@aura3d/engine 1.5.2 → 2.0.1

package/dist/lean/index.js

@@ -0,0 +1,10 @@
+import { LeanProductionRenderer } from "../rendering/lean-runtime.js";
+import { createAuraAppWithRenderer } from "./base.js";
+export * from "./base.js";
+export function createAuraApp(target, options) {
+    return createAuraAppWithRenderer(target, {
+        ...options,
+        rendererFactory: LeanProductionRenderer
+    });
+}
+//# sourceMappingURL=index.js.map

package/dist/lean/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../packages/lean/src/index.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,sBAAsB,EAAE,MAAM,gCAAgC,CAAC;AACxE,OAAO,EACL,yBAAyB,EAI1B,MAAM,WAAW,CAAC;AAEnB,cAAc,WAAW,CAAC;AAE1B,MAAM,UAAU,aAAa,CAAC,MAAyB,EAAE,OAAiC;IACxF,OAAO,yBAAyB,CAAC,MAAM,EAAE;QACvC,GAAG,OAAO;QACV,eAAe,EAAE,sBAAsB;KACxC,CAAC,CAAC;AACL,CAAC"}

package/dist/lean/product.d.ts

@@ -0,0 +1,4 @@
+import { type AuraLeanApp, type AuraLeanAppTarget, type AuraLeanCreateAppOptions } from "./base.js";
+export * from "./base.js";
+export declare function createAuraApp(canvas: AuraLeanAppTarget, options: AuraLeanCreateAppOptions): AuraLeanApp;
+//# sourceMappingURL=product.d.ts.map

package/dist/lean/product.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"product.d.ts","sourceRoot":"","sources":["../../../../packages/lean/src/product.ts"],"names":[],"mappings":"AASA,OAAO,EAGL,KAAK,WAAW,EAChB,KAAK,iBAAiB,EACtB,KAAK,wBAAwB,EAI9B,MAAM,WAAW,CAAC;AAGnB,cAAc,WAAW,CAAC;AAE1B,wBAAgB,aAAa,CAAC,MAAM,EAAE,iBAAiB,EAAE,OAAO,EAAE,wBAAwB,GAAG,WAAW,CAmDvG"}

package/dist/lean/product.js

@@ -0,0 +1,55 @@
+import { collectRenderItems, LeanProductRenderer } from "../rendering/lean-runtime.js";
+import { loadProductionGLTFRenderPipeline } from "../assets/gltf-runtime.js";
+import { createAuraAppWithRenderer, createAuraLeanModelMatrix } from "./base.js";
+import { multiplyMat4 } from "../scene/MathTypes.js";
+export * from "./base.js";
+export function createAuraApp(canvas, options) {
+    const pipelines = [];
+    const modelRuntime = {
+        async initialize(target, snapshot) {
+            const nodes = snapshot.nodes.filter((node) => node.kind === "model");
+            target.dataset.aura3dModelStage = nodes.length === 0 ? "no-models" : "loading-models";
+            for (const node of nodes) {
+                target.dataset.aura3dModelStage = `loading:${node.asset.id}`;
+                pipelines.push({
+                    node,
+                    pipeline: await loadProductionGLTFRenderPipeline({
+                        url: node.asset.url,
+                        assetId: node.asset.id,
+                        assetName: node.name ?? node.asset.id,
+                        width: target.width,
+                        height: target.height
+                    })
+                });
+                target.dataset.aura3dModelStage = `loaded:${node.asset.id}`;
+            }
+            target.dataset.aura3dModelStage = "ready";
+        },
+        renderItems() {
+            return pipelines.filter(({ node }) => node.visible !== false).flatMap(({ node, pipeline }) => {
+                const placement = createAuraLeanModelMatrix(node.position, node.scale);
+                return collectRenderItems(pipeline.source).map((renderItem) => {
+                    const { normalMatrix: _sourceNormalMatrix, modelViewProjectionMatrix: _sourceModelViewProjectionMatrix, ...item } = renderItem;
+                    return {
+                        ...item,
+                        modelMatrix: renderItem.modelMatrix
+                            ? multiplyMat4(Array.from(placement), Array.from(renderItem.modelMatrix))
+                            : placement,
+                        includeInAutoFrame: false
+                    };
+                });
+            });
+        },
+        dispose() {
+            for (const entry of pipelines)
+                entry.pipeline.dispose();
+            pipelines.length = 0;
+        }
+    };
+    return createAuraAppWithRenderer(canvas, {
+        ...options,
+        modelRuntime,
+        rendererFactory: LeanProductRenderer
+    });
+}
+//# sourceMappingURL=product.js.map

