Hello everybody. Ive been wanting to code a car in Roblox Studio, however its physics engine, specifically the friction model is no good and it seems that it has rolling friction which I can't control, along with the fact that the maximum friction coefficient is 2, and I can't split it between longitudinal and lateral friction.

So I guess I could disable friction and get velocity contact point and apply force of friction there, however, it seems that the wheel can't converge to a non-slipping/skidding state and never reaches full rolling motion, even without any linear acceleration or resistance.

Picture this, angular velocity is 2 rad/s and velocity is 0 m/s, I apply force at wheel contact point and wheel accelerates and angular velocity decreases, however, I would need to know the exact magnitude so the condition w = vr is always true, unless I clamp friction force and applied force is larger than friction, then wheel slips and it seems somewhat realistically.

Briefly, even after applying friction, wheel doesn't reach non-slipping state.