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M1: tune bot physics to stop launch/tip (playtest finding)

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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>
This commit is contained in:
megaproxy 2026-07-11 00:39:07 +01:00
parent e8d72e4649
commit 41d8e29632
2 changed files with 27 additions and 11 deletions
Download patch file Download diff file Expand all files Collapse all files

24
Assets/Scenes/M1_Arena.unity
View file

@ -396,10 +396,10 @@ Rigidbody:
m_PrefabAsset: {fileID: 0} m_PrefabAsset: {fileID: 0}
m_GameObject: {fileID: 781174154} m_GameObject: {fileID: 781174154}
serializedVersion: 5 serializedVersion: 5
m_Mass: 1 m_Mass: 60
m_LinearDamping: 0 m_LinearDamping: 1.5
m_AngularDamping: 0.05 m_AngularDamping: 6
m_CenterOfMass: {x: 0, y: 0, z: 0} m_CenterOfMass: {x: 0, y: -0.6, z: 0}
m_InertiaTensor: {x: 1, y: 1, z: 1} m_InertiaTensor: {x: 1, y: 1, z: 1}
m_InertiaRotation: {x: 0, y: 0, z: 0, w: 1} m_InertiaRotation: {x: 0, y: 0, z: 0, w: 1}
m_IncludeLayers: m_IncludeLayers:
@ -408,7 +408,7 @@ Rigidbody:
m_ExcludeLayers: m_ExcludeLayers:
serializedVersion: 2 serializedVersion: 2
m_Bits: 0 m_Bits: 0
m_ImplicitCom: 1 m_ImplicitCom: 0
m_ImplicitTensor: 1 m_ImplicitTensor: 1
m_UseGravity: 1 m_UseGravity: 1
m_IsKinematic: 0 m_IsKinematic: 0
@ -636,12 +636,13 @@ MonoBehaviour:
ShowTopMostFoldoutHeaderGroup: 1 ShowTopMostFoldoutHeaderGroup: 1
side: 0 side: 0
chassis: {fileID: 0} chassis: {fileID: 0}
cruiseForce: 1200 cruiseForce: 450
throttleDeadzone: 0.08 throttleDeadzone: 0.08
pivotAnchorStrength: 2500 pivotAnchorStrength: 1500
pivotAngularResistance: 400 pivotAngularResistance: 400
leanTorque: 800 leanTorque: 500
leanDeadzone: 0.08 leanDeadzone: 0.08
debugAutoDriveFull: 0
--- !u!23 &1147751745 --- !u!23 &1147751745
MeshRenderer: MeshRenderer:
m_ObjectHideFlags: 0 m_ObjectHideFlags: 0
@ -770,12 +771,13 @@ MonoBehaviour:
ShowTopMostFoldoutHeaderGroup: 1 ShowTopMostFoldoutHeaderGroup: 1
side: 1 side: 1
chassis: {fileID: 0} chassis: {fileID: 0}
cruiseForce: 1200 cruiseForce: 450
throttleDeadzone: 0.08 throttleDeadzone: 0.08
pivotAnchorStrength: 2500 pivotAnchorStrength: 1500
pivotAngularResistance: 400 pivotAngularResistance: 400
leanTorque: 800 leanTorque: 500
leanDeadzone: 0.08 leanDeadzone: 0.08
debugAutoDriveFull: 0
--- !u!23 &1190106217 --- !u!23 &1190106217
MeshRenderer: MeshRenderer:
m_ObjectHideFlags: 0 m_ObjectHideFlags: 0

14
Assets/Scripts/Bot/TreadPart.cs
View file

@ -80,6 +80,11 @@ namespace Jankenbots.Prototype
[Range(0f, 0.5f)] [Range(0f, 0.5f)]
public float leanDeadzone = 0.08f; 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`. // The seat this tread maps to, resolved once from `side`.
SeatManager.Seat MySeat => side == Side.Left ? SeatManager.Seat.Left : SeatManager.Seat.Right; 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 (!IsServer) return; // authority guard — clients never simulate
if (chassis == null) return; 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 // 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.) // stale input the instant a pilot leaves, so the bot doesn't coast on it.)
if (_seats == null || _seats.PilotOf(MySeat) == SeatManager.NoPilot) if (_seats == null || _seats.PilotOf(MySeat) == SeatManager.NoPilot)