package/dist/lean/product.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"product.js","sourceRoot":"","sources":["../../../../packages/lean/src/product.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,kBAAkB,EAClB,mBAAmB,EAEpB,MAAM,gCAAgC,CAAC;AACxC,OAAO,EACL,gCAAgC,EAEjC,MAAM,6BAA6B,CAAC;AACrC,OAAO,EACL,yBAAyB,EACzB,yBAAyB,EAO1B,MAAM,WAAW,CAAC;AACnB,OAAO,EAAE,YAAY,EAAa,MAAM,oBAAoB,CAAC;AAE7D,cAAc,WAAW,CAAC;AAE1B,MAAM,UAAU,aAAa,CAAC,MAAyB,EAAE,OAAiC;IACxF,MAAM,SAAS,GAAiG,EAAE,CAAC;IACnH,MAAM,YAAY,GAAyB;QACzC,KAAK,CAAC,UAAU,CAAC,MAAM,EAAE,QAAQ;YAC/B,MAAM,KAAK,GAAG,QAAQ,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,IAAI,EAA6B,EAAE,CAAC,IAAI,CAAC,IAAI,KAAK,OAAO,CAAC,CAAC;YAChG,MAAM,CAAC,OAAO,CAAC,gBAAgB,GAAG,KAAK,CAAC,MAAM,KAAK,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,CAAC,CAAC,gBAAgB,CAAC;YACtF,KAAK,MAAM,IAAI,IAAI,KAAK,EAAE,CAAC;gBACzB,MAAM,CAAC,OAAO,CAAC,gBAAgB,GAAG,WAAW,IAAI,CAAC,KAAK,CAAC,EAAE,EAAE,CAAC;gBAC7D,SAAS,CAAC,IAAI,CAAC;oBACb,IAAI;oBACJ,QAAQ,EAAE,MAAM,gCAAgC,CAAC;wBAC/C,GAAG,EAAE,IAAI,CAAC,KAAK,CAAC,GAAG;wBACnB,OAAO,EAAE,IAAI,CAAC,KAAK,CAAC,EAAE;wBACtB,SAAS,EAAE,IAAI,CAAC,IAAI,IAAI,IAAI,CAAC,KAAK,CAAC,EAAE;wBACrC,KAAK,EAAE,MAAM,CAAC,KAAK;wBACnB,MAAM,EAAE,MAAM,CAAC,MAAM;qBACtB,CAAC;iBACH,CAAC,CAAC;gBACH,MAAM,CAAC,OAAO,CAAC,gBAAgB,GAAG,UAAU,IAAI,CAAC,KAAK,CAAC,EAAE,EAAE,CAAC;YAC9D,CAAC;YACD,MAAM,CAAC,OAAO,CAAC,gBAAgB,GAAG,OAAO,CAAC;QAC5C,CAAC;QACD,WAAW;YACT,OAAO,SAAS,CAAC,MAAM,CAAC,CAAC,EAAE,IAAI,EAAE,EAAE,EAAE,CAAC,IAAI,CAAC,OAAO,KAAK,KAAK,CAAC,CAAC,OAAO,CAAC,CAAC,EAAE,IAAI,EAAE,QAAQ,EAAE,EAAE,EAAE;gBAC3F,MAAM,SAAS,GAAG,yBAAyB,CAAC,IAAI,CAAC,QAAQ,EAAE,IAAI,CAAC,KAAK,CAAC,CAAC;gBACvE,OAAO,kBAAkB,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,GAAG,CAAC,CAAC,UAAU,EAAE,EAAE;oBAC5D,MAAM,EACJ,YAAY,EAAE,mBAAmB,EACjC,yBAAyB,EAAE,gCAAgC,EAC3D,GAAG,IAAI,EACR,GAAG,UAAU,CAAC;oBACf,OAAO;wBACL,GAAG,IAAI;wBACP,WAAW,EAAE,UAAU,CAAC,WAAW;4BACjC,CAAC,CAAC,YAAY,CAAC,KAAK,CAAC,IAAI,CAAC,SAAS,CAAS,EAAE,KAAK,CAAC,IAAI,CAAC,UAAU,CAAC,WAAW,CAAS,CAAC;4BACzF,CAAC,CAAC,SAAS;wBACb,kBAAkB,EAAE,KAAK;qBAC1B,CAAC;gBACJ,CAAC,CAAC,CAAC;YACL,CAAC,CAAC,CAAC;QACL,CAAC;QACD,OAAO;YACL,KAAK,MAAM,KAAK,IAAI,SAAS;gBAAE,KAAK,CAAC,QAAQ,CAAC,OAAO,EAAE,CAAC;YACxD,SAAS,CAAC,MAAM,GAAG,CAAC,CAAC;QACvB,CAAC;KACF,CAAC;IACF,OAAO,yBAAyB,CAAC,MAAM,EAAE;QACvC,GAAG,OAAO;QACV,YAAY;QACZ,eAAe,EAAE,mBAAmB;KACrC,CAAC,CAAC;AACL,CAAC"}

