@mentra/miniapp 0.3.0-dev.0

package/dist/modules/pivots/engine.js.map

@@ -0,0 +1 @@
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package/dist/modules/pivots/geometry.d.ts

@@ -0,0 +1,84 @@
+/**
+ * @fileoverview Private geometry helpers for the pivot engine.
+ *
+ * Lifted (with light edits) from the Navigation miniapp's
+ * `src/client/lib/geometry/{geometry,pivots}.ts`. Lives inside the
+ * SDK now so the public `navigation.getPivots()` / `onPivot()` APIs
+ * are fully self-contained — no consumer has to ship its own
+ * polyline-simplification + pivot-extraction code.
+ *
+ * Not exported from the SDK barrel. Internal only.
+ */
+import type { LatLng } from "../navigation";
+export type PivotDirection = "left" | "right";
+/** Raw pivot returned by `extractPivots` — pre-enrichment, geometry only. */
+export type RawPivot = {
+    lat: number;
+    lng: number;
+    direction: PivotDirection;
+    /** Index of this point in the *simplified* polyline (post-RDP). */
+    simplifiedRouteIndex: number;
+    /** Approximate index in the ORIGINAL polyline (pre-RDP). Best-effort lookup. */
+    rawRouteIndex: number;
+    /** Signed heading delta in degrees: +right, -left. */
+    headingDelta: number;
+};
+/** Great-circle distance in meters (haversine). */
+export declare function haversineMeters(a: LatLng, b: LatLng): number;
+/** Compass bearing from `a` to `b`, in degrees [0, 360). */
+export declare function bearingDeg(a: LatLng, b: LatLng): number;
+/** Smallest signed difference: target - actual, in [-180, 180]. */
+export declare function signedAngleDiff(target: number, actual: number): number;
+/**
+ * Extract raw turn pivots from a polyline. Returns a sparse list of
+ * meaningful turns — STRAIGHT segments, polyline noise, and tiny
+ * wobbles are filtered out.
+ *
+ * Algorithm:
+ *   1. RDP-simplify with epsilon = 5m
+ *   2. Accumulate consecutive same-direction bends into runs
+ *   3. Emit one pivot per run whose summed heading delta clears 25°
+ *   4. Merge same-direction pivots within 25m of each other
+ */
+export declare function extractPivots(rawPoints: LatLng[]): RawPivot[];
+/** Raw crossing leg returned by `extractCrossings`. */
+export type RawCrossing = {
+    /** Polyline index of the curb on the user's current sidewalk (start of leg). */
+    startIndex: number;
+    /** Polyline index of the curb on the far sidewalk (end of leg). */
+    endIndex: number;
+    /** Coords at startIndex, surfaced for convenience. */
+    lat: number;
+    lng: number;
+};
+/**
+ * Detect crosswalk-shaped micro-legs in a route polyline. A crossing
+ * is a short leg (<maxLegMeters) that turns sharply (>minBendDeg) off
+ * the previous leg and is followed by a sharp turn *back* to roughly
+ * the original direction — the classic "step off the sidewalk → walk
+ * across → step back onto the sidewalk" shape.
+ *
+ * The shape check alone isn't enough though: at every intersection
+ * Google's polyline traces small perpendicular curb-cut bends even when
+ * the user is walking straight through on the SAME sidewalk. To filter
+ * those out we also require a meaningful perpendicular displacement —
+ * the route after the crossing must continue on the OTHER side of the
+ * pre-crossing path, not curve back onto it.
+ *
+ * Returns each crossing as the polyline indices that bracket the leg
+ * we'd skip. The engine wraps each into a synthetic `CROSS_STREET`
+ * pivot so glasses HUDs can announce "Cross the road" alongside the
+ * usual turn maneuvers.
+ */
+export declare function extractCrossings(points: LatLng[], opts?: {
+    maxLegMeters?: number;
+    minBendDeg?: number;
+    minSidewalkSwitchMeters?: number;
+}): RawCrossing[];
+/**
+ * Cumulative haversine distance along a polyline from index 0 to
+ * each point. Returned array is the same length as `points` —
+ * `cumulative[i]` is meters from start to `points[i]`.
