diff --git a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Ah6Entity.java b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Ah6Entity.java
index 58a2fe008..81d0ef287 100644
--- a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Ah6Entity.java
+++ b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Ah6Entity.java
@@ -198,7 +198,7 @@ public class Ah6Entity extends ContainerMobileVehicleEntity implements GeoEntity
 
         releaseDecoy();
         lowHealthWarning();
-        this.terrainCompat(2.7f, 2.7f);
+        this.terrainCompact(2.7f, 2.7f);
 
         this.refreshDimensions();
     }
diff --git a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Bmp2Entity.java b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Bmp2Entity.java
index 0e415fc78..42162d55e 100644
--- a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Bmp2Entity.java
+++ b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Bmp2Entity.java
@@ -54,6 +54,7 @@ import net.neoforged.api.distmarker.OnlyIn;
 import net.neoforged.neoforge.event.EventHooks;
 import net.neoforged.neoforge.network.PacketDistributor;
 import org.jetbrains.annotations.NotNull;
+import org.joml.Math;
 import org.joml.Matrix4f;
 import org.joml.Vector4f;
 import software.bernie.geckolib.animatable.GeoEntity;
@@ -62,7 +63,10 @@ import software.bernie.geckolib.animation.*;
 import software.bernie.geckolib.util.GeckoLibUtil;
 
 import javax.annotation.ParametersAreNonnullByDefault;
+import java.util.Arrays;
+import java.util.Collections;
 import java.util.Comparator;
+import java.util.List;
 
 import static com.atsuishio.superbwarfare.tools.ParticleTool.sendParticle;
 
@@ -232,7 +236,7 @@ public class Bmp2Entity extends ContainerMobileVehicleEntity implements GeoEntit
         }
 
         turretAngle(25, 25);
-        this.terrainCompat(4f, 5f);
+        this.terrainCompact(4f, 5f);
         inertiaRotate(1);
 
         releaseSmokeDecoy();
@@ -241,6 +245,42 @@ public class Bmp2Entity extends ContainerMobileVehicleEntity implements GeoEntit
         this.refreshDimensions();
     }
 
+    @Override
+    public void terrainCompact(float w, float l) {
+        if (onGround()) {
+            float x1 = terrainCompactTrackValue(w, l)[0];
+            float x2 = terrainCompactTrackValue(w, l - 1)[0];
+            float x3 = terrainCompactTrackValue(w, l - 2)[0];
+            float x4 = terrainCompactTrackValue(w, l - 3)[0];
+            float x5 = terrainCompactTrackValue(w, l - 4)[0];
+            float x6 = terrainCompactTrackValue(w, l - 5)[0];
+
+            List<Float> numbersX = Arrays.asList(x1, x2, x3, x4, x5, x6);
+            float maxX = Collections.max(numbersX);
+            float minX = Collections.min(numbersX);
+
+            float z1 = terrainCompactTrackValue(w, l)[1];
+            float z2 = terrainCompactTrackValue(w, l - 1)[1];
+            float z3 = terrainCompactTrackValue(w, l - 2)[1];
+            float z4 = terrainCompactTrackValue(w, l - 3)[1];
+            float z5 = terrainCompactTrackValue(w, l - 4)[1];
+            float z6 = terrainCompactTrackValue(w, l - 5)[1];
+
+            List<Float> numbersZ = Arrays.asList(z1, z2, z3, z4, z5, z6);
+            float maxZ = Collections.max(numbersZ);
+            float minZ = Collections.min(numbersZ);
+
+            float diffX = Math.clamp(-15f, 15f, (minX + maxX) / 2);
+            setXRot(Mth.clamp(getXRot() + 0.15f * diffX, -45f, 45f));
+
+            float diffZ = Math.clamp(-15f, 15f, minZ + maxZ);
+            setZRot(Mth.clamp(getRoll() + 0.15f * diffZ, -45f, 45f));
+        } else if (isInWater()) {
+            setXRot(getXRot() * 0.9f);
+            setZRot(getRoll() * 0.9f);
+        }
+    }
+
     @Override
     public boolean canCollideHardBlock() {
         return getDeltaMovement().horizontalDistance() > 0.07 || Mth.abs(this.entityData.get(POWER)) > 0.12;
@@ -452,8 +492,8 @@ public class Bmp2Entity extends ContainerMobileVehicleEntity implements GeoEntit
         setLeftTrack((float) ((getLeftTrack() - 1.9 * Math.PI * s0) + Mth.clamp(0.4f * Math.PI * this.entityData.get(DELTA_ROT), -5f, 5f)));
         setRightTrack((float) ((getRightTrack() - 1.9 * Math.PI * s0) - Mth.clamp(0.4f * Math.PI * this.entityData.get(DELTA_ROT), -5f, 5f)));
 
