@inventure71/paddockjs 0.3.0 → 1.0.0

package/src/simulation/driverController.js

@@ -1,8 +1,34 @@
 import { pointAt, offsetTrackPoint } from './trackModel.js';
 import { clamp, normalizeAngle, seededRange, TWO_PI } from './simMath.js';
+import { kphToSimSpeed, metersToSimUnits, simSpeedToKph, simUnitsToMeters } from './units.js';
 import { VEHICLE_LIMITS } from './vehiclePhysics.js';
 
-const LANE_OFFSETS = [-78, -52, -26, 0, 26, 52, 78];
+const LANE_OFFSETS = [-8, -5.6, -3.2, 0, 3.2, 5.6, 8].map(metersToSimUnits);
+const EDGE_RECOVERY_MIN_LOOKAHEAD = metersToSimUnits(28);
+const LOOKAHEAD_BASE_DISTANCE = metersToSimUnits(52);
+const LOOKAHEAD_MAX_DISTANCE = metersToSimUnits(115);
+const BRAKING_LOOKAHEAD_MAX_DISTANCE = metersToSimUnits(560);
+const TRAFFIC_GAP_AHEAD = metersToSimUnits(58);
+const TRAFFIC_SIDE_GAP = metersToSimUnits(4.1);
+const TRAFFIC_SIDE_OVERLAP = metersToSimUnits(4.6);
+const TRAFFIC_REAR_WINDOW = metersToSimUnits(42);
+const OVERTAKE_GAP_BASE = metersToSimUnits(26);
+const OVERTAKE_GAP_AGGRESSION = metersToSimUnits(28);
+const OVERTAKE_LATERAL_MIN = metersToSimUnits(2.4);
+const OVERTAKE_LATERAL_REWARD = metersToSimUnits(1.35);
+const PASS_SIDE_BASE = metersToSimUnits(3.4);
+const PASS_SIDE_AGGRESSION = metersToSimUnits(4.6);
+const DEFEND_REAR_GAP = metersToSimUnits(46);
+const DEFEND_MIN_OFFSET = metersToSimUnits(2.4);
+const LANE_EDGE_CLEARANCE_TARGET = metersToSimUnits(0.75);
+const REJOIN_LOOKAHEAD_BASE = metersToSimUnits(56);
+const REJOIN_LOOKAHEAD_MAX = metersToSimUnits(105);
+const SAFETY_CAR_LOOKAHEAD_MIN = metersToSimUnits(24);
+const SAFETY_CAR_LOOKAHEAD_MAX = metersToSimUnits(48);
+const CURVATURE_LOOKAHEAD_SAMPLES = 5;
+const PREVIEW_CURVATURE_CAP = 0.00115;
+const REJOIN_HOLD_FRAMES = 150;
+const OVERTAKE_COMMIT_FRAMES = 150;
 
 function angleToPoint(car, target) {
   const angle = Math.atan2(target.y - car.y, target.x - car.x);
@@ -71,6 +97,12 @@ export function decideDriverControls({ car, orderIndex, race }) {
   }
 
   if (!car.trackState.onTrack) {
+    car.rejoinRecoveryFrames = REJOIN_HOLD_FRAMES;
+    car.attackCommitmentFrames = 0;
+    return decideRejoinControls(car, race);
+  }
+
+  if (shouldContinueRejoinRecovery(car, race)) {
     return decideRejoinControls(car, race);
   }
 
@@ -79,91 +111,314 @@ export function decideDriverControls({ car, orderIndex, race }) {
 