package/dist/materials/MaterialPresets.d.ts

@@ -1,3 +1,3 @@
-export { findThreeCompatPbrMaterial as findMaterialPreset, listThreeCompatPbrMaterials as listMaterialPresets, THREE_COMPAT_PBR_MATERIAL_LIBRARY as MATERIAL_PRESETS } from "./PBRMaterialLibrary";
-export type { ThreeCompatMaterialPreset as MaterialPreset } from "./MaterialPreset";
+export { findThreeCompatPbrMaterial as findMaterialPreset, listThreeCompatPbrMaterials as listMaterialPresets, THREE_COMPAT_PBR_MATERIAL_LIBRARY as MATERIAL_PRESETS } from "./PBRMaterialLibrary.js";
+export type { ThreeCompatMaterialPreset as MaterialPreset } from "./MaterialPreset.js";
 //# sourceMappingURL=MaterialPresets.d.ts.map

package/dist/materials/MaterialPreviewScene.d.ts

@@ -1,4 +1,4 @@
-import type { ThreeCompatMaterialPreset } from "./MaterialPreset";
+import type { ThreeCompatMaterialPreset } from "./MaterialPreset.js";
 export interface ThreeCompatMaterialPreviewTile {
     readonly materialId: string;
     readonly label: string;

package/dist/materials/PBRMaterialLibrary.d.ts

@@ -1,4 +1,4 @@
-import type { ThreeCompatMaterialClass, ThreeCompatMaterialPreset, ThreeCompatMaterialProofChannel } from "./MaterialPreset";
+import type { ThreeCompatMaterialClass, ThreeCompatMaterialPreset, ThreeCompatMaterialProofChannel } from "./MaterialPreset.js";
 export declare const THREE_COMPAT_REQUIRED_MATERIAL_CLASSES: readonly ThreeCompatMaterialClass[];
 export declare const THREE_COMPAT_PBR_MATERIAL_LIBRARY: readonly ThreeCompatMaterialPreset[];
 export declare function listThreeCompatPbrMaterials(): readonly ThreeCompatMaterialPreset[];

package/dist/materials/browser-index.d.ts

@@ -1,9 +1,9 @@
-export { findThreeCompatPbrMaterial, listThreeCompatMaterialProofChannels, listThreeCompatPbrMaterials, THREE_COMPAT_PBR_MATERIAL_LIBRARY, THREE_COMPAT_REQUIRED_MATERIAL_CLASSES } from "./PBRMaterialLibrary";
-export { findThreeCompatTextureSet, THREE_COMPAT_TEXTURE_SETS } from "./TextureSet";
-export { createThreeCompatMaterialPreviewScene, createThreeCompatMaterialPreviewTile } from "./MaterialPreviewScene";
-export type { ThreeCompatMaterialClass, ThreeCompatMaterialParameters, ThreeCompatMaterialPreset, ThreeCompatMaterialProofChannel } from "./MaterialPreset";
-export type { ThreeCompatTextureMapReference, ThreeCompatTextureSemantic, ThreeCompatTextureSet } from "./TextureSet";
-export type { ThreeCompatMaterialPreviewTile } from "./MaterialPreviewScene";
+export { findThreeCompatPbrMaterial, listThreeCompatMaterialProofChannels, listThreeCompatPbrMaterials, THREE_COMPAT_PBR_MATERIAL_LIBRARY, THREE_COMPAT_REQUIRED_MATERIAL_CLASSES } from "./PBRMaterialLibrary.js";
+export { findThreeCompatTextureSet, THREE_COMPAT_TEXTURE_SETS } from "./TextureSet.js";
+export { createThreeCompatMaterialPreviewScene, createThreeCompatMaterialPreviewTile } from "./MaterialPreviewScene.js";
+export type { ThreeCompatMaterialClass, ThreeCompatMaterialParameters, ThreeCompatMaterialPreset, ThreeCompatMaterialProofChannel } from "./MaterialPreset.js";
+export type { ThreeCompatTextureMapReference, ThreeCompatTextureSemantic, ThreeCompatTextureSet } from "./TextureSet.js";
+export type { ThreeCompatMaterialPreviewTile } from "./MaterialPreviewScene.js";
 export * from "./MaterialPresets.js";
 export * from "./NodeMaterial.js";
 //# sourceMappingURL=browser-index.d.ts.map

