@aura3d/engine 1.5.0 → 1.5.2

package/dist/engine/agent-api/VehicleChassis.js

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+/**
+ * Reusable vehicle chassis: contact, suspension, attitude and wheel visuals.
+ *
+ * ## The defects this addresses
+ *
+ * Turbo Drift Circuit drove a 2D kinematic point (`game.racing`) and then pinned
+ * the car's rendered Y to a single literal, `TRACK_SURFACE_Y`. That has three
+ * visible consequences:
+ *
+ * 1. **The car sinks into the tarmac.** A model grounded on a frozen plane cannot
+ *    respond to the surface it is actually over. There is no contact model, so
+ *    there is nothing to hold the tyres on the road.
+ * 2. **No suspension.** The chassis never pitches under braking, never rolls in a
+ *    corner, and the wheels never travel. A car that stays perfectly level at
+ *    111 km/h reads as a sprite sliding on a plane, which is what it is.
+ * 3. **Wheels do not turn or steer.** Nothing derived wheel spin from speed or
+ *    wheel yaw from steering input.
+ *
+ * This module is the reusable answer. It takes a planar vehicle state -- position,
+ * heading, speed, steering, lateral slip -- plus a surface query, and produces the
+ * full 3D pose a renderer needs: chassis height from four independent contact
+ * points, pitch and roll from load transfer, per-wheel suspension travel, wheel
+ * spin and steer angles, and a contact report that states whether every tyre is
+ * on the ground.
+ *
+ * It is pure: no renderer, no DOM, no asset loading. That makes vehicle behaviour
+ * unit-testable, which is the only way "the car is grounded" becomes a fact rather
+ * than an opinion about a screenshot.
+ */
+/** Flat surface at a fixed height, for prototypes and tests. */
+export function flatVehicleSurface(height = 0, grip = 1) {
+    return { sample: () => ({ height, normal: [0, 1, 0], grip }) };
+}
+const WHEEL_LAYOUT = [
+    { id: "front-left", forward: 0.5, lateral: -0.5, steered: true },
+    { id: "front-right", forward: 0.5, lateral: 0.5, steered: true },
+    { id: "rear-left", forward: -0.5, lateral: -0.5, steered: false },
+    { id: "rear-right", forward: -0.5, lateral: 0.5, steered: false }
+];
+/**
+ * Create a vehicle chassis.
+ *
+ * `rideHeight` and `wheelRadius` should be derived from the vehicle asset's own
+ * bounds. That is the difference between this and the constant it replaces: the
+ * caller states a proportion of a measured asset, not a number that happened to
+ * look right once.
+ */
+export function createVehicleChassis(spec, surface) {
+    const resolved = {
+        wheelbase: positive(spec.wheelbase, 1),
+        trackWidth: positive(spec.trackWidth, 0.8),
+        wheelRadius: positive(spec.wheelRadius, 0.15),
+        rideHeight: positive(spec.rideHeight, 0.3),
+        suspensionTravel: positive(spec.suspensionTravel ?? spec.rideHeight * 0.35, 0.05),
+        springRate: positive(spec.springRate ?? 14, 1),
+        dampingRatio: positive(spec.dampingRatio ?? 0.72, 0.05),
+        maxSteerAngle: positive(spec.maxSteerAngle ?? 0.52, 0.05),
+        /*
+         * Attitude limits are capped by the suspension that has to produce them.
+         *
+         * Body pitch and roll are *consequences* of spring compression, not independent
+         * rotations of a rigid body. Applying an attitude larger than the springs can
+         * absorb rotates the chassis off its own wheels: at a 0.055 rad pitch over a
+         * 0.66-unit wheelbase the front corners move 0.018 units, which exceeded the whole
+         * 0.031-unit travel and lifted both front tyres into the air on a flat road. That
+         * is the sinking defect's mirror image and just as wrong.
+         *
+         * The cap is the angle at which a corner's vertical displacement equals half the
+         * available travel, leaving the other half for road surface.
+         */
+        maxPitch: Math.min(Math.max(0, spec.maxPitch ?? 0.055), attitudeLimitForTravel(spec.suspensionTravel ?? spec.rideHeight * 0.35, spec.wheelbase)),
+        maxRoll: Math.min(Math.max(0, spec.maxRoll ?? 0.085), attitudeLimitForTravel(spec.suspensionTravel ?? spec.rideHeight * 0.35, spec.trackWidth))
+    };
+    // Per-wheel suspension state: current compression and its velocity.
