@aura3d/engine 1.5.1 → 2.0.0

package/dist/physics/ArcadeCharacterController.js

@@ -0,0 +1,98 @@
+import { KinematicBody } from "./KinematicBody.js";
+import { Shape } from "./Shape.js";
+/**
+ * Authored-unit deterministic movement with a kinematic trigger proxy.
+ *
+ * This is deliberately not a rigid-body character controller. Physical slope,
+ * step, contact, and depenetration ownership belongs to the selected optional
+ * Rapier adapter. The proxy exists so arcade routes can reuse trigger/raycast
+ * plumbing without importing or pretending to be physical simulation.
+ */
+export class ArcadeCharacterController {
+    body;
+    collider;
+    radius;
+    halfHeight;
+    maxSpeed;
+    acceleration;
+    jumpSpeed;
+    motion;
+    #jumpQueued = false;
+    constructor(world, descriptor = {}) {
+        this.radius = positive(descriptor.radius ?? 0.24, "arcade character radius");
+        this.halfHeight = positive(descriptor.halfHeight ?? 0.38, "arcade character halfHeight");
+        this.maxSpeed = positive(descriptor.maxSpeed ?? 3.5, "arcade character maxSpeed");
+        this.acceleration = positive(descriptor.acceleration ?? 32, "arcade character acceleration");
+        this.jumpSpeed = positive(descriptor.jumpSpeed ?? 4.2, "arcade character jumpSpeed");
+        const position = descriptor.position ?? [0, this.halfHeight + this.radius, 0];
+        const groundY = descriptor.groundY ?? position[1] - this.halfHeight - this.radius;
+        this.motion = new KinematicBody({
+            id: "arcade-character",
+            position,
+            halfExtents: [this.radius, this.halfHeight + this.radius, this.radius],
+            maxSpeed: this.maxSpeed,
+            acceleration: this.acceleration,
+            airAcceleration: this.acceleration * 0.65,
+            jumpSpeed: this.jumpSpeed,
+            gravity: descriptor.gravity ?? 9.81,
+            groundY,
+            groundSnapDistance: 0.08,
+            lockDepth: false
+        });
+        this.body = world.createRigidBody({ type: "kinematic", position });
+        this.collider = world.createCollider(this.body, {
+            shape: Shape.capsule(this.radius, this.halfHeight),
+            sensor: true
+        });
+    }
+    setMoveInput(input) {
+        this.motion.setMoveInput({ x: finiteOrZero(input.x), z: finiteOrZero(input.z ?? 0) });
+    }
+    jump() {
+        this.#jumpQueued = true;
+        this.motion.jump();
+    }
+    teleport(position) {
+        this.motion.position = [...position];
+        this.motion.previousPosition = [...position];
+        this.motion.velocity = [0, 0, 0];
+        this.motion.grounded = false;
+        this.#syncProxy();
+    }
+    step(dt) {
+        const events = this.motion.step(dt);
+        this.#syncProxy();
+        const snapshot = this.motion.snapshot();
+        const jumpedThisFrame = this.#jumpQueued && events.some((event) => event.type === "jump");
+        this.#jumpQueued = false;
+        return stateFromSnapshot(snapshot, jumpedThisFrame);
+    }
+    snapshot() {
+        return stateFromSnapshot(this.motion.snapshot(), false);
+    }
+    #syncProxy() {
+        this.body.setPosition(this.motion.position);
+        this.body.setVelocity([0, 0, 0]);
+    }
+}
+function stateFromSnapshot(snapshot, jumpedThisFrame) {
+    const speed = Math.hypot(snapshot.velocity[0], snapshot.velocity[2]);
+    return {
+        grounded: snapshot.grounded,
+        groundNormal: [0, 1, 0],
+        groundColliderId: null,
+        desiredVelocity: [snapshot.moveInput[0] * speed, snapshot.velocity[1], snapshot.moveInput[2] * speed],
+        velocity: snapshot.velocity,
+        speed,
+        jumpedThisFrame
+    };
+}
+function positive(value, label) {
+    if (!Number.isFinite(value) || value <= 0)
+        throw new RangeError(`${label} must be finite and positive.`);
+    return value;
+}
+function finiteOrZero(value) {
+    return Number.isFinite(value) ? value : 0;
+}
