@Aressera Thanks for quick answer. I fixed it by implementing solver function from qu3e and now it works perfectly. As it turned out all my calculations were right, just the order of calculation and so on were a bit wrong.

The suggestion to look at old Bullet source was absolutely the best advice anyone could have ever given me. Between that and React Physics 3D, I've learnt so much over the past few days. My rigidbody engine has become fairly stable now. It isn't the most accurate it could be, but the results it gen…

@bmarci I will have a look at these websites also my physics simulation runs at 250 fps so I guess I'm in the ballpark of what you suggested. Also, I want to thank you for the continuous help with vehicle physics they can get tricky, especially at this stage.

Decept said:
lateralForce *= 1f - Mathf.Pow(Mathf.Clamp01(ratioLongForce), 3f);

This is a bit similar to what you can find in the book “Motor Vehicle Dynamics” page 79 ?