@hypersoniclabs/helix-cli 0.1.6 → 0.1.23

package/dist/visualQa/vehicleProbe.js.map

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package/dist/visualQa/vehicleStance.d.ts

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+import type { SpinResult, Verdict, Vec3, WheelRow } from './vehicleMath';
+/** Stance tolerances. The published Porsche reads 0.4802 drawn / 0.4800 physics for a declared 0.48. */
+export declare const STANCE_THRESHOLDS: {
+    /** Measured body-origin height vs the declared groundToBodyOrigin. Beyond this the car rides visibly high or low. */
+    readonly groundToBodyOriginTolM: 0.02;
+    /** groundToBodyOrigin vs wheelRadius + staticRideHeight (the package's own arithmetic). */
+    readonly declaredSumTolM: 0.005;
+    /** Mean measured rolling radius vs the declared wheel radius, as a fraction of it. The drive is a ~1 s coast, so one wheel is noisy. */
+    readonly rollingRadiusTolFraction: 0.06;
+    /** Any single wheel's rolling radius vs declared (driven wheels slip under power: the published Porsche's rear reads -8 %). */
+    readonly rollingRadiusWheelTolFraction: 0.15;
+};
+export interface DeclaredStance {
+    groundToBodyOriginM: number | null;
+    wheelRadiusM: number | null;
+    staticRideHeightM: number | null;
+    /** wheelRadius + staticRideHeight, when both are declared. */
+    impliedGroundToBodyOriginM: number | null;
+}
+/** A package number is either a bare number or a `{ value, unit, sources }` record. */
+export declare function numberOf(v: unknown): number | null;
+export declare function declaredStance(pkg: Record<string, unknown> | null | undefined): DeclaredStance;
+export interface StanceWheel {
+    id: string;
+    /** Body origin's height above this wheel's drawn tyre bottom (drawn centre y - drawn radius, body frame). */
+    drawnGroundBelowOriginM: number | null;
+    /** Body origin's height above this wheel's physics ground (hub y - physics radius, body frame). */
+    physicsGroundBelowOriginM: number;
+    /** Lowest body point above this wheel's own contact level, within +-0.6 m longitudinally. */
+    bodyClearanceM: number | null;
+    drawnRadiusM: number | null;
+    physicsRadiusM: number;
+    /** Drawn centre minus physics hub, body frame (x/y/z). */
+    hubDeltaM: Vec3 | null;
+}
+export interface MeasuredStance {
+    /** Mean over the wheels. Null when nothing could be measured. */
+    drawnGroundToBodyOriginM: number | null;
+    physicsGroundToBodyOriginM: number | null;
+    /** Ground plane tilt in the body frame (pitch about x / roll about z), degrees, from the drawn contact plane. */
+    pitchDeg: number | null;
+    rollDeg: number | null;
+    /** Lowest drawn body point above the contact plane (the car's ground clearance). */
+    lowestBodyPointM: number | null;
+    lowestBodyMesh: string | null;
+    wheels: StanceWheel[];
+}
+/** `physicsSettled` false (the car never reached all wheels grounded) withholds the physics numbers: a hub read from an
+ *  unsettled suspension is the rest length, not the stance. */
+export declare function measureStance(rows: WheelRow[], plane: [number, number, number], ride: {
+    minM: number | null;
+    mesh: string | null;
+}, opts?: {
+    physicsSettled?: boolean;
+}): MeasuredStance;
+/** The headline: is the car sitting where the package says it does? Blocks when the declared stance cannot be trusted. */
+export declare function judgeStance(declared: DeclaredStance, m: MeasuredStance, t?: {
