@pacedyn/mcp 0.389.0 → 0.391.0

package/dist/worker.js

@@ -1,5 +1,5 @@
 #!/usr/bin/env node
-import{parentPort as jw,workerData as m3}from"node:worker_threads";import{readFileSync as E0}from"node:fs";import{join as I0}from"node:path";var Sc=e=>e.format!=="points"&&!e.field;var ft=e=>e?.kind==="ice";var ly={packVoltageMax:600,segmentVoltageMax:120,powerLimitKw:80};var De=e=>typeof e=="number"&&Number.isFinite(e);function Xw(e){let{soc:t,ocv:r,r0:n}=e;if(!Array.isArray(t)||t.length<2)return"The curve needs at least two state-of-charge points.";if(!t.every(De))return"The state-of-charge axis contains a value that is not a number.";if(t[0]<0||t[t.length-1]>1)return`The state-of-charge axis must lie within 0 to 1 (it runs ${t[0]} to ${t[t.length-1]}).`;for(let o=1;o<t.length;o++)if(!(t[o]>t[o-1]))return`The state-of-charge axis must increase (${t[o-1]} then ${t[o]}).`;if(!Array.isArray(r)||r.length!==t.length)return`The curve has ${Array.isArray(r)?r.length:0} voltages against ${t.length} state-of-charge points.`;if(!r.every(De))return"The open-circuit voltage contains a value that is not a number.";if(r.some(o=>o<=0))return"The open-circuit voltage must be positive everywhere.";for(let o=1;o<r.length;o++)if(r[o]<r[o-1])return`The open-circuit voltage must rise with state of charge (${r[o-1]} V at ${t[o-1]} then ${r[o]} V at ${t[o]}).`;if(!Array.isArray(n)||n.length!==t.length)return`The curve has ${Array.isArray(n)?n.length:0} resistances against ${t.length} state-of-charge points.`;if(!n.every(De))return"The resistance contains a value that is not a number.";if(n.some(o=>o<0))return"The resistance cannot be negative.";if(e.rTempC!==void 0||e.rGrid!==void 0){let o=e.rTempC,a=e.rGrid;if(!Array.isArray(o)||o.length<1)return"The resistance temperature axis needs at least one temperature.";if(!o.every(De))return"The resistance temperature axis contains a value that is not a number.";for(let s=1;s<o.length;s++)if(!(o[s]>o[s-1]))return`The temperature axis must increase (${o[s-1]} then ${o[s]} \xB0C).`;if(!Array.isArray(a)||a.length!==o.length)return`The resistance grid has ${Array.isArray(a)?a.length:0} rows against ${o.length} temperatures.`;for(let s=0;s<a.length;s++){let i=a[s];if(!Array.isArray(i)||i.length!==t.length)return`Resistance row ${s+1} has ${Array.isArray(i)?i.length:0} values against ${t.length} state-of-charge points.`;if(!i.every(De))return"The resistance grid contains a value that is not a number.";if(i.some(c=>c<0))return"The resistance grid contains a negative resistance."}}return null}function Qw(e){return!e||typeof e!="object"?"The cell has no curve.":e.kind==="table"?Xw(e):e.kind==="analytic"?!De(e.vCut)||!De(e.vNom)||!De(e.vFull)?"The cut-off, nominal and full voltages must be numbers.":e.vCut<=0?"The cut-off voltage must be positive.":e.vCut<e.vNom&&e.vNom<e.vFull?!De(e.r0)||e.r0<0?"The cell resistance must be a number and cannot be negative.":e.socAtNom!==void 0&&(!De(e.socAtNom)||e.socAtNom<=0||e.socAtNom>=1)?"The state of charge the nominal voltage is met at must lie strictly between 0 and 1.":null:`The voltages must order cut-off < nominal < full (given ${e.vCut}, ${e.vNom}, ${e.vFull} V).`:`Unknown cell curve kind "${e.kind}".`}function Ac(e){if(!e||typeof e!="object")return"Not a battery model.";let t=e.cell;if(!t||typeof t!="object")return"The model has no cell.";if(!De(t.capacityAh)||t.capacityAh<=0)return"The cell capacity must be a positive number of amp-hours.";if(!De(t.vMin)||t.vMin<0)return"The cut-off voltage must be a number and cannot be negative.";if(!De(t.vMax)||t.vMax<=0)return"The maximum cell voltage must be a positive number.";if(!(t.vMin<t.vMax))return`The cut-off voltage (${t.vMin} V) must be below the maximum (${t.vMax} V).`;if(!De(t.iMaxA)||t.iMaxA<0)return"The discharge current limit must be a number of amps, 0 for no limit.";if(t.iMaxChargeA!==void 0&&(!De(t.iMaxChargeA)||t.iMaxChargeA<0))return"The charge current limit must be a number of amps, 0 for no limit.";if(t.massKg!==void 0&&(!De(t.massKg)||t.massKg<0))return"The cell mass must be a number and cannot be negative.";let r=Qw(t.curve);if(r)return r;let n=t.curve.kind==="table"?t.curve.ocv[t.curve.ocv.length-1]:t.curve.vFull;if(t.vMin>=n)return`The cut-off voltage (${t.vMin} V) is at or above the cell's voltage at full charge (${n} V), so no power could ever be drawn.`;let o=e.thermal;if(o!==void 0){if(!o||typeof o!="object")return"The thermal model must be an object, or absent.";if(!De(o.heatCapacityJPerK)||o.heatCapacityJPerK<=0)return"The cell heat capacity must be a positive number of joules per kelvin.";if(!De(o.coolingWPerK)||o.coolingWPerK<0)return"The cooling must be a number of watts per kelvin and cannot be negative.";if(o.startC!==void 0&&!De(o.startC))return"The starting temperature must be a number.";if(o.entropicVPerK!==void 0&&!De(o.entropicVPerK))return"The entropic coefficient must be a number.";if(o.derateFromC!==void 0){if(!De(o.derateFromC))return"The temperature the derate starts at must be a number.";if(o.derateToC!==void 0){if(!De(o.derateToC))return"The temperature the derate ends at must be a number.";if(!(o.derateToC>o.derateFromC))return`The derate must end above where it starts (given ${o.derateFromC} then ${o.derateToC} \xB0C).`}}else if(o.derateToC!==void 0)return"The derate has an end temperature but no start; give both or neither."}let a=e.pack;if(!a||typeof a!="object")return"The model has no pack.";if(!Number.isInteger(a.series)||a.series<1)return"The pack needs a whole number of cells in series, at least one.";if(!Number.isInteger(a.parallel)||a.parallel<1)return"The pack needs a whole number of strings in parallel, at least one.";if(!De(a.busResistance)||a.busResistance<0)return"The busbar resistance must be a number and cannot be negative.";if(a.seriesPerSegment!==void 0&&a.seriesPerSegment!==0){if(!Number.isInteger(a.seriesPerSegment)||a.seriesPerSegment<1)return"The cells per segment must be a whole number, at least one.";if(a.seriesPerSegment>a.series)return`A segment cannot hold more cells (${a.seriesPerSegment}) than the pack has in series (${a.series}).`}return null}function Sn(e,t){let r=e.length;if(r<=1)return{i:0,t:0,clamped:!1};if(t<=e[0])return{i:0,t:0,clamped:t<e[0]};if(t>=e[r-1])return{i:r-2,t:1,clamped:t>e[r-1]};let n=0,o=r-1;for(;o-n>1;){let a=n+o>>1;e[a]<=t?n=a:o=a}return{i:n,t:(t-e[n])/(e[o]-e[n]),clamped:!1}}function Be(e,t,r){let n=e.length;if(n===0)return 0;if(r<=e[0])return t[0];if(r>=e[n-1])return t[n-1];let o=0,a=n-1;for(;a-o>1;){let i=o+a>>1;e[i]<=r?o=i:a=i}let s=(r-e[o])/(e[a]-e[o]);return t[o]+s*(t[a]-t[o])}function Fc(e,t,r,n,o){let a=e.length,s=t.length;if(a===0||s===0)return 0;let i=Sn(e,n),c=Sn(t,o),l=Math.min(i.i+1,a-1),u=Math.min(c.i+1,s-1),m=r[c.i][i.i],f=r[c.i][l],p=r[u][i.i],d=r[u][l],h=m+i.t*(f-m),b=p+i.t*(d-p);return h+c.t*(b-h)}var Fo=[0,.05,.1,.2,.3,.4,.5,.6,.7,.8,.9,1],kp={nmc:[0,.29,.4,.483,.525,.567,.608,.667,.733,.8,.892,1],lfp:[0,.478,.591,.626,.652,.67,.678,.696,.704,.722,.757,1],lipo:[0,.333,.433,.517,.575,.625,.667,.717,.775,.833,.908,1],other:[0,.05,.1,.2,.3,.4,.5,.6,.7,.8,.9,1]},uy=[0,.05,.1,.2,.5,.8,1],my=[2.2,1.55,1.3,1.12,1,.97,.98];function py(e){return Be(uy,my,e)}var dy=[-20,-10,0,10,25,40,60],fy=[4,2.8,2,1.4,1,.82,.75];function Mp(e){return Be(dy,fy,e)}var hy=.5;function Sp(e,t){let{vFull:r,vNom:n,vCut:o,r0:a}=e,s=r-o;if(!(s>0))throw new Error(`The full voltage (${r} V) must be above the cut-off (${o} V).`);let i=(n-o)/s;if(!(i>0&&i<1))throw new Error(`The nominal voltage (${n} V) must lie between the cut-off (${o} V) and full (${r} V).`);let c=kp[t]??kp.other,l=e.socAtNom??hy,u=Fo.includes(l)?[...Fo]:[...Fo,l].sort((h,b)=>h-b),m=Be(Fo,c,l),f=m>0&&m<1?Math.log(i)/Math.log(m):1,p=[],d=[];for(let h of u){let b=Be(Fo,c,h);p.push(o+s*Math.pow(b,f)),d.push(e.constantResistance?a:a*py(h))}return{kind:"table",soc:u,ocv:p,r0:d}}function Ap(e){let t=e.soc,r=e.ocv,n=[0,...t.filter(a=>a>0&&a<1),1],o=0;for(let a=1;a<n.length;a++){let s=n[a-1],i=n[a];o+=(Be(t,r,s)+Be(t,r,i))/2*(i-s)}return o}var wo=25,by=new WeakMap;function hr(e){let t=by.get(e);if(t)return t;let r=Ac(e);if(r)throw new Error(r);let{cell:n,pack:o}=e,a=n.curve.kind==="table"?n.curve:Sp(n.curve,n.chemistry),s=o.series,i=o.parallel,c=s/i,l=a.rTempC,u=a.rGrid,m=i*n.capacityAh,f=s*n.vMin,p=n.iMaxA>0?i*n.iMaxA:1/0,d=n.iMaxChargeA!==void 0&&n.iMaxChargeA>0?n.iMaxChargeA:n.iMaxA/4,h=d>0?i*d:1/0,b=F=>s*Be(a.soc,a.ocv,F),g=(F,w=wo)=>{let C=l&&u?Fc(a.soc,l,u,F,w):Be(a.soc,a.r0,F)*Mp(w);return c*C+o.busResistance},y=(F,w,C)=>b(F)-w*g(F,C),x=(F,w,C)=>{if(!(F>0))return 0;let T=b(w),S=g(w,C);if(!(S>0))return F/T;let A=T*T-4*S*F;return A<0?NaN:2*F/(T+Math.sqrt(A))},M=(F,w,C)=>{if(!(F>0))return 0;let T=b(w),S=g(w,C);return S>0?2*F/(T+Math.sqrt(T*T+4*S*F)):F/T},v=F=>{let w=e.thermal;if(!w||w.derateFromC===void 0)return 1;let C=w.derateToC??w.derateFromC;return F<=w.derateFromC?1:!(C>w.derateFromC)||F>=C?0:1-(F-w.derateFromC)/(C-w.derateFromC)},R=(F,w,C=0)=>{let T=b(F),S=g(F,w),A=S>0?T/(2*S):1/0,P=G=>{if(!(S>0))return G*T;let K=Math.min(G,A);return K*(T-K*S)},L=S>0?Math.max(0,(T-f)/S):1/0,D=C>0&&Number.isFinite(C)?C:1/0,E=S>0?P(L):1/0,$=Number.isFinite(p)?P(p):1/0,O=S>0?T*T/(4*S):1/0,W=[["rules",D],["voltage-floor",E],["current",$],["matched-load",O]],I=W[0][0],_=W[0][1];for(let[G,K]of W)K<_&&(_=K,I=G);let V=v(w??wo);V<1&&(_=Number.isFinite(_)?_*V:_,I="temperature");let N=Number.isFinite(_)?x(_,F,w):1/0;return{watts:_,binding:I,rules:D,voltageFloor:E,current:$,matchedLoad:O,derate:V,amps:N,volts:Number.isFinite(N)?T-N*S:T}},k={model:e,table:a,capacityAh:m,chargeC:m*3600,energyKwh:m*(s*Ap(a))/1e3,socRange:[a.soc[0],a.soc[a.soc.length-1]],voltageAtFull:s*a.ocv[a.ocv.length-1],voltageCeiling:s*n.vMax,voltageFloor:f,currentCeiling:p,chargeCurrentCeiling:h,massKg:n.massKg!==void 0?s*i*n.massKg:null,thermal:e.thermal?{heatCapacityJPerK:s*i*e.thermal.heatCapacityJPerK,coolingWPerK:s*i*e.thermal.coolingWPerK,...e.thermal.startC!==void 0?{startC:e.thermal.startC}:{},entropicVPerK:s*(e.thermal.entropicVPerK??0)}:null,derateAt:v,ocv:b,resistance:g,terminalVoltage:y,currentFor:x,chargeCurrentFor:M,maxPower:R};return by.set(e,k),k}function Fp(e){return{name:e.name,chemistry:e.chemistry,capacityAh:e.capacityAh,curve:{kind:"analytic",vFull:e.vFull,vNom:e.vNom,vCut:e.vCut,r0:e.r0},iMaxA:e.iMaxA,...e.iMaxChargeA!==void 0?{iMaxChargeA:e.iMaxChargeA}:{},vMin:e.vCut,vMax:e.vFull,...e.massKg!==void 0?{massKg:e.massKg}:{}}}var gy={name:"High-power NMC pouch 4.0 Ah",chemistry:"nmc",capacityAh:4,vCut:3,vNom:3.6,vFull:4.2,r0:.0025,iMaxA:100,iMaxChargeA:40,massKg:.09},yy={name:"LFP prismatic 20 Ah",chemistry:"lfp",capacityAh:20,vCut:2.5,vNom:3.2,vFull:3.65,r0:.002,iMaxA:200,iMaxChargeA:60,massKg:.4},xy={name:"NMC cylindrical 3.4 Ah",chemistry:"nmc",capacityAh:3.4,vCut:3,vNom:3.6,vFull:4.2,r0:.03,iMaxA:10,iMaxChargeA:3,massKg:.048};function wp(){return{name:"Formula Student accumulator",cell:Fp(gy),pack:{series:140,parallel:2,busResistance:.02,seriesPerSegment:28},provenance:{source:"assumed",note:"Assumed high-power NMC pouch pack sized to the Formula Student rules; the cell curve and resistance are class-level guesses, not a measurement."}}}function Cp(){return{name:"LFP pack",cell:Fp(yy),pack:{series:160,parallel:1,busResistance:.02,seriesPerSegment:32},provenance:{source:"assumed",note:"Assumed LFP prismatic pack; the flat plateau is the chemistry, the numbers are class-level guesses."}}}function Tp(){return{name:"Road car pack",cell:Fp(xy),pack:{series:96,parallel:74,busResistance:.01},provenance:{source:"assumed",note:"Assumed road-electric pack of cylindrical energy cells; capacity and voltage are class-typical, the resistance is a guess."}}}function Pp(e,t,r="Constant pack"){return{name:r,cell:{name:"Constant cell",chemistry:"other",capacityAh:e,curve:{kind:"table",soc:[0,1],ocv:[t,t],r0:[0,0]},iMaxA:0,vMin:0,vMax:t},pack:{series:1,parallel:1,busResistance:0},provenance:{source:"assumed",note:"The constant pack: one open-circuit voltage, no internal resistance and no current limit \u2014 what a car carried before the battery was a model. It cannot sag, so its power never fades."}}}function wc(e){if(e.kind==="ice"){let n=e.gearbox.efficiency;return{model:e,maxTorque:o=>o>e.limitRpm?0:Be(e.rpm,e.torque,o),efficiency:()=>n}}let t=n=>Be(e.rpm,e.torque,n),r=e.kind==="simple"?()=>e.efficiency:(n,o)=>Fc(e.effRpm,e.effTorque,e.effGrid,n,o);return{model:e,maxTorque:t,efficiency:r}}function Lp(e){let t=e.resistanceAtC??20,r=e.torqueConstant,n=e.speedLossW??0,o=e.speedLossAtRpm??0,a=e.speedLossExponent??1.5,s=e.derateFromC,i=e.derateToC,c=d=>Math.max(0,e.terminalResistanceOhm*(1+.00393*(d-t))),l=d=>n>0&&o>0?n*Math.pow(Math.max(0,d)/o,a):0,u=(d,h,b)=>{let g=r>0?Math.abs(h)/r:0;return 1.5*c(b)*g*g+l(d)},m=(d,h)=>{let b=e.coolingWPerK*(h-e.coolantC)-l(d);return!(b>0)||r<=0?0:r*Math.sqrt(b/(1.5*c(h)))},f=e.coolingWPerK>0?e.heatCapacityJPerK/e.coolingWPerK:1/0,p=Number.isFinite(f)?.25*f:1/0;return{spec:e,startC:e.startC??e.coolantC,lossW:u,step(d,h,b){if(!(b>0)||!(e.heatCapacityJPerK>0))return d;let g=Number.isFinite(p)?Math.max(1,Math.ceil(b/p)):1,y=b/g,x=d;for(let M=0;M<g;M++)x+=(h-e.coolingWPerK*(x-e.coolantC))*y/e.heatCapacityJPerK;return x},continuousTorque:m,derate(d,h,b){if(s===void 0||i===void 0||!(i>s)||!(b>0)||h<=s)return 1;let g=Math.min(1,m(d,i)/b);return h>=i?g:1-(1-g)*(h-s)/(i-s)},equilibriumC(d){return e.coolingWPerK>0?e.coolantC+d/e.coolingWPerK:1/0}}}function Xe(e,t){return t==="rear"&&e.tireRateRear!==void 0?e.tireRateRear:e.tireRate}function Dp(e,t){let r=e.tyreFreeRadiusRear;return(t==="rear"&&r!==void 0?r:e.tyreFreeRadius)??0}var Cc=9.81,Ry=(e,t)=>e*(t*t)/2*(Math.PI/180)/1e3,Wa=(e,t)=>e+t>0?e*t/(e+t):0,vy=.5;function Tc(e,t,r){if(!(r>0))return 1;let n=e*Cc*t*(Math.PI/180)/r;return 1/(1-Math.min(vy,n))}function Ep(e,t,r){return r>0?e*Cc*t/(r*r):0}function ky(e,t,r,n,o){if(!(n>0)||!(o>0))return 1;let a=Ep(e,t,r)*(1/n+1/o);return 1/(1-Math.min(vy,a))}function Ce(e){let t=4*e.unsprungPerCorner,r=Math.max(0,e.massTotal-t),n=r*e.frontMassFrac,o=r*(1-e.frontMassFrac),a=Xe(e,"front"),s=Xe(e,"rear"),i=e.wheelRateFront+(e.heaveSpringFront??0),c=e.wheelRateRear+(e.heaveSpringRear??0),l=Wa(i,a),u=Wa(c,s),m=($,O)=>{let W=O/2;return W>0?1/(2*Math.PI)*Math.sqrt($*1e3/W):0},f=m(l,n),p=m(u,o),d=Wa(e.wheelRateFront+e.arbFront,a),h=Wa(e.wheelRateRear+e.arbRear,s),b=Ry(d,e.trackFront),g=Ry(h,e.trackRear),y=b+g,x=y>0?b/y:.5,M=e.rcHeightFront+(e.rcHeightRear-e.rcHeightFront)*(1-e.frontMassFrac),v=(e.cgHeight-M)/1e3,R=r*Cc*v,k=Tc(r,v,y),F=y>0?R/y*k:0,w=e.massTotal*Cc*e.cgHeight/e.wheelbase,C=2*l,T=2*u,S=ky(r,e.cgHeight,e.wheelbase,C,T),P=(C>0&&T>0?(w/C+w/T)/e.wheelbase*S:0)*(180/Math.PI),L=e.wheelbase*e.wheelbase*Wa(C,T)*(Math.PI/180)/1e3,D=e.damperFront??2.5,E=e.damperRear??2.5;return{sprungMass:r,sprungFront:n,sprungRear:o,rideRateFront:l,rideRateRear:u,rideFreqFront:f,rideFreqRear:p,rollRateFront:b,rollRateRear:g,rollRateTotal:y,rollWheelRateFront:d,rollWheelRateRear:h,frontRollStiffFrac:x,rollGradient:F,pitchGradient:P,pitchRate:L,cgRollGain:k,cgPitchGain:S,rideDampingFront:D+(e.heaveDamperFront??0),rideDampingRear:E+(e.heaveDamperRear??0),rollDampingFront:D+(e.rollDamperFront??0),rollDampingRear:E+(e.rollDamperRear??0)}}var zr=["clFront","clRear","cd"],Co=e=>e.frame?.kind==="pitch";function Pc(e){return Co(e)?{x:e.axes.h,y:e.axes.pitch}:{x:e.axes.hFront,y:e.axes.hRear}}var My=e=>e.frame?.kind==="pitch";var Lc=45,qe=e=>typeof e=="number"&&Number.isFinite(e);function Dc(e,t,r="mm",n="ride height"){if(!Array.isArray(t)||t.length<1)return`The ${e} axis needs at least one ${n}.`;if(!t.every(qe))return`The ${e} axis contains a value that is not a number.`;for(let o=1;o<t.length;o++)if(!(t[o]>t[o-1]))return`The ${e} axis must increase (${t[o-1]} then ${t[o]} ${r}).`;return null}function Sy(e,t){if(t===void 0)return null;for(let r of zr){let n=t[r];if(!n||!Array.isArray(n.deg)||!Array.isArray(n.factor))return`The ${e} correction of ${r} needs degrees and factors.`;if(n.deg.length<1)return`The ${e} correction of ${r} needs at least one angle.`;if(n.deg.length!==n.factor.length)return`The ${e} correction of ${r} has ${n.factor.length} factors against ${n.deg.length} angles.`;if(!n.deg.every(qe)||!n.factor.every(qe))return`The ${e} correction of ${r} contains a value that is not a number.`;if(n.deg[0]<0)return`The ${e} correction of ${r} is against the absolute angle; it cannot start below zero.`;for(let o=1;o<n.deg.length;o++)if(!(n.deg[o]>n.deg[o-1]))return`The ${e} correction of ${r} must increase in angle (${n.deg[o-1]} then ${n.deg[o]}\xB0).`;if(n.factor.some(o=>o<0))return`The ${e} correction of ${r} has a negative factor.`}return null}function Ay(e,t){return t===void 0?null:!qe(t.dCl)||!qe(t.dBalance)||!qe(t.dCd)?`The ${e} slopes must be numbers.`:!qe(t.maxDeg)||!(t.maxDeg>0)?`The ${e} response needs a positive angle to be valid to.`:null}function ja(e){if(!e||typeof e!="object")return"Not an aero model.";if(!qe(e.area)||e.area<=0)return"The reference area must be a positive number of square metres.";if(e.kind==="map"){let t,r,n,o;if(e.frame==null){let i=Dc("front ride-height",e.axes?.hFront);if(i)return i;let c=Dc("rear ride-height",e.axes?.hRear);if(c)return c;[t,r,n,o]=[e.axes.hFront,e.axes.hRear,"front ride heights","rear ride heights"]}else if(e.frame?.kind==="pitch"){if(!qe(e.frame.refX))return"The point the ride height is read at must be a number of millimetres aft of the front axle.";let i=Dc("ride-height",e.axes?.h);if(i)return i;let c=Dc("pitch",e.axes?.pitch,"\xB0","pitch");if(c)return c;let l=e.axes.pitch.find(u=>Math.abs(u)>=Lc);if(l!==void 0)return`A pitch of ${l}\xB0 is not a car's attitude \u2014 is the axis a rake in millimetres? Pitch is in degrees.`;[t,r,n,o]=[e.axes.h,e.axes.pitch,"ride heights","pitches"]}else return`Unknown aero map frame "${e.frame.kind}".`;let a=t.length,s=r.length;for(let i of zr){let c=e[i];if(!Array.isArray(c)||c.length!==s)return`${i} has ${Array.isArray(c)?c.length:0} rows against ${s} ${o} \u2014 they must match.`;for(let l=0;l<s;l++){let u=c[l];if(!Array.isArray(u)||u.length!==a)return`${i} row ${l+1} has ${Array.isArray(u)?u.length:0} values against ${a} ${n}.`;if(!u.every(qe))return`${i} contains a value that is not a number.`}}return Sy("yaw",e.attitude?.yaw)??Sy("roll",e.attitude?.roll)}if(e.kind==="sensitivity"){let t;if(e.frame==null)t=["hFront","hRear"];else if(e.frame?.kind==="pitch"){if(!qe(e.frame.refX))return"The point the ride height is read at must be a number of millimetres aft of the front axle.";t=["h","pitch"]}else return`Unknown aero sensitivity frame "${e.frame.kind}".`;let r=e.ref,n=e.slope,o=e.range,a=s=>s==="pitch"?"\xB0":" mm";if(!r||!qe(r[t[0]])||!qe(r[t[1]]))return e.frame?"The reference ride height and pitch must be numbers.":"The reference ride heights must be numbers.";for(let s of zr){if(!e.at||!qe(e.at[s]))return`${s} at the reference must be a number.`;let i=n?.[s];if(!i||!qe(i[t[0]])||!qe(i[t[1]]))return`The slopes of ${s} must be numbers.`}for(let s of t){let i=o?.[s],c=r[s];if(!i||!qe(i[0])||!qe(i[1]))return`The ${s} range must be two numbers.`;if(!(i[1]>i[0]))return`The ${s} range must run from low to high (${i[0]} to ${i[1]}${a(s)}).`;if(c<i[0]||c>i[1])return`The reference ${s} of ${c}${a(s)} lies outside its range ${i[0]}\u2013${i[1]}${a(s)}.`;if(s==="pitch"&&(Math.abs(i[0])>=Lc||Math.abs(i[1])>=Lc))return`A pitch range reaching ${Math.abs(i[0])>=Lc?i[0]:i[1]}\xB0 is not a car's attitude. Pitch is in degrees.`}return Ay("yaw",e.attitude?.yaw)??Ay("roll",e.attitude?.roll)}return`Unknown aero model kind "${e.kind}".`}var Fy=180/Math.PI;function Ec(e,t,r,n){let o=(n-r)/t;return{h:r+e.refX*o,pitch:Math.atan(o)*Fy}}function To(e,t,r,n){let o=Math.tan(n/Fy);return{hFront:r-e.refX*o,hRear:r+(t-e.refX)*o}}var q3=180/Math.PI,qw=["hFront","hRear"],Zw=["h","pitch"],Np=e=>e?.kind==="pitch"?Zw:qw,Mt=(e,t)=>e[t],Ic=(e,t)=>e[t],Ip=(e,t)=>({[e[0]]:t(e[0]),[e[1]]:t(e[1])});function Jw(e){if(!(!e.yaw&&!e.roll))return{...e.yaw?{yaw:{...e.yaw}}:{},...e.roll?{roll:{...e.roll}}:{}}}function Op(e){let t=Np(e.frame),r=e.balanceFront,n=e.cl*r,o=e.cl*(1-r),a=Ip(t,c=>Mt(e.dCl,c)*r+e.cl*Mt(e.dBalance,c)),s=Ip(t,c=>Mt(e.dCl,c)*(1-r)-e.cl*Mt(e.dBalance,c)),i=Jw(e);return{kind:"sensitivity",name:e.name,area:e.area,...e.frame?{frame:{...e.frame}}:{},ref:{...e.ref},at:{clFront:n,clRear:o,cd:e.cd},slope:{clFront:a,clRear:s,cd:Ip(t,c=>Mt(e.dCd,c))},range:{[t[0]]:[...Ic(e.range,t[0])],[t[1]]:[...Ic(e.range,t[1])]},provenance:{...e.provenance},...i?{attitude:i}:{}}}function _c(e,t,r){let n=Math.min(Math.abs(r),t.maxDeg),o=e.clFront+e.clRear,a=o!==0?e.clFront/o:.5,s=o+t.dCl*n,i=a+t.dBalance*n,c=e.clFront!==0?s*i/e.clFront:1,l=e.clRear!==0?s*(1-i)/e.clRear:1,u=e.cd!==0?(e.cd+t.dCd*n)/e.cd:1;return{clFront:c,clRear:l,cd:u}}function _p(e,t,r=11){let n=Array.from({length:r},(a,s)=>t.maxDeg*s/(r-1)),o=n.map(a=>_c(e,t,a));return{clFront:{deg:[...n],factor:o.map(a=>a.clFront)},clRear:{deg:[...n],factor:o.map(a=>a.clRear)},cd:{deg:[...n],factor:o.map(a=>a.cd)}}}function wy(e){if(!(!e.attitude?.yaw&&!e.attitude?.roll))return{...e.attitude.yaw?{yaw:_p(e.at,e.attitude.yaw)}:{},...e.attitude.roll?{roll:_p(e.at,e.attitude.roll)}:{}}}function Cy(e,t,r,n=0,o=0){let[a,s]=Np(e.frame),i=t-Mt(e.ref,a),c=r-Mt(e.ref,s),l={clFront:e.at.clFront+Mt(e.slope.clFront,a)*i+Mt(e.slope.clFront,s)*c,clRear:e.at.clRear+Mt(e.slope.clRear,a)*i+Mt(e.slope.clRear,s)*c,cd:e.at.cd+Mt(e.slope.cd,a)*i+Mt(e.slope.cd,s)*c},u=e.attitude?.yaw?_c(e.at,e.attitude.yaw,n):{clFront:1,clRear:1,cd:1},m=e.attitude?.roll?_c(e.at,e.attitude.roll,o):{clFront:1,clRear:1,cd:1};return{clFront:l.clFront*u.clFront*m.clFront,clRear:l.clRear*u.clRear*m.clRear,cd:l.cd*u.cd*m.cd}}function Vp(e){let[t,r]=Np(e.frame),n=[...Ic(e.range,t)],o=[...Ic(e.range,r)],a=i=>o.map(c=>n.map(l=>i(Cy(e,l,c)))),s=wy(e);return{kind:"map",name:e.name,area:e.area,...e.frame?{frame:{...e.frame}}:{},axes:{[t]:n,[r]:o},clFront:a(i=>i.clFront),clRear:a(i=>i.clRear),cd:a(i=>i.cd),provenance:{...e.provenance},...s?{attitude:s}:{}}}var Bp=180/Math.PI,Ty=new WeakMap,Py=new WeakMap,$p=new WeakMap;function Yr(e,t){let r=Py.get(e);if(r)return r;let n=t?.wheelbase,o=n!==void 0?$p.get(e)?.get(n):void 0;if(o)return o;let a=eC(e),s=a.map;if(!Co(s)){let l=tC(e,a);return Py.set(e,l),l}if(n===void 0||!Number.isFinite(n)||n<=0)throw new Error("A ride-height-and-pitch aero map is read with the car\u2019s wheelbase, and none was given.");let i=rC(e,a,s.frame,n),c=$p.get(e);return c||(c=new Map,$p.set(e,c)),c.set(n,i),i}function eC(e){let t=Ty.get(e);if(t)return t;let r=ja(e);if(r)throw new Error(r);let n=e.kind==="map"?e:Vp(e),{x:o,y:a}=Pc(n),s=o.length,i=a.length,c=n.attitude?.yaw,l=n.attitude?.roll,u=!!(c||l),m={clFront:1,clRear:1,cd:1,clamped:!1},f=(y,x)=>{let M=Math.abs(x),v=y.clFront.deg[y.clFront.deg.length-1];return{clFront:Be(y.clFront.deg,y.clFront.factor,M),clRear:Be(y.clRear.deg,y.clRear.factor,M),cd:Be(y.cd.deg,y.cd.factor,M),clamped:M>v}},p=(y,x)=>{if(!u)return m;let M=c?f(c,y):m,v=l?f(l,x):m;return{clFront:M.clFront*v.clFront,clRear:M.clRear*v.clRear,cd:M.cd*v.cd,clamped:M.clamped||v.clamped}},d=(y,x,M=0,v=0)=>{let R=Sn(o,y),k=Sn(a,x),F=Math.min(R.i+1,s-1),w=Math.min(k.i+1,i-1),C=S=>{let A=S[k.i][R.i],P=S[k.i][F],L=S[w][R.i],D=S[w][F],E=A+R.t*(P-A),$=L+R.t*(D-L);return E+k.t*($-E)},T=p(M,v);return{clFront:u?C(n.clFront)*T.clFront:C(n.clFront),clRear:u?C(n.clRear)*T.clRear:C(n.clRear),cd:u?C(n.cd)*T.cd:C(n.cd),clampedRide:R.clamped||k.clamped,clampedAttitude:T.clamped}},h={x:[o[0],o[s-1]],y:[a[0],a[i-1]]},b=(y,x,M=!1,v=0,R=0)=>{let k=p(v,R),F=Sn(o,M?Math.min(Math.max(y,h.x[0]),h.x[1]):y),w=Sn(a,M?Math.min(Math.max(x,h.y[0]),h.y[1]):x),C=Math.min(F.i+1,s-1),T=Math.min(w.i+1,i-1),S=C>F.i?o[C]-o[F.i]:0,A=T>w.i?a[T]-a[w.i]:0,P={};for(let L of zr){let D=n[L],E=D[w.i][F.i],$=D[w.i][C],O=D[T][F.i],W=D[T][C],I=F.clamped||S===0?0:(($-E)*(1-w.t)+(W-O)*w.t)/S,_=w.clamped||A===0?0:((O-E)*(1-F.t)+(W-$)*F.t)/A;P[L]=u?{x:I*k[L],y:_*k[L]}:{x:I,y:_}}return P},g={map:n,x:h.x,y:h.y,hasAttitude:u,factors:p,at:d,slopes:b};return Ty.set(e,g),g}function tC(e,t){let r={x:t.x,y:t.y,at:t.at,toAxles:(o,a)=>({hFront:o,hRear:a}),fromAxles:(o,a)=>({x:o,y:a})},n=(o,a,s=!1,i=0,c=0)=>{let l=t.slopes(o,a,s,i,c),u={};for(let m of zr)u[m]={hFront:l[m].x,hRear:l[m].y};return u};return{model:e,map:t.map,area:t.map.area,grid:r,hasAttitude:t.hasAttitude,at:t.at,slopes:n,factors:t.factors}}function rC(e,t,r,n){let o=r.refX,a=o/n,s=(l,u,m=0,f=0)=>{let p=(u-l)/n;return t.at(l+o*p,Math.atan(p)*Bp,m,f)},i=(l,u,m=!1,f=0,p=0)=>{let d=(u-l)/n,h=t.slopes(l+o*d,Math.atan(d)*Bp,m,f,p),b=Bp/(n*(1+d*d)),g={};for(let y of zr)g[y]={hFront:h[y].x*(1-a)-h[y].y*b,hRear:h[y].x*a+h[y].y*b};return g},c={frame:r,x:t.x,y:t.y,at:t.at,toAxles:(l,u)=>To(r,n,l,u),fromAxles:(l,u)=>{let m=Ec(r,n,l,u);return{x:m.h,y:m.pitch}}};return{model:e,map:t.map,area:t.map.area,grid:c,hasAttitude:t.hasAttitude,at:s,slopes:i,factors:t.factors}}function Gp(e){let t=e.clFront+e.clRear;return{cl:t,balanceFront:t!==0?e.clFront/t:.5}}var he=(e,t)=>e*t/100,Qe=e=>e/100,Ly={name:"Formula Student aero",area:1,cl:3,balanceFront:.45,cd:1.3,ref:{hFront:30,hRear:35},range:{hFront:[5,60],hRear:[10,70]},dCl:{hFront:he(3,-.4),hRear:he(3,.1)},dBalance:{hFront:Qe(-.3),hRear:Qe(.15)},dCd:{hFront:he(1.3,-.1),hRear:he(1.3,.05)},yaw:{dCl:he(3,-1),dBalance:Qe(-.3),dCd:he(1.3,.5),maxDeg:10},roll:{dCl:he(3,-.5),dBalance:0,dCd:0,maxDeg:3},note:"Assumed class-level sensitivities for an undertray-and-wings Formula Student car, ride height, yaw and roll; not measured."},Dy={name:"Formula 1 aero",area:1.5,cl:3,balanceFront:.44,cd:.9,ref:{hFront:35,hRear:70},range:{hFront:[0,60],hRear:[20,100]},dCl:{hFront:he(3,-.3),hRear:he(3,-.15)},dBalance:{hFront:Qe(-.15),hRear:Qe(.15)},dCd:{hFront:he(.9,-.15),hRear:he(.9,-.05)},yaw:{dCl:he(3,-1.5),dBalance:Qe(.2),dCd:he(.9,.8),maxDeg:8},roll:{dCl:he(3,-1),dBalance:Qe(-.3),dCd:0,maxDeg:2},note:"Assumed class-level sensitivities for a ground-effect floor, ride height, yaw and roll; not measured."},Ey={name:"GT car aero",area:2,cl:1.4,balanceFront:.42,cd:.42,ref:{hFront:55,hRear:75},range:{hFront:[10,90],hRear:[10,110]},dCl:{hFront:he(1.4,-.3),hRear:he(1.4,.05)},dBalance:{hFront:Qe(-.25),hRear:Qe(.15)},dCd:{hFront:he(.42,-.1),hRear:0},yaw:{dCl:he(1.4,-.8),dBalance:Qe(-.2),dCd:he(.42,.6),maxDeg:10},roll:{dCl:he(1.4,-.3),dBalance:0,dCd:0,maxDeg:3},note:"Assumed class-level sensitivities for a splitter-and-wing GT car, ride height, yaw and roll; not measured."},Iy={name:"Sports car aero",area:2.2,cl:-.1,balanceFront:.5,cd:.3,ref:{hFront:130,hRear:140},range:{hFront:[80,180],hRear:[100,200]},dCl:{hFront:-5e-4,hRear:0},dBalance:{hFront:0,hRear:0},dCd:{hFront:2e-4,hRear:0},yaw:{dCl:0,dBalance:0,dCd:he(.3,.5),maxDeg:10},note:"Assumed class-level sensitivities for a road car with no aero devices; not measured."},_y={name:"Cup car aero",area:2.1,cl:.45,balanceFront:.45,cd:.4,ref:{hFront:64,hRear:78},range:{hFront:[20,100],hRear:[30,120]},dCl:{hFront:he(.45,-.4),hRear:he(.45,.05)},dBalance:{hFront:Qe(-.25),hRear:Qe(.15)},dCd:{hFront:he(.4,-.1),hRear:0},yaw:{dCl:he(.45,-1.2),dBalance:Qe(-.2),dCd:he(.4,.6),maxDeg:10},roll:{dCl:he(.45,-.3),dBalance:0,dCd:0,maxDeg:3},note:"Assumed class-level sensitivities for a splitter-and-wing cup hatchback, ride height, yaw and roll; not measured."},Ny={name:"Stock car aero",area:2.2,cl:.6,balanceFront:.45,cd:.45,ref:{hFront:75,hRear:90},range:{hFront:[20,110],hRear:[30,130]},dCl:{hFront:he(.6,-.35),hRear:he(.6,.05)},dBalance:{hFront:Qe(-.25),hRear:Qe(.15)},dCd:{hFront:he(.45,-.1),hRear:0},yaw:{dCl:he(.6,-1),dBalance:Qe(-.2),dCd:he(.45,.6),maxDeg:10},roll:{dCl:he(.6,-.3),dBalance:0,dCd:0,maxDeg:3},note:"Assumed class-level sensitivities for a splitter-and-spoiler stock car, ride height, yaw and roll; not measured."},Oy={name:"Hill-climb prototype aero",area:1.2,cl:2.5,balanceFront:.42,cd:.9,ref:{hFront:45,hRear:55},range:{hFront:[10,80],hRear:[15,95]},dCl:{hFront:he(2.5,-.35),hRear:he(2.5,.05)},dBalance:{hFront:Qe(-.25),hRear:Qe(.15)},dCd:{hFront:he(.9,-.1),hRear:he(.9,.05)},yaw:{dCl:he(2.5,-1),dBalance:Qe(-.3),dCd:he(.9,.5),maxDeg:10},roll:{dCl:he(2.5,-.5),dBalance:0,dCd:0,maxDeg:3},note:"Assumed class-level sensitivities for a winged sports prototype with a flat floor and diffuser, ride height, yaw and roll; not measured."},Vy={name:"Race truck aero",area:6.2,cl:-.1,balanceFront:.6,cd:.65,ref:{hFront:110,hRear:240},range:{hFront:[60,160],hRear:[180,300]},dCl:{hFront:-5e-4,hRear:0},dBalance:{hFront:0,hRear:0},dCd:{hFront:2e-4,hRear:0},yaw:{dCl:0,dBalance:0,dCd:he(.65,.5),maxDeg:10},note:"Assumed class-level sensitivities for a cab-over race truck with a chin spoiler and deflectors, ride height and yaw; not measured."};function br(e){return Op({name:e.name,area:e.area,cl:e.cl,balanceFront:e.balanceFront,cd:e.cd,ref:e.ref,range:e.range,dCl:e.dCl,dBalance:e.dBalance,dCd:e.dCd,...e.yaw?{yaw:e.yaw}:{},...e.roll?{roll:e.roll}:{},provenance:{source:"assumed",note:e.note}})}var Kp=()=>br(Ly),Hp=()=>br(Dy),zp=()=>br(Ey),Yp=()=>br(Iy),Wp=()=>br(_y),jp=()=>br(Ny),Up=()=>br(Oy),Xp=()=>br(Vy);function Po(e,t){let r=.5*e.rho*e.area*t*t,n=e.cl*r,o=e.cw*r,a=n*e.copLongFront;return{downforce:n,drag:o,downFront:a,downRear:n-a}}function Nc(e,t){let r=e.massTotal;if(!(r>0))return{front:0,rear:0};let n=Math.max(0,Math.min(1,e.frontMassFrac)),o=2*e.unsprungPerCorner,a=(s,i)=>i>0?Math.min(1,s/i):0;return{front:(t.sprungMass*n+o*a(t.rideRateFront,Xe(e,"front")))/r,rear:(t.sprungMass*(1-n)+o*a(t.rideRateRear,Xe(e,"rear")))/r}}function Oc(e,t,r,n){let o=t.front*r+t.rear*n;return o===0?e:Math.max(Math.min(1,e),e-o)}function Qp(e,t){return e.wheelbase>0?e.massTotal*t*9.81/e.wheelbase:0}function Lo(e,t,r){let n=2*t.rideRateFront,o=2*t.rideRateRear;return!(n>0)||!(o>0)?0:Math.min(Ep(t.sprungMass,r,e.wheelbase),.5*n*o/(n+o))}function Vc(e,t,r,n,o){let a=e.cgHeight,s=Qp(e,r);if(n===0&&o===0&&s===0)return{height:a,forward:0,noseLoad:0,dropFront:0,dropRear:0};let i=Nc(e,t),c=2*t.rideRateFront,l=2*t.rideRateRear,u=a,m=0,f=0,p=0;for(let h=0;h<6;h++){p=Lo(e,t,u);let b=n-s*u,g=o+s*u;if(p>0){let M=c*l-p*(c+l);m=(b*(l-p)-p*g)/M,f=(g*(c-p)-p*b)/M}else m=c>0?b/c:0,f=l>0?g/l:0;let y=Oc(a,i,m,f),x=Math.abs(y-u);if(u=y,x<1e-9)break}let d=m-f;return{height:u,forward:e.wheelbase>0?u*d/e.wheelbase:0,noseLoad:p*d,dropFront:m,dropRear:f}}var qp={yawDeg:0,rollDeg:0},By=1e-4,nC=40,$y=50;function Do(e,t,r=0){let n=e.aero?.model;if(!(!n||!Yr(n,e).hasAttitude))return{yawDeg:r,rollDeg:Ce(e).rollGradient*t}}function Zp(e,t){if(e.rideHeightFront!=null&&e.rideHeightRear!=null)return{hFront:e.rideHeightFront,hRear:e.rideHeightRear};let r=e.model,n=(a,s,i)=>{if(t!==void 0&&t>0)return To(a,t,s,i);throw new Error("A ride-height-and-pitch aero model is read with the car\u2019s wheelbase, and none was given.")},o={hFront:0,hRear:0};if(r?.kind==="sensitivity")o=My(r)?n(r.frame,r.ref.h,r.ref.pitch):r.ref;else if(r){let{x:a,y:s}=Pc(r),i=(a[0]+a[a.length-1])/2,c=(s[0]+s[s.length-1])/2;o=Co(r)?n(r.frame,i,c):{hFront:i,hRear:c}}return{hFront:e.rideHeightFront??o.hFront,hRear:e.rideHeightRear??o.hRear}}var Gy=new WeakMap;function Wr(e,t,r=0,n){let o=e.aero;if(!o?.model)return null;let a=Gy.get(e);a||(a=new Map,Gy.set(e,a));let s=n&&Yr(o.model,e).hasAttitude?n:qp,i=s===qp?`${t}|${r}`:`${t}|${r}|${s.yawDeg.toFixed(3)}|${s.rollDeg.toFixed(3)}`,c=a.get(i);if(c)return c;let l=oC(e,o,t,r,s);return a.size>4096&&a.clear(),a.set(i,l),l}function oC(e,t,r,n,o){let a=Yr(t.model,e),s=Ce(e),i=2*s.rideRateFront,c=2*s.rideRateRear,l=Zp(t,e.wheelbase),u=.5*t.rho*r*r,m=a.area,f=e.wheelbase>0?t.copHeight/e.wheelbase:0,p=Nc(e,s),d=Qp(e,n),h=(C,T)=>Oc(e.cgHeight,p,l.hFront-C,l.hRear-T),b=(C,T)=>l.hFront-C-(l.hRear-T),g=(C,T)=>{let S=a.at(C,T,o.yawDeg,o.rollDeg),A=u*m*S.clFront,P=u*m*S.clRear,L=u*m*S.cd,D=L*f,E=h(C,T),$=d*E,O=Lo(e,s,E)*b(C,T),W=A-$-D+O,I=P+$+D-O,_=C-l.hFront+(i>0?W/i:0),V=T-l.hRear+(c>0?I/c:0);return{c:S,downFront:A,downRear:P,drag:L,rF:_,rR:V,norm:Math.hypot(_,V)}},y=(C,T,S=!1)=>{let 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k=y(x,M,!0),F=2+k[0][0]+k[1][1],w=(1+k[0][0])*(1+k[1][1])-k[0][1]*k[1][0];return{v:r,axG:n,hFront:x,hRear:M,cgHeight:h(x,M),cgForward:e.wheelbase>0?h(x,M)*b(x,M)/e.wheelbase:0,cgNoseLoad:Lo(e,s,h(x,M))*b(x,M),clFront:v.c.clFront,clRear:v.c.clRear,cd:v.c.cd,area:m,downforce:v.downFront+v.downRear,drag:v.drag,downFront:v.downFront,downRear:v.downRear,gain:aC(k),stable:w>0&&F>0,converged:v.norm<By,iterations:R,clampedRide:v.c.clampedRide,yawDeg:o.yawDeg,rollDeg:o.rollDeg,clampedAttitude:v.c.clampedAttitude}}function aC(e){let t=e[0][0]+e[1][1],r=e[0][0]*e[1][1]-e[0][1]*e[1][0],n=t*t-4*r;if(n>=0){let o=Math.sqrt(n);return Math.max(Math.abs((t+o)/2),Math.abs((t-o)/2))}return Math.sqrt(r)}function Ua(e,t,r=0,n){let o=Wr(e,t,r,n);return o?{downforce:o.downforce,drag:o.drag,downFront:o.downFront,downRear:o.downRear}:e.aero?Po(e.aero,t):{downforce:0,drag:0,downFront:0,downRear:0}}function Bc(e,t=0,r=0,n,o){if(e.aero&&t>0){if(e.aero.model){let 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gC=(e,t)=>ee(e.pivotA,It(e.rprRel0,e.axis,t)),id=(e,t)=>ee(e.pivotA,It(e.rdmRel0,e.axis,t));function Za(e,t){return{pushrod:gC(e,t),damper:id(e,t)}}function ox(e,t,r=0){let n=X(e.rprRel0,e.axis),o=H(e.rprRel0,U(e.axis,n)),a=ae(e.axis,o),s=H(ee(e.pivotA,U(e.axis,n)),t),i=X(o,o),c=X(s,s),l=Qa(2*X(s,o),2*X(s,a),e.rodLen2-c-i,2*Math.sqrt(i*c));if(l.free){let p=Math.abs(e.rodLen2-c-i)<=1e-9*e.rodLen2;return{phi:r,damperLength:ve(id(e,r),e.damperChassis),converged:p,margin:0}}let u=rx(Math.atan2(l.s1,l.c1),r),m=rx(Math.atan2(l.s2,l.c2),r),f=Math.abs(m-r)<Math.abs(u-r)?m:u;return{phi:f,damperLength:ve(id(e,f),e.damperChassis),converged:l.ok,margin:l.margin}}function rx(e,t){let r=2*Math.PI;return e+r*Math.round((t-e)/r)}function ax(e,t,r,n){return ee(t,nt(U(Q(r),n),H(e,t)))}function sx(e,t,r,n){let o=Q(n),a=f=>{let p=H(f,r);return H(p,U(o,X(p,o)))},s=a(e),i=a(t),c=Math.hypot(s[0],s[1],s[2]),l=Math.hypot(i[0],i[1],i[2]);if(c<1e-9||l<1e-9)return 0;let 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et(e){return{corner:e,inv:nd(e),rocker:nx(e.hardpoints)}}var xC=[20,20,20,.2,.2,.2];function ux(e,t,r,n=[0,0,0,0,0,0]){let o=tx(e,t,r,n);if(!o.free)return o;let a=RC(e,t,r,n);return{x:a.x,converged:a.converged,margin:0}}function RC(e,t,r,n=[0,0,0,0,0,0]){return Uy(o=>ad(e,o,t,r),n,{scales:xC,tol:1e-10,maxIter:40})}var vC=.01,Kc=1.2,ht=e=>e.ok?e.state:null,ot=e=>e.ok?e.state:e.nearest;function ge(e,t,r,n,o){let a=0,s=Ee(e,a,r,n,o);if(Math.abs(s.travel-t)<1e-4)return lx(s,t,!1);let c=(Ee(e,.02,r,cd(s),o).travel-s.travel)/.02;(!Number.isFinite(c)||Math.abs(c)<1e-6)&&(c=1);let l=f=>Math.max(-Kc,Math.min(Kc,f)),u=l((t-s.travel)/c),m=Ee(e,u,r,cd(s),o);for(let f=0;f<12&&!(Math.abs(m.travel-t)<1e-4);f++){let p=m.travel-s.travel,d=Math.abs(p)<1e-9?u:u-(m.travel-t)*((u-a)/p);a=u,s=m,u=l(d),m=Ee(e,u,r,cd(s),o)}return lx(m,t,Math.abs(u)===Kc)}function lx(e,t,r){let n=e.travel-t,o=Math.abs(n)<=vC,a=r&&!o;return 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Io=e=>e==="FL"||e==="FR"?"front":"rear",px=e=>e==="FL"||e==="RL"?"left":"right";function $e(e,t){return e.corners?.[t]??MC(e[Io(t)],px(t))}function dx(e){let t=e.config.springSplit;return e.config.actuation==="decoupled"||t===void 0||!Number.isFinite(t)||Math.abs(t)>=1?0:t}var mx=new WeakMap;function MC(e,t){let r=dx(e);if(r===0)return e;let n=mx.get(e);if(!n){let o=a=>{let{springSplit:s,...i}=e.config;return{...e,config:{...i,springRate:e.config.springRate*a},...e.measured?{measured:{...e.measured,springRate:e.measured.springRate*a}}:{}}};n={left:o(1-r),right:o(1+r)},mx.set(e,n)}return n[t]}var _o=["FL","FR","RL","RR"],bt=e=>2*e.hardpoints.wheelCenter[1],Xr=(e,t)=>t?bt($e(e,"FL"))/2+bt($e(e,"FR"))/2:bt($e(e,"RL"))/2+bt($e(e,"RR"))/2;function Ze(e,t){let r=e==="FL"||e==="FR";return{axleX:r?t.frontAxleX:t.frontAxleX-t.wheelbase,sideSign:e==="FR"||e==="RR"?1:-1,isFront:r}}function Nt(e,t){return[t.axleX+e[0],t.sideSign*e[1],e[2]]}function 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i=Math.max(Math.abs(t.travelMax),Math.abs(t.travelMin)),c=Math.min(1.2,1.5*i/Math.abs(s)),l=Math.max(20,t.steps*2),u=[],m=Ee(e,0,r);u.push({beta:0,travel:m.travel,warm:es(m),converged:m.converged});let f=es(m);for(let x=1;x<=l;x++){let M=c*x/l,v=Ee(e,M,r,f);f=es(v),u.push({beta:M,travel:v.travel,warm:f,converged:v.converged})}f=es(m);for(let x=1;x<=l;x++){let M=-c*x/l,v=Ee(e,M,r,f);f=es(v),u.push({beta:M,travel:v.travel,warm:f,converged:v.converged})}u.sort((x,M)=>x.beta-M.beta);let p=u[u.length-1].travel>=u[0].travel,d=!1;for(let x=1;x<u.length;x++){let M=u[x].travel-u[x-1].travel;(p&&M<-1e-6||!p&&M>1e-6)&&(d=!0)}let h=u.filter(x=>x.converged).map(x=>x.travel),b=h.length?[Math.min(...h),Math.max(...h)]:[0,0],g=h.length>0&&b[0]<=t.travelMin+1e-6&&b[1]>=t.travelMax-1e-6,y=[];for(let x=0;x<t.steps;x++){let M=t.steps===1?t.travelMin:t.travelMin+(t.travelMax-t.travelMin)*x/(t.steps-1),v=AC(u,M,p),R=FC(u,v);y.push(Ee(e,v,r,R))}return wC(y,e.corner.config.actuation==="decoupled"?0:e.corner.config.springRate),{samples:y,covered:g,reach:b,fold:d,unconverged:y.filter(x=>!x.converged).length}}function AC(e,t,r){let n=r?e.slice():e.slice().reverse();if(t<=n[0].travel)return n[0].beta;if(t>=n[n.length-1].travel)return n[n.length-1].beta;for(let o=1;o<n.length;o++){let a=n[o-1],s=n[o];if(t>=Math.min(a.travel,s.travel)&&t<=Math.max(a.travel,s.travel)){let i=s.travel-a.travel,c=Math.abs(i)<1e-9?0:(t-a.travel)/i;return a.beta+c*(s.beta-a.beta)}}return n[n.length-1].beta}function FC(e,t){let r=e[0],n=1/0;for(let o of e){let a=Math.abs(o.beta-t);a<n&&(n=a,r=o)}return r.warm}function ud(e,t,r){return r===0?(e[1]-e[0])/(t[1]-t[0]):r===e.length-1?(e[r]-e[r-1])/(t[r]-t[r-1]):(e[r+1]-e[r-1])/(t[r+1]-t[r-1])}function wC(e,t){if(e.length<2)return;let r=e.map(s=>s.travel),n=e.map(s=>s.metrics.camber),o=e.map(s=>s.metrics.toe),a=e.map(s=>s.metrics.damperLength);for(let s=0;s<e.length;s++){let i=ud(n,r,s),c=ud(o,r,s),l=-ud(a,r,s);e[s].metrics.camberGain=i,e[s].metrics.bumpSteer=c,e[s].metrics.motionRatio=l,e[s].metrics.wheelRate=t*l*l}}var Hc=e=>e!==void 0&&Number.isFinite(e)&&e>0;function CC(e){return e&&Hc(e.helperRate)&&Hc(e.helperTravel)?{rate:e.helperRate,travel:e.helperTravel}:null}function md(e,t,r){let n=t/e;return r?n+Math.min(t/r.rate,r.travel):n}function ts(e,t,r,n){if(!(e>0)||!Number.isFinite(e)||!(t>0)||!Number.isFinite(t))return null;let o=CC(n),a=-md(e,t,o),s=Vo(r,n);return{rate:e,preload:t,helper:o,free:a,pull:null,droop:s.droop??a,droopStated:s.droop!==null,bump:s.bump,holdsLoad:!0}}function Vo(e,t){if(!Number.isFinite(e))return{droop:null,bump:null};let r=Hc(t?.extended)&&t.extended>e?t.extended:null,n=r!==null&&Hc(t?.stroke)?r-t.stroke:null;return{droop:r!==null?e-r:null,bump:n!==null&&n<e?e-n:null}}function pd(e,t){if(!(e>0)||!Number.isFinite(e))return null;let r=Vo(t.length0,t.coilover),n=t.free===-1/0||t.pull!==null&&t.pull>=t.free;if(n&&r.droop===null&&r.bump===null)return null;let o=n?-1/0:t.free;return{rate:e,preload:o===-1/0?0:-e*o,helper:null,free:o,pull:n?null:t.pull,droop:r.droop??-1/0,droopStated:r.droop!==null,bump:r.bump,holdsLoad:!1}}function TC(e,t){let{rate:r,preload:n,helper:o}=e;if(!o)return t>e.free-1e-9?n+r*t:e.pull!==null&&t<e.pull+1e-9?r*(t-e.pull):0;let a=md(r,n,o)+t;if(a<=0)return 0;let s=o.rate*o.travel;return a>=s/r+o.travel?n>=s?n+r*t:r*(a-o.travel):a*r*o.rate/(r+o.rate)}function PC(e,t){let{rate:r,preload:n,helper:o}=e;if(!o)return t>e.free-1e-9||e.pull!==null&&t<e.pull+1e-9?r:0;let a=md(r,n,o)+t;return a<=0?0:a>=o.rate*o.travel/r+o.travel?r:r*o.rate/(r+o.rate)}function Bo(e,t){let r=TC(e,t),n=e.free;return e.holdsLoad&&t<n&&e.droop<n&&(r+=.001*e.rate*(Math.max(t,e.droop)-n)),t<e.droop&&(r+=1e3*e.rate*(t-e.droop)),e.bump!==null&&t>e.bump&&(r+=1e3*e.rate*(t-e.bump)),r}function dd(e,t){let r=PC(e,t),n=e.free;return e.holdsLoad&&t<n&&t>e.droop&&(r+=.001*e.rate),t<e.droop&&(r+=1e3*e.rate),e.bump!==null&&t>e.bump&&(r+=1e3*e.rate),r}function fd(e){let t=e.free,r=[t,e.droop];return e.helper&&r.push(e.helper.rate*e.helper.travel/e.rate+e.helper.travel+t),e.bump!==null&&r.push(e.bump),e.pull!==null&&r.push(e.pull),[...new Set(r.filter(Number.isFinite))].sort((n,o)=>n-o)}var zc={min:-60,max:60,steps:61},hd=e=>({travel:[e.min,e.max],force:[0,0],motionRatio:[0,0],spring:null}),fx=new WeakMap;function LC(e,t){let r=fx.get(e.corner);r||fx.set(e.corner,r=new Map);let n=`${t.min}|${t.max}|${t.steps}`,o=r.get(n);return o||r.set(n,o=Oo(e,{travelMin:t.min,travelMax:t.max,steps:t.steps,steer:0})),o}function rs(e,t,r=zc,n=e.corner.config.coilover){let o=e.corner.config;if(o.actuation==="decoupled")return hd(r);let a=LC(e,r),s=EC(e,o.springRate,a.samples),i=[];for(let h of a.samples){let b=h.metrics.motionRatio;!h.converged||b===void 0||!Number.isFinite(b)||!Number.isFinite(h.metrics.damperLength)||i.length>0&&h.travel<=i[i.length-1].t+1e-6||i.push({t:h.travel,L:h.metrics.damperLength,mr:b})}if(i.length<2)return hd(r);let c=_C(i,0);if(!(Math.abs(c.mr)>1e-6))return hd(r);let l=t/c.mr,u=ts(s,l,c.L,n),m=u?DC(i,fd(u).map(h=>c.L-h)):i,f=m.map(h=>(u?Bo(u,c.L-h.L):l+s*(c.L-h.L))*h.mr-t),p=h=>h===null?null:m.find(b=>b.L===c.L-h)?.t??null,d=u?fd(u).map(p).filter(h=>h!==null):[];return{travel:m.map(h=>h.t),force:f,motionRatio:m.map(h=>h.mr),spring:{rate:s,preload:l,length0:c.L,law:u},...u?{stops:{droop:p(u.droop),bump:p(u.bump)}}:{},...d.length?{kinks:d}:{},length:m.map(h=>h.L)}}function DC(e,t){let r=[...e];for(let n of t)for(let o=0;o+1<e.length;o++){let a=e[o],s=e[o+1];if(a.L===n)break;if((a.L-n)*(s.L-n)>=0)continue;let i=(n-a.L)/(s.L-a.L);r.push({t:a.t+i*(s.t-a.t),L:n,mr:a.mr+i*(s.mr-a.mr)});break}return r.sort((n,o)=>n.t-o.t),r.filter((n,o)=>o===0||n.t>r[o-1].t+1e-6)}function EC(e,t,r){let n=e.corner.compliance?.links?.pushRod;if(n===void 0||!(n>0)||!Number.isFinite(n)||!(t>0))return t;let o=e.corner.config.actuation==="direct"?n:IC(e,n,r);return!(o>0)||!Number.isFinite(o)?t:t*o/(t+o)}function IC(e,t,r){let n;for(let m of r)m.converged&&(!n||Math.abs(m.travel)<Math.abs(n.travel))&&(n=m);if(!n)return t;let o=e.corner.hardpoints,a=Za(e.rocker,n.points.rockerAngle),s=Q(H(o.rockerPivotB,o.rockerPivotA)),i=(m,f)=>Math.abs(X(s,ae(H(m,o.rockerPivotA),Q(H(f,m))))),c=i(a.pushrod,n.points.pushrodOuter),l=i(a.damper,o.damperChassis);if(!(l>1e-9)||!(c>1e-9))return t;let u=c/l;return t*u*u}function bd(e,t){let r=e.travel.length;if(r===0)return 0;if(r===1)return e.motionRatio[0];let n=yr(e.travel,t),o=(t-e.travel[n])/(e.travel[n+1]-e.travel[n]);return e.motionRatio[n]+o*(e.motionRatio[n+1]-e.motionRatio[n])}function gr(e,t,r){if(!e.spring)return Ht(e,t);let{rate:n,preload:o,length0:a,law:s}=e.spring,i=bd(e,0),c=a-r;return(s?Bo(s,c):o+n*c)*bd(e,t)-o*i}function _C(e,t){let r=yr(e.map(s=>s.t),t),n=e[r],o=e[r+1],a=(t-n.t)/(o.t-n.t);return{L:n.L+a*(o.L-n.L),mr:n.mr+a*(o.mr-n.mr)}}function yr(e,t){let r=e.length;if(t<=e[0])return 0;if(t>=e[r-1])return r-2;let n=0,o=r-1;for(;o-n>1;){let a=n+o>>1;e[a]<=t?n=a:o=a}return n}function Ht(e,t){let r=e.travel.length;if(r===0)return 0;if(r===1)return e.force[0];let n=yr(e.travel,t),o=(t-e.travel[n])/(e.travel[n+1]-e.travel[n]);return e.force[n]+o*(e.force[n+1]-e.force[n])}function $o(e,t){let r=e.travel.length;if(r<3)return ns(e,t);let n=yr(e.travel,t),o=(e.force[n+1]-e.force[n])/(e.travel[n+1]-e.travel[n]),a=i=>i===0||i===r-1||e.kinks?.includes(e.travel[i])?o:(e.force[i+1]-e.force[i-1])/(e.travel[i+1]-e.travel[i-1]),s=Math.max(0,Math.min(1,(t-e.travel[n])/(e.travel[n+1]-e.travel[n])));return a(n)+s*(a(n+1)-a(n))}function ns(e,t){if(e.travel.length<2)return 0;let n=yr(e.travel,t);return(e.force[n+1]-e.force[n])/(e.travel[n+1]-e.travel[n])}function Pe(e,t,r){let n=e.hardpoints;switch(t.attach){case"upright":{let o=H(t.outer,n.wheelCenter);return ee(ee(nt(r.pose.omega,o),n.wheelCenter),r.pose.t)}case"lowerArm":{let o=Q(H(n.lcaRear,n.lcaFront));return ee(n.lcaFront,nt(U(o,r.beta),H(t.outer,n.lcaFront)))}case"rocker":{let o=Q(H(n.rockerPivotB,n.rockerPivotA));return ee(n.rockerPivotA,It(H(t.outer,n.rockerPivotA),o,r.points.rockerAngle))}}}function Zr(e,t,r){return e.config.actuation==="decoupled"&&t.attach==="rocker"&&r==="coil"}function gd(e,t,r){return Zr(e,t,r)?[t.inner[0],-t.inner[1],t.inner[2]]:t.inner}function Go(e,t,r){let n=r.travelMin??-40,o=r.travelMax??40,a=r.steps??21;return yd(e,t,r.kind,Ge(e,{travelMin:n,travelMax:o,steps:a}).samples)}function yd(e,t,r,n){let o=Q(H(t.outer,gd(e,t,r))),a=[],s=[],i=t.outer;for(let p of n)a.push(p.travel),s.push(X(H(Pe(e,t,p),i),o));let c=a.length,l=new Array(c).fill(0);for(let p=0;p<c;p++){let d=Math.max(0,p-1),h=Math.min(c-1,p+1),b=a[h]-a[d];l[p]=b!==0?(s[h]-s[d])/b:0}let u=l[0];for(let p=1;p<c;p++)if(a[p]>=0){let d=a[p]-a[p-1],h=d!==0?(0-a[p-1])/d:0;u=l[p-1]+h*(l[p]-l[p-1]);break}let m=l.filter(p=>Math.abs(p)>1e-9).map(Math.sign),f=m.length>0&&m.some(p=>p!==m[0]);return{travel:a,ratio:l,linkTravel:s,atDesign:u,reverses:f}}function xd(e,t){let{travel:r,ratio:n}=e,o=r.length;if(o===0)return 0;if(t<=r[0])return n[0];if(t>=r[o-1])return n[o-1];let a=0,s=o-1;for(;s-a>1;){let c=a+s>>1;r[c]<=t?a=c:s=c}let i=(t-r[a])/(r[s]-r[a]);return n[a]+i*(n[s]-n[a])}function Rd(e,t){let{travel:r,linkTravel:n}=e,o=r.length;if(o===0)return 0;if(t<=r[0])return n[0];if(t>=r[o-1])return n[o-1];let a=0,s=o-1;for(;s-a>1;){let c=a+s>>1;r[c]<=t?a=c:s=c}let i=(t-r[a])/(r[s]-r[a]);return n[a]+i*(n[s]-n[a])}var os=e=>e.mount??{kind:"rockerToRocker"},yx=e=>[e[0],0,e[2]],NC=e=>2*Math.abs(e[1]),OC=(e,t)=>Math.hypot(e[0]-t[0],e[2]-t[2]);function Wc(e,t){return t.kind==="chassis"?OC(e,t.anchor):NC(e)}function as(e,t,r){if(r.kind==="chassis"){let s=[(e[0]+t[0])/2,(e[1]-t[1])/2,(e[2]+t[2])/2];return 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a=e[o]-e[o-1],s=a!==0?(r-e[o-1])/a:0;return t[o-1]+s*(t[o]-t[o-1])}return t[n-1]}function kd(e,t,r){let n={outer:t.outer,attach:t.attach},o=Ge(e,{travelMin:-5,travelMax:5,steps:3}),a=d=>yx(Pe(e,{...n,inner:n.outer},o.samples[d])),s=a(1),i=a(2),c=a(0),l=i[0]-c[0],u=i[2]-c[2],m=Math.hypot(l,u),f=m>1e-9?[l/m,u/m]:[0,1],p=r??Math.max(80,2*Math.abs(t.outer[1])*.5);return[s[0]+f[0]*p,0,s[2]+f[1]*p]}function Md(e,t){let r=e.hardpoints,n=r.rockerPivotA,o=gx(Yc(r.rockerPivotB,r.rockerPivotA)),a=Math.max(30,.6*xx(Yc(r.rockerToDamper,n))),s=Yc(r.rockerToDamper,n),i=gx(Yc(s,VC(o,BC(s,o)))),c=$C(o,i),l=null,u=-1/0;for(let m=0;m<360;m+=10){let f=m*Math.PI/180,d={outer:[n[0]+a*(Math.cos(f)*i[0]+Math.sin(f)*c[0]),n[1]+a*(Math.cos(f)*i[1]+Math.sin(f)*c[1]),n[2]+a*(Math.cos(f)*i[2]+Math.sin(f)*c[2])],attach:"rocker"},h=t==="chassis"?{...d,mount:{kind:"chassis",anchor:kd(e,d)}}:d,b;try{b=An(e,h,{travelMin:-20,travelMax:20,steps:9})}catch{continue}let g=b.atDesign/(1+4*Math.abs(b.rollSensitivity));Number.isFinite(g)&&g>u&&(u=g,l=h)}return l??{outer:r.rockerToDamper,attach:"rocker"}}var Yc=(e,t)=>[e[0]-t[0],e[1]-t[1],e[2]-t[2]],VC=(e,t)=>[e[0]*t,e[1]*t,e[2]*t],BC=(e,t)=>e[0]*t[0]+e[1]*t[1]+e[2]*t[2],xx=e=>Math.hypot(e[0],e[1],e[2]),gx=e=>{let t=xx(e)||1;return[e[0]/t,e[1]/t,e[2]/t]},$C=(e,t)=>[e[1]*t[2]-e[2]*t[1],e[2]*t[0]-e[0]*t[2],e[0]*t[1]-e[1]*t[0]];var Sd=.001,GC=e=>({outer:e.outer,inner:e.outer,attach:e.attach}),wx=(e,t,r)=>(Wc(e.at0,t)-Wc(r,t))/2,KC=(e,t)=>X(H(t,e.pickup.at0),e.axis);function Ad(e,t){let r=e.length;return t.map((n,o)=>{let a=Math.max(0,o-1),s=Math.min(r-1,o+1);return(t[s]-t[a])/(e[s]-e[a])})}function Rx(e,t){let r=[0,1,2].map(n=>Ad(e,t.map(o=>o[n])));return t.map((n,o)=>[r[0][o],r[1][o],r[2][o]])}function Fd(e){return{travel:e,heave:e.map(t=>t/2),heaveRatio:e.map(()=>.5),roll:[...e],rollRatio:e.map(()=>1)}}function vx(e,t,r,n){let o=e.corner;if(!t.heave&&!t.roll)return{side:Fd([n.min,n.max]),pickups:{}};let a=ot(ge(e,0,0)),s={};if(t.heave&&r){let h=GC(t.heave);s.heave={corner:o,link:h,at0:Pe(o,h,a)}}if(t.roll){let h=t.roll;s.roll={pickup:{corner:o,link:h,at0:Pe(o,h,a)},axis:Q(H(h.outer,gd(o,h,t.rollKind??"coil")))}}let i=t.roll&&Zr(o,t.roll,t.rollKind??"coil")?{near:t.roll,far:{...t.roll,outer:t.roll.inner}}:null,c=Oo(e,{travelMin:n.min,travelMax:n.max,steps:n.steps,steer:0}),l=[],u=[],m=[],f=[],p=[];for(let h of c.samples)!h.converged||l.length>0&&h.travel<=l[l.length-1]+1e-6||(l.push(h.travel),u.push(s.heave&&r?wx(s.heave,r,Pe(o,s.heave.link,h)):h.travel/2),m.push(s.roll?KC(s.roll,Pe(o,s.roll.pickup.link,h)):h.travel),i&&(f.push(Pe(o,i.near,h)),p.push(Pe(o,i.far,h))));if(l.length<2)return{side:Fd([n.min,n.max]),pickups:{}};let d={travel:l,heave:u,heaveRatio:Ad(l,u),roll:m,rollRatio:Ad(l,m)};return i&&(d.eyes={near:f,nearRatio:Rx(l,f),far:p,farRatio:Rx(l,p)}),{side:d,pickups:s}}function jc(e,t,r){let n=yr(e,r);return t[n]+(r-e[n])/(e[n+1]-e[n])*(t[n+1]-t[n])}function kx(e,t,r){let n=yr(e,r);return(t[n+1]-t[n])/(e[n+1]-e[n])}function ze(e,t){return{h:jc(e.travel,e.heave,t),dh:jc(e.travel,e.heaveRatio,t),ddh:kx(e.travel,e.heaveRatio,t),r:jc(e.travel,e.roll,t),dr:jc(e.travel,e.rollRatio,t),ddr:kx(e.travel,e.rollRatio,t)}}function Mx(e,t,r,n){let o=yr(e,n),a=e[o+1]-e[o],s=(n-e[o])/a,i=(u,m)=>[u[0]+s*(m[0]-u[0]),u[1]+s*(m[1]-u[1]),u[2]+s*(m[2]-u[2])],c=r[o],l=r[o+1];return{p:i(t[o],t[o+1]),d:i(c,l),dd:[(l[0]-c[0])/a,(l[1]-c[1])/a,(l[2]-c[2])/a]}}var wd=(e,t)=>Math.hypot(e[0]-t[0],e[1]+t[1],e[2]-t[2]);function Cx(e,t){let r=e.side[0].eyes,n=e.side[1].eyes;if(!r||!n)return null;let o=Mx(e.side[0].travel,r.near,r.nearRatio,t[0]),a=Mx(e.side[1].travel,n.far,n.farRatio,t[1]),s=[o.p[0]-a.p[0],o.p[1]+a.p[1],o.p[2]-a.p[2]],i=Math.hypot(s[0],s[1],s[2]),c=[s[0]/i,s[1]/i,s[2]/i],l=o.d,u=[-a.d[0],a.d[1],-a.d[2]],m=[-a.dd[0],a.dd[1],-a.dd[2]],f=X(c,l),p=X(c,u),d=(X(l,u)-f*p)/i;return{L:i,dL:[f,p],ddL:[[(X(l,l)-f*f)/i+X(c,o.dd),d],[d,(X(u,u)-p*p)/i+X(c,m)]]}}var Tx=(e,t)=>e.bump!==null&&t>e.bump?e.rate*(t-e.bump):e.droop!==null&&t<e.droop?e.rate*(t-e.droop):0,HC=(e,t)=>e.bump!==null&&t>e.bump||e.droop!==null&&t<e.droop?e.rate:0;function ss(e,t,r,n,o=0){let a=e.rollStop;if(!a)return r;let s=Cx(e,t);if(!s)return r;let i=Tx(a,a.length0-(n??s.L+o));return i===0?r:[r[0]-i*s.dL[0],r[1]-i*s.dL[1]]}function Uc(e,t){let r=Fd(e.travel);return t==="heave"?{...e,heave:r.heave,heaveRatio:r.heaveRatio}:{...e,roll:r.roll,rollRatio:r.rollRatio}}var Xc=(e,t)=>e?e.law?Bo(e.law,t):e.preload+e.rate*t:0,Sx=(e,t)=>e?e.law?dd(e.law,t):e.rate:0;function is(e,t,r,n,o){let a=Xc(e.heave,n),s=Xc(e.roll,o);return[a*t.dh+s*t.dr,a*r.dh-s*r.dr]}var Ax=(e,t)=>ze(e[0],t).h+ze(e[1],t).h;function zC(e,t){let r=e.gap>0?Ax(t,e.gap):0;return e.bothWays?{free:r,pull:e.gap>0?Ax(t,-e.gap):0}:{free:r,pull:null}}function YC(e,t,r){let n={...t,outer:t.inner},o=(u,m)=>{let f=ht(ge(e[0],u,0)),p=ht(ge(e[1],m,0));if(!f||!p)return NaN;let d=Pe(e[0].corner,t,f),h=Pe(e[1].corner,n,p);return 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P=-p[0].dh*p[1].dr-p[1].dh*p[0].dr;Math.abs(P)>1e-12&&(y=(-A[0]*p[1].dr-A[1]*p[0].dr)/P,x=(p[0].dh*A[1]-p[1].dh*A[0])/P)}else b>0?y=(A[0]+A[1])/d:g>0&&(x=(A[0]-A[1])/h)}let M={};if(c&&o){let A=[a.pickups.heave,s.pickups.heave];M.heave={pickups:A,mount:o,span0:as(A[0].at0,A[1].at0,o)}}let v=M.heave?M.heave.span0:NaN,R=M.heave?r.coilover:void 0,k=r.carriesLoad?ts(b,y,v,R):u?pd(b,{...zC(u,i),length0:v,coilover:R}):null,F=b>0?{rate:b,preload:y,...k?{law:k}:{}}:null;if(l&&(M.roll={pickups:[a.pickups.roll.pickup,s.pickups.roll.pickup],axes:[a.pickups.roll.axis,s.pickups.roll.axis]},r.roll&&Zr(e[0].corner,r.roll,r.rollKind??"coil"))){let A=YC(e,r.roll,i);A&&(M.roll.unit=A)}let w=g>0?{rate:g,preload:x}:null,C={side:i,heave:F,roll:w,force0:[0,0],carriesLoad:r.carriesLoad,read:M},T=M.roll?.unit,S=T&&g>0&&i[0].eyes&&i[1].eyes?Vo(T.length0,r.rollCoilover):null;return T&&S&&(S.droop!==null||S.bump!==null)&&(C.rollStop={length0:T.length0,rate:1e3*g/(T.scale*T.scale),...S}),C.force0=ss(C,[0,0],is(C,p[0],p[1],p[0].h+p[1].h,p[0].r-p[1].r)),C}function cs(e,t,r){let n=ze(e.side[0],t[0]),o=ze(e.side[1],t[1]),a=r?ss(e,t,is(e,n,o,n.h+o.h+r.heave,n.r-o.r+r.roll),void 0,r.unit):ss(e,t,is(e,n,o,n.h+o.h,n.r-o.r));return[a[0]-e.force0[0],a[1]-e.force0[1]]}function Cd(e,t,r){let n=ze(e.side[0],t[0]),o=ze(e.side[1],t[1]),a=r?n.h+o.h+r.heave:n.h+o.h,s=r?n.r-o.r+r.roll:n.r-o.r,i=Sx(e.heave,a),c=Sx(e.roll,s),l=Xc(e.heave,a),u=Xc(e.roll,s),m=i*n.dh*o.dh-c*n.dr*o.dr,f=[[i*n.dh*n.dh+l*n.ddh+c*n.dr*n.dr+u*n.ddr,m],[m,i*o.dh*o.dh+l*o.ddh+c*o.dr*o.dr-u*o.ddr]],p=e.rollStop,d=p?Cx(e,t):null;if(!p||!d)return f;let h=p.length0-(r?d.L+r.unit:d.L),b=HC(p,h);if(b===0)return f;let g=Tx(p,h),y=(M,v)=>b*d.dL[M]*d.dL[v]-g*d.ddL[M][v],x=m+y(0,1);return[[f[0][0]+y(0,0),x],[x,f[1][1]+y(1,1)]]}function Td(e,t,r){let n=Cd(e,t);return n[r][0]+n[r][1]}function WC(e,t,r){let n=e.read.heave;if(!n)return ze(e.side[0],t[0]).h+ze(e.side[1],t[1]).h;let[o,a]=n.pickups;return n.span0-as(Pe(o.corner,o.link,r[0]),Pe(a.corner,a.link,r[1]),n.mount)}function jC(e,t,r){let n=e.read.roll;if(!n)return ze(e.side[0],t[0]).r-ze(e.side[1],t[1]).r;let o=a=>X(H(Pe(n.pickups[a].corner,n.pickups[a].link,r[a]),n.pickups[a].at0),n.axes[a]);return o(0)-o(1)}function UC(e,t){let r=e.read.roll;if(!e.rollStop||!r)return;let[n,o]=r.pickups;return wd(Pe(n.corner,n.link,t[0]),Pe(o.corner,{...o.link,outer:o.link.inner},t[1]))}function ls(e,t,r){let n=ze(e.side[0],t[0]),o=ze(e.side[1],t[1]),a=ss(e,t,is(e,n,o,WC(e,t,r),jC(e,t,r)),UC(e,r));return[a[0]-e.force0[0],a[1]-e.force0[1]]}function Pd(e,t,r,n){let o=ze(e.side[0],r),a=ze(e.side[1],r),s=e.read.heave,i=s?.pickups[t],c=s&&i&&n?2*wx(i,s.mount,Pe(i.corner,i.link,n)):o.h+a.h,l=e.rollStop&&n?e.read.roll?.pickups[t]:void 0,u=l&&n?wd(Pe(l.corner,l.link,n),Pe(l.corner,{...l.link,outer:l.link.inner},n)):void 0;return ss(e,[r,r],is(e,o,a,c,n?0:o.r-a.r),u)[t]-e.force0[t]}function Ld(e,t,r,n){let o=$o(e,r[n]);return t?.carriesLoad?o+Td(t,r,n):o}var Dd=e=>e==="FR"||e==="RR"?1:0,Qc=(e,t)=>e.elements?.[t==="FL"||t==="FR"?"front":"rear"]??null;var Lx=e=>Number.isFinite(e)&&e>0?1/e:0;var Dx=(e,t)=>{let r=e[0][0]*e[1][1]-e[0][1]*e[1][0];return Math.abs(r)>1e-14?[(t[0]*e[1][1]-t[1]*e[0][1])/r,(e[0][0]*t[1]-e[1][0]*t[0])/r]:null},XC=(e,t)=>[e[0][0]*t[0]+e[0][1]*t[1],e[1][0]*t[0]+e[1][1]*t[1]],Ex=1e-8,QC=40;function qC(e,t,r,n){return{force:(s,i)=>{if(r){let u=cs(r,s,n);return[Ht(t[0],s[0])+i[0]+u[0],Ht(t[1],s[1])+i[1]+u[1]]}let c=(s[0]+s[1])/2,l=(s[0]-s[1])/2;return[Ht(t[0],s[0])+i[0]+e[0].heaveRate*c+e[0].arbRate*l,Ht(t[1],s[1])+i[1]+e[1].heaveRate*c-e[1].arbRate*l]},stiffness:(s,i=ns)=>{if(r){let c=Cd(r,s,n);return[[i(t[0],s[0])+c[0][0],c[0][1]],[c[1][0],i(t[1],s[1])+c[1][1]]]}return[[i(t[0],s[0])+e[0].heaveRate/2+e[0].arbRate/2,e[0].heaveRate/2-e[0].arbRate/2],[e[1].heaveRate/2-e[1].arbRate/2,i(t[1],s[1])+e[1].heaveRate/2+e[1].arbRate/2]]}}}function Ko(e,t,r,n,o,a=[0,0],s=[0,0],i=null,c){let l=[Lx(r[0].tyreRate),Lx(r[1].tyreRate)],u=[r[0].staticLoad,r[1].staticLoad],m=qC(r,n,i,c),f=P=>m.force(P,a),p=m.stiffness([0,0]),d=[l[0]>0?l[0]:1/Math.max(1,Math.abs(p[0][0])),l[1]>0?l[1]:1/Math.max(1,Math.abs(p[1][1]))],h=(P,L)=>{let D=L===1?f(P):m.force(P,[a[0]*L,a[1]*L]),E=[D[0]+s[0]*L,D[1]+s[1]*L],$=[P[0]+t[0]*L+E[0]*l[0]-e[0]*L,P[1]+t[1]*L+E[1]*l[1]-e[1]*L],O=[d[0]*(u[0]+E[0]),d[1]*(u[1]+E[1])],W=[O[0]<$[0],O[1]<$[1]];return{f:E,on:$,off:O,lifted:W,r:[Math.min($[0],O[0]),Math.min($[1],O[1])]}},b=(P,L)=>[L[0]?[d[0]*P[0][0],d[0]*P[0][1]]:[1+P[0][0]*l[0],P[0][1]*l[0]],L[1]?[d[1]*P[1][0],d[1]*P[1][1]]:[P[1][0]*l[1],1+P[1][1]*l[1]]],g=P=>Math.max(Math.abs(P[0]),Math.abs(P[1])),y=(P,L)=>{let D=[P[0],P[1]],E=h(D,L),$=!1,O=0;for(;O<QC;O++){if(g(E.r)<Ex){$=!0;break}let W=Dx(b(m.stiffness(D),E.lifted),[-E.r[0],-E.r[1]]);if(!W)break;let I=1,_=[D[0]+W[0],D[1]+W[1]],V=h(_,L);for(let N=0;N<8&&g(V.r)>g(E.r);N++)I/=2,_=[D[0]+I*W[0],D[1]+I*W[1]],V=h(_,L);D=_,E=V}return!$&&g(E.r)<Ex&&($=!0),{t:D,b:E,converged:$,it:O}},x=y(o?[o[0],o[1]]:[e[0]-t[0],e[1]-t[1]],1),M=x.it;if(!x.converged){let P=0,L=[0,0],D=.25;for(;P<1&&D>=1/256;){let E=Math.min(1,P+D),$=y(L,E);M+=$.it,$.converged?(P=E,L=$.t,E===1&&(x=$)):D/=2}}let{t:v,b:R,converged:k}=x,F=R.lifted,w=[F[0]?-u[0]:R.f[0],F[1]?-u[1]:R.f[1]],C=[F[0]?Math.max(0,R.on[0]):0,F[1]?Math.max(0,R.on[1]):0],T=m.stiffness(v,$o),S=b(T,F);return{t:v,dF:w,lifted:F,clearance:C,converged:k,iterations:M,respond:(P,L,D=[0,0])=>{let E=[F[0]?-d[0]*D[0]:P[0]-L[0]-D[0]*l[0],F[1]?-d[1]*D[1]:P[1]-L[1]-D[1]*l[1]],$=Dx(S,E);if(!$)return[NaN,NaN];let O=XC(T,$);return[F[0]?0:O[0]+D[0],F[1]?0:O[1]+D[1]]}}}var Fn=e=>!(Number.isFinite(e.tyreRate)&&e.tyreRate>0);function qt(e,t,r){return t?.input.corners[r].staticLoadedRadius??e}var Ed=["FL","FR","RL","RR"],Nx={front:["FL","FR"],rear:["RL","RR"]},ZC=512,JC=5e-4,eT=8;function qc(e,t){let r={},n={},o=new Map;for(let s of Ed){let i=e.ctx[s],c=t.corners[s],l=c.staticLoadedRadius;n[s]=ot(ge(i,0,0,void 0,l===void 0?void 0:{loadedRadius:l})).points.contactPatch[2];let u=t.cornerCoilover?.[s==="FL"||s==="FR"?"front":"rear"],m=`${Ed.findIndex(p=>$e(e.vehicle,p)===$e(e.vehicle,s))}|${c.springLoad}|${u?`${u.extended}/${u.stroke}`:""}`,f=o.get(m);f?r[s]=f:(r[s]=u?rs(i,c.springLoad,void 0,u):rs(i,c.springLoad),o.set(m,r[s]))}let a={front:null,rear:null};for(let s of["front","rear"]){let i=t.elements?.[s];if(!i)continue;let c=Nx[s];a[s]=Px([e.ctx[c[0]],e.ctx[c[1]]],[t.corners[c[0]],t.corners[c[1]]],i)}return{input:t,curve:r,elements:a,ground0:n,memo:new Map}}function Ox(e,t,r){if(!(r>0)||!Number.isFinite(r)||!Number.isFinite(t)||t<=0)return 0;let n=Math.min(t/r,e);return 2*Math.sqrt(Math.max(0,2*e*n-n*n))}var tT=e=>`${e.heave}|${e.pitch}|${e.roll}|${e.steer}`;function Id(e,t,r){return{travel:r.travel,steer:r.steer,ground:r.travel,tyreDeflection:0,load:NaN,loadedRadius:qt($e(e.vehicle,t).config.loadedRadius,e.kc,t),lifted:!1,contactLength:0,converged:!0,rigid:!0,rideRate:NaN,wheelRateAtLoad:NaN}}var rT=e=>e?{q:[e.pose.t[0],e.pose.t[1],e.pose.t[2],e.pose.omega[0],e.pose.omega[1],e.pose.omega[2]],phi:e.points.rockerAngle}:void 0;function Ix(e,t,r,n){let o=Nx[n],a=e.vehicle.config,s=o.map(w=>qr(w,a,r,e.vehicle)),i=[t.input.corners[o[0]],t.input.corners[o[1]]],c=t.loadCase;if(!c&&i.every(Fn))return{corners:[Id(e,o[0],s[0]),Id(e,o[1],s[1])],respond:null};let l=o.map(w=>t.curve[w]),u=t.elements?.[n]??null,m=o.map(w=>qt($e(e.vehicle,w).config.loadedRadius,t,w)),f=[s[0].travel+(c?.ground[o[0]]??0),s[1].travel+(c?.ground[o[1]]??0)],p=[c?.linkLoad[o[0]]??0,c?.linkLoad[o[1]]??0],d=[c?.patchShift[o[0]],c?.patchShift[o[1]]],h=[0,0],b=[0,0],g,y=Ko(f,h,i,l,void 0,void 0,p,u),x=[void 0,void 0],M=[!0,!0],v=[0,0],R=!1;for(let w=0;w<eT;w++){w>0&&(y=Ko(f,h,i,l,g,b,p,u)),v=[Number.isFinite(i[0].tyreRate)&&i[0].tyreRate>0?y.dF[0]/i[0].tyreRate:0,Number.isFinite(i[1].tyreRate)&&i[1].tyreRate>0?y.dF[1]/i[1].tyreRate:0];let C=[0,0],T=[0,0];for(let A=0;A<2;A++){let P=ge(e.ctx[o[A]],y.t[A],s[A].steer,rT(x[A]),{loadedRadius:m[A]-v[A],patchShift:d[A]}),L=ot(P);x[A]=L,M[A]=P.ok,C[A]=L.points.contactPatch[2]-t.ground0[o[A]]-y.t[A]-v[A],T[A]=gr(l[A],y.t[A],L.points.damperLength)-Ht(l[A],y.t[A])}if(u){let A=ls(u,y.t,[x[0],x[1]]),P=cs(u,y.t);T[0]+=A[0]-P[0],T[1]+=A[1]-P[1]}let S=Math.max(Math.abs(C[0]-h[0]),Math.abs(C[1]-h[1]),Math.abs(T[0]-b[0])/Math.max(1,i[0].tyreRate),Math.abs(T[1]-b[1])/Math.max(1,i[1].tyreRate));if(h=C,b=T,g=y.t,S<JC){R=!0;break}}let k=y.respond([1,1],[0,0]);return{corners:[0,1].map(w=>{let C=x[w];return{travel:y.t[w],steer:s[w].steer,ground:f[w],tyreDeflection:v[w],load:i[w].staticLoad+y.dF[w],loadedRadius:m[w]-v[w],lifted:y.lifted[w],clearance:y.clearance[w],contactLength:Ox(m[w]-v[w],i[w].staticLoad+y.dF[w],i[w].tyreRate),converged:y.converged&&R&&M[w],rigid:!1,state:C,solved:M[w],rideRate:k[w],wheelRateAtLoad:Ld(l[w],u,y.t,w)}}),respond:y.respond}}function Vx(e,t){let r=e.kc,n=tT(t),o=r.memo.get(n);if(o)return o;let a=Ix(e,r,t,"front"),s=Ix(e,r,t,"rear"),i={corners:{FL:a.corners[0],FR:a.corners[1],RL:s.corners[0],RR:s.corners[1]},respond:{front:a.respond,rear:s.respond}};return r.memo.size>=ZC&&r.memo.clear(),r.memo.set(n,i),i}function gt(e,t){if(!e.kc){let r={};for(let n of Ed)r[n]=Id(e,n,qr(n,e.vehicle.config,t,e.vehicle));return r}return Vx(e,t).corners}function Zc(e,t,r){return e.kc?Vx(e,t).respond[r]:null}function us(e,t,r,n=0){let o=e.kc;if(!o)return r;let a=o.input.corners[t];if(Fn(a))return r;let s=qr(t,e.vehicle.config,{heave:0,pitch:0,roll:0,steer:n},e.vehicle).steer,i=qt($e(e.vehicle,t).config.loadedRadius,o,t),c=o.loadCase,l=c?.linkLoad[t]??0,u=c?.patchShift[t],m=ot(ge(e.ctx[t],r,s,void 0,{loadedRadius:i,patchShift:u})),f=Qc(o,t),p=gr(o.curve[t],r,m.points.damperLength)+(f?Pd(f,Dd(t),r,m):a.heaveRate*r),h=Math.max(p+l,-a.staticLoad)/a.tyreRate;return(h===0?m:ot(ge(e.ctx[t],r,s,void 0,{loadedRadius:i-h,patchShift:u}))).points.contactPatch[2]-o.ground0[t]-(c?.ground[t]??0)}var nT=180/Math.PI,oT=[0,0,1];function aT(e,t){let r=Qr(e,t),n=U(ae(oT,r),-t.sideSign);return-Math.atan2(n[1],n[0])*nT}var Bx=e=>1/Math.tan(e*Math.PI/180),$x=.05,Gx=.001;function Kx(e,t,r){if(!Number.isFinite(e)||!Number.isFinite(t))return NaN;if(!(Math.abs(e)<Gx&&Math.abs(t)<Gx))return e>0&&t>0?100*(Bx(t)-Bx(e))/r:NaN}function sT(e,t){let r=Xr(e.vehicle,!0)/e.vehicle.config.wheelbase,n=t("FL",0).deg,o=t("FR",0).deg,a=(c,l)=>{let u=c+l>=0;return{left:u,inner:u?c:-l,outer:u?l:-c}},s,i=()=>{if(s===void 0){let c=[$x,-$x].map(l=>{let{inner:u,outer:m}=a(t("FL",l).deg-n,t("FR",l).deg-o);return Kx(u,m,r)??NaN});s=(c[0]+c[1])/2}return s};return c=>{let l=t("FL",c),u=t("FR",c),{left:m,inner:f,outer:p}=a(l.deg-n,u.deg-o),d=Kx(f,p,r);return{steerL:l.deg,steerR:u.deg,inner:f,outer:p,toeDiff:f-p,ackermannPct:d??i(),inside:d===void 0?null:m?"left":"right",converged:l.ok&&u.ok}}}function _d(e,t){let r=e.vehicle.config,n={FL:Ze("FL",r),FR:Ze("FR",r)},o=t.travel??0,a=sT(e,(i,c)=>{let l=ht(ge(e.ctx[i],o,n[i].sideSign*c));return{deg:l?aT(l.points.spinAxis,n[i]):NaN,ok:l!==null}}),s=[];for(let i=0;i<t.steps;i++){let c=t.steps===1?0:-t.steerMax+2*t.steerMax*i/(t.steps-1),{inside:l,...u}=a(c);s.push({steerInput:c,...u})}return s}var Hx=35,zx=55,Ot=e=>e.rackTravel&&e.rackTravel>0?e.rackTravel:Hx,Nd=e=>e.rackRatio&&e.rackRatio>0?e.rackRatio:zx;var Od=e=>({q:[e.pose.t[0],e.pose.t[1],e.pose.t[2],e.pose.omega[0],e.pose.omega[1],e.pose.omega[2]],phi:e.points.rockerAngle});function Yx(e,t,r,n,o){let a=ge(e,n,0,void 0,o),s=ot(a),i=a.ok?0:1,c=s.points.contactPatch[2],l={steer:s.metrics.toe,camber:s.metrics.camber,lift:0,contactPatch:s.points.contactPatch,spinAxis:s.points.spinAxis,yaw:-s.metrics.toe*Math.PI/180},u=p=>{let d=[l],h=Od(s);for(let b=1;b<=r;b++){let g=p*(t*b)/r,y=Ee(e,s.beta,g,h,o),x=ht(ge(e,n,g,Od(y),o));if(!x||!y.converged){i++,d.push({...d[d.length-1]});continue}d.push({steer:x.metrics.toe,camber:x.metrics.camber,lift:-(y.points.contactPatch[2]-c),contactPatch:y.points.contactPatch,spinAxis:y.points.spinAxis,yaw:-y.metrics.toe*Math.PI/180}),h=Od(y)}return d},m=u(1),f=u(-1);return{travelMm:n,unsolved:i,centre:l,positive:m,negative:f}}function iT(e,t){return e.map((r,n)=>{let o=n===0?0:n-1,a=n===e.length-1?e.length-1:n+1,s=t[a]-t[o];if(!(s>0))return{longitudinal:0,lateral:0,vertical:0,yaw:0};let i=U(H(e[a].contactPatch,e[o].contactPatch),1/s),c=Q(ae(r.spinAxis,[0,0,1])),l=ae([0,0,1],c);return{longitudinal:X(i,c),lateral:X(i,l),vertical:i[2],yaw:(e[a].yaw-e[o].yaw)/s}})}function Wx(e,t,r){let n=o=>({steerDeg:o.map(a=>Math.abs(a.steer-e.centre.steer)),camberDeg:o.map(a=>a.camber-e.centre.camber),liftMm:o.map(a=>a.lift),jacobian:iT(o,t)});return{travelMm:e.travelMm,inner:n(r?e.positive:e.negative),outer:n(r?e.negative:e.positive)}}function cT(e){return e.positive[1].steer-e.centre.steer<0}function lT(e,t,r){return{meanDeg:t.map((n,o)=>.5*(r.inner.steerDeg[o]+r.outer.steerDeg[o])),innerDeg:r.inner.steerDeg,outerDeg:r.outer.steerDeg,innerCamber:r.inner.camberDeg,outerCamber:r.outer.camberDeg,innerLift:r.inner.liftMm,outerLift:r.outer.liftMm,rackRatioMmPerRev:Nd(e.config),innerJacobian:r.inner.jacobian,outerJacobian:r.outer.jacobian}}function Vd(e,t,r=13,n=-40,o=40,a=5,s){let i=et(e),c=Array.from({length:r+1},(b,g)=>t*g/r),l=Yx(i,t,r,0,s),u=cT(l),m=Wx(l,c,u),f=Math.max(2,Math.floor(a)),p=Array.from({length:f},(b,g)=>n+(o-n)*g/(f-1));p.some(b=>Math.abs(b)<1e-9)||p.push(0),p.sort((b,g)=>b-g);let d=l.unsolved,h=p.map(b=>{if(Math.abs(b)<1e-9)return m;let g=Yx(i,t,r,b,s);return d+=g.unsolved,Wx(g,c,u)});return{...lT(e,c,m),...jx(l.unsolved),travelSurface:{rackMm:c,rows:h,...jx(d)}}}var jx=e=>e>0?{unsolved:e}:{};function Zt(e,t,r){let n=e.length;if(n===0)return 0;if(r<=e[0])return t[0];if(r>=e[n-1])return t[n-1];let o=0,a=n-1;for(;a-o>1;){let i=o+a>>1;e[i]<=r?o=i:a=i}let s=(r-e[o])/(e[a]-e[o]);return t[o]+s*(t[a]-t[o])}function Jc(e,t,r){let n=e.length;if(n===0)return{longitudinal:0,lateral:0,vertical:0,yaw:0};let o,a;if(r<=e[0])o=a=0;else if(r>=e[n-1])o=a=n-1;else for(o=0,a=n-1;a-o>1;){let l=o+a>>1;e[l]<=r?o=l:a=l}let s=t[o];if(o===a)return{longitudinal:s.longitudinal,lateral:s.lateral,vertical:s.vertical,yaw:s.yaw};let i=t[a],c=(r-e[o])/(e[a]-e[o]);return{longitudinal:s.longitudinal+c*(i.longitudinal-s.longitudinal),lateral:s.lateral+c*(i.lateral-s.lateral),vertical:s.vertical+c*(i.vertical-s.vertical),yaw:s.yaw+c*(i.yaw-s.yaw)}}function Ux(e,t){let r=e.rows;if(r.length<=1||t<=r[0].travelMm)return{lo:0,hi:0,t:0};let n=r.length-1;if(t>=r[n].travelMm)return{lo:n,hi:n,t:0};let o=0,a=n;for(;a-o>1;){let s=o+a>>1;r[s].travelMm<=t?o=s:a=s}return{lo:o,hi:a,t:(t-r[o].travelMm)/(r[a].travelMm-r[o].travelMm)}}var wn=(e,t,r)=>e+r*(t-e);function Ho(e,t,r,n,o){let a=Zt(e.rackMm,e.rows[n.lo][t][r],o);if(n.lo===n.hi)return a;let s=Zt(e.rackMm,e.rows[n.hi][t][r],o);return wn(a,s,n.t)}function Xx(e,t,r,n){let o=Jc(e.rackMm,e.rows[r.lo][t].jacobian,n);if(r.lo===r.hi)return o;let a=Jc(e.rackMm,e.rows[r.hi][t].jacobian,n);return{longitudinal:wn(o.longitudinal,a.longitudinal,r.t),lateral:wn(o.lateral,a.lateral,r.t),vertical:wn(o.vertical,a.vertical,r.t),yaw:wn(o.yaw,a.yaw,r.t)}}function zo(e,t,r,n){let o=e.travelSurface;if(!o||o.rackMm.length<2||o.rows.length===0)return Yo(e,t);let a=Ux(o,r),s=Ux(o,n),i=(p,d,h)=>{let b=o.rows[d.lo][p].steerDeg[h];return d.lo===d.hi?b:wn(b,o.rows[d.hi][p].steerDeg[h],d.t)},c=new Array(o.rackMm.length);for(let p=0;p<c.length;p++)c[p]=.5*(i("inner",a,p)+i("outer",s,p));let l=Math.max(0,t),u=c.length-1,m=o.rackMm[u],f=l>c[u];if(l<=c[0])m=o.rackMm[0],f=!1;else if(!f){let p=1;for(;p<c.length-1&&c[p]<l;)p++;let d=p-1,h=c[p]-c[d],b=Math.abs(h)>1e-12?(l-c[d])/h:0;m=wn(o.rackMm[d],o.rackMm[p],b)}return{innerDeg:Ho(o,"inner","steerDeg",a,m),outerDeg:Ho(o,"outer","steerDeg",s,m),innerCamber:Ho(o,"inner","camberDeg",a,m),outerCamber:Ho(o,"outer","camberDeg",s,m),innerLift:Ho(o,"inner","liftMm",a,m),outerLift:Ho(o,"outer","liftMm",s,m),innerJacobian:Xx(o,"inner",a,m),outerJacobian:Xx(o,"outer",s,m),atLock:f}}function Yo(e,t){let r=e.meanDeg.length-1;return{innerDeg:Zt(e.meanDeg,e.innerDeg,t),outerDeg:Zt(e.meanDeg,e.outerDeg,t),innerCamber:Zt(e.meanDeg,e.innerCamber,t),outerCamber:Zt(e.meanDeg,e.outerCamber,t),innerLift:e.innerLift?Zt(e.meanDeg,e.innerLift,t):0,outerLift:e.outerLift?Zt(e.meanDeg,e.outerLift,t):0,...e.innerJacobian&&e.outerJacobian?