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bot: fix slow/unsteerable driving + controls tooltip

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Diagnosis (agent + live values): tuning & tread geometry were fine, debugAutoDrive
off — the real drag was the box chassis sliding on default ~0.6 friction, which ate
forward speed AND resisted yaw (dead steering).
- Bot_LowFriction physics material (0.3, Minimum combine) on the chassis → slides +
  yaws freely.
- TreadPart yaw-assist (220 N·m, sign reinforces natural differential) so a throttle
  difference gives a clear turn; cancels to zero on equal throttle (straight kept).
- SeatManager: context-aware controls tooltip under the seat box (on-foot vs driving),
  with a 'turn: differ vs teammate' hint.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This commit is contained in:
megaproxy 2026-07-12 21:20:05 +01:00
parent 30d0b27813
commit 93b8fae66b
5 changed files with 58 additions and 4 deletions
Download patch file Download diff file Expand all files Collapse all files

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

@ -179,6 +179,20 @@ namespace Jankenbots.Prototype
{
ReleaseSeatRpc();
}
// Controls hint under the seat box — context-aware (on foot vs driving).
int ty = y + h + 6, th = 54;
GUI.Box(new Rect(x, ty, w, th), "Controls");
if (mine.HasValue)
{
GUI.Label(new Rect(x + 10, ty + 20, w - 20, 18), "W throttle · LShift pivot · A/D lean");
GUI.Label(new Rect(x + 10, ty + 34, w - 20, 18), "Q leave · V camera · turn: differ vs teammate");
}
else
{
GUI.Label(new Rect(x + 10, ty + 20, w - 20, 18), "WASD move · Mouse look · Scroll zoom");
GUI.Label(new Rect(x + 10, ty + 34, w - 20, 18), "E claim tread · V camera · Esc free cursor");
}
}
static string SeatLabel(ulong pilot) => pilot == NoPilot ? "free" : $"#{pilot}";

10
Assets/Scripts/Bot/TreadPart.cs
View file

@ -63,6 +63,9 @@ namespace Jankenbots.Prototype
[Range(0f, 0.5f)]
public float throttleDeadzone = 0.08f;
[Tooltip("Extra yaw torque (N·m) at full throttle, REINFORCING the natural differential turn so steering reads clearly even with ground friction. Left/Right push opposite ways, so equal throttle cancels to zero → straight line preserved. Set 0 to rely on pure emergent differential. Flip sign in code if it ever fights the turn.")]
public float yawAssistTorque = 220f;
// ---- (b) LOCK-PIVOT tuning -----------------------------------------------
[Header("(b) Lock-pivot — plant this tread as an anchor")]
[Tooltip("How hard the planted tread resists the chassis sliding at its position.")]
@ -192,6 +195,13 @@ namespace Jankenbots.Prototype
{
Vector3 drive = transform.forward * (_throttle * cruiseForce);
chassis.AddForceAtPosition(drive, treadPos, ForceMode.Force);
// Yaw assist: reinforce the differential turn (Left throttles → nose right,
// Right throttles → nose left). Cancels to zero when both throttle equally,
// so straight-line driving is untouched; the maxAngularVelocity clamp still
// caps total spin so this can't reintroduce an uncontrolled tip.
float yawSign = side == Side.Left ? 1f : -1f;
chassis.AddTorque(chassis.transform.up * (yawSign * _throttle * yawAssistTorque), ForceMode.Force);
}
// ---- (c) PASSIVE LEAN — anti-tip ballast ---------------------------