+ */
+export declare function cumulativeDistances(points: LatLng[]): number[];
+//# sourceMappingURL=geometry.d.ts.map

package/dist/modules/pivots/geometry.d.ts.map

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package/dist/modules/pivots/geometry.js

@@ -0,0 +1,371 @@
+/**
+ * @fileoverview Private geometry helpers for the pivot engine.
+ *
+ * Lifted (with light edits) from the Navigation miniapp's
+ * `src/client/lib/geometry/{geometry,pivots}.ts`. Lives inside the
+ * SDK now so the public `navigation.getPivots()` / `onPivot()` APIs
+ * are fully self-contained — no consumer has to ship its own
+ * polyline-simplification + pivot-extraction code.
+ *
+ * Not exported from the SDK barrel. Internal only.
+ */
+const TURN_THRESHOLD_DEG = 15;
+const SAME_DIR_MERGE_M = 25;
+const RDP_EPSILON_M = 5;
+const MIN_BEND_PER_POINT_DEG = 10;
+const STRAIGHT_SEGMENT_BREAK_M = 1;
+/**
+ * Pivots within this radius of each other are treated as one
+ * intersection and collapsed into a single net-direction pivot. The
+ * Routes API + walking polylines often split a single perceived turn
+ * (e.g. crossing a 6-way intersection diagonally) into multiple tight
+ * left/right/left zigzag pivots over ~10-20m. Merging them keeps the
+ * UI announcing one turn per real-world intersection.
+ */
+const INTERSECTION_CLUSTER_M = 30;
+/** Great-circle distance in meters (haversine). */
+export function haversineMeters(a, b) {
+    const R = 6371000;
+    const toRad = (d) => (d * Math.PI) / 180;
+    const dLat = toRad(b.lat - a.lat);
+    const dLng = toRad(b.lng - a.lng);
+    const lat1 = toRad(a.lat);
+    const lat2 = toRad(b.lat);
+    const x = Math.sin(dLat / 2) ** 2 + Math.sin(dLng / 2) ** 2 * Math.cos(lat1) * Math.cos(lat2);
+    return 2 * R * Math.asin(Math.sqrt(x));
+}
+/** Compass bearing from `a` to `b`, in degrees [0, 360). */
+export function bearingDeg(a, b) {
+    const toRad = (d) => (d * Math.PI) / 180;
+    const toDeg = (r) => (r * 180) / Math.PI;
+    const lat1 = toRad(a.lat);
+    const lat2 = toRad(b.lat);
+    const dLng = toRad(b.lng - a.lng);
+    const y = Math.sin(dLng) * Math.cos(lat2);
+    const x = Math.cos(lat1) * Math.sin(lat2) - Math.sin(lat1) * Math.cos(lat2) * Math.cos(dLng);
+    return (toDeg(Math.atan2(y, x)) + 360) % 360;
+}
+/** Smallest signed difference: target - actual, in [-180, 180]. */
+export function signedAngleDiff(target, actual) {
+    return ((target - actual + 540) % 360) - 180;
+}
+/**
+ * Ramer-Douglas-Peucker polyline simplification. Returns indices into
+ * the ORIGINAL `points` array that survive the pass.
+ */
+function rdpSimplify(points, epsilonMeters) {
+    if (points.length < 3)
+        return points.map((_, i) => i);
+    const keep = new Array(points.length).fill(false);
+    keep[0] = true;
+    keep[points.length - 1] = true;
+    const stack = [[0, points.length - 1]];
+    while (stack.length) {
+        const [lo, hi] = stack.pop();
+        let maxDist = 0;
+        let maxIdx = -1;
+        for (let i = lo + 1; i < hi; i++) {
+            const d = perpDistMeters(points[i], points[lo], points[hi]);
+            if (d > maxDist) {
+                maxDist = d;
+                maxIdx = i;
+            }
+        }
+        if (maxIdx !== -1 && maxDist > epsilonMeters) {
+            keep[maxIdx] = true;
+            stack.push([lo, maxIdx], [maxIdx, hi]);
+        }
+    }
+    const out = [];
+    for (let i = 0; i < keep.length; i++)
+        if (keep[i])
+            out.push(i);
+    return out;
+}
+/** Perpendicular distance from `p` to the infinite line a–b, in meters. */
+function perpDistMeters(p, a, b) {
+    const mPerDegLat = 111320;
+    const mPerDegLng = 111320 * Math.cos((a.lat * Math.PI) / 180);
+    const bx = (b.lng - a.lng) * mPerDegLng;
+    const by = (b.lat - a.lat) * mPerDegLat;
+    const px = (p.lng - a.lng) * mPerDegLng;
+    const py = (p.lat - a.lat) * mPerDegLat;
+    const dx = bx;
+    const dy = by;
+    const len = Math.sqrt(dx * dx + dy * dy);
+    if (len === 0)
+        return Math.sqrt(px * px + py * py);
+    return Math.abs(dx * -py - -px * dy) / len;
+}
+/**
+ * Extract raw turn pivots from a polyline. Returns a sparse list of
+ * meaningful turns — STRAIGHT segments, polyline noise, and tiny
+ * wobbles are filtered out.