+    /** Measured body-origin height vs the declared groundToBodyOrigin. Beyond this the car rides visibly high or low. */
+    readonly groundToBodyOriginTolM: 0.02;
+    /** groundToBodyOrigin vs wheelRadius + staticRideHeight (the package's own arithmetic). */
+    readonly declaredSumTolM: 0.005;
+    /** Mean measured rolling radius vs the declared wheel radius, as a fraction of it. The drive is a ~1 s coast, so one wheel is noisy. */
+    readonly rollingRadiusTolFraction: 0.06;
+    /** Any single wheel's rolling radius vs declared (driven wheels slip under power: the published Porsche's rear reads -8 %). */
+    readonly rollingRadiusWheelTolFraction: 0.15;
+}): Verdict;
+/** The package's own arithmetic: groundToBodyOrigin should equal wheelRadius + staticRideHeight (the spawn pose is the rest pose). */
+export declare function judgeDeclaredSum(d: DeclaredStance, t?: {
+    /** Measured body-origin height vs the declared groundToBodyOrigin. Beyond this the car rides visibly high or low. */
+    readonly groundToBodyOriginTolM: 0.02;
+    /** groundToBodyOrigin vs wheelRadius + staticRideHeight (the package's own arithmetic). */
+    readonly declaredSumTolM: 0.005;
+    /** Mean measured rolling radius vs the declared wheel radius, as a fraction of it. The drive is a ~1 s coast, so one wheel is noisy. */
+    readonly rollingRadiusTolFraction: 0.06;
+    /** Any single wheel's rolling radius vs declared (driven wheels slip under power: the published Porsche's rear reads -8 %). */
+    readonly rollingRadiusWheelTolFraction: 0.15;
+}): Verdict;
+export interface RollingRadius {
+    id: string;
+    /** distance / drawn rotation. Null when the wheel did not turn. */
+    rollingRadiusM: number | null;
+    declaredRadiusM: number;
+    /** (rolling - declared) / declared. */
+    errorFraction: number | null;
+}
+/** Effective rolling radius of each drawn wheel from the drive: distance rolled over the angle the drawn wheel turned. */
+export declare function rollingRadii(spin: Pick<SpinResult, 'distanceM' | 'wheels'>, declaredRadiusM: number[]): RollingRadius[];
+export declare function judgeRollingRadius(rows: RollingRadius[], declaredWheelRadiusM: number | null, t?: {
+    /** Measured body-origin height vs the declared groundToBodyOrigin. Beyond this the car rides visibly high or low. */
+    readonly groundToBodyOriginTolM: 0.02;
+    /** groundToBodyOrigin vs wheelRadius + staticRideHeight (the package's own arithmetic). */
+    readonly declaredSumTolM: 0.005;
+    /** Mean measured rolling radius vs the declared wheel radius, as a fraction of it. The drive is a ~1 s coast, so one wheel is noisy. */
+    readonly rollingRadiusTolFraction: 0.06;
+    /** Any single wheel's rolling radius vs declared (driven wheels slip under power: the published Porsche's rear reads -8 %). */
+    readonly rollingRadiusWheelTolFraction: 0.15;
+}): Verdict;
+export interface StrayWheelMesh {
+    mesh: string;
+    centre: Vec3 | null;
+}
+/**
+ * The engine adopts a wheel mesh only when its pivot sits at the physics hub; a wheel authored off its hub (a model raised
+ * or lowered against the declared stance, a wrong track or wheelbase) is left behind as a loose mesh and the car runs on
+ * no drawn wheels at all. When that happens, name each loose wheel and how far it is from its nearest hub, so the author
+ * sees which way and by how much the model disagrees with the package.
