{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 59,
   "metadata": {},
   "outputs": [],
   "source": [
    "%matplotlib widget"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 60,
   "metadata": {},
   "outputs": [],
   "source": [
    "from sympy import Symbol, sin, atan, exp, solve, diff, simplify,Eq,sign\n",
    "from sympy.plotting import plot, plot3d\n",
    "\n",
    "\n",
    "from ipywidgets import interact, interactive, fixed, interact_manual\n",
    "from IPython.display import display\n",
    "import ipywidgets as widgets\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 61,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "<>:5: SyntaxWarning: invalid escape sequence '\\g'\n",
      "<>:5: SyntaxWarning: invalid escape sequence '\\g'\n",
      "/tmp/ipykernel_100064/2069913084.py:5: SyntaxWarning: invalid escape sequence '\\g'\n",
      "  camber_angle = Symbol('\\gamma')\n"
     ]
    }
   ],
   "source": [
    "a = [Symbol(f'a_{i}', real=True) for i in range(18)]\n",
    "b = [Symbol(f'b_{i}', real=True) for i in range(14)]\n",
    "Fz = Symbol('F_z', positive=True, real=True)\n",
    "x = Symbol('x', real=True)\n",
    "camber_angle = Symbol('\\gamma')\n",
    "\n",
    "def pacejka94_longitudinal():\n",
    "\tFz_sq = Fz * Fz\n",
    "\n",
    "\tC = b[0]\n",
    "\tD = (b[1] * Fz + b[2]) * Fz\n",
    "\tBCD = (b[3] * Fz_sq + b[4] * Fz) * exp(-b[5] * Fz)\n",
    "\tB = BCD / (C * D)\n",
    "\tH = b[9] * Fz + b[10]\n",
    "\tE = (b[6] * Fz_sq + b[7] * Fz + b[8]) * (1.0 - b[13] * sign(x + H))\n",
    "\tV = b[11] * Fz + b[12]\n",
    "\tBx1 = B * (x + H)\n",
    "\n",
    "\tF = D * sin(C * atan(Bx1 - E * (Bx1 - atan(Bx1)))) + V\n",
    "\n",
    "\treturn F / (Fz * 1000)\n",
    "\n",
    "def pacejka94_lateral():\n",
    "\tcamber_angle_sq = camber_angle * camber_angle\n",
    "\n",
    "\tC = a[0]\n",
    "\tD = Fz * (a[1] * Fz + a[2]) * (1.0 - a[15] * camber_angle_sq)\n",
    "\tBCD = a[3] * sin(atan(Fz / a[4]) * 2.0) * (1.0 - a[5] * abs(camber_angle))\n",
    "\tB = BCD / (C * D)\n",
    "\tH = a[8] * Fz + a[9] + a[10] * camber_angle\n",
    "\tE = (a[6] * Fz + a[7]) * (1.0 - (a[16] * camber_angle + a[17]) * sign(x + H))\n",
    "\tV = a[11] * Fz + a[12] + (a[13] * Fz + a[14]) * camber_angle * Fz\n",
    "\tBx1 = B * (x + H)\n",
    "\n",
    "\tF = D * sin(C * atan(Bx1 - E * (Bx1 - atan(Bx1)))) + V\n",
    "\treturn F / (Fz * 1000)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 62,
   "metadata": {},
   "outputs": [],
   "source": [
    "# slip_angle_formula = pacejka96().subs({sym: val for sym, val in zip(b, slip_angle_b)})\n",
    "# slip_angle_formula2 = pacejka96().subs({sym: val for sym, val in zip(b, slip_angle_b2)})\n",
    "# slip_ratio_formula = pacejka96().subs({sym: val for sym, val in zip(b, slip_ratio_b)})\n",
    "# \n",
    "# plot(abs((slip_angle_formula / (Fz * 1000)).subs({Fz: 2})), abs((slip_ratio_formula / (Fz * 1000)).subs({Fz: 2})), (x, 0, 30))\n",
    "\n",
    "def pacejka_longitudinal_interactive(\n",
    "        b0 = 1.5,\n",
    "        b1 = 0.0,\n",
    "        b2 = 1100.0,\n",
    "        b3 = 0.0,\n",
    "        b4 = 300.0,\n",
    "        b5 = 0.0,\n",
    "        b6 = 0.0,\n",
    "        b7 = 0.0,\n",
    "        b8 = -2.0,\n",
    "        b9 = 0.0,\n",
    "        b10 = 0.0,\n",
    "        b11 = 0.0,\n",
    "        b12 = 0.0,\n",
    "        b13 = 0.0,\n",
    "        _Fz=float(1.0)\n",
    "    ):\n",
    "    params = [b0, b1, b2, b3, b4, b5, b6, b7, b8, b9, b10, b11, b12, b13]\n",
    "    result = pacejka94_longitudinal().subs({sym: val for sym, val in zip(b, params)})\n",
    "    result = result.subs({Fz: _Fz})\n",
    "\n",
    "    return plot(result, (x, -100, 100))\n",
    "\n",
    "def pacejka_lateral_interactive(\n",