+    const compression = new Map();
+    for (const wheel of WHEEL_LAYOUT)
+        compression.set(wheel.id, { value: 0, velocity: 0 });
+    let spin = 0;
+    let pitch = 0;
+    let roll = 0;
+    let currentPose;
+    let telemetry = {
+        speed: 0, speedKph: 0, pitch: 0, roll: 0, steerAngle: 0,
+        wheelSpinRate: 0, groundedWheels: 4, maxContactGap: 0, averageCompression: 0, surfaceGrip: 1
+    };
+    /** Wheel contact-patch position in world space for a planar state. */
+    const wheelContactPoint = (state, wheel) => {
+        const cos = Math.cos(state.heading);
+        const sin = Math.sin(state.heading);
+        const forward = wheel.forward * resolved.wheelbase;
+        const lateral = wheel.lateral * resolved.trackWidth;
+        return {
+            // Heading 0 faces +X, so forward is (cos, sin) in XZ and lateral is its normal.
+            x: state.x + cos * forward - sin * lateral,
+            z: state.z + sin * forward + cos * lateral
+        };
+    };
+    const resolvePose = (dt, state, settleImmediately) => {
+        const step = Math.max(0, Math.min(0.1, dt));
+        const throttle = clamp01(state.throttle ?? 0);
+        const brake = clamp01(state.brake ?? 0);
+        const slip = clamp01(state.slip ?? 0);
+        const steerInput = clamp(state.steer ?? 0, -1, 1);
+        /*
+         * The wheels own the road; the springs own the body.
+         *
+         * Two earlier orderings were wrong in opposite directions, and both reproduce a
+         * version of the reported defect:
+         *
+         * 1. Place each wheel on its own surface sample and average -- the contact gap
+         *    becomes self-referential, so a car could drive over a cliff and still report
+         *    itself grounded.
+         * 2. Rotate the body to a target pitch/roll and hang wheels from it -- the rotation
+         *    consumes more travel than exists (0.018 units of corner rise against 0.031
+         *    units of travel), lifting the front tyres off a flat road.
+         *
+         * The physical arrangement is that a wheel rests on the surface beneath it, and the
+         * spring above it sets how far the body's corner floats over that wheel. Load
+         * transfer therefore *lowers a corner of the body* rather than raising a wheel, and
+         * the body's pitch and roll are read back from the four corner heights. Wheels stay
+         * on the ground by construction, and the attitude is always one the suspension can
+         * actually support.
+         */
+        const longitudinalLoad = brake - throttle;
+        const speedFactor = Math.min(1, Math.abs(state.speed) / 12);
+        const lateralLoad = clamp(steerInput * speedFactor + steerInput * slip * 0.5, -1, 1);
+        // Fraction of available travel that load transfer may consume, leaving headroom.
+        const loadTravelShare = 0.5;
+        const samples = WHEEL_LAYOUT.map((wheel) => {
+            const point = wheelContactPoint(state, wheel);
+            const sample = surface.sample(point.x, point.z);
+            return { wheel, point, sample };
+        });
+        const meanGrip = samples.reduce((sum, entry) => sum + (entry.sample.grip ?? 1), 0) / samples.length;
+        const cornerHeights = [];
+        const wheels = samples.map(({ wheel, point, sample }) => {
+            const spring = compression.get(wheel.id) ?? { value: 0.5, velocity: 0 };
+            /*
+             * Target compression from load transfer. A front wheel (`forward > 0`) compresses
+             * under braking; an outside wheel compresses in a corner. 0.5 is rest.
+             */
+            const target = clamp01(0.5 + (wheel.forward * longitudinalLoad
+                + wheel.lateral * lateralLoad) * loadTravelShare);
+            if (settleImmediately) {
+                spring.value = target;
+                spring.velocity = 0;
+            }
+            else {
+                // Explicit spring-damper integration so the damping behaviour is visible.
+                const acceleration = (target - spring.value) * resolved.springRate
+                    - spring.velocity * 2 * resolved.dampingRatio * Math.sqrt(resolved.springRate);
+                spring.velocity += acceleration * step;
+                spring.value = clamp01(spring.value + spring.velocity * step);
+            }
+            compression.set(wheel.id, spring);
+            /*
+             * The wheel rests on its own surface. This is unconditional: a tyre cannot be
+             * inside the road, and on a driveable surface it should not be above it either.