+//# sourceMappingURL=ArcadeCharacterController.js.map

package/dist/physics/ArcadeCharacterController.js.map

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package/dist/physics/ArcadeVehicleTelemetry.d.ts

@@ -0,0 +1,162 @@
+export interface ArcadeVehicleTelemetryInput {
+    readonly elapsedSeconds: number;
+    readonly throttle?: number;
+    readonly brake?: number;
+    readonly steer?: number;
+    readonly handbrake?: boolean;
+    readonly nitro?: boolean;
+    readonly maxSpeedKph?: number;
+    readonly acceleration?: number;
+    readonly brakeForce?: number;
+    readonly gripFactor?: number;
+    readonly driftFactor?: number;
+}
+export interface ArcadeVehicleTelemetrySample {
+    readonly speedKph: number;
+    readonly rpm: number;
+    readonly nitro: number;
+    readonly steerAngle: number;
+    readonly driftSlip: number;
+    readonly grip: number;
+    readonly wheelSpin: number;
+    readonly suspensionCompression: readonly [number, number, number, number];
+}
+export type PacejkaTirePreset = "street" | "sport" | "racing" | "offroad";
+export type RacingAiDifficulty = "easy" | "medium" | "hard";
+export type DrivetrainDifferential = "open" | "limited-slip" | "locked" | "electronic";
+export interface PacejkaTireCoefficients {
+    readonly b: number;
+    readonly c: number;
+    readonly d: number;
+    readonly e: number;
+}
+export interface PacejkaTireForceInput {
+    readonly longitudinalVelocity: number;
+    readonly lateralVelocity?: number;
+    readonly angularVelocity: number;
+    readonly normalForce: number;
+    readonly steeringAngle?: number;
+    readonly camberAngle?: number;
+    readonly radius?: number;
+    readonly width?: number;
+    readonly maxLoad?: number;
+    readonly loadSensitivity?: number;
+    readonly rollingResistance?: number;
+    readonly longitudinal?: PacejkaTireCoefficients | PacejkaTirePreset;
+    readonly lateral?: PacejkaTireCoefficients | PacejkaTirePreset;
+}
+export interface PacejkaTireForceSample {
+    readonly longitudinalForce: number;
+    readonly lateralForce: number;
+    readonly combinedForce: number;
+    readonly slipRatio: number;
+    readonly slipAngle: number;
+    readonly aligningTorque: number;
+    readonly optimalSlipRatio: number;
+    readonly optimalSlipAngle: number;
+    readonly preset: {
+        readonly longitudinal: PacejkaTirePreset | "custom";
+        readonly lateral: PacejkaTirePreset | "custom";
+    };
+}
+export interface RacingAiDriverInput {
+    readonly difficulty?: RacingAiDifficulty;
+    readonly elapsedSeconds: number;
+    readonly progress: number;
+    readonly speedKph: number;
+    readonly targetSpeedKph?: number;
+    readonly trackCurvature?: number;
+    readonly opponentDistance?: number;
+    readonly opponentAhead?: boolean;
+    readonly playerGapSeconds?: number;
+}
+export interface RacingAiDriverSample {
+    readonly difficulty: RacingAiDifficulty;
+    readonly throttle: number;
+    readonly brake: number;
+    readonly steer: number;
+    readonly targetSpeedKph: number;
+    readonly lookaheadDistance: number;
+    readonly reactionTime: number;
+    readonly aggressiveness: number;
+    readonly overtaking: boolean;
+    readonly overtakeOffset: number;
+    readonly rubberbandBoost: number;
+}
+export interface VehicleDrivetrainInput {
+    readonly speedKph: number;
+    readonly throttle?: number;
+    readonly clutch?: number;
+    readonly gearRatios?: readonly number[];
+    readonly finalDriveRatio?: number;
+    readonly idleRpm?: number;
+    readonly maxRpm?: number;
+    readonly peakTorque?: number;
+    readonly peakTorqueRpm?: number;
+    readonly upshiftRpm?: number;
+    readonly downshiftRpm?: number;
+    readonly differential?: DrivetrainDifferential;
+    readonly frontRearSplit?: number;
+    readonly lockingFactor?: number;
+    readonly dragCoefficient?: number;
+    readonly frontalArea?: number;
+    readonly downforceCoefficient?: number;
+}
+export interface VehicleDrivetrainSample {
