rttrack.cpp

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/***************************************************************************
                      rttrack.cpp -- Track utilities functions                              
                             -------------------                                         
    created              : Sat Aug 14 23:03:22 CEST 1999
    copyright            : (C) 1999-2024 by Eric Espie, Bernhard Wymann                         
    email                : berniw@bluewin.ch

***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 ***************************************************************************/

#include <portability.h>
#include <stdlib.h>
#include <math.h>
#ifdef WIN32
#include <windows.h>
#endif
#include <tgf.h>
#include <car.h>
#include <track.h>

#include <robottools.h>

tdble
RtTrackGetWidth(tTrackSeg *seg, tdble toStart)
{
    return fabs(seg->startWidth + toStart * seg->Kyl);
}


void
RtTrackLocal2Global(tTrkLocPos *p, tdble *X, tdble *Y, int flag)
{
    tdble CosA, SinA, r, a;
    tdble tr, toRight;
    tTrackSeg *seg = p->seg;

    // Compute the equivalent toRight for TR_TOMIDDLE and TR_TOLEFT. This way
    // we can run for all cases the same calculations further below.
    if (flag == TR_TOMIDDLE || flag == TR_TOLEFT) {
        tdble width = RtTrackGetWidth(seg, p->toStart);

        if (flag == TR_TOMIDDLE) {
            toRight = (width / 2.0) + p->toMiddle;
        } else { // TR_TOLEFT
            toRight = width - p->toLeft;
        }
    } else {
        toRight = p->toRight;
    }

    switch(seg->type) {
        case TR_STR:
            CosA = cos(seg->angle[TR_ZS]);
            SinA = sin(seg->angle[TR_ZS]);

            if (seg->type2 == TR_MAIN || seg->type2 == TR_LSIDE || seg->type2 == TR_LBORDER) {
                tr = toRight;
            } else if (seg->type2 == TR_RSIDE || seg->type2 == TR_RBORDER) {
                tr = toRight - seg->Kyl * p->toStart;
            } else {
                tr = 0;
            }

            *X = seg->vertex[TR_SR].x + p->toStart * CosA - tr * SinA;
            *Y = seg->vertex[TR_SR].y + p->toStart * SinA + tr * CosA;
            break;

        case TR_LFT:
        case TR_RGT:
            {
                tdble sign = (seg->type == TR_LFT) ? 1.0f : -1.0f;
                a = seg->angle[TR_ZS] + sign * p->toStart;

                if (seg->type2 == TR_MAIN || seg->type2 == TR_LSIDE || seg->type2 == TR_LBORDER) {
                    r = seg->radiusr - sign * toRight;
                } else if (seg->type2 == TR_RSIDE || seg->type2 == TR_RBORDER) {
                    r = seg->radiusl + sign * (seg->startWidth + seg->Kyl * p->toStart - toRight);
                } else {
                    r = 0;
                }

                *X = seg->center.x + sign * r * sin(a);
                *Y = seg->center.y - sign * r * cos(a);
                break;
            }
    }
}

void
RtTrackGlobal2Local(tTrackSeg *segment, tdble X, tdble Y, tTrkLocPos *p, int type)
{
    int segnotfound = 1;
    tdble x, y;
    tTrackSeg *seg = segment;
    tdble theta, a2;
    int depl = 0;
    tdble curWidth;

    p->type = type;

    while (segnotfound) {

        switch(seg->type) {
            case TR_STR:
                /* rotation */
                tdble sine, cosine;
                tdble ts;

                sine = sin(seg->angle[TR_ZS]);
                cosine = cos(seg->angle[TR_ZS]);
                x = X - seg->vertex[TR_SR].x;
                y = Y - seg->vertex[TR_SR].y;
                ts = x * cosine + y * sine;
                p->seg = seg;
                p->toStart = ts;
                p->toRight = y * cosine - x * sine;
                if ((ts < 0) && (depl < 1)) {
                    /* get back */
                    seg = seg->prev;
                    depl = -1;
                } else if ((ts > seg->length) && (depl > -1)) {
                    seg = seg->next;
                    depl = 1;
                } else {
                    segnotfound = 0;
                }
                break;
                
            case TR_LFT:
                /* rectangular to polar */
                x = X - seg->center.x;
                y = Y - seg->center.y;
                a2 = seg->arc / 2.0;
                theta = atan2(y, x) - (seg->angle[TR_CS] + a2);
                NORM_PI_PI(theta);
                p->seg = seg;
                p->toStart = theta + a2;
                p->toRight = seg->radiusr - sqrt(x*x + y*y);
                if ((theta < -a2) && (depl < 1)) {
                    seg = seg->prev;
                    depl = -1;
                } else if ((theta > a2) && (depl > -1)) {
                    seg = seg->next;
                    depl = 1;
                } else {
                    segnotfound = 0;
                }
                break;

