We have released RumiCar Simulator v8.0.0. The release notes below are also available on GitHub.
v8.0.0
Fixed a defect in the precise v2 engine on the tabletop and mid-scale where braking and throttle commands reached the road weaker than commanded (Stage AW). The cause was the semi-implicit wheel ODE added in v4.0.0 for speed: it froze the ground-contact speed during the implicit update (an operator split), so a wheel could not keep up with the body’s deceleration. Motor braking was about 36% weaker on the tabletop and 32% weaker at mid-scale than the reference solution (the explicit integration used before v4.0.0), and the distance covered in the first second of a launch was about 9% short on the tabletop and 13% short at mid-scale. The fix solves the wheel equation coupled to the body acceleration within the same sub-step (a two-pass form), bringing the gap to the reference within 3.0% for braking and 0.15% for launch. Run-time speed is unchanged (sub-step count 17.3 → 17.5, effectively identical; the measured difference over a six-car race is inside the noise band). Tabletop and mid-scale v2 results do change — read earlier practice records as records of the version they were set on; that is why this is a MAJOR release. Full scale and the low-grip (slip) tires do not change by a single byte: the frozen benches f0–f3, the official race verifyHash and shared URLs are all identical. The four-wheel friction brake notes (v7.7.0) were also corrected to the current values: the claim that stopping distances grow by roughly 30% on the tabletop and mid-scale is gone (deceleration ratio friction/motor 0.76 → 0.96, reference 0.94), but the equipment still makes braking slightly worse there — the reference does the same, and stopping distances stay 3.5–6.2% longer. A new standing gate wf_aw1_coupled.mjs (11 checks, reference comparisons and 18 reverse cells) brings the suite to 58 gates.
Verifying this release yourself
cd Simulator
node wf_run_all.mjs # the full assertion-gate suiteThe suite runs from a fresh clone with no dependencies beyond Node.js.
The real-browser checks under Simulator/browser/ additionally need npm install and a display.