+             */
+            const wheelCentreY = sample.height + resolved.wheelRadius;
+            // The body's corner floats above that wheel by ride height, less compression.
+            const cornerY = wheelCentreY - resolved.wheelRadius + resolved.rideHeight
+                - (spring.value - 0.5) * resolved.suspensionTravel;
+            cornerHeights.push(cornerY);
+            return {
+                id: wheel.id,
+                position: [point.x, wheelCentreY, point.z],
+                steerAngle: wheel.steered ? steerInput * resolved.maxSteerAngle : 0,
+                spin,
+                compression: spring.value,
+                // A wheel is grounded when its surface is reachable within suspension travel.
+                // A hole deeper than the travel leaves the wheel hanging, which is correct.
+                grounded: true,
+                contactGap: 0
+            };
+        });
+        /*
+         * A wheel over a drop deeper than the suspension can reach is not grounded.
+         *
+         * Measured against the body: if a corner would have to sit further above its wheel
+         * than ride height plus full travel, the wheel has run out of extension and hangs.
+         */
+        const bodyY = cornerHeights.reduce((sum, value) => sum + value, 0) / cornerHeights.length;
+        const maxReach = resolved.rideHeight + resolved.suspensionTravel * 0.5;
+        const resolvedWheels = wheels.map((wheel, index) => {
+            const sample = samples[index].sample;
+            const requiredDrop = bodyY - sample.height;
+            if (requiredDrop <= maxReach)
+                return wheel;
+            // Out of travel: the wheel stays at its fullest extension below the body and
+            // reports the gap to the surface it cannot reach.
+            const hangingCentreY = bodyY - maxReach + resolved.wheelRadius;
+            return {
+                ...wheel,
+                position: [wheel.position[0], hangingCentreY, wheel.position[2]],
+                compression: 0,
+                grounded: false,
+                contactGap: requiredDrop - maxReach
+            };
+        });
+        /*
+         * Read the body's attitude back from the four corner heights.
+         *
+         * Front corners lower than rear means the nose has dropped, which is pitch. Left
+         * lower than right is roll. Derived rather than imposed, so the attitude can only
+         * be one the springs produced.
+         */
+        const cornerBy = (id) => {
+            const index = WHEEL_LAYOUT.findIndex((wheel) => wheel.id === id);
+            return cornerHeights[index] ?? bodyY;
+        };
+        const frontHeight = (cornerBy("front-left") + cornerBy("front-right")) / 2;
+        const rearHeight = (cornerBy("rear-left") + cornerBy("rear-right")) / 2;
+        const leftHeight = (cornerBy("front-left") + cornerBy("rear-left")) / 2;
+        const rightHeight = (cornerBy("front-right") + cornerBy("rear-right")) / 2;
+        // A lower nose is a positive pitch, matching the convention that braking pitches
+        // the car nose-down with a positive angle.
+        pitch = clamp(Math.asin(clamp((rearHeight - frontHeight) / Math.max(1e-6, resolved.wheelbase), -1, 1)), -resolved.maxPitch, resolved.maxPitch);
+        // A lower left side is a negative roll, so steering right (which loads the left)
+        // produces a negative roll and steering left a positive one.
+        roll = clamp(Math.asin(clamp((leftHeight - rightHeight) / Math.max(1e-6, resolved.trackWidth), -1, 1)), -resolved.maxRoll, resolved.maxRoll);
+        // Rolling rotation from distance travelled. A stationary car's wheels must not
+        // spin, and a fast car's must, which is what makes motion legible.
+        const spinRate = resolved.wheelRadius > 0 ? state.speed / resolved.wheelRadius : 0;
+        spin = (spin + spinRate * step) % (Math.PI * 2);
+        const spunWheels = resolvedWheels.map((wheel) => ({ ...wheel, spin }));
+        const averageCompression = spunWheels.reduce((sum, wheel) => sum + wheel.compression, 0) / spunWheels.length;
+        const maxContactGap = Math.max(...spunWheels.map((wheel) => wheel.contactGap));
+        // Lowest contact patch across the four wheels: where a grounded model sits.
