Pacejka again

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I dunno. How do you deal with the discontinuity when v=0? You'd have to apply a different function (continuous) and decide at what velocity ranges it kicks in.

The discontinuity is what I meant with transition region. The model is as Pacejka quasi-static, would be matched against current vdrift Pacejka data. The difference would be a physical origin and meaningful parameters. The number of parameters would be much lower too. But it is just an idea I've had for some time now.

Funnily enough, the recently merged code is using friction constraints, would be able to deal with the discontinuity.

You mean add to the current model? Has anyone tried it before?

I haven't tried it yet, don't know if anyone else has.

And btw, as I am by no means an expert, I will learn a lot from the code you wrote and your threads.

No expert either, learning from vdrift code and simulation behavior, trying things out to see what works and what doesn't. The code has some longer history before I joined the project.