    "        a0 = float(0.0),\n",
    "        a1 = float(0.0),\n",
    "        a2 = float(0.0),\n",
    "        a3 = float(0.0),\n",
    "        a4 = float(0.0),\n",
    "        a5 = float(0.0),\n",
    "        a6 = float(0.0),\n",
    "        a7 = float(0.0),\n",
    "        a8 = float(0.0),\n",
    "        a9 = float(0.0),\n",
    "        a10 = float(0.0),\n",
    "        a11 = float(0.0),\n",
    "        a12 = float(0.0),\n",
    "        a13 = float(0.0),\n",
    "        a14 = float(0.0),\n",
    "        a15 = float(0.0),\n",
    "        a16 = float(0.0),\n",
    "        a17 = float(0.0),\n",
    "        _camber_angle=float(0.0)\n",
    "    ):\n",
    "    params = [a0, a1, a2, a3, a4, a5, a6, a7, a8, a9, a10, a11, a12, a13, a14, a15, a16, a17]\n",
    "    result = pacejka94_lateral().subs({sym: val for sym, val in zip(a, params)})\n",
    "    result = result.subs({Fz: 1, camber_angle: _camber_angle})\n",
    "\n",
    "    return plot(result, (x, -90, 90))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 63,
   "metadata": {},
   "outputs": [],
   "source": [
    "import pyperclip\n",
    "\n",
    "def copy_to_clipboard(text):\n",
    "    pyperclip.copy(text)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 64,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "dc81af6a67754c5d8127cc89eb70368b",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "interactive(children=(FloatSlider(value=1.5, description='b0', max=4.5, min=-1.5), FloatSlider(value=0.0, desc…"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "e09f497a55324a8ba3e35f5624741bce",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "Button(description='Copy Params', style=ButtonStyle())"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "long_params = [\n",
    "    1.5,\n",
    "    -1.0,\n",
    "    1100.0,\n",
    "    0.0,\n",
    "    300.0,\n",
    "    0.0,\n",
    "    0.0,\n",
    "    0.0,\n",
    "    -2.0,\n",
    "    0.0,\n",
    "    0.0,\n",
    "    0.0,\n",
    "    0.0,\n",
    "    0.0\n",
    "]\n",
    "\n",
    "w = interactive(pacejka_longitudinal_interactive, kwargs={f'b{i}': long_params[i] for  i in range(len(long_params))})\n",
    "\n",
    "copy_long_btn = widgets.Button(description=\"Copy Params\")\n",
    "copy_long_btn.on_click(lambda _: copy_to_clipboard(',\\n'.join(str(p.value) for p in w.children[:-2])))\n",
    "\n",
    "display(w)\n",
    "display(copy_long_btn)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": 65,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "60b3a140f56547828b45f3038c9c039c",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "interactive(children=(FloatSlider(value=0.0, description='a0', max=1.0), FloatSlider(value=0.0, description='a…"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "01b9a4caf90c43caadf998126c9f5c51",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "Button(description='Copy Params', style=ButtonStyle())"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "lat_params = [\n",
    "\t1.4,\n",
    "\t0.0,\n",
    "\t1100.0,\n",
    "\t1100.0,\n",
    "\t10.0,\n",
    "\t0.0,\n",
    "\t0.0,\n",
    "\t-2.0,\n",
    "\t0.0,\n",
    "\t0.0,\n",
    "\t0.0,\n",
    "\t0.0,\n",
    "\t0.0,\n",
    "\t0.0,\n",
    "\t0.0,\n",
    "\t0.0,\n",
    "\t0.0,\n",
    "\t0.0,\n",
    "]\n",
    "\n",
    "widget_lat = interactive(pacejka_lateral_interactive, kwargs={f'a{i}': lat_params[i] for  i in range(len(lat_params))})\n",
    "\n",
    "copy_lat_btn = widgets.Button(description=\"Copy Params\")\n",
    "copy_lat_btn.on_click(lambda _: copy_to_clipboard(',\\n'.join(str(p.value) for p in widget_lat.children[:-2])))\n",
    "\n",
    "display(widget_lat)\n",
    "display(copy_lat_btn)"
   ]
  }
 ],
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