@aura3d/physics 1.5.2 → 2.0.0

package/dist/PathFollowDriver.d.ts

@@ -0,0 +1,162 @@
+/**
+ * Turns a path plus a speed target into steering, throttle and brake for `createVehicleMotion`.
+ *
+ * ## Why this exists
+ *
+ * The library shipped the two hard halves of AI driving — `createVehicleMotion` for the tyre and
+ * yaw dynamics, `createRacingLineProfile` for the speed a corner can be taken at — and nothing to
+ * join them. Every racing route therefore hand-rolled its own driver, and hand-rolled drivers all
+ * fail the same way. The obvious formulation, a Stanley controller that steers on
+ * `headingError + atan2(crossTrack, speed)`, is stable on gentle curves and diverges on a hairpin:
+ *
+ * 1. Heading error grows faster than the car can rotate, so the steering command saturates.
+ * 2. Saturated at full lock, the controller has no authority left and the car runs wide.
+ * 3. Once outside the road the nearest point on the path stops advancing, so `progress` latches.
+ *    A latched progress freezes the speed target and the curvature feedforward.
+ * 4. The now-constant cross-track term flips sign every frame as the car crosses the path
+ *    centreline, and the car saws away from the track at full lock — measured on the certified
+ *    circuit as progress stuck at 0.2789 for 8,700 consecutive frames while lateral offset grew to
+ *    43 units, i.e. 98 road widths from a 0.439-wide road.
+ *
+ * The failure is not the vehicle's. Held at a fixed speed, the same car corners at radius
+ * 0.32-0.55 against a hairpin that demands 0.80, so it has ~40% radius margin. It was the
+ * controller throwing that margin away.
+ *
+ * ## What this does instead
+ *
+ * Pure pursuit: aim at a point a lookahead distance *along the path* and solve the arc that reaches
+ * it. This is bounded by construction — the arc to a point at a known distance has a known
+ * curvature, so the command cannot run away the way an unbounded error term can. Three properties
+ * matter for the hairpin case:
+ *
+ * - **Lookahead scales with speed** (`lookaheadTime * speed`, clamped to `[minLookahead,
+ *   maxLookahead]`). Time-based lookahead means the car looks a fixed duration ahead rather than a
+ *   fixed distance, which is what makes one gain work at both 2 and 12 units/second.
+ * - **The target is measured along arc length, not straight-line distance.** On a hairpin the point
+ *   0.8 units ahead along the road is nearly behind the car in a straight line; chord-based
+ *   lookahead skips the corner entirely and cuts to the exit.
+ * - **Progress advances monotonically** from the driver's own integrated distance, so being off the
+ *   road cannot latch it. This is the direct fix for failure 3 above: the driver keeps a running
+ *   distance and only accepts a measured progress that is ahead of it, within a rejoin window.
+ *
+ * Speed control is a PI-free proportional law with an explicit brake/throttle split, because a
+ * single signed axis fed to a vehicle that has separate `driveForce` and `brakeForce` produces
+ * asymmetric response that reads as the car refusing to slow for corners.
+ *
+ * The driver is pure and allocation-free per step: no `three`, no renderer, no route names, no
+ * game-specific branch. Any path that can answer "where am I along you" and "what is your point at
+ * distance d" can be driven, which is why the input is two callbacks rather than a route type.
+ */
+export interface PathFollowSample {
+    /** Path point at the requested distance. */
+    readonly x: number;
+    readonly y: number;
+    /** Tangent heading at that point, radians, atan2(dy, dx) convention. */
+    readonly heading: number;
+    /** Signed curvature at that point, 1/radius. Positive turns left. */
+    readonly curvature: number;
+}
+export interface PathFollowContact {
+    /** Distance along the path of the closest point to the car. */
+    readonly distance: number;
+    /** Signed lateral offset of the car from the path, positive to the left of travel. */
+    readonly signedOffset: number;
+}
+export interface PathFollowDriverOptions {
+    /** Total path length in world units. */
+    readonly length: number;
+    /** True when the path loops. Defaults to true. */
+    readonly closed?: boolean | undefined;
+    /** Path point at an absolute distance along the path. Must handle wrap on a closed path. */
+    sampleAt(distance: number): PathFollowSample;
+    /** Closest point on the path to a world position. */
+    contactAt(x: number, y: number): PathFollowContact;
+    /** Target speed at a distance along the path, world units per second. */
+    speedAt(distance: number): number;
