Color ----
+	g_flModelTintAmount "1.000"
+	g_vColorTint "[1.000000 1.000000 1.000000 0.000000]"
+	TextureColor "textures/pd7aum1vufg.jpg"
+
+	//---- Fade ----
+	g_flFadeExponent "1.000"
+
+	//---- Fog ----
+	g_bFogEnabled "1"
+
+	//---- Metalness ----
+	g_flMetalness "0.000"
+
+	//---- Normal ----
+	TextureNormal "materials/default/default_normal.tga"
+
+	//---- Roughness ----
+	g_flRoughnessScaleFactor "1.000"
+	TextureRoughness "materials/default/default_rough.tga"
+
+	//---- Texture Coordinates ----
+	g_nScaleTexCoordUByModelScaleAxis "0"
+	g_nScaleTexCoordVByModelScaleAxis "0"
+	g_vTexCoordOffset "[0.000 0.000]"
+	g_vTexCoordScale "[100.000 100.000]"
+	g_vTexCoordScrollSpeed "[0.000 0.000]"
+}

Assets/frictions/High-Performance Road Tire.whfric

@@ -0,0 +1,22 @@
+{
+  "Longitudinal": {
+    "B": 18,
+    "C": 1.5,
+    "D": 1.5,
+    "E": 0.3
+  },
+  "Lateral": {
+    "B": 12,
+    "C": 1.3,
+    "D": 1.8,
+    "E": -1.8
+  },
+  "Aligning": {
+    "B": 2.8,
+    "C": 2.1,
+    "D": 0.1,
+    "E": -2.5
+  },
+  "__references": [],
+  "__version": 0
+}

Assets/frictions/aboba.whfric

@@ -0,0 +1,22 @@
+{
+  "Longitudinal": {
+    "B": 0,
+    "C": 1,
+    "D": 1,
+    "E": 0.3
+  },
+  "Lateral": {
+    "B": 1,
+    "C": 1,
+    "D": 1,
+    "E": 0.3
+  },
+  "Aligning": {
+    "B": 2.8,
+    "C": 2.1,
+    "D": 0.1,
+    "E": -2.5
+  },
+  "__references": [],
+  "__version": 0
+}

Code/Base/VeloXBase.Input.cs

@@ -1,11 +1,23 @@
 using Sandbox;
-
+using System;
 namespace VeloX;
 
 public abstract partial class VeloXBase
 {
-	//[Property, Feature( "Input" ), InputAction] string ThrottleInput { get; set; } = "Forward";
 	[Property, Feature( "Input" )] internal InputResolver Input { get; set; } = new();
-	[Property, Feature( "Input" )] public GameObject Driver { get => Input.Driver; set => Input.Driver = value; }
+
+	private Guid _guid;
+
+	[Sync( SyncFlags.FromHost )]
+	public Guid ConnectionID
+	{
+		get => _guid;
+		set
+		{
+			_guid = value;
+			Input.Driver = Connection.Find( _guid );
+		}
+	}
+	[Property, Feature( "Input" )] public bool IsDriver => ConnectionID == Connection.Local.Id;
 
 }

Code/Base/VeloXBase.Phys.cs

@@ -5,7 +5,6 @@ namespace VeloX;
 public abstract partial class VeloXBase
 {
 
-	private Vector3 linForce;
 	private Vector3 angForce;
 
 	private void PhysicsSimulate()
@@ -14,10 +13,6 @@ public abstract partial class VeloXBase
 		var mass = Body.Mass;
 		var angVel = Body.AngularVelocity;
 
-		linForce.x = 0;
-		linForce.y = 0;
-		linForce.z = 0;
-
 		angForce.x = angVel.x * drag.x * mass;
 		angForce.y = angVel.y * drag.y * mass;
 		angForce.z = angVel.z * drag.z * mass;
@@ -25,19 +20,12 @@ public abstract partial class VeloXBase
 
 		if ( Wheels.Count > 0 )
 		{
-			Vector3 vehVel = Body.Velocity;
-			Vector3 vehAngVel = Body.AngularVelocity;
 
 			var dt = Time.Delta;
 			foreach ( var v in Wheels )
-				v.DoPhysics( this, ref vehVel, ref vehAngVel, ref linForce, ref angForce, in dt );
-
-			Body.Velocity = vehVel;
-			Body.AngularVelocity = vehAngVel;
+				v.DoPhysics( this, in dt );
 		}
 
