@konitif/viewer-3d 0.284.1

package/dist/renderer/ObservedRobotPresentationBuffer.js

@@ -0,0 +1,226 @@
+import { interpolateJointAngle } from './TemporalProjectionModel.js';
+const DEFAULT_CONFIG = {
+    minimumTransitionMs: 16,
+    maximumTransitionMs: 120,
+    maximumSampleGapMs: 250
+};
+const EMPTY_STATUS = {
+    mode: 'interpolated',
+    state: 'empty',
+    fallbackReason: 'insufficient_samples',
+    provenance: null,
+    sourceSampleIds: [],
+    interpolationAlpha: 1,
+    transitionDurationMs: 0,
+    active: false
+};
+/**
+ * Reconstructs only the visible pose of an observed robot between admitted
+ * telemetry samples. Source observations remain immutable and never inherit
+ * values produced by this presentation buffer.
+ *
+ * The transition clock is the local receipt clock. The upstream
+ * sourceObservedAtSeconds value is retained as provenance, but it is not used
+ * for interpolation because its clock domain is not part of the observation
+ * contract yet.
+ */
+export class ObservedRobotPresentationBuffer {
+    config;
+    mode = 'interpolated';
+    latestSample = null;
+    transitionStartValues = {};
+    transitionSourceSampleIds = [];
+    transitionStartedAtMs = 0;
+    transitionDurationMs = 0;
+    pendingFallbackReason = 'insufficient_samples';
+    status = EMPTY_STATUS;
+    constructor(config = {}) {
+        const minimumTransitionMs = finitePositive(config.minimumTransitionMs, DEFAULT_CONFIG.minimumTransitionMs);
+        const maximumTransitionMs = Math.max(minimumTransitionMs, finitePositive(config.maximumTransitionMs, DEFAULT_CONFIG.maximumTransitionMs));
+        this.config = {
+            minimumTransitionMs,
+            maximumTransitionMs,
+            maximumSampleGapMs: Math.max(maximumTransitionMs, finitePositive(config.maximumSampleGapMs, DEFAULT_CONFIG.maximumSampleGapMs))
+        };
+    }
+    setMode(mode) {
+        if (this.mode === mode)
+            return;
+        this.mode = mode;
+        this.reset('discontinuity');
+    }
+    getMode() {
+        return this.mode;
+    }
+    getStatus() {
+        return { ...this.status, sourceSampleIds: [...this.status.sourceSampleIds] };
+    }
+    getConfig() {
+        return { ...this.config };
+    }
+    reset(reason = 'discontinuity') {
+        this.latestSample = null;
+        this.transitionStartValues = {};
+        this.transitionSourceSampleIds = [];
+        this.transitionStartedAtMs = 0;
+        this.transitionDurationMs = 0;
+        this.pendingFallbackReason = reason;
+        this.status = {
+            ...EMPTY_STATUS,
+            mode: this.mode,
+            fallbackReason: reason
+        };
+    }
+    ingest(sample) {
+        const normalized = normalizeSample(sample);
+        if (!normalized) {
+            this.reset('invalid_sample');
+            return false;
+        }
+        const previous = this.latestSample;
+        if (previous?.sampleId === normalized.sampleId &&
+            previous.connectionId === normalized.connectionId) {
+            return false;
+        }
+        if (previous && previous.connectionId !== normalized.connectionId) {
+            this.reset('discontinuity');
+            this.acceptFirstSample(normalized, 'discontinuity');
+            return true;
+        }
+        if (!previous) {
+            this.acceptFirstSample(normalized, this.pendingFallbackReason);
+            return true;
+        }
+        const sampleGapMs = normalized.receivedAtMs - previous.receivedAtMs;
+        if (sampleGapMs < 0) {
+            this.reset('invalid_sample');
+            this.acceptFirstSample(normalized, 'invalid_sample');
+            return true;
+        }
+        if (sampleGapMs > this.config.maximumSampleGapMs) {
+            this.acceptFirstSample(normalized, 'sample_gap');
+            return true;
+        }
+        const currentFrame = this.project(normalized.receivedAtMs);
+        this.transitionStartValues = Object.fromEntries(Object.entries(normalized.jointValues).map(([jointName, nextValue]) => [
+            jointName,
+            currentFrame?.jointValues[jointName] ?? previous.jointValues[jointName] ?? nextValue
+        ]));
+        this.transitionSourceSampleIds = uniqueTail([...(currentFrame?.sourceSampleIds ?? [previous.sampleId]), normalized.sampleId], 3);
+        this.latestSample = normalized;
+        this.transitionStartedAtMs = normalized.receivedAtMs;
+        this.transitionDurationMs = clamp(sampleGapMs, this.config.minimumTransitionMs, this.config.maximumTransitionMs);
+        this.pendingFallbackReason = 'none';
+        return true;
+    }
+    project(renderedAtMs) {
