@inventure71/paddockjs 2.0.0 → 2.0.1

package/src/simulation/vehicle/runoffResponse.js

@@ -1,11 +1,12 @@
 import { VEHICLE_GEOMETRY, getVehicleGeometryState, vehicleAxes } from './vehicleGeometry.js';
 import { applyWheelSurfaceState } from './wheelSurface.js';
+import { freezeVehicleMotion } from './vehicleKinematics.js';
 import { nearestTrackStateForCar, pitOverrideAllowedForCar } from '../track/trackStatePolicy.js';
 import { markCarDnf } from '../race/retirements.js';
 
 export function applyRunoffResponseForSimulation(sim, car) {
   if (car.destroyed) {
-    car.speed = 0;
+    freezeBarrierMotion(car, sim.physicsMode);
     applyWheelSurfaceState(car, sim.track);
     return;
   }
@@ -67,17 +68,7 @@ function destroyCarOnBarrier(sim, car) {
   car.drsEligible = false;
   car.drsZoneId = null;
   car.drsZoneEnabled = false;
-  car.speed = 0;
-  car.throttle = 0;
-  car.brake = 1;
-  car.steeringAngle = 0;
-  car.yawRate = 0;
-  car.longitudinalAcceleration = 0;
-  car.lateralAcceleration = 0;
-  car.longitudinalG = 0;
-  car.lateralG = 0;
-  car.tractionLimited = false;
-  car.stabilityState = 'destroyed';
+  freezeBarrierMotion(car, sim.physicsMode);
   sim.events.unshift({
     type: 'car-destroyed',
     at: sim.time,
@@ -86,3 +77,11 @@ function destroyCarOnBarrier(sim, car) {
     reason: 'barrier',
   });
 }
+
+function freezeBarrierMotion(car, physicsMode) {
+  freezeVehicleMotion(car, {
+    clearManualControls: true,
+    physicsMode,
+    stabilityState: 'destroyed',
+  });
+}

package/src/simulation/vehicle/vehicleKinematics.js

@@ -0,0 +1,37 @@
+export function freezeVehicleMotion(car, {
+  brake = 1,
+  clearManualControls = false,
+  physicsMode = 'simulator',
+  stabilityState = car.stabilityState ?? 'stable',
+} = {}) {
+  car.speed = 0;
+  if (physicsMode === 'simulator') {
+    car.velocityX = 0;
+    car.velocityY = 0;
+  } else {
+    car.velocityX = null;
+    car.velocityY = null;
+  }
+  car.throttle = 0;
+  car.brake = brake;
+  car.appliedControls = { steering: 0, throttle: 0, brake };
+  if (clearManualControls) car.manualControls = null;
+  car.steeringAngle = 0;
+  car.yawRate = 0;
+  car.turnRadius = Infinity;
+  car.longitudinalAcceleration = 0;
+  car.lateralAcceleration = 0;
+  car.longitudinalG = 0;
+  car.lateralG = 0;
+  car.gripUsage = 0;
+  car.slipAngleRadians = 0;
+  car.tractionLimited = false;
+  car.stabilityState = stabilityState;
+}
+
+export function syncVehicleVelocityToHeading(car) {
+  const speed = Number.isFinite(car.speed) ? car.speed : 0;
+  const heading = Number.isFinite(car.heading) ? car.heading : 0;
+  car.velocityX = Math.cos(heading) * speed;
+  car.velocityY = Math.sin(heading) * speed;
+}

package/src/simulation/vehicle/vehiclePhysics.js

@@ -305,12 +305,13 @@ function integrateSimulatorVehiclePhysics(car, controls, dt, options = {}) {
     ? clamp(1 - (gripUsage - 1) * 0.55 - longitudinalUsage * 0.18, 0.12, 1)
     : 1;
   const brakingDirection = forwardSpeedMps >= -0.2 ? 1 : -1;
+  const scrubDirection = forwardSpeedMps >= 0 ? 1 : -1;
   const longitudinalAcceleration =
     driveAcceleration * tractionPowerScale -
     brakeDeceleration * brakingDirection -
     dragAcceleration * Math.sign(forwardSpeedMps || 1) -
     rollingAcceleration * Math.sign(forwardSpeedMps || 1) -
-    steeringScrubAcceleration;
+    steeringScrubAcceleration * scrubDirection;
 
   const requestedWheelDragYawRate = wheelDragYawRate(car, SIMULATOR_SURFACE_MODEL) * (surfaceName === 'kerb' ? 1.6 : 1);
   const maxYawRate = speedBeforeMps <= 0.05 ? 0 : totalGripAcceleration / Math.max(speedBeforeMps, 0.1);

package/src/simulation/vehicle/vehicleSnapshots.js

@@ -16,6 +16,11 @@ function serializeAppliedControls(car, dependencies) {
   };
 }
 
