# Rendering renderer.update_camera(car_state.x, car_state.y, car_state.psi) renderer.draw_track() renderer.draw_car(car_state) renderer.draw_hud(speed, lap_time, gear)
# Physics integration (RK4) new_state = integrate_rk4(car_state, inputs, dt) new_state = apply_collision_resolution(new_state, track) car_state = new_state car drive simulation
def rk4_step(state, inputs, dt): k1 = derivatives(state, inputs) k2 = derivatives(state + 0.5*dt*k1, inputs) k3 = derivatives(state + 0.5*dt*k2, inputs) k4 = derivatives(state + dt*k3, inputs) return state + dt*(k1 + 2*k2 + 2*k3 + k4)/6 # Rendering renderer
# Rendering renderer.update_camera(car_state.x, car_state.y, car_state.psi) renderer.draw_track() renderer.draw_car(car_state) renderer.draw_hud(speed, lap_time, gear)
# Physics integration (RK4) new_state = integrate_rk4(car_state, inputs, dt) new_state = apply_collision_resolution(new_state, track) car_state = new_state
def rk4_step(state, inputs, dt): k1 = derivatives(state, inputs) k2 = derivatives(state + 0.5*dt*k1, inputs) k3 = derivatives(state + 0.5*dt*k2, inputs) k4 = derivatives(state + dt*k3, inputs) return state + dt*(k1 + 2*k2 + 2*k3 + k4)/6