package/dist/materials/index.d.ts

@@ -1,11 +1,2 @@
-export { findThreeCompatPbrMaterial, listThreeCompatMaterialProofChannels, listThreeCompatPbrMaterials, THREE_COMPAT_PBR_MATERIAL_LIBRARY, THREE_COMPAT_REQUIRED_MATERIAL_CLASSES } from "./PBRMaterialLibrary";
-export { findThreeCompatTextureSet, THREE_COMPAT_TEXTURE_SETS } from "./TextureSet";
-export { summarizeThreeCompatMaterialLibrary } from "./MaterialValidation";
-export { createThreeCompatMaterialPreviewScene, createThreeCompatMaterialPreviewTile } from "./MaterialPreviewScene";
-export type { ThreeCompatMaterialClass, ThreeCompatMaterialParameters, ThreeCompatMaterialPreset, ThreeCompatMaterialProofChannel } from "./MaterialPreset";
-export type { ThreeCompatTextureMapReference, ThreeCompatTextureSemantic, ThreeCompatTextureSet } from "./TextureSet";
-export type { ThreeCompatMaterialLibrarySummary } from "./MaterialValidation";
-export type { ThreeCompatMaterialPreviewTile } from "./MaterialPreviewScene";
-export * from "./MaterialPresets.js";
-export * from "./NodeMaterial.js";
+export * from "./browser-index.js";
 //# sourceMappingURL=index.d.ts.map

package/dist/materials/index.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../../../packages/materials/src/index.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,0BAA0B,EAC1B,oCAAoC,EACpC,2BAA2B,EAC3B,iCAAiC,EACjC,sCAAsC,EACvC,MAAM,sBAAsB,CAAC;AAC9B,OAAO,EAAE,yBAAyB,EAAE,yBAAyB,EAAE,MAAM,cAAc,CAAC;AACpF,OAAO,EAAE,mCAAmC,EAAE,MAAM,sBAAsB,CAAC;AAC3E,OAAO,EAAE,qCAAqC,EAAE,oCAAoC,EAAE,MAAM,wBAAwB,CAAC;AACrH,YAAY,EACV,wBAAwB,EACxB,6BAA6B,EAC7B,yBAAyB,EACzB,+BAA+B,EAChC,MAAM,kBAAkB,CAAC;AAC1B,YAAY,EACV,8BAA8B,EAC9B,0BAA0B,EAC1B,qBAAqB,EACtB,MAAM,cAAc,CAAC;AACtB,YAAY,EAAE,iCAAiC,EAAE,MAAM,sBAAsB,CAAC;AAC9E,YAAY,EAAE,8BAA8B,EAAE,MAAM,wBAAwB,CAAC;AAC7E,cAAc,sBAAsB,CAAC;AACrC,cAAc,mBAAmB,CAAC"}
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../../../packages/materials/src/index.ts"],"names":[],"mappings":"AAAA,cAAc,oBAAoB,CAAC"}

package/dist/materials/index.js

@@ -1,7 +1,2 @@
-export { findThreeCompatPbrMaterial, listThreeCompatMaterialProofChannels, listThreeCompatPbrMaterials, THREE_COMPAT_PBR_MATERIAL_LIBRARY, THREE_COMPAT_REQUIRED_MATERIAL_CLASSES } from "./PBRMaterialLibrary.js";
-export { findThreeCompatTextureSet, THREE_COMPAT_TEXTURE_SETS } from "./TextureSet.js";
-export { summarizeThreeCompatMaterialLibrary } from "./MaterialValidation.js";
-export { createThreeCompatMaterialPreviewScene, createThreeCompatMaterialPreviewTile } from "./MaterialPreviewScene.js";
-export * from "./MaterialPresets.js";
-export * from "./NodeMaterial.js";
+export * from "./browser-index.js";
 //# sourceMappingURL=index.js.map

