Pacejka tire coefficients

[orangutan]

That loose coupling /is/ effectively explicit euler integration. Bullet only sees the tires as external forces, not any notion of the jacobians, and therefore they integrate purely explicitly wrt Bullet. So my point was not that you are stuck integrating like Bullet does (which you are not, because Bullet is not explicit internally), but simply because you are loosely coupling...as you sort of have to due to the complexity of tire friction. You /could/ model just the Fz force with a strong coupling, as constraint in Bullet, but I don't think you have to, unless you want to support stable Flintstones tires (super stiff, like rock).

600hz or 1000hz should be enough to just do the external force thing.

Lumped LuGre is basically one of the bristle-like models, which means camber is easy if you do a bristle style sim. Just simulate at least two belt ring positions, which means at least two patch elements side by side in place of usual one. IOW, simulate N tires of 1/N width, glued together, per real tire. That's the simplest way. You can of course model a relationship between these rings too.

The trick is doing this smooth and fast, without discretization lumpiness at real-time speed, and at a high enough patch frequency to be bothering with it in the first place.

I cannot share my code at the moment because part of it is using stuff that currently on a problematic license. I've taken care to keep VD code cleanly separate. I load the proprietary stuff at runtime with my own dlopen.