@inventure71/paddockjs 3.0.0 → 4.0.0

package/src/app/runtime/frameLoop.js

@@ -48,7 +48,11 @@ export function runFrameLoopTick(app) {
   const shouldUpdateDom = now - app.lastDomUpdateTime >= domUpdateIntervalForSpeed(app.simulationSpeed);
   const fullSnapshot = stepEvents.length > 0 || shouldUpdateDom ? app.sim.snapshot() : null;
   if (stepEvents.length > 0) app.emitRaceEvents(stepEvents, fullSnapshot);
-  const renderSource = fullSnapshot ?? app.sim.snapshotRender?.() ?? app.sim.snapshot();
+  const renderSource = fullSnapshot ??
+    app.sim.snapshotRenderInto?.(app.renderSourceSnapshotBuffer ?? {}) ??
+    app.sim.snapshotRender?.() ??
+    app.sim.snapshot();
+  if (!fullSnapshot && app.sim.snapshotRenderInto) app.renderSourceSnapshotBuffer = renderSource;
   const renderSnapshot = interpolateRenderSnapshotInto(
     app.renderSnapshotBuffer ?? {},
     renderSource,

package/src/config/defaultOptions.js

@@ -119,7 +119,14 @@ export const PADDOCK_SIMULATOR_PRESETS = {
   },
 };
 
-export { PADDOCK_THEME_CSS_VARIABLES, applyPaddockThemeCssVariables } from './themeOptions.js';
+export {
+  DEFAULT_PADDOCK_THEME,
+  PADDOCK_THEME_CSS_VARIABLES,
+  PADDOCK_THEME_TOKEN_KEYS,
+  applyPaddockTheme,
+  applyPaddockThemeCssVariables,
+  resolvePaddockTheme,
+} from './themeOptions.js';
 
 const SUPPORTED_CAMERA_MODES = new Set(['overview', 'leader', 'selected', 'driver', 'show-all', 'pit']);
 

package/src/config/themeOptions.js

@@ -34,6 +34,7 @@ export const THEME_SIZE_TOKEN_KEYS = [
 ];
 
 const THEME_TOKEN_KEYS = [...THEME_COLOR_TOKEN_KEYS, ...THEME_SIZE_TOKEN_KEYS];
+export const PADDOCK_THEME_TOKEN_KEYS = THEME_TOKEN_KEYS;
 const THEME_TOKEN_SET = new Set(THEME_TOKEN_KEYS);
 const COLOR_TOKEN_SET = new Set(THEME_COLOR_TOKEN_KEYS);
 const SIZE_TOKEN_SET = new Set(THEME_SIZE_TOKEN_KEYS);
@@ -248,6 +249,7 @@ export const DEFAULT_PADDOCK_THEME_INPUT = {
   mode: 'dark',
   use: 'default',
 };
+export const DEFAULT_PADDOCK_THEME = DEFAULT_PADDOCK_THEME_INPUT;
 
 const DEFAULT_THEME_PACKAGE = {
   tokens: {
@@ -346,6 +348,9 @@ export function applyPaddockThemeCssVariables(root, theme = DEFAULT_PADDOCK_THEM
   });
 }
 
+export const resolvePaddockTheme = normalizePaddockTheme;
+export const applyPaddockTheme = applyPaddockThemeCssVariables;
+
 export function normalizeCssColorToken(value, fallback = null) {
   if (typeof value !== 'string') return fallback;
   const candidate = value.trim();