package/dist/materials/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../packages/materials/src/index.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,0BAA0B,EAC1B,oCAAoC,EACpC,2BAA2B,EAC3B,iCAAiC,EACjC,sCAAsC,EACvC,MAAM,sBAAsB,CAAC;AAC9B,OAAO,EAAE,yBAAyB,EAAE,yBAAyB,EAAE,MAAM,cAAc,CAAC;AACpF,OAAO,EAAE,mCAAmC,EAAE,MAAM,sBAAsB,CAAC;AAC3E,OAAO,EAAE,qCAAqC,EAAE,oCAAoC,EAAE,MAAM,wBAAwB,CAAC;AAcrH,cAAc,sBAAsB,CAAC;AACrC,cAAc,mBAAmB,CAAC"}
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../packages/materials/src/index.ts"],"names":[],"mappings":"AAAA,cAAc,oBAAoB,CAAC"}

package/dist/materials/node.d.ts

@@ -0,0 +1,4 @@
+export * from "./browser-index.js";
+export { summarizeThreeCompatMaterialLibrary } from "./MaterialValidation.js";
+export type { ThreeCompatMaterialLibrarySummary } from "./MaterialValidation.js";
+//# sourceMappingURL=node.d.ts.map

package/dist/materials/node.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"node.d.ts","sourceRoot":"","sources":["../../../../packages/materials/src/node.ts"],"names":[],"mappings":"AAAA,cAAc,oBAAoB,CAAC;AACnC,OAAO,EAAE,mCAAmC,EAAE,MAAM,yBAAyB,CAAC;AAC9E,YAAY,EAAE,iCAAiC,EAAE,MAAM,yBAAyB,CAAC"}

package/dist/materials/node.js

@@ -0,0 +1,3 @@
+export * from "./browser-index.js";
+export { summarizeThreeCompatMaterialLibrary } from "./MaterialValidation.js";
+//# sourceMappingURL=node.js.map

package/dist/materials/node.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"node.js","sourceRoot":"","sources":["../../../../packages/materials/src/node.ts"],"names":[],"mappings":"AAAA,cAAc,oBAAoB,CAAC;AACnC,OAAO,EAAE,mCAAmC,EAAE,MAAM,yBAAyB,CAAC"}

package/dist/physics/ArcadeCharacterController.d.ts

@@ -0,0 +1,53 @@
+import type { Collider } from "./Collider.js";
+import { KinematicBody } from "./KinematicBody.js";
+import type { PhysicsWorld } from "./PhysicsWorld.js";
+import type { RigidBody } from "./RigidBody.js";
+import { type Vec3 } from "./Shape.js";
+export interface ArcadeCharacterControllerDescriptor {
+    readonly position?: Vec3;
+    readonly radius?: number;
+    readonly halfHeight?: number;
+    readonly maxSpeed?: number;
+    readonly acceleration?: number;
+    readonly jumpSpeed?: number;
+    readonly gravity?: number;
+    readonly groundY?: number;
+}
+export interface ArcadeCharacterControllerState {
+    readonly grounded: boolean;
+    readonly groundNormal: Vec3;
+    readonly groundColliderId: number | null;
+    readonly desiredVelocity: Vec3;
+    readonly velocity: Vec3;
+    readonly speed: number;
+    readonly jumpedThisFrame: boolean;
+}
+/**
+ * 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 declare class ArcadeCharacterController {
+    #private;
+    readonly body: RigidBody;
+    readonly collider: Collider;
+    readonly radius: number;
+    readonly halfHeight: number;
+    readonly maxSpeed: number;
+    readonly acceleration: number;
+    readonly jumpSpeed: number;
+    readonly motion: KinematicBody;
+    constructor(world: PhysicsWorld, descriptor?: ArcadeCharacterControllerDescriptor);
+    setMoveInput(input: {
+        readonly x: number;
+        readonly z?: number;
+    }): void;
+    jump(): void;
+    teleport(position: Vec3): void;
+    step(dt: number): ArcadeCharacterControllerState;
+    snapshot(): ArcadeCharacterControllerState;
+}
+//# sourceMappingURL=ArcadeCharacterController.d.ts.map

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

@@ -0,0 +1 @@
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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

