@genex-ai/cli-demo 0.11.0 → 0.14.2

package/templates/controllers/vehicle/vehicle-controller.ts

@@ -0,0 +1,615 @@
+// SPDX-FileCopyrightText: 2023-2026 Erdong Chen
+// SPDX-License-Identifier: MIT
+// Vanilla-TypeScript port of the ecctrl vehicle controller (React/R3F removed).
+// This file is the car brain: chassis rigid body, drivetrain (engine torque
+// curve, gear ratios, RPM-threshold auto shift with cooldown), speed-sensitive
+// steering config, per-wheel demand routing, and final suspension/friction
+// impulse application. The drone half of the upstream component lives in
+// `drone/drone-controller.ts`; the upstream dead `carConfig.controlMode` key
+// was removed.
+
+import * as THREE from "three";
+import RAPIER from "@dimforge/rapier3d-compat";
+import type { World, RigidBody } from "@dimforge/rapier3d-compat";
+import {
+  bakeCurveLUT,
+  createSlerpVec3,
+  type CurveData,
+  type CurveLUT,
+} from "../shared/math.ts";
+import { ShapeCastWheel, type DriveWheelConfig, type SteerWheelConfig, type WheelOptions } from "./wheel.ts";
+
+const clamp = THREE.MathUtils.clamp;
+
+/**
+ * Car input. Booleans are momentary state (hold to act); `setMovement` merges
+ * field-wise, so send only the keys you own. `+steer = LEFT turn` and
+ * `joystickL.x` is subtracted (push right = turn right).
+ */
+export type VehicleInput = {
+  forward?: boolean;
+  backward?: boolean;
+  steerLeft?: boolean;
+  steerRight?: boolean;
+  brake?: boolean;
+  joystickL?: { x: number; y: number };
+};
+export type ReadonlyVehicleInput = Readonly<Omit<VehicleInput, "joystickL">> & {
+  readonly joystickL?: Readonly<{ x: number; y: number }>;
+};
+
+export type TransmissionMode = "auto" | "manual";
+
+/**
+ * Drivetrain + steering config.
+ *
+ * Tuning hints:
+ * - "car feels slow" -> raise `engineHorsepower` (peak torque = HP*7022/maxRPM).
+ * - "reverse too fast" -> lower `reverseRPMScale` (0.3 = reverse tops out at 30%).
+ * - "twitchy at speed" -> steeper falloff in `steerAngleCurveData` (default
+ *   already gives full angle below 20% of top speed, 0.4x at top).
+ * - single-entry `gearRatios` disables shifting; multiple entries enable the
+ *   RPM-threshold auto shift (`shiftUpRPM`/`shiftDownRPM` with `shiftCooldown`).
+ */
+export type CarConfig = {
+  /** Engine power (HP). Peak torque derives as HP * 7022 / engineMaxRPM. */
+  engineHorsepower: number;
+  /** Engine redline (RPM). */
+  engineMaxRPM: number;
+  /** Gear ratios, low to high gear. Empty array falls back to [10]. */
+  gearRatios: number[];
+  /** Multiplied into every gear ratio. */
+  finalDriveRatio: number;
+  /** "auto" shifts by RPM thresholds; "manual" only via setGear(). */
+  transmissionMode: TransmissionMode;
+  /** Auto-upshift above this engine RPM. */
+  shiftUpRPM: number;
+  /** Auto-downshift below this engine RPM. */
+  shiftDownRPM: number;
+  /** Seconds between automatic shifts. */