package/src/data/index.d.ts

@@ -0,0 +1,212 @@
+export type TireCompound = 'S' | 'M' | 'H';
+export type PaddockProceduralTrackProfile = 'race' | 'training-short' | 'training-medium' | 'training-technical';
+
+export interface PaddockProceduralTrackOptions {
+  profile?: PaddockProceduralTrackProfile;
+  minLengthMeters?: number;
+  maxLengthMeters?: number;
+  startStraightMeters?: number;
+  includePitLane?: boolean;
+  length?: {
+    minMeters?: number;
+    maxMeters?: number;
+  };
+  startStraight?: {
+    gridMeters?: number;
+    exitMeters?: number;
+    blendMeters?: number;
+    lockExtraMeters?: number;
+  };
+  pitLane?: {
+    enabled?: boolean;
+  };
+  shape?: {
+    scale?: number;
+    cornerDensity?: number;
+    variation?: number;
+  };
+  validation?: {
+    minClearanceMultiplier?: number;
+    minShapeVariation?: number;
+    minNonAdjacentArcMeters?: number;
+    maxLocalTurnRadians?: number;
+    maxSampleHeadingDeltaRadians?: number;
+  };
+  attempts?: {
+    primary?: number;
+    fallback?: number;
+  };
+}
+
+export interface CustomField {
+  label: string;
+  value: string;
+}
+
+export type CustomFieldInput = CustomField[] | Record<string, string>;
+export type PaddockThemeSelector = 'default' | 'active' | 'selectedTeam' | 'team' | `team:${string}` | string;
+
+export interface PaddockPitCrewStats {
+  speed?: number;
+  consistency?: number;
+  reliability?: number;
+}
+
+export interface TeamData {
+  id?: string;
+  name?: string;
+  color?: string;
+  icon?: string;
+  theme?: PaddockThemeSelector;
+  pitCrew?: PaddockPitCrewStats;
+  pitCrewStats?: PaddockPitCrewStats;
+}
+
+export interface SimulatorDriver {
+  id: string;
+  name: string;
+  color: string;
+  link?: string;
+  icon?: string;
+  code?: string;
+  timingName?: string;
+  tire?: TireCompound;
+  raceData?: string[];
+  customFields?: CustomFieldInput;
+  team?: TeamData | null;
+  driverNumber?: number;
+}
+
+export interface DriverRatings {
+  pace: number;
+  racecraft: number;
+  aggression: number;
+  riskTolerance: number;
+  patience: number;
+  consistency: number;
+}
+
+export interface VehicleRatings {
+  power: number;
+  braking: number;
+  aero: number;
+  dragEfficiency: number;
+  mechanicalGrip: number;
+  weightControl: number;
+  tireCare: number;
+}
+
+export interface DriverBlueprint extends Partial<DriverRatings> {
+  customFields?: CustomFieldInput;
+}
+
+export interface VehicleBlueprint extends Partial<VehicleRatings> {
+  id?: string | null;
+  name?: string | null;
+  customFields?: CustomFieldInput;
+}
+
+export interface DriverConstructorArgs {
+  ratings: DriverRatings;
+  customFields: CustomField[];
+  pace: number;
+  racecraft: number;
+  consistency: number;
+  personality: {
+    aggression: number;
+    riskTolerance: number;
+    patience: number;
+  };
+}
+
+export interface VehicleConstructorArgs {
+  id: string | null;
+  name: string | null;
+  ratings: VehicleRatings;
+  customFields: CustomField[];
+  powerNewtons: number;
+  brakeNewtons: number;
+  downforceCoefficient: number;
+  dragCoefficient: number;
+  tireGrip: number;
+  mass: number;
+  tireCare: number;
+}
+
+export class DriverData {
+  constructor(input?: DriverBlueprint);
+  readonly pace: number;
+  readonly racecraft: number;
+  readonly aggression: number;
+  readonly riskTolerance: number;
+  readonly patience: number;
+  readonly consistency: number;
+  readonly customFields: CustomField[];
+  ratings(): DriverRatings;
+  toConstructorArgs(): DriverConstructorArgs;
+}
+
+export class VehicleData {
+  constructor(input?: VehicleBlueprint);
+  readonly id: string | null;
+  readonly name: string | null;
+  readonly power: number;
+  readonly braking: number;
+  readonly aero: number;
+  readonly dragEfficiency: number;
+  readonly mechanicalGrip: number;
+  readonly weightControl: number;
+  readonly tireCare: number;
+  readonly customFields: CustomField[];
+  ratings(): VehicleRatings;
+  toConstructorArgs(): VehicleConstructorArgs;
+}
+
+export interface ChampionshipEntryBlueprint {
+  driverId: string;
+  driverNumber?: number;
+  timingName?: string;
+  driver?: DriverData | DriverBlueprint;
+  vehicle?: VehicleData | VehicleBlueprint;
+  team?: TeamData;
+}
+
+export interface NormalizedSimulatorDriver extends SimulatorDriver {
+  code: string;
+  timingCode: string;
+  raceName: string;
+  driverNumber: number;
+  team: TeamData | null;
+  pace: number;
+  racecraft: number;
+  consistency: number;
+  personality: DriverConstructorArgs['personality'];
+  vehicle: VehicleConstructorArgs;
+  constructorArgs: {
+    driver: DriverConstructorArgs;
+    vehicle: VehicleConstructorArgs;
+  };
+  championship: {
+    id: string;
+    name: string;
+    season: number;
+    entryIndex: number;
+    vehicleId: string | null;
+  };
+}
+
+export const CHAMPIONSHIP_ENTRY_BLUEPRINTS: ChampionshipEntryBlueprint[];
+export const DEMO_PROJECT_DRIVERS: SimulatorDriver[];
+
+export function buildChampionshipDriverGrid(
+  drivers?: SimulatorDriver[],
+  entries?: ChampionshipEntryBlueprint[],
+): NormalizedSimulatorDriver[];
+export function formatDriverNumber(driverNumber: number | string | null | undefined): string;
+export function normalizeSimulatorDrivers(
+  drivers: SimulatorDriver[],
+  options?: { entries?: ChampionshipEntryBlueprint[]; caller?: string },
+): NormalizedSimulatorDriver[];
+export function createProceduralTrack(seed?: number | string, options?: PaddockProceduralTrackOptions): unknown;
+export function kphToSimSpeed(kph: number): number;
+export function simSpeedToKph(simSpeed: number): number;

