UPDATE

koptilnya/.vscode/settings.json

@@ -1,5 +0,0 @@
-{
-  "files.associations": {
-    "*.txt": "lua"
-  }
-}

koptilnya/data/models/audi_a6.txt

@@ -1,6 +1,6 @@
 -- @shared
 -- @name Audi A6 2012
--- @author DarkSupah
+-- @author Opti1337, DarkSupah
 -- @include /koptilnya/mesh_loader/builder.txt
 require("/koptilnya/mesh_loader/builder.txt")
 
@@ -11,7 +11,31 @@ local SCALE = Vector(1)
 
 local Materials =
 {
-    Body = "phoenix_storms/fender_white",
+    Body = "models/debug/debugwhite",
+    Doors = {
+        basetexture = "https://i.imgur.com/VfIk2D6.png",
+        options = {
+            flags = 134219776,
+            color = Vector(0.7969166636467, 0.7969166636467, 0.73720490932465),
+            envmap = "env_cubemap",
+            envmaptint = Vector(0.069727085530758, 0.069727085530758, 0.069727085530758),
+            envmapsaturation = 0.69999998807907,
+            phong = 1,
+            phongexponent = 10.0,
+        }
+    },
+    BonnetLivery = {
+        basetexture = "https://i.imgur.com/MR4z42U.png",
+        options = {
+            flags = 0x0100,
+            baseLayout = {
+                x = 170,
+                y = 575,
+                w = 200,
+                h = 200
+            }
+        }
+    },
     Shadow = "models/debug/debugwhite",
     Grille = "models/shiny",
     WindowsOutline = "models/debug/debugwhite",
@@ -94,9 +118,10 @@ if SERVER then
 
     // Body group
     builder:build("Body", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
+    builder:build("Bonnet", Vector(0), Angle(0), SCALE + Vector(0.002), Color(255, 255, 255), Materials.BonnetLivery, this, this)
     builder:build("Bonnet", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
     builder:build("Trunk", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
-    builder:build("Doors", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
+    builder:build("Doors", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Doors, this, this)
     builder:build("FrontBumper", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
     builder:build("BodyMirrors", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
 

koptilnya/data/models/bmw_850csi_96.txt

@@ -0,0 +1,173 @@
+-- @shared
+-- @name BMW 850CSi 96
+-- @author Opti1337, DarkSupah
+-- @include /koptilnya/mesh_loader/builder.txt
+--@include koptilnya/libs/flux.txt
+
+local flux = require("koptilnya/libs/flux.txt")
+require("/koptilnya/mesh_loader/builder.txt")
+
+DEBUG_MODE = true
+
+local LINK = "http://82.179.248.158/bmw_850csi_96.obj#baaz"
+local SCALE = Vector(1)
+
+local Materials =
+{
+--[[
+    Body = {
+        basetexture = "phoenix_storms/fender_white",
+        --bumpmap = "models/flat_normal",
+        options = {
+            flags = 134217728 + 2048,
+            --envmap = "env_cubemap",
+            --phong = 1,
+            --phongalbedotint = 1,
+            --phongboost = 6,
+            --phongexponent = 80,
+            --phongfresnelranges = Vector(1, 1, 1),
+            --halflambert = 1,
+            --envmapcontrast = 1,
+            --envmapsaturation = 0.7,
+            --envmaptint = Vector(0.3, 0.3, 0.3),
+            --test = Matrix()
+        }
+    },
+    ]]
+    Body = "phoenix_storms/fender_white",
+    Shadow = "models/debug/debugwhite",
+    Chrome = "sprops/textures/sprops_chrome",
+    BlackPlastic = "models/debug/debugwhite",
+    Backface = "models/debug/debugwhite",
+    Under = "models/debug/debugwhite",
+    Mirror = "debug/env_cubemap_model",
+    Zeroblack = "models/debug/debugwhite"
+}
+
+local Colors =
+{
+    Body = Color(230,230,255),
+    Shadow = Color(125,125,125),
+    Chrome = Color(255,255,255),
+    BlackPlastic = Color(25,25,25),
+    Backface = Color(25,25,25),
+    Under = Color(0,0,250),
+    Mirror = Color(255,255,250),
+    Zeroblack = Color(0,0,0)
+}
+
+local builder = {}
+
+if SERVER then
+    builder = MeshBuilder:new(LINK)
+    
+    local this = chip()
+    
+    -- Body
+    local body = builder:build("body_a", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
+    builder:build("hood_a", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
+    builder:build("fenders_a", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
+    builder:build("doorhandlelf", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
+    builder:build("bumperf_a", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
+    builder:build("bumperr_a", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
+    builder:build("trunk_a", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
+    builder:build("skirtl_e", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
+    builder:build("wing_d", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
+    builder:build("wingmirrors", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, this, this)
+    
+    -- Black plastic
+    builder:build("black_plastic", Vector(0), Angle(0), SCALE, Colors.BlackPlastic, Materials.BlackPlastic, this, this)    
+    
+    -- Chrome
+    builder:build("chrome", Vector(0), Angle(0), SCALE, Colors.Chrome, Materials.Chrome, this, this)
+    builder:build("exhaust_d", Vector(0), Angle(0), SCALE, Colors.Chrome, Materials.Chrome, this, this)
+    
+    -- Other
+    builder:build("centerconsolebezels_symbols", Vector(0), Angle(0), SCALE, Colors.Shadow, "https://i.imgur.com/p61iQMu.png", this, this)
+    builder:build("gaugecluster_a", Vector(0), Angle(0), SCALE, Colors.Shadow, "https://i.imgur.com/VDRC1dz.png", this, this)
+    
+    builder:build("bumperf_badge", Vector(0), Angle(0), SCALE, Color(255,255,255), "https://i.imgur.com/fCG0wsL.jpeg", this, this)
+    builder:build("trunk_badge", Vector(0), Angle(0), SCALE, Color(255,255,255), "https://i.imgur.com/fCG0wsL.jpeg", this, this)
+    
+    builder:build("backface", Vector(0), Angle(0), SCALE, Colors.Backface, Materials.Backface, this, this)
+    
+    builder:build("under", Vector(0), Angle(0), SCALE, Colors.Under, Materials.Under, this, this)
+    
+    builder:build("mirror", Vector(0), Angle(0), SCALE, Colors.Mirror, Materials.Mirror, this, this)
+    
+    builder:build("radiator", Vector(0), Angle(0), SCALE, Color(205,205,205), "phoenix_storms/dome", this, this)
+    
+    builder:build("zeroblack", Vector(0), Angle(0), SCALE, Colors.Zeroblack, Materials.Zeroblack, this, this)    
+    
+    
+    builder:build("dashpad_a", Vector(0), Angle(0), SCALE, Colors.Shadow, Materials.Shadow, this, this)
+    builder:build("doorcardlf_a", Vector(0), Angle(0), SCALE, Colors.Shadow, Materials.Shadow, this, this)
+    builder:build("floor_a", Vector(0), Angle(0), SCALE, Colors.Shadow, Materials.Shadow, this, this)
+    
+    
+    -- Headlights
+    local headlightRpos = Vector(-0.56101, -1.8125, 0.603)
+    local headlightRdir = headlightRpos - Vector(-0.48194, -1.8303, 0.60497)
+    local headlightRpivot = headlightRdir:getAngle()
+    local headlightR = holograms.create(this:localToWorld(headlightRpos * 39.37), this:localToWorldAngles(headlightRpivot), "models/holograms/cube.mdl")
+    headlightR:setNoDraw(true)
+    headlightR:setParent(this)
+    builder:build("headlightr", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, headlightR, this)
+    builder:build("headlightr_backface", Vector(0), Angle(0), SCALE, Colors.Backface, Materials.Backface, headlightR, this)
+    builder:build("headlightr_black_plastic", Vector(0), Angle(0), SCALE, Colors.BlackPlastic, Materials.BlackPlastic, headlightR, this)
+    builder:build("headlightr_chrome", Vector(0), Angle(0), SCALE, Colors.Chrome, Materials.Chrome, headlightR, this)
+    
+    
+    local headlightLpos = Vector(0.56101, -1.8125, 0.603)
+    local headlightLdir = Vector(0.48194, -1.8303, 0.60497) - headlightLpos
+    local headlightLpivot = headlightLdir:getAngle()
+    local headlightL = holograms.create(this:localToWorld(headlightLpos * 39.37), this:localToWorldAngles(headlightLpivot), "models/holograms/cube.mdl")
+    headlightL:setNoDraw(true)
+    headlightL:setParent(this)
+    builder:build("headlightl", Vector(0), Angle(0), SCALE, Colors.Body, Materials.Body, headlightL, this)
+    builder:build("headlightl_backface", Vector(0), Angle(0), SCALE, Colors.Backface, Materials.Backface, headlightL, this)
+    builder:build("headlightl_black_plastic", Vector(0), Angle(0), SCALE, Colors.BlackPlastic, Materials.BlackPlastic, headlightL, this)
+    builder:build("headlightl_chrome", Vector(0), Angle(0), SCALE, Colors.Chrome, Materials.Chrome, headlightL, this)
+      
+    local result = builder:getResult()
+    
+    local headlightl = {
+        angle = 0
+    }
+    
+    local headlightr = {
+        angle = 0
+    }
+    
+    function openHeadlights()
+        flux.to(headlightl, 1, { angle = 28 }):delay(0.3):ease("quartout")
+        flux.to(headlightr, 1, { angle = 28 }):ease("quartout")
+    end
+    
+    function closeHeadlights()
+        flux.to(headlightl, 0.8, { angle = 0 }):delay(0.3):ease("quartout")
+        flux.to(headlightr, 0.8, { angle = 0 }):ease("quartout")
+    end
+    
+    hook.add("tick", "_tick", function()
+        flux.update(game.getTickInterval())
+
+        headlightR:setAngles(this:localToWorldAngles(headlightRpivot):rotateAroundAxis(headlightR:getForward(), headlightr.angle))
+        headlightL:setAngles(this:localToWorldAngles(headlightLpivot):rotateAroundAxis(headlightL:getForward(), headlightl.angle))
+    end)
+    
+    wire.adjustPorts({State = "NUMBER"}, {})
+    
+    hook.add("input", "_input", function(name, value)
+        if value > 0 then
+            openHeadlights()
+        else
+            closeHeadlights()
+        end        
+    end)
+else
+    PERMA.onPermissionsGained = function()
+        builder = MeshBuilder:new(LINK)
+    end
+    PERMA.build()
+end