+function serializeVelocityComponent(car, component, dependencies) {
+  if (dependencies.physicsMode !== 'simulator') return null;
+  return finiteOrNull(car[component]);
+}
+
 export function serializeWheels(wheels = []) {
   return wheels.map((wheel) => ({
     id: wheel.id,
@@ -99,6 +104,8 @@ export function serializeCar(car, rank, penaltySeconds = 0, dependencies) {
     heading: car.heading,
     steeringAngle: car.steeringAngle,
     yawRate: car.yawRate,
+    velocityX: serializeVelocityComponent(car, 'velocityX', dependencies),
+    velocityY: serializeVelocityComponent(car, 'velocityY', dependencies),
     turnRadius: car.turnRadius,
     speed: car.speed,
     speedKph: simSpeedToKph(car.speed),
@@ -193,6 +200,8 @@ export function serializeObservationCar(car, rank, dependencies) {
     heading: car.heading,
     steeringAngle: car.steeringAngle,
     yawRate: car.yawRate,
+    velocityX: serializeVelocityComponent(car, 'velocityX', dependencies),
+    velocityY: serializeVelocityComponent(car, 'velocityY', dependencies),
     speed: car.speed,
     speedKph: simSpeedToKph(car.speed),
     throttle: car.throttle,
@@ -261,6 +270,8 @@ export function serializeTrainingCar(car, rank, dependencies) {
     heading: car.heading,
     steeringAngle: car.steeringAngle,
     yawRate: car.yawRate,
+    velocityX: serializeVelocityComponent(car, 'velocityX', dependencies),
+    velocityY: serializeVelocityComponent(car, 'velocityY', dependencies),
     speed: car.speed,
     speedKph: simSpeedToKph(car.speed),
     throttle: car.throttle,

package/src/simulation/vehicle/vehicleState.js

@@ -121,6 +121,7 @@ export function applyExternalCarState(car, partial, context) {
     cars,
     computeLap,
     nearestDistanceOnRoute,
+    physicsMode,
     progressDelta,
     raceControl,
     releaseRaceStart,
@@ -137,6 +138,7 @@ export function applyExternalCarState(car, partial, context) {
     if (partial.destroyed === false) nextPartial.destroyed = car.destroyed;
     if (partial.outOfRace === false) nextPartial.outOfRace = car.outOfRace;
   }
+  assertFiniteExternalCarState(nextPartial);
   Object.assign(car, nextPartial);
   if (
     !raceControl.finished &&
@@ -160,8 +162,9 @@ export function applyExternalCarState(car, partial, context) {
       releaseRaceStart();
     }
   }
-  car.speed = clamp(car.speed, 0, VEHICLE_LIMITS.maxSpeed);
-  car.heading = normalizeAngle(car.heading);
+  car.speed = clamp(Number.isFinite(car.speed) ? car.speed : 0, 0, VEHICLE_LIMITS.maxSpeed);
+  car.heading = normalizeAngle(Number.isFinite(car.heading) ? car.heading : 0);
+  syncExternalVelocityState(car, nextPartial, physicsMode === 'simulator');
   const centerState = nearestTrackStateForCar(track, car, car, car.progress ?? car.raceDistance);
   applyWheelSurfaceState(car, track, { centerState });
   if (
@@ -184,3 +187,34 @@ export function applyExternalCarState(car, partial, context) {
   resetTimingLineCrossings(car, time);
   resetLapTelemetry(car, time, track, totalLaps);
 }
+
+function assertFiniteExternalCarState(partial) {
+  Object.entries(partial ?? {}).forEach(([key, value]) => {
+    if (typeof value === 'number' && !Number.isFinite(value)) {
+      throw new Error(`External car state ${key} must be a finite number.`);
+    }
+  });
+}
+
+function syncExternalVelocityState(car, partial, simulatorMode = false) {
+  const hasVelocityX = Object.hasOwn(partial, 'velocityX');
+  const hasVelocityY = Object.hasOwn(partial, 'velocityY');
+  const hasVelocity = hasVelocityX || hasVelocityY;
+  if (hasVelocity && (partial.velocityX == null || partial.velocityY == null)) {
+    car.velocityX = null;
+    car.velocityY = null;
+    return;
+  }
+  if (hasVelocity) {
+    const fallbackX = Math.cos(car.heading) * car.speed;
+    const fallbackY = Math.sin(car.heading) * car.speed;
+    car.velocityX = Number.isFinite(car.velocityX) ? car.velocityX : fallbackX;
+    car.velocityY = Number.isFinite(car.velocityY) ? car.velocityY : fallbackY;
+    car.speed = clamp(Math.hypot(car.velocityX, car.velocityY), 0, VEHICLE_LIMITS.maxSpeed);
+    return;
+  }
+  if (simulatorMode && (Object.hasOwn(partial, 'speed') || Object.hasOwn(partial, 'heading'))) {
+    car.velocityX = Math.cos(car.heading) * car.speed;
+    car.velocityY = Math.sin(car.heading) * car.speed;
+  }
+}

package/src/simulation/vehicle/wheelSurface.js

@@ -121,12 +121,14 @@ export function applyWheelSurfaceState(car, track, options = {}) {
     track,
     geometrySignature: geometry.signature,
     centerSignature: centerStateSignature(options.centerState),
+    pitOverrideAllowed: pitOverrideAllowedForCar(car),
   };
   const cached = car.wheelSurfaceCache;
   if (
     cached?.track === cacheKey.track &&
     cached.geometrySignature === cacheKey.geometrySignature &&
-    cached.centerSignature === cacheKey.centerSignature
+    cached.centerSignature === cacheKey.centerSignature &&
+    cached.pitOverrideAllowed === cacheKey.pitOverrideAllowed
   ) {
     car.wheelStates = cached.result.wheels;
     car.trackLimitState = cached.result.trackLimits;