+    readonly gear: number;
+    readonly gearRatio: number;
+    readonly engineRpm: number;
+    readonly engineTorque: number;
+    readonly wheelTorque: number;
+    readonly frontTorque: number;
+    readonly rearTorque: number;
+    readonly dragForce: number;
+    readonly downforce: number;
+    readonly shiftState: "hold" | "upshift" | "downshift";
+    readonly differential: DrivetrainDifferential;
+}
+export interface VehicleEffectEmitterInput {
+    readonly speedKph: number;
+    readonly throttle?: number;
+    readonly steer?: number;
+    readonly handbrake?: boolean;
+    readonly nitroActive?: boolean;
+    readonly wheelOnGround?: readonly [boolean, boolean, boolean, boolean];
+}
+export interface VehicleEffectEmitterSample {
+    readonly tireSmokeRates: readonly [number, number, number, number];
+    readonly totalTireSmokeRate: number;
+    readonly nitroFlameRate: number;
+    readonly visibleEffectEmitters: number;
+    readonly smokeReason: "none" | "handbrake" | "launch-wheelspin" | "high-speed-steer";
+}
+export interface VehicleDamageInput {
+    readonly health?: number;
+    readonly impactSpeedKph?: number;
+    readonly collisionSeverity?: number;
+    readonly repair?: number;
+}
+export interface VehicleDamageSample {
+    readonly health: number;
+    readonly damage: number;
+    readonly impactDamage: number;
+    readonly visualDamageLevel: "none" | "scratched" | "dented" | "critical";
+    readonly disabled: boolean;
+}
+export declare function sampleArcadeVehicleTelemetry(input: ArcadeVehicleTelemetryInput): ArcadeVehicleTelemetrySample;
+export declare function sampleVehicleDamage(input: VehicleDamageInput): VehicleDamageSample;
+export declare function sampleVehicleEffectEmitters(input: VehicleEffectEmitterInput): VehicleEffectEmitterSample;
+export declare function sampleVehicleDrivetrain(input: VehicleDrivetrainInput): VehicleDrivetrainSample;
+export declare function sampleRacingAiDriver(input: RacingAiDriverInput): RacingAiDriverSample;
+/**
+ * Peak lateral cornering stiffness of a tyre preset, per newton of vertical load.
+ *
+ * This is the initial slope of the Magic Formula lateral curve, `d * c * b`, in units of
+ * force per radian of slip per newton of load. An integrator needs it to size a stable
+ * timestep: the tyre is the stiffest spring in a vehicle model, so it sets the step, and
+ * assuming a fixed 1/60 s regardless of tyre, mass and wheelbase is what let the vehicle
+ * integrator go unstable and produce yaw opposing its own steering input.
+ */
+export declare function tirePeakCorneringStiffness(tire: PacejkaTireCoefficients | PacejkaTirePreset): number;
+export declare function samplePacejkaTireForces(input: PacejkaTireForceInput): PacejkaTireForceSample;
+//# sourceMappingURL=ArcadeVehicleTelemetry.d.ts.map

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

@@ -0,0 +1 @@
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package/dist/physics/ArcadeVehicleTelemetry.js

@@ -0,0 +1,363 @@
+export function sampleArcadeVehicleTelemetry(input) {
+    const elapsed = finiteNonNegative(input.elapsedSeconds, "elapsedSeconds");
+    const throttle = clamp(input.throttle ?? 1, -1, 1);
+    const brake = clamp(input.brake ?? 0, 0, 1);
+    const steer = clamp(input.steer ?? 0, -1, 1);
+    const maxSpeedKph = positive(input.maxSpeedKph ?? 220, "maxSpeedKph");
+    const acceleration = positive(input.acceleration ?? 9.5, "acceleration");
+    const brakeForce = positive(input.brakeForce ?? 14, "brakeForce");
+    const gripFactor = clamp(input.gripFactor ?? 0.82, 0, 1);
+    const driftFactor = clamp(input.driftFactor ?? 0.36, 0, 1);
+    const maxSpeedMps = maxSpeedKph / 3.6;
+    const accelerationCurve = 1 - Math.exp(-elapsed * acceleration / Math.max(1, maxSpeedMps));
+    const braking = Math.min(maxSpeedMps, brakeForce * brake * Math.min(elapsed, 4));
+    const nitroAvailable = Math.max(0, 100 - elapsed * 10.5);
