@aura3d/engine 1.0.0

package/dist/physics/Steering.d.ts

@@ -0,0 +1,161 @@
+export type SteeringPoint = readonly [number, number];
+export type SteeringVector = readonly [number, number];
+export interface SteeringForce {
+    readonly force: SteeringVector;
+    readonly desiredVelocity: SteeringVector;
+    readonly distance: number;
+    readonly arrived: boolean;
+}
+export interface PredictiveSteeringForce extends SteeringForce {
+    readonly predictedTarget: SteeringPoint;
+    readonly predictionTime: number;
+}
+export interface WanderSteeringForce extends SteeringForce {
+    readonly wanderTarget: SteeringPoint;
+    readonly seed: number;
+}
+export interface FlockingNeighbor {
+    readonly position: SteeringPoint;
+    readonly velocity: SteeringVector;
+}
+export interface FlockingSteeringForce extends SteeringForce {
+    readonly separation: SteeringVector;
+    readonly alignment: SteeringVector;
+    readonly cohesion: SteeringVector;
+    readonly neighborCount: number;
+}
+export interface SteeringObstacle {
+    readonly position: SteeringPoint;
+    readonly radius: number;
+    readonly id?: string;
+}
+export interface ObstacleAvoidanceSteeringForce extends SteeringForce {
+    readonly obstacleDetected: boolean;
+    readonly obstacleId?: string;
+    readonly closestDistance: number;
+}
+export interface SteeringWall {
+    readonly start: SteeringPoint;
+    readonly end: SteeringPoint;
+    readonly normal: SteeringVector;
+    readonly id?: string;
+}
+export interface WallAvoidanceSteeringForce extends SteeringForce {
+    readonly wallDetected: boolean;
+    readonly wallId?: string;
+    readonly hitDistance: number;
+}
+export type SteeringBlendMode = "weighted-sum" | "priority";
+export interface SteeringPipelineEntry {
+    readonly id: string;
+    readonly force: SteeringVector;
+    readonly weight?: number;
+    readonly priority?: number;
+    readonly enabled?: boolean;
+}
+export interface SteeringPipelineResult {
+    readonly force: SteeringVector;
+    readonly selectedIds: readonly string[];
+    readonly mode: SteeringBlendMode;
+}
+export interface SteeringAgentOptions {
+    readonly position: SteeringPoint;
+    readonly velocity?: SteeringVector;
+    readonly maxSpeed?: number;
+    readonly maxForce?: number;
+}
+export interface SteeringAgentSnapshot {
+    readonly position: SteeringPoint;
+    readonly velocity: SteeringVector;
+    readonly speed: number;
+    readonly distanceTraveled: number;
+}
+export declare function seekSteering(position: SteeringPoint, velocity: SteeringVector, target: SteeringPoint, maxSpeed: number): SteeringForce;
+export declare function arriveSteering(options: {
+    readonly position: SteeringPoint;
+    readonly velocity: SteeringVector;
+    readonly target: SteeringPoint;
+    readonly maxSpeed: number;
+    readonly slowingRadius: number;
+    readonly tolerance?: number;
+}): SteeringForce;
+export declare function fleeSteering(options: {
+    readonly position: SteeringPoint;
+    readonly velocity: SteeringVector;
+    readonly threat: SteeringPoint;
+    readonly maxSpeed: number;
+    readonly panicDistance?: number;
+}): SteeringForce;
+export declare function pursuitSteering(options: {
+    readonly position: SteeringPoint;
+    readonly velocity: SteeringVector;
+    readonly targetPosition: SteeringPoint;
+    readonly targetVelocity: SteeringVector;
+    readonly maxSpeed: number;
+    readonly maxPredictionTime?: number;
+}): PredictiveSteeringForce;
+export declare function evadeSteering(options: {
+    readonly position: SteeringPoint;
+    readonly velocity: SteeringVector;
+    readonly threatPosition: SteeringPoint;
+    readonly threatVelocity: SteeringVector;