+        this.setYRot((float) (this.getYRot() - (isInWater() && !onGround() ? 2.5 : 6) * entityData.get(DELTA_ROT)));
         if (this.isInWater() || onGround()) {
-            this.setYRot((float) (this.getYRot() - (isInWater() && !onGround() ? 2.5 : 6) * entityData.get(DELTA_ROT)));
             this.setDeltaMovement(this.getDeltaMovement().add(getViewVector(1).scale((!isInWater() && !onGround() ? 0.13f : (isInWater() && !onGround() ? 2 : 2.4f)) * this.entityData.get(POWER))));
         }
     }
diff --git a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Lav150Entity.java b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Lav150Entity.java
index e745bda31..ffb2c278f 100644
--- a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Lav150Entity.java
+++ b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Lav150Entity.java
@@ -188,7 +188,7 @@ public class Lav150Entity extends ContainerMobileVehicleEntity implements GeoEnt
 
         turretAngle(15, 12.5f);
         lowHealthWarning();
-        this.terrainCompat(2.7f, 3.61f);
+        this.terrainCompact(2.7f, 3.61f);
         inertiaRotate(1.25f);
 
         releaseSmokeDecoy();
@@ -376,8 +376,8 @@ public class Lav150Entity extends ContainerMobileVehicleEntity implements GeoEnt
 
         this.setRudderRot(Mth.clamp(this.getRudderRot() - this.entityData.get(DELTA_ROT), -0.8f, 0.8f) * 0.75f);
 
+        this.setYRot((float) (this.getYRot() - Math.max((isInWater() && !onGround() ? 5 : 10) * this.getDeltaMovement().horizontalDistance(), 0) * this.getRudderRot() * (this.entityData.get(POWER) > 0 ? 1 : -1)));
         if (this.isInWater() || onGround()) {
-            this.setYRot((float) (this.getYRot() - Math.max((isInWater() && !onGround() ? 5 : 10) * this.getDeltaMovement().horizontalDistance(), 0) * this.getRudderRot() * (this.entityData.get(POWER) > 0 ? 1 : -1)));
             this.setDeltaMovement(this.getDeltaMovement().add(getViewVector(1).scale((!isInWater() && !onGround() ? 0.05f : (isInWater() && !onGround() ? 0.3f : 1)) * this.entityData.get(POWER))));
         }
     }
diff --git a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/PrismTankEntity.java b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/PrismTankEntity.java
index 168407890..f38aca017 100644
--- a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/PrismTankEntity.java
+++ b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/PrismTankEntity.java
@@ -63,6 +63,8 @@ import software.bernie.geckolib.animatable.instance.AnimatableInstanceCache;
 import software.bernie.geckolib.animation.AnimatableManager;
 import software.bernie.geckolib.util.GeckoLibUtil;
 
+import java.util.Arrays;
+import java.util.Collections;
 import java.util.Comparator;
 import java.util.List;
 import java.util.stream.StreamSupport;
@@ -216,7 +218,7 @@ public class PrismTankEntity extends ContainerMobileVehicleEntity implements Geo
         }
 
         turretAngle(15, 10);
-        this.terrainCompat(4.6375f, 5.171875f);
+        this.terrainCompact(4.6375f, 5.171875f);
         inertiaRotate(1);
 
         releaseSmokeDecoy();
@@ -225,6 +227,42 @@ public class PrismTankEntity extends ContainerMobileVehicleEntity implements Geo
         this.refreshDimensions();
     }
 