-
-		Body.ApplyForce( linForce );
 		Body.ApplyTorque( angForce );
 	}
 }

Code/Base/VeloXBase.cs

@@ -5,7 +5,6 @@ namespace VeloX;
 
 public abstract partial class VeloXBase : Component
 {
-	[Sync] public EngineState EngineState { get; set; }
 	[Sync] public WaterState WaterState { get; set; }
 	[Sync] public bool IsEngineOnFire { get; set; }
 	[Sync, Range( 0, 1 ), Property] public float Brake { get; set; }
@@ -24,7 +23,7 @@ public abstract partial class VeloXBase : Component
 
 	protected override void OnFixedUpdate()
 	{
-		if ( IsProxy )
+		if ( !IsDriver )
 			return;
 
 		LocalVelocity = WorldTransform.PointToLocal( WorldPosition + Body.Velocity );

Code/Base/Wheel/Friction.cs

@@ -0,0 +1,11 @@
+namespace VeloX;
+
+public struct Friction
+{
+	public float SlipCoef { get; set; }
+	public float ForceCoef { get; set; }
+
+	public float Force { get; set; }
+	public float Slip { get; set; }
+	public float Speed { get; set; }
+}

Code/Base/Wheel/FrictionPreset.cs

@@ -0,0 +1,16 @@
+using System;
+
+namespace VeloX;
+public class FrictionPreset
+{
+	public float B { get; set; } = 10.86f;
+	public float C { get; set; } = 2.15f;
+	public float D { get; set; } = 0.933f;
+	public float E { get; set; } = 0.992f;
+	public float Evaluate( float slip )
+	{
+		var t = Math.Abs( slip );
+
+		return D * MathF.Sin( C * MathF.Atan( B * t - E * (B * t - MathF.Atan( B * t )) ) );
+	}
+}

Code/Base/Wheel/VeloXWheel.Suspension.cs

@@ -1,18 +0,0 @@
-using Sandbox;
-
-namespace VeloX;
-
-public partial class VeloXWheel
-{
-	[Property] float BrakePowerMax { get; set; } = 3000;
-	[Property, Group( "Suspension" )] float SuspensionLength { get; set; } = 10;
-	[Property, Group( "Suspension" )] float SpringStrength { get; set; } = 800;
-	[Property, Group( "Suspension" )] float SpringDamper { get; set; } = 3000;
-
-	[Property, Group( "Traction" )] float ForwardTractionMax { get; set; } = 2600;
-	[Property, Group( "Traction" )] float SideTractionMultiplier { get; set; } = 20;
-	[Property, Group( "Traction" )] float SideTractionMaxAng { get; set; } = 25;
-	[Property, Group( "Traction" )] float SideTractionMax { get; set; } = 2400;
-	[Property, Group( "Traction" )] float SideTractionMin { get; set; } = 800;
-
-}

Code/Base/Wheel/VeloXWheel.cs

@@ -1,7 +1,11 @@
 using Sandbox;
+using Sandbox.UI;
 using System;
+using System.Buffers.Text;
+using System.Numerics;
 using System.Runtime.Intrinsics.Arm;
 using System.Text.RegularExpressions;
+using System.Threading;
 
 namespace VeloX;
 