+    const nitroBoost = input.nitro === true && nitroAvailable > 0 ? 1.18 : 1;
+    const signedSpeedMps = clamp((maxSpeedMps * accelerationCurve * throttle * nitroBoost) - braking, -maxSpeedMps * 0.32, maxSpeedMps * nitroBoost);
+    const speedRatio = Math.min(1, Math.abs(signedSpeedMps) / maxSpeedMps);
+    const highSpeedSteerLimit = 1 - speedRatio * 0.55;
+    const steerAngle = steer * 0.62 * highSpeedSteerLimit;
+    const handbrakeSlip = input.handbrake === true ? driftFactor * (0.45 + speedRatio * 0.55) : 0;
+    const steeringSlip = Math.abs(steer) * speedRatio * (1 - gripFactor) * 0.75;
+    const driftSlip = clamp(handbrakeSlip + steeringSlip, 0, 1);
+    const grip = clamp(gripFactor * (1 - driftSlip * 0.62), 0, 1);
+    const rpm = 1000 + speedRatio * 6100 + (input.nitro === true ? 650 : 0) + driftSlip * 450;
+    const wheelSpin = elapsed * Math.abs(signedSpeedMps) * (1 + driftSlip * 1.8);
+    const suspensionCompression = suspensionFor(steer, speedRatio, driftSlip);
+    return {
+        speedKph: Number((signedSpeedMps * 3.6).toFixed(3)),
+        rpm: Number(rpm.toFixed(3)),
+        nitro: Number(nitroAvailable.toFixed(3)),
+        steerAngle: Number(steerAngle.toFixed(5)),
+        driftSlip: Number(driftSlip.toFixed(5)),
+        grip: Number(grip.toFixed(5)),
+        wheelSpin: Number(wheelSpin.toFixed(5)),
+        suspensionCompression
+    };
+}
+export function sampleVehicleDamage(input) {
+    const health = clamp(finiteNonNegative(input.health ?? 100, "health"), 0, 100);
+    const impactSpeedKph = finiteNonNegative(input.impactSpeedKph ?? 0, "impactSpeedKph");
+    const collisionSeverity = clamp(input.collisionSeverity ?? 0, 0, 1);
+    const repair = clamp(input.repair ?? 0, 0, 100);
+    const impactDamage = Math.max(0, (impactSpeedKph - 18) * 0.34 * collisionSeverity);
+    const nextHealth = clamp(health - impactDamage + repair, 0, 100);
+    const damage = 100 - nextHealth;
+    return {
+        health: Number(nextHealth.toFixed(3)),
+        damage: Number(damage.toFixed(3)),
+        impactDamage: Number(impactDamage.toFixed(3)),
+        visualDamageLevel: damage >= 72 ? "critical" : damage >= 42 ? "dented" : damage > 0 ? "scratched" : "none",
+        disabled: nextHealth <= 0
+    };
+}
+export function sampleVehicleEffectEmitters(input) {
+    const speedKph = finiteNonNegative(input.speedKph, "speedKph");
+    const throttle = clamp(input.throttle ?? 0, -1, 1);
+    const steer = clamp(input.steer ?? 0, -1, 1);
+    const wheelOnGround = input.wheelOnGround ?? [true, true, true, true];
+    const smokeReason = input.handbrake === true
+        ? "handbrake"
+        : Math.abs(throttle) > 0.7 && speedKph < 30
+            ? "launch-wheelspin"
+            : Math.abs(steer) > 0.7 && speedKph > 50
+                ? "high-speed-steer"
+                : "none";
+    const baseSmokeRate = smokeReason === "none" ? 0 : smokeReason === "handbrake" ? 64 : smokeReason === "launch-wheelspin" ? 46 : 38;
+    const tireSmokeRates = wheelOnGround.map((onGround, index) => {
+        const rearBias = index >= 2 ? 1.18 : 0.86;
+        return onGround ? Number((baseSmokeRate * rearBias).toFixed(3)) : 0;
+    });
+    const nitroFlameRate = input.nitroActive === true ? Number((160 + Math.abs(throttle) * 80).toFixed(3)) : 0;
+    const totalTireSmokeRate = Number(tireSmokeRates.reduce((sum, rate) => sum + rate, 0).toFixed(3));
+    return {
+        tireSmokeRates,
+        totalTireSmokeRate,
+        nitroFlameRate,
+        visibleEffectEmitters: tireSmokeRates.filter((rate) => rate > 0).length + (nitroFlameRate > 0 ? 1 : 0),
+        smokeReason
+    };
+}
+export function sampleVehicleDrivetrain(input) {
+    const speedKph = finiteNonNegative(input.speedKph, "speedKph");
+    const throttle = clamp(input.throttle ?? 1, 0, 1);
+    const clutch = clamp(input.clutch ?? 1, 0, 1);
+    const gearRatios = validateGearRatios(input.gearRatios ?? [3.42, 2.21, 1.52, 1.14, 0.89, 0.71]);
+    const finalDriveRatio = positive(input.finalDriveRatio ?? 3.55, "finalDriveRatio");