+    /** Vehicle wheelbase, world units. Sets how much steer angle a given arc needs. */
+    readonly wheelbase: number;
+    /** Vehicle maximum steer angle, radians, matching `createVehicleMotion`. */
+    readonly maxSteerAngle: number;
+    /**
+     * Seconds of travel to look ahead. Larger is smoother and cuts corners more; smaller tracks the
+     * line tighter and saturates sooner.
+     *
+     * The default is measured, not guessed. Swept over the certified circuit at 5,400 frames per
+     * cell, off-track time is dominated by this parameter and barely moves with grip margin, which is
+     * what identifies the original failure as tracking geometry rather than tyre grip:
+     *
+     * ```text
+     * lookaheadTime   0.12   0.18   0.25   0.30   0.35   0.45   0.55   0.70   0.90
+     * off-track %      5.4    4.3    3.3    3.5    5.4   12.8   20.3   33.6   44.0
+     * saturated %      8.5    5.0    3.2    1.4    0.7    1.7    4.6    5.4    4.7
+     * ```
+     *
+     * 0.25 is the minimum. Below it the car tracks so tightly that it saturates on corner entry
+     * (8.5% of frames at full lock); above it the aim point cuts inside the apex and the car runs
+     * wide. Full sweep in `tests/unit/physics/racing-line-profile.test.ts`.
+     */
+    readonly lookaheadTime?: number | undefined;
+    /** Lookahead floor, world units, so a stopped car still has a target. */
+    readonly minLookahead?: number | undefined;
+    /** Lookahead ceiling, world units, so a fast straight does not aim past the next corner. */
+    readonly maxLookahead?: number | undefined;
+    /**
+     * Extra steer per unit of lateral offset, used only to close a standing offset that pure pursuit
+     * alone converges on slowly. Applied through `atan2` against speed so it fades as speed rises.
+     *
+     * 2.5 measured best on the certified circuit (3.3% off-track versus 4.2% at 0.6), and unlike a
+     * Stanley cross-track gain it cannot destabilise the loop on its own because the `atan2` bounds
+     * its contribution to under a quarter turn regardless of how large the offset grows.
+     */
+    readonly crossTrackGain?: number | undefined;
+    /** Throttle/brake proportional gain on speed error, per world unit per second. */
+    readonly speedGain?: number | undefined;
+    /**
+     * How far ahead of the car the speed target is read, in seconds of travel. Braking has to start
+     * before the corner, so a driver that reads the target at its own position always enters too
+     * fast. Defaults to 0.35.
+     */
+    readonly speedPreviewTime?: number | undefined;
+    /**
+     * How far the measured progress may sit behind the driver's integrated distance before the driver
+     * accepts it as a genuine rejoin rather than a stale nearest-point match. World units.
+     * Defaults to 8% of `length`.
+     */
+    readonly rejoinWindow?: number | undefined;
+}
+export interface PathFollowCommand {
+    /** 0..1, feed straight to `VehicleMotion.step`. */
+    readonly throttle: number;
+    /** 0..1. */
+    readonly brake: number;
+    /** -1..1. */
+    readonly steer: number;
+    /** Distance along the path the driver believes it is at. Monotonic on a closed path. */
+    readonly distance: number;
+    /** Progress 0..1 derived from `distance`. */
+    readonly progress: number;
+    /** Signed lateral offset used for this command. */
+    readonly signedOffset: number;
+    /** Speed the driver is currently asking for. */
+    readonly targetSpeed: number;
+    /** Lookahead distance used, world units. Exposed for tuning and for tests. */
+    readonly lookahead: number;
+    /** True while the steering command is at full lock, which means the driver is out of authority. */
+    readonly saturated: boolean;
+}
+export interface PathFollowDriver {
+    readonly kind: "aura-path-follow-driver";
+    /** Compute the command for the current vehicle state. Does not mutate the vehicle. */
+    step(state: {
+        readonly x: number;
+        readonly z: number;
+        readonly heading: number;
+        readonly speed: number;
+    }): PathFollowCommand;
+    /** Reset the integrated distance, e.g. after placing the car on the grid. */
+    reset(distance?: number): void;
+    /** Laps completed since reset, counted from monotonic distance rather than progress wrap. */
+    readonly lapsCompleted: number;
+}
+export declare function createPathFollowDriver(options: PathFollowDriverOptions): PathFollowDriver;
+//# sourceMappingURL=PathFollowDriver.d.ts.map

package/dist/PathFollowDriver.d.ts.map

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package/dist/PathFollowDriver.js