            case TR_RGT:
                /* rectangular to polar */
                
                x = X - seg->center.x;
                y = Y - seg->center.y;
                a2 = seg->arc / 2.0;
                theta = seg->angle[TR_CS] - a2 - atan2(y, x);
                NORM_PI_PI(theta);
                p->seg = seg;
                p->toStart = theta + a2;
                p->toRight = sqrt(x*x + y*y) - seg->radiusr;
                if ((theta < -a2) && (depl < 1)) {
                    seg = seg->prev;
                    depl = -1;
                } else if ((theta > a2) && (depl > -1)) {
                    seg = seg->next;
                    depl = 1;
                } else {
                    segnotfound = 0;
                }
                break;
        }
    }

    /* The track is of constant width */
    /* This is subject to change */
    p->toMiddle = p->toRight - seg->width / 2.0;
    p->toLeft = seg->width - p->toRight;

    // Local position relative to the outermost barriers, mostly used for collision detection with barrier
    if (type == TR_LPOS_TRACK) {
        int side;
        for (side = TR_SIDE_RGT; side <= TR_SIDE_LFT; side++) {
            tdble* toSide = (side == TR_SIDE_RGT) ? (&p->toRight) : (&p->toLeft);
            tTrackSeg *sseg = seg;
            while ((sseg = sseg->side[side]) != NULL) {
                *toSide += RtTrackGetWidth(sseg, p->toStart);
            }
        }
    }

    // Relative to the segment which the point is located, including border and sides, mostly used for contact physics
    if (type == TR_LPOS_SEGMENT) {
        tTrackSeg *sseg = seg;
        int trSide;

        // Determine which side to traverse to based on the position
        if ((p->toRight < 0.0f) && (seg->side[TR_SIDE_RGT] != NULL)) {
            trSide = TR_SIDE_RGT;
        } else if ((p->toLeft < 0.0f) && (seg->side[TR_SIDE_LFT] != NULL)) {
            trSide = TR_SIDE_LFT;
        } else {
            // Local position is already within the given segment
            return;
        }

        // Set variables based on the side
        tdble *toSide = (trSide == TR_SIDE_RGT) ? &p->toRight : &p->toLeft;
        tdble *toOppositeSide = (trSide == TR_SIDE_RGT) ? &p->toLeft : &p->toRight;
        tdble sign = (trSide == TR_SIDE_RGT) ? 1.0f : -1.0f;
        tdble prevWidth = seg->width;

        while ((*toSide < 0.0f) && (sseg->side[trSide] != NULL)) {
            sseg = sseg->side[trSide];
            p->seg = sseg;
            curWidth = RtTrackGetWidth(sseg, p->toStart);
            *toOppositeSide -= prevWidth;
            *toSide += curWidth;
            p->toMiddle += sign*(prevWidth + curWidth)/2.0f;
            prevWidth = curWidth;
        }
    }
}


tdble
RtTrackHeightL(tTrkLocPos *p)
{
    tdble lg;
    tdble tr = p->toRight;
    tTrackSeg *seg = p->seg;
    
    if ((tr < 0) && (seg->rside != NULL)) {
        seg = seg->rside;
        tr += seg->width;

        if ((tr < 0) && (seg->rside != NULL)) {
            seg = seg->rside;
            tr += RtTrackGetWidth(seg, p->toStart);
        }   
    } else if ((tr > seg->width) && (seg->lside != NULL)) {
        tr -= seg->width;
        seg = seg->lside;
        if ((tr > seg->width) && (seg->lside != NULL)) {
            tr -= RtTrackGetWidth(seg, p->toStart);
            seg = seg->lside;
        }
    }

    switch (seg->type) {
        case TR_STR:
            lg = p->toStart;
            break;
        default:
            lg = p->toStart * seg->radius;
            break;
    }
    
    // Initial height on right side
    tdble height_right_side = seg->vertex[TR_SR].z + p->toStart * seg->Kzl;
    // Additional height because of banking angle   
    tdble banking_height = tr * tan(seg->angle[TR_XS] + p->toStart * seg->Kzw);
    // Base height
    tdble base_height = height_right_side + banking_height;

    if (seg->style == TR_CURB) {
        // The final height = starting height + height difference due
        // to track angle + height difference due to curb (this seems
        // to be the way it is implemented in the graphics too: the
        // curb does not adding an angle to the main track, but a
        // height in global coordinates).

