@inventure71/paddockjs 4.2.0 → 4.3.0

package/src/simulation/vehicle/wheelSurface.js

@@ -1,87 +1,19 @@
-import { ensureOrientedRectCorners, getCurrentVehicleGeometryState } from './vehicleGeometry.js';
+import { getCurrentVehicleGeometryState } from './vehicleGeometry.js';
+import { analyticWheelProjectedHalfWidth, writeAnalyticWheelState, writeAnalyticWheelStateWithProjectedHalfWidth } from './mainTrackWheelSurface.js';
+import { canUseAnalyticPitWheels, canSkipConnectorPitChecks, isNearPitConnector, writeAnalyticPitWheelState } from './pitWheelSurface.js';
+import { cacheMatchesCenterState, writeCachedCenterState, canRefreshAutomaticCenterStateFromTrackState } from './wheelSurfaceCache.js';
+import { resetWheelSummary, prepareWheelSummary, recordWheelSummary, finishWheelSummary } from './wheelSurfaceSummary.js';
 import {
-  analyticWheelProjectedHalfWidth,
-  wheelFullyOutside,
-  writeAnalyticWheelState,
-  writeAnalyticWheelStateWithProjectedHalfWidth,
-} from './mainTrackWheelSurface.js';
-import {
-  canUseAnalyticPitWheels,
-  canSkipConnectorPitChecks,
-  isNearPitConnector,
-  pitPatchInsideRoad,
-  writeAnalyticPitWheelState,
-} from './pitWheelSurface.js';
-import { getEffectiveSurface, priority, worstState } from './surfacePriority.js';
-import {
-  nearestTrackStateForCar,
-  pitOverrideAllowedForCar,
-  queryHintedTrackStateForCar,
-  queryLocalSegmentTrackProjectionsForCar,
-  queryLocalSegmentTrackStateForCar,
-  queryLocalSegmentTrackStatesForCar,
-  queryRunoffTrackStateForCar,
-  writeLocalSegmentTrackStatesFromProjections,
-} from '../track/trackStatePolicy.js';
+  connectorWheelCenterStates,
+  connectorWheelCenterProjections,
+  canUseStraightConnectorMainTrackAnalytic,
+  writeConnectorWheelStatesWithSummary,
+  writeNearestSampledWheelStatesWithSummary,
+} from './sampledWheelSurface.js';
+import { nearestTrackStateForCar, pitOverrideAllowedForCar, writeLocalSegmentTrackStatesFromProjections } from '../track/trackStatePolicy.js';
 
 export { getEffectiveSurface } from './surfacePriority.js';
-
-const STRAIGHT_CONNECTOR_CURVATURE_EPSILON = 1e-8;
-const MAIN_TRACK_PATCH_MARGIN = 0.001;
-
-function usesAutomaticCenterState(centerState, cacheAsAuto = false) {
-  return cacheAsAuto || centerState == null;
-}
-
-function cacheMatchesCenterState(cache, centerState, cacheAsAuto = false) {
-  const automatic = usesAutomaticCenterState(centerState, cacheAsAuto);
-  if ((cache.centerStateAuto ?? true) !== automatic) return false;
-  if (automatic) return true;
-  return cache.centerStateDistance === centerState.distance &&
-    cache.centerStateSignedOffset === centerState.signedOffset &&
-    cache.centerStateCrossTrackError === centerState.crossTrackError &&
-    cache.centerStateSurface === (centerState.surface ?? null) &&
-    cache.centerStateInPitLane === Boolean(centerState.inPitLane) &&
-    cache.centerStatePitLanePart === (centerState.pitLanePart ?? null) &&
-    cache.centerStatePitBoxId === (centerState.pitBoxId ?? null);
-}
-
-function writeCachedCenterState(cache, centerState, cacheAsAuto = false) {
-  const automatic = usesAutomaticCenterState(centerState, cacheAsAuto);
-  cache.centerStateAuto = automatic;
-  if (automatic) {
-    cache.centerStateDistance = null;
-    cache.centerStateSignedOffset = null;
-    cache.centerStateCrossTrackError = null;
-    cache.centerStateSurface = null;
-    cache.centerStateInPitLane = false;
-    cache.centerStatePitLanePart = null;
-    cache.centerStatePitBoxId = null;
-    return cache;
-  }
-  cache.centerStateDistance = centerState.distance;
-  cache.centerStateSignedOffset = centerState.signedOffset;
-  cache.centerStateCrossTrackError = centerState.crossTrackError;
-  cache.centerStateSurface = centerState.surface ?? null;
-  cache.centerStateInPitLane = Boolean(centerState.inPitLane);