+        const latest = this.latestSample;
+        if (!latest || !Number.isFinite(renderedAtMs)) {
+            this.status = {
+                ...EMPTY_STATUS,
+                mode: this.mode,
+                fallbackReason: latest ? 'invalid_sample' : this.pendingFallbackReason
+            };
+            return null;
+        }
+        if (this.mode === 'raw' || this.transitionDurationMs <= 0) {
+            const fallbackReason = this.mode === 'raw' ? 'none' : this.pendingFallbackReason;
+            const frame = {
+                mode: this.mode,
+                state: fallbackReason === 'none' ? 'raw' : 'fallback',
+                fallbackReason,
+                provenance: 'observed-raw',
+                sourceSampleIds: [latest.sampleId],
+                connectionId: latest.connectionId,
+                sourceObservedAtSeconds: latest.sourceObservedAtSeconds,
+                renderedAtMs,
+                latestReceivedAtMs: latest.receivedAtMs,
+                interpolationAlpha: 1,
+                transitionDurationMs: 0,
+                active: false,
+                jointValues: { ...latest.jointValues }
+            };
+            this.status = createStatus(frame);
+            return frame;
+        }
+        const interpolationAlpha = clamp((renderedAtMs - this.transitionStartedAtMs) / this.transitionDurationMs, 0, 1);
+        const active = interpolationAlpha < 1;
+        const frame = {
+            mode: this.mode,
+            state: 'interpolated',
+            fallbackReason: 'none',
+            provenance: 'observed-interpolated',
+            sourceSampleIds: active ? [...this.transitionSourceSampleIds] : [latest.sampleId],
+            connectionId: latest.connectionId,
+            sourceObservedAtSeconds: latest.sourceObservedAtSeconds,
+            renderedAtMs,
+            latestReceivedAtMs: latest.receivedAtMs,
+            interpolationAlpha,
+            transitionDurationMs: this.transitionDurationMs,
+            active,
+            jointValues: Object.fromEntries(Object.entries(latest.jointValues).map(([jointName, nextValue]) => [
+                jointName,
+                interpolateJointAngle(this.transitionStartValues[jointName] ?? nextValue, nextValue, interpolationAlpha)
+            ]))
+        };
+        this.status = createStatus(frame);
+        return frame;
+    }
+    isActive(renderedAtMs) {
+        return Boolean(this.mode === 'interpolated' &&
+            this.latestSample &&
+            this.transitionDurationMs > 0 &&
+            Number.isFinite(renderedAtMs) &&
+            renderedAtMs < this.transitionStartedAtMs + this.transitionDurationMs);
+    }
+    acceptFirstSample(sample, fallbackReason) {
+        this.latestSample = sample;
+        this.transitionStartValues = { ...sample.jointValues };
+        this.transitionSourceSampleIds = [sample.sampleId];
+        this.transitionStartedAtMs = sample.receivedAtMs;
+        this.transitionDurationMs = 0;
+        this.pendingFallbackReason =
+            fallbackReason === 'none' ? 'insufficient_samples' : fallbackReason;
+    }
+}
+function normalizeSample(sample) {
+    if (!sample.sampleId ||
+        !sample.connectionId ||
+        !Number.isFinite(sample.receivedAtMs) ||
+        (sample.sourceObservedAtSeconds !== null && !Number.isFinite(sample.sourceObservedAtSeconds))) {
+        return null;
+    }
+    const jointValues = Object.fromEntries(Object.entries(sample.jointValues).filter((entry) => {
+        const [jointName, value] = entry;
+        return Boolean(jointName) && typeof value === 'number' && Number.isFinite(value);
+    }));
+    if (Object.keys(jointValues).length === 0)
+        return null;
+    return {
+        ...sample,
+        jointValues
+    };
+}
+function createStatus(frame) {
+    return {
+        mode: frame.mode,
+        state: frame.state,
+        fallbackReason: frame.fallbackReason,
+        provenance: frame.provenance,
+        sourceSampleIds: [...frame.sourceSampleIds],
+        interpolationAlpha: frame.interpolationAlpha,
+        transitionDurationMs: frame.transitionDurationMs,
+        active: frame.active
+    };
+}
+function uniqueTail(values, maximum) {
+    const unique = [...new Set(values)];
+    return unique.slice(Math.max(0, unique.length - maximum));
+}
+function finitePositive(value, fallback) {
+    return typeof value === 'number' && Number.isFinite(value) && value > 0 ? value : fallback;
+}
+function clamp(value, minimum, maximum) {
+    return Math.min(maximum, Math.max(minimum, value));
+}
+//# sourceMappingURL=ObservedRobotPresentationBuffer.js.map