+    const idleRpm = positive(input.idleRpm ?? 950, "idleRpm");
+    const maxRpm = Math.max(idleRpm + 1, positive(input.maxRpm ?? 7200, "maxRpm"));
+    const peakTorque = positive(input.peakTorque ?? 420, "peakTorque");
+    const peakTorqueRpm = clamp(positive(input.peakTorqueRpm ?? 4200, "peakTorqueRpm"), idleRpm, maxRpm);
+    const upshiftRpm = clamp(input.upshiftRpm ?? maxRpm * 0.86, idleRpm, maxRpm);
+    const downshiftRpm = clamp(input.downshiftRpm ?? peakTorqueRpm * 0.55, idleRpm, upshiftRpm);
+    const differential = input.differential ?? "limited-slip";
+    const frontRearSplit = clamp(input.frontRearSplit ?? 0.42, 0, 1);
+    const lockingFactor = clamp(input.lockingFactor ?? 0.35, 0, 1);
+    const dragCoefficient = positive(input.dragCoefficient ?? 0.32, "dragCoefficient");
+    const frontalArea = positive(input.frontalArea ?? 2.1, "frontalArea");
+    const downforceCoefficient = finiteNonNegative(input.downforceCoefficient ?? 0.58, "downforceCoefficient");
+    const speedMps = speedKph / 3.6;
+    const wheelRadius = 0.34;
+    const wheelRpm = speedMps <= 0 ? 0 : (speedMps / (Math.PI * 2 * wheelRadius)) * 60;
+    const selected = selectAutomaticGear(gearRatios, wheelRpm, finalDriveRatio, idleRpm, maxRpm, upshiftRpm, downshiftRpm);
+    const engineRpm = clamp(Math.max(idleRpm, wheelRpm * selected.ratio * finalDriveRatio), idleRpm, maxRpm);
+    const engineTorque = engineTorqueAt(engineRpm, peakTorque, peakTorqueRpm, idleRpm, maxRpm) * throttle;
+    const differentialEfficiency = differential === "open"
+        ? 0.92
+        : differential === "limited-slip"
+            ? 0.95 + lockingFactor * 0.025
+            : differential === "locked"
+                ? 0.96 + lockingFactor * 0.02
+                : 0.94 + lockingFactor * 0.04;
+    const wheelTorque = engineTorque * selected.ratio * finalDriveRatio * clutch * differentialEfficiency;
+    const torqueBias = differential === "open"
+        ? 0
+        : differential === "limited-slip"
+            ? lockingFactor * 0.04
+            : differential === "locked"
+                ? lockingFactor * 0.02
+                : lockingFactor * 0.06;
+    const frontSplit = clamp(frontRearSplit - torqueBias, 0, 1);
+    const dragForce = 0.5 * 1.225 * dragCoefficient * frontalArea * speedMps * speedMps;
+    const downforce = 0.5 * 1.225 * downforceCoefficient * frontalArea * speedMps * speedMps;
+    return {
+        gear: selected.gear,
+        gearRatio: Number(selected.ratio.toFixed(4)),
+        engineRpm: Number(engineRpm.toFixed(3)),
+        engineTorque: Number(engineTorque.toFixed(3)),
+        wheelTorque: Number(wheelTorque.toFixed(3)),
+        frontTorque: Number((wheelTorque * frontSplit).toFixed(3)),
+        rearTorque: Number((wheelTorque * (1 - frontSplit)).toFixed(3)),
+        dragForce: Number(dragForce.toFixed(3)),
+        downforce: Number(downforce.toFixed(3)),
+        shiftState: selected.shiftState,
+        differential
+    };
+}
+export function sampleRacingAiDriver(input) {
+    const elapsed = finiteNonNegative(input.elapsedSeconds, "elapsedSeconds");
+    const progress = clamp(finite(input.progress, "progress"), 0, 1);
+    const speedKph = finiteNonNegative(input.speedKph, "speedKph");
+    const targetSpeedKph = positive(input.targetSpeedKph ?? 220, "targetSpeedKph");
+    const curvature = clamp(input.trackCurvature ?? 0, -1, 1);
+    const opponentDistance = input.opponentDistance === undefined ? Number.POSITIVE_INFINITY : finiteNonNegative(input.opponentDistance, "opponentDistance");
+    const playerGapSeconds = finite(input.playerGapSeconds ?? 0, "playerGapSeconds");
+    const difficulty = input.difficulty ?? "medium";
+    const settings = racingAiSettings(difficulty);
+    const rubberbandBoost = clamp((-playerGapSeconds) * settings.rubberbandStrength * 0.08, -0.08, 0.18);
+    const desiredSpeed = targetSpeedKph * settings.targetSpeedFactor * (1 - Math.abs(curvature) * 0.24) * (1 + rubberbandBoost);
