A bunch of tweaks

- Add max steering lock and limit drift assist to never exceed it
- Bring back tyre curve debug
- Show relevant wheel debug values
- Calculate camber for pacejka

assets/tyre_lateral.csv

@@ -1,13 +1,13 @@
 a
-1.1
--200
+1.5
+-20
 1700
 2000
-10
+0.5
 0
 0
--0.5
-0
+0
+-1
 0
 0
 0

assets/tyre_longitudinal.csv

@@ -1,13 +1,13 @@
 b
-1.2
+1.5
 -200
 1400
-20
-1
-0
-0
-0
--2
+-10
+300
+0
+0
+0
+0
 0
 0
 0

common/emath/math.odin

@@ -8,3 +8,7 @@ _ :: math
 exp_smooth :: proc "contextless" (target: $T, pos: T, speed: f32, dt: f32) -> T {
 	return pos + ((target - pos) * (1.0 - math.exp_f32(-speed * dt)))
 }
+
+exp_smooth_angle :: proc "contextless" (target: $T, pos: T, speed: f32, dt: f32) -> T {
+	return pos + (math.angle_diff(pos, target) * (1.0 - math.exp_f32(-speed * dt)))
+}

game/game.odin

@@ -543,7 +543,7 @@ update_world :: proc(world: ^World, dt: f32, config: World_Update_Config) {
 					},
 				},
 				mass            = 1000,
-				com_shift       = physics.Vec3{0, 0.8, -0.5},
+				com_shift       = physics.Vec3{0, 1, -0.5},
 			},
 		)
 
@@ -611,11 +611,16 @@ update_world :: proc(world: ^World, dt: f32, config: World_Update_Config) {
 			assets.get_curve_1d(&g_mem.assetman, "assets/tyre_lateral.csv"),
 		)
 
+		TURN_ANGLE_AT_HIGH_SPEED :: f32(10) * math.RAD_PER_DEG
+		TURN_ANGLE_AT_LOW_SPEED :: f32(30) * math.RAD_PER_DEG
+
 		wheel_fl := physics.immediate_suspension_constraint(
 			&world.physics_scene,
 			#hash("FL", "fnv32a"),
 			{
+				name = name.from_string("FL"),
 				turn_wheel = true,
+				steer_lock = TURN_ANGLE_AT_LOW_SPEED,
 				rel_pos = {-wheel_extent_x_front, wheel_y, wheel_front_z},
 				rel_dir = {0, -1, 0},
 				radius = radius,
@@ -632,7 +637,9 @@ update_world :: proc(world: ^World, dt: f32, config: World_Update_Config) {
 			&world.physics_scene,
 			#hash("FR", "fnv32a"),
 			{
+				name = name.from_string("FR"),
 				turn_wheel = true,
+				steer_lock = TURN_ANGLE_AT_LOW_SPEED,
 				rel_pos = {wheel_extent_x_front, wheel_y, wheel_front_z},
 				rel_dir = {0, -1, 0},
 				radius = radius,
@@ -649,6 +656,7 @@ update_world :: proc(world: ^World, dt: f32, config: World_Update_Config) {
 			&world.physics_scene,
 			#hash("RL", "fnv32a"),
 			{
+				name = name.from_string("RL"),
 				rel_pos = {-wheel_extent_x_back, wheel_y, wheel_back_z},
 				rel_dir = {0, -1, 0},
 				radius = radius,
@@ -665,6 +673,7 @@ update_world :: proc(world: ^World, dt: f32, config: World_Update_Config) {
 			&world.physics_scene,
 			#hash("RR", "fnv32a"),
 			{
+				name = name.from_string("RR"),
 				rel_pos = {wheel_extent_x_back, wheel_y, wheel_back_z},
 				rel_dir = {0, -1, 0},
 				radius = radius,
@@ -706,10 +715,7 @@ update_world :: proc(world: ^World, dt: f32, config: World_Update_Config) {
 		front_wheels := turn_wheels
 		back_wheels := drive_wheels
 
-		DRIVE_IMPULSE :: 3000
 		BRAKE_IMPULSE :: 10
-		TURN_ANGLE_AT_HIGH_SPEED :: f32(10) * math.RAD_PER_DEG
-		TURN_ANGLE_AT_LOW_SPEED :: f32(30) * math.RAD_PER_DEG
 		// 68% front, 32% rear
 		BRAKE_BIAS :: f32(0.68)
 