package/src/data/index.js

@@ -0,0 +1,14 @@
+export {
+  CHAMPIONSHIP_ENTRY_BLUEPRINTS,
+  DriverData,
+  VehicleData,
+  buildChampionshipDriverGrid,
+  formatDriverNumber,
+} from './championship.js';
+export { DEMO_PROJECT_DRIVERS } from './demoDrivers.js';
+export { normalizeSimulatorDrivers } from './normalizeDrivers.js';
+export { createProceduralTrack } from '../simulation/track/trackModel.js';
+export {
+  kphToSimSpeed,
+  simSpeedToKph,
+} from '../simulation/units.js';

package/src/environment/episode.js

@@ -2,6 +2,9 @@ export function createEpisodeState() {
   return {
     step: 0,
     drivers: new Map(),
+    observationScratch: {},
+    metricScratch: {},
+    destroyedCarsById: new Map(),
     previousSnapshot: null,
     lastResult: null,
   };
@@ -30,7 +33,14 @@ export function resetDriverEpisodes(episodeState, driverIds = []) {
 }
 
 export function markDestroyedDriverEpisodes(episodeState, driverIds = [], snapshot = null) {
-  const carsById = new Map((snapshot?.cars ?? []).map((car) => [car.id, car]));
+  const carsById = episodeState.destroyedCarsById ?? new Map();
+  episodeState.destroyedCarsById = carsById;
+  carsById.clear();
+  const cars = snapshot?.cars ?? [];
+  for (let index = 0; index < cars.length; index += 1) {
+    const car = cars[index];
+    carsById.set(car.id, car);
+  }
   driverIds.forEach((driverId) => {
     const car = carsById.get(driverId);
     if (!car?.destroyed && !car?.dnf && !car?.outOfRace) return;

package/src/environment/metrics.js

@@ -5,6 +5,21 @@ import { simUnitsToMeters } from '../simulation/units.js';
 const LEGAL_SURFACES = new Set(['track', 'kerb', 'pit-entry', 'pit-lane', 'pit-exit', 'pit-box']);
 const ILLEGAL_SURFACES = new Set(['grass', 'gravel', 'runoff', 'barrier']);
 const UNSTABLE_STATES = new Set(['spun', 'backwards', 'spin-risk', 'understeer', 'oversteer', 'destroyed']);
+export const ENVIRONMENT_METRIC_FIELDS = Object.freeze([
+  'progressDeltaMeters',
+  'legalProgressDeltaMeters',
+  'offTrack',
+  'kerb',
+  'fullyOutsideWhiteLine',
+  'severeCut',
+  'destroyed',
+  'destroyReason',
+  'under30kph',
+  'spinOrBackwards',
+  'completedLap',
+  'lapTimeSeconds',
+  'contactCount',
+]);
 
 export function isEnvironmentCarOffTrack(car) {
   if (!car) return false;
@@ -15,19 +30,32 @@ export function isEnvironmentContactEvent(event) {
   return ['collision', 'contact', 'car-contact'].includes(event?.type);
 }
 