+    const speedError = desiredSpeed - speedKph;
+    const overtaking = input.opponentAhead === true && opponentDistance < 22 && settings.aggressiveness >= 0.55;
+    const deterministicSide = Math.sin((progress + elapsed * 0.13) * Math.PI * 6) >= 0 ? 1 : -1;
+    const overtakeOffset = overtaking ? deterministicSide * (0.28 + settings.aggressiveness * 0.18) : 0;
+    const racingLineSteer = Math.sin(progress * Math.PI * 2) * 0.18 + curvature * 0.62;
+    const rawSteer = racingLineSteer + overtakeOffset;
+    const steer = clamp(rawSteer * settings.steerSmoothing, -1, 1);
+    return {
+        difficulty,
+        throttle: Number(clamp(speedError / 48 + 0.5, 0, 1).toFixed(4)),
+        brake: Number(clamp(-speedError / 38 + Math.abs(curvature) * 0.18, 0, 1).toFixed(4)),
+        steer: Number(steer.toFixed(4)),
+        targetSpeedKph: Number(desiredSpeed.toFixed(3)),
+        lookaheadDistance: Number((15 + speedKph / 10 + (overtaking ? -4 : 0)).toFixed(3)),
+        reactionTime: settings.reactionTime,
+        aggressiveness: settings.aggressiveness,
+        overtaking,
+        overtakeOffset: Number(overtakeOffset.toFixed(4)),
+        rubberbandBoost: Number(rubberbandBoost.toFixed(4))
+    };
+}
+/**
+ * Peak lateral cornering stiffness of a tyre preset, per newton of vertical load.
+ *
+ * This is the initial slope of the Magic Formula lateral curve, `d * c * b`, in units of
+ * force per radian of slip per newton of load. An integrator needs it to size a stable
+ * timestep: the tyre is the stiffest spring in a vehicle model, so it sets the step, and
+ * assuming a fixed 1/60 s regardless of tyre, mass and wheelbase is what let the vehicle
+ * integrator go unstable and produce yaw opposing its own steering input.
+ */
+export function tirePeakCorneringStiffness(tire) {
+    const { value } = coefficients(tire);
+    return value.d * value.c * value.b;
+}
+export function samplePacejkaTireForces(input) {
+    const normalForce = finiteNonNegative(input.normalForce, "normalForce");
+    const longitudinalVelocity = finite(input.longitudinalVelocity, "longitudinalVelocity");
+    const lateralVelocity = finite(input.lateralVelocity ?? 0, "lateralVelocity");
+    const angularVelocity = finite(input.angularVelocity, "angularVelocity");
+    const steeringAngle = finite(input.steeringAngle ?? 0, "steeringAngle");
+    const camberAngle = finite(input.camberAngle ?? 0, "camberAngle");
+    const radius = positive(input.radius ?? 0.33, "radius");
+    const width = positive(input.width ?? 0.225, "width");
+    const maxLoad = positive(input.maxLoad ?? 5000, "maxLoad");
+    const loadSensitivity = positive(input.loadSensitivity ?? 1, "loadSensitivity");
+    const rollingResistance = clamp(input.rollingResistance ?? 0.015, 0, 1);
+    const longitudinal = coefficients(input.longitudinal ?? "sport");
+    const lateral = coefficients(input.lateral ?? "sport");
+    if (normalForce === 0) {
+        return {
+            longitudinalForce: 0,
+            lateralForce: 0,
+            combinedForce: 0,
+            slipRatio: 0,
+            slipAngle: 0,
+            aligningTorque: 0,
+            optimalSlipRatio: optimalSlipRatio(longitudinal.value),
+            optimalSlipAngle: optimalSlipAngle(lateral.value),
+            preset: { longitudinal: longitudinal.preset, lateral: lateral.preset }
+        };
+    }
+    const slipRatio = tireSlipRatio(longitudinalVelocity, angularVelocity, radius);
+    const slipAngle = tireSlipAngle(longitudinalVelocity, lateralVelocity, steeringAngle);
+    const loadFactor = clamp(Math.pow(normalForce / maxLoad, loadSensitivity), 0.1, 1.5);
+    const camberGrip = clamp(1 - Math.abs(camberAngle) * 0.1, 0.75, 1.08);
+    const longitudinalPure = pacejka(slipRatio, longitudinal.value) * normalForce * loadFactor * camberGrip
+        - Math.sign(longitudinalVelocity) * normalForce * rollingResistance;
+    /*
+     * Slip angle stays in radians.