        tdble alpha = tr;
        if (seg->type2 == TR_RBORDER) {
            alpha = seg->width - tr;
        }

        tdble curb_roughness = seg->surface->kRoughness * sin(seg->surface->kRoughWaveLen * lg);
        return base_height + alpha * (seg->height + curb_roughness) / seg->width;
    }

    return base_height +
        seg->surface->kRoughness * sin(seg->surface->kRoughWaveLen * tr) * sin(seg->surface->kRoughWaveLen * lg);
}


tTrackSeg *RtTrackGetSideNeighbourSeg(tTrackSeg *main, tTrackSeg *current, int tr_side)
{
    if (current->side[tr_side] != NULL) {
        return current->side[tr_side];
    }

    // Because of the above guard the neighbour has now to be on the inside. Switching direction because we
    // are searching from the inside; we need to traverse the opposite side to find the matching segment.
    int tr_other_side = (tr_side == TR_SIDE_LFT) ? TR_SIDE_RGT : TR_SIDE_LFT;
    tTrackSeg *neighbour = main;
    tTrackSeg *otherSurface = main;
    while (neighbour->side[tr_other_side] != NULL) {
        otherSurface = neighbour;
        if (neighbour->side[tr_other_side] == current) {
            break;
        }
        neighbour = neighbour->side[tr_other_side];
    }

    return otherSurface;
}


tTrackSeg *
RtTrackGetSeg(tTrkLocPos *p)
{
    tdble tr = p->toRight;
    tTrackSeg *seg = p->seg;

    if ((tr < 0) && (seg->rside != NULL)) {
        seg = seg->rside;
        tr += seg->width;
        if ((tr < 0) && (seg->rside != NULL)) {
            seg = seg->rside;
        }   
    } else if ((tr > seg->width) && (seg->lside != NULL)) {
        tr -= seg->width;
        seg = seg->lside;
        if ((tr > seg->width) && (seg->lside != NULL)) {
            seg = seg->lside;
        }
    }
    return seg;
}

tdble
RtTrackHeightG(tTrackSeg *seg, tdble X, tdble Y)
{
    tTrkLocPos p;

    RtTrackGlobal2Local(seg, X, Y, &p, TR_LPOS_SEGMENT);
    return RtTrackHeightL(&p);
}

void
RtTrackSideNormalG(tTrackSeg *seg, tdble X, tdble Y, int side, t3Dd *norm)
{
    tdble lg;

    switch (seg->type) {
        case TR_STR:
            if (side == TR_RGT) {
                norm->x = seg->rgtSideNormal.x;
                norm->y = seg->rgtSideNormal.y;
            } else {
                norm->x = -seg->rgtSideNormal.x;
                norm->y = -seg->rgtSideNormal.y;
            }
            break;
        case TR_RGT:
        case TR_LFT:
            // For curved segments: same side as curve direction = outward, opposite side = inward
            if (side == seg->type) {
                // outward: pos - center
                norm->x = X - seg->center.x;
                norm->y = Y - seg->center.y;
            } else {
                // inward: center - pos
                norm->x = seg->center.x - X;
                norm->y = seg->center.y - Y;
            }

            lg = 1.0 / sqrt(norm->x * norm->x + norm->y * norm->y);
            norm->x *= lg;
            norm->y *= lg;
            break;
    }
}

tdble
RtTrackSideTgAngleL(tTrkLocPos *p)
{
    switch (p->seg->type) {
        case TR_STR:
            return p->seg->angle[TR_ZS];
            break;
        case TR_RGT:
            return p->seg->angle[TR_ZS] - p->toStart;
            break;
        case TR_LFT:
            return p->seg->angle[TR_ZS] + p->toStart;
            break;
    }
    return 0;
}


void
RtTrackSurfaceNormalL(tTrkLocPos *p, t3Dd *norm)
{
    tTrkLocPos p1;
    t3Dd px1, px2, py1, py2;
    t3Dd v1, v2;
    tdble lg;

    // Get to vectors, and calculate normal from the cross product.
    p1.seg = p->seg;

    // Points for vector along the track with points px1, px2
    p1.toStart = 0;
    p1.toRight = p->toRight;
    RtTrackLocal2Global(&p1, &px1.x, &px1.y, TR_TORIGHT);
    px1.z = RtTrackHeightL(&p1);

    if (p1.seg->type == TR_STR) {
        p1.toStart = p1.seg->length;
    } else {
        p1.toStart = p1.seg->arc;
    }
    
    RtTrackLocal2Global(&p1, &px2.x, &px2.y, TR_TORIGHT);
    px2.z = RtTrackHeightL(&p1);

