@aura3d/physics 2.0.0 → 2.0.2

package/dist/PlatformerFixtures.js

@@ -1,120 +0,0 @@
-const platformSummaries = [
-    { kind: "static", count: 6 },
-    { kind: "moving", count: 1 },
-    { kind: "rotating", count: 1 },
-    { kind: "falling", count: 3 },
-    { kind: "bouncy", count: 1 },
-    { kind: "disappearing", count: 2 }
-];
-const collectibleSummaries = [
-    { kind: "coin", count: 5, scoreValue: 100 },
-    { kind: "gem", count: 2, scoreValue: 500 },
-    { kind: "power-up", count: 1, scoreValue: 1000 }
-];
-export function samplePlatformerControllerFixture(options = {}) {
-    const seed = integer(options.seed ?? 0x3d2025, "seed");
-    const elapsedSeconds = finiteNonNegative(options.elapsedSeconds ?? 0.32, "elapsedSeconds");
-    const coyoteTimeSeconds = 0.15;
-    const jumpBufferSeconds = 0.1;
-    const timeSinceGrounded = 0.08 + hash01(seed, 1) * 0.03;
-    const timeSinceJumpPressed = 0.04 + hash01(seed, 2) * 0.02;
-    const coyoteJumpAccepted = timeSinceGrounded <= coyoteTimeSeconds;
-    const bufferedJumpAccepted = timeSinceJumpPressed <= jumpBufferSeconds;
-    const doubleJumpAccepted = coyoteJumpAccepted && bufferedJumpAccepted;
-    const wallJumpAccepted = hash01(seed, 3) > 0.25;
-    const horizontalSpeed = Number((5 + hash01(seed, 4) * 3).toFixed(4));
-    const verticalVelocity = Number((12 - elapsedSeconds * 9.8).toFixed(4));
-    const stateSequence = [
-        "idle",
-        horizontalSpeed > 6.5 ? "run" : "walk",
-        "jump",
-        doubleJumpAccepted ? "doubleJump" : "fall",
-        wallJumpAccepted ? "wallSlide" : "fall",
-        "land"
-    ];
-    const totalPlatforms = platformSummaries.reduce((sum, entry) => sum + entry.count, 0);
-    const totalCollectibles = collectibleSummaries.reduce((sum, entry) => sum + entry.count, 0);
-    const totalScoreValue = collectibleSummaries.reduce((sum, entry) => sum + entry.count * entry.scoreValue, 0);
-    const startPosition = [0, 2, 0];
-    const goalPosition = [56, 9, 0];
-    const goalDistance = Number(Math.hypot(goalPosition[0] - startPosition[0], goalPosition[1] - startPosition[1], goalPosition[2] - startPosition[2]).toFixed(4));
-    return {
-        id: "external-parity-old-branch-platformer-controller-fixture",
-        source: "origin-master-platformer-controller-adapted",
-        config: {
-            walkSpeed: 5,
-            runSpeed: 8,
-            jumpForce: 12,
-            doubleJumpForce: 10,
-            wallJumpForce: 14,
-            airControl: 0.3,
-            coyoteTimeSeconds,
-            jumpBufferSeconds,
-            maxFallSpeed: 30
-        },
-        controller: {
-            grounded: false,
-            coyoteJumpAccepted,
-            bufferedJumpAccepted,
-            doubleJumpAccepted,
-            wallJumpAccepted,
-            horizontalSpeed,
-            verticalVelocity,
-            stateSequence,
-            finalState: "land"
-        },
-        camera: {
-            distance: 8,
-            minDistance: 3,
-            maxDistance: 15,
-            height: 2,
-            followSpeed: 8,
-            verticalAngle: Number((0.3 + hash01(seed, 5) * 0.1).toFixed(4)),
-            collisionAdjustedDistance: Number((8 - hash01(seed, 6) * 1.5).toFixed(4)),
-            shakeAmount: Number((0.18 * Math.pow(0.95, elapsedSeconds * 60)).toFixed(4)),
-            lockOnSupported: true
-        },
-        level: {
-            startPosition,
-            goalPosition,
-            platformSummaries,
-            collectibleSummaries,
-            checkpointCount: 2,
-            hazardCount: 3,
-            movingPlatformPathCount: 2,
-            totalPlatforms,
-            totalCollectibles,
-            totalScoreValue,
-            goalDistance
-        },
-        hash: hashPlatformer(seed, elapsedSeconds, horizontalSpeed, verticalVelocity, totalPlatforms, totalCollectibles, goalDistance),
-        claimBoundary: "Deterministic platformer controller, third-person camera, and level-layout telemetry adapted from the old platformer example; this is not a full character controller replacement, collision solver, camera occlusion system, or Unity/Unreal controller parity claim."
-    };
-}
-function hashPlatformer(...values) {
-    let hash = 0x811c9dc5;
-    for (const value of values) {
-        const scaled = Math.round(value * 10_000);
-        hash ^= scaled & 0xff;
-        hash = Math.imul(hash, 0x01000193) >>> 0;
-        hash ^= (scaled >>> 8) & 0xff;
-        hash = Math.imul(hash, 0x01000193) >>> 0;
-    }
-    return hash.toString(16).padStart(8, "0");
-}
-function hash01(seed, salt) {
-    let value = Math.imul(seed + salt * 1013904223, 1664525) + 1013904223;
-    value = Math.imul(value ^ (value >>> 13), 1274126177);
-    return ((value ^ (value >>> 16)) >>> 0) / 4294967296;
-}
-function finiteNonNegative(value, label) {
-    if (!Number.isFinite(value) || value < 0)
-        throw new RangeError(`Platformer fixture ${label} must be finite and non-negative.`);
-    return value;
-}
-function integer(value, label) {
-    if (!Number.isInteger(value))
-        throw new RangeError(`Platformer fixture ${label} must be an integer.`);
-    return value;
-}
-//# sourceMappingURL=PlatformerFixtures.js.map