koptilnya/data/models/jdm_wheels.txt

@@ -50,7 +50,17 @@ if SERVER then
                 builder:build("plastic", Vector(0, OFFSET, 0), Angle(0), SCALE, COLORS.Plastic, MATERIALS.Plastic, wheel, wheel)
                 builder:build("rim1", Vector(0, OFFSET, 0), Angle(0), SCALE - Vector(0, 0.1, 0), COLORS.RimAround, MATERIALS.Rim, wheel, wheel)
                 builder:build("rimAround", Vector(0, OFFSET, 0), Angle(0), SCALE - Vector(0, 0.1, 0), COLORS.Rim, MATERIALS.RimAround, wheel, wheel)
-                builder:build("tyre", Vector(0, OFFSET, 0), Angle(0), SCALE - Vector(0, 0.1, 0), Color(255, 255, 255), "sprops/textures/sprops_rubber", wheel, wheel)
+                builder:build("tyre", Vector(0, OFFSET, 0), Angle(0), SCALE - Vector(0, 0.1, 0), Color(255, 255, 255), {
+                    basetexture = "phoenix_storms/car_tire",
+                    bumpmap = "phoenix_storms/tire_bump",
+                    options = {
+                        envmap = "env_cubemap",
+                        envmaptint = Vector(0.45345649123192, 0.45345649123192, 0.45345649123192),
+                        flags = 138414080,
+                        phong = 1,
+                        phongexponent = 10.0
+                        }
+                    }, wheel, wheel)
             end
 
             builder:getResult()

koptilnya/data/models/vaz_2106.txt

@@ -6,7 +6,7 @@ require("/koptilnya/mesh_loader/builder.txt")
 local LINK = "https://raw.githubusercontent.com/koptilnya/gmod-data/main/vaz2106.obj"
 local SCALE = Vector(0.9)
 local MATERIALS = {
-    Exterior = "phoenix_storms/mrref2",
+    Exterior = "models/debug/debugwhite",
     Chrome = "models/shiny",
     Plastic = "models/debug/debugwhite",
     Glass = "phoenix_storms/mrref2",
@@ -70,6 +70,7 @@ if SERVER then
 
     builder:build("Body__Exterior", Vector(0), Angle(0), SCALE, COLORS.Exterior, MATERIALS.Exterior, chip(), chip())
 
+    --[[
     builder:build("Body__WindowsLine__Rubber", Vector(0), Angle(0), SCALE, COLORS.Insulation, MATERIALS.Insulation, chip(), chip())
     builder:build("Body__TrunkLine__Rubber", Vector(0), Angle(0), SCALE, COLORS.Insulation, MATERIALS.Insulation, chip(), chip())
 
@@ -154,7 +155,7 @@ if SERVER then
     builder:build("RightRearDoor__Handle__Chrome", Vector(0), Angle(0), SCALE, COLORS.DoorHandle, MATERIALS.DoorHandle, chip(), chip())
 
     builder:build("Glass", Vector(0), Angle(0), SCALE, COLORS.Glass, MATERIALS.Glass, chip(), chip())
-    
+    ]]--
     builder:getResult()
 else
     PERMA.onPermissionsGained = function()

koptilnya/engine_remastered/configs/new_sx240.txt

@@ -1,16 +1,28 @@
 --@name SX 240
--- @author Koptilnya1337
+--@author Koptilnya
 --@server
 --@include /koptilnya/engine_remastered/vehicle.txt
-require('/koptilnya/engine_remastered/vehicle.txt')
+
+local Vehicle, POWERTRAIN_COMPONENT = unpack(require('/koptilnya/engine_remastered/vehicle.txt'))
+
+
+local WheelConfig = {
+    BrakePower = 800,
+    CustomWheel = {}
+}
+local FrontWheelsConfig = table.merge(table.copy(WheelConfig), { SteerLock = 10 })
+local RearWheelsConfig = table.merge(table.copy(WheelConfig), { HandbrakePower = 2000 })
 
 Vehicle:new({
-    Engine = {
+    {
+        Name = 'Engine',
+        Type = POWERTRAIN_COMPONENT.Engine,
+        Config = {
             IdleRPM = 900,
             MaxRPM = 7500,
             Inertia = 0.151,
-        StartFriction = -30,
+            StartFriction = -10,
-        FrictionCoeff = 0.02,
+            FrictionCoeff = 0.01,
             LimiterDuration = 0.08,
             TorqueMap = {
                 118.89918444138, 122.0751393736, 125.25109430583, 128.42704923806, 131.60300417029, 134.77895910251, 137.95491403474, 141.13086896697, 144.3068238992, 147.48277883143, 150.65873376365, 153.83468869588, 157.01064362811, 160.18659856034, 163.36255349256,
@@ -21,19 +33,33 @@ Vehicle:new({
                 270.43722869263, 271.35167349511, 272.26611829758, 273.18056310006, 274.09500790254, 275.00945270501, 275.92389750749, 276.83834230997, 275.50329427594, 274.16824624192, 272.8331982079, 271.49815017388, 270.16310213985, 268.82805410583, 267.49300607181,
                 266.15795803778, 264.82291000376, 263.48786196974, 262.15281393572, 260.81776590169, 259.48271786767, 250.23203287321, 240.98134787874, 231.73066288428, 222.47997788981
             }
+        }
     },
-    Clutch = {
+    {
+        Name = 'Clutch',
+        Input = 'Engine',
+        Type = POWERTRAIN_COMPONENT.Clutch,
+        Config = {
             Inertia = 0.002,
             SlipTorque = 1000
+        }
     },
-    Gearbox = {
+    {
+        Name = 'Gearbox',
+        Input = 'Clutch',
+        Type = POWERTRAIN_COMPONENT.Gearbox,
+        Config = {
             Type = 'MANUAL',
             Inertia = 0.01,
             Ratios = { 3.626, 2.200, 1.541, 1.213, 1.000, 0.767 },
             Reverse = 3.437
+        }
     },
-    Axles = {
     {
+        Name = 'Axle1',
+        Input = 'Gearbox',
+        Type = POWERTRAIN_COMPONENT.Differential,
+        Config = {
             FinalDrive = 3.392,
             Inertia = 0.01,
             BiasAB = 0.5,
@@ -42,5 +68,27 @@ Vehicle:new({
             Stiffness = 0.1,
             SlipTorque = 1000
         }
+    },
+    {
+        Name = 'WheelFL',
+        Input = 'Axle1',
+        Type = POWERTRAIN_COMPONENT.Wheel,
+        Config = FrontWheelsConfig
+    },
+    {
+        Name = 'WheelFR',
+        Input = 'Axle1',
+        Type = POWERTRAIN_COMPONENT.Wheel,
+        Config = FrontWheelsConfig
+    },
+    {
+        Name = 'WheelRL',
+        Type = POWERTRAIN_COMPONENT.Wheel,
+        Config = RearWheelsConfig
+    },
+    {
+        Name = 'WheelRR',
+        Type = POWERTRAIN_COMPONENT.Wheel,
+        Config = RearWheelsConfig
     }
 })

koptilnya/engine_remastered/enums/gearbox.txt

@@ -1,7 +1,7 @@
-types = {
+local Types = {
     MANUAL = 'MANUAL',
     AUTO = 'AUTOMATIC/ROBOT',
     CVT = 'CVT'
 }
 
-return types
+return Types

koptilnya/engine_remastered/enums/powertrain_component.txt

@@ -0,0 +1,7 @@
+return {
+    Engine = 1,
+    Clutch = 2,
+    Gearbox = 3,
+    Differential = 4,
+    Wheel = 5
+}

koptilnya/engine_remastered/factories/gearbox.txt

@@ -1,10 +1,11 @@
--- @include ../gearboxes/manual.txt
+-- @include ../powertrain/gearboxes/manual.txt
-require('../gearboxes/manual.txt')
--- require('../gearboxes/auto.txt')
--- require('../gearboxes/cvt.txt')
 
-GearboxFactory = class('GearboxFactory')
+local ManualGearbox = require('../powertrain/gearboxes/manual.txt')
 
-function GearboxFactory.create(...)
+local GearboxFactory = class('GearboxFactory')
+
+function GearboxFactory.static:create(...)
     return ManualGearbox:new(...)
 end
+
+return GearboxFactory

koptilnya/engine_remastered/factories/powertrain_component.txt

@@ -0,0 +1,34 @@
+--@include ../powertrain/engine.txt
+--@include ../powertrain/clutch.txt
+--@include ../powertrain/differential.txt
+--@include ../powertrain/wheel.txt
+--@include ./gearbox.txt
+--@include ../enums/powertrain_component.txt
+
+local Engine = require('../powertrain/engine.txt')
+local Clutch = require('../powertrain/clutch.txt')
+local Differential = require('../powertrain/differential.txt')
+local Wheel = require('../powertrain/wheel.txt')
+local GearboxFactory = require('./gearbox.txt')
+
+local POWERTRAIN_COMPONENT = require('../enums/powertrain_component.txt')
+
+local PowertrainComponentFactory = class('PowertrainComponentFactory')
+
+function PowertrainComponentFactory.static:create(vehicle, type, name, config)
+    local args = { vehicle, name, config }
+
+    if type == POWERTRAIN_COMPONENT.Engine then
+        return Engine:new(unpack(args))
+    elseif type == POWERTRAIN_COMPONENT.Clutch then
+        return Clutch:new(unpack(args))
+    elseif type == POWERTRAIN_COMPONENT.Gearbox then
+        return GearboxFactory:create(unpack(args))
+    elseif type == POWERTRAIN_COMPONENT.Differential then
+        return Differential:new(unpack(args))
+    elseif type == POWERTRAIN_COMPONENT.Wheel then
+        return Wheel:new(unpack(args))
+    end
+end
+
+return PowertrainComponentFactory

koptilnya/engine_remastered/powertrain/clutch.txt

@@ -1,15 +1,14 @@
 --@include ./powertrain_component.txt
---@include ./enums/gearbox.txt
 --@include /koptilnya/libs/constants.txt
 