+     *
+     * The lateral presets use stiffness factors around b=10..14, which is the radian
+     * convention for the Magic Formula. (The degree convention runs b=0.2..0.3.) Feeding
+     * degrees into radian coefficients moved the grip peak from ~6.9 degrees of slip to
+     * ~0.08 degrees, so every physically real cornering slip angle landed far down the
+     * falloff: at 19 degrees of slip the model returned mu=0.20 instead of mu=1.21.
+     *
+     * A tyre that loses 85% of its grip the instant it is asked to corner cannot hold a
+     * line, and it makes tiny near-zero slip angles produce enormous force swings, which
+     * showed up as yaw-rate chatter. Verified in `tyre-slip-curve.test.ts`.
+     */
+    const lateralPure = pacejka(slipAngle, lateral.value) * normalForce * loadFactor * clamp(1 + camberAngle * 0.1, 0.75, 1.15);
+    const slipMagnitude = Math.hypot(Math.abs(slipRatio), Math.abs(slipAngle));
+    const longitudinalScale = slipMagnitude < 0.001 ? 1 : Math.sqrt(Math.max(0, 1 - Math.pow((Math.abs(slipAngle) / slipMagnitude) * 0.9, 2)));
+    const lateralScale = slipMagnitude < 0.001 ? 1 : Math.sqrt(Math.max(0, 1 - Math.pow((Math.abs(slipRatio) / slipMagnitude) * 0.9, 2)));
+    const longitudinalForce = longitudinalPure * longitudinalScale;
+    const lateralForce = lateralPure * lateralScale;
+    const pneumaticTrail = width * 0.5;
+    // Pneumatic trail collapses as the tyre saturates; 20 degrees expressed in radians.
+    const torqueCoeff = -pneumaticTrail * clamp(1 - Math.abs(slipAngle) / (20 * Math.PI / 180), 0, 1);
+    const aligningTorque = clamp(lateralForce * torqueCoeff, -normalForce * width, normalForce * width);
+    return {
+        longitudinalForce: Number(longitudinalForce.toFixed(3)),
+        lateralForce: Number(lateralForce.toFixed(3)),
+        combinedForce: Number(Math.hypot(longitudinalForce, lateralForce).toFixed(3)),
+        slipRatio: Number(slipRatio.toFixed(5)),
+        slipAngle: Number(slipAngle.toFixed(5)),
+        aligningTorque: Number(aligningTorque.toFixed(3)),
+        optimalSlipRatio: Number(optimalSlipRatio(longitudinal.value).toFixed(5)),
+        optimalSlipAngle: Number(optimalSlipAngle(lateral.value).toFixed(5)),
+        preset: { longitudinal: longitudinal.preset, lateral: lateral.preset }
+    };
+}
+function validateGearRatios(values) {
+    if (values.length === 0) {
+        throw new RangeError("Arcade vehicle telemetry gearRatios must contain at least one ratio.");
+    }
+    return values.map((value, index) => positive(value, `gearRatios[${index}]`));
+}
+function selectAutomaticGear(gearRatios, wheelRpm, finalDriveRatio, idleRpm, maxRpm, upshiftRpm, downshiftRpm) {
+    if (wheelRpm <= 1)
+        return { gear: 1, ratio: gearRatios[0] ?? 1, shiftState: "hold" };
+    let gearIndex = 0;
+    let rpm = wheelRpm * (gearRatios[gearIndex] ?? 1) * finalDriveRatio;
+    while (gearIndex < gearRatios.length - 1 && rpm > upshiftRpm) {
+        gearIndex += 1;
+        rpm = wheelRpm * (gearRatios[gearIndex] ?? 1) * finalDriveRatio;
+    }
+    while (gearIndex > 0 && rpm < downshiftRpm) {
+        gearIndex -= 1;
+        rpm = wheelRpm * (gearRatios[gearIndex] ?? 1) * finalDriveRatio;
+    }
+    const clampedRpm = clamp(rpm, idleRpm, maxRpm);
+    return {
+        gear: gearIndex + 1,
+        ratio: gearRatios[gearIndex] ?? 1,
+        shiftState: clampedRpm >= upshiftRpm && gearIndex < gearRatios.length - 1 ? "upshift" : clampedRpm <= downshiftRpm && gearIndex > 0 ? "downshift" : "hold"
+    };
+}
+function engineTorqueAt(engineRpm, peakTorque, peakTorqueRpm, idleRpm, maxRpm) {
+    if (engineRpm <= peakTorqueRpm) {
