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What way Racer avoids the low-speed slip problem?

At low speeds the slip ratio tends to not to work(it returns reaction force greater than needed to get the wheel free rolling which results in wheels randomly changing their turn direction). Racer has solved this in a sort of way(it seems). I want to find out how did they do it.
Something to do with tan curve on slip ratio I think.

There were some bugs some versions ago when this was introduced, and I'm sure some details are in the qlog.


I looked at the car physics documentation and source code and it seems like they have simple solution - high calculation frequency. They calculate game at 1 kHz, I think. Also they use the relaxation length based slip integration which provides way higher simulation stability.

Thanks Racer source code for telling me how to correctly implement relaxation length simulation:)