+local PowertrainComponent = require('./powertrain_component.txt')
+
 require('/koptilnya/libs/constants.txt')
-require('./powertrain_component.txt')
-local gearboxTypes = require('./enums/gearbox.txt')
 
-Clutch = class('Clutch', PowertrainComponent)
+local Clutch = class('Clutch', PowertrainComponent)
 
-function Clutch:initialize(config)
+function Clutch:initialize(vehicle, name, config)
-    PowertrainComponent.initialize(self, 'Clutch')
+    PowertrainComponent.initialize(self, vehicle, name, config)
 
     self.wireInputs = {
         Clutch = 'number'
@@ -65,3 +64,5 @@ function Clutch:forwardStep(torque, inertia)
 
     return math.clamp(returnTorque, -self.slipTorque, self.slipTorque)
 end
+
+return Clutch

koptilnya/engine_remastered/powertrain/differential.txt

@@ -1,22 +1,21 @@
 --@include /koptilnya/libs/constants.txt
 --@include ./powertrain_component.txt
---@include ./wheel.txt
+
+
+local PowertrainComponent = require('./powertrain_component.txt')
+local WheelComponent = require('./wheel.txt')
 
 require('/koptilnya/libs/constants.txt')
-require('./powertrain_component.txt')
-require('./wheel.txt')
 
-Differential = class('Differential', PowertrainComponent)
+local Differential = class('Differential', PowertrainComponent)
 
-function Differential:initialize(config, order)
+function Differential:initialize(vehicle, name, config)
-    PowertrainComponent.initialize(self, 'Axle')
+    PowertrainComponent.initialize(self, vehicle, name, config)
 
     self.wireOutputs = {
         Diff_Torque = 'number'
     }
 
-    local prefix = 'Axle' .. (order or '') .. '_'
-
     self.finalDrive = config.FinalDrive or 4
     self.inertia = config.Inertia or 0.2
     self.biasAB = config.Bias or 0.5
@@ -25,20 +24,20 @@ function Differential:initialize(config, order)
     self.preload = config.Preload or 10
     self.stiffness = config.Stiffness or 0.1
     self.slipTorque = config.SlipTorque or 1000
+end
 
-    local wheelConfig = {
+function Differential:linkComponent(component)
-        CalculateInertia = true
+    if not component:isInstanceOf(PowertrainComponent) then
-    }
+        return
-    self.outputA = Wheel:new(wheelConfig, prefix .. 'Left')
+    end
-    self.outputB = Wheel:new(table.merge(wheelConfig, { Direction = -1 }), prefix .. 'Right')
 
-    self.outputA.input = self
+    if self.outputA == nil then
-    self.outputB.input = self
+        self.outputA = component
-
+        component.input = self
-    table.merge(self.wireInputs, self.outputA.wireInputs)
+    elseif self.outputB == nil then
-    table.merge(self.wireInputs, self.outputB.wireInputs)
+        self.outputB = component
-    table.merge(self.wireOutputs, self.outputA.wireOutputs)
+        component.input = self
-    table.merge(self.wireOutputs, self.outputB.wireOutputs)
+    end
 end
 
 function Differential:updateWireOutputs()
@@ -58,7 +57,7 @@ function Differential:queryInertia()
         return self.inertia
     end
 
-    return self.inertia + self.outputA:queryInertia() + self.outputB:queryInertia()
+    return self.inertia + (self.outputA:queryInertia() + self.outputB:queryInertia()) / math.pow(self.finalDrive, 2)
 end
 
 function Differential:queryAngularVelocity(angularVelocity)
@@ -100,8 +99,8 @@ function Differential:forwardStep(torque, inertia)
             self.slipTorque
     )
 
-    tqA = self.outputA:forwardStep(tqA, inertia * 0.5 + aI)
+    tqA = self.outputA:forwardStep(tqA, inertia * 0.5 * math.pow(self.finalDrive, 2) + aI) / self.finalDrive
-    tqB = self.outputB:forwardStep(tqB, inertia * 0.5 + bI)
+    tqB = self.outputB:forwardStep(tqB, inertia * 0.5 * math.pow(self.finalDrive, 2) + bI) / self.finalDrive
 
     return (tqA + tqB) / self.finalDrive
 end
@@ -156,3 +155,5 @@ function Differential:_HLSDTorqueSplit(tq, aW, bW, aI, bI, biasAB, preload, stif
 
     return tq * (1 - biasAB) - dTq, tq * biasAB + dTq
 end
+
+return Differential

koptilnya/engine_remastered/powertrain/engine.txt

@@ -1,13 +1,14 @@
 --@include ./powertrain_component.txt
 --@include /koptilnya/libs/constants.txt
 
-require('./powertrain_component.txt')
+local PowertrainComponent = require('./powertrain_component.txt')
+
 require('/koptilnya/libs/constants.txt')
 
-Engine = class('Engine', PowertrainComponent)
+local Engine = class('Engine', PowertrainComponent)
 
-function Engine:initialize(config, clutch)
+function Engine:initialize(vehicle, name, config)
-    PowertrainComponent.initialize(self, 'Engine')
+    PowertrainComponent.initialize(self, vehicle, name, config)
 
     self.wireInputs = {
         Throttle = 'number'
@@ -15,7 +16,10 @@ function Engine:initialize(config, clutch)
     self.wireOutputs = {
         Engine_RPM = 'number',
         Engine_Torque = 'number',
-        Engine_MasterThrottle = 'number'
+        Engine_MasterThrottle = 'number',
+        Engine_ReactTorque = 'number',
+        Engine_ReturnedTorque = 'number',
+        Engine_FinalTorque = 'number'
     }
 
     self.idleRPM = config.IdleRPM or 900
@@ -31,12 +35,18 @@ function Engine:initialize(config, clutch)
     self.masterThrottle = 0
 
     self.limiterTimer = 0
+
+    self.reactTorque = 0
+    self.returnedTorque = 0
 end
 
 function Engine:updateWireOutputs()
     wire.ports.Engine_RPM = self:getRPM()
     wire.ports.Engine_Torque = self.torque
     wire.ports.Engine_MasterThrottle = self.masterThrottle
+    wire.ports.Engine_ReactTorque = self.reactTorque
+    wire.ports.Engine_ReturnedTorque = self.returnedTorque
+    wire.ports.Engine_FinalTorque = self.finalTorque
 end
 
 function Engine:getThrottle()
@@ -72,7 +82,7 @@ function Engine:_generateTorque()
     return self.torque
 end
 
-function Engine:integrateDownwards()
+function Engine:forwardStep()
     if self.output == nil then
         local generatedTorque = self:_generateTorque()
 
@@ -88,8 +98,16 @@ function Engine:integrateDownwards()
     local generatedTorque = self:_generateTorque()
     local reactTorque = (targetW - self.angularVelocity) * self.inertia / TICK_INTERVAL
     local returnedTorque = self.output:forwardStep(generatedTorque - reactTorque, 0) -- ??? 0 -> self.inertia
-    local finalTorque = generatedTorque + returnedTorque + reactTorque
+
+    self.reactTorque = reactTorque
+    self.returnedTorque = returnedTorque
+
+    local finalTorque = generatedTorque + reactTorque + returnedTorque
+
+    self.finalTorque = finalTorque
 
     self.angularVelocity = self.angularVelocity + finalTorque / inertiaSum * TICK_INTERVAL
     self.angularVelocity = math.max(self.angularVelocity, 0)
 end
+
+return Engine

koptilnya/engine_remastered/powertrain/gearboxes/base.txt

@@ -1,11 +1,11 @@
 --@include ../powertrain_component.txt
 
-require('../powertrain_component.txt')
+local PowertrainComponent = require('../powertrain_component.txt')
 
-Gearbox = class('Gearbox', PowertrainComponent)
+local Gearbox = class('Gearbox', PowertrainComponent)
 
-function Gearbox:initialize(config)
+function Gearbox:initialize(vehicle, name, config)
-    PowertrainComponent.initialize(self, 'Gearbox')
+    PowertrainComponent.initialize(self, vehicle, name, config)
 
     self.wireInputs = {
         Upshift = 'number',
@@ -53,7 +53,7 @@ function Gearbox:forwardStep(torque, inertia)
     end
 
     if self.ratio == 0 then
-        self.output:forwardStep(0, inertia)
+        self.output:forwardStep(0, self.inertia)
 
         return torque
     end
@@ -62,3 +62,5 @@ function Gearbox:forwardStep(torque, inertia)
 
     return self.output:forwardStep(self.torque, (inertia + self.inertia) * math.pow(self.ratio, 2)) / self.ratio
 end
+
+return Gearbox

koptilnya/engine_remastered/powertrain/gearboxes/manual.txt

@@ -1,13 +1,14 @@
 --@include /koptilnya/libs/watcher.txt
 --@include ./base.txt
 
+local BaseGearbox = require('./base.txt')
+
 require('/koptilnya/libs/watcher.txt')
-require('./base.txt')
 
