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fix(simulation): hold ugv on sloped collision meshes

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This commit is contained in:
DCCONSTRUCTIONS
2026-08-29 12:41:28 +03:00
parent 57dacc5a04
commit 24b65926fe
2 changed files with 40 additions and 71 deletions
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apps/control-station/test/simulationWorkspace.test.mjs
+9 -3
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@@ -183,7 +183,9 @@ test("PlayCanvas owns the realtime scene graph without an iframe or React entity
assert.match(ugv, /PARKING_BRAKE_ENGAGE_SPEED_MPS = 0\.08/);
assert.match(ugv, /TYRE_FRICTION_SLIP = 8\.5/);
assert.match(ugv, /TYRE_STATIC_FRICTION_COEFFICIENT = 0\.95/);
assert.match(ugv, /TYRE_BRISTLE_RELAXATION_LENGTH_METERS = 0\.018/);
assert.match(ugv, /TYRE_KINETIC_FRICTION_COEFFICIENT = 0\.78/);
assert.match(ugv, /TYRE_CONTACT_VELOCITY_RESPONSE_PER_SECOND = 10/);
assert.match(ugv, /GRAVITY_METERS_PER_SECOND_SQUARED = 9\.81/);
assert.match(ugv, /holding = !braking && forwardInput === 0 && turnInput === 0/);
assert.match(ugv, /longitudinalSpeedMetersPerSecond/);
assert.match(ugv, /parkingBrakeEngaged = holding/);
@@ -192,8 +194,12 @@ test("PlayCanvas owns the realtime scene graph without an iframe or React entity
assert.match(ugv, /set_m_frictionSlip\(\s*parkingBrakeEngaged \? 0 : TYRE_FRICTION_SLIP/);
assert.match(ugv, /applyParkingTyreContact/);
assert.match(ugv, /wheel\.get_m_wheelsSuspensionForce\(\)/);
assert.match(ugv, /lateralSlipSpeed \* timeStep/);
assert.match(ugv, /longitudinalSlipSpeed \* timeStep/);
assert.doesNotMatch(ugv, /get_m_isInContact/);
assert.match(ugv, /normalForce < MIN_TYRE_NORMAL_FORCE_NEWTONS/);
assert.match(ugv, /lateralGravityAcceleration/);
assert.match(ugv, /longitudinalGravityAcceleration/);
assert.match(ugv, /TYRE_CONTACT_VELOCITY_RESPONSE_PER_SECOND \* lateralSlipSpeed/);
assert.match(ugv, /TYRE_CONTACT_VELOCITY_RESPONSE_PER_SECOND \* longitudinalSlipSpeed/);
assert.match(ugv, /Math\.hypot\(trialLateralForce, trialLongitudinalForce\)/);
assert.match(ugv, /body\.applyImpulse\(this\.tyreImpulseNative, this\.tyreRelativePositionNative\)/);
assert.doesNotMatch(ugv, /horizontalSpeed - deceleration \* Math\.max\(0, deltaSeconds\)/);