WheelSettings.hpp

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#pragma once
 
#include <cstdint>
#include <vector>
 
namespace Physics::Component {

enum class WheelIndex : uint8_t {
    FrontLeft = 0,
    FrontRight = 1,
    RearLeft = 2,
    RearRight = 3,
    Count = 4
};

struct FrictionCurvePoint {
    float slip;     
    float friction; 
};

struct WheelSettings {
    float radius = 0.3f;

    float width = 0.1f;

    float suspensionMaxLength = 0.3f;

    float suspensionMinLength = 0.0f;

    float suspensionFrequency = 1.5f;

    float suspensionDamping = 0.5f;

    float maxSteerAngle = 0.0f;

    float inertia = 0.9f;

    float angularDamping = 0.2f;

    std::vector<FrictionCurvePoint> longitudinalFriction = {
        {0.0f,  0.0f}, // No friction when no slip
        {0.06f, 1.2f}, // Peak friction at 6% slip
        {0.2f,  1.0f}  // Reduced friction when sliding
    };

    std::vector<FrictionCurvePoint> lateralFriction = {
        {0.0f,  0.0f}, // No friction when aligned
        {3.0f,  1.2f}, // Peak friction at 3 degrees
        {20.0f, 1.0f}  // Reduced friction at high slip angles
    };

    float maxBrakeTorque = 1500.0f;

    float maxHandBrakeTorque = 4000.0f;

    static WheelSettings CreateFrontWheel()
    {
        WheelSettings settings;
        settings.maxSteerAngle = 0.52f; // ~30 degrees
        return settings;
    }

    static WheelSettings CreateRearWheel()
    {
        WheelSettings settings;
        settings.maxSteerAngle = 0.0f;
        return settings;
    }
};
 
} // namespace Physics::Component