@inventure71/paddockjs 4.1.0 → 4.3.0

package/src/environment/sensors/index.js

@@ -1,561 +1,7 @@
-import { createCarRayMiss, estimateCarHit } from './carRays.js';
-import { normalizeRayOptions } from './rayConfig.js';
-import { degreesToRadians, getCarRayOrigin } from './rayGeometry.js';
-import { isSelfCarTarget, rayDetectableTargetsForSnapshot } from './sensorTargets.js';
-import { createTrackMiss, createTrackRayContext, estimateTrackHit } from './trackRays.js';
-import { createSurfaceMiss, estimateSurfaceHits } from './surfaceRays.js';
-import { canUseBatchTrainingRayApproximation } from './rayGuards.js';
-import { traceIndexedRayBands } from './rayBandTrace.js';
-import { createRayChannelFlags, writeRayChannelFlags } from './rayChannels.js';
-import { pitOverrideAllowedForCar } from '../../simulation/track/trackStatePolicy.js';
-
 export { buildNearbyCars } from './nearbyCars.js';
 export { DEFAULT_RAY_ANGLES_DEGREES } from './rayDefaults.js';
 export { RAY_CHANNELS } from './rayChannels.js';
 export { normalizeRayOptions, RAY_LAYOUT_PRESETS } from './rayConfig.js';
 export { getCarRayOrigin, getCarRayVector } from './rayGeometry.js';
-
-const CHANNEL_CONTEXT = Symbol('rayChannelContext');
-
-export function createRayBatchContext(snapshot, { scratch = false } = {}) {
-  const contextScratch = scratch === true
-    ? {}
-    : scratch && typeof scratch === 'object'
-      ? scratch
-      : null;
-  const context = {
-    rayTargets: rayDetectableTargetsForSnapshot(snapshot, contextScratch),
-  };
-  if (contextScratch) context.scratch = contextScratch;
-  return context;
-}
-
-function getRayScratch(batchContext) {
-  return batchContext?.scratch ?? null;
-}
-
-function getNormalizedRayOptions(rayOptions, scratch) {
-  if (!scratch || !rayOptions || typeof rayOptions !== 'object') return normalizeRayOptions(rayOptions);
-  if (rayOptions?.rays && rayOptions?.channels && rayOptions?.anglesDegrees) {
-    return normalizeRayOptions(rayOptions);
-  }
-  const cache = scratch.normalizedRayOptionsBySource ?? new WeakMap();
-  scratch.normalizedRayOptionsBySource = cache;
-  const cached = cache.get(rayOptions);
-  if (cached) return cached;
-  const normalized = normalizeRayOptions(rayOptions);
-  cache.set(rayOptions, normalized);
-  return normalized;
-}
-
-function getRayOrigin(car, scratch) {
-  if (!scratch) return getCarRayOrigin(car);
-  const origin = scratch.origin ?? {};
-  scratch.origin = origin;
-  origin.x = car.x;
-  origin.y = car.y;
-  return origin;
-}
-
-function getFilteredCarTargets(car, snapshot, batchContext, scratch) {
-  const targets = batchContext?.rayTargets ?? rayDetectableTargetsForSnapshot(snapshot);
-  if (!scratch) return targets.filter((target) => !isSelfCarTarget(car, target));
-  const filtered = scratch.carTargets ?? [];
-  scratch.carTargets = filtered;
-  let count = 0;
-  for (let index = 0; index < targets.length; index += 1) {
-    const target = targets[index];
-    if (isSelfCarTarget(car, target)) continue;
-    filtered[count] = target;
-    count += 1;
-  }
-  filtered.length = count;
-  return filtered;
-}
-
-function prepareScratchArray(scratch, arrayKey, poolKey, count, createItem) {
-  if (!scratch) return null;
-  const values = scratch[arrayKey] ?? [];
-  const pool = scratch[poolKey] ?? [];
-  scratch[arrayKey] = values;
-  scratch[poolKey] = pool;
-  values.length = count;
-  for (let index = 0; index < count; index += 1) {
-    const item = pool[index] ?? createItem();
-    pool[index] = item;
-    values[index] = item;
-  }
-  return values;
-}
-
-function getScratchRayVector(scratch, index, car, angleRadians) {
-  if (!scratch) {
-    return {
-      x: Math.cos((car.heading ?? 0) + angleRadians),
-      y: Math.sin((car.heading ?? 0) + angleRadians),
-    };
-  }
-  const vectors = scratch.rayVectors ?? [];
-  scratch.rayVectors = vectors;
-  const vector = vectors[index] ?? {};
-  vectors[index] = vector;
-  vector.x = Math.cos((car.heading ?? 0) + angleRadians);
-  vector.y = Math.sin((car.heading ?? 0) + angleRadians);
-  return vector;