-export function buildDriverMetrics({ snapshot, previousSnapshot = null, options, events = [] }) {
-  const previousById = new Map((previousSnapshot?.cars ?? []).map((car) => [car.id, car]));
-  const currentById = new Map(snapshot.cars.map((car) => [car.id, car]));
-  const contactCounts = contactCountsByDriver(events);
+export function buildDriverMetrics({ snapshot, previousSnapshot = null, options, events = [], scratch = null }) {
+  const previousById = carsByIdForMetrics(previousSnapshot, scratch, 'previousCarsById');
+  const currentById = carsByIdForMetrics(snapshot, scratch, 'currentCarsById');
+  const contactCounts = contactCountsByDriver(events, scratch);
   const metrics = {};
   options.controlledDrivers.forEach((driverId) => {
     const car = currentById.get(driverId);
     const previous = previousById.get(driverId);
-    metrics[driverId] = car ? buildMetricForDriver(car, previous, snapshot, contactCounts.get(driverId) ?? 0) : emptyMetrics();
+    metrics[driverId] = car ? buildMetricForDriver(car, previous, snapshot, contactCounts?.get(driverId) ?? 0) : emptyMetrics();
   });
   return metrics;
 }
 
+function carsByIdForMetrics(snapshot, scratch, key) {
+  if (!scratch) return new Map((snapshot?.cars ?? []).map((car) => [car.id, car]));
+  const carsById = scratch[key] ?? new Map();
+  scratch[key] = carsById;
+  carsById.clear();
+  const cars = snapshot?.cars ?? [];
+  for (let index = 0; index < cars.length; index += 1) {
+    const car = cars[index];
+    carsById.set(car.id, car);
+  }
+  return carsById;
+}
+
 function buildMetricForDriver(car, previous, snapshot, contactCount) {
   const progressDeltaMeters = progressDelta(car, previous);
   const wheelState = classifyWheels(car);
@@ -140,20 +168,35 @@ function lastLapTimeSeconds(car) {
   return car.lapTelemetry?.lastLapTime ?? car.lapTelemetry?.bestLapTime ?? null;
 }
 
-function contactCountsByDriver(events) {
-  const counts = new Map();
-  if (!events.length) return counts;
+function contactCountsByDriver(events, scratch = null) {
+  if (!events.length) return null;
+  const counts = scratch ? (scratch.contactCounts ?? new Map()) : new Map();
+  const eventDriverIds = scratch ? (scratch.eventDriverIds ?? []) : [];
+  if (scratch) {
+    scratch.contactCounts = counts;
+    scratch.eventDriverIds = eventDriverIds;
+  }
+  counts.clear();
   events.forEach((event) => {
     if (!isEnvironmentContactEvent(event)) return;
-    const eventDriverIds = new Set([
-      event.driverId,
-      event.carId,
-      event.otherCarId,
-      ...(event.driverIds ?? []),
-    ].filter(Boolean));
-    eventDriverIds.forEach((driverId) => {
+    eventDriverIds.length = 0;
+    pushEventDriverId(eventDriverIds, event.driverId);
+    pushEventDriverId(eventDriverIds, event.carId);
+    pushEventDriverId(eventDriverIds, event.otherCarId);
+    const extraDriverIds = event.driverIds ?? [];
+    for (let index = 0; index < extraDriverIds.length; index += 1) {
+      pushEventDriverId(eventDriverIds, extraDriverIds[index]);
+    }
+    for (let index = 0; index < eventDriverIds.length; index += 1) {
+      const driverId = eventDriverIds[index];
       counts.set(driverId, (counts.get(driverId) ?? 0) + 1);
-    });
+    }
   });
+  eventDriverIds.length = 0;
   return counts;
 }
+
+function pushEventDriverId(target, driverId) {
+  if (!driverId || target.includes(driverId)) return;
+  target.push(driverId);
+}

