public bool Raycast(float length, bool doPhysics, Vector3 offset, ref float wheel, float dt)
{
var position = parent.Position;
var rotation = parent.Rotation;
var wheelAttachPos = position + offset;
var wheelExtend = wheelAttachPos - rotation.Up * (length * parent.Scale);
var tr = Trace.Ray(wheelAttachPos, wheelExtend)
.Ignore(parent)
.Ignore(parent.Driver)
.Run();
wheel = length * tr.Fraction;
var wheelRadius = (14 * parent.Scale);
if (!doPhysics && CarEntity.debug_car)
{
var wheelPosition = tr.Hit ? tr.EndPosition : wheelExtend;
wheelPosition += rotation.Up * wheelRadius;
if (tr.Hit)
{
DebugOverlay.Circle(wheelPosition, rotation * Rotation.FromYaw(90), wheelRadius, Color.Red.WithAlpha(0.5f), false);
DebugOverlay.Line(tr.StartPosition, tr.EndPosition, Color.Red, 0, false);
}
else
{
DebugOverlay.Circle(wheelPosition, rotation * Rotation.FromYaw(90), wheelRadius, Color.Green.WithAlpha(0.5f), false);
DebugOverlay.Line(wheelAttachPos, wheelExtend, Color.Green, 0, false);
}
}
if (!tr.Hit || !doPhysics)
{
return(tr.Hit);
}
var body = parent.PhysicsBody.SelfOrParent;
_previousLength = _currentLength;
_currentLength = (length * parent.Scale) - tr.Distance;
var springVelocity = (_currentLength - _previousLength) / dt;
var springForce = body.Mass * 50.0f * _currentLength;
var damperForce = body.Mass * (1.5f + (1.0f - tr.Fraction) * 3.0f) * springVelocity;
var velocity = body.GetVelocityAtPoint(wheelAttachPos);
var speed = velocity.Length;
var speedDot = MathF.Abs(speed) > 0.0f ? MathF.Abs(MathF.Min(Vector3.Dot(velocity, rotation.Up.Normal) / speed, 0.0f)) : 0.0f;
var speedAlongNormal = speedDot * speed;
var correctionMultiplier = (1.0f - tr.Fraction) * (speedAlongNormal / 1000.0f);
var correctionForce = correctionMultiplier * 50.0f * speedAlongNormal / dt;
body.ApplyImpulseAt(wheelAttachPos, tr.Normal * (springForce + damperForce + correctionForce) * dt);
return(true);
}