-  cache.centerStatePitLanePart = centerState.pitLanePart ?? null;
-  cache.centerStatePitBoxId = centerState.pitBoxId ?? null;
-  return cache;
-}
-
-function canRefreshAutomaticCenterStateFromTrackState(car, track) {
-  const trackState = car?.trackState;
-  if (!trackState || trackState.inPitLane) return false;
-  if (
-    car?.trackStatePoseX !== car?.x ||
-    car?.trackStatePoseY !== car?.y ||
-    car?.trackStatePoseHeading !== car?.heading
-  ) {
-    return false;
-  }
-  const mainRoadEdge = track.width / 2 + (track.kerbWidth ?? 0);
-  return Number.isFinite(trackState.crossTrackError) && trackState.crossTrackError <= mainRoadEdge;
-}
+export { isWholeCarOutsideTrackLimits } from './wheelSurfaceSummary.js';
 
 function writeRepresentativeTrackState(target, centerState, effectiveSurface, representative, onTrack, inPitLane) {
   target.segmentId = centerState.segmentId;
@@ -137,287 +69,6 @@ function createWheelTargets(count) {
   return wheels;
 }
 
-function writeFullWheelState(target, patch, sampledStates, trackLimit) {
-  const state = worstState(sampledStates);
-  let minimumSignedOffset = Infinity;
-  let maximumSignedOffset = -Infinity;
-  for (let index = 0; index < sampledStates.length; index += 1) {
-    const signedOffset = sampledStates[index].signedOffset;
-    if (signedOffset < minimumSignedOffset) minimumSignedOffset = signedOffset;
-    if (signedOffset > maximumSignedOffset) maximumSignedOffset = signedOffset;
-  }
-  const outside = wheelFullyOutside(sampledStates, trackLimit);
-
-  target.id = patch.id;
-  target.x = patch.center.x;
-  target.y = patch.center.y;
-  target.signedOffset = state.signedOffset;
-  target.crossTrackError = state.crossTrackError;
-  target.surface = state.surface;
-  target.onTrack = Boolean(state.onTrack);
-  target.inPitLane = Boolean(state.inPitLane);
-  target.pitLanePart = state.pitLanePart ?? null;
-  target.pitBoxId = state.pitBoxId ?? null;
-  target.minimumSignedOffset = minimumSignedOffset;
-  target.maximumSignedOffset = maximumSignedOffset;
-  target.fullyOutsideWhiteLine = outside.fullyOutsideWhiteLine;
-  target.outsideSide = outside.outsideSide;
-  target.sampledStates = sampledStates;
-  return target;
-}
-
-function resetWheelSummary(summary) {
-  const trackLimits = summary.trackLimits ?? {
-    violating: false,
-    side: 0,
-    outsideBy: 0,
-  };
-  summary.effectiveSurface = 'track';
-  summary.effectivePriority = priority(summary.effectiveSurface);
-  summary.representative = null;
-  summary.allRightOutside = true;
-  summary.allLeftOutside = true;
-  summary.allOnTrackOrPit = true;
-  summary.allInPitLane = true;
-  summary.minimumSignedOffset = Infinity;
-  summary.maximumSignedOffset = -Infinity;
-  summary.trackLimits = trackLimits;
-  return summary;
-}
-
-function prepareWheelSummary(scratch) {
-  if (!scratch) return null;
-  const summary = scratch.summary ?? {};
-  scratch.summary = summary;
-  return resetWheelSummary(summary);
-}
-
-function recordWheelSummary(summary, wheel) {
-  const wheelPriority = priority(wheel.surface);
-  if (wheelPriority > summary.effectivePriority) {
-    summary.effectivePriority = wheelPriority;
-    summary.effectiveSurface = wheel.surface;
-  }
-  if (!summary.representative || Math.abs(wheel.signedOffset) > Math.abs(summary.representative.signedOffset)) {
-    summary.representative = wheel;
-  }
-  if (wheel.outsideSide !== 1) summary.allRightOutside = false;
-  if (wheel.outsideSide !== -1) summary.allLeftOutside = false;
-  if (!(wheel.onTrack || wheel.inPitLane)) summary.allOnTrackOrPit = false;
-  if (!wheel.inPitLane) summary.allInPitLane = false;
-  if (wheel.minimumSignedOffset < summary.minimumSignedOffset) summary.minimumSignedOffset = wheel.minimumSignedOffset;
-  if (wheel.maximumSignedOffset > summary.maximumSignedOffset) summary.maximumSignedOffset = wheel.maximumSignedOffset;