package/dist/renderer/ObservedRobotPresentationBuffer.js.map

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package/dist/renderer/PerformanceMonitor.d.ts

@@ -0,0 +1,38 @@
+export interface Viewer3DProfilerSample {
+    time: number;
+    rafFrameRate: number;
+    globalRafFrameRate: number;
+    renderFrameRate: number;
+    drawMs: number;
+    loopMs: number;
+    schedulerWaitMs: number;
+    longTaskMs: number;
+}
+export interface Viewer3DPerformanceSummary {
+    sampleCount: number;
+    averageRafFrameRate: number;
+    onePercentLowRafFrameRate: number;
+    frameTimeMs: Viewer3DPerformancePercentiles;
+    drawMs: Viewer3DPerformancePercentiles;
+    loopMs: Viewer3DPerformancePercentiles;
+    schedulerWaitMs: Viewer3DPerformancePercentiles;
+    longTaskCount: number;
+    longTaskTotalMs: number;
+}
+export interface Viewer3DPerformancePercentiles {
+    p50: number;
+    p95: number;
+    p99: number;
+}
+export declare class PerformanceMonitor {
+    readonly samples: Viewer3DProfilerSample[];
+    readonly signalCounts: Map<string, number>;
+    markSignal(label: string): void;
+    clearSignals(): void;
+    recordSample(sample: Viewer3DProfilerSample): void;
+    updateAverage(currentAverage: number, sampleMs: number): number;
+    formatSignals(elapsedSeconds?: number): string;
+    getSummary(): Viewer3DPerformanceSummary;
+}
+export declare function summarizeViewer3DPerformance(samples: readonly Viewer3DProfilerSample[]): Viewer3DPerformanceSummary;
+//# sourceMappingURL=PerformanceMonitor.d.ts.map

package/dist/renderer/PerformanceMonitor.d.ts.map

@@ -0,0 +1 @@
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package/dist/renderer/PerformanceMonitor.js