+ */
+export declare function judgeWheelBinding(rows: WheelRow[], strays: StrayWheelMesh[]): Verdict;

package/dist/visualQa/vehicleStance.js

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+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.STANCE_THRESHOLDS = void 0;
+exports.numberOf = numberOf;
+exports.declaredStance = declaredStance;
+exports.measureStance = measureStance;
+exports.judgeStance = judgeStance;
+exports.judgeDeclaredSum = judgeDeclaredSum;
+exports.rollingRadii = rollingRadii;
+exports.judgeRollingRadius = judgeRollingRadius;
+exports.judgeWheelBinding = judgeWheelBinding;
+/** Stance tolerances. The published Porsche reads 0.4802 drawn / 0.4800 physics for a declared 0.48. */
+exports.STANCE_THRESHOLDS = {
+    /** Measured body-origin height vs the declared groundToBodyOrigin. Beyond this the car rides visibly high or low. */
+    groundToBodyOriginTolM: 0.02,
+    /** groundToBodyOrigin vs wheelRadius + staticRideHeight (the package's own arithmetic). */
+    declaredSumTolM: 0.005,
+    /** Mean measured rolling radius vs the declared wheel radius, as a fraction of it. The drive is a ~1 s coast, so one wheel is noisy. */
+    rollingRadiusTolFraction: 0.06,
+    /** Any single wheel's rolling radius vs declared (driven wheels slip under power: the published Porsche's rear reads -8 %). */
+    rollingRadiusWheelTolFraction: 0.15,
+};
+/** A package number is either a bare number or a `{ value, unit, sources }` record. */
+function numberOf(v) {
+    if (typeof v === 'number' && Number.isFinite(v))
+        return v;
+    if (v && typeof v === 'object' && !Array.isArray(v)) {
+        const inner = v.value;
+        if (typeof inner === 'number' && Number.isFinite(inner))
+            return inner;
+    }
+    return null;
+}
+const rec = (v) => (v && typeof v === 'object' && !Array.isArray(v) ? v : {});
+function declaredStance(pkg) {
+    const physics = rec(rec(pkg).physics);
+    const chassis = rec(physics.chassis);
+    const suspension = rec(physics.suspension);
+    const groundToBodyOriginM = numberOf(chassis.groundToBodyOrigin);
+    const wheelRadiusM = numberOf(chassis.wheelRadius);
+    const staticRideHeightM = numberOf(suspension.staticRideHeight);
+    return {
+        groundToBodyOriginM,
+        wheelRadiusM,
+        staticRideHeightM,
+        impliedGroundToBodyOriginM: wheelRadiusM !== null && staticRideHeightM !== null ? round(wheelRadiusM + staticRideHeightM, 5) : null,
+    };
+}
+const round = (v, dp = 4) => { const k = 10 ** dp; return Math.round(v * k) / k; };
+const mean = (xs) => (xs.length ? xs.reduce((s, x) => s + x, 0) / xs.length : null);
+const cm = (m) => `${(m * 100).toFixed(1)} cm`;
+/** `physicsSettled` false (the car never reached all wheels grounded) withholds the physics numbers: a hub read from an
+ *  unsettled suspension is the rest length, not the stance. */
+function measureStance(rows, plane, ride, opts = {}) {
+    const settled = opts.physicsSettled !== false;
+    const wheels = rows.map((r) => ({
+        id: r.id,
+        drawnGroundBelowOriginM: r.drawnCentre && r.radius !== null ? round(-(r.drawnCentre[1] - r.radius)) : null,
+        physicsGroundBelowOriginM: round(-(r.hub[1] - r.physicsRadius)),
+        bodyClearanceM: r.rideHeightLocalM,
+        drawnRadiusM: r.radius === null ? null : round(r.radius),
+        physicsRadiusM: round(r.physicsRadius),
+        hubDeltaM: r.delta,
+    }));
+    const drawn = wheels.map((w) => w.drawnGroundBelowOriginM).filter((x) => x !== null);
+    const phys = wheels.map((w) => w.physicsGroundBelowOriginM);
+    const dMean = mean(drawn);
