Changelog

For upgrade notes click Upgrade Notes.

Unreleased

Robustness pass on the friction model. No retuning is needed - presets that were already in a sane range behave identically.

Friction presets are hardened against values that are reachable from the inspector sliders or from a prefab serialized by an older version. Slip outside the table range can no longer read past the end of the curve, and shape or falloff values extreme enough to send the Magic Formula negative now clamp to zero grip instead of pointing the tire force along the slip.
Partly filled lateral curves fall back to the longitudinal curve, with a warning in the inspector. Previously, setting only one of lateral B, C or D armed the lateral curve and left the vehicle with no cornering force at any slip angle.
Grip capacity is taken from the true peak of the friction curve instead of the D parameter. The two are equal for normal shape factors, but for shape at or below 1 the real peak sits below D, and the difference was inflating the friction circle, the static-friction break threshold and the low-speed force floor.
Aligning moment is rebuilt from the final lateral force in every branch of the solver, so force feedback no longer steps when a wheel locks, when TCS intervenes, or at the handover into static friction.
Mechanical trail default raised from 0.04 to 0.08 of wheel radius, which keeps steering weight through a slide. Existing components keep their serialized value; this only affects newly added ones.
Static friction state is no longer serialized. A pooled or duplicated wheel could come back believing it was holding against a world position it had never visited.
Divide-by-zero and NaN guards across the friction path for zero wheel mass, zero load rating, zero stiffness thresholds and a preset whose lookup tables have not been generated yet.

14.2.1 (23/06/2026)

Beta 2 bug fixes. All changes are gated by a revertible setting.

Static friction now catches and holds on a slope instead of slowly creeping. A fresh static entry no longer counts the transient suspension damper toward its break threshold, so the wheel locks instead of sliding at the dynamic terminal speed.
Suspension force is applied at the tyre contact patch instead of the wheel centre, matching tyre friction. Removes the moment arm that could launch or flip a vehicle bottoming out at speed. Behaviour change on uneven ground / under pitch — revert per wheel with Apply Force At Contact Point off.
Brake torque can no longer spin a wheel up at very low speed when the chassis rolls against the wheel's rotation.

14.2.0 (16/06/2026)

Cleanup of dead fields, duplicated friction/damper logic and unused code; behavior-neutral
Friction solver simplified with shared helpers extracted (bit-identical output)
Input actions wrapper moved to the NWH.WheelController3D namespace
NaN / divide-by-zero guards across the friction and suspension paths

14.1 (07/06/2026)

Lateral friction curves and a friction ellipticity parameter for the friction circle
Friction solver stability fixes: Jacobian handling, relaxation length, pneumatic trail
Static friction synchronized anchor entry - fixes low-speed standstill slide and creep on heavy / high-CoM vehicles
Anti-Roll Bar sign and load-transfer fixes; substep-correct implicit suspension damping
Ground detection ignores the vehicle's own colliders

14.0 (07/12/2025)

Unity 6000 required, URP default render pipeline
Package Manager format with DocFX documentation
WheelControllerManager for global wheel management with adaptive substepping
Static friction system for improved low-speed stability
Anti-Roll Bar (ARB) support added
Friction refactored to separate StandardFriction component
Auto Load Smoothing Factor for automatic high-CoM vehicle stability tuning
Improved multicast ground detection

For detailed changes, see Upgrade Notes.

Older Versions

Previous versions had changelog that was combined with NWH Vehicle Physics 2, available in the NWH Vehicle Physics changelog