    // Points for vector to the side of the track
    // Determine if we take the vector on the start or end of the segment, for cases
    // where start width or end width is 0. Does usually not matter, except on special
    // cases like test tracks like ole-dirt
    tdble width;
    if (p1.seg->endWidth > p1.seg->startWidth) {
        p1.toStart = p->toStart;
        width = p1.seg->endWidth;
    } else {
        p1.toStart = 0;
        width = p1.seg->startWidth;
    }

    p1.toRight = 0;
    RtTrackLocal2Global(&p1, &py1.x, &py1.y, TR_TORIGHT);
    py1.z = RtTrackHeightL(&p1);

    p1.toRight = width;
    RtTrackLocal2Global(&p1, &py2.x, &py2.y, TR_TORIGHT);
    py2.z = RtTrackHeightL(&p1);

    // Vector along the track with points px1, px2
    v1.x = px2.x - px1.x;
    v1.y = px2.y - px1.y;
    v1.z = px2.z - px1.z;
    
    // Vector to the side of the track py1, py2
    v2.x = py2.x - py1.x;
    v2.y = py2.y - py1.y;
    v2.z = py2.z - py1.z;

    norm->x = v1.y * v2.z - v2.y * v1.z;
    norm->y = v2.x * v1.z - v1.x * v2.z;
    norm->z = v1.x * v2.y - v2.x * v1.y;
    lg = sqrt(norm->x * norm->x + norm->y * norm->y + norm->z * norm->z);
    
    if (lg == 0.0) {
        lg = 1.0;
    } else {
        lg = 1.0 / lg;
    }
    
    norm->x *= lg;
    norm->y *= lg;
    norm->z *= lg;
}


tdble
RtGetDistFromStart(tCarElt *car)
{
    return RtGetDistFromStart2(&(car->_trkPos));
}


tdble
RtGetDistFromStart2(tTrkLocPos *p)
{
    tTrackSeg *seg;
    tdble lg;

    seg = p->seg;
    lg = seg->lgfromstart;

    switch (seg->type) {
        case TR_STR:
            lg += p->toStart;
            break;
        default:
            lg += p->toStart * seg->radius;
            break;
    }

    return lg;
}


int
RtDistToPit(struct CarElt *car, tTrack *track, tdble *dL, tdble *dW)
{
    tTrkLocPos *pitpos;
    tTrkLocPos *carpos;
    tdble pitts;
    tdble carts;

    if (car->_pit == NULL) return 1;

    pitpos = &(car->_pit->pos);
    carpos = &(car->_trkPos);

    if (carpos->seg->radius) {
        carts = carpos->toStart * carpos->seg->radius;
    } else {
        carts = carpos->toStart;
    }
    
    if (pitpos->seg->radius) {
        pitts = pitpos->toStart * pitpos->seg->radius;
    } else {
        pitts = pitpos->toStart;
    }

    *dL = pitpos->seg->lgfromstart - carpos->seg->lgfromstart + pitts - carts;
    if (*dL < 0.0f) {
        *dL += track->length;
    } else if (*dL > track->length) {
        *dL -= track->length;
    }
    
    *dW = pitpos->toRight - carpos->toRight;

    return 0;
}


static void RtReadCarPitSetupEntry(tCarPitSetupValue* v, const char* path, const char* key, void *hdle, bool minmaxonly)
{
    if (!minmaxonly) {
        v->value = GfParmGetNum(hdle, path, key, (char*)NULL, 0.0f);
    }
    GfParmGetNumBoundaries(hdle, path, key, &v->min, &v->max);
}


void RtInitCarPitSetup(void *hdle,  tCarPitSetup* s, bool minmaxonly)
{
    static const char *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
    static const char *SuspSect[4] = {SECT_FRNTRGTSUSP, SECT_FRNTLFTSUSP, SECT_REARRGTSUSP, SECT_REARLFTSUSP};
    const int BUFSIZE = 256;
    char path[BUFSIZE];

    // Steer
    RtReadCarPitSetupEntry(&s->steerLock, SECT_STEER, PRM_STEERLOCK, hdle, minmaxonly);

    int i;
    for (i=0; i < 4; i++) {
        // Wheel
        RtReadCarPitSetupEntry(&s->wheelcamber[i], WheelSect[i], PRM_CAMBER, hdle, minmaxonly);
        RtReadCarPitSetupEntry(&s->wheeltoe[i], WheelSect[i], PRM_TOE, hdle, minmaxonly);
        RtReadCarPitSetupEntry(&s->wheelrideheight[i], WheelSect[i], PRM_RIDEHEIGHT, hdle, minmaxonly);
        RtReadCarPitSetupEntry(&s->wheelcaster[i], WheelSect[i], PRM_CASTER, hdle, minmaxonly);