package/dist/PlatformerFixtures.js.map

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package/dist/RacingLineProfile.d.ts

@@ -1,116 +0,0 @@
-/**
- * Grip-limited speed profile along a closed racing line.
- *
- * ## The gap this closes
- *
- * WS-3.8 was attempted twice and reverted twice. Both attempts swapped the racing kit's
- * kinematic `heading += steer * steerRate * dt` for the WS-3.3 force model, and both times the
- * car could not lap its own certified circuit. The diagnosis recorded in the PRD was that a
- * certified route encodes a *kinematic* contract, so moving to forces invalidates its lap time.
- *
- * That diagnosis was one step short. The actual defect is narrower and fixable: the route's
- * speed model is `routeLength / authoredLapSeconds`, a **single constant speed for the whole
- * lap**. A kinematic car can hold a constant speed through any corner, because its heading is
- * an input rather than a consequence. A real car cannot — cornering at speed `v` through radius
- * `r` demands lateral acceleration `v^2 / r`, and no tyre supplies an unbounded amount.
- *
- * On Aura3D's own certified circuit the two contracts are irreconcilable *as stated*: the
- * tightest corner has radius 0.77 units, and holding the certified 4x pace of 4.312 u/s through
- * it demands 24.15 u/s^2. That is why every previous attempt failed at the same corner, and why
- * no steering gain or sign convention rescued it — the request was geometrically impossible, so
- * the controller was never the problem.
- *
- * A real driver does not hold one speed. They brake for the corner, hold the grip limit through
- * the apex, and accelerate out. Once the target is a *profile* rather than a constant, the same
- * circuit is comfortably drivable: at a physical 0.41 g the lap comes out at 11.29 s against
- * 4.312 u/s of straight-line speed, versus the 24.15 u/s^2 a constant-speed lap demanded. The
- * certified average speed is preserved as what it always physically meant — a lap average — and
- * the force model then has a target it can actually track.
- *
- * ## What this module is
- *
- * The standard two-pass forward/backward solve used by every real racing-line generator:
- *
- * 1. **Cornering limit.** At each station, `v <= sqrt(lateralLimit * radius)`, the fastest speed
- *    the tyre can hold through that radius. Straights are bounded by `maxSpeed` instead.
- * 2. **Forward pass.** Acceleration is finite, so a station's speed is also bounded by how fast
- *    the car could have got there from the previous one: `v[i+1]^2 <= v[i]^2 + 2*a*ds`.
- * 3. **Backward pass.** Braking is finite, so a station's speed is bounded by the need to be
- *    slow enough for what is coming: `v[i]^2 <= v[i+1]^2 + 2*b*ds`.
- *
- * Passes 2 and 3 are interdependent — braking earlier changes what you can accelerate from — so
- * they are iterated to a fixed point rather than run once. On a closed loop this matters more
- * than on an open one: the profile must also join up with itself at the start/finish line.
- *
- * ## Why it lives in `packages/physics`
- *
- * It is a property of a path and a friction limit, not of any route, genre kit or app. Nothing
- * here knows what a checkpoint is. The racing kit consumes it; so could a traffic simulation, an
- * AI overtaking line, a camera dolly, or a drone following a spline.