 function decideRacingControls(car, orderIndex, race) {
   const aggression = car.aggression ?? car.personality?.baseAggression ?? 0.5;
-  const lookahead = clamp(car.speed * (1.12 - aggression * 0.08) + 160, 160, 360);
+  const edgeGuard = calculateTrackEdgeGuard(car, race);
+  const baseLookahead = clamp(
+    car.speed * (1.62 - aggression * 0.12) + LOOKAHEAD_BASE_DISTANCE - edgeGuard.pressure * metersToSimUnits(18),
+    EDGE_RECOVERY_MIN_LOOKAHEAD,
+    LOOKAHEAD_MAX_DISTANCE,
+  );
+  const previewLookahead = clamp(
+    car.speed * 3.15 + LOOKAHEAD_BASE_DISTANCE,
+    baseLookahead,
+    BRAKING_LOOKAHEAD_MAX_DISTANCE,
+  );
+  const previewCurvature = maxLookaheadCurvature(race.track, car.progress, previewLookahead);
+  const cornerPressure = clamp(previewCurvature / 0.001, 0, 1);
+  const lookahead = clamp(
+    baseLookahead * (1 - cornerPressure * 0.46),
+    EDGE_RECOVERY_MIN_LOOKAHEAD,
+    LOOKAHEAD_MAX_DISTANCE,
+  );
   const targetBase = pointAt(race.track, car.progress + lookahead);
+  const curvature = Math.max(
+    car.trackState.curvature,
+    targetBase.curvature,
+    previewCurvature,
+  );
   const lanePlan = planRacingLine(car, orderIndex, race);
-  const recoveryBias = car.trackState.crossTrackError > race.track.width * 0.46 ? 0 : 1;
-  const target = offsetTrackPoint(targetBase, lanePlan.offset * recoveryBias);
+  const cornerOffsetDamping = clamp(curvature / 0.0012, 0, 0.58);
+  const recoveryOffset = edgeGuard.side * edgeGuard.recoveryOffset;
+  const racingOffset = calculateRacingLineOffset(car, race, lookahead, curvature, edgeGuard);
+  const trafficPressure = lanePlan.attackCommitted || lanePlan.sameLaneAhead || lanePlan.actualLaneAhead || lanePlan.sideRisk ? 1 : 0;
+  const racingLineWeight = lanePlan.attackCommitted ? 0.18 : trafficPressure ? 0.52 : 1;
+  const cornerOffsetFactor = 1 - cornerOffsetDamping * (lanePlan.attackCommitted ? 0.28 : trafficPressure ? 0.58 : 1);
+  const targetOffset = clamp(
+    (lanePlan.offset + racingOffset * racingLineWeight) * cornerOffsetFactor * (1 - edgeGuard.pressure * 0.8) +
+      recoveryOffset * edgeGuard.pressure * 0.8,
+    -edgeGuard.recoveryOffset,
+    edgeGuard.recoveryOffset,
+  );
+  const target = offsetTrackPoint(targetBase, targetOffset);
   const angleError = angleToPoint(car, target);
-  const curvature = Math.max(car.trackState.curvature, targetBase.curvature);
-  const gripBudget = 54 + car.racecraft * 11 + (car.tireEnergy ?? 100) * 0.05 + aggression * 4.5;
-  const cornerTarget = clamp(
-    Math.sqrt(gripBudget / Math.max(curvature, 0.0001)) + (car.pace - 1) * 20 + aggression * 7,
-    72,
-    168,
-  );
-  const edgeTolerance = race.track.width * (0.36 + aggression * 0.1);
-  const edgePenalty = Math.max(0, car.trackState.crossTrackError - edgeTolerance) * (0.16 - aggression * 0.05);
+  const headingError = normalizeAngle(targetBase.heading - car.heading);
+  const lateralError = car.trackState?.signedOffset ?? 0;
+  const cornerCommitment = clamp(Math.abs(headingError) / 0.9, 0, 0.72);
+  const lateralCorrection = -Math.atan2(
+    lateralError * (0.85 + edgeGuard.pressure * 0.5),
+    Math.max(car.speed, kphToSimSpeed(35)),
+  ) * (1 - cornerCommitment * 0.62);
+  const headingFeedForward = clamp(
+    headingError * (0.34 + car.racecraft * 0.18 + edgeGuard.pressure * 0.12),
+    -0.42,
+    0.42,
+  );
+  let pathSteer = angleError * (0.72 + car.racecraft * 0.12 + edgeGuard.pressure * 0.42) + headingFeedForward;
+  if (edgeGuard.side !== 0 && Math.sign(pathSteer) === edgeGuard.side) {
+    pathSteer *= 1 - edgeGuard.pressure * 0.85;
+  }
+  const edgeRecoverySteer = -edgeGuard.side * clamp(
+    (edgeGuard.pressure - 0.22) * 1.18 + edgeGuard.overLimitPressure * 0.55,
+    0,
+    0.52,
+  );
+  const steeringLimit = car.trackState.surface === 'kerb'