-ManualGearbox = class('ManualGearbox', Gearbox)
+local ManualGearbox = class('ManualGearbox', BaseGearbox)
 
-function ManualGearbox:initialize(config)
+function ManualGearbox:initialize(vehicle, name, config)
-    Gearbox.initialize(self, config)
+    BaseGearbox.initialize(self, vehicle, name, config)
 
     table.merge(self.wireOutputs, {
         Gearbox_Gear = 'number'
@@ -35,7 +36,7 @@ function ManualGearbox:initialize(config)
 end
 
 function ManualGearbox:updateWireOutputs()
-    Gearbox.updateWireOutputs(self)
+    BaseGearbox.updateWireOutputs(self)
 
     wire.ports.Gearbox_Gear = self.gear
 end
@@ -62,9 +63,11 @@ function ManualGearbox:shift(dir)
 end
 
 function ManualGearbox:forwardStep(torque, inertia)
-    local result = Gearbox.forwardStep(self, torque, inertia)
+    local result = BaseGearbox.forwardStep(self, torque, inertia)
 
     self.shiftWatcher()
 
     return result
 end
+
+return ManualGearbox

koptilnya/engine_remastered/powertrain/powertrain_component.txt

@@ -1,15 +1,20 @@
 --@include /koptilnya/libs/constants.txt
---@include ./wire_component.txt
+--@include ../wire_component.txt
+
+local WireComponent = require('../wire_component.txt')
 
 require('/koptilnya/libs/constants.txt')
-require('./wire_component.txt')
 
-PowertrainComponent = class('PowertrainComponent', WireComponent)
+local PowertrainComponent = class('PowertrainComponent', WireComponent)
+
+function PowertrainComponent:initialize(vehicle, name, config)
+    config = config or {}
 
-function PowertrainComponent:initialize(name)
     WireComponent.initialize(self)
 
+    self.vehicle = vehicle
     self.name = name or 'PowertrainComponent'
+    self.CONFIG = config
     self.input = nil
     self.output = nil
 
@@ -18,6 +23,20 @@ function PowertrainComponent:initialize(name)
     self.torque = 0
 end
 
+function PowertrainComponent:start()
+end
+
+function PowertrainComponent:linkComponent(component)
+    if not component:isInstanceOf(PowertrainComponent) then
+        return
+    end
+
+    if self.output == nil then
+        self.output = component
+        component.input = self
+    end
+end
+
 function PowertrainComponent:getRPM()
     return self.angularVelocity * RAD_TO_RPM
 end
@@ -47,3 +66,5 @@ function PowertrainComponent:forwardStep(torque, inertia)
 
     return self.output:forwardStep(self.torque, self.inertia + inertia)
 end
+
+return PowertrainComponent

koptilnya/engine_remastered/powertrain/wheel.txt

@@ -0,0 +1,122 @@
+--@include ./powertrain_component.txt
+--@include ../wheel/wheel.txt
+--@include /koptilnya/libs/constants.txt
+--@include /koptilnya/libs/entity.txt
+
+local PowertrainComponent = require('./powertrain_component.txt')
+local CustomWheel = require('../wheel/wheel.txt')
+
+require('/koptilnya/libs/constants.txt')
+require('/koptilnya/libs/entity.txt')
+
+local Wheel = class('Wheel', PowertrainComponent)
+
+function Wheel:initialize(vehicle, name, config)
+    PowertrainComponent.initialize(self, vehicle, name, config)
+
+    self.steerLock = config.SteerLock or 0
+    self.brakePower = config.BrakePower or 0
+    self.handbrakePower = config.HandbrakePower or 0
+
+    self.wireInputs = {
+        [self.name] = 'entity'
+    }
+    self.wireOutputs = {
+        [string.format('%s_RPM', self.name)] = 'number',
+        [string.format('%s_Mz', self.name)] = 'number',
+        [string.format('%s_Fz', self.name)] = 'number'
+    }
+
+    self.entity = config.Entity or NULL_ENTITY
+    self.holo = self:createHolo(self.entity)
+
+    self.customWheel = CustomWheel:new(config.CustomWheel)
+
+    hook.add('input', 'vehicle_wheel_update' .. self.name, function(name, value)
+        if name == self.name then
+            self.entity = value
+            self.customWheel:setEntity(value)
+
+            if isValid(self.holo) then
+                self.holo:remove()
+            end
+
+            self.holo = self:createHolo(self.entity)
+
+            if not config.Radius then
+                self.customWheel.radius = self:getEntityRadius()
+            end
+        end
+    end)
+end
+
+function Wheel:getEntityRadius()
+    if not isValid(self.entity) then
+        return 0
+    end
+
+    return self.entity:getModelRadius() * UNITS_TO_METERS
+end
+
+function Wheel:createHolo(entity)
+    if not isValid(entity) then
+        return NULL_ENTITY
+    end
+
+    local holo = holograms.create(entity:getPos(), entity:getAngles(), 'models/props_c17/pulleywheels_small01.mdl')
+    holo:setParent(entity)
+
+    return holo
+end
+
+function Wheel:updateWireOutputs()
+    wire.ports[string.format('%s_RPM', self.name)] = self.customWheel:getRPM()
+    wire.ports[string.format('%s_Mz', self.name)] = self.customWheel.mz
+    wire.ports[string.format('%s_Fz', self.name)] = self.customWheel.load
+end
+
+function Wheel:queryInertia()
+    return self.customWheel.inertia
+end
+
+function Wheel:queryAngularVelocity()
+    return self.angularVelocity
+end
+
+function Wheel:forwardStep(torque, inertia)
+    if not isValid(self.customWheel) then
+        return 0
+    end
+
+    self.customWheel.steerAngle = self.vehicle.steer * self.steerLock
+    --self.customWheel.inertia = inertia
+    --self.customWheel:setInertia(inertia)
+    self.customWheel.motorTorque = torque
+    self.customWheel.brakeTorque = math.max(self.brakePower * self.vehicle.brake, self.handbrakePower * self.vehicle.handbrake)
+
+    self.customWheel:update()
+
+    self.angularVelocity = self.customWheel.angularVelocity
+
+    if self.customWheel.hasHit and isValid(self.vehicle.basePhysObject) then
+        local surfaceForceVector = self.customWheel.right * self.customWheel.sideFriction.force + self.customWheel.forward * self.customWheel.forwardFriction.force
+
+        self.vehicle.basePhysObject:applyForceOffset(surfaceForceVector, self.entity:getPos() - Vector(0, 0, self.customWheel.radius))
+    end
+
+    if isValid(self.holo) then
+        local angles = self.holo:getAngles()
+        --local rot = angles:rotateAroundAxis(self.entity:getForward(), nil, 1)
+        local rot = angles:rotateAroundAxis(self.entity:getRight(), nil, -self.angularVelocity * TICK_INTERVAL)
+        --local steer = Angle():rotateAroundAxis(self.entity:getUp(), self.customWheel.steerAngle)
+        --local rot = self.entity:getRight():getQuaternionFromAxis(-self.angularVelocity * TICK_INTERVAL)
+        --local steer = self.entity:getUp():getQuaternionFromAxis(self.steerAngle)
+
+        --self.holo:setAngles(self.entity:localToWorldAngles(Angle(0, 90 - self.customWheel.steerAngle, 0)))
+        self.holo:setAngles(rot)
+    end
+
+    return self.customWheel.counterTorque
+end
+
+return Wheel

koptilnya/engine_remastered/vehicle.txt

@@ -1,46 +1,86 @@
 --@server
---@include ./engine.txt
+--@include ./enums/powertrain_component.txt
---@include ./clutch.txt
+--@include ./factories/powertrain_component.txt
---@include ./differential.txt
---@include ./factories/gearbox.txt
 --@include /koptilnya/libs/table.txt
 --@include /koptilnya/libs/constants.txt
 
-require('./engine.txt')
+local PowertrainComponentFactory = require('./factories/powertrain_component.txt')
-require('./clutch.txt')
+local CustomWheel = require('./wheel/wheel.txt')
-require('./differential.txt')
+
-require('./factories/gearbox.txt')
+local POWERTRAIN_COMPONENT = require('./enums/powertrain_component.txt')
+
 require('/koptilnya/libs/table.txt')
 require('/koptilnya/libs/constants.txt')
 
-Vehicle = class('Vehicle')
+local Vehicle = class('Vehicle')
 
 function Vehicle:initialize(config)
-    if config == nil then
+    if not Vehicle:validateConfig(config) then
-        throw('Vehicle config not provided')
+        throw('Please check your vehicle configuration!')
     end
 
-    self.engine = Engine:new(config.Engine)
+    self.config = config
-    self.clutch = Clutch:new(config.Clutch)
+    self.components = {}
-    self.gearbox = GearboxFactory.create(config.Gearbox)
+    self.independentComponents = {}
-    self.axles = table.map(config.Axles, function(config, idx)
-        return Differential:new(config, idx)
-    end)
-
-    self.components = { self.engine, self.clutch, self.gearbox }
-    table.add(self.components, self.axles)
 
+    self:createComponents()
     self:linkComponents()
     self:createIO()
 
+    self.rootComponent = self:getRootComponent()
+    self.steer = 0
+    self.brake = 0
+    self.handbrake = 0
+
+    hook.add('input', 'vehicle_wire_input', function(name, value)
+        self:handleWireInput(name, value)
+    end)
+
     hook.add('tick', 'vehicle_update', function()
         self:update()
     end)
 end
 