+    const pMean = mean(phys);
+    return {
+        drawnGroundToBodyOriginM: dMean === null ? null : round(dMean),
+        physicsGroundToBodyOriginM: pMean === null || !settled ? null : round(pMean),
+        // plane: y = c0 + c1*x + c2*z in the body frame, so slope along x is roll and slope along z is pitch
+        pitchDeg: round((Math.atan(plane[2]) * 180) / Math.PI, 3),
+        rollDeg: round((Math.atan(plane[1]) * 180) / Math.PI, 3),
+        lowestBodyPointM: ride.minM,
+        lowestBodyMesh: ride.mesh,
+        wheels,
+    };
+}
+/** The headline: is the car sitting where the package says it does? Blocks when the declared stance cannot be trusted. */
+function judgeStance(declared, m, t = exports.STANCE_THRESHOLDS) {
+    const measured = { declared, measured: m, toleranceM: t.groundToBodyOriginTolM };
+    if (declared.groundToBodyOriginM === null) {
+        return {
+            pass: false,
+            detail: `the package declares no physics.chassis.groundToBodyOrigin to compare against; the car measures ${m.drawnGroundToBodyOriginM === null ? '?' : cm(m.drawnGroundToBodyOriginM)} from ground to body origin (drawn tyres), so declare ${m.drawnGroundToBodyOriginM ?? '?'}`,
+            measured: { ...measured, suggestedGroundToBodyOriginM: m.drawnGroundToBodyOriginM },
+        };
+    }
+    if (m.drawnGroundToBodyOriginM === null || m.physicsGroundToBodyOriginM === null) {
+        return {
+            pass: false,
+            detail: `not measured: ${m.drawnGroundToBodyOriginM === null ? 'the drawn tyres could not be read' : 'the car never settled on all wheels, so the physics ride height is not the stance'}${m.drawnGroundToBodyOriginM === null ? '' : ` (the drawn tyres put the body origin ${cm(m.drawnGroundToBodyOriginM)} above the ground, ${(m.drawnGroundToBodyOriginM - declared.groundToBodyOriginM) >= 0 ? '+' : ''}${cm(m.drawnGroundToBodyOriginM - declared.groundToBodyOriginM)} against the declared ${cm(declared.groundToBodyOriginM)})`}`,
+            measured: { ...measured, deltaDrawnM: m.drawnGroundToBodyOriginM === null ? null : round(m.drawnGroundToBodyOriginM - declared.groundToBodyOriginM) },
+        };
+    }
+    const dDrawn = round(m.drawnGroundToBodyOriginM - declared.groundToBodyOriginM);
+    const dPhys = round(m.physicsGroundToBodyOriginM - declared.groundToBodyOriginM);
+    const drawnOff = Math.abs(dDrawn) > t.groundToBodyOriginTolM;
+    const physOff = Math.abs(dPhys) > t.groundToBodyOriginTolM;
+    const pass = !drawnOff && !physOff;
+    const sign = (d) => (d > 0 ? `${cm(d)} too high` : `${cm(-d)} too low`);
+    const parts = [];
+    if (drawnOff)
+        parts.push(`the drawn tyres put the body origin ${cm(m.drawnGroundToBodyOriginM)} above the ground, ${sign(dDrawn)} against the declared ${cm(declared.groundToBodyOriginM)}`);
+    if (physOff)
+        parts.push(`the physics puts it ${cm(m.physicsGroundToBodyOriginM)} above the ground, ${sign(dPhys)} against the declared ${cm(declared.groundToBodyOriginM)}`);
+    return {
+        pass,
+        detail: pass
+            ? `ride height matches the package: body origin ${cm(m.drawnGroundToBodyOriginM)} above the drawn tyre bottoms and ${cm(m.physicsGroundToBodyOriginM)} above the physics ground, declared groundToBodyOrigin ${cm(declared.groundToBodyOriginM)} (tolerance ${cm(t.groundToBodyOriginTolM)})`
+            : `${parts.join('; ')}. groundToBodyOrigin cannot change after the first mint: fix the model's ride height or set groundToBodyOrigin to ${m.drawnGroundToBodyOriginM}`,
+        measured: { ...measured, deltaDrawnM: dDrawn, deltaPhysicsM: dPhys, suggestedGroundToBodyOriginM: m.drawnGroundToBodyOriginM },