- */
-export interface RacingLineStation {
-    /** Distance along the line from the start, in world units. */
-    readonly distance: number;
-    /**
-     * Unsigned radius of curvature at this station, world units.
-     *
-     * Signed curvature is what a controller wants for steering direction; a speed limit only cares
-     * how tight the corner is, not which way it goes. Use `Math.abs(1 / curvature)`, or
-     * `Number.POSITIVE_INFINITY` for a straight.
-     */
-    readonly radius: number;
-}
-export interface RacingLineProfileSpec {
-    /** Stations in increasing distance order. At least two. */
-    readonly stations: readonly RacingLineStation[];
-    /** Total path length. On a closed loop this includes the closing segment back to station 0. */
-    readonly length: number;
-    /**
-     * Lateral acceleration the tyres can sustain, world units per second squared.
-     *
-     * This is the grip limit, and it is the number that sets corner speeds. For a vehicle running
-     * `createVehicleMotion`, it is `grip * tyrePeakFriction * gravity` in the same units the route
-     * is authored in.
-     */
-    readonly lateralLimit: number;
-    /** Longitudinal acceleration available on exit, world units per second squared. */
-    readonly acceleration: number;
-    /** Braking deceleration available on entry, world units per second squared. Positive. */
-    readonly braking: number;
-    /** Straight-line speed ceiling, world units per second. */
-    readonly maxSpeed: number;
-    /** True when the last station connects back to the first. Defaults to `true`. */
-    readonly closed?: boolean | undefined;
-    /**
-     * Lowest speed the profile may demand, so a hairpin tighter than the grip limit can hold does
-     * not resolve to a dead stop the car can never leave. Defaults to 5% of `maxSpeed`.
-     */
-    readonly minSpeed?: number | undefined;
-}
-export interface RacingLineProfile {
-    readonly kind: "aura-racing-line-profile";
-    /** Target speed at each station, index-aligned with the input stations. */
-    readonly speeds: readonly number[];
-    /** Lap time implied by the profile, seconds. */
-    readonly lapSeconds: number;
-    /** Distance-weighted mean speed, which is `length / lapSeconds`. */
-    readonly averageSpeed: number;
-    readonly minSpeed: number;
-    readonly maxSpeed: number;
-    /**
-     * Target speed at an arbitrary distance along the line, interpolated between stations.
-     *
-     * This is what a driver model calls each frame: it has a distance from the route's progress and
-     * needs to know what speed to be doing, without caring where the stations happen to sit.
-     */
-    speedAt(distance: number): number;
-    /**
-     * The lateral acceleration the profile demands at its tightest point.
-     *
-     * Exposed because it is the number that proves the profile is inside the vehicle's capability.
-     * A caller can assert it against the tyre's actual limit rather than assuming the solve worked.
-     */
-    readonly peakLateralDemand: number;
-}
-export declare function createRacingLineProfile(spec: RacingLineProfileSpec): RacingLineProfile;
-//# sourceMappingURL=RacingLineProfile.d.ts.map

package/dist/RacingLineProfile.d.ts.map

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package/dist/RacingLineProfile.js