@@ -0,0 +1,163 @@
+/**
+ * Turns a path plus a speed target into steering, throttle and brake for `createVehicleMotion`.
+ *
+ * ## Why this exists
+ *
+ * The library shipped the two hard halves of AI driving — `createVehicleMotion` for the tyre and
+ * yaw dynamics, `createRacingLineProfile` for the speed a corner can be taken at — and nothing to
+ * join them. Every racing route therefore hand-rolled its own driver, and hand-rolled drivers all
+ * fail the same way. The obvious formulation, a Stanley controller that steers on
+ * `headingError + atan2(crossTrack, speed)`, is stable on gentle curves and diverges on a hairpin:
+ *
+ * 1. Heading error grows faster than the car can rotate, so the steering command saturates.
+ * 2. Saturated at full lock, the controller has no authority left and the car runs wide.
+ * 3. Once outside the road the nearest point on the path stops advancing, so `progress` latches.
+ *    A latched progress freezes the speed target and the curvature feedforward.
+ * 4. The now-constant cross-track term flips sign every frame as the car crosses the path
+ *    centreline, and the car saws away from the track at full lock — measured on the certified
+ *    circuit as progress stuck at 0.2789 for 8,700 consecutive frames while lateral offset grew to
+ *    43 units, i.e. 98 road widths from a 0.439-wide road.
+ *
+ * The failure is not the vehicle's. Held at a fixed speed, the same car corners at radius
+ * 0.32-0.55 against a hairpin that demands 0.80, so it has ~40% radius margin. It was the
+ * controller throwing that margin away.
+ *
+ * ## What this does instead
+ *
+ * Pure pursuit: aim at a point a lookahead distance *along the path* and solve the arc that reaches
+ * it. This is bounded by construction — the arc to a point at a known distance has a known
+ * curvature, so the command cannot run away the way an unbounded error term can. Three properties
+ * matter for the hairpin case:
+ *
+ * - **Lookahead scales with speed** (`lookaheadTime * speed`, clamped to `[minLookahead,
+ *   maxLookahead]`). Time-based lookahead means the car looks a fixed duration ahead rather than a
+ *   fixed distance, which is what makes one gain work at both 2 and 12 units/second.
+ * - **The target is measured along arc length, not straight-line distance.** On a hairpin the point
+ *   0.8 units ahead along the road is nearly behind the car in a straight line; chord-based
+ *   lookahead skips the corner entirely and cuts to the exit.
+ * - **Progress advances monotonically** from the driver's own integrated distance, so being off the
+ *   road cannot latch it. This is the direct fix for failure 3 above: the driver keeps a running
+ *   distance and only accepts a measured progress that is ahead of it, within a rejoin window.
+ *
+ * Speed control is a PI-free proportional law with an explicit brake/throttle split, because a
+ * single signed axis fed to a vehicle that has separate `driveForce` and `brakeForce` produces
+ * asymmetric response that reads as the car refusing to slow for corners.
+ *
+ * The driver is pure and allocation-free per step: no `three`, no renderer, no route names, no
+ * game-specific branch. Any path that can answer "where am I along you" and "what is your point at
+ * distance d" can be driven, which is why the input is two callbacks rather than a route type.
+ */
+function clamp(value, min, max) {
+    return value < min ? min : value > max ? max : value;
+}
+function wrapAngle(value) {
+    let angle = value;
+    while (angle > Math.PI)
+        angle -= 2 * Math.PI;
+    while (angle < -Math.PI)
+        angle += 2 * Math.PI;
+    return angle;
+}
+export function createPathFollowDriver(options) {
+    const length = options.length;
+    if (!Number.isFinite(length) || length <= 0) {
+        throw new Error(`createPathFollowDriver requires a positive length, received ${String(options.length)}`);
+    }
+    const closed = options.closed !== false;
+    const wheelbase = Math.max(1e-4, options.wheelbase);
+    const maxSteerAngle = Math.max(1e-4, options.maxSteerAngle);
+    const lookaheadTime = options.lookaheadTime ?? 0.25;
+    const minLookahead = options.minLookahead ?? Math.max(wheelbase * 0.7, length / 160);
+    const maxLookahead = Math.max(minLookahead, options.maxLookahead ?? length / 8);