{innerJacobian:Jc(e.meanDeg,e.innerJacobian,t),outerJacobian:Jc(e.meanDeg,e.outerJacobian,t)}:{},atLock:r>=0&&t>e.meanDeg[r]}}var uT=()=>({lift:{FL:0,FR:0,RL:0,RR:0},travel:{FL:0,FR:0,RL:0,RR:0},load:{FL:0,FR:0,RL:0,RR:0},rollDeg:0});function Wo(e,t,r=Ce(e),n){let o=e.steerFront;if(!o?.innerLift||!o.outerLift||o.meanDeg.length<2||Math.abs(t)<1e-12)return uT();let a=Math.abs(t),s=t>0,i=n&&o.travelSurface?zo(o,a,s?n.FL:n.FR,s?n.FR:n.FL):null,c=i?.innerLift??Zt(o.meanDeg,o.innerLift,a),l=i?.outerLift??Zt(o.meanDeg,o.outerLift,a),u=s?c:l,m=s?l:c,f=.5*(u+m),p=r.rollWheelRateFront,d=r.rollWheelRateRear,h=e.trackFront,b=e.trackRear,g=p*h*h+d*b*b,y=g>0?p*h*(m-u)/g:0,x={FL:u-f+.5*h*y,FR:m-f-.5*h*y,RL:.5*b*y,RR:-.5*b*y};return{lift:{FL:u,FR:m,RL:0,RR:0},travel:x,load:{FL:p*x.FL,FR:p*x.FR,RL:d*x.RL,RR:d*x.RR},rollDeg:y===0?0:-Math.atan(y)*180/Math.PI}}function Bd(e,t,r){let n=t/r,o=a=>1/Math.tan(a*Math.PI/180);for(let a=0;a<e.meanDeg.length;a++)if(e.outerDeg[a]>.3&&e.innerDeg[a]>.3)return 100*(o(e.outerDeg[a])-o(e.innerDeg[a]))/n;return NaN}var ms=9.81;function jo(e,t,r=0,n=0,o=0){if(!e.aero||t<=0)return{FL:0,FR:0,RL:0,RR:0};let a=e.aero.model?Wr(e,t,r,Do(e,n,o)):Po(e.aero,t),s=a.downFront/2,i=a.downRear/2,c=a.drag*(e.aero.copHeight/1e3)/(e.wheelbase/1e3)/2;return{FL:s-c,FR:s-c,RL:i+c,RR:i+c}}function $d(e,t,r=0,n=0,o=0){if(!e.aero?.model||t<=0)return!1;let a=Wr(e,t,r,Do(e,n,o));return a!=null&&(a.clampedRide||a.clampedAttitude)}function Cn(e){let t=e.loadFactor===void 0?e.massTotal*ms:e.massTotal*ms*e.loadFactor,r=t*e.frontMassFrac,n=t*(1-e.frontMassFrac);return{FL:r/2,FR:r/2,RL:n/2,RR:n/2}}function Qx(e,t=Ce(e),r=e.cgHeight){let n=e.trackFront/1e3,o=e.trackRear/1e3,a=e.rcHeightFront/1e3,s=e.rcHeightRear/1e3,i=(e.rcHeightFront+(e.rcHeightRear-e.rcHeightFront)*(1-e.frontMassFrac))/1e3,c=r/1e3-i,l=2*e.unsprungPerCorner,u=e.unsprungCgHeight/1e3,m=t.sprungMass*c*Tc(t.sprungMass,c,t.rollRateTotal),f=(m*t.frontRollStiffFrac+t.sprungFront*a+l*u)/n,p=(m*(1-t.frontRollStiffFrac)+t.sprungRear*s+l*u)/o;return{cf:f,cr:p}}function Gd(e){let{cf:t,cr:r}=Qx(e);return t+r>0?t/(t+r):.5}function qx(e,t,r){if(e.FL>=0&&e.FR>=0&&e.RL>=0&&e.RR>=0)return{loads:{FL:Math.max(0,e.FL),FR:Math.max(0,e.FR),RL:Math.max(0,e.RL),RR:Math.max(0,e.RR)},lifted:{FL:!1,FR:!1,RL:!1,RR:!1},overturned:!1};let n=e.FL+e.FR+e.RL+e.RR;if(!(n>0))return{loads:{FL:0,FR:0,RL:0,RR:0},lifted:{FL:!0,FR:!0,RL:!0,RR:!0},overturned:!0};let o=!1,a=e.FL+e.FR,s=e.RL+e.RR;a<0?(a=0,s=n,o=!0):s<0&&(s=0,a=n,o=!0);let i=(e.FR-e.FL)*t+(e.RR-e.RL)*r,c=Math.min(a,Math.max(-a,e.FR-e.FL)),l=Math.min(s,Math.max(-s,e.RR-e.RL)),u=i-(c*t+l*r);if(u!==0){let f=u>0?1:-1,p=(f*a-c)*t;f*u>=f*p?(c=f*a,u-=p):(c+=u/t,u=0);let d=(f*s-l)*r;u!==0&&(f*u>=f*d?(l=f*s,u-=d):(l+=u/r,u=0)),Math.abs(u)>1e-9*(Math.abs(i)+n*(t+r))&&(o=!0)}let m={FL:Math.max(0,(a-c)/2),FR:Math.max(0,(a+c)/2),RL:Math.max(0,(s-l)/2),RR:Math.max(0,(s+l)/2)};return{loads:m,lifted:{FL:m.FL===0,FR:m.FR===0,RL:m.RL===0,RR:m.RR===0},overturned:o}}function Le(e,t,r,n=0,o=0,a=0,s,i){return el(e,t,r,n,o,a,s,i).loads}function el(e,t,r,n=0,o=0,a=0,s,i){let c=Cn(e),l=Ce(e),u=Bc(e,n,r,Do(e,t,o),l),{cf:m,cr:f}=Qx(e,l,u.height),p=m*t*ms,d=f*t*ms,h=e.massTotal*(r*ms)*u.height/e.wheelbase-u.noseLoad,b=jo(e,n,r,t,o),g=(i??Wo(e,a,l,s)).load,y={FL:c.FL-p-h/2+b.FL+g.FL,FR:c.FR+p-h/2+b.FR+g.FR,RL:c.RL-d+h/2+b.RL+g.RL,RR:c.RR+d+h/2+b.RR+g.RR};return qx(y,e.trackFront,e.trackRear)}var Kd=Math.PI/180;function rl(e,t){let r=8*Kd,n=0,o=0;for(let a=1;a<=90;a++){let s=a*.5,i=Math.abs(e.Fy(s*Kd,t,0));if(i>n&&(n=i,r=s*Kd,o=a),a>o+12&&i<.995*n)break}return{aPeak:r,fyPeak:n}}function Zx(e,t,r,n,o){if(n===t)return r;let a=(o-t)/(n-t);return a<=0?e:a>=1?r:e+a*(r-e)}var ds=.999;function St(e,t,r,n,o){if(t<=0)return 0;let{aPeak:a,fyPeak:s}=o??rl(e,t),i=Math.min(Math.abs(r),ds*s),c=n?-1:1,l=(v,R)=>Math.abs(e.forces({Fz:t,kappa:c*v,alpha:R}).Fy),u=.3,m=u,f=l(u,a);if(f<i){let v=0,R=u,k=NaN,F=f;for(let w=0;w<9;w++){let C=.5*(v+R),T=l(C,a);T>=i?(v=C,k=T):(R=C,F=T)}Number.isNaN(k)&&(k=l(0,a)),m=k<i?0:Zx(v,k,R,F,i)}if(m<=0)return 0;let p=v=>{if(i===0)return 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s=n*t*a/6;if(!r(s))break;o=Math.abs(s)}return{lock:t,reached:o,side:n}}return null}var Wd=40;function al(e){return{violation:Math.max(0,e.lock-e.reached),reason:`the steering reaches only ${e.reached.toFixed(0)} mm of the ${e.lock.toFixed(0)} mm rack travel${e.side<0?" 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s=ae(H(e.contactPatch,o),t),i=r??oR,c=[-t[0],-t[1],-t[2],-(s[0]+i[0]),-(s[1]+i[1]),-(s[2]+i[2])],l=Qt(a,c),u=l.x;return{ucaFront:u[0],ucaRear:u[1],lcaFront:u[2],lcaRear:u[3],tieRod:u[4],pushRod:u[5],damper:l.singular||e.decoupled?NaN:e.direct?u[5]:yT(e,u[5]),condProxy:l.condProxy,singular:l.singular}}function xT(e,t,r){let n=e.wheelCenter,o=e.damperChassis,a=[{at:e.uprightLower,dir:Q(H(e.lcaFront,e.uprightLower))},{at:e.uprightLower,dir:Q(H(e.lcaRear,e.uprightLower))},{at:e.tieOuter,dir:Q(H(e.tieInner,e.tieOuter))},{at:o,dir:[1,0,0]},{at:o,dir:[0,1,0]},{at:o,dir:[0,0,1]}],s=[[],[],[],[],[],[]];for(let b=0;b<6;b++){let g=a[b].dir,y=ae(H(a[b].at,n),g);s[0][b]=g[0],s[1][b]=g[1],s[2][b]=g[2],s[3][b]=y[0],s[4][b]=y[1],s[5][b]=y[2]}let 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a=t==="lowerArm",s=a?{bj:e.uprightUpper,front:e.ucaFront,rear:e.ucaRear}:{bj:e.uprightLower,front:e.lcaFront,rear:e.lcaRear},i=a?{bj:e.uprightLower,front:e.lcaFront,rear:e.lcaRear}:{bj:e.uprightUpper,front:e.ucaFront,rear:e.ucaRear},c=e.wheelCenter,l=Q(H(s.front,s.bj)),u=Q(H(s.rear,s.bj)),m=Q(H(e.tieInner,e.tieOuter)),f=[{at:s.bj,dir:l},{at:s.bj,dir:u},{at:e.tieOuter,dir:m},{at:i.bj,dir:[1,0,0]},{at:i.bj,dir:[0,1,0]},{at:i.bj,dir:[0,0,1]}],p=[[],[],[],[],[],[]];for(let q=0;q<6;q++){let ne=f[q].dir,te=ae(H(f[q].at,c),ne);p[0][q]=ne[0],p[1][q]=ne[1],p[2][q]=ne[2],p[3][q]=te[0],p[4][q]=te[1],p[5][q]=te[2]}let d=ae(H(e.contactPatch,c),r),h=n??RT,b=[-r[0],-r[1],-r[2],-(d[0]+h[0]),-(d[1]+h[1]),-(d[2]+h[2])],g=Qt(p,b),y=g.singular,x=g.x,M=x[0],v=x[1],R=x[2],k=[x[3],x[4],x[5]],F=Q(H(i.rear,i.front)),w=Q(H(o,e.pushrodOuter)),C=U(k,-1),T=(q,ne)=>X(F,ae(H(q,i.front),ne)),S=T(e.pushrodOuter,w),A=Math.abs(S)>1e-9?-T(i.bj,C)/S:NaN,P=ee(C,U(w,A)),L=U(P,-1),D=Q(H(i.front,i.bj)),E=Q(H(i.rear,i.bj)),$=X(D,D),O=X(D,E),W=X(E,E),I=X(D,L),_=X(E,L),V=$*W-O*O,N=NaN,G=NaN,K=NaN;if(Math.abs(V)>1e-12){N=(I*W-_*O)/V,G=($*_-O*I)/V;let q=ee(U(D,N),U(E,G)),ne=H(L,q);K=Math.hypot(ne[0],ne[1],ne[2])}let z=a?{f:M,r:v}:{f:N,r:G},j=a?{f:N,r:G}:{f:M,r:v};return{ucaFront:z.f,ucaRear:z.r,lcaFront:j.f,lcaRear:j.r,tieRod:R,pushRod:A,damper:y||!Number.isFinite(A)||e.decoupled?NaN:e.direct?A:vT(e,A),condProxy:g.condProxy,singular:y,armResidual:K}}function vT(e,t){let 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u=e.forces(l),m=t.forces(l);return{Fx:n(u.Fx,m.Fx),Fy:n(u.Fy,r*m.Fy),Mz:n(u.Mz,r*m.Mz)}},s=(l,u,m=0,f)=>n(e.Fx(l,u,m,f),t.Fx(l,u,m,f)),i=(l,u,m=0,f)=>n(e.Fy(l,u,m,f),r*t.Fy(l,u,m,f)),c=(l,u,m=0,f)=>n(e.Mz(l,u,m,f),r*t.Mz(l,u,m,f));return{model:e.model,forces:a,Fx:s,Fy:i,Mz:c,muX:l=>Xo(u=>s(u,l),.6,.02)/Math.max(1,l),muY:l=>Xo(u=>i(u*CT,l),45,1)/Math.max(1,l),corneringStiffness:l=>n(e.corneringStiffness(l),t.corneringStiffness(l)),verticalStiffness:()=>o(e.verticalStiffness(),t.verticalStiffness()),rollingRadius:l=>o(e.rollingRadius(l),t.rollingRadius(l)),relaxationLength:l=>o(e.relaxationLength(l),t.relaxationLength(l)),axle:l=>l==="front"?e:t}}function ut(e){if(yR.has(e))return e;let t=xR.get(e);if(t)return t;let r;if(e.axle){let n=e.axle("front"),o=e.axle("rear"),a=ut(n),s=ut(o);r=a===n&&s===o?e:hl(a,s)}else Qo(e)>0?r=e:r={...e,forces:n=>{let o=e.forces(n);return{Fx:o.Fx,Fy:-o.Fy,Mz:-o.Mz}},Fy:(n,o,a,s)=>-e.Fy(n,o,a,s),Mz:(n,o,a,s)=>-e.Mz(n,o,a,s)};return yR.add(r),r!==e&&xR.set(e,r),r}var yR=new WeakSet,xR=new WeakMap;var bl=25*(Math.PI/180);function TT(e){let t=.6180339887,r=0,n=bl,o=n-t*(n-r),a=r+t*(n-r),s=e(o),i=e(a);for(let l=0;l<12;l++)s>i?(n=a,a=o,i=s,o=n-t*(n-r),s=e(o)):(r=o,o=a,s=i,a=r+t*(n-r),i=e(a));return{alpha:s>i?o:a,force:Math.max(s,i)}}function vs(e,t,r,n,o=0){let a=Math.abs(t);if(!(a>0))return 0;let s=u=>Math.abs(e.Fy(u,r,0))+Math.abs(e.Fy(u,n,0)),i=0,c=bl;if(s(bl)<=a){let u=TT(s);if(u.force<=a)return u.alpha;c=u.alpha}else if(o>0){let u=Math.max(0,o*.6),m=Math.min(bl,o*1.6+.001);s(u)<a&&s(m)>=a&&(i=u,c=m)}let l=.001*a;for(let u=0;u<12;u++){let m=.5*(i+c),f=s(m)-a;if(f<0?i=m:c=m,Math.abs(f)<=l)return m}return c}var Qd={shaft:!1,trail:0,hub:[0,0,0]};function vR(e){let t=e.spinAxis,r=Math.hypot(t[0],t[1]);if(r<1e-9)return[1,0,0];let n=[-t[1]/r,t[0]/r,0];return n[0]<0?[-n[0],-n[1],0]:n}function qd(e,t,r){let n=r.shaft?jd(e,t):[0,0,0];if(r.trail!==0){let a=vR(e),s=[t[0],t[1],0],i=H(s,U(a,X(s,a)));n=ee(n,ae(U(a,-r.trail),i))}let o=r.hub;return(o[0]!==0||o[1]!==0||o[2]!==0)&&(n=H(n,ae(H(e.contactPatch,e.wheelCenter),o))),{force:ee(t,o),moment:n}}var PT=(e,t)=>{let r=e!==void 0&&e>0?1/e:0,n=t!==void 0&&t>0?1/t:0;return r+n},gl={ucaFront:0,ucaRear:0,lcaFront:0,lcaRear:0,tieRod:0,pushRod:0,rack:0};function Tn(e){return!e.measured}function Pn(e){if(!e)return!1;let t=r=>!!r&&Object.values(r).some(n=>n!==void 0&&n>0&&Number.isFinite(n));return t(e.links)||t(e.bushings)||e.rack!==void 0&&e.rack>0}function ks(e,t){let r=e.corner.hardpoints,n=Za(e.rocker,t.points.rockerAngle);return{ucaFront:r.ucaFront,ucaRear:r.ucaRear,lcaFront:r.lcaFront,lcaRear:r.lcaRear,tieInner:Eo(e.inv,t.steer),rockerPivotA:r.rockerPivotA,rockerPivotB:r.rockerPivotB,damperChassis:e.inv.strut?t.points.uprightUpper:r.damperChassis,uprightUpper:t.points.uprightUpper,uprightLower:t.points.uprightLower,tieOuter:t.points.tieOuter,wheelCenter:t.points.wheelCenter,pushrodOuter:t.points.pushrodOuter,contactPatch:t.points.contactPatch,kingpinGround:t.points.kingpinGround,kingpinAtHub:t.points.kingpinAtHub,rockerToPushrod:n.pushrod,rockerToDamper:n.damper,spinAxis:t.points.spinAxis,direct:e.corner.config.actuation==="direct",decoupled:e.corner.config.actuation==="decoupled",mcpherson:e.inv.strut!==void 0,loadedRadius:e.corner.config.loadedRadius,tyreDeflection:0,load:NaN,lifted:!1,clearance:0,contactLength:0}}function Zd(e,t,r=0){let n=t.links??{},o=t.bushings??{},a=(l,u,m)=>{let f=PT(u,m);return f>0&&Number.isFinite(l)?l*f:0},s=o.topMount,i=e.topMount,c=i&&s!==void 0&&s>0&&i.every(Number.isFinite)?[-i[0]/s,-i[1]/s,-i[2]/s]:void 0;return{...c?{topMount:c}:{},ucaFront:a(e.ucaFront,n.ucaFront,o.ucaFront),ucaRear:a(e.ucaRear,n.ucaRear,o.ucaRear),lcaFront:a(e.lcaFront,n.lcaFront,o.lcaFront),lcaRear:a(e.lcaRear,n.lcaRear,o.lcaRear),tieRod:a(e.tieRod,n.tieRod,o.tieInner),pushRod:a(e.pushRod,n.pushRod,void 0),rack:r}}function kR(e,t,r,n){let o=ve(e,t);if(!(o>1e-9))return{axial:r,radius2:0};let a=(r*r-n*n+o*o)/(2*o);return{axial:a,radius2:Math.max(0,r*r-a*a)}}function Ms(e,t){let r=e.corner.hardpoints,n=e.inv,o={...n};if(n.strut&&t.topMount&&t.topMount.some(i=>i!==0)&&(o.strut={...n.strut,top:ee(n.strut.top,t.topMount)}),t.ucaFront!==0||t.ucaRear!==0){let i=kR(r.ucaFront,r.ucaRear,ve(r.uprightUpper,r.ucaFront)+t.ucaFront,ve(r.uprightUpper,r.ucaRear)+t.ucaRear);o.ubjAxial0=i.axial,o.ubjRadius2=i.radius2}if(t.lcaFront!==0||t.lcaRear!==0){let i=kR(r.lcaFront,r.lcaRear,ve(r.uprightLower,r.lcaFront)+t.lcaFront,ve(r.uprightLower,r.lcaRear)+t.lcaRear),c=X(n.lbjRel0,n.lcaDir),l=H(n.lbjRel0,U(n.lcaDir,c)),u=Math.hypot(l[0],l[1],l[2]);o.lbjRel0=u>1e-9?ee(U(n.lcaDir,i.axial),U(l,Math.sqrt(i.radius2)/u)):ee(U(n.lcaDir,i.axial),l)}if(t.tieRod!==0){let i=Math.sqrt(n.tieLen2)+t.tieRod;o.tieLen2=i*i}if(t.rack!==0&&(o.tieInner0=ee(n.tieInner0,U(n.rackAxis,t.rack))),t.pushRod===0)return{corner:e.corner,inv:o,rocker:e.rocker};let a=Math.sqrt(e.rocker.rodLen2)+t.pushRod,s={...e.rocker,rodLen2:a*a};return{corner:e.corner,inv:o,rocker:s}}var LT=8,DT=1e-5,ET=e=>({q:[e.pose.t[0],e.pose.t[1],e.pose.t[2],e.pose.omega[0],e.pose.omega[1],e.pose.omega[2]],phi:e.points.rockerAngle});function Jd(e,t,r){let n=qd(e,r.force,r.extras??Qd),o=r.alignMoment?ee(n.moment,[0,0,r.alignMoment]):n.moment;return fs(e,t,n.force,o)}function xl(e,t,r,n,o,a,s=0){let i=Ee(e,t,r,o,a),c=e.corner.compliance;if(!(Pn(c)&&Tn(e.corner)))return{state:i,forces:Jd(ks(e,i),e.corner.config.pushrodAttach,n),deflection:gl,rigid:i,iterations:0,converged:!0,bypassed:!0};let u=i,m=e,f=e.corner.config.pushrodAttach,p=Jd(ks(e,i),f,n),d=gl,h=!1,b=0;for(;b<LT;b++){let g=ks(m,u);if(p=Jd(g,f,n),p.singular)break;d=Zd(p,c,s),m=Ms(e,d);let y=Ee(m,t,r,ET(u),a),x=ve(y.points.wheelCenter,u.points.wheelCenter);if(u=y,x<DT){h=!0;break}}return{state:u,forces:p,deflection:d,rigid:i,iterations:b+1,converged:h&&u.converged,bypassed:!1}}var yl=1e3,MR=1e5;function SR(e,t,r,n,o){let a=xl(e,t,r,n,void 0,o);return{toe:a.state.metrics.toe,camber:a.state.metrics.camber,patch:a.state.points.contactPatch,converged:a.converged,bypassed:a.bypassed}}function Rl(e,t,r,n,o){let a={force:[0,0,n]},s=(b,g=0)=>SR(e,t,r,{force:b,alignMoment:g},o),i=SR(e,t,r,a,o);if(i.bypassed)return{toePerLateral:0,camberPerLateral:0,toePerLongitudinal:0,camberPerLongitudinal:0,toePerAligning:0,lateralPatch:0,longitudinalPatch:0,bypassed:!0,converged:!0};let c=s([0,yl,n]),l=s([0,-yl,n]),u=s([yl,0,n]),m=s([-yl,0,n]),f=s([0,0,n],MR),p=s([0,0,n],-MR),d=(b,g)=>(b-g)/2,h=[i,c,l,u,m,f,p].every(b=>b.converged);return{toePerLateral:d(c.toe,l.toe),camberPerLateral:d(c.camber,l.camber),toePerLongitudinal:d(u.toe,m.toe),camberPerLongitudinal:d(u.camber,m.camber),toePerAligning:d(f.toe,p.toe),lateralPatch:d(c.patch[1],l.patch[1]),longitudinalPatch:d(u.patch[0],m.patch[0]),bypassed:!1,converged:h}}var IT=1e3;function ef(e,t=IT){if(!Pn(e.compliance)||!Tn(e))return;let r=et(e),n=Ee(r,0,0),o=Rl(r,n.beta,0,t);if(!o.bypassed)return{toePerFy:o.toePerLateral/1e3,camberPerFy:o.camberPerLateral/1e3,toePerFx:o.toePerLongitudinal/1e3,camberPerFx:o.camberPerLongitudinal/1e3,toePerMz:o.toePerAligning/1e5}}function qo(e,t=-Wd,r=Wd,n=21){let o=e.measured;if(o)return{travel:[...o.travel],motionRatio:[...o.motionRatio],camber:[...o.camber],toe:[...o.toe],damperLen:o.damperLen?[...o.damperLen]:o.travel.map(()=>0)};let a=Ge(e,{travelMin:t,travelMax:r,steps:n}),s=ef(e);return{travel:a.samples.map(i=>i.travel),motionRatio:a.samples.map(i=>i.metrics.motionRatio??1),camber:a.samples.map(i=>i.metrics.camber),toe:a.samples.map(i=>i.metrics.toe),damperLen:a.samples.map(i=>i.metrics.damperLength),...s?{compliance:s}:{}}}function vl(e,t,r){let n=e.length;if(n===0)return 0;if(r<=e[0])return t[0];if(r>=e[n-1])return t[n-1];let o=0,a=n-1;for(;a-o>1;){let i=o+a>>1;e[i]<=r?o=i:a=i}let s=(r-e[o])/(e[a]-e[o]);return t[o]+s*(t[a]-t[o])}function en(e,t){return{motionRatio:vl(e.travel,e.motionRatio,t),camber:vl(e.travel,e.camber,t),toe:vl(e.travel,e.toe,t),damperLen:vl(e.travel,e.damperLen,t)}}var AR=Math.PI/180,_T=9.81;function tn(e,t,r,n=0){let o=Ce(e),a=e.wheelbase*(1-e.frontMassFrac),s=e.wheelbase*e.frontMassFrac,i=jo(e,n),c=e.aero?.model?(M,v,R)=>jo(e,n,v,M,R):()=>i,l=en(t,0),u=en(r,0),m=e.loadFactor,f=m!==void 0&&m!==1?(m-1)*e.massTotal*_T:0,p=f*e.frontMassFrac/2,d=f*(1-e.frontMassFrac)/2,h=(M,v)=>v>0&&Number.isFinite(v)&&M+v>0?v/(M+v):1,b=Xe(e,"front"),g=Xe(e,"rear"),y={F:h(e.wheelRateFront+(e.heaveSpringFront??0),b),R:h(e.wheelRateRear+(e.heaveSpringRear??0),g)},x={F:h(e.wheelRateFront+e.arbFront,b),R:h(e.wheelRateRear+e.arbRear,g)};return(M,v,R=0,k=0)=>{let F=c(M,v,R),w=o.rollGradient*M,C=w*AR,T=o.pitchGradient*v*AR,S=($,O)=>{let W=O==="F"?e.trackFront:e.trackRear,I=O==="F"?o.rideRateFront:o.rideRateRear,_=($==="R"?1:-1)*(W/2)*Math.tan(C),V=(O==="R"?s:-a)*Math.tan(T),N=`${O}${$}`,G=f?F[N]+(O==="F"?p:d):F[N],K=I>0?G/I:0;return{anti:_,sym:V+K}},A={FL:S("L","F"),FR:S("R","F"),RL:S("L","R"),RR:S("R","R")},P=$=>{let O=$[0];return A[$].sym*y[O]+A[$].anti*x[O]},L=Wo(e,k,o,{FL:P("FL"),FR:P("FR")}),D=w+L.rollDeg,E=($,O)=>{let W=O==="F"?t:r,I=O==="F"?l:u,_=`${O==="F"?"F":"R"}${$}`,V=A[_].sym+A[_].anti+L.travel[_],N=P(_)+L.travel[_]*x[O],G=V-N,K=en(W,N),z=($==="R"?1:-1)*K.camber;return{travel:N,tyre:G,ground:V,camber:z,camberRoad:z+D,toe:K.toe,bumpToe:K.toe-I.toe,damperTravel:I.damperLen-K.damperLen}};return{FL:E("L","F"),FR:E("R","F"),RL:E("L","R"),RR:E("R","R"),steeringJacking:L}}}var tf=(e,t)=>{let r=Number(e);return Number.isFinite(r)?r:t};function Ln(e){return{enabled:e?.enabled===!0,roadFeedbackGain:Math.min(2,Math.max(0,tf(e?.roadFeedbackGain,1))),turnInFrictionNm:Math.max(0,tf(e?.turnInFrictionNm,0)),columnStiffnessNmPerRad:Math.max(0,tf(e?.columnStiffnessNmPerRad,0))}}function rf(e,t,r){let n=Ln(r);if(!n.enabled)return{roadNm:e,assistanceNm:0,frictionNm:0,columnTwistDeg:0,driverNm:e};let o=e*(n.roadFeedbackGain-1),a=t===0?0:Math.sign(t)*n.turnInFrictionNm,s=e+o+a,i=n.columnStiffnessNmPerRad>0?s/n.columnStiffnessNmPerRad*(180/Math.PI):0;return{roadNm:e,assistanceNm:o,frictionNm:a,columnTwistDeg:i,driverNm:s}}var FR=()=>({totalNm:0,aligningNm:0,lateralNm:0,longitudinalNm:0,jackingNm:0});function Dn(e){let t=e.steerFront;return!!(t?.rackRatioMmPerRev&&t.innerJacobian&&t.innerJacobian.length>=2&&t.outerJacobian&&t.outerJacobian.length>=2&&t.meanDeg.length>=2)}function Ss(e,t,r,n="model",o){let a=e.steerFront;if(!Dn(e)||!a)return null;let s=t<0?-1:1,c=a.rackRatioMmPerRev/(2*Math.PI)/1e3,l=t>=0,u=o&&a.travelSurface?zo(a,Math.abs(t),l?o.FL:o.FR,l?o.FR:o.FL):Yo(a,Math.abs(t));if(!u.innerJacobian||!u.outerJacobian)return null;let m=(b,g)=>{let y=r[b],x=b==="FL"?-1:1,M=-x*y.Fy,R={aligning:1e3*(-x*y.Mz)*g.yaw,lateral:M*g.lateral,longitudinal:y.Fx*g.longitudinal,jacking:y.Fz*g.vertical},k=FR();k.aligningNm=-s*R.aligning*c,k.lateralNm=-s*R.lateral*c,k.longitudinalNm=-s*R.longitudinal*c,k.jackingNm=-s*R.jacking*c,k.totalNm=k.aligningNm+k.lateralNm+k.longitudinalNm+k.jackingNm;let F=-s*(R.aligning+R.lateral+R.longitudinal+R.jacking);return{moment:k,rackN:F}},f=m("FL",l?u.innerJacobian:u.outerJacobian),p=m("FR",l?u.outerJacobian:u.innerJacobian),d=FR();for(let b of[f.moment,p.moment])d.aligningNm+=b.aligningNm,d.lateralNm+=b.lateralNm,d.longitudinalNm+=b.longitudinalNm,d.jackingNm+=b.jackingNm,d.totalNm+=b.totalNm;let h=rf(d.totalNm,t,e.steeringSystem);return d.totalNm=h.driverNm,{...d,roadNm:h.roadNm,assistanceNm:h.assistanceNm,frictionNm:h.frictionNm,columnTwistDeg:h.columnTwistDeg,rackForceN:f.rackN+p.rackN,aligningSource:n,perWheel:{FL:f.moment,FR:p.moment}}}var NT=e=>"front"in e&&"rear"in e;function Zo(e,t){return NT(e)?e[t]:e}function of(e,t,r=24){let n=Math.max(1,t),o=n/Math.max(1,r-1),a=[],s=[],i=[];for(let l=0;l<r;l++){let u=l*o;a.push(u),s.push(e.muX(u)),i.push(e.muY(u))}let c=(l,u)=>{if(!(u>0))return l[0];if(u>=n)return l[r-1];let m=Math.min(r-2,Math.floor(u/o)),f=(u-a[m])/o;return l[m]+f*(l[m+1]-l[m])};return{muX:l=>c(s,l),muY:l=>c(i,l)}}function nf(e,t){let r=Math.max(0,t.Fz),n=e.muY(r)*r,o=e.muX(r)*r;if(!(n>0))return{fyUsed:0,fyMax:0,fyRes:0};let a=o>0?Math.min(1,Math.abs(t.Fx)/o):0,s=n*Math.sqrt(Math.max(0,1-a*a)),i=Math.abs(t.Fy);return{fyUsed:i,fyMax:s,fyRes:Math.max(0,s-i)}}function wR(e,t,r){let n=nf(e,t),o=nf(e,r);return{left:n,right:o,fyRes:n.fyRes+o.fyRes}}function Rr(e,t,r){let n=wR(Zo(e,"front"),t.FL,t.FR),o=wR(Zo(e,"rear"),t.RL,t.RR),a=r.lf>0&&Number.isFinite(r.lf)?r.lf:0,s=r.lr>0&&Number.isFinite(r.lr)?r.lr:0,i=o.fyRes*s,c=n.fyRes*a,l=i-c,u=Math.max(Math.abs(i),Math.abs(c));return{stabil:i,agil:c,diff:l,rel:u>0?l/u:0,front:n,rear:o}}var kl=[{q:"p",section:"INFLATION_PRESSURE_RANGE",min:"PRESMIN",max:"PRESMAX",what:"pressure"},{q:"fz",section:"VERTICAL_FORCE_RANGE",min:"FZMIN",max:"FZMAX",what:"load"},{q:"kappa",section:"LONG_SLIP_RANGE",min:"KPUMIN",max:"KPUMAX",what:"slip ratio"},{q:"alpha",section:"SLIP_ANGLE_RANGE",min:"ALPMIN",max:"ALPMAX",what:"slip angle"},{q:"gamma",section:"INCLINATION_ANGLE_RANGE",min:"CAMMIN",max:"CAMMAX",what:"inclination"}],VT=kl.flatMap(e=>[e.min,e.max]);function PR(e){return Math.max(1,e.kind==="magic"?e.fnomin:e.nominalLoad)}function CR(e,t,r,n,o){let a=(r-t)/n,s=t,i=e(t);for(let c=t+a;c<=r;c+=a){let l=e(c);o(l,i)&&(i=l,s=c)}return s}function zt(e){let t=TR.get(e);if(t!==void 0)return t;let r=10*PR(e.model),{turnover:n,collapse:o}=$T(e,r),a=n??o??r;return TR.set(e,a),a}var TR=new WeakMap;function $T(e,t){let r=PR(e.model),n=m=>e.muY(m),o=m=>n(m)*m,a=80,s=t/a,i=null,c=o(s);for(let m=2;m<=a;m++){let f=o(m*s);if(f<c){i=CR(o,(m-2)*s,m*s,20,(p,d)=>p>d);break}c=f}let l=null,u=n(s);for(let m=2;m<=a;m++){let f=n(m*s);if(f>u){let p=CR(n,(m-2)*s,m*s,40,(d,h)=>d<h);n(p)<.05*n(r)&&(l=p);break}u=f}return{turnover:i,collapse:l}}var LR=["FL","FR","RL","RR"],GT=e=>e==="FL"||e==="RL",KT=e=>e==="FL"||e==="FR"?"front":"rear";function Ml(e,t,r,n){if(!(e.full>e.open)||n.ayDir===0)return e.full;let o=n.halfTrack[e.axle],a={};for(let l of LR)a[l]={...t[l]};let s=l=>{let u=0;for(let f of LR)KT(f)===e.axle&&(a[f].Fx=e.sense*(f===e.strong?l-e.open/2:e.open/2),u-=(GT(f)?o:-o)*a[f].Fx);let m=Rr(r,a,n.arms);return u*n.ayDir>=0?Math.abs(u)<=m.stabil:Math.abs(u)<=m.agil};if(s(e.full))return e.full;let i=e.open,c=e.full;for(let l=0;l<20&&c-i>.001*e.full;l++){let u=.5*(i+c);s(u)?i=u:c=u}return i}var HT=[["PCY1","Shape factor Cfy for lateral forces",1.3],["PDY1","Lateral friction Muy",1],["PDY2","Variation of friction Muy with load",0],["PDY3","Variation of friction Muy with squared camber",0],["PEY1","Lateral curvature Efy at Fznom",0],["PEY2","Variation of curvature Efy with load",0],["PEY3","Zero order camber dependency of curvature Efy",0],["PEY4","Variation of curvature Efy with camber",0],["PEY5","Variation of curvature Efy with camber squared",0],["PKY1","Maximum value of stiffness Kfy/Fznom",-15],["PKY2","Load at which Kfy reaches maximum value",2],["PKY3","Variation of Kfy/Fznom with camber",0],["PKY4","Curvature of stiffness Kfy",2],["PKY5","Peak stiffness variation with camber squared",0],["PKY6","Fy camber stiffness factor",0],["PKY7","Vertical load dependency of camber stiffness",0],["PHY1","Horizontal shift Shy at Fznom",0],["PHY2","Variation of shift Shy with load",0],["PHY3","Variation of shift Shy with camber",0],["PVY1","Vertical shift in Svy/Fz at Fznom",0],["PVY2","Variation of shift Svy/Fz with load",0],["PVY3","Variation of shift Svy/Fz with camber",0],["PVY4","Variation of shift Svy/Fz with camber and load",0],["PPY1","Influence of inflation pressure on cornering stiffness",0],["PPY2","Influence of inflation pressure on dependency of nominal tyre load on cornering stiffness",0],["PPY3","Linear influence of inflation pressure on lateral peak friction",0],["PPY4","Quadratic influence of inflation pressure on lateral peak friction",0],["PPY5","Influence of inflation pressure on camber stiffness",0]],zT=[["PCX1","Shape factor Cfx for longitudinal force",1.65],["PDX1","Longitudinal friction Mux at Fznom",1],["PDX2","Variation of friction Mux with load",0],["PDX3","Variation of friction Mux with camber squared",0],["PEX1","Longitudinal curvature Efx at Fznom",0],["PEX2","Variation of curvature Efx with load",0],["PEX3","Variation of curvature Efx with load squared",0],["PEX4","Factor in curvature Efx while driving",0],["PKX1","Longitudinal slip stiffness Kfx/Fz at Fznom",20],["PKX2","Variation of slip stiffness Kfx/Fz with load",0],["PKX3","Exponent in slip stiffness Kfx/Fz with load",0],["PHX1","Horizontal shift Shx at Fznom",0],["PHX2","Variation of shift Shx with load",0],["PVX1","Vertical shift Svx/Fz at Fznom",0],["PVX2","Variation of shift Svx/Fz with load",0],["PPX1","Linear influence of inflation pressure on longitudinal slip stiffness",0],["PPX2","Quadratic influence of inflation pressure on longitudinal slip stiffness",0],["PPX3","Linear influence of inflation pressure on peak longitudinal friction",0],["PPX4","Quadratic influence of inflation pressure on peak longitudinal friction",0]],YT=[["QBZ1","Trail slope factor for trail Bpt at Fznom",8],["QBZ2","Variation of slope Bpt with load",0],["QBZ3","Variation of slope Bpt with load squared",0],["QBZ4","Variation of slope Bpt with camber",0],["QBZ5","Variation of slope Bpt with absolute camber",0],["QBZ6","Camber influence Bt",0],["QBZ9","Factor for scaling factors of slope factor Br of Mzr",0],["QBZ10","Factor for dimensionless cornering stiffness of Br of Mzr",0],["QCZ1","Shape factor Cpt for pneumatic trail",1.1],["QDZ1","Peak trail Dpt = Dpt*(Fz/Fznom*R0)",.1],["QDZ2","Variation of peak Dpt with load",0],["QDZ3","Variation of peak Dpt with camber",0],["QDZ4","Variation of peak Dpt with camber squared",0],["QDZ6","Peak residual torque Dmr = Dmr/(Fz*R0)",0],["QDZ7","Variation of peak factor Dmr with load",0],["QDZ8","Variation of peak factor Dmr with camber",0],["QDZ9","Variation of peak factor Dmr with camber and load",0],["QDZ10","Variation of peak factor Dmr with camber squared",0],["QDZ11","Variation of Dmr with camber squared and load",0],["QEZ1","Trail curvature Ept at Fznom",0],["QEZ2","Variation of curvature Ept with load",0],["QEZ3","Variation of curvature Ept with load squared",0],["QEZ4","Variation of curvature Ept with sign of Alpha-t",0],["QEZ5","Variation of Ept with camber and sign Alpha-t",0],["QHZ1","Trail horizontal shift Sht at Fznom",0],["QHZ2","Variation of shift Sht with load",0],["QHZ3","Variation of shift Sht with camber",0],["QHZ4","Variation of shift Sht with camber and load",0],["PPZ1","Effect of inflation pressure on length of pneumatic trail",0],["PPZ2","Influence of inflation pressure on residual aligning torque",0],["SSZ1","Nominal value of s/R0: effect of Fx on Mz",0],["SSZ2","Variation of distance s/R0 with Fy/Fznom",0],["SSZ3","Variation of distance s/R0 with camber",0],["SSZ4","Variation of distance s/R0 with load and camber",0]],WT=[["RBX1","Slope factor for combined slip Fx reduction",0],["RBX2","Variation of slope Fx reduction with kappa",0],["RBX3","Influence of camber on stiffness for Fx combined",0],["RCX1","Shape factor for combined slip Fx reduction",1],["REX1","Curvature factor of combined Fx",0],["REX2","Curvature factor of combined Fx with load",0],["RHX1","Shift factor for combined slip Fx reduction",0],["RBY1","Slope factor for combined Fy reduction",0],["RBY2","Variation of slope Fy reduction with alpha",0],["RBY3","Shift term for alpha in slope Fy reduction",0],["RBY4","Influence of camber on stiffness of Fy combined",0],["RCY1","Shape factor for combined Fy reduction",1],["REY1","Curvature factor of combined Fy",0],["REY2","Curvature factor of combined Fy with load",0],["RHY1","Shift factor for combined Fy reduction",0],["RHY2","Shift factor for combined Fy reduction with load",0],["RVY1","Kappa induced side force Svyk/Muy*Fz at Fznom",0],["RVY2","Variation of Svyk/Muy*Fz with load",0],["RVY3","Variation of Svyk/Muy*Fz with camber",0],["RVY4","Variation of Svyk/Muy*Fz with alpha",0],["RVY5","Variation of Svyk/Muy*Fz with kappa",1],["RVY6","Variation of Svyk/Muy*Fz with atan(kappa)",0]],jT=[["LFZO","Scale factor of nominal (rated) load",1],["LCX","Scale factor of Fx shape factor",1],["LMUX","Scale factor of Fx peak friction coefficient",1],["LEX","Scale factor of Fx curvature factor",1],["LKX","Scale factor of Fx slip stiffness",1],["LHX","Scale factor of Fx horizontal shift",1],["LVX","Scale factor of Fx vertical shift",1],["LCY","Scale factor of Fy shape factor",1],["LMUY","Scale factor of Fy peak friction coefficient",1],["LEY","Scale factor of Fy curvature factor",1],["LKY","Scale factor of Fy cornering stiffness",1],["LKYC","Scale factor of camber force stiffness",1],["LKZC","Scale factor of camber torque stiffness",1],["LHY","Scale factor of Fy horizontal shift",1],["LVY","Scale factor of Fy vertical shift",1],["LTR","Scale factor of peak of pneumatic trail",1],["LRES","Scale factor for offset of residual torque",1],["LXAL","Scale factor of alpha influence on Fx",1],["LYKA","Scale factor of kappa influence on Fy",1],["LVYKA","Scale factor of kappa induced Fy",1],["LS","Scale factor of moment arm of Fx",1]],ER=[["lateral",HT],["longitudinal",zT],["aligning",YT],["combined",WT],["scaling",jT]].flatMap(([e,t])=>t.map(([r,n,o])=>({key:r,section:e,text:n,fallback:o}))),T4=new Map(ER.map(e=>[e.key,e]));var UT=/^\$\s*EDITED\s+([A-Z][A-Z0-9_]*)\s+was\s+(absent|[-+0-9.eE]+)\s*$/;function IR(e){let t={};for(let r of e.split(/\r?\n/)){let n=r.trim().match(UT);if(!n)continue;let o=n[2]==="absent"?null:parseFloat(n[2]);(o===null||Number.isFinite(o))&&(t[n[1]]=o)}return Object.keys(t).length?t:void 0}var QT=/^\s*\$\s*UNLOADED_RADIUS_STAND_IN\s*=\s*([0-9.eE+-]+)/,qT=/^\$-+ written by (?:PaceDynamics|PaceLab)\b/m,ZT=/^\$\s*AXIS_SYSTEM\s*=\s*(ISO-W|SAE)\b/m;function JT(e){let t=e.match(ZT);return t?{axisSystem:t[1]==="SAE"?"sae":"iso",trustSide:!0}:qT.test(e)?{axisSystem:"sae",trustSide:!1}:{axisSystem:"iso",trustSide:!0}}function eP(e){return e>=62?"6.2":e>=61?"6.1":"5.2"}var _R=new Map([["pa",1],["pascal",1],["kpa",1e3],["kilopascal",1e3],["mpa",1e6],["megapascal",1e6],["bar",1e5],["psi",6894.757293168]]);function tP(e,t,r){let n=r.PRESSURE?.trim().toLowerCase(),o=n===void 0?1:_R.get(n);if(o===void 0)return;let a=(c,l)=>l===1?c:Number((c*l).toPrecision(12)),s=e.NOMPRES??e.INFLPRES;if(s!==void 0)return a(s,o);let i=e.INFLATION_PRESSURE;if(i!==void 0)return n!==void 0?a(i,o):t.PROPERTY_FILE_FORMAT?.trim().toUpperCase()==="MF_05"?a(i,1e5):void 0}var rP=new Map([["radians",1],["radian",1],["rad",1],["degrees",Math.PI/180],["degree",Math.PI/180],["deg",Math.PI/180]]);function nP(e,t){let r=(s,i)=>s===void 0?1:i.get(s.trim().toLowerCase()),n=r(t.ANGLE,rP),o={fz:1,kappa:1,alpha:n,gamma:n,p:r(t.PRESSURE,_R)},a={};for(let s of kl){let i=o[s.q];if(i===void 0)continue;let c={};for(let[l,u]of[["min",s.min],["max",s.max]]){let m=e[u];Number.isFinite(m)&&(c[l]=i===1?m:Number((m*i).toPrecision(12)),delete e[u])}(c.min!==void 0||c.max!==void 0)&&(a[s.q]=c)}return Object.keys(a).length?a:void 0}function As(e,t="imported",r={}){let n=JT(e),o=r.axisSystem??n.axisSystem,a={},s={},i={},c="",l;for(let g of e.split(/\r?\n/)){let y=g.match(QT);y&&(l=parseFloat(y[1]));let x=g.replace(/[$!].*$/,"").trim();if(!x)continue;if(x.startsWith("[")){c=(x.match(/^\[([^\]]*)/)?.[1]??"").trim().toUpperCase();continue}let M=x.indexOf("=");if(M<0)continue;let v=x.slice(0,M).trim().toUpperCase(),R=x.slice(M+1).trim(),k=R.match(/^'([^']*)'|^"([^"]*)"/);if(k){s[v]=k[1]??k[2]??"",c==="UNITS"&&(i[v]=s[v]);continue}let F=parseFloat(R);Number.isFinite(F)&&(a[v]=F)}let u=eP(a.FITTYP??62),m=IR(e),f=m?Object.fromEntries(Object.entries(m).filter(([g])=>a[g]!==void 0)):void 0,p=a.VERTICAL_STIFFNESS??a.KZ??0,d=tP(a,s,i),h=nP(a,i),b=[];return a.UNLOADED_RADIUS===void 0&&a.R0===void 0&&b.push("UNLOADED_RADIUS"),p<=0&&b.push("VERTICAL_STIFFNESS"),a.FNOMIN===void 0&&b.push("FNOMIN"),d===void 0&&b.push("NOMPRES"),{kind:"magic",name:t,version:u,coeffs:a,axisSystem:o,side:n.trustSide?s.TYRESIDE==="RIGHT"?"right":s.TYRESIDE==="LEFT"?"left":void 0:void 0,fnomin:a.FNOMIN??5e3,unloadedR0:a.UNLOADED_RADIUS??a.R0??(l!==void 0&&l>0?l:.3),...a.WIDTH!==void 0&&a.WIDTH>0?{sectionWidth:a.WIDTH}:{},verticalStiffness:p>0?p/1e3:0,...a.FREFF!==void 0&&!a.DREFF?{rollingFraction:a.FREFF}:{},...a.LATERAL_STIFFNESS!==void 0&&a.LATERAL_STIFFNESS>0?{relaxation:{sigma:0,carcassStiffness:a.LATERAL_STIFFNESS/1e3,source:"fitted"}}:{},nomPressure:d??0,missing:b,...f&&Object.keys(f).length?{edited:f}:{},...h?{range:h}:{}}}function er(e){if(!e)return null;let t=e.unloadedR0;return t===void 0||!(t>0)||e.kind==="magic"&&e.missing?.includes("UNLOADED_RADIUS")?null:t*1e3}var O4=Math.PI/180;var K4=Math.PI/180,H4=180/Math.PI;function Fs(){return{kind:"simple",name:"Simple (default)",Bx:11,Cx:1.6,muX0:1.7,loadSensX:-8e-5,By:9,Cy:1.4,muY0:1.6,loadSensY:-1e-4,nominalLoad:1500,verticalStiffness:120}}var BR=`$ AXIS_SYSTEM = SAE  (authored in the evaluation frame: y right)
+import{parentPort as FC,workerData as tB}from"node:worker_threads";import{readFileSync as ty}from"node:fs";import{join as ry}from"node:path";var Dc=e=>e.format!=="points"&&!e.field;var ft=e=>e?.kind==="ice";var Ly={packVoltageMax:600,segmentVoltageMax:120,powerLimitKw:80};var Ee=e=>typeof e=="number"&&Number.isFinite(e);function CC(e){let{soc:t,ocv:r,r0:n}=e;if(!Array.isArray(t)||t.length<2)return"The curve needs at least two state-of-charge points.";if(!t.every(Ee))return"The state-of-charge axis contains a value that is not a number.";if(t[0]<0||t[t.length-1]>1)return`The state-of-charge axis must lie within 0 to 1 (it runs ${t[0]} to ${t[t.length-1]}).`;for(let o=1;o<t.length;o++)if(!(t[o]>t[o-1]))return`The state-of-charge axis must increase (${t[o-1]} then ${t[o]}).`;if(!Array.isArray(r)||r.length!==t.length)return`The curve has ${Array.isArray(r)?r.length:0} voltages against ${t.length} state-of-charge points.`;if(!r.every(Ee))return"The open-circuit voltage contains a value that is not a number.";if(r.some(o=>o<=0))return"The open-circuit voltage must be positive everywhere.";for(let o=1;o<r.length;o++)if(r[o]<r[o-1])return`The open-circuit voltage must rise with state of charge (${r[o-1]} V at ${t[o-1]} then ${r[o]} V at ${t[o]}).`;if(!Array.isArray(n)||n.length!==t.length)return`The curve has ${Array.isArray(n)?n.length:0} resistances against ${t.length} state-of-charge points.`;if(!n.every(Ee))return"The resistance contains a value that is not a number.";if(n.some(o=>o<0))return"The resistance cannot be negative.";if(e.rTempC!==void 0||e.rGrid!==void 0){let o=e.rTempC,a=e.rGrid;if(!Array.isArray(o)||o.length<1)return"The resistance temperature axis needs at least one temperature.";if(!o.every(Ee))return"The resistance temperature axis contains a value that is not a number.";for(let s=1;s<o.length;s++)if(!(o[s]>o[s-1]))return`The temperature axis must increase (${o[s-1]} then ${o[s]} \xB0C).`;if(!Array.isArray(a)||a.length!==o.length)return`The resistance grid has ${Array.isArray(a)?a.length:0} rows against ${o.length} temperatures.`;for(let s=0;s<a.length;s++){let i=a[s];if(!Array.isArray(i)||i.length!==t.length)return`Resistance row ${s+1} has ${Array.isArray(i)?i.length:0} values against ${t.length} state-of-charge points.`;if(!i.every(Ee))return"The resistance grid contains a value that is not a number.";if(i.some(c=>c<0))return"The resistance grid contains a negative resistance."}}return null}function TC(e){return!e||typeof e!="object"?"The cell has no curve.":e.kind==="table"?CC(e):e.kind==="analytic"?!Ee(e.vCut)||!Ee(e.vNom)||!Ee(e.vFull)?"The cut-off, nominal and full voltages must be numbers.":e.vCut<=0?"The cut-off voltage must be positive.":e.vCut<e.vNom&&e.vNom<e.vFull?!Ee(e.r0)||e.r0<0?"The cell resistance must be a number and cannot be negative.":e.socAtNom!==void 0&&(!Ee(e.socAtNom)||e.socAtNom<=0||e.socAtNom>=1)?"The state of charge the nominal voltage is met at must lie strictly between 0 and 1.":null:`The voltages must order cut-off < nominal < full (given ${e.vCut}, ${e.vNom}, ${e.vFull} V).`:`Unknown cell curve kind "${e.kind}".`}function Ec(e){if(!e||typeof e!="object")return"Not a battery model.";let t=e.cell;if(!t||typeof t!="object")return"The model has no cell.";if(!Ee(t.capacityAh)||t.capacityAh<=0)return"The cell capacity must be a positive number of amp-hours.";if(!Ee(t.vMin)||t.vMin<0)return"The cut-off voltage must be a number and cannot be negative.";if(!Ee(t.vMax)||t.vMax<=0)return"The maximum cell voltage must be a positive number.";if(!(t.vMin<t.vMax))return`The cut-off voltage (${t.vMin} V) must be below the maximum (${t.vMax} V).`;if(!Ee(t.iMaxA)||t.iMaxA<0)return"The discharge current limit must be a number of amps, 0 for no limit.";if(t.iMaxChargeA!==void 0&&(!Ee(t.iMaxChargeA)||t.iMaxChargeA<0))return"The charge current limit must be a number of amps, 0 for no limit.";if(t.massKg!==void 0&&(!Ee(t.massKg)||t.massKg<0))return"The cell mass must be a number and cannot be negative.";let r=TC(t.curve);if(r)return r;let n=t.curve.kind==="table"?t.curve.ocv[t.curve.ocv.length-1]:t.curve.vFull;if(t.vMin>=n)return`The cut-off voltage (${t.vMin} V) is at or above the cell's voltage at full charge (${n} V), so no power could ever be drawn.`;let o=e.thermal;if(o!==void 0){if(!o||typeof o!="object")return"The thermal model must be an object, or absent.";if(!Ee(o.heatCapacityJPerK)||o.heatCapacityJPerK<=0)return"The cell heat capacity must be a positive number of joules per kelvin.";if(!Ee(o.coolingWPerK)||o.coolingWPerK<0)return"The cooling must be a number of watts per kelvin and cannot be negative.";if(o.startC!==void 0&&!Ee(o.startC))return"The starting temperature must be a number.";if(o.entropicVPerK!==void 0&&!Ee(o.entropicVPerK))return"The entropic coefficient must be a number.";if(o.derateFromC!==void 0){if(!Ee(o.derateFromC))return"The temperature the derate starts at must be a number.";if(o.derateToC!==void 0){if(!Ee(o.derateToC))return"The temperature the derate ends at must be a number.";if(!(o.derateToC>o.derateFromC))return`The derate must end above where it starts (given ${o.derateFromC} then ${o.derateToC} \xB0C).`}}else if(o.derateToC!==void 0)return"The derate has an end temperature but no start; give both or neither."}let a=e.pack;if(!a||typeof a!="object")return"The model has no pack.";if(!Number.isInteger(a.series)||a.series<1)return"The pack needs a whole number of cells in series, at least one.";if(!Number.isInteger(a.parallel)||a.parallel<1)return"The pack needs a whole number of strings in parallel, at least one.";if(!Ee(a.busResistance)||a.busResistance<0)return"The busbar resistance must be a number and cannot be negative.";if(a.seriesPerSegment!==void 0&&a.seriesPerSegment!==0){if(!Number.isInteger(a.seriesPerSegment)||a.seriesPerSegment<1)return"The cells per segment must be a whole number, at least one.";if(a.seriesPerSegment>a.series)return`A segment cannot hold more cells (${a.seriesPerSegment}) than the pack has in series (${a.series}).`}return null}function Fn(e,t){let r=e.length;if(r<=1)return{i:0,t:0,clamped:!1};if(t<=e[0])return{i:0,t:0,clamped:t<e[0]};if(t>=e[r-1])return{i:r-2,t:1,clamped:t>e[r-1]};let n=0,o=r-1;for(;o-n>1;){let a=n+o>>1;e[a]<=t?n=a:o=a}return{i:n,t:(t-e[n])/(e[o]-e[n]),clamped:!1}}function Be(e,t,r){let n=e.length;if(n===0)return 0;if(r<=e[0])return t[0];if(r>=e[n-1])return t[n-1];let o=0,a=n-1;for(;a-o>1;){let i=o+a>>1;e[i]<=r?o=i:a=i}let s=(r-e[o])/(e[a]-e[o]);return t[o]+s*(t[a]-t[o])}function Ic(e,t,r,n,o){let a=e.length,s=t.length;if(a===0||s===0)return 0;let i=Fn(e,n),c=Fn(t,o),l=Math.min(i.i+1,a-1),u=Math.min(c.i+1,s-1),m=r[c.i][i.i],f=r[c.i][l],p=r[u][i.i],d=r[u][l],h=m+i.t*(f-m),b=p+i.t*(d-p);return h+c.t*(b-h)}var Co=[0,.05,.1,.2,.3,.4,.5,.6,.7,.8,.9,1],Ip={nmc:[0,.29,.4,.483,.525,.567,.608,.667,.733,.8,.892,1],lfp:[0,.478,.591,.626,.652,.67,.678,.696,.704,.722,.757,1],lipo:[0,.333,.433,.517,.575,.625,.667,.717,.775,.833,.908,1],other:[0,.05,.1,.2,.3,.4,.5,.6,.7,.8,.9,1]},Dy=[0,.05,.1,.2,.5,.8,1],Ey=[2.2,1.55,1.3,1.12,1,.97,.98];function Iy(e){return Be(Dy,Ey,e)}var _y=[-20,-10,0,10,25,40,60],Ny=[4,2.8,2,1.4,1,.82,.75];function _p(e){return Be(_y,Ny,e)}var Oy=.5;function Np(e,t){let{vFull:r,vNom:n,vCut:o,r0:a}=e,s=r-o;if(!(s>0))throw new Error(`The full voltage (${r} V) must be above the cut-off (${o} V).`);let i=(n-o)/s;if(!(i>0&&i<1))throw new Error(`The nominal voltage (${n} V) must lie between the cut-off (${o} V) and full (${r} V).`);let c=Ip[t]??Ip.other,l=e.socAtNom??Oy,u=Co.includes(l)?[...Co]:[...Co,l].sort((h,b)=>h-b),m=Be(Co,c,l),f=m>0&&m<1?Math.log(i)/Math.log(m):1,p=[],d=[];for(let h of u){let b=Be(Co,c,h);p.push(o+s*Math.pow(b,f)),d.push(e.constantResistance?a:a*Iy(h))}return{kind:"table",soc:u,ocv:p,r0:d}}function Op(e){let t=e.soc,r=e.ocv,n=[0,...t.filter(a=>a>0&&a<1),1],o=0;for(let a=1;a<n.length;a++){let s=n[a-1],i=n[a];o+=(Be(t,r,s)+Be(t,r,i))/2*(i-s)}return o}var To=25,Vy=new WeakMap;function hr(e){let t=Vy.get(e);if(t)return t;let r=Ec(e);if(r)throw new Error(r);let{cell:n,pack:o}=e,a=n.curve.kind==="table"?n.curve:Np(n.curve,n.chemistry),s=o.series,i=o.parallel,c=s/i,l=a.rTempC,u=a.rGrid,m=i*n.capacityAh,f=s*n.vMin,p=n.iMaxA>0?i*n.iMaxA:1/0,d=n.iMaxChargeA!==void 0&&n.iMaxChargeA>0?n.iMaxChargeA:n.iMaxA/4,h=d>0?i*d:1/0,b=F=>s*Be(a.soc,a.ocv,F),g=(F,w=To)=>{let C=l&&u?Ic(a.soc,l,u,F,w):Be(a.soc,a.r0,F)*_p(w);return c*C+o.busResistance},y=(F,w,C)=>b(F)-w*g(F,C),R=(F,w,C)=>{if(!(F>0))return 0;let T=b(w),S=g(w,C);if(!(S>0))return F/T;let A=T*T-4*S*F;return A<0?NaN:2*F/(T+Math.sqrt(A))},k=(F,w,C)=>{if(!(F>0))return 0;let T=b(w),S=g(w,C);return S>0?2*F/(T+Math.sqrt(T*T+4*S*F)):F/T},v=F=>{let w=e.thermal;if(!w||w.derateFromC===void 0)return 1;let C=w.derateToC??w.derateFromC;return F<=w.derateFromC?1:!(C>w.derateFromC)||F>=C?0:1-(F-w.derateFromC)/(C-w.derateFromC)},x=(F,w,C=0)=>{let T=b(F),S=g(F,w),A=S>0?T/(2*S):1/0,P=G=>{if(!(S>0))return G*T;let K=Math.min(G,A);return K*(T-K*S)},L=S>0?Math.max(0,(T-f)/S):1/0,D=C>0&&Number.isFinite(C)?C:1/0,E=S>0?P(L):1/0,V=Number.isFinite(p)?P(p):1/0,N=S>0?T*T/(4*S):1/0,z=[["rules",D],["voltage-floor",E],["current",V],["matched-load",N]],I=z[0][0],_=z[0][1];for(let[G,K]of z)K<_&&(_=K,I=G);let B=v(w??To);B<1&&(_=Number.isFinite(_)?_*B:_,I="temperature");let O=Number.isFinite(_)?R(_,F,w):1/0;return{watts:_,binding:I,rules:D,voltageFloor:E,current:V,matchedLoad:N,derate:B,amps:O,volts:Number.isFinite(O)?T-O*S:T}},M={model:e,table:a,capacityAh:m,chargeC:m*3600,energyKwh:m*(s*Op(a))/1e3,socRange:[a.soc[0],a.soc[a.soc.length-1]],voltageAtFull:s*a.ocv[a.ocv.length-1],voltageCeiling:s*n.vMax,voltageFloor:f,currentCeiling:p,chargeCurrentCeiling:h,massKg:n.massKg!==void 0?s*i*n.massKg:null,thermal:e.thermal?{heatCapacityJPerK:s*i*e.thermal.heatCapacityJPerK,coolingWPerK:s*i*e.thermal.coolingWPerK,...e.thermal.startC!==void 0?{startC:e.thermal.startC}:{},entropicVPerK:s*(e.thermal.entropicVPerK??0)}:null,derateAt:v,ocv:b,resistance:g,terminalVoltage:y,currentFor:R,chargeCurrentFor:k,maxPower:x};return Vy.set(e,M),M}function Vp(e){return{name:e.name,chemistry:e.chemistry,capacityAh:e.capacityAh,curve:{kind:"analytic",vFull:e.vFull,vNom:e.vNom,vCut:e.vCut,r0:e.r0},iMaxA:e.iMaxA,...e.iMaxChargeA!==void 0?{iMaxChargeA:e.iMaxChargeA}:{},vMin:e.vCut,vMax:e.vFull,...e.massKg!==void 0?{massKg:e.massKg}:{}}}var By={name:"High-power NMC pouch 4.0 Ah",chemistry:"nmc",capacityAh:4,vCut:3,vNom:3.6,vFull:4.2,r0:.0025,iMaxA:100,iMaxChargeA:40,massKg:.09},$y={name:"LFP prismatic 20 Ah",chemistry:"lfp",capacityAh:20,vCut:2.5,vNom:3.2,vFull:3.65,r0:.002,iMaxA:200,iMaxChargeA:60,massKg:.4},Gy={name:"NMC cylindrical 3.4 Ah",chemistry:"nmc",capacityAh:3.4,vCut:3,vNom:3.6,vFull:4.2,r0:.03,iMaxA:10,iMaxChargeA:3,massKg:.048};function Bp(){return{name:"Formula Student accumulator",cell:Vp(By),pack:{series:140,parallel:2,busResistance:.02,seriesPerSegment:28},provenance:{source:"assumed",note:"Assumed high-power NMC pouch pack sized to the Formula Student rules; the cell curve and resistance are class-level guesses, not a measurement."}}}function $p(){return{name:"LFP pack",cell:Vp($y),pack:{series:160,parallel:1,busResistance:.02,seriesPerSegment:32},provenance:{source:"assumed",note:"Assumed LFP prismatic pack; the flat plateau is the chemistry, the numbers are class-level guesses."}}}function Gp(){return{name:"Road car pack",cell:Vp(Gy),pack:{series:96,parallel:74,busResistance:.01},provenance:{source:"assumed",note:"Assumed road-electric pack of cylindrical energy cells; capacity and voltage are class-typical, the resistance is a guess."}}}function Kp(e,t,r="Constant pack"){return{name:r,cell:{name:"Constant cell",chemistry:"other",capacityAh:e,curve:{kind:"table",soc:[0,1],ocv:[t,t],r0:[0,0]},iMaxA:0,vMin:0,vMax:t},pack:{series:1,parallel:1,busResistance:0},provenance:{source:"assumed",note:"The constant pack: one open-circuit voltage, no internal resistance and no current limit \u2014 what a car carried before the battery was a model. It cannot sag, so its power never fades."}}}function _c(e){if(e.kind==="ice"){let n=e.gearbox.efficiency;return{model:e,maxTorque:o=>o>e.limitRpm?0:Be(e.rpm,e.torque,o),efficiency:()=>n}}let t=n=>Be(e.rpm,e.torque,n),r=e.kind==="simple"?()=>e.efficiency:(n,o)=>Ic(e.effRpm,e.effTorque,e.effGrid,n,o);return{model:e,maxTorque:t,efficiency:r}}function Hp(e){let t=e.resistanceAtC??20,r=e.torqueConstant,n=e.speedLossW??0,o=e.speedLossAtRpm??0,a=e.speedLossExponent??1.5,s=e.derateFromC,i=e.derateToC,c=d=>Math.max(0,e.terminalResistanceOhm*(1+.00393*(d-t))),l=d=>n>0&&o>0?n*Math.pow(Math.max(0,d)/o,a):0,u=(d,h,b)=>{let g=r>0?Math.abs(h)/r:0;return 1.5*c(b)*g*g+l(d)},m=(d,h)=>{let b=e.coolingWPerK*(h-e.coolantC)-l(d);return!(b>0)||r<=0?0:r*Math.sqrt(b/(1.5*c(h)))},f=e.coolingWPerK>0?e.heatCapacityJPerK/e.coolingWPerK:1/0,p=Number.isFinite(f)?.25*f:1/0;return{spec:e,startC:e.startC??e.coolantC,lossW:u,step(d,h,b){if(!(b>0)||!(e.heatCapacityJPerK>0))return d;let g=Number.isFinite(p)?Math.max(1,Math.ceil(b/p)):1,y=b/g,R=d;for(let k=0;k<g;k++)R+=(h-e.coolingWPerK*(R-e.coolantC))*y/e.heatCapacityJPerK;return R},continuousTorque:m,derate(d,h,b){if(s===void 0||i===void 0||!(i>s)||!(b>0)||h<=s)return 1;let g=Math.min(1,m(d,i)/b);return h>=i?g:1-(1-g)*(h-s)/(i-s)},equilibriumC(d){return e.coolingWPerK>0?e.coolantC+d/e.coolingWPerK:1/0}}}function Xe(e,t){return t==="rear"&&e.tireRateRear!==void 0?e.tireRateRear:e.tireRate}function zp(e,t){let r=e.tyreFreeRadiusRear;return(t==="rear"&&r!==void 0?r:e.tyreFreeRadius)??0}var Nc=9.81,Ky=(e,t)=>e*(t*t)/2*(Math.PI/180)/1e3,Qa=(e,t)=>e+t>0?e*t/(e+t):0,Hy=.5;function Oc(e,t,r){if(!(r>0))return 1;let n=e*Nc*t*(Math.PI/180)/r;return 1/(1-Math.min(Hy,n))}function Yp(e,t,r){return r>0?e*Nc*t/(r*r):0}function zy(e,t,r,n,o){if(!(n>0)||!(o>0))return 1;let a=Yp(e,t,r)*(1/n+1/o);return 1/(1-Math.min(Hy,a))}function Te(e){let t=4*e.unsprungPerCorner,r=Math.max(0,e.massTotal-t),n=r*e.frontMassFrac,o=r*(1-e.frontMassFrac),a=Xe(e,"front"),s=Xe(e,"rear"),i=e.wheelRateFront+(e.heaveSpringFront??0),c=e.wheelRateRear+(e.heaveSpringRear??0),l=Qa(i,a),u=Qa(c,s),m=(V,N)=>{let z=N/2;return z>0?1/(2*Math.PI)*Math.sqrt(V*1e3/z):0},f=m(l,n),p=m(u,o),d=Qa(e.wheelRateFront+e.arbFront,a),h=Qa(e.wheelRateRear+e.arbRear,s),b=Ky(d,e.trackFront),g=Ky(h,e.trackRear),y=b+g,R=y>0?b/y:.5,k=e.rcHeightFront+(e.rcHeightRear-e.rcHeightFront)*(1-e.frontMassFrac),v=(e.cgHeight-k)/1e3,x=r*Nc*v,M=Oc(r,v,y),F=y>0?x/y*M:0,w=e.massTotal*Nc*e.cgHeight/e.wheelbase,C=2*l,T=2*u,S=zy(r,e.cgHeight,e.wheelbase,C,T),P=(C>0&&T>0?(w/C+w/T)/e.wheelbase*S:0)*(180/Math.PI),L=e.wheelbase*e.wheelbase*Qa(C,T)*(Math.PI/180)/1e3,D=e.damperFront??2.5,E=e.damperRear??2.5;return{sprungMass:r,sprungFront:n,sprungRear:o,rideRateFront:l,rideRateRear:u,rideFreqFront:f,rideFreqRear:p,rollRateFront:b,rollRateRear:g,rollRateTotal:y,rollWheelRateFront:d,rollWheelRateRear:h,frontRollStiffFrac:R,rollGradient:F,pitchGradient:P,pitchRate:L,cgRollGain:M,cgPitchGain:S,rideDampingFront:D+(e.heaveDamperFront??0),rideDampingRear:E+(e.heaveDamperRear??0),rollDampingFront:D+(e.rollDamperFront??0),rollDampingRear:E+(e.rollDamperRear??0)}}var Yr=["clFront","clRear","cd"],Po=e=>e.frame?.kind==="pitch";function Vc(e){return Po(e)?{x:e.axes.h,y:e.axes.pitch}:{x:e.axes.hFront,y:e.axes.hRear}}var Yy=e=>e.frame?.kind==="pitch";var Bc=45,Qe=e=>typeof e=="number"&&Number.isFinite(e);function $c(e,t,r="mm",n="ride height"){if(!Array.isArray(t)||t.length<1)return`The ${e} axis needs at least one ${n}.`;if(!t.every(Qe))return`The ${e} axis contains a value that is not a number.`;for(let o=1;o<t.length;o++)if(!(t[o]>t[o-1]))return`The ${e} axis must increase (${t[o-1]} then ${t[o]} ${r}).`;return null}function Wy(e,t){if(t===void 0)return null;for(let r of Yr){let n=t[r];if(!n||!Array.isArray(n.deg)||!Array.isArray(n.factor))return`The ${e} correction of ${r} needs degrees and factors.`;if(n.deg.length<1)return`The ${e} correction of ${r} needs at least one angle.`;if(n.deg.length!==n.factor.length)return`The ${e} correction of ${r} has ${n.factor.length} factors against ${n.deg.length} angles.`;if(!n.deg.every(Qe)||!n.factor.every(Qe))return`The ${e} correction of ${r} contains a value that is not a number.`;if(n.deg[0]<0)return`The ${e} correction of ${r} is against the absolute angle; it cannot start below zero.`;for(let o=1;o<n.deg.length;o++)if(!(n.deg[o]>n.deg[o-1]))return`The ${e} correction of ${r} must increase in angle (${n.deg[o-1]} then ${n.deg[o]}\xB0).`;if(n.factor.some(o=>o<0))return`The ${e} correction of ${r} has a negative factor.`}return null}function jy(e,t){return t===void 0?null:!Qe(t.dCl)||!Qe(t.dBalance)||!Qe(t.dCd)?`The ${e} slopes must be numbers.`:!Qe(t.maxDeg)||!(t.maxDeg>0)?`The ${e} response needs a positive angle to be valid to.`:null}function Za(e){if(!e||typeof e!="object")return"Not an aero model.";if(!Qe(e.area)||e.area<=0)return"The reference area must be a positive number of square metres.";if(e.kind==="map"){let t,r,n,o;if(e.frame==null){let i=$c("front ride-height",e.axes?.hFront);if(i)return i;let c=$c("rear ride-height",e.axes?.hRear);if(c)return c;[t,r,n,o]=[e.axes.hFront,e.axes.hRear,"front ride heights","rear ride heights"]}else if(e.frame?.kind==="pitch"){if(!Qe(e.frame.refX))return"The point the ride height is read at must be a number of millimetres aft of the front axle.";let i=$c("ride-height",e.axes?.h);if(i)return i;let c=$c("pitch",e.axes?.pitch,"\xB0","pitch");if(c)return c;let l=e.axes.pitch.find(u=>Math.abs(u)>=Bc);if(l!==void 0)return`A pitch of ${l}\xB0 is not a car's attitude \u2014 is the axis a rake in millimetres? Pitch is in degrees.`;[t,r,n,o]=[e.axes.h,e.axes.pitch,"ride heights","pitches"]}else return`Unknown aero map frame "${e.frame.kind}".`;let a=t.length,s=r.length;for(let i of Yr){let c=e[i];if(!Array.isArray(c)||c.length!==s)return`${i} has ${Array.isArray(c)?c.length:0} rows against ${s} ${o} \u2014 they must match.`;for(let l=0;l<s;l++){let u=c[l];if(!Array.isArray(u)||u.length!==a)return`${i} row ${l+1} has ${Array.isArray(u)?u.length:0} values against ${a} ${n}.`;if(!u.every(Qe))return`${i} contains a value that is not a number.`}}return Wy("yaw",e.attitude?.yaw)??Wy("roll",e.attitude?.roll)}if(e.kind==="sensitivity"){let t;if(e.frame==null)t=["hFront","hRear"];else if(e.frame?.kind==="pitch"){if(!Qe(e.frame.refX))return"The point the ride height is read at must be a number of millimetres aft of the front axle.";t=["h","pitch"]}else return`Unknown aero sensitivity frame "${e.frame.kind}".`;let r=e.ref,n=e.slope,o=e.range,a=s=>s==="pitch"?"\xB0":" mm";if(!r||!Qe(r[t[0]])||!Qe(r[t[1]]))return e.frame?"The reference ride height and pitch must be numbers.":"The reference ride heights must be numbers.";for(let s of Yr){if(!e.at||!Qe(e.at[s]))return`${s} at the reference must be a number.`;let i=n?.[s];if(!i||!Qe(i[t[0]])||!Qe(i[t[1]]))return`The slopes of ${s} must be numbers.`}for(let s of t){let i=o?.[s],c=r[s];if(!i||!Qe(i[0])||!Qe(i[1]))return`The ${s} range must be two numbers.`;if(!(i[1]>i[0]))return`The ${s} range must run from low to high (${i[0]} to ${i[1]}${a(s)}).`;if(c<i[0]||c>i[1])return`The reference ${s} of ${c}${a(s)} lies outside its range ${i[0]}\u2013${i[1]}${a(s)}.`;if(s==="pitch"&&(Math.abs(i[0])>=Bc||Math.abs(i[1])>=Bc))return`A pitch range reaching ${Math.abs(i[0])>=Bc?i[0]:i[1]}\xB0 is not a car's attitude. Pitch is in degrees.`}return jy("yaw",e.attitude?.yaw)??jy("roll",e.attitude?.roll)}return`Unknown aero model kind "${e.kind}".`}var Uy=180/Math.PI;function Gc(e,t,r,n){let o=(n-r)/t;return{h:r+e.refX*o,pitch:Math.atan(o)*Uy}}function Lo(e,t,r,n){let o=Math.tan(n/Uy);return{hFront:r-e.refX*o,hRear:r+(t-e.refX)*o}}var GB=180/Math.PI,PC=["hFront","hRear"],LC=["h","pitch"],Up=e=>e?.kind==="pitch"?LC:PC,Mt=(e,t)=>e[t],Kc=(e,t)=>e[t],Wp=(e,t)=>({[e[0]]:t(e[0]),[e[1]]:t(e[1])});function DC(e){if(!(!e.yaw&&!e.roll))return{...e.yaw?{yaw:{...e.yaw}}:{},...e.roll?{roll:{...e.roll}}:{}}}function Xp(e){let t=Up(e.frame),r=e.balanceFront,n=e.cl*r,o=e.cl*(1-r),a=Wp(t,c=>Mt(e.dCl,c)*r+e.cl*Mt(e.dBalance,c)),s=Wp(t,c=>Mt(e.dCl,c)*(1-r)-e.cl*Mt(e.dBalance,c)),i=DC(e);return{kind:"sensitivity",name:e.name,area:e.area,...e.frame?{frame:{...e.frame}}:{},ref:{...e.ref},at:{clFront:n,clRear:o,cd:e.cd},slope:{clFront:a,clRear:s,cd:Wp(t,c=>Mt(e.dCd,c))},range:{[t[0]]:[...Kc(e.range,t[0])],[t[1]]:[...Kc(e.range,t[1])]},provenance:{...e.provenance},...i?{attitude:i}:{}}}function Hc(e,t,r){let n=Math.min(Math.abs(r),t.maxDeg),o=e.clFront+e.clRear,a=o!==0?e.clFront/o:.5,s=o+t.dCl*n,i=a+t.dBalance*n,c=e.clFront!==0?s*i/e.clFront:1,l=e.clRear!==0?s*(1-i)/e.clRear:1,u=e.cd!==0?(e.cd+t.dCd*n)/e.cd:1;return{clFront:c,clRear:l,cd:u}}function jp(e,t,r=11){let n=Array.from({length:r},(a,s)=>t.maxDeg*s/(r-1)),o=n.map(a=>Hc(e,t,a));return{clFront:{deg:[...n],factor:o.map(a=>a.clFront)},clRear:{deg:[...n],factor:o.map(a=>a.clRear)},cd:{deg:[...n],factor:o.map(a=>a.cd)}}}function Xy(e){if(!(!e.attitude?.yaw&&!e.attitude?.roll))return{...e.attitude.yaw?{yaw:jp(e.at,e.attitude.yaw)}:{},...e.attitude.roll?{roll:jp(e.at,e.attitude.roll)}:{}}}function qy(e,t,r,n=0,o=0){let[a,s]=Up(e.frame),i=t-Mt(e.ref,a),c=r-Mt(e.ref,s),l={clFront:e.at.clFront+Mt(e.slope.clFront,a)*i+Mt(e.slope.clFront,s)*c,clRear:e.at.clRear+Mt(e.slope.clRear,a)*i+Mt(e.slope.clRear,s)*c,cd:e.at.cd+Mt(e.slope.cd,a)*i+Mt(e.slope.cd,s)*c},u=e.attitude?.yaw?Hc(e.at,e.attitude.yaw,n):{clFront:1,clRear:1,cd:1},m=e.attitude?.roll?Hc(e.at,e.attitude.roll,o):{clFront:1,clRear:1,cd:1};return{clFront:l.clFront*u.clFront*m.clFront,clRear:l.clRear*u.clRear*m.clRear,cd:l.cd*u.cd*m.cd}}function qp(e){let[t,r]=Up(e.frame),n=[...Kc(e.range,t)],o=[...Kc(e.range,r)],a=i=>o.map(c=>n.map(l=>i(qy(e,l,c)))),s=Xy(e);return{kind:"map",name:e.name,area:e.area,...e.frame?{frame:{...e.frame}}:{},axes:{[t]:n,[r]:o},clFront:a(i=>i.clFront),clRear:a(i=>i.clRear),cd:a(i=>i.cd),provenance:{...e.provenance},...s?{attitude:s}:{}}}var Qp=180/Math.PI,Qy=new WeakMap,Zy=new WeakMap,Zp=new WeakMap;function Wr(e,t){let r=Zy.get(e);if(r)return r;let n=t?.wheelbase,o=n!==void 0?Zp.get(e)?.get(n):void 0;if(o)return o;let a=EC(e),s=a.map;if(!Po(s)){let l=IC(e,a);return Zy.set(e,l),l}if(n===void 0||!Number.isFinite(n)||n<=0)throw new Error("A ride-height-and-pitch aero map is read with the car\u2019s wheelbase, and none was given.");let i=_C(e,a,s.frame,n),c=Zp.get(e);return c||(c=new Map,Zp.set(e,c)),c.set(n,i),i}function EC(e){let t=Qy.get(e);if(t)return t;let r=Za(e);if(r)throw new Error(r);let n=e.kind==="map"?e:qp(e),{x:o,y:a}=Vc(n),s=o.length,i=a.length,c=n.attitude?.yaw,l=n.attitude?.roll,u=!!(c||l),m={clFront:1,clRear:1,cd:1,clamped:!1},f=(y,R)=>{let k=Math.abs(R),v=y.clFront.deg[y.clFront.deg.length-1];return{clFront:Be(y.clFront.deg,y.clFront.factor,k),clRear:Be(y.clRear.deg,y.clRear.factor,k),cd:Be(y.cd.deg,y.cd.factor,k),clamped:k>v}},p=(y,R)=>{if(!u)return m;let k=c?f(c,y):m,v=l?f(l,R):m;return{clFront:k.clFront*v.clFront,clRear:k.clRear*v.clRear,cd:k.cd*v.cd,clamped:k.clamped||v.clamped}},d=(y,R,k=0,v=0)=>{let x=Fn(o,y),M=Fn(a,R),F=Math.min(x.i+1,s-1),w=Math.min(M.i+1,i-1),C=S=>{let A=S[M.i][x.i],P=S[M.i][F],L=S[w][x.i],D=S[w][F],E=A+x.t*(P-A),V=L+x.t*(D-L);return E+M.t*(V-E)},T=p(k,v);return{clFront:u?C(n.clFront)*T.clFront:C(n.clFront),clRear:u?C(n.clRear)*T.clRear:C(n.clRear),cd:u?C(n.cd)*T.cd:C(n.cd),clampedRide:x.clamped||M.clamped,clampedAttitude:T.clamped}},h={x:[o[0],o[s-1]],y:[a[0],a[i-1]]},b=(y,R,k=!1,v=0,x=0)=>{let M=p(v,x),F=Fn(o,k?Math.min(Math.max(y,h.x[0]),h.x[1]):y),w=Fn(a,k?Math.min(Math.max(R,h.y[0]),h.y[1]):R),C=Math.min(F.i+1,s-1),T=Math.min(w.i+1,i-1),S=C>F.i?o[C]-o[F.i]:0,A=T>w.i?a[T]-a[w.i]:0,P={};for(let L of Yr){let D=n[L],E=D[w.i][F.i],V=D[w.i][C],N=D[T][F.i],z=D[T][C],I=F.clamped||S===0?0:((V-E)*(1-w.t)+(z-N)*w.t)/S,_=w.clamped||A===0?0:((N-E)*(1-F.t)+(z-V)*F.t)/A;P[L]=u?{x:I*M[L],y:_*M[L]}:{x:I,y:_}}return P},g={map:n,x:h.x,y:h.y,hasAttitude:u,factors:p,at:d,slopes:b};return Qy.set(e,g),g}function IC(e,t){let r={x:t.x,y:t.y,at:t.at,toAxles:(o,a)=>({hFront:o,hRear:a}),fromAxles:(o,a)=>({x:o,y:a})},n=(o,a,s=!1,i=0,c=0)=>{let l=t.slopes(o,a,s,i,c),u={};for(let m of Yr)u[m]={hFront:l[m].x,hRear:l[m].y};return u};return{model:e,map:t.map,area:t.map.area,grid:r,hasAttitude:t.hasAttitude,at:t.at,slopes:n,factors:t.factors}}function _C(e,t,r,n){let o=r.refX,a=o/n,s=(l,u,m=0,f=0)=>{let p=(u-l)/n;return t.at(l+o*p,Math.atan(p)*Qp,m,f)},i=(l,u,m=!1,f=0,p=0)=>{let d=(u-l)/n,h=t.slopes(l+o*d,Math.atan(d)*Qp,m,f,p),b=Qp/(n*(1+d*d)),g={};for(let y of Yr)g[y]={hFront:h[y].x*(1-a)-h[y].y*b,hRear:h[y].x*a+h[y].y*b};return g},c={frame:r,x:t.x,y:t.y,at:t.at,toAxles:(l,u)=>Lo(r,n,l,u),fromAxles:(l,u)=>{let m=Gc(r,n,l,u);return{x:m.h,y:m.pitch}}};return{model:e,map:t.map,area:t.map.area,grid:c,hasAttitude:t.hasAttitude,at:s,slopes:i,factors:t.factors}}function Jp(e){let t=e.clFront+e.clRear;return{cl:t,balanceFront:t!==0?e.clFront/t:.5}}var he=(e,t)=>e*t/100,qe=e=>e/100,Jy={name:"Formula Student aero",area:1,cl:3,balanceFront:.45,cd:1.3,ref:{hFront:30,hRear:35},range:{hFront:[5,60],hRear:[10,70]},dCl:{hFront:he(3,-.4),hRear:he(3,.1)},dBalance:{hFront:qe(-.3),hRear:qe(.15)},dCd:{hFront:he(1.3,-.1),hRear:he(1.3,.05)},yaw:{dCl:he(3,-1),dBalance:qe(-.3),dCd:he(1.3,.5),maxDeg:10},roll:{dCl:he(3,-.5),dBalance:0,dCd:0,maxDeg:3},note:"Assumed class-level sensitivities for an undertray-and-wings Formula Student car, ride height, yaw and roll; not measured."},ex={name:"Formula 1 aero",area:1.5,cl:3,balanceFront:.44,cd:.9,ref:{hFront:35,hRear:70},range:{hFront:[0,60],hRear:[20,100]},dCl:{hFront:he(3,-.3),hRear:he(3,-.15)},dBalance:{hFront:qe(-.15),hRear:qe(.15)},dCd:{hFront:he(.9,-.15),hRear:he(.9,-.05)},yaw:{dCl:he(3,-1.5),dBalance:qe(.2),dCd:he(.9,.8),maxDeg:8},roll:{dCl:he(3,-1),dBalance:qe(-.3),dCd:0,maxDeg:2},note:"Assumed class-level sensitivities for a ground-effect floor, ride height, yaw and roll; not measured."},tx={name:"GT car aero",area:2,cl:1.4,balanceFront:.42,cd:.42,ref:{hFront:55,hRear:75},range:{hFront:[10,90],hRear:[10,110]},dCl:{hFront:he(1.4,-.3),hRear:he(1.4,.05)},dBalance:{hFront:qe(-.25),hRear:qe(.15)},dCd:{hFront:he(.42,-.1),hRear:0},yaw:{dCl:he(1.4,-.8),dBalance:qe(-.2),dCd:he(.42,.6),maxDeg:10},roll:{dCl:he(1.4,-.3),dBalance:0,dCd:0,maxDeg:3},note:"Assumed class-level sensitivities for a splitter-and-wing GT car, ride height, yaw and roll; not measured."},rx={name:"Sports car aero",area:2.2,cl:-.1,balanceFront:.5,cd:.3,ref:{hFront:130,hRear:140},range:{hFront:[80,180],hRear:[100,200]},dCl:{hFront:-5e-4,hRear:0},dBalance:{hFront:0,hRear:0},dCd:{hFront:2e-4,hRear:0},yaw:{dCl:0,dBalance:0,dCd:he(.3,.5),maxDeg:10},note:"Assumed class-level sensitivities for a road car with no aero devices; not measured."},nx={name:"Cup car aero",area:2.1,cl:.45,balanceFront:.45,cd:.4,ref:{hFront:64,hRear:78},range:{hFront:[20,100],hRear:[30,120]},dCl:{hFront:he(.45,-.4),hRear:he(.45,.05)},dBalance:{hFront:qe(-.25),hRear:qe(.15)},dCd:{hFront:he(.4,-.1),hRear:0},yaw:{dCl:he(.45,-1.2),dBalance:qe(-.2),dCd:he(.4,.6),maxDeg:10},roll:{dCl:he(.45,-.3),dBalance:0,dCd:0,maxDeg:3},note:"Assumed class-level sensitivities for a splitter-and-wing cup hatchback, ride height, yaw and roll; not measured."},ox={name:"Stock car aero",area:2.2,cl:.6,balanceFront:.45,cd:.45,ref:{hFront:75,hRear:90},range:{hFront:[20,110],hRear:[30,130]},dCl:{hFront:he(.6,-.35),hRear:he(.6,.05)},dBalance:{hFront:qe(-.25),hRear:qe(.15)},dCd:{hFront:he(.45,-.1),hRear:0},yaw:{dCl:he(.6,-1),dBalance:qe(-.2),dCd:he(.45,.6),maxDeg:10},roll:{dCl:he(.6,-.3),dBalance:0,dCd:0,maxDeg:3},note:"Assumed class-level sensitivities for a splitter-and-spoiler stock car, ride height, yaw and roll; not measured."},ax={name:"Hill-climb prototype aero",area:1.2,cl:2.5,balanceFront:.42,cd:.9,ref:{hFront:45,hRear:55},range:{hFront:[10,80],hRear:[15,95]},dCl:{hFront:he(2.5,-.35),hRear:he(2.5,.05)},dBalance:{hFront:qe(-.25),hRear:qe(.15)},dCd:{hFront:he(.9,-.1),hRear:he(.9,.05)},yaw:{dCl:he(2.5,-1),dBalance:qe(-.3),dCd:he(.9,.5),maxDeg:10},roll:{dCl:he(2.5,-.5),dBalance:0,dCd:0,maxDeg:3},note:"Assumed class-level sensitivities for a winged sports prototype with a flat floor and diffuser, ride height, yaw and roll; not measured."},sx={name:"Race truck aero",area:6.2,cl:-.1,balanceFront:.6,cd:.65,ref:{hFront:110,hRear:240},range:{hFront:[60,160],hRear:[180,300]},dCl:{hFront:-5e-4,hRear:0},dBalance:{hFront:0,hRear:0},dCd:{hFront:2e-4,hRear:0},yaw:{dCl:0,dBalance:0,dCd:he(.65,.5),maxDeg:10},note:"Assumed class-level sensitivities for a cab-over race truck with a chin spoiler and deflectors, ride height and yaw; not measured."};function br(e){return Xp({name:e.name,area:e.area,cl:e.cl,balanceFront:e.balanceFront,cd:e.cd,ref:e.ref,range:e.range,dCl:e.dCl,dBalance:e.dBalance,dCd:e.dCd,...e.yaw?{yaw:e.yaw}:{},...e.roll?{roll:e.roll}:{},provenance:{source:"assumed",note:e.note}})}var ed=()=>br(Jy),td=()=>br(ex),rd=()=>br(tx),nd=()=>br(rx),od=()=>br(nx),ad=()=>br(ox),sd=()=>br(ax),id=()=>br(sx);function Do(e,t){let r=.5*e.rho*e.area*t*t,n=e.cl*r,o=e.cw*r,a=n*e.copLongFront;return{downforce:n,drag:o,downFront:a,downRear:n-a}}function zc(e,t){let r=e.massTotal;if(!(r>0))return{front:0,rear:0};let n=Math.max(0,Math.min(1,e.frontMassFrac)),o=2*e.unsprungPerCorner,a=(s,i)=>i>0?Math.min(1,s/i):0;return{front:(t.sprungMass*n+o*a(t.rideRateFront,Xe(e,"front")))/r,rear:(t.sprungMass*(1-n)+o*a(t.rideRateRear,Xe(e,"rear")))/r}}function Yc(e,t,r,n){let o=t.front*r+t.rear*n;return o===0?e:Math.max(Math.min(1,e),e-o)}function cd(e,t){return e.wheelbase>0?e.massTotal*t*9.81/e.wheelbase:0}function Eo(e,t,r){let n=2*t.rideRateFront,o=2*t.rideRateRear;return!(n>0)||!(o>0)?0:Math.min(Yp(t.sprungMass,r,e.wheelbase),.5*n*o/(n+o))}function Wc(e,t,r,n,o){let a=e.cgHeight,s=cd(e,r);if(n===0&&o===0&&s===0)return{height:a,forward:0,noseLoad:0,dropFront:0,dropRear:0};let i=zc(e,t),c=2*t.rideRateFront,l=2*t.rideRateRear,u=a,m=0,f=0,p=0;for(let h=0;h<6;h++){p=Eo(e,t,u);let b=n-s*u,g=o+s*u;if(p>0){let k=c*l-p*(c+l);m=(b*(l-p)-p*g)/k,f=(g*(c-p)-p*b)/k}else m=c>0?b/c:0,f=l>0?g/l:0;let y=Yc(a,i,m,f),R=Math.abs(y-u);if(u=y,R<1e-9)break}let d=m-f;return{height:u,forward:e.wheelbase>0?u*d/e.wheelbase:0,noseLoad:p*d,dropFront:m,dropRear:f}}var ld={yawDeg:0,rollDeg:0},ix=1e-4,NC=40,cx=50;function Io(e,t,r=0){let n=e.aero?.model;if(!(!n||!Wr(n,e).hasAttitude))return{yawDeg:r,rollDeg:Te(e).rollGradient*t}}function ud(e,t){if(e.rideHeightFront!=null&&e.rideHeightRear!=null)return{hFront:e.rideHeightFront,hRear:e.rideHeightRear};let r=e.model,n=(a,s,i)=>{if(t!==void 0&&t>0)return Lo(a,t,s,i);throw new Error("A ride-height-and-pitch aero model is read with the car\u2019s wheelbase, and none was given.")},o={hFront:0,hRear:0};if(r?.kind==="sensitivity")o=Yy(r)?n(r.frame,r.ref.h,r.ref.pitch):r.ref;else if(r){let{x:a,y:s}=Vc(r),i=(a[0]+a[a.length-1])/2,c=(s[0]+s[s.length-1])/2;o=Po(r)?n(r.frame,i,c):{hFront:i,hRear:c}}return{hFront:e.rideHeightFront??o.hFront,hRear:e.rideHeightRear??o.hRear}}var lx=new WeakMap;function jr(e,t,r=0,n){let o=e.aero;if(!o?.model)return null;let a=lx.get(e);a||(a=new Map,lx.set(e,a));let s=n&&Wr(o.model,e).hasAttitude?n:ld,i=s===ld?`${t}|${r}`:`${t}|${r}|${s.yawDeg.toFixed(3)}|${s.rollDeg.toFixed(3)}`,c=a.get(i);if(c)return c;let l=OC(e,o,t,r,s);return a.size>4096&&a.clear(),a.set(i,l),l}function OC(e,t,r,n,o){let a=Wr(t.model,e),s=Te(e),i=2*s.rideRateFront,c=2*s.rideRateRear,l=ud(t,e.wheelbase),u=.5*t.rho*r*r,m=a.area,f=e.wheelbase>0?t.copHeight/e.wheelbase:0,p=zc(e,s),d=cd(e,n),h=(C,T)=>Yc(e.cgHeight,p,l.hFront-C,l.hRear-T),b=(C,T)=>l.hFront-C-(l.hRear-T),g=(C,T)=>{let S=a.at(C,T,o.yawDeg,o.rollDeg),A=u*m*S.clFront,P=u*m*S.clRear,L=u*m*S.cd,D=L*f,E=h(C,T),V=d*E,N=Eo(e,s,E)*b(C,T),z=A-V-D+N,I=P+V+D-N,_=C-l.hFront+(i>0?z/i:0),B=T-l.hRear+(c>0?I/c:0);return{c:S,downFront:A,downRear:P,drag:L,rF:_,rR:B,norm:Math.hypot(_,B)}},y=(C,T,S=!1)=>{let A=a.slopes(C,T,S,o.yawDeg,o.rollDeg),P=i>0?u*m/i:0,L=c>0?u*m/c:0;return[[P*(A.clFront.hFront-f*A.cd.hFront),P*(A.clFront.hRear-f*A.cd.hRear)],[L*(A.clRear.hFront+f*A.cd.hFront),L*(A.clRear.hRear+f*A.cd.hRear)]]},R=l.hFront,k=l.hRear,v=g(R,k),x=0;for(;v.norm>=ix&&x<NC;){x++;let C=y(R,k),T=i>0?d/i:0,S=c>0?d/c:0,A=Eo(e,s,h(R,k)),P=i>0?A/i:0,L=c>0?A/c:0,D=1+C[0][0]-T*p.front-P,E=C[0][1]-T*p.rear+P,V=C[1][0]+S*p.front+L,N=1+C[1][1]+S*p.rear-L,z=D*N-E*V,I,_;Math.abs(z)>1e-9?(I=-(N*v.rF-E*v.rR)/z,_=-(-V*v.rF+D*v.rR)/z):(I=-.5*v.rF,_=-.5*v.rR);let B=Math.max(1,Math.abs(I)/cx,Math.abs(_)/cx);I/=B,_/=B;let O=1;for(let G=0;G<6;G++){let K=g(R+O*I,k+O*_);if(K.norm<=v.norm||G===5){R+=O*I,k+=O*_,v=K;break}O*=.5}}let M=y(R,k,!0),F=2+M[0][0]+M[1][1],w=(1+M[0][0])*(1+M[1][1])-M[0][1]*M[1][0];return{v:r,axG:n,hFront:R,hRear:k,cgHeight:h(R,k),cgForward:e.wheelbase>0?h(R,k)*b(R,k)/e.wheelbase:0,cgNoseLoad:Eo(e,s,h(R,k))*b(R,k),clFront:v.c.clFront,clRear:v.c.clRear,cd:v.c.cd,area:m,downforce:v.downFront+v.downRear,drag:v.drag,downFront:v.downFront,downRear:v.downRear,gain:VC(M),stable:w>0&&F>0,converged:v.norm<ix,iterations:x,clampedRide:v.c.clampedRide,yawDeg:o.yawDeg,rollDeg:o.rollDeg,clampedAttitude:v.c.clampedAttitude}}function VC(e){let t=e[0][0]+e[1][1],r=e[0][0]*e[1][1]-e[0][1]*e[1][0],n=t*t-4*r;if(n>=0){let o=Math.sqrt(n);return Math.max(Math.abs((t+o)/2),Math.abs((t-o)/2))}return Math.sqrt(r)}function Ja(e,t,r=0,n){let o=jr(e,t,r,n);return o?{downforce:o.downforce,drag:o.drag,downFront:o.downFront,downRear:o.downRear}:e.aero?Do(e.aero,t):{downforce:0,drag:0,downFront:0,downRear:0}}function jc(e,t=0,r=0,n,o){if(e.aero&&t>0){if(e.aero.model){let 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qC=(e,t)=>ee(e.pivotA,It(e.rprRel0,e.axis,t)),xd=(e,t)=>ee(e.pivotA,It(e.rdmRel0,e.axis,t));function ns(e,t){return{pushrod:qC(e,t),damper:xd(e,t)}}function Fx(e,t,r=0){let n=X(e.rprRel0,e.axis),o=H(e.rprRel0,U(e.axis,n)),a=ae(e.axis,o),s=H(ee(e.pivotA,U(e.axis,n)),t),i=X(o,o),c=X(s,s),l=ts(2*X(s,o),2*X(s,a),e.rodLen2-c-i,2*Math.sqrt(i*c));if(l.free){let p=Math.abs(e.rodLen2-c-i)<=1e-9*e.rodLen2;return{phi:r,damperLength:ve(xd(e,r),e.damperChassis),converged:p,margin:0}}let u=Sx(Math.atan2(l.s1,l.c1),r),m=Sx(Math.atan2(l.s2,l.c2),r),f=Math.abs(m-r)<Math.abs(u-r)?m:u;return{phi:f,damperLength:ve(xd(e,f),e.damperChassis),converged:l.ok,margin:l.margin}}function Sx(e,t){let r=2*Math.PI;return e+r*Math.round((t-e)/r)}function wx(e,t,r,n){return ee(t,ot(U(q(r),n),H(e,t)))}function Cx(e,t,r,n){let o=q(n),a=f=>{let p=H(f,r);return H(p,U(o,X(p,o)))},s=a(e),i=a(t),c=Math.hypot(s[0],s[1],s[2]),l=Math.hypot(i[0],i[1],i[2]);if(c<1e-9||l<1e-9)return 0;let u=Math.min(1,Math.max(-1,X(s,i)/(c*l))),m=X(ae(s,i),o)/(c*l);return Math.atan2(m,u)}function Tx(e,t,r,n){return ee(t,ot(U(q(r),n),H(e,t)))}var Xc=180/Math.PI,QC=(e,t,r)=>Math.max(t,Math.min(r,e)),Px=[NaN,NaN,NaN];function os(e){let t=q(e.spinAxis),r=q(H(e.uprightUpper,e.uprightLower)),n=-Math.asin(QC(t[2],-1,1))*Xc,o=Math.atan2(t[0],t[1])*Xc,a=Math.atan2(-r[0],r[2])*Xc,s=Math.atan2(-r[1],r[2])*Xc,i=q(ee([0,0,-1],U(t,t[2]))),c=ee(e.wheelCenter,U(i,e.loadedRadius)),l=e.patchShift?