@@ -0,0 +1 @@
+{"version":3,"file":"ArcadeCharacterController.js","sourceRoot":"","sources":["../../../../packages/physics/src/ArcadeCharacterController.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,aAAa,EAA8B,MAAM,oBAAoB,CAAC;AAG/E,OAAO,EAAE,KAAK,EAAa,MAAM,YAAY,CAAC;AAuB9C;;;;;;;GAOG;AACH,MAAM,OAAO,yBAAyB;IAC3B,IAAI,CAAY;IAChB,QAAQ,CAAW;IACnB,MAAM,CAAS;IACf,UAAU,CAAS;IACnB,QAAQ,CAAS;IACjB,YAAY,CAAS;IACrB,SAAS,CAAS;IAClB,MAAM,CAAgB;IAC/B,WAAW,GAAG,KAAK,CAAC;IAEpB,YAAY,KAAmB,EAAE,aAAkD,EAAE;QACnF,IAAI,CAAC,MAAM,GAAG,QAAQ,CAAC,UAAU,CAAC,MAAM,IAAI,IAAI,EAAE,yBAAyB,CAAC,CAAC;QAC7E,IAAI,CAAC,UAAU,GAAG,QAAQ,CAAC,UAAU,CAAC,UAAU,IAAI,IAAI,EAAE,6BAA6B,CAAC,CAAC;QACzF,IAAI,CAAC,QAAQ,GAAG,QAAQ,CAAC,UAAU,CAAC,QAAQ,IAAI,GAAG,EAAE,2BAA2B,CAAC,CAAC;QAClF,IAAI,CAAC,YAAY,GAAG,QAAQ,CAAC,UAAU,CAAC,YAAY,IAAI,EAAE,EAAE,+BAA+B,CAAC,CAAC;QAC7F,IAAI,CAAC,SAAS,GAAG,QAAQ,CAAC,UAAU,CAAC,SAAS,IAAI,GAAG,EAAE,4BAA4B,CAAC,CAAC;QACrF,MAAM,QAAQ,GAAG,UAAU,CAAC,QAAQ,IAAI,CAAC,CAAC,EAAE,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,MAAM,EAAE,CAAC,CAAC,CAAC;QAC9E,MAAM,OAAO,GAAG,UAAU,CAAC,OAAO,IAAI,QAAQ,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,MAAM,CAAC;QAClF,IAAI,CAAC,MAAM,GAAG,IAAI,aAAa,CAAC;YAC9B,EAAE,EAAE,kBAAkB;YACtB,QAAQ;YACR,WAAW,EAAE,CAAC,IAAI,CAAC,MAAM,EAAE,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,MAAM,EAAE,IAAI,CAAC,MAAM,CAAC;YACtE,QAAQ,EAAE,IAAI,CAAC,QAAQ;YACvB,YAAY,EAAE,IAAI,CAAC,YAAY;YAC/B,eAAe,EAAE,IAAI,CAAC,YAAY,GAAG,IAAI;YACzC,SAAS,EAAE,IAAI,CAAC,SAAS;YACzB,OAAO,EAAE,UAAU,CAAC,OAAO,IAAI,IAAI;YACnC,OAAO;YACP,kBAAkB,EAAE,IAAI;YACxB,SAAS,EAAE,KAAK;SACjB,CAAC,CAAC;QACH,IAAI,CAAC,IAAI,GAAG,KAAK,CAAC,eAAe,CAAC,EAAE,IAAI,EAAE,WAAW,EAAE,QAAQ,EAAE,CAAC,CAAC;QACnE,IAAI,CAAC,QAAQ,GAAG,KAAK,CAAC,cAAc,CAAC,IAAI,CAAC,IAAI,EAAE;YAC9C,KAAK,EAAE,KAAK,CAAC,OAAO,CAAC,IAAI,CAAC,MAAM,EAAE,IAAI,CAAC,UAAU,CAAC;YAClD,MAAM,EAAE,IAAI;SACb,CAAC,CAAC;IACL,CAAC;IAED,YAAY,CAAC,KAAkD;QAC7D,IAAI,CAAC,MAAM,CAAC,YAAY,CAAC,EAAE,CAAC,EAAE,YAAY,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,