// EDITED VERSION || :: SLIP RATIO CALCULATION :: | ASYMMETRIC | SAE J670 STANDARD |
void UFGearWheel::updateSlipValues()
{
    if (!mHasContact) {mLateralSlip = mLongitudinalSlip = mSlipRatio = mSlipAngle = 0.0f; return;}

    // === 1. WHEEL LINEAR SPEED (REAL, FROM DRIVETRAIN) === |
    float wheelSpeed = mRealSpeed *mRadius;  // rad/s * m = m/s

    // === 2. LONGITUDINAL SLIP VELOCITY === |
    mLongitudinalSlip = wheelSpeed -mLocalVelocity.X; // mLocalVelocity.X = m/s

    // === 3. OVERRIDE (Disabled) === || OFF = Full throtle + Brake = Car barely moves if BrakeTorque high = Realistic.
    // Hack/Breaks Realism = Ignores real wheel spin & force slipRatio to peak grip value when ASR/ABS is active.
    // NOTE: Posible bugs causing: Due overrides real slip > jitter, lockup...
    // NOTE: May contribute to small fast impulses after drop brake if full throttle
    // if (FMath::Abs(mLongitudinalSlip) < FMath::Abs(mLngSlipOverride)) mLongitudinalSlip = mLngSlipOverride;

    // === 4. SLIP RATIO CALCULATION | ASYMMETRIC | SAE J670 STANDARD  === |
    float absForwardVelocity = FMath::Abs(mLocalVelocity.X);
    float absWheelSpeed      = FMath::Abs(wheelSpeed);

    // Ternary version with V_MIN (For +stable values)
    float V_MIN = 0.05f;      // Def:0.05 (~0.18 km/h)
    float denom = (absWheelSpeed > absForwardVelocity)
    ? FMath::Max(absWheelSpeed,      V_MIN)   // accel
    : FMath::Max(absForwardVelocity, V_MIN);  // brake
    mSlipRatio = mLongitudinalSlip / denom;

    // ------------------------------------------------------------

    // === LATERAL SLIP === |
    mLateralSlip = -mLocalVelocity.Y;

    // === SLIP ANGLE === |
    mSlipAngle = FMath::Atan(mLocalVelocity.Y / (absForwardVelocity + FGearUtility::epsilon)); // Original
    // No need V_MIN | Wrong physics > Slip angle is geometric, not filtered like slip ratio
    // >> At low speed, Vx = 0.01 ? denom = 0.05 ? forces artificial forward motion
    // >> Breaks steering at standstill > Car should turn in place ? a = ±90° if Vx = 0

    // *** TESTING :: atan2 || 2–3x slower | May need profiling
    // FMath::Atan(y / x) can be unstable for small x. Use FMath::Atan2(y, x) (handles sign/quadrant and zero nicely).
    // atan() generally less useful in gamedev, can't handle correct quadrant + prone to division-by-zero errors
    // mSlipAngle = FMath::Atan2(mLocalVelocity.Y, absForwardVelocity); // No epsilon needed, atan2 handles 0 perfectly


    // === CLAMP === |
    mSlipRatio = FMath::Clamp(mSlipRatio, -1.0f, 1.0f);
    mSlipAngle = FMath::Clamp(mSlipAngle, -0.475f * PI, 0.475f * PI);
}