@@ -0,0 +1,84 @@
+const ROBOT_VIEWER_PROFILER_SMOOTHING = 0.12;
+const ROBOT_VIEWER_PROFILER_HISTORY_MS = 60_000;
+export class PerformanceMonitor {
+    samples = [];
+    signalCounts = new Map();
+    markSignal(label) {
+        const normalizedLabel = label.trim();
+        if (!normalizedLabel) {
+            return;
+        }
+        this.signalCounts.set(normalizedLabel, (this.signalCounts.get(normalizedLabel) ?? 0) + 1);
+    }
+    clearSignals() {
+        this.signalCounts.clear();
+    }
+    recordSample(sample) {
+        this.samples.push(sample);
+        const cutoff = sample.time - ROBOT_VIEWER_PROFILER_HISTORY_MS;
+        while (this.samples.length > 0 && (this.samples[0]?.time ?? 0) < cutoff) {
+            this.samples.shift();
+        }
+    }
+    updateAverage(currentAverage, sampleMs) {
+        if (!Number.isFinite(sampleMs) || sampleMs < 0) {
+            return currentAverage;
+        }
+        if (currentAverage <= 0) {
+            return sampleMs;
+        }
+        return currentAverage * (1 - ROBOT_VIEWER_PROFILER_SMOOTHING) + sampleMs * ROBOT_VIEWER_PROFILER_SMOOTHING;
+    }
+    formatSignals(elapsedSeconds = 1) {
+        if (this.signalCounts.size === 0) {
+            return '-';
+        }
+        const validElapsedSeconds = Number.isFinite(elapsedSeconds) && elapsedSeconds > 0 ? elapsedSeconds : 1;
+        return [...this.signalCounts.entries()]
+            .sort((left, right) => right[1] - left[1])
+            .slice(0, 3)
+            .map(([label, count]) => `${label}:${Math.round(count / validElapsedSeconds)}`)
+            .join(' ');
+    }
+    getSummary() {
+        return summarizeViewer3DPerformance(this.samples);
+    }
+}
+export function summarizeViewer3DPerformance(samples) {
+    const rafFrameRates = finiteNonNegativeValues(samples.map((sample) => sample.rafFrameRate));
+    const frameTimes = rafFrameRates.filter((value) => value > 0).map((value) => 1000 / value);
+    const longTaskDurations = finiteNonNegativeValues(samples.map((sample) => sample.longTaskMs)).filter((value) => value > 0);
+    return {
+        sampleCount: samples.length,
+        averageRafFrameRate: average(rafFrameRates),
+        onePercentLowRafFrameRate: percentile(rafFrameRates, 0.01),
+        frameTimeMs: percentiles(frameTimes),
+        drawMs: percentiles(samples.map((sample) => sample.drawMs)),
+        loopMs: percentiles(samples.map((sample) => sample.loopMs)),
+        schedulerWaitMs: percentiles(samples.map((sample) => sample.schedulerWaitMs)),
+        longTaskCount: longTaskDurations.length,
+        longTaskTotalMs: longTaskDurations.reduce((total, value) => total + value, 0)
+    };
+}
+function percentiles(values) {
+    return {
+        p50: percentile(values, 0.5),
+        p95: percentile(values, 0.95),
+        p99: percentile(values, 0.99)
+    };
+}
+function percentile(values, quantile) {
+    const sorted = finiteNonNegativeValues(values).sort((left, right) => left - right);
+    if (sorted.length === 0) {
+        return 0;
+    }
+    const index = Math.ceil(Math.min(1, Math.max(0, quantile)) * sorted.length) - 1;
+    return sorted[Math.max(0, index)] ?? 0;
+}
+function average(values) {
+    return values.length === 0 ? 0 : values.reduce((total, value) => total + value, 0) / values.length;
+}
+function finiteNonNegativeValues(values) {
+    return values.filter((value) => Number.isFinite(value) && value >= 0);
+}
+//# sourceMappingURL=PerformanceMonitor.js.map

package/dist/renderer/PerformanceMonitor.js.map

@@ -0,0 +1 @@
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package/dist/renderer/ProjectileInteraction.d.ts

@@ -0,0 +1,57 @@
+export interface ViewerProjectileVector3 {
+    x: number;
+    y: number;
+    z: number;
+}
+export interface ViewerProjectileLaunchSolution {
+    origin: ViewerProjectileVector3;
+    target: ViewerProjectileVector3;
+    velocity: ViewerProjectileVector3;
+    gravity: ViewerProjectileVector3;
+    durationSeconds: number;
+}
+export interface ViewerProjectileLaunchInput {
+    origin: ViewerProjectileVector3;
+    target: ViewerProjectileVector3;
+    speedMetersPerSecond: number;
+    gravityMetersPerSecondSquared?: number;
+    minimumDurationSeconds?: number;
+    maximumDurationSeconds?: number;
+}
+export interface ViewerProjectileLaunchProfile {
+    speedMetersPerSecond: number;
+    minimumDurationSeconds: number;
+    maximumDurationSeconds: number;
+}
+export interface ViewerProjectileKinematicState {
+    position: ViewerProjectileVector3;
+    velocity: ViewerProjectileVector3;
+}
+export interface ViewerProjectileGroundStepOptions {
+    gravity: ViewerProjectileVector3;
+    floorY: number;
+    radius: number;
+    restitution: number;
+    frictionPerSecond: number;
+    settleSpeedMetersPerSecond: number;
+}
+export interface ViewerProjectileGroundStepResult extends ViewerProjectileKinematicState {
+    contactedGround: boolean;
+    settled: boolean;
+}
+export declare function resolveViewerProjectileLauncherWorldScale(worldUnitsPerScreenPixel: number, targetScreenPixels?: number, authoredSizeMeters?: number): number;
+/**
+ * Keeps the projectile readable at close range without letting the ballistic
+ * compensation turn into an oversized bell when the camera pulls back.
+ */
+export declare function resolveViewerProjectileLaunchProfile(distanceMeters: number): ViewerProjectileLaunchProfile;
+export declare function resolveViewerProjectileChargedLaunchProfile(distanceMeters: number, chargeRatio: number): ViewerProjectileLaunchProfile;
+export declare function createViewerProjectileLaunchSolution(input: ViewerProjectileLaunchInput): ViewerProjectileLaunchSolution;
+export declare function sampleViewerProjectilePosition(launch: ViewerProjectileLaunchSolution, elapsedSeconds: number): ViewerProjectileVector3;
+export declare function sampleViewerProjectileVelocity(launch: ViewerProjectileLaunchSolution, elapsedSeconds: number): ViewerProjectileVector3;
+export declare function createViewerProjectileTrajectoryPoints(launch: ViewerProjectileLaunchSolution, segmentCount?: number): ViewerProjectileVector3[];
+export declare function resolveViewerProjectileImpulse(massKilograms: number, velocity: ViewerProjectileVector3): ViewerProjectileVector3;
+/** Damped elastic recoil used by the slingshot pouch after launch. */
+export declare function resolveViewerSlingshotReleasePull(initialPullRatio: number, progress: number): number;
+export declare function stepViewerProjectileAgainstGround(state: ViewerProjectileKinematicState, elapsedSeconds: number, options: ViewerProjectileGroundStepOptions): ViewerProjectileGroundStepResult;
+//# sourceMappingURL=ProjectileInteraction.d.ts.map