+    };
+}
+/** The package's own arithmetic: groundToBodyOrigin should equal wheelRadius + staticRideHeight (the spawn pose is the rest pose). */
+function judgeDeclaredSum(d, t = exports.STANCE_THRESHOLDS) {
+    const measured = { ...d, toleranceM: t.declaredSumTolM };
+    if (d.groundToBodyOriginM === null || d.impliedGroundToBodyOriginM === null) {
+        return { pass: false, detail: 'groundToBodyOrigin, wheelRadius or staticRideHeight is not declared, so the stance arithmetic cannot be checked', measured };
+    }
+    const diff = round(d.groundToBodyOriginM - d.impliedGroundToBodyOriginM, 5);
+    const pass = Math.abs(diff) <= t.declaredSumTolM;
+    return {
+        pass,
+        detail: pass
+            ? `groundToBodyOrigin ${d.groundToBodyOriginM} = wheelRadius ${d.wheelRadiusM} + staticRideHeight ${d.staticRideHeightM}`
+            : `groundToBodyOrigin ${d.groundToBodyOriginM} is ${cm(Math.abs(diff))} ${diff > 0 ? 'above' : 'below'} wheelRadius ${d.wheelRadiusM} + staticRideHeight ${d.staticRideHeightM} = ${d.impliedGroundToBodyOriginM}; the spawn pose will not be the rest pose and the body will drop or lift on spawn`,
+        measured: { ...measured, diffM: diff },
+    };
+}
+/** Effective rolling radius of each drawn wheel from the drive: distance rolled over the angle the drawn wheel turned. */
+function rollingRadii(spin, declaredRadiusM) {
+    return spin.wheels.map((w, i) => {
+        const turned = Math.abs(w.drawnRad);
+        const r = turned > 1e-6 && spin.distanceM > 0 ? spin.distanceM / turned : null;
+        const declared = declaredRadiusM[i];
+        return { id: w.id, rollingRadiusM: r === null ? null : round(r), declaredRadiusM: round(declared), errorFraction: r === null ? null : round((r - declared) / declared) };
+    });
+}
+function judgeRollingRadius(rows, declaredWheelRadiusM, t = exports.STANCE_THRESHOLDS) {
+    const radii = rows.map((r) => r.rollingRadiusM).filter((x) => x !== null);
+    const meanR = mean(radii);
+    // Each wheel is judged against ITS OWN radius (rollingRadii's `declaredRadiusM`: the axle's tyre on a v2 car), never one
+    // chassis-wide wheelRadius: a staggered car (245 front / 335 rear) rolls on two radii by design.
+    const errs = rows.map((r) => r.errorFraction).filter((x) => x !== null);
+    const perWheel = errs.length ? errs.reduce((a, b) => a + b, 0) / errs.length : null;
+    const meanError = perWheel !== null ? round(perWheel) : meanR !== null && declaredWheelRadiusM ? (meanR - declaredWheelRadiusM) / declaredWheelRadiusM : null;
+    const staggered = new Set(rows.map((r) => r.declaredRadiusM)).size > 1;
+    const stalled = rows.filter((r) => r.errorFraction === null);
+    const wild = rows.filter((r) => r.errorFraction !== null && Math.abs(r.errorFraction) > t.rollingRadiusWheelTolFraction);
+    const measured = { declaredWheelRadiusM, meanRollingRadiusM: meanR === null ? null : round(meanR), meanErrorFraction: meanError === null ? null : round(meanError), toleranceFraction: t.rollingRadiusTolFraction, wheelToleranceFraction: t.rollingRadiusWheelTolFraction, wheels: rows };
+    const list = rows.map((r) => `${r.id} ${r.rollingRadiusM === null ? '?' : cm(r.rollingRadiusM)}`).join(', ');
+    if (rows.length === 0)
+        return { pass: false, detail: 'not measured: the drive did not complete', measured };
+    const pct = (f) => (f === null ? '?' : `${f >= 0 ? '+' : ''}${(f * 100).toFixed(1)}%`);
+    const meanBad = meanError === null || Math.abs(meanError) > t.rollingRadiusTolFraction;
+    const bad = stalled.length > 0 || wild.length > 0 || meanBad;