+    ? VEHICLE_LIMITS.maxSteer * 0.96
+    : VEHICLE_LIMITS.maxSteer;
+  const steeringRequest = clamp(pathSteer + lateralCorrection + edgeRecoverySteer, -steeringLimit, steeringLimit);
+  const cornerRadiusMeters = simUnitsToMeters(1 / Math.max(curvature, 1e-7));
+  const lateralGripBudget = 14.8 + car.racecraft * 3.4 + (car.tireEnergy ?? 100) * 0.011 + aggression * 1.8;
+  const cornerTargetKph = clamp(
+    Math.sqrt(lateralGripBudget * cornerRadiusMeters) * 3.6 * (1.1 + aggression * 0.08) +
+      (car.pace - 1) * 20 + aggression * 10,
+    96,
+    318,
+  );
+  const edgePenalty = edgeGuard.pressure > 0.42
+    ? simUnitsToMeters(Math.max(0, car.trackState.crossTrackError - edgeGuard.softLimit)) *
+      (5.8 - aggression * 1.1) + edgeGuard.overLimitPressure * 48
+    : edgeGuard.overLimitPressure * 48;
+  const steeringPenalty = clamp((Math.abs(angleError) - 0.38) * 24, 0, 12);
+  const headingPenalty = clamp((Math.abs(headingError) - 0.48) * 42, 0, 24);
+  const recoveryAlignmentPenalty = edgeGuard.pressure > 0.2
+    ? clamp((Math.abs(headingError) - 0.46) * 64, 0, 38)
+    : 0;
+  const steeringLoadPenalty = clamp(
+    (Math.abs(steeringRequest) / Math.max(steeringLimit, 1e-6) - 0.82) * 42,
+    0,
+    18,
+  ) * clamp(Math.abs(headingError) / 0.48, 0, 1);
+  const actualLaneLateral = lanePlan.actualLaneAhead
+    ? Math.abs(lanePlan.actualLaneAhead.signedOffset - (car.trackState?.signedOffset ?? 0))
+    : Infinity;
+  const plannedPassingOverlap = lanePlan.attackCommitted && lanePlan.sameLaneAhead
+    ? Math.abs(lanePlan.sameLaneAhead.signedOffset - (car.trackState?.signedOffset ?? 0)) > OVERTAKE_LATERAL_MIN
+    : false;
   const trafficPenalty = Math.max(
-    lanePlan.sameLaneAhead ? clamp((230 - lanePlan.sameLaneAhead.gap) * 0.16, 0, 32) : 0,
-    lanePlan.sideRisk ? clamp((44 - lanePlan.sideRisk.lateral) * 0.42, 0, 16) : 0,
+    lanePlan.sameLaneAhead
+      ? calculatePlannedTrafficPenalty(lanePlan.sameLaneAhead, plannedPassingOverlap)
+      : 0,
+    lanePlan.actualLaneAhead && actualLaneLateral < OVERTAKE_LATERAL_MIN
+      ? calculateActualOverlapPenalty(car, lanePlan.actualLaneAhead)
+      : 0,
+    lanePlan.sideRisk ? clamp(simUnitsToMeters(TRAFFIC_SIDE_GAP - lanePlan.sideRisk.lateral) * 0.42, 0, 16) : 0,
   ) * (1 - aggression * 0.28);
+  const minimumDesiredSpeedKph = edgeGuard.pressure > 0.55
+    ? 34
+    : car.trackState.surface === 'kerb' ? 58 : 52;
+  const desiredSpeedKph = clamp(
+    (car.drsActive ? cornerTargetKph + 22 : cornerTargetKph) -
+      edgePenalty -
+      steeringPenalty -
+      headingPenalty -
+      recoveryAlignmentPenalty -
+      steeringLoadPenalty -
+      trafficPenalty,
+    minimumDesiredSpeedKph,
+    330,
+  );
   const desiredSpeed = clamp(
-    (car.drsActive ? cornerTarget + 22 : cornerTarget) - edgePenalty - trafficPenalty,
-    58,
+    kphToSimSpeed(desiredSpeedKph),
+    kphToSimSpeed(minimumDesiredSpeedKph),
     VEHICLE_LIMITS.maxSpeed,
   );
   const speedError = desiredSpeed - car.speed;
+  const minimumThrottle = edgeGuard.pressure > 0.2 ? 0 : 0.1 + aggression * 0.08;
+  const brakeLimit = car.trackState.surface === 'kerb'
+    ? 0.42
+    : 0.72 - aggression * 0.08;
+  let brakeAmount = speedError < -kphToSimSpeed(3)
+    ? clamp(Math.abs(speedError) / kphToSimSpeed(28 + aggression * 11), 0, brakeLimit)
+    : 0;
+  if (edgeGuard.pressure > 0.46 && car.speed > kphToSimSpeed(48)) {
+    brakeAmount = Math.max(brakeAmount, clamp((edgeGuard.pressure - 0.42) * 0.9, 0, brakeLimit));
+  }
+  const recoveryThrottleScale = edgeGuard.pressure > 0.24
+    ? 1 - clamp((Math.abs(headingError) - 0.38) / 0.92, 0, 0.82)
+    : 1;
+  const throttleRequest = speedError > kphToSimSpeed(1)
+    ? clamp(speedError / kphToSimSpeed(16), minimumThrottle, 1)
+    : 0;
 