[c[0]+e.patchShift.x,c[1]+e.patchShift.y,c[2]]:c,u=e.uprightLower,m=Math.abs(r[2])>1e-9,f=w=>ee(u,U(r,(w-u[2])/r[2])),p=m?f(l[2]):Px,d=m?f(e.wheelCenter[2]):Px,h=l[1]-p[1],b=p[0]-l[0],g=q(ae(t,[0,0,1])),y=ae([0,0,1],g),R=H(l,p),k=X(R,y),v=-X(R,g),x=e.wheelCenter[1]-d[1],M=d[0]-e.wheelCenter[0],F=mx(e.tieOuter,u,r);return{camber:n,toe:o,caster:a,kpi:s,scrubRadius:h,mechanicalTrail:b,scrubAtWheel:k,trailAtWheel:v,kingpinOffset:x,casterOffset:M,steeringArm:F,contactPatch:l,kingpinGround:p,kingpinAtHub:d}}function tt(e){return{corner:e,inv:hd(e),rocker:Ax(e.hardpoints)}}var ZC=[20,20,20,.2,.2,.2];function Dx(e,t,r,n=[0,0,0,0,0,0]){let o=Mx(e,t,r,n);if(!o.free)return o;let a=JC(e,t,r,n);return{x:a.x,converged:a.converged,margin:0}}function JC(e,t,r,n=[0,0,0,0,0,0]){return bx(o=>gd(e,o,t,r),n,{scales:ZC,tol:1e-10,maxIter:40})}var eT=.01,qc=1.2,ht=e=>e.ok?e.state:null,at=e=>e.ok?e.state:e.nearest;function ye(e,t,r,n,o){let a=0,s=Ie(e,a,r,n,o);if(Math.abs(s.travel-t)<1e-4)return Lx(s,t,!1);let c=(Ie(e,.02,r,Rd(s),o).travel-s.travel)/.02;(!Number.isFinite(c)||Math.abs(c)<1e-6)&&(c=1);let l=f=>Math.max(-qc,Math.min(qc,f)),u=l((t-s.travel)/c),m=Ie(e,u,r,Rd(s),o);for(let f=0;f<12&&!(Math.abs(m.travel-t)<1e-4);f++){let p=m.travel-s.travel,d=Math.abs(p)<1e-9?u:u-(m.travel-t)*((u-a)/p);a=u,s=m,u=l(d),m=Ie(e,u,r,Rd(s),o)}return Lx(m,t,Math.abs(u)===qc)}function Lx(e,t,r){let n=e.travel-t,o=Math.abs(n)<=eT,a=r&&!o;return e.converged&&o?{ok:!0,reached:!0,travelMiss:n,clamped:!1,state:e}:{ok:!1,why:e.converged?"unreached":"unconverged",reached:o,travelMiss:n,clamped:a,nearest:e}}function Rd(e){return{q:[e.pose.t[0],e.pose.t[1],e.pose.t[2],e.pose.omega[0],e.pose.omega[1],e.pose.omega[2]],phi:e.points.rockerAngle}}function tT(e,t,r,n,o){switch(e){case"upright":return _t(t,r,o.pushrodOuter);case"upperArm":{let a=_t(t,r,t.ubj0),s=Cx(t.ubj0,a,t.ucaFront,t.ucaDir);return Tx(o.pushrodOuter,t.ucaFront,t.ucaDir,s)}default:return wx(o.pushrodOuter,t.lcaFront,t.lcaDir,n)}}function 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No=e=>e==="FL"||e==="FR"?"front":"rear",Ix=e=>e==="FL"||e==="RL"?"left":"right";function $e(e,t){return e.corners?.[t]??rT(e[No(t)],Ix(t))}function _x(e){let t=e.config.springSplit;return e.config.actuation==="decoupled"||t===void 0||!Number.isFinite(t)||Math.abs(t)>=1?0:t}var Ex=new WeakMap;function rT(e,t){let r=_x(e);if(r===0)return e;let n=Ex.get(e);if(!n){let o=a=>{let{springSplit:s,...i}=e.config;return{...e,config:{...i,springRate:e.config.springRate*a},...e.measured?{measured:{...e.measured,springRate:e.measured.springRate*a}}:{}}};n={left:o(1-r),right:o(1+r)},Ex.set(e,n)}return n[t]}var Oo=["FL","FR","RL","RR"],bt=e=>2*e.hardpoints.wheelCenter[1],qr=(e,t)=>t?bt($e(e,"FL"))/2+bt($e(e,"FR"))/2:bt($e(e,"RL"))/2+bt($e(e,"RR"))/2;function Ze(e,t){let r=e==="FL"||e==="FR";return{axleX:r?t.frontAxleX:t.frontAxleX-t.wheelbase,sideSign:e==="FR"||e==="RR"?1:-1,isFront:r}}function Nt(e,t){return[t.axleX+e[0],t.sideSign*e[1],e[2]]}function 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sT(y,e.corner.config.actuation==="decoupled"?0:e.corner.config.springRate),{samples:y,covered:g,reach:b,fold:d,unconverged:y.filter(R=>!R.converged).length}}function oT(e,t,r){let n=r?e.slice():e.slice().reverse();if(t<=n[0].travel)return n[0].beta;if(t>=n[n.length-1].travel)return n[n.length-1].beta;for(let o=1;o<n.length;o++){let a=n[o-1],s=n[o];if(t>=Math.min(a.travel,s.travel)&&t<=Math.max(a.travel,s.travel)){let i=s.travel-a.travel,c=Math.abs(i)<1e-9?0:(t-a.travel)/i;return a.beta+c*(s.beta-a.beta)}}return n[n.length-1].beta}function aT(e,t){let r=e[0],n=1/0;for(let o of e){let a=Math.abs(o.beta-t);a<n&&(n=a,r=o)}return r.warm}function kd(e,t,r){return r===0?(e[1]-e[0])/(t[1]-t[0]):r===e.length-1?(e[r]-e[r-1])/(t[r]-t[r-1]):(e[r+1]-e[r-1])/(t[r+1]-t[r-1])}function sT(e,t){if(e.length<2)return;let r=e.map(s=>s.travel),n=e.map(s=>s.metrics.camber),o=e.map(s=>s.metrics.toe),a=e.map(s=>s.metrics.damperLength);for(let s=0;s<e.length;s++){let 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r=$o(t.length0,t.coilover),n=t.free===-1/0||t.pull!==null&&t.pull>=t.free;if(n&&r.droop===null&&r.bump===null)return null;let o=n?-1/0:t.free;return{rate:e,preload:o===-1/0?0:-e*o,helper:null,free:o,pull:n?null:t.pull,droop:r.droop??-1/0,droopStated:r.droop!==null,bump:r.bump,holdsLoad:!1}}function cT(e,t){let{rate:r,preload:n,helper:o}=e;if(!o)return t>e.free-1e-9?n+r*t:e.pull!==null&&t<e.pull+1e-9?r*(t-e.pull):0;let a=Md(r,n,o)+t;if(a<=0)return 0;let s=o.rate*o.travel;return a>=s/r+o.travel?n>=s?n+r*t:r*(a-o.travel):a*r*o.rate/(r+o.rate)}function lT(e,t){let{rate:r,preload:n,helper:o}=e;if(!o)return t>e.free-1e-9||e.pull!==null&&t<e.pull+1e-9?r:0;let a=Md(r,n,o)+t;return a<=0?0:a>=o.rate*o.travel/r+o.travel?r:r*o.rate/(r+o.rate)}function Go(e,t){let r=cT(e,t),n=e.free;return e.holdsLoad&&t<n&&e.droop<n&&(r+=.001*e.rate*(Math.max(t,e.droop)-n)),t<e.droop&&(r+=1e3*e.rate*(t-e.droop)),e.bump!==null&&t>e.bump&&(r+=1e3*e.rate*(t-e.bump)),r}function Ad(e,t){let r=lT(e,t),n=e.free;return e.holdsLoad&&t<n&&t>e.droop&&(r+=.001*e.rate),t<e.droop&&(r+=1e3*e.rate),e.bump!==null&&t>e.bump&&(r+=1e3*e.rate),r}function Fd(e){let t=e.free,r=[t,e.droop];return e.helper&&r.push(e.helper.rate*e.helper.travel/e.rate+e.helper.travel+t),e.bump!==null&&r.push(e.bump),e.pull!==null&&r.push(e.pull),[...new Set(r.filter(Number.isFinite))].sort((n,o)=>n-o)}var Zc={min:-60,max:60,steps:61},wd=e=>({travel:[e.min,e.max],force:[0,0],motionRatio:[0,0],spring:null}),Nx=new WeakMap;function uT(e,t){let r=Nx.get(e.corner);r||Nx.set(e.corner,r=new Map);let n=`${t.min}|${t.max}|${t.steps}`,o=r.get(n);return o||r.set(n,o=Bo(e,{travelMin:t.min,travelMax:t.max,steps:t.steps,steer:0})),o}function is(e,t,r=Zc,n=e.corner.config.coilover){let o=e.corner.config;if(o.actuation==="decoupled")return wd(r);let a=uT(e,r),s=pT(e,o.springRate,a.samples),i=[];for(let h of a.samples){let b=h.metrics.motionRatio;!h.converged||b===void 0||!Number.isFinite(b)||!Number.isFinite(h.metrics.damperLength)||i.length>0&&h.travel<=i[i.length-1].t+1e-6||i.push({t:h.travel,L:h.metrics.damperLength,mr:b})}if(i.length<2)return wd(r);let c=fT(i,0);if(!(Math.abs(c.mr)>1e-6))return wd(r);let l=t/c.mr,u=ss(s,l,c.L,n),m=u?mT(i,Fd(u).map(h=>c.L-h)):i,f=m.map(h=>(u?Go(u,c.L-h.L):l+s*(c.L-h.L))*h.mr-t),p=h=>h===null?null:m.find(b=>b.L===c.L-h)?.t??null,d=u?Fd(u).map(p).filter(h=>h!==null):[];return{travel:m.map(h=>h.t),force:f,motionRatio:m.map(h=>h.mr),spring:{rate:s,preload:l,length0:c.L,law:u},...u?{stops:{droop:p(u.droop),bump:p(u.bump)}}:{},...d.length?{kinks:d}:{},length:m.map(h=>h.L)}}function mT(e,t){let r=[...e];for(let n of t)for(let o=0;o+1<e.length;o++){let a=e[o],s=e[o+1];if(a.L===n)break;if((a.L-n)*(s.L-n)>=0)continue;let i=(n-a.L)/(s.L-a.L);r.push({t:a.t+i*(s.t-a.t),L:n,mr:a.mr+i*(s.mr-a.mr)});break}return r.sort((n,o)=>n.t-o.t),r.filter((n,o)=>o===0||n.t>r[o-1].t+1e-6)}function pT(e,t,r){let n=e.corner.compliance?.links?.pushRod;if(n===void 0||!(n>0)||!Number.isFinite(n)||!(t>0))return t;let o=e.corner.config.actuation==="direct"?n:dT(e,n,r);return!(o>0)||!Number.isFinite(o)?t:t*o/(t+o)}function dT(e,t,r){let n;for(let m of r)m.converged&&(!n||Math.abs(m.travel)<Math.abs(n.travel))&&(n=m);if(!n)return t;let o=e.corner.hardpoints,a=ns(e.rocker,n.points.rockerAngle),s=q(H(o.rockerPivotB,o.rockerPivotA)),i=(m,f)=>Math.abs(X(s,ae(H(m,o.rockerPivotA),q(H(f,m))))),c=i(a.pushrod,n.points.pushrodOuter),l=i(a.damper,o.damperChassis);if(!(l>1e-9)||!(c>1e-9))return t;let u=c/l;return t*u*u}function Cd(e,t){let r=e.travel.length;if(r===0)return 0;if(r===1)return e.motionRatio[0];let n=yr(e.travel,t),o=(t-e.travel[n])/(e.travel[n+1]-e.travel[n]);return e.motionRatio[n]+o*(e.motionRatio[n+1]-e.motionRatio[n])}function gr(e,t,r){if(!e.spring)return Ht(e,t);let{rate:n,preload:o,length0:a,law:s}=e.spring,i=Cd(e,0),c=a-r;return(s?Go(s,c):o+n*c)*Cd(e,t)-o*i}function fT(e,t){let r=yr(e.map(s=>s.t),t),n=e[r],o=e[r+1],a=(t-n.t)/(o.t-n.t);return{L:n.L+a*(o.L-n.L),mr:n.mr+a*(o.mr-n.mr)}}function yr(e,t){let r=e.length;if(t<=e[0])return 0;if(t>=e[r-1])return r-2;let n=0,o=r-1;for(;o-n>1;){let a=n+o>>1;e[a]<=t?n=a:o=a}return n}function Ht(e,t){let r=e.travel.length;if(r===0)return 0;if(r===1)return e.force[0];let n=yr(e.travel,t),o=(t-e.travel[n])/(e.travel[n+1]-e.travel[n]);return e.force[n]+o*(e.force[n+1]-e.force[n])}function Ko(e,t){let r=e.travel.length;if(r<3)return cs(e,t);let n=yr(e.travel,t),o=(e.force[n+1]-e.force[n])/(e.travel[n+1]-e.travel[n]),a=i=>i===0||i===r-1||e.kinks?.includes(e.travel[i])?o:(e.force[i+1]-e.force[i-1])/(e.travel[i+1]-e.travel[i-1]),s=Math.max(0,Math.min(1,(t-e.travel[n])/(e.travel[n+1]-e.travel[n])));return a(n)+s*(a(n+1)-a(n))}function cs(e,t){if(e.travel.length<2)return 0;let n=yr(e.travel,t);return(e.force[n+1]-e.force[n])/(e.travel[n+1]-e.travel[n])}function De(e,t,r){let n=e.hardpoints;switch(t.attach){case"upright":{let o=H(t.outer,n.wheelCenter);return ee(ee(ot(r.pose.omega,o),n.wheelCenter),r.pose.t)}case"lowerArm":{let o=q(H(n.lcaRear,n.lcaFront));return ee(n.lcaFront,ot(U(o,r.beta),H(t.outer,n.lcaFront)))}case"rocker":{let o=q(H(n.rockerPivotB,n.rockerPivotA));return ee(n.rockerPivotA,It(H(t.outer,n.rockerPivotA),o,r.points.rockerAngle))}}}function Jr(e,t,r){return e.config.actuation==="decoupled"&&t.attach==="rocker"&&r==="coil"}function Td(e,t,r){return Jr(e,t,r)?[t.inner[0],-t.inner[1],t.inner[2]]:t.inner}function Ho(e,t,r){let n=r.travelMin??-40,o=r.travelMax??40,a=r.steps??21;return Pd(e,t,r.kind,Ge(e,{travelMin:n,travelMax:o,steps:a}).samples)}function Pd(e,t,r,n){let o=q(H(t.outer,Td(e,t,r))),a=[],s=[],i=t.outer;for(let p of n)a.push(p.travel),s.push(X(H(De(e,t,p),i),o));let c=a.length,l=new Array(c).fill(0);for(let p=0;p<c;p++){let d=Math.max(0,p-1),h=Math.min(c-1,p+1),b=a[h]-a[d];l[p]=b!==0?(s[h]-s[d])/b:0}let u=l[0];for(let p=1;p<c;p++)if(a[p]>=0){let 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Qx=(e,t)=>e.bump!==null&&t>e.bump?e.rate*(t-e.bump):e.droop!==null&&t<e.droop?e.rate*(t-e.droop):0,kT=(e,t)=>e.bump!==null&&t>e.bump||e.droop!==null&&t<e.droop?e.rate:0;function ms(e,t,r,n,o=0){let a=e.rollStop;if(!a)return r;let s=qx(e,t);if(!s)return r;let i=Qx(a,a.length0-(n??s.L+o));return i===0?r:[r[0]-i*s.dL[0],r[1]-i*s.dL[1]]}function rl(e,t){let r=Vd(e.travel);return t==="heave"?{...e,heave:r.heave,heaveRatio:r.heaveRatio}:{...e,roll:r.roll,rollRatio:r.rollRatio}}var nl=(e,t)=>e?e.law?Go(e.law,t):e.preload+e.rate*t:0,Wx=(e,t)=>e?e.law?Ad(e.law,t):e.rate:0;function ps(e,t,r,n,o){let a=nl(e.heave,n),s=nl(e.roll,o);return[a*t.dh+s*t.dr,a*r.dh-s*r.dr]}var jx=(e,t)=>ze(e[0],t).h+ze(e[1],t).h;function MT(e,t){let r=e.gap>0?jx(t,e.gap):0;return e.bothWays?{free:r,pull:e.gap>0?jx(t,-e.gap):0}:{free:r,pull:null}}function ST(e,t,r){let n={...t,outer:t.inner},o=(u,m)=>{let f=ht(ye(e[0],u,0)),p=ht(ye(e[1],m,0));if(!f||!p)return NaN;let d=De(e[0].corner,t,f),h=De(e[1].corner,n,p);return 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n=e.read.heave;if(!n)return ze(e.side[0],t[0]).h+ze(e.side[1],t[1]).h;let[o,a]=n.pickups;return n.span0-us(De(o.corner,o.link,r[0]),De(a.corner,a.link,r[1]),n.mount)}function FT(e,t,r){let n=e.read.roll;if(!n)return ze(e.side[0],t[0]).r-ze(e.side[1],t[1]).r;let o=a=>X(H(De(n.pickups[a].corner,n.pickups[a].link,r[a]),n.pickups[a].at0),n.axes[a]);return o(0)-o(1)}function wT(e,t){let r=e.read.roll;if(!e.rollStop||!r)return;let[n,o]=r.pickups;return Bd(De(n.corner,n.link,t[0]),De(o.corner,{...o.link,outer:o.link.inner},t[1]))}function fs(e,t,r){let n=ze(e.side[0],t[0]),o=ze(e.side[1],t[1]),a=ms(e,t,ps(e,n,o,AT(e,t,r),FT(e,t,r)),wT(e,r));return[a[0]-e.force0[0],a[1]-e.force0[1]]}function Kd(e,t,r,n){let o=ze(e.side[0],r),a=ze(e.side[1],r),s=e.read.heave,i=s?.pickups[t],c=s&&i&&n?2*Xx(i,s.mount,De(i.corner,i.link,n)):o.h+a.h,l=e.rollStop&&n?e.read.roll?.pickups[t]:void 0,u=l&&n?Bd(De(l.corner,l.link,n),De(l.corner,{...l.link,outer:l.link.inner},n)):void 0;return 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u=t.cornerCoilover?.[s==="FL"||s==="FR"?"front":"rear"],m=`${Yd.findIndex(p=>$e(e.vehicle,p)===$e(e.vehicle,s))}|${c.springLoad}|${u?`${u.extended}/${u.stroke}`:""}`,f=o.get(m);f?r[s]=f:(r[s]=u?is(i,c.springLoad,void 0,u):is(i,c.springLoad),o.set(m,r[s]))}let a={front:null,rear:null};for(let s of["front","rear"]){let i=t.elements?.[s];if(!i)continue;let c=oR[s];a[s]=Zx([e.ctx[c[0]],e.ctx[c[1]]],[t.corners[c[0]],t.corners[c[1]]],i)}return{input:t,curve:r,elements:a,ground0:n,memo:new Map}}function aR(e,t,r){if(!(r>0)||!Number.isFinite(r)||!Number.isFinite(t)||t<=0)return 0;let n=Math.min(t/r,e);return 2*Math.sqrt(Math.max(0,2*e*n-n*n))}var IT=e=>`${e.heave}|${e.pitch}|${e.roll}|${e.steer}`;function Wd(e,t,r){return{travel:r.travel,steer:r.steer,ground:r.travel,tyreDeflection:0,load:NaN,loadedRadius:Zt($e(e.vehicle,t).config.loadedRadius,e.kc,t),lifted:!1,contactLength:0,converged:!0,rigid:!0,rideRate:NaN,wheelRateAtLoad:NaN}}var _T=e=>e?{q:[e.pose.t[0],e.pose.t[1],e.pose.t[2],e.pose.omega[0],e.pose.omega[1],e.pose.omega[2]],phi:e.points.rockerAngle}:void 0;function rR(e,t,r,n){let o=oR[n],a=e.vehicle.config,s=o.map(w=>Zr(w,a,r,e.vehicle)),i=[t.input.corners[o[0]],t.input.corners[o[1]]],c=t.loadCase;if(!c&&i.every(Cn))return{corners:[Wd(e,o[0],s[0]),Wd(e,o[1],s[1])],respond:null};let l=o.map(w=>t.curve[w]),u=t.elements?.[n]??null,m=o.map(w=>Zt($e(e.vehicle,w).config.loadedRadius,t,w)),f=[s[0].travel+(c?.ground[o[0]]??0),s[1].travel+(c?.ground[o[1]]??0)],p=[c?.linkLoad[o[0]]??0,c?.linkLoad[o[1]]??0],d=[c?.patchShift[o[0]],c?.patchShift[o[1]]],h=[0,0],b=[0,0],g,y=zo(f,h,i,l,void 0,void 0,p,u),R=[void 0,void 0],k=[!0,!0],v=[0,0],x=!1;for(let w=0;w<ET;w++){w>0&&(y=zo(f,h,i,l,g,b,p,u)),v=[Number.isFinite(i[0].tyreRate)&&i[0].tyreRate>0?y.dF[0]/i[0].tyreRate:0,Number.isFinite(i[1].tyreRate)&&i[1].tyreRate>0?y.dF[1]/i[1].tyreRate:0];let C=[0,0],T=[0,0];for(let A=0;A<2;A++){let P=ye(e.ctx[o[A]],y.t[A],s[A].steer,_T(R[A]),{loadedRadius:m[A]-v[A],patchShift:d[A]}),L=at(P);R[A]=L,k[A]=P.ok,C[A]=L.points.contactPatch[2]-t.ground0[o[A]]-y.t[A]-v[A],T[A]=gr(l[A],y.t[A],L.points.damperLength)-Ht(l[A],y.t[A])}if(u){let A=fs(u,y.t,[R[0],R[1]]),P=ds(u,y.t);T[0]+=A[0]-P[0],T[1]+=A[1]-P[1]}let S=Math.max(Math.abs(C[0]-h[0]),Math.abs(C[1]-h[1]),Math.abs(T[0]-b[0])/Math.max(1,i[0].tyreRate),Math.abs(T[1]-b[1])/Math.max(1,i[1].tyreRate));if(h=C,b=T,g=y.t,S<DT){x=!0;break}}let M=y.respond([1,1],[0,0]);return{corners:[0,1].map(w=>{let C=R[w];return{travel:y.t[w],steer:s[w].steer,ground:f[w],tyreDeflection:v[w],load:i[w].staticLoad+y.dF[w],loadedRadius:m[w]-v[w],lifted:y.lifted[w],clearance:y.clearance[w],contactLength:aR(m[w]-v[w],i[w].staticLoad+y.dF[w],i[w].tyreRate),converged:y.converged&&x&&k[w],rigid:!1,state:C,solved:k[w],rideRate:M[w],wheelRateAtLoad:Hd(l[w],u,y.t,w)}}),respond:y.respond}}function sR(e,t){let r=e.kc,n=IT(t),o=r.memo.get(n);if(o)return o;let a=rR(e,r,t,"front"),s=rR(e,r,t,"rear"),i={corners:{FL:a.corners[0],FR:a.corners[1],RL:s.corners[0],RR:s.corners[1]},respond:{front:a.respond,rear:s.respond}};return r.memo.size>=LT&&r.memo.clear(),r.memo.set(n,i),i}function gt(e,t){if(!e.kc){let r={};for(let n of Yd)r[n]=Wd(e,n,Zr(n,e.vehicle.config,t,e.vehicle));return r}return sR(e,t).corners}function sl(e,t,r){return e.kc?sR(e,t).respond[r]:null}function hs(e,t,r,n=0){let o=e.kc;if(!o)return r;let a=o.input.corners[t];if(Cn(a))return r;let s=Zr(t,e.vehicle.config,{heave:0,pitch:0,roll:0,steer:n},e.vehicle).steer,i=Zt($e(e.vehicle,t).config.loadedRadius,o,t),c=o.loadCase,l=c?.linkLoad[t]??0,u=c?.patchShift[t],m=at(ye(e.ctx[t],r,s,void 0,{loadedRadius:i,patchShift:u})),f=ol(o,t),p=gr(o.curve[t],r,m.points.damperLength)+(f?Kd(f,zd(t),r,m):a.heaveRate*r),h=Math.max(p+l,-a.staticLoad)/a.tyreRate;return(h===0?m:at(ye(e.ctx[t],r,s,void 0,{loadedRadius:i-h,patchShift:u}))).points.contactPatch[2]-o.ground0[t]-(c?.ground[t]??0)}var NT=180/Math.PI,OT=[0,0,1];function VT(e,t){let r=Qr(e,t),n=U(ae(OT,r),-t.sideSign);return-Math.atan2(n[1],n[0])*NT}var iR=e=>1/Math.tan(e*Math.PI/180),cR=.05,lR=.001;function uR(e,t,r){if(!Number.isFinite(e)||!Number.isFinite(t))return NaN;if(!(Math.abs(e)<lR&&Math.abs(t)<lR))return e>0&&t>0?100*(iR(t)-iR(e))/r:NaN}function BT(e,t){let r=qr(e.vehicle,!0)/e.vehicle.config.wheelbase,n=t("FL",0).deg,o=t("FR",0).deg,a=(c,l)=>{let u=c+l>=0;return{left:u,inner:u?c:-l,outer:u?l:-c}},s,i=()=>{if(s===void 0){let c=[cR,-cR].map(l=>{let{inner:u,outer:m}=a(t("FL",l).deg-n,t("FR",l).deg-o);return uR(u,m,r)??NaN});s=(c[0]+c[1])/2}return s};return c=>{let l=t("FL",c),u=t("FR",c),{left:m,inner:f,outer:p}=a(l.deg-n,u.deg-o),d=uR(f,p,r);return{steerL:l.deg,steerR:u.deg,inner:f,outer:p,toeDiff:f-p,ackermannPct:d??i(),inside:d===void 0?null:m?"left":"right",converged:l.ok&&u.ok}}}function jd(e,t){let r=e.vehicle.config,n={FL:Ze("FL",r),FR:Ze("FR",r)},o=t.travel??0,a=BT(e,(i,c)=>{let l=ht(ye(e.ctx[i],o,n[i].sideSign*c));return{deg:l?VT(l.points.spinAxis,n[i]):NaN,ok:l!==null}}),s=[];for(let i=0;i<t.steps;i++){let c=t.steps===1?0:-t.steerMax+2*t.steerMax*i/(t.steps-1),{inside:l,...u}=a(c);s.push({steerInput:c,...u})}return s}var mR=35,pR=55,Ot=e=>e.rackTravel&&e.rackTravel>0?e.rackTravel:mR,Ud=e=>e.rackRatio&&e.rackRatio>0?e.rackRatio:pR;var Xd=e=>({q:[e.pose.t[0],e.pose.t[1],e.pose.t[2],e.pose.omega[0],e.pose.omega[1],e.pose.omega[2]],phi:e.points.rockerAngle});function dR(e,t,r,n,o){let a=ye(e,n,0,void 0,o),s=at(a),i=a.ok?0:1,c=s.points.contactPatch[2],l={steer:s.metrics.toe,camber:s.metrics.camber,lift:0,contactPatch:s.points.contactPatch,spinAxis:s.points.spinAxis,yaw:-s.metrics.toe*Math.PI/180},u=p=>{let d=[l],h=Xd(s);for(let b=1;b<=r;b++){let g=p*(t*b)/r,y=Ie(e,s.beta,g,h,o),R=ht(ye(e,n,g,Xd(y),o));if(!R||!y.converged){i++,d.push({...d[d.length-1]});continue}d.push({steer:R.metrics.toe,camber:R.metrics.camber,lift:-(y.points.contactPatch[2]-c),contactPatch:y.points.contactPatch,spinAxis:y.points.spinAxis,yaw:-y.metrics.toe*Math.PI/180}),h=Xd(y)}return d},m=u(1),f=u(-1);return{travelMm:n,unsolved:i,centre:l,positive:m,negative:f}}function $T(e,t){return e.map((r,n)=>{let o=n===0?0:n-1,a=n===e.length-1?e.length-1:n+1,s=t[a]-t[o];if(!(s>0))return{longitudinal:0,lateral:0,vertical:0,yaw:0};let i=U(H(e[a].contactPatch,e[o].contactPatch),1/s),c=q(ae(r.spinAxis,[0,0,1])),l=ae([0,0,1],c);return{longitudinal:X(i,c),lateral:X(i,l),vertical:i[2],yaw:(e[a].yaw-e[o].yaw)/s}})}function fR(e,t,r){let n=o=>({steerDeg:o.map(a=>Math.abs(a.steer-e.centre.steer)),camberDeg:o.map(a=>a.camber-e.centre.camber),liftMm:o.map(a=>a.lift),jacobian:$T(o,t)});return{travelMm:e.travelMm,inner:n(r?e.positive:e.negative),outer:n(r?e.negative:e.positive)}}function GT(e){return e.positive[1].steer-e.centre.steer<0}function KT(e,t,r){return{meanDeg:t.map((n,o)=>.5*(r.inner.steerDeg[o]+r.outer.steerDeg[o])),innerDeg:r.inner.steerDeg,outerDeg:r.outer.steerDeg,innerCamber:r.inner.camberDeg,outerCamber:r.outer.camberDeg,innerLift:r.inner.liftMm,outerLift:r.outer.liftMm,rackRatioMmPerRev:Ud(e.config),innerJacobian:r.inner.jacobian,outerJacobian:r.outer.jacobian}}function qd(e,t,r=13,n=-40,o=40,a=5,s){let i=tt(e),c=Array.from({length:r+1},(b,g)=>t*g/r),l=dR(i,t,r,0,s),u=GT(l),m=fR(l,c,u),f=Math.max(2,Math.floor(a)),p=Array.from({length:f},(b,g)=>n+(o-n)*g/(f-1));p.some(b=>Math.abs(b)<1e-9)||p.push(0),p.sort((b,g)=>b-g);let d=l.unsolved,h=p.map(b=>{if(Math.abs(b)<1e-9)return m;let g=dR(i,t,r,b,s);return d+=g.unsolved,fR(g,c,u)});return{...KT(e,c,m),...hR(l.unsolved),travelSurface:{rackMm:c,rows:h,...hR(d)}}}var hR=e=>e>0?{unsolved:e}:{};function Jt(e,t,r){let n=e.length;if(n===0)return 0;if(r<=e[0])return t[0];if(r>=e[n-1])return t[n-1];let o=0,a=n-1;for(;a-o>1;){let i=o+a>>1;e[i]<=r?o=i:a=i}let s=(r-e[o])/(e[a]-e[o]);return t[o]+s*(t[a]-t[o])}function il(e,t,r){let n=e.length;if(n===0)return{longitudinal:0,lateral:0,vertical:0,yaw:0};let o,a;if(r<=e[0])o=a=0;else if(r>=e[n-1])o=a=n-1;else for(o=0,a=n-1;a-o>1;){let l=o+a>>1;e[l]<=r?o=l:a=l}let s=t[o];if(o===a)return{longitudinal:s.longitudinal,lateral:s.lateral,vertical:s.vertical,yaw:s.yaw};let i=t[a],c=(r-e[o])/(e[a]-e[o]);return{longitudinal:s.longitudinal+c*(i.longitudinal-s.longitudinal),lateral:s.lateral+c*(i.lateral-s.lateral),vertical:s.vertical+c*(i.vertical-s.vertical),yaw:s.yaw+c*(i.yaw-s.yaw)}}function bR(e,t){let r=e.rows;if(r.length<=1||t<=r[0].travelMm)return{lo:0,hi:0,t:0};let n=r.length-1;if(t>=r[n].travelMm)return{lo:n,hi:n,t:0};let o=0,a=n;for(;a-o>1;){let s=o+a>>1;r[s].travelMm<=t?o=s:a=s}return{lo:o,hi:a,t:(t-r[o].travelMm)/(r[a].travelMm-r[o].travelMm)}}var Tn=(e,t,r)=>e+r*(t-e);function Yo(e,t,r,n,o){let a=Jt(e.rackMm,e.rows[n.lo][t][r],o);if(n.lo===n.hi)return a;let s=Jt(e.rackMm,e.rows[n.hi][t][r],o);return Tn(a,s,n.t)}function gR(e,t,r,n){let o=il(e.rackMm,e.rows[r.lo][t].jacobian,n);if(r.lo===r.hi)return o;let a=il(e.rackMm,e.rows[r.hi][t].jacobian,n);return{longitudinal:Tn(o.longitudinal,a.longitudinal,r.t),lateral:Tn(o.lateral,a.lateral,r.t),vertical:Tn(o.vertical,a.vertical,r.t),yaw:Tn(o.yaw,a.yaw,r.t)}}function Wo(e,t,r,n){let o=e.travelSurface;if(!o||o.rackMm.length<2||o.rows.length===0)return jo(e,t);let a=bR(o,r),s=bR(o,n),i=(p,d,h)=>{let b=o.rows[d.lo][p].steerDeg[h];return d.lo===d.hi?b:Tn(b,o.rows[d.hi][p].steerDeg[h],d.t)},c=new Array(o.rackMm.length);for(let p=0;p<c.length;p++)c[p]=.5*(i("inner",a,p)+i("outer",s,p));let l=Math.max(0,t),u=c.length-1,m=o.rackMm[u],f=l>c[u];if(l<=c[0])m=o.rackMm[0],f=!1;else if(!f){let p=1;for(;p<c.length-1&&c[p]<l;)p++;let d=p-1,h=c[p]-c[d],b=Math.abs(h)>1e-12?(l-c[d])/h:0;m=Tn(o.rackMm[d],o.rackMm[p],b)}return{innerDeg:Yo(o,"inner","steerDeg",a,m),outerDeg:Yo(o,"outer","steerDeg",s,m),innerCamber:Yo(o,"inner","camberDeg",a,m),outerCamber:Yo(o,"outer","camberDeg",s,m),innerLift:Yo(o,"inner","liftMm",a,m),outerLift:Yo(o,"outer","liftMm",s,m),innerJacobian:gR(o,"inner",a,m),outerJacobian:gR(o,"outer",s,m),atLock:f}}function jo(e,t){let r=e.meanDeg.length-1;return{innerDeg:Jt(e.meanDeg,e.innerDeg,t),outerDeg:Jt(e.meanDeg,e.outerDeg,t),innerCamber:Jt(e.meanDeg,e.innerCamber,t),outerCamber:Jt(e.meanDeg,e.outerCamber,t),innerLift:e.innerLift?Jt(e.meanDeg,e.innerLift,t):0,outerLift:e.outerLift?Jt(e.meanDeg,e.outerLift,t):0,...e.innerJacobian&&e.outerJacobian?{innerJacobian:il(e.meanDeg,e.innerJacobian,t),outerJacobian:il(e.meanDeg,e.outerJacobian,t)}:{},atLock:r>=0&&t>e.meanDeg[r]}}var HT=()=>({lift:{FL:0,FR:0,RL:0,RR:0},travel:{FL:0,FR:0,RL:0,RR:0},load:{FL:0,FR:0,RL:0,RR:0},rollDeg:0});function Uo(e,t,r=Te(e),n){let o=e.steerFront;if(!o?.innerLift||!o.outerLift||o.meanDeg.length<2||Math.abs(t)<1e-12)return HT();let a=Math.abs(t),s=t>0,i=n&&o.travelSurface?Wo(o,a,s?n.FL:n.FR,s?n.FR:n.FL):null,c=i?.innerLift??Jt(o.meanDeg,o.innerLift,a),l=i?.outerLift??Jt(o.meanDeg,o.outerLift,a),u=s?c:l,m=s?l:c,f=.5*(u+m),p=r.rollWheelRateFront,d=r.rollWheelRateRear,h=e.trackFront,b=e.trackRear,g=p*h*h+d*b*b,y=g>0?p*h*(m-u)/g:0,R={FL:u-f+.5*h*y,FR:m-f-.5*h*y,RL:.5*b*y,RR:-.5*b*y};return{lift:{FL:u,FR:m,RL:0,RR:0},travel:R,load:{FL:p*R.FL,FR:p*R.FR,RL:d*R.RL,RR:d*R.RR},rollDeg:y===0?0:-Math.atan(y)*180/Math.PI}}function Qd(e,t,r){let n=t/r,o=a=>1/Math.tan(a*Math.PI/180);for(let a=0;a<e.meanDeg.length;a++)if(e.outerDeg[a]>.3&&e.innerDeg[a]>.3)return 100*(o(e.outerDeg[a])-o(e.innerDeg[a]))/n;return NaN}var bs=9.81;function Xo(e,t,r=0,n=0,o=0){if(!e.aero||t<=0)return{FL:0,FR:0,RL:0,RR:0};let a=e.aero.model?jr(e,t,r,Io(e,n,o)):Do(e.aero,t),s=a.downFront/2,i=a.downRear/2,c=a.drag*(e.aero.copHeight/1e3)/(e.wheelbase/1e3)/2;return{FL:s-c,FR:s-c,RL:i+c,RR:i+c}}function Zd(e,t,r=0,n=0,o=0){if(!e.aero?.model||t<=0)return!1;let a=jr(e,t,r,Io(e,n,o));return a!=null&&(a.clampedRide||a.clampedAttitude)}function Pn(e){let t=e.loadFactor===void 0?e.massTotal*bs:e.massTotal*bs*e.loadFactor,r=t*e.frontMassFrac,n=t*(1-e.frontMassFrac);return{FL:r/2,FR:r/2,RL:n/2,RR:n/2}}function yR(e,t=Te(e),r=e.cgHeight){let n=e.trackFront/1e3,o=e.trackRear/1e3,a=e.rcHeightFront/1e3,s=e.rcHeightRear/1e3,i=(e.rcHeightFront+(e.rcHeightRear-e.rcHeightFront)*(1-e.frontMassFrac))/1e3,c=r/1e3-i,l=2*e.unsprungPerCorner,u=e.unsprungCgHeight/1e3,m=t.sprungMass*c*Oc(t.sprungMass,c,t.rollRateTotal),f=(m*t.frontRollStiffFrac+t.sprungFront*a+l*u)/n,p=(m*(1-t.frontRollStiffFrac)+t.sprungRear*s+l*u)/o;return{cf:f,cr:p}}function Jd(e){let{cf:t,cr:r}=yR(e);return t+r>0?t/(t+r):.5}function xR(e,t,r){if(e.FL>=0&&e.FR>=0&&e.RL>=0&&e.RR>=0)return{loads:{FL:Math.max(0,e.FL),FR:Math.max(0,e.FR),RL:Math.max(0,e.RL),RR:Math.max(0,e.RR)},lifted:{FL:!1,FR:!1,RL:!1,RR:!1},overturned:!1};let n=e.FL+e.FR+e.RL+e.RR;if(!(n>0))return{loads:{FL:0,FR:0,RL:0,RR:0},lifted:{FL:!0,FR:!0,RL:!0,RR:!0},overturned:!0};let o=!1,a=e.FL+e.FR,s=e.RL+e.RR;a<0?(a=0,s=n,o=!0):s<0&&(s=0,a=n,o=!0);let i=(e.FR-e.FL)*t+(e.RR-e.RL)*r,c=Math.min(a,Math.max(-a,e.FR-e.FL)),l=Math.min(s,Math.max(-s,e.RR-e.RL)),u=i-(c*t+l*r);if(u!==0){let f=u>0?1:-1,p=(f*a-c)*t;f*u>=f*p?(c=f*a,u-=p):(c+=u/t,u=0);let d=(f*s-l)*r;u!==0&&(f*u>=f*d?(l=f*s,u-=d):(l+=u/r,u=0)),Math.abs(u)>1e-9*(Math.abs(i)+n*(t+r))&&(o=!0)}let m={FL:Math.max(0,(a-c)/2),FR:Math.max(0,(a+c)/2),RL:Math.max(0,(s-l)/2),RR:Math.max(0,(s+l)/2)};return{loads:m,lifted:{FL:m.FL===0,FR:m.FR===0,RL:m.RL===0,RR:m.RR===0},overturned:o}}function we(e,t,r,n=0,o=0,a=0,s,i){return cl(e,t,r,n,o,a,s,i).loads}function cl(e,t,r,n=0,o=0,a=0,s,i){let c=Pn(e),l=Te(e),u=jc(e,n,r,Io(e,t,o),l),{cf:m,cr:f}=yR(e,l,u.height),p=m*t*bs,d=f*t*bs,h=e.massTotal*(r*bs)*u.height/e.wheelbase-u.noseLoad,b=Xo(e,n,r,t,o),g=(i??Uo(e,a,l,s)).load,y={FL:c.FL-p-h/2+b.FL+g.FL,FR:c.FR+p-h/2+b.FR+g.FR,RL:c.RL-d+h/2+b.RL+g.RL,RR:c.RR+d+h/2+b.RR+g.RR};return xR(y,e.trackFront,e.trackRear)}var ef=Math.PI/180;function ul(e,t){let r=8*ef,n=0,o=0;for(let a=1;a<=90;a++){let s=a*.5,i=Math.abs(e.Fy(s*ef,t,0));if(i>n&&(n=i,r=s*ef,o=a),a>o+12&&i<.995*n)break}return{aPeak:r,fyPeak:n}}function RR(e,t,r,n,o){if(n===t)return r;let a=(o-t)/(n-t);return a<=0?e:a>=1?r:e+a*(r-e)}var ys=.999;function St(e,t,r,n,o){if(t<=0)return 0;let{aPeak:a,fyPeak:s}=o??ul(e,t),i=Math.min(Math.abs(r),ys*s),c=n?-1:1,l=(v,x)=>Math.abs(e.forces({Fz:t,kappa:c*v,alpha:x}).Fy),u=.3,m=u,f=l(u,a);if(f<i){let v=0,x=u,M=NaN,F=f;for(let w=0;w<9;w++){let C=.5*(v+x),T=l(C,a);T>=i?(v=C,M=T):(x=C,F=T)}Number.isNaN(M)&&(M=l(0,a)),m=M<i?0:RR(v,M,x,F,i)}if(m<=0)return 0;let p=v=>{if(i===0)return c*e.forces({Fz:t,kappa:c*v,alpha:0}).Fx;let x=0,M=a,F=NaN,w=NaN;for(let C=0;C<5;C++){let T=.5*(x+M),S=l(v,T);S<i?(x=T,F=S):(M=T,w=S)}return Number.isNaN(F)&&(F=l(v,0)),Number.isNaN(w)&&(w=l(v,a)),c*e.forces({Fz:t,kappa:c*v,alpha:RR(x,F,M,w,i)}).Fx},d=4,h=v=>m*v/d,b=[0],g=1;for(let v=1;v<=d;v++)b.push(p(h(v))),b[v]>b[g]&&(g=v);let[y,R]=g===d?[d-1,d-2]:b[g-1]>=b[g+1]?[g-1,g+1]:[g+1,g-1],k=jT(p,h(g-1),h(Math.min(d,g+1)),h(g),b[g],h(y),b[y],h(R),b[R],zT);return c*Math.max(0,k)}var zT=.01,YT=20,WT=(3-Math.sqrt(5))/2;function jT(e,t,r,n,o,a,s,i,c,l){o=-o,s=-s,c=-c;let u=r-t,m=0;for(let f=0;f<YT;f++){let p=l*Math.abs(n)+1e-10,d=.5*(t+r);if(Math.abs(n-d)<=2*p-.5*(r-t))break;let h=!0;if(Math.abs(u)>p){let y=(n-a)*(o-c),R=(n-i)*(o-s),k=(n-i)*R-(n-a)*y;R=2*(R-y),R>0&&(k=-k),R=Math.abs(R);let v=u;if(u=m,Math.abs(k)<Math.abs(.5*R*v)&&k>R*(t-n)&&k<R*(r-n)){m=k/R;let x=n+m;(x-t<2*p||r-x<2*p)&&(m=d>=n?p:-p),h=!1}}h&&(u=n>=d?t-n:r-n,m=WT*u);let b=Math.abs(m)>=p?n+m:n+(m>=0?p:-p),g=-e(b);g<=o?(b>=n?t=n:r=n,i=a,c=s,a=n,s=o,n=b,o=g):(b<n?t=b:r=b,g<=s||a===n?(i=a,c=s,a=b,s=g):(g<=c||i===n||i===a)&&(i=b,c=g))}return-o}function nf(e,t){return e.model?.kind==="simple"?null:MR(e,t)}var vR=new WeakMap,tf=100,kR=1.35,rf=18,er=41,ll=41,gs=65;function MR(e,t){let r=vR.get(e);if(r)return r;let n=Math.log(kR),o=(p,d)=>{let h=M=>Math.abs(St(e,p,M,d)),b=h(0),g=t.muY(p)*p,y=new Float64Array(er),R=b>0&&g>0?Math.max(1,t.muX(p)*p/b):1;if(!(b>0)||!(g>0))y.fill(1);else{let M=[],F=[];for(let C=0;C<ll;C++){let T=Math.sin(.5*Math.PI*C/(ll-1));M.push(T),F.push(C===0?1:C===ll-1?0:Math.min(F[C-1],h(T*g)/b))}let w=ll-1;for(let C=0;C<er;C++){let T=C/(er-1);for(;w>0&&F[w-1]<T;)w--;let S=w>0?F[w-1]-F[w]:0;y[C]=w===0?M[0]:M[w]+(S>0?(T-F[w])/S:0)*(M[w-1]-M[w])}y[0]=1,y[er-1]=0}let k=new Float64Array(gs),v=M=>Math.atan2(y[M],M/(er-1)/R),x=er-2;for(let M=0;M<gs;M++){let F=.5*Math.PI*M/(gs-1),w=Math.cos(F),C=Math.sin(F);for(;x>0&&v(x)<F;)x--;let T=x/(er-1)/R,S=y[x],A=(x+1)/(er-1)/R,P=y[x+1],L=w*(P-S)-C*(A-T),D=Math.abs(L)>1e-12?(T*(P-S)-S*(A-T))/L:Math.hypot(T,S);k[M]=D>0?D:Math.hypot(T,S)}return{room:y,scale:R,edge:k}},a=Array.from({length:rf},(p,d)=>tf*kR**d),s=a.map(p=>o(p,!1)),i=a.map(p=>o(p,!0)),c=(p,d)=>{let h=Math.min(1,Math.abs(d)*p.scale)*(er-1),b=Math.min(er-2,Math.floor(h));return p.room[b]+(h-b)*(p.room[b+1]-p.room[b])},l=p=>{let d=p>tf?Math.log(p/tf)/n:0;if(d>=rf-1)return[rf-2,1];let h=Math.floor(d);return[h,d-h]},u=(p,d,h)=>{if(h===0)return 1;let b=h<0?i:s,g=c(b[p],h);return d>0?g+d*(c(b[p+1],h)-g):g},m=(p,d,h)=>{let b=d<0?i:s,[g,y]=l(p),R=Math.atan2(Math.abs(h),Math.abs(d))/(.5*Math.PI)*(gs-1),k=Math.min(gs-2,Math.floor(R)),v=M=>M.edge[k]+(R-k)*(M.edge[k+1]-M.edge[k]),x=v(b[g]);return y>0?x+y*(v(b[g+1])-x):x},f={keeps(p,d){if(d===0)return 1;let[h,b]=l(p);return u(h,b,d)},atLoad(p){let[d,h]=l(p);return b=>u(d,h,b)},use(p,d,h){let b=Math.hypot(d,h);return b>0?Math.min(1,b/m(p,d,h)):0},reach:m};return vR.set(e,f),f}var UT=[["front","FL","FR"],["rear","RL","RR"]];function qo(e,t,r,n){let o={...e},a=0,s=ys;for(let[i,c,l]of UT){let u=(k,v)=>n(i,Math.max(0,v[k])).fyPeak,m=Math.min(s,e[c]),f=Math.min(s,e[l]),p=m*u(c,r)+f*u(l,r);if(!(p>0))continue;let d=u(c,t),h=u(l,t),b=m*d+f*h,g=b>0?p/b:1/0,y=m*g,R=f*g;y<=s?R<=s||(R=s,y=d>0?(p-s*h)/d:1/0):(y=s,R=h>0?(p-s*d)/h:1/0),(!(y<=s)||!(R<=s))&&(a+=Math.max(0,p-s*(d+h)),y=Math.min(s,y),R=Math.min(s,R)),o[c]=y,o[l]=R}return{util:o,short:a}}var SR=.001,XT=1e-5,AR=100;function qT(e,t,r,n){if(!(n>SR))return r;let o=t,a=Math.abs(r-t)<AR?t+Math.sign(r-t)*AR:r;for(let s=0;s<60&&Math.abs(a-o)>XT;s++){let i=.5*(o+a);e(i)>SR?a=i:o=i}return o}function ml(e,t,r){let n;return{at:o=>{if(n!==void 0)return r<0?Math.max(o,n):Math.min(o,n);if(!((o-t)*r>0))return o;let a=qT(e,t,o,e(o));return a!==o&&(n=a),a},edge:()=>n}}function pl(e,t){let r=n=>{try{return ye(e,0,n).ok}catch{return!1}};for(let n of[1,-1]){if(r(n*t))continue;let o=0;for(let a=1;a<=6;a++){let s=n*t*a/6;if(!r(s))break;o=Math.abs(s)}return{lock:t,reached:o,side:n}}return null}var of=40;function dl(e){return{violation:Math.max(0,e.lock-e.reached),reason:`the steering reaches only ${e.reached.toFixed(0)} mm of the ${e.lock.toFixed(0)} mm rack travel${e.side<0?" (other side)":""}`}}var FR=[0,0,0];function QT(e,t){let r=q(H(e.rockerPivotB,e.rockerPivotA)),n=q(H(e.rockerToPushrod,e.pushrodOuter)),o=q(H(e.damperChassis,e.rockerToDamper)),a=Math.abs(X(r,ae(H(e.rockerToPushrod,e.rockerPivotA),n))),s=Math.abs(X(r,ae(H(e.rockerToDamper,e.rockerPivotA),o)));return s<1e-9?0:t*a/s}function fl(e,t,r){if(e.mcpherson)return ZT(e,t,r);let n=[{r:e.uprightUpper,c:e.ucaFront},{r:e.uprightUpper,c:e.ucaRear},{r:e.uprightLower,c:e.lcaFront},{r:e.uprightLower,c:e.lcaRear},{r:e.tieOuter,c:e.tieInner},{r:e.pushrodOuter,c:e.direct?e.damperChassis:e.rockerToPushrod}],o=e.wheelCenter,a=[[],[],[],[],[],[]];for(let m=0;m<6;m++){let f=q(H(n[m].c,n[m].r)),p=ae(H(n[m].r,o),f);a[0][m]=f[0],a[1][m]=f[1],a[2][m]=f[2],a[3][m]=p[0],a[4][m]=p[1],a[5][m]=p[2]}let s=ae(H(e.contactPatch,o),t),i=r??FR,c=[-t[0],-t[1],-t[2],-(s[0]+i[0]),-(s[1]+i[1]),-(s[2]+i[2])],l=Qt(a,c),u=l.x;return{ucaFront:u[0],ucaRear:u[1],lcaFront:u[2],lcaRear:u[3],tieRod:u[4],pushRod:u[5],damper:l.singular||e.decoupled?NaN:e.direct?u[5]:QT(e,u[5]),condProxy:l.condProxy,singular:l.singular}}function ZT(e,t,r){let n=e.wheelCenter,o=e.damperChassis,a=[{at:e.uprightLower,dir:q(H(e.lcaFront,e.uprightLower))},{at:e.uprightLower,dir:q(H(e.lcaRear,e.uprightLower))},{at:e.tieOuter,dir:q(H(e.tieInner,e.tieOuter))},{at:o,dir:[1,0,0]},{at:o,dir:[0,1,0]},{at:o,dir:[0,0,1]}],s=[[],[],[],[],[],[]];for(let b=0;b<6;b++){let g=a[b].dir,y=ae(H(a[b].at,n),g);s[0][b]=g[0],s[1][b]=g[1],s[2][b]=g[2],s[3][b]=y[0],s[4][b]=y[1],s[5][b]=y[2]}let 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Pe(e){let t=BR(e),r=t,n=t,o=null,a=NaN,s=NaN,i=NaN,c=(v,x,M)=>(o!==null&&v===a&&x===s&&M===i||(o=yl(r,v,x,M),a=v,s=x,i=M),o),l=null,u=NaN,m=NaN,f=NaN,p=(v,x,M)=>(l!==null&&v===u&&x===m&&M===f||(l=gl(r,v,x,M),u=v,m=x,f=M),l),d=v=>e.kind==="magic"?Rl(c(v.Fz,v.gamma??0,v.p),v.kappa,v.alpha):cf(n,v),h=(v,x,M=0,F)=>e.kind==="magic"?Ms(p(x,M,F),v):OR(n,x,v),b=(v,x,M=0,F)=>e.kind==="magic"?xl(c(x,M,F),v):VR(n,x,v),g=(v,x,M=0,F)=>e.kind==="magic"?sf(c(x,M,F),v):d({Fz:x,kappa:0,alpha:v,gamma:M,p:F}).Mz,y=v=>e.kind==="simple"?Ss(n,v):Zo(x=>h(x*Qo,v),45,1)/Math.max(1,v),R=v=>e.kind==="simple"?As(n,v):Zo(x=>b(x,v),.6,.02)/Math.max(1,v),k=v=>{let x=.1*Qo;return Math.abs((h(x,v)-h(-x,v))/(2*x))};return{model:e,forces:d,Fx:b,Fy:h,Mz:g,muX:R,muY:y,corneringStiffness:k,verticalStiffness:()=>e.verticalStiffness,rollingRadius:v=>{if(e.kind==="magic"&&e.missing?.includes("UNLOADED_RADIUS"))return 0;let x=e.unloadedR0??0;if(!(x>0))return 0;let M=e.verticalStiffness*1e3;if(!(M>0))return x;let F=e.rollingFraction??.306;return x-F*Math.max(0,v)/M},relaxationLength:v=>{let x=e.relaxation;if(!x)return 0;let M=x.carcassStiffness??0;if(!(M>0))return x.sigma;let F=k(Math.max(0,v));return F>0?F/(M*1e3):x.sigma}}}function Jo(e){let t=Math.max(1,e.model.kind==="magic"?e.model.fnomin:e.model.nominalLoad);return e.Fy(2*Qo,t,0)-e.Fy(-2*Qo,t,0)>=0?1:-1}function Fs(e,t=e.kind==="magic"?e.fnomin:e.nominalLoad){let r=Pe(e),n=2*Qo,o=3*Qo,a=r.Fy(n,t,0),s=r.Fy(n,t,o);return!Number.isFinite(a)||!Number.isFinite(s)?!1:Math.abs(s-a)>1}var iP=Math.PI/180;function ge(e,t){return e.axle?e.axle(t):e}function kl(e,t){if(e===t)return e;let r=Jo(e)*Jo(t),n=(l,u)=>.5*(l+u),o=(l,u)=>l>0&&u>0?n(l,u):l>0?l:u>0?u:0,a=l=>{let u=e.forces(l),m=t.forces(l);return{Fx:n(u.Fx,m.Fx),Fy:n(u.Fy,r*m.Fy),Mz:n(u.Mz,r*m.Mz)}},s=(l,u,m=0,f)=>n(e.Fx(l,u,m,f),t.Fx(l,u,m,f)),i=(l,u,m=0,f)=>n(e.Fy(l,u,m,f),r*t.Fy(l,u,m,f)),c=(l,u,m=0,f)=>n(e.Mz(l,u,m,f),r*t.Mz(l,u,m,f));return{model:e.model,forces:a,Fx:s,Fy:i,Mz:c,muX:l=>Zo(u=>s(u,l),.6,.02)/Math.max(1,l),muY:l=>Zo(u=>i(u*iP,l),45,1)/Math.max(1,l),corneringStiffness:l=>n(e.corneringStiffness(l),t.corneringStiffness(l)),verticalStiffness:()=>o(e.verticalStiffness(),t.verticalStiffness()),rollingRadius:l=>o(e.rollingRadius(l),t.rollingRadius(l)),relaxationLength:l=>o(e.relaxationLength(l),t.relaxationLength(l)),axle:l=>l==="front"?e:t}}function ut(e){if($R.has(e))return e;let t=GR.get(e);if(t)return t;let r;if(e.axle){let n=e.axle("front"),o=e.axle("rear"),a=ut(n),s=ut(o);r=a===n&&s===o?e:kl(a,s)}else Jo(e)>0?r=e:r={...e,forces:n=>{let o=e.forces(n);return{Fx:o.Fx,Fy:-o.Fy,Mz:-o.Mz}},Fy:(n,o,a,s)=>-e.Fy(n,o,a,s),Mz:(n,o,a,s)=>-e.Mz(n,o,a,s)};return $R.add(r),r!==e&&GR.set(e,r),r}var $R=new WeakSet,GR=new WeakMap;var Ml=25*(Math.PI/180);function cP(e){let t=.6180339887,r=0,n=Ml,o=n-t*(n-r),a=r+t*(n-r),s=e(o),i=e(a);for(let l=0;l<12;l++)s>i?(n=a,a=o,i=s,o=n-t*(n-r),s=e(o)):(r=o,o=a,s=i,a=r+t*(n-r),i=e(a));return{alpha:s>i?o:a,force:Math.max(s,i)}}function ws(e,t,r,n,o=0){let a=Math.abs(t);if(!(a>0))return 0;let s=u=>Math.abs(e.Fy(u,r,0))+Math.abs(e.Fy(u,n,0)),i=0,c=Ml;if(s(Ml)<=a){let u=cP(s);if(u.force<=a)return u.alpha;c=u.alpha}else if(o>0){let u=Math.max(0,o*.6),m=Math.min(Ml,o*1.6+.001);s(u)<a&&s(m)>=a&&(i=u,c=m)}let l=.001*a;for(let u=0;u<12;u++){let m=.5*(i+c),f=s(m)-a;if(f<0?i=m:c=m,Math.abs(f)<=l)return m}return c}var lf={shaft:!1,trail:0,hub:[0,0,0]};function HR(e){let t=e.spinAxis,r=Math.hypot(t[0],t[1]);if(r<1e-9)return[1,0,0];let n=[-t[1]/r,t[0]/r,0];return n[0]<0?[-n[0],-n[1],0]:n}function uf(e,t,r){let n=r.shaft?af(e,t):[0,0,0];if(r.trail!==0){let a=HR(e),s=[t[0],t[1],0],i=H(s,U(a,X(s,a)));n=ee(n,ae(U(a,-r.trail),i))}let o=r.hub;return(o[0]!==0||o[1]!==0||o[2]!==0)&&(n=H(n,ae(H(e.contactPatch,e.wheelCenter),o))),{force:ee(t,o),moment:n}}var lP=(e,t)=>{let r=e!==void 0&&e>0?1/e:0,n=t!==void 0&&t>0?1/t:0;return r+n},Sl={ucaFront:0,ucaRear:0,lcaFront:0,lcaRear:0,tieRod:0,pushRod:0,rack:0};function Ln(e){return!e.measured}function Dn(e){if(!e)return!1;let t=r=>!!r&&Object.values(r).some(n=>n!==void 0&&n>0&&Number.isFinite(n));return t(e.links)||t(e.bushings)||e.rack!==void 0&&e.rack>0}function Cs(e,t){let r=e.corner.hardpoints,n=ns(e.rocker,t.points.rockerAngle);return{ucaFront:r.ucaFront,ucaRear:r.ucaRear,lcaFront:r.lcaFront,lcaRear:r.lcaRear,tieInner:_o(e.inv,t.steer),rockerPivotA:r.rockerPivotA,rockerPivotB:r.rockerPivotB,damperChassis:e.inv.strut?t.points.uprightUpper:r.damperChassis,uprightUpper:t.points.uprightUpper,uprightLower:t.points.uprightLower,tieOuter:t.points.tieOuter,wheelCenter:t.points.wheelCenter,pushrodOuter:t.points.pushrodOuter,contactPatch:t.points.contactPatch,kingpinGround:t.points.kingpinGround,kingpinAtHub:t.points.kingpinAtHub,rockerToPushrod:n.pushrod,rockerToDamper:n.damper,spinAxis:t.points.spinAxis,direct:e.corner.config.actuation==="direct",decoupled:e.corner.config.actuation==="decoupled",mcpherson:e.inv.strut!==void 0,loadedRadius:e.corner.config.loadedRadius,tyreDeflection:0,load:NaN,lifted:!1,clearance:0,contactLength:0}}function mf(e,t,r=0){let n=t.links??{},o=t.bushings??{},a=(l,u,m)=>{let f=lP(u,m);return f>0&&Number.isFinite(l)?l*f:0},s=o.topMount,i=e.topMount,c=i&&s!==void 0&&s>0&&i.every(Number.isFinite)?[-i[0]/s,-i[1]/s,-i[2]/s]:void 0;return{...c?{topMount:c}:{},ucaFront:a(e.ucaFront,n.ucaFront,o.ucaFront),ucaRear:a(e.ucaRear,n.ucaRear,o.ucaRear),lcaFront:a(e.lcaFront,n.lcaFront,o.lcaFront),lcaRear:a(e.lcaRear,n.lcaRear,o.lcaRear),tieRod:a(e.tieRod,n.tieRod,o.tieInner),pushRod:a(e.pushRod,n.pushRod,void 0),rack:r}}function zR(e,t,r,n){let o=ve(e,t);if(!(o>1e-9))return{axial:r,radius2:0};let a=(r*r-n*n+o*o)/(2*o);return{axial:a,radius2:Math.max(0,r*r-a*a)}}function Ts(e,t){let r=e.corner.hardpoints,n=e.inv,o={...n};if(n.strut&&t.topMount&&t.topMount.some(i=>i!==0)&&(o.strut={...n.strut,top:ee(n.strut.top,t.topMount)}),t.ucaFront!==0||t.ucaRear!==0){let i=zR(r.ucaFront,r.ucaRear,ve(r.uprightUpper,r.ucaFront)+t.ucaFront,ve(r.uprightUpper,r.ucaRear)+t.ucaRear);o.ubjAxial0=i.axial,o.ubjRadius2=i.radius2}if(t.lcaFront!==0||t.lcaRear!==0){let i=zR(r.lcaFront,r.lcaRear,ve(r.uprightLower,r.lcaFront)+t.lcaFront,ve(r.uprightLower,r.lcaRear)+t.lcaRear),c=X(n.lbjRel0,n.lcaDir),l=H(n.lbjRel0,U(n.lcaDir,c)),u=Math.hypot(l[0],l[1],l[2]);o.lbjRel0=u>1e-9?ee(U(n.lcaDir,i.axial),U(l,Math.sqrt(i.radius2)/u)):ee(U(n.lcaDir,i.axial),l)}if(t.tieRod!==0){let i=Math.sqrt(n.tieLen2)+t.tieRod;o.tieLen2=i*i}if(t.rack!==0&&(o.tieInner0=ee(n.tieInner0,U(n.rackAxis,t.rack))),t.pushRod===0)return{corner:e.corner,inv:o,rocker:e.rocker};let a=Math.sqrt(e.rocker.rodLen2)+t.pushRod,s={...e.rocker,rodLen2:a*a};return{corner:e.corner,inv:o,rocker:s}}var uP=8,mP=1e-5,pP=e=>({q:[e.pose.t[0],e.pose.t[1],e.pose.t[2],e.pose.omega[0],e.pose.omega[1],e.pose.omega[2]],phi:e.points.rockerAngle});function pf(e,t,r){let n=uf(e,r.force,r.extras??lf),o=r.alignMoment?ee(n.moment,[0,0,r.alignMoment]):n.moment;return xs(e,t,n.force,o)}function Fl(e,t,r,n,o,a,s=0){let i=Ie(e,t,r,o,a),c=e.corner.compliance;if(!(Dn(c)&&Ln(e.corner)))return{state:i,forces:pf(Cs(e,i),e.corner.config.pushrodAttach,n),deflection:Sl,rigid:i,iterations:0,converged:!0,bypassed:!0};let u=i,m=e,f=e.corner.config.pushrodAttach,p=pf(Cs(e,i),f,n),d=Sl,h=!1,b=0;for(;b<uP;b++){let g=Cs(m,u);if(p=pf(g,f,n),p.singular)break;d=mf(p,c,s),m=Ts(e,d);let y=Ie(m,t,r,pP(u),a),R=ve(y.points.wheelCenter,u.points.wheelCenter);if(u=y,R<mP){h=!0;break}}return{state:u,forces:p,deflection:d,rigid:i,iterations:b+1,converged:h&&u.converged,bypassed:!1}}var Al=1e3,YR=1e5;function WR(e,t,r,n,o){let a=Fl(e,t,r,n,void 0,o);return{toe:a.state.metrics.toe,camber:a.state.metrics.camber,patch:a.state.points.contactPatch,converged:a.converged,bypassed:a.bypassed}}function wl(e,t,r,n,o){let a={force:[0,0,n]},s=(b,g=0)=>WR(e,t,r,{force:b,alignMoment:g},o),i=WR(e,t,r,a,o);if(i.bypassed)return{toePerLateral:0,camberPerLateral:0,toePerLongitudinal:0,camberPerLongitudinal:0,toePerAligning:0,lateralPatch:0,longitudinalPatch:0,bypassed:!0,converged:!0};let c=s([0,Al,n]),l=s([0,-Al,n]),u=s([Al,0,n]),m=s([-Al,0,n]),f=s([0,0,n],YR),p=s([0,0,n],-YR),d=(b,g)=>(b-g)/2,h=[i,c,l,u,m,f,p].every(b=>b.converged);return{toePerLateral:d(c.toe,l.toe),camberPerLateral:d(c.camber,l.camber),toePerLongitudinal:d(u.toe,m.toe),camberPerLongitudinal:d(u.camber,m.camber),toePerAligning:d(f.toe,p.toe),lateralPatch:d(c.patch[1],l.patch[1]),longitudinalPatch:d(u.patch[0],m.patch[0]),bypassed:!1,converged:h}}var dP=1e3;function df(e,t=dP){if(!Dn(e.compliance)||!Ln(e))return;let r=tt(e),n=Ie(r,0,0),o=wl(r,n.beta,0,t);if(!o.bypassed)return{toePerFy:o.toePerLateral/1e3,camberPerFy:o.camberPerLateral/1e3,toePerFx:o.toePerLongitudinal/1e3,camberPerFx:o.camberPerLongitudinal/1e3,toePerMz:o.toePerAligning/1e5}}function ea(e,t=-of,r=of,n=21){let o=e.measured;if(o)return{travel:[...o.travel],motionRatio:[...o.motionRatio],camber:[...o.camber],toe:[...o.toe],damperLen:o.damperLen?[...o.damperLen]:o.travel.map(()=>0)};let a=Ge(e,{travelMin:t,travelMax:r,steps:n}),s=df(e);return{travel:a.samples.map(i=>i.travel),motionRatio:a.samples.map(i=>i.metrics.motionRatio??1),camber:a.samples.map(i=>i.metrics.camber),toe:a.samples.map(i=>i.metrics.toe),damperLen:a.samples.map(i=>i.metrics.damperLength),...s?{compliance:s}:{}}}function Cl(e,t,r){let n=e.length;if(n===0)return 0;if(r<=e[0])return t[0];if(r>=e[n-1])return t[n-1];let o=0,a=n-1;for(;a-o>1;){let i=o+a>>1;e[i]<=r?o=i:a=i}let s=(r-e[o])/(e[a]-e[o]);return t[o]+s*(t[a]-t[o])}function tn(e,t){return{motionRatio:Cl(e.travel,e.motionRatio,t),camber:Cl(e.travel,e.camber,t),toe:Cl(e.travel,e.toe,t),damperLen:Cl(e.travel,e.damperLen,t)}}var jR=Math.PI/180,fP=9.81;function rn(e,t,r,n=0){let o=Te(e),a=e.wheelbase*(1-e.frontMassFrac),s=e.wheelbase*e.frontMassFrac,i=Xo(e,n),c=e.aero?.model?(k,v,x)=>Xo(e,n,v,k,x):()=>i,l=tn(t,0),u=tn(r,0),m=e.loadFactor,f=m!==void 0&&m!==1?(m-1)*e.massTotal*fP:0,p=f*e.frontMassFrac/2,d=f*(1-e.frontMassFrac)/2,h=(k,v)=>v>0&&Number.isFinite(v)&&k+v>0?v/(k+v):1,b=Xe(e,"front"),g=Xe(e,"rear"),y={F:h(e.wheelRateFront+(e.heaveSpringFront??0),b),R:h(e.wheelRateRear+(e.heaveSpringRear??0),g)},R={F:h(e.wheelRateFront+e.arbFront,b),R:h(e.wheelRateRear+e.arbRear,g)};return(k,v,x=0,M=0)=>{let F=c(k,v,x),w=o.rollGradient*k,C=w*jR,T=o.pitchGradient*v*jR,S=(V,N)=>{let z=N==="F"?e.trackFront:e.trackRear,I=N==="F"?o.rideRateFront:o.rideRateRear,_=(V==="R"?1:-1)*(z/2)*Math.tan(C),B=(N==="R"?s:-a)*Math.tan(T),O=`${N}${V}`,G=f?F[O]+(N==="F"?p:d):F[O],K=I>0?G/I:0;return{anti:_,sym:B+K}},A={FL:S("L","F"),FR:S("R","F"),RL:S("L","R"),RR:S("R","R")},P=V=>{let N=V[0];return A[V].sym*y[N]+A[V].anti*R[N]},L=Uo(e,M,o,{FL:P("FL"),FR:P("FR")}),D=w+L.rollDeg,E=(V,N)=>{let z=N==="F"?t:r,I=N==="F"?l:u,_=`${N==="F"?"F":"R"}${V}`,B=A[_].sym+A[_].anti+L.travel[_],O=P(_)+L.travel[_]*R[N],G=B-O,K=tn(z,O),Y=(V==="R"?1:-1)*K.camber;return{travel:O,tyre:G,ground:B,camber:Y,camberRoad:Y+D,toe:K.toe,bumpToe:K.toe-I.toe,damperTravel:I.damperLen-K.damperLen}};return{FL:E("L","F"),FR:E("R","F"),RL:E("L","R"),RR:E("R","R"),steeringJacking:L}}}var ff=(e,t)=>{let r=Number(e);return Number.isFinite(r)?r:t};function En(e){return{enabled:e?.enabled===!0,roadFeedbackGain:Math.min(2,Math.max(0,ff(e?.roadFeedbackGain,1))),turnInFrictionNm:Math.max(0,ff(e?.turnInFrictionNm,0)),columnStiffnessNmPerRad:Math.max(0,ff(e?.columnStiffnessNmPerRad,0))}}function hf(e,t,r){let n=En(r);if(!n.enabled)return{roadNm:e,assistanceNm:0,frictionNm:0,columnTwistDeg:0,driverNm:e};let o=e*(n.roadFeedbackGain-1),a=t===0?0:Math.sign(t)*n.turnInFrictionNm,s=e+o+a,i=n.columnStiffnessNmPerRad>0?s/n.columnStiffnessNmPerRad*(180/Math.PI):0;return{roadNm:e,assistanceNm:o,frictionNm:a,columnTwistDeg:i,driverNm:s}}var UR=()=>({totalNm:0,aligningNm:0,lateralNm:0,longitudinalNm:0,jackingNm:0});function In(e){let t=e.steerFront;return!!(t?.rackRatioMmPerRev&&t.innerJacobian&&t.innerJacobian.length>=2&&t.outerJacobian&&t.outerJacobian.length>=2&&t.meanDeg.length>=2)}function Ps(e,t,r,n="model",o){let a=e.steerFront;if(!In(e)||!a)return null;let s=t<0?-1:1,c=a.rackRatioMmPerRev/(2*Math.PI)/1e3,l=t>=0,u=o&&a.travelSurface?Wo(a,Math.abs(t),l?o.FL:o.FR,l?o.FR:o.FL):jo(a,Math.abs(t));if(!u.innerJacobian||!u.outerJacobian)return null;let m=(b,g)=>{let y=r[b],R=b==="FL"?-1:1,k=-R*y.Fy,x={aligning:1e3*(-R*y.Mz)*g.yaw,lateral:k*g.lateral,longitudinal:y.Fx*g.longitudinal,jacking:y.Fz*g.vertical},M=UR();M.aligningNm=-s*x.aligning*c,M.lateralNm=-s*x.lateral*c,M.longitudinalNm=-s*x.longitudinal*c,M.jackingNm=-s*x.jacking*c,M.totalNm=M.aligningNm+M.lateralNm+M.longitudinalNm+M.jackingNm;let F=-s*(x.aligning+x.lateral+x.longitudinal+x.jacking);return{moment:M,rackN:F}},f=m("FL",l?u.innerJacobian:u.outerJacobian),p=m("FR",l?u.outerJacobian:u.innerJacobian),d=UR();for(let b of[f.moment,p.moment])d.aligningNm+=b.aligningNm,d.lateralNm+=b.lateralNm,d.longitudinalNm+=b.longitudinalNm,d.jackingNm+=b.jackingNm,d.totalNm+=b.totalNm;let h=hf(d.totalNm,t,e.steeringSystem);return d.totalNm=h.driverNm,{...d,roadNm:h.roadNm,assistanceNm:h.assistanceNm,frictionNm:h.frictionNm,columnTwistDeg:h.columnTwistDeg,rackForceN:f.rackN+p.rackN,aligningSource:n,perWheel:{FL:f.moment,FR:p.moment}}}var hP=e=>"front"in e&&"rear"in e;function ta(e,t){return hP(e)?e[t]:e}function gf(e,t,r=24){let n=Math.max(1,t),o=n/Math.max(1,r-1),a=[],s=[],i=[];for(let l=0;l<r;l++){let u=l*o;a.push(u),s.push(e.muX(u)),i.push(e.muY(u))}let c=(l,u)=>{if(!(u>0))return l[0];if(u>=n)return l[r-1];let m=Math.min(r-2,Math.floor(u/o)),f=(u-a[m])/o;return l[m]+f*(l[m+1]-l[m])};return{muX:l=>c(s,l),muY:l=>c(i,l)}}function bf(e,t){let r=Math.max(0,t.Fz),n=e.muY(r)*r,o=e.muX(r)*r;if(!(n>0))return{fyUsed:0,fyMax:0,fyRes:0};let a=o>0?Math.min(1,Math.abs(t.Fx)/o):0,s=n*Math.sqrt(Math.max(0,1-a*a)),i=Math.abs(t.Fy);return{fyUsed:i,fyMax:s,fyRes:Math.max(0,s-i)}}function XR(e,t,r){let n=bf(e,t),o=bf(e,r);return{left:n,right:o,fyRes:n.fyRes+o.fyRes}}function Rr(e,t,r){let n=XR(ta(e,"front"),t.FL,t.FR),o=XR(ta(e,"rear"),t.RL,t.RR),a=r.lf>0&&Number.isFinite(r.lf)?r.lf:0,s=r.lr>0&&Number.isFinite(r.lr)?r.lr:0,i=o.fyRes*s,c=n.fyRes*a,l=i-c,u=Math.max(Math.abs(i),Math.abs(c));return{stabil:i,agil:c,diff:l,rel:u>0?l/u:0,front:n,rear:o}}var Ls=[{q:"p",section:"INFLATION_PRESSURE_RANGE",min:"PRESMIN",max:"PRESMAX",what:"pressure"},{q:"fz",section:"VERTICAL_FORCE_RANGE",min:"FZMIN",max:"FZMAX",what:"load"},{q:"kappa",section:"LONG_SLIP_RANGE",min:"KPUMIN",max:"KPUMAX",what:"slip ratio"},{q:"alpha",section:"SLIP_ANGLE_RANGE",min:"ALPMIN",max:"ALPMAX",what:"slip angle"},{q:"gamma",section:"INCLINATION_ANGLE_RANGE",min:"CAMMIN",max:"CAMMAX",what:"inclination"}],gP=Ls.flatMap(e=>[e.min,e.max]);function yP(e){let t={};for(let r of Ls){let n=e[r.min],o=e[r.max],a={};Number.isFinite(n)&&(a.min=n),Number.isFinite(o)&&(a.max=o),(a.min!==void 0||a.max!==void 0)&&(t[r.q]=a)}return Object.keys(t).length?t:void 0}function Tl(e){if(e.kind==="magic")return e.range??yP(e.coeffs)}function yf(e){return Math.max(1,e.kind==="magic"?e.fnomin:e.nominalLoad)}function qR(e,t,r,n,o){let a=(r-t)/n,s=t,i=e(t);for(let c=t+a;c<=r;c+=a){let l=e(c);o(l,i)&&(i=l,s=c)}return s}function zt(e){let t=QR.get(e);if(t!==void 0)return t;let r=10*yf(e.model),{turnover:n,collapse:o}=RP(e,r),a=n??o??r;return QR.set(e,a),a}var QR=new WeakMap;function RP(e,t){let r=yf(e.model),n=m=>e.muY(m),o=m=>n(m)*m,a=80,s=t/a,i=null,c=o(s);for(let m=2;m<=a;m++){let f=o(m*s);if(f<c){i=qR(o,(m-2)*s,m*s,20,(p,d)=>p>d);break}c=f}let l=null,u=n(s);for(let m=2;m<=a;m++){let f=n(m*s);if(f>u){let p=qR(n,(m-2)*s,m*s,40,(d,h)=>d<h);n(p)<.05*n(r)&&(l=p);break}u=f}return{turnover:i,collapse:l}}var ZR=.1;function Pl(e,t=yf(e)){let r=Pe(e).muX(t);return{muX:r,none:Number.isFinite(r)&&r<ZR}}var JR=["FL","FR","RL","RR"],vP=e=>e==="FL"||e==="RL",kP=e=>e==="FL"||e==="FR"?"front":"rear";function Ll(e,t,r,n){if(!(e.full>e.open)||n.ayDir===0)return e.full;let o=n.halfTrack[e.axle],a={};for(let l of JR)a[l]={...t[l]};let s=l=>{let u=0;for(let f of JR)kP(f)===e.axle&&(a[f].Fx=e.sense*(f===e.strong?l-e.open/2:e.open/2),u-=(vP(f)?o:-o)*a[f].Fx);let m=Rr(r,a,n.arms);return u*n.ayDir>=0?Math.abs(u)<=m.stabil:Math.abs(u)<=m.agil};if(s(e.full))return e.full;let i=e.open,c=e.full;for(let l=0;l<20&&c-i>.001*e.full;l++){let u=.5*(i+c);s(u)?i=u:c=u}return i}var MP=[["PCY1","Shape factor Cfy for lateral forces",1.3],["PDY1","Lateral friction Muy",1],["PDY2","Variation of friction Muy with load",0],["PDY3","Variation of friction Muy with squared camber",0],["PEY1","Lateral curvature Efy at Fznom",0],["PEY2","Variation of curvature Efy with load",0],["PEY3","Zero order camber dependency of curvature Efy",0],["PEY4","Variation of curvature Efy with camber",0],["PEY5","Variation of curvature Efy with camber squared",0],["PKY1","Maximum value of stiffness Kfy/Fznom",-15],["PKY2","Load at which Kfy reaches maximum value",2],["PKY3","Variation of Kfy/Fznom with camber",0],["PKY4","Curvature of stiffness Kfy",2],["PKY5","Peak stiffness variation with camber squared",0],["PKY6","Fy camber stiffness factor",0],["PKY7","Vertical load dependency of camber stiffness",0],["PHY1","Horizontal shift Shy at Fznom",0],["PHY2","Variation of shift Shy with load",0],["PHY3","Variation of shift Shy with camber",0],["PVY1","Vertical shift in Svy/Fz at Fznom",0],["PVY2","Variation of shift Svy/Fz with load",0],["PVY3","Variation of shift Svy/Fz with camber",0],["PVY4","Variation of shift Svy/Fz with camber and load",0],["PPY1","Influence of inflation pressure on cornering stiffness",0],["PPY2","Influence of inflation pressure on dependency of nominal tyre load on cornering stiffness",0],["PPY3","Linear influence of inflation pressure on lateral peak friction",0],["PPY4","Quadratic influence of inflation pressure on lateral peak friction",0],["PPY5","Influence of inflation pressure on camber stiffness",0]],SP=[["PCX1","Shape factor Cfx for longitudinal force",1.65],["PDX1","Longitudinal friction Mux at Fznom",1],["PDX2","Variation of friction Mux with load",0],["PDX3","Variation of friction Mux with camber squared",0],["PEX1","Longitudinal curvature Efx at Fznom",0],["PEX2","Variation of curvature Efx with load",0],["PEX3","Variation of curvature Efx with load squared",0],["PEX4","Factor in curvature Efx while driving",0],["PKX1","Longitudinal slip stiffness Kfx/Fz at Fznom",20],["PKX2","Variation of slip stiffness Kfx/Fz with load",0],["PKX3","Exponent in slip stiffness Kfx/Fz with load",0],["PHX1","Horizontal shift Shx at Fznom",0],["PHX2","Variation of shift Shx with load",0],["PVX1","Vertical shift Svx/Fz at Fznom",0],["PVX2","Variation of shift Svx/Fz with load",0],["PPX1","Linear influence of inflation pressure on longitudinal slip stiffness",0],["PPX2","Quadratic influence of inflation pressure on longitudinal slip stiffness",0],["PPX3","Linear influence of inflation pressure on peak longitudinal friction",0],["PPX4","Quadratic influence of inflation pressure on peak longitudinal friction",0]],AP=[["QBZ1","Trail slope factor for trail Bpt at Fznom",8],["QBZ2","Variation of slope Bpt with load",0],["QBZ3","Variation of slope Bpt with load squared",0],["QBZ4","Variation of slope Bpt with camber",0],["QBZ5","Variation of slope Bpt with absolute camber",0],["QBZ6","Camber influence Bt",0],["QBZ9","Factor for scaling factors of slope factor Br of Mzr",0],["QBZ10","Factor for dimensionless cornering stiffness of Br of Mzr",0],["QCZ1","Shape factor Cpt for pneumatic trail",1.1],["QDZ1","Peak trail Dpt = Dpt*(Fz/Fznom*R0)",.1],["QDZ2","Variation of peak Dpt with load",0],["QDZ3","Variation of peak Dpt with camber",0],["QDZ4","Variation of peak Dpt with camber squared",0],["QDZ6","Peak residual torque Dmr = Dmr/(Fz*R0)",0],["QDZ7","Variation of peak factor Dmr with load",0],["QDZ8","Variation of peak factor Dmr with camber",0],["QDZ9","Variation of peak factor Dmr with camber and load",0],["QDZ10","Variation of peak factor Dmr with camber squared",0],["QDZ11","Variation of Dmr with camber squared and load",0],["QEZ1","Trail curvature Ept at Fznom",0],["QEZ2","Variation of curvature Ept with load",0],["QEZ3","Variation of curvature Ept with load squared",0],["QEZ4","Variation of curvature Ept with sign of Alpha-t",0],["QEZ5","Variation of Ept with camber and sign Alpha-t",0],["QHZ1","Trail horizontal shift Sht at Fznom",0],["QHZ2","Variation of shift Sht with load",0],["QHZ3","Variation of shift Sht with camber",0],["QHZ4","Variation of shift Sht with camber and load",0],["PPZ1","Effect of inflation pressure on length of pneumatic trail",0],["PPZ2","Influence of inflation pressure on residual aligning torque",0],["SSZ1","Nominal value of s/R0: effect of Fx on Mz",0],["SSZ2","Variation of distance s/R0 with Fy/Fznom",0],["SSZ3","Variation of distance s/R0 with camber",0],["SSZ4","Variation of distance s/R0 with load and camber",0]],FP=[["RBX1","Slope factor for combined slip Fx reduction",0],["RBX2","Variation of slope Fx reduction with kappa",0],["RBX3","Influence of camber on stiffness for Fx combined",0],["RCX1","Shape factor for combined slip Fx reduction",1],["REX1","Curvature factor of combined Fx",0],["REX2","Curvature factor of combined Fx with load",0],["RHX1","Shift factor for combined slip Fx reduction",0],["RBY1","Slope factor for combined Fy reduction",0],["RBY2","Variation of slope Fy reduction with alpha",0],["RBY3","Shift term for alpha in slope Fy reduction",0],["RBY4","Influence of camber on stiffness of Fy combined",0],["RCY1","Shape factor for combined Fy reduction",1],["REY1","Curvature factor of combined Fy",0],["REY2","Curvature factor of combined Fy with load",0],["RHY1","Shift factor for combined Fy reduction",0],["RHY2","Shift factor for combined Fy reduction with load",0],["RVY1","Kappa induced side force Svyk/Muy*Fz at Fznom",0],["RVY2","Variation of Svyk/Muy*Fz with load",0],["RVY3","Variation of Svyk/Muy*Fz with camber",0],["RVY4","Variation of Svyk/Muy*Fz with alpha",0],["RVY5","Variation of Svyk/Muy*Fz with kappa",1],["RVY6","Variation of Svyk/Muy*Fz with atan(kappa)",0]],wP=[["LFZO","Scale factor of nominal (rated) load",1],["LCX","Scale factor of Fx shape factor",1],["LMUX","Scale factor of Fx peak friction coefficient",1],["LEX","Scale factor of Fx curvature factor",1],["LKX","Scale factor of Fx slip stiffness",1],["LHX","Scale factor of Fx horizontal shift",1],["LVX","Scale factor of Fx vertical shift",1],["LCY","Scale factor of Fy shape factor",1],["LMUY","Scale factor of Fy peak friction coefficient",1],["LEY","Scale factor of Fy curvature factor",1],["LKY","Scale factor of Fy cornering stiffness",1],["LKYC","Scale factor of camber force stiffness",1],["LKZC","Scale factor of camber torque stiffness",1],["LHY","Scale factor of Fy horizontal shift",1],["LVY","Scale factor of Fy vertical shift",1],["LTR","Scale factor of peak of pneumatic trail",1],["LRES","Scale factor for offset of residual torque",1],["LXAL","Scale factor of alpha influence on Fx",1],["LYKA","Scale factor of kappa influence on Fy",1],["LVYKA","Scale factor of kappa induced Fy",1],["LS","Scale factor of moment arm of Fx",1]],tv=[["lateral",MP],["longitudinal",SP],["aligning",AP],["combined",FP],["scaling",wP]].flatMap(([e,t])=>t.map(([r,n,o])=>({key:r,section:e,text:n,fallback:o}))),x4=new Map(tv.map(e=>[e.key,e]));var CP=/^\$\s*EDITED\s+([A-Z][A-Z0-9_]*)\s+was\s+(absent|[-+0-9.eE]+)\s*$/;function rv(e){let t={};for(let r of e.split(/\r?\n/)){let n=r.trim().match(CP);if(!n)continue;let o=n[2]==="absent"?null:parseFloat(n[2]);(o===null||Number.isFinite(o))&&(t[n[1]]=o)}return Object.keys(t).length?t:void 0}var PP=/^\s*\$\s*UNLOADED_RADIUS_STAND_IN\s*=\s*([0-9.eE+-]+)/,LP=/^\$-+ written by (?:PaceDynamics|PaceLab)\b/m,DP=/^\$\s*AXIS_SYSTEM\s*=\s*(ISO-W|SAE)\b/m;function EP(e){let t=e.match(DP);return t?{axisSystem:t[1]==="SAE"?"sae":"iso",trustSide:!0}:LP.test(e)?{axisSystem:"sae",trustSide:!1}:{axisSystem:"iso",trustSide:!0}}function IP(e){return e>=62?"6.2":e>=61?"6.1":"5.2"}var nv=new Map([["pa",1],["pascal",1],["kpa",1e3],["kilopascal",1e3],["mpa",1e6],["megapascal",1e6],["bar",1e5],["psi",6894.757293168]]);function _P(e,t,r){let n=r.PRESSURE?.trim().toLowerCase(),o=n===void 0?1:nv.get(n);if(o===void 0)return;let a=(c,l)=>l===1?c:Number((c*l).toPrecision(12)),s=e.NOMPRES??e.INFLPRES;if(s!==void 0)return a(s,o);let i=e.INFLATION_PRESSURE;if(i!==void 0)return n!==void 0?a(i,o):t.PROPERTY_FILE_FORMAT?.trim().toUpperCase()==="MF_05"?a(i,1e5):void 0}var NP=new Map([["radians",1],["radian",1],["rad",1],["degrees",Math.PI/180],["degree",Math.PI/180],["deg",Math.PI/180]]);function OP(e,t){let r=(s,i)=>s===void 0?1:i.get(s.trim().toLowerCase()),n=r(t.ANGLE,NP),o={fz:1,kappa:1,alpha:n,gamma:n,p:r(t.PRESSURE,nv)},a={};for(let s of Ls){let i=o[s.q];if(i===void 0)continue;let c={};for(let[l,u]of[["min",s.min],["max",s.max]]){let m=e[u];Number.isFinite(m)&&(c[l]=i===1?m:Number((m*i).toPrecision(12)),delete e[u])}(c.min!==void 0||c.max!==void 0)&&(a[s.q]=c)}return Object.keys(a).length?a:void 0}function Ds(e,t="imported",r={}){let n=EP(e),o=r.axisSystem??n.axisSystem,a={},s={},i={},c="",l;for(let g of e.split(/\r?\n/)){let y=g.match(PP);y&&(l=parseFloat(y[1]));let R=g.replace(/[$!].*$/,"").trim();if(!R)continue;if(R.startsWith("[")){c=(R.match(/^\[([^\]]*)/)?.[1]??"").trim().toUpperCase();continue}let k=R.indexOf("=");if(k<0)continue;let v=R.slice(0,k).trim().toUpperCase(),x=R.slice(k+1).trim(),M=x.match(/^'([^']*)'|^"([^"]*)"/);if(M){s[v]=M[1]??M[2]??"",c==="UNITS"&&(i[v]=s[v]);continue}let F=parseFloat(x);Number.isFinite(F)&&(a[v]=F)}let u=IP(a.FITTYP??62),m=rv(e),f=m?Object.fromEntries(Object.entries(m).filter(([g])=>a[g]!==void 0)):void 0,p=a.VERTICAL_STIFFNESS??a.KZ??0,d=_P(a,s,i),h=OP(a,i),b=[];return a.UNLOADED_RADIUS===void 0&&a.R0===void 0&&b.push("UNLOADED_RADIUS"),p<=0&&b.push("VERTICAL_STIFFNESS"),a.FNOMIN===void 0&&b.push("FNOMIN"),d===void 0&&b.push("NOMPRES"),{kind:"magic",name:t,version:u,coeffs:a,axisSystem:o,side:n.trustSide?s.TYRESIDE==="RIGHT"?"right":s.TYRESIDE==="LEFT"?"left":void 0:void 0,fnomin:a.FNOMIN??5e3,unloadedR0:a.UNLOADED_RADIUS??a.R0??(l!==void 0&&l>0?l:.3),...a.WIDTH!==void 0&&a.WIDTH>0?{sectionWidth:a.WIDTH}:{},verticalStiffness:p>0?p/1e3:0,...a.FREFF!==void 0&&!a.DREFF?{rollingFraction:a.FREFF}:{},...a.LATERAL_STIFFNESS!==void 0&&a.LATERAL_STIFFNESS>0?{relaxation:{sigma:0,carcassStiffness:a.LATERAL_STIFFNESS/1e3,source:"fitted"}}:{},nomPressure:d??0,missing:b,...f&&Object.keys(f).length?{edited:f}:{},...h?{range:h}:{}}}function tr(e){if(!e)return null;let t=e.unloadedR0;return t===void 0||!(t>0)||e.kind==="magic"&&e.missing?.includes("UNLOADED_RADIUS")?null:t*1e3}var w4=Math.PI/180;var D4=Math.PI/180,E4=180/Math.PI;function Es(){return{kind:"simple",name:"Simple (default)",Bx:11,Cx:1.6,muX0:1.7,loadSensX:-8e-5,By:9,Cy:1.4,muY0:1.6,loadSensY:-1e-4,nominalLoad:1500,verticalStiffness:120}}var sv=`$ AXIS_SYSTEM = SAE  (authored in the evaluation frame: y right)
 [MODEL]
 FITTYP = 62
 [DIMENSION]
@@ -108,7 +108,7 @@ QHZ1 = 0
 QHZ2 = 0
 QHZ3 = 0
 QHZ4 = 0
-`;function af(){return As(BR,"Example MF6.2")}var sP=Math.PI/180,$R=2,GR=2;function KR(e){let t=Math.sin(GR*Math.atan(1/$R)),r=-e.corneringStiffness/(e.Fz0*t),n=e.camberStiffness/sP/e.Fz0,o=(a,s=5)=>Number(a.toFixed(s)).toString();return`$ AXIS_SYSTEM = SAE  (authored in the evaluation frame: y right, +inclination gives +Fy)
+`;function xf(){return Ds(sv,"Example MF6.2")}var BP=Math.PI/180,iv=2,cv=2;function lv(e){let t=Math.sin(cv*Math.atan(1/iv)),r=-e.corneringStiffness/(e.Fz0*t),n=e.camberStiffness/BP/e.Fz0,o=(a,s=5)=>Number(a.toFixed(s)).toString();return`$ AXIS_SYSTEM = SAE  (authored in the evaluation frame: y right, +inclination gives +Fy)
 [MODEL]
 FITTYP = 62
 [DIMENSION]
@@ -170,9 +170,9 @@ PEY3 = 0.1
 PEY4 = -4
 PEY5 = 0
 PKY1 = ${o(r)}
-PKY2 = ${o($R)}
+PKY2 = ${o(iv)}
 PKY3 = 0.8
-PKY4 = ${o(GR)}
+PKY4 = ${o(cv)}
 PKY5 = 0
 PKY6 = ${o(n)}
 PKY7 = 0
@@ -220,7 +220,7 @@ QHZ1 = 0
 QHZ2 = 0
 QHZ3 = 0
 QHZ4 = 0
