public void Draw(GraphicsHelper gh)
{
var pos = body.GetPosition();
float k = Helper.angle_to_rad;
var a1 = body.GetAngle() / k;
var a2 = bodyFW1.GetAngle() / k;
var th = Helper.GetRelAngle(a1, a2, 360 * k);
gh.DrawCar(pos.X, pos.Y, p.w, p.h, a1, p.h_base, p.w_base, th);
if (lidar != null) lidar.Draw(gh);
}