When angles are on, you’ll see θi (measured just before a boundary) and θr (measured just after). The extra number pred is the Snell-style prediction from the speed ratio; small differences vs the measured angles are expected because the turn is spread over several simulation steps (finite timestep and tread width), rather than an instantaneous “kink” at the boundary. You’ll see one set at each boundary the tank crosses (entry and exit).

Click field to spawn tank.