-`}function vr(e){let t=As(KR(e),e.name);return{...t,missing:[...t.missing??[],"a particular tyre \u2014 every coefficient is derived from class-level targets stated in generic.ts, on the road; run it with grip_scale = stiffness_scale = 1"]}}var HR={name:"Formula Student 18x6-10",R0:.228,width:.1524,Fz0:950,Kz:110,pressure:83,muY:1.8,muX:1.7,muYLoad:-.2,muXLoad:-.15,corneringStiffness:26e3,slipStiffnessPerLoad:32,camberStiffness:45,Cy:1.5,Cx:1.6,RBY1:12,RBY2:12,RBX1:13,RBX2:10,trail:.08},zR={name:"Formula 1 slick 18in",R0:.36,width:.305,Fz0:5e3,Kz:300,pressure:150,muY:1.8,muX:1.7,muYLoad:-.15,muXLoad:-.12,corneringStiffness:15e4,slipStiffnessPerLoad:28,camberStiffness:260,Cy:1.45,Cx:1.6,RBY1:12,RBY2:12,RBX1:13,RBX2:10,trail:.09},YR={name:"GT slick 18in",R0:.33,width:.3,Fz0:4e3,Kz:280,pressure:180,muY:1.45,muX:1.4,muYLoad:-.12,muXLoad:-.1,corneringStiffness:11e4,slipStiffnessPerLoad:24,camberStiffness:190,Cy:1.4,Cx:1.6,RBY1:11,RBY2:11,RBX1:12,RBX2:10,trail:.09},WR={name:"Street tyre 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n=e.feasible(r);if(!n.ok)return{total:En+Math.max(0,n.violation),feasible:!1,terms:[],reason:n.reason};let o;try{o=e.terms(r)}catch(s){return{total:En*2,feasible:!1,terms:[],reason:`objective threw: ${String(s)}`}}let a=0;for(let s of o)a+=s.contribution;return Number.isFinite(a)?{total:a,feasible:!0,terms:o}:{total:En*2,feasible:!1,terms:o,reason:"objective was not finite"}}var Cs=(e,t)=>!t||(e.feasible!==t.feasible?e.feasible:e.total<t.total);function hf(e,t){return t.map((r,n)=>Math.min(e[n].hi,Math.max(e[n].lo,r)))}var Mr=e=>e.map(t=>t.start);function Al(e){let t=e>>>0;return()=>{t=t+1831565813>>>0;let r=Math.imul(t^t>>>15,1|t);return r=r+Math.imul(r^r>>>7,61|r)^r,((r^r>>>14)>>>0)/4294967296}}function iP(e){let t=0;for(;t===0;)t=e();return Math.sqrt(-2*Math.log(t))*Math.cos(2*Math.PI*e())}function 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uK={Fz:100,alpha:.25*Fl,kappa:.005,gamma:.5*Fl,p:6900},ev={Fz:100,alpha:1*Fl,kappa:.02,gamma:.5*Fl,p:6900};var tv=Math.PI/180,bK={t:{s:1,sec:1,ms:.001},v:{"m/s":1,"km/h":1/3.6,"km/hr":1/3.6,kph:1/3.6},alpha:{rad:1,deg:tv},gamma:{rad:1,deg:tv},p:{pa:1,kpa:1e3,bar:1e5,mpa:1e6},rl:{m:1,mm:.001,cm:.01},Fz:{n:1},Fx:{n:1},Fy:{n:1},Mz:{nm:1,"n-m":1}};var vK=Math.PI/180;var xP=Math.PI/180;var CK=3*xP;var EK=Math.PI/180;var YK=Math.PI/180;var wP={RCX1:1,RCY1:1,REX1:0,REY1:0,RBY3:0,RHX1:0,RHY1:0},ov={RBX1:15,RBX2:15,RBY1:18,RBY2:19,...wP};var rH=Math.PI/180;var EP=Math.PI/180,wl=[{id:"alpha",symbol:"\u03B1",name:"Slip angle",group:"inputs",unit:"rad"},{id:"kappa",symbol:"\u03BA",name:"Slip ratio",group:"inputs",unit:"-"},{id:"gamma",symbol:"\u03B3",name:"Inclination",group:"inputs",unit:"rad"},{id:"Fz",symbol:"Fz",name:"Vertical load",group:"inputs",unit:"N",quantity:"force"},{id:"p",symbol:"p",name:"Inflation 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Set(wl.filter(e=>e.group!=="inputs"&&(e.unit==="N"||e.unit==="N\xB7m"||e.unit==="N/rad")).map(e=>e.id)),cv={alpha:{from:-15*Ye,to:15*Ye,n:61},kappa:{from:-.25,to:.25,n:61},gamma:{from:-6*Ye,to:6*Ye,n:49},Fz:{from:200,to:3e3,n:40,follow:!0},p:{from:5e4,to:15e4,n:21},V:{from:0,to:40,n:41,follow:!0}},kf={alpha:{from:0,to:12*Ye,n:7},kappa:{from:-.2,to:.2,n:9},gamma:{from:-4*Ye,to:4*Ye,n:5},Fz:{from:400,to:1600,n:5},p:{from:6e4,to:12e4,n:4},V:{from:5,to:35,n:4}};var Mf={alpha:{from:0,to:12*Ye,n:25},kappa:{from:-.2,to:.2,n:25},gamma:{from:-4*Ye,to:4*Ye,n:17},Fz:{from:300,to:1800,n:16},p:{from:6e4,to:12e4,n:13},V:{from:5,to:35,n:13}};var ke=(e,t,r,n={},o={})=>({id:e,form:"curves",sweep:[{input:t,...cv[t],...o}],x:t,y:r,...n}),Cl=(e,[t,r],n,o,a={})=>({id:e,form:"carpet",sweep:[{input:t,...kf[t]},{input:r,...kf[r]}],x:n,y:[o],...a}),Sr=(e,t)=>({id:e,fixed:t}),Vt={input:"Fz",values:"car"},vf={alpha:0,kappa:0},yt={kappa:0},av={alpha:0},NP={input:"Fz",values:[500,1e3,1500]},OP=[{id:"overview",name:"Overview",cards:[Sr("tyre","tyre"),ke("fy","alpha",["Fy"],{title:"Lateral force",hold:yt}),ke("mz","alpha",["Mz"],{title:"Aligning moment",hold:yt}),ke("fx","kappa",["Fx"],{title:"Longitudinal force",hold:av}),Cl("combined-carpet",["kappa","alpha"],"Fy","Fx",{title:"Combined-slip carpet"}),Sr("ellipse","ellipse")]},{id:"lateral",name:"Lateral",cards:[ke("fy-load","alpha",["Fy"],{title:"Lateral force per wheel load",series:Vt,hold:yt}),ke("muy-load","alpha",["muY"],{title:"Lateral force per unit load",series:Vt,hold:yt}),ke("fy-peak","alpha",["Fy"],{title:"Lateral force over its 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t=In;return{pedalRatio:Je(e?.pedalRatio,.5,15,t.pedalRatio),pedalForceMaxN:Je(e?.pedalForceMaxN,0,5e3,t.pedalForceMaxN),barFront:Je(e?.barFront,.05,.95,t.barFront),masterFrontMm:Je(e?.masterFrontMm,8,40,t.masterFrontMm),masterRearMm:Je(e?.masterRearMm,8,40,t.masterRearMm),valve:UP.includes(e?.valve)?e?.valve:t.valve,valveKneeBar:Je(e?.valveKneeBar,0,200,t.valveKneeBar),valveSlope:Je(e?.valveSlope,0,1,t.valveSlope),front:hv(e?.front,t.front,Ls),rear:hv(e?.rear,t.rear,Pl),adjusterPitchMm:XP(e?.adjusterPitchMm,t.adjusterPitchMm),barLengthMm:Je(e?.barLengthMm,0,500,t.barLengthMm)}}function QP(e){let t=Df;return{fullAtBar:Je(e?.fullAtBar,0,200,t.fullAtBar),maxPowerKw:Je(e?.maxPowerKw,0,1e3,t.maxPowerKw),fadeBelowKmh:Je(e?.fadeBelowKmh,0,100,t.fadeBelowKmh),distribution:e?.distribution==="wheel"?"wheel":"equal"}}function tr(e){let t=Rv(e??void 0),r=typeof e?.name=="string"&&e.name.trim()?e.name:qP;return Il(t,r)}function 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o=t,a=e(o),s=a-o;if(!(Math.abs(s)>r))return{x:o,fx:a,evals:1};let i=a,c=e(i),l=c-i,u=2;for(;Math.abs(l)>r&&u<n;){let m=s<0!=l<0,f=l-s,p=f!==0?i-l*(i-o)/f:NaN;m?p>Math.min(o,i)&&p<Math.max(o,i)||(p=.5*(o+i)):Number.isFinite(p)?Math.abs(p-i)>10*Math.abs(l)&&(p=i+Math.sign(p-i)*10*Math.abs(l)):p=c;let d=e(p),h=d-p;if(u++,m&&h<0==l<0?s*=.5:(o=i,s=l),i=p,c=d,l=h,s<0!=l<0&&Math.abs(i-o)<=r)break}return{x:i,fx:c,evals:u}}function $v(e,t,r,n,o,a=60){let s=t,i=e(s),c=i-s,l=1;if(!(Math.abs(c)>n))return{x:s,fx:i,evals:l};let u=Math.sign(r-t),m=Math.abs(r-t),f=0;for(let p=o;l<a;p*=2){if(f=Math.min(f+p,m),f>m-n)return null;let d=t+u*f,h=e(d),b=h-d;if(l++,!(Math.abs(b)>n))return{x:d,fx:h,evals:l};if(c<0!=b<0)return Kv(e,s,c,d,h,b,n,l,a);s=d,c=b}return null}function Gv(e,t,r,n=60){let o=t,a=e(o),s=a-o;if(!(Math.abs(s)>r))return{x:o,fx:a,evals:1};let i=Math.sign(s),c=a;for(let l=2;;l++){let u=e(c),m=u-c;if(!(Math.abs(m)>r))return{x:c,fx:u,evals:l};if(s<0!=m<0)return 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Lr(e,t,r,n=Ys(),o=!1){let a=r,s=e.massTotal,i=n.peak,c=(S,A)=>{let P=`${S}:${A}`,L=i.get(P);return L||(L=rl(xe(t,S),Math.max(1,A*zs)),i.set(P,L)),L},l=(S,A)=>({aPeak:Hs(A,P=>c(S,P).aPeak),fyPeak:Hs(A,P=>c(S,P).fyPeak)}),u=n.freeBrake,m=(S,A)=>{let P=`${S}:${A}`,L=u.get(P);if(L===void 0){let D=Math.max(1,A*zs);L=St(xe(t,S),D,0,!0,c(S,A)),u.set(P,L)}return L},f=(S,A)=>A>0?Hs(A,P=>m(S,P)):0,p=Pr(e),d=rr(e),h=S=>d.regen&&d.regenPerWheel?.[S]?Ar(d.regen.v,d.regen[S],a)/2:0,b=h("front"),g=h("rear"),y=(S,A,P)=>{let L=Math.max(0,A[S]),D=l(Hl(S),L);return St(xe(t,Hl(S)),L,P[S]*D.fyPeak,!0,D)},x=(S,A,P,L,D=!0)=>{let E=te=>{let fe=Math.max(0,A[te]),Y=xe(t,S),J=l(S,fe);return{Fz:fe,a:Math.abs(f(S,fe)),b:J.fyPeak,slide:fe>0?Math.abs(Y.forces({Fz:fe,kappa:-1,alpha:0}).Fx):0,cap:re=>Math.abs(St(Y,fe,re,!0,J))}},$=te=>Math.abs(P[te])*l(Hl(te),Math.max(0,A[te])).fyPeak,[O,W]=Yv[S],I=E(O),_=E(W),V=$(O)+$(W),N=Gf(I,_,V,L,S==="front"?b:g),G=D?N:{...N,xLock:0},K=Bt(e,S,-1),z=K&&Hv(K)?K:void 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K={axle:G.axle,strong:G.strong(),full:2*G.cap.xNoLock,open:2*G.eq.xNoLock,sense:-1};return ih(G.eq,G.law,Ml(K,V,k,W))};E=N(L),$=N(D),O=_s(p,E,$,a)}return{limit:O,front:E,rear:$}};return{peakAt:l,axle:M,ceiling:(S,A,P)=>{let[L,D]=Yv[S];return Math.abs(y(L,A,P)+y(D,A,P))},limitAt:(S,A,P,L=0)=>{let D={FL:0,FR:0,RL:0,RR:0},E=Le(e,S,0,a,0,A),$,O=fe=>($?.ax!==fe&&($={ax:fe,loads:Le(e,S,(fe+L)/bL,a,0,A)}),$.loads),W=nl(fe=>Uo(P,O(fe),E,l).short,-L,-1),I=P,_={front:0,rear:0},V,N,G=(fe,Y=!0)=>{let J=W.at(fe);D=O(J),I=Uo(P,D,E,l).util;let re=0,pe=0,de=0;for(let ie of zv){let oe=y(ie,D,I);re+=oe,lh(ie)?pe+=oe:de+=oe}if(_={front:Math.abs(pe),rear:Math.abs(de)},p.mode!=="tyre"){let ie=x("front",D,I,Math.abs(pe),Y),oe=x("rear",D,I,Math.abs(de),Y);if(o&&(ie.law||oe.law)){let ue=C(S,D,I,ie,oe);V=ue.limit,N={front:ue.front,rear:ue.rear}}else V=_s(p,ie.cap,oe.cap,a),N={front:ie.cap,rear:oe.cap};re=-V.force}return re/s},K=ch(G,0,on),z=Kl(K,on),j=z;if(V?.lockFront||V?.lockRear){let fe=ch(J=>G(J,!1),0,on);j=Kl(fe,on);let Y=$v(G,fe.x,K.x,on,gL);Y||G(K.x),z=Kl(Y??K,on)}let q=W.edge(),ne=q!==void 0&&z<q;ne&&(z=Math.min(0,q),G(z),j=Math.max(j,z));let te={loads:D,ceiling:_,limit:V,axles:N};return{ax:z,axUnlocked:j,...ne?{edge:q}:{},...te,split:()=>te.limit&&te.axles?v(te.limit,te.axles.front,te.axles.rear):{...te.ceiling}}}}}var Yl=9.81;function yL(e,t,r){let n=Le(e,0,t,r),o=Math.max(0,n.FL)+Math.max(0,n.FR),a=Math.max(0,n.RL)+Math.max(0,n.RR);return o+a>0?o/(o+a):e.frontMassFrac}var Uv=(e,t)=>t.mode==="hydraulic"&&!!rr(e).regen;function ia(e,t,r=0,n,o=0){if(!e.brakes&&e.brakeBalanceFront==null)return e.frontMassFrac;let a=Pr(e);if(a.shares&&a.mode!=="tyre")return a.shares.front;let s=n&&Uv(e,a)?Xv(e,n):void 0,i=s?.shares??Wv.get(e);i||Wv.set(e,i=new Map);let c=Math.round(Math.abs(t)/.005),l=Math.round(Math.max(0,r)/.25),u=s?Math.round(o/.01):0,m=Qv(c,l,u),f=i.get(m);if(f===void 0){let p=-c*.005,d=l*.25,h=e.massTotal*Math.abs(p)*Yl;if(s){let b=Zv(a,qv(e,s,c,l,u),h,d);f=b.front+b.rear>0?b.front/(b.front+b.rear):.5}else f=a.mode==="tyre"?yL(e,p,d):Of(a,h,d);i.size>5e4&&i.clear(),i.set(m,f)}return f}var Wv=new WeakMap;function Wl(e,t,r,n,o=0){let a=Pr(e);if(!Uv(e,a))return;let s=Math.round(Math.max(0,r)/(e.massTotal*Yl)/.005),i=Math.round(Math.max(0,n)/.25);return Zv(a,qv(e,Xv(e,t),s,i,Math.round(o/.01)),Math.max(0,r),n)}var jv=new WeakMap;function Xv(e,t){let r=jv.get(e);r||jv.set(e,r=new WeakMap);let n=r.get(t);return n||r.set(t,n={ev:t,tyres:Ys(),shares:new Map,rooms:new Map,speeds:new Map}),n}var Qv=(e,t,r)=>(r*1001+e)*100003+t;function qv(e,t,r,n,o){let a=Qv(r,n,o),s=t.rooms.get(a);if(!s){let i=n*.25,c=o*.01,l=t.speeds.get(n);l||(l={cap:Lr(e,t.ev,i,t.tyres),dragG:-Math.max(0,Ua(e,i).drag)/(e.massTotal*Yl)},t.speeds.set(n,l));let{cap:u}=l,m=Le(e,c,-r*.005+l.dragG,i),f=Math.abs(c)*e.massTotal*Yl,p=b=>{let[g,y]=b==="front"?["FL","FR"]:["RL","RR"],x=f*(b==="front"?e.frontMassFrac:1-e.frontMassFrac),M=u.peakAt(b,Math.max(0,m[g])).fyPeak+u.peakAt(b,Math.max(0,m[y])).fyPeak,v=x>0&&M>0?Math.min(1,x/M):0;return u.axle(b,m,{FL:v,FR:v,RL:v,RR:v},1/0)},d,h;s=(b,g)=>(b==="front"?d??=p("front"):h??=p("rear")).regenRoom(g),t.rooms.size>5e4&&t.rooms.clear(),t.rooms.set(a,s)}return s}function zl(e,t,r,n){let o=e.demand(r,n),a=o.front-o.regenFront,s=o.rear-o.regenRear,i=o.regenFront>0?Math.min(o.regenFront,t("front",a/2)):0,c=o.regenRear>0?Math.min(o.regenRear,t("rear",s/2)):0;return{front:i===o.regenFront?o.front:a+i,rear:c===o.regenRear?o.rear:s+c,regenFront:i,regenRear:c,demand:o}}function Zv(e,t,r,n){if(!(r>0))return zl(e,t,1,n);let o=c=>c.front+c.rear,a=e.controlFor(r,n),s=zl(e,t,a,n);if(o(s)>=r||!(a<e.uMax))return s;let i=a;for(;o(s)<r&&i<e.uMax&&i<1e7;)a=i,i=Math.min(e.uMax,2*i),s=zl(e,t,i,n);if(o(s)<r)return s;for(let c=0;c<60&&i-a>1e-10*i;c++){let l=.5*(a+i),u=zl(e,t,l,n);o(u)<r?a=l:(i=l,s=u)}return s}var ca={rel:.003,abs:2,kappa:1e-5,iters:12},uh={rel:1e-6,abs:.001,kappa:1e-12,iters:40};function On(e,t,r,n=ca){let o=t>=0?1:-1,a=Math.abs(t),s=Math.max(n.abs,n.rel*a),i=e(0);if(Math.abs(i.Fx)-a>=0)return{kappa:0,forces:i};let c=0,l=i,u=Math.abs(i.Fx)-a,m=Math.min(.3,Math.max(.004,Math.abs(r)||.02)),f=e(o*m),p=Math.abs(f.Fx)-a,d=null;for(;p<0&&m<.3;){let g=Math.min(.3,m*1.9),y=e(o*g),x=Math.abs(y.Fx);if(x<Math.abs(f.Fx)){d={kappa:g,forces:y};break}c=m,l=f,u=p,m=g,f=y,p=x-a}if(p<0){let g=vL(e,o,c,l,m,f,d),y=Math.abs(g.forces.Fx);if(y<a)return{kappa:o*g.kappa,forces:g.forces};m=g.kappa,f=g.forces,p=y-a}let h=f,b=o*m;for(let g=0;g<n.iters&&m-c>n.kappa;g++){let y=p-u,x=Math.abs(y)>1e-12?(c*p-m*u)/y:.5*(c+m);x>c&&x<m||(x=.5*(c+m));let M=e(o*x),v=Math.abs(M.Fx)-a;if(h=M,b=o*x,Math.abs(v)<s)break;v<0?(c=x,u=v,p*=.5):(m=x,p=v,u*=.5)}return{kappa:b,forces:h}}var Jv=1e-6,xL=40,RL=(3-Math.sqrt(5))/2;function vL(e,t,r,n,o,a,s){let i=a,c,l,u,m=-Math.abs(a.Fx),f,p,d=-Math.abs(n.Fx);if(s){c=s.kappa;let g=-Math.abs(s.forces.Fx);[l,f,u,p]=g<=d?[c,g,r,d]:[r,d,c,g]}else{c=.3;let g=.3*(1-Jv),y=e(t*g),x=-Math.abs(y.Fx);if(x>=m)return{kappa:o,forces:a};[l,f,u,p]=[o,m,r,d],o=g,m=x,i=y}d<m&&([l,f]=[o,m],o=r,m=d,i=n);let h=c-r,b=0;for(let g=0;g<xL;g++){let y=Jv*Math.abs(o)+1e-10,x=.5*(r+c);if(Math.abs(o-x)<=2*y-.5*(c-r))break;let M=!0;if(Math.abs(h)>y){let F=(o-l)*(m-p),w=(o-u)*(m-f),C=(o-u)*w-(o-l)*F;w=2*(w-F),w>0&&(C=-C),w=Math.abs(w);let T=h;if(h=b,Math.abs(C)<Math.abs(.5*w*T)&&C>w*(r-o)&&C<w*(c-o)){b=C/w;let S=o+b;(S-r<2*y||c-S<2*y)&&(b=x>=o?y:-y),M=!1}}M&&(h=o>=x?r-o:c-o,b=RL*h);let 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s=M1.map(i=>Math.round(i<=25?r*i:r*25+n*(i-25)));return{id:e,label:t,speedMmS:[...M1],reboundN:s,bumpN:s.map(i=>Math.round(i*o))}}var tu={name:"Generic FS damper",curves:[Lh("c1","Soft",1.6,1,.65),Lh("c2","Medium",3,1.6,.65),Lh("c3","Firm",8,2.4,.65)]};function ru(e){let t=e.curves.length;return t>0?e.curves[Math.floor((t-1)/2)].id:""}var ln=25;function pa(e,t){let r=e.speedMmS,n=e.forceN,o=Math.min(r.length,n.length);if(o===0||!(t>0))return 0;let a=0,s=0;for(let i=0;i<o;i++){let c=r[i],l=n[i];if(t<=c)return s+(l-s)*(t-a)/(c-a);if(i===o-1)return l+Math.max(0,(l-s)/(c-a))*(t-c);a=c,s=l}return 0}function S1(e,t){return t>=0?pa(e.rebound,t):-pa(e.bump,-t)}function A1(e,t,r){return t*S1(e,t*r)}var Dh=(e,t)=>e.curves.find(r=>r.id===t);function Qs(e,t){let r=Dh(e,ru(e)),n=(t&&Dh(e,t.bump))??r,o=(t&&Dh(e,t.rebound))??r;return{bump:{speedMmS:n?.speedMmS??[],forceN:n?.bumpN??[]},rebound:{speedMmS:o?.speedMmS??[],forceN:o?.reboundN??[]}}}var nu=5e3;function qs(e,t){let r=t>0?t:1,n=[],o=[],a=e.bump.speedMmS.map(c=>c/r).filter(c=>c<nu),s=e.rebound.speedMmS.map(c=>c/r).filter(c=>c<nu),i=c=>{n.push(c),o.push(A1(e,r,c))};i(-nu);for(let c=a.length-1;c>=0;c--)i(-a[c]);i(0);for(let c of s)i(c);return i(nu),{kind:"map",input:"velocity",x:n,y:o}}var Eh=64;function Zs(e,t,r){let n=t>0?t:1,o=Math.max(r,1e-6),a=0;for(let s=0;s<Eh;s++){let i=Math.sin((s+.5)*Math.PI/Eh),c=n*o*i;a+=n*(pa(e.rebound,c)+pa(e.bump,c))*i}return a*(Math.PI/Eh)/(Math.PI*o)}function Kn(e,t,r,n,o=e){let a=(c,l,u)=>{if(!c||c.curves.length===0)return;let m=Qs(c,l);return{law:m,curve:qs(m,u),rate:Zs(m,u,ln)}},s=a(e,t?.front,r),i=a(o??e,t?.rear,n);return!s&&!i?null:{...s?{front:s}:{},...i?{rear:i}:{}}}var F1=(e,t)=>({...e,y:e.y.map(r=>r*t)}),iD=e=>({...e,x:e.x.map(t=>-t).reverse(),y:e.y.map(t=>-t).reverse()});function Ih(e,t,r){let n=Math.abs(r)>0?Math.abs(r):1,o=Qs(e,t);return{law:o,curve:F1(qs(o,n),.5),rate:Zs(o,n,ln)/2,mr:n,ratio:n,share:.5}}function _h(e,t,r,n,o){let a=n*(Math.abs(r)>0?Math.abs(r):1),s=Qs(e,t),i=F1(qs(s,a),1/n);return{law:s,curve:o?iD(i):i,rate:Zs(s,a,ln)/n,mr:a/n,ratio:a,share:1/n}}function Js(e,t){let r=e.damperModelIdRear?t(e.damperModelIdRear):void 0,n=e.heaveDamperModelId?t(e.heaveDamperModelId):void 0,o=e.rollDamperModelId?t(e.rollDamperModelId):void 0;return{...r?{damperModelRear:r}:{},...n?{heaveDamperModel:n}:{},...o?{rollDamperModel:o}:{}}}function ei(e,t){if(t?.body){let{extended:n,stroke:o,...a}=e??{},{extended:s,stroke:i}=t.body;return{coilover:{...a,extended:s,...i!==void 0?{stroke:i}:{}},source:"part",part:t}}let r=e?.extended!==void 0&&e.extended>0;return{...e?{coilover:e}:{},source:r?"suspension":"none"}}function Ir(e,t){if(typeof e=="number")return e;let{x:r,y:n}=e,o=r.length;if(o===0)return 0;if(o===1||t<=r[0])return n[0];if(t>=r[o-1])return n[o-1];let a=0,s=o-1;for(;s-a>1;){let c=a+s>>1;r[c]<=t?a=c:s=c}let i=(t-r[a])/(r[s]-r[a]);return n[a]+i*(n[s]-n[a])}function ri(e){return e.kind==="coil"?2:1}function ti(e){let t=Math.max(0,e.od),r=Math.max(0,Math.min(e.id,t));return Math.PI*(t**4-r**4)/32}function C1(e){return ti(e)/2}function T1(e){let t=Math.max(0,e.width),r=Math.max(0,e.thickness),n=t*r**3/12,o=r*t**3/12,a=e.angleDeg*Math.PI/180;return n*Math.cos(a)**2+o*Math.sin(a)**2}function w1(e){let t=0;for(let r of e)if(Number.isFinite(r)){if(r<=0)return 0;t+=1/r}return t>0?1/t:1/0}function cD(e,t,r){let n=Math.min(e.length,t.length);if(n<2)return 0;let o=Math.abs(r);if(o<=e[0])return(t[1]-t[0])/(e[1]-e[0]);for(let a=1;a<n;a++)if(o<=e[a])return(t[a]-t[a-1])/(e[a]-e[a-1]);return(t[n-1]-t[n-2])/(e[n-1]-e[n-2])}function ni(e,t=0){let r={rateAtLink:0,contributions:{},torsional:0};switch(e.kind){case"none":return r;case"ubar":{let n=e.armLength;if(n<=0||e.barLength<=0)return r;let o=e.G*ti(e.section)/e.barLength,a=2*o/(n*n),s=C1(e.armSection??e.section),i=3*e.E*s/n**3,c=e.dropLinkRate??1/0;return{rateAtLink:w1([a,i,c]),contributions:{barTwist:a,armBending:i,dropLink:c},torsional:o}}case"blade":{let n=e.armLength;if(n<=0||e.barLength<=0)return r;let o=e.G*ti(e.section)/e.barLength,a=2*o/(n*n),s=3*e.E*T1(e.blade)/n**3,i=e.dropLinkRate??1/0;return{rateAtLink:w1([a,s,i]),contributions:{barTwist:a,armBending:s,dropLink:i},torsional:o}}case"torsionTube":{let n=e.leverArm;if(n<=0||e.length<=0)return r;let o=e.G*ti(e.section)/e.length,a=2*o/(n*n);return{rateAtLink:a,contributions:{barTwist:a},torsional:o}}case"coil":{let n=Ir(e.rate,2*Math.abs(t)),o=2*Math.max(0,n);return{rateAtLink:o,contributions:{spring:o},torsional:0}}case"direct":return{rateAtLink:e.wheelRate,contributions:{},torsional:0};case"tabulated":{let n=cD(e.linkTravel,e.force,t);return{rateAtLink:Math.max(0,n),contributions:{},torsional:0}}}}function ou(e,t,r=0){if(e.kind==="none")return{wheelRate:0,motionRatio:0,rateAtLink:0};if(e.kind==="direct")return{wheelRate:Math.max(0,e.wheelRate),motionRatio:1,rateAtLink:0};let n=t?xd(t,r):1,o=t?Rd(t,r):0,a=ni(e,o).rateAtLink;return{wheelRate:Math.max(0,a*n*n),motionRatio:n,rateAtLink:a}}function oi(e,t){let r=e.damper??0;return!r||e.design.kind==="none"?0:ri(e.design)*r*t*t}var lD=150;function uD(e){return X(e,[0,-.5,1])<-1e-9?U(e,-1):e}function P1(e){let t=e.hardpoints,r=H(t.rockerPivotB,t.rockerPivotA),n=ee(t.rockerPivotA,U(H(t.rockerToDamper,t.rockerPivotA),.6)),o=uD(Q(ae(r,H(t.rockerToDamper,t.rockerPivotA))));return{outer:n,inner:ee(n,U(o,lD)),attach:"rocker"}}function Ct(e,t){let r={};for(let o of _o)r[o]=et($e(e,o));let n={vehicle:e,ctx:r};return t&&(n.kc=qc(n,t)),n}var au=.5;function mD(e,t){let r=([i,c,l])=>{let u=Q(H(c,i)),m=H(l,i),f=Q(H(m,U(u,X(m,u))));return[u,f,ae(u,f)]},n=r(e),o=r(t),a=[0,1,2].map(i=>[0,1,2].map(c=>o[0][i]*n[0][c]+o[1][i]*n[1][c]+o[2][i]*n[2][c]));return{rot:a,move:i=>{let c=H(i,e[0]);return ee(t[0],[0,1,2].map(l=>a[l][0]*c[0]+a[l][1]*c[1]+a[l][2]*c[2]))}}}var L1=e=>[(e[2][1]-e[1][2])/2,(e[0][2]-e[2][0])/2,(e[1][0]-e[0][1])/2];function su(e,t,r){let n=Ze(t,e.vehicle.config),o=e.ctx[t],a=r.rigid?void 0:{loadedRadius:r.loadedRadius},s=r.state?null:ge(o,r.travel,r.steer,void 0,a),i=r.state??ot(s),c=ge(o,r.travel+au,r.steer,void 0,a),l=ge(o,r.travel-au,r.steer,void 0,a),u=(s?s.ok:r.converged)&&c.ok&&l.ok,m=ot(c),f=ot(l),p=(C,T)=>Nt(C.points[T],n),d=o.inv.strut?"pushrodOuter":"uprightUpper",h=p(i,d),b=p(i,"uprightLower"),g=C=>{let T=H(b,h);return Math.hypot(...ae(T,H(p(i,C),h)))/Math.hypot(...T)},y=g("tieOuter")>=g("wheelCenter")?"tieOuter":"wheelCenter",x=[h,b,p(i,y)],M=C=>mD(x,[p(C,d),p(C,"uprightLower"),p(C,y)]),v=M(m),R=M(f),k=L1(v.rot),F=L1(R.rot),w=[NaN,NaN,NaN];return{solved:u,state:i,at:C=>p(i,C),velocity:C=>u?U(H(v.move(C),R.move(C)),1/(2*au)):w,omega:u?U(H(k,F),1/(2*au)):w}}function Nh(e,t,r,n){let o=t[0]*-n[1]-t[1]*-n[0];if(Math.abs(o)<1e-9)return null;let a=r[0]-e[0],s=r[1]-e[1],i=(a*-n[1]-s*-n[0])/o;return[e[0]+i*t[0],e[1]+i*t[1]]}function D1(e,t,r){let n=su(e,t,gt(e,r)[t]),o=n.at("contactPatch"),a=n.velocity(o);return{solved:n.solved,cp:[o[1],o[2]],vCp:[a[1],a[2]],wx:n.omega[0]}}function E1(e){let t=Math.hypot(e.vCp[0],e.vCp[1]);return Math.abs(e.wx)*1e9>t?[e.cp[0]-e.vCp[1]/e.wx,e.cp[1]+e.vCp[0]/e.wx]:null}function I1(e,t){let r=Math.hypot(e.vCp[0],e.vCp[1]);if(!(r>1e-9))return null;let n=[-e.vCp[1]/r,e.vCp[0]/r],o=t?[t[0]-e.cp[0],t[1]-e.cp[1]]:[e.cp[0]>0?-1:1,0];return n[0]*o[0]+n[1]*o[1]<0?[-n[0],-n[1]]:n}function pD(e,t,r){return Math.abs(t[0]*(r[1]-e[1])-t[1]*(r[0]-e[0]))<=1e-6*Math.max(1,Math.hypot(r[0]-e[0],r[1]-e[1]))?[(e[0]+r[0])/2,(e[1]+r[1])/2]:null}var dD=.1*Math.PI/180;function _1(e,t,r,n,o){return Math.max(Math.hypot(e[0]-t[0],e[1]-t[1]),Math.hypot(e[0]-r[0],e[1]-r[1]))*dD<=o*n}function iu(e,t){return!e.valid||!e.cpLeft||!e.cpRight?!1:_1([e.lateral,e.height],e.cpLeft,e.cpRight,e.sinAngle,t)}function ai(e){let t=(o,a,s)=>{let i=o&&a?[a[0]-o[0],a[1]-o[1]]:s;return!o||!i||!(Math.abs(i[0])>1e-9)?Number.NaN:o[1]-o[0]*i[1]/i[0]},r=t(e.cpLeft,e.icLeft,e.lineLeft),n=t(e.cpRight,e.icRight,e.lineRight);return Number.isFinite(r)&&Number.isFinite(n)?{left:r,right:n}:null}var fD=1;function N1(e){let t=ai(e);if(!t||!e.cpLeft||!e.cpRight||Math.abs(t.left-t.right)>fD)return null;let r=(t.left+t.right)/2,n=e.cpRight[0]-e.cpLeft[0],o=e.cpRight[1]-e.cpLeft[1],a=Math.hypot(n,o)||1;return{height:r,heightAboveGround:(0-e.cpLeft[0])*(-o/a)+(r-e.cpLeft[1])*(n/a)}}function da(e){let t=(n,o,a)=>{if(!n)return Number.NaN;if(!o)return a?0:Number.NaN;let s=n[0]-o[0];return Math.abs(s)>1e-9?n[0]/s:Number.NaN},r=(t(e.cpLeft,e.icLeft,e.lineLeft)+t(e.cpRight,e.icRight,e.lineRight))/2;return e.valid&&Number.isFinite(r)?r:0}function or(e,t,r){let n=r==="front"?"FL":"RL",o=r==="front"?"FR":"RR",a=D1(e,n,t),s=D1(e,o,t);if(!a.solved||!s.solved)return{height:0,lateral:0,heightAboveGround:0,lateralAlongGround:0,valid:!1,unsolved:!0,icLeft:null,icRight:null,lineLeft:null,lineRight:null,sinAngle:0,cpLeft:a.cp,cpRight:s.cp};let i=E1(a),c=E1(s),l=I1(a,i),u=I1(s,c),m={height:0,lateral:0,heightAboveGround:0,lateralAlongGround:0,valid:!1,icLeft:i,icRight:c,lineLeft:l,lineRight:u,sinAngle:0,cpLeft:a.cp,cpRight:s.cp};if(!l||!u)return m;let f=i?[i[0]-a.cp[0],i[1]-a.cp[1]]:l,p=c?[c[0]-s.cp[0],c[1]-s.cp[1]]:u,d=Math.hypot(f[0],f[1]),h=Math.hypot(p[0],p[1]),b=d>0&&h>0?Math.abs(f[0]*p[1]-f[1]*p[0])/(d*h):0,g=Nh(a.cp,f,s.cp,p)??pD(a.cp,l,s.cp);if(!g)return{...m,sinAngle:b};let y=s.cp[0]-a.cp[0],x=s.cp[1]-a.cp[1],M=Math.hypot(y,x)||1,v=y/M,R=x/M,k=(a.cp[0]+s.cp[0])/2,F=(a.cp[1]+s.cp[1])/2,w=(g[0]-a.cp[0])*-R+(g[1]-a.cp[1])*v,C=(g[0]-k)*v+(g[1]-F)*R;return{lateral:g[0],height:g[1],heightAboveGround:w,lateralAlongGround:C,valid:!0,icLeft:i,icRight:c,lineLeft:l,lineRight:u,sinAngle:b,cpLeft:a.cp,cpRight:s.cp}}function _r(e,t){return{front:or(e,t,"front"),rear:or(e,t,"rear")}}function cu(e,t,r){let n=e.length;if(n===0)return 0;if(r<=e[0])return t[0];if(r>=e[n-1])return t[n-1];let o=0,a=n-1;for(;a-o>1;){let i=o+a>>1;e[i]<=r?o=i:a=i}let s=(r-e[o])/(e[a]-e[o]);return t[o]+s*(t[a]-t[o])}function hD(e,t){return{camber:cu(e.travel,e.camber,t),toe:cu(e.travel,e.toe,t),motionRatio:cu(e.travel,e.motionRatio,t),damperLen:e.damperLen?cu(e.travel,e.damperLen,t):0}}var O1=e=>hD(e,0).motionRatio;function Oh(e,t){if(e.kind!=="coil")return null;let r=t??e.motionRatio,n=Ir(e.rate,0)*r*r/2;return n>0&&Number.isFinite(n)?{rate:n,gap:Math.max(0,e.gap??0),bothWays:!!e.bothWays}:null}function lu(e,t){if(e.kind==="none")return 0;if(e.kind==="tabulated"){let n=a=>bD(e,a);return(n(.5)-n(-.5))/(2*.5)/2}if((e.gap??0)>0)return 0;let r=t??e.motionRatio;return Ir(e.rate,0)*r*r/2}function si(e,t){let r=e.damper??0;if(!r||e.design.kind==="none"||e.design.kind==="coil"&&(e.design.gap??0)>0)return 0;let n=t??(e.design.kind==="coil"?e.design.motionRatio:1);return r*n*n/2}function bD(e,t){let{travel:r,force:n}=e,o=r.length;if(o===0)return 0;if(t<=r[0])return n[0];if(t>=r[o-1])return n[o-1];let a=0,s=o-1;for(;s-a>1;){let c=a+s>>1;r[c]<=t?a=c:s=c}let i=(t-r[a])/(r[s]-r[a]);return n[a]+i*(n[s]-n[a])}var 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M=h[x],v=h[x+1];if(M.v<=v.v)continue;let R=Un(e,o,x),k=w=>{let C=We(w*w*t.curvature[x],jn(t,x)),T=(i?R.axDecel(w,Math.abs(C),un(t,x),i(x,w)):R.axDecel(w,Math.abs(C),un(t,x)))+di(t,x);return Math.sqrt(Math.max(0,w*w+2*T*t.ds[x]))},F=n&&x===0?M.v:Uh;M.v=qh(w=>k(w)-v.v,F,M.v,r.scanSteps,r.vTol)}for(let x=0;x<f;x++){let M=h[x],v=h[x+1];M.ay=M.v*M.v*t.curvature[x];let R=We(M.ay,jn(t,x));M.ax=Un(e,o,x).axAccel(M.v,Math.abs(R),un(t,x),a?a[x]:1)+di(t,x),v.v=Math.min(v.v,Math.sqrt(Math.max(0,M.v*M.v+2*M.ax*t.ds[x])))}let b=u?Mk(e,o,t,h.map(x=>x.v),!1,u,a):void 0;if(b)for(let x=0;x<p;x++)h[x].v=b.v[x];let g=0;for(let x=0;x<f;x++){let M=h[x].v+h[x+1].v;M>0&&(g+=2*t.ds[x]/M)}let y=h.slice(0,m);for(let x=0;x<m;x++){let M=y[x];M.ay=M.v*M.v*t.curvature[x];let v=x<f?h[x+1].v:M.v;M.ax=t.ds[x]>0?(v*v-M.v*M.v)/(2*t.ds[x]):0}return{states:y,v:y.map(x=>x.v),ax:y.map(x=>x.ax),ay:y.map(x=>x.ay),laptime:g,sweeps:{backward:1,forward:1},...l?{loadFactor:y.map((x,M)=>l(M,x.v))}:{},...Ak(e,o,t,y.map(x=>x.v)),...b?Sk(b,m):{}}}var Fk=(e,t)=>{let r=e[t]?.value;return Number.isFinite(r)&&r>0?r:0};function Xn(e,t,r){let n=e.m.value,o=e.r_dyn?.value??0,a=Fk(e,"I_wheel"),s=e.motorModel?.kind==="ice"?0:Fk(e,"I_rotor"),i=e.gear_ratio?.value??1;if(!(o>0)||a===0&&s===0)return{mass:n,driven:0,undriven:0,effective:n,powerFactor:1,tractionFactor:1};let c=o*o,l=(t?2:0)+(r?2:0),u=4-l,m=(l*a+s*i*i)/c,f=u*a/c,p=n+m+f;return{mass:n,driven:m,undriven:f,effective:p,powerFactor:n/p,tractionFactor:n/(n+f)}}function Qn(e){let t=e.fAxle;return{drivenFront:t?t.fFront.some(r=>r>0):!1,drivenRear:t?t.fRear.some(r=>r>0):!0}}var fi=36e5,Pk=Math.PI*2,Zh=e=>Math.max(0,Math.min(1,e));function Jh(e){let t=e.motorModel;if(!t){let s=e.effi_pgb?.value??.9;return()=>s}if(t.kind==="simple"){let s=t.efficiency>.01?t.efficiency:.9;return()=>s}if(t.kind==="ice"){let s=t.gearbox.efficiency>.01?t.gearbox.efficiency:.9;return()=>s}let r=wc(t),n=e.gear_ratio.value,o=e.r_dyn.value,a=Math.max(1,Math.round(e.motorCount??e.driven_wheels.value));return(s,i)=>{let c=s*n/o*(60/Pk),l=Math.max(0,i*o/(n*a)),u=r.efficiency(c,l);return u>.01?u:.5}}var wk=new WeakMap;function xa(e){if(e.batteryModel)return e.batteryModel;let t=e.capacity.value,r=e.ocv.value,n=wk.get(e);if(n&&n.capacityAh===t&&n.ocv===r)return n.model;let o=Pp(t,r);return wk.set(e,{capacityAh:t,ocv:r,model:o}),o}function eb(e){let t=e.params,r=Jf(t,Bl(e));if(ft(t.motorModel)||pt(t).mode!=="hydraulic")return r;let n;return(o,a,s,i=0)=>{if(!(o>0))return 0;n??=qD(e);let c=Wl(n.inp,n.ev,o,a,i);return c?Math.min(o,c.regenFront+c.regenRear):r(o,a,s)}}var Ck=new WeakMap;function qD(e){let t=e.params,r=Ck.get(t);if(!r){let n=Cr(t);r={inp:dt(n.regen?t:{...t,energy:{...n,regen:!0}}),ev:sr(t)},Ck.set(t,r)}return r}var hi=e=>e.airTempC??At;function Fu(e,t){return e.thermal?e.thermal.startC??t:wo}function Tk(e,t,r,n,o,a){let s=e.thermal;if(!s||!(o>0)||!(s.heatCapacityJPerK>0))return t;let i=s.coolingWPerK*(t-a)*o,c=s.entropicVPerK!==0?-r*(t+273.15)*s.entropicVPerK*o:0;return t+(n+c-i)/s.heatCapacityJPerK}var Lk=()=>({windingC:[],derate:[],lossW:[],torqueNm:[],ampsRms:[]});function ZD(e){let t=e.motorModel;if(!t?.thermal)return;let r=Lp(t.thermal),n=wc(t),o=e.gear_ratio.value,a=e.r_dyn.value,s=Math.max(1,Math.round(e.motorCount??e.driven_wheels.value));return{th:r,rpm:i=>i*o/a*(60/Pk),peak:i=>n.maxTorque(i),amps:i=>t.thermal.torqueConstant>0?Math.abs(i)/t.thermal.torqueConstant:0,torque:(i,c,l)=>Math.min(Math.abs(i)*a/(o*s),l*n.maxTorque(c))}}function JD(e,t,r,n,o){let a=e.ocv(n);if(!(r>0))return{dq:t/a,lossJ:0,energyJ:t,short:!1,cutoff:!1,seconds:r};let s=e.maxPower(n,o),i=s.watts,c=t/r,l=Math.min(c,i),u=c>s.voltageFloor;if(u&&!(l>0))return{dq:1/0,lossJ:0,energyJ:0,short:!0,cutoff:u,seconds:1/0};let m=e.currentFor(l,n,o),f=u?c/l:1,p=r*f;return{dq:m*p,lossJ:m*m*e.resistance(n,o)*p,energyJ:l*p,short:c>i,cutoff:u,seconds:p}}function eE(e,t,r,n,o){let a=e.ocv(n);if(!(r>0))return{dq:t/a,lossJ:0,energyJ:t,short:!1,cutoff:!1,seconds:r};let s=e.resistance(n,o),i=e.chargeCurrentFor(t/r,n,o),c=Math.min(i,e.chargeCurrentCeiling),l=c===i?t:c*(a+c*s)*r;return{dq:c*r,lossJ:c*c*s*r,energyJ:l,short:c<i,cutoff:!1,seconds:r}}function tE(e){let{drivenFront:t,drivenRear:r}=Qn(e);return Xn(e.params,t,r)}function Ra(e,t,r,n,o=wr,a,s,i,c,l,u){let m=e.params,f=m.rho.value,p=m.fr_0.value,d=m.m.value,h=e.FG,b=m.aeroModel?dt(m):void 0,g=Jh(m),y=hr(xa(m)),x=y.chargeC,M=Zh(a??m.soc.value),v=hi(m),R=s??Fu(y,v),k=R,F=0,w=0,C=0,T=0,S=-1,A=-1,P=-1,L=ZD(m),D=L?L.th.startC:0,E=D,$=0,O=1,W=-1,I=0,_=0,V=eb(e),N=m.motorModel?.kind==="ice",G=u?.scrub,K=G?d/tE(e).tractionFactor:0,z=Math.min(t.length,r.length);for(let j=0;j<z;j++){let q=r[j],ne=q*q,te=n[j]-(c?.[j]??0),{cl:fe,cw:Y,A:J}=ku(m,q,te/9.81,b),re=.5*f*fe*J*ne,pe=.5*f*Y*J*ne,de=(h+re)*-p,ie=G?-K*(G[j]??0):0,oe=de+pe+ie+d*te,ue=oe*t[j],Ve=j+1<r.length?r[j+1]:q,Ae=.5*(q+Ve),le=Ae>0?t[j]/Ae:0,Re=0,we=M,Ke=R,je=0,be=0,Fe=le;if(N){oe>0&&(be=ue/g(q,oe),F+=be/fi),l?.netKwh.push(F-w),l?.powerKw?.push(le>0?be/le/1e3:0);continue}if(oe>0){let ye=ue/g(q,oe),me=JD(y,ye,le,M,R);me.short&&S<0&&(S=j),me.cutoff&&A<0&&(A=j);let Te=M*x,Se=Math.min(me.dq,Te),He=me.dq>0?Se/me.dq:1;Se>=Te&&P<0&&(P=j),F+=me.energyJ*He/fi,be=me.energyJ*He,Fe=me.seconds,C+=me.lossJ*He,T+=Se,le>0&&(je=Se/me.seconds),M=Zh(M-Se/x),R=Tk(y,R,me.dq>0&&le>0?Se/le:0,me.lossJ*He,le,v),R>k&&(k=R),Re=oe}else if(o.regen){let ye=u?We(u.ay[j],u.bank?.[j]??0)/9.81:0,me=V(-oe,q,te/9.81,ye),Te=o.regenEfficiency*me*t[j],Se=eE(y,Te,le,M,R),He=(1-M)*x,Ue=Math.min(Se.dq,He),Kt=Se.dq>0?Ue/Se.dq:1;w+=Se.energyJ*Kt/fi,be=-Se.energyJ*Kt,C+=Se.lossJ*Kt,T-=Ue,le>0&&(je=-Ue/le),M=Zh(M+Ue/x),R=Tk(y,R,Ue>0&&le>0?-Ue/le:0,Se.lossJ*Kt,le,v),R>k&&(k=R),Re=-me*Kt}if(l?.netKwh.push(F-w),l?.powerKw?.push(le>0?be/Fe/1e3:0),l?.pack){let ye=l.pack;ye.soc.push(we),ye.amps.push(je),ye.volts.push(y.ocv(we)-je*y.resistance(we,Ke)),ye.cellC.push(Ke)}if(L){let ye=L.rpm(q),me=L.th.derate(ye,D,L.peak(ye));me<O&&(O=me),me<1&&W<0&&(W=j),_+=le,me<1&&(I+=le);let Te=L.torque(Re,ye,me),Se=L.th.lossW(ye,Te,D);$+=Se*le,i&&(i.windingC.push(D),i.derate.push(me),i.lossW.push(Se),i.torqueNm.push(Te),i.ampsRms.push(L.amps(Te))),D=L.th.step(D,Se,le),D>E&&(E=D)}}return{drive:F,regen:w,net:F-w,chargeAh:T/3600,loss:C/fi,socEnd:M,shortAt:S,cutoffAt:A,emptyAt:P,tempEndC:R,tempMaxC:k,...L?{motorTempEndC:D,motorTempMaxC:E,motorLossKwh:$/fi,motorDerateMin:O,motorDerateAt:W,motorDerateTimeFrac:_>0?I/_:0}:{}}}var rE=.5,nE=.02,oE=6;function Dk(e,t,r,n,o,a,s,i){let c=n(),l=1,u=d=>{let h=Lk(),b=Ra(e,t,d.v,d.ax,r,o,a,h,s,void 0,{ay:d.ay,bank:i,...d.axScrub?{scrub:d.axScrub}:{}});return{trace:h,peak:b.motorTempMaxC??0,frac:b.motorDerateTimeFrac??0}},m=u(c);if(!m.trace.derate.length||m.frac===0)return{lap:c,solves:l,converged:!0,peakWindingC:m.peak,derateTimeFrac:m.frac};let f=m.trace.derate.slice(),p=!1;for(let d=0;d<oE;d++){let h=n(f);l++;let b=Math.abs(h.laptime-c.laptime);if(c=h,m=u(c),b<nE){p=!0;break}let g=m.trace.derate,y=new Array(f.length);for(let x=0;x<f.length;x++)y[x]=f[x]+rE*((g[x]??1)-f[x]);f=y}return{lap:c,derate:f,solves:l,converged:p,peakWindingC:m.peak,derateTimeFrac:m.frac}}var aE=.1;function Ek(e){let t=e.power_limit_kw?.value??0;return t>0?t*1e3:0}function tb(e,t,r){return e.motorModel?.kind==="ice"?1/0:hr(xa(e)).maxPower(t??e.soc.value,r,Ek(e)).watts}function wu(e,t,r,n){let o=tb(e,r,n);if(!Number.isFinite(o))return 1/0;if(o<=0)return 0;let a=Math.max(aE,t),s=Jh(e),i=o*(e.effi_pgb?.value??.9)/a;return o*s(t,i)/a}var sE=180/Math.PI;function Cu(e,t,r,n){let o=e*t,a=e*(1-t);return o/r-a/n}var Tu=e=>e*9.81*sE;var J9=Math.PI/180;function Pu(e,t,r,n=0){let o=Le(e,t,0,n),a=typeof r=="function"?r:r.front,s=typeof r=="function"?r:r.rear,i=.5*(a(Math.max(0,o.FL))+a(Math.max(0,o.FR))),c=.5*(s(Math.max(0,o.RL))+s(Math.max(0,o.RR))),l=i>0&&c>0?Cu(e.massTotal,e.frontMassFrac,2*i,2*c):0,u=Tu(l),m=u>.15?"understeer":u<-.15?"oversteer":"neutral";return{gradient:u,balance:m,cAlphaFront:i,cAlphaRear:c}}var iX=Math.PI/180,cX=180/Math.PI;var Ik=2220446049250313e-31;function lE(e){let t=e.length,r=2,n=r*r,o=!1;for(;!o;){o=!0;for(let a=0;a<t;a++){let s=0,i=0;for(let c=0;c<t;c++)c!==a&&(i+=Math.abs(e[c][a]),s+=Math.abs(e[a][c]));if(i!==0&&s!==0){let c=s/r,l=1,u=i+s;for(;i<c;)l*=r,i*=n;for(c=s*r;i>c;)l/=r,i/=n;if((i+s)/l<.95*u){o=!1;let m=1/l;for(let f=0;f<t;f++)e[a][f]*=m;for(let f=0;f<t;f++)e[f][a]*=l}}}}}function uE(e){let t=e.length;for(let r=1;r<t-1;r++){let n=0,o=r;for(let a=r;a<t;a++)Math.abs(e[a][r-1])>Math.abs(n)&&(n=e[a][r-1],o=a);if(o!==r){for(let a=r-1;a<t;a++){let s=e[o][a];e[o][a]=e[r][a],e[r][a]=s}for(let a=0;a<t;a++){let s=e[a][o];e[a][o]=e[a][r],e[a][r]=s}}if(n!==0)for(let a=r+1;a<t;a++){let s=e[a][r-1];if(s!==0){s/=n,e[a][r-1]=s;for(let i=r;i<t;i++)e[a][i]-=s*e[r][i];for(let i=0;i<t;i++)e[i][r]+=s*e[i][a]}}}for(let r=2;r<t;r++)for(let n=0;n<r-1;n++)e[r][n]=0}function mE(e){let t=e.length,r=new Array(t).fill(0),n=new Array(t).fill(0),o=0;for(let i=0;i<t;i++)for(let c=Math.max(i-1,0);c<t;c++)o+=Math.abs(e[i][c]);let a=t-1,s=0;for(;a>=0;){let i=0,c=0;do{for(c=a;c>=1;c--){let u=Math.abs(e[c-1][c-1])+Math.abs(e[c][c]);if(u===0&&(u=o),Math.abs(e[c][c-1])<=Ik*u){e[c][c-1]=0;break}}let l=e[a][a];if(c===a)r[a]=l+s,n[a]=0,a--;else{let u=e[a-1][a-1],m=e[a][a-1]*e[a-1][a];if(c===a-1){let f=.5*(u-l),p=f*f+m,d=Math.sqrt(Math.abs(p));l+=s,p>=0?(d=f+(f>=0?Math.abs(d):-Math.abs(d)),r[a-1]=r[a]=l+d,d!==0&&(r[a]=l-m/d),n[a-1]=n[a]=0):(r[a-1]=r[a]=l+f,n[a]=d,n[a-1]=-d),a-=2}else{if(i===60)throw new Error("eigenvalues: QR iteration did not converge");if(i===10||i===20||i===30||i===40||i===50){s+=l;for(let g=0;g<=a;g++)e[g][g]-=l;let b=Math.abs(e[a][a-1])+Math.abs(e[a-1][a-2]);u=l=.75*b,m=-.4375*b*b}i++;let f=a-2,p=0,d=0,h=0;for(;f>=c;f--){let b=e[f][f],g=l-b,y=u-b;p=(g*y-m)/e[f+1][f]+e[f][f+1],d=e[f+1][f+1]-b-g-y,h=e[f+2][f+1];let x=Math.abs(p)+Math.abs(d)+Math.abs(h);if(p/=x,d/=x,h/=x,f===c)break;let M=Math.abs(e[f][f-1])*(Math.abs(d)+Math.abs(h)),v=Math.abs(p)*(Math.abs(e[f-1][f-1])+Math.abs(b)+Math.abs(e[f+1][f+1]));if(M<=Ik*v)break}for(let b=f+2;b<=a;b++)e[b][b-2]=0,b!==f+2&&(e[b][b-3]=0);for(let b=f;b<=a-1;b++){b!==f&&(p=e[b][b-1],d=e[b+1][b-1],h=b!==a-1?e[b+2][b-1]:0,l=Math.abs(p)+Math.abs(d)+Math.abs(h),l!==0&&(p/=l,d/=l,h/=l));let g=Math.sqrt(p*p+d*d+h*h),y=p>=0?g:-g;if(y!==0){b===f?c!==f&&(e[b][b-1]=-e[b][b-1]):e[b][b-1]=-y*l,p+=y,l=p/y,u=d/y;let x=h/y;d/=p,h/=p;for(let v=b;v<=a;v++){let R=e[b][v]+d*e[b+1][v];b!==a-1&&(R+=h*e[b+2][v],e[b+2][v]-=R*x),e[b+1][v]-=R*u,e[b][v]-=R*l}let M=a<b+3?a:b+3;for(let v=c;v<=M;v++){let R=l*e[v][b]+u*e[v][b+1];b!==a-1&&(R+=x*e[v][b+2],e[v][b+2]-=R*h),e[v][b+1]-=R*d,e[v][b]-=R}}}}}}while(c<a-1&&a>=0)}return r.map((i,c)=>({re:i,im:n[c]}))}function _k(e){let t=e.length;if(t===0)return[];for(let n of e)if(n.length!==t)throw new Error("eigenvalues: matrix must be square");for(let n of e)for(let o of n)if(!Number.isFinite(o))throw new Error("eigenvalues: matrix has non-finite entries");if(t===1)return[{re:e[0][0],im:0}];let r=e.map(n=>n.slice());return lE(r),uE(r),mE(r)}function Nk(e){let t=[],r=new Array(e.length).fill(!1),n=_k(e);for(let o=0;o<n.length;o++){if(r[o])continue;let{re:a,im:s}=n[o];if(s<0)continue;let i=Math.hypot(a,s);t.push({freq:i/(2*Math.PI),dampedFreq:Math.abs(s)/(2*Math.PI),dampingRatio:i>0?-a/i:0,eigenvalue:n[o]})}return t.sort((o,a)=>a.freq-o.freq)}function rb(e,t){let r=e.length,n=Array.from({length:r},(c,l)=>l);for(let c=0;c<r-1;c++){let l=c,u=c,m=-1;for(let h=c;h<r;h++)for(let b=c;b<r;b++){let g=e[h][b]*e[h][b]+t[h][b]*t[h][b];g>m&&(m=g,l=h,u=b)}if(!(m>0))break;if([e[c],e[l]]=[e[l],e[c]],[t[c],t[l]]=[t[l],t[c]],u!==c){for(let h=0;h<r;h++)[e[h][c],e[h][u]]=[e[h][u],e[h][c]],[t[h][c],t[h][u]]=[t[h][u],t[h][c]];[n[c],n[u]]=[n[u],n[c]]}let f=e[c][c],p=t[c][c],d=f*f+p*p;for(let h=c+1;h<r;h++){let b=(e[h][c]*f+t[h][c]*p)/d,g=(t[h][c]*f-e[h][c]*p)/d;if(!(b===0&&g===0))for(let y=c;y<r;y++)e[h][y]-=b*e[c][y]-g*t[c][y],t[h][y]-=b*t[c][y]+g*e[c][y]}}let o=new Array(r).fill(0),a=new Array(r).fill(0);o[r-1]=1;for(let c=r-2;c>=0;c--){let l=e[c][c],u=t[c][c],m=l*l+u*u;if(!(m>0))continue;let f=0,p=0;for(let d=c+1;d<r;d++)f+=e[c][d]*o[d]-t[c][d]*a[d],p+=e[c][d]*a[d]+t[c][d]*o[d];o[c]=-(f*l+p*u)/m,a[c]=-(p*l-f*u)/m}let s=Math.sqrt(o.reduce((c,l,u)=>c+l*l+a[u]*a[u],0)),i=new Array(r);for(let c=0;c<r;c++)i[n[c]]={re:o[c]/s,im:a[c]/s};return i}function pE(e,t){let r=e.map((o,a)=>o.map((s,i)=>a===i?s-t.re:s)),n=e.map((o,a)=>o.map((s,i)=>a===i?-t.im:0));return rb(r,n)}function Lu(e,t=r=>pE(e,r)){return Nk(e).map(r=>({...r,vector:t(r.eigenvalue)}))}function va(e,t,r){let n,o=-1,a,s=-1;for(let i of e){let c=t(i.vector),l=c[r];i.eigenvalue.im===0?l>s&&(a=i,s=l):l>=Math.max(...c)&&l>o&&(n=i,o=l)}return n??a}function Ok(e){let t=e.sprungMass;if(!(t>0))return;let r=Math.max(.1,e.unsprungMass),n=e.springRate*1e3,o=e.damperRate*1e3,a=e.tireRate*1e3,s=(e.tireDamping??0)*1e3,i=[[0,1,0,0],[-n/t,-o/t,n/t,o/t],[0,0,0,1],[n/r,o/r,-(n+a)/r,-(o+s)/r]];if(!i.every(l=>l.every(Number.isFinite)))return;let c=l=>{let u=t*(l[0].re**2+l[0].im**2),m=r*(l[2].re**2+l[2].im**2);return u+m>0?[u/(u+m),m/(u+m)]:[0,0]};return va(Lu(i),c,0)}function Vk(e,t,r,n){let o=(r==="front"?t.sprungFront:t.sprungRear)/2;if(o<=0)return{dampingRatio:0,criticalDamping:0,naturalFreqDamped:0};let a=r==="front"?t.rideRateFront:t.rideRateRear,s=r==="front"?e.wheelRateFront+(e.heaveSpringFront??0):e.wheelRateRear+(e.heaveSpringRear??0),i=Ok({sprungMass:o,unsprungMass:e.unsprungCornerMass??e.unsprungPerCorner,springRate:s,damperRate:n,tireRate:Xe(e,r),tireDamping:e.tireDamping}),c=2*Math.sqrt(a*1e3*o);return{dampingRatio:i?.dampingRatio??0,criticalDamping:c/1e3,naturalFreqDamped:i?.dampedFreq??0}}function Du(e,t,r){let n=Ce(e);return{front:Vk(e,n,"front",t??n.rideDampingFront),rear:Vk(e,n,"rear",r??n.rideDampingRear)}}var vX=180/Math.PI;var nb=["FL","FR","RL","RR"],ce={zFL:0,vzFL:1,zFR:2,vzFR:3,zRL:4,vzRL:5,zRR:6,vzRR:7,zBody:8,vzBody:9,pitch:10,pitchRate:11,roll:12,rollRate:13,x:14,vx:15,y:16,vy:17,yaw:18,yawRate:19},ka=20,Bk=[ce.zFL,ce.zFR,ce.zRL,ce.zRR],$k=[ce.vzFL,ce.vzFR,ce.vzRL,ce.vzRR],Vr={fzFL:0,fzFR:1,fzRL:2,fzRR:3,fzBody:4,myBody:5,mxBody:6,fx:7,fy:8,mz:9},ob=10;function Eu(e){let t=Array.from({length:ka},()=>new Array(ka).fill(0)),r=Array.from({length:ka},()=>new Array(ob).fill(0));t[ce.zFL][ce.vzFL]=1,t[ce.zFR][ce.vzFR]=1,t[ce.zRL][ce.vzRL]=1,t[ce.zRR][ce.vzRR]=1,t[ce.zBody][ce.vzBody]=1,t[ce.pitch][ce.pitchRate]=1,t[ce.roll][ce.rollRate]=1,t[ce.x][ce.vx]=1,t[ce.y][ce.vy]=1,t[ce.yaw][ce.yawRate]=1;let{inertia:n}=e,o=[1,0,3,2],a=(s,i,c,l)=>{s[Bk[i]]-=c,s[$k[i]]-=l,s[ce.zBody]+=c,s[ce.vzBody]+=l,s[ce.pitch]-=c*e.leverX[i],s[ce.pitchRate]-=l*e.leverX[i],s[ce.roll]+=c*e.leverY[i],s[ce.rollRate]+=l*e.leverY[i]};for(let s=0;s<4;s++){let i=s<2,c=k=>k?i?k.front:k.rear:0,l=e.springRate[s]+c(e.heaveSpring),u=e.springRate[s]+c(e.arb),m=e.damperRate[s]+c(e.heaveDamper),f=e.damperRate[s]+c(e.rollDamper),p=(l+u)/2,d=(l-u)/2,h=(m+f)/2,b=(m-f)/2,g=new Array(ka).fill(0);a(g,s,p,h),(d!==0||b!==0)&&a(g,o[s],d,b);let y=e.wheelMass[s],x=e.leverX[s],M=e.leverY[s],v=Bk[s],R=$k[s];for(let k=0;k<ka;k++){let F=g[k];F!==0&&(t[R][k]+=F/y,t[ce.vzBody][k]-=F/e.bodyMass,t[ce.pitchRate][k]+=x*F/n.yy,t[ce.rollRate][k]-=M*F/n.xx)}t[R][v]-=e.tyreRate[s]/y,t[R][R]-=e.tyreDamping[s]/y,r[R][Vr.fzFL+s]=1/y}return r[ce.vzBody][Vr.fzBody]=1/e.bodyMass,r[ce.pitchRate][Vr.myBody]=1/n.yy,r[ce.rollRate][Vr.mxBody]=1/n.xx,r[ce.vx][Vr.fx]=1/e.totalMass,r[ce.vy][Vr.fy]=1/e.totalMass,r[ce.yawRate][Vr.mz]=1/n.zz,{A:t,B:r,params:e}}function ab(e){let t=e.wheelbase/1e3,r=t*(1-e.frontMassFrac),n=t*e.frontMassFrac,o=e.trackFront/2e3,a=e.trackRear/2e3,s=e.unsprungCornerMass??e.unsprungPerCorner,i=Math.max(0,e.massTotal-4*s),c=e.wheelRateFront*1e3,l=e.wheelRateRear*1e3,u=(e.damperFront??2.5)*1e3,m=(e.damperRear??2.5)*1e3,f=Xe(e,"front")*1e3,p=Xe(e,"rear")*1e3,d=(e.tireDamping??0)*1e3;return{bodyMass:i,totalMass:e.massTotal,wheelMass:[s,s,s,s],inertia:{xx:e.rollInertia??i*.6*.6,yy:e.pitchInertia??i*1.2*1.2,zz:e.yawInertia??e.massTotal*1.2*1.2},leverX:[r,r,-n,-n],leverY:[o,-o,a,-a],springRate:[c,c,l,l],damperRate:[u,u,m,m],tyreRate:[f,f,p,p],tyreDamping:[d,d,d,d],arb:{front:e.arbFront*1e3,rear:e.arbRear*1e3},heaveSpring:{front:(e.heaveSpringFront??0)*1e3,rear:(e.heaveSpringRear??0)*1e3},rollDamper:{front:(e.rollDamperFront??0)*1e3,rear:(e.rollDamperRear??0)*1e3},heaveDamper:{front:(e.heaveDamperFront??0)*1e3,rear:(e.heaveDamperRear??0)*1e3}}}var Gk=ce.rollRate+1;function Kk(e){let t=e.params,r=[...t.wheelMass,t.bodyMass,t.inertia.yy,t.inertia.xx];if(!r.every(i=>i>0))return{};let n=e.A.slice(0,Gk).map(i=>i.slice(0,Gk));if(!n.every(i=>i.every(Number.isFinite)))return{};let a=Lu(n,i=>{let c=i.re*i.re-i.im*i.im,l=2*i.re*i.im,u=r.map((f,p)=>r.map((d,h)=>(p===h?c:0)-i.re*n[2*p+1][2*h+1]-n[2*p+1][2*h])),m=r.map((f,p)=>r.map((d,h)=>(p===h?l:0)-i.im*n[2*p+1][2*h+1]));return rb(u,m)}),s=i=>{let c=r.map((u,m)=>u*(i[m].re**2+i[m].im**2)),l=c.reduce((u,m)=>u+m,0)||1;return[c[0]+c[1]+c[2]+c[3],c[4],c[5],c[6]].map(u=>u/l)};return{heave:va(a,s,1),pitch:va(a,s,2),roll:va(a,s,3)}}function Hk(e,t,r){let n=e?2*Math.PI*e.freq:0,o=e&&n>0?e.dampingRatio:0,a=o>0&&o<1?Math.exp(-Math.PI*o/Math.sqrt(1-o*o))*100:0,s=o>0&&n>0?4/(o*n):1/0;return{freq:n/(2*Math.PI),dampedFreq:e&&n>0?e.dampedFreq:0,dampingRatio:o,stiffness:t,inertia:r,overshoot:a,settlingTime:s}}function Iu(e){let t=Ce(e),r=e.wheelbase/1e3,n=r*(1-e.frontMassFrac),o=r*e.frontMassFrac,a=t.rollRateTotal*(180/Math.PI),s=e.rollInertia??t.sprungMass*.6*.6,i=2*t.rideRateFront*1e3,c=2*t.rideRateRear*1e3,l=i*n*n+c*o*o,u=e.pitchInertia??t.sprungMass*1.2*1.2,m=Kk(Eu(ab(e)));return{roll:Hk(m.roll,a,s),pitch:Hk(m.pitch,l,u)}}var _u=9.81,Br=Math.PI/180;function zk(e){let t=e.wheelbase/1e3,r=t*(1-e.frontMassFrac),n=t*e.frontMassFrac;return{wb:t,lf:r,lr:n,m:e.massTotal}}function Ma(e,t,r,n,o){let{wb:a,lf:s,lr:i,m:c}=zk(e),l=0;for(let x=0;x<16;x++){let M=l/r,v=o-n-s*M/r,R=-n+i*M/r,k=Le(e,l/_u,0,r),F=Math.max(0,k.FL+k.FR),w=Math.max(0,k.RL+k.RR),C=t(v,F),T=t(R,w),S=(C*Math.cos(o)+T)/c;if(l=.5*(l+S),Math.abs(S-l)<1e-4)break}let u=l/r,m=o-n-s*u/r,f=-n+i*u/r,p=Le(e,l/_u,0,r),d=Math.max(0,p.FL+p.FR),h=Math.max(0,p.RL+p.RR),b=t(m,d),g=t(f,h),y=s*b*Math.cos(o)-i*g;return{ay:l/_u,cn:y/(c*_u*a)}}function sb(e,t,r,n={}){let o=Math.max(8,r),a=(n.betaMaxDeg??10)*Br,s=(n.deltaMaxDeg??10)*Br,i=n.nLines??9,c=n.nPts??21,l=(g,y,x,M)=>x===1?g:g+(y-g)*M/(x-1),u=[],m={ay:[],cn:[]},f=0;for(let g=0;g<i;g++){let y=l(-s,s,i,g),x=[],M=[],v=[],R=[];for(let k=0;k<c;k++){let F=l(-a,a,c,k),w=Ma(e,t,o,F,y);x.push(w.ay),M.push(w.cn),v.push(F/Br),R.push(y/Br),Math.abs(w.ay)>f&&(f=Math.abs(w.ay))}u.push({label:`\u03B4 ${(y/Br).toFixed(0)}\xB0`,ay:x,cn:M,betaDeg:v,deltaDeg:R});for(let k=1;k<M.length;k++)if(M[k-1]===0||M[k-1]<0!=M[k]<0){let F=M[k-1]===M[k]?0:M[k-1]/(M[k-1]-M[k]);m.ay.push(x[k-1]+F*(x[k]-x[k-1])),m.cn.push(0);break}}let p=[];for(let g=0;g<i;g++){let y=l(-a,a,i,g),x=[],M=[],v=[],R=[];for(let k=0;k<c;k++){let F=l(-s,s,c,k),w=Ma(e,t,o,y,F);x.push(w.ay),M.push(w.cn),v.push(y/Br),R.push(F/Br)}p.push({label:`\u03B2 ${(y/Br).toFixed(0)}\xB0`,ay:x,cn:M,betaDeg:v,deltaDeg:R})}let d=.5*Br,h=(Ma(e,t,o,d,0).cn-Ma(e,t,o,-d,0).cn)/(2*d),b=(Ma(e,t,o,0,d).cn-Ma(e,t,o,0,-d).cn)/(2*d);return{isoBeta:p,isoDelta:u,trim:m,maxAy:f,stability:h,control:b,speed:o}}function dE(e){return!e.corneringStiffnessFront||!e.corneringStiffnessRear?null:{Cf:2*e.corneringStiffnessFront,Cr:2*e.corneringStiffnessRear}}function bi(e,t){let r=dE(e);if(!r)return null;let{Cf:n,Cr:o}=r,{wb:a,lf:s,lr:i,m:c}=zk(e),l=e.yawInertia??c*1*1,u=Math.max(3,t),m=-(n+o)/(c*u),f=(-s*n+i*o)/(c*u)-u,p=(-s*n+i*o)/(l*u),d=-(s*s*n+i*i*o)/(l*u),h=m+d,b=m*d-f*p,g=h*h-4*b,y,x,M;if(g<0)y=h/2,x=Math.sqrt(Math.max(0,b)),M=x>0?-h/(2*x):1;else{let P=Math.sqrt(g);y=Math.max((h+P)/2,(h-P)/2),x=Math.sqrt(Math.abs(b)),M=x>0?-h/(2*x):1}let v=h<0&&b>0,R=Cu(c,e.frontMassFrac,n,o),k=Tu(R),F=k>.15?"understeer":k<-.15?"oversteer":"neutral",w=s*n-i*o,C=P=>P*3.6,T=null,S=null;w>1e-6?S=C(Math.sqrt(n*o*a*a/(c*w))):w<-1e-6&&(T=C(Math.sqrt(n*o*a*a/(c*-w))));let A=u/(a+R*u*u);return{stable:v,yawFreq:x/(2*Math.PI),dampingRatio:M,eigReal:y,understeerGradient:k,balance:F,characteristicSpeed:T,criticalSpeed:S,yawRateGain:A}}var Yk=Math.PI/180;function Uk(e,t){let r=Math.abs(e);return r<.15?"no measurable body slip \u2014 the car is travelling along its own centreline":Math.abs(t)<1e-6?`${r.toFixed(1)}\xB0 of body slip (not cornering, so there is no inside or outside yet)`:e*Math.sign(t)>0?`${r.toFixed(1)}\xB0 of body slip, nose pointing OUT of the corner \u2014 running wide of the path it is on`:`${r.toFixed(1)}\xB0 of body slip, nose pointing INTO the corner \u2014 rotated inside the path it is on`}function Wk(e,t,r){return e.length<2?0:t<=0?(e[1]-e[0])/r:t>=e.length-1?(e[e.length-1]-e[e.length-2])/r:(e[t+1]-e[t-1])/(2*r)}function Xk(e,t,r,n){let o=e.isoDelta.length,a=e.isoDelta[0]?.ay.length??0,s=Math.max(0,Math.min(o-1,Math.floor(t))),i=Math.max(0,Math.min(a-1,Math.floor(r))),c=Math.max(0,Math.min(1,t-s)),l=Math.max(0,Math.min(1,r-i)),u=0;for(let[m,f]of[[s,1-c],[Math.min(o-1,s+1),c]])if(!(f<=0))for(let[p,d]of[[i,1-l],[Math.min(a-1,i+1),l]])d<=0||(u+=f*d*n(e.isoDelta[m],p,m));return u}function Qk(e,t,r){let n=e.isoDelta[0],o=(n.betaDeg[1]-n.betaDeg[0])*Yk||1,a=e.isoDelta.length>1?(e.isoDelta[1].deltaDeg[0]-e.isoDelta[0].deltaDeg[0])*Yk:1,s=R=>Xk(e,t,r,R),i=s((R,k)=>R.ay[k]),c=s((R,k)=>R.cn[k]),l=s((R,k)=>R.betaDeg[k]),u=s((R,k)=>R.deltaDeg[k]),m=s((R,k)=>Wk(R.cn,k,o)),f=s((R,k,F)=>Wk(e.isoDelta.map(w=>w.cn[k]),F,a||1)),p=Math.max(1e-6,e.maxAy),d=Math.abs(i)/p,h=Math.max(1e-6,...e.isoDelta.flatMap(R=>R.cn.filter(Number.isFinite).map(Math.abs))),b=Math.abs(c)/h,g=i===0?c:c*Math.sign(i),y=[];y.push(`${Uk(l,i)}.`),b<.03?y.push("On the trim line: yaw moments balance, so this is a steady corner the car can actually hold. Only points on this line are real cornering states \u2014 everywhere else the car is still rotating."):g>0?y.push(`Not a steady state: there is a surplus yaw moment turning the car further into the corner, so it would keep rotating from here. To hold ${Math.abs(i).toFixed(2)} g the driver would have to wind ${u>=0?"off":"on"} steer until the point reaches the trim line.`):y.push("Not a steady state: the yaw moment is straightening the car out, so it would run wide from here. The car needs more steer, or more front grip, to reach the trim line at this slip angle.");let x=Math.abs(e.stability)>1e-9?m/e.stability:1;x<.15?y.push("Yaw stiffness has collapsed here: the moment resisting a change in body slip is essentially gone, so the car will not gather itself up if it steps out. Both axles are close to saturation."):x<.85?y.push(`Yaw stiffness is down to about ${(100*x).toFixed(0)} % of its straight-ahead value \u2014 the car resists a change in body slip less firmly here than it does in the linear range.`):y.push(`Yaw stiffness is near its straight-ahead value (${(100*x).toFixed(0)} %), so the car still opposes a change in body slip about as firmly as it does in a straight line.`);let M=Math.abs(e.control),v=M>1e-9?Math.abs(f)/M:1;return v<.15?y.push("The steering has stopped working here: another degree of lock buys almost no yaw moment, which is what a saturated front axle looks like. This is understeer in its literal sense \u2014 the front tyres are already at their limit."):v<.5&&y.push(`Steering response is down to about ${(100*v).toFixed(0)} % of its straight-ahead value \u2014 the front is well into the non-linear part of its curve.`),d>.97?y.push(`At the edge of the diagram: ${Math.abs(i).toFixed(2)} g is essentially all this car has at this speed.`):d<.25&&y.push("Well inside the limit \u2014 this is the linear region the handling balance is measured in."),{ay:i,cn:c,betaDeg:l,deltaDeg:u,stability:m,control:f,gripUsed:d,notes:y}}var jk=1e-4;function ib(e){let t=null,r=f=>{if(!t)return!0;let p=Math.abs(f),d=Math.abs(t.ay);return p>d*(1+jk)?!0:p<d*(1-jk)?!1:f>0&&t.ay<0};for(let f=0;f<e.isoDelta.length;f++){let p=e.isoDelta[f];for(let d=1;d<p.cn.length;d++){if(!(p.cn[d-1]===0||p.cn[d-1]<0!=p.cn[d]<0))continue;let b=p.cn[d-1]===p.cn[d]?0:p.cn[d-1]/(p.cn[d-1]-p.cn[d]),g=p.ay[d-1]+b*(p.ay[d]-p.ay[d-1]);r(g)&&(t={ay:g,d:f,b:b<.5?d-1:d})}}if(!t)return null;let n=Qk(e,t.d,t.b),o=Math.abs(e.control)>1e-9?Math.abs(n.control/e.control):1,a=Math.abs(e.stability)>1e-9?n.stability/e.stability:1,s=o<.35,i=a<.35,c=s&&i?"both":s?"front":i?"rear":o<a?"front":"rear",l=e.isoDelta[t.d].betaDeg.length,u=t.b===0||t.b===l-1||t.d===0||t.d===e.isoDelta.length-1,m=t.ay<0?-1:1;return{ay:Math.abs(t.ay),turn:m,betaDeg:e.isoDelta[t.d].betaDeg[t.b]*m,deltaDeg:e.isoDelta[t.d].deltaDeg[t.b]*m,d:t.d,b:t.b,limitedBy:c,controlFrac:o,stiffnessFrac:a,onGridEdge:u}}var fE=["tv_kp"];function qk(e=0){let t=e<0,r=e>0,n=t||r,o=[{key:"damper_front",why:"dampers act on velocity; every point here is at constant attitude"},{key:"damper_rear",why:"dampers act on velocity; every point here is at constant attitude"},{key:"tire_vertical_damping",why:"tyre damping acts on velocity; every point here is at constant attitude"},{key:"I_yaw",why:"inertia resists change; a steady corner has none"},{key:"I_roll",why:"inertia resists change; a steady corner has none"},{key:"I_pitch",why:"inertia resists change; a steady corner has none"},{key:"capacity",why:"energy does not enter a single steady-state point"},{key:"ocv",why:"energy does not enter a single steady-state point"},{key:"soc",why:"energy does not enter a single steady-state point"},...fE.map(s=>({key:s,why:"the feedback gain multiplies a yaw error, and a trimmed point has none \u2014 the feedforward does move this diagram"}))];t||o.push({key:"brake_balance",why:r?"the diagram is drawn under acceleration, not braking":"no braking: the diagram is drawn at constant speed"});let a=n?"the longitudinal condition is set directly; what a motor could deliver is the lap solver\u2019s question":"no tractive force is applied at a constant speed";for(let s of["gear_ratio","power_scale","power_limit_kw","driven_wheels","effi_pgb"])o.push({key:s,why:a});for(let s of["I_wheel","I_rotor"])o.push({key:s,why:n?"rotating inertia is longitudinal, and `ax` is set here rather than solved \u2014 nothing in this picture spins a wheel up":"rotating inertia only acts where the car changes speed"});return o.push({key:"v_limit_endurance",why:"a limiter constrains a lap\u2019s speed profile; this diagram is drawn at one imposed speed"}),o.push({key:"endurance_reserve",why:"an energy budget sets the long event\u2019s speed ceiling; this diagram is drawn at one imposed speed"}),o.push({key:"fr_0",why:n?"rolling resistance is a drag term; `ax` is what the car does, not what the tyres are handed":"rolling resistance is longitudinal"}),o.push({key:"r_dyn",why:n?"the force each tyre carries is set here in newtons; a radius would only convert it to a torque":"the rolling radius only matters where a wheel is driven or braked"}),o}var hE=qk(0);function Zk(e=0){let t="Springs and bars act through the roll-stiffness split and the camber the wheels take in roll; a heave spring reaches it too, but only faintly, through how far aero pushes the car down onto its camber curve.";if(!e)return"Steady state, lateral only: every point is a car in equilibrium at constant speed. Dampers, inertias, brake balance and the whole powertrain therefore cannot appear here \u2014 not because they are ignored, but because nothing in this picture accelerates. "+t;let r=e<0?`braking at ${Math.abs(e).toFixed(2)} g`:`accelerating at ${e.toFixed(2)} g`,n=e<0?"the brake balance decides which axle pays for it":"the driven axle pays for it";return`Steady state, ${r}: the load has moved ${e<0?"forward":"rearward"} and every tyre is spending part of its grip longitudinally, so ${n}. Dampers and inertias still cannot appear \u2014 the attitude is constant, it is simply not level. `+t}var bE=Zk(0);var gE=9.81;function yE(e){let t=e.wheelbase/1e3;return{lf:t*(1-e.frontMassFrac),lr:t*e.frontMassFrac}}function gi(e,t,r,n){let o=t.tire;if(!o)return null;let s=(r==="limit"?Ch(e,o,t.speed):cn(e,o,t.speed,t.ayG)).wheels;return Rr(n??Bn(o,e.massTotal*gE*1.2),{FL:s.FL,FR:s.FR,RL:s.RL,RR:s.RR},yE(e))}function xE(e){if(!e.tire)return e.cornerStiffness;let t=xe(e.tire,"front"),r=xe(e.tire,"rear");return{front:n=>t.corneringStiffness(n),rear:n=>r.corneringStiffness(n)}}var Jk=[{key:"understeer",label:"Understeer gradient",unit:"\xB0/g",compute:(e,t)=>Pu(e,t.ayG,xE(t),t.speed).gradient},{key:"rollGradient",label:"Roll gradient",unit:"\xB0/g",compute:e=>Ce(e).rollGradient},{key:"pitchGradient",label:"Pitch gradient",unit:"\xB0/g",compute:e=>Ce(e).pitchGradient},{key:"tlltdFront",label:"TLLTD front",unit:"%",compute:e=>100*Gd(e)},{key:"rollStiffFront",label:"Front roll-stiffness",unit:"%",compute:e=>100*Ce(e).frontRollStiffFrac},{key:"rideFreqFront",label:"Ride freq front",unit:"Hz",compute:e=>Ce(e).rideFreqFront},{key:"rideFreqRear",label:"Ride freq rear",unit:"Hz",compute:e=>Ce(e).rideFreqRear},{key:"rollFreq",label:"Roll-mode freq",unit:"Hz",compute:e=>Iu(e).roll.freq},{key:"pitchFreq",label:"Pitch-mode freq",unit:"Hz",compute:e=>Iu(e).pitch.freq},{key:"zetaFront",label:"Damping \u03B6 front",unit:"-",compute:e=>Du(e).front.dampingRatio},{key:"zetaRear",label:"Damping \u03B6 rear",unit:"-",compute:e=>Du(e).rear.dampingRatio},{key:"yawFreq",label:"Yaw natural freq",unit:"Hz",compute:(e,t)=>bi(e,t.speed)?.yawFreq??NaN},{key:"yawZeta",label:"Yaw damping \u03B6",unit:"-",compute:(e,t)=>bi(e,t.speed)?.dampingRatio??NaN},{key:"stabilitySpeed",label:"Char./critical speed",unit:"km/h",compute:(e,t)=>{let r=bi(e,t.speed);return r?r.criticalSpeed??r.characteristicSpeed??NaN:NaN}},{key:"maxAy",label:"Max lateral accel",unit:"g",compute:(e,t)=>t.fyAxle?sb(e,t.fyAxle,t.speed,{betaMaxDeg:12,deltaMaxDeg:12}).maxAy:NaN},{key:"yawReserveRear",label:"Yaw stability reserve",unit:"N\xB7m",compute:(e,t)=>gi(e,t,"operating")?.stabil??NaN},{key:"yawReserveFront",label:"Yaw agility reserve",unit:"N\xB7m",compute:(e,t)=>gi(e,t,"operating")?.agil??NaN},{key:"limitBalance",label:"Limit balance (+US / \u2212OS)",unit:"-",compute:(e,t)=>gi(e,t,"limit")?.rel??NaN},{key:"yawStiffness",label:"Yaw stiffness N_\u03B2",unit:"N\xB7m/rad",compute:(e,t)=>t.tire?wh(e,t.tire,t.speed,t.ayG):NaN},{key:"steeringTorque",label:"Steering holding torque",unit:"N\xB7m",compute:(e,t)=>t.tire?Ah(e,t.tire,t.speed,t.ayG):NaN},{key:"steeringTorqueGradient",label:"Steering feedback gradient",unit:"N\xB7m/g",compute:(e,t)=>t.tire?Fh(e,t.tire,t.speed,t.ayG):NaN}],cb=Object.fromEntries(Jk.map(e=>[e.key,e]));var $r=9.81;function RE(e,t,r){let n=Math.abs(e);return n>0?t>0&&(n<=t||t>=r)?n/t:r>0?1+(n-t)/r:2:0}var vE={front:!1,rear:!0};function Sa(e,t,r){let n=e.muX(t)*t,o=e.muY(t)*t;if(!(n>0))return 0;let a=o>0?Math.min(1,r/o):1;return n*Math.sqrt(1-a*a)}function eM(e,t,r,n,o,a){let s=e[t]+e[r];if(!(s>0))return;let i=Sa(n,o[t],a[t]),c=Sa(n,o[r],a[r]);i+c>0||(i=n.muX(o[t])*o[t],c=n.muX(o[r])*o[r]),i+c>0&&(e[t]=s*i/(i+c),e[r]=s-e[t])}function tM(e,t,r,n,o,a={},s="open"){if(!e.rear)return 1;if(!e.front)return 0;let i=(f,p,d)=>d?$s(f,p,d):s==="own"?f+p:2*Math.min(f,p),c=i(Sa(n,t.FL,r.FL),Sa(n,t.FR,r.FR),a.front),l=i(Sa(o,t.RL,r.RL),Sa(o,t.RR,r.RR),a.rear);if(c+l>0)return c/(c+l);let u=n.muX(t.FL)*t.FL+n.muX(t.FR)*t.FR,m=o.muX(t.RL)*t.RL+o.muX(t.RR)*t.RR;return u+m>0?u/(u+m):.5}function lb(e,t,r,n){return{car:t?oM(t,r.loadFactor[n]):e,ayTyre:We(r.ay[n],r.bank?.[n]??0),axCar:r.ax[n]-(r.axGrade?.[n]??0)}}function rM(e,t){if(!e.aero?.model)return 0;let r=Math.min(t.v.length,t.ax.length,t.ay.length),n=t.loadFactor?Ou(e):void 0,o=0,a=0;for(let s=0;s<r;s++){let 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g=b?b.demand:s.demand(s.controlFor(p,u),u);c.pFront[l]=g.pFront,c.pRear[l]=g.pRear,c.pedalN[l]=g.pedalN}}return c}var L7=Math.PI/180;var D7=nb.map(Us);var E7=[ce.zFL,ce.zFR,ce.zRL,ce.zRR];var I7=Array.from({length:ce.rollRate+1},(e,t)=>t);var IE=9.81,_E=.001,NE=.6,OE=2,cM=4;function lM(e,t,r,n=cM){let o=Math.min(e.v.length,t.npts),{ds:a,closed:s}=t,i=r.massTotal*IE*r.wheelbase,c=VE(e.ay.slice(0,o).map((m,f)=>m/Math.max(_E,e.v[f])),a,s,n),l=new Array(o).fill(0),u=new Array(o).fill(0);if(!(i>0))return{demand:l,rdot:u};for(let m=0;m<o;m++){let f=m===0?s?o-1:-1:m-1,p=m===o-1?s?0:-1:m+1;if(f<0||p<0)continue;let d=a[f]+a[m];if(!(d>0))continue;u[m]=e.v[m]*(c[p]-c[f])/d;let h=Math.sign(c[m]);l[m]=h===0?0:h*r.yawInertia*u[m]/i}return{demand:l,rdot:u}}function VE(e,t,r,n){let o=e.length;if(!(n>0)||o<3)return e;let a=new Array(o);a[0]=0;for(let c=1;c<o;c++)a[c]=a[c-1]+t[c-1];let s=r?Math.floor((o-1)/2):o-1,i=new Array(o);for(let c=0;c<o;c++){let l=r?n:Math.min(n,a[c],a[o-1]-a[c]),u=e[c],m=1,f=0;for(let p=1;p<=s&&!(!r&&c+p>=o||(f+=t[(c+p-1)%o],!(f<l)));p++){let d=1-f/l;u+=d*e[(c+p)%o],m+=d}f=0;for(let p=1;p<=s&&!(!r&&c-p<0);p++){let d=(c-p+o)%o;if(f+=t[d],!(f<l))break;let h=1-f/l;u+=h*e[d],m+=h}i[c]=u/m}return i}function uM(e,t,r,n,o={}){let a=o.maxIter??20,s=o.tol??.001,i=Math.min(1,Math.max(.001,o.relax??NE)),c=o.smoothM??cM,l={standingStart:o.standingStart,...o.driveDerate?{driveDerate:o.driveDerate}:{},...o.brakeFade?{brakeFade:o.brakeFade}:{},...o.vCeiling?{vCeiling:o.vCeiling}:{},...o.load?{load:o.load}:{},...o.shifts?{shifts:o.shifts}:{}},u=Rt(e.steady,t,n,l),m=[u.laptime],f=new Array(t.npts).fill(0),p=f.slice(),d=u,h=0,b=!1,g=0;for(let M=0;M<a;M++){h=M+1;let v=lM(d,t,r,c);f=v.demand.map((F,w)=>f[w]+i*(F-f[w])),p=v.rdot;let R=Rt(e.steady,t,n,{...l,envelope:F=>e.at(f[F]??0)});m.push(R.laptime);let k=Math.abs(R.laptime-d.laptime);if(d=R,g=k<=s?g+1:0,g>=OE){b=!0;break}}let y=0,x=0;for(let M=0;M<t.npts;M++)x+=t.ds[M],e.clamps(f[M]??0)&&(y+=t.ds[M]);return{...d,steady:u,demand:f,rdot:p,history:m,iterations:h,converged:b,clampedFrac:x>0?y/x:0}}var H7=Math.PI/180;var vQ=180/Math.PI;function Aa(e,t,r){let n=e.length;if(n===1||r<=e[0])return t[0];if(r>=e[n-1])return t[n-1];let o=0;for(;o<n-2&&e[o+1]<=r;)o++;let a=e[o],s=e[o+1],i=t[o],c=t[o+1];if(n===2)return i+(r-a)/(s-a)*(c-i);let l=f=>{let p=e[f];return i*(r-s)*(r-p)/((a-s)*(a-p))+c*(r-a)*(r-p)/((s-a)*(s-p))+t[f]*(r-a)*(r-s)/((p-a)*(p-s))},u=(r-a)/(s-a),m=o===0?l(2):o+1===n-1?l(o-1):(1-u)*l(o-1)+u*l(o+2);return Math.min(Math.max(i,c),Math.max(Math.min(i,c),m))}function pM(e,t){let r=e.filter(p=>p.atLock),n=e.filter(p=>!p.atLock),o=r.length>0&&n.length>0&&r[r.length-1].v<n[0].v,a=p=>({vs:p.map(h=>h.v),ayMax:p.map(h=>h.ayMax),radius:p.map(h=>Math.max(h.v,t)**2/h.ayMax),accel:p[0].axAccelN.map((h,b)=>p.map(g=>g.axAccelN[b])),decel:p[0].axDecelN.map((h,b)=>p.map(g=>g.axDecelN[b])),scrub:p[0].axScrubN.map((h,b)=>p.map(g=>g.axScrubN[b]))}),s=(p,d)=>({axAccelN:p.accel.map(h=>Aa(p.vs,h,d)),axDecelN:p.decel.map(h=>Aa(p.vs,h,d)),axScrubN:p.scrub.map(h=>Aa(p.vs,h,d))});if(!o){let p=a(e);return d=>({ayMax:Aa(p.vs,p.ayMax,d),...s(p,d)})}let i=a(r),c=a(n),l=i.vs[i.vs.length-1],u=c.vs[0],m=p=>Math.max(p,t)**2/Aa(i.vs,i.radius,p),f=p=>p>=u||c.vs.length<2?Aa(c.vs,c.ayMax,p):c.ayMax[0]+(c.ayMax[1]-c.ayMax[0])/(c.vs[1]-c.vs[0])*(p-u);return p=>{if(p<=l)return{ayMax:m(p),...s(i,p)};if(p>=u)return{ayMax:f(p),...s(c,p)};let d=m(p),h=f(p);return d<h?{ayMax:d,...s(i,p)}:{ayMax:h,...s(c,p)}}}function tI(e,t){let r=Math.abs(e.ayMax-t.ayMax)/Math.max(t.ayMax,1),n=Math.max(Math.abs(t.axAccelN[0]),1),o=Math.max(Math.abs(t.axDecelN[0]),1);for(let a=0;a<t.axAccelN.length;a++)r=Math.max(r,Math.abs(e.axAccelN[a]-t.axAccelN[a])/n,Math.abs(e.axDecelN[a]-t.axDecelN[a])/o,Math.abs(e.axScrubN[a]-t.axScrubN[a])/n);return r}function dM(e,t,r,n,o){let a=r>t?Math.max(2,Math.min(5,Math.floor(n))):1,s=[];for(let f=0;f<a;f++)s.push(e(a===1?t:t+(r-t)*f/(a-1)));let i=pM(s,t),c=[],l=a,u=(f,p)=>{let d=.5*(f+p),h=e(d);l++;let b=tI(i(d),h);s.splice(s.findIndex(g=>g.v>d),0,h),i=pM(s,t),b>o&&c.push({lo:f,hi:d,misfit:b},{lo:d,hi:p,misfit:b})},m=s.map(f=>f.v);for(let f=0;f+1<m.length&&l<n;f++)m[f+1]-m[f]>=1&&u(m[f],m[f+1]);if(m.length>1){let f=.5*(m[0]+m[1]);if(s.some(p=>p.v===f))for(let[p,d]of[[m[0],f],[f,m[1]]]){if(l>=n||d-p<1)break;let h=c.findIndex(b=>b.lo===p&&b.hi===d);h>=0&&c.splice(h,1),u(p,d)}}for(;l<n&&c.length>0;){let f=0;for(let 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n=hb(t),o=n?pt(t):null;if(!n||!o||o.mode!=="hydraulic")r=null;else{let a=db(t,e.vehicle),s=e.ggv.rows,i=kM(a.inp,a.ev,e.vehicle.vMax,{front:gb(o.hydraulic.front.heat),rear:gb(o.hydraulic.rear.heat)},c=>Fa(s,[c])[0]);r={discs:n,table:i}}FM.set(t,r)}return r}function SI(e,t,r){let n=e.vehicle.params,{soc:o,packTempC:a,launched:s,vCeiling:i}=r,c=e.load?.atSoc(e.vehicle,o,a),l=xb(e),u=(g,y)=>e.yaw?uM(e.yaw.family.atSoc(e.vehicle,o,a),t,e.yaw.car,e.numerics,{standingStart:s,...g?{driveDerate:g}:{},...y?{brakeFade:y}:{},...i?{vCeiling:i}:{},...c?{load:c}:{},...l?{shifts:l}:{}}):Rt(xi(e.ggv,e.vehicle,o,a),t,e.numerics,{standingStart:s,...g?{driveDerate:g}:{},...y?{brakeFade:y}:{},...i?{vCeiling:i}:{},...c?{load:c}:{},...l?{shifts:l}:{}}),m=mn(t.gradient,t.npts),f=g=>n.motorThermal?Dk(e.vehicle,t.ds,e.energyOpts??wr,y=>u(y,g),o,a,m,t.bank).lap:u(void 0,g),p=LM(e);if(!p)return f();let d=hi(n),h=r.discC??{front:d,rear:d};return MM(f,g=>{let y=bb(p.discs,fb(n,PM(e,t,g,m),e.vehicle),g.v,t.ds,h,d);return{...y?.front?{front:y.front.padFactor}:{},...y?.rear?{rear:y.rear.padFactor}:{}}},p.table).lap}function AI(e,t){let r=kI(e,t.vehicle.params),n=MI(e,t.vehicle.params);return n>0?CI(e,t,n,r):Ri(e,t,r)}function Gu(e,t){let r=e.energy?.remainingFraction??0;return e.incomplete?-t-(1-e.incomplete.lapsCompleted/Math.max(1,e.incomplete.lapsAsked)):r-t}var wM=5,FI=.1,wI=.005,CM=12;function CI(e,t,r,n){let o=Ri(e,t,n),a=1,s=(d,h,b)=>({...d,energyTarget:{reserve:r,capKmh:h===void 0?null:h*3.6,met:b,solves:a}}),i=Gu(o,r);if(i>=0)return s(o,n,!0);let c=Math.min(n??1/0,t.ggv.vMax),l=c/2,u=Ri(e,t,l);a++;let m=Gu(u,r);for(;m<0&&l>wM&&a<CM;)c=l,i=m,l=Math.max(wM,l/2),u=Ri(e,t,l),a++,m=Gu(u,r);if(m<0)return s(u,l,!1);let f=l,p=0;for(;a<CM&&c-l>FI&&m>wI;){let d=c-l,h=Math.min(c-.05*d,Math.max(l+.05*d,l+m*d/(m-i))),b=Ri(e,t,h);a++;let g=Gu(b,r);g>=0?(l=h,m=g,u=b,f=h,p===1&&(i/=2),p=1):(c=h,i=g,p===-1&&(m/=2),p=-1)}return s(u,f,!0)}function DM(e,t,r){return r===0?e:e&&!t}function Ri(e,t,r){let n=t.track;if(!n)throw new Ku(`Event "${e.id}" needs a track.`);let o=Hu(e,n),a=e.standingStart??t.standingStart??!1,s=K=>DM(a,n.closed,K),i=t.vehicle.params,c=hr(xa(i)),l=c.capacityAh,u=i.soc.value,m=hi(i),f=Fu(c,m),p=0,d=0,h=0,b=0,g=[],y=!1,x=-1/0,M=0,v=0,R=!1,k=-1/0,F=0,w=0,C=-1/0,T=(K,z,j=1)=>{K.tempMaxC>C&&(C=K.tempMaxC),K.motorTempMaxC!==void 0&&(y=!0,R=!0,K.motorTempMaxC>x&&(x=K.motorTempMaxC),K.motorTempMaxC>k&&(k=K.motorTempMaxC),M+=(K.motorDerateTimeFrac??0)*z,F+=(K.motorDerateTimeFrac??0)*z,v+=(K.motorLossKwh??0)/j,w+=(K.motorLossKwh??0)/j)},S=null,A,P=hb(i),L={front:m,rear:m},D=null,E=LM(t)!==null,$=(K,z)=>E&&(Math.abs(K.front-z.front)>AM||Math.abs(K.rear-z.rear)>AM),O=(K,z,j)=>{let q=tb(i,K,z);if(D&&D.launch===j&&!LI(q,D.pw)&&!$(L,D.discC))return D.lap;let ne=SI(t,n,{soc:K,packTempC:z,launched:j,...r?{vCeiling:r}:{},...E?{discC:L}:{}});return D={pw:q,launch:j,discC:L,lap:ne},ne},W=mn(n.gradient,n.npts),I=(K,z,j)=>Ra(t.vehicle,n.ds,K.v,K.ax,t.energyOpts,z,j,void 0,W,void 0,{ay:K.ay,bank:n.bank,...K.axScrub?{scrub:K.axScrub}:{}}),_=new WeakMap,V=(K,z)=>{let j=_.get(K);return j||(j=fb(i,PM(t,n,K,W),t.vehicle),_.set(K,j)),bb(P,j,K.v,n.ds,z,m)},N=(K,z,j)=>{let q=`${(100*j/n.npts).toFixed(0)} % of the way through lap ${K+1}`,ne=z.cutoffAt>=0&&z.cutoffAt<=z.emptyAt;return{lapsCompleted:K,lapsAsked:o,why:ne?`the pack reached its ${c.voltageFloor.toFixed(0)} V cut-off ${q}`:`the pack ran out ${q}`}};for(let K=0;K<o;K++){if(u<=0){A={lapsCompleted:K,lapsAsked:o,why:"the pack was empty"};break}let z=s(K),j=u,q=f;R=!1,k=-1/0,F=0,w=0,C=-1/0;let ne=O(u,f,z),te=I(ne,u,f);if(te.emptyAt>=0){A=N(K,te,te.emptyAt);break}let Y=O(te.socEnd,te.tempEndC,z).laptime-ne.laptime,J,re,pe,de,ie=f,oe=-1,ue=null,Ve=1;if(Y<=yb)J=ne.laptime,re=te.net,pe=te.loss,de=te.chargeAh,ie=te.tempEndC,T(te,J),Ve=1;else{let le=Math.min(TI,Math.max(2,Math.ceil(Y/(2*yb))));Ve=le;let Re=u,we=f;J=0,re=0,pe=0,de=0;for(let Ke=0;Ke<le;Ke++){let je=O(Re,we,z),be=I(je,Re,we),Fe=be.emptyAt>=0?be.emptyAt/n.npts:1;if(Fe*le<1){oe=Math.round(n.npts*(Ke/le+Fe)),ue=be;break}if(J+=je.laptime/le,T(be,je.laptime/le,le),re+=be.net/le/Fe,pe+=be.loss/le/Fe,de+=be.chargeAh/le/Fe,Re-=be.chargeAh/le/Fe/l,we+=(be.tempEndC-we)/le,Re<=0){oe=Math.round(n.npts*(Ke+1)/le),ue=be;break}}if(ie=we,oe>=0&&ue){A=N(K,ue,oe);break}u=Re}p+=J,d+=re,h+=pe,b+=de,Y<=yb&&(u=te.socEnd),f=ie;let Ae=P?V(ne,L):null;Ae&&(L={front:Ae.front?.endC??L.front,rear:Ae.rear?.endC??L.rear}),g.push({lap:K+1,time:J,elapsed:p,entryTime:ne.laptime,socStart:j,socEnd:u,packTempStartC:q,packTempEndC:f,packTempMaxC:Number.isFinite(C)?C:q,energyKwh:re,lossKwh:pe,chargeAh:de,launched:z,substeps:Ve,...r?{vCeiling:r}:{},...R?{motor:{peakWindingC:k,derateTimeFrac:J>0?F/J:0,lossKwh:w}}:{},...Ae?{brakes:{...Ae.front?{front:TM(Ae.front)}:{},...Ae.rear?{rear:TM(Ae.rear)}:{}}}:{}}),S=ne}if(!S){let K=xb(t);S=Rt(xi(t.ggv,t.vehicle,u),n,t.numerics,{standingStart:a,...t.load?{load:t.load.atSoc(t.vehicle,u)}:{},...K?{shifts:K}:{}}),A=A??{lapsCompleted:0,lapsAsked:o,why:"the pack was empty"}}let G=g.length;return{id:e.id,label:e.label,kind:e.kind,time:p,distance:n.length*G,laps:G,lapTime:S.laptime,trace:{v:S.v,ax:S.ax,ay:S.ay,s:n.s,x:n.x,y:n.y,...n.gradient.some(K=>K!==0)?{gradient:n.gradient}:{},...n.bank.some(K=>K!==0)?{bank:n.bank}:{},...n.z.some(K=>K!==0)?{z:n.z}:{},...n.mu.some(K=>K!==1)?{mu:n.mu}:{},...S.loadFactor?{loadFactor:S.loadFactor}:{},...S.axScrub?{axScrub:S.axScrub}:{},...xI(S)},energy:{consumed:d,loss:h,...ft(i.motorModel)?{}:{native:{value:b,unit:"Ah"}},remainingFraction:ft(i.motorModel)?1:u,...y?{motor:{peakWindingC:x,derateTimeFrac:p>0?M/p:0,lossKwh:v}}:{}},lapLog:g,...A?{incomplete:A}:{}}}var yb=.05;function TM(e){let t=r=>e.workJ>0?r/e.workJ:0;return{startC:e.startC,endC:e.endC,maxC:e.maxC,workKj:e.workJ/1e3,coldShare:t(e.coldWorkJ),hotShare:t(e.hotWorkJ)}}var TI=4,PI=.001;function LI(e,t){return e===t?!1:!Number.isFinite(e)||!Number.isFinite(t)?!0:Math.abs(e-t)>PI*Math.max(1,Math.abs(t))}function EM(e,t,r,n,o,a){return 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ke=(e,t,r,n={},o={})=>({id:e,form:"curves",sweep:[{input:t,...Tv[t],...o}],x:t,y:r,...n}),Nl=(e,[t,r],n,o,a={})=>({id:e,form:"carpet",sweep:[{input:t,..._f[t]},{input:r,..._f[r]}],x:n,y:[o],...a}),Sr=(e,t)=>({id:e,fixed:t}),Vt={input:"Fz",values:"car"},If={alpha:0,kappa:0},yt={kappa:0},Fv={alpha:0},fL={input:"Fz",values:[500,1e3,1500]},hL=[{id:"overview",name:"Overview",cards:[Sr("tyre","tyre"),ke("fy","alpha",["Fy"],{title:"Lateral force",hold:yt}),ke("mz","alpha",["Mz"],{title:"Aligning moment",hold:yt}),ke("fx","kappa",["Fx"],{title:"Longitudinal force",hold:Fv}),Nl("combined-carpet",["kappa","alpha"],"Fy","Fx",{title:"Combined-slip carpet"}),Sr("ellipse","ellipse")]},{id:"lateral",name:"Lateral",cards:[ke("fy-load","alpha",["Fy"],{title:"Lateral force per wheel load",series:Vt,hold:yt}),ke("muy-load","alpha",["muY"],{title:"Lateral force per unit load",series:Vt,hold:yt}),ke("fy-peak","alpha",["Fy"],{title:"Lateral force over its 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Jv(e){return Zv(e)?e.motorMount??"hub":"chassis"}function ih(e){if(!e.motorModel)return{front:!1,rear:!0};let t=on(e);return{front:t.front>0,rear:t.rear>0}}function ch(e){let t=on(e),r=t.front>0,n=t.rear>0,o=e.front_mass_diss?.value??.5,a=Math.max(0,Math.min(1,o>1?o/100:o)),s=Jv(e)==="chassis",i=c=>c===1||c>1&&s;return{front:r&&n?a:r?1:0,inboard:{front:i(t.front),rear:i(t.rear)}}}function pt(e){return Xf(e.brakeModel,e.brakeSetup)}function Wl(e){return Fr(e.brakeSetup).ideal?"tyre":e.brakeModel||e.brakeModelId?"hydraulic":"balance"}function e1(e,t){if(!(ft(e.motorModel)||!Cr(e).regen))return Gs(jl(Ft(e)),t??pt(e).regen)}function jl(e){return e.fAxle??{vVehicle:e.vVehicle,fFront:e.vVehicle.map(()=>0),fRear:e.fRad.map(t=>t*e.params.driven_wheels.value)}}function lh(e,t=pt(e)){if(t.mode==="hydraulic")return $s(t.hydraulic,e.r_dyn.value);if(t.mode==="tyre"){let r=e.front_mass_diss.value>1?e.front_mass_diss.value/100:e.front_mass_diss.value;return Math.min(.95,Math.max(.05,r+Q(e,"cg_height")/Math.max(1,Q(e,"wheelbase"))))}return Q(e,"brake_balance")}function uh(e,t=pt(e)){return{front:t.hydraulic.front.location==="inboard",rear:t.hydraulic.rear.location==="inboard"}}function mh(e){let t=pt(e);return{brakeBalanceFront:lh(e,t),brakeInboard:uh(e,t)}}function t1(e,t=pt(e)){if(t.mode==="tyre"||t.regen.distribution!=="wheel"||ft(e.motorModel))return;let r=on(e),n={front:r.front>=2,rear:r.rear>=2};return n.front||n.rear?n:void 0}function Ws(e){let t=pt(e),r=e.r_dyn.value,n=uh(e,t),o=lh(e,t),a=t1(e,t),s=t.mode==="hydraulic"||a?e1(e,t.regen):void 0;return{mode:t.mode,balanceFront:o,...t.mode==="hydraulic"?{hydraulic:t.hydraulic}:{},tyreRadiusM:r,inboard:n,...s?{regen:{...s,fullAtBar:t.regen.fullAtBar}}:{},...s&&a?{regenPerWheel:a}:{}}}var GL=9.81;function ph(e,t){if(ft(e.motorModel))return()=>0;let r=pt(e),n=Gs(t,r.regen);if(r.mode==="hydraulic"){let a=On({mode:"hydraulic",balanceFront:$s(r.hydraulic,e.r_dyn.value),hydraulic:r.hydraulic,tyreRadiusM:e.r_dyn.value,regen:{...n,fullAtBar:r.regen.fullAtBar}});return(s,i)=>{if(!(s>0))return 0;let c=a.demand(a.controlFor(s,i),i);return Math.min(s,c.regenFront+c.regenRear)}}let o=r.mode==="tyre"?KL(e):()=>Math.min(.99,Math.max(.01,Q(e,"brake_balance")));return(a,s,i)=>{if(!(a>0))return 0;let c=o(s,i);return Math.min(c*a,Ar(n.v,n.front,s))+Math.min((1-c)*a,Ar(n.v,n.rear,s))}}function KL(e){let t=e.m.value*GL,r=e.front_mass_diss.value>1?e.front_mass_diss.value/100:e.front_mass_diss.value,n=Q(e,"cg_height")/Math.max(1,Q(e,"wheelbase")),o=1-Math.max(0,Math.min(1,Q(e,"cop_long"))),a=.5*e.rho.value*e.c_l.value*e.A.value;return(s,i)=>{let c=Math.max(0,a*s*s),l=t*(r+Math.abs(i)*n)+c*o;return Math.min(.99,Math.max(.01,l/(t+c)))}}function r1(e){let t=e==="front"?"Front axle":"Rear axle";return{[`${e}.location`]:{section:t,label:"Disc 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o=t,a=e(o),s=a-o;if(!(Math.abs(s)>r))return{x:o,fx:a,evals:1};let i=a,c=e(i),l=c-i,u=2;for(;Math.abs(l)>r&&u<n;){let m=s<0!=l<0,f=l-s,p=f!==0?i-l*(i-o)/f:NaN;m?p>Math.min(o,i)&&p<Math.max(o,i)||(p=.5*(o+i)):Number.isFinite(p)?Math.abs(p-i)>10*Math.abs(l)&&(p=i+Math.sign(p-i)*10*Math.abs(l)):p=c;let d=e(p),h=d-p;if(u++,m&&h<0==l<0?s*=.5:(o=i,s=l),i=p,c=d,l=h,s<0!=l<0&&Math.abs(i-o)<=r)break}return{x:i,fx:c,evals:u}}function i1(e,t,r,n,o,a=60){let s=t,i=e(s),c=i-s,l=1;if(!(Math.abs(c)>n))return{x:s,fx:i,evals:l};let u=Math.sign(r-t),m=Math.abs(r-t),f=0;for(let p=o;l<a;p*=2){if(f=Math.min(f+p,m),f>m-n)return null;let d=t+u*f,h=e(d),b=h-d;if(l++,!(Math.abs(b)>n))return{x:d,fx:h,evals:l};if(c<0!=b<0)return l1(e,s,c,d,h,b,n,l,a);s=d,c=b}return null}function c1(e,t,r,n=60){let o=t,a=e(o),s=a-o;if(!(Math.abs(s)>r))return{x:o,fx:a,evals:1};let i=Math.sign(s),c=a;for(let l=2;;l++){let u=e(c),m=u-c;if(!(Math.abs(m)>r))return{x:c,fx:u,evals:l};if(s<0!=m<0)return l1(e,o,s,c,u,m,r,l,n);if(l>=n)return{x:c,fx:u,evals:l};let f=Math.abs(c-o),p=s!==m?m*(c-o)/(s-m):NaN,d=p*i>0?Math.min(Math.abs(p),10*Math.abs(m),2*f):2*f;o=c,s=m,c+=i*d}}function l1(e,t,r,n,o,a,s,i,c){let l=t,u=r,m=n,f=a,p=n,d=o,h=0;for(;i<c&&Math.abs(m-l)>s;){p=(l*f-m*u)/(f-u),d=e(p);let b=d-p;if(i++,!(Math.abs(b)>s))break;b<0==u<0?(l=p,u=b,h===-1&&(f*=.5),h=-1):(m=p,f=b,h===1&&(u*=.5),h=1)}return{x:p,fx:d,evals:i}}function ql(e,t){return Math.abs(e.fx-e.x)>t?e.x:e.fx}var jL=(e,t)=>{let r=e.brakes?.hydraulic?.[t];return!!r&&r.location==="inboard"&&r.discs===1};function Bt(e,t,r){let n=e.driveline?.[t];if(n)return r>=0?n.drive:jL(e,t)?n.coast:n.hubs}var u1=e=>e.tbr>1||e.preloadN>0;var UL=9.81,m1=["FL","FR","RL","RR"],kh=e=>e==="FL"||e==="FR",Ql=e=>kh(e)?"front":"rear",p1={front:["FL","FR"],rear:["RL","RR"]},Zs=()=>({peak:new Map,freeBrake:new Map}),Qs=25;function qs(e,t){let r=Math.max(0,e)/Qs,n=Math.floor(r),o=r-n,a=t(n);return o>0?a+o*(t(n+1)-a):a}var an=1e-4,XL=.05;function Lr(e,t,r,n=Zs(),o=!1){let a=r,s=e.massTotal,i=n.peak,c=(S,A)=>{let P=`${S}:${A}`,L=i.get(P);return L||(L=ul(ge(t,S),Math.max(1,A*Qs)),i.set(P,L)),L},l=(S,A)=>({aPeak:qs(A,P=>c(S,P).aPeak),fyPeak:qs(A,P=>c(S,P).fyPeak)}),u=n.freeBrake,m=(S,A)=>{let P=`${S}:${A}`,L=u.get(P);if(L===void 0){let D=Math.max(1,A*Qs);L=St(ge(t,S),D,0,!0,c(S,A)),u.set(P,L)}return L},f=(S,A)=>A>0?qs(A,P=>m(S,P)):0,p=Pr(e),d=nr(e),h=S=>d.regen&&d.regenPerWheel?.