notes.txt

https://blog.ldtalentwork.com/2020/09/17/how-to-make-simple-car-physics-on-unity/



https://www.youtube.com/watch?v=CdPYlj5uZeI&list=WL&index=2&t=168s

[[ suspension ]]
springDir = tireTransform.UP

vec3 tireWorldVel = RigidBody.getPointVel( tirePosition )
float offset       = restDist - tireRay.distance;

// dir unit vector, so get magnitude of tireVel projected on SpringDir
float vel         = dot( springDir, tireWorldvel )

float force     = ( offset * springStrength ) - ( vel * springDamper )
rigid.AddForceAtPos( springDir * force, tirePosition )

[[ steering ]]
steeringDir = tireTransform.right
vec3 tireWorldVel = RigidBody.getPointVel( tirePosition )
float  steeringVel = dot( steeringDir, tireWorldVel )
float desiredVelChange = -steeringVel * tireGripFactor // 0-1

float desiredAcell = desiredvelChange / dt;
rigid.AddForceAtPos( steeringDir * tireMass * desiredAccel, tirePosition );

[[ Accel & Braking ]]

if( accelInput == 0 ) return;
vec3 accelDir = tireTransform.forward;
float cardSpeed = dot( carForward, car.velocity );
float normlaizeSpeed = Clamp01( abs(carSpeed) / carTopSpeed );

float availTorque = powerCurve.Evaluate(  normalizedSpeed ) & accelInput;
rigid.addForceAtPosition( accelDir * availableTorque, tirePosition );


https://www.toptal.com/game/video-game-physics-part-i-an-introduction-to-rigid-body-dynamics
Torque - When you apply force on a specific point of a rigid body

https://github.com/george7378/basic-physics
https://stackoverflow.com/questions/24197182/efficient-quaternion-angular-velocity/24201879#24201879
https://blog.ldtalentwork.com/2020/09/17/how-to-make-simple-car-physics-on-unity/
https://doc.babylonjs.com/guidedLearning/workshop/Car_Driven


https://burakkanber.com/blog/physics-in-javascript-car-suspension-part-1-spring-mass-damper/