-  return summary;
-}
-
-function finishWheelSummary(summary, track, trackLimit = track?.width / 2) {
-  const trackLimits = summary.trackLimits;
-  trackLimits.violating = false;
-  trackLimits.side = 0;
-  trackLimits.outsideBy = 0;
-  if (track && (summary.allRightOutside || summary.allLeftOutside)) {
-    const side = summary.allRightOutside ? 1 : -1;
-    const outsideBy = summary.allRightOutside
-      ? summary.minimumSignedOffset - trackLimit
-      : -trackLimit - summary.maximumSignedOffset;
-    trackLimits.violating = outsideBy > 0;
-    trackLimits.side = side;
-    trackLimits.outsideBy = Math.max(0, outsideBy);
-  }
-  return summary;
-}
-
-function queryConnectorSampleState(track, car, point, progressHint, centerState) {
-  const baseSegmentId = Number.isInteger(centerState?.segmentId) ? centerState.segmentId : null;
-  if (baseSegmentId == null) return queryHintedTrackStateForCar(track, car, point, progressHint);
-  return queryLocalSegmentTrackStateForCar(
-    track,
-    car,
-    point,
-    baseSegmentId,
-    progressHint,
-    { skipPitOverrideInsideMainRoad: true },
-  );
-}
-
-function sampleFullConnectorPatchInto(sampledStates, patch, track, car, progressHint, centerState) {
-  const corners = ensureOrientedRectCorners(patch);
-  sampledStates.length = 1 + corners.length;
-  sampledStates[0] = queryConnectorSampleState(track, car, patch.center, progressHint, centerState);
-  for (let index = 0; index < corners.length; index += 1) {
-    sampledStates[index + 1] = queryConnectorSampleState(track, car, corners[index], progressHint, centerState);
-  }
-  return sampledStates;
-}
-
-function sampleFullNearestPatchInto(sampledStates, patch, track, car) {
-  const corners = ensureOrientedRectCorners(patch);
-  sampledStates.length = 1 + corners.length;
-  sampledStates[0] = nearestTrackStateForCar(track, car, patch.center, car.progress);
-  for (let index = 0; index < corners.length; index += 1) {
-    sampledStates[index + 1] = nearestTrackStateForCar(track, car, corners[index], car.progress);
-  }
-  return sampledStates;
-}
-
-function writeConnectorWheelState(target, {
-  patch,
-  wheelCenterState,
-  centerState,
-  car,
-  track,
-  trackLimit,
-  progressHint,
-  sampledStates,
-}) {
-  if (!wheelCenterState) {
-    return writeAnalyticWheelState(target, patch, centerState, track, trackLimit);
-  }
-  if (!wheelCenterState.inPitLane) {
-    return writeAnalyticWheelState(target, patch, wheelCenterState, track, trackLimit);
-  }
-  if (pitPatchInsideRoad(patch, wheelCenterState)) {
-    return writeAnalyticPitWheelState(target, patch, wheelCenterState);
-  }
-  sampleFullConnectorPatchInto(sampledStates, patch, track, car, progressHint, centerState);
-  return writeFullWheelState(target, patch, sampledStates, trackLimit);
-}
-
-function collectPatchCenters(target, patches) {
-  target.length = patches.length;
-  for (let index = 0; index < patches.length; index += 1) {
-    target[index] = patches[index].center;
-  }
-  return target;
-}
-
-function connectorWheelCenterStates(
-  track,
-  car,
-  patches,
-  centerState,
-  progressHint,
-  scratchStates = null,
-  scratchProjections = null,
-  scratchPositions = null,
-) {
-  const baseSegmentId = Number.isInteger(centerState?.segmentId) ? centerState.segmentId : null;
-  const states = scratchStates ?? new Array(patches.length);
-  states.length = patches.length;
-  if (baseSegmentId == null) {
-    for (let index = 0; index < patches.length; index += 1) {
-      states[index] = queryHintedTrackStateForCar(track, car, patches[index].center, progressHint);
-    }
-    return states;
-  }
-  const positions = collectPatchCenters(scratchPositions ?? new Array(patches.length), patches);
-  return queryLocalSegmentTrackStatesForCar(
-    track,
-    car,
-    positions,
