@aura3d/physics 1.5.2 → 2.0.1

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

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package/dist/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/ArcadeCharacterController.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"ArcadeVehicleTelemetry.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/ArcadeVehicleTelemetry.ts"],"names":[],"mappings":"AAAA,MAAM,WAAW,2BAA2B;IAC1C,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,SAAS,CAAC,EAAE,OAAO,CAAC;IAC7B,QAAQ,CAAC,KAAK,CAAC,EAAE,OAAO,CAAC;IACzB,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,YAAY,CAAC,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;CAC/B;AAED,MAAM,WAAW,4BAA4B;IAC3C,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,GAAG,EAAE,MAAM,CAAC;IACrB,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,qBAAqB,EAAE,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;CAC3E;AAED,MAAM,MAAM,iBAAiB,GAAG,QAAQ,GAAG,OAAO,GAAG,QAAQ,GAAG,SAAS,CAAC;AAC1E,MAAM,MAAM,kBAAkB,GAAG,MAAM,GAAG,QAAQ,GAAG,MAAM,CAAC;AAC5D,MAAM,MAAM,sBAAsB,GAAG,MAAM,GAAG,cAAc,GAAG,QAAQ,GAAG,YAAY,CAAC;AAEvF,MAAM,WAAW,uBAAuB;IACtC,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;IACnB,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;IACnB,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;IACnB,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;CACpB;AAED,MAAM,WAAW,qBAAqB;IACpC,QAAQ,CAAC,oBAAoB,EAAE,MAAM,CAAC;IACtC,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,eAAe,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,OAAO,CAAC,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,iBAAiB,CAAC,EAAE,MAAM,CAAC;IACpC,QAAQ,CAAC,YAAY,CAAC,EAAE,uBAAuB,GAAG,iBAAiB,CAAC;IACpE,QAAQ,CAAC,OAAO,CAAC,EAAE,uBAAuB,GAAG,iBAAiB,CAAC;CAChE;AAED,MAAM,WAAW,sBAAsB;IACrC,QAAQ,CAAC,iBAAiB,EAAE,MAAM,CAAC;IACnC,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,gBAAgB,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,gBAAgB,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,MAAM,EAAE;QACf,QAAQ,CAAC,YAAY,EAAE,iBAAiB,GAAG,QAAQ,CAAC;QACpD,QAAQ,CAAC,OAAO,EAAE,iBAAiB,GAAG,QAAQ,CAAC;KAChD,CAAC;CACH;AAED,MAAM,WAAW,mBAAmB;IAClC,QAAQ,CAAC,UAAU,CAAC,EAAE,kBAAkB,CAAC;IACzC,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,gBAAgB,CAAC,EAAE,MAAM,CAAC;IACnC,QAAQ,CAAC,aAAa,CAAC,EAAE,OAAO,CAAC;IACjC,QAAQ,CAAC,gBAAgB,CAAC,EAAE,MAAM,CAAC;CACpC;AAED,MAAM,WAAW,oBAAoB;IACnC,QAAQ,CAAC,UAAU,EAAE,kBAAkB,CAAC;IACxC,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,iBAAiB,EAAE,MAAM,CAAC;IACnC,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,UAAU,EAAE,OAAO,CAAC;IAC7B,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,eAAe,EAAE,MAAM,CAAC;CAClC;AAED,MAAM,WAAW,sBAAsB;IACrC,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,UAAU,CAAC,EAAE,SAAS,MAAM,EAAE,CAAC;IACxC,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,OAAO,CAAC,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,YAAY,CAAC,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,YAAY,CAAC,EAAE,sBAAsB,CAAC;IAC/C,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,QAAQ,CAAC,aAAa,CAAC,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,oBAAoB,CAAC,EAAE,MAAM,CAAC;CACxC;AAED,MAAM,WAAW,uBAAuB;IACtC,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;IAC9B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,UAAU,EAAE,MAAM,GAAG,SAAS,GAAG,WAAW,CAAC;IACtD,QAAQ,CAAC,YAAY,EAAE,sBAAsB,CAAC;CAC/C;AAED,MAAM,WAAW,yBAAyB;IACxC,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,SAAS,CAAC,EAAE,OAAO,CAAC;IAC7B,QAAQ,CAAC,WAAW,CAAC,EAAE,OAAO,CAAC;IAC/B,QAAQ,CAAC,aAAa,CAAC,EAAE,SAAS,CAAC,OAAO,EAAE,OAAO,EAAE,OAAO,EAAE,OAAO,CAAC,CAAC;CACxE;AAED,MAAM,WAAW,0BAA0B;IACzC,QAAQ,CAAC,cAAc,EAAE,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;IACnE,QAAQ,CAAC,kBAAkB,EAAE,MAAM,CAAC;IACpC,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,qBAAqB,EAAE,MAAM,CAAC;IACvC,QAAQ,CAAC,WAAW,EAAE,MAAM,GAAG,WAAW,GAAG,kBAAkB,GAAG,kBAAkB,CAAC;CACtF;AA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package/dist/{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/ArcadeVehicleTelemetry.js.map