+    @Override
+    public void terrainCompact(float w, float l) {
+        if (onGround()) {
+            float x1 = terrainCompactTrackValue(w, l)[0];
+            float x2 = terrainCompactTrackValue(w, l - 1)[0];
+            float x3 = terrainCompactTrackValue(w, l - 2)[0];
+            float x4 = terrainCompactTrackValue(w, l - 3)[0];
+            float x5 = terrainCompactTrackValue(w, l - 4)[0];
+            float x6 = terrainCompactTrackValue(w, l - 5)[0];
+
+            List<Float> numbersX = Arrays.asList(x1, x2, x3, x4, x5, x6);
+            float maxX = Collections.max(numbersX);
+            float minX = Collections.min(numbersX);
+
+            float z1 = terrainCompactTrackValue(w, l)[1];
+            float z2 = terrainCompactTrackValue(w, l - 1)[1];
+            float z3 = terrainCompactTrackValue(w, l - 2)[1];
+            float z4 = terrainCompactTrackValue(w, l - 3)[1];
+            float z5 = terrainCompactTrackValue(w, l - 4)[1];
+            float z6 = terrainCompactTrackValue(w, l - 5)[1];
+
+            List<Float> numbersZ = Arrays.asList(z1, z2, z3, z4, z5, z6);
+            float maxZ = Collections.max(numbersZ);
+            float minZ = Collections.min(numbersZ);
+
+            float diffX = Math.clamp(-15f, 15f, (minX + maxX) / 2);
+            setXRot(Mth.clamp(getXRot() + 0.15f * diffX, -45f, 45f));
+
+            float diffZ = Math.clamp(-15f, 15f, minZ + maxZ);
+            setZRot(Mth.clamp(getRoll() + 0.15f * diffZ, -45f, 45f));
+        } else if (isInWater()) {
+            setXRot(getXRot() * 0.9f);
+            setZRot(getRoll() * 0.9f);
+        }
+    }
+
     @Override
     public boolean canCollideHardBlock() {
         return getDeltaMovement().horizontalDistance() > 0.07 || Mth.abs(this.entityData.get(POWER)) > 0.12;
@@ -499,8 +537,8 @@ public class PrismTankEntity extends ContainerMobileVehicleEntity implements Geo
         setLeftTrack((float) ((getLeftTrack() - 1.9 * Math.PI * s0) + Mth.clamp(0.4f * Math.PI * this.entityData.get(DELTA_ROT), -5f, 5f)));
         setRightTrack((float) ((getRightTrack() - 1.9 * Math.PI * s0) - Mth.clamp(0.4f * Math.PI * this.entityData.get(DELTA_ROT), -5f, 5f)));
 
+        this.setYRot((float) (this.getYRot() - (isInWater() && !onGround() ? 2.5 : 6) * entityData.get(DELTA_ROT)));
         if (this.isInWater() || onGround()) {
-            this.setYRot((float) (this.getYRot() - (isInWater() && !onGround() ? 2.5 : 6) * entityData.get(DELTA_ROT)));
             this.setDeltaMovement(this.getDeltaMovement().add(getViewVector(1).scale((!isInWater() && !onGround() ? 0.13f : (isInWater() && !onGround() ? 2 : 2.4f)) * this.entityData.get(POWER))));
         }
     }
diff --git a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/SpeedboatEntity.java b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/SpeedboatEntity.java
index acb4172ba..c9a17b9c2 100644
--- a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/SpeedboatEntity.java
+++ b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/SpeedboatEntity.java
@@ -164,7 +164,7 @@ public class SpeedboatEntity extends ContainerMobileVehicleEntity implements Geo
         turretAngle(40, 40);
         lowHealthWarning();
         inertiaRotate(2);
-        this.terrainCompat(2f, 3f);
+        this.terrainCompact(2f, 3f);
 
         this.refreshDimensions();
     }
diff --git a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Tom6Entity.java b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Tom6Entity.java
index d2bee1d09..5ee4f6008 100644
--- a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Tom6Entity.java
+++ b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Tom6Entity.java
@@ -129,7 +129,7 @@ public class Tom6Entity extends MobileVehicleEntity implements GeoEntity {
             }
         }
 
-        this.terrainCompat(1f, 1.2f);
+        this.terrainCompact(1f, 1.2f);
         this.setDeltaMovement(this.getDeltaMovement().add(0.0, 0.01, 0.0));
         this.refreshDimensions();
     }
diff --git a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/WheelChairEntity.java b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/WheelChairEntity.java
index c633a26dd..94c15da60 100644
--- a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/WheelChairEntity.java
+++ b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/WheelChairEntity.java
@@ -85,7 +85,7 @@ public class WheelChairEntity extends MobileVehicleEntity implements GeoEntity {
     }
 
     @Override
-    protected void playStepSound(BlockPos pPos, BlockState pState) {
+    protected void playStepSound(@NotNull BlockPos pPos, @NotNull BlockState pState) {
         this.playSound(ModSounds.WHEEL_STEP.get(), (float) (getDeltaMovement().length() * 0.5), random.nextFloat() * 0.15f + 1);
     }
 