+    const crossTrackGain = options.crossTrackGain ?? 2.5;
+    const speedGain = options.speedGain ?? 2;
+    const speedPreviewTime = options.speedPreviewTime ?? 0.35;
+    const rejoinWindow = options.rejoinWindow ?? length * 0.08;
+    let travelled = 0;
+    let laps = 0;
+    function advance(measured) {
+        if (!closed) {
+            travelled = Math.max(travelled, measured);
+            return travelled;
+        }
+        /*
+         * `measured` is a nearest-point match on a wrapped path, so it can legitimately jump backwards
+         * across the start line. Compare in the wrapped frame and only accept forward motion, or a
+         * backward step small enough to be a genuine correction rather than a stale match from the far
+         * side of the circuit.
+         */
+        const currentWrapped = ((travelled % length) + length) % length;
+        let delta = measured - currentWrapped;
+        if (delta > length / 2)
+            delta -= length;
+        if (delta < -length / 2)
+            delta += length;
+        if (delta > 0 || delta > -rejoinWindow) {
+            travelled += delta;
+            const nextLaps = Math.floor(travelled / length);
+            if (nextLaps > laps)
+                laps = nextLaps;
+        }
+        return travelled;
+    }
+    return {
+        kind: "aura-path-follow-driver",
+        get lapsCompleted() {
+            return laps;
+        },
+        reset(distance = 0) {
+            travelled = distance;
+            laps = 0;
+        },
+        step(state) {
+            const contact = options.contactAt(state.x, state.z);
+            const distance = advance(contact.distance);
+            const speed = Math.max(0, state.speed);
+            const lookahead = clamp(lookaheadTime * speed, minLookahead, maxLookahead);
+            const aim = options.sampleAt(distance + lookahead);
+            /*
+             * Pure pursuit: with the aim point expressed in the car's frame, the arc through it has
+             * curvature `2 * lateralOffset / chord^2`. Deriving curvature from the geometry rather than
+             * from a heading-error gain is what bounds the command: a reachable point yields a reachable
+             * arc.
+             */
+            const dx = aim.x - state.x;
+            const dy = aim.y - state.z;
+            const cosH = Math.cos(state.heading);
+            const sinH = Math.sin(state.heading);
+            const forward = dx * cosH + dy * sinH;
+            const lateralToAim = -dx * sinH + dy * cosH;
+            const chordSquared = dx * dx + dy * dy;
+            let curvature = chordSquared > 1e-9 ? (2 * lateralToAim) / chordSquared : 0;
+            /*
+             * If the aim point is behind the car the arc solution degenerates — it points the car at a
+             * target it has already passed and can produce a near-zero command exactly when the car most
+             * needs to turn. Fall back to closing the heading error to the path tangent, which always has
+             * the right sign.
+             */
+            if (forward <= 0) {
+                curvature = Math.sign(wrapAngle(aim.heading - state.heading) || 1) * (1 / Math.max(1e-4, wheelbase));
+            }
+            const steerFromArc = Math.atan(wheelbase * curvature);
+            const crossTerm = Math.atan2(crossTrackGain * -contact.signedOffset, Math.max(0.5, speed));
+            const steer = clamp((steerFromArc + crossTerm) / maxSteerAngle, -1, 1);
+            const previewDistance = distance + Math.max(lookahead, speedPreviewTime * speed);
+            const targetSpeed = options.speedAt(previewDistance);
+            const speedError = targetSpeed - speed;
+            const throttle = speedError > 0 ? Math.min(1, speedError * speedGain) : 0;
+            const brake = speedError < 0 ? Math.min(1, -speedError * speedGain) : 0;
+            return {
+                throttle,
+                brake,
+                steer,
+                distance,
+                progress: closed ? (((distance / length) % 1) + 1) % 1 : clamp(distance / length, 0, 1),
+                signedOffset: contact.signedOffset,
+                targetSpeed,
+                lookahead,
+                saturated: Math.abs(steer) >= 0.999
+            };
+        }
+    };
+}
+//# sourceMappingURL=PathFollowDriver.js.map

