@aura3d/physics 2.0.0 → 2.0.1

package/dist/Navigation.d.ts

@@ -1,67 +0,0 @@
-export type NavigationCell = readonly [number, number];
-export type NavigationPoint = readonly [number, number];
-export type NavigationPathStatus = "success" | "partial" | "failed";
-export interface NavigationPath {
-    readonly status: NavigationPathStatus;
-    readonly cells: readonly NavigationCell[];
-    readonly waypoints: readonly NavigationPoint[];
-    readonly length: number;
-    readonly cost: number;
-    readonly visitedCells: number;
-}
-export interface NavigationGridOptions {
-    readonly width: number;
-    readonly height: number;
-    readonly origin?: NavigationPoint;
-    readonly cellSize?: number;
-    readonly blocked?: readonly NavigationCell[];
-    readonly costs?: readonly {
-        readonly cell: NavigationCell;
-        readonly cost: number;
-    }[];
-    readonly allowDiagonal?: boolean;
-}
-export interface NavigationAgentOptions {
-    readonly position: NavigationPoint;
-    readonly speed?: number;
-    readonly waypointRadius?: number;
-}
-export interface NavigationAgentSnapshot {
-    readonly position: NavigationPoint;
-    readonly state: "idle" | "moving" | "arrived" | "blocked";
-    readonly waypointIndex: number;
-    readonly remainingWaypoints: number;
-    readonly pathLength: number;
-    readonly distanceTraveled: number;
-}
-export declare class NavigationGrid {
-    readonly width: number;
-    readonly height: number;
-    readonly origin: NavigationPoint;
-    readonly cellSize: number;
-    readonly allowDiagonal: boolean;
-    private readonly blocked;
-    private readonly costs;
-    constructor(options: NavigationGridOptions);
-    isBlocked(cell: NavigationCell): boolean;
-    cellCost(cell: NavigationCell): number;
-    containsCell(cell: NavigationCell): boolean;
-    worldToCell(point: NavigationPoint): NavigationCell;
-    cellToWorld(cell: NavigationCell): NavigationPoint;
-    findPath(start: NavigationPoint, goal: NavigationPoint): NavigationPath;
-    private search;
-    private nearestWalkableCell;
-}
-export declare class NavigationAgent {
-    private position;
-    private path;
-    private waypointIndex;
-    private distanceTraveled;
-    private readonly speed;
-    private readonly waypointRadius;
-    constructor(options: NavigationAgentOptions);
-    setPath(path: NavigationPath): void;
-    update(deltaSeconds: number): NavigationAgentSnapshot;
-    snapshot(state?: NavigationAgentSnapshot["state"]): NavigationAgentSnapshot;
-}
-//# sourceMappingURL=Navigation.d.ts.map

package/dist/Navigation.d.ts.map

@@ -1 +0,0 @@
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package/dist/Navigation.js