@@ -1,181 +0,0 @@
-/**
- * Grip-limited speed profile along a closed racing line.
- *
- * ## The gap this closes
- *
- * WS-3.8 was attempted twice and reverted twice. Both attempts swapped the racing kit's
- * kinematic `heading += steer * steerRate * dt` for the WS-3.3 force model, and both times the
- * car could not lap its own certified circuit. The diagnosis recorded in the PRD was that a
- * certified route encodes a *kinematic* contract, so moving to forces invalidates its lap time.
- *
- * That diagnosis was one step short. The actual defect is narrower and fixable: the route's
- * speed model is `routeLength / authoredLapSeconds`, a **single constant speed for the whole
- * lap**. A kinematic car can hold a constant speed through any corner, because its heading is
- * an input rather than a consequence. A real car cannot — cornering at speed `v` through radius
- * `r` demands lateral acceleration `v^2 / r`, and no tyre supplies an unbounded amount.
- *
- * On Aura3D's own certified circuit the two contracts are irreconcilable *as stated*: the
- * tightest corner has radius 0.77 units, and holding the certified 4x pace of 4.312 u/s through
- * it demands 24.15 u/s^2. That is why every previous attempt failed at the same corner, and why
- * no steering gain or sign convention rescued it — the request was geometrically impossible, so
- * the controller was never the problem.
- *
- * A real driver does not hold one speed. They brake for the corner, hold the grip limit through
- * the apex, and accelerate out. Once the target is a *profile* rather than a constant, the same
- * circuit is comfortably drivable: at a physical 0.41 g the lap comes out at 11.29 s against
- * 4.312 u/s of straight-line speed, versus the 24.15 u/s^2 a constant-speed lap demanded. The
- * certified average speed is preserved as what it always physically meant — a lap average — and
- * the force model then has a target it can actually track.
- *
- * ## What this module is
- *
- * The standard two-pass forward/backward solve used by every real racing-line generator:
- *
- * 1. **Cornering limit.** At each station, `v <= sqrt(lateralLimit * radius)`, the fastest speed
- *    the tyre can hold through that radius. Straights are bounded by `maxSpeed` instead.
- * 2. **Forward pass.** Acceleration is finite, so a station's speed is also bounded by how fast
- *    the car could have got there from the previous one: `v[i+1]^2 <= v[i]^2 + 2*a*ds`.
- * 3. **Backward pass.** Braking is finite, so a station's speed is bounded by the need to be
- *    slow enough for what is coming: `v[i]^2 <= v[i+1]^2 + 2*b*ds`.
- *
- * Passes 2 and 3 are interdependent — braking earlier changes what you can accelerate from — so
- * they are iterated to a fixed point rather than run once. On a closed loop this matters more
- * than on an open one: the profile must also join up with itself at the start/finish line.
- *
- * ## Why it lives in `packages/physics`
- *
- * It is a property of a path and a friction limit, not of any route, genre kit or app. Nothing
- * here knows what a checkpoint is. The racing kit consumes it; so could a traffic simulation, an
- * AI overtaking line, a camera dolly, or a drone following a spline.
- */
-function finitePositive(value, fallback) {
-    return Number.isFinite(value) && value > 0 ? value : fallback;
-}
-export function createRacingLineProfile(spec) {
-    const stations = spec.stations;
-    if (stations.length < 2) {
-        throw new Error("createRacingLineProfile requires at least 2 stations.");
-    }
-    const closed = spec.closed !== false;
-    const length = finitePositive(spec.length, 1);
-    const lateralLimit = finitePositive(spec.lateralLimit, 8);
-    const acceleration = finitePositive(spec.acceleration, 4);
-    const braking = finitePositive(spec.braking, 6);
-    const maxSpeed = finitePositive(spec.maxSpeed, 10);
-    const minSpeed = Math.min(maxSpeed, finitePositive(spec.minSpeed ?? maxSpeed * 0.05, maxSpeed * 0.05));
-    const count = stations.length;
-    /*
-     * Segment length *out of* station i. On a closed loop the final segment wraps to station 0
-     * using the declared total length, which is why `length` is a required input rather than
-     * something derived: the closing segment is not represented by any pair of stations.
-     */
-    const segment = new Array(count);
-    for (let index = 0; index < count; index += 1) {
-        const here = stations[index].distance;
-        const next = index + 1 < count ? stations[index + 1].distance : length;
-        segment[index] = Math.max(1e-6, next - here);
-    }
-    // Pass 1: the cornering limit at each station.
-    const speeds = new Array(count);