-}
-
-function getSharedRayQuery(scratch, index) {
-  if (!scratch) return {};
-  const queries = scratch.sharedRayQueries ?? [];
-  scratch.sharedRayQueries = queries;
-  const query = queries[index] ?? {};
-  queries[index] = query;
-  query.carHitResult = query.carHitResult ?? {};
-  query.surfaceBoundaries = null;
-  query.trackBandBoundaries = null;
-  query.boundaryStateCache = null;
-  query.sampleStateCache = null;
-  return query;
-}
-
-function getCarRayStats(scratch) {
-  if (!scratch) return null;
-  const stats = scratch.carRayStats ?? {
-    callerVectorCount: 0,
-    computedVectorCount: 0,
-    resultTargetCount: 0,
-  };
-  scratch.carRayStats = stats;
-  return stats;
-}
-
-function estimateCarHitForRay(car, snapshot, ray, origin, vector, carTargets, sharedRayQuery, scratch) {
-  return estimateCarHit(car, snapshot, ray.angleDegrees, ray.lengthMeters, origin, carTargets, {
-    rayVector: vector,
-    resultTarget: sharedRayQuery?.carHitResult,
-    stats: getCarRayStats(scratch),
-  });
-}
-
-function getRayBandTraceStats(scratch) {
-  if (!scratch) return null;
-  const stats = scratch.rayBandTraceStats ?? {
-    directPathCount: 0,
-    sampledPathCount: 0,
-    fallbackCount: 0,
-    channelSetAllocations: 0,
-  };
-  scratch.rayBandTraceStats = stats;
-  return stats;
-}
-
-function createRayChannelContext(normalized) {
-  if (normalized?.[CHANNEL_CONTEXT]) return normalized[CHANNEL_CONTEXT];
-  const channels = writeRayChannelFlags(createRayChannelFlags(), normalized.channels);
-  const context = {
-    channels,
-    surfaceChannels: channels.surfaceChannels,
-    hasRoadEdge: channels.hasRoadEdge,
-    hasCar: channels.hasCar,
-    hasRoadOrSurface: channels.hasRoadEdge || channels.surfaceChannels.length > 0,
-  };
-  if (normalized) {
-    Object.defineProperty(normalized, CHANNEL_CONTEXT, {
-      value: context,
-      enumerable: false,
-    });
-  }
-  return context;
-}
-
-function estimateRayBands({
-  car,
-  snapshot,
-  ray,
-  angleDegrees,
-  origin,
-  vector,
-  normalized,
-  channelContext,
-  trackContext,
-  sharedRayQuery,
-  scratch,
-}) {
-  const stats = getRayBandTraceStats(scratch);
-  const canUseRayBandTrace = channelContext.hasRoadOrSurface &&
-    trackContext?.originState;
-  if (canUseRayBandTrace) {
-    const direct = traceIndexedRayBands({
-      track: snapshot.track,
-      origin,
-      vector,
-      lengthMeters: ray.lengthMeters,
-      originState: trackContext.originState,
-      channels: channelContext.channels,
-      precision: normalized.precision,
-      sharedRayQuery,
-      stats,
-      validateBoundaries: car?.interaction?.profile !== 'batch-training',
-      allowPitOverride: car?.interaction?.profile === 'batch-training'
-        ? false
-        : pitOverrideAllowedForCar(car),
-      mainTrackOnly: car?.interaction?.profile === 'batch-training',
-    });
-    if (direct.available) {
-      if (stats) {
-        if (direct.path === 'sampled') stats.sampledPathCount += 1;
-        else stats.directPathCount += 1;
-      }
-      return {
-        roadEdge: direct.roadEdge,
-        surfaceHits: {
-          kerb: direct.kerb,
-          illegalSurface: direct.illegalSurface,
-        },
-      };
-    }
-    if (stats) stats.fallbackCount += 1;
-  }
-
-  return {
-    roadEdge: channelContext.hasRoadEdge
-      ? estimateTrackHit(
-        car,
-        snapshot,
-        angleDegrees,
-        ray.lengthMeters,
-        trackContext,
-        { precision: normalized.precision, sharedRayQuery },
-      )
-      : createTrackMiss(ray.lengthMeters),
-    surfaceHits: estimateSurfaceHits(
-      car,
-      snapshot,
-        ray,
-        origin,
-        vector,
-        channelContext.surfaceChannels,
-        trackContext,
-        { precision: normalized.precision, sharedRayQuery },
-      ),
-  };
-}
-
-function writeRichRay(target, ray, angleRadians, roadEdge, carHit, surfaceHits, channels) {
-  target.id = ray.id;
-  target.angleDegrees = ray.angleDegrees;
-  target.angleRadians = angleRadians;