package/dist/renderer/ProjectileInteraction.d.ts.map

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package/dist/renderer/ProjectileInteraction.js

@@ -0,0 +1,152 @@
+const finite = (value, fallback) => (Number.isFinite(value) ? value : fallback);
+const VIEWER_PROJECTILE_MINIMUM_POWER_SCALE = 0.68;
+const VIEWER_PROJECTILE_MAXIMUM_POWER_SCALE = 2.3;
+const VIEWER_PROJECTILE_POWER_RANGE_OFFSET_RATIO = 0.2;
+export function resolveViewerProjectileLauncherWorldScale(worldUnitsPerScreenPixel, targetScreenPixels = 72, authoredSizeMeters = 0.13) {
+    const worldUnitsPerPixel = Math.max(0, finite(worldUnitsPerScreenPixel, 0));
+    const targetPixels = Math.max(1, finite(targetScreenPixels, 72));
+    const authoredSize = Math.max(0.001, finite(authoredSizeMeters, 0.13));
+    return (worldUnitsPerPixel * targetPixels) / authoredSize;
+}
+/**
+ * Keeps the projectile readable at close range without letting the ballistic
+ * compensation turn into an oversized bell when the camera pulls back.
+ */
+export function resolveViewerProjectileLaunchProfile(distanceMeters) {
+    const distance = Math.max(0, finite(distanceMeters, 0));
+    const normalized = Math.min(1, Math.max(0, (distance - 1.2) / (6 - 1.2)));
+    const blend = normalized * normalized * (3 - 2 * normalized);
+    return {
+        speedMetersPerSecond: 3.4 + (12 - 3.4) * blend,
+        minimumDurationSeconds: 0.18 + (0.14 - 0.18) * blend,
+        maximumDurationSeconds: 0.62 + (0.42 - 0.62) * blend
+    };
+}
+export function resolveViewerProjectileChargedLaunchProfile(distanceMeters, chargeRatio) {
+    const profile = resolveViewerProjectileLaunchProfile(distanceMeters);
+    const normalizedCharge = Math.min(1, Math.max(0, finite(chargeRatio, 0)));
+    const easedCharge = normalizedCharge * normalizedCharge * (3 - 2 * normalizedCharge);
+    const powerRange = VIEWER_PROJECTILE_MAXIMUM_POWER_SCALE - VIEWER_PROJECTILE_MINIMUM_POWER_SCALE;
+    const powerScale = VIEWER_PROJECTILE_MINIMUM_POWER_SCALE +
+        powerRange * (VIEWER_PROJECTILE_POWER_RANGE_OFFSET_RATIO + easedCharge);
+    return {
+        speedMetersPerSecond: profile.speedMetersPerSecond * powerScale,
+        minimumDurationSeconds: profile.minimumDurationSeconds * (1.05 + (0.7 - 1.05) * easedCharge),
+        maximumDurationSeconds: profile.maximumDurationSeconds * (1.15 + (0.7 - 1.15) * easedCharge)
+    };
+}
+export function createViewerProjectileLaunchSolution(input) {
+    const origin = normalizeVector(input.origin);
+    const target = normalizeVector(input.target);
+    const delta = subtract(target, origin);
+    const distance = Math.hypot(delta.x, delta.y, delta.z);
+    const speed = Math.max(0.1, finite(input.speedMetersPerSecond, 2.6));
+    const minimumDuration = Math.max(0.08, finite(input.minimumDurationSeconds ?? 0.28, 0.28));
+    const maximumDuration = Math.max(minimumDuration, finite(input.maximumDurationSeconds ?? 1.1, 1.1));
+    const durationSeconds = Math.min(maximumDuration, Math.max(minimumDuration, distance / speed));
+    const gravity = {
+        x: 0,
+        y: -Math.abs(finite(input.gravityMetersPerSecondSquared ?? 9.81, 9.81)),
+        z: 0
+    };
+    const inverseDuration = 1 / durationSeconds;
+    return {
+        origin,
+        target,
+        gravity,
+        durationSeconds,
+        velocity: {
+            x: (delta.x - 0.5 * gravity.x * durationSeconds * durationSeconds) * inverseDuration,
+            y: (delta.y - 0.5 * gravity.y * durationSeconds * durationSeconds) * inverseDuration,
+            z: (delta.z - 0.5 * gravity.z * durationSeconds * durationSeconds) * inverseDuration
+        }
+    };
+}
+export function sampleViewerProjectilePosition(launch, elapsedSeconds) {
+    const time = Math.min(launch.durationSeconds, Math.max(0, finite(elapsedSeconds, 0)));
+    return {
+        x: launch.origin.x + launch.velocity.x * time + 0.5 * launch.gravity.x * time * time,