-    for (let index = 0; index < count; index += 1) {
-        const radius = stations[index].radius;
-        const corner = Number.isFinite(radius) && radius > 0 ? Math.sqrt(lateralLimit * radius) : maxSpeed;
-        speeds[index] = Math.max(minSpeed, Math.min(maxSpeed, corner));
-    }
-    /*
-     * Passes 2 and 3 to a fixed point.
-     *
-     * A single forward pass then a single backward pass is correct only for an open path. On a
-     * closed loop each pass changes the boundary condition the other one started from, so they are
-     * repeated until nothing moves. The iteration is monotonically decreasing and bounded below by
-     * `minSpeed`, so it converges; the cap and the epsilon are there to bound the work, not to
-     * decide the answer.
-     */
-    for (let iteration = 0; iteration < 64; iteration += 1) {
-        let changed = false;
-        // Forward: limited by acceleration out of the previous station.
-        const forwardLast = closed ? count : count - 1;
-        for (let index = 0; index < forwardLast; index += 1) {
-            const next = (index + 1) % count;
-            const bound = Math.sqrt(speeds[index] * speeds[index] + 2 * acceleration * segment[index]);
-            if (bound < speeds[next] - 1e-9) {
-                speeds[next] = Math.max(minSpeed, bound);
-                changed = true;
-            }
-        }
-        // Backward: limited by the need to brake for the next station.
-        for (let index = forwardLast - 1; index >= 0; index -= 1) {
-            const next = (index + 1) % count;
-            const bound = Math.sqrt(speeds[next] * speeds[next] + 2 * braking * segment[index]);
-            if (bound < speeds[index] - 1e-9) {
-                speeds[index] = Math.max(minSpeed, bound);
-                changed = true;
-            }
-        }
-        if (!changed)
-            break;
-    }
-    /*
-     * Lap time from the profile.
-     *
-     * Using the mean of the two endpoint speeds over each segment is the trapezoidal rule, which is
-     * exact for the constant-acceleration segments this solve produces and avoids the systematic
-     * underestimate that taking the entry speed alone would give.
-     */
-    let lapSeconds = 0;
-    const segmentCount = closed ? count : count - 1;
-    for (let index = 0; index < segmentCount; index += 1) {
-        const next = (index + 1) % count;
-        const mean = Math.max(1e-6, (speeds[index] + speeds[next]) / 2);
-        lapSeconds += segment[index] / mean;
-    }
-    let peakLateralDemand = 0;
-    for (let index = 0; index < count; index += 1) {
-        const radius = stations[index].radius;
-        if (Number.isFinite(radius) && radius > 0) {
-            peakLateralDemand = Math.max(peakLateralDemand, (speeds[index] * speeds[index]) / radius);
-        }
-    }
-    const observedMin = Math.min(...speeds);
-    const observedMax = Math.max(...speeds);
-    function speedAt(distance) {
-        if (!Number.isFinite(distance))
-            return observedMin;
-        let along = closed ? ((distance % length) + length) % length : Math.max(0, Math.min(length, distance));
-        // Locate the segment containing `along`. Stations are sorted, so a scan is adequate at the
-        // station counts a hand- or asset-authored route produces.
-        let index = 0;
-        for (let probe = 0; probe < count; probe += 1) {
-            const here = stations[probe].distance;
-            const next = probe + 1 < count ? stations[probe + 1].distance : length;
-            if (along >= here && along < next) {
-                index = probe;
-                break;
-            }
-            if (probe === count - 1)
-                index = probe;
-        }
-        const here = stations[index].distance;
-        const t = Math.max(0, Math.min(1, (along - here) / segment[index]));
-        const next = (index + 1) % count;
-        /*
-         * Interpolating `v^2` rather than `v` is what makes this consistent with the solve: between
-         * two stations the car is under constant acceleration, so `v^2` is linear in distance and `v`
-         * is not. Lerping `v` directly would report speeds the profile never actually demanded.
-         */
-        const a = speeds[index] * speeds[index];
-        const b = speeds[next] * speeds[next];
-        return Math.sqrt(Math.max(0, a + (b - a) * t));
-    }
-    return {
-        kind: "aura-racing-line-profile",
-        speeds,
-        lapSeconds,
-        averageSpeed: length / Math.max(1e-6, lapSeconds),
-        minSpeed: observedMin,
-        maxSpeed: observedMax,
-        speedAt,
-        peakLateralDemand
-    };
-}
-//# sourceMappingURL=RacingLineProfile.js.map

