public void Tick(float load, RaycastHit hit, float deltaTime) {
   // -------------------------------------------------------------
   // Wheel
   // -------------------------------------------------------------

   angularVel += MotorAccel * deltaTime;
   angularVel -= Mathf.Min(BrakeAccel * deltaTime, Mathf.Abs(angularVel)) * Mathf.Sign(angularVel);

   transform.Rotate(angularVel * Mathf.Rad2Deg * deltaTime, 0f, 0f);

   // -------------------------------------------------------------
   // Tire
   // -------------------------------------------------------------

   if (Mathf.Approximately(load, 0f) || hit.collider == null) return;

   var groundForward = Vector3.ProjectOnPlane(transform.parent.forward, hit.normal).normalized;
   var groundRight = Vector3.ProjectOnPlane(transform.parent.right, hit.normal).normalized;

   var vel = (transform.position - prevPos) / deltaTime;
   prevPos = transform.position;
   var groundVel = Vector3.ProjectOnPlane(vel, hit.normal);

   // Forward friction
   var forwardAccel = Vector3.zero;

   {
    var slipVel = Vector3.Dot(groundVel, groundForward);
    forwardAccel = -slipVel * groundForward * 0.25f;
   }

   // Sideways friction
   var sidewaysAccel = Vector3.zero;

   {
    var slipVel = Vector3.Dot(groundVel, groundRight);
    sidewaysAccel = -slipVel * groundRight * 0.25f;
   }

   // Total fricrion
   var totalAccel = forwardAccel + sidewaysAccel;
   rbody.AddForceAtPosition(totalAccel, transform.position, ForceMode.VelocityChange);

   // Opposite force
   if (hit.rigidbody == null) return;

   float massRatio = rbody.mass / hit.rigidbody.mass;
   hit.rigidbody.AddForceAtPosition(-totalAccel * massRatio, hit.point, ForceMode.VelocityChange);

  }

public void Tick(float deltaTime) {
   // -------------------------------------------------------------
   // Suspension
   // -------------------------------------------------------------

   var cast = Physics.Raycast(
    origin: transform.position + transform.up * Offset,
    direction: -transform.up,
    hitInfo : out prevHitInfo,
    maxDistance : Offset + Distance + wheel.Radius,
    layerMask : Physics.DefaultRaycastLayers,
    queryTriggerInteraction : QueryTriggerInteraction.Ignore);

   var currDist = (cast) ? (prevHitInfo.distance - Offset - wheel.Radius) : Distance;

   var load = (cast) ? (1 - currDist / Distance) : 0f;

   var springAccel = transform.up * load * Spring;

   var dampingAccel = transform.up * (load - prevLoad) * Damping;
   prevLoad = load;

   var totalAccel = springAccel + dampingAccel;
   rbody.AddForceAtPosition(totalAccel, transform.position, ForceMode.VelocityChange);

   // Opposite force
   if (cast && prevHitInfo.rigidbody != null) {
    float massRatio = rbody.mass / prevHitInfo.rigidbody.mass;
    prevHitInfo.rigidbody.AddForceAtPosition(-totalAccel * massRatio, prevHitInfo.point, ForceMode.VelocityChange);
   }

   // -------------------------------------------------------------
   // Joint
   // -------------------------------------------------------------

   var camber = Mathf.Lerp(CamberUnloaded, CamberLoaded, load) * -Mathf.Sign(transform.position.x);

   joint.localPosition = new Vector3(0f, -currDist, 0f);
   joint.localRotation = Quaternion.Euler(0f, Steer, 0f);
   joint.RotateAround(joint.position, transform.forward, camber);
  }