+ *
+ * Algorithm:
+ *   1. RDP-simplify with epsilon = 5m
+ *   2. Accumulate consecutive same-direction bends into runs
+ *   3. Emit one pivot per run whose summed heading delta clears 25°
+ *   4. Merge same-direction pivots within 25m of each other
+ */
+export function extractPivots(rawPoints) {
+    if (rawPoints.length < 3)
+        return [];
+    const keptIdx = rdpSimplify(rawPoints, RDP_EPSILON_M);
+    const simplified = keptIdx.map((i) => rawPoints[i]);
+    if (simplified.length < 3)
+        return [];
+    // Per-point signed deltas
+    const deltas = [];
+    for (let i = 1; i < simplified.length - 1; i++) {
+        const inBearing = bearingDeg(simplified[i - 1], simplified[i]);
+        const outBearing = bearingDeg(simplified[i], simplified[i + 1]);
+        deltas.push(signedAngleDiff(outBearing, inBearing));
+    }
+    const candidates = [];
+    let runStart = -1;
+    let runSum = 0;
+    let runSign = 0;
+    const flushRun = (endExclusive) => {
+        if (runStart === -1)
+            return;
+        if (Math.abs(runSum) >= TURN_THRESHOLD_DEG) {
+            let bestIdx = runStart;
+            let bestAbs = 0;
+            for (let k = runStart; k < endExclusive; k++) {
+                const a = Math.abs(deltas[k]);
+                if (a > bestAbs) {
+                    bestAbs = a;
+                    bestIdx = k;
+                }
+            }
+            const simplifiedIdx = bestIdx + 1;
+            candidates.push({
+                lat: simplified[simplifiedIdx].lat,
+                lng: simplified[simplifiedIdx].lng,
+                direction: runSum > 0 ? "right" : "left",
+                simplifiedRouteIndex: simplifiedIdx,
+                rawRouteIndex: keptIdx[simplifiedIdx],
+                headingDelta: runSum,
+            });
+        }
+        runStart = -1;
+        runSum = 0;
+        runSign = 0;
+    };
+    let metersSinceLastBend = 0;
+    for (let k = 0; k < deltas.length; k++) {
+        const d = deltas[k];
+        const sign = d > 0 ? 1 : d < 0 ? -1 : 0;
+        const segLen = haversineMeters(simplified[k + 1], simplified[k + 2]);
+        if (sign === 0 || Math.abs(d) < MIN_BEND_PER_POINT_DEG) {
+            if (runStart !== -1) {
+                if (sign === runSign || sign === 0)
+                    runSum += d;
+                metersSinceLastBend += segLen;
+                if (metersSinceLastBend >= STRAIGHT_SEGMENT_BREAK_M) {
+                    flushRun(k + 1);
+                }
+            }
+            continue;
+        }
+        if (runStart === -1) {
+            runStart = k;
+            runSum = d;
+            runSign = sign;
+            metersSinceLastBend = segLen;
+        }
+        else if (sign === runSign) {
+            if (metersSinceLastBend >= STRAIGHT_SEGMENT_BREAK_M) {
+                flushRun(k);
+                runStart = k;
+                runSum = d;
+                runSign = sign;
+            }
+            else {
+                runSum += d;
+            }
+            metersSinceLastBend = segLen;
+        }
+        else {
+            flushRun(k);
+            runStart = k;
+            runSum = d;
+            runSign = sign;
+            metersSinceLastBend = segLen;
+        }
+    }
+    flushRun(deltas.length);
+    // Merge same-direction pivots that are close together.