package/dist/RacingLineProfile.js.map

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package/dist/SoftBodyFixtures.d.ts

@@ -1,70 +0,0 @@
-export interface SoftBodyFixtureOptions {
-    readonly seed?: number;
-    readonly elapsedSeconds?: number;
-    readonly divisions?: number;
-}
-export interface SoftBodySampleVertex {
-    readonly index: number;
-    readonly grid: readonly [number, number, number];
-    readonly attached: boolean;
-    readonly rest: readonly [number, number, number];
-    readonly position: readonly [number, number, number];
-    readonly displacement: number;
-}
-export interface SoftBodyFixture {
-    readonly id: "external-parity-old-branch-soft-body-fixture";
-    readonly source: "origin-master-softbody-tet-pbd-adapted";
-    readonly sourceFiles: readonly [
-        "origin/master:src/simulation/softbody/SoftBody.ts",
-        "origin/master:src/simulation/softbody/SoftBodySolver.ts",
-        "origin/master:src/simulation/softbody/TetMeshGenerator.ts"
-    ];
-    readonly config: {
-        readonly method: "bounded-pbd-telemetry";
-        readonly materialModel: "bounded-corotated-reference";
-        readonly divisions: number;
-        readonly damping: number;
-        readonly solverIterations: number;
-        readonly volumeStiffness: number;
-        readonly shapeMatchingStiffness: number;
-        readonly distanceStiffness: number;
-        readonly particleMass: number;
-    };
-    readonly mesh: {
-        readonly vertexCount: number;
-        readonly tetrahedronCount: number;
-        readonly surfaceTriangleEstimate: number;
-        readonly distanceConstraintCount: number;
-        readonly attachmentCount: number;
-        readonly sampleVertices: readonly SoftBodySampleVertex[];
-    };
-    readonly deformation: {
-        readonly centerOfMass: readonly [number, number, number];
-        readonly restCenterOfMass: readonly [number, number, number];
-        readonly maxDisplacement: number;
-        readonly averageDisplacement: number;
-        readonly volumeRatio: number;
-        readonly restVolume: number;
-        readonly currentVolume: number;
-        readonly shapeMatchingError: number;
-    };
-    readonly collision: {
-        readonly groundPlaneY: number;
-        readonly contactVertices: number;
-        readonly maxPenetrationBeforeResolve: number;
-        readonly resolvedVertices: number;
-        readonly restitution: number;
-        readonly friction: number;
-    };
-    readonly attachments: {
-        readonly rigidAttachmentCount: number;
-        readonly targetOffset: readonly [number, number, number];
-        readonly maxAttachmentError: number;
-        readonly averageAttachmentError: number;
-    };
-    readonly blockedClaims: readonly string[];
-    readonly hash: string;
-    readonly claimBoundary: string;
-}
-export declare function sampleSoftBodyFixture(options?: SoftBodyFixtureOptions): SoftBodyFixture;
-//# sourceMappingURL=SoftBodyFixtures.d.ts.map

package/dist/SoftBodyFixtures.d.ts.map

@@ -1 +0,0 @@
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