package/src/environment/observationVector.js

@@ -91,40 +91,36 @@ export function buildObservationVector(source, sensors, { includeSchema = true,
     );
     vector.push(sample.curvature ?? 0, (sample.headingDeltaRadians ?? 0) / Math.PI);
   });
-  source.rays.forEach((ray, index) => {
-    pushSchema(schema,
-      { name: `rays[${index}].track.distanceRatio`, scale: '0..1' },
-      { name: `rays[${index}].track.hit`, scale: 'boolean' },
-      { name: `rays[${index}].track.kindExit`, scale: 'boolean' },
-      { name: `rays[${index}].track.kindEntry`, scale: 'boolean' },
-      { name: `rays[${index}].car.distanceRatio`, scale: '0..1' },
-      { name: `rays[${index}].car.hit`, scale: 'boolean' },
-      { name: `rays[${index}].car.relativeSpeedKph`, unit: 'kph', scale: 'fixed:200' },
-      { name: `rays[${index}].car.targetTypeReplayGhost`, scale: 'boolean' },
-    );
-    vector.push(
-      ratio(ray.track.distanceMeters, ray.lengthMeters),
-      ray.track.hit ? 1 : 0,
-      ray.track.kind === 'exit' ? 1 : 0,
-      ray.track.kind === 'entry' ? 1 : 0,
-      ratio(ray.car.distanceMeters, ray.lengthMeters),
-      ray.car.hit ? 1 : 0,
-      ray.car.relativeSpeedKph / 200,
-      ray.car.targetType === 'replayGhost' ? 1 : 0,
-    );
-    MODEL_RAY_SURFACE_CHANNELS.forEach((channel) => {
-      if (sensors.rays.channels?.includes?.(channel)) {
-        pushSchema(schema,
-          { name: `rays[${index}].${channel}.distanceRatio`, scale: '0..1' },
-          { name: `rays[${index}].${channel}.hit`, scale: 'boolean' },
-        );
-        vector.push(
-          ratio(ray[channel]?.distanceMeters ?? ray.lengthMeters, ray.lengthMeters),
-          ray[channel]?.hit ? 1 : 0,
-        );
-      }
+  if (typeof source.appendRayVectorValues === 'function') {
+    source.appendRayVectorValues(vector);
+  } else if (Array.isArray(source.rayVectorValues)) {
+    source.rayVectorValues.forEach((values, index) => {
+      pushRaySchema(schema, index, sensors);
+      vector.push(...values);
     });
-  });
+  } else {
+    source.rays.forEach((ray, index) => {
+      pushRaySchema(schema, index, sensors);
+      vector.push(
+        ratio(ray.track.distanceMeters, ray.lengthMeters),
+        ray.track.hit ? 1 : 0,
+        ray.track.kind === 'exit' ? 1 : 0,
+        ray.track.kind === 'entry' ? 1 : 0,
+        ratio(ray.car.distanceMeters, ray.lengthMeters),
+        ray.car.hit ? 1 : 0,
+        ray.car.relativeSpeedKph / 200,
+        ray.car.targetType === 'replayGhost' ? 1 : 0,
+      );
+      MODEL_RAY_SURFACE_CHANNELS.forEach((channel) => {
+        if (sensors.rays.channels?.includes?.(channel)) {
+          vector.push(
+            ratio(ray[channel]?.distanceMeters ?? ray.lengthMeters, ray.lengthMeters),
+            ray[channel]?.hit ? 1 : 0,
+          );
+        }
+      });
+    });
+  }
   const nearbyLimit = sensors.nearbyCars.enabled ? (sensors.nearbyCars.maxCars ?? source.nearbyCars.length) : 0;
   const nearbyRadius = sensors.nearbyCars.radiusMeters ?? 150;
   for (let index = 0; index < nearbyLimit; index += 1) {
@@ -179,6 +175,27 @@ function pushSchema(schema, ...entries) {
   if (schema) schema.push(...entries);
 }
 