+function Vehicle.static:validateConfig(config)
+    return type(config) == 'table'
+end
+
+function Vehicle:getComponentByName(name)
+    return table.find(self.components, function(component)
+        return component.name == name
+    end)
+end
+
+function Vehicle:createComponents()
+    for _, componentConfig in pairs(self.config) do
+        local component = PowertrainComponentFactory:create(self, componentConfig.Type, componentConfig.Name, componentConfig.Config)
+
+        table.insert(self.components, component)
+    end
+end
+
+function Vehicle:linkComponents()
+    for _, componentConfig in pairs(self.config) do
+        local component = self:getComponentByName(componentConfig.Name)
+
+        if componentConfig.Type == POWERTRAIN_COMPONENT.Wheel and componentConfig.Input == nil then
+            table.insert(self.independentComponents, component)
+        else
+            local inputComponent = self:getComponentByName(componentConfig.Input)
+
+            if  inputComponent ~= nil then
+                inputComponent:linkComponent(component)
+            end
+        end
+    end
+end
+
 function Vehicle:createIO()
     local inputs = {
-        Base = "entity"
+        Base = 'entity',
+        Steer = 'number',
+        Brake = 'number',
+        Handbrake = 'number'
     }
     local outputs = {}
 
@@ -52,29 +92,47 @@ function Vehicle:createIO()
     wire.adjustPorts(inputs, outputs)
 end
 
-function Vehicle:linkComponents()
+function Vehicle:getRootComponent()
-    self.engine.output = self.clutch
+    return table.find(self.components, function(component)
-    self.clutch.output = self.gearbox
+        return component.input == nil
-    self.gearbox.output = self.axles[1]
+    end)
+end
 
-    self.axles[1].input = self.gearbox
+function Vehicle:handleWireInput(name, value)
-    self.gearbox.input = self.clutch
+    if name == 'Base' then
-    self.clutch.input = self.engine
+        self.base = value
+        self.basePhysObject = isValid(value) and value:getPhysicsObject() or nil
+    elseif name == 'Steer' then
+        self.steer = value
+    elseif name == 'Brake' then
+        self.brake = value
+    elseif name == 'Handbrake' then
+        self.handbrake = value
+    end
 end
 
 function Vehicle:update()
     local base = wire.ports.Base
 
-    self.engine:integrateDownwards()
+    self.rootComponent:forwardStep()
+
+    for _, component in pairs(self.independentComponents) do
+        component:forwardStep(0, component:queryInertia())
+    end
 
     for _, component in pairs(self.components) do
         component:updateWireOutputs()
     end
 
-    if isValid(base) and (self.clutch:getPress() == 1 or self.gearbox.ratio == 0) then
+    --if isValid(base) and (self.clutch:getPress() == 1 or self.gearbox.ratio == 0) then
-        local tiltForce = self.engine.torque * (-1 + self.engine.masterThrottle * 2)
+    --    local tiltForce = self.engine.torque * (-1 + self.engine.masterThrottle * 2)
+    --
+    --    base:applyForceOffset(base:getUp() * tiltForce, base:getMassCenter() + base:getRight() * UNITS_PER_METER)
+    --    base:applyForceOffset(-base:getUp() * tiltForce, base:getMassCenter() - base:getRight() * UNITS_PER_METER)
+    --end
+end
 
-        base:applyForceOffset(base:getUp() * tiltForce, base:getMassCenter() + base:getRight() * UNITS_PER_METER)
+return {
-        base:applyForceOffset(-base:getUp() * tiltForce, base:getMassCenter() - base:getRight() * UNITS_PER_METER)
+    Vehicle,
-    end
+    POWERTRAIN_COMPONENT
-end
+}

koptilnya/engine_remastered/wheel.txt

@@ -1,97 +0,0 @@
---@include ./powertrain_component.txt
---@include /koptilnya/libs/constants.txt
---@include /koptilnya/libs/entity.txt
-
-require('./powertrain_component.txt')
-require('/koptilnya/libs/constants.txt')
-require('/koptilnya/libs/entity.txt')
-
-Wheel = class('Wheel', PowertrainComponent)
-
-function Wheel:initialize(config, prefix)
-    PowertrainComponent.initialize(self)
-
-    self.prefix = prefix
-    self.rollingResistance = config.RollingResistance or -50
-    self.direction = config.Direction or 1
-
-    self.wireInputs = {
-        [prefix .. 'Wheel'] = 'entity'
-    }
-    self.wireOutputs = {
-        [prefix .. 'WheelRPM'] = 'number',
-        [prefix .. 'WheelTorque'] = 'number'
-    }
-
-    self.entity = NULL_ENTITY
-
-    hook.add('input', 'vehicle_wheel_update' .. prefix, function(key, val)
-        if key == prefix .. 'Wheel' then
-            self.entity = val
-
-            if not isValid(val) then
-                return
-            end
-
-            if config.CalculateInertia then
-                self.entity:setInertia(Vector(7.7))
-                --self.entity:setInertia(calculateWheelInertia(val))
-            end
-
-            self.inertia = self.entity:getInertia().y
-        end
-    end)
-end
-
-function Wheel:getRadius()
-    if not isValid(self.entity) then
-        return 0
-    end
-
-    return self.entity:getModelRadius() * UNITS_TO_METERS
-end
-
-function Wheel:updateWireOutputs()
-    wire.ports[self.prefix .. 'WheelRPM'] = self:getRPM()
-    wire.ports[self.prefix .. 'WheelTorque'] = self.torque
-end
-
-function Wheel:queryAngularVelocity()
-    return self.angularVelocity
-end
-
-function Wheel:forwardStep(torque, inertia)
-    if not isValid(self.entity) then
-        return 0
-    end
-
-    local initAngularVelocity = self.angularVelocity
-
-    self.entity:setInertia(Vector(inertia))
-    self.torque = math.deg(torque) * 1.33 * -self.direction
-    self.entity:applyTorque(self.torque * TICK_INTERVAL * self.entity:getRight())
-    self.angularVelocity = math.rad(self.entity:getAngleVelocity().y) * self.direction
-
-    local tq = (self.angularVelocity - initAngularVelocity) * inertia * TICK_INTERVAL
-
-    return self.rollingResistance - (tq - torque)
-end
-
---local physObj = self.entity:getPhysicsObject()
---local load = physObj:getStress()
---local frictionSnapshot = physObj:getFrictionSnapshot()
---local forwardFrictionSpeed = 0
---local contactVelocity = physObj:getVelocityAtPoint(self.entity:getPos() + Vector(0, 0, self.entity:getModelRadius())) / 39.37
---
---if #table.getKeys(frictionSnapshot) > 0 then
---    local data = frictionSnapshot[1]
---    local forwardDir = data['Normal']:cross(self.entity:getRight() * self.direction):getNormalized()
---
---    forwardFrictionSpeed = contactVelocity:dot(forwardDir)
---end
---
---local errorTorque = (self.angularVelocity - forwardFrictionSpeed / self:getRadius()) * inertia / TICK_INTERVAL
---local rollingResistance = -40
---local deltaOmegaTorque = (self.angularVelocity - initialAngularVelocity) * self.inertia / TICK_INTERVAL
---
---return rollingResistance - deltaOmegaTorque

koptilnya/engine_remastered/wheel/friction.txt

@@ -0,0 +1,14 @@
+local Friction = class('Friction')
+
+function Friction:initialize(config)
+    config = config or {}
+
+    self.slipCoefficient = config.SlipCoefficient or 0.8
+    self.forceCoefficient = config.ForceCoefficient or 1.2
+
+    self.force = 0
+    self.slip = 0
+    self.speed = 0
+end
+
+return Friction

koptilnya/engine_remastered/wheel/friction_preset.txt

@@ -0,0 +1,18 @@
+local FrictionPreset = class('FrictionPreset')
+
+function FrictionPreset:initialize(config)
+    config = config or {}
+
+    self.B = config.B or 10.86
+    self.C = config.C or 2.15
+    self.D = config.D or 0.933
+    self.E = config.E or 0.992
+end
+
+function FrictionPreset:evaluate(slip)
+    local t = math.abs(slip)
+
+    return self.D * math.sin(self.C * math.atan(self.B * t - self.E * (self.B * t - math.atan(self.B * t))))
+end
+
+return FrictionPreset