-    baseSegmentId,
-    progressHint,
-    {
-      radius: 2,
-      skipPitOverrideInsideMainRoad: true,
-      target: states,
-      projections: scratchProjections,
-    },
-  );
-}
-
-function connectorWheelCenterProjections(
-  track,
-  car,
-  patches,
-  centerState,
-  progressHint,
-  scratchProjections = null,
-  scratchPositions = null,
-) {
-  const baseSegmentId = Number.isInteger(centerState?.segmentId) ? centerState.segmentId : null;
-  if (baseSegmentId == null) return null;
-  const positions = collectPatchCenters(scratchPositions ?? new Array(patches.length), patches);
-  return queryLocalSegmentTrackProjectionsForCar(
-    track,
-    car,
-    positions,
-    baseSegmentId,
-    progressHint,
-    {
-      radius: 2,
-      projections: scratchProjections,
-    },
-  );
-}
-
-function canUseStraightConnectorMainTrackAnalytic(track, geometry, centerState, trackLimit) {
-  if (
-    !track ||
-    !geometry?.contactPatches?.length ||
-    !centerState ||
-    centerState.inPitLane ||
-    !centerState.onTrack ||
-    Math.abs(centerState.curvature ?? 0) > STRAIGHT_CONNECTOR_CURVATURE_EPSILON
-  ) {
-    return false;
-  }
-
-  for (let index = 0; index < geometry.contactPatches.length; index += 1) {
-    const patch = geometry.contactPatches[index];
-    const wheelCenterOffset =
-      (patch.center.x - centerState.x) * centerState.normalX +
-      (patch.center.y - centerState.y) * centerState.normalY;
-    const projectedHalfWidth = analyticWheelProjectedHalfWidth(patch, centerState);
-    if (
-      wheelCenterOffset - projectedHalfWidth < -trackLimit - MAIN_TRACK_PATCH_MARGIN ||
-      wheelCenterOffset + projectedHalfWidth > trackLimit + MAIN_TRACK_PATCH_MARGIN
-    ) {
-      return false;
-    }
-  }
-  return true;
-}
-
-export function isWholeCarOutsideTrackLimits(wheels = [], track, relaxedMargin = 0) {
-  if (!wheels.length || !track) {
-    return {
-      violating: false,
-      side: 0,
-      outsideBy: 0,
-    };
-  }
-  const trackLimit = track.width / 2 + relaxedMargin;
-  let right = true;
-  let left = true;
-  let minimumSignedOffset = Infinity;
-  let maximumSignedOffset = -Infinity;
-  for (let index = 0; index < wheels.length; index += 1) {
-    const wheel = wheels[index];
-    if (wheel.outsideSide !== 1) right = false;
-    if (wheel.outsideSide !== -1) left = false;
-    if (wheel.minimumSignedOffset < minimumSignedOffset) minimumSignedOffset = wheel.minimumSignedOffset;
-    if (wheel.maximumSignedOffset > maximumSignedOffset) maximumSignedOffset = wheel.maximumSignedOffset;
-  }
-  if (!right && !left) {
-    return {
-      violating: false,
-      side: 0,
-      outsideBy: 0,
-    };
-  }
-  const side = right ? 1 : -1;
-  const outsideBy = right
-    ? minimumSignedOffset - trackLimit
-    : -trackLimit - maximumSignedOffset;
-
-  return {
-    violating: outsideBy > 0,
-    side,
-    outsideBy: Math.max(0, outsideBy),
-  };
-}
-
 function writeAnalyticWheelStatesWithSummary(targetWheels, patches, centerState, track, trackLimit, summaryTarget = null) {
   const sharedProjectedHalfWidth = patches.length > 0
     ? analyticWheelProjectedHalfWidth(patches[0], centerState)
@@ -498,76 +149,6 @@ function writeAnalyticWheelStatesFromTrackStatesWithSummary(
   };
 }
 
-function writeConnectorWheelStatesWithSummary({
-  targetWheels,
-  patches,
-  wheelCenterStates,
-  centerState,
-  car,
-  track,
-  trackLimit,
-  progressHint,
-  sampledStatePools,
-  summaryTarget = null,
-}) {
-  const summary = resetWheelSummary(summaryTarget ?? {});
-  for (let index = 0; index < patches.length; index += 1) {
-    const sampledStates = sampledStatePools[index] ?? [];
-    sampledStatePools[index] = sampledStates;
-    const wheel = writeConnectorWheelState(targetWheels[index], {
-      patch: patches[index],