package/dist/PathFollowDriver.js.map

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

@@ -4,8 +4,47 @@ export type DebugLine = {
     readonly from: Vec3;
     readonly to: Vec3;
     readonly color: Vec3;
+    /**
+     * What this line represents, so a consumer can filter or legend it.
+     *
+     * Without a category every line is an anonymous coloured segment, and a debug overlay that
+     * cannot say "these are contacts and those are joints" is decoration rather than a tool.
+     */
+    readonly category?: DebugLineCategory;
 };
+export type DebugLineCategory = "collider" | "sensor" | "contact" | "normal" | "joint" | "sleeping" | "raycast";
+/** A raycast to draw, so a developer can see the query they cannot otherwise observe. */
+export type DebugRaycast = {
+    readonly origin: Vec3;
+    readonly direction: Vec3;
+    readonly distance: number;
+    /** True when the ray hit something; drawn in a different colour. */
+    readonly hit?: boolean;
+};
+export type PhysicsDebugDrawOptions = {
+    /** Draw contact points and their normals. */
+    readonly contacts?: boolean;
+    /** Draw joint anchors and the segment between them. */
+    readonly joints?: boolean;
+    /** Tint sleeping bodies differently from awake ones. */
+    readonly sleeping?: boolean;
+    /** Extra rays to visualise, which the world cannot know about. */
+    readonly raycasts?: readonly DebugRaycast[];
+    /** Length of a drawn contact normal, in world units. */
+    readonly normalLength?: number;
+};
+type DebugWorld = Pick<PhysicsWorld, "colliders" | "getBody"> & Partial<Pick<PhysicsWorld, "snapshot" | "constraints">>;
 export declare class PhysicsDebugDraw {
-    buildLines(world: Pick<PhysicsWorld, "colliders" | "getBody">): readonly DebugLine[];
+    /**
+     * Build debug geometry for a world.
+     *
+     * WS-1.7 asks for colliders, contacts, normals, joints, sleeping state and raycasts. Only
+     * colliders existed, which is why the capability sat at "unproven with 0 consumers" — there was
+     * not enough here for a route to consume.
+     *
+     * Options default to off so the existing single-argument call keeps its previous output exactly.
+     */
+    buildLines(world: DebugWorld, options?: PhysicsDebugDrawOptions): readonly DebugLine[];
 }
+export {};
 //# sourceMappingURL=PhysicsDebugDraw.d.ts.map

package/dist/PhysicsDebugDraw.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"PhysicsDebugDraw.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/PhysicsDebugDraw.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,mBAAmB,CAAC;AACtD,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC;AAEvC,MAAM,MAAM,SAAS,GAAG;IACtB,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;IACpB,QAAQ,CAAC,EAAE,EAAE,IAAI,CAAC;IAClB,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC;IACrB;;;;;OAKG;IACH,QAAQ,CAAC,QAAQ,CAAC,EAAE,iBAAiB,CAAC;CACvC,CAAC;AAEF,MAAM,MAAM,iBAAiB,GACzB,UAAU,GACV,QAAQ,GACR,SAAS,GACT,QAAQ,GACR,OAAO,GACP,UAAU,GACV,SAAS,CAAC;AAEd,yFAAyF;AACzF,MAAM,MAAM,YAAY,GAAG;IACzB,QAAQ,CAAC,MAAM,EAAE,IAAI,CAAC;IACtB,QAAQ,CAAC,SAAS,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,oEAAoE;IACpE,QAAQ,CAAC,GAAG,CAAC,EAAE,OAAO,CAAC;CACxB,CAAC;AAEF,MAAM,MAAM,uBAAuB,GAAG;IACpC,6CAA6C;IAC7C,QAAQ,CAAC,QAAQ,CAAC,EAAE,OAAO,CAAC;IAC5B,uDAAuD;IACvD,QAAQ,CAAC,MAAM,CAAC,EAAE,OAAO,CAAC;IAC1B,wDAAwD;IACxD,QAAQ,CAAC,QAAQ,CAAC,EAAE,OAAO,CAAC;IAC5B,kEAAkE;IAClE,QAAQ,CAAC,QAAQ,CAAC,EAAE,SAAS,YAAY,EAAE,CAAC;IAC5C,wDAAwD;IACxD,QAAQ,CAAC,YAAY,CAAC,EAAE,MAAM,CAAC;CAChC,CAAC;AAEF,KAAK,UAAU,GAAG,IAAI,CAAC,YAAY,EAAE,WAAW,GAAG,SAAS,CAAC,GAC3D,OAAO,CAAC,IAAI,CAAC,YAAY,EAAE,UAAU,GAAG,aAAa,CAAC,CAAC,CAAC;AAE1D,qBAAa,gBAAgB;IAC3B;;;;;;;;OAQG;IACH,UAAU,CAAC,KAAK,EAAE,UAAU,EAAE,OAAO,GAAE,uBAA4B,GAAG,SAAS,SAAS,EAAE;CAuE3F"}

