Get absolute wheel coordinates (without GetOffsetInWorldCoords native)

WheelPositions.cs

using System;
using System.Collections.Generic;
using System.Runtime.InteropServices;
using System.Runtime.Remoting.Channels;
using GTA.Math;
using GTA.Native;

namespace GTA.examples
{
    public class WheelPositions : Script
    {
        public WheelPositions()
        {
            Tick += OnTick;
        }

        void OnTick(object sender, EventArgs e)
        {
            Ped player = Game.Player.Character;
            if (!player.IsInVehicle())
            {
                return;
            }
            Vehicle vehicle = player.CurrentVehicle;

            var coords = GetWheelCoords(vehicle, vehicle.Position, vehicle.Rotation, vehicle.ForwardVector);
            int i = 0;
            foreach (var coord in coords)
            {
                Function.Call(Hash.DRAW_LINE,
                    coord.X, coord.Y, coord.Z,
                    coord.X, coord.Y, coord.Z + 2.5f,
                    0, 0, 255, 127);
                ShowText(0.01f + i * 0.1f, 0.26f + 0 * 0.025f, "X: " + coord.X, 0.5f);
                ShowText(0.01f + i * 0.1f, 0.26f + 1 * 0.025f, "Y: " + coord.Y, 0.5f);
                ShowText(0.01f + i * 0.1f, 0.26f + 2 * 0.025f, "Z: " + coord.Z, 0.5f);

                i++;
            }
            ShowText(0.01f + i * 0.1f, 0.26f + 0 * 0.025f, "DX: " + vehicle.ForwardVector.X, 0.5f);
            ShowText(0.01f + i * 0.1f, 0.26f + 1 * 0.025f, "DY: " + vehicle.ForwardVector.Y, 0.5f);
            ShowText(0.01f + i * 0.1f, 0.26f + 2 * 0.025f, "DZ: " + vehicle.ForwardVector.Z, 0.5f);
            i++;
            ShowText(0.01f + i * 0.1f, 0.26f + 0 * 0.025f, "RX: " + vehicle.Rotation.X, 0.5f);
            ShowText(0.01f + i * 0.1f, 0.26f + 1 * 0.025f, "RY: " + vehicle.Rotation.Y, 0.5f);
            ShowText(0.01f + i * 0.1f, 0.26f + 2 * 0.025f, "RZ: " + vehicle.Rotation.Z, 0.5f);

        }

        void ShowText(float x, float y, string text, float size = 0.2f)
        {
            Function.Call(Hash.SET_TEXT_FONT, 0);
            Function.Call(Hash.SET_TEXT_SCALE, size, size);
            Function.Call(Hash.SET_TEXT_COLOUR, 255, 0, 0, 255);
            Function.Call(Hash.SET_TEXT_WRAP, 0.0, 1.0);
            Function.Call(Hash.SET_TEXT_CENTRE, 0);
            Function.Call(Hash.SET_TEXT_OUTLINE, true);
            Function.Call(Hash._SET_TEXT_ENTRY, "STRING");
            Function.Call(Hash._ADD_TEXT_COMPONENT_STRING, text);
            Function.Call(Hash._DRAW_TEXT, x, y);
        }
        
        unsafe ulong GetWheelsPtr(Vehicle handle)
        {
            var address = (ulong)handle.MemoryAddress;
            ulong offset = 0xB10;

            return *((ulong*)(address + offset));
        }

        unsafe int GetNumWheels(Vehicle handle)
        {
            var address = (ulong)handle.MemoryAddress;
            ulong offset = 0xB10;
            offset += 8;

            return *((int*)(address + offset));
        }

        unsafe List<ulong> GetWheelPtrs(Vehicle handle)
        {
            var wheelPtr = GetWheelsPtr(handle);  // pointer to wheel pointers
            var numWheels = GetNumWheels(handle);
            List<ulong> wheelPtrs = new List<ulong>();
            for (int i = 0; i < numWheels; i++)
            {
                var wheelAddr = *((ulong*)(wheelPtr + 0x008 * (ulong)i));
                wheelPtrs.Add(wheelAddr);
            }
            return wheelPtrs;
        }

        unsafe List<Vector3> GetWheelOffsets(Vehicle handle)
        {
            var wheels = GetWheelPtrs(handle);
            List<Vector3> positions = new List<Vector3>();

            ulong offPosX = 0x20;
            ulong offPosY = 0x24;
            ulong offPosZ = 0x28;

            foreach (var wheelAddr in wheels)
            {
                Vector3 wheelPos;
                wheelPos.X = *((float*)(wheelAddr + offPosX));
                wheelPos.Y = *((float*)(wheelAddr + offPosY));
                wheelPos.Z = *((float*)(wheelAddr + offPosZ));
                positions.Add(wheelPos);
            }
            return positions;
        }

        List<Vector3> GetWheelCoords(Vehicle handle, Vector3 position, Vector3 rotation, Vector3 direction)
        {
            List<Vector3> worldCoords = new List<Vector3>();
            List<Vector3> positions = GetWheelOffsets(handle);

            foreach (var wheelPos in positions)
            {
                Vector3 absPos = GetOffsetInWorldCoords(position, rotation, direction, wheelPos);
                //handle.GetOffsetInWorldCoords(wheelPos);
                worldCoords.Add(absPos);
            }
            return worldCoords;
        }

        Vector3 GetOffsetInWorldCoords(Vector3 position, Vector3 rotation, Vector3 forward, Vector3 offset)
        {
            const float deg2Rad = (float)0.01745329251994329576923690768489;
            float num1 = (float)System.Math.Cos(rotation.Y * deg2Rad);
            float x = num1 * (float)System.Math.Cos(-rotation.Z * deg2Rad);
            float y = num1 * (float)System.Math.Sin(rotation.Z * deg2Rad);
            float z = (float)System.Math.Sin(-rotation.Y * deg2Rad);
            Vector3 right = new Vector3((float)x, (float)y, (float)z);
            Vector3 up = Vector3.Cross(right, forward);
            return position + (right * offset.X) + (forward * offset.Y) + (up * offset.Z);
        }
    }
}