YAAY,CAAC,KAAK,CAAC,CAAC,IAAI,CAAC,CAAC,EAAE,CAAC,CAAC;IACxF,CAAC;IAED,IAAI;QACF,IAAI,CAAC,WAAW,GAAG,IAAI,CAAC;QACxB,IAAI,CAAC,MAAM,CAAC,IAAI,EAAE,CAAC;IACrB,CAAC;IAED,QAAQ,CAAC,QAAc;QACrB,IAAI,CAAC,MAAM,CAAC,QAAQ,GAAG,CAAC,GAAG,QAAQ,CAAC,CAAC;QACrC,IAAI,CAAC,MAAM,CAAC,gBAAgB,GAAG,CAAC,GAAG,QAAQ,CAAC,CAAC;QAC7C,IAAI,CAAC,MAAM,CAAC,QAAQ,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QACjC,IAAI,CAAC,MAAM,CAAC,QAAQ,GAAG,KAAK,CAAC;QAC7B,IAAI,CAAC,UAAU,EAAE,CAAC;IACpB,CAAC;IAED,IAAI,CAAC,EAAU;QACb,MAAM,MAAM,GAAG,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC;QACpC,IAAI,CAAC,UAAU,EAAE,CAAC;QAClB,MAAM,QAAQ,GAAG,IAAI,CAAC,MAAM,CAAC,QAAQ,EAAE,CAAC;QACxC,MAAM,eAAe,GAAG,IAAI,CAAC,WAAW,IAAI,MAAM,CAAC,IAAI,CAAC,CAAC,KAAK,EAAE,EAAE,CAAC,KAAK,CAAC,IAAI,KAAK,MAAM,CAAC,CAAC;QAC1F,IAAI,CAAC,WAAW,GAAG,KAAK,CAAC;QACzB,OAAO,iBAAiB,CAAC,QAAQ,EAAE,eAAe,CAAC,CAAC;IACtD,CAAC;IAED,QAAQ;QACN,OAAO,iBAAiB,CAAC,IAAI,CAAC,MAAM,CAAC,QAAQ,EAAE,EAAE,KAAK,CAAC,CAAC;IAC1D,CAAC;IAED,UAAU;QACR,IAAI,CAAC,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC;QAC5C,IAAI,CAAC,IAAI,CAAC,WAAW,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;IACnC,CAAC;CACF;AAED,SAAS,iBAAiB,CAAC,QAA+B,EAAE,eAAwB;IAClF,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,QAAQ,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAC,CAAC;IACrE,OAAO;QACL,QAAQ,EAAE,QAAQ,CAAC,QAAQ;QAC3B,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;QACvB,gBAAgB,EAAE,IAAI;QACtB,eAAe,EAAE,CAAC,QAAQ,CAAC,SAAS,CAAC,CAAC,CAAC,GAAG,KAAK,EAAE,QAAQ,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,QAAQ,CAAC,SAAS,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC;QACrG,QAAQ,EAAE,QAAQ,CAAC,QAAQ;QAC3B,KAAK;QACL,eAAe;KAChB,CAAC;AACJ,CAAC;AAED,SAAS,QAAQ,CAAC,KAAa,EAAE,KAAa;IAC5C,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,IAAI,KAAK,IAAI,CAAC;QAAE,MAAM,IAAI,UAAU,CAAC,GAAG,KAAK,+BAA+B,CAAC,CAAC;IACzG,OAAO,KAAK,CAAC;AACf,CAAC;AAED,SAAS,YAAY,CAAC,KAAa;IACjC,OAAO,MAAM,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;AAC5C,CAAC"}