koptilnya/engine_remastered/wheel/wheel.txt

@@ -0,0 +1,313 @@
+--@include ./friction.txt
+--@include ./friction_preset.txt
+--@include /koptilnya/libs/constants.txt
+
+local Friction = require('./friction.txt')
+local FrictionPreset = require('./friction_preset.txt')
+
+require('/koptilnya/libs/constants.txt')
+
+local Wheel = class('Wheel')
+
+function Wheel:initialize(config)
+    config = config or {}
+
+    self.mass = config.Mass or 20
+    self.radius = config.Radius or 0.27
+    self.rollingResistance = config.RollingResistance or 40
+    self.squat = config.Squat or 0.1
+    self.slipCircleShape = config.SlipCircleShape or 1.05
+
+    self.forwardFriction = Friction:new(config.ForwardFriction)
+    self.sideFriction = Friction:new(config.SideFriction)
+    self.frictionPreset = FrictionPreset:new(config.FrictionPreset)
+    self.satFrictionPreset = FrictionPreset:new({ B = 13, C = 2.4, D = 1, E = 0.48 })
+
+    self.motorTorque = 0
+    self.brakeTorque = 0
+    self.steerAngle = 0
+    self.hasHit = false
+    self.counterTorque = 0
+    self.inertia = 0
+    self.load = 0
+    self.angularVelocity = 0
+    self.mz = 0
+
+    self.forward = Vector(0)
+    self.right = Vector(0)
+    self.entity = NULL_ENTITY
+    self.physObj = nil
+    self.baseInertia = 0.5 * self.mass * math.pow(self.radius, 2)
+    self.inertia = self.baseInertia
+end
+
+function Wheel:setEntity(entity)
+    self.entity = entity
+    self.entity:setNoDraw(false)
+
+    self.physObj = isValid(entity) and entity:getPhysicsObject() or nil
+
+    if isValid(self.physObj) then
+        self.physObj:setMaterial('friction_00')
+        self.physObj:setMass(self.mass)
+        self.physObj:enableDrag(false)
+        self.physObj:setDragCoefficient(0)
+        self.physObj:setAngleDragCoefficient(0)
+    end
+end
+
+function Wheel:setInertia(inertia)
+    if isValid(self.physObj) then
+        self.physObj:setInertia(Vector(inertia))
+        self.inertia = inertia
+    end
+end
+
+function Wheel:isValid()
+    return isValid(self.entity) and isValid(self.physObj)
+end
+
+function Wheel:getRPM()
+    return self.angularVelocity * RAD_TO_RPM
+end
+
+function Wheel:getLongitudinalLoadCoefficient(load)
+    return 11000 * (1 - math.exp(-0.00014 * load));
+end
+
+function Wheel:getLateralLoadCoefficient(load)
+    return 18000 * (1 - math.exp(-0.0001 * load));
+end
+
+function Wheel:stepLongitudinal(Tm, Tb, Vx, W, Lc, R, I, kFx, kSx)
+    local Winit = W
+    local VxAbs = math.abs(Vx)
+    local Sx = 0
+
+    if VxAbs >= 0.1 then
+        Sx = (Vx - W * R) / VxAbs
+    else
+        Sx = (Vx - W * R) * 0.6
+    end
+
+    Sx = Sx * kSx;
+    Sx = math.clamp(Sx, -1, 1)
+
+    W = W + Tm / I * TICK_INTERVAL
+
+    Tb = Tb * (W > 0 and -1 or 1)
+    local TbCap = math.abs(W) * I / TICK_INTERVAL
+    local Tbr = math.abs(Tb) - math.abs(TbCap)
+    Tbr = math.max(Tbr, 0)
+    Tb = math.clamp(Tb, -TbCap, TbCap)
+    W = W + Tb / I * TICK_INTERVAL
+
+    local maxTorque = self.frictionPreset:evaluate(math.abs(Sx)) * Lc * kFx * R
+    local errorTorque = (W - Vx / R) * I / TICK_INTERVAL
+    local surfaceTorque = math.clamp(errorTorque, -maxTorque, maxTorque)
+
+    W = W - surfaceTorque / I * TICK_INTERVAL
+    local Fx = surfaceTorque / R
+
+    Tbr = Tbr * (W > 0 and -1 or 1)
+    local TbCap2 = math.abs(W) * I / TICK_INTERVAL
+    local Tb2 = math.clamp(Tbr, -TbCap2, TbCap2)
+    W = W + Tb2 / I * TICK_INTERVAL
+
+    local deltaOmegaTorque = (W - Winit) * I / TICK_INTERVAL
+    local Tcnt = -surfaceTorque + Tb + Tb2 - deltaOmegaTorque
+
+    if Lc < 0.001 then
+    Sx = 0
+    end
+
+    return W, Sx, Fx, Tcnt
+end
+
+function Wheel:stepLateral(Vx, Vy, Lc, kFy, kSy)
+    local VxAbs = math.abs(Vx)
+    local Sy = 0
+
+    if VxAbs > 0.3 then
+        Sy = math.deg(math.atan(Vy / VxAbs))
+        Sy = Sy / 50
+    else
+        Sy = Vy * (0.003 / TICK_INTERVAL)
+    end
+
+    Sy = Sy * kSy * 0.95
+    Sy = math.clamp(Sy, -1, 1)
+    local slipSign = Sy < 0 and -1 or 1
+    local Fy = -slipSign * self.frictionPreset:evaluate(math.abs(Sy)) * Lc * kFy
+
+    if Lc < 0.0001 then
+    Sy = 0
+    end
+
+    return Sy, Fy
+end
+
+function Wheel:slipCircle(Sx, Sy, Fx, Fy, slipCircleShape)
+    local SxAbs = math.abs(Sx)
+
+    if SxAbs > 0.01 then
+        local SxClamped = math.clamp(Sx, -1, 1)
+        local SyClamped = math.clamp(Sy, -1, 1)
+        local combinedSlip = Vector2(
+            SxClamped * slipCircleShape,
+            SyClamped
+        )
+        local slipDir = combinedSlip:getNormalized()
+
+        local F = math.sqrt(Fx * Fx + Fy * Fy)
+        local absSlipDirY = math.abs(slipDir.y)
+
+        Fy = F * absSlipDirY * (Fy < 0 and -1 or 1)
+    end
+
+    return Sx, Sy, Fx, Fy
+end
+
+function Wheel:selfAligningTorque(Vx, Vy, Lc)
+    local VxAbs = math.abs(Vx)
+    local Sy = 0
+
+    if VxAbs > 0.3 then
+        Sy = math.deg(math.atan(Vy / VxAbs))
+    else
+        Sy = Vy * (0.003 / TICK_INTERVAL)
+    end
+
+    Sy = math.clamp(Sy, -90, 90)
+    --local phi = (1 - self.E) * Sy + (self.E / self.B) * math.atan(self.B * Sy)
+    --local Mz = -slipSign * self.satFrictionPreset:evaluate(math.abs(phi), self.B, C, self.D, 0) * Lc
+
+    return self.satFrictionPreset:evaluate(math.abs(Sy)) * -math.sign(Sy)
+end
+
+function Wheel:selfAligningTorque2(Vx, Vy, Fz)
+
+    if Fz == 0 then
+        return 0
+    end
+
+    local VxAbs = math.abs(Vx)
+    local Sy = 0
+
+    if VxAbs > 0.3 then
+        Sy = math.deg(math.atan(Vy / VxAbs))
+    else
+        Sy = Vy * (0.003 / TICK_INTERVAL)
+    end
+
+    Sy = math.clamp(Sy, -1, 1)
+
+    local a = {
+        -2.72,
+        -2.28,
+        -1.86,
+        -2.73,
+        0.110,
+        -0.070,
+        0.643,
+        -4.04,
+        0.015,
+        -0.066,
+        0.945,
+        0.030,
+        0.070
+    }
+    local FzSqr = math.pow(Fz, 2)
+
+    local C = 2.4
+    local D = a[1] * FzSqr + a[2] * Fz
+    local BCD = (a[3] * FzSqr + a[4] * Fz) / math.pow(math.exp(1), a[5] * Fz)
+    local B = BCD / (C * D)
+    local E = a[6] * FzSqr + a[7] * Fz + a[8]
+
+    local phi = (1 - E) * Sy + (E / B) * math.atan(B * Sy)
+    self.phi = phi
+
+    return D * math.sin(C * math.atan(B * phi))
+end
+
+function Wheel:selfAligningTorque3(Mx, My, Sx, Sy)
+    local M = Mx * math.cos(Sy) + My * math.cos(Sx)
+
+    return self.radius * M
+end
+
+function Wheel:update()
+    if not isValid(self.entity) or not isValid(self.physObj) then
+        return
+    end
+
+    local externalStress = self.physObj:getStress()
+    local velocity = self.physObj:getVelocity() * UNITS_TO_METERS
+
+    self.hasHit = externalStress ~= 0
+    self.load = externalStress * KG_TO_KN
+
+    self.longitudinalLoadCoefficient = self:getLongitudinalLoadCoefficient(self.load * 1000)
+    self.lateralLoadCoefficient = self:getLateralLoadCoefficient(self.load * 1000)
+
+    --self.steerAngle = self.steerAngle + self.mz / self.inertia
+
+    self.forward = self.entity:getForward():rotateAroundAxis(self.entity:getUp(), -self.steerAngle)
+    self.right = self.entity:getRight():rotateAroundAxis(self.entity:getUp(), -self.steerAngle)
+
+    local forwardSpeed = 0
+    local sideSpeed = 0
+
+    if self.hasHit then
+        forwardSpeed = velocity:dot(self.forward)
+        sideSpeed = velocity:dot(self.right)
+    end
+
+    local W, Sx, Fx, CounterTq = self:stepLongitudinal(
+        self.motorTorque,
+        self.brakeTorque + self.rollingResistance,
+        forwardSpeed,
+        self.angularVelocity,
+        self.longitudinalLoadCoefficient,
+        self.radius,
+        self.inertia,
+        0.95, -- Force coeff
+        0.9 -- Slip coeff
+    )
+
+    local Sy, Fy = self:stepLateral(
+        forwardSpeed,
+        sideSpeed,
+        self.lateralLoadCoefficient,
+        0.95, -- Force coeff
+        0.9 -- Slip coeff
+
+    )
+
+    Sx, Sy, Fx, Fy = self:slipCircle(
+        Sx,
+        Sy,
+        Fx,
+        Fy,
+        1.05 -- Shape of the slip circle / ellipse.
+    )
+
+    --local Mx = Fy * (math.cos(Sx) - 1) + Fx * math.sin(Sx)
+    --local My = Fx * (math.cos(Sy) - 1) + Fy * math.sin(Sy)
+    --local Mz = self:selfAligningTorque3(Mx, My, Sx, Sy)
+    local Mz = self:selfAligningTorque2(forwardSpeed, sideSpeed, self.load)
+
+    self.mz = Mz
+
+    self.angularVelocity = W
+    self.counterTorque = CounterTq
+    self.forwardFriction.slip = Sx
+    self.forwardFriction.force = Fx
+    self.forwardFriction.speed = forwardSpeed
+    self.sideFriction.slip = Sy
+    self.sideFriction.force = Fy
+    self.sideFriction.speed = sideSpeed
+end
+
+return Wheel

koptilnya/engine_remastered/wire_component.txt

@@ -1,4 +1,4 @@
-WireComponent = class('WireComponent')
+local WireComponent = class('WireComponent')
 