+  shiftCooldown: number;
+  /** Steering slew rate (rad/s). */
+  steerRate: number;
+  /** Max steer angle at standstill (rad). */
+  maxSteerAngle: number;
+  /** Torque multiplier while reversing. */
+  reverseTorqueScale: number;
+  /** Scales the reverse speed cap. */
+  reverseRPMScale: number;
+  /** Engine torque over normalized wheel speed (1 at idle -> 0 at redline). */
+  engineTorqueCurveData: CurveData;
+  /** Steer-angle falloff over forward-speed ratio (speed-sensitive steering). */
+  steerAngleCurveData: CurveData;
+};
+
+/** Library defaults (upstream values; HP 6 is deliberately tiny — presets tune it). */
+export const DEFAULT_CAR_CONFIG: CarConfig = {
+  // Engine and drive train
+  engineHorsepower: 6,
+  engineMaxRPM: 6000,
+  gearRatios: [10],
+  finalDriveRatio: 1,
+  transmissionMode: "auto",
+  shiftUpRPM: 5200,
+  shiftDownRPM: 2200,
+  shiftCooldown: 0.35,
+  // Steering
+  steerRate: Math.PI * 2,
+  maxSteerAngle: Math.PI / 6, // 30 degrees in radians
+  // Reverse
+  reverseTorqueScale: 1,
+  reverseRPMScale: 0.3,
+  // Curves
+  engineTorqueCurveData: {
+    points: [
+      { x: 0, y: 1, r_out: 0 },
+      { x: 1, y: 0, r_in: 0 },
+    ],
+    samples: 50,
+  },
+  steerAngleCurveData: {
+    points: [
+      { x: 0, y: 1, r_out: 0 },
+      { x: 0.2, y: 1, r_in: 0, r_out: 0 },
+      { x: 1, y: 0.4, r_in: 0 },
+    ],
+    samples: 50,
+  },
+};
+
+export type VehicleControllerOptions = {
+  /** The Rapier world (from `PhysicsWorld.create()`'s `.world`). */
+  world: World;
+  /** Initial body translation. */
+  position?: THREE.Vector3;
+  /** Initial body rotation. */
+  rotation?: THREE.Quaternion;
+  /** Allow the body to sleep when at rest. Default true. */
+  canSleep?: boolean;
+  /** Start enabled. Default true. */
+  enable?: boolean;
+  /** Merged over DEFAULT_CAR_CONFIG. */
+  carConfig?: Partial<CarConfig>;
+  /** Gravity-direction smoothing (factor 1 - exp(-k*dt)). Default 6. */
+  gravityDirLerpSpeed?: number;
+};
+
+const getDriveRatio = (
+  gearRatios: number[],
+  gearIndex: number,
+  finalDriveRatio: number
+) => (gearRatios[gearIndex] ?? gearRatios[0] ?? 0) * finalDriveRatio;
+
+const getMaxWheelAngVel = (engineMaxRPM: number, driveRatio: number) =>
+  driveRatio !== 0 ? (engineMaxRPM / driveRatio) * ((2 * Math.PI) / 60) : 0;
+
+/**
+ * Drivable car controller over a dynamic Rapier body plus shapecast wheels.
+ *
+ * The controller creates the rigid body WITHOUT colliders — attach chassis
+ * colliders to `vehicle.body` yourself (see `vehicle/presets.ts` for shapes
+ * and densities), then add wheels via `addWheel()`. Parent your chassis mesh
+ * under `chassisObject` and add that group to the scene; wheels auto-parent
+ * under it (the scene graph is the wheels' pose source).
+ *
+ * Call `update()` exactly once per fixed physics step, BEFORE `world.step()`.
+ * `+Z` is the vehicle's FORWARD axis.