@@ -745,7 +751,10 @@ update_world :: proc(world: ^World, dt: f32, config: World_Update_Config) {
 		}
 
 		car_body := physics.get_body(sim_state, world.car_handle)
-		turn_vel_correction := math.smoothstep(f32(90), f32(10), linalg.length(car_body.v) * 3.6)
+		car_vel_kmh := linalg.length(car_body.v) * 3.6
+		LOW_SPEED :: f32(10)
+		HIGH_SPEED :: f32(90)
+		turn_vel_correction := 1.0 - math.saturate((car_vel_kmh - 10) / (HIGH_SPEED - LOW_SPEED))
 
 		turn_input := rl.GetGamepadAxisMovement(0, .LEFT_X)
 		if abs(turn_input) < GAMEPAD_DEADZONE {
@@ -980,9 +989,14 @@ yaw_pitch_to_rotation :: proc "contextless" (yaw, pitch: f32) -> linalg.Matrix3f
 
 follow_camera_update :: proc(world: ^World, camera: ^Car_Follow_Camera, dt: f32) {
 	body := physics.get_interpolated_body(&world.physics_scene, SOLVER_CONFIG, camera.body)
+	body_up := physics.body_local_to_world_vec(body, {0, 1, 0})
 
-	camera.follow_target = body.x + physics.Vec3{0, 4, 0}
-	camera.target = body.x + physics.Vec3{0, 2.5, 0}
+	// COM can be a lot lower than the center of visual mesh, offset by that first
+	car_center := body.x + body_up * 1
+
+	// When car flips it's noticeable that camera is offset from COM, remove the offset when it sways
+	camera.follow_target = car_center + physics.Vec3{0, 3, 0}
+	camera.target = car_center + physics.Vec3{0, 1.5, 0}
 
 	delta, sense, _ := collect_camera_input()
 
@@ -995,31 +1009,28 @@ follow_camera_update :: proc(world: ^World, camera: ^Car_Follow_Camera, dt: f32)
 	if camera.manual_rotation_time > 0 {
 		camera.manual_rotation_time -= dt
 
-		if !camera.has_yaw_pitch {
-			camera.has_yaw_pitch = true
-			camera.yaw, camera.pitch = dir_to_yaw_pitch(
-				linalg.normalize0(camera.follow_target - camera.pos),
-			)
-		}
-
 		camera.yaw += delta.x * sense
 		camera.pitch += delta.y * sense
 		camera.pitch = math.clamp(camera.pitch, -math.PI / 2.0 + 0.0001, math.PI / 2.0 - 0.0001)
 
-		camera.pos =
-			camera.follow_target +
-			yaw_pitch_to_rotation(camera.yaw, camera.pitch) * rl.Vector3{0, 0, 1} * distance
 	} else {
-		dir := linalg.normalize0(camera.pos - camera.follow_target)
-		if dir == 0 {
-			dir = {0, 0, -1}
+		v_len := linalg.length(body.v)
+		if v_len >= 0.0001 {
+			dir := body.v / v_len
+
+			speed := math.smoothstep(f32(0.2), f32(20), v_len) * 6
+			// speed *= math.smoothstep(f32(6), f32(20), v_len) * 3
+
+			target_yaw, target_pitch := dir_to_yaw_pitch(dir)
+
+			camera.yaw = emath.exp_smooth_angle(target_yaw, camera.yaw, speed, dt)
+			camera.pitch = emath.exp_smooth_angle(target_pitch, camera.pitch, speed, dt)
 		}
-
-		camera.has_yaw_pitch = false
-
-		pos_target := camera.follow_target + dir * distance
-		camera.pos = pos_target
 	}
+
+	camera.pos =
+		camera.follow_target +
+		yaw_pitch_to_rotation(camera.yaw, camera.pitch) * rl.Vector3{0, 0, 1} * distance
 }
 
 follow_camera_to_rl :: proc(camera: Car_Follow_Camera) -> rl.Camera3D {

game/physics/debug.odin

@@ -366,133 +366,121 @@ draw_debug_ui :: proc(
 		}
 	}
 
-	// active_wheels := []int{0, 1}
 
-	// w, h: i32 = 500, 500
+	if .ACTIVE in ui.treenode(ctx, "Wheels") {
+		for i in 0 ..< len(sim_state.suspension_constraints_slice) {
+			s := get_interpolated_wheel(scene, config, Suspension_Constraint_Handle(i + 1))
+			if s.alive {
 