-  target.lengthMeters = ray.lengthMeters;
-  target.roadEdge = writeTrackRayHit(target.roadEdge ?? {}, roadEdge);
-  target.track = target.roadEdge;
-  target.kerb = channels.hasKerb
-    ? writeSurfaceRayHit(target.kerb ?? {}, surfaceHits.kerb ?? createSurfaceMiss(ray.lengthMeters))
-    : writeSurfaceRayHit(target.kerb ?? {}, createSurfaceMiss(ray.lengthMeters));
-  target.illegalSurface = channels.hasIllegalSurface
-    ? writeSurfaceRayHit(target.illegalSurface ?? {}, surfaceHits.illegalSurface ?? createSurfaceMiss(ray.lengthMeters))
-    : writeSurfaceRayHit(target.illegalSurface ?? {}, createSurfaceMiss(ray.lengthMeters));
-  target.car = writeCarRayHit(target.car ?? {}, carHit);
-  return target;
-}
-
-function writeTrackRayHit(target, source) {
-  target.hit = Boolean(source?.hit);
-  target.distanceMeters = source?.distanceMeters;
-  target.kind = source?.kind ?? null;
-  return target;
-}
-
-function writeSurfaceRayHit(target, source) {
-  target.hit = Boolean(source?.hit);
-  target.distanceMeters = source?.distanceMeters;
-  target.surface = source?.surface ?? null;
-  return target;
-}
-
-function writeCarRayHit(target, source) {
-  target.hit = Boolean(source?.hit);
-  target.distanceMeters = source?.distanceMeters;
-  target.driverId = source?.driverId ?? null;
-  target.targetId = source?.targetId ?? null;
-  target.targetType = source?.targetType ?? null;
-  target.relativeSpeedKph = source?.relativeSpeedKph ?? 0;
-  return target;
-}
-
-export function buildRaySensors(car, snapshot, rayOptions = {}, batchContext = null) {
-  const scratch = getRayScratch(batchContext);
-  const normalized = getNormalizedRayOptions(rayOptions, scratch);
-  if (!normalized.enabled) return [];
-  const channelContext = createRayChannelContext(normalized);
-  if (car?.destroyed || car?.outOfRace) {
-    return buildInactiveCarRays(normalized, scratch);
-  }
-  const origin = getRayOrigin(car, scratch);
-  const usesTrackContext = channelContext.hasRoadOrSurface;
-  const trackContext = !usesTrackContext
-    ? null
-    : createTrackRayContext(car, snapshot, origin, normalized.precision);
-  const carTargets = channelContext.hasCar
-    ? getFilteredCarTargets(car, snapshot, batchContext, scratch)
-    : [];
-
-  if (canUseFastBatchTrainingRays(car, snapshot, trackContext)) {
-    return buildFastBatchTrainingRays(car, snapshot, normalized, channelContext, origin, carTargets, trackContext, scratch);
-  }
-
-  const scratchRays = prepareScratchArray(scratch, 'rays', 'rayPool', normalized.rays.length, () => ({}));
-  const rays = scratchRays ?? normalized.rays.map(() => ({}));
-  for (let index = 0; index < normalized.rays.length; index += 1) {
-    const ray = normalized.rays[index];
-    const angleDegrees = ray.angleDegrees;
-    const angleRadians = degreesToRadians(angleDegrees);
-    const vector = getScratchRayVector(scratch, index, car, angleRadians);
-    const sharedRayQuery = getSharedRayQuery(scratch, index);
-    const { roadEdge, surfaceHits } = estimateRayBands({
-      car,
-      snapshot,
-      ray,
-      angleDegrees,
-      origin,
-      vector,
-      normalized,
-      channelContext,
-      trackContext,
-      sharedRayQuery,
-      scratch,
-    });
-    const carHit = channelContext.hasCar
-      ? estimateCarHitForRay(car, snapshot, ray, origin, vector, carTargets, sharedRayQuery, scratch)
-      : createCarRayMiss(ray.lengthMeters);
-
-    writeRichRay(rays[index], ray, angleRadians, roadEdge, carHit, surfaceHits, channelContext.channels);
-  }
-  return rays;
-}
-
-export function buildRaySensorVectorValues(car, snapshot, rayOptions = {}, batchContext = null) {
-  const scratch = getRayScratch(batchContext);
-  const normalized = getNormalizedRayOptions(rayOptions, scratch);
-  if (!normalized.enabled) return [];
-  const channelContext = createRayChannelContext(normalized);
-  const surfaceChannels = channelContext.surfaceChannels;
-  if (car?.destroyed || car?.outOfRace) {
-    return buildInactiveRayVectorValues(normalized, surfaceChannels, scratch);
-  }
-