+function pushRaySchema(schema, index, sensors) {
+  pushSchema(schema,
+    { name: `rays[${index}].track.distanceRatio`, scale: '0..1' },
+    { name: `rays[${index}].track.hit`, scale: 'boolean' },
+    { name: `rays[${index}].track.kindExit`, scale: 'boolean' },
+    { name: `rays[${index}].track.kindEntry`, scale: 'boolean' },
+    { name: `rays[${index}].car.distanceRatio`, scale: '0..1' },
+    { name: `rays[${index}].car.hit`, scale: 'boolean' },
+    { name: `rays[${index}].car.relativeSpeedKph`, unit: 'kph', scale: 'fixed:200' },
+    { name: `rays[${index}].car.targetTypeReplayGhost`, scale: 'boolean' },
+  );
+  MODEL_RAY_SURFACE_CHANNELS.forEach((channel) => {
+    if (sensors.rays.channels?.includes?.(channel)) {
+      pushSchema(schema,
+        { name: `rays[${index}].${channel}.distanceRatio`, scale: '0..1' },
+        { name: `rays[${index}].${channel}.hit`, scale: 'boolean' },
+      );
+    }
+  });
+}
+
 function normalizeLapProgress(source) {
   return ratio(source.self.lapProgressMeters, source.track.lengthMeters || 1);
 }

package/src/environment/observations.js

@@ -6,18 +6,37 @@ import { buildBodySenses } from './sensors/bodySenses.js';
 import { buildBoundarySenses } from './sensors/boundarySenses.js';
 import { buildContactPatchSenses } from './sensors/contactSenses.js';
 import { enrichOpponentRadar } from './sensors/opponentRadar.js';
-import { buildNearbyCars, buildRaySensors, createRayBatchContext, normalizeRayOptions } from './sensors.js';
+import {
+  buildNearbyCars,
+  appendRaySensorVectorValues,
+  buildRaySensors,
+  createRayBatchContext,
+  normalizeRayOptions,
+} from './sensors.js';
 import { buildObservationVector } from './observationVector.js';
 
 const EMPTY_EVENTS = Object.freeze([]);
 
-export function buildEnvironmentObservation({ snapshot, options, events = [], controlledDrivers = options.controlledDrivers }) {
-  const carsById = new Map(snapshot.cars.map((entry) => [entry.id, entry]));
-  const eventsByDriver = groupEventsByDriver(events, controlledDrivers);
+export function buildEnvironmentObservation({
+  snapshot,
+  options,
+  events = [],
+  controlledDrivers = options.controlledDrivers,
+  scratch = null,
+}) {
+  const carsById = carsByIdForObservation(snapshot, scratch);
+  const eventsByDriver = groupEventsByDriver(events, controlledDrivers, scratch);
   const defaultSensors = defaultSensorOptions(options);
   const hasSensorOverrides = Object.keys(options.sensorsByDriver ?? {}).length > 0;
   let rayBatchContext = null;
-  const getRayBatchContext = () => {
+  let rayScratchBatchContext = null;
+  const getRayBatchContext = ({ scratch: useScratch = false } = {}) => {
+    if (useScratch) {
+      rayScratchBatchContext ??= createRayBatchContext(snapshot, {
+        scratch: rayBatchContextScratchForObservation(scratch),
+      });
+      return rayScratchBatchContext;
+    }
     rayBatchContext ??= createRayBatchContext(snapshot);
     return rayBatchContext;
   };
@@ -66,24 +85,65 @@ function formatObservation(observation, options = {}) {
   return formatted;
 }
 