+    readonly maxSpeed: number;
+    readonly maxPredictionTime?: number;
+    readonly panicDistance?: number;
+}): PredictiveSteeringForce;
+export declare function wanderSteering(options: {
+    readonly position: SteeringPoint;
+    readonly velocity: SteeringVector;
+    readonly maxSpeed: number;
+    readonly seed: number;
+    readonly radius?: number;
+    readonly distance?: number;
+    readonly jitter?: number;
+}): WanderSteeringForce;
+export declare function flockingSteering(options: {
+    readonly position: SteeringPoint;
+    readonly velocity: SteeringVector;
+    readonly neighbors: readonly FlockingNeighbor[];
+    readonly maxSpeed: number;
+    readonly separationRadius?: number;
+    readonly alignmentRadius?: number;
+    readonly cohesionRadius?: number;
+    readonly separationWeight?: number;
+    readonly alignmentWeight?: number;
+    readonly cohesionWeight?: number;
+}): FlockingSteeringForce;
+export declare function obstacleAvoidanceSteering(options: {
+    readonly position: SteeringPoint;
+    readonly velocity: SteeringVector;
+    readonly obstacles: readonly SteeringObstacle[];
+    readonly maxSpeed: number;
+    readonly detectionDistance?: number;
+    readonly agentRadius?: number;
+    readonly avoidanceForce?: number;
+}): ObstacleAvoidanceSteeringForce;
+export declare function wallAvoidanceSteering(options: {
+    readonly position: SteeringPoint;
+    readonly velocity: SteeringVector;
+    readonly walls: readonly SteeringWall[];
+    readonly maxSpeed: number;
+    readonly whiskerLength?: number;
+    readonly whiskerSpread?: number;
+    readonly avoidanceForce?: number;
+}): WallAvoidanceSteeringForce;
+export declare function blendSteeringForces(options: {
+    readonly entries: readonly SteeringPipelineEntry[];
+    readonly mode?: SteeringBlendMode;
+    readonly maxForce?: number;
+    readonly priorityThreshold?: number;
+}): SteeringPipelineResult;
+export declare class SteeringAgent {
+    private position;
+    private velocity;
+    private distanceTraveled;
+    private readonly maxSpeed;
+    private readonly maxForce;
+    constructor(options: SteeringAgentOptions);
+    apply(force: SteeringVector, deltaSeconds: number): SteeringAgentSnapshot;
+    snapshot(): SteeringAgentSnapshot;
+}
+//# sourceMappingURL=Steering.d.ts.map

package/dist/physics/Steering.d.ts.map

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package/dist/physics/Steering.js

@@ -0,0 +1,347 @@
+export function seekSteering(position, velocity, target, maxSpeed) {
+    const toTarget = subtract(target, position);
+    const distance = length(toTarget);
+    if (distance === 0) {
+        return { force: [-velocity[0], -velocity[1]], desiredVelocity: [0, 0], distance: 0, arrived: true };
+    }
+    const desiredVelocity = scale(toTarget, maxSpeed / distance);
+    return {
+        force: subtract(desiredVelocity, velocity),
+        desiredVelocity,
+        distance: round3(distance),
+        arrived: false
+    };
+}
+export function arriveSteering(options) {
+    const tolerance = options.tolerance ?? 0.02;
+    const toTarget = subtract(options.target, options.position);
+    const distance = length(toTarget);
+    if (distance <= tolerance) {
+        return {
+            force: [-options.velocity[0], -options.velocity[1]],
+            desiredVelocity: [0, 0],
+            distance: round3(distance),
+            arrived: true
+        };
+    }
+    const desiredSpeed = distance > options.slowingRadius
+        ? options.maxSpeed
+        : options.maxSpeed * (distance / Math.max(options.slowingRadius, tolerance));
+    const desiredVelocity = scale(toTarget, desiredSpeed / distance);
+    return {
+        force: subtract(desiredVelocity, options.velocity),