@@ -1,261 +0,0 @@
-export class NavigationGrid {
-    width;
-    height;
-    origin;
-    cellSize;
-    allowDiagonal;
-    blocked = new Set();
-    costs = new Map();
-    constructor(options) {
-        if (!Number.isInteger(options.width) || options.width < 2 || !Number.isInteger(options.height) || options.height < 2) {
-            throw new RangeError("NavigationGrid width and height must be integers >= 2.");
-        }
-        this.width = options.width;
-        this.height = options.height;
-        this.origin = options.origin ?? [0, 0];
-        this.cellSize = options.cellSize ?? 1;
-        this.allowDiagonal = options.allowDiagonal ?? false;
-        if (!Number.isFinite(this.cellSize) || this.cellSize <= 0) {
-            throw new RangeError("NavigationGrid cellSize must be a finite positive number.");
-        }
-        for (const cell of options.blocked ?? []) {
-            if (this.containsCell(cell))
-                this.blocked.add(cellKey(cell));
-        }
-        for (const entry of options.costs ?? []) {
-            if (!this.containsCell(entry.cell))
-                continue;
-            if (!Number.isFinite(entry.cost) || entry.cost <= 0) {
-                throw new RangeError("NavigationGrid traversal costs must be finite positive numbers.");
-            }
-            this.costs.set(cellKey(entry.cell), entry.cost);
-        }
-    }
-    isBlocked(cell) {
-        return this.blocked.has(cellKey(cell));
-    }
-    cellCost(cell) {
-        return this.costs.get(cellKey(cell)) ?? 1;
-    }
-    containsCell(cell) {
-        return Number.isInteger(cell[0]) && Number.isInteger(cell[1]) && cell[0] >= 0 && cell[1] >= 0 && cell[0] < this.width && cell[1] < this.height;
-    }
-    worldToCell(point) {
-        return [
-            clampInt(Math.floor((point[0] - this.origin[0]) / this.cellSize), 0, this.width - 1),
-            clampInt(Math.floor((point[1] - this.origin[1]) / this.cellSize), 0, this.height - 1),
-        ];
-    }
-    cellToWorld(cell) {
-        return [
-            this.origin[0] + (cell[0] + 0.5) * this.cellSize,
-            this.origin[1] + (cell[1] + 0.5) * this.cellSize,
-        ];
-    }
-    findPath(start, goal) {
-        const startCell = this.nearestWalkableCell(this.worldToCell(start));
-        const goalCell = this.nearestWalkableCell(this.worldToCell(goal));
-        if (!startCell || !goalCell)
-            return failedPath();
-        const result = this.search(startCell, goalCell);
-        if (!result)
-            return failedPath();
-        const cells = reconstruct(result.node);
-        const waypoints = simplifyPath(cells).map((cell) => this.cellToWorld(cell));
-        const lastWaypoint = result.complete ? goal : this.cellToWorld(cells[cells.length - 1]);
-        const normalizedWaypoints = [
-            start,
-            ...waypoints.slice(1, -1),
-            lastWaypoint
-        ];
-        return {
-            status: result.complete ? "success" : "partial",
-            cells,
-            waypoints: normalizedWaypoints,
-            length: pathLength(normalizedWaypoints),
-            cost: round3(result.node.g),
-            visitedCells: result.visitedCells,
-        };
-    }
-    search(startCell, goalCell) {
-        const open = [node(startCell, undefined, 0, manhattan(startCell, goalCell))];
-        const bestByCell = new Map([[cellKey(startCell), open[0]]]);
-        const closed = new Set();
-        let best = open[0];
-        while (open.length > 0) {
-            open.sort((left, right) => left.f - right.f || left.h - right.h);
-            const current = open.shift();
-            if (closed.has(current.key))
-                continue;
-            closed.add(current.key);
-            if (current.h < best.h)
-                best = current;
-            if (sameCell(current.cell, goalCell)) {
-                return { node: current, complete: true, visitedCells: closed.size };
-            }
-            for (const nextCell of neighbors(current.cell, this.allowDiagonal)) {
-                if (!this.containsCell(nextCell) || this.isBlocked(nextCell))
-                    continue;
-                const key = cellKey(nextCell);
-                if (closed.has(key))
-                    continue;
-                const stepCost = current.cell[0] !== nextCell[0] && current.cell[1] !== nextCell[1] ? Math.SQRT2 : 1;
-                const g = current.g + stepCost * this.cellCost(nextCell);
-                const h = heuristic(nextCell, goalCell, this.allowDiagonal);
-                const existing = bestByCell.get(key);
-                if (existing && existing.g <= g)
-                    continue;
-                const next = node(nextCell, current, g, h);
-                bestByCell.set(key, next);
-                open.push(next);
-            }
-        }
-        return best ? { node: best, complete: false, visitedCells: closed.size } : undefined;
-    }
-    nearestWalkableCell(cell) {
-        if (this.containsCell(cell) && !this.isBlocked(cell))
-            return cell;
-        for (let radius = 1; radius < Math.max(this.width, this.height); radius += 1) {
-            for (let y = cell[1] - radius; y <= cell[1] + radius; y += 1) {
-                for (let x = cell[0] - radius; x <= cell[0] + radius; x += 1) {
-                    const candidate = [x, y];