-  const origin = getRayOrigin(car, scratch);
-  const usesTrackContext = channelContext.hasRoadOrSurface;
-  const trackContext = !usesTrackContext
-    ? null
-    : createTrackRayContext(car, snapshot, origin, normalized.precision);
-  const carTargets = channelContext.hasCar
-    ? getFilteredCarTargets(car, snapshot, batchContext, scratch)
-    : [];
-
-  const vectorValues = prepareScratchArray(scratch, 'rayVectorValues', 'rayVectorValuePool', normalized.rays.length, () => []);
-  const values = vectorValues ?? normalized.rays.map(() => []);
-  for (let index = 0; index < normalized.rays.length; index += 1) {
-    const ray = normalized.rays[index];
-    const angleRadians = degreesToRadians(ray.angleDegrees);
-    const vector = getScratchRayVector(scratch, index, car, angleRadians);
-    const sharedRayQuery = getSharedRayQuery(scratch, index);
-    const { roadEdge, surfaceHits } = estimateRayBands({
-      car,
-      snapshot,
-      ray,
-      angleDegrees: ray.angleDegrees,
-      origin,
-      vector,
-      normalized,
-      channelContext,
-      trackContext,
-      sharedRayQuery,
-      scratch,
-    });
-    const carHit = channelContext.hasCar
-      ? estimateCarHitForRay(car, snapshot, ray, origin, vector, carTargets, sharedRayQuery, scratch)
-      : createCarRayMiss(ray.lengthMeters);
-    writeRayVectorValues(values[index], ray.lengthMeters, roadEdge, carHit, surfaceHits, surfaceChannels);
-  }
-  return values;
-}
-
-export function appendRaySensorVectorValues(target, car, snapshot, rayOptions = {}, batchContext = null) {
-  const scratch = getRayScratch(batchContext);
-  const normalized = getNormalizedRayOptions(rayOptions, scratch);
-  if (!normalized.enabled) return target;
-  const channelContext = createRayChannelContext(normalized);
-  const surfaceChannels = channelContext.surfaceChannels;
-  if (car?.destroyed || car?.outOfRace) {
-    for (let index = 0; index < normalized.rays.length; index += 1) {
-      const ray = normalized.rays[index];
-      appendRayVectorValues(
-        target,
-        ray.lengthMeters,
-        createTrackMiss(ray.lengthMeters),
-        createCarRayMiss(ray.lengthMeters),
-        {},
-        surfaceChannels,
-      );
-    }
-    return target;
-  }
-
-  const origin = getRayOrigin(car, scratch);
-  const usesTrackContext = channelContext.hasRoadOrSurface;
-  const trackContext = !usesTrackContext
-    ? null
-    : createTrackRayContext(car, snapshot, origin, normalized.precision);
-  const carTargets = channelContext.hasCar
-    ? getFilteredCarTargets(car, snapshot, batchContext, scratch)
-    : [];
-
-  for (let index = 0; index < normalized.rays.length; index += 1) {
-    const ray = normalized.rays[index];
-    const angleRadians = degreesToRadians(ray.angleDegrees);
-    const vector = getScratchRayVector(scratch, index, car, angleRadians);
-    const sharedRayQuery = getSharedRayQuery(scratch, index);
-    const { roadEdge, surfaceHits } = estimateRayBands({
-      car,
-      snapshot,
-      ray,
-      angleDegrees: ray.angleDegrees,
-      origin,
-      vector,
-      normalized,
-      channelContext,
-      trackContext,
-      sharedRayQuery,
-      scratch,
-    });
-    const carHit = channelContext.hasCar
-      ? estimateCarHitForRay(car, snapshot, ray, origin, vector, carTargets, sharedRayQuery, scratch)
-      : createCarRayMiss(ray.lengthMeters);
-    appendRayVectorValues(target, ray.lengthMeters, roadEdge, carHit, surfaceHits, surfaceChannels);
-  }
-  return target;
-}
-
-function buildInactiveCarRays(normalized, scratch = null) {
-  const channelContext = createRayChannelContext(normalized);
-  const rays = prepareScratchArray(scratch, 'rays', 'rayPool', normalized.rays.length, () => ({})) ??
-    normalized.rays.map(() => ({}));
-  for (let index = 0; index < normalized.rays.length; index += 1) {
-    const ray = normalized.rays[index];
-    const roadEdge = createTrackMiss(ray.lengthMeters);
-    writeRichRay(
-      rays[index],
-      ray,
-      degreesToRadians(ray.angleDegrees),
-      roadEdge,