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

@@ -1 +1 @@
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+{"version":3,"file":"Constraint.d.ts","sourceRoot":"","sources":["../../../../packages/physics/src/Constraint.ts"],"names":[],"mappings":"AAAA,OAAO,EAAyE,KAAK,IAAI,EAAE,MAAM,YAAY,CAAC;AAC9G,OAAO,KAAK,EAAE,SAAS,EAAE,MAAM,gBAAgB,CAAC;AAEhD,MAAM,MAAM,cAAc,GAAG,OAAO,GAAG,OAAO,GAAG,QAAQ,GAAG,QAAQ,GAAG,aAAa,GAAG,iBAAiB,CAAC;AAEzG,MAAM,MAAM,oBAAoB,GAAG;IACjC,QAAQ,CAAC,IAAI,EAAE,cAAc,CAAC;IAC9B,QAAQ,CAAC,KAAK,EAAE,SAAS,CAAC;IAC1B,QAAQ,CAAC,KAAK,EAAE,SAAS,CAAC;IAC1B,QAAQ,CAAC,YAAY,CAAC,EAAE,IAAI,CAAC;IAC7B,QAAQ,CAAC,YAAY,CAAC,EAAE,IAAI,CAAC;IAC7B,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,SAAS,CAAC,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,IAAI,CAAC,EAAE,IAAI,CAAC;IACrB,2CAA2C;IAC3C,QAAQ,CAAC,OAAO,CAAC,EAAE,MAAM,CAAC;IAC1B,6DAA6D;IAC7D,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,kEAAkE;IAClE,QAAQ,CAAC,cAAc,CAAC,EAAE,MAAM,CAAC;IACjC,mDAAmD;IACnD,QAAQ,CAAC,MAAM,CAAC,EAAE,SAAS,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;CAC7C,CAAC;AAEF,qBAAa,UAAU;IACrB,QAAQ,CAAC,IAAI,EAAE,cAAc,CAAC;IAC9B,QAAQ,CAAC,KAAK,EAAE,SAAS,CAAC;IAC1B,QAAQ,CAAC,KAAK,EAAE,SAAS,CAAC;IAC1B,QAAQ,CAAC,YAAY,EAAE,IAAI,CAAC;IAC5B,QAAQ,CAAC,YAAY,EAAE,IAAI,CAAC;IAC5B,QAAQ,CAAC,UAAU,EAAE,IAAI,CAAC;IAC1B,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;IACpB,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;IAChC,QAAQ,CAAC,MAAM,EAAE,SAAS,CAAC,MAAM,EAAE,MAAM,CAAC,GAAG,SAAS,CAAC;IACvD,OAAO,CAAC,eAAe,CAAS;IAChC,OAAO,CAAC,OAAO,CAAQ;gBAEX,UAAU,EAAE,oBAAoB;IAsC5C,kEAAkE;IAClE,aAAa,CAAC,KAAK,EAAE,MAAM,GAAG,IAAI;IAKlC,UAAU,IAAI,MAAM;IAIpB,qDAAqD;IACrD,UAAU,CAAC,OAAO,EAAE,OAAO,GAAG,IAAI;IAIlC,SAAS,IAAI,OAAO;IAIpB,OAAO,CAAC,YAAY;IAIpB,OAAO,CAAC,YAAY;CAGrB"}