-	// window_x: i32 = 0
+				if .ACTIVE in ui.treenode(ctx, fmt.tprintf("Wheel {}", name.to_string(s.name))) {
+					ui.keyval(ctx, "Spring Impulse", s.spring_impulse)
+					ui.keyval(ctx, "Turn Angle", s.turn_angle * math.DEG_PER_RAD)
+					ui.keyval(ctx, "Turn Assist", s.turn_assist * math.DEG_PER_RAD)
+					ui.keyval(ctx, "Total Turn", (s.turn_angle + s.turn_assist) * math.DEG_PER_RAD)
+					ui.keyval(ctx, "Long Slip", s.slip_ratio)
+					ui.keyval(ctx, "Lat Slip", s.slip_angle)
+					ui.keyval(ctx, "Camber", s.camber)
 
-	// for i in 0 ..< len(sim_state.suspension_constraints_slice) {
-	// 	s := &sim_state.suspension_constraints_slice[i]
+					NUM_SAMPLES :: 100
 
-	// 	if s.alive {
-	// 		for idx in active_wheels {
-	// 			if i == idx {
-	// 				if ui.window(
-	// 					ctx,
-	// 					fmt.tprintf("Wheel %v", i),
-	// 					ui.Rect{x = window_x, y = 0, w = w, h = h},
-	// 					ui.Options{},
-	// 				) {
-	// 					NUM_SAMPLES :: 100
+					dt := f32(config.timestep) / f32(config.substreps_minus_one + 1)
+					inv_dt := 1.0 / dt
 
-	// 					dt := f32(config.timestep) / f32(config.substreps_minus_one + 1)
-	// 					inv_dt := 1.0 / dt
+					if .ACTIVE in ui.treenode(ctx, "Longitudinal") {
+						ui.layout_row(ctx, {-1}, 200)
+						{
+							ui.begin_line(ctx, ui.Color{255, 0, 0, 255})
+							defer ui.end_line(ctx)
 
-	// 					{
-	// 						ui.layout_row(ctx, {-1}, 300)
-	// 						{
-	// 							ui.begin_line(ctx, ui.Color{255, 0, 0, 255})
-	// 							defer ui.end_line(ctx)
+							for j in 0 ..< NUM_SAMPLES {
+								alpha := f32(j) / f32(NUM_SAMPLES - 1)
+								x := alpha * 200.0 - 100.0
 
-	// 							for j in 0 ..< NUM_SAMPLES {
-	// 								alpha := f32(j) / f32(NUM_SAMPLES - 1)
-	// 								x := alpha * 200.0 - 100.0
+								long_friction := abs(
+									pacejka_94_longitudinal(
+										s.pacejka_long,
+										x,
+										max(abs(s.spring_impulse), 0.001) * inv_dt * 0.001,
+									),
+								)
 
-	// 								long_friction := abs(
-	// 									pacejka_94_longitudinal(
-	// 										s.pacejka_long,
-	// 										x,
-	// 										max(abs(s.spring_impulse), 0.001) * inv_dt * 0.001,
-	// 									),
-	// 								)
+								ui.push_line_point(ctx, ui.Vec2f{alpha, long_friction * -0.5 + 1})
+							}
 
-	// 								ui.push_line_point(
-	// 									ctx,
-	// 									ui.Vec2f{alpha, long_friction * -0.5 + 1},
-	// 								)
-	// 							}
+							long_friction := abs(
+								pacejka_94_longitudinal(
+									s.pacejka_long,
+									s.slip_ratio,
+									max(abs(s.spring_impulse), 0.001) * inv_dt * 0.001,
+								),
+							)
 
-	// 							long_friction := abs(
-	// 								pacejka_94_longitudinal(
-	// 									s.pacejka_long,
-	// 									s.slip_ratio,
-	// 									max(abs(s.spring_impulse), 0.001) * inv_dt * 0.001,
-	// 								),
-	// 							)
+							rect := ui.get_line(ctx).rect
 
-	// 							rect := ui.get_line(ctx).rect
+							cur_point :=
+								Vec2{(s.slip_ratio + 100.0) / 200.0, long_friction * -0.5 + 1} *
+									Vec2{f32(rect.w), f32(rect.h)} +
+								Vec2{f32(rect.x), f32(rect.y)}
+							ui.draw_rect(
+								ctx,
+								ui.rect_from_point_extent(
+									ui.Vec2{i32(cur_point.x), i32(cur_point.y)},
+									2,
+								),
+								ui.Color{255, 255, 0, 255},
+							)
+						}
+					}
 