+        desiredVelocity,
+        distance: round3(distance),
+        arrived: false
+    };
+}
+export function fleeSteering(options) {
+    const panicDistance = options.panicDistance ?? Number.POSITIVE_INFINITY;
+    const away = subtract(options.position, options.threat);
+    const distance = length(away);
+    if (distance > panicDistance || distance === 0) {
+        return { force: [0, 0], desiredVelocity: [0, 0], distance: round3(distance), arrived: distance > panicDistance };
+    }
+    const desiredVelocity = scale(away, options.maxSpeed / distance);
+    return {
+        force: subtract(desiredVelocity, options.velocity),
+        desiredVelocity,
+        distance: round3(distance),
+        arrived: false
+    };
+}
+export function pursuitSteering(options) {
+    const prediction = predictedPoint(options.position, options.velocity, options.targetPosition, options.targetVelocity, options.maxPredictionTime ?? 1);
+    const steering = seekSteering(options.position, options.velocity, prediction.point, options.maxSpeed);
+    return { ...steering, predictedTarget: prediction.point, predictionTime: prediction.time };
+}
+export function evadeSteering(options) {
+    const prediction = predictedPoint(options.position, options.velocity, options.threatPosition, options.threatVelocity, options.maxPredictionTime ?? 1);
+    const steering = fleeSteering({
+        position: options.position,
+        velocity: options.velocity,
+        threat: prediction.point,
+        maxSpeed: options.maxSpeed,
+        panicDistance: options.panicDistance
+    });
+    return { ...steering, predictedTarget: prediction.point, predictionTime: prediction.time };
+}
+export function wanderSteering(options) {
+    const radius = options.radius ?? 0.35;
+    const forward = length(options.velocity) > 0.001 ? normalize(options.velocity) : [1, 0];
+    const circleCenter = [options.position[0] + forward[0] * (options.distance ?? 0.55), options.position[1] + forward[1] * (options.distance ?? 0.55)];
+    const angle = seededUnit(options.seed) * Math.PI * 2;
+    const jitter = (options.jitter ?? 0.12) * (seededUnit(options.seed + 1) * 2 - 1);
+    const wanderTarget = [
+        circleCenter[0] + Math.cos(angle + jitter) * radius,
+        circleCenter[1] + Math.sin(angle + jitter) * radius
+    ];
+    const steering = seekSteering(options.position, options.velocity, wanderTarget, options.maxSpeed);
+    return { ...steering, wanderTarget: [round3(wanderTarget[0]), round3(wanderTarget[1])], seed: options.seed };
+}
+export function flockingSteering(options) {
+    const separation = separationSteering(options.position, options.neighbors, options.maxSpeed, options.separationRadius ?? 0.24);
+    const alignment = alignmentSteering(options.position, options.velocity, options.neighbors, options.maxSpeed, options.alignmentRadius ?? 0.45);
+    const cohesion = cohesionSteering(options.position, options.velocity, options.neighbors, options.maxSpeed, options.cohesionRadius ?? 0.7);
+    const force = add(scale(separation, options.separationWeight ?? 1.7), add(scale(alignment, options.alignmentWeight ?? 0.8), scale(cohesion, options.cohesionWeight ?? 0.9)));
+    return {
+        force: roundVector(force),
+        desiredVelocity: roundVector(add(options.velocity, force)),
+        distance: round3(options.neighbors.length > 0 ? averageNeighborDistance(options.position, options.neighbors) : 0),
+        arrived: options.neighbors.length === 0,
+        separation: roundVector(separation),
+        alignment: roundVector(alignment),
+        cohesion: roundVector(cohesion),
+        neighborCount: options.neighbors.length
+    };
+}
+export function obstacleAvoidanceSteering(options) {