 function WireComponent:initialize()
     self.wireInputs = {}
@@ -7,3 +7,5 @@ end
 
 function WireComponent:updateWireOutputs()
 end
+
+return WireComponent

koptilnya/joystick_data.txt

@@ -13,31 +13,31 @@ local CONFIG = {
     },
     Clutch = {
         DeviceId = 0,
-        InputId = 7,
+        InputId = 4,
-        Type = JOYSTICK_INPUT_TYPE.Axis,
+        Type = JOYSTICK_INPUT_TYPE.Button,
         Handler = function(value)
-            return math.remap(value, 0, 65535, 1, 0)
+            return math.remap(value, 0, 128, 0, 1)
         end
     },
     Throttle = {
         DeviceId = 0,
-        InputId = 1,
+        InputId = 2,
         Type = JOYSTICK_INPUT_TYPE.Axis,
         Handler = function(value)
-            return math.remap(value, 0, 65535, 1, 0)
+            return math.clamp(math.remap(value, 32767, 128, 0, 1), 0, 1)
         end
     },
     Brake = {
         DeviceId = 0,
-        InputId = 5,
+        InputId = 2,
         Type = JOYSTICK_INPUT_TYPE.Axis,
         Handler = function(value)
-            return math.remap(value, 0, 65535, 1, 0)
+            return math.clamp(math.remap(value, 32767, 65407, 0, 1), 0, 1)
         end
     },
     Handbrake = {
         DeviceId = 0,
-        InputId = 0,
+        InputId = 1,
         Type = JOYSTICK_INPUT_TYPE.Button,
         Handler = function(value)
             return math.remap(value, 0, 128, 0, 1)
@@ -45,7 +45,7 @@ local CONFIG = {
     },
     GearUp = {
         DeviceId = 0,
-        InputId = 4,
+        InputId = 2,
         Type = JOYSTICK_INPUT_TYPE.Button,
         Handler = function(value)
             return math.remap(value, 0, 128, 0, 1)
@@ -53,68 +53,12 @@ local CONFIG = {
     },
     GearDown = {
         DeviceId = 0,
-        InputId = 5,
+        InputId = 0,
         Type = JOYSTICK_INPUT_TYPE.Button,
         Handler = function(value)
             return math.remap(value, 0, 128, 0, 1)
         end
-    },
+    }
-    Gear1 = {
-        DeviceId = 0,
-        InputId = 8,
-        Type = JOYSTICK_INPUT_TYPE.Button,
-        Handler = function(value)
-            return math.remap(value, 0, 128, 0, 1)
-        end
-    },
-    Gear2 = {
-        DeviceId = 0,
-        InputId = 9,
-        Type = JOYSTICK_INPUT_TYPE.Button,
-        Handler = function(value)
-            return math.remap(value, 0, 128, 0, 1)
-        end
-    },
-    Gear3 = {
-        DeviceId = 0,
-        InputId = 10,
-        Type = JOYSTICK_INPUT_TYPE.Button,
-        Handler = function(value)
-            return math.remap(value, 0, 128, 0, 1)
-        end
-    },
-    Gear4 = {
-        DeviceId = 0,
-        InputId = 11,
-        Type = JOYSTICK_INPUT_TYPE.Button,
-        Handler = function(value)
-            return math.remap(value, 0, 128, 0, 1)
-        end
-    },
-    Gear5 = {
-        DeviceId = 0,
-        InputId = 12,
-        Type = JOYSTICK_INPUT_TYPE.Button,
-        Handler = function(value)
-            return math.remap(value, 0, 128, 0, 1)
-        end
-    },
-    Gear6 = {
-        DeviceId = 0,
-        InputId = 13,
-        Type = JOYSTICK_INPUT_TYPE.Button,
-        Handler = function(value)
-            return math.remap(value, 0, 128, 0, 1)
-        end
-    },
-    GearR = {
-        DeviceId = 0,
-        InputId = 14,
-        Type = JOYSTICK_INPUT_TYPE.Button,
-        Handler = function(value)
-            return math.remap(value, 0, 128, 0, 1)
-        end
-    },
 }
 
 if CLIENT and player() == owner() then

koptilnya/libs/constants.txt

@@ -1,3 +1,5 @@
+--@name koptilnya/libs/constants
+
 NULL_ENTITY = entity(0)
 CURRENT_PLAYER = player()
 OWNER = owner()
@@ -7,3 +9,5 @@ RAD_TO_RPM = 9.5493
 RPM_TO_RAD = 0.10472
 UNITS_PER_METER = 39.37
 UNITS_TO_METERS = 0.01905
+KG_TO_N = 9.80665
+KG_TO_KN = 0.00980665

koptilnya/libs/perma.txt

@@ -1,3 +1,4 @@
+--@name /koptilnya/libs/perma
 -- @include /koptilnya/libs/table.txt
 -- @shared
 

koptilnya/libs/table.txt

@@ -82,6 +82,8 @@ function table.find(tbl, predicate)
             return field
         end
     end
+
+    return nil
 end
 
 function table.reduce(tbl, reducer, init)
@@ -93,3 +95,17 @@ function table.reduce(tbl, reducer, init)
 
     return accum
 end
+
+function table.every(tbl, predicate)
+    for i, field in pairs(tbl) do
+        if not predicate(field, i) then
+            return false
+        end
+    end
+
+    return true
+end
+
+function table.some(tbl, predicate)
+    return table.find(tbl, predicate) ~= nil
+end

koptilnya/mesh_loader/cl_builder.txt

@@ -61,6 +61,14 @@ function MeshBuilder:initialize(link)
     net.receive("objects", function()
         self:_onReceiveObjects()
     end)
+
+    hook.add("Removed", "_Removed", function()
+        for k, v in pairs(self._cachedMaterials) do
+            if type(v) == "Material" then
+                v:destroy()
+            end
+        end
+    end)
 end
 
 function MeshBuilder:_onObjLoaded(objData)
@@ -89,8 +97,9 @@ function MeshBuilder:_onReceiveObjects()
 
         net.readEntity(function(ent)
             local holo = ent:toHologram()
+            local isCustomMaterial = (#table.getKeys(mat) > 1 and mat.basetexture) or isURL(mat.basetexture)
 
-            if (isURL(mat.basetexture)) then       
+            if (isCustomMaterial) then
                 mat = self:_createMaterial(mat.shader, mat.basetexture, mat.bumpmap, mat.options)
             else
                 hasErr, mat = pcall(material.load, mat.basetexture)
@@ -172,8 +181,13 @@ function MeshBuilder:_createMaterial(shader, basetexture, bumpmap, options)
         self:_setTexture(mat, "$bumpmap", bumpmap, options.bumpLayout)
     end
 
+    options.baseLayout = nil
+    options.bumpLayout = nil
+
     for k, v in pairs(options) do
-        if type(v) == "string" then
+        if k == "envmap" then
+            mat:setTexture("$envmap", v)
+        elseif type(v) == "string" then
             mat:setString("$" .. k, v)
         elseif type(v) == "number" then
             if string.match(tostring(v), "%.") then
@@ -184,12 +198,14 @@ function MeshBuilder:_createMaterial(shader, basetexture, bumpmap, options)
         elseif type(v) == "nil" then
             mat:setUndefined("$" .. k, v)
         elseif type(v) == "Vector" then
-            mat:setVector("$" .. k, tostring(v))
+            mat:setVector("$" .. k, v)
         end
     end
 
     self._cachedMaterials[checksum] = mat
 
+    --mat:recompute()
+
     return mat
 end
 

koptilnya/mesh_loader/sv_builder.txt

@@ -3,7 +3,7 @@
 -- @include /koptilnya/libs/workers.txt
 require("/koptilnya/libs/workers.txt")
 
-local TIMEOUT = 3
+local TIMEOUT = 4
 
 MeshBuilder = class("MeshBuilder")
 

koptilnya/physics_debugger.txt

@@ -0,0 +1,73 @@
+--@name Physics debugger
+--@author Opti1337
+--@shared
+--@include /koptilnya/libs/entity.txt
+
+if SERVER then
+    require("/koptilnya/libs/entity.txt")
+
+    wire.adjustPorts(
+        {
+            W1 = "ENTITY",
+            W2 = "ENTITY"
+        }
+    )
+
+    timer.create("interval", 0.08, 0, function()
+        local data = {}
+
+        for k, w in pairs({wire.ports.W1, wire.ports.W2}) do
+            if not isValid(w) then return end
+
+            local physObj = w:getPhysicsObject()
+
+            if not isValid(physObj) then return end
+
+            local v = physObj:getVelocity()
+            local lV = getLocalVelocity(physObj)
+            local m = physObj:getMass()
+            local f = m * (lV / 0.08)
+
+            data[k] = {
+                Velocity = v,
+                LocalVelocity = lV,
+                Mass = m,
+                Force = f
+            }
+        end
+
+        net.start("data")
+            net.writeString(json.encode(data))
+        net.send(nil, true)
+    end)
+else
+    local data = {}
+
+    net.receive("data", function()
+        data = json.decode(net.readString())
+    end)
+
+    hook.add("drawhud", "_drawhud", function()
+        if #data < 2 then return end
+
+        render.setColor(Color(0, 255, 0))
+        render.drawCircle(1400, 950, 50)
+        render.drawSimpleText(1400, 1020, "F = " .. tostring(data[1].Force), 2, 1)
+        --render.drawLine(1400, 950, 1400 - data[1].Force[1] / 10000, 950 - data[1].Force[2] / 10000)
+        render.setColor(Color(0, 0, 255))
+        render.drawLine(1400, 950, 1400 - data[1].Force[2] / 10000, 950)
+        render.setColor(Color(255, 0, 0))
+        render.drawLine(1400, 950, 1400, 950 - data[1].Force[1] / 10000)
+
+        render.setColor(Color(0, 255, 0))
+        render.drawCircle(1820, 950, 50)
+        render.drawSimpleText(1820, 1020, "F = " .. tostring(data[2].Force), 2, 1)
+        --render.drawLine(1820, 950, 1820 - data[2].Force[1] / 10000, 950 - data[2].Force[2] / 10000)
+        render.setColor(Color(0, 0, 255))
+        render.drawLine(1820, 950, 1820 - data[1].Force[2] / 10000, 950)
+        render.setColor(Color(255, 0, 0))
+        render.drawLine(1820, 950, 1820, 950 - data[2].Force[1] / 10000)
+
+        --for k, w in pairs(data) do end
+    end)
+end