+        const contactPlaneY = Math.min(...resolvedWheels.map((wheel) => wheel.position[1] - resolved.wheelRadius));
+        currentPose = {
+            position: [state.x, bodyY, state.z],
+            groundedPosition: [state.x, contactPlaneY, state.z],
+            rotation: [pitch, state.heading, roll],
+            wheels: spunWheels,
+            contactGap: Math.min(...spunWheels.map((wheel) => wheel.contactGap)),
+            grounded: spunWheels.every((wheel) => wheel.grounded),
+            averageCompression
+        };
+        telemetry = {
+            speed: state.speed,
+            speedKph: state.speed * 3.6,
+            pitch,
+            roll,
+            steerAngle: steerInput * resolved.maxSteerAngle,
+            wheelSpinRate: spinRate,
+            groundedWheels: spunWheels.filter((wheel) => wheel.grounded).length,
+            maxContactGap,
+            averageCompression,
+            surfaceGrip: meanGrip
+        };
+        return currentPose;
+    };
+    return {
+        kind: "aura-vehicle-chassis",
+        spec: resolved,
+        step(dt, state) {
+            return resolvePose(dt, state, false);
+        },
+        pose() {
+            return currentPose ?? resolvePose(0, { x: 0, z: 0, heading: 0, speed: 0, steer: 0 }, true);
+        },
+        telemetry() {
+            return telemetry;
+        },
+        reset(state) {
+            for (const wheel of WHEEL_LAYOUT)
+                compression.set(wheel.id, { value: 0.5, velocity: 0 });
+            spin = 0;
+            pitch = 0;
+            roll = 0;
+            return resolvePose(0, state, true);
+        }
+    };
+}
+/**
+ * Derive chassis geometry from a vehicle asset's rendered bounds.
+ *
+ * This is what removes the need for a `CAR_SCENE_HEIGHT`-style constant. Given the
+ * size the asset actually renders at, the wheelbase, track width, wheel radius and
+ * ride height follow from standard automotive proportions, so a different car
+ * produces a different chassis instead of inheriting the old one's numbers.
+ */
+export function vehicleChassisSpecFromBounds(size, options = {}) {
+    // The longest horizontal axis is the body length; the other is its width.
+    const length = Math.max(size[0], size[2]);
+    const width = Math.min(size[0], size[2]);
+    const height = size[1];
+    const wheelDiameter = height * (options.wheelDiameterFraction ?? 0.42);
+    const wheelRadius = wheelDiameter / 2;
+    return {
+        wheelbase: length * (options.wheelbaseFraction ?? 0.6),
+        trackWidth: width * (options.trackFraction ?? 0.82),
+        wheelRadius,
+        // The chassis origin sits at the body's vertical centre, which is one wheel
+        // radius plus half the remaining body height above the contact patch.
+        rideHeight: wheelRadius + (height - wheelDiameter) * 0.5,
+        suspensionTravel: wheelRadius * 0.42
+    };
+}
+/**
+ * Largest body rotation a given suspension travel can produce over a given span.
+ *
+ * A corner sits `span / 2` from the rotation axis, so rotating by `theta` moves it
+ * `sin(theta) * span / 2` vertically. Half the travel is reserved for the road, so
+ * the limit is `asin(travel / 2 / (span / 2))`.
+ */
+function attitudeLimitForTravel(travel, span) {
+    const halfSpan = Math.max(1e-6, span / 2);
+    const budget = Math.max(0, travel) / 2;
+    return Math.asin(Math.min(1, budget / halfSpan));
+}
+function clamp(value, min, max) {
+    return Math.min(max, Math.max(min, Number.isFinite(value) ? value : min));
+}
+function clamp01(value) {
+    return clamp(value, 0, 1);
+}
+function positive(value, fallback) {
+    return Number.isFinite(value) && value > 0 ? value : fallback;
+}
+//# sourceMappingURL=VehicleChassis.js.map

package/dist/engine/agent-api/VehicleChassis.js.map

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package/dist/engine/agent-api/VehicleDriverAi.d.ts

@@ -0,0 +1,123 @@
+/**
+ * Reusable AI driving: racing line, look-ahead steering, curvature-based speed.
+ *
+ * ## The defect this replaces
+ *
+ * Turbo's opponent was a route-local controller that steered only to null its
+ * lateral offset from the racing line:
+ *
+ * ```ts
+ * const steeringCorrection = -snapshot.signedTrackOffset * steeringGain;
+ * ```
+ *
+ * A pure proportional term on present error has no notion of where the track goes
+ * next. Approaching a corner it steers straight until it is already off the line,
+ * then over-corrects, which is why the opponent read as moving sideways and leaving
+ * the circuit. It also had no braking model tied to the corner ahead, so it entered
+ * every turn at cruise speed and understeered out of it. And because the kit's
+ * off-track handler pulls a certified car back toward the centreline, the recovery
+ * looked like the car being dragged rather than driving.
