Mars Regolith Wheel Sinkage & Slope Stability (2D)

This 2D companion turns the 3D Mars Regolith scene into a working terramechanics instrument: the Bekker pressure-sinkage model p = (kc/b + kphi)·z^n drives a real wheel-sinkage calculation for a rover wheel under load, a traction/motion-resistance balance shows whether the wheel can actually pull the rover forward or would just spin in place, and an infinite-slope stability check compares a chosen slope angle against the regolith's friction angle and cohesion. Rover mass, wheel width and diameter, regolith cohesion, friction angle, bulk density, slope angle and Mars-vs-Earth gravity are all live sliders, so you can see, for example, how much less a wheel sinks on Mars than the same rover would on Earth.