   return createDriverInput()
-    .steer(angleError * (0.82 + car.racecraft * 0.1))
-    .accelerate(speedError > 1 ? clamp(speedError / 16, 0.1 + aggression * 0.08, 1) : 0)
-    .brake(speedError < -2 ? clamp(Math.abs(speedError) / (22 + aggression * 8), 0, 1) : 0)
+    .steer(steeringRequest)
+    .accelerate(brakeAmount > 0.05 ? 0 : throttleRequest * recoveryThrottleScale)
+    .brake(brakeAmount)
     .controls();
 }
 
-function decideRejoinControls(car, race) {
-  const lookahead = clamp(car.speed * 0.72 + 118, 118, 220);
+function maxLookaheadCurvature(track, progress, lookahead) {
+  let maximum = 0;
+  let previous = pointAt(track, progress);
+  for (let index = 1; index <= CURVATURE_LOOKAHEAD_SAMPLES; index += 1) {
+    const sample = pointAt(track, progress + lookahead * (index / CURVATURE_LOOKAHEAD_SAMPLES));
+    const segmentDistance = Math.max(1, lookahead / CURVATURE_LOOKAHEAD_SAMPLES);
+    const segmentCurvature = Math.abs(normalizeAngle(sample.heading - previous.heading)) / segmentDistance;
+    maximum = Math.max(maximum, Math.abs(sample.curvature ?? 0), Math.min(segmentCurvature, PREVIEW_CURVATURE_CAP));
+    previous = sample;
+  }
+  return maximum;
+}
+
+function calculateRacingLineOffset(car, race, lookahead, curvature, edgeGuard) {
+  const cornerStrength = clamp((curvature - 0.00012) / 0.00095, 0, 1);
+  if (cornerStrength <= 0) return 0;
+
+  const entry = pointAt(race.track, car.progress - lookahead * 0.35);
+  const apex = pointAt(race.track, car.progress + lookahead * 0.55);
+  const exit = pointAt(race.track, car.progress + lookahead * 1.25);
+  const signedEntry = normalizeAngle(apex.heading - entry.heading);
+  const signedExit = normalizeAngle(exit.heading - apex.heading);
+  const turnDirection = Math.sign(Math.abs(signedEntry) > Math.abs(signedExit) ? signedEntry : signedExit);
+  if (turnDirection === 0) return 0;
+
+  const aggression = car.aggression ?? car.personality?.baseAggression ?? 0.5;
+  const safeEdge = race.track.width / 2 - VEHICLE_LIMITS.carWidth * (1.15 - aggression * 0.12);
+  const apexOffset = turnDirection * safeEdge * (0.72 + aggression * 0.08);
+
+  return apexOffset * cornerStrength * (1 - edgeGuard.pressure * 0.65);
+}
+
+function calculateTrackEdgeGuard(car, race) {
+  const trackLimit = race.track.width / 2;
+  const halfCarWidth = VEHICLE_LIMITS.carWidth / 2;
+  const wholeCarOutsideLimit = trackLimit + halfCarWidth;
+  const softLimit = trackLimit - halfCarWidth * 1.9;
+  const recoveryOffset = trackLimit - halfCarWidth * 1.62;
+  const crossTrackError = car.trackState?.crossTrackError ?? 0;
+  const side = Math.sign(car.trackState?.signedOffset ?? 0);
+  const pressure = clamp(
+    (crossTrackError - softLimit) / Math.max(1, wholeCarOutsideLimit - softLimit),
+    0,
+    1,
+  );
+  const overLimitPressure = clamp(
+    (crossTrackError - wholeCarOutsideLimit) / Math.max(1, (race.track.kerbWidth ?? 0) + halfCarWidth),
+    0,
+    1,
+  );
+
+  return {
+    softLimit,
+    recoveryOffset,
+    pressure,
+    overLimitPressure,
+    side,
+  };
+}
+
+function shouldContinueRejoinRecovery(car, race) {
+  const frames = Math.max(0, Math.floor(car.rejoinRecoveryFrames ?? 0));
+  if (frames <= 0) return false;
+
+  const lookahead = clamp(car.speed * 0.66 + REJOIN_LOOKAHEAD_BASE, REJOIN_LOOKAHEAD_BASE, REJOIN_LOOKAHEAD_MAX);
   const targetBase = pointAt(race.track, car.progress + lookahead);
-  const target = offsetTrackPoint(targetBase, 0);
+  const headingError = Math.abs(normalizeAngle(targetBase.heading - car.heading));
+  const edgeBuffer = race.track.width / 2 - VEHICLE_LIMITS.carWidth * 1.35;
+  const stillUnsettled = car.trackState.crossTrackError > edgeBuffer || headingError > 0.34;
+
+  car.rejoinRecoveryFrames = stillUnsettled ? frames - 1 : 0;
+  return stillUnsettled;
+}
+
+function decideRejoinControls(car, race) {
+  const lookahead = clamp(car.speed * 0.72 + REJOIN_LOOKAHEAD_BASE, REJOIN_LOOKAHEAD_BASE, REJOIN_LOOKAHEAD_MAX);
+  const distanceFromRoadMeters = simUnitsToMeters(Math.max(0, car.trackState.crossTrackError - race.track.width / 2));
+  const targetBase = !car.trackState.onTrack && distanceFromRoadMeters > 2.5
+    ? pointAt(race.track, car.progress)
+    : pointAt(race.track, car.progress + lookahead * 0.78);
+  const signedSide = Math.sign(car.trackState?.signedOffset ?? 0);
+  const rejoinOffset = signedSide !== 0 && (
+    distanceFromRoadMeters > 0.5 ||
+    car.trackState.crossTrackError > race.track.width / 2 - VEHICLE_LIMITS.carWidth * 1.6
+  )
+    ? -signedSide * race.track.width * 0.22
+    : 0;
+  const target = offsetTrackPoint(targetBase, rejoinOffset);
   const angleError = angleToPoint(car, target);
-  const distanceFromRoad = Math.max(0, car.trackState.crossTrackError - race.track.width / 2);
-  const surfaceTargetSpeed = car.trackState.surface === 'gravel'
-    ? 54
-    : car.trackState.surface === 'grass'
-      ? 44
-      : 30;
-  const desiredSpeed = clamp(surfaceTargetSpeed - distanceFromRoad * 0.045, 20, surfaceTargetSpeed);
+  const surfaceTargetSpeedKph = car.trackState.surface === 'track'
+    ? 88
+    : car.trackState.surface === 'kerb'
+      ? 72
+      : car.trackState.surface === 'gravel'
+        ? 56
+        : car.trackState.surface === 'grass'
+          ? 48
+          : 34;
+  const alignment = clamp(1 - Math.abs(angleError) / Math.PI, 0.22, 1);
+  const desiredSpeed = kphToSimSpeed(clamp(
+    surfaceTargetSpeedKph * (0.62 + alignment * 0.38) - distanceFromRoadMeters * 0.065,
+    car.trackState.surface === 'barrier' ? 12 : 24,
+    surfaceTargetSpeedKph,
+  ));
   const speedError = desiredSpeed - car.speed;
-  const alignment = clamp(1 - Math.abs(angleError) / Math.PI, 0.28, 1);
-  const lowSpeedRecovery = car.speed < 18 ? 0.16 : 0;
-  const throttleLimit = car.trackState.surface === 'gravel' ? 0.62 : 0.48;
+  const lowSpeedRecovery = car.speed < kphToSimSpeed(18)
+    ? car.trackState.surface === 'barrier' ? 0.34 : 0.18
+    : 0;
+  const throttleLimit = car.trackState.surface === 'barrier'
+    ? 0.68
+    : car.trackState.surface === 'gravel' ? 0.46 : 0.42;
+  const brakeAmount = speedError < -kphToSimSpeed(5)
+    ? clamp(Math.abs(speedError) / kphToSimSpeed(30), 0.04, car.trackState.onTrack ? 0.46 : 0.74)
+    : 0;
 