@@ -113,7 +113,7 @@ public class WheelChairEntity extends MobileVehicleEntity implements GeoEntity {
         }
         this.setSprinting(this.getDeltaMovement().horizontalDistance() > 0.15);
         attractEntity();
-        this.terrainCompat(0.9f, 1.2f);
+        this.terrainCompact(0.9f, 1.2f);
         inertiaRotate(10f);
 
         this.refreshDimensions();
diff --git a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Yx100Entity.java b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Yx100Entity.java
index c1dfd0705..a2a81b2d3 100644
--- a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Yx100Entity.java
+++ b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/Yx100Entity.java
@@ -66,7 +66,10 @@ import software.bernie.geckolib.animatable.instance.AnimatableInstanceCache;
 import software.bernie.geckolib.animation.*;
 import software.bernie.geckolib.util.GeckoLibUtil;
 
+import java.util.Arrays;
+import java.util.Collections;
 import java.util.Comparator;
+import java.util.List;
 
 import static com.atsuishio.superbwarfare.client.RenderHelper.preciseBlit;
 import static com.atsuishio.superbwarfare.tools.ParticleTool.sendParticle;
@@ -329,7 +332,9 @@ public class Yx100Entity extends ContainerMobileVehicleEntity implements GeoEnti
         turretAngle(5, 5);
         gunnerAngle(15, 15);
         lowHealthWarning();
-        this.terrainCompat(4.375f, 6.3125f);
+
+        terrainCompact(4.375f, 6.3125f);
+
         inertiaRotate(1.2f);
 
         releaseSmokeDecoy();
@@ -337,6 +342,44 @@ public class Yx100Entity extends ContainerMobileVehicleEntity implements GeoEnti
         this.refreshDimensions();
     }
 
+    @Override
+    public void terrainCompact(float w, float l) {
+        if (onGround()) {
+            float x1 = terrainCompactTrackValue(w, l)[0];
+            float x2 = terrainCompactTrackValue(w, l - 1)[0];
+            float x3 = terrainCompactTrackValue(w, l - 2)[0];
+            float x4 = terrainCompactTrackValue(w, l - 3)[0];
+            float x5 = terrainCompactTrackValue(w, l - 4)[0];
+            float x6 = terrainCompactTrackValue(w, l - 5)[0];
+            float x7 = terrainCompactTrackValue(w, l - 6)[0];
+
+            List<Float> numbersX = Arrays.asList(x1, x2, x3, x4, x5, x6, x7);
+            float maxX = Collections.max(numbersX);
+            float minX = Collections.min(numbersX);
+
+            float z1 = terrainCompactTrackValue(w, l)[1];
+            float z2 = terrainCompactTrackValue(w, l - 1)[1];
+            float z3 = terrainCompactTrackValue(w, l - 2)[1];
+            float z4 = terrainCompactTrackValue(w, l - 3)[1];
+            float z5 = terrainCompactTrackValue(w, l - 4)[1];
+            float z6 = terrainCompactTrackValue(w, l - 5)[1];
+            float z7 = terrainCompactTrackValue(w, l - 6)[1];
+
+            List<Float> numbersZ = Arrays.asList(z1, z2, z3, z4, z5, z6, z7);
+            float maxZ = Collections.max(numbersZ);
+            float minZ = Collections.min(numbersZ);
+
+            float diffX = Math.clamp(-15f, 15f, (minX + maxX) / 2);
+            setXRot(Mth.clamp(getXRot() + 0.15f * diffX, -45f, 45f));
+
+            float diffZ = Math.clamp(-15f, 15f, minZ + maxZ);
+            setZRot(Mth.clamp(getRoll() + 0.15f * diffZ, -45f, 45f));
+        } else if (isInWater()) {
+            setXRot(getXRot() * 0.9f);
+            setZRot(getRoll() * 0.9f);
+        }
+    }
+
     @Override
     public boolean canCollideHardBlock() {
         return getDeltaMovement().horizontalDistance() > 0.05 || Mth.abs(this.entityData.get(POWER)) > 0.1;
@@ -728,8 +771,8 @@ public class Yx100Entity extends ContainerMobileVehicleEntity implements GeoEnti
         setLeftTrack((float) ((getLeftTrack() - 1.5 * Math.PI * s0) + Mth.clamp(0.4f * Math.PI * this.entityData.get(DELTA_ROT), -5f, 5f)));
         setRightTrack((float) ((getRightTrack() - 1.5 * Math.PI * s0) - Mth.clamp(0.4f * Math.PI * this.entityData.get(DELTA_ROT), -5f, 5f)));
 