-      wheelCenterState: wheelCenterStates[index],
-      centerState,
-      car,
-      track,
-      trackLimit,
-      progressHint,
-      sampledStates,
-    });
-    recordWheelSummary(summary, wheel);
-  }
-  finishWheelSummary(summary, track, trackLimit);
-
-  return {
-    wheels: targetWheels,
-    effectiveSurface: summary.effectiveSurface,
-    representative: summary.representative,
-    trackLimits: summary.trackLimits,
-    allOnTrackOrPit: summary.allOnTrackOrPit,
-    allInPitLane: summary.allInPitLane,
-  };
-}
-
-function writeNearestSampledWheelStatesWithSummary({
-  targetWheels,
-  patches,
-  car,
-  track,
-  trackLimit,
-  sampledStatePools,
-  summaryTarget = null,
-}) {
-  const summary = resetWheelSummary(summaryTarget ?? {});
-  for (let index = 0; index < patches.length; index += 1) {
-    const patch = patches[index];
-    const sampledStates = sampledStatePools[index] ?? [];
-    sampledStatePools[index] = sampledStates;
-    sampleFullNearestPatchInto(sampledStates, patch, track, car);
-    const wheel = writeFullWheelState(targetWheels[index], patch, sampledStates, trackLimit);
-    recordWheelSummary(summary, wheel);
-  }
-  finishWheelSummary(summary, track, trackLimit);
-
-  return {
-    wheels: targetWheels,
-    effectiveSurface: summary.effectiveSurface,
-    representative: summary.representative,
-    trackLimits: summary.trackLimits,
-    allOnTrackOrPit: summary.allOnTrackOrPit,
-    allInPitLane: summary.allInPitLane,
-  };
-}
-
 export function calculateWheelSurfaceState({
   car,
   track,

package/src/simulation/vehicle/wheelSurfaceCache.js

@@ -0,0 +1,55 @@
+// Pose and explicit-center validity for the per-car wheel-surface cache.
+
+function usesAutomaticCenterState(centerState, cacheAsAuto = false) {
+  return cacheAsAuto || centerState == null;
+}
+
+export function cacheMatchesCenterState(cache, centerState, cacheAsAuto = false) {
+  const automatic = usesAutomaticCenterState(centerState, cacheAsAuto);
+  if ((cache.centerStateAuto ?? true) !== automatic) return false;
+  if (automatic) return true;
+  return cache.centerStateDistance === centerState.distance &&
+    cache.centerStateSignedOffset === centerState.signedOffset &&
+    cache.centerStateCrossTrackError === centerState.crossTrackError &&
+    cache.centerStateSurface === (centerState.surface ?? null) &&
+    cache.centerStateInPitLane === Boolean(centerState.inPitLane) &&
+    cache.centerStatePitLanePart === (centerState.pitLanePart ?? null) &&
+    cache.centerStatePitBoxId === (centerState.pitBoxId ?? null);
+}
+
+export function writeCachedCenterState(cache, centerState, cacheAsAuto = false) {
+  const automatic = usesAutomaticCenterState(centerState, cacheAsAuto);
+  cache.centerStateAuto = automatic;
+  if (automatic) {
+    cache.centerStateDistance = null;
+    cache.centerStateSignedOffset = null;
+    cache.centerStateCrossTrackError = null;
+    cache.centerStateSurface = null;
+    cache.centerStateInPitLane = false;
+    cache.centerStatePitLanePart = null;
+    cache.centerStatePitBoxId = null;
+    return cache;
+  }
+  cache.centerStateDistance = centerState.distance;
+  cache.centerStateSignedOffset = centerState.signedOffset;
+  cache.centerStateCrossTrackError = centerState.crossTrackError;
+  cache.centerStateSurface = centerState.surface ?? null;
+  cache.centerStateInPitLane = Boolean(centerState.inPitLane);
+  cache.centerStatePitLanePart = centerState.pitLanePart ?? null;
+  cache.centerStatePitBoxId = centerState.pitBoxId ?? null;
+  return cache;
+}
+
+export function canRefreshAutomaticCenterStateFromTrackState(car, track) {
+  const trackState = car?.trackState;
+  if (!trackState || trackState.inPitLane) return false;
+  if (
+    car?.trackStatePoseX !== car?.x ||
+    car?.trackStatePoseY !== car?.y ||
+    car?.trackStatePoseHeading !== car?.heading
