CurrentForces::computeObokata was computing water velocity at hull sections
as (-vc_x, -(vc_y - r*xi)) instead of the correct (-vc_x, -vc_y - r*xi).
The sign error on the yaw term caused sections at bow/stern to generate
anti-damping yaw moments (positive feedback), producing exponential state
divergence when thruster + rudder were at maximum.
Fix: water_y = -vc_y - r*xi, matching MATLAB's relativeVelSection convention
(water_vel = fluid_vel - vessel_vel_at_section = -vesselVel - r*xi).
Also raise RK45 limits in YmirBindings (reltol=1e-4, abstol=1e-6,
maxStep=0.005, maxSteps=100000) to handle the transient at startup.
fix(web): correct vessel heading arrow direction on map
VesselMarker was applying psi_deg directly as CSS rotation degrees.
CSS rotate(0deg) = arrow North, but psi=0 = East in the physics world frame.
Fix: cssRotation = (90 - headingDeg + 360) % 360.
feat(web): add VesselPanel with live actuator controls
Vessel panel opens on map click, shows vessel info and live state,
exposes thruster power/azimuth and rudder angle sliders during simulation.
Includes vesselPanelStore for actuator state management and e2e tests.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
