Physics-based model. Motorcycle turns forward wheel and equilibrates. It uses countersteering for turning.

It is Unity project, scene in accets folder.

• Escape to exit
• backspace - restore model (if it fell)
• w,a,s,d or arrows for moving
• space for braking the rear wheel

At normal speed (about 5 - 30 m/s) it equlibrates only with wheel pretty well. At low speed it uses engine to speed up and avoid falling. At high speed there are wobbling :( I used some hacks to increase critical speed from 30 up to 40-50 m/s

In addition, I use physics step 0.005 s.