   return createDriverInput()
-    .steer(angleError * 0.92)
-    .accelerate(speedError > 0 ? clamp((speedError / 24) * alignment + lowSpeedRecovery, 0.08, throttleLimit) : lowSpeedRecovery)
-    .brake(speedError < -5 ? clamp(Math.abs(speedError) / 30, 0.04, 0.74) : 0)
+    .steer(angleError * 1.65)
+    .accelerate(brakeAmount > 0.05 ? 0 : speedError > 0
+      ? clamp((speedError / kphToSimSpeed(24)) * alignment + lowSpeedRecovery, 0.08, throttleLimit)
+      : lowSpeedRecovery)
+    .brake(brakeAmount)
     .controls();
 }
 
 function decideSafetyCarControls(car, orderIndex, race) {
   const queueSlot = race.safetyCar.progress - race.rules.safetyCarLeadDistance - orderIndex * race.rules.safetyCarGap;
-  const lookahead = clamp(car.speed * 0.8 + 74, 84, 148);
+  const lookahead = clamp(car.speed * 0.55 + metersToSimUnits(20), SAFETY_CAR_LOOKAHEAD_MIN, SAFETY_CAR_LOOKAHEAD_MAX);
   const targetBase = pointAt(race.track, car.progress + lookahead);
   const target = offsetTrackPoint(targetBase, 0);
   const slotError = queueSlot - car.raceDistance;
+  const headingError = normalizeAngle(targetBase.heading - car.heading);
+  const lateralError = car.trackState?.signedOffset ?? 0;
+  const centerlineCorrection = -Math.atan2(
+    lateralError * 1.25,
+    Math.max(car.speed, kphToSimSpeed(35)),
+  );
+  const cornerRadiusMeters = simUnitsToMeters(1 / Math.max(Math.abs(targetBase.curvature), 1e-7));
+  const cornerSpeed = kphToSimSpeed(clamp(Math.sqrt(4.2 * cornerRadiusMeters) * 3.6, 45, 158));
+  const edgePenalty = clamp(simUnitsToMeters(Math.abs(lateralError)) - simUnitsToMeters(race.track.width / 2) * 0.68, 0, 3) * kphToSimSpeed(18);
   const desiredSpeed = clamp(
-    race.rules.safetyCarSpeed + slotError * 0.24,
-    22,
-    race.rules.safetyCarSpeed + 32,
+    race.rules.safetyCarSpeed + slotError * 0.24 - edgePenalty,
+    kphToSimSpeed(22),
+    Math.min(race.rules.safetyCarSpeed + kphToSimSpeed(32), cornerSpeed),
   );
   const speedError = desiredSpeed - car.speed;
 