        // Suspension
        RtReadCarPitSetupEntry(&s->suspspring[i], SuspSect[i], PRM_SPR, hdle, minmaxonly);
        RtReadCarPitSetupEntry(&s->susppackers[i], SuspSect[i], PRM_PACKERS, hdle, minmaxonly);
        RtReadCarPitSetupEntry(&s->suspslowbump[i], SuspSect[i], PRM_SLOWBUMP, hdle, minmaxonly);
        RtReadCarPitSetupEntry(&s->suspslowrebound[i], SuspSect[i], PRM_SLOWREBOUND, hdle, minmaxonly);
        RtReadCarPitSetupEntry(&s->suspfastbump[i], SuspSect[i], PRM_FASTBUMP, hdle, minmaxonly);
        RtReadCarPitSetupEntry(&s->suspfastrebound[i], SuspSect[i], PRM_FASTREBOUND, hdle, minmaxonly);
        RtReadCarPitSetupEntry(&s->suspbumpthreshold[i], SuspSect[i], PRM_BUMPTHRESHOLD, hdle, minmaxonly);
        RtReadCarPitSetupEntry(&s->suspreboundthreshold[i], SuspSect[i], PRM_REBOUNDTHRESHOLD, hdle, minmaxonly);
    }

    // Brake
    RtReadCarPitSetupEntry(&s->brakeRepartition, SECT_BRKSYST, PRM_BRKREP, hdle, minmaxonly);
    RtReadCarPitSetupEntry(&s->brakePressure, SECT_BRKSYST, PRM_BRKPRESS, hdle, minmaxonly);

    // Anti roll bar
    static const char *ArbSect[2] = {SECT_FRNTARB, SECT_REARARB};
    for (i=0; i < 2; i++) { 
        RtReadCarPitSetupEntry(&s->arbspring[i], ArbSect[i], PRM_SPR, hdle, minmaxonly);    
    }

    // Third element
    static const char *AxleSect[2] = {SECT_FRNTAXLE, SECT_REARAXLE};
    for (i=0; i < 2; i++) { 
        RtReadCarPitSetupEntry(&s->thirdspring[i], AxleSect[i], PRM_SPR, hdle, minmaxonly);
        RtReadCarPitSetupEntry(&s->thirdbump[i], AxleSect[i], PRM_SLOWBUMP, hdle, minmaxonly);
        RtReadCarPitSetupEntry(&s->thirdrebound[i], AxleSect[i], PRM_SLOWREBOUND, hdle, minmaxonly);
        RtReadCarPitSetupEntry(&s->thirdX0[i], AxleSect[i], PRM_SUSPCOURSE, hdle, minmaxonly);
    }

    // Gears
    for (i=0; i < 8; i++) { 
        snprintf(path, BUFSIZE, "%s/%s/%d", SECT_GEARBOX, ARR_GEARS, i+1);
        RtReadCarPitSetupEntry(&s->gearsratio[i], path, PRM_RATIO, hdle, minmaxonly);
    }

    // Wings
    static const char *WingSect[2] = {SECT_FRNTWING, SECT_REARWING};
    for (i=0; i < 2; i++) { 
        RtReadCarPitSetupEntry(&s->wingangle[i], WingSect[i], PRM_WINGANGLE, hdle, minmaxonly);
    }

    // Differentials
    static const char *DiffSect[3] = {SECT_FRNTDIFFERENTIAL, SECT_REARDIFFERENTIAL, SECT_CENTRALDIFFERENTIAL};
    for (i=0; i < 3; i++) { 
        RtReadCarPitSetupEntry(&s->diffratio[i], DiffSect[i], PRM_RATIO, hdle, minmaxonly); 
        RtReadCarPitSetupEntry(&s->diffmintqbias[i], DiffSect[i], PRM_MIN_TQ_BIAS, hdle, minmaxonly);   
        RtReadCarPitSetupEntry(&s->diffmaxtqbias[i], DiffSect[i], PRM_MAX_TQ_BIAS, hdle, minmaxonly);   
        RtReadCarPitSetupEntry(&s->diffslipbias[i], DiffSect[i], PRM_MAX_SLIP_BIAS, hdle, minmaxonly);  
        RtReadCarPitSetupEntry(&s->difflockinginputtq[i], DiffSect[i], PRM_LOCKING_TQ, hdle, minmaxonly);   
        RtReadCarPitSetupEntry(&s->difflockinginputbraketq[i], DiffSect[i], PRM_LOCKINGBRAKE_TQ, hdle, minmaxonly); 
    