package/dist/Constraint.js

@@ -1,4 +1,4 @@
-import { addVec3, dotVec3, normalizeVec3, rotateVec3ByQuat, scaleVec3, subVec3, validateFiniteVec3 } from "./Shape.js";
+import { addVec3, normalizeVec3, rotateVec3ByQuat, subVec3, validateFiniteVec3 } from "./Shape.js";
 export class Constraint {
     type;
     bodyA;
@@ -9,6 +9,11 @@ export class Constraint {
     restLength;
     stiffness;
     axis;
+    damping;
+    maxMotorTorque;
+    limits;
+    motorSpeedValue;
+    enabled = true;
     constructor(descriptor) {
         if (descriptor.bodyA.id === descriptor.bodyB.id) {
             throw new Error("Constraint requires two different bodies.");
@@ -26,6 +31,19 @@ export class Constraint {
         this.restOffset = subVec3(anchorB, anchorA);
         this.restLength = descriptor.restLength ?? Math.hypot(this.restOffset[0], this.restOffset[1], this.restOffset[2]);
         this.stiffness = descriptor.stiffness ?? 1;
+        this.damping = descriptor.damping ?? 0;
+        this.motorSpeedValue = descriptor.motorSpeed ?? 0;
+        this.maxMotorTorque = descriptor.maxMotorTorque ?? Infinity;
+        this.limits = descriptor.limits;
+        if (this.limits && !(this.limits[0] <= this.limits[1])) {
+            throw new Error("Constraint limits must be ordered [lower, upper].");
+        }
+        if (descriptor.type === "motorised-hinge" && descriptor.motorSpeed === undefined) {
+            throw new Error("A motorised-hinge constraint requires motorSpeed.");
+        }
+        if (!Number.isFinite(this.damping) || this.damping < 0) {
+            throw new Error("Constraint damping must be finite and non-negative.");
+        }
         if (!Number.isFinite(this.restLength) || this.restLength < 0) {
             throw new Error("Constraint restLength must be finite and non-negative.");
         }
@@ -33,39 +51,21 @@ export class Constraint {
             throw new Error("Constraint stiffness must be in the [0, 1] range.");
         }
     }
-    solve() {
-        if (this.stiffness === 0) {
-            return;
-        }
-        if (this.type === "fixed") {
-            const currentOffset = subVec3(this.anchorBWorld(), this.anchorAWorld());
-            this.applyError(subVec3(currentOffset, this.restOffset));
-            this.applyVelocityError(subVec3(this.bodyB.velocity, this.bodyA.velocity));
-        }
-        else if (this.type === "hinge") {
-            this.applyError(subVec3(this.anchorBWorld(), this.anchorAWorld()));
-            this.applyVelocityError(subVec3(this.bodyB.velocity, this.bodyA.velocity));
-        }
-        else if (this.type === "slider") {
-            const currentOffset = subVec3(this.anchorBWorld(), this.anchorAWorld());
-            const projected = scaleVec3(this.axis, dotVec3(currentOffset, this.axis));
-            this.applyError(subVec3(currentOffset, projected));
-            const relativeVelocity = subVec3(this.bodyB.velocity, this.bodyA.velocity);
-            const projectedVelocity = scaleVec3(this.axis, dotVec3(relativeVelocity, this.axis));
-            this.applyVelocityError(subVec3(relativeVelocity, projectedVelocity));
-        }
-        else if (this.type === "spring") {
-            const currentOffset = subVec3(this.anchorBWorld(), this.anchorAWorld());
-            const currentLength = Math.hypot(currentOffset[0], currentOffset[1], currentOffset[2]);
-            if (currentLength <= 1e-9) {
-                return;
-            }
-            const lengthError = currentLength - this.restLength;
-            this.applyError(scaleVec3(currentOffset, lengthError / currentLength));
-            const relativeVelocity = subVec3(this.bodyB.velocity, this.bodyA.velocity);
-            const axis = scaleVec3(currentOffset, 1 / currentLength);
-            this.applyVelocityError(scaleVec3(axis, dotVec3(relativeVelocity, axis) * Math.min(1, this.stiffness)));
-        }
+    /** `motorised-hinge` only: change the driven speed at runtime. */
+    setMotorSpeed(speed) {
+        if (!Number.isFinite(speed))
+            throw new Error("Constraint motorSpeed must be finite.");
+        this.motorSpeedValue = speed;
+    }
+    motorSpeed() {
+        return this.motorSpeedValue;
+    }
+    /** Turn the constraint off without destroying it. */
+    setEnabled(enabled) {
+        this.enabled = enabled;
+    }
+    isEnabled() {
+        return this.enabled;
     }
     anchorAWorld() {
         return addVec3(this.bodyA.position, rotateVec3ByQuat(this.localAnchorA, this.bodyA.rotation));
@@ -73,31 +73,5 @@ export class Constraint {
     anchorBWorld() {
         return addVec3(this.bodyB.position, rotateVec3ByQuat(this.localAnchorB, this.bodyB.rotation));
     }
-    applyError(error) {
-        const inverseMassSum = this.bodyA.inverseMass + this.bodyB.inverseMass;
-        if (inverseMassSum <= 0) {
-            return;
-        }
-        const weightedError = scaleVec3(error, this.stiffness);
-        if (this.bodyA.inverseMass > 0) {
-            this.bodyA.setPosition(addVec3(this.bodyA.position, scaleVec3(weightedError, this.bodyA.inverseMass / inverseMassSum)));
-        }
-        if (this.bodyB.inverseMass > 0) {
-            this.bodyB.setPosition(subVec3(this.bodyB.position, scaleVec3(weightedError, this.bodyB.inverseMass / inverseMassSum)));
-        }
-    }
-    applyVelocityError(errorVelocity) {
-        const inverseMassSum = this.bodyA.inverseMass + this.bodyB.inverseMass;
-        if (inverseMassSum <= 0) {
-            return;
-        }
-        const correctionImpulse = scaleVec3(errorVelocity, -this.stiffness / inverseMassSum);
-        if (this.bodyA.inverseMass > 0) {
-            this.bodyA.applyImpulse(scaleVec3(correctionImpulse, -1));
-        }
-        if (this.bodyB.inverseMass > 0) {
-            this.bodyB.applyImpulse(correctionImpulse);
-        }
-    }
 }
 //# sourceMappingURL=Constraint.js.map

