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fix(simulation): tune physical UGV braking

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DCCONSTRUCTIONS
2026-08-29 11:26:01 +03:00
parent af1e530162
commit d9ec8c9cef
2 changed files with 31 additions and 24 deletions
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apps/control-station/test/simulationWorkspace.test.mjs
+10 -2
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@@ -179,8 +179,16 @@ test("PlayCanvas owns the realtime scene graph without an iframe or React entity
assert.match(ugv, /desiredSpeed = forwardInput \* maxSpeed/);
assert.match(ugv, /maximumAcceleration = clamp\(1\.4 \+ maxSpeed \* 0\.35, 1\.8, 4\.2\)/);
assert.match(ugv, /SERVICE_BRAKE_DECELERATION_MPS2 = 1\.8/);
assert.match(ugv, /horizontalSpeed - deceleration \* Math\.max\(0, deltaSeconds\)/);
assert.match(ugv, /this\.vehicle\.setBrake\(0, index\)/);
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, /holding = !braking && forwardInput === 0 && turnInput === 0/);
assert.match(ugv, /this\.settings\.massKg \* brakeDeceleration/);
assert.match(ugv, /this\.vehicle\.setBrake\(wheelBrakeForce, index\)/);
assert.doesNotMatch(ugv, /horizontalSpeed - deceleration \* Math\.max\(0, deltaSeconds\)/);
assert.match(ugv, /rollingFriction: 0\.12/);
assert.match(ugv, /angularDamping: 0\.6/);
assert.match(ugv, /wheel\.set_m_frictionSlip\(TYRE_FRICTION_SLIP\)/);
assert.doesNotMatch(ugv, /massKg \* 3/);
assert.match(ugv, /pureTurn = !braking && forwardInput === 0 && turnInput !== 0/);
assert.match(ugv, /desiredYawRate = -turnInput \* maxTurnRate/);