+    const speed = length(options.velocity);
+    if (speed <= 0.001 || options.obstacles.length === 0) {
+        return { force: [0, 0], desiredVelocity: [0, 0], distance: 0, arrived: true, obstacleDetected: false, closestDistance: 0 };
+    }
+    const forward = normalize(options.velocity);
+    const right = perpendicular(forward);
+    const detectionDistance = (options.detectionDistance ?? 0.8) * Math.min(1, speed / options.maxSpeed);
+    const agentRadius = options.agentRadius ?? 0.08;
+    let closest;
+    for (const obstacle of options.obstacles) {
+        const offset = subtract(obstacle.position, options.position);
+        const forwardDistance = dot(offset, forward);
+        if (forwardDistance < 0 || forwardDistance > detectionDistance)
+            continue;
+        const lateralDistance = dot(offset, right);
+        const expandedRadius = obstacle.radius + agentRadius;
+        if (Math.abs(lateralDistance) > expandedRadius)
+            continue;
+        if (!closest || forwardDistance < closest.forwardDistance) {
+            closest = { obstacle, forwardDistance, lateralDistance };
+        }
+    }
+    if (!closest) {
+        return { force: [0, 0], desiredVelocity: [0, 0], distance: round3(detectionDistance), arrived: true, obstacleDetected: false, closestDistance: round3(detectionDistance) };
+    }
+    const expandedRadius = closest.obstacle.radius + agentRadius;
+    const lateralSign = closest.lateralDistance >= 0 ? -1 : 1;
+    const lateralStrength = (expandedRadius - Math.abs(closest.lateralDistance)) / Math.max(expandedRadius, 0.001);
+    const brakeStrength = 1 - closest.forwardDistance / Math.max(detectionDistance, 0.001);
+    const force = add(scale(right, lateralSign * lateralStrength * (options.avoidanceForce ?? options.maxSpeed)), scale(forward, -brakeStrength * (options.avoidanceForce ?? options.maxSpeed) * 0.35));
+    return {
+        force: roundVector(force),
+        desiredVelocity: roundVector(add(options.velocity, force)),
+        distance: round3(closest.forwardDistance),
+        arrived: false,
+        obstacleDetected: true,
+        obstacleId: closest.obstacle.id,
+        closestDistance: round3(closest.forwardDistance)
+    };
+}
+export function wallAvoidanceSteering(options) {
+    if (length(options.velocity) <= 0.001 || options.walls.length === 0) {
+        return { force: [0, 0], desiredVelocity: [0, 0], distance: 0, arrived: true, wallDetected: false, hitDistance: 0 };
+    }
+    const forward = normalize(options.velocity);
+    const whiskerLength = options.whiskerLength ?? 0.8;
+    const spread = options.whiskerSpread ?? Math.PI / 5;
+    const whiskers = [
+        { direction: forward, lengthScale: 1 },
+        { direction: rotate(forward, spread), lengthScale: 0.78 },
+        { direction: rotate(forward, -spread), lengthScale: 0.78 }
+    ];
+    let closest;
+    for (const whisker of whiskers) {
+        const end = add(options.position, scale(whisker.direction, whiskerLength * whisker.lengthScale));
+        for (const wall of options.walls) {
+            const hit = segmentIntersection(options.position, end, wall.start, wall.end);
+            if (!hit)
+                continue;
+            const distance = length(subtract(hit, options.position));
+            if (!closest || distance < closest.distance) {
+                closest = { wall, distance, normal: normalize(wall.normal), length: whiskerLength * whisker.lengthScale };
+            }
+        }
+    }
+    if (!closest) {
+        return { force: [0, 0], desiredVelocity: [0, 0], distance: round3(whiskerLength), arrived: true, wallDetected: false, hitDistance: round3(whiskerLength) };
+    }