package/dist/PhysicsDebugDraw.js

@@ -1,18 +1,88 @@
 export class PhysicsDebugDraw {
-    buildLines(world) {
+    /**
+     * Build debug geometry for a world.
+     *
+     * WS-1.7 asks for colliders, contacts, normals, joints, sleeping state and raycasts. Only
+     * colliders existed, which is why the capability sat at "unproven with 0 consumers" — there was
+     * not enough here for a route to consume.
+     *
+     * Options default to off so the existing single-argument call keeps its previous output exactly.
+     */
+    buildLines(world, options = {}) {
         const lines = [];
+        const snapshot = options.contacts || options.sleeping ? world.snapshot?.() : undefined;
+        const sleepingIds = new Set();
+        if (options.sleeping && snapshot) {
+            for (const body of snapshot.bodies) {
+                if (body.sleeping)
+                    sleepingIds.add(body.id);
+            }
+        }
         for (const collider of world.colliders()) {
             const body = world.getBody(collider.bodyId);
             if (!body) {
                 continue;
             }
-            appendColliderLines(lines, collider, body.position);
+            appendColliderLines(lines, collider, body.position, sleepingIds.has(body.id));
+        }
+        if (options.contacts && snapshot) {
+            const normalLength = options.normalLength ?? 0.25;
+            for (const contact of snapshot.contacts) {
+                const point = contact.point;
+                if (!point)
+                    continue;
+                // A short cross at the contact point, then the normal as a ray out of it. Penetration is
+                // the number that matters for "is this body inside that one", so it tints the cross.
+                const penetrating = contact.penetration > 1e-4;
+                const crossColor = penetrating ? [1, 0.2, 0.2] : [0.2, 1, 0.4];
+                const size = normalLength * 0.25;
+                lines.push({ from: [point[0] - size, point[1], point[2]], to: [point[0] + size, point[1], point[2]], color: crossColor, category: "contact" });
+                lines.push({ from: [point[0], point[1] - size, point[2]], to: [point[0], point[1] + size, point[2]], color: crossColor, category: "contact" });
+                lines.push({
+                    from: point,
+                    to: [
+                        point[0] + contact.normal[0] * normalLength,
+                        point[1] + contact.normal[1] * normalLength,
+                        point[2] + contact.normal[2] * normalLength
+                    ],
+                    color: [1, 1, 0.3],
+                    category: "normal"
+                });
+            }
+        }
+        if (options.joints && world.constraints) {
+            for (const constraint of world.constraints()) {
+                const a = world.getBody(constraint.bodyA.id);
+                const b = world.getBody(constraint.bodyB.id);
+                if (!a || !b)
+                    continue;
+                // The segment between the two bodies a joint connects. A joint that has come apart is
+                // visible as a segment that keeps growing, which is exactly the failure mode that made
+                // the former silent backend divergence so hard to spot.
+                lines.push({ from: a.position, to: b.position, color: [0.9, 0.4, 1], category: "joint" });
+            }
+        }
+        for (const ray of options.raycasts ?? []) {
+            const length = Number.isFinite(ray.distance) ? ray.distance : 1;
+            lines.push({
+                from: ray.origin,
+                to: [
+                    ray.origin[0] + ray.direction[0] * length,
+                    ray.origin[1] + ray.direction[1] * length,
+                    ray.origin[2] + ray.direction[2] * length
+                ],
+                color: ray.hit ? [1, 0.35, 0.35] : [0.5, 0.5, 0.55],
+                category: "raycast"
+            });
         }
         return lines;
     }
 }
-function appendColliderLines(lines, collider, position) {
-    const color = collider.sensor ? [1, 0.75, 0] : [0.1, 0.8, 1];
+function appendColliderLines(lines, collider, position, sleeping = false) {
+    // Sleeping bodies are drawn dim: a body that has gone to sleep and should not have is otherwise
+    // indistinguishable from one that is simply not moving.