-      createCarRayMiss(ray.lengthMeters),
-      {},
-      channelContext.channels,
-    );
-  }
-  return rays;
-}
-
-function createInactiveRayVectorValues(ray, surfaceChannels) {
-  return rayVectorValues(
-    ray.lengthMeters,
-    createTrackMiss(ray.lengthMeters),
-    createCarRayMiss(ray.lengthMeters),
-    {},
-    surfaceChannels,
-  );
-}
-
-function buildInactiveRayVectorValues(normalized, surfaceChannels, scratch = null) {
-  const values = prepareScratchArray(scratch, 'rayVectorValues', 'rayVectorValuePool', normalized.rays.length, () => []) ??
-    normalized.rays.map(() => []);
-  for (let index = 0; index < normalized.rays.length; index += 1) {
-    const ray = normalized.rays[index];
-    writeRayVectorValues(
-      values[index],
-      ray.lengthMeters,
-      createTrackMiss(ray.lengthMeters),
-      createCarRayMiss(ray.lengthMeters),
-      {},
-      surfaceChannels,
-    );
-  }
-  return values;
-}
-
-function rayVectorValues(lengthMeters, roadEdge, carHit, surfaceHits, surfaceChannels) {
-  return writeRayVectorValues([], lengthMeters, roadEdge, carHit, surfaceHits, surfaceChannels);
-}
-
-function writeRayVectorValues(values, lengthMeters, roadEdge, carHit, surfaceHits, surfaceChannels) {
-  values.length = 0;
-  appendRayVectorValues(values, lengthMeters, roadEdge, carHit, surfaceHits, surfaceChannels);
-  return values;
-}
-
-function appendRayVectorValues(values, lengthMeters, roadEdge, carHit, surfaceHits, surfaceChannels) {
-  values.push(
-    ratio(roadEdge.distanceMeters, lengthMeters),
-    roadEdge.hit ? 1 : 0,
-    roadEdge.kind === 'exit' ? 1 : 0,
-    roadEdge.kind === 'entry' ? 1 : 0,
-    ratio(carHit.distanceMeters, lengthMeters),
-    carHit.hit ? 1 : 0,
-    carHit.relativeSpeedKph / 200,
-    carHit.targetType === 'replayGhost' ? 1 : 0,
-  );
-  for (let index = 0; index < surfaceChannels.length; index += 1) {
-    const channel = surfaceChannels[index];
-    const hit = surfaceHits[channel] ?? createSurfaceMiss(lengthMeters);
-    values.push(
-      ratio(hit.distanceMeters, lengthMeters),
-      hit.hit ? 1 : 0,
-    );
-  }
-  return values;
-}
-
-function ratio(value, max) {
-  const finite = Number.isFinite(value) ? value : max;
-  return Math.max(0, Math.min(1, finite / Math.max(1e-9, max)));
-}
-
-function canUseFastBatchTrainingRays(car, snapshot, trackContext) {
-  return car?.interaction?.profile === 'batch-training' &&
-    !car.inPitLane &&
-    !trackContext?.originState?.inPitLane &&
-    Array.isArray(snapshot.track?.samples) &&
-    snapshot.track.samples.length > 0 &&
-    trackContext?.originState &&
-    canUseBatchTrainingRayApproximation(snapshot.track, trackContext.originState);
-}
-
-function buildFastBatchTrainingRays(car, snapshot, normalized, channelContext, origin, carTargets, trackContext, scratch = null) {
-  const rays = prepareScratchArray(scratch, 'rays', 'rayPool', normalized.rays.length, () => ({})) ??
-    normalized.rays.map(() => ({}));
-  for (let index = 0; index < normalized.rays.length; index += 1) {
-    const ray = normalized.rays[index];
-    const angleRadians = degreesToRadians(ray.angleDegrees);
-    const vector = getScratchRayVector(scratch, index, car, angleRadians);
-    const sharedRayQuery = getSharedRayQuery(scratch, index);
-    const { roadEdge, surfaceHits } = estimateRayBands({
-      car,
-      snapshot,
-      ray,
-      angleDegrees: ray.angleDegrees,
-      origin,
-      vector,
-      normalized,
-      channelContext,
-      trackContext,
-      sharedRayQuery,
-      scratch,
-    });
-    const carHit = channelContext.hasCar && carTargets.length > 0
-      ? estimateCarHitForRay(car, snapshot, ray, origin, vector, carTargets, sharedRayQuery, scratch)
-      : createCarRayMiss(ray.lengthMeters);
-
-    writeRichRay(rays[index], ray, angleRadians, roadEdge, carHit, surfaceHits, channelContext.channels);
-  }
-  return rays;
-}
+export { createRayBatchContext } from './rayScratch.js';
+export { buildRaySensors, buildRaySensorVectorValues, appendRaySensorVectorValues } from './rayBatch.js';

