fix(simulation): standardize streamed rendering and UGV proxies

apps/control-station/src/components/simulation/PlayCanvasRuntime.ts

@@ -118,6 +118,9 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   private renderIntervalMs = 1000 / 60;
   private renderAccumulatorMs = 0;
   private disposed = false;
+  private requestGsplatFrame = (): void => {
+    this.requestRender();
+  };
   private updateFrame = (deltaSeconds: number): void => {
     if (!this.app || !this.camera || this.disposed) return;
     this.ugvController?.update(deltaSeconds);
@@ -158,6 +161,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     this.app = app;
     app.autoRender = false;
     app.on("update", this.updateFrame);
+    app.systems.gsplat?.on("frame:request", this.requestGsplatFrame);
     app.setCanvasFillMode(FILLMODE_NONE, 1, 1);
     app.setCanvasResolution(RESOLUTION_AUTO);
     app.scene.ambientLight = new Color(0.35, 0.37, 0.42);
@@ -379,6 +383,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     if (this.app) {
       this.app.autoRender = false;
       this.app.renderNextFrame = false;
+      this.app.systems.gsplat?.off("frame:request", this.requestGsplatFrame);
       this.app.off("update", this.updateFrame);
       this.app.destroy();
     }

apps/control-station/src/components/simulation/SimulationUgvController.ts

@@ -232,7 +232,6 @@ export class SimulationUgvController {
   private active = false;
   private vehicleEntity: Entity | null = null;
   private vehicle: NativeRaycastVehicle | null = null;
-  private vehicleTuning: NativeObject | null = null;
   private vehicleRaycaster: NativeObject | null = null;
   private tyreImpulseNative: NativeVector3 | null = null;
   private tyreRelativePositionNative: NativeVector3 | null = null;
@@ -599,7 +598,12 @@ export class SimulationUgvController {
         this.app,
         meshInstance.mesh,
         new Mat4().mul2(rootInverse, meshInstance.node.getWorldTransform()),
-        targetRatio,
+        Math.max(
+          1,
+          Math.floor(
+            Math.floor((meshInstance.mesh.primitive[0]?.count ?? 0) / 3) * targetRatio,
+          ),
+        ),
       );
       if (!physicsMesh) continue;
       const entity = new Entity(`UGV physics proxy ${index + 1}`);
@@ -745,7 +749,6 @@ export class SimulationUgvController {
 
     dynamicsWorld.addAction(nativeVehicle);
     this.vehicleEntity = vehicle;
-    this.vehicleTuning = tuning;
     this.vehicleRaycaster = raycaster;
     this.vehicle = nativeVehicle;
     this.dynamicsWorld = dynamicsWorld;
@@ -861,12 +864,10 @@ export class SimulationUgvController {
     }
     if (this.vehicle) runCleanup("destroy vehicle", () => this.ammo.destroy(this.vehicle as NativeObject));
     if (this.vehicleRaycaster) runCleanup("destroy vehicle raycaster", () => this.ammo.destroy(this.vehicleRaycaster as NativeObject));
-    if (this.vehicleTuning) runCleanup("destroy vehicle tuning", () => this.ammo.destroy(this.vehicleTuning as NativeObject));
     if (this.tyreImpulseNative) runCleanup("destroy tyre impulse vector", () => this.ammo.destroy(this.tyreImpulseNative as NativeObject));
     if (this.tyreRelativePositionNative) runCleanup("destroy tyre relative-position vector", () => this.ammo.destroy(this.tyreRelativePositionNative as NativeObject));
     this.vehicle = null;
     this.vehicleRaycaster = null;
-    this.vehicleTuning = null;
     this.tyreImpulseNative = null;
     this.tyreRelativePositionNative = null;
     this.dynamicsWorld = null;
@@ -1005,7 +1006,7 @@ function createPhysicsProxyMesh(
   app: Application,
   source: Mesh,
   localTransform: Mat4,
-  targetRatio: number,
+  targetTriangleCount: number,
 ): Mesh | null {
   const primitive = source.primitive[0];
   const sourceVertexCount = source.vertexBuffer?.numVertices ?? 0;
@@ -1039,8 +1040,11 @@ function createPhysicsProxyMesh(
   if (triangleIndexCount < 3) return null;
   if (triangleIndexCount !== indices.length) indices = indices.slice(0, triangleIndexCount);
 
-  if (targetRatio < 1) {
-    const targetIndexCount = Math.max(3, Math.floor(indices.length * targetRatio / 3) * 3);
+  const targetIndexCount = Math.max(
+    3,
+    Math.min(indices.length, Math.floor(targetTriangleCount) * 3),
+  );
+  if (indices.length > targetIndexCount) {
     const [simplifiedIndices] = MeshoptSimplifier.simplify(
       indices,
       transformed,
@@ -1049,6 +1053,26 @@ function createPhysicsProxyMesh(
       PHYSICS_PROXY_ERROR,
     );
     indices = new Uint32Array(simplifiedIndices);
+    if (indices.length > targetIndexCount) {
+      // Topologically noisy scanner meshes can make the quality simplifier stop
+      // above its requested target. Ammo must never receive that unbounded result:
+      // the spatial fallback preserves the surface envelope while enforcing the
+      // same deterministic physics budget for every imported location.
+      const [boundedIndices] = MeshoptSimplifier.simplifySloppy(
+        indices,
+        transformed,
+        3,
+        null,
+        targetIndexCount,
+        1,
+      );
+      indices = new Uint32Array(boundedIndices);
+    }
+    if (indices.length > targetIndexCount) {
+      throw new Error(
+        `Physics proxy превысил лимит: ${Math.floor(indices.length / 3)} > ${Math.floor(targetIndexCount / 3)} треугольников.`,
+      );
+    }
   }
 
   const compactedIndices = new Uint32Array(indices);

apps/control-station/test/simulationWorkspace.test.mjs

@@ -100,6 +100,8 @@ test("PlayCanvas owns the realtime scene graph without an iframe or React entity
   assert.match(runtime, /maximum: \{[^}]*lodRangeMin: 0, lodRangeMax: 5, pixelRatio: 2, splatBudget: 4_000_000, targetFps: 60/);
   assert.match(runtime, /app\.scene\.gsplat\.splatBudget = profile\.splatBudget/);
   assert.match(runtime, /app\.autoRender = false/);
+  assert.match(runtime, /app\.systems\.gsplat\?\.on\("frame:request", this\.requestGsplatFrame\)/);
+  assert.match(runtime, /app\.systems\.gsplat\?\.off\("frame:request", this\.requestGsplatFrame\)/);
   assert.match(runtime, /app\.on\("update", this\.updateFrame\)/);
   assert.match(runtime, /if \(!cameraChanged && this\.controlMode === "free"\) return/);
   assert.doesNotMatch(runtime, /app\.on\("frameupdate"/);
@@ -162,6 +164,8 @@ test("PlayCanvas owns the realtime scene graph without an iframe or React entity
   assert.match(ugv, /new this\.ammo\.btRaycastVehicle/);
   assert.match(ugv, /type: "mesh"/);
   assert.match(ugv, /MeshoptSimplifier\.simplify/);
+  assert.match(ugv, /MeshoptSimplifier\.simplifySloppy/);
+  assert.match(ugv, /Physics proxy превысил лимит/);
   assert.match(ugv, /PHYSICS_PROXY_MAX_TRIANGLES = 240_000/);
   assert.match(ugv, /createPhysicsProxyMesh/);
   assert.match(ugv, /findSafeSpawnPosition/);