-	// 							cur_point :=
-	// 								Vec2 {
-	// 										(s.slip_ratio + 100.0) / 200.0,
-	// 										long_friction * -0.5 + 1,
-	// 									} *
-	// 									Vec2{f32(rect.w), f32(rect.h)} +
-	// 								Vec2{f32(rect.x), f32(rect.y)}
-	// 							ui.draw_rect(
-	// 								ctx,
-	// 								ui.rect_from_point_extent(
-	// 									ui.Vec2{i32(cur_point.x), i32(cur_point.y)},
-	// 									2,
-	// 								),
-	// 								ui.Color{255, 255, 0, 255},
-	// 							)
-	// 						}
-	// 					}
+					if .ACTIVE in ui.treenode(ctx, "Lateral") {
+						ui.layout_row(ctx, {-1}, 200)
+						ui.begin_line(ctx, ui.Color{0, 255, 0, 255})
+						defer ui.end_line(ctx)
 
-	// 					{
-	// 						ui.layout_row(ctx, {-1}, 300)
-	// 						ui.begin_line(ctx, ui.Color{0, 255, 0, 255})
-	// 						defer ui.end_line(ctx)
+						for j in 0 ..< NUM_SAMPLES {
+							alpha := f32(j) / f32(NUM_SAMPLES - 1)
+							x := alpha * 180.0 - 90.0
 
-	// 						for j in 0 ..< NUM_SAMPLES {
-	// 							alpha := f32(j) / f32(NUM_SAMPLES - 1)
-	// 							x := alpha * 180.0 - 90.0
+							lat_friction := abs(
+								pacejka_94_lateral(
+									s.pacejka_lat,
+									x,
+									max(abs(s.spring_impulse), 0.001) * inv_dt * 0.001,
+									0.0,
+								),
+							)
 
-	// 							lat_friction := abs(
-	// 								pacejka_94_lateral(
-	// 									s.pacejka_lat,
-	// 									x,
-	// 									max(abs(s.spring_impulse), 0.001) * inv_dt * 0.001,
-	// 									0.0,
-	// 								),
-	// 							)
+							ui.push_line_point(ctx, ui.Vec2f{alpha, lat_friction * -0.5 + 1})
+						}
 
-	// 							ui.push_line_point(ctx, ui.Vec2f{alpha, lat_friction * -0.5 + 1})
-	// 						}
+						lat_friction := abs(
+							pacejka_94_lateral(
+								s.pacejka_lat,
+								s.slip_angle,
+								max(abs(s.spring_impulse), 0.001) * inv_dt * 0.001,
+								0.0,
+							),
+						)
 
-	// 						lat_friction := abs(
-	// 							pacejka_94_lateral(
-	// 								s.pacejka_lat,
-	// 								s.slip_angle,
-	// 								max(abs(s.spring_impulse), 0.001) * inv_dt * 0.001,
-	// 								0.0,
-	// 							),
-	// 						)
+						rect := ui.get_line(ctx).rect
 
-	// 						rect := ui.get_line(ctx).rect
-
-	// 						cur_point :=
-	// 							Vec2{(s.slip_angle + 100.0) / 200.0, lat_friction * -0.5 + 1} *
-	// 								Vec2{f32(rect.w), f32(rect.h)} +
-	// 							Vec2{f32(rect.x), f32(rect.y)}
-	// 						ui.draw_rect(
-	// 							ctx,
-	// 							ui.rect_from_point_extent(
-	// 								ui.Vec2{i32(cur_point.x), i32(cur_point.y)},
-	// 								2,
-	// 							),
-	// 							ui.Color{255, 255, 0, 255},
-	// 						)
-	// 					}
-
-	// 					window_x += w
-	// 				}
-	// 			}
-	// 		}
-	// 	}
-	// }
+						cur_point :=
+							Vec2{(s.slip_angle + 100.0) / 200.0, lat_friction * -0.5 + 1} *
+								Vec2{f32(rect.w), f32(rect.h)} +
+							Vec2{f32(rect.x), f32(rect.y)}
+						ui.draw_rect(
+							ctx,
+							ui.rect_from_point_extent(
+								ui.Vec2{i32(cur_point.x), i32(cur_point.y)},
+								2,
+							),
+							ui.Color{255, 255, 0, 255},
+						)
+					}
+				}
+			}
+		}
+	}
 }
 
 debug_transform_points_local_to_world :: proc(body: Body_Ptr, points: []Vec3) {

game/physics/pacejka.odin

@@ -55,6 +55,9 @@ pacejka_94_longitudinal :: proc(
 	f_z: f32,
 	s_v: f32 = 0,
 ) -> f32 {
+	if f_z < 0.001 {
+		return 0
+	}
 	f_z_sq := f_z * f_z
 
 	C := b[0]
@@ -77,6 +80,9 @@ pacejka_94_lateral :: proc(
 	f_z: f32,
 	camber_angle: f32,
 ) -> f32 {
+	if f_z < 0.001 {
+		return 0
+	}
 	camber_angle_sq := camber_angle * camber_angle
 