package/src/environment/sensors/indexedRayBands.js

@@ -3,15 +3,6 @@ import { metersToSimUnits } from '../../simulation/units.js';
 
 const RAY_BOUND_QUERY_MARGIN_METERS = 18;
 
-export function findIndexedRayBoundaryHit(track, origin, vector, lengthMeters, offsets, target = null) {
-  const boundaries = findIndexedRayBoundaryDistances(track, origin, vector, lengthMeters, offsets, target);
-  if (!boundaries.available) return { available: false, distance: null };
-  return {
-    available: true,
-    distance: minFiniteArray(boundaries.distances),
-  };
-}
-
 export function findIndexedRayBoundaryDistances(track, origin, vector, lengthMeters, offsets, target = null) {
   const result = target ?? {};
   const finiteOffsets = target?.finiteOffsets ?? [];
@@ -173,15 +164,6 @@ function minFinite(first, second) {
   return first <= second ? first : second;
 }
 
-function minFiniteArray(values) {
-  let minimum = Infinity;
-  for (let index = 0; index < values.length; index += 1) {
-    const value = values[index];
-    if (Number.isFinite(value) && value < minimum) minimum = value;
-  }
-  return Number.isFinite(minimum) ? minimum : null;
-}
-
 function nearestSegmentId(firstDistance, firstSegmentId, secondDistance, secondSegmentId) {
   if (!Number.isFinite(firstDistance)) return Number.isInteger(secondSegmentId) ? secondSegmentId : null;
   if (!Number.isFinite(secondDistance)) return Number.isInteger(firstSegmentId) ? firstSegmentId : null;

package/src/environment/sensors/nearbyCars.js

@@ -1,8 +1,8 @@
 import { metersToSimUnits, simUnitsToMeters } from '../../simulation/units.js';
 import { normalizeRelativeHeading } from './rayGeometry.js';
-import { nearbyDetectableTargets } from './sensorTargets.js';
+import { isSelfCarTarget, nearbyDetectableTargetsForSnapshot } from './sensorTargets.js';
 
-export function buildNearbyCars(car, snapshot, { maxCars = 6, radiusMeters = 150 } = {}) {
+export function buildNearbyCars(car, snapshot, { maxCars = 6, radiusMeters = 150 } = {}, batchContext = null) {
   const limit = Math.max(0, Math.floor(maxCars));
   if (limit === 0) return [];
   const radius = metersToSimUnits(radiusMeters);
@@ -13,11 +13,15 @@ export function buildNearbyCars(car, snapshot, { maxCars = 6, radiusMeters = 150
   const rightY = Math.cos(car.heading);
   const nearest = [];
 