+    return {
+        pass: !bad,
+        detail: bad
+            ? `measured rolling radius disagrees with ${staggered ? `each wheel's own radius (${rows.map((r) => `${r.id} ${cm(r.declaredRadiusM)}`).join(', ')})` : `the declared wheelRadius ${declaredWheelRadiusM === null ? '?' : cm(declaredWheelRadiusM)}`}: mean ${meanR === null ? '?' : cm(meanR)} (${pct(meanError)}, limit ±${(t.rollingRadiusTolFraction * 100).toFixed(0)}%)${stalled.length ? `; ${stalled.map((r) => r.id).join(', ')} did not turn` : ''}${wild.length ? `; ${wild.map((r) => `${r.id} ${cm(r.rollingRadiusM)} (${pct(r.errorFraction)})`).join(', ')} beyond ±${(t.rollingRadiusWheelTolFraction * 100).toFixed(0)}%` : ''}`
+            : `measured rolling radius ${list}; mean ${cm(meanR)} (${pct(meanError)}) vs ${staggered ? `each wheel's own radius (${rows.map((r) => `${r.id} ${cm(r.declaredRadiusM)}`).join(', ')})` : `declared wheelRadius ${declaredWheelRadiusM === null ? '?' : cm(declaredWheelRadiusM)}`}`,
+        measured,
+    };
+}
+/**
+ * The engine adopts a wheel mesh only when its pivot sits at the physics hub; a wheel authored off its hub (a model raised
+ * or lowered against the declared stance, a wrong track or wheelbase) is left behind as a loose mesh and the car runs on
+ * no drawn wheels at all. When that happens, name each loose wheel and how far it is from its nearest hub, so the author
+ * sees which way and by how much the model disagrees with the package.
+ */
+function judgeWheelBinding(rows, strays) {
+    const bound = rows.filter((r) => r.drawnCentre !== null).length;
+    const measured = { physicsWheels: rows.length, boundWheels: bound, strays };
+    if (bound === rows.length && rows.length > 0)
+        return { pass: true, detail: `all ${rows.length} wheel meshes are bound to their hubs`, measured };
+    const lines = strays.filter((s) => s.centre).map((s) => {
+        const c = s.centre;
+        let best = null;
+        let bestD = Infinity;
+        for (const r of rows) {
+            const d = Math.hypot(c[0] - r.hub[0], c[2] - r.hub[2]);
+            if (d < bestD) {
+                bestD = d;
+                best = r;
+            }
+        }
+        if (!best)
+            return `${s.mesh} is loose`;
+        const d = [c[0] - best.hub[0], c[1] - best.hub[1], c[2] - best.hub[2]].map((v) => (v * 100).toFixed(1));
+        return `${s.mesh} sits ${d[0]}/${d[1]}/${d[2]} cm (x/y/z) from hub ${best.id}`;
+    });
+    return {
+        pass: false,
+        detail: `${bound}/${rows.length} wheel meshes were adopted by their hubs; the engine only binds a wheel whose pivot is at the hub, so the rest are drawn loose or not at all${lines.length ? `: ${lines.join('; ')}` : ''}. Move the wheel pivots onto the hubs (or the hubs onto the wheels), keeping groundToBodyOrigin = wheelRadius + staticRideHeight`,
+        measured,
+    };
+}
+//# sourceMappingURL=vehicleStance.js.map

package/dist/visualQa/vehicleStance.js.map

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package/dist/visualQa/viewer.d.ts

@@ -0,0 +1,6 @@
+import type { RenderRoute } from './harness';
+export declare const renderViewer: RenderRoute;
+/** A screenshot is admissible only when a completed draw to its own canvas used the requested pose. */
+export declare function capturePoseMatches(aim: any, actual: any): boolean;
+/** True only when the public catalogue answers 404 for this item: it was archived or deleted. Anything else (network, 5xx) is "not known to be gone". */
+export declare function hostIsGone(apiBase: string, hostId: string, fetchImpl?: typeof fetch): Promise<boolean>;