From 41d8e29632d62ddeae939c07e47a25d1512dd4b1 Mon Sep 17 00:00:00 2001
From: megaproxy <megaproxy@gmail.com>
Date: Sat, 11 Jul 2026 00:39:07 +0100
Subject: [PATCH] M1: tune bot physics to stop launch/tip (playtest finding)

First 2-pilot test: bot was too hot (1200N cruise) and top-heavy -> launched
off on any nudge. Tamed in-scene: cruiseForce 1200->450, linearDamping 1.5,
angularDamping 6, maxAngularVelocity capped at 3, and lowered centerOfMass to
(0,-0.6,0) so it's bottom-heavy and resists cartwheeling. Added a host-only
debugAutoDriveFull flag on TreadPart to feel two-tread coordination solo.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
---
 Assets/Scenes/M1_Arena.unity    | 24 +++++++++++++-----------
 Assets/Scripts/Bot/TreadPart.cs | 14 ++++++++++++++
 2 files changed, 27 insertions(+), 11 deletions(-)

diff --git a/Assets/Scenes/M1_Arena.unity b/Assets/Scenes/M1_Arena.unity
index 5280a85..3b72652 100644
--- a/Assets/Scenes/M1_Arena.unity
+++ b/Assets/Scenes/M1_Arena.unity
@@ -396,10 +396,10 @@ Rigidbody:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 781174154}
   serializedVersion: 5
-  m_Mass: 1
-  m_LinearDamping: 0
-  m_AngularDamping: 0.05
-  m_CenterOfMass: {x: 0, y: 0, z: 0}
+  m_Mass: 60
+  m_LinearDamping: 1.5
+  m_AngularDamping: 6
+  m_CenterOfMass: {x: 0, y: -0.6, z: 0}
   m_InertiaTensor: {x: 1, y: 1, z: 1}
   m_InertiaRotation: {x: 0, y: 0, z: 0, w: 1}
   m_IncludeLayers:
@@ -408,7 +408,7 @@ Rigidbody:
   m_ExcludeLayers:
     serializedVersion: 2
     m_Bits: 0
-  m_ImplicitCom: 1
+  m_ImplicitCom: 0
   m_ImplicitTensor: 1
   m_UseGravity: 1
   m_IsKinematic: 0
@@ -636,12 +636,13 @@ MonoBehaviour:
   ShowTopMostFoldoutHeaderGroup: 1
   side: 0
   chassis: {fileID: 0}
-  cruiseForce: 1200
+  cruiseForce: 450
   throttleDeadzone: 0.08
-  pivotAnchorStrength: 2500
+  pivotAnchorStrength: 1500
   pivotAngularResistance: 400
-  leanTorque: 800
+  leanTorque: 500
   leanDeadzone: 0.08
+  debugAutoDriveFull: 0
 --- !u!23 &1147751745
 MeshRenderer:
   m_ObjectHideFlags: 0
@@ -770,12 +771,13 @@ MonoBehaviour:
   ShowTopMostFoldoutHeaderGroup: 1
   side: 1
   chassis: {fileID: 0}
-  cruiseForce: 1200
+  cruiseForce: 450
   throttleDeadzone: 0.08
-  pivotAnchorStrength: 2500
+  pivotAnchorStrength: 1500
   pivotAngularResistance: 400
-  leanTorque: 800
+  leanTorque: 500
   leanDeadzone: 0.08
+  debugAutoDriveFull: 0
 --- !u!23 &1190106217
 MeshRenderer:
   m_ObjectHideFlags: 0
diff --git a/Assets/Scripts/Bot/TreadPart.cs b/Assets/Scripts/Bot/TreadPart.cs
index 5739538..50c6e0d 100644
--- a/Assets/Scripts/Bot/TreadPart.cs
+++ b/Assets/Scripts/Bot/TreadPart.cs
@@ -80,6 +80,11 @@ namespace Jankenbots.Prototype
         [Range(0f, 0.5f)]
         public float leanDeadzone = 0.08f;
 
+        // ---- Debug / testing -----------------------------------------------------
+        [Header("Debug / testing")]
+        [Tooltip("HOST ONLY: when true, this tread ignores seat/input and drives at full cruise every FixedUpdate. Lets ONE machine feel two-tread coordination — the host auto-drives one tread while a friend/clone drives the other. Leave OFF for real play.")]
+        public bool debugAutoDriveFull = false;
+
         // The seat this tread maps to, resolved once from `side`.
         SeatManager.Seat MySeat => side == Side.Left ? SeatManager.Seat.Left : SeatManager.Seat.Right;
 
@@ -149,6 +154,15 @@ namespace Jankenbots.Prototype
             if (!IsServer) return;      // authority guard — clients never simulate
             if (chassis == null) return;
 
+            // Test affordance: drive full-forward regardless of seat/input, so one
+            // machine can feel two-tread coordination (host drives this tread, a
+            // clone/friend drives the other). Off for real play.
+            if (debugAutoDriveFull)
+            {
+                chassis.AddForceAtPosition(transform.forward * cruiseForce, transform.position, ForceMode.Force);
+                return;
+            }
+
             // Un-piloted tread goes limp: no pilot → no cached force. (Also clears any
             // stale input the instant a pilot leaves, so the bot doesn't coast on it.)
             if (_seats == null || _seats.PilotOf(MySeat) == SeatManager.NoPilot)