+    const merged = [];
+    for (const p of candidates) {
+        const last = merged[merged.length - 1];
+        if (last &&
+            last.direction === p.direction &&
+            haversineMeters({ lat: last.lat, lng: last.lng }, { lat: p.lat, lng: p.lng }) < SAME_DIR_MERGE_M) {
+            if (Math.abs(p.headingDelta) > Math.abs(last.headingDelta)) {
+                merged[merged.length - 1] = p;
+            }
+            continue;
+        }
+        merged.push(p);
+    }
+    // Intersection-cluster merge: collapse pivots within
+    // INTERSECTION_CLUSTER_M of each other regardless of direction. The
+    // resulting pivot inherits the net heading delta — if a tight
+    // left→right→left zigzag at one intersection nets out to a right
+    // turn, the merged pivot is a right. The anchor lat/lng is the pivot
+    // with the largest individual heading delta in the cluster (most
+    // likely to be the "real" turn vertex). We tag the merged pivot with
+    // the SUMMED `headingDelta` so consumers can still see how sharp the
+    // net turn was.
+    const clustered = [];
+    for (const p of merged) {
+        const last = clustered[clustered.length - 1];
+        if (last && haversineMeters({ lat: last.lat, lng: last.lng }, { lat: p.lat, lng: p.lng }) < INTERSECTION_CLUSTER_M) {
+            const netDelta = last.headingDelta + p.headingDelta;
+            // Anchor on whichever pivot had the larger absolute bend — that's
+            // typically the geometric vertex of the actual turn.
+            const anchor = Math.abs(p.headingDelta) > Math.abs(last.headingDelta) ? p : last;
+            clustered[clustered.length - 1] = {
+                ...anchor,
+                direction: netDelta > 0 ? "right" : "left",
+                headingDelta: netDelta,
+            };
+            continue;
+        }
+        clustered.push(p);
+    }
+    // Discard clusters whose NET turn fell back below the threshold
+    // (e.g. a left followed by an equal-magnitude right that cancels out
+    // — a pure jog with no real direction change).
+    return clustered.filter((p) => Math.abs(p.headingDelta) >= TURN_THRESHOLD_DEG);
+}
+/**
+ * Detect crosswalk-shaped micro-legs in a route polyline. A crossing
+ * is a short leg (<maxLegMeters) that turns sharply (>minBendDeg) off
+ * the previous leg and is followed by a sharp turn *back* to roughly
+ * the original direction — the classic "step off the sidewalk → walk
+ * across → step back onto the sidewalk" shape.
+ *
+ * The shape check alone isn't enough though: at every intersection
+ * Google's polyline traces small perpendicular curb-cut bends even when
+ * the user is walking straight through on the SAME sidewalk. To filter
+ * those out we also require a meaningful perpendicular displacement —
+ * the route after the crossing must continue on the OTHER side of the
+ * pre-crossing path, not curve back onto it.
+ *
+ * Returns each crossing as the polyline indices that bracket the leg
+ * we'd skip. The engine wraps each into a synthetic `CROSS_STREET`
+ * pivot so glasses HUDs can announce "Cross the road" alongside the
+ * usual turn maneuvers.
+ */
+export function extractCrossings(points, opts = {}) {
+    const maxLeg = opts.maxLegMeters ?? 25;
+    const minBend = opts.minBendDeg ?? 60;
+    // Minimum perpendicular distance from the post-crossing line back to
+    // the pre-crossing line. ~4m is wider than any sidewalk + GPS noise
+    // and narrower than a typical road. A real sidewalk-switch easily
+    // clears this; a curb-cut zigzag at a crosswalk you DON'T take stays
+    // well under it.
+    const minSwitch = opts.minSidewalkSwitchMeters ?? 4;
+    // How far past the crossing's end to sample for the displacement
+    // check. ~10m gives the polyline room to resume its post-crossing
+    // direction without being influenced by an immediate follow-on turn.