+    const strength = 1 - closest.distance / Math.max(closest.length, 0.001);
+    const force = scale(closest.normal, strength * (options.avoidanceForce ?? options.maxSpeed));
+    return {
+        force: roundVector(force),
+        desiredVelocity: roundVector(add(options.velocity, force)),
+        distance: round3(closest.distance),
+        arrived: false,
+        wallDetected: true,
+        wallId: closest.wall.id,
+        hitDistance: round3(closest.distance)
+    };
+}
+export function blendSteeringForces(options) {
+    const mode = options.mode ?? "weighted-sum";
+    const enabled = options.entries.filter((entry) => entry.enabled !== false);
+    if (mode === "priority") {
+        const threshold = options.priorityThreshold ?? 0.001;
+        const sorted = [...enabled].sort((left, right) => (right.priority ?? 0) - (left.priority ?? 0));
+        const selected = sorted.find((entry) => length(scale(entry.force, entry.weight ?? 1)) > threshold);
+        const force = selected ? clampMagnitude(scale(selected.force, selected.weight ?? 1), options.maxForce ?? Number.POSITIVE_INFINITY) : [0, 0];
+        return { force: roundVector(force), selectedIds: selected ? [selected.id] : [], mode };
+    }
+    const force = enabled.reduce((sum, entry) => add(sum, scale(entry.force, entry.weight ?? 1)), [0, 0]);
+    return {
+        force: roundVector(clampMagnitude(force, options.maxForce ?? Number.POSITIVE_INFINITY)),
+        selectedIds: enabled.map((entry) => entry.id),
+        mode
+    };
+}
+export class SteeringAgent {
+    position;
+    velocity;
+    distanceTraveled = 0;
+    maxSpeed;
+    maxForce;
+    constructor(options) {
+        this.position = options.position;
+        this.velocity = options.velocity ?? [0, 0];
+        this.maxSpeed = options.maxSpeed ?? 1;
+        this.maxForce = options.maxForce ?? 1;
+        if (!Number.isFinite(this.maxSpeed) || this.maxSpeed <= 0 || !Number.isFinite(this.maxForce) || this.maxForce <= 0) {
+            throw new RangeError("SteeringAgent maxSpeed and maxForce must be finite positive numbers.");
+        }
+    }
+    apply(force, deltaSeconds) {
+        const dt = Math.max(0, deltaSeconds);
+        const clampedForce = clampMagnitude(force, this.maxForce);
+        this.velocity = clampMagnitude([
+            this.velocity[0] + clampedForce[0] * dt,
+            this.velocity[1] + clampedForce[1] * dt
+        ], this.maxSpeed);
+        const step = [this.velocity[0] * dt, this.velocity[1] * dt];
+        this.position = [this.position[0] + step[0], this.position[1] + step[1]];
+        this.distanceTraveled += length(step);
+        return this.snapshot();
+    }
+    snapshot() {
+        return {
+            position: [round3(this.position[0]), round3(this.position[1])],
+            velocity: [round3(this.velocity[0]), round3(this.velocity[1])],
+            speed: round3(length(this.velocity)),
+            distanceTraveled: round3(this.distanceTraveled)
+        };
+    }
+}
+function subtract(left, right) {
+    return [left[0] - right[0], left[1] - right[1]];
+}
+function add(left, right) {
+    return [left[0] + right[0], left[1] + right[1]];
+}
+function scale(value, scalar) {
+    return [value[0] * scalar, value[1] * scalar];
+}
+function dot(left, right) {
+    return left[0] * right[0] + left[1] * right[1];
+}
+function length(value) {
+    return Math.hypot(value[0], value[1]);
+}
+function normalize(value) {
+    const magnitude = length(value);
+    return magnitude === 0 ? [0, 0] : [value[0] / magnitude, value[1] / magnitude];
+}
+function clampMagnitude(value, maxMagnitude) {
+    const magnitude = length(value);
+    if (magnitude <= maxMagnitude || magnitude === 0)
+        return value;