@@ -11,14 +15,34 @@ public partial class VeloXWheel : Component
 {
 
 	[Property] public float Radius { get; set; } = 15;
+	[Property] public float Mass { get; set; } = 20;
+	[Property] public float RollingResistance { get; set; } = 20;
+	[Property] public float SlipCircleShape { get; set; } = 1.05f;
+
+	public FrictionPreset LongitudinalFrictionPreset => WheelFriction.Longitudinal;
+	public FrictionPreset LateralFrictionPreset => WheelFriction.Lateral;
+	public FrictionPreset AligningFrictionPreset => WheelFriction.Aligning;
+
+	[Property] public WheelFriction WheelFriction { get; set; }
+
+
 	[Property] public float Width { get; set; } = 6;
 	[Sync] public float SideSlip { get; private set; }
 	[Sync] public float ForwardSlip { get; private set; }
 	[Sync, Range( 0, 1 )] public float BrakePower { get; set; }
 	[Sync] public float Torque { get; set; }
 	[Sync, Range( 0, 1 )] public float Brake { get; set; }
+	[Property] float BrakePowerMax { get; set; } = 3000;
 	[Property] public bool IsFront { get; protected set; }
 	[Property] public float SteerMultiplier { get; set; }
+	[Property] public float CasterAngle { get; set; } = 7; // todo
+	[Property] public float CamberAngle { get; set; } = -3;
+	[Property] public float ToeAngle { get; set; } = 0.5f;
+
+	[Property, Group( "Suspension" )] float SuspensionLength { get; set; } = 10;
+	[Property, Group( "Suspension" )] float SpringStrength { get; set; } = 800;
+	[Property, Group( "Suspension" )] float SpringDamper { get; set; } = 3000;
+
 	public float Spin { get; private set; }
 
 	public float RPM { get => angularVelocity * 60f / MathF.Tau; set => angularVelocity = value / (60 / MathF.Tau); }
@@ -31,12 +55,23 @@ public partial class VeloXWheel : Component
 	public bool IsOnGround => Trace.Hit;
 
 	private float lastSpringOffset;
-	private Vector2 tractionCycle;
 	private float angularVelocity;
+	private float load;
 	private float lastFraction;
 	private RealTimeUntil expandSoundCD;
 	private RealTimeUntil contractSoundCD;
 
+	private Vector3 contactPos;
+	private Vector3 forward;
+	private Vector3 right;
+	private Vector3 up;
+
+	private Friction forwardFriction;
+	private Friction sideFriction;
+	private Vector3 force;
+
+	private float BaseInertia => 0.5f * Mass * MathF.Pow( Radius.InchToMeter(), 2 );
+	private float Inertia => BaseInertia;
 
 	protected override void OnAwake()
 	{
@@ -45,15 +80,6 @@ public partial class VeloXWheel : Component
 			StartPos = LocalPosition;
 	}
 
-	private static float TractionRamp( float slipAngle, float sideTractionMaxAng, float sideTractionMax, float sideTractionMin )
-	{
-		sideTractionMaxAng /= 90; // Convert max slip angle to the 0 - 1 range
-		var x = (slipAngle - sideTractionMaxAng) / (1 - sideTractionMaxAng);
-
-
-		return slipAngle < sideTractionMaxAng ? sideTractionMax : (sideTractionMax * (1 - x)) + (sideTractionMin * x);
-	}
-
 	private void DoSuspensionSounds( VeloXBase vehicle, float change )
 	{
 		if ( change > 0.1f && expandSoundCD )
@@ -75,41 +101,145 @@ public partial class VeloXWheel : Component
 	internal void Update( VeloXBase vehicle, in float dt )
 	{
 		UpdateVisuals( vehicle, dt );
-
-		if ( !IsOnGround )
-		{
-			angularVelocity += (Torque / 20) * dt;
-			angularVelocity = MathX.Approach( angularVelocity, 0, dt * 4 );
-		}
-
 	}
 
 	private void UpdateVisuals( VeloXBase vehicle, in float dt )
 	{
-		//Rotate the wheel around the axle axis
-		Spin = (Spin - MathX.RadianToDegree( angularVelocity ) * dt) % 360;
+		var entityAngles = vehicle.WorldRotation;
 