+ */
+export class VehicleController {
+  /** Exposed so wheels (WheelVehicleContext) can query the world. */
+  readonly world: World;
+  /** Dynamic body, created WITHOUT colliders — the caller attaches them. */
+  readonly body: RigidBody;
+  /** Scene-graph root: add to scene, parent the chassis mesh under it. */
+  readonly chassisObject: THREE.Group;
+  /** Master enable; `update()` early-outs when false. */
+  enabled: boolean;
+
+  // --- config ---
+  private readonly carConfig: CarConfig;
+  private readonly gravityDirLerpSpeed: number;
+  private readonly gearRatiosList: number[];
+  private readonly engineMaxTorque: number;
+  private readonly engineTorqueCurve: CurveLUT;
+  private readonly steerAngleCurve: CurveLUT;
+
+  // --- drivetrain state ---
+  private _gearIndex = 0;
+  private _driveRatio: number;
+  private _engineRPM = 0;
+  private shiftCooldownTimer = 0;
+  private maxWheelAngVel: number;
+  private readonly driveWheelConfig: DriveWheelConfig;
+  private readonly steerWheelConfig: SteerWheelConfig;
+
+  // --- wheels ---
+  private readonly wheelsMap = new Map<string, ShapeCastWheel>();
+
+  // --- input state ---
+  private readonly movementState = {
+    forward: false,
+    backward: false,
+    steerLeft: false,
+    steerRight: false,
+    brake: false,
+    joystickL: { x: 0, y: 0 },
+  };
+
+  // --- vehicle info scratch ---
+  private readonly vehiclePos = new THREE.Vector3();
+  private readonly vehicleQuat = new THREE.Quaternion();
+  private readonly vehicleInvertQuat = new THREE.Quaternion();
+  private readonly vehicleLinVel = new THREE.Vector3();
+  private readonly vehicleAngVel = new THREE.Vector3();
+  private readonly vehicleXAxis = new THREE.Vector3();
+  private readonly vehicleYAxis = new THREE.Vector3();
+  private readonly vehicleZAxis = new THREE.Vector3();
+
+  // --- gravity state ---
+  private readonly _upAxis = new THREE.Vector3();
+  private readonly referenceGravity = new THREE.Vector3();
+  private referenceGravityMag = 0;
+  private readonly referenceGravityDir = new THREE.Vector3();
+  private readonly _gravityDir = new THREE.Vector3();
+  private readonly slerpVec3 = createSlerpVec3();
+
+  constructor(options: VehicleControllerOptions) {
+    this.world = options.world;
+    this.enabled = options.enable ?? true;
+    this.gravityDirLerpSpeed = options.gravityDirLerpSpeed ?? 6;
+
+    // Merge config; empty gearRatios falls back to the library default [10].
+    this.carConfig = { ...DEFAULT_CAR_CONFIG, ...options.carConfig };
+    this.gearRatiosList =
+      Array.isArray(this.carConfig.gearRatios) && this.carConfig.gearRatios.length > 0
+        ? this.carConfig.gearRatios
+        : DEFAULT_CAR_CONFIG.gearRatios;
+
+    // Peak engine torque: HP * 7022 / maxRPM (7022 ~= 5252 lb·ft·RPM/HP in N·m).
+    this.engineMaxTorque =
+      this.carConfig.engineMaxRPM !== 0
+        ? (this.carConfig.engineHorsepower * 7022) / this.carConfig.engineMaxRPM
+        : 0;
+    this._driveRatio = getDriveRatio(
+      this.gearRatiosList,
+      this._gearIndex,
+      this.carConfig.finalDriveRatio
+    );
+
+    // Bake curve LUTs.
+    this.engineTorqueCurve = bakeCurveLUT(
+      this.carConfig.engineTorqueCurveData.points,
+      this.carConfig.engineTorqueCurveData.samples ?? 50
+    );
+    this.steerAngleCurve = bakeCurveLUT(
+      this.carConfig.steerAngleCurveData.points,
+      this.carConfig.steerAngleCurveData.samples ?? 50
+    );
+
+    this.maxWheelAngVel = getMaxWheelAngVel(
+      this.carConfig.engineMaxRPM,
+      this._driveRatio
+    );
+    this.driveWheelConfig = {
+      maxDriveTorque: 0,
+      maxWheelAngVel: this.maxWheelAngVel,
+      engineTorqueCurve: this.engineTorqueCurve,
+      reverseTorqueScale: this.carConfig.reverseTorqueScale,
+      reverseRPMScale: this.carConfig.reverseRPMScale,
+      driveRatio: this._driveRatio,
+    };
+    this.steerWheelConfig = {
+      steerAngleCurve: this.steerAngleCurve,
+      steerRate: this.carConfig.steerRate,
+      maxSteerAngle: this.carConfig.maxSteerAngle,
+      maxWheelAngVel: this.maxWheelAngVel,
+    };
+
+    // Create the dynamic body (no colliders — caller attaches them).
