@aura3d/physics 1.5.2 → 2.0.0

package/dist/VehicleDynamics.d.ts.map

@@ -1 +1 @@
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package/dist/VehicleDynamics.js

@@ -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)),
@@ -327,7 +354,8 @@ 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));

package/dist/VehicleDynamics.js.map

@@ -1 +1 @@
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package/dist/VehicleMotion.d.ts

@@ -0,0 +1,125 @@
+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/VehicleMotion.d.ts.map

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