koptilnya/wheel_controller/controller.txt

@@ -0,0 +1,8 @@
+--@author Koptilnya
+--@server
+--@include /koptilnya/libs/constants.txt
+
+require('/koptilnya/libs/constants.txt')
+
+Controller = class('Controller')
+

koptilnya/wheel_controller/friction.txt

@@ -0,0 +1,9 @@
+Friction = class('Friction')
+
+function Friction:initialize()
+    self.force = 0
+    self.forceCoefficient = 1.2
+    self.slip = 0
+    self.slipCoefficient = 0.8
+    self.speed = 0
+end

koptilnya/wheel_controller/wheel.txt

@@ -0,0 +1,246 @@
+--@name Custom Wheel
+--@author Koptilnya
+--@server
+--@include /koptilnya/libs/constants.txt
+
+require('/koptilnya/libs/constants.txt')
+
+Wheel = class('Wheel')
+
+function Wheel:initialize(config)
+    config = config or {}
+
+    self.name = config.Name or 'Wheel'
+    self.mass = config.Mass or 20
+    self.radius = config.Radius or 0.25
+    self.width = config.Width or 0.25
+    self.dragTorque = config.DragTorque or 40
+
+    self.B = 10.86
+    self.C = 2.15
+    self.D = 0.933
+    self.E = 0.992
+
+    self.motorTorque = 0
+    self.brakeTorque = 0
+    self.steerAngle = 0
+
+    self.forward = Vector(0)
+    self.right = Vector(0)
+    self.up = Vector(0)
+    self.inertia = 0
+    self.load = 0
+    self.angularVelocity = 0
+
+    self.baseInertia = 0.5 * self.mass * math.pow(self.radius, 2)
+    self.inertia = self.baseInertia
+    self.entity = NULL_ENTITY
+    self.physObject = nil
+    self.hasHit = false
+
+    wire.adjustPorts(
+        {
+            [self.name] = 'entity',
+            Torque = 'number',
+            Brake = 'number'
+        },
+        {
+            HasHit = 'number'
+        }
+    )
+
+    hook.add('tick', 'custom_wheel_update', function()
+        if isValid(self.physObject) then
+            self:update()
+        end
+    end)
+
+    hook.add('input', 'custom_wheel_input', function(input, value)
+        if input == self.name then
+            if isValid(value) then
+                self.entity = value
+                self.entity:enableSphere(true, self.radius * UNITS_PER_METER)
+
+                self.physObject = value:getPhysicsObject()
+                self.physObject:setMaterial('friction_00')
+                self.physObject:setMass(self.mass)
+                self.physObject:setInertia(Vector(self.inertia))
+                self.physObject:enableDrag(false)
+                self.physObject:setDragCoefficient(0)
+                self.physObject:setAngleDragCoefficient(0)
+            else
+                self.entity = NULL_ENTITY
+                self.physObject = nil
+            end
+        end
+    end)
+end
+
+function Wheel:getRPM()
+    return self.angularVelocity * RAD_TO_RPM
+end
+
+function Wheel:getLongitudinalLoadCoefficient(load)
+    return 11000 * (1 - math.exp(-0.00014 * load));
+end
+
+function Wheel:getLateralLoadCoefficient(load)
+    return 18000 * (1 - math.exp(-0.0001 * load));
+end
+
+function Wheel:pacejka(slip, B, C, D, E)
+    local t = math.abs(slip)
+    return D * math.sin(C * math.atan(B * t - E * (B * t - math.atan(B * t))))
+end
+
+function Wheel:stepLongitudinal(Tm, Tb, Vx, W, Lc, R, I, kFx, kSx)
+    if I < 0.0001 then
+        I = 0.0001
+    end
+
+    local Winit = W
+    local VxAbs = math.abs(Vx)
+    local WAbs  = math.abs(W)
+    local Sx = 0
+
+    if VxAbs >= 0.1 then
+        Sx = (Vx - W * R) / VxAbs
+    else
+        Sx = (Vx - W * R) * 0.6
+    end
+
+    Sx = Sx * kSx;
+    Sx = math.clamp(Sx, -1, 1)
+
+    W = W + Tm / I * TICK_INTERVAL
+
+    Tb = Tb * (W > 0 and -1 or 1)
+    local TbCap = math.abs(W) * I / TICK_INTERVAL
+    local Tbr = math.abs(Tb) - math.abs(TbCap)
+    Tbr = math.max(Tbr, 0)
+    Tb = math.clamp(Tb, -TbCap, TbCap)
+    W = W + Tb / I * TICK_INTERVAL
+
+    local maxTorque  = self:pacejka(math.abs(Sx), self.B, self.C, self.D, self.E) * Lc * kFx * R
+    local errorTorque = (W - Vx / R) * I / TICK_INTERVAL
+    local surfaceTorque = math.clamp(errorTorque, -maxTorque, maxTorque)
+
+    W  = W - surfaceTorque / I * TICK_INTERVAL
+    local Fx =  surfaceTorque / R
+
+    Tbr = Tbr * (W > 0 and -1 or 1)
+    local TbCap2 = math.abs(W) * I / TICK_INTERVAL
+    local Tb2 = math.clamp(Tbr, -TbCap2, TbCap2)
+    W = W + Tb2 / I * TICK_INTERVAL
+
+    local deltaOmegaTorque = (W - Winit) * I / TICK_INTERVAL
+    Tcnt = -surfaceTorque + Tb + Tb2 - deltaOmegaTorque
+
+    if Lc < 0.001 then
+        Sx = 0
+    end
+
+    return W, Sx, Fx, Tcnt
+end
+
+function Wheel:stepLateral(Vx, Vy, Lc, kFy, kSy)
+    local VxAbs = math.abs(Vx)
+    local Sy = 0
+
+    if VxAbs > 0.3 then
+        Sy =  math.deg(math.atan(Vy / VxAbs))
+        Sy = Sy / 50
+    else
+        Sy = Vy * (0.003 / TICK_INTERVAL)
+    end
+
+    Sy = Sy * kSy * 0.95
+    Sy =  math.clamp(Sy, -1, 1)
+    local slipSign = Sy < 0 and -1 or 1
+    local Fy = -slipSign * self:pacejka(math.abs(Sy), self.B, self.C, self.D, self.E) * Lc * kFy
+
+    if Lc < 0.0001 then
+        Sy = 0
+    end
+
+    return Sy, Fy
+end
+
+function Wheel:slipCircle(Sx, Sy, Fx, Fy, slipCircleShape)
+    local SxAbs = math.abs(Sx)
+
+    if SxAbs > 0.01 then
+        local SxClamped = math.clamp(Sx, -1, 1)
+        local SyClamped = math.clamp(Sy, -1, 1)
+        local combinedSlip = Vector2(
+            SxClamped * slipCircleShape,
+            SyClamped
+        )
+        local slipDir = combinedSlip:getNormalized()
+
+        local F = math.sqrt(Fx * Fx + Fy * Fy)
+        local absSlipDirY = math.abs(slipDir.y)
+
+        Fy = F * absSlipDirY * (Fy < 0 and -1 or 1)
+    end
+
+    return Sx, Sy, Fx, Fy
+end
+
+function Wheel:update()
+    local externalStress = self.physObject:getStress()
+    local velocity = self.physObject:getVelocity() * UNITS_TO_METERS
+
+    self.hasHit = externalStress ~= 0
+    self.load = externalStress * KG_TO_NM
+
+    self.longitudinalLoadCoefficient = self:getLongitudinalLoadCoefficient(self.load)
+    self.lateralLoadCoefficient = self:getLateralLoadCoefficient(self.load)
+
+    self.forward = self.entity:getForward()
+    self.right = -self.entity:getRight()
+
+    local forwardSpeed = velocity:dot(self.forward)
+    local sideSpeed = velocity:dot(self.right)
+
+    self.motorTorque = wire.ports.Torque
+    self.brakeTorque = wire.ports.Brake
+
+    local W, Sx, Fx, Tcnt = self:stepLongitudinal(
+        self.motorTorque,
+        self.brakeTorque + self.dragTorque,
+        forwardSpeed,
+        self.angularVelocity,
+        self.longitudinalLoadCoefficient,
+        self.radius,
+        self.inertia,
+        0.95, -- Force coeff
+        0.9 -- Slip coeff
+    )
+
+    local Sy, Fy = self:stepLateral(
+        forwardSpeed,
+        sideSpeed,
+        self.lateralLoadCoefficient,
+        0.95, -- Force coeff
+        0.9 -- Slip coeff
+    )
+
+    Sx, Sy, Fx, Fy = self:slipCircle(
+        Sx,
+        Sy,
+        Fx,
+        Fy,
+        1.05 -- Shape of the slip circle / ellipse.
+    )
+
+    if self.hasHit then
+        local surfaceForceVector = self.right * Fy + self.forward * Fx
+
+        self.physObject:applyForceOffset(surfaceForceVector, self.entity:getPos())
+    end
+
+    wire.ports.HasHit = self.hasHit and 1 or 0
+end
+
+local wheel = Wheel:new()