+    const desc = RAPIER.RigidBodyDesc.dynamic();
+    if (options.position)
+      desc.setTranslation(options.position.x, options.position.y, options.position.z);
+    if (options.rotation) desc.setRotation(options.rotation);
+    desc.setCanSleep(options.canSleep ?? true);
+    this.body = this.world.createRigidBody(desc);
+
+    // Scene-graph root, aligned with the body from the start.
+    this.chassisObject = new THREE.Group();
+    this.chassisObject.position.copy(this.body.translation());
+    this.chassisObject.quaternion.copy(this.body.rotation());
+
+    // Prime vehicle info so getters are sensible before the first update().
+    this.vehiclePos.copy(this.body.translation());
+    this.vehicleQuat.copy(this.body.rotation());
+    this.vehicleXAxis.set(1, 0, 0).applyQuaternion(this.vehicleQuat);
+    this.vehicleYAxis.set(0, 1, 0).applyQuaternion(this.vehicleQuat);
+    this.vehicleZAxis.set(0, 0, 1).applyQuaternion(this.vehicleQuat);
+
+    // Prime gravity state so the first slerp doesn't swing from a zero
+    // vector and wheels never see gravityMag 0 on frame 1.
+    const g = this.world.gravity;
+    this.referenceGravity.set(g.x, g.y, g.z);
+    this.referenceGravityMag = this.referenceGravity.length();
+    this.referenceGravityDir.copy(this.referenceGravity).normalize();
+    if (this.referenceGravityDir.lengthSq() === 0)
+      this.referenceGravityDir.copy(this.vehicleYAxis).negate();
+    this._gravityDir.copy(this.referenceGravityDir);
+    this._upAxis.copy(this._gravityDir).negate();
+  }
+
+  // --- readonly state getters (live internal instances; copy, never mutate) ---
+  get upAxis(): THREE.Vector3 {
+    return this._upAxis;
+  }
+  get gravityDir(): THREE.Vector3 {
+    return this._gravityDir;
+  }
+  get gravityMag(): number {
+    return this.referenceGravityMag;
+  }
+  get currPos(): THREE.Vector3 {
+    return this.vehiclePos;
+  }
+  get currQuat(): THREE.Quaternion {
+    return this.vehicleQuat;
+  }
+  get currLinVel(): THREE.Vector3 {
+    return this.vehicleLinVel;
+  }
+  get currAngVel(): THREE.Vector3 {
+    return this.vehicleAngVel;
+  }
+  get bodyXAxis(): THREE.Vector3 {
+    return this.vehicleXAxis;
+  }
+  get bodyYAxis(): THREE.Vector3 {
+    return this.vehicleYAxis;
+  }
+  /** +Z is the vehicle's FORWARD axis. */
+  get bodyZAxis(): THREE.Vector3 {
+    return this.vehicleZAxis;
+  }
+  get input(): ReadonlyVehicleInput {
+    return this.movementState;
+  }
+  get wheels(): ReadonlyMap<string, ShapeCastWheel> {
+    return this.wheelsMap;
+  }
+  get gearIndex(): number {
+    return this._gearIndex;
+  }
+  /** Current gear ratio x final drive ratio. */
+  get driveRatio(): number {
+    return this._driveRatio;
+  }
+  /** Live engine RPM readout (drive-weighted average wheel RPM x |driveRatio|). */
+  get engineRPM(): number {
+    return this._engineRPM;
+  }
+
+  /**
+   * Field-wise input merge: only keys present in `input` are written, so
+   * multiple sources (keyboard + joystick) can push independently.