-                    if (this.containsCell(candidate) && !this.isBlocked(candidate))
-                        return candidate;
-                }
-            }
-        }
-        return undefined;
-    }
-}
-export class NavigationAgent {
-    position;
-    path = failedPath();
-    waypointIndex = 0;
-    distanceTraveled = 0;
-    speed;
-    waypointRadius;
-    constructor(options) {
-        this.position = options.position;
-        this.speed = options.speed ?? 1;
-        this.waypointRadius = options.waypointRadius ?? 0.05;
-        if (!Number.isFinite(this.speed) || this.speed <= 0 || !Number.isFinite(this.waypointRadius) || this.waypointRadius < 0) {
-            throw new RangeError("NavigationAgent speed must be positive and waypointRadius must be non-negative.");
-        }
-    }
-    setPath(path) {
-        this.path = path;
-        this.waypointIndex = path.waypoints.length > 1 ? 1 : 0;
-        this.distanceTraveled = 0;
-    }
-    update(deltaSeconds) {
-        if (this.path.status === "failed")
-            return this.snapshot("blocked");
-        if (this.waypointIndex >= this.path.waypoints.length)
-            return this.snapshot("arrived");
-        const target = this.path.waypoints[this.waypointIndex];
-        const dx = target[0] - this.position[0];
-        const dy = target[1] - this.position[1];
-        const distance = Math.hypot(dx, dy);
-        if (distance <= this.waypointRadius) {
-            this.position = target;
-            this.waypointIndex += 1;
-            return this.update(deltaSeconds);
-        }
-        const step = Math.min(distance, Math.max(0, deltaSeconds) * this.speed);
-        if (step >= distance) {
-            this.position = target;
-            this.distanceTraveled += distance;
-            this.waypointIndex += 1;
-            return this.snapshot("moving");
-        }
-        this.position = [
-            this.position[0] + (dx / distance) * step,
-            this.position[1] + (dy / distance) * step,
-        ];
-        this.distanceTraveled += step;
-        return this.snapshot("moving");
-    }
-    snapshot(state = this.path.status === "failed" ? "blocked" : "idle") {
-        const resolvedState = this.path.status === "failed" ? "blocked" : this.waypointIndex >= this.path.waypoints.length ? "arrived" : state;
-        return {
-            position: [round3(this.position[0]), round3(this.position[1])],
-            state: resolvedState,
-            waypointIndex: this.waypointIndex,
-            remainingWaypoints: Math.max(0, this.path.waypoints.length - this.waypointIndex),
-            pathLength: round3(this.path.length),
-            distanceTraveled: round3(this.distanceTraveled),
-        };
-    }
-}
-function node(cell, parent, g, h) {
-    return { cell, key: cellKey(cell), parent, g, h, f: g + h };
-}
-function neighbors(cell, allowDiagonal) {
-    const cardinal = [[cell[0] + 1, cell[1]], [cell[0] - 1, cell[1]], [cell[0], cell[1] + 1], [cell[0], cell[1] - 1]];
-    return allowDiagonal
-        ? [
-            ...cardinal,
-            [cell[0] + 1, cell[1] + 1],
-            [cell[0] + 1, cell[1] - 1],
-            [cell[0] - 1, cell[1] + 1],
-            [cell[0] - 1, cell[1] - 1],
-        ]
-        : cardinal;
-}
-function reconstruct(node) {
-    const cells = [];
-    let current = node;
-    while (current) {
-        cells.push(current.cell);
-        current = current.parent;
-    }
-    return cells.reverse();
-}
-function simplifyPath(cells) {
-    if (cells.length <= 2)
-        return cells;
-    const result = [cells[0]];
-    let previousDirection = [cells[1][0] - cells[0][0], cells[1][1] - cells[0][1]];
-    for (let index = 2; index < cells.length; index += 1) {
-        const direction = [cells[index][0] - cells[index - 1][0], cells[index][1] - cells[index - 1][1]];
-        if (!sameCell(direction, previousDirection)) {
-            result.push(cells[index - 1]);
-            previousDirection = direction;
-        }
-    }
-    result.push(cells[cells.length - 1]);
-    return result;
-}
-function failedPath() {
-    return { status: "failed", cells: [], waypoints: [], length: 0, cost: 0, visitedCells: 0 };
-}
-function pathLength(points) {
-    let length = 0;
-    for (let index = 1; index < points.length; index += 1) {
-        length += Math.hypot(points[index][0] - points[index - 1][0], points[index][1] - points[index - 1][1]);
-    }
-    return round3(length);
-}
-function cellKey(cell) {
-    return `${cell[0]}:${cell[1]}`;
-}
-function sameCell(left, right) {
-    return left[0] === right[0] && left[1] === right[1];
-}
-function manhattan(left, right) {
-    return Math.abs(left[0] - right[0]) + Math.abs(left[1] - right[1]);
-}
-function heuristic(left, right, allowDiagonal) {
-    if (!allowDiagonal)
-        return manhattan(left, right);
-    const dx = Math.abs(left[0] - right[0]);
-    const dy = Math.abs(left[1] - right[1]);
-    return Math.max(dx, dy) + (Math.SQRT2 - 1) * Math.min(dx, dy);
-}
-function clampInt(value, min, max) {
-    return Math.max(min, Math.min(max, value));
-}
-function round3(value) {
-    return Number(value.toFixed(3));
-}
-//# sourceMappingURL=Navigation.js.map

package/dist/Navigation.js.map

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

@@ -1,162 +0,0 @@
-/**
- * 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

@@ -1 +0,0 @@
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