+        this.setYRot((float) (this.getYRot() - (isInWater() && !onGround() ? 2.5 : 6) * entityData.get(DELTA_ROT)));
         if (this.isInWater() || onGround()) {
-            this.setYRot((float) (this.getYRot() - (isInWater() && !onGround() ? 2.5 : 6) * entityData.get(DELTA_ROT)));
             this.setDeltaMovement(this.getDeltaMovement().add(getViewVector(1).scale((!isInWater() && !onGround() ? 0.13f : (isInWater() && !onGround() ? 2 : 2.4f)) * this.entityData.get(POWER))));
         }
     }
diff --git a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/base/MobileVehicleEntity.java b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/base/MobileVehicleEntity.java
index 7c7c49f96..4ad85092c 100644
--- a/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/base/MobileVehicleEntity.java
+++ b/src/main/java/com/atsuishio/superbwarfare/entity/vehicle/base/MobileVehicleEntity.java
@@ -328,7 +328,7 @@ public abstract class MobileVehicleEntity extends EnergyVehicleEntity implements
     }
 
     // 地形适应测试
-    public void terrainCompat(float w, float l) {
+    public void terrainCompact(float w, float l) {
         if (onGround()) {
             Matrix4f transform = this.getWheelsTransform(1);
 
@@ -402,6 +402,53 @@ public abstract class MobileVehicleEntity extends EnergyVehicleEntity implements
         }
     }
 
+    //用于履带的地形适应
+
+    public float[] terrainCompactTrackValue(float w, float l) {
+        Matrix4f transform = this.getWheelsTransform(1);
+
+        // 左前
+        Vector4f positionLF = transformPosition(transform, w / 2, 0, l / 2);
+        // 右前
+        Vector4f positionRF = transformPosition(transform, -w / 2, 0, l / 2);
+        // 左后
+        Vector4f positionLB = transformPosition(transform, w / 2, 0, -l / 2);
+        // 右后
+        Vector4f positionRB = transformPosition(transform, -w / 2, 0, -l / 2);
+
+        Vec3 p1 = new Vec3(positionLF.x, positionLF.y, positionLF.z);
+        Vec3 p2 = new Vec3(positionRF.x, positionRF.y, positionRF.z);
+        Vec3 p3 = new Vec3(positionLB.x, positionLB.y, positionLB.z);
+        Vec3 p4 = new Vec3(positionRB.x, positionRB.y, positionRB.z);
+
+        // 确定点位是否在墙里来调整点位高度
+        float p1y = (float) this.traceBlockY(p1, 3);
+        float p2y = (float) this.traceBlockY(p2, 3);
+        float p3y = (float) this.traceBlockY(p3, 3);
+        float p4y = (float) this.traceBlockY(p4, 3);
+
+        p1 = new Vec3(positionLF.x, p1y, positionLF.z);
+        p2 = new Vec3(positionRF.x, p2y, positionRF.z);
+        p3 = new Vec3(positionLB.x, p3y, positionLB.z);
+        p4 = new Vec3(positionRB.x, p4y, positionRB.z);
+
+        Vec3 v0 = p3.vectorTo(p1);
+        Vec3 v1 = p4.vectorTo(p2);
+        Vec3 v2 = p1.vectorTo(p2);
+        Vec3 v3 = p3.vectorTo(p4);
+
+        double x1 = getXRotFromVector(v0);
+        double x2 = getXRotFromVector(v1);
+
+        double z1 = getXRotFromVector(v2);
+        double z2 = getXRotFromVector(v3);
+
+        float x = Math.clamp(-15f, 15f, Mth.wrapDegrees((float) (-(x1 + x2)) - getXRot()));
+        float z = Math.clamp(-15f, 15f, Mth.wrapDegrees((float) (-(z1 + z2)) - getRoll()));
+
+        return new float[]{x, z};
+    }
+
     public Matrix4f getWheelsTransform(float ticks) {
         Matrix4f transform = new Matrix4f();
         transform.translate((float) Mth.lerp(ticks, xo, getX()), (float) Mth.lerp(ticks, yo, getY()), (float) Mth.lerp(ticks, zo, getZ()));