+   */
+  setMovement(input: VehicleInput): void {
+    const state = this.movementState;
+    if (input.forward !== undefined) state.forward = input.forward;
+    if (input.backward !== undefined) state.backward = input.backward;
+    if (input.steerLeft !== undefined) state.steerLeft = input.steerLeft;
+    if (input.steerRight !== undefined) state.steerRight = input.steerRight;
+    if (input.brake !== undefined) state.brake = input.brake;
+    if (input.joystickL) {
+      state.joystickL.x = input.joystickL.x;
+      state.joystickL.y = input.joystickL.y;
+    }
+  }
+
+  /**
+   * Manually select a gear (index into `gearRatios`, clamped). Starts the
+   * shift cooldown, so it also pauses auto-shifting for `shiftCooldown` s.
+   */
+  setGear(index: number): void {
+    const nextGearIndex = clamp(Math.floor(index), 0, this.gearRatiosList.length - 1);
+    if (this._gearIndex === nextGearIndex) return;
+    this._gearIndex = nextGearIndex;
+    this.shiftCooldownTimer = this.carConfig.shiftCooldown;
+    this.syncTransmissionConfig();
+    this.syncWheelConfig();
+  }
+
+  /**
+   * Create a wheel and parent its group under `chassisObject`. Register all
+   * wheels before the first `update()` for a stable torque split (adding
+   * later works — the split just re-balances).
+   */
+  addWheel(options: WheelOptions): ShapeCastWheel {
+    const wheel = new ShapeCastWheel(this, options);
+    if (!this.wheelsMap.has(wheel.id)) {
+      this.chassisObject.add(wheel.wheelGroup);
+      this.wheelsMap.set(wheel.id, wheel);
+      this.syncWheelConfig();
+    }
+    return wheel;
+  }
+
+  /** Remove a wheel by id (detaches its groups, re-splits drive torque). */
+  removeWheel(id: string): void {
+    const wheel = this.wheelsMap.get(id);
+    if (!wheel) return;
+    this.wheelsMap.delete(id);
+    wheel.wheelGroup.removeFromParent();
+    this.syncWheelConfig();
+  }
+
+  /**
+   * Per-fixed-step update; call exactly once per physics substep BEFORE
+   * `world.step()`. The `dt` parameter is accepted for a uniform controller
+   * call shape and IGNORED — all timing uses the fixed `world.timestep`.
+   *
+   * Order (replicates upstream's children-before-parent frame order):
+   * A. sync `chassisObject` from the rigid body (wheels read world poses),
+   * B. update every wheel, C. refresh vehicle/gravity info (unless sleeping),
+   * D. transmission -> demands -> impulses. Demands written in D are consumed
+   * by the wheels NEXT step — an intentional upstream one-frame delay.
+   */
+  update(_dt?: number): void {
+    if (!this.enabled) return;
+
+    // A. Scene graph <- rigid body (must precede any wheel world-pose read).
+    this.chassisObject.position.copy(this.body.translation());
+    this.chassisObject.quaternion.copy(this.body.rotation());
+    this.chassisObject.updateMatrixWorld(true);
+
+    // B. Wheels (children-first useFrame order upstream).
+    for (const wheel of this.wheelsMap.values()) wheel.update();
+
+    // C. Vehicle + gravity info while awake.
+    if (!this.body.isSleeping()) {
+      this.updateVehicleInfo();
+      this.updateGravityInfo();
+    }
+
+    // D. Car control whenever there is a wheel.
