Wrong calculation of rolling resistance

[LBodnar]

The output of atan2 is [-pi,+pi] -> [-180, 180].

But then there is also the Fx, Fy combining method which I can't really comment, no idea what is going on there.

Even this is not right, 180 degrees means tyre just freely rolling backwards and its Fy should be almost zero. PacejkaFy on the other hand will produce lateral force at 0.5...1 Fz level if you just calculate Fy(180).

Code:

assert (btFabs(alpha) <= 180);
if (alpha > 90) alpha = 180 - alpha;
if (alpha < 90) alpha = -180 - alpha;

Same story with Mz: PacejkaMz will generate non-zero aligning torque at 90 degrees and above while common sense suggests that if you drag the tyre sidewise it will not have any aligning torque due to its symmetry. Thus real world Mz has to be anti-simmetrical around 90 degrees value.