Checked code regarding friction effecting rotation of the track, including an alternative implementation and it seams to be just fine. Except small bug which is fixed not. It looks like there isn’t enough torque coming from the engine. Which is rather weird as two types of rolling friction that I have are rather conservative. Most likely I’m missing some extra gear which should additionally multiply power output, after all, gear box which I’m modelling is not automatic as on real M113.
Anyway, being able to tweak steering of the vehicle is more important, so I’ve added new “performance” variable EngineExtraPowerRatio by default it multiplies transmission output by 3.
Added new feature for friction simulation, now both static and kinetic friction is simulated. Variables MuX and MuY are replaced with their static and kinetic counterparts. The end result looks like this:
https://www.dropbox.com/s/bfsgox7y66vvghy/Static_and_Kinetic_Friction.gif?dl=0
Transition between tracks having a good grip and starting to slip is much more clear. This helps with steering as well, by applying a little bit of break before the turn we can intentionally skid vehicle into new direction.
Default mass of the sprocket was upgraded to 65kg, didn’t knew they are so heavy, they even made in two pieces so it’s easier to install them. I pretend that Ripsaw is using rubber band tracks, their weight was dropped to 280kg.
Changes committed to GitHub and new executable is uploaded.