+    if (this.wheelsMap.size > 0) this.applyCarControl();
+  }
+
+  /** Remove the body from the world and detach the scene-graph objects. */
+  dispose(): void {
+    for (const wheel of this.wheelsMap.values()) wheel.dispose();
+    this.wheelsMap.clear();
+    this.world.removeRigidBody(this.body);
+    this.chassisObject.removeFromParent();
+  }
+
+  // ------------------------------------------------------------------
+  // Internals (formulas and ordering mirror upstream exactly)
+  // ------------------------------------------------------------------
+
+  private syncTransmissionConfig(): void {
+    this._driveRatio = getDriveRatio(
+      this.gearRatiosList,
+      this._gearIndex,
+      this.carConfig.finalDriveRatio
+    );
+    this.maxWheelAngVel = getMaxWheelAngVel(
+      this.carConfig.engineMaxRPM,
+      this._driveRatio
+    );
+    this.driveWheelConfig.driveRatio = this._driveRatio;
+    this.driveWheelConfig.maxWheelAngVel = this.maxWheelAngVel;
+    this.steerWheelConfig.maxWheelAngVel = this.maxWheelAngVel;
+  }
+
+  private syncWheelConfig(): void {
+    let totalDriveTorqueWeight = 0;
+    for (const wheel of this.wheelsMap.values()) {
+      if (!wheel.driveWheel) continue;
+      totalDriveTorqueWeight += Math.max(0, wheel.driveTorqueWeight);
+    }
+    for (const wheel of this.wheelsMap.values()) {
+      if (wheel.driveWheel) {
+        const driveTorqueWeight = Math.max(0, wheel.driveTorqueWeight);
+        // Shallow copy for drive config (upstream spreads)...
+        wheel.setDriveWheelConfig({
+          ...this.driveWheelConfig,
+          maxDriveTorque:
+            totalDriveTorqueWeight > 0
+              ? (this.engineMaxTorque * driveTorqueWeight) / totalDriveTorqueWeight
+              : 0,
+        });
+      }
+      // ...but the SHARED object for steer config (upstream passes the ref),
+      // so steer wheels see later maxWheelAngVel updates without a re-push.
+      if (wheel.steerWheel) wheel.setSteerWheelConfig(this.steerWheelConfig);
+    }
+  }
+
+  private updateVehicleInfo(): void {
+    this.vehiclePos.copy(this.body.translation());
+    this.vehicleQuat.copy(this.body.rotation());
+    this.vehicleInvertQuat.copy(this.vehicleQuat).invert();
+    this.vehicleLinVel.copy(this.body.linvel());
+    this.vehicleAngVel.copy(this.body.angvel());
+    this.vehicleYAxis.set(0, 1, 0).applyQuaternion(this.vehicleQuat);
+    this.vehicleXAxis.set(1, 0, 0).applyQuaternion(this.vehicleQuat);
+    this.vehicleZAxis.set(0, 0, 1).applyQuaternion(this.vehicleQuat);
+  }
+
+  private updateGravityInfo(): void {
+    // Constant world gravity only (upstream custom-gravity fields are out of
+    // scope for v1); the slerp is retained faithfully — it converges
+    // instantly under constant gravity and keeps the formula intact.
+    const g = this.world.gravity;
+    this.referenceGravity.set(g.x, g.y, g.z);
+    this.referenceGravityMag = this.referenceGravity.length();
+    this.referenceGravityDir.copy(this.referenceGravity).normalize();
+    if (this.referenceGravityDir.lengthSq() === 0)
+      this.referenceGravityDir.copy(this.vehicleYAxis).negate();
+    this._gravityDir.copy(
+      this.slerpVec3(
+        this._gravityDir,
+        this.referenceGravityDir,
+        1 - Math.exp(-this.gravityDirLerpSpeed * this.world.timestep),
+        this.vehicleZAxis
+      )
+    );
+    this._upAxis.copy(this._gravityDir).negate();
+  }
+
+  private updateTransmission(): void {
+    // Drive-weighted average wheel RPM -> engine RPM (updated even while the
+    // shift cooldown runs; only the shift decision is skipped).
