update

koptilnya/engine_remastered/wheel/wheel.txt

@@ -18,7 +18,7 @@ function Wheel:initialize(config)
     self.rollingResistance = config.RollingResistance or 20
     self.squat = config.Squat or 0.1
     self.slipCircleShape = config.SlipCircleShape or 1.05
-    self.casterAngle = math.rad(config.CasterAngle or 0)
+    self.casterAngle = math.rad(config.CasterAngle or 0) * self.direction
     self.camberAngle = math.rad(config.CamberAngle or 0)
     self.toeAngle = math.rad(config.ToeAngle or 0) * -self.direction
 
@@ -136,7 +136,7 @@ function Wheel:stepLateral(Vx, Vy, Lc, kFy, kSy)
     local VxAbs = math.abs(Vx)
     local Sy = 0
 
-    if VxAbs > 0.3 then
+    if VxAbs > 0.1 then
         Sy = math.deg(math.atan(Vy / VxAbs))
         Sy = Sy / 50
     else