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fix(simulation): model parked UGV tyre grip

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DCCONSTRUCTIONS
2026-08-29 12:03:33 +03:00
parent d9ec8c9cef
commit 57dacc5a04
2 changed files with 237 additions and 7 deletions
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apps/control-station/test/simulationWorkspace.test.mjs
+11
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@@ -182,9 +182,20 @@ test("PlayCanvas owns the realtime scene graph without an iframe or React entity
assert.match(ugv, /PARKING_BRAKE_HOLD_DECELERATION_MPS2 = 6/);
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, /holding = !braking && forwardInput === 0 && turnInput === 0/);
assert.match(ugv, /longitudinalSpeedMetersPerSecond/);
assert.match(ugv, /parkingBrakeEngaged = holding/);
assert.match(ugv, /this\.settings\.massKg \* brakeDeceleration/);
assert.match(ugv, /this\.vehicle\.setBrake\(wheelBrakeForce, index\)/);
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.match(ugv, /Math\.hypot\(trialLateralForce, trialLongitudinalForce\)/);
assert.match(ugv, /body\.applyImpulse\(this\.tyreImpulseNative, this\.tyreRelativePositionNative\)/);
assert.doesNotMatch(ugv, /horizontalSpeed - deceleration \* Math\.max\(0, deltaSeconds\)/);
assert.match(ugv, /rollingFriction: 0\.12/);
assert.match(ugv, /angularDamping: 0\.6/);