+        y: launch.origin.y + launch.velocity.y * time + 0.5 * launch.gravity.y * time * time,
+        z: launch.origin.z + launch.velocity.z * time + 0.5 * launch.gravity.z * time * time
+    };
+}
+export function sampleViewerProjectileVelocity(launch, elapsedSeconds) {
+    const time = Math.min(launch.durationSeconds, Math.max(0, finite(elapsedSeconds, 0)));
+    return {
+        x: launch.velocity.x + launch.gravity.x * time,
+        y: launch.velocity.y + launch.gravity.y * time,
+        z: launch.velocity.z + launch.gravity.z * time
+    };
+}
+export function createViewerProjectileTrajectoryPoints(launch, segmentCount = 32) {
+    const segments = Math.max(2, Math.min(128, Math.round(finite(segmentCount, 32))));
+    return Array.from({ length: segments + 1 }, (_, index) => sampleViewerProjectilePosition(launch, (launch.durationSeconds * index) / segments));
+}
+export function resolveViewerProjectileImpulse(massKilograms, velocity) {
+    const mass = Math.max(0, finite(massKilograms, 0));
+    const normalizedVelocity = normalizeVector(velocity);
+    return {
+        x: normalizedVelocity.x * mass,
+        y: normalizedVelocity.y * mass,
+        z: normalizedVelocity.z * mass
+    };
+}
+/** Damped elastic recoil used by the slingshot pouch after launch. */
+export function resolveViewerSlingshotReleasePull(initialPullRatio, progress) {
+    const initialPull = Math.min(1, Math.max(0, finite(initialPullRatio, 0)));
+    const normalizedProgress = Math.min(1, Math.max(0, finite(progress, 0)));
+    if (normalizedProgress >= 1)
+        return 0;
+    return initialPull * Math.exp(-5.2 * normalizedProgress) * Math.cos(normalizedProgress * Math.PI * 3.5);
+}
+export function stepViewerProjectileAgainstGround(state, elapsedSeconds, options) {
+    const deltaSeconds = Math.max(0, Math.min(0.05, finite(elapsedSeconds, 0)));
+    const gravity = normalizeVector(options.gravity);
+    const floorY = finite(options.floorY, 0) + Math.max(0, finite(options.radius, 0));
+    const restitution = Math.min(1, Math.max(0, finite(options.restitution, 0.45)));
+    const friction = Math.max(0, finite(options.frictionPerSecond, 4));
+    const settleSpeed = Math.max(0, finite(options.settleSpeedMetersPerSecond, 0.08));
+    const position = normalizeVector(state.position);
+    const velocity = normalizeVector(state.velocity);
+    const nextPosition = {
+        x: position.x + velocity.x * deltaSeconds + 0.5 * gravity.x * deltaSeconds * deltaSeconds,
+        y: position.y + velocity.y * deltaSeconds + 0.5 * gravity.y * deltaSeconds * deltaSeconds,
+        z: position.z + velocity.z * deltaSeconds + 0.5 * gravity.z * deltaSeconds * deltaSeconds
+    };
+    const nextVelocity = {
+        x: velocity.x + gravity.x * deltaSeconds,
+        y: velocity.y + gravity.y * deltaSeconds,
+        z: velocity.z + gravity.z * deltaSeconds
+    };
+    if (nextPosition.y > floorY) {
+        return { position: nextPosition, velocity: nextVelocity, contactedGround: false, settled: false };
+    }
+    nextPosition.y = floorY;
+    const horizontalDrag = Math.exp(-friction * deltaSeconds);
+    nextVelocity.x *= horizontalDrag;
+    nextVelocity.z *= horizontalDrag;
+    nextVelocity.y = Math.abs(nextVelocity.y) * restitution;
+    const speed = Math.hypot(nextVelocity.x, nextVelocity.y, nextVelocity.z);
+    const settled = speed <= settleSpeed;
+    if (settled) {
+        nextVelocity.x = 0;
+        nextVelocity.y = 0;
+        nextVelocity.z = 0;
+    }
+    return { position: nextPosition, velocity: nextVelocity, contactedGround: true, settled };
+}
+function normalizeVector(value) {
+    return {
+        x: finite(value.x, 0),
+        y: finite(value.y, 0),
+        z: finite(value.z, 0)
+    };
+}
+function subtract(left, right) {
+    return {
+        x: left.x - right.x,
+        y: left.y - right.y,
+        z: left.z - right.z
+    };
+}
+//# sourceMappingURL=ProjectileInteraction.js.map