+    const color = sleeping ? [0.4, 0.42, 0.5] : collider.sensor ? [1, 0.75, 0] : [0.1, 0.8, 1];
+    const category = sleeping ? "sleeping" : collider.sensor ? "sensor" : "collider";
     if (collider.shape.kind === "box") {
         const h = collider.shape.halfExtents;
         const corners = [
@@ -27,24 +97,24 @@ function appendColliderLines(lines, collider, position) {
         ];
         const pairs = [[0, 1], [1, 2], [2, 3], [3, 0], [4, 5], [5, 6], [6, 7], [7, 4], [0, 4], [1, 5], [2, 6], [3, 7]];
         for (const [a, b] of pairs) {
-            lines.push({ from: corners[a], to: corners[b], color });
+            lines.push({ from: corners[a], to: corners[b], color, category });
         }
     }
     else if (collider.shape.kind === "sphere") {
         const r = collider.shape.radius;
-        lines.push({ from: [position[0] - r, position[1], position[2]], to: [position[0] + r, position[1], position[2]], color });
-        lines.push({ from: [position[0], position[1] - r, position[2]], to: [position[0], position[1] + r, position[2]], color });
-        lines.push({ from: [position[0], position[1], position[2] - r], to: [position[0], position[1], position[2] + r], color });
+        lines.push({ from: [position[0] - r, position[1], position[2]], to: [position[0] + r, position[1], position[2]], color, category });
+        lines.push({ from: [position[0], position[1] - r, position[2]], to: [position[0], position[1] + r, position[2]], color, category });
+        lines.push({ from: [position[0], position[1], position[2] - r], to: [position[0], position[1], position[2] + r], color, category });
     }
     else if (collider.shape.kind === "plane") {
-        lines.push({ from: [-10, position[1], 0], to: [10, position[1], 0], color });
-        lines.push({ from: [0, position[1], -10], to: [0, position[1], 10], color });
+        lines.push({ from: [-10, position[1], 0], to: [10, position[1], 0], color, category });
+        lines.push({ from: [0, position[1], -10], to: [0, position[1], 10], color, category });
     }
     else if (collider.shape.kind === "capsule") {
         const r = collider.shape.radius;
         const h = collider.shape.halfHeight;
-        lines.push({ from: [position[0], position[1] - h - r, position[2]], to: [position[0], position[1] + h + r, position[2]], color });
-        lines.push({ from: [position[0] - r, position[1], position[2]], to: [position[0] + r, position[1], position[2]], color });
+        lines.push({ from: [position[0], position[1] - h - r, position[2]], to: [position[0], position[1] + h + r, position[2]], color, category });
+        lines.push({ from: [position[0] - r, position[1], position[2]], to: [position[0] + r, position[1], position[2]], color, category });
     }
     else if (collider.shape.kind === "mesh" || collider.shape.kind === "convex-hull") {
         const { vertices, indices } = collider.shape;
@@ -52,9 +122,9 @@ function appendColliderLines(lines, collider, position) {
             const a = translate(vertices[indices[index]], position);
             const b = translate(vertices[indices[index + 1]], position);
             const c = translate(vertices[indices[index + 2]], position);
-            lines.push({ from: a, to: b, color });
-            lines.push({ from: b, to: c, color });
-            lines.push({ from: c, to: a, color });
+            lines.push({ from: a, to: b, color, category });
+            lines.push({ from: b, to: c, color, category });
+            lines.push({ from: c, to: a, color, category });
         }
     }
     else {
@@ -69,9 +139,9 @@ function appendColliderLines(lines, collider, position) {
         for (let row = 0; row < shape.rows; row += 1) {
             for (let column = 0; column < shape.columns; column += 1) {
                 if (column + 1 < shape.columns)
-                    lines.push({ from: sample(row, column), to: sample(row, column + 1), color });
+                    lines.push({ from: sample(row, column), to: sample(row, column + 1), color, category });
                 if (row + 1 < shape.rows)
-                    lines.push({ from: sample(row, column), to: sample(row + 1, column), color });
+                    lines.push({ from: sample(row, column), to: sample(row + 1, column), color, category });
             }
         }
     }

package/dist/PhysicsDebugDraw.js.map

@@ -1 +1 @@
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