   return createDriverInput()
-    .steer(angleToPoint(car, target) * 1.04)
-    .accelerate(speedError > 1 ? clamp(speedError / 16, 0, 0.5) : 0)
-    .brake(speedError < -0.5 ? clamp(Math.abs(speedError) / 14, 0, 1) : 0)
+    .steer(angleToPoint(car, target) * 1.18 + headingError * 0.32 + centerlineCorrection)
+    .accelerate(speedError > kphToSimSpeed(1) ? clamp(speedError / kphToSimSpeed(16), 0, 0.5) : 0)
+    .brake(speedError < -kphToSimSpeed(0.5) ? clamp(Math.abs(speedError) / kphToSimSpeed(14), 0, 1) : 0)
     .controls();
 }
 
 export function planRacingLine(car, orderIndex, race) {
   const aggression = car.aggression ?? car.personality?.baseAggression ?? 0.5;
   const riskTolerance = car.personality?.riskTolerance ?? aggression;
-  const trackLimit = race.track.width / 2 - VEHICLE_LIMITS.carWidth * clamp(1.22 - aggression * 0.34, 0.84, 1.22);
-  const preferred = Math.sin((car.index / Math.max(1, race.cars.length)) * TWO_PI) * 26;
+  const trackLimit = race.track.width / 2 - VEHICLE_LIMITS.carWidth * clamp(1.55 - aggression * 0.28, 1.26, 1.55);
+  const preferred = Math.sin((car.index / Math.max(1, race.cars.length)) * TWO_PI) * metersToSimUnits(1.1);
   const currentOffset = clamp(car.desiredOffset ?? preferred, -trackLimit, trackLimit);
   const ahead = race.orderedCars[orderIndex - 1];
   const traffic = scanNearbyTraffic(car, race);
+  const rearThreat = findDefensiveThreat(traffic);
+  const attackPlan = planAttackCommitment(car, ahead, traffic, trackLimit, aggression, race);
 
   let bestOffset = currentOffset;
   let bestScore = -Infinity;
@@ -174,30 +429,49 @@ export function planRacingLine(car, orderIndex, race) {
     let score = 80;
     score -= Math.abs(offset - preferred) * 0.18;
     score -= Math.abs(offset - currentOffset) * (0.09 - aggression * 0.025);
-    score -= Math.max(0, 18 - edgeClearance) * (0.92 - aggression * 0.42);
+    score -= Math.max(0, LANE_EDGE_CLEARANCE_TARGET - edgeClearance) * (0.92 - aggression * 0.42);
 
     traffic.forEach((entry) => {
       const lateral = Math.abs(entry.signedOffset - offset);
-      if (entry.gap > 0 && entry.gap < 260) {
-        const overlapRisk = clamp(58 - lateral, 0, 58);
-        score -= overlapRisk * (260 - entry.gap) * 0.038 * (1 - riskTolerance * 0.34);
-        if (entry.gap < 190 + aggression * 70 && lateral > 34 - aggression * 8) {
-          score += Math.min(30 + aggression * 18, lateral - (28 - aggression * 6)) * (0.62 + aggression * 0.82);
+      if (entry.gap > 0 && entry.gap < TRAFFIC_GAP_AHEAD) {
+        const overlapRisk = clamp(TRAFFIC_SIDE_OVERLAP - lateral, 0, TRAFFIC_SIDE_OVERLAP);
+        score -= overlapRisk * (TRAFFIC_GAP_AHEAD - entry.gap) * 0.038 * (1 - riskTolerance * 0.34);
+        if (entry.gap < OVERTAKE_GAP_BASE + aggression * OVERTAKE_GAP_AGGRESSION && lateral > OVERTAKE_LATERAL_MIN - aggression * metersToSimUnits(4)) {
+          score += Math.min(metersToSimUnits(14) + aggression * metersToSimUnits(8.5), lateral - (OVERTAKE_LATERAL_REWARD - aggression * metersToSimUnits(3))) * (0.62 + aggression * 0.82);
         }
-      } else if (entry.gap <= 0 && entry.gap > -74) {
-        const sideOverlapRisk = clamp(52 - lateral, 0, 52);
-        score -= sideOverlapRisk * (74 + entry.gap) * 0.052 * (1 - riskTolerance * 0.22);
+      } else if (entry.gap <= 0 && entry.gap > -TRAFFIC_SIDE_OVERLAP) {
+        const sideOverlapRisk = clamp(TRAFFIC_SIDE_OVERLAP - lateral, 0, TRAFFIC_SIDE_OVERLAP);
+        score -= sideOverlapRisk * (TRAFFIC_SIDE_OVERLAP + entry.gap) * 0.052 * (1 - riskTolerance * 0.22);
       }
     });
 