+    return scale(value, maxMagnitude / magnitude);
+}
+function perpendicular(value) {
+    return [-value[1], value[0]];
+}
+function rotate(value, radians) {
+    const cos = Math.cos(radians);
+    const sin = Math.sin(radians);
+    return [value[0] * cos - value[1] * sin, value[0] * sin + value[1] * cos];
+}
+function roundVector(value) {
+    return [round3(value[0]), round3(value[1])];
+}
+function separationSteering(position, neighbors, maxSpeed, radius) {
+    let force = [0, 0];
+    let count = 0;
+    for (const neighbor of neighbors) {
+        const away = subtract(position, neighbor.position);
+        const distance = length(away);
+        if (distance > 0.001 && distance <= radius) {
+            force = add(force, scale(normalize(away), 1 / distance));
+            count += 1;
+        }
+    }
+    return count > 0 ? scale(normalize(scale(force, 1 / count)), maxSpeed) : [0, 0];
+}
+function alignmentSteering(position, velocity, neighbors, maxSpeed, radius) {
+    let average = [0, 0];
+    let count = 0;
+    for (const neighbor of neighbors) {
+        if (length(subtract(neighbor.position, position)) <= radius) {
+            average = add(average, neighbor.velocity);
+            count += 1;
+        }
+    }
+    if (count === 0 || length(average) === 0)
+        return [0, 0];
+    return subtract(scale(normalize(scale(average, 1 / count)), maxSpeed), velocity);
+}
+function cohesionSteering(position, velocity, neighbors, maxSpeed, radius) {
+    let center = [0, 0];
+    let count = 0;
+    for (const neighbor of neighbors) {
+        const toNeighbor = subtract(neighbor.position, position);
+        if (length(toNeighbor) <= radius) {
+            center = add(center, neighbor.position);
+            count += 1;
+        }
+    }
+    if (count === 0)
+        return [0, 0];
+    const target = scale(center, 1 / count);
+    return seekSteering(position, velocity, target, maxSpeed).force;
+}
+function averageNeighborDistance(position, neighbors) {
+    return neighbors.reduce((sum, neighbor) => sum + length(subtract(neighbor.position, position)), 0) / Math.max(1, neighbors.length);
+}
+function segmentIntersection(a, b, c, d) {
+    const r = subtract(b, a);
+    const s = subtract(d, c);
+    const denominator = cross(r, s);
+    if (Math.abs(denominator) < 0.000001)
+        return null;
+    const cMinusA = subtract(c, a);
+    const t = cross(cMinusA, s) / denominator;
+    const u = cross(cMinusA, r) / denominator;
+    if (t < 0 || t > 1 || u < 0 || u > 1)
+        return null;
+    return [a[0] + r[0] * t, a[1] + r[1] * t];
+}
+function cross(left, right) {
+    return left[0] * right[1] - left[1] * right[0];
+}
+function predictedPoint(position, velocity, targetPosition, targetVelocity, maxPredictionTime) {
+    const toTarget = subtract(targetPosition, position);
+    const distance = length(toTarget);
+    const relativeSpeed = length(velocity) + length(targetVelocity);
+    const predictionTime = Math.min(maxPredictionTime, relativeSpeed > 0.001 ? distance / relativeSpeed : maxPredictionTime);
+    return {
+        point: [round3(targetPosition[0] + targetVelocity[0] * predictionTime), round3(targetPosition[1] + targetVelocity[1] * predictionTime)],
+        time: round3(predictionTime)
+    };
+}
+function seededUnit(seed) {
+    let value = (Math.trunc(seed) >>> 0) + 0x6d2b79f5;
+    value = Math.imul(value ^ (value >>> 15), value | 1);
+    value ^= value + Math.imul(value ^ (value >>> 7), value | 61);
+    return ((value ^ (value >>> 14)) >>> 0) / 4_294_967_296;
+}
+function round3(value) {
+    return Number(value.toFixed(3));
+}
+//# sourceMappingURL=Steering.js.map

package/dist/physics/Steering.js.map

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