+    const sampleMeters = 10;
+    const out = [];
+    if (points.length < 4)
+        return out;
+    for (let i = 1; i < points.length - 2; i++) {
+        const prev = points[i - 1];
+        const here = points[i];
+        const next = points[i + 1];
+        const afterNext = points[i + 2];
+        const legOut = haversineMeters(here, next);
+        if (legOut >= maxLeg)
+            continue;
+        const bearIn = bearingDeg(prev, here);
+        const bearOut = bearingDeg(here, next);
+        const bend = Math.abs(signedAngleDiff(bearIn, bearOut));
+        if (bend <= minBend)
+            continue;
+        const bearAfter = bearingDeg(next, afterNext);
+        const bendBack = Math.abs(signedAngleDiff(bearOut, bearAfter));
+        const inOutDelta = Math.abs(signedAngleDiff(bearIn, bearAfter));
+        if (!(bendBack > minBend && inOutDelta < minBend))
+            continue;
+        // Displacement gate. Walk ~sampleMeters along the post-crossing
+        // polyline from `next` and ask: how far is that point from the
+        // pre-crossing line (extended forward through `here`)? Pass-through
+        // crosswalk traces have the route curving back to the same side
+        // (displacement ≈ 0). Real sidewalk-switches leave the route on
+        // the opposite side (displacement ≈ road width).
+        const sample = walkAlongPolyline(points, i + 1, sampleMeters);
+        if (!sample)
+            continue;
+        const displacement = perpDistanceMeters(sample, prev, here);
+        if (displacement < minSwitch)
+            continue;
+        out.push({ startIndex: i, endIndex: i + 1, lat: here.lat, lng: here.lng });
+    }
+    return out;
+}
+/**
+ * Walk forward from polyline index `startIdx` by `meters` and return
+ * the interpolated LatLng. Returns null when the remaining polyline
+ * is shorter than `meters` (we'd be measuring noise at the tail).
+ */
+function walkAlongPolyline(points, startIdx, meters) {
+    if (startIdx >= points.length - 1)
+        return null;
+    let remaining = meters;
+    let idx = startIdx;
+    while (idx < points.length - 1) {
+        const a = points[idx];
+        const b = points[idx + 1];
+        const segLen = haversineMeters(a, b);
+        if (remaining <= segLen) {
+            const t = segLen > 0 ? remaining / segLen : 0;
+            return { lat: a.lat + (b.lat - a.lat) * t, lng: a.lng + (b.lng - a.lng) * t };
+        }
+        remaining -= segLen;
+        idx++;
+    }
+    return null;
+}
+/**
+ * Perpendicular distance in meters from `p` to the infinite line
+ * through `a → b`. Local-flat-earth projection — fine for the scales
+ * we're checking (a single intersection's worth of polyline).
+ */
+function perpDistanceMeters(p, a, b) {
+    const mPerDegLat = 111320;
+    const mPerDegLng = 111320 * Math.cos((a.lat * Math.PI) / 180);
+    const ax = a.lng * mPerDegLng;
+    const ay = a.lat * mPerDegLat;
+    const bx = b.lng * mPerDegLng;
+    const by = b.lat * mPerDegLat;
+    const px = p.lng * mPerDegLng;
+    const py = p.lat * mPerDegLat;
+    const dx = bx - ax;
+    const dy = by - ay;
+    const len = Math.sqrt(dx * dx + dy * dy);
+    if (len === 0)
+        return Math.hypot(px - ax, py - ay);
+    // |cross product| / |line vector| = perpendicular distance.
+    return Math.abs(dx * (py - ay) - dy * (px - ax)) / len;
+}
+/**
+ * Cumulative haversine distance along a polyline from index 0 to
+ * each point. Returned array is the same length as `points` —
+ * `cumulative[i]` is meters from start to `points[i]`.
+ */
+export function cumulativeDistances(points) {
+    const out = new Array(points.length);
+    out[0] = 0;
+    for (let i = 1; i < points.length; i++) {
+        out[i] = out[i - 1] + haversineMeters(points[i - 1], points[i]);
+    }
+    return out;
+}
+//# sourceMappingURL=geometry.js.map

package/dist/modules/pivots/geometry.js.map

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