-    if (ahead && car.gapAhead < 230) {
-      const side = car.index % 2 === 0 ? -1 : 1;
-      const passSide = clamp(
-        (ahead.trackState.signedOffset * -0.65) + side * (48 + aggression * 42),
+    if (ahead && car.gapAhead < TRAFFIC_GAP_AHEAD) {
+      const passSide = attackPlan?.targetOffset ?? clamp(
+        (ahead.trackState.signedOffset * -0.65) + (car.index % 2 === 0 ? -1 : 1) * (PASS_SIDE_BASE + aggression * PASS_SIDE_AGGRESSION),
+        -trackLimit,
+        trackLimit,
+      );
+      const attackPressure = attackPlan?.pressure ?? 0.45;
+      score -= Math.abs(offset - passSide) * (0.12 + aggression * 0.16) * attackPressure;
+      if (attackPlan && Math.sign(offset || passSide) === attackPlan.side && Math.abs(offset - ahead.trackState.signedOffset) > OVERTAKE_LATERAL_MIN) {
+        score += metersToSimUnits(4 + aggression * 5) * attackPressure;
+      }
+    }
+
+    const defenseIntensity = clamp((aggression - 0.5) / 0.3, 0, 1) *
+      clamp((Math.max(riskTolerance, aggression) - 0.42) / 0.4, 0, 1);
+    if (rearThreat && defenseIntensity > 0.04) {
+      const threatSide = Math.sign(rearThreat.signedOffset || currentOffset || (car.index % 2 === 0 ? 1 : -1));
+      const defendOffset = clamp(
+        threatSide * Math.max(Math.abs(rearThreat.signedOffset) + metersToSimUnits(0.8), DEFEND_MIN_OFFSET),
         -trackLimit,
         trackLimit,
       );
-      score -= Math.abs(offset - passSide) * (0.09 + aggression * 0.08);
+      const closingPressure = clamp((DEFEND_REAR_GAP + rearThreat.gap) / DEFEND_REAR_GAP, 0, 1);
+      score -= Math.abs(offset - defendOffset) * (0.75 + aggression * 0.45) * closingPressure * defenseIntensity;
+      if (Math.sign(offset) === threatSide && Math.abs(offset) >= DEFEND_MIN_OFFSET) {
+        score += metersToSimUnits(10) * (0.42 + aggression * 0.36) * closingPressure * defenseIntensity;
+      }
     }
 
     if (score > bestScore) {
@@ -206,16 +480,96 @@ export function planRacingLine(car, orderIndex, race) {
     }
   });
 
-  const laneChangeRate = 0.72 + car.racecraft * 0.3 + aggression * 0.58;
+  const laneChangeRate = metersToSimUnits(0.95 + car.racecraft * 0.32 + aggression * 0.78);
   car.desiredOffset = currentOffset + clamp(bestOffset - currentOffset, -laneChangeRate, laneChangeRate);
 
   return {
     offset: car.desiredOffset,
-    sameLaneAhead: findLaneTrafficAhead(traffic, car.desiredOffset, 230),
+    sameLaneAhead: findLaneTrafficAhead(traffic, car.desiredOffset, TRAFFIC_GAP_AHEAD),
+    actualLaneAhead: findLaneTrafficAhead(traffic, car.trackState?.signedOffset ?? car.desiredOffset, TRAFFIC_GAP_AHEAD),
     sideRisk: findLaneTrafficBeside(traffic, car.desiredOffset),
+    attackCommitted: Boolean(attackPlan),
   };
 }
 