[S]?Ar(d.regen.v,d.regen[S],a)/2:0,b=h("front"),g=h("rear"),y=(S,A,P)=>{let L=Math.max(0,A[S]),D=l(Ql(S),L);return St(ge(t,Ql(S)),L,P[S]*D.fyPeak,!0,D)},R=(S,A,P,L,D=!0)=>{let E=te=>{let fe=Math.max(0,A[te]),W=ge(t,S),J=l(S,fe);return{Fz:fe,a:Math.abs(f(S,fe)),b:J.fyPeak,slide:fe>0?Math.abs(W.forces({Fz:fe,kappa:-1,alpha:0}).Fx):0,cap:re=>Math.abs(St(W,fe,re,!0,J))}},V=te=>Math.abs(P[te])*l(Ql(te),Math.max(0,A[te])).fyPeak,[N,z]=p1[S],I=E(N),_=E(z),B=V(N)+V(z),O=eh(I,_,B,L,S==="front"?b:g),G=D?O:{...O,xLock:0},K=Bt(e,S,-1),Y=K&&u1(K)?K:void 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K={axle:G.axle,strong:G.strong(),full:2*G.cap.xNoLock,open:2*G.eq.xNoLock,sense:-1};return Rh(G.eq,G.law,Ll(K,B,M,z))};E=O(L),V=O(D),N=Ks(p,E,V,a)}return{limit:N,front:E,rear:V}};return{peakAt:l,axle:k,ceiling:(S,A,P)=>{let[L,D]=p1[S];return Math.abs(y(L,A,P)+y(D,A,P))},limitAt:(S,A,P,L=0)=>{let D={FL:0,FR:0,RL:0,RR:0},E=we(e,S,0,a,0,A),V,N=fe=>(V?.ax!==fe&&(V={ax:fe,loads:we(e,S,(fe+L)/UL,a,0,A)}),V.loads),z=ml(fe=>qo(P,N(fe),E,l).short,-L,-1),I=P,_={front:0,rear:0},B,O,G=(fe,W=!0)=>{let J=z.at(fe);D=N(J),I=qo(P,D,E,l).util;let re=0,pe=0,de=0;for(let ie of m1){let oe=y(ie,D,I);re+=oe,kh(ie)?pe+=oe:de+=oe}if(_={front:Math.abs(pe),rear:Math.abs(de)},p.mode!=="tyre"){let ie=R("front",D,I,Math.abs(pe),W),oe=R("rear",D,I,Math.abs(de),W);if(o&&(ie.law||oe.law)){let ue=C(S,D,I,ie,oe);B=ue.limit,O={front:ue.front,rear:ue.rear}}else B=Ks(p,ie.cap,oe.cap,a),O={front:ie.cap,rear:oe.cap};re=-B.force}return re/s},K=vh(G,0,an),Y=ql(K,an),j=Y;if(B?.lockFront||B?.lockRear){let fe=vh(J=>G(J,!1),0,an);j=ql(fe,an);let W=i1(G,fe.x,K.x,an,XL);W||G(K.x),Y=ql(W??K,an)}let Z=z.edge(),ne=Z!==void 0&&Y<Z;ne&&(Y=Math.min(0,Z),G(Y),j=Math.max(j,Y));let te={loads:D,ceiling:_,limit:B,axles:O};return{ax:Y,axUnlocked:j,...ne?{edge:Z}:{},...te,split:()=>te.limit&&te.axles?v(te.limit,te.axles.front,te.axles.rear):{...te.ceiling}}}}}var Jl=9.81;function qL(e,t,r){let n=we(e,0,t,r),o=Math.max(0,n.FL)+Math.max(0,n.FR),a=Math.max(0,n.RL)+Math.max(0,n.RR);return o+a>0?o/(o+a):e.frontMassFrac}var h1=(e,t)=>t.mode==="hydraulic"&&!!nr(e).regen;function ua(e,t,r=0,n,o=0){if(!e.brakes&&e.brakeBalanceFront==null)return e.frontMassFrac;let a=Pr(e);if(a.shares&&a.mode!=="tyre")return a.shares.front;let s=n&&h1(e,a)?b1(e,n):void 0,i=s?.shares??d1.get(e);i||d1.set(e,i=new Map);let c=Math.round(Math.abs(t)/.005),l=Math.round(Math.max(0,r)/.25),u=s?Math.round(o/.01):0,m=g1(c,l,u),f=i.get(m);if(f===void 0){let p=-c*.005,d=l*.25,h=e.massTotal*Math.abs(p)*Jl;if(s){let b=x1(a,y1(e,s,c,l,u),h,d);f=b.front+b.rear>0?b.front/(b.front+b.rear):.5}else f=a.mode==="tyre"?qL(e,p,d):qf(a,h,d);i.size>5e4&&i.clear(),i.set(m,f)}return f}var d1=new WeakMap;function eu(e,t,r,n,o=0){let a=Pr(e);if(!h1(e,a))return;let s=Math.round(Math.max(0,r)/(e.massTotal*Jl)/.005),i=Math.round(Math.max(0,n)/.25);return x1(a,y1(e,b1(e,t),s,i,Math.round(o/.01)),Math.max(0,r),n)}var f1=new WeakMap;function b1(e,t){let r=f1.get(e);r||f1.set(e,r=new WeakMap);let n=r.get(t);return n||r.set(t,n={ev:t,tyres:Zs(),shares:new Map,rooms:new Map,speeds:new Map}),n}var g1=(e,t,r)=>(r*1001+e)*100003+t;function y1(e,t,r,n,o){let a=g1(r,n,o),s=t.rooms.get(a);if(!s){let i=n*.25,c=o*.01,l=t.speeds.get(n);l||(l={cap:Lr(e,t.ev,i,t.tyres),dragG:-Math.max(0,Ja(e,i).drag)/(e.massTotal*Jl)},t.speeds.set(n,l));let{cap:u}=l,m=we(e,c,-r*.005+l.dragG,i),f=Math.abs(c)*e.massTotal*Jl,p=b=>{let[g,y]=b==="front"?["FL","FR"]:["RL","RR"],R=f*(b==="front"?e.frontMassFrac:1-e.frontMassFrac),k=u.peakAt(b,Math.max(0,m[g])).fyPeak+u.peakAt(b,Math.max(0,m[y])).fyPeak,v=R>0&&k>0?Math.min(1,R/k):0;return u.axle(b,m,{FL:v,FR:v,RL:v,RR:v},1/0)},d,h;s=(b,g)=>(b==="front"?d??=p("front"):h??=p("rear")).regenRoom(g),t.rooms.size>5e4&&t.rooms.clear(),t.rooms.set(a,s)}return s}function Zl(e,t,r,n){let o=e.demand(r,n),a=o.front-o.regenFront,s=o.rear-o.regenRear,i=o.regenFront>0?Math.min(o.regenFront,t("front",a/2)):0,c=o.regenRear>0?Math.min(o.regenRear,t("rear",s/2)):0;return{front:i===o.regenFront?o.front:a+i,rear:c===o.regenRear?o.rear:s+c,regenFront:i,regenRear:c,demand:o}}function x1(e,t,r,n){if(!(r>0))return Zl(e,t,1,n);let o=c=>c.front+c.rear,a=e.controlFor(r,n),s=Zl(e,t,a,n);if(o(s)>=r||!(a<e.uMax))return s;let i=a;for(;o(s)<r&&i<e.uMax&&i<1e7;)a=i,i=Math.min(e.uMax,2*i),s=Zl(e,t,i,n);if(o(s)<r)return s;for(let c=0;c<60&&i-a>1e-10*i;c++){let l=.5*(a+i),u=Zl(e,t,l,n);o(u)<r?a=l:(i=l,s=u)}return s}var ma={rel:.003,abs:2,kappa:1e-5,iters:12},Mh={rel:1e-6,abs:.001,kappa:1e-12,iters:40};function Bn(e,t,r,n=ma){let o=t>=0?1:-1,a=Math.abs(t),s=Math.max(n.abs,n.rel*a),i=e(0);if(Math.abs(i.Fx)-a>=0)return{kappa:0,forces:i};let c=0,l=i,u=Math.abs(i.Fx)-a,m=Math.min(.3,Math.max(.004,Math.abs(r)||.02)),f=e(o*m),p=Math.abs(f.Fx)-a,d=null;for(;p<0&&m<.3;){let g=Math.min(.3,m*1.9),y=e(o*g),R=Math.abs(y.Fx);if(R<Math.abs(f.Fx)){d={kappa:g,forces:y};break}c=m,l=f,u=p,m=g,f=y,p=R-a}if(p<0){let g=JL(e,o,c,l,m,f,d),y=Math.abs(g.forces.Fx);if(y<a)return{kappa:o*g.kappa,forces:g.forces};m=g.kappa,f=g.forces,p=y-a}let h=f,b=o*m;for(let g=0;g<n.iters&&m-c>n.kappa;g++){let y=p-u,R=Math.abs(y)>1e-12?(c*p-m*u)/y:.5*(c+m);R>c&&R<m||(R=.5*(c+m));let k=e(o*R),v=Math.abs(k.Fx)-a;if(h=k,b=o*R,Math.abs(v)<s)break;v<0?(c=R,u=v,p*=.5):(m=R,p=v,u*=.5)}return{kappa:b,forces:h}}var R1=1e-6,QL=40,ZL=(3-Math.sqrt(5))/2;function JL(e,t,r,n,o,a,s){let i=a,c,l,u,m=-Math.abs(a.Fx),f,p,d=-Math.abs(n.Fx);if(s){c=s.kappa;let g=-Math.abs(s.forces.Fx);[l,f,u,p]=g<=d?[c,g,r,d]:[r,d,c,g]}else{c=.3;let g=.3*(1-R1),y=e(t*g),R=-Math.abs(y.Fx);if(R>=m)return{kappa:o,forces:a};[l,f,u,p]=[o,m,r,d],o=g,m=R,i=y}d<m&&([l,f]=[o,m],o=r,m=d,i=n);let h=c-r,b=0;for(let g=0;g<QL;g++){let y=R1*Math.abs(o)+1e-10,R=.5*(r+c);if(Math.abs(o-R)<=2*y-.5*(c-r))break;let k=!0;if(Math.abs(h)>y){let F=(o-l)*(m-p),w=(o-u)*(m-f),C=(o-u)*w-(o-l)*F;w=2*(w-F),w>0&&(C=-C),w=Math.abs(w);let T=h;if(h=b,Math.abs(C)<Math.abs(.5*w*T)&&C>w*(r-o)&&C<w*(c-o)){b=C/w;let S=o+b;(S-r<2*y||c-S<2*y)&&(b=R>=o?y:-y),k=!1}}k&&(h=o>=R?r-o:c-o,b=ZL*h);let v=Math.abs(b)>=y?o+b:o+(b>=0?y:-y),x=e(t*v),M=-Math.abs(x.Fx);M<=m?(v>=o?r=o:c=o,u=l,p=f,l=o,f=m,o=v,m=M,i=x):(v<o?r=v:c=v,M<=f||l===o?(u=l,p=f,l=v,f=M):(M<=p||u===o||u===l)&&(u=v,p=M))}return{kappa:o,forces:i}}var tu=e=>Math.max(2,.003*Math.abs(e)),eD=(e,t)=>Math.max(t.abs,t.rel*Math.abs(e)),Sh=.5,tD=.03;function rD(e,t,r,n,o){let a=.5*(e.vx+t.vx),s=v=>{let x=(1+v)*a/e.vx-1,M=(1+v)*a/t.vx-1,F=e.at(x),w=t.at(M);return{kappaM:v,kl:x,kr:M,fl:F,fr:w,g:F.Fx+w.Fx-r}},i=eD(r,o),c=Math.max(-Sh,Math.min(Sh,n)),l=s(c);if(Math.abs(c)>tD){let v=s(.8*c);(l.g-v.g)/(c-v.kappaM)>0||(l=s(0))}if(Math.abs(l.g)<i)return l;let u=l.g<0?1:-1,m=l,f=l,p=.004,d=l;for(let v=0;v<12;v++){let x=m.kappaM+u*p;if(Math.abs(x)>Sh)break;let M=s(x);if(Math.abs(M.g)<i)return M;if(Math.abs(M.g)<Math.abs(d.g)&&(d=M),Math.sign(M.g)!==Math.sign(m.g)){f=M;break}if(u*(M.g-m.g)<=0)return d;m=M,p*=1.9}if(f===l)return d;let h=m,b=f,g=h.g,y=b.g,R=Math.abs(g)<Math.abs(y)?h:b,k=Math.min(1e-7,o.kappa);for(let v=0;v<30&&Math.abs(b.kappaM-h.kappaM)>k;v++){let x=y-g,M=Math.abs(x)>1e-12?(h.kappaM*y-b.kappaM*g)/x:.5*(h.kappaM+b.kappaM),F=Math.min(h.kappaM,b.kappaM),w=Math.max(h.kappaM,b.kappaM);M>F&&M<w||(M=.5*(F+w));let C=s(M);if(R=C,Math.abs(C.g)<i)break;Math.sign(C.g)===Math.sign(g)?(h=C,g=C.g,y*=.5):(b=C,y=C.g,g*=.5)}return R}function v1(e,t,r,n){let o=(e*(1+t*n)+t*r)/(1-t*n);return e+o>=0?o:(e*(1-t*n)+t*r)/(1+t*n)}function Ah(e,t,r,n,o,a=ma){let s=rD(e,t,r,o,a),i=s.fr.Fx-s.fl.Fx,c=la(n,r);if(Math.abs(i)<=c){let R=r-(s.fl.Fx+s.fr.Fx),k=Math.max(0,Math.abs(R)-tu(r))/2;return{left:{kappa:s.kl,forces:s.fl,want:s.fl.Fx+R/2,short:k},right:{kappa:s.kr,forces:s.fr,want:s.fr.Fx+R/2,short:k},locked:!0,spoolKappa:s.kappaM}}let l=Math.sign(i),u=r/2-l*c/2,m=r/2+l*c/2,f=Bn(e.at,u,e.seed||s.kl,a),p=Bn(t.at,m,t.seed||s.kr,a),d=Math.abs(u-f.forces.Fx)>tu(u),h=Math.abs(m-p.forces.Fx)>tu(m),b=Math.max(0,n.preloadN),g=Xl(n.tbr);d&&!h?p=Bn(t.at,v1(f.forces.Fx,l,b,g),p.kappa,a):h&&!d&&(f=Bn(e.at,v1(p.forces.Fx,-l,b,g),f.kappa,a));let y=(R,k)=>({kappa:R.kappa,forces:R.forces,want:k,short:Math.max(0,Math.abs(k-R.forces.Fx)-tu(k))});return{left:y(f,u),right:y(p,m),locked:!1,spoolKappa:s.kappaM}}var nD={front:["FL","FR"],rear:["RL","RR"]},oD=Object.freeze({Fx:0,Fy:0,Mz:0});function ru(e,t,r,n){let o=r;for(let a of["front","rear"]){let[s,i]=nD[a],c=r[s]+r[i],l=Bt(e,a,c);if(!l||!(la(l,c)>0))continue;let u=ge(t,a),m=n.alpha[a],f=(a==="front"?e.trackFront:e.trackRear)/2e3,p=(h,b)=>{let 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s=z1.map(i=>Math.round(i<=25?r*i:r*25+n*(i-25)));return{id:e,label:t,speedMmS:[...z1],reboundN:s,bumpN:s.map(i=>Math.round(i*o))}}var lu={name:"Generic FS damper",curves:[zh("c1","Soft",1.6,1,.65),zh("c2","Medium",3,1.6,.65),zh("c3","Firm",8,2.4,.65)]};function uu(e){let t=e.curves.length;return t>0?e.curves[Math.floor((t-1)/2)].id:""}var un=25;function ha(e,t){let r=e.speedMmS,n=e.forceN,o=Math.min(r.length,n.length);if(o===0||!(t>0))return 0;let a=0,s=0;for(let i=0;i<o;i++){let c=r[i],l=n[i];if(t<=c)return s+(l-s)*(t-a)/(c-a);if(i===o-1)return l+Math.max(0,(l-s)/(c-a))*(t-c);a=c,s=l}return 0}function Y1(e,t){return t>=0?ha(e.rebound,t):-ha(e.bump,-t)}function W1(e,t,r){return t*Y1(e,t*r)}var Yh=(e,t)=>e.curves.find(r=>r.id===t);function ni(e,t){let r=Yh(e,uu(e)),n=(t&&Yh(e,t.bump))??r,o=(t&&Yh(e,t.rebound))??r;return{bump:{speedMmS:n?.speedMmS??[],forceN:n?.bumpN??[]},rebound:{speedMmS:o?.speedMmS??[],forceN:o?.reboundN??[]}}}var mu=5e3;function oi(e,t){let r=t>0?t:1,n=[],o=[],a=e.bump.speedMmS.map(c=>c/r).filter(c=>c<mu),s=e.rebound.speedMmS.map(c=>c/r).filter(c=>c<mu),i=c=>{n.push(c),o.push(W1(e,r,c))};i(-mu);for(let c=a.length-1;c>=0;c--)i(-a[c]);i(0);for(let c of s)i(c);return i(mu),{kind:"map",input:"velocity",x:n,y:o}}var Wh=64;function ai(e,t,r){let n=t>0?t:1,o=Math.max(r,1e-6),a=0;for(let s=0;s<Wh;s++){let i=Math.sin((s+.5)*Math.PI/Wh),c=n*o*i;a+=n*(ha(e.rebound,c)+ha(e.bump,c))*i}return a*(Math.PI/Wh)/(Math.PI*o)}function zn(e,t,r,n,o=e){let a=(c,l,u)=>{if(!c||c.curves.length===0)return;let m=ni(c,l);return{law:m,curve:oi(m,u),rate:ai(m,u,un)}},s=a(e,t?.front,r),i=a(o??e,t?.rear,n);return!s&&!i?null:{...s?{front:s}:{},...i?{rear:i}:{}}}var j1=(e,t)=>({...e,y:e.y.map(r=>r*t)}),BD=e=>({...e,x:e.x.map(t=>-t).reverse(),y:e.y.map(t=>-t).reverse()});function jh(e,t,r){let n=Math.abs(r)>0?Math.abs(r):1,o=ni(e,t);return{law:o,curve:j1(oi(o,n),.5),rate:ai(o,n,un)/2,mr:n,ratio:n,share:.5}}function Uh(e,t,r,n,o){let a=n*(Math.abs(r)>0?Math.abs(r):1),s=ni(e,t),i=j1(oi(s,a),1/n);return{law:s,curve:o?BD(i):i,rate:ai(s,a,un)/n,mr:a/n,ratio:a,share:1/n}}function si(e,t){let r=e.damperModelIdRear?t(e.damperModelIdRear):void 0,n=e.heaveDamperModelId?t(e.heaveDamperModelId):void 0,o=e.rollDamperModelId?t(e.rollDamperModelId):void 0;return{...r?{damperModelRear:r}:{},...n?{heaveDamperModel:n}:{},...o?{rollDamperModel:o}:{}}}function ii(e,t){if(t?.body){let{extended:n,stroke:o,...a}=e??{},{extended:s,stroke:i}=t.body;return{coilover:{...a,extended:s,...i!==void 0?{stroke:i}:{}},source:"part",part:t}}let r=e?.extended!==void 0&&e.extended>0;return{...e?{coilover:e}:{},source:r?"suspension":"none"}}function Ir(e,t){if(typeof e=="number")return e;let{x:r,y:n}=e,o=r.length;if(o===0)return 0;if(o===1||t<=r[0])return n[0];if(t>=r[o-1])return n[o-1];let a=0,s=o-1;for(;s-a>1;){let c=a+s>>1;r[c]<=t?a=c:s=c}let i=(t-r[a])/(r[s]-r[a]);return n[a]+i*(n[s]-n[a])}function li(e){return e.kind==="coil"?2:1}function ci(e){let t=Math.max(0,e.od),r=Math.max(0,Math.min(e.id,t));return Math.PI*(t**4-r**4)/32}function X1(e){return ci(e)/2}function q1(e){let t=Math.max(0,e.width),r=Math.max(0,e.thickness),n=t*r**3/12,o=r*t**3/12,a=e.angleDeg*Math.PI/180;return n*Math.cos(a)**2+o*Math.sin(a)**2}function U1(e){let t=0;for(let r of e)if(Number.isFinite(r)){if(r<=0)return 0;t+=1/r}return t>0?1/t:1/0}function $D(e,t,r){let n=Math.min(e.length,t.length);if(n<2)return 0;let o=Math.abs(r);if(o<=e[0])return(t[1]-t[0])/(e[1]-e[0]);for(let a=1;a<n;a++)if(o<=e[a])return(t[a]-t[a-1])/(e[a]-e[a-1]);return(t[n-1]-t[n-2])/(e[n-1]-e[n-2])}function ui(e,t=0){let r={rateAtLink:0,contributions:{},torsional:0};switch(e.kind){case"none":return r;case"ubar":{let n=e.armLength;if(n<=0||e.barLength<=0)return r;let o=e.G*ci(e.section)/e.barLength,a=2*o/(n*n),s=X1(e.armSection??e.section),i=3*e.E*s/n**3,c=e.dropLinkRate??1/0;return{rateAtLink:U1([a,i,c]),contributions:{barTwist:a,armBending:i,dropLink:c},torsional:o}}case"blade":{let n=e.armLength;if(n<=0||e.barLength<=0)return r;let o=e.G*ci(e.section)/e.barLength,a=2*o/(n*n),s=3*e.E*q1(e.blade)/n**3,i=e.dropLinkRate??1/0;return{rateAtLink:U1([a,s,i]),contributions:{barTwist:a,armBending:s,dropLink:i},torsional:o}}case"torsionTube":{let n=e.leverArm;if(n<=0||e.length<=0)return r;let o=e.G*ci(e.section)/e.length,a=2*o/(n*n);return{rateAtLink:a,contributions:{barTwist:a},torsional:o}}case"coil":{let n=Ir(e.rate,2*Math.abs(t)),o=2*Math.max(0,n);return{rateAtLink:o,contributions:{spring:o},torsional:0}}case"direct":return{rateAtLink:e.wheelRate,contributions:{},torsional:0};case"tabulated":{let n=$D(e.linkTravel,e.force,t);return{rateAtLink:Math.max(0,n),contributions:{},torsional:0}}}}function pu(e,t,r=0){if(e.kind==="none")return{wheelRate:0,motionRatio:0,rateAtLink:0};if(e.kind==="direct")return{wheelRate:Math.max(0,e.wheelRate),motionRatio:1,rateAtLink:0};let n=t?Ld(t,r):1,o=t?Dd(t,r):0,a=ui(e,o).rateAtLink;return{wheelRate:Math.max(0,a*n*n),motionRatio:n,rateAtLink:a}}function mi(e,t){let r=e.damper??0;return!r||e.design.kind==="none"?0:li(e.design)*r*t*t}var GD=150;function KD(e){return X(e,[0,-.5,1])<-1e-9?U(e,-1):e}function Q1(e){let t=e.hardpoints,r=H(t.rockerPivotB,t.rockerPivotA),n=ee(t.rockerPivotA,U(H(t.rockerToDamper,t.rockerPivotA),.6)),o=KD(q(ae(r,H(t.rockerToDamper,t.rockerPivotA))));return{outer:n,inner:ee(n,U(o,GD)),attach:"rocker"}}function Ct(e,t){let r={};for(let o of Oo)r[o]=tt($e(e,o));let n={vehicle:e,ctx:r};return t&&(n.kc=al(n,t)),n}var du=.5;function HD(e,t){let r=([i,c,l])=>{let u=q(H(c,i)),m=H(l,i),f=q(H(m,U(u,X(m,u))));return[u,f,ae(u,f)]},n=r(e),o=r(t),a=[0,1,2].map(i=>[0,1,2].map(c=>o[0][i]*n[0][c]+o[1][i]*n[1][c]+o[2][i]*n[2][c]));return{rot:a,move:i=>{let c=H(i,e[0]);return ee(t[0],[0,1,2].map(l=>a[l][0]*c[0]+a[l][1]*c[1]+a[l][2]*c[2]))}}}var Z1=e=>[(e[2][1]-e[1][2])/2,(e[0][2]-e[2][0])/2,(e[1][0]-e[0][1])/2];function fu(e,t,r){let n=Ze(t,e.vehicle.config),o=e.ctx[t],a=r.rigid?void 0:{loadedRadius:r.loadedRadius},s=r.state?null:ye(o,r.travel,r.steer,void 0,a),i=r.state??at(s),c=ye(o,r.travel+du,r.steer,void 0,a),l=ye(o,r.travel-du,r.steer,void 0,a),u=(s?s.ok:r.converged)&&c.ok&&l.ok,m=at(c),f=at(l),p=(C,T)=>Nt(C.points[T],n),d=o.inv.strut?"pushrodOuter":"uprightUpper",h=p(i,d),b=p(i,"uprightLower"),g=C=>{let T=H(b,h);return Math.hypot(...ae(T,H(p(i,C),h)))/Math.hypot(...T)},y=g("tieOuter")>=g("wheelCenter")?"tieOuter":"wheelCenter",R=[h,b,p(i,y)],k=C=>HD(R,[p(C,d),p(C,"uprightLower"),p(C,y)]),v=k(m),x=k(f),M=Z1(v.rot),F=Z1(x.rot),w=[NaN,NaN,NaN];return{solved:u,state:i,at:C=>p(i,C),velocity:C=>u?U(H(v.move(C),x.move(C)),1/(2*du)):w,omega:u?U(H(M,F),1/(2*du)):w}}function Xh(e,t,r,n){let o=t[0]*-n[1]-t[1]*-n[0];if(Math.abs(o)<1e-9)return null;let a=r[0]-e[0],s=r[1]-e[1],i=(a*-n[1]-s*-n[0])/o;return[e[0]+i*t[0],e[1]+i*t[1]]}function J1(e,t,r){let n=fu(e,t,gt(e,r)[t]),o=n.at("contactPatch"),a=n.velocity(o);return{solved:n.solved,cp:[o[1],o[2]],vCp:[a[1],a[2]],wx:n.omega[0]}}function ek(e){let t=Math.hypot(e.vCp[0],e.vCp[1]);return Math.abs(e.wx)*1e9>t?[e.cp[0]-e.vCp[1]/e.wx,e.cp[1]+e.vCp[0]/e.wx]:null}function tk(e,t){let r=Math.hypot(e.vCp[0],e.vCp[1]);if(!(r>1e-9))return null;let n=[-e.vCp[1]/r,e.vCp[0]/r],o=t?[t[0]-e.cp[0],t[1]-e.cp[1]]:[e.cp[0]>0?-1:1,0];return n[0]*o[0]+n[1]*o[1]<0?[-n[0],-n[1]]:n}function zD(e,t,r){return Math.abs(t[0]*(r[1]-e[1])-t[1]*(r[0]-e[0]))<=1e-6*Math.max(1,Math.hypot(r[0]-e[0],r[1]-e[1]))?[(e[0]+r[0])/2,(e[1]+r[1])/2]:null}var YD=.1*Math.PI/180;function rk(e,t,r,n,o){return Math.max(Math.hypot(e[0]-t[0],e[1]-t[1]),Math.hypot(e[0]-r[0],e[1]-r[1]))*YD<=o*n}function hu(e,t){return!e.valid||!e.cpLeft||!e.cpRight?!1:rk([e.lateral,e.height],e.cpLeft,e.cpRight,e.sinAngle,t)}function pi(e){let t=(o,a,s)=>{let i=o&&a?[a[0]-o[0],a[1]-o[1]]:s;return!o||!i||!(Math.abs(i[0])>1e-9)?Number.NaN:o[1]-o[0]*i[1]/i[0]},r=t(e.cpLeft,e.icLeft,e.lineLeft),n=t(e.cpRight,e.icRight,e.lineRight);return Number.isFinite(r)&&Number.isFinite(n)?{left:r,right:n}:null}var WD=1;function nk(e){let t=pi(e);if(!t||!e.cpLeft||!e.cpRight||Math.abs(t.left-t.right)>WD)return null;let r=(t.left+t.right)/2,n=e.cpRight[0]-e.cpLeft[0],o=e.cpRight[1]-e.cpLeft[1],a=Math.hypot(n,o)||1;return{height:r,heightAboveGround:(0-e.cpLeft[0])*(-o/a)+(r-e.cpLeft[1])*(n/a)}}function ba(e){let t=(n,o,a)=>{if(!n)return Number.NaN;if(!o)return a?0:Number.NaN;let s=n[0]-o[0];return Math.abs(s)>1e-9?n[0]/s:Number.NaN},r=(t(e.cpLeft,e.icLeft,e.lineLeft)+t(e.cpRight,e.icRight,e.lineRight))/2;return e.valid&&Number.isFinite(r)?r:0}function ar(e,t,r){let n=r==="front"?"FL":"RL",o=r==="front"?"FR":"RR",a=J1(e,n,t),s=J1(e,o,t);if(!a.solved||!s.solved)return{height:0,lateral:0,heightAboveGround:0,lateralAlongGround:0,valid:!1,unsolved:!0,icLeft:null,icRight:null,lineLeft:null,lineRight:null,sinAngle:0,cpLeft:a.cp,cpRight:s.cp};let i=ek(a),c=ek(s),l=tk(a,i),u=tk(s,c),m={height:0,lateral:0,heightAboveGround:0,lateralAlongGround:0,valid:!1,icLeft:i,icRight:c,lineLeft:l,lineRight:u,sinAngle:0,cpLeft:a.cp,cpRight:s.cp};if(!l||!u)return m;let f=i?[i[0]-a.cp[0],i[1]-a.cp[1]]:l,p=c?[c[0]-s.cp[0],c[1]-s.cp[1]]:u,d=Math.hypot(f[0],f[1]),h=Math.hypot(p[0],p[1]),b=d>0&&h>0?Math.abs(f[0]*p[1]-f[1]*p[0])/(d*h):0,g=Xh(a.cp,f,s.cp,p)??zD(a.cp,l,s.cp);if(!g)return{...m,sinAngle:b};let y=s.cp[0]-a.cp[0],R=s.cp[1]-a.cp[1],k=Math.hypot(y,R)||1,v=y/k,x=R/k,M=(a.cp[0]+s.cp[0])/2,F=(a.cp[1]+s.cp[1])/2,w=(g[0]-a.cp[0])*-x+(g[1]-a.cp[1])*v,C=(g[0]-M)*v+(g[1]-F)*x;return{lateral:g[0],height:g[1],heightAboveGround:w,lateralAlongGround:C,valid:!0,icLeft:i,icRight:c,lineLeft:l,lineRight:u,sinAngle:b,cpLeft:a.cp,cpRight:s.cp}}function _r(e,t){return{front:ar(e,t,"front"),rear:ar(e,t,"rear")}}function bu(e,t,r){let n=e.length;if(n===0)return 0;if(r<=e[0])return t[0];if(r>=e[n-1])return t[n-1];let o=0,a=n-1;for(;a-o>1;){let i=o+a>>1;e[i]<=r?o=i:a=i}let s=(r-e[o])/(e[a]-e[o]);return t[o]+s*(t[a]-t[o])}function jD(e,t){return{camber:bu(e.travel,e.camber,t),toe:bu(e.travel,e.toe,t),motionRatio:bu(e.travel,e.motionRatio,t),damperLen:e.damperLen?bu(e.travel,e.damperLen,t):0}}var ok=e=>jD(e,0).motionRatio;function qh(e,t){if(e.kind!=="coil")return null;let r=t??e.motionRatio,n=Ir(e.rate,0)*r*r/2;return n>0&&Number.isFinite(n)?{rate:n,gap:Math.max(0,e.gap??0),bothWays:!!e.bothWays}:null}function gu(e,t){if(e.kind==="none")return 0;if(e.kind==="tabulated"){let n=a=>UD(e,a);return(n(.5)-n(-.5))/(2*.5)/2}if((e.gap??0)>0)return 0;let r=t??e.motionRatio;return Ir(e.rate,0)*r*r/2}function di(e,t){let r=e.damper??0;if(!r||e.design.kind==="none"||e.design.kind==="coil"&&(e.design.gap??0)>0)return 0;let n=t??(e.design.kind==="coil"?e.design.motionRatio:1);return r*n*n/2}function UD(e,t){let{travel:r,force:n}=e,o=r.length;if(o===0)return 0;if(t<=r[0])return n[0];if(t>=r[o-1])return n[o-1];let a=0,s=o-1;for(;s-a>1;){let c=a+s>>1;r[c]<=t?a=c:s=c}let i=(t-r[a])/(r[s]-r[a]);return n[a]+i*(n[s]-n[a])}var 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s=e.maxPower(n,o),i=s.watts,c=t/r,l=Math.min(c,i),u=c>s.voltageFloor;if(u&&!(l>0))return{dq:1/0,lossJ:0,energyJ:0,short:!0,cutoff:u,seconds:1/0};let m=e.currentFor(l,n,o),f=u?c/l:1,p=r*f;return{dq:m*p,lossJ:m*m*e.resistance(n,o)*p,energyJ:l*p,short:c>i,cutoff:u,seconds:p}}function DE(e,t,r,n,o){let a=e.ocv(n);if(!(r>0))return{dq:t/a,lossJ:0,energyJ:t,short:!1,cutoff:!1,seconds:r};let s=e.resistance(n,o),i=e.chargeCurrentFor(t/r,n,o),c=Math.min(i,e.chargeCurrentCeiling),l=c===i?t:c*(a+c*s)*r;return{dq:c*r,lossJ:c*c*s*r,energyJ:l,short:c<i,cutoff:!1,seconds:r}}function EE(e){let{drivenFront:t,drivenRear:r}=Zn(e);return Qn(e.params,t,r)}function Ma(e,t,r,n,o=wr,a,s,i,c,l,u){let m=e.params,f=m.rho.value,p=m.fr_0.value,d=m.m.value,h=e.FG,b=m.aeroModel?dt(m):void 0,g=pb(m),y=hr(ka(m)),R=y.chargeC,k=mb(a??m.soc.value),v=ki(m),x=s??Iu(y,v),M=x,F=0,w=0,C=0,T=0,S=-1,A=-1,P=-1,L=PE(m),D=L?L.th.startC:0,E=D,V=0,N=1,z=-1,I=0,_=0,B=db(e),O=m.motorModel?.kind==="ice",G=u?.scrub,K=G?d/EE(e).tractionFactor:0,Y=Math.min(t.length,r.length);for(let j=0;j<Y;j++){let Z=r[j],ne=Z*Z,te=n[j]-(c?.[j]??0),{cl:fe,cw:W,A:J}=Pu(m,Z,te/9.81,b),re=.5*f*fe*J*ne,pe=.5*f*W*J*ne,de=(h+re)*-p,ie=G?-K*(G[j]??0):0,oe=de+pe+ie+d*te,ue=oe*t[j],Ve=j+1<r.length?r[j+1]:Z,Ae=.5*(Z+Ve),le=Ae>0?t[j]/Ae:0,Re=0,Ce=k,Ke=x,je=0,be=0,Fe=le;if(O){oe>0&&(be=ue/g(Z,oe),F+=be/vi),l?.netKwh.push(F-w),l?.powerKw?.push(le>0?be/le/1e3:0);continue}if(oe>0){let xe=ue/g(Z,oe),me=LE(y,xe,le,k,x);me.short&&S<0&&(S=j),me.cutoff&&A<0&&(A=j);let Le=k*R,Se=Math.min(me.dq,Le),He=me.dq>0?Se/me.dq:1;Se>=Le&&P<0&&(P=j),F+=me.energyJ*He/vi,be=me.energyJ*He,Fe=me.seconds,C+=me.lossJ*He,T+=Se,le>0&&(je=Se/me.seconds),k=mb(k-Se/R),x=qk(y,x,me.dq>0&&le>0?Se/le:0,me.lossJ*He,le,v),x>M&&(M=x),Re=oe}else if(o.regen){let xe=u?We(u.ay[j],u.bank?.[j]??0)/9.81:0,me=B(-oe,Z,te/9.81,xe),Le=o.regenEfficiency*me*t[j],Se=DE(y,Le,le,k,x),He=(1-k)*R,Ue=Math.min(Se.dq,He),Kt=Se.dq>0?Ue/Se.dq:1;w+=Se.energyJ*Kt/vi,be=-Se.energyJ*Kt,C+=Se.lossJ*Kt,T-=Ue,le>0&&(je=-Ue/le),k=mb(k+Ue/R),x=qk(y,x,Ue>0&&le>0?-Ue/le:0,Se.lossJ*Kt,le,v),x>M&&(M=x),Re=-me*Kt}if(l?.netKwh.push(F-w),l?.powerKw?.push(le>0?be/Fe/1e3:0),l?.pack){let xe=l.pack;xe.soc.push(Ce),xe.amps.push(je),xe.volts.push(y.ocv(Ce)-je*y.resistance(Ce,Ke)),xe.cellC.push(Ke)}if(L){let xe=L.rpm(Z),me=L.th.derate(xe,D,L.peak(xe));me<N&&(N=me),me<1&&z<0&&(z=j),_+=le,me<1&&(I+=le);let Le=L.torque(Re,xe,me),Se=L.th.lossW(xe,Le,D);V+=Se*le,i&&(i.windingC.push(D),i.derate.push(me),i.lossW.push(Se),i.torqueNm.push(Le),i.ampsRms.push(L.amps(Le))),D=L.th.step(D,Se,le),D>E&&(E=D)}}return{drive:F,regen:w,net:F-w,chargeAh:T/3600,loss:C/vi,socEnd:k,shortAt:S,cutoffAt:A,emptyAt:P,tempEndC:x,tempMaxC:M,...L?{motorTempEndC:D,motorTempMaxC:E,motorLossKwh:V/vi,motorDerateMin:N,motorDerateAt:z,motorDerateTimeFrac:_>0?I/_:0}:{}}}var IE=.5,_E=.02,NE=6;function Jk(e,t,r,n,o,a,s,i){let c=n(),l=1,u=d=>{let h=Zk(),b=Ma(e,t,d.v,d.ax,r,o,a,h,s,void 0,{ay:d.ay,bank:i,...d.axScrub?{scrub:d.axScrub}:{}});return{trace:h,peak:b.motorTempMaxC??0,frac:b.motorDerateTimeFrac??0}},m=u(c);if(!m.trace.derate.length||m.frac===0)return{lap:c,solves:l,converged:!0,peakWindingC:m.peak,derateTimeFrac:m.frac};let f=m.trace.derate.slice(),p=!1;for(let d=0;d<NE;d++){let h=n(f);l++;let b=Math.abs(h.laptime-c.laptime);if(c=h,m=u(c),b<_E){p=!0;break}let g=m.trace.derate,y=new Array(f.length);for(let R=0;R<f.length;R++)y[R]=f[R]+IE*((g[R]??1)-f[R]);f=y}return{lap:c,derate:f,solves:l,converged:p,peakWindingC:m.peak,derateTimeFrac:m.frac}}var OE=.1;function eM(e){let t=e.power_limit_kw?.value??0;return t>0?t*1e3:0}function fb(e,t,r){return e.motorModel?.kind==="ice"?1/0:hr(ka(e)).maxPower(t??e.soc.value,r,eM(e)).watts}function _u(e,t,r,n){let o=fb(e,r,n);if(!Number.isFinite(o))return 1/0;if(o<=0)return 0;let a=Math.max(OE,t),s=pb(e),i=o*(e.effi_pgb?.value??.9)/a;return o*s(t,i)/a}var VE=180/Math.PI;function Nu(e,t,r,n){let o=e*t,a=e*(1-t);return o/r-a/n}var Ou=e=>e*9.81*VE;var KX=Math.PI/180;function Vu(e,t,r,n=0){let o=we(e,t,0,n),a=typeof r=="function"?r:r.front,s=typeof r=="function"?r:r.rear,i=.5*(a(Math.max(0,o.FL))+a(Math.max(0,o.FR))),c=.5*(s(Math.max(0,o.RL))+s(Math.max(0,o.RR))),l=i>0&&c>0?Nu(e.massTotal,e.frontMassFrac,2*i,2*c):0,u=Ou(l),m=u>.15?"understeer":u<-.15?"oversteer":"neutral";return{gradient:u,balance:m,cAlphaFront:i,cAlphaRear:c}}var qX=Math.PI/180,QX=180/Math.PI;var tM=2220446049250313e-31;function GE(e){let t=e.length,r=2,n=r*r,o=!1;for(;!o;){o=!0;for(let a=0;a<t;a++){let s=0,i=0;for(let c=0;c<t;c++)c!==a&&(i+=Math.abs(e[c][a]),s+=Math.abs(e[a][c]));if(i!==0&&s!==0){let c=s/r,l=1,u=i+s;for(;i<c;)l*=r,i*=n;for(c=s*r;i>c;)l/=r,i/=n;if((i+s)/l<.95*u){o=!1;let m=1/l;for(let f=0;f<t;f++)e[a][f]*=m;for(let f=0;f<t;f++)e[f][a]*=l}}}}}function KE(e){let t=e.length;for(let r=1;r<t-1;r++){let n=0,o=r;for(let a=r;a<t;a++)Math.abs(e[a][r-1])>Math.abs(n)&&(n=e[a][r-1],o=a);if(o!==r){for(let a=r-1;a<t;a++){let s=e[o][a];e[o][a]=e[r][a],e[r][a]=s}for(let a=0;a<t;a++){let s=e[a][o];e[a][o]=e[a][r],e[a][r]=s}}if(n!==0)for(let a=r+1;a<t;a++){let s=e[a][r-1];if(s!==0){s/=n,e[a][r-1]=s;for(let i=r;i<t;i++)e[a][i]-=s*e[r][i];for(let i=0;i<t;i++)e[i][r]+=s*e[i][a]}}}for(let r=2;r<t;r++)for(let n=0;n<r-1;n++)e[r][n]=0}function HE(e){let t=e.length,r=new Array(t).fill(0),n=new Array(t).fill(0),o=0;for(let i=0;i<t;i++)for(let c=Math.max(i-1,0);c<t;c++)o+=Math.abs(e[i][c]);let a=t-1,s=0;for(;a>=0;){let i=0,c=0;do{for(c=a;c>=1;c--){let u=Math.abs(e[c-1][c-1])+Math.abs(e[c][c]);if(u===0&&(u=o),Math.abs(e[c][c-1])<=tM*u){e[c][c-1]=0;break}}let l=e[a][a];if(c===a)r[a]=l+s,n[a]=0,a--;else{let u=e[a-1][a-1],m=e[a][a-1]*e[a-1][a];if(c===a-1){let f=.5*(u-l),p=f*f+m,d=Math.sqrt(Math.abs(p));l+=s,p>=0?(d=f+(f>=0?Math.abs(d):-Math.abs(d)),r[a-1]=r[a]=l+d,d!==0&&(r[a]=l-m/d),n[a-1]=n[a]=0):(r[a-1]=r[a]=l+f,n[a]=d,n[a-1]=-d),a-=2}else{if(i===60)throw new Error("eigenvalues: QR iteration did not converge");if(i===10||i===20||i===30||i===40||i===50){s+=l;for(let g=0;g<=a;g++)e[g][g]-=l;let b=Math.abs(e[a][a-1])+Math.abs(e[a-1][a-2]);u=l=.75*b,m=-.4375*b*b}i++;let f=a-2,p=0,d=0,h=0;for(;f>=c;f--){let b=e[f][f],g=l-b,y=u-b;p=(g*y-m)/e[f+1][f]+e[f][f+1],d=e[f+1][f+1]-b-g-y,h=e[f+2][f+1];let R=Math.abs(p)+Math.abs(d)+Math.abs(h);if(p/=R,d/=R,h/=R,f===c)break;let k=Math.abs(e[f][f-1])*(Math.abs(d)+Math.abs(h)),v=Math.abs(p)*(Math.abs(e[f-1][f-1])+Math.abs(b)+Math.abs(e[f+1][f+1]));if(k<=tM*v)break}for(let b=f+2;b<=a;b++)e[b][b-2]=0,b!==f+2&&(e[b][b-3]=0);for(let b=f;b<=a-1;b++){b!==f&&(p=e[b][b-1],d=e[b+1][b-1],h=b!==a-1?e[b+2][b-1]:0,l=Math.abs(p)+Math.abs(d)+Math.abs(h),l!==0&&(p/=l,d/=l,h/=l));let g=Math.sqrt(p*p+d*d+h*h),y=p>=0?g:-g;if(y!==0){b===f?c!==f&&(e[b][b-1]=-e[b][b-1]):e[b][b-1]=-y*l,p+=y,l=p/y,u=d/y;let R=h/y;d/=p,h/=p;for(let v=b;v<=a;v++){let x=e[b][v]+d*e[b+1][v];b!==a-1&&(x+=h*e[b+2][v],e[b+2][v]-=x*R),e[b+1][v]-=x*u,e[b][v]-=x*l}let k=a<b+3?a:b+3;for(let v=c;v<=k;v++){let x=l*e[v][b]+u*e[v][b+1];b!==a-1&&(x+=R*e[v][b+2],e[v][b+2]-=x*h),e[v][b+1]-=x*d,e[v][b]-=x}}}}}}while(c<a-1&&a>=0)}return r.map((i,c)=>({re:i,im:n[c]}))}function rM(e){let t=e.length;if(t===0)return[];for(let n of e)if(n.length!==t)throw new Error("eigenvalues: matrix must be square");for(let n of e)for(let o of n)if(!Number.isFinite(o))throw new Error("eigenvalues: matrix has non-finite entries");if(t===1)return[{re:e[0][0],im:0}];let r=e.map(n=>n.slice());return GE(r),KE(r),HE(r)}function nM(e){let t=[],r=new Array(e.length).fill(!1),n=rM(e);for(let o=0;o<n.length;o++){if(r[o])continue;let{re:a,im:s}=n[o];if(s<0)continue;let i=Math.hypot(a,s);t.push({freq:i/(2*Math.PI),dampedFreq:Math.abs(s)/(2*Math.PI),dampingRatio:i>0?-a/i:0,eigenvalue:n[o]})}return t.sort((o,a)=>a.freq-o.freq)}function hb(e,t){let r=e.length,n=Array.from({length:r},(c,l)=>l);for(let c=0;c<r-1;c++){let l=c,u=c,m=-1;for(let h=c;h<r;h++)for(let b=c;b<r;b++){let g=e[h][b]*e[h][b]+t[h][b]*t[h][b];g>m&&(m=g,l=h,u=b)}if(!(m>0))break;if([e[c],e[l]]=[e[l],e[c]],[t[c],t[l]]=[t[l],t[c]],u!==c){for(let h=0;h<r;h++)[e[h][c],e[h][u]]=[e[h][u],e[h][c]],[t[h][c],t[h][u]]=[t[h][u],t[h][c]];[n[c],n[u]]=[n[u],n[c]]}let f=e[c][c],p=t[c][c],d=f*f+p*p;for(let h=c+1;h<r;h++){let b=(e[h][c]*f+t[h][c]*p)/d,g=(t[h][c]*f-e[h][c]*p)/d;if(!(b===0&&g===0))for(let y=c;y<r;y++)e[h][y]-=b*e[c][y]-g*t[c][y],t[h][y]-=b*t[c][y]+g*e[c][y]}}let o=new Array(r).fill(0),a=new Array(r).fill(0);o[r-1]=1;for(let c=r-2;c>=0;c--){let l=e[c][c],u=t[c][c],m=l*l+u*u;if(!(m>0))continue;let f=0,p=0;for(let d=c+1;d<r;d++)f+=e[c][d]*o[d]-t[c][d]*a[d],p+=e[c][d]*a[d]+t[c][d]*o[d];o[c]=-(f*l+p*u)/m,a[c]=-(p*l-f*u)/m}let s=Math.sqrt(o.reduce((c,l,u)=>c+l*l+a[u]*a[u],0)),i=new Array(r);for(let c=0;c<r;c++)i[n[c]]={re:o[c]/s,im:a[c]/s};return i}function zE(e,t){let r=e.map((o,a)=>o.map((s,i)=>a===i?s-t.re:s)),n=e.map((o,a)=>o.map((s,i)=>a===i?-t.im:0));return hb(r,n)}function Bu(e,t=r=>zE(e,r)){return nM(e).map(r=>({...r,vector:t(r.eigenvalue)}))}function Sa(e,t,r){let n,o=-1,a,s=-1;for(let i of e){let c=t(i.vector),l=c[r];i.eigenvalue.im===0?l>s&&(a=i,s=l):l>=Math.max(...c)&&l>o&&(n=i,o=l)}return n??a}function oM(e){let t=e.sprungMass;if(!(t>0))return;let r=Math.max(.1,e.unsprungMass),n=e.springRate*1e3,o=e.damperRate*1e3,a=e.tireRate*1e3,s=(e.tireDamping??0)*1e3,i=[[0,1,0,0],[-n/t,-o/t,n/t,o/t],[0,0,0,1],[n/r,o/r,-(n+a)/r,-(o+s)/r]];if(!i.every(l=>l.every(Number.isFinite)))return;let c=l=>{let u=t*(l[0].re**2+l[0].im**2),m=r*(l[2].re**2+l[2].im**2);return u+m>0?[u/(u+m),m/(u+m)]:[0,0]};return Sa(Bu(i),c,0)}function aM(e,t,r,n){let o=(r==="front"?t.sprungFront:t.sprungRear)/2;if(o<=0)return{dampingRatio:0,criticalDamping:0,naturalFreqDamped:0};let a=r==="front"?t.rideRateFront:t.rideRateRear,s=r==="front"?e.wheelRateFront+(e.heaveSpringFront??0):e.wheelRateRear+(e.heaveSpringRear??0),i=oM({sprungMass:o,unsprungMass:e.unsprungCornerMass??e.unsprungPerCorner,springRate:s,damperRate:n,tireRate:Xe(e,r),tireDamping:e.tireDamping}),c=2*Math.sqrt(a*1e3*o);return{dampingRatio:i?.dampingRatio??0,criticalDamping:c/1e3,naturalFreqDamped:i?.dampedFreq??0}}function $u(e,t,r){let n=Te(e);return{front:aM(e,n,"front",t??n.rideDampingFront),rear:aM(e,n,"rear",r??n.rideDampingRear)}}var u7=180/Math.PI;var bb=["FL","FR","RL","RR"],ce={zFL:0,vzFL:1,zFR:2,vzFR:3,zRL:4,vzRL:5,zRR:6,vzRR:7,zBody:8,vzBody:9,pitch:10,pitchRate:11,roll:12,rollRate:13,x:14,vx:15,y:16,vy:17,yaw:18,yawRate:19},Aa=20,sM=[ce.zFL,ce.zFR,ce.zRL,ce.zRR],iM=[ce.vzFL,ce.vzFR,ce.vzRL,ce.vzRR],Vr={fzFL:0,fzFR:1,fzRL:2,fzRR:3,fzBody:4,myBody:5,mxBody:6,fx:7,fy:8,mz:9},gb=10;function Gu(e){let t=Array.from({length:Aa},()=>new Array(Aa).fill(0)),r=Array.from({length:Aa},()=>new Array(gb).fill(0));t[ce.zFL][ce.vzFL]=1,t[ce.zFR][ce.vzFR]=1,t[ce.zRL][ce.vzRL]=1,t[ce.zRR][ce.vzRR]=1,t[ce.zBody][ce.vzBody]=1,t[ce.pitch][ce.pitchRate]=1,t[ce.roll][ce.rollRate]=1,t[ce.x][ce.vx]=1,t[ce.y][ce.vy]=1,t[ce.yaw][ce.yawRate]=1;let{inertia:n}=e,o=[1,0,3,2],a=(s,i,c,l)=>{s[sM[i]]-=c,s[iM[i]]-=l,s[ce.zBody]+=c,s[ce.vzBody]+=l,s[ce.pitch]-=c*e.leverX[i],s[ce.pitchRate]-=l*e.leverX[i],s[ce.roll]+=c*e.leverY[i],s[ce.rollRate]+=l*e.leverY[i]};for(let s=0;s<4;s++){let i=s<2,c=M=>M?i?M.front:M.rear:0,l=e.springRate[s]+c(e.heaveSpring),u=e.springRate[s]+c(e.arb),m=e.damperRate[s]+c(e.heaveDamper),f=e.damperRate[s]+c(e.rollDamper),p=(l+u)/2,d=(l-u)/2,h=(m+f)/2,b=(m-f)/2,g=new Array(Aa).fill(0);a(g,s,p,h),(d!==0||b!==0)&&a(g,o[s],d,b);let y=e.wheelMass[s],R=e.leverX[s],k=e.leverY[s],v=sM[s],x=iM[s];for(let M=0;M<Aa;M++){let F=g[M];F!==0&&(t[x][M]+=F/y,t[ce.vzBody][M]-=F/e.bodyMass,t[ce.pitchRate][M]+=R*F/n.yy,t[ce.rollRate][M]-=k*F/n.xx)}t[x][v]-=e.tyreRate[s]/y,t[x][x]-=e.tyreDamping[s]/y,r[x][Vr.fzFL+s]=1/y}return r[ce.vzBody][Vr.fzBody]=1/e.bodyMass,r[ce.pitchRate][Vr.myBody]=1/n.yy,r[ce.rollRate][Vr.mxBody]=1/n.xx,r[ce.vx][Vr.fx]=1/e.totalMass,r[ce.vy][Vr.fy]=1/e.totalMass,r[ce.yawRate][Vr.mz]=1/n.zz,{A:t,B:r,params:e}}function yb(e){let t=e.wheelbase/1e3,r=t*(1-e.frontMassFrac),n=t*e.frontMassFrac,o=e.trackFront/2e3,a=e.trackRear/2e3,s=e.unsprungCornerMass??e.unsprungPerCorner,i=Math.max(0,e.massTotal-4*s),c=e.wheelRateFront*1e3,l=e.wheelRateRear*1e3,u=(e.damperFront??2.5)*1e3,m=(e.damperRear??2.5)*1e3,f=Xe(e,"front")*1e3,p=Xe(e,"rear")*1e3,d=(e.tireDamping??0)*1e3;return{bodyMass:i,totalMass:e.massTotal,wheelMass:[s,s,s,s],inertia:{xx:e.rollInertia??i*.6*.6,yy:e.pitchInertia??i*1.2*1.2,zz:e.yawInertia??e.massTotal*1.2*1.2},leverX:[r,r,-n,-n],leverY:[o,-o,a,-a],springRate:[c,c,l,l],damperRate:[u,u,m,m],tyreRate:[f,f,p,p],tyreDamping:[d,d,d,d],arb:{front:e.arbFront*1e3,rear:e.arbRear*1e3},heaveSpring:{front:(e.heaveSpringFront??0)*1e3,rear:(e.heaveSpringRear??0)*1e3},rollDamper:{front:(e.rollDamperFront??0)*1e3,rear:(e.rollDamperRear??0)*1e3},heaveDamper:{front:(e.heaveDamperFront??0)*1e3,rear:(e.heaveDamperRear??0)*1e3}}}var cM=ce.rollRate+1;function lM(e){let t=e.params,r=[...t.wheelMass,t.bodyMass,t.inertia.yy,t.inertia.xx];if(!r.every(i=>i>0))return{};let n=e.A.slice(0,cM).map(i=>i.slice(0,cM));if(!n.every(i=>i.every(Number.isFinite)))return{};let a=Bu(n,i=>{let c=i.re*i.re-i.im*i.im,l=2*i.re*i.im,u=r.map((f,p)=>r.map((d,h)=>(p===h?c:0)-i.re*n[2*p+1][2*h+1]-n[2*p+1][2*h])),m=r.map((f,p)=>r.map((d,h)=>(p===h?l:0)-i.im*n[2*p+1][2*h+1]));return hb(u,m)}),s=i=>{let c=r.map((u,m)=>u*(i[m].re**2+i[m].im**2)),l=c.reduce((u,m)=>u+m,0)||1;return[c[0]+c[1]+c[2]+c[3],c[4],c[5],c[6]].map(u=>u/l)};return{heave:Sa(a,s,1),pitch:Sa(a,s,2),roll:Sa(a,s,3)}}function uM(e,t,r){let n=e?2*Math.PI*e.freq:0,o=e&&n>0?e.dampingRatio:0,a=o>0&&o<1?Math.exp(-Math.PI*o/Math.sqrt(1-o*o))*100:0,s=o>0&&n>0?4/(o*n):1/0;return{freq:n/(2*Math.PI),dampedFreq:e&&n>0?e.dampedFreq:0,dampingRatio:o,stiffness:t,inertia:r,overshoot:a,settlingTime:s}}function Ku(e){let t=Te(e),r=e.wheelbase/1e3,n=r*(1-e.frontMassFrac),o=r*e.frontMassFrac,a=t.rollRateTotal*(180/Math.PI),s=e.rollInertia??t.sprungMass*.6*.6,i=2*t.rideRateFront*1e3,c=2*t.rideRateRear*1e3,l=i*n*n+c*o*o,u=e.pitchInertia??t.sprungMass*1.2*1.2,m=lM(Gu(yb(e)));return{roll:uM(m.roll,a,s),pitch:uM(m.pitch,l,u)}}var Hu=9.81,Br=Math.PI/180;function mM(e){let t=e.wheelbase/1e3,r=t*(1-e.frontMassFrac),n=t*e.frontMassFrac;return{wb:t,lf:r,lr:n,m:e.massTotal}}function Fa(e,t,r,n,o){let{wb:a,lf:s,lr:i,m:c}=mM(e),l=0;for(let R=0;R<16;R++){let k=l/r,v=o-n-s*k/r,x=-n+i*k/r,M=we(e,l/Hu,0,r),F=Math.max(0,M.FL+M.FR),w=Math.max(0,M.RL+M.RR),C=t(v,F),T=t(x,w),S=(C*Math.cos(o)+T)/c;if(l=.5*(l+S),Math.abs(S-l)<1e-4)break}let u=l/r,m=o-n-s*u/r,f=-n+i*u/r,p=we(e,l/Hu,0,r),d=Math.max(0,p.FL+p.FR),h=Math.max(0,p.RL+p.RR),b=t(m,d),g=t(f,h),y=s*b*Math.cos(o)-i*g;return{ay:l/Hu,cn:y/(c*Hu*a)}}function xb(e,t,r,n={}){let o=Math.max(8,r),a=(n.betaMaxDeg??10)*Br,s=(n.deltaMaxDeg??10)*Br,i=n.nLines??9,c=n.nPts??21,l=(g,y,R,k)=>R===1?g:g+(y-g)*k/(R-1),u=[],m={ay:[],cn:[]},f=0;for(let g=0;g<i;g++){let y=l(-s,s,i,g),R=[],k=[],v=[],x=[];for(let M=0;M<c;M++){let F=l(-a,a,c,M),w=Fa(e,t,o,F,y);R.push(w.ay),k.push(w.cn),v.push(F/Br),x.push(y/Br),Math.abs(w.ay)>f&&(f=Math.abs(w.ay))}u.push({label:`\u03B4 ${(y/Br).toFixed(0)}\xB0`,ay:R,cn:k,betaDeg:v,deltaDeg:x});for(let M=1;M<k.length;M++)if(k[M-1]===0||k[M-1]<0!=k[M]<0){let F=k[M-1]===k[M]?0:k[M-1]/(k[M-1]-k[M]);m.ay.push(R[M-1]+F*(R[M]-R[M-1])),m.cn.push(0);break}}let p=[];for(let g=0;g<i;g++){let y=l(-a,a,i,g),R=[],k=[],v=[],x=[];for(let M=0;M<c;M++){let F=l(-s,s,c,M),w=Fa(e,t,o,y,F);R.push(w.ay),k.push(w.cn),v.push(y/Br),x.push(F/Br)}p.push({label:`\u03B2 ${(y/Br).toFixed(0)}\xB0`,ay:R,cn:k,betaDeg:v,deltaDeg:x})}let d=.5*Br,h=(Fa(e,t,o,d,0).cn-Fa(e,t,o,-d,0).cn)/(2*d),b=(Fa(e,t,o,0,d).cn-Fa(e,t,o,0,-d).cn)/(2*d);return{isoBeta:p,isoDelta:u,trim:m,maxAy:f,stability:h,control:b,speed:o}}function YE(e){return!e.corneringStiffnessFront||!e.corneringStiffnessRear?null:{Cf:2*e.corneringStiffnessFront,Cr:2*e.corneringStiffnessRear}}function Mi(e,t){let r=YE(e);if(!r)return null;let{Cf:n,Cr:o}=r,{wb:a,lf:s,lr:i,m:c}=mM(e),l=e.yawInertia??c*1*1,u=Math.max(3,t),m=-(n+o)/(c*u),f=(-s*n+i*o)/(c*u)-u,p=(-s*n+i*o)/(l*u),d=-(s*s*n+i*i*o)/(l*u),h=m+d,b=m*d-f*p,g=h*h-4*b,y,R,k;if(g<0)y=h/2,R=Math.sqrt(Math.max(0,b)),k=R>0?-h/(2*R):1;else{let P=Math.sqrt(g);y=Math.max((h+P)/2,(h-P)/2),R=Math.sqrt(Math.abs(b)),k=R>0?-h/(2*R):1}let v=h<0&&b>0,x=Nu(c,e.frontMassFrac,n,o),M=Ou(x),F=M>.15?"understeer":M<-.15?"oversteer":"neutral",w=s*n-i*o,C=P=>P*3.6,T=null,S=null;w>1e-6?S=C(Math.sqrt(n*o*a*a/(c*w))):w<-1e-6&&(T=C(Math.sqrt(n*o*a*a/(c*-w))));let A=u/(a+x*u*u);return{stable:v,yawFreq:R/(2*Math.PI),dampingRatio:k,eigReal:y,understeerGradient:M,balance:F,characteristicSpeed:T,criticalSpeed:S,yawRateGain:A}}var pM=Math.PI/180;function hM(e,t){let r=Math.abs(e);return r<.15?"no measurable body slip \u2014 the car is travelling along its own centreline":Math.abs(t)<1e-6?`${r.toFixed(1)}\xB0 of body slip (not cornering, so there is no inside or outside yet)`:e*Math.sign(t)>0?`${r.toFixed(1)}\xB0 of body slip, nose pointing OUT of the corner \u2014 running wide of the path it is on`:`${r.toFixed(1)}\xB0 of body slip, nose pointing INTO the corner \u2014 rotated inside the path it is on`}function dM(e,t,r){return e.length<2?0:t<=0?(e[1]-e[0])/r:t>=e.length-1?(e[e.length-1]-e[e.length-2])/r:(e[t+1]-e[t-1])/(2*r)}function bM(e,t,r,n){let o=e.isoDelta.length,a=e.isoDelta[0]?.ay.length??0,s=Math.max(0,Math.min(o-1,Math.floor(t))),i=Math.max(0,Math.min(a-1,Math.floor(r))),c=Math.max(0,Math.min(1,t-s)),l=Math.max(0,Math.min(1,r-i)),u=0;for(let[m,f]of[[s,1-c],[Math.min(o-1,s+1),c]])if(!(f<=0))for(let[p,d]of[[i,1-l],[Math.min(a-1,i+1),l]])d<=0||(u+=f*d*n(e.isoDelta[m],p,m));return u}function gM(e,t,r){let n=e.isoDelta[0],o=(n.betaDeg[1]-n.betaDeg[0])*pM||1,a=e.isoDelta.length>1?(e.isoDelta[1].deltaDeg[0]-e.isoDelta[0].deltaDeg[0])*pM:1,s=x=>bM(e,t,r,x),i=s((x,M)=>x.ay[M]),c=s((x,M)=>x.cn[M]),l=s((x,M)=>x.betaDeg[M]),u=s((x,M)=>x.deltaDeg[M]),m=s((x,M)=>dM(x.cn,M,o)),f=s((x,M,F)=>dM(e.isoDelta.map(w=>w.cn[M]),F,a||1)),p=Math.max(1e-6,e.maxAy),d=Math.abs(i)/p,h=Math.max(1e-6,...e.isoDelta.flatMap(x=>x.cn.filter(Number.isFinite).map(Math.abs))),b=Math.abs(c)/h,g=i===0?c:c*Math.sign(i),y=[];y.push(`${hM(l,i)}.`),b<.03?y.push("On the trim line: yaw moments balance, so this is a steady corner the car can actually hold. Only points on this line are real cornering states \u2014 everywhere else the car is still rotating."):g>0?y.push(`Not a steady state: there is a surplus yaw moment turning the car further into the corner, so it would keep rotating from here. To hold ${Math.abs(i).toFixed(2)} g the driver would have to wind ${u>=0?"off":"on"} steer until the point reaches the trim line.`):y.push("Not a steady state: the yaw moment is straightening the car out, so it would run wide from here. The car needs more steer, or more front grip, to reach the trim line at this slip angle.");let R=Math.abs(e.stability)>1e-9?m/e.stability:1;R<.15?y.push("Yaw stiffness has collapsed here: the moment resisting a change in body slip is essentially gone, so the car will not gather itself up if it steps out. Both axles are close to saturation."):R<.85?y.push(`Yaw stiffness is down to about ${(100*R).toFixed(0)} % of its straight-ahead value \u2014 the car resists a change in body slip less firmly here than it does in the linear range.`):y.push(`Yaw stiffness is near its straight-ahead value (${(100*R).toFixed(0)} %), so the car still opposes a change in body slip about as firmly as it does in a straight line.`);let k=Math.abs(e.control),v=k>1e-9?Math.abs(f)/k:1;return v<.15?y.push("The steering has stopped working here: another degree of lock buys almost no yaw moment, which is what a saturated front axle looks like. This is understeer in its literal sense \u2014 the front tyres are already at their limit."):v<.5&&y.push(`Steering response is down to about ${(100*v).toFixed(0)} % of its straight-ahead value \u2014 the front is well into the non-linear part of its curve.`),d>.97?y.push(`At the edge of the diagram: ${Math.abs(i).toFixed(2)} g is essentially all this car has at this speed.`):d<.25&&y.push("Well inside the limit \u2014 this is the linear region the handling balance is measured in."),{ay:i,cn:c,betaDeg:l,deltaDeg:u,stability:m,control:f,gripUsed:d,notes:y}}var fM=1e-4;function Rb(e){let t=null,r=f=>{if(!t)return!0;let p=Math.abs(f),d=Math.abs(t.ay);return p>d*(1+fM)?!0:p<d*(1-fM)?!1:f>0&&t.ay<0};for(let f=0;f<e.isoDelta.length;f++){let p=e.isoDelta[f];for(let d=1;d<p.cn.length;d++){if(!(p.cn[d-1]===0||p.cn[d-1]<0!=p.cn[d]<0))continue;let b=p.cn[d-1]===p.cn[d]?0:p.cn[d-1]/(p.cn[d-1]-p.cn[d]),g=p.ay[d-1]+b*(p.ay[d]-p.ay[d-1]);r(g)&&(t={ay:g,d:f,b:b<.5?d-1:d})}}if(!t)return null;let n=gM(e,t.d,t.b),o=Math.abs(e.control)>1e-9?Math.abs(n.control/e.control):1,a=Math.abs(e.stability)>1e-9?n.stability/e.stability:1,s=o<.35,i=a<.35,c=s&&i?"both":s?"front":i?"rear":o<a?"front":"rear",l=e.isoDelta[t.d].betaDeg.length,u=t.b===0||t.b===l-1||t.d===0||t.d===e.isoDelta.length-1,m=t.ay<0?-1:1;return{ay:Math.abs(t.ay),turn:m,betaDeg:e.isoDelta[t.d].betaDeg[t.b]*m,deltaDeg:e.isoDelta[t.d].deltaDeg[t.b]*m,d:t.d,b:t.b,limitedBy:c,controlFrac:o,stiffnessFrac:a,onGridEdge:u}}var WE=["tv_kp"];function yM(e=0){let t=e<0,r=e>0,n=t||r,o=[{key:"damper_front",why:"dampers act on velocity; every point here is at constant attitude"},{key:"damper_rear",why:"dampers act on velocity; every point here is at constant attitude"},{key:"tire_vertical_damping",why:"tyre damping acts on velocity; every point here is at constant attitude"},{key:"I_yaw",why:"inertia resists change; a steady corner has none"},{key:"I_roll",why:"inertia resists change; a steady corner has none"},{key:"I_pitch",why:"inertia resists change; a steady corner has none"},{key:"capacity",why:"energy does not enter a single steady-state point"},{key:"ocv",why:"energy does not enter a single steady-state point"},{key:"soc",why:"energy does not enter a single steady-state point"},...WE.map(s=>({key:s,why:"the feedback gain multiplies a yaw error, and a trimmed point has none \u2014 the feedforward does move this diagram"}))];t||o.push({key:"brake_balance",why:r?"the diagram is drawn under acceleration, not braking":"no braking: the diagram is drawn at constant speed"});let a=n?"the longitudinal condition is set directly; what a motor could deliver is the lap solver\u2019s question":"no tractive force is applied at a constant speed";for(let s of["gear_ratio","power_scale","power_limit_kw","driven_wheels","effi_pgb"])o.push({key:s,why:a});for(let s of["I_wheel","I_rotor"])o.push({key:s,why:n?"rotating inertia is longitudinal, and `ax` is set here rather than solved \u2014 nothing in this picture spins a wheel up":"rotating inertia only acts where the car changes speed"});return o.push({key:"v_limit_endurance",why:"a limiter constrains a lap\u2019s speed profile; this diagram is drawn at one imposed speed"}),o.push({key:"endurance_reserve",why:"an energy budget sets the long event\u2019s speed ceiling; this diagram is drawn at one imposed speed"}),o.push({key:"fr_0",why:n?"rolling resistance is a drag term; `ax` is what the car does, not what the tyres are handed":"rolling resistance is longitudinal"}),o.push({key:"r_dyn",why:n?"the force each tyre carries is set here in newtons; a radius would only convert it to a torque":"the rolling radius only matters where a wheel is driven or braked"}),o}var jE=yM(0);function xM(e=0){let t="Springs and bars act through the roll-stiffness split and the camber the wheels take in roll; a heave spring reaches it too, but only faintly, through how far aero pushes the car down onto its camber curve.";if(!e)return"Steady state, lateral only: every point is a car in equilibrium at constant speed. Dampers, inertias, brake balance and the whole powertrain therefore cannot appear here \u2014 not because they are ignored, but because nothing in this picture accelerates. "+t;let r=e<0?`braking at ${Math.abs(e).toFixed(2)} g`:`accelerating at ${e.toFixed(2)} g`,n=e<0?"the brake balance decides which axle pays for it":"the driven axle pays for it";return`Steady state, ${r}: the load has moved ${e<0?"forward":"rearward"} and every tyre is spending part of its grip longitudinally, so ${n}. Dampers and inertias still cannot appear \u2014 the attitude is constant, it is simply not level. `+t}var UE=xM(0);var XE=9.81;function qE(e){let t=e.wheelbase/1e3;return{lf:t*(1-e.frontMassFrac),lr:t*e.frontMassFrac}}function Si(e,t,r,n){let o=t.tire;if(!o)return null;let s=(r==="limit"?Gh(e,o,t.speed):ln(e,o,t.speed,t.ayG)).wheels;return Rr(n??Gn(o,e.massTotal*XE*1.2),{FL:s.FL,FR:s.FR,RL:s.RL,RR:s.RR},qE(e))}function QE(e){if(!e.tire)return e.cornerStiffness;let t=ge(e.tire,"front"),r=ge(e.tire,"rear");return{front:n=>t.corneringStiffness(n),rear:n=>r.corneringStiffness(n)}}var RM=[{key:"understeer",label:"Understeer gradient",unit:"\xB0/g",compute:(e,t)=>Vu(e,t.ayG,QE(t),t.speed).gradient},{key:"rollGradient",label:"Roll gradient",unit:"\xB0/g",compute:e=>Te(e).rollGradient},{key:"pitchGradient",label:"Pitch gradient",unit:"\xB0/g",compute:e=>Te(e).pitchGradient},{key:"tlltdFront",label:"TLLTD front",unit:"%",compute:e=>100*Jd(e)},{key:"rollStiffFront",label:"Front roll-stiffness",unit:"%",compute:e=>100*Te(e).frontRollStiffFrac},{key:"rideFreqFront",label:"Ride freq front",unit:"Hz",compute:e=>Te(e).rideFreqFront},{key:"rideFreqRear",label:"Ride freq rear",unit:"Hz",compute:e=>Te(e).rideFreqRear},{key:"rollFreq",label:"Roll-mode freq",unit:"Hz",compute:e=>Ku(e).roll.freq},{key:"pitchFreq",label:"Pitch-mode freq",unit:"Hz",compute:e=>Ku(e).pitch.freq},{key:"zetaFront",label:"Damping \u03B6 front",unit:"-",compute:e=>$u(e).front.dampingRatio},{key:"zetaRear",label:"Damping \u03B6 rear",unit:"-",compute:e=>$u(e).rear.dampingRatio},{key:"yawFreq",label:"Yaw natural freq",unit:"Hz",compute:(e,t)=>Mi(e,t.speed)?.yawFreq??NaN},{key:"yawZeta",label:"Yaw damping \u03B6",unit:"-",compute:(e,t)=>Mi(e,t.speed)?.dampingRatio??NaN},{key:"stabilitySpeed",label:"Char./critical speed",unit:"km/h",compute:(e,t)=>{let r=Mi(e,t.speed);return r?r.criticalSpeed??r.characteristicSpeed??NaN:NaN}},{key:"maxAy",label:"Max lateral accel",unit:"g",compute:(e,t)=>t.fyAxle?xb(e,t.fyAxle,t.speed,{betaMaxDeg:12,deltaMaxDeg:12}).maxAy:NaN},{key:"yawReserveRear",label:"Yaw stability reserve",unit:"N\xB7m",compute:(e,t)=>Si(e,t,"operating")?.stabil??NaN},{key:"yawReserveFront",label:"Yaw agility reserve",unit:"N\xB7m",compute:(e,t)=>Si(e,t,"operating")?.agil??NaN},{key:"limitBalance",label:"Limit balance (+US / \u2212OS)",unit:"-",compute:(e,t)=>Si(e,t,"limit")?.rel??NaN},{key:"yawStiffness",label:"Yaw stiffness N_\u03B2",unit:"N\xB7m/rad",compute:(e,t)=>t.tire?$h(e,t.tire,t.speed,t.ayG):NaN},{key:"steeringTorque",label:"Steering holding torque",unit:"N\xB7m",compute:(e,t)=>t.tire?Vh(e,t.tire,t.speed,t.ayG):NaN},{key:"steeringTorqueGradient",label:"Steering feedback gradient",unit:"N\xB7m/g",compute:(e,t)=>t.tire?Bh(e,t.tire,t.speed,t.ayG):NaN}],vb=Object.fromEntries(RM.map(e=>[e.key,e]));var $r=9.81;function ZE(e,t,r){let n=Math.abs(e);return n>0?t>0&&(n<=t||t>=r)?n/t:r>0?1+(n-t)/r:2:0}var JE={front:!1,rear:!0};function wa(e,t,r){let n=e.muX(t)*t,o=e.muY(t)*t;if(!(n>0))return 0;let a=o>0?Math.min(1,r/o):1;return n*Math.sqrt(1-a*a)}function vM(e,t,r,n,o,a){let s=e[t]+e[r];if(!(s>0))return;let i=wa(n,o[t],a[t]),c=wa(n,o[r],a[r]);i+c>0||(i=n.muX(o[t])*o[t],c=n.muX(o[r])*o[r]),i+c>0&&(e[t]=s*i/(i+c),e[r]=s-e[t])}function kM(e,t,r,n,o,a={},s="open"){if(!e.rear)return 1;if(!e.front)return 0;let i=(f,p,d)=>d?js(f,p,d):s==="own"?f+p:2*Math.min(f,p),c=i(wa(n,t.FL,r.FL),wa(n,t.FR,r.FR),a.front),l=i(wa(o,t.RL,r.RL),wa(o,t.RR,r.RR),a.rear);if(c+l>0)return c/(c+l);let u=n.muX(t.FL)*t.FL+n.muX(t.FR)*t.FR,m=o.muX(t.RL)*t.RL+o.muX(t.RR)*t.RR;return u+m>0?u/(u+m):.5}function kb(e,t,r,n){return{car:t?AM(t,r.loadFactor[n]):e,ayTyre:We(r.ay[n],r.bank?.[n]??0),axCar:r.ax[n]-(r.axGrade?.[n]??0)}}function MM(e,t){if(!e.aero?.model)return 0;let r=Math.min(t.v.length,t.ax.length,t.ay.length),n=t.loadFactor?Yu(e):void 0,o=0,a=0;for(let s=0;s<r;s++){let 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k=0;k<t.npts;k++)R+=t.ds[k],e.clamps(f[k]??0)&&(y+=t.ds[k]);return{...d,steady:u,demand:f,rdot:p,history:m,iterations:h,converged:b,clampedFrac:R>0?y/R:0}}var Dq=Math.PI/180;var uQ=180/Math.PI;function Ca(e,t,r){let n=e.length;if(n===1||r<=e[0])return t[0];if(r>=e[n-1])return t[n-1];let o=0;for(;o<n-2&&e[o+1]<=r;)o++;let a=e[o],s=e[o+1],i=t[o],c=t[o+1];if(n===2)return i+(r-a)/(s-a)*(c-i);let l=f=>{let p=e[f];return i*(r-s)*(r-p)/((a-s)*(a-p))+c*(r-a)*(r-p)/((s-a)*(s-p))+t[f]*(r-a)*(r-s)/((p-a)*(p-s))},u=(r-a)/(s-a),m=o===0?l(2):o+1===n-1?l(o-1):(1-u)*l(o-1)+u*l(o+2);return Math.min(Math.max(i,c),Math.max(Math.min(i,c),m))}function EM(e,t){let r=e.filter(p=>p.atLock),n=e.filter(p=>!p.atLock),o=r.length>0&&n.length>0&&r[r.length-1].v<n[0].v,a=p=>({vs:p.map(h=>h.v),ayMax:p.map(h=>h.ayMax),radius:p.map(h=>Math.max(h.v,t)**2/h.ayMax),accel:p[0].axAccelN.map((h,b)=>p.map(g=>g.axAccelN[b])),decel:p[0].axDecelN.map((h,b)=>p.map(g=>g.axDecelN[b])),scrub:p[0].axScrubN.map((h,b)=>p.map(g=>g.axScrubN[b]))}),s=(p,d)=>({axAccelN:p.accel.map(h=>Ca(p.vs,h,d)),axDecelN:p.decel.map(h=>Ca(p.vs,h,d)),axScrubN:p.scrub.map(h=>Ca(p.vs,h,d))});if(!o){let p=a(e);return d=>({ayMax:Ca(p.vs,p.ayMax,d),...s(p,d)})}let i=a(r),c=a(n),l=i.vs[i.vs.length-1],u=c.vs[0],m=p=>Math.max(p,t)**2/Ca(i.vs,i.radius,p),f=p=>p>=u||c.vs.length<2?Ca(c.vs,c.ayMax,p):c.ayMax[0]+(c.ayMax[1]-c.ayMax[0])/(c.vs[1]-c.vs[0])*(p-u);return p=>{if(p<=l)return{ayMax:m(p),...s(i,p)};if(p>=u)return{ayMax:f(p),...s(c,p)};let d=m(p),h=f(p);return d<h?{ayMax:d,...s(i,p)}:{ayMax:h,...s(c,p)}}}function EI(e,t){let r=Math.abs(e.ayMax-t.ayMax)/Math.max(t.ayMax,1),n=Math.max(Math.abs(t.axAccelN[0]),1),o=Math.max(Math.abs(t.axDecelN[0]),1);for(let a=0;a<t.axAccelN.length;a++)r=Math.max(r,Math.abs(e.axAccelN[a]-t.axAccelN[a])/n,Math.abs(e.axDecelN[a]-t.axDecelN[a])/o,Math.abs(e.axScrubN[a]-t.axScrubN[a])/n);return r}function IM(e,t,r,n,o){let a=r>t?Math.max(2,Math.min(5,Math.floor(n))):1,s=[];for(let f=0;f<a;f++)s.push(e(a===1?t:t+(r-t)*f/(a-1)));let i=EM(s,t),c=[],l=a,u=(f,p)=>{let d=.5*(f+p),h=e(d);l++;let b=EI(i(d),h);s.splice(s.findIndex(g=>g.v>d),0,h),i=EM(s,t),b>o&&c.push({lo:f,hi:d,misfit:b},{lo:d,hi:p,misfit:b})},m=s.map(f=>f.v);for(let f=0;f+1<m.length&&l<n;f++)m[f+1]-m[f]>=1&&u(m[f],m[f+1]);if(m.length>1){let f=.5*(m[0]+m[1]);if(s.some(p=>p.v===f))for(let[p,d]of[[m[0],f],[f,m[1]]]){if(l>=n||d-p<1)break;let h=c.findIndex(b=>b.lo===p&&b.hi===d);h>=0&&c.splice(h,1),u(p,d)}}for(;l<n&&c.length>0;){let f=0;for(let 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r=t.ds?.length??(Array.isArray(e)?e.length:1),n=Pi(e,r),o=new Array(r),a=0;for(let s=0;s<r;s++)a+=n[Math.min(s,n.length-1)],o[s]=a;return o}},deriv:{arity:1,call:([e],t)=>{let r=cS(t,0,"deriv"),n=r.length,o=Pi(e,n),a=new Array(n);for(let s=0;s<n;s++){let i=Math.max(0,s-1),c=Math.min(n-1,s+1),l=0;for(let u=i;u<c;u++)l+=r[u];a[s]=l>0?(o[c]-o[i])/l:0}return a}}},Pa={g:9.81,pi:Math.PI,e:Math.E,nan:NaN,inf:1/0},Li={fleetmin:"min",fleetmax:"max"};function to(e){switch(e.kind){case"call":return Object.hasOwn(Li,e.name)||e.args.some(to);case"unary":return to(e.arg);case"binary":return to(e.left)||to(e.right);default:return!1}}var C2=e=>typeof e=="number"?`${e}`:`between ${e[0]} and ${e[1]}`;function T2(e,t){let r=Array.from({length:t.length+1},(n,o)=>o);for(let n=1;n<=e.length;n++){let o=[n];for(let a=1;a<=t.length;a++)o[a]=Math.min(r[a]+1,o[a-1]+1,r[a-1]+(e[n-1]===t[a-1]?0:1));r=o}return r[t.length]}function P2(e,t){let 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0);return{id:t.id,label:t.label,description:t.description,events:t.events,metrics:l,...t.track?{track:t.track}:{},...t.battery?{battery:t.battery}:{},...t.traceEventId?{traceEventId:t.traceEventId}:{},...m?{score:m}:{},...f?{field:f}:{},definition:t}}var Wt={accel:"accel",skidpad:"skidpad",autocross:"autocross",endurance:"endurance"},jM=[{kind:"straightLineAccel",id:Wt.accel,label:"Acceleration (75 m)",distance:75},{kind:"constantRadius",id:Wt.skidpad,label:"Skidpad",radius:8.375},{kind:"trackLap",id:Wt.autocross,label:"Autocross (1 lap)",laps:1},{kind:"trackLap",id:Wt.endurance,label:"Endurance (22 km)",distance:22e3}],UM=[{key:"autocross",label:"Autocross lap",format:"time",lowerBetter:!0,expr:"autocross.time"},{key:"accel",label:"Acceleration",format:"time",lowerBetter:!0,expr:"accel.time"},{key:"skidpad",label:"Skidpad 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o=e.n,a=e.closed!==!1,s=(l,u)=>{let m=l+u;return a?(m%o+o)%o:m>=0&&m<o?m:null},i=[...t];for(let l=0;l<o;l++){if(r[l]==="free")continue;let u=n(l);if(u!==0)for(let m of[-2,-1,1,2]){let f=s(l,m);f!=null&&(i[f]-=ur(e,f,l)*u)}}let c={n:o,closed:e.closed,diag:[...e.diag],off1:[...e.off1],off2:[...e.off2]};for(let l=0;l<o;l++){if(r[l]==="free")continue;c.diag[l]=1,c.off1[l]=0,c.off2[l]=0;let u=s(l,-1),m=s(l,-2);u!=null&&(c.off1[u]=0),m!=null&&(c.off2[m]=0),i[l]=n(l)}return oS(c,i)}var S2=1e-4;function cS(e,t,r,n,o={}){let a=e.n,s=o.maxIter??60,i=o.tol??1e-9,c=o.bounds,l=(d,h)=>Math.min(n[h],Math.max(r[h],d)),u=r.map((d,h)=>c?.[h]==="hi"?n[h]:c?.[h]==="lo"?r[h]:l(0,h)),m=iS(e,t,u),f=new Array(a).fill("free"),p=!1;for(let d=0;d<s;d++){let h=nm(e,u).map((x,M)=>x-t[M]),b=!1;for(let x=0;x<a;x++){let M=u[x]<=r[x]+i&&h[x]>=-i?"lo":u[x]>=n[x]-i&&h[x]<=i?"hi":"free";M!==f[x]&&(f[x]=M,b=!0)}if(p&&!b)return{x:u,iterations:d+1,converged:!0,bounds:f};let 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t=e,r=t.pressure??{},n=Wb(jb(r.hPa,1013.25),G2,K2),o=r.kind==="qnh"?{kind:"qnh",hPa:n}:r.kind==="station"?{kind:"station",hPa:n}:{kind:"standard"};return{source:t.source==="venue"?"venue":"car",altitudeM:Wb(jb(t.altitudeM,0),B2,$2),pressure:o,humidityPct:Wb(jb(t.humidityPct,0),0,100)}}var Oi=e=>e?.source==="venue";var X2=Math.PI/180;function Q2(){return{ucaFront:[110,245,330],ucaRear:[-110,258,335],lcaFront:[130,185,112],lcaRear:[-130,205,116],tieInner:[-92,210,132],uprightUpper:[-6,542,352],uprightLower:[4,560,120],tieOuter:[-78,556,146],wheelCenter:[0,600,230],pushrodOuter:[8,520,128],rockerPivotA:[70,380,440],rockerPivotB:[-50,383,442],rockerToPushrod:[10,480,420],rockerToDamper:[10,280,440],damperChassis:[10,275,245]}}function q2(){return{ucaFront:[120,250,340],ucaRear:[-120,262,345],lcaFront:[140,190,118],lcaRear:[-140,210,122],tieInner:[120,215,150],uprightUpper:[-4,548,360],uprightLower:[6,566,126],tieOuter:[108,560,158],wheelCenter:[0,610,232],pushrodOuter:[10,526,132],rockerPivotA:[70,385,450],rockerPivotB:[-50,388,452],rockerToPushrod:[12,486,430],rockerToDamper:[12,286,450],damperChassis:[12,281,255]}}function Xb(e){let t=-e*X2;return Q([0,Math.cos(t),Math.sin(t)])}function pm(){let e={rodType:"push",pushrodAttach:"lowerArm",steerMode:"rack",spinAxis:Xb(-1),loadedRadius:230,springRate:35,rackAxis:[0,1,0]};return{hardpoints:Q2(),config:e}}function Vi(){let e={rodType:"pull",pushrodAttach:"lowerArm",steerMode:"fixed",spinAxis:Xb(-1.5),loadedRadius:232,springRate:40,rackAxis:[0,1,0]};return{hardpoints:q2(),config:e}}function dm(){let e=[-25,635,460],t=[-40,600,710],r={layout:"mcpherson",actuation:"direct",rodType:"push",pushrodAttach:"upright",steerMode:"rack",spinAxis:Xb(-.5),loadedRadius:320,springRate:38,rackAxis:[0,1,0],rackTravel:70};return{hardpoints:{ucaFront:[49,426,430],ucaRear:[-99,425,431],lcaFront:[60,395,180],lcaRear:[-280,415,185],tieInner:[-150,375,256],uprightUpper:[...e],uprightLower:[0,720,145],tieOuter:[-140,705,230],wheelCenter:[0,775,320],pushrodOuter:[...e],damperChassis:[...t],rockerPivotA:[...t],rockerPivotB:[...t],rockerToPushrod:[...e],rockerToDamper:[...t]},config:r}}function Qb(){return{front:pm(),rear:Vi(),config:{wheelbase:1600,trackFront:1200,trackRear:1220,frontAxleX:800}}}var Z2=Math.PI/180;function dS(e){let t=-e*Z2;return Q([0,Math.cos(t),Math.sin(t)])}function qb(e,t){let r=([l,u,m])=>[l*t.kx,u*t.ky,m*t.kz],n=e.hardpoints,o=Object.fromEntries(Object.entries(n).map(([l,u])=>[l,r(u)])),a=(l,u)=>{o[l]=[o[l][0],o[l][1],o[l][2]+u]},s=t.lowerInnerDz??0,i=t.upperInnerDz??0;a("lcaFront",s),a("lcaRear",s),a("tieInner",s),a("ucaFront",i),a("ucaRear",i);let c={...e.config,spinAxis:dS(t.camberDeg),loadedRadius:t.loadedRadius,springRate:t.springRate};if(t.actuation==="direct"){let l=o.pushrodOuter,u=[l[0],l[1]*.7,l[2]+1.3*t.loadedRadius];o.damperChassis=u,o.rockerPivotA=u,o.rockerPivotB=u,o.rockerToPushrod=l,o.rockerToDamper=u,c={...c,actuation:"direct",rodType:"push",pushrodAttach:"lowerArm"}}else c={...c,actuation:"rocker"};for(let l of Object.keys(o))o[l]=J2(o[l]);return{hardpoints:o,config:c}}function J2(e){return e.map(t=>Math.round(t*10)/10+0)}function oo(e){return{name:e.name,front:qb(pm(),e.front),rear:qb(Vi(),e.rear),config:{wheelbase:e.wheelbase,trackFront:e.trackFront,trackRear:e.trackRear,frontAxleX:e.wheelbase/2}}}function La(e,t,r){return{...e,front:{...e.front,config:{...e.front.config,loadedRadius:t}},rear:{...e.rear,config:{...e.rear.config,loadedRadius:r}}}}var Da=600,ao=610,Ea=230,so=232;function io(){let e=Qb();return{...e,name:"Formula Student",front:{...e.front,config:{...e.front.config,actuation:"rocker"}},rear:{...e.rear,config:{...e.rear.config,actuation:"rocker"}}}}function Zb(){return oo({name:"Formula 1",wheelbase:3600,trackFront:1600,trackRear:1600,front:{kx:1.3,ky:800/Da,kz:355/Ea,lowerInnerDz:-5,upperInnerDz:0,camberDeg:-3,loadedRadius:355,springRate:200},rear:{kx:1.3,ky:800/ao,kz:355/so,lowerInnerDz:35,upperInnerDz:15,camberDeg:-1.5,loadedRadius:355,springRate:220}})}function Bi(){return La(oo({name:"GT 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fS(){return La({name:"Cup car",front:e_(55,-25,-23,-3.5,150,55),rear:qb(Vi(),{kx:1.15,ky:820/ao,kz:320/so,lowerInnerDz:37,upperInnerDz:12,camberDeg:-2,loadedRadius:320,springRate:130,actuation:"direct"}),config:{wheelbase:2650,trackFront:1660,trackRear:1640,frontAxleX:2650/2},chassis:{boxes:[],body:"cup"}},306.3,311.6)}function hS(){return{...La(oo({name:"Stock car",wheelbase:2794,trackFront:1650,trackRear:1650,front:{kx:1.2,ky:825/Da,kz:355/Ea,lowerInnerDz:20,upperInnerDz:5,camberDeg:-2.5,loadedRadius:355,springRate:175,actuation:"direct"},rear:{kx:1.2,ky:825/ao,kz:355/so,lowerInnerDz:40,upperInnerDz:15,camberDeg:-1.5,loadedRadius:355,springRate:150,actuation:"direct"}}),343.8,345.3),chassis:{boxes:[],body:"nascar"}}}function bS(){let e=La(oo({name:"Hill-climb prototype",wheelbase:2550,trackFront:1580,trackRear:1540,front:{kx:1.1,ky:790/Da,kz:300/Ea,lowerInnerDz:10,upperInnerDz:5,camberDeg:-2.5,loadedRadius:300,springRate:90},rear:{kx:1.1,ky:770/ao,kz:300/so,lowerInnerDz:30,upperInnerDz:15,camberDeg:-1.5,loadedRadius:300,springRate:120}}),293.3,290.8);return{...e,front:{...e.front,config:{...e.front.config,rackTravel:45}},chassis:{boxes:[],body:"hillclimb"}}}function gS(){let e=La(oo({name:"Race truck",wheelbase:3700,trackFront:2050,trackRear:1950,front:{kx:1.5,ky:1025/Da,kz:506/Ea,lowerInnerDz:40,upperInnerDz:10,camberDeg:-.5,loadedRadius:506,springRate:200,actuation:"direct"},rear:{kx:1.5,ky:975/ao,kz:506/so,lowerInnerDz:60,upperInnerDz:20,camberDeg:-.25,loadedRadius:506,springRate:160,actuation:"direct"}}),490.4,495.6);return{...e,front:{...e.front,config:{...e.front.config,rackTravel:60}},chassis:{boxes:[],body:"truck"}}}var tt=(e,t,r)=>({value:e,label:t,unit:r}),yS=(e,t)=>({...nr[e],value:t});function xS(e,t,r){let n=[],o=[];for(let a=0;a<=r;a+=500)n.push(a),o.push(a<=t?e:e*t/a);return{rpm:n,torque:o}}function co(e,t,r,n,o){let a=[],s=[];for(let i=0;i<=r;i+=500){a.push(i);let c=i<=t?n:Math.min(n,9549*e/i);s.push(c/o)}return{rpm:a,torque:s}}function Gr(e){let t={name:e.name,m:tt(e.m,"vehicle mass (with driver)","kg"),A:tt(e.A,"frontal area","m^2"),c_l:tt(e.cl,"downforce coefficient","-"),c_w:tt(e.cw,"drag coefficient","-"),l_to_d_ratio:tt(e.cw>0?e.cl/e.cw:0,"lift-to-drag ratio","-"),driven_wheels:tt(e.drivenWheels,"driven wheels","-"),fr_0:tt(-.012,"rolling-resistance coefficient","-"),front_aero_diss:tt(e.frontAero,"front aero distribution","-"),front_mass_diss:tt(e.frontMass,"front mass distribution","-"),r_dyn:tt(e.rDyn,"dynamic tyre radius","m"),rho:tt(1.2,"air density","kg/m^3"),gear_ratio:tt(e.gearRatio,"gear ratio","-"),effi_pgb:tt(e.drivetrainEfficiency,"drivetrain efficiency","-"),capacity:tt(e.capacityAh,"pack capacity","Ah"),soc:tt(1,"state of charge","-"),ocv:tt(e.ocv,"pack open-circuit voltage","V"),power_scale:tt(1,"power scaling factor","-"),power_limit_kw:yS("power_limit_kw",e.powerLimitKw),motor:e.motor,tireModelId:e.tireModelId};e.motorCount!==void 0&&(t.motorCount=e.motorCount),e.driveline&&(t.driveline=structuredClone(e.driveline)),e.motorPlacement&&(t.motorPlacement=e.motorPlacement);for(let[r,n]of Object.entries(e.dynamics))t[r]=yS(r,n);return t}var Ia={name:"Formula Student",m:300,A:1,cl:3,cw:1.3,frontMass:.47,frontAero:.45,rDyn:.222,drivenWheels:2,gearRatio:11.5,motor:xS(25,15e3,2e4),capacityAh:12,ocv:550,drivetrainEfficiency:.95,powerLimitKw:80,tireModelId:"t3",dynamics:{grip_scale:1,stiffness_scale:1,endurance_reserve:5,cg_height:300,tire_vertical_rate:110,unsprung_mass:8,brake_balance:.62,arb_front:20,arb_rear:15,damper_front:2.5,damper_rear:2.5,spring_front:35,spring_rear:40,mr_front:.94,mr_rear:.92,cop_long:.55,cop_height:300,ride_height_front:30,ride_height_rear:35,I_yaw:140,I_roll:45,I_pitch:130,camber_front_deg:-1,camber_rear_deg:-1.5,track_front:1200,track_rear:1220,wheelbase:1600,rc_front:5,rc_rear:4}},eg={name:"Formula 1",m:798,A:1.5,cl:3,cw:.9,frontMass:.46,frontAero:.44,rDyn:.35,drivenWheels:2,gearRatio:4.9,motor:co(735,2e3,12500,2500,2),motorCount:1,driveline:{rear:xt.clutch},capacityAh:200,ocv:800,drivetrainEfficiency:.9,powerLimitKw:0,tireModelId:"t4",dynamics:{grip_scale:1,stiffness_scale:1,cg_height:290,tire_vertical_rate:300,unsprung_mass:30,brake_balance:.58,arb_front:250,arb_rear:150,damper_front:6,damper_rear:6,spring_front:200,spring_rear:220,mr_front:.95,mr_rear:.91,heave_spring_front:800,heave_spring_rear:800,tire_vertical_damping:.5,cop_long:.56,cop_height:400,ride_height_front:35,ride_height_rear:70,I_yaw:800,I_roll:150,I_pitch:800,camber_front_deg:-3,camber_rear_deg:-1.5,track_front:1600,track_rear:1600,wheelbase:3600,rc_front:-4,rc_rear:78}},fm={name:"GT 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truck",m:5300,A:6.2,cl:-.1,cw:.65,frontMass:.6,frontAero:.6,rDyn:.502,drivenWheels:2,gearRatio:3.55,motor:co(880,100,3e3,88e3,2),motorCount:1,driveline:{rear:xt.spool},capacityAh:200,ocv:800,drivetrainEfficiency:.9,powerLimitKw:0,tireModelId:"t10",dynamics:{grip_scale:1,stiffness_scale:1,cg_height:950,tire_vertical_rate:1e3,unsprung_mass:350,brake_balance:.75,arb_front:350,arb_rear:150,damper_front:12,damper_rear:8.5,spring_front:200,spring_rear:160,mr_front:.81,mr_rear:.8,cop_long:.4,cop_height:1500,ride_height_front:110,ride_height_rear:240,I_yaw:16e3,I_roll:3500,I_pitch:16e3,camber_front_deg:-.5,camber_rear_deg:-.25,track_front:2050,track_rear:1950,wheelbase:3700,rc_front:95,rc_rear:134}};function Jb(e,t,r){return Gr(r({...structuredClone(e),name:t}))}var bm={[Ia.name]:Gr(Ia),"Formula Student +15% downforce":Jb(Ia,"Formula Student +15% downforce",e=>({...e,cl:e.cl*1.15,cw:e.cw*1.08})),"Formula Student -15 kg":Jb(Ia,"Formula Student -15 kg",e=>({...e,m:e.m-15})),"Formula Student +15% 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t_={bg:"#0e1116",panel:"#161b22",panel2:"#1c232d",border:"#2a323d",borderBright:"#39424e",sunken:"#11161c",ink:"#06090d"},r_={normal:"#d6dde6",dim:"#8b96a3",bright:"#e7ecf3",white:"#ffffff"},n_={label:"#c8d2dc",grid:"#39424e",gridFaint:"#232b35",empty:"#1a2028"},o_={accent:"#4aa3ff",accentInk:"#04121f",warn:"#ffb454",good:"#4ec9a0",bad:"#ff6b6b",badSoft:"#ff8f8f"},a_=["#f0e442","#7b68ee","#f7a8b8","#d55e00","#d8b4fe","#b5e48c"],gm={front:"#a6e22e",rear:"#00b4d8"},vS=["#5b4bd6","#4aa3ff","#4ec9a0","#f0e442"],ig={power:"#ffb454",traction:"#f0845c",front:gm.front,rear:gm.rear,grip:"#73c9b3",braking:"#b48aff",crest:"#e88fd0",below:"rgba(214, 221, 230, 0.32)"},s_={chassis:"#4aa3ff",ballJoint:"#ffb454",arm:"#b8c3cf",tie:"#73c9b3",pushrod:"#e5c65f",rocker:"#9f91d4",kingpin:"#d8c968",arbBar:"#cf7898",arbArm:"#b96b86",arbLink:"#ffb454",heaveSpring:"#7ad7f0",wheelCentre:"#e7ecf3",contactPatch:"#ff6b6b",ground:"#15222e",groundFaint:"#0b151f"},i_={x:"#ff6b6b",y:"#57c75a",z:"#4aa3ff"},c_={line:"#b4bfcb"},l_={compression:"#b48aff",tension:"#ff6b6b"},u_={fz:"#e7ecf3",fx:"#7ad7f0",fy:"#ff54c8"},m_={drivenLine:"#4d7cff",axis:"#eef3fa",slip:"#ffe81a",drive:ig.power,brake:ig.braking},p_={ground:"#101920",grid:"#1a2630",gridMajor:"#26343f",horizon:"#1d2833",bridge:"#6f7a86",coneLeft:"#2f63c9",coneRight:"#d9b51f",coneStart:"#ee7a2c"},d_={chassis:"#435160",volume:"#303b47",tyre:"#435160",tyreLine:"#39424e",tyreFace:"#1c232d"},f_={centreLine:"#4aa3ff",corridorFill:"rgba(74,163,255,0.10)",boundary:"#3d4956",racingLine:"#ffb454",start:"#e7ecf3",finish:"#ff6b6b",direction:"#8b96a3"},h_={SURFACE:t_,TEXT:r_,CHART:n_,ROLE:o_,SERIES:a_,AXLE:gm,LAP_SPEED:vS,LIMITER:ig,RIG:s_,AXIS:i_,CONSTRUCTION:c_,FORCE:l_,TYRE_FORCE:u_,REPLAY:m_,SCENERY:p_,BODY:d_,TRACK:f_},kS=e=>Object.fromEntries(Object.entries(e).map(([t,r])=>[t,Array.isArray(r)?Object.freeze([...r]):Object.freeze({...r})])),ym=kS(h_),vt=ym.SERIES,MS=(()=>{let e="#b06400",t="#d1343a",r={front:"#70bf03",rear:"#3392d0"},n={power:e,traction:"#d05a2a",front:r.front,rear:r.rear,grip:"#2a9a83",braking:"#7b55d0",crest:"#c2479f",below:"rgba(34, 39, 45, 0.28)"};return kS({SURFACE:{bg:"#f4f5f3",panel:"#fbfbfa",panel2:"#ffffff",border:"#d6dadd",borderBright:"#b7bec4",sunken:"#eceeeb",ink:"#ffffff"},TEXT:{normal:"#22272d",dim:"#5c6570",bright:"#0f1215",white:"#000000"},CHART:{label:"#3a424b",grid:"#c2c8cd",gridFaint:"#e2e5e7",empty:"#e8eae7"},ROLE:{accent:"#1a64c2",accentInk:"#ffffff",warn:e,good:"#0f8a66",bad:t,badSoft:"#e2696d"},SERIES:["#b5a11a","#2844e3","#f47ec1","#9b3a1b","#764299","#58b977"],AXLE:r,LAP_SPEED:["#4b3bc4","#1a64c2","#0f8a66","#a87e00"],LIMITER:n,RIG:{chassis:"#1a64c2",ballJoint:"#c27200",arm:"#56616d",tie:"#24907b",pushrod:"#a3820f",rocker:"#6656b8",kingpin:"#8f7f10",arbBar:"#b04d77",arbArm:"#9a4767",arbLink:"#c27200",heaveSpring:"#1688ad",wheelCentre:"#15181c",contactPatch:t,ground:"#e2e6e8",groundFaint:"#edf0f1"},AXIS:{x:"#d93a3a",y:"#2f9d34",z:"#1a64c2"},CONSTRUCTION:{line:"#5a6570"},FORCE:{compression:"#7b55d0",tension:t},TYRE_FORCE:{fz:"#15181c",fx:"#0f8fb0",fy:"#c8198f"},REPLAY:{drivenLine:"#2f5be0",axis:"#15181c",slip:"#c79a00",drive:n.power,brake:n.braking},SCENERY:{ground:"#dde3e1",grid:"#ccd3d1",gridMajor:"#b5bfbc",horizon:"#e8edf0",bridge:"#9aa3ab",coneLeft:"#2f63c9",coneRight:"#d9b51f",coneStart:"#ee7a2c"},BODY:{chassis:"#a9b3bd",volume:"#c7ced5",tyre:"#24282c",tyreLine:"#2c333a",tyreFace:"#c3cad0"},TRACK:{centreLine:"#1a64c2",corridorFill:"rgba(26,100,194,0.10)",boundary:"#a3acb4",racingLine:e,start:"#15181c",finish:t,direction:"#5c6570"}})})();var SS=e=>{let t=/^#([0-9a-f]{3}|[0-9a-f]{6})$/i.exec(e.trim());return t?`#${(t[1].length===3?t[1].replace(/./g,n=>n+n):t[1]).toLowerCase()}`:null},yte=(()=>{let e=new Map,t=["SERIES","AXLE","LAP_SPEED","LIMITER","ROLE","RIG","FORCE","TYRE_FORCE","REPLAY","AXIS","TRACK","CONSTRUCTION","TEXT","CHART","SCENERY","BODY","SURFACE"];for(let r of t){let n=ym[r],o=MS[r];for(let a of Object.keys(n)){let s=SS(n[a]);s&&!e.has(s)&&e.set(s,o[a])}}return e})();var AS=(e,t)=>new Set(t.flatMap(r=>{let n=e[r];return Array.isArray(n)?