-function groupEventsByDriver(events, controlledDrivers) {
+function carsByIdForObservation(snapshot, scratch) {
+  if (!scratch) return new Map(snapshot.cars.map((entry) => [entry.id, entry]));
+  const carsById = scratch.carsById ?? new Map();
+  scratch.carsById = carsById;
+  carsById.clear();
+  for (let index = 0; index < snapshot.cars.length; index += 1) {
+    const entry = snapshot.cars[index];
+    carsById.set(entry.id, entry);
+  }
+  return carsById;
+}
+
+function groupEventsByDriver(events, controlledDrivers, scratch = null) {
   if (!events.length) return null;
-  const byDriver = new Map(controlledDrivers.map((driverId) => [driverId, []]));
-  const controlledSet = new Set(controlledDrivers);
+  const byDriver = scratch ? (scratch.eventsByDriver ?? new Map()) : new Map();
+  const controlledSet = scratch ? (scratch.controlledEventDrivers ?? new Set()) : new Set();
+  const eventDriverIds = scratch ? (scratch.eventDriverIds ?? []) : [];
+  if (scratch) {
+    scratch.eventsByDriver = byDriver;
+    scratch.controlledEventDrivers = controlledSet;
+    scratch.eventDriverIds = eventDriverIds;
+  }
+  byDriver.clear();
+  controlledSet.clear();
+  for (let index = 0; index < controlledDrivers.length; index += 1) {
+    const driverId = controlledDrivers[index];
+    byDriver.set(driverId, []);
+    controlledSet.add(driverId);
+  }
   events.forEach((event) => {
-    const driverIds = new Set([
-      event.driverId,
-      event.carId,
-      event.otherCarId,
-      ...(event.driverIds ?? []),
-    ].filter(Boolean));
-    driverIds.forEach((driverId) => {
+    eventDriverIds.length = 0;
+    pushEventDriverId(eventDriverIds, event.driverId);
+    pushEventDriverId(eventDriverIds, event.carId);
+    pushEventDriverId(eventDriverIds, event.otherCarId);
+    const extraDriverIds = event.driverIds ?? [];
+    for (let index = 0; index < extraDriverIds.length; index += 1) {
+      pushEventDriverId(eventDriverIds, extraDriverIds[index]);
+    }
+    for (let index = 0; index < eventDriverIds.length; index += 1) {
+      const driverId = eventDriverIds[index];
       if (controlledSet.has(driverId)) byDriver.get(driverId)?.push(event);
-    });
+    }
   });
+  eventDriverIds.length = 0;
   return byDriver;
 }
 
+function pushEventDriverId(target, driverId) {
+  if (!driverId || target.includes(driverId)) return;
+  target.push(driverId);
+}
+
+function rayBatchContextScratchForObservation(scratch) {
+  if (!scratch) return true;
+  const rayScratch = scratch.rayBatchContextScratch ?? {};
+  scratch.rayBatchContextScratch = rayScratch;
+  return rayScratch;
+}
+
 function buildDriverObservationObject(car, snapshot, options, events, sensors, getRayBatchContext = null) {
   const sensorCar = withEnvironmentControlFlag(car, options);
   const onTrack = isCarLegallyOnTrack(car);
@@ -186,7 +246,15 @@ function buildDriverVectorDirect(car, snapshot, options, events, sensors, getRay
     headingErrorRadians: trackHeadingError,
   };
   const contactPatches = includePhysicalDriverSenses ? buildContactPatchSenses(car) : [];
-  const rays = sensors.rays.enabled ? buildRaySensors(sensorCar, snapshot, sensors.rays, rayBatchContextForSensors(sensors, getRayBatchContext)) : [];
+  const appendRayVectorValues = sensors.rays.enabled
+    ? (vector) => appendRaySensorVectorValues(
+      vector,
+      sensorCar,
+      snapshot,
+      sensors.rays,
+      rayBatchContextForSensors(sensors, getRayBatchContext, { scratch: true }),
+    )
+    : null;
   const nearbyCars = sensors.nearbyCars.enabled
     ? enrichOpponentRadar(car, buildNearbyCars(car, snapshot, sensors.nearbyCars), snapshot)
     : [];
@@ -219,7 +287,8 @@ function buildDriverVectorDirect(car, snapshot, options, events, sensors, getRay
       curvature: trackCurvature,
       lookahead: buildTrackLookahead(car, snapshot, options),
     },
-    rays,
+    rays: [],
+    appendRayVectorValues,
     nearbyCars,
   };
   return buildObservationVector(source, sensors, {
@@ -228,9 +297,9 @@ function buildDriverVectorDirect(car, snapshot, options, events, sensors, getRay
   });
 }
 
-function rayBatchContextForSensors(sensors, getRayBatchContext) {
+function rayBatchContextForSensors(sensors, getRayBatchContext, { scratch = false } = {}) {
   if (!getRayBatchContext || !sensors.rays?.channels?.includes('car')) return null;
-  return getRayBatchContext();
+  return getRayBatchContext({ scratch });
 }
 
 export function defaultSensorOptions(options) {