package/dist/physics/{VehicleDynamics.d.ts → ArcadeVehicleTelemetry.d.ts}

@@ -1,4 +1,4 @@
-export interface ArcadeVehicleDynamicsInput {
+export interface ArcadeVehicleTelemetryInput {
     readonly elapsedSeconds: number;
     readonly throttle?: number;
     readonly brake?: number;
@@ -11,7 +11,7 @@ export interface ArcadeVehicleDynamicsInput {
     readonly gripFactor?: number;
     readonly driftFactor?: number;
 }
-export interface ArcadeVehicleDynamicsSample {
+export interface ArcadeVehicleTelemetrySample {
     readonly speedKph: number;
     readonly rpm: number;
     readonly nitro: number;
@@ -143,10 +143,20 @@ export interface VehicleDamageSample {
     readonly visualDamageLevel: "none" | "scratched" | "dented" | "critical";
     readonly disabled: boolean;
 }
-export declare function sampleArcadeVehicleDynamics(input: ArcadeVehicleDynamicsInput): ArcadeVehicleDynamicsSample;
+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=VehicleDynamics.d.ts.map
+//# sourceMappingURL=ArcadeVehicleTelemetry.d.ts.map

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

@@ -0,0 +1 @@
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package/dist/physics/{VehicleDynamics.js → ArcadeVehicleTelemetry.js}

@@ -1,4 +1,4 @@
-export function sampleArcadeVehicleDynamics(input) {
+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);
@@ -167,6 +167,19 @@ export function sampleRacingAiDriver(input) {
         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");
@@ -200,14 +213,28 @@ export function samplePacejkaTireForces(input) {
     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;
-    const lateralPure = pacejka(slipAngle * 180 / Math.PI, lateral.value) * normalForce * loadFactor * clamp(1 + camberAngle * 0.1, 0.75, 1.15);
+    /*
+     * 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;
-    const torqueCoeff = -pneumaticTrail * clamp(1 - Math.abs(slipAngle * 180 / Math.PI) / 20, 0, 1);
+    // 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)),
@@ -223,7 +250,7 @@ export function samplePacejkaTireForces(input) {
 }
 function validateGearRatios(values) {
     if (values.length === 0) {
-        throw new RangeError("VehicleDynamics gearRatios must contain at least one ratio.");
+        throw new RangeError("Arcade vehicle telemetry gearRatios must contain at least one ratio.");
     }
     return values.map((value, index) => positive(value, `gearRatios[${index}]`));
 }
@@ -277,19 +304,19 @@ function suspensionFor(steer, speedRatio, driftSlip) {
 }
 function finite(value, label) {
     if (!Number.isFinite(value)) {
-        throw new RangeError(`VehicleDynamics ${label} must be finite.`);
+        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(`VehicleDynamics ${label} must be finite and non-negative.`);
+        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(`VehicleDynamics ${label} must be finite and positive.`);
+        throw new RangeError(`Arcade vehicle telemetry ${label} must be finite and positive.`);
     }
     return value;
 }
@@ -327,9 +354,10 @@ function optimalSlipRatio(coeff) {
     return Math.min(Math.tan(Math.PI / (2 * coeff.c)) / coeff.b, 0.2);
 }
 function optimalSlipAngle(coeff) {
-    return Math.min((Math.tan(Math.PI / (2 * coeff.c)) / coeff.b) * Math.PI / 180, 0.3);
+    // 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=VehicleDynamics.js.map
+//# sourceMappingURL=ArcadeVehicleTelemetry.js.map

package/dist/physics/ArcadeVehicleTelemetry.js.map

@@ -0,0 +1 @@
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package/dist/physics/Constraint.d.ts

@@ -1,6 +1,6 @@
 import { type Vec3 } from "./Shape.js";
 import type { RigidBody } from "./RigidBody.js";
-export type ConstraintType = "fixed" | "hinge" | "slider" | "spring";
+export type ConstraintType = "fixed" | "hinge" | "slider" | "spring" | "ball-socket" | "motorised-hinge";
 export type ConstraintDescriptor = {
     readonly type: ConstraintType;
     readonly bodyA: RigidBody;
@@ -10,6 +10,14 @@ export type ConstraintDescriptor = {
     readonly restLength?: number;
     readonly stiffness?: number;
     readonly axis?: Vec3;
+    /** Spring damping ratio, `spring` only. */
+    readonly damping?: number;
+    /** Target angular speed in rad/s, `motorised-hinge` only. */
+    readonly motorSpeed?: number;
+    /** Maximum torque the motor may apply, `motorised-hinge` only. */
+    readonly maxMotorTorque?: number;
+    /** Angular limits in radians, hinge kinds only. */
+    readonly limits?: readonly [number, number];
 };
 export declare class Constraint {
     readonly type: ConstraintType;
@@ -21,11 +29,19 @@ export declare class Constraint {
     readonly restLength: number;
     readonly stiffness: number;
     readonly axis: Vec3;
+    readonly damping: number;
+    readonly maxMotorTorque: number;
+    readonly limits: readonly [number, number] | undefined;
+    private motorSpeedValue;
+    private enabled;
     constructor(descriptor: ConstraintDescriptor);
-    solve(): void;
+    /** `motorised-hinge` only: change the driven speed at runtime. */
+    setMotorSpeed(speed: number): void;
+    motorSpeed(): number;
+    /** Turn the constraint off without destroying it. */
+    setEnabled(enabled: boolean): void;
+    isEnabled(): boolean;
     private anchorAWorld;
     private anchorBWorld;
-    private applyError;
-    private applyVelocityError;
 }
 //# sourceMappingURL=Constraint.d.ts.map

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

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