@aura3d/engine 2.0.0 → 2.0.2

package/dist/physics/VehicleDynamics.js

@@ -1,363 +0,0 @@
-export function sampleArcadeVehicleDynamics(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("VehicleDynamics 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(`VehicleDynamics ${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.`);
-    }
-    return value;
-}
-function positive(value, label) {
-    if (!Number.isFinite(value) || value <= 0) {
-        throw new RangeError(`VehicleDynamics ${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=VehicleDynamics.js.map

package/dist/physics/VehicleDynamics.js.map

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

@@ -1,125 +0,0 @@
-import { type PacejkaTirePreset } from "./VehicleDynamics.js";
-/**
- * Force-based planar vehicle motion.
- *
- * ## The gap this closes
- *
- * `samplePacejkaTireForce` is a real tyre model — slip ratio, slip angle, load-sensitive
- * grip, a combined-slip friction circle and aligning torque. It had **zero consumers**.
- * Meanwhile the racing kit drove a kinematic 2D point: heading integrated straight from
- * steering input, speed from a throttle curve, and a `driftSlip` fudge factor standing in
- * for lateral dynamics. Those two facts together are why `vehicle dynamics` claimed
- * `exceed` while the car behaved like a sprite sliding on a plane.
- *
- * This module is the missing middle. It takes throttle, brake and steering, asks the tyre
- * model for forces at each axle, and integrates the body's planar state from those forces.
- * That produces the behaviours a kinematic point cannot:
- *
- * - **Understeer**: front slip angle saturates, so the car runs wide of where it is pointed.
- * - **Wheelspin**: excess drive torque exceeds available longitudinal grip.
- * - **Weight transfer**: braking loads the front axle and unloads the rear.
- * - **Grip sensitivity**: a low-grip surface reduces available force rather than being a
- *   cosmetic multiplier on a scripted speed.
- */
-export interface VehicleMotionSpec {
-    /** Total mass in kilograms. */
-    readonly mass: number;
-    /** Distance between axles, world units. */
-    readonly wheelbase: number;
-    /** Fraction of the wheelbase from the front axle to the centre of mass, 0..1. */
-    readonly frontWeightBias?: number | undefined;
-    /** Centre-of-mass height, which sets how much load transfers under braking. */
-    readonly centreOfMassHeight?: number | undefined;
-    /** Peak steering angle at the roadwheel, radians. */
-    readonly maxSteerAngle?: number | undefined;
-    /** Drive force at full throttle, newtons. */
-    readonly driveForce?: number | undefined;
-    /** Brake force at full brake, newtons. */
-    readonly brakeForce?: number | undefined;
-    /** Tyre compound. */
-    readonly tirePreset?: PacejkaTirePreset | undefined;
-    /** Aerodynamic drag coefficient, lumped. */
-    readonly dragCoefficient?: number | undefined;
-    /** Rolling resistance coefficient. */
-    readonly rollingResistance?: number | undefined;
-    /** Yaw inertia. Defaults to a plausible value derived from mass and wheelbase. */
-    readonly yawInertia?: number | undefined;
-    /**
-     * Gravitational acceleration expressed in the same length unit as `wheelbase` and the
-     * positions this integrator reports, per second squared. Defaults to `9.81`.
-     *
-     * This exists because gravity is the only place a force model silently assumes a length
-     * unit. Every corner speed this model can hold is bounded by `sqrt(mu * gravity * radius)`,
-     * so hardcoding 9.81 does not mean "SI" — it means "one world unit is one metre", and it
-     * makes the integrator unusable for any route authored at another scale. A circuit authored
-     * in game units where one unit is 0.352 scene units has an effective gravity of
-     * `9.81 / 0.352`, and with 9.81 assumed instead the same geometry demands roughly 2.8x the
-     * lateral grip that physically exists. The car then understeers off the outside of every
-     * corner, which reads as "the physics is broken" when the real fault is that the caller was
-     * never given a way to state its units.
-     *
-     * Pass `sceneGravity / sceneUnitsPerWorldUnit` to run in authored units.
-     */
-    readonly gravity?: number | undefined;
-}
-export interface VehicleMotionInput {
-    /** 0..1 */
-    readonly throttle?: number | undefined;
-    /** 0..1 */
-    readonly brake?: number | undefined;
-    /** -1..1, scaled by `maxSteerAngle`. */
-    readonly steer?: number | undefined;
-    /** 0..1 grip multiplier from the surface under the car. */
-    readonly grip?: number | undefined;
-    /** Handbrake locks the rear axle, which is how a drift is initiated. */
-    readonly handbrake?: boolean | undefined;
-}
-export interface VehicleMotionState {
-    readonly x: number;
-    readonly z: number;
-    readonly heading: number;
-    /** Forward speed in the body frame. */
-    readonly speed: number;
-    /** Lateral speed in the body frame. Non-zero means the car is sliding. */
-    readonly lateralSpeed: number;
-    readonly yawRate: number;
-}
-export interface VehicleMotionSample extends VehicleMotionState {
-    /** Slip angle at the front axle, radians. */
-    readonly frontSlipAngle: number;
-    readonly rearSlipAngle: number;
-    /** Longitudinal slip ratio at the driven axle. */
-    readonly slipRatio: number;
-    /** True when drive torque exceeds available longitudinal grip. */
-    readonly wheelspin: boolean;
-    /**
-     * True when the front tyres have saturated, so the car runs wide of its heading.
-     *
-     * This is the diagnostic a kinematic model cannot produce: with heading integrated
-     * directly from steering input, the car always goes exactly where it points.
-     */
-    readonly understeering: boolean;
-    readonly oversteering: boolean;
-    /** Normal load per axle in newtons, after transfer. */
-    readonly frontLoad: number;
-    readonly rearLoad: number;
-    /** Total lateral acceleration in g, the number a driver actually feels. */
-    readonly lateralG: number;
-}
-export interface VehicleMotionIntegrator {
-    readonly kind: "aura-vehicle-motion";
-    readonly spec: Required<Omit<VehicleMotionSpec, never>>;
-    step(dt: number, input: VehicleMotionInput): VehicleMotionSample;
-    /**
-     * The current state, including the derived tyre and load diagnostics from the last step.
-     *
-     * This returns the full sample rather than the bare pose: a caller reading `state()` before
-     * its first `step()` still needs `lateralG`, `frontLoad` and the slip angles to drive a HUD
-     * or a camera, and narrowing the return type forced route code to either cast or duplicate
-     * the derived maths locally.
-     */
-    state(): VehicleMotionSample;
-    reset(state?: Partial<VehicleMotionState>): VehicleMotionSample;
-}
-export declare function createVehicleMotion(spec: VehicleMotionSpec): VehicleMotionIntegrator;
-//# sourceMappingURL=VehicleMotion.d.ts.map

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

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