        const char* type = GfParmGetStr(hdle, DiffSect[i], PRM_TYPE, VAL_DIFF_NONE);
        if (strcmp(type, VAL_DIFF_LIMITED_SLIP) == 0) {
            s->diffType[i] = tCarPitSetup::LIMITED_SLIP; 
        } else if (strcmp(type, VAL_DIFF_VISCOUS_COUPLER) == 0) {
            s->diffType[i] = tCarPitSetup::VISCOUS_COUPLER;
        } else if (strcmp(type, VAL_DIFF_SPOOL) == 0) {
            s->diffType[i] = tCarPitSetup::SPOOL;
        }  else if (strcmp(type, VAL_DIFF_FREE) == 0) {
            s->diffType[i] = tCarPitSetup::FREE;
        } else {
            s->diffType[i] = tCarPitSetup::NONE; 
        }
    }
}


static const char* CarPitSetupFilenames[6] = { "practice", "qualifying", "race", "backup1", "backup2", "backup3" };


void RtGetCarPitSetupFilename(
    rtCarPitSetupType type,
    int robidx,
    const char* carname,
    const char* trackname,
    char* filename,
    const int len
)
{
    snprintf(filename, len, "%s_%s_%d_%s" , carname, trackname, robidx, CarPitSetupFilenames[type]);
}


static void RtParmSetNum(void* hdlesetup, const char* path, const char* key, const char* unit, tCarPitSetupValue* v)
{
    // If min == max there is nothing to adjust, so we do not need to write the value.
    if (fabs(v->min - v->max) >= 0.0001f) {
        GfParmSetNumEx(hdlesetup, path, key, unit, GfParmSI2Unit(unit, v->value), GfParmSI2Unit(unit, v->min), GfParmSI2Unit(unit, v->max));
    }
}


void RtSaveCarPitSetupFile(
    void *hdlecar,          // handle to car definition file, for min/max merge
    tCarPitSetup* s,        // the setup data to save
    const char* filepath,   // full path including filename and extension
    const char* carname
)   
{
    const int BUFSIZE = 256;
    char path[BUFSIZE];
    void* hdlesetup = GfParmReadFile(filepath, GFPARM_RMODE_STD | GFPARM_RMODE_CREAT);
    
    // Steer
    RtParmSetNum(hdlesetup, SECT_STEER, PRM_STEERLOCK, "deg", &s->steerLock);

    static const char *WheelSect[4] = {SECT_FRNTRGTWHEEL, SECT_FRNTLFTWHEEL, SECT_REARRGTWHEEL, SECT_REARLFTWHEEL};
    static const char *SuspSect[4] = {SECT_FRNTRGTSUSP, SECT_FRNTLFTSUSP, SECT_REARRGTSUSP, SECT_REARLFTSUSP};

    int i;
    for (i=0; i < 4; i++) {
        // Wheel
        RtParmSetNum(hdlesetup, WheelSect[i], PRM_CAMBER, "deg", &s->wheelcamber[i]);
        RtParmSetNum(hdlesetup, WheelSect[i], PRM_TOE, "deg", &s->wheeltoe[i]);
        RtParmSetNum(hdlesetup, WheelSect[i], PRM_RIDEHEIGHT, "mm", &s->wheelrideheight[i]);
        RtParmSetNum(hdlesetup, WheelSect[i], PRM_CASTER, "deg", &s->wheelcaster[i]);

        // Suspension
        RtParmSetNum(hdlesetup, SuspSect[i], PRM_SPR, "lbs/in", &s->suspspring[i]);
        RtParmSetNum(hdlesetup, SuspSect[i], PRM_PACKERS, "mm", &s->susppackers[i]);
        RtParmSetNum(hdlesetup, SuspSect[i], PRM_SLOWBUMP, "lbs/in/s", &s->suspslowbump[i]);
        RtParmSetNum(hdlesetup, SuspSect[i], PRM_SLOWREBOUND, "lbs/in/s", &s->suspslowrebound[i]);
        RtParmSetNum(hdlesetup, SuspSect[i], PRM_FASTBUMP, "lbs/in/s", &s->suspfastbump[i]);
        RtParmSetNum(hdlesetup, SuspSect[i], PRM_FASTREBOUND, "lbs/in/s", &s->suspfastrebound[i]);
        RtParmSetNum(hdlesetup, SuspSect[i], PRM_BUMPTHRESHOLD, "cm/s", &s->suspbumpthreshold[i]);
        RtParmSetNum(hdlesetup, SuspSect[i], PRM_REBOUNDTHRESHOLD, "cm/s", &s->suspreboundthreshold[i]);
    }