-		WorldRotation = vehicle.WorldTransform.RotationToWorld( vehicle.SteerAngle * SteerMultiplier ).RotateAroundAxis( Vector3.Right, Spin );
+		Spin -= angularVelocity.MeterToInch() * dt;
+
+
+		var steerRotated = entityAngles.RotateAroundAxis( Vector3.Up, vehicle.SteerAngle.yaw * SteerMultiplier + ToeAngle );
+		var camberRotated = steerRotated.RotateAroundAxis( Vector3.Forward, -CamberAngle );
+		var angularVelocityRotated = camberRotated.RotateAroundAxis( Vector3.Right, Spin );
+
+		WorldRotation = angularVelocityRotated;
 
 	}
 
-	public void DoPhysics( VeloXBase vehicle, ref Vector3 vehVel, ref Vector3 vehAngVel, ref Vector3 outLin, ref Vector3 outAng, in float dt )
+	private (float, float, float, float) StepLongitudinal( float Vx, float Lc, float kFx, float kSx, float dt )
+	{
+		float Tm = Torque;
+		float Tb = Brake * BrakePowerMax + RollingResistance;
+		float R = Radius.InchToMeter();
+		float I = Inertia;
+
+		float Winit = angularVelocity;
+		float W = angularVelocity;
+
+		float VxAbs = MathF.Abs( Vx );
+		float Sx;
+		if ( VxAbs >= 0.1f )
+			Sx = (Vx - W * R) / VxAbs;
+
+		else
+			Sx = (Vx - W * R) * 0.6f;
+
+		Sx = Math.Clamp( Sx * kSx, -1, 1 );
+
+		W += Tm / I * dt;
+
+		Tb *= W > 0 ? -1 : 1;
+
+		float TbCap = MathF.Abs( W ) * I / dt;
+		float Tbr = MathF.Abs( Tb ) - MathF.Abs( TbCap );
+		Tbr = MathF.Max( Tbr, 0 );
+		Tb = Math.Clamp( Tb, -TbCap, TbCap );
+		W += Tb / I * dt;
+
+		float maxTorque = LongitudinalFrictionPreset.Evaluate( Sx ) * Lc * kFx;
+
+		float errorTorque = (W - Vx / R) * I / dt;
+
+		float surfaceTorque = MathX.Clamp( errorTorque, -maxTorque, maxTorque );
+
+		W -= surfaceTorque / I * dt;
+
+		float Fx = surfaceTorque / R;
+
+
+		Tbr *= W > 0 ? -1 : 1;
+		float TbCap2 = MathF.Abs( W ) * I / dt;
+
+		float Tb2 = Math.Clamp( Tbr, -TbCap2, TbCap2 );
+
+		W += Tb2 / I * dt;
+
+		float deltaOmegaTorque = (W - Winit) * I / dt;
+
+		float Tcnt = -surfaceTorque + Tb + Tb2 - deltaOmegaTorque;
+		if ( Lc < 0.001f )
+			Sx = 0;
+
+		return (W, Sx, Fx, Tcnt);
+	}
+
+	private (float, float) StepLateral( float Vx, float Vy, float Lc, float kFy, float kSy, float dt )
+	{
+		float VxAbs = MathF.Abs( Vx );
+		float Sy;
+
+		if ( VxAbs > 0.1f )
+			Sy = MathF.Atan( Vy / VxAbs ).RadianToDegree() * 0.01111f;
+		else
+			Sy = Vy * (0.003f / dt);
+
+
+		Sy *= kSy * 0.95f;
+		Sy = Math.Clamp( Sy * kSy, -1, 1 );
+		float Fy = -MathF.Sign( Sy ) * LateralFrictionPreset.Evaluate( Sy ) * Lc * kFy;
+		if ( Lc < 0.0001f )
+			Sy = 0;
+
+		return (Sy, Fy);
+	}
+
+	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 * SlipCircleShape,
+				SyClamped
+			);
+
+			Vector2 slipDir = combinedSlip.Normal;
+
+			float F = MathF.Sqrt( Fx * Fx + Fy * Fy );
+
+			float absSlipDirY = MathF.Abs( slipDir.y );
+
+			Fy = F * absSlipDirY * MathF.Sign( Fy );
+		}
+	}
+
+
+	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 ));
+
+	public void DoPhysics( VeloXBase vehicle, in float dt )
+	{
 		var pos = vehicle.WorldTransform.PointToWorld( StartPos );
 
 		var ang = vehicle.WorldTransform.RotationToWorld( vehicle.SteerAngle * SteerMultiplier );
 
