The drone cruises at the reference speed down the corridor; spheres keep
appearing ahead and the on-board MPC bends the path around them (hard constraints
|p−c|² ≥ r² over the horizon). Turn cruise speed up to make it harder. Right-drag orbit · scroll zoom · R restart · F toggle chase-cam Controller + rigid-body sim + obstacle field all run client-side (Emscripten/WASM).