    // Brake
    RtParmSetNum(hdlesetup, SECT_BRKSYST, PRM_BRKREP, NULL, &s->brakeRepartition);
    RtParmSetNum(hdlesetup, SECT_BRKSYST, PRM_BRKPRESS, "kPa", &s->brakePressure);

    // Anti roll bar
    static const char *ArbSect[2] = {SECT_FRNTARB, SECT_REARARB};
    for (i=0; i < 2; i++) {
        RtParmSetNum(hdlesetup, ArbSect[i], PRM_SPR, "lbs/in", &s->arbspring[i]);
    }

    // Third element
    static const char *AxleSect[2] = {SECT_FRNTAXLE, SECT_REARAXLE};
    for (i=0; i < 2; i++) {
        RtParmSetNum(hdlesetup, AxleSect[i], PRM_SPR, "lbs/in", &s->thirdspring[i]);
        RtParmSetNum(hdlesetup, AxleSect[i], PRM_SLOWBUMP, "lbs/in/s", &s->thirdbump[i]);
        RtParmSetNum(hdlesetup, AxleSect[i], PRM_SLOWREBOUND, "lbs/in/s", &s->thirdrebound[i]);
        RtParmSetNum(hdlesetup, AxleSect[i], PRM_SUSPCOURSE, "mm", &s->thirdX0[i]);
    }

    // Gears
    for (i=0; i < 8; i++) { 
        snprintf(path, BUFSIZE, "%s/%s/%d", SECT_GEARBOX, ARR_GEARS, i+1);
        RtParmSetNum(hdlesetup, path, PRM_RATIO, NULL, &s->gearsratio[i]);
    }

    // Wings
    static const char *WingSect[2] = {SECT_FRNTWING, SECT_REARWING};
    for (i=0; i < 2; i++) { 
        RtParmSetNum(hdlesetup, WingSect[i], PRM_WINGANGLE, "deg", &s->wingangle[i]);
    }

    // Differentials
    static const char *DiffSect[3] = {SECT_FRNTDIFFERENTIAL, SECT_REARDIFFERENTIAL, SECT_CENTRALDIFFERENTIAL};
    static const char *DiffType[5] = {VAL_DIFF_NONE, VAL_DIFF_SPOOL, VAL_DIFF_FREE, VAL_DIFF_LIMITED_SLIP, VAL_DIFF_VISCOUS_COUPLER};
    for (i=0; i < 3; i++) { 
        RtParmSetNum(hdlesetup, DiffSect[i], PRM_RATIO, NULL, &s->diffratio[i]);
        RtParmSetNum(hdlesetup, DiffSect[i], PRM_MIN_TQ_BIAS, NULL, &s->diffmintqbias[i]);
        RtParmSetNum(hdlesetup, DiffSect[i], PRM_MAX_TQ_BIAS, NULL, &s->diffmaxtqbias[i]);
        RtParmSetNum(hdlesetup, DiffSect[i], PRM_MAX_SLIP_BIAS, NULL, &s->diffslipbias[i]);
        RtParmSetNum(hdlesetup, DiffSect[i], PRM_LOCKING_TQ, "N.m", &s->difflockinginputtq[i]);
        RtParmSetNum(hdlesetup, DiffSect[i], PRM_LOCKINGBRAKE_TQ, "N.m", &s->difflockinginputbraketq[i]);

        if (s->diffType[i] != tCarPitSetup::NONE) {
            GfParmSetStr(hdlesetup, DiffSect[i], PRM_TYPE, DiffType[s->diffType[i]]);
        }
    } 

    hdlesetup = GfParmMergeHandles(hdlecar, hdlesetup, GFPARM_MMODE_DST | GFPARM_MMODE_RELDST);
    GfParmWriteFile(filepath, hdlesetup, carname);
    GfParmReleaseHandle(hdlesetup);
}


void RtSaveCarPitSetup(
    void *hdlecar,
    tCarPitSetup* s,
    rtCarPitSetupType type,
    const char* modulename,
    int robidx,
    const char* trackname,
    const char* carname
)
{
    const int filelen = 256;
    char filename[filelen];
    RtGetCarPitSetupFilename(type, robidx, carname, trackname, filename, filelen);

    const int pathlen = 1024;
    char path[pathlen];

    snprintf(path, pathlen, "%sdrivers/%s/setups", GetLocalDir(), modulename);
    if (GfCreateDir(path) == GF_DIR_CREATED) {
        snprintf(path, pathlen, "%sdrivers/%s/setups/%s.xml", GetLocalDir(), modulename, filename);
        RtSaveCarPitSetupFile(hdlecar, s, path, carname);       
    } else {
        GfError("RtSaveCarPitSetup, could not create %s\n", path);
    }
}