+function calculatePlannedTrafficPenalty(entry, plannedPassingOverlap) {
+  return clamp(
+    simUnitsToMeters(TRAFFIC_GAP_AHEAD - entry.gap) * (plannedPassingOverlap ? 0.08 : 0.16),
+    0,
+    plannedPassingOverlap ? 24 : 32,
+  );
+}
+
+function calculateActualOverlapPenalty(car, entry) {
+  const gapMeters = simUnitsToMeters(entry.gap);
+  const closingKph = Math.max(0, simSpeedToKph(car.speed - (entry.speed ?? car.speed)));
+  const urgent = gapMeters < 9
+    ? (9 - gapMeters) * (2.2 + closingKph * 0.03)
+    : 0;
+
+  return clamp(urgent, 0, 58);
+}
+
+function planAttackCommitment(car, ahead, traffic, trackLimit, aggression, race) {
+  const existingFrames = Math.max(0, Math.floor(car.attackCommitmentFrames ?? 0));
+  const relativeSpeed = ahead ? car.speed - ahead.speed : 0;
+  const closeEnough = ahead &&
+    car.gapAhead > 0 &&
+    car.gapAhead < OVERTAKE_GAP_BASE + aggression * OVERTAKE_GAP_AGGRESSION + metersToSimUnits(28);
+  const speedPressure = clamp(relativeSpeed / kphToSimSpeed(34), -0.4, 1);
+
+  if (closeEnough && speedPressure > -0.15) {
+    const aheadOffset = ahead.trackState?.signedOffset ?? 0;
+    const currentSide = Math.sign(car.attackSide ?? 0);
+    const blockedCommitment = currentSide &&
+      Math.sign(aheadOffset || currentSide) === currentSide &&
+      Math.abs(aheadOffset - (car.trackState?.signedOffset ?? 0)) < TRAFFIC_SIDE_GAP &&
+      Math.abs(aheadOffset) > trackLimit * 0.55;
+
+    if (!existingFrames || !currentSide || blockedCommitment) {
+      const leftSpace = trackLimit + aheadOffset;
+      const rightSpace = trackLimit - aheadOffset;
+      const preferredSide = leftSpace > rightSpace ? -1 : 1;
+      const freeSide = chooseFreerAttackSide(traffic, preferredSide);
+      car.attackSide = freeSide;
+    }
+    car.attackCommitmentFrames = OVERTAKE_COMMIT_FRAMES;
+  } else if (existingFrames > 0) {
+    car.attackCommitmentFrames = existingFrames - 1;
+  } else {
+    car.attackSide = 0;
+    car.attackCommitmentFrames = 0;
+  }
+
+  const side = Math.sign(car.attackSide ?? 0);
+  if (!side || !ahead) return null;
+
+  const targetOffset = clamp(
+    (ahead.trackState?.signedOffset ?? 0) + side * (PASS_SIDE_BASE + aggression * PASS_SIDE_AGGRESSION + metersToSimUnits(2.4)),
+    -trackLimit,
+    trackLimit,
+  );
+  const pressure = clamp(
+    0.48 +
+      aggression * 0.34 +
+      speedPressure * 0.28 +
+      (car.attackCommitmentFrames ?? 0) / OVERTAKE_COMMIT_FRAMES * 0.22,
+    0.45,
+    1.15,
+  );
+
+  return { side, targetOffset, pressure };
+}
+
+function chooseFreerAttackSide(traffic, preferredSide) {
+  const sideScore = (side) => traffic.reduce((score, entry) => {
+    if (entry.gap < -TRAFFIC_REAR_WINDOW || entry.gap > TRAFFIC_GAP_AHEAD) return score;
+    const sameSide = Math.sign(entry.signedOffset || side) === side;
+    return score - (sameSide ? 1 : 0) * (1 - clamp(Math.abs(entry.gap) / TRAFFIC_GAP_AHEAD, 0, 1));
+  }, side === preferredSide ? 0.18 : 0);
+  return sideScore(1) >= sideScore(-1) ? 1 : -1;
+}
+
 function scanNearbyTraffic(car, race) {
   return race.cars
     .filter((other) => other !== car)
@@ -223,8 +577,20 @@ function scanNearbyTraffic(car, race) {
       car: other,
       gap: other.raceDistance - car.raceDistance,
       signedOffset: other.trackState?.signedOffset ?? 0,
+      speed: other.speed,
     }))
-    .filter((entry) => entry.gap > -82 && entry.gap < 280);
+    .filter((entry) => entry.gap > -metersToSimUnits(39) && entry.gap < metersToSimUnits(134));
+}
+
+function findDefensiveThreat(traffic) {
+  let closest = null;
+
+  traffic.forEach((entry) => {
+    if (entry.gap >= -VEHICLE_LIMITS.carLength * 1.1 || entry.gap < -DEFEND_REAR_GAP) return;
+    if (!closest || entry.gap > closest.gap) closest = entry;
+  });
+
+  return closest;
 }
 
 function findLaneTrafficAhead(traffic, offset, maxDistance) {
@@ -232,7 +598,7 @@ function findLaneTrafficAhead(traffic, offset, maxDistance) {
 
   traffic.forEach((entry) => {
     if (entry.gap <= 0 || entry.gap > maxDistance) return;
-    if (Math.abs(entry.signedOffset - offset) > 42) return;
+    if (Math.abs(entry.signedOffset - offset) > TRAFFIC_SIDE_GAP) return;
     if (!closest || entry.gap < closest.gap) closest = entry;
   });
 
@@ -244,8 +610,8 @@ function findLaneTrafficBeside(traffic, offset) {
 
   traffic.forEach((entry) => {
     const lateral = Math.abs(entry.signedOffset - offset);
-    if (Math.abs(entry.gap) > 58 || lateral > 44) return;
-    const risk = (58 - Math.abs(entry.gap)) + (44 - lateral);
+    if (Math.abs(entry.gap) > metersToSimUnits(28) || lateral > TRAFFIC_SIDE_GAP) return;
+    const risk = (metersToSimUnits(28) - Math.abs(entry.gap)) + (TRAFFIC_SIDE_GAP - lateral);
     if (!closest || risk > closest.risk) closest = { ...entry, lateral, risk };
   });