[...n]:Object.values(n)}).map(SS).filter(r=>r!==null)),xte=AS(MS,["SERIES","AXLE","LAP_SPEED","LIMITER","ROLE","RIG","FORCE","TYRE_FORCE","REPLAY","AXIS","TRACK","CONSTRUCTION"]),Rte=AS(ym,Object.keys(ym).filter(e=>e!=="SURFACE"));function cg(){return{kind:"simple",name:"Simple motor",rpm:[0,16e3,2e4],torque:[21,21,14],efficiency:.95}}function lg(){return{kind:"map",name:"Mapped 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n=e.x*Math.cos(t)-e.y*Math.sin(t),o=e.x*Math.sin(t)+e.y*Math.cos(t);return{x:n*Math.cos(r)+o*Math.sin(r),y:o*Math.cos(r)-n*Math.sin(r)}}function nA(e,t){let r=tA(t);if(r===$g)return e;let n=o=>Math.max(-1,Math.min(1,o));return{...e,heave:e.heave-r.rise,pitch:Math.asin(n(Math.sin(e.pitch)-r.sinPitch)),roll:Math.asin(n(Math.sin(e.roll)-r.sinRoll))}}function Kg(e,t,r){let n=nA({heave:0,pitch:0,roll:0,steer:0},r);return e-ld(n,[t,0,0],No(r.vehicle.config))}var z_=180/Math.PI;function Hg(e,t){return!e.valid||!e.ic?!1:Math.hypot(e.ic[0]-e.cp[0],e.ic[1]-e.cp[1])<=t}function Dm(e,t,r){let n=Ze(t,e.vehicle.config),o=gt(e,r),a=su(e,t,o[t]),s=a.at("uprightUpper"),i=a.at("uprightLower"),c=a.at("contactPatch"),l=a.at("wheelCenter"),u=A=>{let P=a.velocity(A);return[P[0],P[2]]},m=u(c),f=u(l),p=[c[0],c[2]],d=[l[0],l[2]];if(!a.solved)return{ic:null,line:null,cp:p,wc:d,road:[1,0],swingArmAngleDeg:NaN,tanTheta:NaN,tanThetaHub:NaN,valid:!1,unsolved:!0,sinAngle:0};let h=Ji(e,{FL:o.FL.ground,FR:o.FR.ground,RL:o.RL.ground,RR:o.RR.ground}),b=Math.hypot(h[0],h[2]),g=[h[0]/b,h[2]/b],y=[g[1],-g[0]],x=A=>{let P=A[0]*g[0]+A[1]*g[1];return Math.abs(P)>1e-9?-(A[0]*y[0]+A[1]*y[1])/P:0},M=a.omega[1],v=Math.hypot(m[0],m[1]),R=Math.abs(M)*1e9>v?[p[0]+m[1]/M,p[1]-m[0]/M]:null,F=R?(A=>{let P=[s[0]-A[0],s[2]-A[1]],L=[i[0]-A[0],i[2]-A[1]];return Math.abs(P[0]*L[1]-P[1]*L[0])/(Math.hypot(...P)*Math.hypot(...L))})(R):0;if(!(Math.abs(m[0]*g[0]+m[1]*g[1])>1e-9))return{ic:R,line:null,cp:p,wc:d,road:y,swingArmAngleDeg:0,tanTheta:0,tanThetaHub:0,valid:!1,sinAngle:F};let w=[m[1]/v,-m[0]/v],C=R?[R[0]-p[0],R[1]-p[1]]:[n.isFront?-1:1,0],T=w[0]*C[0]+w[1]*C[1]<0?[-w[0],-w[1]]:w,S=x(m);return{ic:R,line:T,cp:p,wc:d,road:y,swingArmAngleDeg:Math.atan(S)*z_,tanTheta:S,tanThetaHub:x(f),valid:!0,sinAngle:F}}function oA(e,t,r,n){let o=r/Math.max(1e-6,n.cgHeight),a=t==="front",s=a?n.drive.front:1-n.drive.front,i=a?n.brakeBalanceFront:1-n.brakeBalanceFront,c=(a?n.drive.inboard.front:n.drive.inboard.rear)?e.tanThetaHub:e.tanTheta,l=(a?n.brakeInboard?.front:n.brakeInboard?.rear)?e.tanThetaHub:e.tanTheta,u=a?-1:1;return{brake:u*100*l*o*i,drive:u*100*c*o*s}}var W_=180/Math.PI,j_=Math.PI/180,zg=.5,Em=2,Yg=.25,U_={heave:0,pitch:0,roll:0,steer:0},X_={FL:"FR",FR:"FL",RL:"RR",RR:"RL"},Im=e=>e.ok?e.state:{...e.nearest,converged:!1};function Wg(e,t,r){return t.state?t.solved===!1?{...t.state,converged:!1}:t.state:Im(ge(e,t.travel,t.steer,void 0,r))}var aA=new WeakMap;function sA(e,t){let r=e.ctx[t],n=$e(e.vehicle,t).config.loadedRadius,o=qt(n,e.kc,t),a=aA.get(r);a||(a=new Map,aA.set(r,a));let s=a.get(o);if(!s){let i=qr(t,e.vehicle.config,U_,e.vehicle);s=Im(ge(r,i.travel,i.steer,void 0,o===n?void 0:{loadedRadius:o})),a.set(o,s)}return s}var mr=(e,t)=>!e||!e.lo.converged||!e.hi.converged?NaN:(t(e.hi)-t(e.lo))/(2*e.step),iA=(e,t,r)=>{if(!e||!e.lo.converged||!e.hi.converged)return NaN;let n=r(e.hi)-r(e.lo);return Math.abs(n)<1e-9?NaN:(t(e.hi)-t(e.lo))/n};function lA(e,t,r,n,o){let a=e.vehicle.config,s=Io(r),i=$e(e.vehicle,r),c=Ze(r,a),l=e.ctx[r],u=gt(e,t),m=u[r],f={travel:m.travel,steer:m.steer},p=m.rigid?void 0:{loadedRadius:m.loadedRadius},d=Wg(l,m,p),h=sA(e,r),b={lo:Im(ge(l,f.travel-zg,f.steer,void 0,p)),hi:Im(ge(l,f.travel+zg,f.steer,void 0,p)),step:zg},g=c.isFront?{lo:Ee(l,d.beta,f.steer-Em,void 0,p),hi:Ee(l,d.beta,f.steer+Em,void 0,p),step:Em}:null,y=z=>{let j=gt(e,{...t,roll:t.roll+z*j_})[r];return Wg(l,j,j.rigid?void 0:{loadedRadius:j.loadedRadius})},x={lo:y(-Yg),hi:y(Yg),step:Yg},M=q_(e,t,r,c.isFront,u,g),v=Nt(d.points.contactPatch,c),R=Nt(h.points.contactPatch,c),k=Math.abs(v[1])-Math.abs(R[1]),F=X_[r],w=u[F],C=Wg(e.ctx[F],w,w.rigid?void 0:{loadedRadius:w.loadedRadius}),T=C.converged?k+Math.abs(C.points.contactPatch[1])-Math.abs(sA(e,F).points.contactPatch[1]):NaN,S=o??or(e,t,s),A=iu(S,bt(i)),P=A?null:N1(S),L=c.sideSign>0?S.icRight:S.icLeft,D=L?Math.hypot(L[0]-v[1],L[1]-v[2]):1/0,E=Dm(e,r,t),$=E.ic?Math.hypot(E.ic[0]-E.cp[0],E.ic[1]-E.cp[1]):1/0,O=oA(E,s,a.wheelbase,n),W=-mr(b,z=>z.points.damperLength),I=i.config.springRate,_=mr(x,z=>z.metrics.camber),V=Ji(e,{FL:u.FL.ground,FR:u.FR.ground,RL:u.RL.ground,RR:u.RR.ground}),N=e.kc?.loadCase,G=z=>N?Lm(z,r,a,V,{loadedRadius:m.loadedRadius,patchShift:N.patchShift[r]}):z.metrics,K=G(d);return{id:r,converged:d.converged,travel:d.travel,camber:d.metrics.camber,camberRoad:Gg(d.points.spinAxis,r,a,V),toe:d.metrics.toe,caster:K.caster,kpi:K.kpi,scrubRadius:K.scrubRadius,mechanicalTrail:K.mechanicalTrail,scrubAtWheel:K.scrubAtWheel,trailAtWheel:K.trailAtWheel,kingpinOffset:K.kingpinOffset,casterOffset:K.casterOffset,steeringArm:d.metrics.steeringArm,camberGain:mr(b,z=>z.metrics.camber),bumpSteer:mr(b,z=>z.metrics.toe),trackScrubRate:mr(b,z=>Math.abs(Nt(z.points.contactPatch,c)[1])),casterGain:mr(b,z=>G(z).caster),kpiGain:mr(b,z=>G(z).kpi),scrubGain:mr(b,z=>G(z).scrubRadius),trailGain:mr(b,z=>G(z).mechanicalTrail),...c.isFront?{camberPerSteer:iA(g,z=>z.metrics.camber,z=>z.metrics.toe),steerJacking:-iA(g,z=>z.points.contactPatch[2],z=>z.metrics.toe),...M!==void 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Q_(e,t,r,n){if(e.config.actuation==="decoupled")return{};let o=n?{droop:n.droopStated?n.droop:null,bump:n.bump}:Vo(t,e.config.coilover),a=t-r;return{...o.droop!==null?{damperToExtended:a-o.droop}:{},...o.bump!==null?{damperToClosed:o.bump-a}:{}}}function q_(e,t,r,n,o,a){if(!a||!n)return;let s=Zc(e,t,"front"),i=e.kc;if(!s||!i)return;let c=["FL","FR"],l=[0,0],u=[0,0],m={lo:[],hi:[]},f=0;for(let h=0;h<2;h++){let b=c[h],g=o[b],y=e.ctx[b],x=g.rigid?void 0:{loadedRadius:g.loadedRadius},R=(b==="FR"?1:-1)*(r==="FR"?1:-1)*Em,k=g.state?{q:[...g.state.pose.t,...g.state.pose.omega],phi:g.state.points.rockerAngle}:void 0,F=ht(ge(y,g.travel,g.steer-R,k,x)),w=ht(ge(y,g.travel,g.steer+R,k,x));if(!F||!w)return NaN;l[h]=w.points.contactPatch[2]-F.points.contactPatch[2],u[h]=gr(i.curve[b],g.travel,w.points.damperLength)-gr(i.curve[b],g.travel,F.points.damperLength),m.lo.push(F),m.hi.push(w),b===r&&(f=w.metrics.toe-F.metrics.toe)}let p=i.elements?.front;if(p){let h=[o.FL.travel,o.FR.travel],b=ls(p,h,[m.hi[0],m.hi[1]]),g=ls(p,h,[m.lo[0],m.lo[1]]);u[0]+=b[0]-g[0],u[1]+=b[1]-g[1]}return Math.abs(f)>1e-9?s([0,0],l,u)[r==="FL"?0:1]/f:NaN}function ec(e,t,r,n,o){return lA(e,t,r==="front"?"FL":"RL",n,o)}function jg(e,t,r,n){let o=ec(e,t,"front",r,n?.front),a=ec(e,t,"rear",r,n?.rear);return{front:o,rear:a,wheelbaseChange:o.longitudinal-a.longitudinal}}var _m=Math.PI/180,tc={travelSteps:9,heaveSteps:5,rollSteps:4,rackSteps:6},Nm={travelMin:-25,travelMax:25,rollMaxDeg:3,rollAtLimitDeg:2.5};function Z_(e){let t=e.params;return{cgHeight:t.cg_height?dt({...t,surveyedRadiusFront:e.vehicle.front.config.loadedRadius,surveyedRadiusRear:e.vehicle.rear.config.loadedRadius}).cgHeight:300,...Zf(t),drive:Xf(t)}}function uA(e,t){for(let r=1;r<e.length;r++){let n=3*t(r)+10;for(let o of["cpLeft","cpRight"]){let a=e[r-1][o],s=e[r][o];if(a&&s&&Math.hypot(s[0]-a[0],s[1]-a[1])>n)return r}}return-1}function Ug(e,t=tc,r=Nm,n){let o=null,a=(S,A)=>(o||(o={violation:S,reason:A}),null),s=e.vehicle,i=S=>S==="front"?s.front:s.rear,c=null,l=null,u=()=>{if(c)return c;if(n)try{let S=n();if(S)return c=Ct(s,S.kc),l=S.cgHeight,c}catch{a(500,"the car could not be stood on its tyre: its rates did not assemble")}return c=Ct(s)},m=S=>S==="front"?"FL":"RL",f=S=>{let A=u();if(!A.kc)return;let P=i(S).config.loadedRadius,L=qt(P,A.kc,m(S));return L===P?void 0:{loadedRadius:L}},p=(S,A)=>-us(u(),m(S),A),d=new Map,h=new Map,b=new Map,g=new Map,y=new Map,x=new Map,M=new Map,v=null,R=()=>{if(v)return v;u();let S=Z_(e);return v=l!==null&&Number.isFinite(l)?{...S,cgHeight:l}:S},k,F,w=()=>{if(F!==void 0)return F;let S=ol(u().ctx.FL,Ot(s.front.config));return F=S?al(S):null,F},C=(S,A,P)=>{if(S.has(A))return S.get(A)??null;let L=P();return S.set(A,L),L};return{car:e,density:t,envelope:r,get failure(){return o},axisLength:(S,A)=>{let P=i(S),L=P.hardpoints;return A==="uca"&&P.config.layout==="mcpherson"?NaN:A==="uca"?ve(L.ucaFront,L.ucaRear):ve(L.lcaFront,L.lcaRear)},linkLength:S=>{let A=i(S).hardpoints;return ve(A.tieInner,A.tieOuter)},compliance:S=>C(h,S,()=>ef(i(S))??null),sweep:S=>C(d,S,()=>{let A;try{A=Ge(i(S),{travelMin:r.travelMin,travelMax:r.travelMax,steps:t.travelSteps})}catch{return a(500,`the ${S} travel sweep threw`)}if(!A.covered){let L=A.samples.map($=>$.travel),D=Math.max(...L)-Math.min(...L),E=r.travelMax-r.travelMin;return a(Math.max(0,E-D),`the ${S} linkage reaches only ${D.toFixed(0)} mm of the ${E.toFixed(0)} mm travel range`)}if(A.fold)return a(200,`the ${S} travel(beta) folds \u2014 the suspension goes over centre in range`);let P=A.samples.filter(L=>!L.converged).length;if(P>0)return a(100+10*P,`${P} of ${A.samples.length} ${S} travel solves did not converge`);if(S==="front"&&i("front").config.steerMode==="rack"){let L=w();if(L)return a(L.violation,L.reason)}return A}),rcHeave:S=>C(b,S,()=>{let 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FA=new WeakMap;function Gm(e){let t=FA.get(e);return t||(t=e.metrics.filter(Sc).map(r=>{let{label:n,unit:o}=SN(r.label,r.format==="time");return{id:`event.${e.id}.${r.key}`,group:`Events \xB7 ${e.label}`,groupShort:"Events",label:n,unit:o,scale:AN(o),scope:"car",cost:"session",read:a=>a.session(e.id)?.[r.key]??NaN}}),FA.set(e,t),t)}var i0=Ta.flatMap(Gm);var Km=[...o0,...a0,...s0,...i0],Va=Object.fromEntries(Km.map(e=>[e.id,e]));var wA={all:Km,byId:Va},CA=new WeakMap;function Kr(e=[]){if(e.length===0)return wA;let t=CA.get(e);if(t)return t;let r=Eb(e).filter(n=>!Pa(n.id)).flatMap(Gm);return t=r.length?{all:[...Km,...r],byId:{...Va,...Object.fromEntries(r.map(n=>[n.id,n]))}}:wA,CA.set(e,t),t}var lc=180/Math.PI,Ba=Math.PI/180,wN=.2;function Hm(e,t){let r=H(t,e);return Q(r[0]<0?ed(r):r)}var 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r=jt[t],n=e[r.ball],o=TA(e,t),a=Ur(n,e[r.fore],o),s=H(a,n),i=Math.hypot(s[0],s[1],s[2]),{e1:c,e2:l}=PA(o),u=i>0?U(s,1/i):c;return{...zm(o),clock:Math.atan2(X(u,l),X(u,c))*lc,len:i,sFront:X(H(e[r.fore],a),o),sRear:X(H(e[r.aft],a),o)}}function l0(e,t){let r=Ym(e.side,e.plan),{e1:n,e2:o}=PA(r),a=ee(U(n,Math.cos(e.clock*Ba)),U(o,Math.sin(e.clock*Ba))),s=ee(t,U(a,e.len));return{fore:ee(s,U(r,e.sFront)),aft:ee(s,U(r,e.sRear))}}function LA(e,t,r,n){let o=jt[t],a={...Hr(e,t),[r]:n},{fore:s,aft:i}=l0(a,e[o.ball]);return{...e,[o.fore]:s,[o.aft]:i}}function DA(e,t){return t==="clock"?e.len:Math.abs(e.sFront-e.sRear)/2}function Um(e,t,r){return t==="len"?r:Wm(DA(e,t),r)}function u0(e,t,r){return t==="len"?r:jm(DA(e,t),r)}var po=["side","plan","atY","atZ"],fo={fore:"rockerPivotA",aft:"rockerPivotB"},TN=5,EA=e=>Hm(e.rockerPivotA,e.rockerPivotB);function $a(e){return Math.hypot(...H(e.rockerPivotB,e.rockerPivotA))<TN?"the rocker\u2019s two pivots are the same point, so there is no axis to describe":uc(EA(e))?null:"the rocker\u2019s pivot axis is nearly across the car, where its side- and plan-view angles stop describing it"}function xn(e){let t=EA(e),r=uc(t)?t:[1,0,0],n=e.rockerPivotA,o=ee(n,U(r,-n[0]/r[0]));return{...zm(r),atY:o[1],atZ:o[2],sA:X(H(n,o),r),sB:X(H(e.rockerPivotB,o),r)}}function m0(e){let t=Ym(e.side,e.plan),r=[0,e.atY,e.atZ];return{a:ee(r,U(t,e.sA)),b:ee(r,U(t,e.sB))}}function IA(e,t,r){if($a(e))return e;let{a:n,b:o}=m0({...xn(e),[t]:r});return{...e,rockerPivotA:n,rockerPivotB:o}}var _A=e=>Math.abs(e.sA-e.sB)/2;function p0(e,t,r){return t==="side"||t==="plan"?Wm(_A(e),r):r}function d0(e,t,r){return t==="side"||t==="plan"?jm(_A(e),r):r}var Xt={front:"Front",rear:"Rear"},Ut=["x","y","z"],Oe=(e,t)=>t==="front"?e.front:e.rear,pc=(e,t,r)=>t==="front"?{...e,front:r}:{...e,rear:r},NA=[{kind:"inboard",keys:[{key:"ucaFront",label:"UCA front pivot"},{key:"ucaRear",label:"UCA rear pivot"},{key:"lcaFront",label:"LCA front pivot"},{key:"lcaRear",label:"LCA rear pivot"},{key:"tieInner",label:"tie/toe link inner"}]},{kind:"outboard",keys:[{key:"uprightUpper",label:"upper ball joint"},{key:"uprightLower",label:"lower ball joint"},{key:"tieOuter",label:"tie/toe link outer"},{key:"wheelCenter",label:"wheel centre"}]},{kind:"actuation",keys:[{key:"pushrodOuter",label:"push/pull rod outer"},{key:"rockerPivotA",label:"rocker pivot A"},{key:"rockerPivotB",label:"rocker pivot B"},{key:"rockerToPushrod",label:"rocker \u2014 rod end"},{key:"rockerToDamper",label:"rocker \u2014 damper end"},{key:"damperChassis",label:"damper chassis mount"}]}],OA={damperChassis:"strut top mount",pushrodOuter:"strut lower mount"},ho=30;function PN(e){let t=[];for(let r of["front","rear"]){let n=Oe(e.vehicle,r).config.layout==="mcpherson";for(let o of NA)for(let{key:a,label:s}of o.keys){let i=n&&OA[a]||s;for(let c=0;c<3;c++)t.push({id:`hp.${r}.${a}.${Ut[c]}`,group:`${Xt[r]} hardpoints \u2014 ${o.kind}`,label:`${i} ${Ut[c]}`,scope:Xt[r],unit:"mm",defaultSpan:ho,read:l=>Oe(l.vehicle,r).hardpoints[a][c],write:(l,u)=>{let m=Oe(l.vehicle,r),f=[...m.hardpoints[a]];f[c]=u;let p={...m.hardpoints,[a]:f};return{...l,vehicle:pc(l.vehicle,r,{...m,hardpoints:p})}}})}}return t}var LN={side:"axis side-view angle",plan:"axis plan-view angle",clock:"arm clock angle",len:"effective arm length"},DN={side:"\xB0",plan:"\xB0",clock:"\xB0",len:"mm"};function EN(e){let t=[];for(let r of["front","rear"]){let n=Oe(e.vehicle,r).config.layout==="mcpherson";for(let o of["uca","lca"]){let a=Oe(e.vehicle,r).hardpoints,s=c0(a,o)?null:Hr(a,o);for(let i of yn)t.push({id:`arm.${r}.${o}.${i}`,group:`${Xt[r]} ${n?"arm axes":"wishbone axes"}`,label:`${mc[o]} \u2014 ${LN[i]}`,scope:Xt[r],unit:DN[i],defaultSpan:s?Um(s,i,ho):ho,read:c=>Hr(Oe(c.vehicle,r).hardpoints,o)[i],write:(c,l)=>{let u=Oe(c.vehicle,r),m=LA(u.hardpoints,o,i,l);return{...c,vehicle:pc(c.vehicle,r,{...u,hardpoints:m})}}})}}return t}var IN={side:"pivot axis side-view angle",plan:"pivot axis plan-view angle",atY:"pivot axis outboard, at the wheel-centre plane",atZ:"pivot axis height, at the wheel-centre plane"},_N={side:"\xB0",plan:"\xB0",atY:"mm",atZ:"mm"};function NN(e){let t=[];for(let r of["front","rear"]){let n=Oe(e.vehicle,r).hardpoints,o=$a(n)?null:xn(n);for(let a of po)t.push({id:`rocker.${r}.${a}`,group:`${Xt[r]} rocker axis`,label:`rocker \u2014 ${IN[a]}`,scope:Xt[r],unit:_N[a],defaultSpan:o?p0(o,a,ho):ho,read:s=>xn(Oe(s.vehicle,r).hardpoints)[a],write:(s,i)=>{let c=Oe(s.vehicle,r),l=IA(c.hardpoints,a,i);return{...s,vehicle:pc(s.vehicle,r,{...c,hardpoints:l})}}})}return t}var Xm={front:"heaveFrontDesign",rear:"heaveRearDesign"},f0={front:"arbFrontDesign",rear:"arbRearDesign"};function ON(e,t){return{heave:e.config.actuation==="decoupled"?"heave element":"third spring",roll:t?.design.kind==="coil"?"roll shock":"anti-roll bar"}}var Qm=e=>/^(heave|roll)\.(front|rear)\.(outer|inner|anchor)\.[xyz]$/.test(e);function VN(e){let t=[];for(let r of["front","rear"]){let n=Oe(e.vehicle,r),o=e.params[Xm[r]],a=e.params[f0[r]],s=ON(n,a),i=d=>d.params[Xm[r]],c=d=>d.params[f0[r]],l=(d,h)=>({...d,params:{...d.params,[Xm[r]]:h}}),u=(d,h)=>({...d,params:{...d.params,[f0[r]]:h}}),m={group:`${Xt[r]} heave & roll elements`,scope:Xt[r]},f=(d,h,b,g,y)=>{for(let x of b)t.push({...m,id:`${d}.${Ut[x]}`,label:`${h} ${Ut[x]}`,unit:"mm",defaultSpan:ho,read:M=>g(M)[x],write:(M,v)=>{let R=[...g(M)];return R[x]=v,y(M,R)}})},p=(d,h,b,g,y)=>{t.push({...m,id:d,label:h,unit:"N/mm",defaultSpan:Math.max(5,b*.4),read:g,write:y})};if(o?.design.kind==="coil"){if(o.linkage){let d=b=>i(b).linkage;f(`heave.${r}.outer`,`${s.heave} eye`,[0,1,2],b=>d(b).outer,(b,g)=>l(b,{...i(b),linkage:{...d(b),outer:g}})),o.linkage.mount?.kind==="chassis"&&f(`heave.${r}.anchor`,`${s.heave} chassis anchor`,[0,2],b=>d(b).mount.anchor,(b,g)=>l(b,{...i(b),linkage:{...d(b),mount:{kind:"chassis",anchor:g}}}))}if(typeof o.design.rate=="number"){let d=h=>i(h).design;p(`heave.${r}.rate`,`${s.heave} spring rate (@element)`,o.design.rate,h=>d(h).rate,(h,b)=>l(h,{...i(h),design:{...d(h),rate:b}}))}}if(a&&a.design.kind!=="none"){if(a.linkage&&a.design.kind!=="direct"){let h=x=>c(x).linkage,b=Zr(n,a.linkage,a.design.kind),[g,y]=b?["left arm eye","right arm eye"]:["drop-link pickup","arm tip"];f(`roll.${r}.outer`,`${s.roll} ${g}`,[0,1,2],x=>h(x).outer,(x,M)=>u(x,{...c(x),linkage:{...h(x),outer:M}})),f(`roll.${r}.inner`,`${s.roll} ${y}`,[0,1,2],x=>h(x).inner,(x,M)=>u(x,{...c(x),linkage:{...h(x),inner:M}}))}let d=a.design;if(d.kind==="coil"&&typeof d.rate=="number"){let h=b=>c(b).design;p(`roll.${r}.rate`,`${s.roll} spring rate (@element)`,d.rate,b=>h(b).rate,(b,g)=>u(b,{...c(b),design:{kind:"coil",rate:g}}))}else d.kind==="direct"&&p(`roll.${r}.wheelRate`,`${s.roll} rate (@wheel)`,d.wheelRate,h=>c(h).design.wheelRate,(h,b)=>u(h,{...c(h),design:{kind:"direct",wheelRate:b}}))}}return t}var BN=[{axle:"front",field:"springRate",group:"Springs & bars",label:"spring rate (@spring)",unit:"N/mm",fallback:35,span:e=>Math.max(5,e*.4)},{axle:"rear",field:"springRate",group:"Springs & bars",label:"spring rate (@spring)",unit:"N/mm",fallback:40,span:e=>Math.max(5,e*.4)},{axle:"front",field:"rackTravel",group:"Steering",label:"rack travel from centre",unit:"mm",fallback:35,span:()=>15,frontOnly:!0},{axle:"front",field:"rackRatio",group:"Steering",label:"rack per steering-wheel turn",unit:"mm/rev",fallback:55,span:()=>15,frontOnly:!0},{axle:"front",field:"loadedRadius",group:"Wheel & tyre",label:"loaded radius",unit:"mm",fallback:228,span:()=>15},{axle:"rear",field:"loadedRadius",group:"Wheel & tyre",label:"loaded radius",unit:"mm",fallback:228,span:()=>15}];function $N(e){let t=[];for(let r of["front","rear"]){let n=Oe(e.vehicle,r).compliance;if(!n)continue;let o=(a,s,i,c)=>{let l=i(n);l===void 0||!(l>0)||!Number.isFinite(l)||t.push({id:`kc.${r}.${a}`,group:"Compliance",label:s,scope:Xt[r],unit:"N/mm",defaultSpan:Math.max(500,l*.4),read:u=>i(Oe(u.vehicle,r).compliance??{})??l,write:(u,m)=>{let f=Oe(u.vehicle,r),p={...f,compliance:c(f.compliance??{},Math.max(1,m))};return{...u,vehicle:pc(u.vehicle,r,p)}}})};for(let a of["ucaFront","ucaRear","lcaFront","lcaRear","tieRod","pushRod"])o(`link.${a}`,`${GN[a]} (link)`,s=>s.links?.[a],(s,i)=>({...s,links:{...s.links,[a]:i}}));for(let a of["ucaFront","ucaRear","lcaFront","lcaRear","tieInner","topMount"])o(`bush.${a}`,`${KN[a]} (bushing)`,s=>s.bushings?.[a],(s,i)=>({...s,bushings:{...s.bushings,[a]:i}}));r==="front"&&o("rack","rack to housing",a=>a.rack,(a,s)=>({...a,rack:s}))}return t}var GN={ucaFront:"UCA front leg",ucaRear:"UCA rear leg",lcaFront:"LCA front leg",lcaRear:"LCA rear leg",tieRod:"tie rod",pushRod:"push/pull rod"},KN={ucaFront:"UCA front pickup",ucaRear:"UCA rear pickup",lcaFront:"LCA front pickup",lcaRear:"LCA rear pickup",tieInner:"tie-rod inner",topMount:"strut top mount"};function HN(){return BN.map(e=>({id:`cfg.${e.axle}.${e.field}`,group:e.group,label:e.label,scope:Xt[e.axle],unit:e.unit,defaultSpan:e.span(e.fallback),read:t=>Oe(t.vehicle,e.axle).config[e.field]??e.fallback,write:(t,r)=>{let n=Oe(t.vehicle,e.axle),o={...n,config:{...n.config,[e.field]:r}};return{...t,vehicle:pc(t.vehicle,e.axle,o)}}}))}function zN(e){let t=Ln(e.params.steeringSystem);if(!t.enabled)return[];let r=(n,o,a,s,i)=>({id:`steeringSystem.${n}`,group:"Steering",label:o,unit:a,defaultSpan:s,read:c=>Ln(c.params.steeringSystem)[n],write:(c,l)=>({...c,params:{...c.params,steeringSystem:Ln({...c.params.steeringSystem,enabled:!0,[n]:i(l)})}})});return[r("roadFeedbackGain","road feedback gain","\xD7",Math.max(.1,.25*t.roadFeedbackGain),n=>Math.min(2,Math.max(0,n))),r("turnInFrictionNm","turn-in friction","N\xB7m",Math.max(.1,.5*t.turnInFrictionNm),n=>Math.max(0,n))]}function YN(e){let t=ci(e.params),r=[];for(let n of["front","rear"]){if(t[n]!=="diff")continue;let o=Wn(e.params.driveline?.[n]);if(o?.kind!=="clutch"&&o?.kind!=="torsen")continue;let a=(s,i)=>{let c=bu[`${n}.${s}`];return{id:`driveline.${n}.${s}`,group:"Differential",label:c.label.charAt(0).toLowerCase()+c.label.slice(1),scope:Xt[n],unit:c.unit===": 1"?"":c.unit??"",defaultSpan:i,read:l=>Wn(l.params.driveline?.[n])?.[s],write:(l,u)=>({...l,params:{...l.params,driveline:hu({...l.params.driveline,[n]:{...l.params.driveline?.[n],[s]:u}})}})}};o.kind==="clutch"?r.push(a("preloadNm",Math.max(5,.2*o.preloadNm)),a("rampDriveDeg",5),a("rampCoastDeg",5)):r.push(a("tbrDrive",Math.max(.25,.2*o.tbrDrive)),a("tbrCoast",Math.max(.25,.2*o.tbrCoast)))}return r}function WN(e){if(Vl(e.params)!=="hydraulic")return[];let t=[{id:"brakeSetup.barFront",group:"Brakes",label:`${nh("barFront").toLowerCase()}, front 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t.push(o({key:"masterFrontMm"},"mm",1.5),o({key:"masterRearMm"},"mm",1.5),o({key:"pedalRatio"},"-",.5),o({key:"pistonDiaMm",circuit:"front"},"mm",2),o({key:"pistonDiaMm",circuit:"rear"},"mm",2),o({key:"effRadiusMm",circuit:"front"},"mm",10),o({key:"effRadiusMm",circuit:"rear"},"mm",10)),r.valve!=="none"&&t.push(o({key:"valveKneeBar"},"bar",5)),r.valve==="proportioning"&&t.push(o({key:"valveSlope"},"-",.1)),t}var VA=e=>!!e&&typeof e=="object"&&"value"in e&&"label"in e;function BA(e){let t={...e};for(let r of Object.keys(t)){let n=t[r];VA(n)&&(t[r]={...n})}return t}function jN(e){let t=[];for(let r of lk(e))for(let n of r.rows){let o=Math.abs(n.value);t.push({id:`param.${n.key}`,group:r.title,label:n.label,unit:n.unit,defaultSpan:o>0?o*.2:1,read:a=>{let s=a.params[n.key];return VA(s)?s.value:NaN},write:(a,s)=>{let i=BA(a.params);return vu(i,n.label,s),{...a,params:i}}})}return t}function $A(e){let t={};for(let s of["front","rear"]){if(!Oe(e.vehicle,s).measured)continue;let c="this axle is described by measured curves, so its linkage is not solved";for(let l of NA)for(let{key:u}of l.keys)for(let m of Ut)t[`hp.${s}.${u}.${m}`]={why:c};for(let l of["uca","lca"])for(let u of yn)t[`arm.${s}.${l}.${u}`]={why:c};for(let l of po)t[`rocker.${s}.${l}`]={why:c};for(let l of["heave.outer","heave.anchor","roll.outer","roll.inner"]){let[u,m]=l.split(".");for(let f of Ut)t[`${u}.${s}.${m}.${f}`]={why:c}}t[`cfg.${s}.springRate`]={why:"the measured curve set carries its own spring rate"}}let r=["rockerPivotA","rockerPivotB","rockerToPushrod","rockerToDamper"];for(let s of["front","rear"]){if(Oe(e.vehicle,s).config.actuation!=="direct")continue;let i="this axle is direct-acting \u2014 there is no bell-crank";for(let c of r)for(let l of Ut)t[`hp.${s}.${c}.${l}`]={why:i};for(let c of po)t[`rocker.${s}.${c}`]={why:i}}for(let s of["front","rear"]){let i=Oe(e.vehicle,s);if(i.measured||i.config.actuation!=="decoupled")continue;let c="this axle is decoupled \u2014 the corner damper is out of circuit";for(let l of["rockerToDamper","damperChassis"])for(let u of Ut)t[`hp.${s}.${l}.${u}`]={why:c,useInstead:`heave.${s}.outer.${u}`};t[`cfg.${s}.springRate`]={why:"a decoupled axle has no corner spring \u2014 its elements hold it up",useInstead:`heave.${s}.rate`}}for(let s of["front","rear"]){let i=Oe(e.vehicle,s),c=e.params[Xm[s]]?.linkage;if(i.measured||!c||c.attach!=="rocker"||c.mount?.kind==="chassis")continue;let l=i.hardpoints,u=[0,1,2].map(f=>l.rockerPivotB[f]-l.rockerPivotA[f]),m=Math.hypot(u[0],u[1],u[2]);if(m>0)for(let f=0;f<3;f++)Math.abs(u[f]/m)<1-1e-12||(t[`heave.${s}.outer.${Ut[f]}`]={why:`the rocker shaft runs along ${Ut[f]} \u2014 this only slides the eye along it`})}for(let s of["front","rear"]){let i=Oe(e.vehicle,s);if(i.measured||i.config.layout!=="mcpherson")continue;let c="this axle is a McPherson strut \u2014 there is no upper arm";for(let l of["ucaFront","ucaRear","uprightUpper"])for(let u of Ut)t[`hp.${s}.${l}.${u}`]={why:c,useInstead:`hp.${s}.damperChassis.${u}`};for(let l of yn)t[`arm.${s}.uca.${l}`]={why:c};for(let l of["link.ucaFront","link.ucaRear","bush.ucaFront","bush.ucaRear"])t[`kc.${s}.${l}`]={why:c}}for(let s of["front","rear"]){let i=Oe(e.vehicle,s);if(i.measured)continue;for(let l of["uca","lca"]){if(l==="uca"&&i.config.layout==="mcpherson")continue;let u=c0(i.hardpoints,l);if(u)for(let m of yn)t[`arm.${s}.${l}.${m}`]={why:u,useInstead:`hp.${s}.${jt[l].fore}.z`}}let c=$a(i.hardpoints);if(c&&i.config.actuation!=="direct")for(let l of po)t[`rocker.${s}.${l}`]={why:c,useInstead:`hp.${s}.${fo.fore}.z`}}let n=[["arbFrontDesign","param.arb_front","the front anti-roll bar design in Vehicle Dynamics","front","roll"],["arbRearDesign","param.arb_rear","the rear anti-roll bar design in Vehicle Dynamics","rear","roll"],["heaveFrontDesign","param.heave_spring_front","the front third-spring design","front","heave"],["heaveRearDesign","param.heave_spring_rear","the rear third-spring design","rear","heave"]];for(let[s,i,c,l,u]of n){let m=e.params[s];if(!m?.design||m.design.kind==="none")continue;let f=m.design.kind==="direct"?`${u}.${l}.wheelRate`:`${u}.${l}.rate`;t[i]={why:`computed from ${c}`,useInstead:f}}let o=e.params.aeroModelId||e.params.aeroModel?zh:Yh;for(let[s,i]of Object.entries(o))t[`param.${s}`]={why:i};if(e.params.batteryModelId||e.params.batteryModel)for(let[s,i]of Object.entries(yu))t[`param.${s}`]={why:i};for(let[s,i]of Object.entries(xu(e.params)))t[`param.${s}`]={why:i};let a=Vl(e.params);return a==="hydraulic"?t["param.brake_balance"]={why:"set by the balance bar and the brake hardware",useInstead:"brakeSetup.barFront"}:a==="tyre"&&(t["param.brake_balance"]={why:"tyre-limited brakes split as the grip does"}),t}function GA(e){let t={...XN,...$A(e)};for(let[n,o]of Object.entries(t))o.useInstead&&t[o.useInstead]&&(t[n]={why:o.why});let r=n=>{let o=t[n.id];return 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r.length?{...e,variables:n,followers:r}:{...e,variables:n}}var WA=e=>!!(e.fixed||e.around||e.follows)||jA(e),jA=e=>!!e.values?.length&&(e.lo!==Math.min(...e.values)||e.hi!==Math.max(...e.values));function Dt(e,t){if(!t.variables.some(WA))return t;let r=Gt(e);return k0(t,n=>{let o=r[n];if(!o)return NaN;try{return o.read(e)}catch{return NaN}})}function dr(e){return[...e.objectives,...e.constraints,...e.watches??[]]}var Zm=e=>(e.metrics??Kr()).byId;function M0(e,t){t=Dt(e,t);let r=Gt(e),n=[];for(let o of t.variables){let a=r[o.id];a&&n.push({id:a.id,name:ct(a),unit:a.unit,lo:o.lo,hi:o.hi,start:a.read(e),...o.step!==void 0?{step:o.step}:{},...o.values?{values:o.values}:{}})}return n}function Jm(e,t,r){t=Dt(e,t);let n=Gt(e),o=e;return t.variables.forEach((a,s)=>{let i=n[a.id];i&&Number.isFinite(r[s])&&(o=i.write(o,r[s]))}),F0(e,o,t.followers,n)}function S0(e,t,r={}){let n=t.states??[],o=n.some(c=>c.follows);if(!o&&!t.envelopeFollows)return t;let 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c=i.samples.filter(l=>l.converged).map(l=>l.travel);if(!c.length)continue;o=Math.max(o,Math.min(-1,Math.ceil(Math.min(...c))+1)),a=Math.min(a,Math.max(1,Math.floor(Math.max(...c))-1))}catch{continue}return o===t.travelMin&&a===t.travelMax?t:{...t,travelMin:o,travelMax:a}}function ZN(e){let t=e.projectTrack?.();if(!t)return null;try{return Cg(st(t.asset,t.numerics))}catch{return null}}function F0(e,t,r,n){if(!r?.length)return t;let o=t;for(let a of r){let s=n[a.id],i=n[a.follows];if(!s||!i)continue;let c=i.read(t)-i.read(e);Number.isFinite(c)&&c!==0&&(o=s.write(o,s.read(e)+c))}return o}function dc(e,t){if(!Number.isFinite(t))return NaN;if(e.op==="max")return t-e.limit;if(e.op==="min")return e.limit-t;let r=e.limit2??e.limit;return Math.max(e.limit-t,t-r)}var UA=(e,t="")=>t&&t!=="-"?`${e} ${t}`:`${e}`;function XA(e,t,r){let n=t??Va[e.metricId],o=(n?it(n):e.metricId)+fc(e.at,n,r),a=s=>UA(s,n?.unit);return e.op==="max"?`${o} \u2264 ${a(e.limit)}`:e.op==="min"?`${o} \u2265 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n=M0(e,t),o=Gt(e),a=Zm(r),s=t.constraints.map(m=>({spec:m,metric:a[m.metricId]})).filter(m=>!!m.metric),i=s.filter(m=>m.metric.cost==="geometry"),c=s.filter(m=>m.metric.cost!=="geometry"),l=t.objectives.map(m=>({spec:m,metric:a[m.metricId]})).filter(m=>!!m.metric),u=(m,f)=>{let p=0,d=[];for(let{spec:h,metric:b}of m){let g=Lt(f,b,h.at);if(!Number.isFinite(g))return{ok:!1,violation:f.failure?.violation??400,reason:f.failure?.reason??`${it(b)} could not be computed`};let y=dc(h,g);y>0&&(p+=y/b.scale,d.push(`${XA(h,b,t)} (${UA(g.toFixed(3),b.unit)})`))}return d.length===0?ws:{ok:!1,violation:p,reason:d.join("; ")}};return{name:"study",variables:n,build:m=>{let f=e;return t.variables.forEach((p,d)=>{let h=o[p.id];h&&(f=h.write(f,m[d]))}),f=F0(e,f,t.followers,o),{car:f,ev:gn(f,{density:t.density,envelope:t.envelope,states:t.states,operating:t.operating,lap:t.lap,assemble:r.assemble,simParams:r.simParams,projectTrack:r.projectTrack,libraryTrack:r.libraryTrack,sessionParams:r.sessionParams,session:r.session,numerics:r.numerics})}},feasible:({ev:m})=>{let f=u(i,m);if(!f.ok)return f;for(let{spec:p,metric:d}of c)Lt(m,d,p.at);for(let{spec:p,metric:d}of l)Lt(m,d,p.at);return m.failure?{ok:!1,violation:m.failure.violation,reason:m.failure.reason}:u(c,m)},terms:({ev:m})=>l.map(({spec:f,metric:p})=>{let d=Lt(m,p,f.at);return{name:it(p)+fc(f.at,p,t),raw:d,unit:p.unit,weight:f.weight,contribution:QA(f,p,d),resolution:Math.abs(f.weight)*ZA(p,d)/p.scale}})}}function R0(e){let t=/^arm\.(front|rear)\.(uca|lca)\./.exec(e);if(t)return`${t[1]}.${t[2]}`;let r=/^rocker\.(front|rear)\./.exec(e);if(r)return`${r[1]}.rocker`;let n=/^hp\.(front|rear)\.(ucaFront|ucaRear|lcaFront|lcaRear|rockerPivotA|rockerPivotB)\./.exec(e);return n?n[2].startsWith("rocker")?`${n[1]}.rocker`:`${n[1]}.${n[2].startsWith("uca")?"uca":"lca"}`:null}function JA(e,t){if(e.variables.some(o=>o.id===t))return!0;let r=oc(t);if(!r||!$m.includes(r.axis))return!1;if(e.variables.some(o=>pr(o.id)?.point===r.point))return!0;let n=R0(t);return!!n&&e.variables.some(o=>/^(arm|rocker)\./.test(o.id)&&R0(o.id)===n)}function JN(e,t){let r=e.followers??[],n=new Map(r.map(i=>[i.id,i.follows])),o=i=>{let c=t[i],l=oc(i);return c&&l&&$m.includes(l.axis)?{name:ct({...c,label:c.label.replace(/ [xyz]$/,"")}),axis:l.axis}:{name:c?ct(c):`\u201C${i}\u201D`}},a=new Map,s=(i,c,l)=>{let u=a.get(i);u||a.set(i,u={text:l,axes:[]}),c&&u.axes.push(c)};for(let i of r){let c=t[i.id],l=t[i.follows],u=o(i.id),m=o(i.follows),f=p=>p&&p!=="x, y, z"?` in ${p}`:"";if(!c){s(`missing:${i.id}`,void 0,()=>`\u201C${i.id}\u201D is not a variable this car 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Point it at one of the states under Conditions.`):M.at?.stateId===uo&&!v.acrossStates&&s.push(`${it(v)} is read at one state at a time, not over every state.`)}}r.assemble||s.push("This study reads targets at a state, and nothing here can assemble the car to find its pose.")}for(let y of t.states??[])(!(y.speedKmh>=0)||!Number.isFinite(y.ayG)||!Number.isFinite(y.axG))&&s.push(`The state \u201C${y.name}\u201D needs a speed of zero or more and finite accelerations.`),y.weight>0||s.push(`The state \u201C${y.name}\u201D needs a weight above zero.`);if(l&&!r.assemble&&s.push("This study reads whole-car metrics, and nothing here can assemble the car to read them from."),u&&!r.simParams&&s.push("This study reads lap metrics, and nothing here can prepare the car for a lap."),u&&!t.lap.courses.length&&s.push("This study reads lap metrics and has no course to drive. Add one under \u201CWhat the car drives\u201D."),u&&t.lap.courses.some(y=>y.course.kind==="project")&&!r.projectTrack?.()&&s.push("This study laps the project\u2019s track, and the project has none. Pick a manoeuvre, or load a track."),u)for(let y of t.lap.courses)y.course.kind==="track"&&!r.libraryTrack?.(y.course.trackId)&&s.push(`This study drives ${y.course.name}, which is not in the project\u2019s tracks, or has not loaded yet.`);let f=new Set([...t.lap.courses.map(y=>y.id),ac]);for(let y of dr(t))if(y.at?.courseId&&!f.has(y.at.courseId)){let x=i[y.metricId];s.push(`${x?it(x):y.metricId} names a course this study no longer has. Point it at one of the courses below.`)}u&&t.lap.ggvMode==="fast"&&t.variables.some(x=>/arb_|spring|heave_|front_mass_diss|cg_height|^hp\./.test(x.id.replace("param.","")))&&s.push("The fast grip envelope is a point mass: no load transfer, no trim. 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Make the step finer or the box wider, or fix it.`):s.push(`${ct(x)}: the upper bound must be above the lower one (${y.lo} to ${y.hi}).`),x.supersededBy){let v=x.supersededBy.useInstead?a[x.supersededBy.useInstead]:void 0,R=v?ct(v):void 0;s.push(`${ct(x)} cannot be searched: ${x.supersededBy.why}.`+(R?` Use ${R} instead.`:""))}let M=x.read(e);Number.isFinite(M)&&(M<y.lo||M>y.hi)&&s.push(`${ct(x)} starts at ${M.toFixed(1)} ${x.unit}, outside its own bounds.`)}let p=t.followers??[],d=new Map;for(let y of[...t.variables.map(x=>x.id),...p.map(x=>x.id)]){let x=R0(y);if(!x)continue;let M=d.get(x);M||d.set(x,M={arms:[],coords:[]}),(/^(arm|rocker)\./.test(y)?M.arms:M.coords).push(y)}for(let[y,x]of d){if(x.arms.length===0||x.coords.length===0)continue;let M=R=>a[R]?ct(a[R]):R,v=y.endsWith("rocker")?"rocker":`${y.endsWith("uca")?"upper":"lower"} arm`;s.push(`${y.startsWith("front")?"The front":"The rear"} ${v} is being moved two ways at once \u2014 as an axis (${x.arms.map(M).join(", ")}) and as pivot coordinates (${x.coords.map(M).join(", ")}). They describe the same ${v}, so whichever is applied second overwrites the other. Keep one.`)}let h=new Map,b=new Set(p.map(y=>y.id));for(let y of[...t.variables.map(x=>x.id),...b]){let x=oc(y);if(!x)continue;let M=pr(y),v=b.has(y)?"with":M?`${M.shape.kind}:${y.slice(y.lastIndexOf(".")+1).replace(/[uv]$/,"")}`:"axes",R=h.get(x.point);R||h.set(x.point,R=new Set),R.add(v)}for(let[y,x]of h){if(x.size<2||x.size===2&&x.has("axes")&&x.has("with"))continue;let M=[...x].map(w=>w.split(":")[0]),v=w=>M.filter(C=>C===w).length,R=[v("axes")?"in its axes":"",v("line")===1?"along a line":v("line")>1?"along two lines":"",v("plane")===1?"in a plane":v("plane")>1?"in two planes":"",v("with")?"with another point":""].filter(Boolean),k=a[`${y}.x`],F=k?ct({...k,label:k.label.replace(/ x$/,"")}):y;s.push(`${F} is moved more than one way at once \u2014 ${R.join(" and ")}. Each write moves it off the other's, so keep one.`)}s.push(...JN(t,a));for(let y of t.constraints){let x=i[y.metricId];if(!x){s.push(`\u201C${y.metricId}\u201D is not a metric.`);continue}y.op==="band"&&!((y.limit2??y.limit)>y.limit)&&s.push(`${it(x)}: the band's upper limit must be above its lower one.`)}l&&!(t.operating.speed>0)&&s.push("Whole-car metrics need a speed to be read at; a yaw-moment diagram at rest is degenerate.");for(let y of dr(t))if(y.at?.speed!==void 0&&!(y.at.speed>0)){let x=i[y.metricId];s.push(`${x?it(x):y.metricId} is asked for at rest, where a yaw-moment diagram is degenerate.`)}for(let y of t.watches??[])i[y.metricId]||s.push(`\u201C${y.metricId}\u201D is not a metric.`);let g=new Set;for(let y of dr(t)){let x=i[y.metricId],M=x?.unavailable?.(e);!x||!M||g.has(x.id)||(g.add(x.id),s.push(`${it(x)} cannot be read on this car: ${M}.`))}for(let y of t.objectives)i[y.metricId]?y.weight>0?y.goal==="target"&&!Number.isFinite(y.target)?s.push(`${it(i[y.metricId])}: \u201Chit a value\u201D needs a value.`):y.goal==="target"&&y.tolerance!==void 0&&!(y.tolerance>=0)&&s.push(`${it(i[y.metricId])}: the tolerance must be zero or more.`):s.push(`${it(i[y.metricId])}: weight must be positive.`):s.push(`\u201C${y.metricId}\u201D is not a metric.`);return s}var eF=.1,tF=2e3,v0=3;function C0(e,t,r={},n=tF){t=Dt(e,t);let o=ep(e,t,r),a=Zm(r),s=Gt(e),i=o.variables.map(S=>S.start),c=S=>{let A=o.build(S);return o.feasible(A).ok&&o.terms(A),A},l=c(i),u=o.feasible(l),m=[...t.objectives,...t.constraints],f=(S,A=m)=>{let P={};for(let L of A){let D=a[L.metricId];D&&(P[`${L.metricId}@${mo(L.at)}`]=Lt(S.ev,D,L.at))}return P},p=S=>m.map(A=>S[`${A.metricId}@${mo(A.at)}`]).map(A=>Number.isFinite(A)?A.toFixed(9):"x").join("|"),d=f(l,dr(t)),h=p(d),b=[],g=[],y={},x=[],M=0;t.variables.forEach((S,A)=>{let P=s[S.id];if(!P)return;if(x.length>=v0&&M>n){g.push(P);return}let L=[...i];L[A]=i[A]+(S.hi-i[A])*.25||S.hi;let D=performance.now(),E=c(L),$=performance.now()-D;M+=$,x.push($);let O=f(E);y[P.id]=O,p(O)===h&&b.push(P)});let v=t.variables[0],R=v?t.variables.indexOf(v):-1;for(let S=0;v&&x.length>0&&x.length<v0;S++){let A=[...i];A[R]=i[R]+(v.hi-i[R])*(.4+.15*S)||v.hi;let P=performance.now();c(A),x.push(performance.now()-P)}let k=[...x].sort((S,A)=>S-A),F=k.length?k[k.length>>1]:0,w=[],C=dr(t).map(S=>S.metricId);if(C.some(S=>S.startsWith("dyn.trim")||S==="dyn.ymdMaxAy")){let S=l.ev.ymdLimit();S?.onGridEdge&&w.push("The yaw-moment diagram peaks on the edge of its swept grid, so the trim readings are where the sweep stopped rather than where the car does. 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Steering metrics contain contact-patch force and jacking, but not the pneumatic-trail signal that normally warns the driver at the tyre limit.")}let T=["lap.minStabil","lap.understeerFrac"];if(C.some(S=>T.includes(S))){let A=l.ev.lapReserve()?.beyondFrac;if(A!==void 0&&Number.isFinite(A)){let P=(A*100).toFixed(0);A>=eF?w.push(`Over ${P} % of this course, some wheel is asked for more longitudinal force than its own tyre ellipse allows \u2014 the speed profile and the per-wheel reconstruction disagree that far. A reserve read there is the two models disagreeing rather than the car having nothing left, and a search pointed at one will optimise the disagreement. It concentrates in high-speed braking, so a shorter straight into the first corner is the usual cure.`):A>0&&w.push(`${P} % of this course is beyond the per-wheel tyre ellipse, which is the usual level of disagreement between the speed profile and the reconstruction. Reserves are readable; treat small differences between designs as smaller than they look.`)}}return{msPerEval:F,values:d,samples:x.length,times:x,dead:b,moves:y,unprobed:g,warnings:w,beyondFrac:C.some(S=>T.includes(S))?l.ev.lapReserve()?.beyondFrac:void 0,startFeasible:u.ok,startReason:u.reason}}var tO=[{kind:"title",label:"Title",what:"The name, what it changes against the Reference, the version and the date",on:"both",make:()=>({kind:"title"})},{kind:"picture",label:"Picture",what:"The car in plan, to scale",on:"each",make:()=>({kind:"picture",half:!0})},{kind:"keyFigures",label:"Key figures",what:"Large numbers picked from the sheet, or formulas",on:"each",make:()=>({kind:"keyFigures",rows:rO.slice(0,4),half:!0})},{kind:"spec",label:"Setup",what:"The Setup by group, or rows picked one by one",on:"each",make:()=>({kind:"spec",rows:"essential"})},{kind:"parts",label:"Parts",what:"Each part by 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side",on:"all",make:()=>({kind:"comparison"})}];var rO=["setup:m","characteristics:peak_power","characteristics:power_to_weight","characteristics:cla","characteristics:cda","characteristics:pack_energy","characteristics:maxAy","characteristics:top_speed"];var Aae=new Set(tO.map(e=>e.kind));var rF={travel:{name:"Wheel travel",unit:"mm",axis:"Wheel travel (mm, + bump)",from:-25,to:25,step:1,reach:150},roll:{name:"Body roll",unit:"\xB0",axis:"Body roll (\xB0, + right side down)",from:-3,to:3,step:.25,reach:12},steer:{name:"Rack",unit:"mm",axis:"Rack (mm, + right)",from:-30,to:30,step:1,reach:80},pitch:{name:"Body pitch",unit:"\xB0",axis:"Body pitch (\xB0, + nose down)",from:-2,to:2,step:.25,reach:8}};var T0=["FL","FR","RL","RR"],kt=(e,t,r)=>({input:e,from:r?r[0]:rF[e].from,to:r?r[1]:rF[e].to,n:t}),Tae=[{id:"sides",name:"Inside and outside",cards:[{id:"camber-roll",form:"curves",title:"Camber to the road through roll",sweep:kt("roll",25),wheels:["FL","FR"],y:["camberRoad"]},{id:"toe-rack",form:"curves",title:"Wheel angle against the rack",sweep:kt("steer",25),wheels:["FL","FR"],y:["toe"]},{id:"camber-rack",form:"curves",title:"Camber to the road through the steer",sweep:kt("steer",25),wheels:["FL","FR"],y:["camberRoad"]},{id:"load-roll",form:"curves",title:"Wheel loads through roll",sweep:kt("roll",25),wheels:T0,y:["wheelLoad"]},{id:"travel-roll",form:"curves",title:"Wheel travel through roll",sweep:kt("roll",25),wheels:T0,y:["travel"]},{id:"toe-roll",form:"curves",title:"Roll steer, all four",sweep:kt("roll",25),wheels:T0,y:["toe"]}]},{id:"maps",name:"Travel and steer together",cards:[{id:"camber-map",form:"surface",title:"Camber over travel and rack",sweep:kt("travel",17),second:kt("steer",13),wheels:["FL"],y:["camber"]},{id:"bump-steer-map",form:"map",title:"Bump steer over travel and 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r=tp(e.rated),n=e.induction;if(n.kind==="boosted"){let o=n.boostKPa*1e3;return Math.min(n.maxPressureRatio*t.p,o)/Math.min(n.maxPressureRatio*r.p,o)*(t.pDry/t.p)/(r.pDry/r.p)}return t.pDry/r.pDry*Math.sqrt(r.T/t.T)}function mF(e,t){let r=e.induction;if(r.kind==="table"){let o=s=>Be(r.densityAltitudeM,r.powerPct,s),a=o(tp(e.rated).densityAltitudeM);return a>0?Math.max(0,o(t.densityAltitudeM)/a):0}let n=e.frictionShare??iF;return Math.max(0,(uF(e,t)-n)/(1-n))}var sF=new WeakMap;function D0(e,t){let r=e.asRated??e,n=`${t.p}|${t.pDry}|${t.T}`,o=sF.get(r);o||sF.set(r,o=new Map);let a=o.get(n);if(a)return a;let s=mF(lF(r),t),i={...r,torque:r.torque.map(c=>c*s),asRated:r};return o.set(n,i),i}function RO(e){return JSON.parse(E0(I0(e,"public/laptime/index.json"),"utf8")).tracks}var vO=async e=>{let t=await fetch(e.url);if(!t.ok)throw new Error(`The track could not be read from ${Rm(e)} (${t.status}).`);return new Uint8Array(await t.arrayBuffer())};function pF(e,t=new Map,r=vO){let n=RO(e);return async o=>{let a=o.kind==="catalogue"?`catalogue:${o.address}`:o.name,s=t.get(a);if(s)return structuredClone(s);let i;if(o.kind==="catalogue"&&o.link){if(!zi(o.address))throw new Error(`"${o.address}" is not a catalogue address`);if(!Hi(o.link))throw new Error("This track is linked to a source this version does not read from.");i=await dg(await r(o.link),o.link,o.address)}else if(o.kind==="catalogue"){if(!zi(o.address))throw new Error(`"${o.address}" is not a catalogue address`);let c=JSON.parse(E0(I0(e,"public/catalogue",hg(o.address)),"utf8"));i=await gg(c,o.address)}else{let c=n.find(l=>l.name===o.name)?.file;if(!c)throw new Error(`"${o.name}" is not in the bundled catalogue`);i=JSON.parse(E0(I0(e,"public/laptime",c),"utf8"))}return t.set(a,i),structuredClone(i)}}var kO=9.81;function dF(e,t=e.tireModel,r=e.tireModelRear){if(!t)return e;let 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i===o.value&&c===a.value?e:{...e,rc_front:{...o,value:i},rc_rear:{...a,value:c},rcRoad:{...n,radiusFront:s.front??n.radiusFront,radiusRear:s.rear??n.radiusRear}}}var bF=e=>({brakeFade:e.brakeFade,airTempC:e.airTempC,diffYaw:e.diffYaw,...Oi(e.air)?{air:e.air}:{}});var bo=(e,t)=>t?e.find(r=>r.id===t)?.model:void 0;function go(e){return{tire:t=>bo(e.tires,t),motor:t=>bo(e.motors,t),aero:t=>bo(e.aeros,t),battery:t=>bo(e.batteries,t),brake:t=>bo(e.brakes??[],t),damper:t=>bo(e.dampers??[],t),suspensionOf:t=>_a(_0(e,t),t)}}function _0(e,t){let r=bo(e.suspensions,t.suspensionId);if(r)return r;let n=e.suspensions.find(o=>o.id===e.activeSuspensionId)??e.suspensions[0];if(!n)throw new Error("this project holds no suspension, so no car can be resolved");return n.model}function yo(e,t,r){let n={front:t.tire(e.tireModelId),rear:t.tire(e.tireModelIdRear)};return N0(U1(t.suspensionOf(e),e,n),t,r)}function AO(e){return Oi(e.air)?pS(e.air,e.airTempC??At):void 0}var FO="the air the session states, at its 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0?{airTempC:r.airTempC}:{},...r.diffYaw?{diffYaw:!0}:{},airSettled:!0}}var DO=e=>e!==!1,EO=(e,t,r)=>r&&t>0?(e%t+t)%t:Math.min(Math.max(e,0),t);function IO(e,t,r){let n=e.points.filter(o=>Number.isFinite(o.at)&&Number.isFinite(o.z)).map(o=>({...o,at:EO(o.at,t,r)})).sort((o,a)=>o.at-a.at);return n.filter((o,a)=>a===0||o.at-n[a-1].at>1e-9)}function _O(e,t,r){let n=IO(e,t,r),o=n.length;if(o===0)return[];let a=p=>p<o-1?n[p+1].at-n[p].at:r?n[0].at+t-n[p].at:1/0,s=p=>p<o-1?(n[p+1].z-n[p].z)/a(p):r&&o>1?(n[0].z-n[p].z)/a(p):0,i=n.map(p=>Math.max(0,Number.isFinite(p.curve)?p.curve:0)/2),c=(p,d,h)=>i[p]+i[d]>h?h*i[p]/(i[p]+i[d]):i[p],l=p=>p<o-1||r?c(p,p<o-1?p+1:0,a(p)):Math.max(0,t-n[p].at),u=p=>p>0?c(p,p-1,a(p-1)):r?c(p,o-1,a(o-1)):n[p].at,m=p=>p>0?s(p-1):r&&o>1?s(o-1):n[p].at<=1e-9?s(p):0,f=p=>!r&&p===o-1&&o>1&&n[p].at>=t-1e-9?s(p-1):s(p);return n.map((p,d)=>{let 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No rod or rocker in the load path.",scope:"Both axles",tags:["Double wishbone","Coilover","Direct acting"]},{id:"pushrod",name:"Pushrod suspension",family:"Formula / prototype",description:"A rod from the lower wishbone pushes a rocker on the chassis shoulder. A 225 mm damper runs along the top at 1:1.",scope:"Both axles",tags:["Pushrod","Rocker","Inboard damper"]},{id:"pullrod",name:"Pullrod suspension",family:"Formula / low package",description:"A rod from the upper wishbone pulls a low rocker inside the side wall. A 225 mm damper runs along the floor at 1:1.",scope:"Both axles",tags:["Pullrod","Low rocker","Inboard damper"]},{id:"heave",name:"Third heave spring",family:"Formula / aero platform",description:"The pushrod car plus a front third spring worked by both rockers. It picks up after 5 mm of bump and stays out of roll.",scope:"Both axles, plus a front third spring",tags:["Pushrod","Third spring","Aero platform"]},{id:"decoupled",name:"Twin-rocker-bar decoupled modes",family:"Formula / prototype",description:"Each pushrod turns a long rocker bar. A shock between the bars takes heave, a diagonal one takes roll; no corner springs.",scope:"Both axles",tags:["Two rocker bars","Heave shock","Roll shock"]},{id:"mcpherson",name:"McPherson strut",family:"Road car",description:"A strut clamped to the upright runs up to a top mount on the tower: damper, spring seat and upper link in one. Coilover wishbones at the rear.",scope:"Front struts, rear double wishbones",tags:["McPherson","Strut","Road car"]}],K0=()=>({arbFront:void 0,arbRear:void 0,heaveFront:void 0,heaveRear:void 0}),t5={front:{rockerPivotA:[-47,223,405],rockerPivotB:[-47,267,445],rockerToPushrod:[8,242,429],rockerToDamper:[-47,190,485],damperChassis:[-272,190,485]},rear:{rockerPivotA:[65,228,415],rockerPivotB:[65,272,455],rockerToPushrod:[10,247,439],rockerToDamper:[65,195,495],damperChassis:[290,195,495]}},r5={front:{pushrodOuter:[-3,510,359],rockerPivotA:[-20,174,181],rockerPivotB:[-20,200,139],rockerToPushrod:[18,199,167],rockerToDamper:[-20,102,108],damperChassis:[205,102,108]},rear:{pushrodOuter:[-1,516,365],rockerPivotA:[39,177,181],rockerPivotB:[39,203,139],rockerToPushrod:[1,202,167],rockerToDamper:[39,112,111],damperChassis:[-186,112,111]}},n5=()=>({outer:[0,189,486],attach:"rocker",mount:{kind:"chassis",anchor:[-225,0,486]}}),o5={rate:60,motionRatio:1},a5={front:{rockerPivotA:[-50,310,621],rockerPivotB:[-50,357,659],rockerToPushrod:[10,330,644],rockerToDamper:[-50,281,704],damperChassis:[-275,281,704]},rear:{rockerPivotA:[73,306,621],rockerPivotB:[73,352,659],rockerToPushrod:[13,326,644],rockerToDamper:[73,271,710],damperChassis:[298,271,710]}},s5=e=>e==="front"?{outer:[-2,280,705],attach:"rocker",mount:{kind:"chassis",anchor:[-227,0,705]}}:{outer:[25,270,711],attach:"rocker",mount:{kind:"chassis",anchor:[250,0,711]}},i5={kind:"coil",rate:1560,motionRatio:1,gap:0,bothWays:!0},c5=40,l5={rockerPivotA:[50,130,440],rockerPivotB:[-50,130,440],rockerToPushrod:[10,170,460],rockerToDamper:[-20,64,440],damperChassis:[-20,64,215]},jF=()=>({outer:[-50,130,480],attach:"rocker",shaftStation:-50}),UF=()=>({outer:[50,130,400],inner:[50,130,480],attach:"rocker",shaftStationOuter:50,shaftStationInner:50}),u5=e=>[e[0],e[1],e[2]];function m5(e){let t=r=>({...r,hardpoints:{...r.hardpoints,...QF(l5)},config:{...r.config,actuation:"decoupled"}});return{...e,front:t(e.front),rear:t(e.rear)}}function QF(e){return Object.fromEntries(Object.entries(e).map(([t,r])=>[t,u5(r)]))}function qF(e,t=io(),r=e==="pull"?r5:t5){let n=(o,a)=>({...o,hardpoints:{...o.hardpoints,...QF(r[a])},config:{...o.config,actuation:"rocker",rodType:e,...e==="pull"?{pushrodAttach:"upperArm"}:{}}});return{...t,front:n(t.front,"front"),rear:n(t.rear,"rear")}}function lp(e,t){let r=H0(e),n=Ka(e);if(e==="heave")return{meta:r,vehicle:n,components:{...K0(),heaveFront:{design:{...Vh,...o5},linkage:n5()}}};if(e!=="decoupled")return{meta:r,vehicle:n,components:K0()};let o=G0(n,t,"front",{heave:jF(),roll:UF()}),a=G0(n,t,"rear",{heave:jF(),roll:UF()});return{meta:r,vehicle:n,components:{arbFront:o.arb,arbRear:a.arb,heaveFront:o.heave,heaveRear:a.heave}}}function Ka(e){let{name:t}=H0(e);if(e==="direct")return{...Bi(),name:t};if(e==="mcpherson"){let n=$i(),o=dm();return{...n,front:{...o,config:{...o.config,loadedRadius:n.front.config.loadedRadius}},name:t}}let r=p5(qF(e==="pullrod"?"pull":"push"));return{...e==="decoupled"?m5(r):r,name:t}}var XF={front:221.7,rear:220.9};function p5(e){return{...e,front:{...e.front,config:{...e.front.config,loadedRadius:XF.front}},rear:{...e.rear,config:{...e.rear.config,loadedRadius:XF.rear}}}}function H0(e){let t=cp.find(r=>r.id===e);if(!t)throw new Error(`Unknown suspension template: ${e}`);return t}function up(){let e=t=>({design:{...i5},linkage:s5(t),damper:c5});return{meta:H0("heave"),vehicle:qF("push",Zb(),a5),components:{...K0(),heaveFront:e("front"),heaveRear:e("rear")}}}var ZF=[10,25,50,100,200,300],d5=[{id:"c1",label:"Soft",scale:.7},{id:"c2",label:"Medium",scale:1},{id:"c3",label:"Firm",scale:1.4}],JF=e=>Math.round(e*100)/100;function f5(e,t,r){let n=ZF.map(o=>JF(r*o));return{id:e,label:t,speedMmS:[...ZF],bumpN:n,reboundN:[...n]}}function h5(e){return{name:e.name,body:{...e.body},curves:d5.map(t=>f5(t.id,t.label,JF(e.coefficient*t.scale)))}}function yc(e,t){let r=(t.heave??t.car).coefficient,n=(t.roll??t.car).coefficient,o=(a,s)=>a?.damper?{...a,damper:s}:a;return{arbFront:o(e.arbFront,n),arbRear:o(e.arbRear,n),heaveFront:o(e.heaveFront,r),heaveRear:o(e.heaveRear,r)}}function fr(e,t){let r=i=>{if(!i)return;let c=e.dampers.length+1;for(;e.dampers.some(u=>u.id===`dmp${c}`);)c++;let l=`dmp${c}`;return e.dampers.push({id:l,color:Wi[e.dampers.length%Wi.length],model:h5(i)}),l},n=r(t.car),o=r(t.rear),a=r(t.heave),s=r(t.roll);for(let i of e.vehicles){let c=i.params;c.damperModelId=n,o&&(c.damperModelIdRear=o),a&&(c.heaveDamperModelId=a),s&&(c.rollDamperModelId=s)}}var lt=e=>`${e} (typical)`,z0={car:{name:lt("Formula Student damper"),coefficient:2.5,body:{extended:249,stroke:55}}},mp={car:z0.car,heave:{name:lt("Formula Student heave damper"),coefficient:3.4,body:{extended:270,stroke:47}},roll:{name:lt("Formula Student roll 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damper"),coefficient:3.5,body:{extended:285,stroke:65}}},aw={car:{name:lt("Race truck front damper"),coefficient:12,body:{extended:780,stroke:160}},rear:{name:lt("Race truck rear damper"),coefficient:8.5,body:{extended:780,stroke:160}}};function za(e){return e.vehicles=e.vehicles.slice(0,1),e.activeVehicleId=e.vehicles[0]?.id??null,e}function Rn(e,t){let r=ji(e);return r.meta.rulesetId=t,r}function xo(e,t,r,n){let o=Rn(e,t);return o.suspensions=[{...o.suspensions[0],model:n()}],o.vehicles=[Sg(r,"v1",0)],o.activeVehicleId="v1",o}var[,b5,g5,y5,x5,R5,v5,k5]=sg;function W0(e,t){delete e.arbFrontDesign,delete e.arbRearDesign,delete e.heaveFrontDesign,delete e.heaveRearDesign,t.arbFront&&(e.arbFrontDesign=structuredClone(t.arbFront)),t.arbRear&&(e.arbRearDesign=structuredClone(t.arbRear)),t.heaveFront&&(e.heaveFrontDesign=structuredClone(t.heaveFront)),t.heaveRear&&(e.heaveRearDesign=structuredClone(t.heaveRear))}function sw(){return{...Ka("decoupled"),name:io().name}}var M5=[{label:"Formula Student (decoupled)",vehicle:sw,components:e=>yc(lp("decoupled",e).components,mp)},{label:"Formula 1 (third springs)",vehicle:()=>up().vehicle,components:()=>yc(up().components,pp)}],j0={"direct-coilover":"direct",pushrod:"pushrod",pullrod:"pullrod","third-spring":"heave","mcpherson-strut":"mcpherson"},S5=[...M5.map(e=>e.vehicle),...Object.values(j0).map(e=>()=>Ka(e))];function Ha(e){let t=yc(lp("decoupled",e.vehicles[0].params).components,mp);e.suspensions=[{...e.suspensions[0],model:sw()}];for(let r of e.vehicles)W0(r.params,t);return fr(e,mp),e}var Ro={title:"OpenStreetMap",url:"https://www.openstreetmap.org/copyright",licence:"ODbL-1.0",credit:"\xA9 OpenStreetMap contributors"},dp={title:"USGS 3D Elevation Program, 1 m lidar terrain",url:"https://www.usgs.gov/3d-elevation-program",licence:"public-domain",credit:"U.S. Geological Survey, 3D Elevation Program"},iw={title:"Digitales Gel\xE4ndemodell DGM1 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Kent",address:"c4953e3c25eaba4a5b7e",provenance:{fidelity:"derived",licence:"ODbL-1.0",sources:[Ro,{title:"Environment Agency LIDAR Composite DTM, 1 m",url:"https://environment.data.gov.uk/dataset/13787b9a-26a4-4775-8523-806d13af58fc",licence:"OGL-UK-3.0",credit:"\xA9 Environment Agency copyright and/or database right 2022. All rights reserved."}]}},T5={id:"bristol",name:"Bristol, Tennessee",address:"f0e23953669a414ad600",provenance:{fidelity:"derived",licence:"ODbL-1.0",sources:[Ro,dp]}},P5={id:"pikes-peak",name:"Pikes Peak, Colorado",address:"3de137fe33b5c2875036",provenance:{fidelity:"derived",licence:"ODbL-1.0",sources:[Ro,dp]},standingStart:!0},L5={source:"venue",altitudeM:3580,pressure:{kind:"standard"},humidityPct:0},D5=10,E5={id:"nurburg-sprint",name:"Sprintstrecke, N\xFCrburg",address:"1875636cdbb615aa2756",provenance:{fidelity:"derived",licence:"ODbL-1.0",sources:[Ro,iw]}};function vo(e,t){let{id:r,name:n,address:o,provenance:a,standingStart:s}=t,i={kind:"catalogue",id:r,address:o},c=Gi(bg({name:n,source:i}).model,structuredClone(a));return e.tracks=[{id:"tr1",name:n,source:i,provenance:c,...s?{standingStart:s}:{}}],e.activeTrackId="tr1",e.settings.standingStart=s===!0,e}function vn(e,t,r){let n=e.vehicles[0].params,o=`m${e.motors.length+1}`;e.motors=[...e.motors,{id:o,color:bn[e.motors.length%bn.length],model:t}];let a=Z1({},{...n,motorModel:t});n.motorModelId=o,n.motorCount=1,a&&(n.driveline=a),n.gear_ratio&&(n.gear_ratio={...n.gear_ratio,value:r})}var I5=3.8,fp={hubPlanetary:14.5,inboardChain:4,engineChain:3.4},_5="Hub motor, 35 kW (example)";function U0(e,t,r,n,o,a){let s=e.vehicles[0].params;s.motorModelId=t,s.motorCount=r,s.motorPlacement=n,a&&(s.motorMount=a),s.driven_wheels={...s.driven_wheels,value:n==="awd"?4:2},s.gear_ratio={...s.gear_ratio,value:o}}function lw(e){let t=e.motors.find(r=>r.id==="m1");return t.model={...t.model,name:_5},t.id}function hp(e,t,r){let n=za(Ha(Rn(e,r)));return n.vehicles[0].params.name=t,n}function N5(){let e=hp("Formula Student combustion car","Formula Student combustion","fs-cv");vn(e,mg(),fp.engineChain);let t=e.vehicles[0].params;return t.power_limit_kw&&(t.power_limit_kw={...t.power_limit_kw,value:0}),t.endurance_reserve&&(t.endurance_reserve={...t.endurance_reserve,value:0}),e}function O5(){let e=hp("Formula Student AWD car","Formula Student AWD","fs-ev");return U0(e,lw(e),4,"awd",fp.hubPlanetary,"hub"),e}function V5(){let e=hp("Formula Student RWD hub-motor car","Formula Student RWD hub motors","fs-ev");return U0(e,lw(e),2,"rear",fp.hubPlanetary,"hub"),e}function B5(){let e=hp("Formula Student one-motor car","Formula Student RWD one motor","fs-ev"),t=`m${e.motors.length+1}`;return e.motors=[...e.motors,{id:t,color:bn[e.motors.length%bn.length],model:ug()}],U0(e,t,1,"rear",fp.inboardChain),e.vehicles[0].params.driveline={rear:structuredClone(xt.clutch)},e}function $5(){let e=za(Ha(Rn("Formula Student endurance energy","fs-ev"))),t=e.vehicles[0],r=structuredClone(t);if(r.id="v2",r.color=Yi[1],r.params.name=`${t.params.name} flat out`,!r.params.endurance_reserve)throw new Error("the Formula Student preset states no energy reserve");return r.params.endurance_reserve={...r.params.endurance_reserve,value:0},e.vehicles.push(r),e}function G5(){let e=up(),t=xo("Formula 1 car","trackday",b5,()=>e.vehicle);return W0(t.vehicles[0].params,yc(e.components,pp)),fr(t,pp),vn(t,pg(),I5),vo(t,A5)}function uw(e="GT car",t=Bi){let r=xo(e,"trackday",g5,t);return fr(r,ew),vn(r,FS(),r.vehicles[0].params.gear_ratio.value),vo(r,F5)}function mw(e="Sports car",t=$i,r=Y0){let n=xo(e,"trackday",y5,t);return fr(n,r),vn(n,wS(),n.vehicles[0].params.gear_ratio.value),vo(n,w5)}function K5(){let e=xo("Cup car","trackday",x5,fS);return fr(e,rw),vn(e,CS(),e.vehicles[0].params.gear_ratio.value),vo(e,C5)}function H5(){let e=xo("Stock car","trackday",R5,hS);return fr(e,nw),vn(e,TS(),e.vehicles[0].params.gear_ratio.value),vo(e,T5)}function z5(){let e=xo("Hill-climb prototype","trackday",v5,bS);return fr(e,ow),vn(e,PS(),e.vehicles[0].params.gear_ratio.value),e.settings.air=structuredClone(L5),e.settings.airTempC=D5,vo(e,P5)}function Y5(){let e=xo("Race truck","trackday",k5,gS);return fr(e,aw),vn(e,LS(),e.vehicles[0].params.gear_ratio.value),vo(e,E5)}function W5(e){let t=cp.find(o=>o.id===e);if(e==="direct")return uw(t.name,()=>Ka(e));if(e==="mcpherson")return mw(t.name,()=>Ka(e),tw);let r=za(Rn(t.name,"trackday")),n=lp(e,r.vehicles[0].params);return r.suspensions=[{...r.suspensions[0],model:n.vehicle}],W0(r.vehicles[0].params,n.components),fr(r,z0),r}function xc(e,t,r){let n=j0[e],o=cp.find(a=>a.id===n);return{id:e,domain:"racecar",kind:"start",summary:t,title:o.name,blurb:`${o.description} ${r} Move a hardpoint in Kinematics and watch the motion ratio, camber and roll centre follow, then what it costs on track.`,tags:["kinematics","suspension",...o.tags.map(a=>a.toLowerCase())],openTool:"kinematics",load:()=>W5(n)}}var j5=[{id:"fs-ev-comparison",domain:"racecar",kind:"study",summary:"Four Formula Student cars scored on all five events: what mass, power and downforce buy.",title:"Formula Student \u2014 car comparison",blurb:"A generic Formula Student electric car and three what-ifs \u2014 15 % more downforce, 15 kg lighter, 15 % more power \u2014 scored side by side on the Formula Student electric events. All four run decoupled heave and roll suspension. A good first look at what each change buys.",tags:["formula student","comparison","lap sim"],openTool:"laptime",load:()=>Ha(Rn("Formula Student comparison","fs-ev"))},{id:"fs-endurance-energy",domain:"racecar",kind:"study",summary:"The FS car flat out against its energy target: which finishes endurance, and the points.",title:"Formula Student \u2014 endurance energy",blurb:"The generic Formula Student electric car twice, scored together on the Formula Student electric events: once driven to its energy target, once flat out. The two differ in the endurance reserve and nothing else. Flat out the car laps faster and its pack runs out before the flag; on the target its speed is capped so the pack finishes with 5 % left. The endurance event shows the charge lap by lap, and the points what running dry costs.",tags:["formula student","endurance","energy","battery"],openTool:"laptime",load:$5},{id:"fs-ev-single",domain:"racecar",kind:"start",summary:"A generic Formula Student electric car on the five events, to set up as your own.",title:"Formula Student \u2014 single car",blurb:"One generic Formula Student electric car on the Formula Student electric events: 300 kg with driver, two motors, 80 kW, 10-inch tyres, decoupled heave and roll suspension. The uncluttered starting point for setting up your own car.",tags:["formula student","lap sim"],openTool:"laptime",load:()=>za(Ha(Rn("Formula Student car","fs-ev")))},{id:"fs-combustion",domain:"racecar",kind:"start",summary:"A restricted 600 cc four through six gears and a clutch-pack diff, on the CV events.",title:"Formula Student \u2014 combustion, LSD",blurb:"The generic Formula Student car with an engine: a restricted 600 cc four of about 64 kW through a six-speed box and a chain to a clutch-pack limited-slip diff, on the Formula Student combustion events. The same 300 kg chassis, tyres and decoupled suspension as the electric layouts, so the drive is the difference. Efficiency is scored on the work at the crankshaft until fuel is modelled. Representative of the class, not a measurement of any car.",tags:["formula student","combustion","engine","limited-slip diff","lsd","lap sim"],openTool:"laptime",load:N5},{id:"fs-ev-awd",domain:"racecar",kind:"start",summary:"All-wheel drive from a motor in each hub, held to 80 kW at the pack.",title:"Formula Student \u2014 AWD, four hub motors",blurb:"The generic Formula Student electric car with a motor in each of its four hubs: 35 kW hub motors on 14.5 : 1 planetaries, held to the rules\u2019 80 kW at the pack, each wheel\u2019s torque its own and every wheel braking back into the pack. The same 300 kg chassis, tyres, suspension and pack as the other layouts, so the drive is the difference; the hub motors\u2019 unsprung mass is not added. Representative of the class, not a measurement of any car.",tags:["formula student","awd","all-wheel drive","hub motors","outboard motors","lap sim"],openTool:"laptime",load:O5},{id:"fs-ev-rwd-hubs",domain:"racecar",kind:"start",summary:"Rear-wheel drive from a motor in each rear hub, with no diff between them.",title:"Formula Student \u2014 RWD, two hub motors",blurb:"The generic Formula Student electric car driven by a motor in each rear hub: two 35 kW hub motors on 14.5 : 1 planetaries with no differential between them, so each rear wheel\u2019s torque is set on its own. The pair cannot use all of the rules\u2019 80 kW. The same 300 kg chassis, tyres, suspension and pack as the other layouts, so the drive is the difference. Representative of the class, not a measurement of any car.",tags:["formula student","rwd","rear-wheel drive","hub motors","outboard motors","lap sim"],openTool:"laptime",load:V5},{id:"fs-ev-one-motor",domain:"racecar",kind:"start",summary:"One inboard motor chained to a clutch-pack diff on the rear axle.",title:"Formula Student \u2014 RWD, one motor, LSD",blurb:"The generic Formula Student electric car on one inboard motor: an axial-flux motor of 230 Nm on the chassis, chained at 4 : 1 to a clutch-pack limited-slip diff on the rear axle. The rules\u2019 80 kW at the pack holds it below its peak, and it brakes back into the pack through the diff. The same 300 kg chassis, tyres, suspension and pack as the other layouts, so the drive is the difference. Representative of the class, not a measurement of any car.",tags:["formula student","rwd","inboard motor","limited-slip diff","lsd","lap sim"],openTool:"laptime",load:B5},{id:"formula-1",domain:"racecar",kind:"start",summary:"A generic Formula 1 car on a flying lap of Austin.",title:"Formula 1 car",blurb:"A generic Formula 1 car of the 18-inch era at Austin: 798 kg with driver, a 735 kW power unit through eight gears and a clutch-pack diff, four and a half square metres of lift area on a 3.6 m wheelbase, pushrods with a third spring and heave damper on each axle, slicks with 1.8 of peak grip. One flying lap, no scoring. Every number is representative of the class, none is a measurement.",tags:["formula 1","lap sim","aero"],openTool:"laptime",load:G5},{id:"touring-car",domain:"racecar",kind:"start",summary:"A generic GT car on a flying lap of Laguna Seca.",title:"GT car",blurb:"A generic GT car at Laguna Seca: 1300 kg with driver, a 410 kW four-litre through six gears and a clutch-pack diff, 2.8 m\xB2 of lift area, coilovers on double wishbones, 18-inch slicks. One flying lap, no scoring. Representative of the class, not a measurement of any car.",tags:["gt","lap sim"],openTool:"laptime",load:uw},{id:"street-car",domain:"racecar",kind:"start",summary:"A generic sports car on road tyres, round the Nordschleife.",title:"Sports car",blurb:"A generic sports car on the Nordschleife: 1600 kg with driver, a 220 kW turbocharged six through a six-speed double-clutch box and an open diff, road tyres with about 1.0 of grip, soft springs and a little aerodynamic lift. One flying lap, no scoring. The car to start from when the question is a road car, and the one that shows what a race car's numbers actually buy.",tags:["sports car","road car","lap sim"],openTool:"laptime",load:mw},{id:"cup-car",domain:"racecar",kind:"start",summary:"A generic front-driven cup hatchback round Brands Hatch.",title:"Cup car",blurb:"A generic front-wheel-drive cup hatchback at Brands Hatch: 1265 kg with driver, a 250 kW two-litre turbo through six gears and a clutch-pack diff, a splitter and a wing, a McPherson strut front, 18-inch slicks. One flying lap, no scoring. Representative of the class, not a measurement of any car.",tags:["cup car","front-wheel drive","lap sim"],openTool:"laptime",load:K5},{id:"stock-car",domain:"racecar",kind:"start",summary:"A generic stock car on Bristol\u2019s half-mile, banked 25\xB0.",title:"Stock car",blurb:"A generic stock car of the American oval series at Bristol, the half-mile banked 25\xB0: 1620 kg with driver, a 500 kW 5.9-litre V8 through five gears and a clutch-pack diff, double wishbones on stiff springs, 18-inch slicks, set up the same on both sides. One flying lap, no scoring. Representative of the class, not a measurement of any car.",tags:["stock car","oval","lap sim"],openTool:"laptime",load:H5},{id:"hill-climb",domain:"racecar",kind:"start",summary:"A generic hill-climb prototype up Pikes Peak, from rest, in thin air.",title:"Hill-climb prototype",blurb:"A generic hill-climb sports prototype on Pikes Peak, 19.99 km and 1,440 m up to the summit: 650 kg with driver, a 330 kW turbocharged two-litre through six gears and a clutch-pack diff, 3 m\xB2 of lift area, pushrods, 13-inch slicks. It runs in the mountain\u2019s thin air, which costs its wings a third of their downforce. One run, no scoring. Representative of the class, not a measurement of any car.",tags:["hill climb","altitude","lap sim"],openTool:"laptime",load:z5},{id:"race-truck",domain:"racecar",kind:"start",summary:"A generic European race truck round the N\xFCrburg Sprintstrecke, held to 160 km/h.",title:"Race truck",blurb:"A generic European circuit race truck on the N\xFCrburg Grand Prix circuit\u2019s 3.6 km Sprintstrecke: a cab-over tractor at the class\u2019s 5300 kg minimum, 60 % of it on the front axle, an 880 kW 13-litre diesel through a twelve-speed box to a locked rear axle, geared to the 160 km/h the rules hold it to, 315/70 R22.5 tyres. One flying lap, no scoring. Representative of the class, not a measurement of any truck.",tags:["race truck","truck racing","lap sim"],openTool:"laptime",load:Y5},{id:"suspension",domain:"racecar",kind:"study",summary:"The FS car\u2019s decoupled wishbones: move a hardpoint and watch the roll centre follow.",title:"Suspension kinematics study",blurb:"Opens on the double-wishbone editor with one Formula Student car. Move a hardpoint and watch camber, bump steer, motion ratio and roll-centre migration follow \u2014 then see what it costs on track.",tags:["kinematics","geometry"],openTool:"kinematics",load:()=>za(Ha(Rn("Suspension study","trackday")))},xc("direct-coilover","The GT car\u2019s wishbones driving coilovers straight into the towers, at Laguna Seca.","On the GT car, at Laguna Seca."),xc("pushrod","The FS car on pushrods: a rod from each lower wishbone works a rocker.","On the Formula Student car, at FSG."),xc("pullrod","The FS car on pullrods: a rod from each upper wishbone pulls a low rocker.","On the Formula Student car, at FSG."),xc("third-spring","The pushrod FS car plus a front third spring that picks up after 5 mm of bump.","On the Formula Student car, at FSG."),xc("mcpherson-strut","The sports car on McPherson struts at the front and double wishbones at the rear.","On the sports car, at the Nordschleife."),{id:"tyre-study",domain:"racecar",kind:"study",summary:"The FS tyre\u2019s grip curves at three loads, beside the other classes\u2019 tyres.",title:"Tyre model study",blurb:"One Formula Student car on its Magic Formula tyre, opened on the tyre analysis, where the grip curves that drive the whole lap come from. The library beside it holds the other seven classes' tyres and the illustrative MF6.2 example to compare against.",tags:["tyres","magic formula"],openTool:"tires",load:()=>za(Ha(Rn("Tyre study","fs-ev")))}],pw=j5.map(e=>({...e,load:()=>Ag(e.load())}));var dw={width:320,height:200},Wge=[.6*dw.width-9,.6*dw.height-9];var fw=new WeakMap,hw=new WeakMap,X0=e=>JSON.stringify(e,(t,r)=>r===1/0?"Infinity":r);function bw(e,t){if(!t){let a=fw.get(e);return a||(a=Ct(e),fw.set(e,a)),a}let r=hw.get(e);r||(r=new Map,hw.set(e,r));let n=X0(t),o=r.get(n);return o||(r.size>=4&&r.clear(),o=Ct(e,t),r.set(n,o)),o}var Q5=Math.PI/180,q5=e=>e>1?e/100:e;function Rc(e){let t=null;return()=>(t??