bool RtCarPitSetupExists(
    rtCarPitSetupType type,
    const char* modulename,
    int robidx,
    const char* trackname,
    const char* carname
)
{
    const int filelen = 256;
    char filename[filelen];
    RtGetCarPitSetupFilename(type, robidx, carname, trackname, filename, filelen);

    const int pathlen = 1024;
    char path[pathlen];

    snprintf(path, pathlen, "%sdrivers/%s/setups/%s.xml", GetLocalDir(), modulename, filename);
    FILE* file = fopen(path, "r");  // TODO: maybe "stat" would be enough here
    if (file) {
        fclose(file);
        return true;
    }

    return false;
}


bool RtLoadCarPitSetupFilename(void* hdlecar, const char* filepath,  tCarPitSetup* s, bool minmaxonly)
{
    void* hdlesetup = GfParmReadFile(filepath, GFPARM_RMODE_STD);
    if (hdlesetup) {
        hdlesetup = GfParmMergeHandles(hdlecar, hdlesetup, GFPARM_MMODE_DST | GFPARM_MMODE_RELDST);
        RtInitCarPitSetup(hdlesetup, s, minmaxonly);
        GfParmReleaseHandle(hdlesetup);
        return true;
    } else {
        return false;
    }
}


bool RtLoadCarPitSetup(
    void* hdlecar,
    tCarPitSetup* s,
    rtCarPitSetupType type,
    const char* modulename,
    int robidx,
    const char* trackname,
    const char* carname,
    bool minmaxonly
)
{
    const int filelen = 256;
    char filename[filelen];
    RtGetCarPitSetupFilename(type, robidx, carname, trackname, filename, filelen);

    const int pathlen = 1024;
    char path[pathlen];

    snprintf(path, pathlen, "%sdrivers/%s/setups/%s.xml", GetLocalDir(), modulename, filename);
    return RtLoadCarPitSetupFilename(hdlecar, path, s, minmaxonly);
}


void* RtLoadOriginalCarSettings(const char* carname)
{
    const int BUFSIZE = 1024;
    char buf[BUFSIZE];

    // Fetch car handle
    snprintf(buf, BUFSIZE, "%scars/%s/%s.xml", GetDataDir(), carname, carname);
    void* carhdle = GfParmReadFile(buf, GFPARM_RMODE_STD);
    if (carhdle == 0) {
        GfError("carhdle NULL in %s, line %d\n", __FILE__, __LINE__);
        return NULL;
    }

    // Get category
    const char* category = GfParmGetStr(carhdle, SECT_CAR, PRM_CATEGORY, NULL);
    if (category == 0) {
        GfError("category string NULL in %s, line %d\n", __FILE__, __LINE__);
        GfParmReleaseHandle(carhdle);
        return NULL;
    }

    // Fetch category handle
    snprintf(buf, BUFSIZE, "%scategories/%s.xml", GetDataDir(), category);
    void* cathdle = GfParmReadFile(buf, GFPARM_RMODE_STD);
    if (cathdle == 0) {
        GfError("cathdle NULL in %s, line %d\n", __FILE__, __LINE__);
        GfParmReleaseHandle(carhdle);
        return NULL;
    }

    // Compose final result, MergeHandles releases source handles with given parameters
    cathdle = GfParmReadFile(buf, GFPARM_RMODE_STD | GFPARM_RMODE_CREAT);
    carhdle = GfParmMergeHandles(cathdle, carhdle, GFPARM_MMODE_SRC | GFPARM_MMODE_DST | GFPARM_MMODE_RELSRC | GFPARM_MMODE_RELDST);

    return carhdle;
}


bool RtInitCarPitSetupFromDefault(tCarPitSetup* s, const char* carname)
{
    void* carhandle = RtLoadOriginalCarSettings(carname);
    if (carhandle == 0) {
        GfError("carhandle NULL in %s, line %d\n", __FILE__, __LINE__);
        return false;
    }

    RtInitCarPitSetup(carhandle, s, false);
    GfParmReleaseHandle(carhandle);
    return true;
}


void* RtParmReadSetup(
    rtCarPitSetupType type,
    const char* modulename,
    int robidx,
    const char* trackname,
    const char* carname
)
{
    const int filelen = 256;
    char filename[filelen];
    RtGetCarPitSetupFilename(type, robidx, carname, trackname, filename, filelen);

    const int pathlen = 1024;
    char path[pathlen];

    snprintf(path, pathlen, "%sdrivers/%s/setups/%s.xml", GetLocalDir(), modulename, filename);
    return GfParmReadFile(path, GFPARM_RMODE_STD);
}