-  nearbyDetectableTargets(car, snapshot).forEach((other) => {
+  const targets = batchContext?.nearbyTargets ?? nearbyDetectableTargetsForSnapshot(snapshot);
+  for (const other of targets) {
+    if (isSelfCarTarget(car, other)) continue;
     const dx = other.x - car.x;
     const dy = other.y - car.y;
     const distanceSquared = dx * dx + dy * dy;
-    if (distanceSquared > radiusSquared) return;
+    if (distanceSquared > radiusSquared) continue;
+    const insertAt = nearestInsertIndex(nearest, distanceSquared, other.order);
+    if (insertAt >= limit) continue;
 
     const forward = forwardX * dx + forwardY * dy;
     const right = rightX * dx + rightY * dy;
@@ -34,19 +38,18 @@ export function buildNearbyCars(car, snapshot, { maxCars = 6, radiusMeters = 150
       distanceSquared,
       order: other.order,
     };
-    insertNearestCar(nearest, entry, limit);
-  });
+    nearest.splice(insertAt, 0, entry);
+    if (nearest.length > limit) nearest.pop();
+  }
 
   return nearest.map(({ distanceSquared, order, ...entry }) => entry);
 }
 
-function insertNearestCar(nearest, entry, limit) {
-  let insertAt = nearest.findIndex((candidate) => (
-    entry.distanceSquared < candidate.distanceSquared ||
-    (entry.distanceSquared === candidate.distanceSquared && entry.order < candidate.order)
-  ));
-  if (insertAt < 0) insertAt = nearest.length;
-  if (insertAt >= limit) return;
-  nearest.splice(insertAt, 0, entry);
-  if (nearest.length > limit) nearest.pop();
+function nearestInsertIndex(nearest, distanceSquared, order) {
+  for (let index = 0; index < nearest.length; index += 1) {
+    const candidate = nearest[index];
+    if (distanceSquared < candidate.distanceSquared ||
+      (distanceSquared === candidate.distanceSquared && order < candidate.order)) return index;
+  }
+  return nearest.length;
 }

package/src/environment/sensors/opponentRadar.js

@@ -1,8 +1,9 @@
 import { kphToSimSpeed, simSpeedToMetersPerSecond, simUnitsToMeters } from '../../simulation/units.js';
 import { VEHICLE_GEOMETRY } from '../../simulation/vehicle/vehicleGeometry.js';
 
-export function enrichOpponentRadar(car, nearbyCars, snapshot) {
-  const targetsById = new Map([
+export function enrichOpponentRadar(car, nearbyCars, snapshot, batchContext = null) {
+  if (!nearbyCars.length) return [];
+  const targetsById = batchContext?.targetsById ?? new Map([
     ...(snapshot.cars ?? []).map((entry) => [targetKey('car', entry.id), entry]),
     ...(snapshot.replayGhosts ?? []).map((entry) => [targetKey('replayGhost', entry.id), entry]),
   ]);

package/src/environment/sensors/pitConnectorProximity.js

@@ -0,0 +1,20 @@
+import { metersToSimUnits } from '../../simulation/units.js';
+import { PIT_CONNECTOR_RAY_FALLBACK_METERS } from './rayDefaults.js';
+
+export function isNearPitConnector(track, state) {
+  const pitLane = track?.pitLane;
+  if (!pitLane?.enabled || !Number.isFinite(state?.distance)) return false;
+  const window = metersToSimUnits(PIT_CONNECTOR_RAY_FALLBACK_METERS);
+  const entryDistance = pitLane.entry?.trackDistance ?? pitLane.entry?.distanceFromStart;
+  const exitDistance = pitLane.exit?.trackDistance ?? pitLane.exit?.distanceFromStart;
+  return wrappedTrackDistance(state.distance, entryDistance, track.length) <= window ||
+    wrappedTrackDistance(state.distance, exitDistance, track.length) <= window;
+}
+
+function wrappedTrackDistance(first, second, totalLength) {
+  if (!Number.isFinite(first) || !Number.isFinite(second) || !Number.isFinite(totalLength) || totalLength <= 0) {
+    return Infinity;
+  }
+  const delta = Math.abs(first - second);
+  return Math.min(delta, totalLength - delta);
+}