={v:e()}).v}function gw(e){let t=Ge(e,{travelMin:-1,travelMax:1,steps:3}).samples[1],r=t.metrics.motionRatio??1;return{motionRatio:r,wheelRate:t.metrics.wheelRate??e.config.springRate*r*r}}var yw=new WeakMap,Q0={heave:0,pitch:0,roll:0,steer:0},xw=[0,1,2,3,4],Rw=[-20,-10,0,10,20];function kw(e,t){let r=_r(e,Q0),n=["front","rear"],o=c=>{let l=ai(c);return l?(l.left+l.right)/2:Number.NaN},a=n.map(c=>o(r[c])),s=n.map(()=>({rc:[],split:[]}));for(let c of xw){let l=c===0?null:_r(e,{...Q0,roll:c*Q5});n.forEach((u,m)=>{let f=l?ai(l[u]):null,p=f&&Number.isFinite(a[m]);s[m].rc.push(p?t[m]+(f.left+f.right)/2-a[m]:t[m]),s[m].split.push(p?(f.left-f.right)/2:0)})}let i=n.map(()=>[]);for(let c of Rw){let l=c===0?null:_r(e,{...Q0,heave:-c});n.forEach((u,m)=>{let f=l&&l[u].valid&&r[u].valid;i[m].push(f?t[m]+l[u].height-r[u].height:t[m])})}return{roll:{rollDeg:xw,rcFront:s[0].rc,rcRear:s[1].rc,rcSplitFront:s[0].split,rcSplitRear:s[1].split},heave:{drop:Rw,rcFront:i[0],rcRear:i[1]}}}var vw=new WeakMap;function Z5(e,t,r,n){let o=vw.get(e);o||(o=new Map,vw.set(e,o));let a=`${X0(r)}|${n[0]}|${n[1]}`,s=o.get(a);if(!s){o.size>=4&&o.clear();try{s=kw(bw(e,r),n)}catch{s=t.rigidMigration(n)}o.set(a,s)}return s}function J5(e){let t=yw.get(e);if(t)return t;let r=Ct(e),n=_r(r,{heave:0,pitch:0,roll:0,steer:0}),o=gw(e.front),a=gw(e.rear),s={wheelbase:e.config.wheelbase,trackFront:bt(e.front),trackRear:bt(e.rear),mrFront:o.motionRatio,mrRear:a.motionRatio,wheelRateFront:o.wheelRate,wheelRateRear:a.wheelRate,unsprungCgHeight:e.front.config.loadedRadius,rcHeightFront:n.front.valid?n.front.heightAboveGround:0,rcHeightRear:n.rear.valid?n.rear.heightAboveGround:0,rcGainFront:da(n.front),rcGainRear:da(n.rear),rigidMigration:i=>kw(r,i),kinFront:Rc(()=>qo(e.front)),kinRear:Rc(()=>qo(e.rear))};return yw.set(e,s),s}function Mw(e,t,r,n){let o=J5(e),a=zn(e,t),s=fa(e,t),i=z1(e,t),c=pu(e,t),l=Y1(e,t),u=j1(t),m=W1(e,t),f=Hn(e.front),p=Hn(e.rear),d=Kn(t.damperModel,t.damperSetup,o.mrFront,o.mrRear,t.damperModelRear??t.damperModel),h={rho:t.rho.value,area:t.A.value,cl:t.c_l.value,cw:t.c_w.value,copLongFront:1-Math.max(0,Math.min(1,Z(t,"cop_long"))),copHeight:Z(t,"cop_height"),...t.aeroModel?{model:t.aeroModel}:{},rideHeightFront:Z(t,"ride_height_front"),rideHeightRear:Z(t,"ride_height_rear")},b=9.81,g=q5(t.front_mass_diss.value),y=ba(t,r,n),x=Ie(y.front),M=y.rear===y.front?x:Ie(y.rear),v=n??t.tireModelRear??r,R=t.m.value*b*g/2,k=t.m.value*b*(1-g)/2,F=x.corneringStiffness(R),w=M.corneringStiffness(k),C=(r?x.verticalStiffness():0)||Z(t,"tire_vertical_rate"),T=(v?M.verticalStiffness():0)||Z(t,"tire_vertical_rate"),S=er(r)??0,A=er(v)??0,P=gu({freeRadius:S,staticLoad:R,tyreRate:C,surveyed:e.front.config.loadedRadius},{freeRadius:A,staticLoad:k,tyreRate:T,surveyed:e.rear.config.loadedRadius},g),L=$t(S,R,C,e.front.config.loadedRadius),D=$t(A,k,T,e.rear.config.loadedRadius),E=[Nr(o.rcHeightFront,o.rcGainFront,e.front.config.loadedRadius,L),Nr(o.rcHeightRear,o.rcGainRear,e.rear.config.loadedRadius,D)],$=Rc(()=>ui(o.kinFront(),Z(t,"camber_front_deg"))),O=Rc(()=>ui(o.kinRear(),Z(t,"camber_rear_deg"))),W=Rc(()=>Z5(e,o,Na(V),E)),I=Bs({...t,wheelbase:{...t.wheelbase,value:o.wheelbase}}),_=li(t),V={massTotal:t.m.value,frontMassFrac:g,steeringSystem:t.steeringSystem,tv:eu(t),cgHeight:ha(Z(t,"cg_height"),t.cgReference?.standingRadius,P),cgStandingRadius:P,wheelbase:o.wheelbase,trackFront:o.trackFront,trackRear:o.trackRear,wheelRateFront:f?0:o.wheelRateFront,wheelRateRear:p?0:o.wheelRateRear,decoupledFront:f,decoupledRear:p,...u.front?{elementLinkagesFront:u.front}:{},...u.rear?{elementLinkagesRear:u.rear}:{},...m.front.source==="part"?{cornerCoiloverFront:m.front.coilover}:{},...m.rear.source==="part"?{cornerCoiloverRear:m.rear.coilover}:{},...m.heaveFront.coilover?{heaveCoiloverFront:m.heaveFront.coilover}:{},...m.heaveRear.coilover?{heaveCoiloverRear:m.heaveRear.coilover}:{},...i.front&&!f?{heaveSeatFront:i.front}:{},...i.rear&&!p?{heaveSeatRear:i.rear}:{},...m.rollFront.coilover?{rollCoiloverFront:m.rollFront.coilover}:{},...m.rollRear.coilover?{rollCoiloverRear:m.rollRear.coilover}:{},tireRate:C,...T!==C?{tireRateRear:T}:{},tireDamping:Z(t,"tire_vertical_damping"),arbFront:a.front??Z(t,"arb_front"),arbRear:a.rear??Z(t,"arb_rear"),brakeBalanceFront:I.balanceFront,brakes:I,..._?{driveline:_}:{},heaveSpringFront:s.front??Z(t,"heave_spring_front"),heaveSpringRear:s.rear??Z(t,"heave_spring_rear"),unsprungPerCorner:Z(t,"unsprung_mass"),unsprungCgHeight:$t(S,R,C,o.unsprungCgHeight),tyreFreeRadius:S,...A!==S?{tyreFreeRadiusRear:A}:{},rcHeightFront:E[0],rcHeightRear:E[1],corneringStiffnessFront:F,corneringStiffnessRear:w,get kinFront(){return $()},get kinRear(){return O()},damperFront:f?0:d?.front?.rate??Z(t,"damper_front")*o.mrFront*o.mrFront,damperRear:p?0:d?.rear?.rate??Z(t,"damper_rear")*o.mrRear*o.mrRear,...d?.front&&!f?{damperCurveFront:d.front.curve}:{},...d?.rear&&!p?{damperCurveRear:d.rear.curve}:{},heaveDamperFront:l.heaveFront?.rate??c.heaveFront,heaveDamperRear:l.heaveRear?.rate??c.heaveRear,rollDamperFront:l.rollFront?.rate??c.rollFront,rollDamperRear:l.rollRear?.rate??c.rollRear,...l.heaveFront?{heaveDamperCurveFront:l.heaveFront.curve}:{},...l.heaveRear?{heaveDamperCurveRear:l.heaveRear.curve}:{},...l.rollFront?{rollDamperCurveFront:l.rollFront.curve}:{},...l.rollRear?{rollDamperCurveRear:l.rollRear.curve}:{},unsprungCornerMass:Z(t,"unsprung_mass"),get rollCentreCurve(){return W().roll},get rcHeaveCurve(){return W().heave},aero:h,yawInertia:Z(t,"I_yaw"),rollInertia:Z(t,"I_roll"),pitchInertia:Z(t,"I_pitch"),get steerFront(){return du(e.front,L)},ackermannPct:Z(t,"ackermann_pct"),toeFrontDeg:Z(t,"toe_front_deg"),toeRearDeg:Z(t,"toe_rear_deg")};return V}var Aw=e=>({tire:t=>t==null?void 0:t===e.tireModelIdRear&&e.tireModelRear?e.tireModelRear:e.tireModel,motor:()=>e.motorModel,aero:()=>e.aeroModel,battery:()=>e.batteryModel,brake:()=>e.brakeModel,damper:t=>t!=null&&t===e.damperModelIdRear&&e.damperModelRear?e.damperModelRear:t!=null&&t===e.heaveDamperModelId?e.heaveDamperModel:t!=null&&t===e.rollDamperModelId?e.rollDamperModel:e.damperModel}),Z0={ggvMode:"twoTrack"},Sw=new WeakMap;function J0(e,t=Z0){let r=Sw.get(e.vehicle);r||Sw.set(e.vehicle,r=new WeakMap);let n=r.get(e.params);n||r.set(e.params,n=new Map);let o=JSON.stringify(t),a=n.get(o);if(!a){n.size>=8&&n.clear();let s={...Aw(e.params),suspensionOf:()=>e.vehicle};n.set(o,a=yo(e.params,s,t))}return a}var Fw=(e=Z0)=>t=>J0(t,e),ww=(e=Z0)=>t=>Mw(t.vehicle,N0(t.params,Aw(t.params),e),t.params.tireModel,t.params.tireModelRear);function e3(e,t){return J0(e,t.switches)}var ey=e=>Kr(e?.rulesets);function Cw(e,t,r,n,o={},a=()=>r.standingStart){let s=J0(n,r.switches),i=(l,u)=>{let m=sm(l,t,{racingLine:r.racingLine,params:s});return{asset:m.asset,numerics:m.numerics,standingStart:u,racingLine:r.racingLine}},c=Object.fromEntries(Object.entries(o).map(([l,u])=>[l,i(u,a(l))]));return{course:e?i(e,r.standingStart):null,numerics:t,tracks:c,switches:r.switches}}var Tw=e=>[...new Set(e.lap.courses.flatMap(t=>t.course.kind==="track"?[t.course.trackId]:[]))],Pw=e=>{let t=e?.session;return t?{sessionParams:r=>e3(r,t),session:()=>t}:{}},bp=e=>({metrics:ey(e),assemble:ww(e?.switches),simParams:Fw(e?.switches),projectTrack:()=>e?.course??null,libraryTrack:t=>e?.tracks?.[t]??null,numerics:e?.numerics,...Pw(e)}),t3=(e,t)=>({density:e.density,envelope:e.envelope,states:e.states,operating:e.operating,lap:e.lap,assemble:ww(t?.switches),simParams:Fw(t?.switches),projectTrack:()=>t?.course??null,libraryTrack:r=>t?.tracks?.[r]??null,numerics:t?.numerics,...Pw(t)}),Lw="nelder-mead",Dw=600,vc=[0,.15,.15];function Ew(e,t,r,n=vc.length){let o=ny(t);return vc.slice(0,Math.max(1,n)).map((a,s)=>({...e,seed:s+1,startJitter:a,car:o,...r?{lap:r}:{}}))}function Iw(e,t,r=.5){let n=[];return e.forEach((o,a)=>{let s=o.hi-o.lo;if(s<=0)return;let i=Math.min(r,s*.01);t[a]<=o.lo+i?n.push({id:o.id,name:o.name,unit:o.unit,at:"lo",value:t[a],moved:t[a]-o.start}):t[a]>=o.hi-i&&n.push({id:o.id,name:o.name,unit:o.unit,at:"hi",value:t[a],moved:t[a]-o.start})}),n}function _w(e,t,r,n,o=.01){let a=ey(n).byId;return r3(e,t,r,n).filter(s=>s.excess>-o*(a[s.metricId]?.scale??1))}function r3(e,t,r,n){let o;try{o=gn(Jm(e,t,r),t3(t,n))}catch{return[]}return n3(o,t,ey(n))}function n3(e,t,r){let n=[];for(let o of t.constraints){let a=r.byId[o.metricId];if(!a)continue;let s=Lt(e,a,o.at);if(!Number.isFinite(s))continue;let i=`${it(a)}${fc(o.at,a)}`;n.push({key:o.key,metricId:o.metricId,label:i,unit:a.unit==="-"?"":a.unit,value:s,excess:dc(o,s)})}return n}var o3=.05;function a3(e,t){if(t.id.startsWith("hp.")||Qm(t.id))return 1;let r=/^rocker\.(front|rear)\.(\w+)$/.exec(t.id);if(r){let a=r[1]==="front"?e.vehicle.front:e.vehicle.rear;return d0(xn(a.hardpoints),r[2],1)}let n=/^arm\.(front|rear)\.(uca|lca)\.(\w+)$/.exec(t.id);if(!n)return null;let o=n[1]==="front"?e.vehicle.front:e.vehicle.rear;return u0(Hr(o.hardpoints,n[2]),n[3],1)}function Nw(e,t,r){let n=r.filter(f=>f.score.feasible);if(n.length<2)return null;let o=t.map(f=>a3(e,f)),a=o.every(f=>f!==null)?"mm":null,s=0,i="",c=0,l=n.reduce((f,p)=>p.score.total<f.score.total?p:f);for(let f of n)if(f!==l)for(let p=0;p<t.length;p++){let d=Math.abs(f.x[p]-l.x[p])*(o[p]??1);c+=d*d,d>s&&(s=d,i=t[p].name)}let u=n.map(f=>f.score.total),m=l.score.terms.reduce((f,p)=>f+(p.resolution??0),0);return{distance:Math.sqrt(c),worst:s,worstName:i,scoreSpread:Math.max(...u)-Math.min(...u),tolerance:Math.max(o3,m),unit:a}}var s3={steeringSystem:!0,brakeSetup:!0,driveline:!0,heaveFrontDesign:!0,heaveRearDesign:!0,arbFrontDesign:!0,arbRearDesign:!0},Ow=e=>Object.hasOwn(s3,e);function q0(e){let[t,r]=e.split("."),n=r==="front"?"Front":r==="rear"?"Rear":null;return n?t==="heave"?`heave${n}Design`:t==="roll"?`arb${n}Design`:null:null}function i3(e){let t=e.split(".")[0];return t==="hp"||t==="arm"||t==="rocker"?"hardpoint":t==="cfg"?"config":t==="kc"?"compliance":t==="param"?"param":t==="brakeModel"?"part":Ow(t)||q0(e)?"block":null}function ty(e,t){t=Dt(e,t);let r=Gt(e);return[...t.variables,...t.followers??[]].filter(n=>r[n.id]&&!r[n.id].supersededBy&&!i3(n.id)).map(n=>ct(r[n.id]))}function Vw(e,t,r){t=Dt(e,t);let n=Gt(e),o=Jm(e,t,r),a=[],s=new Set,i=new Set;for(let c of[...t.variables,...t.followers??[]]){let l=n[c.id];if(!l||l.supersededBy)continue;let u=l.read(o),[m,f,p,d]=c.id.split(".");if(m==="rocker"){let h=`${f}.rocker`;if(i.has(h))continue;i.add(h);let b=f==="front"?o.vehicle.front:o.vehicle.rear;for(let g of[fo.fore,fo.aft]){let y=b.hardpoints[g];for(let x=0;x<3;x++)a.push({kind:"hardpoint",axle:f,key:g,axis:x,value:y[x]})}}else if(m==="arm"){let h=`${f}.${p}`;if(i.has(h))continue;i.add(h);let b=f==="front"?o.vehicle.front:o.vehicle.rear,g=jt[p];for(let y of[g.fore,g.aft]){let x=b.hardpoints[y];for(let M=0;M<3;M++)a.push({kind:"hardpoint",axle:f,key:y,axis:M,value:x[M]})}}else if(m==="hp"&&pr(c.id)){let h=`${f}.${p}`;if(i.has(h))continue;i.add(h);let b=(f==="front"?o.vehicle.front:o.vehicle.rear).hardpoints[p];for(let g=0;g<3;g++)a.push({kind:"hardpoint",axle:f,key:p,axis:g,value:b[g]})}else if(m==="hp")a.push({kind:"hardpoint",axle:f,key:p,axis:"xyz".indexOf(d),value:u});else if(m==="cfg")a.push({kind:"config",axle:f,field:p,value:u});else if(m==="kc"){if(s.has(`kc.${f}`))continue;s.add(`kc.${f}`);let h=f==="front"?o.vehicle.front:o.vehicle.rear;a.push({kind:"compliance",axle:f,value:h.compliance})}else if(m==="param")a.push({kind:"param",label:ct(l),value:u});else if(m==="brakeModel"){if(s.has(m))continue;if(s.add(m),!o.params.brakeModel)throw new Error(`optimiser: "${c.id}" left the car with no brake part to adopt`);a.push({kind:"part",key:"brakeModel",fromId:e.params.brakeModelId,value:o.params.brakeModel})}else if(Ow(m)||q0(c.id)){let h=q0(c.id)??m;if(s.has(h))continue;s.add(h);let b=o.params[h];if(!b)throw new Error(`optimiser: "${c.id}" left the car with no ${h} to adopt`);a.push({kind:"block",key:h,value:b})}else throw new Error(`optimiser: Adopt has no way to write "${c.id}" back into the project`)}return a}function ry(e){let t=performance.now(),r=bp(e.lap),n=e.follow?S0(e.car,e.spec,r):e.spec,{dead:o,unprobed:a,...s}=C0(e.car,n,r);return{...s,deadIds:o.map(i=>i.id),unprobedIds:a.map(i=>i.id),elapsedMs:performance.now()-t,...e.follow?{followed:!0,fromCar:n===e.spec?null:{states:n.states,envelope:n.envelope}}:{}}}var ny=e=>e.vehicle.chassis?{...e,vehicle:V0(e.vehicle)}:e;function Bw(e,t){try{let r=oy(e.car,e.spec,e.lap),n=ea.find(u=>u.name===e.method);if(!n)throw new Error(`unknown method "${e.method}"`);t({kind:"progress",seed:e.seed,progress:{evaluations:0,budget:e.budget,x:Mr(r.variables),score:kr(r,Mr(r.variables)),infeasible:0}});let o=e.from,a=o?{...r,variables:r.variables.map((u,m)=>({...u,start:Number.isFinite(o[m])?o[m]:u.start}))}:r,s=performance.now(),i=n.run(a,{budget:e.budget,seed:e.seed,startJitter:e.startJitter,progressEvery:20,onProgress:u=>t({kind:"progress",seed:e.seed,progress:u})}),c=performance.now()-s,l=i.score.feasible&&g0(r.variables)?x0(r,i.x,i.score):void 0;t({kind:"done",seed:e.seed,result:l?{...i,snapped:l}:i,elapsedMs:c})}catch(r){t({kind:"error",seed:e.seed,message:r instanceof Error?r.message:String(r)})}}var oy=(e,t,r)=>ep(e,t,bp(r));function $w(e,t){let r=e.tireModelIdRear?t.tire(e.tireModelIdRear):void 0;return{tireModel:t.tire(e.tireModelId),...r?{tireModelRear:r}:{},motorModel:t.motor(e.motorModelId),aeroModel:t.aero(e.aeroModelId),batteryModel:t.battery(e.batteryModelId),brakeModel:t.brake(e.brakeModelId),damperModel:t.damper(e.damperModelId),...Js(e,t.damper)}}function Gw(e,t,r){let{tireModelRear:n,damperModelRear:o,heaveDamperModel:a,rollDamperModel:s,...i}=r;return{vehicle:e,params:{...t,...i,...n?{tireModelRear:n}:{},...o?{damperModelRear:o}:{},...a?{heaveDamperModel:a}:{},...s?{rollDamperModel:s}:{}}}}var Kw=e=>({ggvMode:e.ggvMode,quasiTransient:e.quasiTransient===!0&&e.ggvMode!=="fast",motorThermal:e.motorThermal===!0,...bF({brakeFade:e.brakeFade===!0,airTempC:e.airTempC,diffYaw:e.diffYaw===!0,...e.air?{air:e.air}:{}})});function c3(e){if(!(e.plannedPath!==void 0||!e.track))return{track:e.track,numerics:e.numerics,settings:{racingLine:e.racingLine,standingStart:e.standingStart,...Object.keys(e.lapCounts).length?{lapCounts:e.lapCounts}:{}},switches:e.switches,rulesets:e.rulesets}}function Hw(e,t){let r=t.plannedPath!==void 0,n=c3(t);return{...Cw(r?t.plannedPath:t.track,t.numerics,{racingLine:r?!1:t.racingLine,standingStart:t.standingStart,switches:t.switches},e,t.library,t.standingOf),...n?{session:n}:{},rulesets:t.rulesets}}function ay(e,t){let r=e.vehicles.find(o=>o.id===t);if(!r)throw new Error(`this project holds no vehicle "${t}"`);let n=go(e);return Gw(structuredClone(_0(e,r.params)),structuredClone(r.params),$w(r.params,n))}var l3="this project's laps follow a fixed trajectory from the planner, which the server cannot read \u2014 set Laptime back to the track to run this study here, or run it in the Studies tool";async function sy(e,t,r,n){if(e.settings.pathPlanId)throw new Error(l3);let o=Ga(e),a=e.tracks.length?(await np(e,t)).asset:null,s={};for(let i of n?Tw(n):[]){let c=e.tracks.find(l=>l.id===i);c&&(s[i]=await bc(c,t))}return Hw(r,{track:a,numerics:o.numerics,racingLine:o.racingLine,standingStart:o.standingStart,lapCounts:o.lapCounts??{},switches:Kw(o),rulesets:e.rulesets??[],library:s,standingOf:i=>e.tracks.find(c=>c.id===i)?.standingStart===!0})}async function zw(e,t,r,n){let o=ay(e,r),a=Dt(o,n),s=await sy(e,t,o,a);return ry({id:0,car:o,spec:a,lap:s})}async function Yw(e,t,r,n){let o=ay(e,r),a=Dt(o,n),s=ty(o,a);if(s.length)return{problems:[`Adopt has no way to write ${s.join(", ")} back into the project. Take them out of the study.`]};let i;try{i=await sy(e,t,o,a)}catch(l){return{problems:[l instanceof Error?l.message:String(l)]}}let c=w0(o,a,{...bp(i),metrics:Kr(e.rulesets)});return c.length?{problems:c}:{problems:[],msPerEval:ry({id:0,car:o,spec:a,lap:i}).msPerEval,carFingerprint:eo(ny(o))}}async function u3(e,t,r,n,o,a=[]){let s=Ew(t,e,r,n),i=s.length*t.budget,c=null,l=[];for(let[u,m]of s.entries()){if(a.includes(m.seed))continue;await o?.tick();let f=[],p=null,d=null;if(Bw(m,y=>{y.kind==="progress"?(f.push([y.progress.evaluations,y.progress.score.total]),y.progress.evaluations===0&&(c??=y.progress.score),o?.progress(u*t.budget+y.progress.evaluations,i)):y.kind==="done"?p={result:y.result,elapsedMs:y.elapsedMs}:d=y.message}),d)throw new Error(d);if(!p)throw new Error("the search stopped without a result");let{result:h,elapsedMs:b}=p,g={seed:m.seed,startJitter:m.startJitter,x:h.x,score:h.score,evaluations:h.evaluations,infeasible:h.infeasible,history:h.history,trace:f,elapsedMs:b,...h.snapped?{snapped:h.snapped}:{}};l.push(g),o?.progress((u+1)*t.budget,i),await o?.finished?.(g)}if(!c)throw new Error("the search never scored the starting design");return{method:t.method,budget:t.budget,designScore:c,runs:l}}async function Ww(e,t,r,n){let o=ay(e,r.vehicleId),a=Dt(o,r.spec),s=ty(o,a);if(s.length)throw new Error(`study_adopt has no way to write ${s.join(", ")} back into the project \u2014 take them out of the study`);let i=await sy(e,t,o,a),c=r.method??Lw;if(!ea.some(b=>b.name===c))throw new Error(`unknown method "${c}" \u2014 it is one of ${ea.map(b=>b.name).join(", ")}`);let l=r.budget??Dw,u=Math.max(1,Math.min(r.seeds??vc.length,vc.length)),m=await u3(o,{spec:a,method:c,budget:l},i,u,n),f=oy(o,a,i),p=m.runs.map(b=>({seed:b.seed,startScore:m.designScore.total,score:b.score.total,feasible:b.score.feasible,...b.score.reason?{reason:b.score.reason}:{},terms:b.score.terms,x:b.x,evaluations:b.evaluations,infeasible:b.infeasible,bounds:Iw(f.variables,b.x),constraints:_w(o,a,b.x,i),...b.snapped?{onSteps:{x:b.snapped.x,score:b.snapped.score.total,feasible:b.snapped.score.feasible,...b.snapped.score.reason?{reason:b.snapped.score.reason}:{},terms:b.snapped.score.terms}}:{}})),d=m.runs.reduce((b,g)=>Cs(g.score,b.score)?g:b),h=d.snapped?.score.feasible?d.snapped:null;return{method:c,budget:l,seeds:p,spread:m.runs.length>1?Nw(o,f.variables,m.runs.map(b=>({x:b.x,score:b.score}))):null,writes:Vw(o,a,h?h.x:d.x),...d.snapped?{adopts:h?"on its steps":`as found: on its steps it breaks a hold (${d.snapped.score.reason??"not legal"})`}:{}}}function Uw(){if(typeof process.threadCpuUsage!="function")return performance.now();let e=process.threadCpuUsage();return(e.user+e.system)/1e3}async function p3(e,t){let r=pF(e.root);switch(e.kind){case"sweep":return AF(e.doc,r,e.req,t);case"convergence":return MF(e.doc,r,{vehicleId:e.vehicleId,...e.steps?{steps:e.steps}:{},...e.tolPct!==void 0?{tolPct:e.tolPct}:{},onStep:t});case"study":return Ww(e.doc,r,{vehicleId:e.vehicleId,spec:e.spec,...e.method?{method:e.method}:{},...e.budget?{budget:e.budget}:{},...e.seeds?{seeds:e.seeds}:{}},{progress:t,cancelled:()=>!1,tick:async()=>{}});case"fleet":return op(e.doc,r,{...e.vehicleIds?{vehicleIds:e.vehicleIds}:{},...e.settings?{settings:e.settings}:{},...e.overrides?{overrides:e.overrides}:{}});case"probe":return zw(e.doc,r,e.vehicleId,e.spec);case"quote":return Yw(e.doc,r,e.vehicleId,e.spec)}}if(jw){let e=jw,t=r=>e.postMessage(r);(async()=>{try{let r=await p3(m3,(n,o)=>t({type:"progress",done:n,total:o}));t({type:"done",result:r,cpuMs:Uw()})}catch(r){t({type:"failed",message:r instanceof Error?r.message:String(r),cpuMs:Uw()})}})()}export{p3 as runJob,Uw as threadCpuMs};
+`)),this.name="RulesetDefError",this.problems=r}},Ii=e=>typeof e=="number"&&Number.isFinite(e),Ei=e=>Ii(e)&&e>0,Pt=(e,t)=>e===void 0||t(e);function I2(e){let t=[],r=(o,a=null)=>t.push({key:a,message:o});if(typeof e.id!="string"||e.id===""?r("A ruleset needs an id"):/^[A-Za-z0-9_-]+$/.test(e.id)||r(`The id "${e.id}" is letters, digits, "-" and "_" only`),typeof e.label!="string"&&r("A ruleset needs a label"),typeof e.description!="string"&&r("A ruleset needs a description, even an empty one"),Array.isArray(e.events)||r("A ruleset\u2019s events are a list"),Array.isArray(e.kpis)||r("A ruleset\u2019s KPIs are a list"),t.length)return t;for(let o of e.events){let a=o,s=typeof a?.id=="string"?`Event "${a.id}"`:"An event";if(typeof a!="object"||a===null||typeof a.id!="string"||typeof a.label!="string"){r(`${s} needs an id and a label`);continue}switch(a.kind){case"straightLineAccel":Ei(a.distance)||r(`${s} needs a distance above zero, in metres`),Pt(a.vStart,i=>Ii(i)&&i>=0)||r(`${s}'s entry speed must be zero or more`);break;case"constantRadius":Ei(a.radius)||r(`${s} needs a radius above zero, in metres`),Pt(a.laps,i=>Ii(i)&&i>=1)||r(`${s} runs at least one lap`);break;case"trackLap":Pt(a.laps,i=>Ii(i)&&i>=1)||r(`${s} runs at least one lap`),Pt(a.distance,Ei)||r(`${s}'s distance must be above zero, in metres`),Pt(a.standingStart,i=>typeof i=="boolean")||r(`${s}'s standing start is yes or no`);break;default:r(`${s} is of a kind this build does not run: ${String(a.kind)}`)}}for(let o of e.kpis){let a=o;if(typeof a!="object"||a===null||typeof a.key!="string"){r("A KPI needs a key");continue}let s=a.key;typeof a.expr!="string"&&r("Needs a formula",s),typeof a.label!="string"&&r("Needs a label",s),Pt(a.unit,i=>typeof i=="string")||r("Its unit is text",s),Pt(a.over,i=>typeof i=="string")||r("Names its event by id",s),Pt(a.format,i=>i==="time"||i==="points")||r("Is shown as a time, as points, or as a number",s),Pt(a.max,Ii)||r("Its maximum is a number",s),Pt(a.lowerBetter,i=>typeof i=="boolean")||r("Lower is better, or it is not",s),Pt(a.hidden,i=>typeof i=="boolean")||r("Is hidden, or it is not",s)}Pt(e.track?.minTurnRadius,Ei)||r("The tightest turn the rules allow is a radius above zero");let n=e.battery;for(let o of["packVoltageMax","segmentVoltageMax","powerLimitKw"])Pt(n?.[o],Ei)||r(`The pack's ${o} must be above zero`);if(e.score!==void 0){let o=e.score?.parts;typeof e.score?.total!="string"||typeof o!="object"||o===null||Array.isArray(o)?r("The score names its total and its parts"):Object.values(o).every(a=>typeof a=="string")||r("Each part of the score names a KPI")}return t}function dS(e){let t=I2(e);if(t.length)return{plan:null,problems:t};let r=[];e.events.length===0&&r.push({key:null,message:"A ruleset runs at least one event"});let n=e.events.map(i=>i.id);e.traceEventId!=null&&!n.includes(e.traceEventId)&&r.push({key:null,message:`The plotted event "${e.traceEventId}" is not one of this ruleset's events`});let{plan:o,problems:a}=nm(e.kpis,e.events);r.push(...a);let s=new Set(e.kpis.map(i=>i.key));if(e.score){s.has(e.score.total)||r.push({key:null,message:`The total "${e.score.total}" is not one of this ruleset's KPIs`});let i=Object.entries(e.score.parts);i.length===0&&r.push({key:null,message:"A ruleset that awards points names at least one part"});for(let[c,l]of i)s.has(l)||r.push({key:null,message:`The part "${c}" reads "${l}", which is not one of this ruleset's KPIs`})}return{plan:r.length?null:o,problems:r}}function am(e){return dS(e).problems}var Kb=e=>Number.isFinite(e)?e:NaN;function _2(e){return e.unit&&e.format!=="time"?`${e.label} (${e.unit})`:e.label}function fn(e){let t=structuredClone(e),{plan:r,problems:n}=dS(t);if(!r)throw new om(t.id,n);let o=new WeakMap,a=p=>{let d=o.get(p);return d||(d=Gb(r,p),o.set(p,d)),d},s=new Map(t.kpis.map(p=>[p.key,p])),i=new Map;for(let[p,d]of Object.entries(t.score?.parts??{}))i.has(d)||i.set(d,p);let c=p=>(d,h)=>{if(!h)return NaN;let b=h.kpis?.[p];if(b!==void 0)return Kb(b);let g=h,y=i.get(p);return y!==void 0?Kb(g.parts?.[y]):p===t.score?.total?Kb(g.total):NaN},l=t.kpis.filter(p=>!p.hidden).map(p=>{let d=r.field.has(p.key);return{key:p.key,label:_2(p),lowerBetter:p.lowerBetter??!1,...p.format?{format:p.format}:{},...d?{field:!0}:{},value:d?c(p.key):h=>a(h)[p.key]}}),u=t.score,m=u?p=>{let d=Di(r,p),h={};for(let[b,g]of Object.entries(d)){let y={},R={};for(let[k,v]of Object.entries(u.parts)){y[k]=g[v];let x=s.get(v)?.max;x!=null&&(R[k]=x)}h[b]={total:g[u.total],parts:y,...Object.keys(R).length?{maxima:R}:{},kpis:Object.fromEntries(t.kpis.map(k=>[k.key,g[k.key]]))}}return h}:void 0,f=m||(r.field.size>0?p=>{let d=Di(r,p),h={};for(let[b,g]of Object.entries(d))h[b]={kpis:Object.fromEntries(t.kpis.map(y=>[y.key,g[y.key]]))};return h}:void 0);return{id:t.id,label:t.label,description:t.description,events:t.events,metrics:l,...t.track?{track:t.track}:{},...t.battery?{battery:t.battery}:{},...t.traceEventId?{traceEventId:t.traceEventId}:{},...m?{score:m}:{},...f?{field:f}:{},definition:t}}var Wt={accel:"accel",skidpad:"skidpad",autocross:"autocross",endurance:"endurance"},fS=[{kind:"straightLineAccel",id:Wt.accel,label:"Acceleration (75 m)",distance:75},{kind:"constantRadius",id:Wt.skidpad,label:"Skidpad",radius:8.375},{kind:"trackLap",id:Wt.autocross,label:"Autocross (1 lap)",laps:1},{kind:"trackLap",id:Wt.endurance,label:"Endurance (22 km)",distance:22e3}],hS=[{key:"autocross",label:"Autocross lap",format:"time",lowerBetter:!0,expr:"autocross.time"},{key:"accel",label:"Acceleration",format:"time",lowerBetter:!0,expr:"accel.time"},{key:"skidpad",label:"Skidpad lap",format:"time",lowerBetter:!0,expr:"skidpad.lapTime"},{key:"endurance",label:"Endurance",format:"time",lowerBetter:!0,expr:"endurance.time"},{key:"energy",label:"Energy",unit:"kWh",lowerBetter:!0,expr:"endurance.energy"},{key:"overall",label:"Overall",unit:"pts",format:"points",expr:"accelPts + skidpadPts + autocrossPts + endurancePts + efficiencyPts"},{key:"endurancePts",label:"Endurance",unit:"pts",format:"points",max:250,expr:"if(finite(finishedEndurance), 0.9 * 250 * ((1.333 * fleetmin(finishedEndurance) / min(finishedEndurance, 1.333 * fleetmin(finishedEndurance)) - 1) / 0.333) + 0.1 * 250, 0)"},{key:"efficiencyPts",label:"Efficiency",unit:"pts",format:"points",max:100,expr:"if(and(finite(finishedEndurance), finishedEndurance <= 1.333 * fleetmin(finishedEndurance)), 100 * ((1.5 * fleetmin(efficiencyFactor) - min(1.5 * fleetmin(efficiencyFactor), efficiencyFactor)) / (1.5 * fleetmin(efficiencyFactor) - fleetmin(efficiencyFactor))), 0)"},{key:"finishedEndurance",label:"Endurance, if finished",unit:"s",hidden:!0,expr:"if(endurance.finished, endurance.time, nan)"},{key:"efficiencyFactor",label:"Efficiency factor",unit:"s\xB2\xB7kWh",hidden:!0,expr:"finishedEndurance ^ 2 * endurance.energy"},{key:"accelPts",label:"Acceleration",unit:"pts",format:"points",max:75,hidden:!0,expr:"0.95 * 75 * ((1.5 * fleetmin(accel) / min(accel, 1.5 * fleetmin(accel)) - 1) / 0.5) + 0.05 * 75"},{key:"skidpadPts",label:"Skidpad",unit:"pts",format:"points",max:75,hidden:!0,expr:"0.95 * 75 * (((1.25 * fleetmin(skidpad) / min(skidpad, 1.25 * fleetmin(skidpad))) ^ 2 - 1) / 0.5625) + 0.05 * 75"},{key:"autocrossPts",label:"Autocross",unit:"pts",format:"points",max:100,hidden:!0,expr:"0.95 * 100 * ((1.25 * fleetmin(autocross) / min(autocross, 1.25 * fleetmin(autocross)) - 1) / 0.25) + 0.05 * 100"}],bS={total:"overall",parts:{[Wt.accel]:"accelPts",[Wt.skidpad]:"skidpadPts",[Wt.autocross]:"autocrossPts",[Wt.endurance]:"endurancePts",efficiency:"efficiencyPts"}},gS={id:"fs-ev",label:"Formula Student \u2014 Electric",description:"The four dynamic events (acceleration, skidpad, autocross, endurance) scored on the Formula Student point table, with efficiency from battery energy.",events:fS,kpis:hS,score:bS,track:{minTurnRadius:4.5},battery:Ly,traceEventId:Wt.autocross},yS={id:"fs-cv",label:"Formula Student \u2014 Combustion",description:"Same events and point table as the electric class. An engine car\u2019s efficiency is scored on the work at its crankshaft until its fuel is modelled; an electric car\u2019s on its pack.",events:fS,kpis:hS,score:bS,track:{minTurnRadius:4.5},traceEventId:Wt.autocross},_i=fn(gS),Hb=fn(yS);var zb="lap",N2=[{kind:"trackLap",id:zb,label:tm,laps:1}],xS={id:"trackday",label:"Track day",description:"One flying lap of the selected track. 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288.15/.0065*(1-Math.pow(e/101325,1/gm))}function S_(e,t){return e*Math.pow(1-.0065*t/288.15,gm)}function A_(e){return 611.21*Math.exp((18.678-e/234.5)*(e/(257.14+e)))}function F_(e,t){switch(e.kind){case"standard":return v_(t);case"qnh":return S_(e.hPa*100,t);case"station":return e.hPa*100}}function Hi(e,t,r=0,n=M_(e)){let o=t+b_,a=Math.min(.5*e,Math.max(0,Math.min(100,r))/100*A_(t)),s=e-a,i=s/(ig*o)+a/(f_*o);return{altitudeM:n,p:e,pDry:s,T:o,rho:i,densityAltitudeM:k_(i)}}function ES(e,t){return Hi(F_(e.pressure,e.altitudeM),t,e.humidityPct,e.altitudeM)}var ag=(e,t,r)=>Math.min(r,Math.max(t,e)),sg=(e,t)=>{let r=Number(e);return Number.isFinite(r)?r:t};function xm(e){if(!e||typeof e!="object")return structuredClone(ym);let t=e,r=t.pressure??{},n=ag(sg(r.hPa,1013.25),x_,R_),o=r.kind==="qnh"?{kind:"qnh",hPa:n}:r.kind==="station"?{kind:"station",hPa:n}:{kind:"standard"};return{source:t.source==="venue"?"venue":"car",altitudeM:ag(sg(t.altitudeM,0),g_,y_),pressure:o,humidityPct:ag(sg(t.humidityPct,0),0,100)}}var zi=e=>e?.source==="venue";var w_=Math.PI/180;function C_(){return{ucaFront:[110,245,330],ucaRear:[-110,258,335],lcaFront:[130,185,112],lcaRear:[-130,205,116],tieInner:[-92,210,132],uprightUpper:[-6,542,352],uprightLower:[4,560,120],tieOuter:[-78,556,146],wheelCenter:[0,600,230],pushrodOuter:[8,520,128],rockerPivotA:[70,380,440],rockerPivotB:[-50,383,442],rockerToPushrod:[10,480,420],rockerToDamper:[10,280,440],damperChassis:[10,275,245]}}function T_(){return{ucaFront:[120,250,340],ucaRear:[-120,262,345],lcaFront:[140,190,118],lcaRear:[-140,210,122],tieInner:[120,215,150],uprightUpper:[-4,548,360],uprightLower:[6,566,126],tieOuter:[108,560,158],wheelCenter:[0,610,232],pushrodOuter:[10,526,132],rockerPivotA:[70,385,450],rockerPivotB:[-50,388,452],rockerToPushrod:[12,486,430],rockerToDamper:[12,286,450],damperChassis:[12,281,255]}}function cg(e){let t=-e*w_;return q([0,Math.cos(t),Math.sin(t)])}function Rm(){let e={rodType:"push",pushrodAttach:"lowerArm",steerMode:"rack",spinAxis:cg(-1),loadedRadius:230,springRate:35,rackAxis:[0,1,0]};return{hardpoints:C_(),config:e}}function Yi(){let e={rodType:"pull",pushrodAttach:"lowerArm",steerMode:"fixed",spinAxis:cg(-1.5),loadedRadius:232,springRate:40,rackAxis:[0,1,0]};return{hardpoints:T_(),config:e}}function vm(){let e=[-25,635,460],t=[-40,600,710],r={layout:"mcpherson",actuation:"direct",rodType:"push",pushrodAttach:"upright",steerMode:"rack",spinAxis:cg(-.5),loadedRadius:320,springRate:38,rackAxis:[0,1,0],rackTravel:70};return{hardpoints:{ucaFront:[49,426,430],ucaRear:[-99,425,431],lcaFront:[60,395,180],lcaRear:[-280,415,185],tieInner:[-150,375,256],uprightUpper:[...e],uprightLower:[0,720,145],tieOuter:[-140,705,230],wheelCenter:[0,775,320],pushrodOuter:[...e],damperChassis:[...t],rockerPivotA:[...t],rockerPivotB:[...t],rockerToPushrod:[...e],rockerToDamper:[...t]},config:r}}function lg(){return{front:Rm(),rear:Yi(),config:{wheelbase:1600,trackFront:1200,trackRear:1220,frontAxleX:800}}}var P_=Math.PI/180;function IS(e){let t=-e*P_;return q([0,Math.cos(t),Math.sin(t)])}function ug(e,t){let r=([l,u,m])=>[l*t.kx,u*t.ky,m*t.kz],n=e.hardpoints,o=Object.fromEntries(Object.entries(n).map(([l,u])=>[l,r(u)])),a=(l,u)=>{o[l]=[o[l][0],o[l][1],o[l][2]+u]},s=t.lowerInnerDz??0,i=t.upperInnerDz??0;a("lcaFront",s),a("lcaRear",s),a("tieInner",s),a("ucaFront",i),a("ucaRear",i);let c={...e.config,spinAxis:IS(t.camberDeg),loadedRadius:t.loadedRadius,springRate:t.springRate};if(t.actuation==="direct"){let l=o.pushrodOuter,u=[l[0],l[1]*.7,l[2]+1.3*t.loadedRadius];o.damperChassis=u,o.rockerPivotA=u,o.rockerPivotB=u,o.rockerToPushrod=l,o.rockerToDamper=u,c={...c,actuation:"direct",rodType:"push",pushrodAttach:"lowerArm"}}else c={...c,actuation:"rocker"};for(let l of Object.keys(o))o[l]=L_(o[l]);return{hardpoints:o,config:c}}function L_(e){return e.map(t=>Math.round(t*10)/10+0)}function so(e){return{name:e.name,front:ug(Rm(),e.front),rear:ug(Yi(),e.rear),config:{wheelbase:e.wheelbase,trackFront:e.trackFront,trackRear:e.trackRear,frontAxleX:e.wheelbase/2}}}function Ia(e,t,r){return{...e,front:{...e.front,config:{...e.front.config,loadedRadius:t}},rear:{...e.rear,config:{...e.rear.config,loadedRadius:r}}}}var _a=600,io=610,Na=230,co=232;function lo(){let e=lg();return{...e,name:"Formula Student",front:{...e.front,config:{...e.front.config,actuation:"rocker"}},rear:{...e.rear,config:{...e.rear.config,actuation:"rocker"}}}}function mg(){return so({name:"Formula 1",wheelbase:3600,trackFront:1600,trackRear:1600,front:{kx:1.3,ky:800/_a,kz:355/Na,lowerInnerDz:-5,upperInnerDz:0,camberDeg:-3,loadedRadius:355,springRate:200},rear:{kx:1.3,ky:800/io,kz:355/co,lowerInnerDz:35,upperInnerDz:15,camberDeg:-1.5,loadedRadius:355,springRate:220}})}function Wi(){return Ia(so({name:"GT car",wheelbase:2700,trackFront:1650,trackRear:1650,front:{kx:1.2,ky:825/_a,kz:325/Na,lowerInnerDz:18,upperInnerDz:5,camberDeg:-3.5,loadedRadius:325,springRate:110,actuation:"direct"},rear:{kx:1.2,ky:825/io,kz:325/co,lowerInnerDz:36,upperInnerDz:15,camberDeg:-2,loadedRadius:325,springRate:120,actuation:"direct"}}),318.6,318.6)}function ji(){return Ia(so({name:"Sports car",wheelbase:2750,trackFront:1550,trackRear:1550,front:{kx:1.15,ky:775/_a,kz:320/Na,lowerInnerDz:36,upperInnerDz:15,camberDeg:-.5,loadedRadius:320,springRate:55,actuation:"direct"},rear:{kx:1.15,ky:775/io,kz:320/co,lowerInnerDz:57,upperInnerDz:25,camberDeg:-1,loadedRadius:320,springRate:60,actuation:"direct"}}),305.4,309)}function D_(e,t,r,n,o,a){let s=vm(),i=Object.fromEntries(Object.entries(s.hardpoints).map(([l,[u,m,f]])=>[l,[u,m+e,f]])),c=(l,u)=>{i[l]=[i[l][0],i[l][1],i[l][2]+u]};return c("lcaFront",t),c("lcaRear",t),c("tieInner",r),{hardpoints:i,config:{...s.config,spinAxis:IS(n),springRate:o,rackTravel:a}}}function _S(){return Ia({name:"Cup car",front:D_(55,-25,-23,-3.5,150,55),rear:ug(Yi(),{kx:1.15,ky:820/io,kz:320/co,lowerInnerDz:37,upperInnerDz:12,camberDeg:-2,loadedRadius:320,springRate:130,actuation:"direct"}),config:{wheelbase:2650,trackFront:1660,trackRear:1640,frontAxleX:2650/2},chassis:{boxes:[],body:"cup"}},306.3,311.6)}function NS(){return{...Ia(so({name:"Stock car",wheelbase:2794,trackFront:1650,trackRear:1650,front:{kx:1.2,ky:825/_a,kz:355/Na,lowerInnerDz:20,upperInnerDz:5,camberDeg:-2.5,loadedRadius:355,springRate:175,actuation:"direct"},rear:{kx:1.2,ky:825/io,kz:355/co,lowerInnerDz:40,upperInnerDz:15,camberDeg:-1.5,loadedRadius:355,springRate:150,actuation:"direct"}}),343.8,345.3),chassis:{boxes:[],body:"nascar"}}}function OS(){let e=Ia(so({name:"Hill-climb prototype",wheelbase:2550,trackFront:1580,trackRear:1540,front:{kx:1.1,ky:790/_a,kz:300/Na,lowerInnerDz:10,upperInnerDz:5,camberDeg:-2.5,loadedRadius:300,springRate:90},rear:{kx:1.1,ky:770/io,kz:300/co,lowerInnerDz:30,upperInnerDz:15,camberDeg:-1.5,loadedRadius:300,springRate:120}}),293.3,290.8);return{...e,front:{...e.front,config:{...e.front.config,rackTravel:45}},chassis:{boxes:[],body:"hillclimb"}}}function VS(){let e=Ia(so({name:"Race truck",wheelbase:3700,trackFront:2050,trackRear:1950,front:{kx:1.5,ky:1025/_a,kz:506/Na,lowerInnerDz:40,upperInnerDz:10,camberDeg:-.5,loadedRadius:506,springRate:200,actuation:"direct"},rear:{kx:1.5,ky:975/io,kz:506/co,lowerInnerDz:60,upperInnerDz:20,camberDeg:-.25,loadedRadius:506,springRate:160,actuation:"direct"}}),490.4,495.6);return{...e,front:{...e.front,config:{...e.front.config,rackTravel:60}},chassis:{boxes:[],body:"truck"}}}var rt=(e,t,r)=>({value:e,label:t,unit:r}),BS=(e,t)=>({...or[e],value:t});function $S(e,t,r){let n=[],o=[];for(let a=0;a<=r;a+=500)n.push(a),o.push(a<=t?e:e*t/a);return{rpm:n,torque:o}}function uo(e,t,r,n,o){let a=[],s=[];for(let i=0;i<=r;i+=500){a.push(i);let c=i<=t?n:Math.min(n,9549*e/i);s.push(c/o)}return{rpm:a,torque:s}}function Gr(e){let t={name:e.name,m:rt(e.m,"vehicle mass (with driver)","kg"),A:rt(e.A,"frontal area","m^2"),c_l:rt(e.cl,"downforce coefficient","-"),c_w:rt(e.cw,"drag coefficient","-"),l_to_d_ratio:rt(e.cw>0?e.cl/e.cw:0,"lift-to-drag ratio","-"),driven_wheels:rt(e.drivenWheels,"driven wheels","-"),fr_0:rt(-.012,"rolling-resistance coefficient","-"),front_aero_diss:rt(e.frontAero,"front aero distribution","-"),front_mass_diss:rt(e.frontMass,"front mass distribution","-"),r_dyn:rt(e.rDyn,"dynamic tyre radius","m"),rho:rt(1.2,"air density","kg/m^3"),gear_ratio:rt(e.gearRatio,"gear ratio","-"),effi_pgb:rt(e.drivetrainEfficiency,"drivetrain efficiency","-"),capacity:rt(e.capacityAh,"pack capacity","Ah"),soc:rt(1,"state of charge","-"),ocv:rt(e.ocv,"pack open-circuit voltage","V"),power_scale:rt(1,"power scaling factor","-"),power_limit_kw:BS("power_limit_kw",e.powerLimitKw),motor:e.motor,tireModelId:e.tireModelId};e.motorCount!==void 0&&(t.motorCount=e.motorCount),e.driveline&&(t.driveline=structuredClone(e.driveline)),e.motorPlacement&&(t.motorPlacement=e.motorPlacement);for(let[r,n]of Object.entries(e.dynamics))t[r]=BS(r,n);return t}var Oa={name:"Formula Student",m:300,A:1,cl:3,cw:1.3,frontMass:.47,frontAero:.45,rDyn:.222,drivenWheels:2,gearRatio:11.5,motor:$S(25,15e3,2e4),capacityAh:12,ocv:550,drivetrainEfficiency:.95,powerLimitKw:80,tireModelId:"t3",dynamics:{grip_scale:1,stiffness_scale:1,endurance_reserve:5,cg_height:300,tire_vertical_rate:110,unsprung_mass:8,brake_balance:.62,arb_front:20,arb_rear:15,damper_front:2.5,damper_rear:2.5,spring_front:35,spring_rear:40,mr_front:.94,mr_rear:.92,cop_long:.55,cop_height:300,ride_height_front:30,ride_height_rear:35,I_yaw:140,I_roll:45,I_pitch:130,camber_front_deg:-1,camber_rear_deg:-1.5,track_front:1200,track_rear:1220,wheelbase:1600,rc_front:5,rc_rear:4}},dg={name:"Formula 1",m:798,A:1.5,cl:3,cw:.9,frontMass:.46,frontAero:.44,rDyn:.35,drivenWheels:2,gearRatio:4.9,motor:uo(735,2e3,12500,2500,2),motorCount:1,driveline:{rear:xt.clutch},capacityAh:200,ocv:800,drivetrainEfficiency:.9,powerLimitKw:0,tireModelId:"t4",dynamics:{grip_scale:1,stiffness_scale:1,cg_height:290,tire_vertical_rate:300,unsprung_mass:30,brake_balance:.58,arb_front:250,arb_rear:150,damper_front:6,damper_rear:6,spring_front:200,spring_rear:220,mr_front:.95,mr_rear:.91,heave_spring_front:800,heave_spring_rear:800,tire_vertical_damping:.5,cop_long:.56,cop_height:400,ride_height_front:35,ride_height_rear:70,I_yaw:800,I_roll:150,I_pitch:800,camber_front_deg:-3,camber_rear_deg:-1.5,track_front:1600,track_rear:1600,wheelbase:3600,rc_front:-4,rc_rear:78}},km={name:"GT car",m:1300,A:2,cl:1.4,cw:.42,frontMass:.5,frontAero:.42,rDyn:.33,drivenWheels:2,gearRatio:3.43,motor:uo(410,2e3,8e3,2e3,2),motorCount:1,driveline:{rear:xt.clutch},capacityAh:200,ocv:800,drivetrainEfficiency:.9,powerLimitKw:0,tireModelId:"t5",dynamics:{grip_scale:1,stiffness_scale:1,cg_height:450,tire_vertical_rate:280,unsprung_mass:45,brake_balance:.6,arb_front:40,arb_rear:25,damper_front:4.5,damper_rear:4.5,spring_front:110,spring_rear:120,mr_front:.79,mr_rear:.77,cop_long:.58,cop_height:500,ride_height_front:55,ride_height_rear:75,I_yaw:1800,I_roll:450,I_pitch:1800,camber_front_deg:-3.5,camber_rear_deg:-2,track_front:1650,track_rear:1650,wheelbase:2700,rc_front:48,rc_rear:80}},Mm={name:"Sports car",m:1600,A:2.2,cl:-.1,cw:.3,frontMass:.55,frontAero:.5,rDyn:.32,drivenWheels:2,gearRatio:3.14,motor:uo(220,1500,6500,1400,2),motorCount:1,driveline:{rear:xt.open},capacityAh:200,ocv:800,drivetrainEfficiency:.9,powerLimitKw:0,tireModelId:"t6",dynamics:{grip_scale:1,stiffness_scale:1,cg_height:520,tire_vertical_rate:220,unsprung_mass:50,brake_balance:.65,arb_front:25,arb_rear:12,damper_front:2.4,damper_rear:2.4,spring_front:55,spring_rear:60,mr_front:.78,mr_rear:.75,cop_long:.5,cop_height:500,ride_height_front:130,ride_height_rear:140,I_yaw:2600,I_roll:550,I_pitch:2500,camber_front_deg:-.5,camber_rear_deg:-1,track_front:1550,track_rear:1550,wheelbase:2750,rc_front:80,rc_rear:122}},fg={name:"Cup car",m:1265,A:2.1,cl:.45,cw:.4,frontMass:.62,frontAero:.45,rDyn:.31,drivenWheels:2,gearRatio:3.5,motor:uo(250,2e3,7e3,1190,2),motorCount:1,motorPlacement:"front",driveline:{front:xt.clutch},capacityAh:200,ocv:800,drivetrainEfficiency:.9,powerLimitKw:0,tireModelId:"t7",dynamics:{grip_scale:1,stiffness_scale:1,cg_height:480,tire_vertical_rate:280,unsprung_mass:40,brake_balance:.68,arb_front:20,arb_rear:90,damper_front:4,damper_rear:3.5,spring_front:150,spring_rear:130,mr_front:.95,mr_rear:.76,cop_long:.55,cop_height:450,ride_height_front:64,ride_height_rear:78,I_yaw:1700,I_roll:400,I_pitch:1700,camber_front_deg:-3.5,camber_rear_deg:-2,track_front:1660,track_rear:1640,wheelbase:2650,rc_front:60,rc_rear:84}},hg={name:"Stock 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a=Math.max(0,o-t),s=Math.min(r,o+t),i=.6180339887498949,c=s-i*(s-a),l=a+i*(s-a),u=e(c),m=e(l);for(let f=0;f<14;f++)u>m?(s=l,l=c,m=u,c=s-i*(s-a),u=e(c)):(a=c,c=l,u=m,l=a+i*(s-a),m=e(l));return u>n?u>=m?{force:u,at:c}:{force:m,at:l}:m>n?{force:m,at:l}:{force:n,at:o}}function jg(e,t,r,n,o){let a=o*Kr;if(t==="side")return uA(i=>r*e.Fy(r*i*Kr,n,a),1,45);let s=t==="drive"?1:-1;return uA(i=>s*e.Fx(s*i,n,a),.02,.6)}function Em(e){let t=e?Tl(e)?.gamma:void 0,r=[t?.min,t?.max].filter(o=>o!==void 0&&Number.isFinite(o));if(!r.length)return{lo:-lA,hi:lA,stated:!1};let n=Math.max(...r.map(Math.abs))/Kr;return{lo:-n,hi:n,stated:!0}}function bN(e,t,r){if(!(r>t))return t;let n=Math.max(2,Math.ceil(r-t)+1),o=(r-t)/(n-1),a=t,s=-1/0;for(let h=0;h<n;h++){let b=t+h*o,g=e(b);g>s&&(s=g,a=b)}let i=Math.max(t,a-o),c=Math.min(r,a+o),l=.6180339887498949,u=c-l*(c-i),m=i+l*(c-i),f=e(u),p=e(m);for(let h=0;h<12;h++)f>p?(c=m,m=u,p=f,u=c-l*(c-i),f=e(u)):(i=u,u=m,f=p,m=i+l*(c-i),p=e(m));let 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a=`${Q(t,"grip_scale")}|${Q(t,"stiffness_scale")}`,s=fA(n),i=r.wheelbase*(1-r.frontMassFrac)/1e3,c=r.wheelbase*r.frontMassFrac/1e3,l=r.wheelbase/1e3,u=k=>(k==="front"?r.trackFront:r.trackRear)/2e3,m=(k,v,x,M,F)=>{let w=ge(e,k),C=Va(t,k),T=Math.max(0,o.loads[v]),S=o.camber[v],A=MN(S,F.lo,F.hi),P=jg(w,x,M,T,A),L=T<dA,D=C&&!L?gN(C,a,w,x,M,T,F):A,E=L?P.force:jg(w,x,M,T,D).force,V=.05;return{corner:v,Fz:T,lifted:L,camber:S,read:A,outside:A!==S,wants:D,atEdge:!L&&(D-F.lo<V||F.hi-D<V),peak:P.force,slip:P.at,best:E}},f=(k,v,x)=>{let M=v[0].best+v[1].best,F=v[0].peak+v[1].peak;return{kind:k,wheels:v,lossCamber:M>0?Math.max(0,1-F/M):NaN,range:x}},p=new Map,d=k=>{if(p.has(k))return p.get(k)??null;let v=null;if(!po("side",n)){let x=Em(Va(t,k));v=[m(k,Dm(k,o.outer),"side",1,x),m(k,Dm(k,kN(o.outer)),"side",-1,x)]}return p.set(k,v),v},h=new Map,b=new Map,g=new Map,y=(k,v,x)=>{let M=k==="front"?i:-c,F=(v?1:-1)*u(k),w=x*Kr;return 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NaN;let[v,x]=k,M=Math.sqrt(Math.max(s*s-c*c,1e-6)),F=u("front"),w=(Math.atan(l/(M-F))-Math.atan(l/(M+F)))/Kr;if(!(w>.001))return NaN;let C=R(x.corner)-R(v.corner),T=w+(x.slip-v.slip);return 100*(C-T)/w}}}function SN(e,t,r,n){let o=-1/0,a=t;for(let p=t;p<=r+1e-9;p+=n){let d=e(p);d>o&&(o=d,a=p)}let s=a-n,i=a+n,c=.6180339887498949,l=i-c*(i-s),u=s+c*(i-s),m=e(l),f=e(u);for(let p=0;p<14;p++)m>f?(i=u,u=l,f=m,l=i-c*(i-s),m=e(l)):(s=l,l=u,m=f,u=s+c*(i-s),f=e(u));return Math.max(o,m,f)}var AN=9.81,hA=Math.PI/180,rc={speed:20,ayG:1.2};function Zg(e,t={}){let r=t.operating??rc,n=t.assemble,o,a,s,i=new Map,c=new Map,l=new Map,u=new Map,m=new Map,f=v=>({speed:v?.speed!==void 0&&Number.isFinite(v.speed)&&v.speed>0?v.speed:r.speed,ayG:v?.ayG!==void 0&&Number.isFinite(v.ayG)?v.ayG:r.ayG}),p=()=>{if(o!==void 0)return o;if(!n)return o=null;try{o=n(e)}catch{o=null}return o},d=()=>{if(a!==void 0)return a;try{a=ir(e.params)}catch{a=null}return a},h=v=>{let 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e.segments;case"slalom":return null}}function r0(e,t={}){let r={...wN,...t},n=MA(e),o=TN(e);if(!o){let u=CN(e,r);return{asset:u,peakCurvature:RA(u),worstJoint:0,standingStart:n}}let a=kA(e),s=o.reduce((u,m)=>m.kind==="arc"?Math.min(u,Math.abs(m.radius)):u,1/0),i=Number.isFinite(s)?Math.max(.05,Math.min(r.spacingM,s*(AA*Math.PI/180))):r.spacingM,c=ac(o,{name:sc(e),spacing:i,closed:a,base:{widthLeft:r.halfWidthM,widthRight:r.halfWidthM,bank:0,mu:1}}),l=a?c.joints:c.joints.filter(u=>u.index<o.length-1);return{asset:c.asset,peakCurvature:RA(c.asset),worstJoint:l.reduce((u,m)=>Math.max(u,m.jump),0),standingStart:n}}function RA(e){try{return Math.max(...it(e).curvature.map(Math.abs))}catch{return NaN}}var $m={courses:[{id:"c1",course:{kind:"manoeuvre",spec:{kind:"skidpad",radiusM:8.375}}}],ggvMode:"twoTrack"};function n0(e){return e.course.kind==="project"?"the project\u2019s track":e.course.kind==="track"?e.course.name:sc(e.course.spec)}var FA=new WeakMap,Bm=new Map;function 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T=C.get(w);T||(T=it(M.asset,M.numerics),C.set(w,T)),F={id:v.id,track:T,standingStart:M.standingStart,numerics:M.numerics,name:M.asset.name}}catch{F=null}return m.set(v.id,F),F},g=()=>{if(c!==void 0)return c;let k=h();if(!k)return c=null;try{l=Ft(k),c=cr(l,!1,n.ggvMode)}catch{c=null}return c},y=k=>{let v=b(k);if(!v)return null;let x=f.get(v.id);if(x!==void 0)return x;let M=g(),F=null;if(M)try{let w=l?Jn(l,M,[v.track],v.numerics,n.ggvMode,u):void 0,C=l?dn(l,M.rows):void 0;F=Rt(M,v.track,v.numerics,{standingStart:v.standingStart,...w?{load:w}:{},...C?{shifts:C}:{}})}catch{F=null}return f.set(v.id,F),F};return{lapSettings:n,get lapAvailable(){return!!o&&s.some(k=>!!wA(k.course,r,a))},lapParams:h,courses:()=>s,course:b,ggv:g,lap:y,lapReserve:k=>{let v=b(k);if(!v)return null;let x=p.get(v.id);if(x!==void 0)return x;let M=y(k),F=t.dynInput(),w=t.tyre(),C=null;if(M&&F&&w)try{let 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n=e.x*Math.cos(t)-e.y*Math.sin(t),o=e.x*Math.sin(t)+e.y*Math.cos(t);return{x:n*Math.cos(r)+o*Math.sin(r),y:o*Math.cos(r)-n*Math.sin(r)}}function LA(e,t){let r=TA(t);if(r===a0)return e;let n=o=>Math.max(-1,Math.min(1,o));return{...e,heave:e.heave-r.rise,pitch:Math.asin(n(Math.sin(e.pitch)-r.sinPitch)),roll:Math.asin(n(Math.sin(e.roll)-r.sinRoll))}}function i0(e,t,r){let n=LA({heave:0,pitch:0,roll:0,steer:0},r);return e-vd(n,[t,0,0],Vo(r.vehicle.config))}var LN=180/Math.PI;function c0(e,t){return!e.valid||!e.ic?!1:Math.hypot(e.ic[0]-e.cp[0],e.ic[1]-e.cp[1])<=t}function Km(e,t,r){let n=Ze(t,e.vehicle.config),o=gt(e,r),a=fu(e,t,o[t]),s=a.at("uprightUpper"),i=a.at("uprightLower"),c=a.at("contactPatch"),l=a.at("wheelCenter"),u=A=>{let P=a.velocity(A);return[P[0],P[2]]},m=u(c),f=u(l),p=[c[0],c[2]],d=[l[0],l[2]];if(!a.solved)return{ic:null,line:null,cp:p,wc:d,road:[1,0],swingArmAngleDeg:NaN,tanTheta:NaN,tanThetaHub:NaN,valid:!1,unsolved:!0,sinAngle:0};let h=ic(e,{FL:o.FL.ground,FR:o.FR.ground,RL:o.RL.ground,RR:o.RR.ground}),b=Math.hypot(h[0],h[2]),g=[h[0]/b,h[2]/b],y=[g[1],-g[0]],R=A=>{let P=A[0]*g[0]+A[1]*g[1];return Math.abs(P)>1e-9?-(A[0]*y[0]+A[1]*y[1])/P:0},k=a.omega[1],v=Math.hypot(m[0],m[1]),x=Math.abs(k)*1e9>v?[p[0]+m[1]/k,p[1]-m[0]/k]:null,F=x?(A=>{let P=[s[0]-A[0],s[2]-A[1]],L=[i[0]-A[0],i[2]-A[1]];return Math.abs(P[0]*L[1]-P[1]*L[0])/(Math.hypot(...P)*Math.hypot(...L))})(x):0;if(!(Math.abs(m[0]*g[0]+m[1]*g[1])>1e-9))return{ic:x,line:null,cp:p,wc:d,road:y,swingArmAngleDeg:0,tanTheta:0,tanThetaHub:0,valid:!1,sinAngle:F};let w=[m[1]/v,-m[0]/v],C=x?[x[0]-p[0],x[1]-p[1]]:[n.isFront?-1:1,0],T=w[0]*C[0]+w[1]*C[1]<0?[-w[0],-w[1]]:w,S=R(m);return{ic:x,line:T,cp:p,wc:d,road:y,swingArmAngleDeg:Math.atan(S)*LN,tanTheta:S,tanThetaHub:R(f),valid:!0,sinAngle:F}}function DA(e,t,r,n){let o=r/Math.max(1e-6,n.cgHeight),a=t==="front",s=a?n.drive.front:1-n.drive.front,i=a?n.brakeBalanceFront:1-n.brakeBalanceFront,c=(a?n.drive.inboard.front:n.drive.inboard.rear)?e.tanThetaHub:e.tanTheta,l=(a?n.brakeInboard?.front:n.brakeInboard?.rear)?e.tanThetaHub:e.tanTheta,u=a?-1:1;return{brake:u*100*l*o*i,drive:u*100*c*o*s}}var EN=180/Math.PI,IN=Math.PI/180,l0=.5,Hm=2,u0=.25,_N={heave:0,pitch:0,roll:0,steer:0},NN={FL:"FR",FR:"FL",RL:"RR",RR:"RL"},zm=e=>e.ok?e.state:{...e.nearest,converged:!1};function m0(e,t,r){return t.state?t.solved===!1?{...t.state,converged:!1}:t.state:zm(ye(e,t.travel,t.steer,void 0,r))}var EA=new WeakMap;function IA(e,t){let r=e.ctx[t],n=$e(e.vehicle,t).config.loadedRadius,o=Zt(n,e.kc,t),a=EA.get(r);a||(a=new Map,EA.set(r,a));let s=a.get(o);if(!s){let i=Zr(t,e.vehicle.config,_N,e.vehicle);s=zm(ye(r,i.travel,i.steer,void 0,o===n?void 0:{loadedRadius:o})),a.set(o,s)}return s}var pr=(e,t)=>!e||!e.lo.converged||!e.hi.converged?NaN:(t(e.hi)-t(e.lo))/(2*e.step),_A=(e,t,r)=>{if(!e||!e.lo.converged||!e.hi.converged)return NaN;let n=r(e.hi)-r(e.lo);return Math.abs(n)<1e-9?NaN:(t(e.hi)-t(e.lo))/n};function OA(e,t,r,n,o){let a=e.vehicle.config,s=No(r),i=$e(e.vehicle,r),c=Ze(r,a),l=e.ctx[r],u=gt(e,t),m=u[r],f={travel:m.travel,steer:m.steer},p=m.rigid?void 0:{loadedRadius:m.loadedRadius},d=m0(l,m,p),h=IA(e,r),b={lo:zm(ye(l,f.travel-l0,f.steer,void 0,p)),hi:zm(ye(l,f.travel+l0,f.steer,void 0,p)),step:l0},g=c.isFront?{lo:Ie(l,d.beta,f.steer-Hm,void 0,p),hi:Ie(l,d.beta,f.steer+Hm,void 0,p),step:Hm}:null,y=Y=>{let j=gt(e,{...t,roll:t.roll+Y*IN})[r];return m0(l,j,j.rigid?void 0:{loadedRadius:j.loadedRadius})},R={lo:y(-u0),hi:y(u0),step:u0},k=VN(e,t,r,c.isFront,u,g),v=Nt(d.points.contactPatch,c),x=Nt(h.points.contactPatch,c),M=Math.abs(v[1])-Math.abs(x[1]),F=NN[r],w=u[F],C=m0(e.ctx[F],w,w.rigid?void 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ON(e,t,r,n){if(e.config.actuation==="decoupled")return{};let o=n?{droop:n.droopStated?n.droop:null,bump:n.bump}:$o(t,e.config.coilover),a=t-r;return{...o.droop!==null?{damperToExtended:a-o.droop}:{},...o.bump!==null?{damperToClosed:o.bump-a}:{}}}function VN(e,t,r,n,o,a){if(!a||!n)return;let s=sl(e,t,"front"),i=e.kc;if(!s||!i)return;let c=["FL","FR"],l=[0,0],u=[0,0],m={lo:[],hi:[]},f=0;for(let h=0;h<2;h++){let b=c[h],g=o[b],y=e.ctx[b],R=g.rigid?void 0:{loadedRadius:g.loadedRadius},x=(b==="FR"?1:-1)*(r==="FR"?1:-1)*Hm,M=g.state?{q:[...g.state.pose.t,...g.state.pose.omega],phi:g.state.points.rockerAngle}:void 0,F=ht(ye(y,g.travel,g.steer-x,M,R)),w=ht(ye(y,g.travel,g.steer+x,M,R));if(!F||!w)return NaN;l[h]=w.points.contactPatch[2]-F.points.contactPatch[2],u[h]=gr(i.curve[b],g.travel,w.points.damperLength)-gr(i.curve[b],g.travel,F.points.damperLength),m.lo.push(F),m.hi.push(w),b===r&&(f=w.metrics.toe-F.metrics.toe)}let p=i.elements?.front;if(p){let 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state",unit:"mm",scale:10,scope:e,cost:"cheap",reads:"state",acrossStates:"max",read:(x,M)=>Ga(x,M,F=>F.corners[bc(e,F.outer)].travel)},{id:r("stateTravelInner"),group:`${t} package`,label:"inner wheel travel at a state",unit:"mm",scale:10,scope:e,cost:"cheap",reads:"state",acrossStates:"min",read:(x,M)=>Ga(x,M,F=>F.corners[bc(e,qA(F.outer))].travel)},{id:r("damperStroke"),group:`${t} package`,label:"damper stroke over the travel",unit:"mm",scale:20,scope:e,cost:"cheap",unavailable:c,read:x=>c(x.car)?NaN:hc(n(x,M=>M.metrics.damperLength).y),curve:x=>{if(c(x.car))return null;let M=n(x,F=>F.metrics.damperLength);return M.x.length?{key:r("damperStroke"),title:`${t} damper length vs travel`,xLabel:"travel [mm]",yLabel:"length [mm]",...M}:null}}];e==="front"&&R.push({id:r("camberPerSteer"),group:`${t} camber & toe`,label:"camber change with steer",unit:"\xB0/\xB0",scale:.05,scope:"front",cost:"readout",read:x=>h(x)?.camberPerSteer??NaN},{id:r("steerJacking"),group:`${t} 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n.length?n.reduce((a,s)=>t==="centre"?s.inner<a.inner?s:a:s.inner>a.inner?s:a).ackermannPct:NaN}var rO=[{id:"kin.front.ackermannCentre",group:"Steering",label:"Ackermann near centre",unit:"%",scale:25,scope:"front",cost:"cheap",read:e=>ZA(e,"centre"),curve:e=>{let t=e.steer();if(!t)return null;let r=t.filter(n=>Number.isFinite(n.ackermannPct)&&n.inner>.3&&n.outer>.3);return r.length?{key:"kin.front.ackermann",title:"Ackermann vs steer",xLabel:"inner wheel steer [\xB0]",yLabel:"Ackermann [%]",x:r.map(n=>n.inner),y:r.map(n=>n.ackermannPct)}:null}},{id:"kin.front.ackermannLock",group:"Steering",label:"Ackermann at lock",unit:"%",scale:25,scope:"front",cost:"cheap",read:e=>ZA(e,"lock")},{id:"kin.front.lockInner",group:"Steering",label:"inner wheel angle at full rack",unit:"\xB0",scale:5,scope:"front",cost:"cheap",read:e=>{let t=e.steer();return t?.length?Math.max(...t.map(r=>r.inner)):NaN}}],nO=[{id:"kin.car.trackFront",group:"Whole car",label:"front 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e==="front"&&a.push(Ka({...n,appliesAt:s=>po("ackermann",s),id:r("ackermannError"),label:"Ackermann against the tyre",unit:"%",scale:25},s=>s.ackermann())),a}var S0=[...rF("front"),...rF("rear")],sO=/^tyre\.(front|rear)\.(camberErrorOuter|camberErrorInner|sideLossCamber|longLossCamber)$/;function A0(e,t){let r=new Map,n=a=>a.name.charAt(0).toLowerCase()+a.name.slice(1),o=a=>`${a>0?"+":a<0?"\u2212":""}${Math.abs(a).toFixed(1)}\xB0`;for(let{m:a,at:s}of t){let i=sO.exec(a.id);if(!i)continue;let c=i[1],l=i[2]==="longLossCamber",u=s?.stateId==="*"?e.states.filter(m=>!a.appliesAt?.(m)):[Zm(e,a,s)].filter(m=>!!m);for(let m of u){let f=`${c}|${m.id}|${l}`;if(r.has(f))continue;let p=e.tyreAt(m),d=p?l?p.long(c):p.side(c):null;if(!d)continue;let{lo:h,hi:b,stated:g}=d.range,y=g?`the ${o(h)} \u2026 ${o(b)} its data covers`:`the \xB1${b.toFixed(0)}\xB0 read without a stated range`,R=M=>l?M===0?"left":"right":M===0?"outer":"inner",k=d.wheels.findIndex(M=>M.atEdge),v=d.wheels.findIndex(M=>M.outside&&!M.lifted),x=[];k>=0&&x.push(`the ${nF[c].toLowerCase()} ${R(k)} tyre wants ${o(d.wheels[k].wants)}, the edge of ${y}, and may want more`),v>=0&&x.push(`the ${R(v)} wheel has ${o(d.wheels[v].camber)}, past it, and is read at ${o(d.wheels[v].read)}`),x.length&&r.set(f,`In the ${n(m)} ${x.join("; ")}.`)}}return[...r.values()]}function F0(e,t){let r=e.appliesAt?.(t);return r?`is read at ${t.name}, which ${r}`:null}var oF={understeer:"operating",yawFreq:"speed",yawZeta:"speed",yawStiffness:"operating",steeringTorque:"operating",steeringTorqueGradient:"operating"};function nt(e,t,r,n="cheap"){let o=vb[e];if(!o)throw new Error(`no DYN_METRIC "${e}"`);return{id:`dyn.${e}`,group:t,label:o.label,unit:o.unit,scale:r,scope:"car",cost:n,...oF[e]?{reads:oF[e]}:{},read:(a,s)=>{let i=a.dynInput(),c=a.dynCtx(s);return i&&c?o.compute(i,c):NaN}}}var iO=[nt("understeer","Handling \u2014 balance",.1),nt("tlltdFront","Handling \u2014 balance",5),nt("rollStiffFront","Handling \u2014 balance",5)],cO=[nt("yawFreq","Handling \u2014 response",.5),nt("yawZeta","Handling \u2014 response",.2),nt("stabilitySpeed","Handling \u2014 response",50),nt("yawStiffness","Handling \u2014 response",2e4,"trim")],lO=[nt("steeringTorque","Steering feel",1,"trim"),nt("steeringTorqueGradient","Steering feel",2,"trim")],uO=[nt("rollGradient","Ride & body",.5),nt("pitchGradient","Ride & body",.5),nt("rideFreqFront","Ride & body",.5),nt("rideFreqRear","Ride & body",.5),nt("rollFreq","Ride & body",.5),nt("pitchFreq","Ride & body",.5),nt("zetaFront","Ride & body",.2),nt("zetaRear","Ride & body",.2)],mO=[{id:"dyn.reserveStabil",group:"What the car has left",label:"Yaw stability reserve",unit:"N\xB7m",scale:200,scope:"car",cost:"trim",reads:"operating",read:(e,t)=>e.reserves("operating",t)?.stabil??NaN},{id:"dyn.reserveAgil",group:"What the car has left",label:"Yaw agility 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o=n.track.ds,a=0,s=0;for(let i=0;i<r.v.length-1;i++){let c=o[i]??0,l=.5*(r.v[i]+r.v[i+1]);c>0&&l>0&&(a+=c,s+=c/l)}return s>0?a/s:NaN}var C0=[{id:"lap.time",group:"Lap & manoeuvre",label:"Time",unit:"s",scale:.1,scope:"car",cost:"lap",reads:"course",across:"sum",read:(e,t)=>e.lap(t)?.laptime??NaN},{id:"lap.vMean",group:"Lap & manoeuvre",label:"Mean speed",unit:"km/h",scale:2,scope:"car",cost:"lap",reads:"course",across:"harmonic",read:(e,t)=>dO(e,t)*3.6},{id:"lap.vMin",group:"Lap & manoeuvre",label:"Minimum speed",unit:"km/h",scale:2,scope:"car",cost:"lap",reads:"course",across:"min",read:(e,t)=>{let r=e.lap(t);return r?Math.min(...r.v)*3.6:NaN}},{id:"lap.vMax",group:"Lap & manoeuvre",label:"Maximum speed",unit:"km/h",scale:5,scope:"car",cost:"lap",reads:"course",across:"max",read:(e,t)=>{let r=e.lap(t);return r?Math.max(...r.v)*3.6:NaN}},{id:"lap.ayPeak",group:"Lap & manoeuvre",label:"Peak lateral 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aF=new WeakMap;function Jm(e){let t=aF.get(e);return t||(t=e.metrics.filter(Dc).map(r=>{let{label:n,unit:o}=fO(r.label,r.format==="time");return{id:`event.${e.id}.${r.key}`,group:`Events \xB7 ${e.label}`,groupShort:"Events",label:n,unit:o,scale:hO(o),scope:"car",cost:"session",read:a=>a.session(e.id)?.[r.key]??NaN}}),aF.set(e,t),t)}var T0=Da.flatMap(Jm);var ep=[...M0,...S0,...w0,...C0,...T0],Ha=Object.fromEntries(ep.map(e=>[e.id,e]));var sF={all:ep,byId:Ha},iF=new WeakMap;function Hr(e=[]){if(e.length===0)return sF;let t=iF.get(e);if(t)return t;let r=Wb(e).filter(n=>!Ea(n.id)).flatMap(Jm);return t=r.length?{all:[...ep,...r],byId:{...Ha,...Object.fromEntries(r.map(n=>[n.id,n]))}}:sF,iF.set(e,t),t}var gc=180/Math.PI,za=Math.PI/180,gO=.2;function tp(e,t){let r=H(t,e);return q(r[0]<0?pd(r):r)}var rp=e=>({side:Math.atan2(e[2],e[0])*gc,plan:Math.atan2(e[1],e[0])*gc}),np=(e,t)=>q([1,Math.tan(t*za),Math.tan(e*za)]),yc=e=>Math.abs(e[0])>=gO,op=(e,t)=>Math.atan(t/Math.max(e,1))*gc,ap=(e,t)=>Math.tan(t*za)*Math.max(e,1);var Rn=["side","plan","clock","len"],jt={uca:{fore:"ucaFront",aft:"ucaRear",ball:"uprightUpper"},lca:{fore:"lcaFront",aft:"lcaRear",ball:"uprightLower"}},xc={uca:"upper arm",lca:"lower arm"},yO=1,cF=(e,t)=>tp(e[jt[t].fore],e[jt[t].aft]);function lF(e){let t=q(H(md,U(e,X(md,e))));return{e1:t,e2:ae(e,t)}}function P0(e,t){let r=cF(e,t);if(!yc(r))return`the ${xc[t]}'s pivot axis is nearly across the car, where its side- and plan-view angles stop describing it`;let n=jt[t],o=Xr(e[n.ball],e[n.fore],r);return Math.hypot(...H(o,e[n.ball]))>=yO?null:`the ${xc[t]}'s ball joint sits on its own pivot axis, so the arm has no length to swing on`}function zr(e,t){let r=jt[t],n=e[r.ball],o=cF(e,t),a=Xr(n,e[r.fore],o),s=H(a,n),i=Math.hypot(s[0],s[1],s[2]),{e1:c,e2:l}=lF(o),u=i>0?U(s,1/i):c;return{...rp(o),clock:Math.atan2(X(u,l),X(u,c))*gc,len:i,sFront:X(H(e[r.fore],a),o),sRear:X(H(e[r.aft],a),o)}}function L0(e,t){let r=np(e.side,e.plan),{e1:n,e2:o}=lF(r),a=ee(U(n,Math.cos(e.clock*za)),U(o,Math.sin(e.clock*za))),s=ee(t,U(a,e.len));return{fore:ee(s,U(r,e.sFront)),aft:ee(s,U(r,e.sRear))}}function uF(e,t,r,n){let o=jt[t],a={...zr(e,t),[r]:n},{fore:s,aft:i}=L0(a,e[o.ball]);return{...e,[o.fore]:s,[o.aft]:i}}function mF(e,t){return t==="clock"?e.len:Math.abs(e.sFront-e.sRear)/2}function sp(e,t,r){return t==="len"?r:op(mF(e,t),r)}function D0(e,t,r){return t==="len"?r:ap(mF(e,t),r)}var ho=["side","plan","atY","atZ"],bo={fore:"rockerPivotA",aft:"rockerPivotB"},xO=5,pF=e=>tp(e.rockerPivotA,e.rockerPivotB);function Ya(e){return Math.hypot(...H(e.rockerPivotB,e.rockerPivotA))<xO?"the rocker\u2019s two pivots are the same point, so there is no axis to 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${Ut[c]}`,scope:Xt[r],unit:"mm",defaultSpan:go,read:l=>Oe(l.vehicle,r).hardpoints[a][c],write:(l,u)=>{let m=Oe(l.vehicle,r),f=[...m.hardpoints[a]];f[c]=u;let p={...m.hardpoints,[a]:f};return{...l,vehicle:Rc(l.vehicle,r,{...m,hardpoints:p})}}})}}return t}var vO={side:"axis side-view angle",plan:"axis plan-view angle",clock:"arm clock angle",len:"effective arm length"},kO={side:"\xB0",plan:"\xB0",clock:"\xB0",len:"mm"};function MO(e){let t=[];for(let r of["front","rear"]){let n=Oe(e.vehicle,r).config.layout==="mcpherson";for(let o of["uca","lca"]){let a=Oe(e.vehicle,r).hardpoints,s=P0(a,o)?null:zr(a,o);for(let i of Rn)t.push({id:`arm.${r}.${o}.${i}`,group:`${Xt[r]} ${n?"arm axes":"wishbone axes"}`,label:`${xc[o]} \u2014 ${vO[i]}`,scope:Xt[r],unit:kO[i],defaultSpan:s?sp(s,i,go):go,read:c=>zr(Oe(c.vehicle,r).hardpoints,o)[i],write:(c,l)=>{let u=Oe(c.vehicle,r),m=uF(u.hardpoints,o,i,l);return{...c,vehicle:Rc(c.vehicle,r,{...u,hardpoints:m})}}})}}return t}var SO={side:"pivot axis side-view angle",plan:"pivot axis plan-view angle",atY:"pivot axis outboard, at the wheel-centre plane",atZ:"pivot axis height, at the wheel-centre plane"},AO={side:"\xB0",plan:"\xB0",atY:"mm",atZ:"mm"};function FO(e){let t=[];for(let r of["front","rear"]){let n=Oe(e.vehicle,r).hardpoints,o=Ya(n)?null:vn(n);for(let a of ho)t.push({id:`rocker.${r}.${a}`,group:`${Xt[r]} rocker axis`,label:`rocker \u2014 ${SO[a]}`,scope:Xt[r],unit:AO[a],defaultSpan:o?I0(o,a,go):go,read:s=>vn(Oe(s.vehicle,r).hardpoints)[a],write:(s,i)=>{let c=Oe(s.vehicle,r),l=dF(c.hardpoints,a,i);return{...s,vehicle:Rc(s.vehicle,r,{...c,hardpoints:l})}}})}return t}var ip={front:"heaveFrontDesign",rear:"heaveRearDesign"},N0={front:"arbFrontDesign",rear:"arbRearDesign"};function wO(e,t){return{heave:e.config.actuation==="decoupled"?"heave element":"third spring",roll:t?.design.kind==="coil"?"roll shock":"anti-roll bar"}}var cp=e=>/^(heave|roll)\.(front|rear)\.(outer|inner|anchor)\.[xyz]$/.test(e);function CO(e){let t=[];for(let r of["front","rear"]){let n=Oe(e.vehicle,r),o=e.params[ip[r]],a=e.params[N0[r]],s=wO(n,a),i=d=>d.params[ip[r]],c=d=>d.params[N0[r]],l=(d,h)=>({...d,params:{...d.params,[ip[r]]:h}}),u=(d,h)=>({...d,params:{...d.params,[N0[r]]:h}}),m={group:`${Xt[r]} heave & roll elements`,scope:Xt[r]},f=(d,h,b,g,y)=>{for(let R of b)t.push({...m,id:`${d}.${Ut[R]}`,label:`${h} ${Ut[R]}`,unit:"mm",defaultSpan:go,read:k=>g(k)[R],write:(k,v)=>{let x=[...g(k)];return x[R]=v,y(k,x)}})},p=(d,h,b,g,y)=>{t.push({...m,id:d,label:h,unit:"N/mm",defaultSpan:Math.max(5,b*.4),read:g,write:y})};if(o?.design.kind==="coil"){if(o.linkage){let d=b=>i(b).linkage;f(`heave.${r}.outer`,`${s.heave} eye`,[0,1,2],b=>d(b).outer,(b,g)=>l(b,{...i(b),linkage:{...d(b),outer:g}})),o.linkage.mount?.kind==="chassis"&&f(`heave.${r}.anchor`,`${s.heave} chassis anchor`,[0,2],b=>d(b).mount.anchor,(b,g)=>l(b,{...i(b),linkage:{...d(b),mount:{kind:"chassis",anchor:g}}}))}if(typeof o.design.rate=="number"){let d=h=>i(h).design;p(`heave.${r}.rate`,`${s.heave} spring rate (@element)`,o.design.rate,h=>d(h).rate,(h,b)=>l(h,{...i(h),design:{...d(h),rate:b}}))}}if(a&&a.design.kind!=="none"){if(a.linkage&&a.design.kind!=="direct"){let h=R=>c(R).linkage,b=Jr(n,a.linkage,a.design.kind),[g,y]=b?["left arm eye","right arm eye"]:["drop-link pickup","arm tip"];f(`roll.${r}.outer`,`${s.roll} ${g}`,[0,1,2],R=>h(R).outer,(R,k)=>u(R,{...c(R),linkage:{...h(R),outer:k}})),f(`roll.${r}.inner`,`${s.roll} ${y}`,[0,1,2],R=>h(R).inner,(R,k)=>u(R,{...c(R),linkage:{...h(R),inner:k}}))}let d=a.design;if(d.kind==="coil"&&typeof d.rate=="number"){let h=b=>c(b).design;p(`roll.${r}.rate`,`${s.roll} spring rate (@element)`,d.rate,b=>h(b).rate,(b,g)=>u(b,{...c(b),design:{kind:"coil",rate:g}}))}else d.kind==="direct"&&p(`roll.${r}.wheelRate`,`${s.roll} rate (@wheel)`,d.wheelRate,h=>c(h).design.wheelRate,(h,b)=>u(h,{...c(h),design:{kind:"direct",wheelRate:b}}))}}return t}var TO=[{axle:"front",field:"springRate",group:"Springs & bars",label:"spring rate (@spring)",unit:"N/mm",fallback:35,span:e=>Math.max(5,e*.4)},{axle:"rear",field:"springRate",group:"Springs & bars",label:"spring rate (@spring)",unit:"N/mm",fallback:40,span:e=>Math.max(5,e*.4)},{axle:"front",field:"rackTravel",group:"Steering",label:"rack travel from centre",unit:"mm",fallback:35,span:()=>15,frontOnly:!0},{axle:"front",field:"rackRatio",group:"Steering",label:"rack per steering-wheel turn",unit:"mm/rev",fallback:55,span:()=>15,frontOnly:!0},{axle:"front",field:"loadedRadius",group:"Wheel & tyre",label:"loaded radius",unit:"mm",fallback:228,span:()=>15},{axle:"rear",field:"loadedRadius",group:"Wheel & tyre",label:"loaded radius",unit:"mm",fallback:228,span:()=>15}];function PO(e){let t=[];for(let r of["front","rear"]){let n=Oe(e.vehicle,r).compliance;if(!n)continue;let o=(a,s,i,c)=>{let l=i(n);l===void 0||!(l>0)||!Number.isFinite(l)||t.push({id:`kc.${r}.${a}`,group:"Compliance",label:s,scope:Xt[r],unit:"N/mm",defaultSpan:Math.max(500,l*.4),read:u=>i(Oe(u.vehicle,r).compliance??{})??l,write:(u,m)=>{let f=Oe(u.vehicle,r),p={...f,compliance:c(f.compliance??{},Math.max(1,m))};return{...u,vehicle:Rc(u.vehicle,r,p)}}})};for(let a of["ucaFront","ucaRear","lcaFront","lcaRear","tieRod","pushRod"])o(`link.${a}`,`${LO[a]} (link)`,s=>s.links?.[a],(s,i)=>({...s,links:{...s.links,[a]:i}}));for(let a of["ucaFront","ucaRear","lcaFront","lcaRear","tieInner","topMount"])o(`bush.${a}`,`${DO[a]} (bushing)`,s=>s.bushings?.