package/dist/Constraint.js.map

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package/dist/FightingCharacterController.d.ts

@@ -0,0 +1,32 @@
+import { KinematicBody, type KinematicBodyDescriptor, type KinematicBodyEvent, type KinematicBodySnapshot, type KinematicStepOptions } from "./KinematicBody.js";
+export type FightingCharacterControllerState = "idle" | "walk" | "dash" | "jump" | "fast-fall" | "crouch" | "landing";
+export type FightingCharacterControllerDescriptor = KinematicBodyDescriptor & {
+    readonly walkSpeed?: number;
+    readonly crouchSpeed?: number;
+    readonly fastFallSpeed?: number;
+};
+export type FightingCharacterControllerSnapshot = KinematicBodySnapshot & {
+    readonly state: FightingCharacterControllerState;
+    readonly walkSpeed: number;
+    readonly crouchSpeed: number;
+    readonly fastFallSpeed: number;
+};
+/** Authored-unit fighting movement; this is not a physical-simulation controller. */
+export declare class FightingCharacterController {
+    #private;
+    readonly body: KinematicBody;
+    readonly walkSpeed: number;
+    readonly crouchSpeed: number;
+    readonly fastFallSpeed: number;
+    constructor(descriptor?: FightingCharacterControllerDescriptor);
+    walk(direction: number, speed?: number): void;
+    stop(): void;
+    jump(): void;
+    dash(direction?: number): void;
+    fastFall(speed?: number): void;
+    crouch(active?: boolean): void;
+    step(dt: number, options?: KinematicStepOptions): readonly KinematicBodyEvent[];
+    snapshot(): FightingCharacterControllerSnapshot;
+}
+export declare function createFightingCharacterController(descriptor?: FightingCharacterControllerDescriptor): FightingCharacterController;
+//# sourceMappingURL=FightingCharacterController.d.ts.map

package/dist/FightingCharacterController.d.ts.map

@@ -0,0 +1 @@
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