-		var fw = ang.Forward;
-		var rt = ang.Right;
-		var up = ang.Up;
+		forward = ang.Forward;
+		right = ang.Right;
+		up = ang.Up;
 
 		var maxLen = SuspensionLength;
 
 		var endPos = pos + ang.Down * maxLen;
-		Trace = Scene.Trace.IgnoreGameObjectHierarchy( vehicle.GameObject )
-					.FromTo( pos, endPos )
-					.Cylinder( Width, Radius )
+		Trace = Scene.Trace
+					.IgnoreGameObjectHierarchy( vehicle.GameObject )
+					.Cylinder( Width, Radius, pos, endPos )
 					.Rotated( vehicle.WorldTransform.Rotation * CylinderOffset )
 					.UseRenderMeshes( false )
 					.UseHitPosition( false )
@@ -118,123 +248,107 @@ public partial class VeloXWheel : Component
 
 		var fraction = Trace.Fraction;
 
-		var contactPos = pos - maxLen * fraction * up;
+		contactPos = pos - maxLen * fraction * up;
 
 		LocalPosition = vehicle.WorldTransform.PointToLocal( contactPos );
 
 		DoSuspensionSounds( vehicle, fraction - lastFraction );
 		lastFraction = fraction;
 
+		var normal = Trace.Normal;
+
+		var vel = vehicle.Body.GetVelocityAtPoint( pos );
+
+		vel.x = vel.x.InchToMeter();
+		vel.y = vel.y.InchToMeter();
+		vel.z = vel.z.InchToMeter();
+
 		if ( !IsOnGround )
 		{
 			SideSlip = 0;
 			ForwardSlip = 0;
 			return;
 		}
-		var normal = Trace.Normal;
-
-		var vel = vehicle.Body.GetVelocityAtPoint( pos );
-		// Split that velocity among our local directions
-
-		var velF = fw.Dot( vel );
-
-		var velR = rt.Dot( vel );
-
-		var velU = normal.Dot( vel );
-
-		var absVelR = Math.Abs( velR );
-
-
-		//Make forward forces be perpendicular to the surface normal
-
-		fw = normal.Cross( rt );
-
-		//Suspension spring force &damping
 
 		var offset = maxLen - (fraction * maxLen);
-
 		var springForce = (offset * SpringStrength);
-
 		var damperForce = (lastSpringOffset - offset) * SpringDamper;
 		lastSpringOffset = offset;
-		var force = (springForce - damperForce) * up.Dot( normal ) * normal;
+		force = (springForce - damperForce) * MathF.Max( 0, up.Dot( normal ) ) * normal / dt;
 
-		//If the suspension spring is going to be fully compressed on the next frame...
+		// Vector3.CalculateVelocityOffset is broken (need fix)
+		//var velU = normal.Dot( vel ).MeterToInch();
+		//if ( velU < 0 && offset + Math.Abs( velU * dt ) > SuspensionLength )
+		//{
+		//	var (linearVel, angularVel) = vehicle.Body.PhysicsBody.CalculateVelocityOffset( (-velU.InchToMeter() / dt) * normal, pos );
+		//	vehicle.Body.Velocity += linearVel;
+		//	vehicle.Body.AngularVelocity += angularVel;
+		//}
 
-		if ( velU < 0 && offset + Math.Abs( velU * dt ) > SuspensionLength )
+
+		load = springForce - damperForce;
+		load = Math.Max( load, 0 );
+
+		var longitudinalLoadCoefficient = GetLongitudinalLoadCoefficient( load );
+		var lateralLoadCoefficient = GetLateralLoadCoefficient( load );
+
+		float forwardSpeed = 0;
+		float sideSpeed = 0;
+
+
+		if ( IsOnGround )
 		{
-			var (linearVel, angularVel) = vehicle.Body.PhysicsBody.CalculateVelocityOffset( (-velU / dt) * normal, pos );
-			vehVel += linearVel;
-			vehAngVel += angularVel;
+			forwardSpeed = vel.Dot( forward );
+			sideSpeed = vel.Dot( right );
 		}
 