+ *
+ * This module drives the way a driver does: it samples the route **ahead** of the
+ * car, aims at a look-ahead point on the racing line, and sets a target speed from
+ * the curvature it is about to meet. It also detects being stuck and being off
+ * track, and recovers deliberately.
+ *
+ * Pure and deterministic: given the same route and the same seed it produces the
+ * same lap, so a race is reproducible and testable.
+ */
+export interface DriverRoutePoint {
+    readonly x: number;
+    readonly y: number;
+}
+/**
+ * Route the driver follows.
+ *
+ * Supplied by the caller from its own track topology, so the driver has no
+ * knowledge of any particular circuit.
+ */
+export interface DriverRoute {
+    /** Sample the racing line at a normalized progress 0..1. */
+    sample(progress: number): {
+        readonly x: number;
+        readonly y: number;
+        readonly heading: number;
+    };
+    /** Half-width of the drivable road at a progress. */
+    halfWidth(progress: number): number;
+    /** Total route length in world units, used to convert look-ahead distance to progress. */
+    readonly length: number;
+}
+export interface DriverVehicleState {
+    readonly progress: number;
+    readonly speed: number;
+    readonly heading: number;
+    /** Lateral offset from the racing line, signed positive to the left of travel. */
+    readonly signedTrackOffset: number;
+    readonly position: {
+        readonly x: number;
+        readonly y: number;
+    };
+    readonly offTrack: boolean;
+}
+export interface DriverInput {
+    readonly throttle: number;
+    readonly brake: number;
+    readonly steer: number;
+    readonly drift: boolean;
+}
+export type DriverAggression = "cautious" | "balanced" | "aggressive";
+export interface DriverConfig {
+    readonly maxSpeed: number;
+    /** Fraction of `maxSpeed` targeted on a straight. */
+    readonly paceFraction?: number | undefined;
+    /**
+     * Look-ahead time in seconds. The driver aims where it will be this far in the
+     * future, which is what lets it turn *before* the corner instead of after it.
+     */
+    readonly lookAheadSeconds?: number | undefined;
+    /** Minimum look-ahead distance so a stationary car still has an aim point. */
+    readonly minLookAhead?: number | undefined;
+    /** Lateral correction gain. Scaled internally by route width. */
+    readonly lineGain?: number | undefined;
+    /** Heading correction gain. */
+    readonly headingGain?: number | undefined;
+    /**
+     * Lateral acceleration the driver is willing to carry through a corner, in world
+     * units per second squared. This is what sets corner entry speed.
+     */
+    readonly corneringAcceleration?: number | undefined;
+    readonly aggression?: DriverAggression | undefined;
+    /** Reaction delay in seconds. A human driver is not instantaneous. */
+    readonly reactionSeconds?: number | undefined;
+    /** Deterministic seed for line variation. */
+    readonly seed?: number | undefined;
+}
+export interface DriverTelemetry {
+    readonly controller: "aura-vehicle-driver-ai";
+    readonly aggression: DriverAggression;
+    readonly targetSpeed: number;
+    readonly lookAheadDistance: number;
+    readonly upcomingCurvature: number;
+    readonly cornerSpeedLimit: number;
+    readonly steerFromLine: number;
+    readonly steerFromHeading: number;
+    readonly recovering: boolean;
+    readonly stuckSeconds: number;
+    readonly decisionCount: number;
+    readonly input: DriverInput;
+}
+export interface VehicleDriverAi {
+    readonly kind: "aura-vehicle-driver-ai";
+    /** Decide inputs for the coming step. */
+    decide(dt: number, state: DriverVehicleState): DriverInput;
+    telemetry(): DriverTelemetry;
+    reset(): void;
+}
+/**
+ * Create a deterministic AI driver for a route.
+ */
+export declare function createVehicleDriverAi(route: DriverRoute, config: DriverConfig): VehicleDriverAi;
+/** Smallest signed angle from `b` to `a`, in -pi..pi. */
+export declare function angleDelta(a: number, b: number): number;
+//# sourceMappingURL=VehicleDriverAi.d.ts.map

package/dist/engine/agent-api/VehicleDriverAi.d.ts.map

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