+    let totalWheelRPM = 0;
+    let totalDriveTorqueWeight = 0;
+    for (const wheel of this.wheelsMap.values()) {
+      if (!wheel.driveWheel) continue;
+      const driveTorqueWeight = Math.max(0, wheel.driveTorqueWeight);
+      totalWheelRPM +=
+        ((Math.abs(wheel.wheelAngVel) * 60) / (Math.PI * 2)) * driveTorqueWeight;
+      totalDriveTorqueWeight += driveTorqueWeight;
+    }
+
+    const averageWheelRPM =
+      totalDriveTorqueWeight > 0 ? totalWheelRPM / totalDriveTorqueWeight : 0;
+    this._engineRPM = averageWheelRPM * Math.abs(this._driveRatio);
+    if (this.carConfig.transmissionMode !== "auto" || this.gearRatiosList.length <= 1)
+      return;
+
+    if (this.shiftCooldownTimer > 0) {
+      this.shiftCooldownTimer = Math.max(
+        0,
+        this.shiftCooldownTimer - this.world.timestep
+      );
+      return;
+    }
+
+    if (
+      this._engineRPM > this.carConfig.shiftUpRPM &&
+      this._gearIndex < this.gearRatiosList.length - 1
+    ) {
+      this.setGear(this._gearIndex + 1);
+    } else if (this._engineRPM < this.carConfig.shiftDownRPM && this._gearIndex > 0) {
+      this.setGear(this._gearIndex - 1);
+    }
+  }
+
+  private velocityBasedCarControl(): void {
+    const input = this.movementState;
+    // Convert user input to drive/brake/steer demand (+steer = LEFT turn).
+    const driveIn = clamp((input.forward ? 1 : 0) - (input.backward ? 1 : 0), -1, 1);
+    const steerIn = clamp(
+      (input.steerLeft ? 1 : 0) - (input.steerRight ? 1 : 0) - input.joystickL.x,
+      -1,
+      1
+    );
+    const brakeIn = input.brake ? 1 : 0;
+
+    // Wheels consume these demands NEXT step (intentional one-frame delay).
+    for (const wheel of this.wheelsMap.values()) {
+      if (wheel.driveWheel) wheel.setDriveDemand(driveIn);
+      if (wheel.brakeWheel) wheel.setBrakeDemand(brakeIn);
+      if (wheel.steerWheel) wheel.setSteerDemand(steerIn);
+    }
+  }
+
+  private applyWheelImpulse(): void {
+    const body = this.body;
+
+    // Wake-up check: only wake when a wheel has contact and a moving surface
+    // or non-zero wheel surface speed.
+    if (body.isSleeping()) {
+      let shouldWake = false;
+      for (const wheel of this.wheelsMap.values()) {
+        if (!wheel.rayHit) continue;
+        if (wheel.isOnPlatform || Math.abs(wheel.wheelLinVel) > 1e-4) {
+          shouldWake = true;
+          break;
+        }
+      }
+      if (!shouldWake) return;
+      body.wakeUp();
+    }
+
+    for (const wheel of this.wheelsMap.values()) {
+      // `rayHit` is the wheel's ONE-FRAME-STALE published snapshot (upstream
+      // wheelInfo): on contact loss the stale friction impulses fire once
+      // more; on contact gain this step's suspension impulse is skipped.
+      if (!wheel.rayHit) continue;
+      // Suspension at the SUPPORT point (avoids contact-patch jacking while
+      // steering); friction impulses at the actual hit point. Wake flag
+      // `false` for the vehicle's own impulses.
+      body.applyImpulseAtPoint(wheel.floatImp, wheel.supPos, false);
+      body.applyImpulseAtPoint(wheel.lngFricImp, wheel.rayHitPos, false);
+      body.applyImpulseAtPoint(wheel.latFricImp, wheel.rayHitPos, false);
+    }
+  }
+
+  private applyCarControl(): void {
+    // Engine RPM + automatic gear changes before sending demands to wheels.
+    this.updateTransmission();
+    // Route drive/brake/steer demands to the wheels.
+    this.velocityBasedCarControl();
+    // Apply suspension + friction impulses from the shapecast wheels.
+    this.applyWheelImpulse();
+  }
+}