-		//Rolling resistance
-		force += 0.05f * -velF * fw;
+		(float W, float Sx, float Fx, float _) = StepLongitudinal(
+		   forwardSpeed,
+		   longitudinalLoadCoefficient,
+		   0.95f,
+		   0.9f,
+		   dt
+		);
 
-		//Brake and torque forces
-		var surfaceGrip = 1;
+		(float Sy, float Fy) = StepLateral(
+			forwardSpeed,
+			sideSpeed,
+			lateralLoadCoefficient,
+			0.95f,
+			0.9f,
+			dt
+		);
 
-		var maxTraction = ForwardTractionMax * surfaceGrip * 1;
-		//Grip loss logic
+		SlipCircle( Sx, Sy, Fx, ref Fy );
+		angularVelocity = W;
 
-		var brakeForce = MathX.Clamp( -velF, -Brake, Brake ) * BrakePowerMax * surfaceGrip;
+		forwardFriction = new Friction()
+		{
+			Slip = Sx,
+			Force = Fx.MeterToInch(),
+			Speed = forwardSpeed
+		};
 
-		var forwardForce = Torque + brakeForce;
-
-		var signForwardForce = forwardForce > 0 ? 1 : (forwardForce < 0 ? -1 : 0);
-
-		// Given an amount of sideways slippage( up to the max.traction )
-		// and the forward force, calculate how much grip we are losing.
-
-		tractionCycle.x = Math.Min( absVelR, maxTraction );
-		tractionCycle.y = forwardForce;
-
-		var gripLoss = Math.Max( tractionCycle.Length - maxTraction, 0 );
+		sideFriction = new Friction()
+		{
+			Slip = Sy,
+			Force = Fy.MeterToInch(),
+			Speed = sideSpeed
+		};
 
 
-		// Reduce the forward force by the amount of grip we lost,
-
-		// but still allow some amount of brake force to apply regardless.
-
-		forwardForce += -(gripLoss * signForwardForce) + MathX.Clamp( brakeForce * 0.5f, -maxTraction, maxTraction );
-
-		force += fw * forwardForce;
-
-		// Get how fast the wheel would be spinning if it had never lost grip
-
-		var groundAngularVelocity = MathF.Tau * (velF / (Radius * MathF.Tau));
-
-		// Add our grip loss to our spin velocity
-		var _angvel = groundAngularVelocity + gripLoss * (Torque > 0 ? 1 : (Torque < 0 ? -1 : 0));
-
-		// Smoothly match our current angular velocity to the angular velocity affected by grip loss
-
-		angularVelocity = MathX.Approach( angularVelocity, _angvel, dt * 200 );
-		ForwardSlip = groundAngularVelocity - angularVelocity;
-
-		// Calculate side slip angle
-		var slipAngle = MathF.Atan2( velR, MathF.Abs( velF ) ) / MathF.PI * 2;
-		SideSlip = slipAngle * MathX.Clamp( vehicle.TotalSpeed * 0.005f, 0, 1 ) * 2;
-
-		//Sideways traction ramp
-
-		slipAngle = MathF.Abs( slipAngle * slipAngle );
-
-		maxTraction = TractionRamp( slipAngle, SideTractionMaxAng, SideTractionMax, SideTractionMin );
-
-		var sideForce = -rt.Dot( vel * SideTractionMultiplier );
-
-		// Reduce sideways traction force as the wheel slips forward
-		sideForce *= 1 - Math.Clamp( MathF.Abs( gripLoss ) * 0.1f, 0, 1 ) * 0.9f;
-
-		// Apply sideways traction force
-		force += Math.Clamp( sideForce, -maxTraction, maxTraction ) * surfaceGrip * rt;
-
-		force += velR * SideTractionMultiplier * -0.1f * rt;
-		//Apply the forces at the axle / ground contact position
-
-		vehicle.Body.ApplyForceAt( pos, force / dt );
+		var frictionforce = right * sideFriction.Force + forward * forwardFriction.Force;
 