 	C := a[0]

game/physics/scene.odin

@@ -297,7 +297,9 @@ Collision_Shape :: struct {
 
 Suspension_Constraint :: struct {
 	alive:                  bool,
+	name:                   name.Name,
 	turn_wheel:             bool,
+	steer_lock:             f32,
 	// Pos relative to the body
 	rel_pos:                Vec3,
 	// Dir relative to the body
@@ -366,6 +368,7 @@ Suspension_Constraint :: struct {
 	// Convenience for debug visualization to avoid recomputing
 	slip_angle:             f32,
 	slip_ratio:             f32,
+	camber:                 f32,
 	// Multipliers for combined friction
 	slip_vec:               Vec2,
 
@@ -746,7 +749,10 @@ Body_Config :: struct {
 
 // TODO: rename to wheel
 Suspension_Constraint_Config :: struct {
+	name:              name.Name,
 	turn_wheel:        bool,
+	// Max turn angle either left or right
+	steer_lock:        f32,
 	rel_pos:           Vec3,
 	rel_dir:           Vec3,
 	body:              Body_Handle,
@@ -917,7 +923,9 @@ update_suspension_constraint_from_config :: proc(
 	constraint: Suspension_Constraint_Ptr,
 	config: Suspension_Constraint_Config,
 ) {
+	constraint.name = config.name
 	constraint.turn_wheel = config.turn_wheel
+	constraint.steer_lock = config.steer_lock
 	constraint.rel_pos = config.rel_pos
 	constraint.rel_dir = config.rel_dir
 	constraint.body = config.body

game/physics/simulation.odin

@@ -975,7 +975,7 @@ pgs_solve_contacts :: proc(
 	inv_dt: f32,
 	apply_bias: bool,
 ) {
-	bias_rate, mass_coef, impulse_coef := calculate_soft_constraint_params(240 / 8, 1, f64(dt))
+	bias_rate, mass_coef, impulse_coef := calculate_soft_constraint_params(30, 8, f64(dt))
 	if !apply_bias {
 		mass_coef = 1
 		bias_rate = 0
@@ -1032,8 +1032,7 @@ pgs_solve_contacts :: proc(
 
 					bias := f32(0.0)
 
-					MAX_BAUMGARTE_VELOCITY :: 4.0
-
+					MAX_BAUMGARTE_VELOCITY :: 1000
 					if separation > 0 {
 						bias = separation * inv_dt
 					} else if apply_bias {
@@ -1332,6 +1331,8 @@ pgs_solve_suspension :: proc(
 
 			if body.alive {
 				if v.turn_wheel {
+					v.turn_angle = math.clamp(v.turn_angle, -v.steer_lock, v.steer_lock)
+
 					body_forward_vec := body_local_to_world_vec(body, {0, 0, 1})
 					body_right_vec := body_local_to_world_vec(body, {1, 0, 0})
 					lateral_to_longitudinal_relation :=
@@ -1349,6 +1350,11 @@ pgs_solve_suspension :: proc(
 						drift_amount *
 						math.PI *
 						0.15
+
+					// Clamp the assist to not go outside steer lock
+					v.turn_assist =
+						math.clamp(v.turn_angle + v.turn_assist, -v.steer_lock, v.steer_lock) -
+						v.turn_angle
 				}
 
 
@@ -1499,12 +1505,16 @@ pgs_solve_suspension :: proc(
 
 					// log.debugf("slip_vec: %v", slip_vec)
 
+					camber_cos := -lg.dot(wheel_get_right_vec(body, v), v.right)
+					camber_angle_rad := camber_cos < 0.999999 ? math.acos(camber_cos) : 0
+					v.camber = camber_angle_rad * math.DEG_PER_RAD * math.sign(v.rel_pos.x)
+
 					long_friction :=
 						abs(
 							pacejka_94_longitudinal(
 								v.pacejka_long,
 								slip_ratio,
-								max(abs(v.spring_impulse), 0.001) * inv_dt * 0.001,
+								v.spring_impulse * inv_dt * 0.001,
 							),
 						) *
 						abs(slip_vec.y)
@@ -1513,8 +1523,8 @@ pgs_solve_suspension :: proc(
 							pacejka_94_lateral(
 								v.pacejka_lat,
 								slip_angle,
-								max(abs(v.spring_impulse), 0.001) * inv_dt * 0.001,
-								0.0,
+								v.spring_impulse * inv_dt * 0.001,
+								v.camber,
 							),
 						) *
 						abs(slip_vec.x)