package/dist/renderer/ProjectileInteraction.js.map

@@ -0,0 +1 @@
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package/dist/renderer/RobotComparisonVisibilityTransition.d.ts

@@ -0,0 +1,12 @@
+export declare const ROBOT_COMPARISON_VISIBILITY_LAYOUT_SHARE = 0.62;
+export interface RobotComparisonVisibilityTransitionPhases {
+    layoutProgress: number;
+    opacityProgress: number;
+}
+/**
+ * On appearance the incarnations reach their final layout before REAL fades
+ * in. On disappearance the order is reversed, so no visible ghost slides
+ * through the simulated robot.
+ */
+export declare function resolveRobotComparisonVisibilityTransitionPhases(progress: number, appearing: boolean, layoutShare?: number): RobotComparisonVisibilityTransitionPhases;
+//# sourceMappingURL=RobotComparisonVisibilityTransition.d.ts.map

package/dist/renderer/RobotComparisonVisibilityTransition.d.ts.map

@@ -0,0 +1 @@
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package/dist/renderer/RobotComparisonVisibilityTransition.js

@@ -0,0 +1,23 @@
+export const ROBOT_COMPARISON_VISIBILITY_LAYOUT_SHARE = 0.62;
+const clampProgress = (progress) => Math.min(1, Math.max(0, Number.isFinite(progress) ? progress : 0));
+/**
+ * On appearance the incarnations reach their final layout before REAL fades
+ * in. On disappearance the order is reversed, so no visible ghost slides
+ * through the simulated robot.
+ */
+export function resolveRobotComparisonVisibilityTransitionPhases(progress, appearing, layoutShare = ROBOT_COMPARISON_VISIBILITY_LAYOUT_SHARE) {
+    const normalized = clampProgress(progress);
+    const safeLayoutShare = Math.min(0.9, Math.max(0.1, layoutShare));
+    const opacityShare = 1 - safeLayoutShare;
+    if (appearing) {
+        return {
+            layoutProgress: clampProgress(normalized / safeLayoutShare),
+            opacityProgress: clampProgress((normalized - safeLayoutShare) / opacityShare)
+        };
+    }
+    return {
+        opacityProgress: clampProgress(normalized / opacityShare),
+        layoutProgress: clampProgress((normalized - opacityShare) / safeLayoutShare)
+    };
+}
+//# sourceMappingURL=RobotComparisonVisibilityTransition.js.map