+		vehicle.Body.ApplyForceAt( contactPos, force + frictionforce );
 
 	}
+
+
+	// debug
+	protected override void OnUpdate()
+	{
+		DebugOverlay.Normal( contactPos, forward * forwardFriction.Force / 10000f, Color.Red, overlay: true );
+		DebugOverlay.Normal( contactPos, right * sideFriction.Force / 10000f, Color.Green, overlay: true );
+		DebugOverlay.Normal( contactPos, up * force / 50000f, Color.Blue, overlay: true );
+	}
 }

Code/Base/Wheel/WheelFriction.cs

@@ -0,0 +1,12 @@
+using Sandbox;
+
+namespace VeloX;
+
+
+[GameResource( "Wheel Friction", "whfric", "Wheel Friction", Category = "VeloX", Icon = "radio_button_checked" )]
+public class WheelFriction : GameResource
+{
+	public FrictionPreset Longitudinal { get; set; }
+	public FrictionPreset Lateral { get; set; }
+	public FrictionPreset Aligning { get; set; }
+}

Code/Car/VeloXCar.Engine.cs

@@ -6,6 +6,7 @@ namespace VeloX;
 
 public partial class VeloXCar
 {
+	[Property, Feature( "Engine" ), Sync] public EngineState EngineState { get; set; }
 	[Property, Feature( "Engine" )] public EngineStream Stream { get; set; }
 	public EngineStreamPlayer StreamPlayer { get; set; }
 
@@ -181,7 +182,6 @@ public partial class VeloXCar
 		if ( currentGear < 0 && ForwardSpeed < -100 )
 			return;
 
-
 		if ( Math.Abs( avgForwardSlip ) > 10 )
 			return;
 
@@ -351,8 +351,4 @@ public partial class VeloXCar
 		IsRedlining = (isRedlining && inputThrottle > 0);
 	}
 
-	public void StreamEngineUpdate()
-	{
-
-	}
 }

Code/Car/VeloXCar.cs

@@ -7,17 +7,11 @@ namespace VeloX;
 [Title( "VeloX - Car" )]
 public partial class VeloXCar : VeloXBase
 {
-	protected override void OnAwake()
-	{
-		base.OnAwake();
-
-		StreamPlayer = new( Stream );
-	}
 	protected override void OnStart()
 	{
 		base.OnStart();
-
-		if ( !IsProxy )
+		StreamPlayer = new( Stream );
+		if ( IsDriver )
 		{
 			UpdateGearList();
 			UpdatePowerDistribution();
@@ -35,26 +29,24 @@ public partial class VeloXCar : VeloXBase
 			StreamPlayer.EngineState = EngineState;
 			StreamPlayer.IsRedlining = IsRedlining;
 
-			if ( Driver.IsValid() && Driver.IsProxy )
-				StreamPlayer.Update( Time.Delta, Scene.Camera.WorldPosition );
-			else
 			StreamPlayer.Update( Time.Delta, WorldPosition );
 		}
 
 	}
 	protected override void OnFixedUpdate()
 	{
-		if ( IsProxy )
+		if ( !IsDriver )
 			return;
 
 		base.OnFixedUpdate();
 
+		Brake = Math.Clamp( frontBrake + rearBrake + (Input.Down( "Jump" ) ? 1 : 0), 0, 1 );
+
 		var dt = Time.Delta;
 		EngineThink( dt );
 		WheelThink( dt );
 		UpdateSteering( dt );
 
-		Brake = Math.Clamp( frontBrake + rearBrake + (Input.Down( "Jump" ) ? 1 : 0), 0, 1 );
 	}
 