+        const t = clamp((engineRpm - idleRpm) / Math.max(1, peakTorqueRpm - idleRpm), 0, 1);
+        return peakTorque * (0.8 + 0.2 * t);
+    }
+    const t = clamp((engineRpm - peakTorqueRpm) / Math.max(1, maxRpm - peakTorqueRpm), 0, 1);
+    return peakTorque * (1 - 0.4 * t);
+}
+function racingAiSettings(difficulty) {
+    switch (difficulty) {
+        case "easy":
+            return { targetSpeedFactor: 0.7, steerSmoothing: 0.3, reactionTime: 0.3, aggressiveness: 0.3, rubberbandStrength: 0.5 };
+        case "hard":
+            return { targetSpeedFactor: 0.95, steerSmoothing: 0.7, reactionTime: 0.05, aggressiveness: 0.9, rubberbandStrength: 0.1 };
+        case "medium":
+            return { targetSpeedFactor: 0.85, steerSmoothing: 0.5, reactionTime: 0.15, aggressiveness: 0.6, rubberbandStrength: 0.3 };
+    }
+}
+function suspensionFor(steer, speedRatio, driftSlip) {
+    const loadTransfer = steer * speedRatio * 0.18;
+    const brakeDive = driftSlip * 0.08;
+    return [
+        clamp(Number((0.48 - loadTransfer + brakeDive).toFixed(5)), 0, 1),
+        clamp(Number((0.48 + loadTransfer + brakeDive).toFixed(5)), 0, 1),
+        clamp(Number((0.42 - loadTransfer * 0.55).toFixed(5)), 0, 1),
+        clamp(Number((0.42 + loadTransfer * 0.55).toFixed(5)), 0, 1)
+    ];
+}
+function finite(value, label) {
+    if (!Number.isFinite(value)) {
+        throw new RangeError(`Arcade vehicle telemetry ${label} must be finite.`);
+    }
+    return value;
+}
+function finiteNonNegative(value, label) {
+    if (!Number.isFinite(value) || value < 0) {
+        throw new RangeError(`Arcade vehicle telemetry ${label} must be finite and non-negative.`);
+    }
+    return value;
+}
+function positive(value, label) {
+    if (!Number.isFinite(value) || value <= 0) {
+        throw new RangeError(`Arcade vehicle telemetry ${label} must be finite and positive.`);
+    }
+    return value;
+}
+function coefficients(value) {
+    if (typeof value !== "string")
+        return { preset: "custom", value };
+    switch (value) {
+        case "street":
+            return { preset: value, value: { b: 10, c: 1.9, d: 1, e: 0.97 } };
+        case "sport":
+            return { preset: value, value: { b: 12, c: 2, d: 1.3, e: 0.95 } };
+        case "racing":
+            return { preset: value, value: { b: 14, c: 2.1, d: 1.6, e: 0.9 } };
+        case "offroad":
+            return { preset: value, value: { b: 7, c: 1.7, d: 0.9, e: 1 } };
+    }
+}
+function tireSlipRatio(longitudinalVelocity, angularVelocity, radius) {
+    const wheelVelocity = angularVelocity * radius;
+    const denominator = Math.max(Math.abs(wheelVelocity), Math.abs(longitudinalVelocity));
+    if (denominator < 0.1)
+        return 0;
+    return clamp((wheelVelocity - longitudinalVelocity) / denominator, -1, 1);
+}
+function tireSlipAngle(longitudinalVelocity, lateralVelocity, steeringAngle) {
+    if (Math.abs(longitudinalVelocity) < 0.1)
+        return 0;
+    return clamp(Math.atan2(lateralVelocity, longitudinalVelocity) - steeringAngle, -Math.PI * 0.4, Math.PI * 0.4);
+}
+function pacejka(slip, coeff) {
+    const bx = coeff.b * slip;
+    return coeff.d * Math.sin(coeff.c * Math.atan(bx - coeff.e * (bx - Math.atan(bx))));
+}
+function optimalSlipRatio(coeff) {
+    return Math.min(Math.tan(Math.PI / (2 * coeff.c)) / coeff.b, 0.2);
+}
+function optimalSlipAngle(coeff) {
+    // Radians, matching the units the lateral curve is now evaluated in.
+    return Math.min(Math.tan(Math.PI / (2 * coeff.c)) / coeff.b, 0.3);
+}
+function clamp(value, min, max) {
+    return Math.max(min, Math.min(max, value));
+}
+//# sourceMappingURL=ArcadeVehicleTelemetry.js.map