+  ) {
+    return false;
+  }
+  const mainRoadEdge = track.width / 2 + (track.kerbWidth ?? 0);
+  return Number.isFinite(trackState.crossTrackError) && trackState.crossTrackError <= mainRoadEdge;
+}

package/src/simulation/vehicle/wheelSurfaceSummary.js

@@ -0,0 +1,101 @@
+import { priority } from './surfacePriority.js';
+
+export function resetWheelSummary(summary) {
+  const trackLimits = summary.trackLimits ?? {
+    violating: false,
+    side: 0,
+    outsideBy: 0,
+  };
+  summary.effectiveSurface = 'track';
+  summary.effectivePriority = priority(summary.effectiveSurface);
+  summary.representative = null;
+  summary.allRightOutside = true;
+  summary.allLeftOutside = true;
+  summary.allOnTrackOrPit = true;
+  summary.allInPitLane = true;
+  summary.minimumSignedOffset = Infinity;
+  summary.maximumSignedOffset = -Infinity;
+  summary.trackLimits = trackLimits;
+  return summary;
+}
+
+export function prepareWheelSummary(scratch) {
+  if (!scratch) return null;
+  const summary = scratch.summary ?? {};
+  scratch.summary = summary;
+  return resetWheelSummary(summary);
+}
+
+export function recordWheelSummary(summary, wheel) {
+  const wheelPriority = priority(wheel.surface);
+  if (wheelPriority > summary.effectivePriority) {
+    summary.effectivePriority = wheelPriority;
+    summary.effectiveSurface = wheel.surface;
+  }
+  if (!summary.representative || Math.abs(wheel.signedOffset) > Math.abs(summary.representative.signedOffset)) {
+    summary.representative = wheel;
+  }
+  if (wheel.outsideSide !== 1) summary.allRightOutside = false;
+  if (wheel.outsideSide !== -1) summary.allLeftOutside = false;
+  if (!(wheel.onTrack || wheel.inPitLane)) summary.allOnTrackOrPit = false;
+  if (!wheel.inPitLane) summary.allInPitLane = false;
+  if (wheel.minimumSignedOffset < summary.minimumSignedOffset) summary.minimumSignedOffset = wheel.minimumSignedOffset;
+  if (wheel.maximumSignedOffset > summary.maximumSignedOffset) summary.maximumSignedOffset = wheel.maximumSignedOffset;
+  return summary;
+}
+
+export function finishWheelSummary(summary, track, trackLimit = track?.width / 2) {
+  const trackLimits = summary.trackLimits;
+  trackLimits.violating = false;
+  trackLimits.side = 0;
+  trackLimits.outsideBy = 0;
+  if (track && (summary.allRightOutside || summary.allLeftOutside)) {
+    const side = summary.allRightOutside ? 1 : -1;
+    const outsideBy = summary.allRightOutside
+      ? summary.minimumSignedOffset - trackLimit
+      : -trackLimit - summary.maximumSignedOffset;
+    trackLimits.violating = outsideBy > 0;
+    trackLimits.side = side;
+    trackLimits.outsideBy = Math.max(0, outsideBy);
+  }
+  return summary;
+}
+
+export function isWholeCarOutsideTrackLimits(wheels = [], track, relaxedMargin = 0) {
+  if (!wheels.length || !track) {
+    return {
+      violating: false,
+      side: 0,
+      outsideBy: 0,
+    };
+  }
+  const trackLimit = track.width / 2 + relaxedMargin;
+  let right = true;
+  let left = true;
+  let minimumSignedOffset = Infinity;
+  let maximumSignedOffset = -Infinity;
+  for (let index = 0; index < wheels.length; index += 1) {
+    const wheel = wheels[index];
+    if (wheel.outsideSide !== 1) right = false;
+    if (wheel.outsideSide !== -1) left = false;
+    if (wheel.minimumSignedOffset < minimumSignedOffset) minimumSignedOffset = wheel.minimumSignedOffset;
+    if (wheel.maximumSignedOffset > maximumSignedOffset) maximumSignedOffset = wheel.maximumSignedOffset;
+  }
+  if (!right && !left) {
+    return {
+      violating: false,
+      side: 0,
+      outsideBy: 0,
+    };
+  }
+  const side = right ? 1 : -1;
+  const outsideBy = right
+    ? minimumSignedOffset - trackLimit
+    : -trackLimit - maximumSignedOffset;
+
+  return {
+    violating: outsideBy > 0,
+    side,
+    outsideBy: Math.max(0, outsideBy),
+  };
+}