 }

Code/Input/InputResolver.cs

@@ -3,11 +3,9 @@
 namespace VeloX;
 public class InputResolver
 {
-	public GameObject Driver { get; internal set; }
-
-
-	private bool IsDriverActive => Driver.IsValid();
+	public Connection Driver { get; internal set; }
 
+	private bool IsDriverActive => Driver is not null;
 
 	public Vector2 MouseDelta => IsDriverActive ? Input.MouseDelta : default;
 	public Vector2 MouseWheel => IsDriverActive ? Input.MouseWheel : default;
@@ -40,8 +38,6 @@ public class InputResolver
 	public void StopAllHaptics()
 	{
 		if ( IsDriverActive )
-		{
 			Input.StopAllHaptics();
 	}
 }
-}

Code/Utils/EngineStream/EngineStreamPlayer.cs

@@ -2,7 +2,6 @@
 using Sandbox.Audio;
 using System;
 using System.Collections.Generic;
-using System.IO;
 using VeloX.Audio;
 using static VeloX.EngineStream;
 

Code/Utils/PhysicsExtensions.cs

@@ -1,9 +1,33 @@
 
 using Sandbox;
+using System;
+using System.Numerics;
 
 namespace VeloX;
 public static class PhysicsExtensions
 {
+	public static Vector3 Transform( this Vector3 value, Quaternion rotation )
+	{
+		float x2 = rotation.X + rotation.X;
+		float y2 = rotation.Y + rotation.Y;
+		float z2 = rotation.Z + rotation.Z;
+
+		float wx2 = rotation.W * x2;
+		float wy2 = rotation.W * y2;
+		float wz2 = rotation.W * z2;
+		float xx2 = rotation.X * x2;
+		float xy2 = rotation.X * y2;
+		float xz2 = rotation.X * z2;
+		float yy2 = rotation.Y * y2;
+		float yz2 = rotation.Y * z2;
+		float zz2 = rotation.Z * z2;
+
+		return new Vector3(
+			value.x * (1.0f - yy2 - zz2) + value.y * (xy2 - wz2) + value.z * (xz2 + wy2),
+			value.x * (xy2 + wz2) + value.y * (1.0f - xx2 - zz2) + value.z * (yz2 - wx2),
+			value.x * (xz2 - wy2) + value.y * (yz2 + wx2) + value.z * (1.0f - xx2 - yy2)
+		);
+	}
 	/// <summary>
 	/// Calculates the linear and angular velocities on the center of mass for an offset impulse.
 	/// </summary>
@@ -22,21 +46,26 @@ public static class PhysicsExtensions
 
 		Vector3 linearVelocity = impulse / physObj.Mass;
 
-		Vector3 centerOfMass = physObj.MassCenter;
-		Vector3 relativePosition = position - centerOfMass;
-		Vector3 torque = relativePosition.Cross( impulse );
+		Vector3 r = position - physObj.MassCenter;
 
-		Rotation bodyRotation = physObj.Transform.Rotation;
-		Vector3 localTorque = bodyRotation.Inverse * torque;
 
-		Vector3 localInverseInertia = physObj.Inertia.Inverse;
+		// Calculate torque impulse in world frame: τ = r × impulse
+		Vector3 torqueImpulseWorld = r.Cross( impulse );
+		Rotation worldToLocal = physObj.Rotation.Inverse;
+		Vector3 torqueImpulseLocal = torqueImpulseWorld.Transform( worldToLocal );
 
-		Vector3 localAngularVelocity = new(
-			localTorque.x * localInverseInertia.x,
-			localTorque.y * localInverseInertia.y,
-			localTorque.z * localInverseInertia.z );
+		var InverseInertiaDiagLocal = physObj.Inertia.Inverse;
 
-		return (linearVelocity, localAngularVelocity);
+		// 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>
@@ -63,7 +92,7 @@ public static class PhysicsExtensions
 		Vector3 linearImpulse = impulse;
 
 		// 2. Calculate angular impulse (torque) from the offset force
-		// τ = r × F (cross product of position relative to COM and 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 );