[a],(s,i)=>({...s,bushings:{...s.bushings,[a]:i}}));r==="front"&&o("rack","rack to housing",a=>a.rack,(a,s)=>({...a,rack:s}))}return t}var LO={ucaFront:"UCA front leg",ucaRear:"UCA rear leg",lcaFront:"LCA front leg",lcaRear:"LCA rear leg",tieRod:"tie rod",pushRod:"push/pull rod"},DO={ucaFront:"UCA front pickup",ucaRear:"UCA rear pickup",lcaFront:"LCA front pickup",lcaRear:"LCA rear pickup",tieInner:"tie-rod inner",topMount:"strut top mount"};function EO(){return TO.map(e=>({id:`cfg.${e.axle}.${e.field}`,group:e.group,label:e.label,scope:Xt[e.axle],unit:e.unit,defaultSpan:e.span(e.fallback),read:t=>Oe(t.vehicle,e.axle).config[e.field]??e.fallback,write:(t,r)=>{let n=Oe(t.vehicle,e.axle),o={...n,config:{...n.config,[e.field]:r}};return{...t,vehicle:Rc(t.vehicle,e.axle,o)}}}))}function IO(e){let t=En(e.params.steeringSystem);if(!t.enabled)return[];let r=(n,o,a,s,i)=>({id:`steeringSystem.${n}`,group:"Steering",label:o,unit:a,defaultSpan:s,read:c=>En(c.params.steeringSystem)[n],write:(c,l)=>({...c,params:{...c.params,steeringSystem:En({...c.params.steeringSystem,enabled:!0,[n]:i(l)})}})});return[r("roadFeedbackGain","road feedback gain","\xD7",Math.max(.1,.25*t.roadFeedbackGain),n=>Math.min(2,Math.max(0,n))),r("turnInFrictionNm","turn-in friction","N\xB7m",Math.max(.1,.5*t.turnInFrictionNm),n=>Math.max(0,n))]}function _O(e){let t=hi(e.params),r=[];for(let n of["front","rear"]){if(t[n]!=="diff")continue;let o=Un(e.params.driveline?.[n]);if(o?.kind!=="clutch"&&o?.kind!=="torsen")continue;let a=(s,i)=>{let c=Su[`${n}.${s}`];return{id:`driveline.${n}.${s}`,group:"Differential",label:c.label.charAt(0).toLowerCase()+c.label.slice(1),scope:Xt[n],unit:c.unit===": 1"?"":c.unit??"",defaultSpan:i,read:l=>Un(l.params.driveline?.[n])?.[s],write:(l,u)=>({...l,params:{...l.params,driveline:Mu({...l.params.driveline,[n]:{...l.params.driveline?.[n],[s]:u}})}})}};o.kind==="clutch"?r.push(a("preloadNm",Math.max(5,.2*o.preloadNm)),a("rampDriveDeg",5),a("rampCoastDeg",5)):r.push(a("tbrDrive",Math.max(.25,.2*o.tbrDrive)),a("tbrCoast",Math.max(.25,.2*o.tbrCoast)))}return r}function NO(e){if(Wl(e.params)!=="hydraulic")return[];let t=[{id:"brakeSetup.barFront",group:"Brakes",label:`${bh("barFront").toLowerCase()}, front share`,unit:"-",defaultSpan:.05,read:a=>Fr(a.params.brakeSetup).barFront,write:(a,s)=>({...a,params:{...a.params,brakeSetup:Fr({...Fr(a.params.brakeSetup),barFront:s})}})}];if(!e.params.brakeModel)return t;let r=rr(e.params.brakeModel),n=(a,s)=>s.circuit?a[s.circuit][s.key]:a[s.key],o=(a,s,i)=>({id:`brakeModel.${a.circuit?`${a.circuit}.`:""}${String(a.key)}`,group:"Brakes",label:hh(a.circuit?`${a.circuit}.${String(a.key)}`:a.key),unit:s,defaultSpan:i,read:c=>n(rr(c.params.brakeModel),a),write:(c,l)=>{let u=rr(c.params.brakeModel),m=a.circuit?{...u,[a.circuit]:{...u[a.circuit],[a.key]:l}}:{...u,[a.key]:l};return{...c,params:{...c.params,brakeModel:rr(m)}}}});return t.push(o({key:"masterFrontMm"},"mm",1.5),o({key:"masterRearMm"},"mm",1.5),o({key:"pedalRatio"},"-",.5),o({key:"pistonDiaMm",circuit:"front"},"mm",2),o({key:"pistonDiaMm",circuit:"rear"},"mm",2),o({key:"effRadiusMm",circuit:"front"},"mm",10),o({key:"effRadiusMm",circuit:"rear"},"mm",10)),r.valve!=="none"&&t.push(o({key:"valveKneeBar"},"bar",5)),r.valve==="proportioning"&&t.push(o({key:"valveSlope"},"-",.1)),t}var gF=e=>!!e&&typeof e=="object"&&"value"in e&&"label"in e;function yF(e){let t={...e};for(let r of Object.keys(t)){let n=t[r];gF(n)&&(t[r]={...n})}return t}function OO(e){let t=[];for(let r of Pk(e))for(let n of r.rows){let o=Math.abs(n.value);t.push({id:`param.${n.key}`,group:r.title,label:n.label,unit:n.unit,defaultSpan:o>0?o*.2:1,read:a=>{let s=a.params[n.key];return gF(s)?s.value:NaN},write:(a,s)=>{let i=yF(a.params);return Tu(i,n.label,s),{...a,params:i}}})}return t}function xF(e){let t={};for(let s of["front","rear"]){if(!Oe(e.vehicle,s).measured)continue;let c="this axle is described by measured curves, so its linkage is not solved";for(let l of hF)for(let{key:u}of l.keys)for(let m of Ut)t[`hp.${s}.${u}.${m}`]={why:c};for(let l of["uca","lca"])for(let u of Rn)t[`arm.${s}.${l}.${u}`]={why:c};for(let l of ho)t[`rocker.${s}.${l}`]={why:c};for(let l of["heave.outer","heave.anchor","roll.outer","roll.inner"]){let[u,m]=l.split(".");for(let f of Ut)t[`${u}.${s}.${m}.${f}`]={why:c}}t[`cfg.${s}.springRate`]={why:"the measured curve set carries its own spring rate"}}let r=["rockerPivotA","rockerPivotB","rockerToPushrod","rockerToDamper"];for(let s of["front","rear"]){if(Oe(e.vehicle,s).config.actuation!=="direct")continue;let i="this axle is direct-acting \u2014 there is no bell-crank";for(let c of r)for(let l of Ut)t[`hp.${s}.${c}.${l}`]={why:i};for(let c of ho)t[`rocker.${s}.${c}`]={why:i}}for(let s of["front","rear"]){let i=Oe(e.vehicle,s);if(i.measured||i.config.actuation!=="decoupled")continue;let c="this axle is decoupled \u2014 the corner damper is out of circuit";for(let l of["rockerToDamper","damperChassis"])for(let u of Ut)t[`hp.${s}.${l}.${u}`]={why:c,useInstead:`heave.${s}.outer.${u}`};t[`cfg.${s}.springRate`]={why:"a decoupled axle has no corner spring \u2014 its elements hold it up",useInstead:`heave.${s}.rate`}}for(let s of["front","rear"]){let i=Oe(e.vehicle,s),c=e.params[ip[s]]?.linkage;if(i.measured||!c||c.attach!=="rocker"||c.mount?.kind==="chassis")continue;let l=i.hardpoints,u=[0,1,2].map(f=>l.rockerPivotB[f]-l.rockerPivotA[f]),m=Math.hypot(u[0],u[1],u[2]);if(m>0)for(let f=0;f<3;f++)Math.abs(u[f]/m)<1-1e-12||(t[`heave.${s}.outer.${Ut[f]}`]={why:`the rocker shaft runs along ${Ut[f]} \u2014 this only slides the eye along it`})}for(let s of["front","rear"]){let i=Oe(e.vehicle,s);if(i.measured||i.config.layout!=="mcpherson")continue;let c="this axle is a McPherson strut \u2014 there is no upper arm";for(let l of["ucaFront","ucaRear","uprightUpper"])for(let u of Ut)t[`hp.${s}.${l}.${u}`]={why:c,useInstead:`hp.${s}.damperChassis.${u}`};for(let l of Rn)t[`arm.${s}.uca.${l}`]={why:c};for(let l of["link.ucaFront","link.ucaRear","bush.ucaFront","bush.ucaRear"])t[`kc.${s}.${l}`]={why:c}}for(let s of["front","rear"]){let i=Oe(e.vehicle,s);if(i.measured)continue;for(let l of["uca","lca"]){if(l==="uca"&&i.config.layout==="mcpherson")continue;let u=P0(i.hardpoints,l);if(u)for(let m of Rn)t[`arm.${s}.${l}.${m}`]={why:u,useInstead:`hp.${s}.${jt[l].fore}.z`}}let c=Ya(i.hardpoints);if(c&&i.config.actuation!=="direct")for(let l of ho)t[`rocker.${s}.${l}`]={why:c,useInstead:`hp.${s}.${bo.fore}.z`}}let n=[["arbFrontDesign","param.arb_front","the front anti-roll bar design in Vehicle Dynamics","front","roll"],["arbRearDesign","param.arb_rear","the rear anti-roll bar design in Vehicle Dynamics","rear","roll"],["heaveFrontDesign","param.heave_spring_front","the front third-spring design","front","heave"],["heaveRearDesign","param.heave_spring_rear","the rear third-spring design","rear","heave"]];for(let[s,i,c,l,u]of n){let m=e.params[s];if(!m?.design||m.design.kind==="none")continue;let f=m.design.kind==="direct"?`${u}.${l}.wheelRate`:`${u}.${l}.rate`;t[i]={why:`computed from ${c}`,useInstead:f}}let o=e.params.aeroModelId||e.params.aeroModel?nb:ob;for(let[s,i]of Object.entries(o))t[`param.${s}`]={why:i};if(e.params.batteryModelId||e.params.batteryModel)for(let[s,i]of Object.entries(Fu))t[`param.${s}`]={why:i};for(let[s,i]of Object.entries(wu(e.params)))t[`param.${s}`]={why:i};let a=Wl(e.params);return a==="hydraulic"?t["param.brake_balance"]={why:"set by the balance bar and the brake hardware",useInstead:"brakeSetup.barFront"}:a==="tyre"&&(t["param.brake_balance"]={why:"tyre-limited brakes split as the grip does"}),t}function RF(e){let t={...BO,...xF(e)};for(let[n,o]of Object.entries(t))o.useInstead&&t[o.useInstead]&&(t[n]={why:o.why});let r=n=>{let o=t[n.id];return o?{...n,supersededBy:o}:n};return[...RO(e),...MO(e),...FO(e),...CO(e),...EO(),...IO(e),...NO(e),..._O(e),...PO(e),...OO(e.params)].map(r)}var VO={spring_front:"cfg.front.springRate",spring_rear:"cfg.rear.springRate"},BO=Object.fromEntries(Object.entries(rb).map(([e,t])=>[`param.${e}`,{why:t,useInstead:VO[e]}])),ct=e=>e.scope?`${e.scope} \xB7 ${e.label}`:e.label;function Gt(e){let t={};for(let n of RF(e))t[n.id]=n;let r=(n,o)=>{if(typeof o!="string")return;let a=WA(n,o);return a&&(n[o]=a),a};return new Proxy(t,{get:(n,o,a)=>typeof o=="string"&&!Object.hasOwn(n,o)?r(n,o)??Reflect.get(n,o,a):Reflect.get(n,o,a),has:(n,o)=>Reflect.has(n,o)||!!r(n,o)})}var O0=e=>e.step!==void 0&&Number.isFinite(e.step)&&e.step>0?e.step:0,V0=e=>O0(e)>0||(e.values?.length??0)>0,B0=e=>e.some(V0),vF=e=>1e-9*Math.max(1,Math.abs(e.lo),Math.abs(e.hi));function kF(e,t){if(!Number.isFinite(t))return t;if(e.values?.length){let s=e.values[0];for(let i of e.values)Math.abs(i-t)<Math.abs(s-t)&&(s=i);return s}let 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r.length?{...e,variables:n,followers:r}:{...e,variables:n}}var AF=e=>!!(e.fixed||e.around||e.follows)||FF(e),FF=e=>!!e.values?.length&&(e.lo!==Math.min(...e.values)||e.hi!==Math.max(...e.values));function Dt(e,t){if(!t.variables.some(AF))return t;let r=Gt(e);return z0(t,n=>{let o=r[n];if(!o)return NaN;try{return o.read(e)}catch{return NaN}})}function qt(e){return[...e.objectives,...e.constraints,...e.watches??[]]}var up=e=>(e.metrics??Hr()).byId;function Y0(e,t){t=Dt(e,t);let r=Gt(e),n=[];for(let o of t.variables){let a=r[o.id];a&&n.push({id:a.id,name:ct(a),unit:a.unit,lo:o.lo,hi:o.hi,start:a.read(e),...o.step!==void 0?{step:o.step}:{},...o.values?{values:o.values}:{}})}return n}function mp(e,t,r){t=Dt(e,t);let n=Gt(e),o=e;return t.variables.forEach((a,s)=>{let i=n[a.id];i&&Number.isFinite(r[s])&&(o=i.write(o,r[s]))}),U0(e,o,t.followers,n)}function W0(e,t,r={}){let n=t.states??[],o=n.some(c=>c.follows);if(!o&&!t.envelopeFollows)return t;let a=xn(e,{density:t.density,envelope:t.envelope,states:n,operating:t.operating,lap:t.lap,assemble:r.assemble,simParams:r.simParams,projectTrack:r.projectTrack,libraryTrack:r.libraryTrack,numerics:r.numerics}),s=n;if(o&&r.simParams)try{let c=a.ggv();c&&(s=Kg(n,c,KO(r)))}catch{s=n}let i=t.envelope;if(t.envelopeFollows&&s.length){let c=s.map(h=>a.poseAt(h)).filter(h=>h!==null),l=up(r),u=j0(t,l),m=qt(t).map(h=>({r:h,m:l[h.metricId]})).filter(({m:h})=>h&&h.id.startsWith("kin.")&&h.reads!=="state"&&(h.scope==="car"||u.includes(h.scope))),f=h=>{let b=xn(e,{density:t.density,envelope:h,assemble:r.assemble,numerics:r.numerics});return m.every(({r:g,m:y})=>Number.isFinite(Lt(b,y,g.at)))},p=c.length===s.length?GO(e,zg(c,u),u):null,d=p&&m.length?$O(p,f):p;d&&!Yg(d,t.envelope)&&(i=d)}return s===n&&i===t.envelope?t:{...t,states:s,envelope:i}}var lp=3;function $O(e,t){let r=(c,l)=>t({...e,travelMin:c,travelMax:l}),n=e.travelMin-lp,o=e.travelMax+lp;if(r(n,o))return e;let a=(c,l,u)=>{for(;Math.abs(l-c)>1;){let m=Math.round((c+l)/2);u(m)?c=m:l=m}return c};if(r(n,1))o=a(1,o,c=>r(n,c));else if(r(-1,1))n=a(-1,n,c=>r(c,1)),o=a(1,o,c=>r(n,c));else return e;let s=Math.min(-1,Math.max(e.travelMin,n+lp)),i=Math.max(1,Math.min(e.travelMax,o-lp));return s===e.travelMin&&i===e.travelMax?e:{...e,travelMin:s,travelMax:i}}function j0(e,t){let r=new Set;for(let n of qt(e)){let o=t[n.metricId];if(!(!o||!o.id.startsWith("kin.")||o.reads==="state")){if(o.scope==="car")return["front","rear"];r.add(o.scope)}}return r.size?["front","rear"].filter(n=>r.has(n)):["front","rear"]}function GO(e,t,r){if(!t)return null;let n=Ba(e.vehicle,e.params),{travelMin:o,travelMax:a}=t;for(let s of r.map(i=>n[i]))try{let i=Ge(s,{travelMin:o,travelMax:a,steps:lc.travelSteps});if(i.covered)continue;let c=i.samples.filter(l=>l.converged).map(l=>l.travel);if(!c.length)continue;o=Math.max(o,Math.min(-1,Math.ceil(Math.min(...c))+1)),a=Math.min(a,Math.max(1,Math.floor(Math.max(...c))-1))}catch{continue}return o===t.travelMin&&a===t.travelMax?t:{...t,travelMin:o,travelMax:a}}function KO(e){let t=e.projectTrack?.();if(!t)return null;try{return Gg(it(t.asset,t.numerics))}catch{return null}}function U0(e,t,r,n){if(!r?.length)return t;let o=t;for(let a of r){let s=n[a.id],i=n[a.follows];if(!s||!i)continue;let c=i.read(t)-i.read(e);Number.isFinite(c)&&c!==0&&(o=s.write(o,s.read(e)+c))}return o}function vc(e,t){if(!Number.isFinite(t))return NaN;if(e.op==="max")return t-e.limit;if(e.op==="min")return e.limit-t;let r=e.limit2??e.limit;return Math.max(e.limit-t,t-r)}var wF=(e,t="")=>t&&t!=="-"?`${e} ${t}`:`${e}`;function CF(e,t,r){let n=t??Ha[e.metricId],o=(n?et(n):e.metricId)+kc(e.at,n,r),a=s=>wF(s,n?.unit);return e.op==="max"?`${o} \u2264 ${a(e.limit)}`:e.op==="min"?`${o} \u2265 ${a(e.limit)}`:`${o} between ${e.limit} and ${a(e.limit2??e.limit)}`}function kc(e,t,r){if(!e&&t?.reads!=="state")return"";e??={};let n=[];if(t?.reads==="state")if(e.stateId===yn)n.push(k0(t));else{let o=e.stateId===void 0?r?.states?.[0]:r?.states?.find(a=>a.id===e.stateId);o&&n.push(o.name)}if(e.speed!==void 0&&R0(t)&&n.push(`${(e.speed*3.6).toFixed(0)} km/h`),e.ayG!==void 0&&v0(t)&&n.push(`${e.ayG.toFixed(2)} g`),e.courseId===dc&&t?.reads==="course")n.push(x0(t));else if(e.courseId&&t?.reads==="course"){let o=r?.lap.courses.find(a=>a.id===e.courseId);o&&n.push(n0(o))}return n.length?` @ ${n.join(", ")}`:""}function TF(e,t,r){let n=r/t.scale;return e.goal==="min"?e.weight*n:e.goal==="max"?-e.weight*n:e.weight*Math.max(0,Math.abs(r-(e.target??0))-Math.max(0,e.tolerance??0))/t.scale}var PF=5e-4;function LF(e,t){return e.cost!=="lap"&&e.cost!=="session"?0:Number.isFinite(t)?PF*Math.abs(t):0}function pp(e,t,r={}){t=Dt(e,t);let n=Y0(e,t),o=Gt(e),a=up(r),s=t.constraints.map(m=>({spec:m,metric:a[m.metricId]})).filter(m=>!!m.metric),i=s.filter(m=>m.metric.cost==="geometry"),c=s.filter(m=>m.metric.cost!=="geometry"),l=t.objectives.map(m=>({spec:m,metric:a[m.metricId]})).filter(m=>!!m.metric),u=(m,f)=>{let p=0,d=[];for(let{spec:h,metric:b}of m){let g=Lt(f,b,h.at);if(!Number.isFinite(g))return{ok:!1,violation:f.failure?.violation??400,reason:f.failure?.reason??`${et(b)} could not be computed`};let y=vc(h,g);y>0&&(p+=y/b.scale,d.push(`${CF(h,b,t)} (${wF(g.toFixed(3),b.unit)})`))}return d.length===0?Is:{ok:!1,violation:p,reason:d.join("; ")}};return{name:"study",variables:n,build:m=>{let f=e;return t.variables.forEach((p,d)=>{let h=o[p.id];h&&(f=h.write(f,m[d]))}),f=U0(e,f,t.followers,o),{car:f,ev:xn(f,{density:t.density,envelope:t.envelope,states:t.states,operating:t.operating,lap:t.lap,assemble:r.assemble,simParams:r.simParams,projectTrack:r.projectTrack,libraryTrack:r.libraryTrack,sessionParams:r.sessionParams,session:r.session,numerics:r.numerics})}},feasible:({ev:m})=>{let f=u(i,m);if(!f.ok)return f;for(let{spec:p,metric:d}of c)Lt(m,d,p.at);for(let{spec:p,metric:d}of l)Lt(m,d,p.at);return m.failure?{ok:!1,violation:m.failure.violation,reason:m.failure.reason}:u(c,m)},terms:({ev:m})=>l.map(({spec:f,metric:p})=>{let d=Lt(m,p,f.at);return{name:et(p)+kc(f.at,p,t),raw:d,unit:p.unit,weight:f.weight,contribution:TF(f,p,d),resolution:Math.abs(f.weight)*LF(p,d)/p.scale}})}}function K0(e){let t=/^arm\.(front|rear)\.(uca|lca)\./.exec(e);if(t)return`${t[1]}.${t[2]}`;let r=/^rocker\.(front|rear)\./.exec(e);if(r)return`${r[1]}.rocker`;let n=/^hp\.(front|rear)\.(ucaFront|ucaRear|lcaFront|lcaRear|rockerPivotA|rockerPivotB)\./.exec(e);return n?n[2].startsWith("rocker")?`${n[1]}.rocker`:`${n[1]}.${n[2].startsWith("uca")?"uca":"lca"}`:null}function DF(e,t){if(e.variables.some(o=>o.id===t))return!0;let r=pc(t);if(!r||!qm.includes(r.axis))return!1;if(e.variables.some(o=>dr(o.id)?.point===r.point))return!0;let n=K0(t);return!!n&&e.variables.some(o=>/^(arm|rocker)\./.test(o.id)&&K0(o.id)===n)}function HO(e,t){let r=e.followers??[],n=new Map(r.map(i=>[i.id,i.follows])),o=i=>{let c=t[i],l=pc(i);return c&&l&&qm.includes(l.axis)?{name:ct({...c,label:c.label.replace(/ [xyz]$/,"")}),axis:l.axis}:{name:c?ct(c):`\u201C${i}\u201D`}},a=new Map,s=(i,c,l)=>{let u=a.get(i);u||a.set(i,u={text:l,axes:[]}),c&&u.axes.push(c)};for(let i of r){let c=t[i.id],l=t[i.follows],u=o(i.id),m=o(i.follows),f=p=>p&&p!=="x, y, z"?` in ${p}`:"";if(!c){s(`missing:${i.id}`,void 0,()=>`\u201C${i.id}\u201D is not a variable this car has.`);continue}if(c.supersededBy&&s(`superseded:${u.name}`,u.axis,p=>`${u.name}${f(p)} cannot be moved: ${c.supersededBy.why}.`),!l)s(`no-lead:${u.name}:${i.follows}`,u.axis,p=>`${u.name}${f(p)} moves with \u201C${i.follows}\u201D, which is not a variable this car has.`);else if(i.follows===i.id)s(`self:${u.name}`,u.axis,p=>`${u.name}${f(p)} cannot move with itself.`);else if(l.unit!==c.unit)s(`unit:${u.name}:${m.name}`,u.axis,p=>`${u.name}${f(p)} moves with ${m.name}, which is in ${l.unit} where it is in ${c.unit}. Link it to one in the same unit.`);else if(n.has(i.follows)){let p=o(n.get(i.follows));s(`chain:${u.name}:${m.name}`,u.axis,d=>`${u.name}${f(d)} moves with ${m.name}, which itself moves with ${p.name}. Link it to ${p.name}.`)}else DF(e,i.follows)||s(`still:${u.name}:${m.name}`,u.axis,p=>`${u.name}${f(p)} moves with ${m.name}, which the study does not move${f(p)}. Free that one, or give this its own bound.`)}return[...a.values()].map(i=>i.text(i.axes.join(", ")))}function X0(e,t,r={}){let n=t.variables.length>0&&t.variables.every(y=>y.fixed||y.follows),o=t.variables.some(y=>y.follows&&!y.fixed);t=Dt(e,t);let a=Gt(e),s=[],i=up(r),c=qt(t).map(y=>y.metricId),l=c.some(y=>y.startsWith("dyn.")),u=c.some(y=>y.startsWith("lap."));if(c.some(y=>y.startsWith("kin."))){let y=t.envelope;y.travelMin<0&&y.travelMax>0||s.push("The travel the linkage is read over must reach both ways from the design ride: droop below zero, bump above."),(!(y.rollMaxDeg>0)||!(y.rollAtLimitDeg>=0))&&s.push("The roll the linkage is read over must be above zero.")}let m=qt(t).filter(y=>i[y.metricId]?.reads==="state");if(m.length){let y=t.states??[];if(!y.length)s.push("This study reads targets at a state and has none. Take the car\u2019s five under Conditions.");else{let R=new Set([...y.map(k=>k.id),yn]);for(let k of m){let v=i[k.metricId];if(k.at?.stateId&&!R.has(k.at.stateId))s.push(`${et(v)} names a state this study no longer has. Point it at one of the states under Conditions.`);else if(k.at?.stateId===yn&&!v.acrossStates)s.push(`${et(v)} is read at one state at a time, not over every state.`);else if(v.appliesAt){let x=k.at?.stateId&&k.at.stateId!==yn?y.find(F=>F.id===k.at.stateId):void 0,M=x?F0(v,x):null;M?s.push(`${et(v)} ${M}. Point it at a state that does.`):!x&&!Qm(v,y)&&s.push(`${et(v)} has no state to be read at: ${v.appliesAt(y[0])} in every state of this study.`)}}}r.assemble||s.push("This study reads targets at a state, and nothing here can assemble the car to find its pose.")}for(let y of t.states??[])(!(y.speedKmh>=0)||!Number.isFinite(y.ayG)||!Number.isFinite(y.axG))&&s.push(`The state \u201C${y.name}\u201D needs a speed of zero or more and finite accelerations.`),y.weight>0||s.push(`The state \u201C${y.name}\u201D needs a weight above zero.`);if(l&&!r.assemble&&s.push("This study reads whole-car metrics, and nothing here can assemble the car to read them from."),u&&!r.simParams&&s.push("This study reads lap metrics, and nothing here can prepare the car for a lap."),u&&!t.lap.courses.length&&s.push("This study reads lap metrics and has no course to drive. Add one under \u201CWhat the car drives\u201D."),u&&t.lap.courses.some(y=>y.course.kind==="project")&&!r.projectTrack?.()&&s.push("This study laps the project\u2019s track, and the project has none. Pick a manoeuvre, or load a track."),u)for(let y of t.lap.courses)y.course.kind==="track"&&!r.libraryTrack?.(y.course.trackId)&&s.push(`This study drives ${y.course.name}, which is not in the project\u2019s tracks, or has not loaded yet.`);let f=new Set([...t.lap.courses.map(y=>y.id),dc]);for(let y of qt(t))if(y.at?.courseId&&!f.has(y.at.courseId)){let R=i[y.metricId];s.push(`${R?et(R):y.metricId} names a course this study no longer has. Point it at one of the courses below.`)}u&&t.lap.ggvMode==="fast"&&t.variables.some(R=>/arb_|spring|heave_|front_mass_diss|cg_height|^hp\./.test(R.id.replace("param.","")))&&s.push("The fast grip envelope is a point mass: no load transfer, no trim. It cannot see bars, springs, roll centres or where the mass sits, and this study moves at least one of those."),n?s.push(o?"Every variable is fixed or moves with another \u2014 there is nothing to search.":"Every variable is fixed \u2014 there is nothing to search."):t.variables.length===0&&s.push("No variables selected \u2014 there is nothing to search."),t.objectives.length===0&&s.push("No objective selected. Constraints alone say which designs are legal, not which is better.");for(let y of t.variables){let R=a[y.id];if(!R){s.push(`\u201C${y.id}\u201D is not a variable this car has.`);continue}if(y.values&&y.values.length<2?s.push(`${ct(R)}: list two values or more, or fix it where it is.`):y.hi>y.lo?y.step!==void 0&&$0({...y,start:R.read(e)})<2&&s.push(`${ct(R)}: a step of ${y.step} ${R.unit} leaves no other place to land in its box. Make the step finer or the box wider, or fix it.`):s.push(`${ct(R)}: the upper bound must be above the lower one (${y.lo} to ${y.hi}).`),R.supersededBy){let v=R.supersededBy.useInstead?a[R.supersededBy.useInstead]:void 0,x=v?ct(v):void 0;s.push(`${ct(R)} cannot be searched: ${R.supersededBy.why}.`+(x?` Use ${x} instead.`:""))}let k=R.read(e);Number.isFinite(k)&&(k<y.lo||k>y.hi)&&s.push(`${ct(R)} starts at ${k.toFixed(1)} ${R.unit}, outside its own bounds.`)}let p=t.followers??[],d=new Map;for(let y of[...t.variables.map(R=>R.id),...p.map(R=>R.id)]){let R=K0(y);if(!R)continue;let k=d.get(R);k||d.set(R,k={arms:[],coords:[]}),(/^(arm|rocker)\./.test(y)?k.arms:k.coords).push(y)}for(let[y,R]of d){if(R.arms.length===0||R.coords.length===0)continue;let k=x=>a[x]?ct(a[x]):x,v=y.endsWith("rocker")?"rocker":`${y.endsWith("uca")?"upper":"lower"} arm`;s.push(`${y.startsWith("front")?"The front":"The rear"} ${v} is being moved two ways at once \u2014 as an axis (${R.arms.map(k).join(", ")}) and as pivot coordinates (${R.coords.map(k).join(", ")}). They describe the same ${v}, so whichever is applied second overwrites the other. Keep one.`)}let h=new Map,b=new Set(p.map(y=>y.id));for(let y of[...t.variables.map(R=>R.id),...b]){let R=pc(y);if(!R)continue;let k=dr(y),v=b.has(y)?"with":k?`${k.shape.kind}:${y.slice(y.lastIndexOf(".")+1).replace(/[uv]$/,"")}`:"axes",x=h.get(R.point);x||h.set(R.point,x=new Set),x.add(v)}for(let[y,R]of h){if(R.size<2||R.size===2&&R.has("axes")&&R.has("with"))continue;let k=[...R].map(w=>w.split(":")[0]),v=w=>k.filter(C=>C===w).length,x=[v("axes")?"in its axes":"",v("line")===1?"along a line":v("line")>1?"along two lines":"",v("plane")===1?"in a plane":v("plane")>1?"in two planes":"",v("with")?"with another point":""].filter(Boolean),M=a[`${y}.x`],F=M?ct({...M,label:M.label.replace(/ x$/,"")}):y;s.push(`${F} is moved more than one way at once \u2014 ${x.join(" and ")}. Each write moves it off the other's, so keep one.`)}s.push(...HO(t,a));for(let y of t.constraints){let R=i[y.metricId];if(!R){s.push(`\u201C${y.metricId}\u201D is not a metric.`);continue}y.op==="band"&&!((y.limit2??y.limit)>y.limit)&&s.push(`${et(R)}: the band's upper limit must be above its lower one.`)}l&&!(t.operating.speed>0)&&s.push("Whole-car metrics need a speed to be read at; a yaw-moment diagram at rest is degenerate.");for(let y of qt(t))if(y.at?.speed!==void 0&&!(y.at.speed>0)){let R=i[y.metricId];s.push(`${R?et(R):y.metricId} is asked for at rest, where a yaw-moment diagram is degenerate.`)}for(let y of t.watches??[])i[y.metricId]||s.push(`\u201C${y.metricId}\u201D is not a metric.`);let g=new Set;for(let y of qt(t)){let R=i[y.metricId],k=R?.unavailable?.(e);!R||!k||g.has(R.id)||(g.add(R.id),s.push(`${et(R)} cannot be read on this car: ${k}.`))}for(let y of t.objectives)i[y.metricId]?y.weight>0?y.goal==="target"&&!Number.isFinite(y.target)?s.push(`${et(i[y.metricId])}: \u201Chit a value\u201D needs a value.`):y.goal==="target"&&y.tolerance!==void 0&&!(y.tolerance>=0)&&s.push(`${et(i[y.metricId])}: the tolerance must be zero or more.`):s.push(`${et(i[y.metricId])}: weight must be positive.`):s.push(`\u201C${y.metricId}\u201D is not a metric.`);return s}var EF=.1,IF=2e3,H0=3;function q0(e,t,r={},n=IF){t=Dt(e,t);let o=pp(e,t,r),a=up(r),s=Gt(e),i=o.variables.map(S=>S.start),c=S=>{let A=o.build(S);return o.feasible(A).ok&&o.terms(A),A},l=c(i),u=o.feasible(l),m=[...t.objectives,...t.constraints],f=(S,A=m)=>{let P={};for(let L of A){let D=a[L.metricId];D&&(P[`${L.metricId}@${fo(L.at)}`]=Lt(S.ev,D,L.at))}return P},p=S=>m.map(A=>S[`${A.metricId}@${fo(A.at)}`]).map(A=>Number.isFinite(A)?A.toFixed(9):"x").join("|"),d=f(l,qt(t)),h=p(d),b=[],g=[],y={},R=[],k=0;t.variables.forEach((S,A)=>{let P=s[S.id];if(!P)return;if(R.length>=H0&&k>n){g.push(P);return}let L=[...i];L[A]=i[A]+(S.hi-i[A])*.25||S.hi;let D=performance.now(),E=c(L),V=performance.now()-D;k+=V,R.push(V);let N=f(E);y[P.id]=N,p(N)===h&&b.push(P)});let v=t.variables[0],x=v?t.variables.indexOf(v):-1;for(let S=0;v&&R.length>0&&R.length<H0;S++){let A=[...i];A[x]=i[x]+(v.hi-i[x])*(.4+.15*S)||v.hi;let P=performance.now();c(A),R.push(performance.now()-P)}let M=[...R].sort((S,A)=>S-A),F=M.length?M[M.length>>1]:0,w=[],C=qt(t).map(S=>S.metricId);if(C.some(S=>S.startsWith("dyn.trim")||S==="dyn.ymdMaxAy")){let S=l.ev.ymdLimit();S?.onGridEdge&&w.push("The yaw-moment diagram peaks on the edge of its swept grid, so the trim readings are where the sweep stopped rather than where the car does. Widen the \u03B2/\u03B4 envelope before trusting them."),!S&&l.ev.dynAvailable&&w.push("The yaw-moment diagram found no trim point, so anything read off the limit is unavailable.")}if(C.some(S=>S==="dyn.steeringTorque"||S==="dyn.steeringTorqueGradient")){let S=l.ev.tyre()?.model,A=S?en(S):null;A==="assumed"?w.push("This tyre carries no explicit Mz coefficient block. Its steering-aligning contribution uses Magic Formula defaults, so optimise the curve only as a qualitative placeholder until Mz is imported or fitted."):A==="none"&&w.push("This tyre model has no aligning-moment curve. Steering metrics contain contact-patch force and jacking, but not the pneumatic-trail signal that normally warns the driver at the tyre limit.")}let T=["lap.minStabil","lap.understeerFrac"];if(C.some(S=>T.includes(S))){let A=l.ev.lapReserve()?.beyondFrac;if(A!==void 0&&Number.isFinite(A)){let P=(A*100).toFixed(0);A>=EF?w.push(`Over ${P} % of this course, some wheel is asked for more longitudinal force than its own tyre ellipse allows \u2014 the speed profile and the per-wheel reconstruction disagree that far. A reserve read there is the two models disagreeing rather than the car having nothing left, and a search pointed at one will optimise the disagreement. It concentrates in high-speed braking, so a shorter straight into the first corner is the usual cure.`):A>0&&w.push(`${P} % of this course is beyond the per-wheel tyre ellipse, which is the usual level of disagreement between the speed profile and the reconstruction. Reserves are readable; treat small differences between designs as smaller than they look.`)}}return w.push(...A0(l.ev,qt(t).map(S=>({m:a[S.metricId],at:S.at})).filter(S=>!!S.m))),{msPerEval:F,values:d,samples:R.length,times:R,dead:b,moves:y,unprobed:g,warnings:w,beyondFrac:C.some(S=>T.includes(S))?l.ev.lapReserve()?.beyondFrac:void 0,startFeasible:u.ok,startReason:u.reason}}var YO=[{kind:"title",label:"Title",what:"The name, what it changes against the Reference, the version and the date",on:"both",make:()=>({kind:"title"})},{kind:"picture",label:"Picture",what:"The car in plan, to scale",on:"each",make:()=>({kind:"picture",half:!0})},{kind:"keyFigures",label:"Key figures",what:"Large numbers picked from the sheet, or formulas",on:"each",make:()=>({kind:"keyFigures",rows:WO.slice(0,4),half:!0})},{kind:"spec",label:"Setup",what:"The Setup by group, or rows picked one by one",on:"each",make:()=>({kind:"spec",rows:"essential"})},{kind:"parts",label:"Parts",what:"Each part by name",on:"each",make:()=>({kind:"parts"})},{kind:"characteristics",label:"Characteristics",what:"What follows from the Setup, at the layout\u2019s operating point",on:"each",make:()=>({kind:"characteristics",groups:[]})},{kind:"results",label:"Results",what:"The events, times, energy and points",on:"each",make:()=>({kind:"results"})},{kind:"chart",label:"Chart",what:"Speed round a lap, the cornering limit or the torque curve",on:"both",make:()=>({kind:"chart",chart:"grip",others:!0,half:!0})},{kind:"changes",label:"Changes since",what:"What was changed since the version compared against",on:"each",make:()=>({kind:"changes"})},{kind:"checks",label:"Checks",what:"The car\u2019s errors and warnings",on:"each",make:()=>({kind:"checks"})},{kind:"notes",label:"Notes",what:"Free text, on every page or one car\u2019s",on:"both",make:()=>({kind:"notes",text:"",cars:{}})},{kind:"comparison",label:"Comparison table",what:"The rows the cars differ in, side by side",on:"all",make:()=>({kind:"comparison"})}];var WO=["setup:m","characteristics:peak_power","characteristics:power_to_weight","characteristics:cla","characteristics:cda","characteristics:pack_energy","characteristics:maxAy","characteristics:top_speed"];var wse=new Set(YO.map(e=>e.kind));var _F={travel:{name:"Wheel travel",unit:"mm",axis:"Wheel travel (mm, + bump)",from:-25,to:25,step:1,reach:150},roll:{name:"Body roll",unit:"\xB0",axis:"Body roll (\xB0, + right side down)",from:-3,to:3,step:.25,reach:12},steer:{name:"Rack",unit:"mm",axis:"Rack (mm, + right)",from:-30,to:30,step:1,reach:80},pitch:{name:"Body pitch",unit:"\xB0",axis:"Body pitch (\xB0, + nose down)",from:-2,to:2,step:.25,reach:8}};var Q0=["FL","FR","RL","RR"],kt=(e,t,r)=>({input:e,from:r?r[0]:_F[e].from,to:r?r[1]:_F[e].to,n:t}),Lse=[{id:"sides",name:"Inside and outside",cards:[{id:"camber-roll",form:"curves",title:"Camber to the road through roll",sweep:kt("roll",25),wheels:["FL","FR"],y:["camberRoad"]},{id:"toe-rack",form:"curves",title:"Wheel angle against the rack",sweep:kt("steer",25),wheels:["FL","FR"],y:["toe"]},{id:"camber-rack",form:"curves",title:"Camber to the road through the steer",sweep:kt("steer",25),wheels:["FL","FR"],y:["camberRoad"]},{id:"load-roll",form:"curves",title:"Wheel loads through roll",sweep:kt("roll",25),wheels:Q0,y:["wheelLoad"]},{id:"travel-roll",form:"curves",title:"Wheel travel through roll",sweep:kt("roll",25),wheels:Q0,y:["travel"]},{id:"toe-roll",form:"curves",title:"Roll steer, all four",sweep:kt("roll",25),wheels:Q0,y:["toe"]}]},{id:"maps",name:"Travel and steer together",cards:[{id:"camber-map",form:"surface",title:"Camber over travel and rack",sweep:kt("travel",17),second:kt("steer",13),wheels:["FL"],y:["camber"]},{id:"bump-steer-map",form:"map",title:"Bump steer over travel and rack",sweep:kt("travel",17),second:kt("steer",13),wheels:["FL"],y:["bumpSteer"]},{id:"bump-steer-family",form:"curves",title:"Bump steer through travel, at five rack positions",sweep:kt("travel",25),second:kt("steer",5,[-20,20]),wheels:["FL"],y:["bumpSteer"]},{id:"scrub-map",form:"surface",title:"Scrub radius over travel and rack",sweep:kt("travel",17),second:kt("steer",13),wheels:["FL"],y:["scrubRadius"]}]}];function Z0(e){let t=Number(e);return Number.isFinite(t)?Math.min(Bf,Math.max(Vf,t)):At}var OF=6e4;var Aie=[{within:60*6e4,every:OF},{within:1440*6e4,every:60*6e4},{within:720*60*6e4,every:1440*6e4},{within:1/0,every:10080*6e4}];var oV=new Set(["color","visible","source","origin"]),Nie=["id",...oV];var $F=.18/1.18,GF={induction:{kind:"natural"}},KF=e=>e.breathing??GF;function dp(e){switch(e?.kind){case"sae-j1349":return Hi(99e3,25);case"measured":return Hi(e.hPa*100,e.tempC);default:return Hi(101325,20)}}var sV=dp(void 0);function HF(e,t){let r=dp(e.rated),n=e.induction;if(n.kind==="boosted"){let o=n.boostKPa*1e3;return Math.min(n.maxPressureRatio*t.p,o)/Math.min(n.maxPressureRatio*r.p,o)*(t.pDry/t.p)/(r.pDry/r.p)}return t.pDry/r.pDry*Math.sqrt(r.T/t.T)}function zF(e,t){let r=e.induction;if(r.kind==="table"){let o=s=>Be(r.densityAltitudeM,r.powerPct,s),a=o(dp(e.rated).densityAltitudeM);return a>0?Math.max(0,o(t.densityAltitudeM)/a):0}let n=e.frictionShare??$F;return Math.max(0,(HF(e,t)-n)/(1-n))}var BF=new WeakMap;function ey(e,t){let r=e.asRated??e,n=`${t.p}|${t.pDry}|${t.T}`,o=BF.get(r);o||BF.set(r,o=new Map);let a=o.get(n);if(a)return a;let s=zF(KF(r),t),i={...r,torque:r.torque.map(c=>c*s),asRated:r};return o.set(n,i),i}function uV(e){return JSON.parse(ty(ry(e,"public/laptime/index.json"),"utf8")).tracks}var mV=async e=>{let t=await fetch(e.url);if(!t.ok)throw new Error(`The track could not be read from ${Cm(e)} (${t.status}).`);return new Uint8Array(await t.arrayBuffer())};function YF(e,t=new Map,r=mV){let n=uV(e);return async o=>{let a=o.kind==="catalogue"?`catalogue:${o.address}`:o.name,s=t.get(a);if(s)return structuredClone(s);let i;if(o.kind==="catalogue"&&o.link){if(!Qi(o.address))throw new Error(`"${o.address}" is not a catalogue address`);if(!qi(o.link))throw new Error("This track is linked to a source this version does not read from.");i=await Fg(await r(o.link),o.link,o.address)}else if(o.kind==="catalogue"){if(!Qi(o.address))throw new Error(`"${o.address}" is not a catalogue address`);let c=JSON.parse(ty(ry(e,"public/catalogue",Cg(o.address)),"utf8"));i=await Pg(c,o.address)}else{let c=n.find(l=>l.name===o.name)?.file;if(!c)throw new Error(`"${o.name}" is not in the bundled catalogue`);i=JSON.parse(ty(ry(e,"public/laptime",c),"utf8"))}return t.set(a,i),structuredClone(i)}}var pV=9.81;function WF(e,t=e.tireModel,r=e.tireModelRear){if(!t)return e;let n=e.m.value*pV/4,o=xa(e,t,r),a=Pe(o.front).rollingRadius(n),s=o.rear===o.front?a:Pe(o.rear).rollingRadius(n),i=dV(e,a,s);if(!(i>0))return e;let c={...e.r_dyn,value:i};return{...e,r_dyn:c,readouts:{...e.readouts,r_dyn:"the fitted tyre\u2019s rolling radius at the static load"}}}function dV(e,t,r){switch(e.motorPlacement??"rear"){case"front":return t;case"awd":return t>0&&r>0?.5*(t+r):0;default:return r}}var fV=1e-6;function jF(e,t,r){let n=e.cgReference;if(!n||!e.cg_height)return e;let o=kk(e,t,r);if(o===void 0||Math.abs(o-n.standingRadius)<fV)return e;let a=n.typed??e.cg_height.value;return{...e,cg_height:{...e.cg_height,value:ya(e.cg_height.value,n.standingRadius,o)},cgReference:{...n,standingRadius:o,typed:a}}}function UF(e,t,r){let n=e.rcRoad,o=e.rc_front,a=e.rc_rear;if(!n||!o||!a)return e;let s=ku(e,t,r),i=Nr(o.value,n.gainFront,n.radiusFront,s.front),c=Nr(a.value,n.gainRear,n.radiusRear,s.rear);return i===o.value&&c===a.value?e:{...e,rc_front:{...o,value:i},rc_rear:{...a,value:c},rcRoad:{...n,radiusFront:s.front??n.radiusFront,radiusRear:s.rear??n.radiusRear}}}var XF=e=>({brakeFade:e.brakeFade,airTempC:e.airTempC,diffYaw:e.diffYaw,...zi(e.air)?{air:e.air}:{}});var yo=(e,t)=>t?e.find(r=>r.id===t)?.model:void 0;function xo(e){return{tire:t=>yo(e.tires,t),motor:t=>yo(e.motors,t),aero:t=>yo(e.aeros,t),battery:t=>yo(e.batteries,t),brake:t=>yo(e.brakes??[],t),damper:t=>yo(e.dampers??[],t),suspensionOf:t=>Ba(ny(e,t),t)}}function ny(e,t){let r=yo(e.suspensions,t.suspensionId);if(r)return r;let n=e.suspensions.find(o=>o.id===e.activeSuspensionId)??e.suspensions[0];if(!n)throw new Error("this project holds no suspension, so no car can be resolved");return n.model}function Ro(e,t,r){let n={front:t.tire(e.tireModelId),rear:t.tire(e.tireModelIdRear)};return oy(hk(t.suspensionOf(e),e,n),t,r)}function hV(e){return zi(e.air)?ES(e.air,e.airTempC??At):void 0}var bV="the air the session states, at its 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0?{airTempC:r.airTempC}:{},...r.diffYaw?{diffYaw:!0}:{},airSettled:!0}}var kV=e=>e!==!1,MV=(e,t,r)=>r&&t>0?(e%t+t)%t:Math.min(Math.max(e,0),t);function SV(e,t,r){let n=e.points.filter(o=>Number.isFinite(o.at)&&Number.isFinite(o.z)).map(o=>({...o,at:MV(o.at,t,r)})).sort((o,a)=>o.at-a.at);return n.filter((o,a)=>a===0||o.at-n[a-1].at>1e-9)}function AV(e,t,r){let n=SV(e,t,r),o=n.length;if(o===0)return[];let a=p=>p<o-1?n[p+1].at-n[p].at:r?n[0].at+t-n[p].at:1/0,s=p=>p<o-1?(n[p+1].z-n[p].z)/a(p):r&&o>1?(n[0].z-n[p].z)/a(p):0,i=n.map(p=>Math.max(0,Number.isFinite(p.curve)?p.curve:0)/2),c=(p,d,h)=>i[p]+i[d]>h?h*i[p]/(i[p]+i[d]):i[p],l=p=>p<o-1||r?c(p,p<o-1?p+1:0,a(p)):Math.max(0,t-n[p].at),u=p=>p>0?c(p,p-1,a(p-1)):r?c(p,o-1,a(o-1)):n[p].at,m=p=>p>0?s(p-1):r&&o>1?s(o-1):n[p].at<=1e-9?s(p):0,f=p=>!r&&p===o-1&&o>1&&n[p].at>=t-1e-9?s(p-1):s(p);return n.map((p,d)=>{let h=l(d),b=u(d),g=Math.min(i[d],h,b),y=!r&&g<i[d]&&(d===o-1&&g===h||d===0&&g===b);return{at:p.at,z:p.z,gIn:m(d),gOut:f(d),half:g,asked:i[d],atEnd:y}})}function FV(e,t,r,n){let o=t-e.at;return n&&r>0?o-r*Math.round(o/r):o}function wV(e,t,r,n){for(let s of e){let i=FV(s,t,r,n);if(s.half>0&&Math.abs(i)<s.half){let c=i+s.half;return s.z-s.gIn*s.half+s.gIn*c+(s.gOut-s.gIn)/(4*s.half)*c*c}}let o=e[e.length-1],a=n?t-o.at+(t<o.at?r:0):t-o.at;for(let s of e)s.at<=t&&(o=s,a=t-s.at);return!n&&t<e[0].at?e[0].z:o.z+o.gOut*a}function qF(e,t,r,n){let o=kV(n),a=AV(e,r,o);return a.length?t.map(s=>wV(a,s,r,o)):t.map(()=>0)}function Mc(e,t){if(!t?.points.length)return e;let r=nc(e),{zSmoothing:n,...o}=e;return{...o,z:qF(t,r,Jg(e),e.closed)}}var fp={widthLeft:1.5,widthRight:1.5,bank:0,mu:1};function QF(e){return e.kind==="bundled"?{kind:"bundled",name:e.name}:e.kind==="catalogue"?{kind:"catalogue",id:e.id,address:e.address,...e.link?{link:e.link}:{}}:null}async function Sc(e,t){let r=QF(e.source);return ZF(e,r?await t(r):void 0)}function ZF(e,t){let{source:r}=e;if(r.kind==="segments"){let{segments:i,closed:c,spacing:l}=r,{asset:u}=ac(i,{name:e.name,closed:c,spacing:l,base:fp});return Mc(u,r.profile)}let n=r.sections??[];if(r.kind==="inline")return Mc(Nm(r.asset,n,fp),r.profile);if(!t)throw new Error(`Track "${e.name}" has to be loaded before it can be resolved.`);let{widthLeft:o,widthRight:a,closed:s}=r;return Mc(Nm({...t,...o!==void 0?{widthLeft:o}:{},...a!==void 0?{widthRight:a}:{},...s!==void 0?{closed:s}:{}},n,fp),r.profile)}var mue=1/500;var pue=5*Math.PI/180;var vue=1/3;var LV=[4,2,1,.5,.25,.125];function JF(e,t,r={}){let n=[...r.steps??LV].sort((g,y)=>y-g),o=st(r.numerics),a=r.tolPct??.5,s=Ft(e),i=e.ggvMode??"twoTrack",c=cr(s,!1,i),l={...o,dsTarget:n[0]??o.dsTarget},u=n.length?Jn(s,c,[it(t,l)],l,i):void 0,m=dn(s,c.rows),f=n.map((g,y)=>{let R={...o,dsTarget:g},k=Date.now(),v=it(t,R),x=Rt(c,v,R,{...u?{load:u}:{},...m?{shifts:m}:{}});return r.onStep?.(y+1,n.length),{dsTarget:g,npts:v.npts,lapTime:x.laptime,ms:Date.now()-k}}),p=f[f.length-1]?.lapTime??NaN,d=f.map(g=>{let y=g.lapTime-p;return{...g,delta:y,deltaPct:p?100*y/p:NaN}}),h=d.filter(g=>Math.abs(g.deltaPct)<=a),b=h.length?Math.max(...h.map(g=>g.dsTarget)):null;return{points:d,reference:p,recommended:b,tolPct:a}}function Wa(e,t={}){let r=e.settings,n=t.ggvMode??r.ggvMode,o=(t.quasiTransient??r.quasiTransient)&&n!=="fast",a=e.tracks.find(s=>s.id===e.activeTrackId)??e.tracks[0];return{ggvMode:n,quasiTransient:o,motorThermal:t.motorThermal??r.motorThermal,brakeFade:t.brakeFade??r.brakeFade,airTempC:Z0(t.airTempC??r.airTempC),...zi(xm(t.air??r.air))?{air:xm(t.air??r.air)}:{},diffYaw:t.diffYaw??r.diffYaw,racingLine:t.racingLine??r.useRacingLine,standingStart:t.standingStart??(a?a.standingStart===!0:r.standingStart),lapCounts:t.lapCounts??r.lapCounts,numerics:st(r.numerics)}}async function hp(e,t){let r=e.tracks.find(n=>n.id===e.activeTrackId)??e.tracks[0];if(!r)throw new Error("this project holds no track \u2014 add one with track_select before running a lap event");return{entry:r,asset:await Sc(r,t)}}function IV(e,t){let r=structuredClone(e);for(let[n,o]of Object.entries(t))if(!Tu(r,n,o))throw new Error(`no parameter is labelled "${n}" on this car \u2014 read vehicle_get for the labels it has`);return r}var ay=(e,t)=>{let r=e?.name;return typeof r=="string"&&r?r:t};function _V(e,t){let r={};for(let n of bn){let o=e[n.doc]??[];for(let i of n.slots.slice(1)){let c=t[i.ref],l=typeof c=="string"?o.find(u=>u.id===c):void 0;l&&(r[i.key]={id:l.id,name:ay(l.model,l.id)})}let a=t[n.ref],s=typeof a=="string"?o.find(i=>i.id===a):void 0;if(s){r[n.doc]={id:s.id,name:ay(s.model,s.id)};continue}if(n.doc==="suspensions"){let i=o.find(c=>c.id===e.activeSuspensionId)??o[0];r[n.doc]=i?{id:i.id,name:ay(i.model,i.id),byFallback:!0}:null;continue}r[n.doc]=null}return r}function NV(e){return Object.values(e.events).map(t=>({id:t.id,label:t.label,kind:t.kind,time:t.time,lapTime:t.lapTime,distance:t.distance,laps:t.laps,...t.energy?{energyConsumedKwh:t.energy.consumed,energyRemaining:t.energy.remainingFraction}:{},...t.lapsOverridden?{lapsOverridden:t.lapsOverridden}:{},...t.incomplete?{incomplete:t.incomplete}:{},...t.energyTarget?{energyTarget:t.energyTarget}:{}}))}function ew(e){let t=new Map;for(let{name:r,events:n}of e)for(let o of n){let a=t.get(o.label);a||t.set(o.label,a={event:o.label,finished:[],stopped:[]}),(o.incomplete?a.stopped:a.finished).push(r)}return[...t.values()].filter(r=>r.stopped.length>0)}var tw=e=>e.length<2?e[0]??"":`${e.slice(0,-1).join(", ")} and ${e[e.length-1]}`;async function bp(e,t,r={}){let n=Wa(e,r.settings),{entry:o,asset:a}=await hp(e,t),s=xo(e),i=r.vehicleIds?.length?r.vehicleIds.map(d=>{let h=e.vehicles.find(b=>b.id===d);if(!h)throw new Error(`this project holds no vehicle "${d}"`);return h}):e.vehicles.filter(d=>d.visible);if(!i.length)throw new Error("no vehicle is visible in this project \u2014 name some in vehicleIds");let c=i.map(d=>{let h=r.overrides?.[d.id]?IV(d.params,r.overrides[d.id]):d.params;return Ro(structuredClone(h),s,n)}),l=Oi(oo(e.meta.rulesetId,e.rulesets)),u=Ki(c,a,n.numerics,l,{racingLine:n.racingLine,standingStart:n.standingStart,lapCounts:n.lapCounts}),m={};i.forEach((d,h)=>{m[d.id]=u[h]});let{scores:f,field:p}=ng(l,m);return{rulesetId:e.meta.rulesetId,track:o.name,settings:{ggvMode:n.ggvMode,quasiTransient:n.quasiTransient,motorThermal:n.motorThermal,brakeFade:n.brakeFade,airTempC:n.airTempC,...n.air?{air:n.air}:{},diffYaw:n.diffYaw,racingLine:n.racingLine,standingStart:n.standingStart},fleetScored:f!==null,vehicles:i.map((d,h)=>({id:d.id,name:u[h].name||String(d.params.name??d.id),events:NV(u[h]),metrics:og(l,u[h],p?.[d.id]),fitted:_V(e,d.params),...f?.[d.id]?{score:{total:f[d.id].total,parts:{...f[d.id].parts}}}:{}})),raw:{results:m,scores:f,field:p}}}async function rw(e,t,r){let n=e.vehicles.find(i=>i.id===r.vehicleId);if(!n)throw new Error(`this project holds no vehicle "${r.vehicleId}"`);let o=Wa(e),{asset:a}=await hp(e,t),s=Ro(structuredClone(n.params),xo(e),o);return JF(s,a,{...r.steps?{steps:r.steps}:{},numerics:o.numerics,...r.tolPct!==void 0?{tolPct:r.tolPct}:{},...r.onStep?{onStep:r.onStep}:{}})}var OV=(e,t)=>e[t]??[],VV=(e,t,r)=>r<=1?[e]:Array.from({length:r},(n,o)=>e+(t-e)*o/(r-1));function gp(e){return e.kind==="param"?VV(e.start,e.end,Math.max(1,Math.round(e.steps))):e.kind==="part"?[...e.partIds]:[...e.values]}var nw=e=>e.kind==="param"?e.label:e.kind==="part"?`${e.part} model`:e.setting;function BV(e,t){let r=e.vehicles.find(i=>i.id===t.vehicleId);if(!r)throw new Error(`this project holds no vehicle "${t.vehicleId}"`);if(!t.axes.length)throw new Error("a sweep needs at least one axis");let n=Ro(structuredClone(r.params),xo(e),Wa(e)),o=Dk(n,{geometry:!0}),a=Cu(n);for(let i of t.axes){if(i.kind==="param"){let c=a.find(u=>u.label===i.label);if(!c)throw new Error(`no parameter is labelled "${i.label}" on this car \u2014 read vehicle_get for the labels it has`);let l=o[c.key];if(l)throw new Error(`"${i.label}" is a readout on this car, not an input: ${l}. Sweeping it would report exactly zero. Sweep what produces it instead.`)}if(i.kind==="part"){let c=bn.find(l=>l.doc===i.part);if(!c)throw new Error(`"${i.part}" is not a library \u2014 it is one of ${bn.map(l=>l.doc).join(", ")}`);for(let l of i.partIds)if(!OV(e,c.doc).some(u=>u.id===l))throw new Error(`the ${c.label} library holds no "${l}"`)}}let s=t.axes.reduce((i,c)=>i*gp(c).length,1);if(s>hm)throw new Error(`that grid is ${s} runs, over the ${hm} cap \u2014 a run is a whole session. Drop an axis or use fewer steps.`)}var $V=e=>e.map(t=>String(typeof t=="number"?Number(t.toPrecision(4)):t)).join(" \xD7 ");function GV(e,t){let r=[...new Set(e.flatMap(o=>(o.didNotFinish??[]).map(a=>a.label)))],n=e.map(o=>({name:$V(o.at),events:r.map(a=>({label:a,incomplete:o.didNotFinish?.find(s=>s.label===a)}))}));return ew(n).map(({event:o,finished:a,stopped:s})=>{let i=`${s.length} of ${e.length} points did not finish ${o}`;if(!a.length)return`${i}: every time there is a part-distance${t?" and scores zero":""}, so compare laps before time.`;let c=s.length>6?`${s.slice(0,6).join(", ")}, \u2026`:tw(s);return t?`${i}: ${c}. Their time there is a part-distance and scores zero, so read them as stopped, not slow \u2014 a points ranking favours the points that finished over faster ones that stopped.`:`${i}: ${c}. 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Exactly zero is a wiring question before it is a finding: check that a library part is not superseding the value, and that the switch it needs is on.`),{axes:r.axes.map(u=>({kind:u.kind,label:nw(u),values:gp(u)})),runs:a,metricKeys:i,fleetScored:s,flat:c,caveats:l}}var wpe=Math.PI/180;function sy(e){if(!e.chassis)return e;let{chassis:t,...r}=e;return r}var kbe=180/Math.PI;var _5={id:"racecar",label:"Race car",description:"Suspension kinematics, tyres, powertrain and quasi-steady-state lap simulation for a four-wheeled race 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t3(e){let t=r=>({...r,hardpoints:{...r.hardpoints,...Tw(J5)},config:{...r.config,actuation:"decoupled"}});return{...e,front:t(e.front),rear:t(e.rear)}}function Tw(e){return Object.fromEntries(Object.entries(e).map(([t,r])=>[t,e3(r)]))}function Pw(e,t=lo(),r=e==="pull"?W5:Y5){let n=(o,a)=>({...o,hardpoints:{...o.hardpoints,...Tw(r[a])},config:{...o.config,actuation:"rocker",rodType:e,...e==="pull"?{pushrodAttach:"upperArm"}:{}}});return{...t,front:n(t.front,"front"),rear:n(t.rear,"rear")}}function vp(e,t){let r=my(e),n=ja(e);if(e==="heave")return{meta:r,vehicle:n,components:{...uy(),heaveFront:{design:{...Qh,...U5},linkage:j5()}}};if(e!=="decoupled")return{meta:r,vehicle:n,components:uy()};let o=ly(n,t,"front",{heave:Fw(),roll:ww()}),a=ly(n,t,"rear",{heave:Fw(),roll:ww()});return{meta:r,vehicle:n,components:{arbFront:o.arb,arbRear:a.arb,heaveFront:o.heave,heaveRear:a.heave}}}function ja(e){let{name:t}=my(e);if(e==="direct")return{...Wi(),name:t};if(e==="mcpherson"){let n=ji(),o=vm();return{...n,front:{...o,config:{...o.config,loadedRadius:n.front.config.loadedRadius}},name:t}}let r=r3(Pw(e==="pullrod"?"pull":"push"));return{...e==="decoupled"?t3(r):r,name:t}}var Cw={front:221.7,rear:220.9};function r3(e){return{...e,front:{...e.front,config:{...e.front.config,loadedRadius:Cw.front}},rear:{...e.rear,config:{...e.rear.config,loadedRadius:Cw.rear}}}}function my(e){let t=Rp.find(r=>r.id===e);if(!t)throw new Error(`Unknown suspension template: ${e}`);return t}function kp(){let e=t=>({design:{...Q5},linkage:q5(t),damper:Z5});return{meta:my("heave"),vehicle:Pw("push",mg(),X5),components:{...uy(),heaveFront:e("front"),heaveRear:e("rear")}}}var Lw=[10,25,50,100,200,300],n3=[{id:"c1",label:"Soft",scale:.7},{id:"c2",label:"Medium",scale:1},{id:"c3",label:"Firm",scale:1.4}],Dw=e=>Math.round(e*100)/100;function o3(e,t,r){let n=Lw.map(o=>Dw(r*o));return{id:e,label:t,speedMmS:[...Lw],bumpN:n,reboundN:[...n]}}function a3(e){return{name:e.name,body:{...e.body},curves:n3.map(t=>o3(t.id,t.label,Dw(e.coefficient*t.scale)))}}function Fc(e,t){let r=(t.heave??t.car).coefficient,n=(t.roll??t.car).coefficient,o=(a,s)=>a?.damper?{...a,damper:s}:a;return{arbFront:o(e.arbFront,n),arbRear:o(e.arbRear,n),heaveFront:o(e.heaveFront,r),heaveRear:o(e.heaveRear,r)}}function fr(e,t){let r=i=>{if(!i)return;let c=e.dampers.length+1;for(;e.dampers.some(u=>u.id===`dmp${c}`);)c++;let l=`dmp${c}`;return e.dampers.push({id:l,color:Ji[e.dampers.length%Ji.length],model:a3(i)}),l},n=r(t.car),o=r(t.rear),a=r(t.heave),s=r(t.roll);for(let i of e.vehicles){let c=i.params;c.damperModelId=n,o&&(c.damperModelIdRear=o),a&&(c.heaveDamperModelId=a),s&&(c.rollDamperModelId=s)}}var lt=e=>`${e} (typical)`,py={car:{name:lt("Formula Student damper"),coefficient:2.5,body:{extended:249,stroke:55}}},Mp={car:py.car,heave:{name:lt("Formula Student heave damper"),coefficient:3.4,body:{extended:270,stroke:47}},roll:{name:lt("Formula Student roll damper"),coefficient:3.7,body:{extended:322,stroke:100}}},Sp={car:{name:lt("Formula 1 damper"),coefficient:6,body:{extended:240,stroke:40}},heave:{name:lt("Formula 1 heave damper"),coefficient:40,body:{extended:240,stroke:40}}},Ew={car:{name:lt("GT damper"),coefficient:4.5,body:{extended:510,stroke:80}}},dy={car:{name:lt("Sports car damper"),coefficient:2.4,body:{extended:515,stroke:110}}},Iw={car:{name:lt("Sports car strut"),coefficient:2.4,body:{extended:310,stroke:120}},rear:dy.car},_w={car:{name:lt("Cup car strut"),coefficient:4,body:{extended:285,stroke:75}},rear:{name:lt("Cup car rear damper"),coefficient:3.5,body:{extended:505,stroke:80}}},Nw={car:{name:lt("Stock car front damper"),coefficient:7.5,body:{extended:555,stroke:110}},rear:{name:lt("Stock car rear damper"),coefficient:6.75,body:{extended:555,stroke:110}}},Ow={car:{name:lt("Hill-climb front damper"),coefficient:3,body:{extended:285,stroke:65}},rear:{name:lt("Hill-climb rear damper"),coefficient:3.5,body:{extended:285,stroke:65}}},Vw={car:{name:lt("Race truck front damper"),coefficient:12,body:{extended:780,stroke:160}},rear:{name:lt("Race truck rear damper"),coefficient:8.5,body:{extended:780,stroke:160}}};function Xa(e){return e.vehicles=e.vehicles.slice(0,1),e.activeVehicleId=e.vehicles[0]?.id??null,e}function kn(e,t){let r=ec(e);return r.meta.rulesetId=t,r}function vo(e,t,r,n){let o=kn(e,t);return o.suspensions=[{...o.suspensions[0],model:n()}],o.vehicles=[Og(r,"v1",0)],o.activeVehicleId="v1",o}var[,s3,i3,c3,l3,u3,m3,p3]=xg;function fy(e,t){delete e.arbFrontDesign,delete e.arbRearDesign,delete e.heaveFrontDesign,delete e.heaveRearDesign,t.arbFront&&(e.arbFrontDesign=structuredClone(t.arbFront)),t.arbRear&&(e.arbRearDesign=structuredClone(t.arbRear)),t.heaveFront&&(e.heaveFrontDesign=structuredClone(t.heaveFront)),t.heaveRear&&(e.heaveRearDesign=structuredClone(t.heaveRear))}function Bw(){return{...ja("decoupled"),name:lo().name}}var d3=[{label:"Formula Student (decoupled)",vehicle:Bw,components:e=>Fc(vp("decoupled",e).components,Mp)},{label:"Formula 1 (third springs)",vehicle:()=>kp().vehicle,components:()=>Fc(kp().components,Sp)}],hy={"direct-coilover":"direct",pushrod:"pushrod",pullrod:"pullrod","third-spring":"heave","mcpherson-strut":"mcpherson"},f3=[...d3.map(e=>e.vehicle),...Object.values(hy).map(e=>()=>ja(e))];function Ua(e){let t=Fc(vp("decoupled",e.vehicles[0].params).components,Mp);e.suspensions=[{...e.suspensions[0],model:Bw()}];for(let r of e.vehicles)fy(r.params,t);return fr(e,Mp),e}var ko={title:"OpenStreetMap",url:"https://www.openstreetmap.org/copyright",licence:"ODbL-1.0",credit:"\xA9 OpenStreetMap contributors"},Ap={title:"USGS 3D Elevation Program, 1 m lidar terrain",url:"https://www.usgs.gov/3d-elevation-program",licence:"public-domain",credit:"U.S. Geological Survey, 3D Elevation Program"},$w={title:"Digitales Gel\xE4ndemodell DGM1 Rheinland-Pfalz",url:"https://www.geoportal.rlp.de/",licence:"dl-de-by-2.0",credit:"\xA9GeoBasis-DE / LVermGeoRP 2025, dl-de/by-2-0, www.lvermgeo.rlp.de [Daten bearbeitet]"},Gw={title:"USDA National Agriculture Imagery Program (NAIP), 0.6 m aerial imagery",url:"https://imagery.nationalmap.gov/arcgis/rest/services/USGSNAIPImagery/ImageServer",licence:"public-domain",credit:"USDA Farm Service Agency, National Agriculture Imagery Program, via the USGS National Map"},h3={id:"cota",name:"Circuit of the Americas, Austin",address:"e0c6ea889d708cf15f9c",provenance:{fidelity:"derived",licence:"ODbL-1.0",sources:[ko,Ap,Gw]}},b3={id:"laguna-seca",name:"Laguna Seca, Monterey",address:"185b5811b9c423ef44ef",provenance:{fidelity:"derived",licence:"ODbL-1.0",sources:[ko,Ap,Gw]}},g3={id:"nordschleife",name:"Nordschleife, N\xFCrburg",address:"74c49603c7b2f15985c6",provenance:{fidelity:"derived",licence:"ODbL-1.0",sources:[ko,$w]}},y3={id:"brands-hatch",name:"Brands Hatch, Kent",address:"c4953e3c25eaba4a5b7e",provenance:{fidelity:"derived",licence:"ODbL-1.0",sources:[ko,{title:"Environment Agency LIDAR Composite DTM, 1 m",url:"https://environment.data.gov.uk/dataset/13787b9a-26a4-4775-8523-806d13af58fc",licence:"OGL-UK-3.0",credit:"\xA9 Environment Agency copyright and/or database right 2022. All rights reserved."}]}},x3={id:"bristol",name:"Bristol, Tennessee",address:"f0e23953669a414ad600",provenance:{fidelity:"derived",licence:"ODbL-1.0",sources:[ko,Ap]}},R3={id:"pikes-peak",name:"Pikes Peak, Colorado",address:"3de137fe33b5c2875036",provenance:{fidelity:"derived",licence:"ODbL-1.0",sources:[ko,Ap]},standingStart:!0},v3={source:"venue",altitudeM:3580,pressure:{kind:"standard"},humidityPct:0},k3=10,M3={id:"nurburg-sprint",name:"Sprintstrecke, N\xFCrburg",address:"1875636cdbb615aa2756",provenance:{fidelity:"derived",licence:"ODbL-1.0",sources:[ko,$w]}};function Mo(e,t){let{id:r,name:n,address:o,provenance:a,standingStart:s}=t,i={kind:"catalogue",id:r,address:o},c=Ui(Tg({name:n,source:i}).model,structuredClone(a));return e.tracks=[{id:"tr1",name:n,source:i,provenance:c,...s?{standingStart:s}:{}}],e.activeTrackId="tr1",e.settings.standingStart=s===!0,e}function Mn(e,t,r){let n=e.vehicles[0].params,o=`m${e.motors.length+1}`;e.motors=[...e.motors,{id:o,color:gn[e.motors.length%gn.length],model:t}];let a=xk({},{...n,motorModel:t});n.motorModelId=o,n.motorCount=1,a&&(n.driveline=a),n.gear_ratio&&(n.gear_ratio={...n.gear_ratio,value:r})}var S3=3.8,Fp={hubPlanetary:14.5,inboardChain:4,engineChain:3.4},A3="Hub motor, 35 kW (example)";function by(e,t,r,n,o,a){let s=e.vehicles[0].params;s.motorModelId=t,s.motorCount=r,s.motorPlacement=n,a&&(s.motorMount=a),s.driven_wheels={...s.driven_wheels,value:n==="awd"?4:2},s.gear_ratio={...s.gear_ratio,value:o}}function Kw(e){let t=e.motors.find(r=>r.id==="m1");return t.model={...t.model,name:A3},t.id}function wp(e,t,r){let n=Xa(Ua(kn(e,r)));return n.vehicles[0].params.name=t,n}function F3(){let e=wp("Formula Student combustion car","Formula Student combustion","fs-cv");Mn(e,Sg(),Fp.engineChain);let t=e.vehicles[0].params;return t.power_limit_kw&&(t.power_limit_kw={...t.power_limit_kw,value:0}),t.endurance_reserve&&(t.endurance_reserve={...t.endurance_reserve,value:0}),e}function w3(){let e=wp("Formula Student AWD car","Formula Student AWD","fs-ev");return by(e,Kw(e),4,"awd",Fp.hubPlanetary,"hub"),e}function C3(){let e=wp("Formula Student RWD hub-motor car","Formula Student RWD hub motors","fs-ev");return by(e,Kw(e),2,"rear",Fp.hubPlanetary,"hub"),e}function T3(){let e=wp("Formula Student one-motor car","Formula Student RWD one motor","fs-ev"),t=`m${e.motors.length+1}`;return e.motors=[...e.motors,{id:t,color:gn[e.motors.length%gn.length],model:Mg()}],by(e,t,1,"rear",Fp.inboardChain),e.vehicles[0].params.driveline={rear:structuredClone(xt.clutch)},e}function P3(){let e=Xa(Ua(kn("Formula Student endurance energy","fs-ev"))),t=e.vehicles[0],r=structuredClone(t);if(r.id="v2",r.color=Zi[1],r.params.name=`${t.params.name} flat out`,!r.params.endurance_reserve)throw new Error("the Formula Student preset states no energy reserve");return r.params.endurance_reserve={...r.params.endurance_reserve,value:0},e.vehicles.push(r),e}function L3(){let e=kp(),t=vo("Formula 1 car","trackday",s3,()=>e.vehicle);return fy(t.vehicles[0].params,Fc(e.components,Sp)),fr(t,Sp),Mn(t,Ag(),S3),Mo(t,h3)}function Hw(e="GT car",t=Wi){let r=vo(e,"trackday",i3,t);return fr(r,Ew),Mn(r,jS(),r.vehicles[0].params.gear_ratio.value),Mo(r,b3)}function zw(e="Sports car",t=ji,r=dy){let n=vo(e,"trackday",c3,t);return fr(n,r),Mn(n,US(),n.vehicles[0].params.gear_ratio.value),Mo(n,g3)}function D3(){let e=vo("Cup car","trackday",l3,_S);return fr(e,_w),Mn(e,XS(),e.vehicles[0].params.gear_ratio.value),Mo(e,y3)}function E3(){let e=vo("Stock car","trackday",u3,NS);return fr(e,Nw),Mn(e,qS(),e.vehicles[0].params.gear_ratio.value),Mo(e,x3)}function I3(){let e=vo("Hill-climb prototype","trackday",m3,OS);return fr(e,Ow),Mn(e,QS(),e.vehicles[0].params.gear_ratio.value),e.settings.air=structuredClone(v3),e.settings.airTempC=k3,Mo(e,R3)}function _3(){let e=vo("Race truck","trackday",p3,VS);return fr(e,Vw),Mn(e,ZS(),e.vehicles[0].params.gear_ratio.value),Mo(e,M3)}function N3(e){let t=Rp.find(o=>o.id===e);if(e==="direct")return Hw(t.name,()=>ja(e));if(e==="mcpherson")return zw(t.name,()=>ja(e),Iw);let r=Xa(kn(t.name,"trackday")),n=vp(e,r.vehicles[0].params);return r.suspensions=[{...r.suspensions[0],model:n.vehicle}],fy(r.vehicles[0].params,n.components),fr(r,py),r}function wc(e,t,r){let n=hy[e],o=Rp.find(a=>a.id===n);return{id:e,domain:"racecar",kind:"start",summary:t,title:o.name,blurb:`${o.description} ${r} Move a hardpoint in Kinematics and watch the motion ratio, camber and roll centre follow, then what it costs on track.`,tags:["kinematics","suspension",...o.tags.map(a=>a.toLowerCase())],openTool:"kinematics",load:()=>N3(n)}}var O3=[{id:"fs-ev-comparison",domain:"racecar",kind:"study",summary:"Four Formula Student cars scored on all five events: what mass, power and downforce buy.",title:"Formula Student \u2014 car comparison",blurb:"A generic Formula Student electric car and three what-ifs \u2014 15 % more downforce, 15 kg lighter, 15 % more power \u2014 scored side by side on the Formula Student electric events. All four run decoupled heave and roll suspension. A good first look at what each change buys.",tags:["formula student","comparison","lap sim"],openTool:"laptime",load:()=>Ua(kn("Formula Student comparison","fs-ev"))},{id:"fs-endurance-energy",domain:"racecar",kind:"study",summary:"The FS car flat out against its energy target: which finishes endurance, and the points.",title:"Formula Student \u2014 endurance energy",blurb:"The generic Formula Student electric car twice, scored together on the Formula Student electric events: once driven to its energy target, once flat out. The two differ in the endurance reserve and nothing else. Flat out the car laps faster and its pack runs out before the flag; on the target its speed is capped so the pack finishes with 5 % left. The endurance event shows the charge lap by lap, and the points what running dry costs.",tags:["formula student","endurance","energy","battery"],openTool:"laptime",load:P3},{id:"fs-ev-single",domain:"racecar",kind:"start",summary:"A generic Formula Student electric car on the five events, to set up as your own.",title:"Formula Student \u2014 single car",blurb:"One generic Formula Student electric car on the Formula Student electric events: 300 kg with driver, two motors, 80 kW, 10-inch tyres, decoupled heave and roll suspension. The uncluttered starting point for setting up your own car.",tags:["formula student","lap sim"],openTool:"laptime",load:()=>Xa(Ua(kn("Formula Student car","fs-ev")))},{id:"fs-combustion",domain:"racecar",kind:"start",summary:"A restricted 600 cc four through six gears and a clutch-pack diff, on the CV events.",title:"Formula Student \u2014 combustion, LSD",blurb:"The generic Formula Student car with an engine: a restricted 600 cc four of about 64 kW through a six-speed box and a chain to a clutch-pack limited-slip diff, on the Formula Student combustion events. The same 300 kg chassis, tyres and decoupled suspension as the electric layouts, so the drive is the difference. Efficiency is scored on the work at the crankshaft until fuel is modelled. Representative of the class, not a measurement of any car.",tags:["formula student","combustion","engine","limited-slip diff","lsd","lap sim"],openTool:"laptime",load:F3},{id:"fs-ev-awd",domain:"racecar",kind:"start",summary:"All-wheel drive from a motor in each hub, held to 80 kW at the pack.",title:"Formula Student \u2014 AWD, four hub motors",blurb:"The generic Formula Student electric car with a motor in each of its four hubs: 35 kW hub motors on 14.5 : 1 planetaries, held to the rules\u2019 80 kW at the pack, each wheel\u2019s torque its own and every wheel braking back into the pack. The same 300 kg chassis, tyres, suspension and pack as the other layouts, so the drive is the difference; the hub motors\u2019 unsprung mass is not added. Representative of the class, not a measurement of any car.",tags:["formula student","awd","all-wheel drive","hub motors","outboard motors","lap sim"],openTool:"laptime",load:w3},{id:"fs-ev-rwd-hubs",domain:"racecar",kind:"start",summary:"Rear-wheel drive from a motor in each rear hub, with no diff between them.",title:"Formula Student \u2014 RWD, two hub motors",blurb:"The generic Formula Student electric car driven by a motor in each rear hub: two 35 kW hub motors on 14.5 : 1 planetaries with no differential between them, so each rear wheel\u2019s torque is set on its own. The pair cannot use all of the rules\u2019 80 kW. The same 300 kg chassis, tyres, suspension and pack as the other layouts, so the drive is the difference. Representative of the class, not a measurement of any car.",tags:["formula student","rwd","rear-wheel drive","hub motors","outboard motors","lap sim"],openTool:"laptime",load:C3},{id:"fs-ev-one-motor",domain:"racecar",kind:"start",summary:"One inboard motor chained to a clutch-pack diff on the rear axle.",title:"Formula Student \u2014 RWD, one motor, LSD",blurb:"The generic Formula Student electric car on one inboard motor: an axial-flux motor of 230 Nm on the chassis, chained at 4 : 1 to a clutch-pack limited-slip diff on the rear axle. The rules\u2019 80 kW at the pack holds it below its peak, and it brakes back into the pack through the diff. The same 300 kg chassis, tyres, suspension and pack as the other layouts, so the drive is the difference. Representative of the class, not a measurement of any car.",tags:["formula student","rwd","inboard motor","limited-slip diff","lsd","lap sim"],openTool:"laptime",load:T3},{id:"formula-1",domain:"racecar",kind:"start",summary:"A generic Formula 1 car on a flying lap of Austin.",title:"Formula 1 car",blurb:"A generic Formula 1 car of the 18-inch era at Austin: 798 kg with driver, a 735 kW power unit through eight gears and a clutch-pack diff, four and a half square metres of lift area on a 3.6 m wheelbase, pushrods with a third spring and heave damper on each axle, slicks with 1.8 of peak grip. One flying lap, no scoring. Every number is representative of the class, none is a measurement.",tags:["formula 1","lap sim","aero"],openTool:"laptime",load:L3},{id:"touring-car",domain:"racecar",kind:"start",summary:"A generic GT car on a flying lap of Laguna Seca.",title:"GT car",blurb:"A generic GT car at Laguna Seca: 1300 kg with driver, a 410 kW four-litre through six gears and a clutch-pack diff, 2.8 m\xB2 of lift area, coilovers on double wishbones, 18-inch slicks. One flying lap, no scoring. Representative of the class, not a measurement of any car.",tags:["gt","lap sim"],openTool:"laptime",load:Hw},{id:"street-car",domain:"racecar",kind:"start",summary:"A generic sports car on road tyres, round the Nordschleife.",title:"Sports car",blurb:"A generic sports car on the Nordschleife: 1600 kg with driver, a 220 kW turbocharged six through a six-speed double-clutch box and an open diff, road tyres with about 1.0 of grip, soft springs and a little aerodynamic lift. One flying lap, no scoring. The car to start from when the question is a road car, and the one that shows what a race car's numbers actually buy.",tags:["sports car","road car","lap sim"],openTool:"laptime",load:zw},{id:"cup-car",domain:"racecar",kind:"start",summary:"A generic front-driven cup hatchback round Brands Hatch.",title:"Cup car",blurb:"A generic front-wheel-drive cup hatchback at Brands Hatch: 1265 kg with driver, a 250 kW two-litre turbo through six gears and a clutch-pack diff, a splitter and a wing, a McPherson strut front, 18-inch slicks. One flying lap, no scoring. Representative of the class, not a measurement of any car.",tags:["cup car","front-wheel drive","lap sim"],openTool:"laptime",load:D3},{id:"stock-car",domain:"racecar",kind:"start",summary:"A generic stock car on Bristol\u2019s half-mile, banked 25\xB0.",title:"Stock car",blurb:"A generic stock car of the American oval series at Bristol, the half-mile banked 25\xB0: 1620 kg with driver, a 500 kW 5.9-litre V8 through five gears and a clutch-pack diff, double wishbones on stiff springs, 18-inch slicks, set up the same on both sides. One flying lap, no scoring. Representative of the class, not a measurement of any car.",tags:["stock car","oval","lap sim"],openTool:"laptime",load:E3},{id:"hill-climb",domain:"racecar",kind:"start",summary:"A generic hill-climb prototype up Pikes Peak, from rest, in thin air.",title:"Hill-climb prototype",blurb:"A generic hill-climb sports prototype on Pikes Peak, 19.99 km and 1,440 m up to the summit: 650 kg with driver, a 330 kW turbocharged two-litre through six gears and a clutch-pack diff, 3 m\xB2 of lift area, pushrods, 13-inch slicks. It runs in the mountain\u2019s thin air, which costs its wings a third of their downforce. One run, no scoring. Representative of the class, not a measurement of any car.",tags:["hill climb","altitude","lap sim"],openTool:"laptime",load:I3},{id:"race-truck",domain:"racecar",kind:"start",summary:"A generic European race truck round the N\xFCrburg Sprintstrecke, held to 160 km/h.",title:"Race truck",blurb:"A generic European circuit race truck on the N\xFCrburg Grand Prix circuit\u2019s 3.6 km Sprintstrecke: a cab-over tractor at the class\u2019s 5300 kg minimum, 60 % of it on the front axle, an 880 kW 13-litre diesel through a twelve-speed box to a locked rear axle, geared to the 160 km/h the rules hold it to, 315/70 R22.5 tyres. One flying lap, no scoring. Representative of the class, not a measurement of any truck.",tags:["race truck","truck racing","lap sim"],openTool:"laptime",load:_3},{id:"suspension",domain:"racecar",kind:"study",summary:"The FS car\u2019s decoupled wishbones: move a hardpoint and watch the roll centre follow.",title:"Suspension kinematics study",blurb:"Opens on the double-wishbone editor with one Formula Student car. Move a hardpoint and watch camber, bump steer, motion ratio and roll-centre migration follow \u2014 then see what it costs on track.",tags:["kinematics","geometry"],openTool:"kinematics",load:()=>Xa(Ua(kn("Suspension study","trackday")))},wc("direct-coilover","The GT car\u2019s wishbones driving coilovers straight into the towers, at Laguna Seca.","On the GT car, at Laguna Seca."),wc("pushrod","The FS car on pushrods: a rod from each lower wishbone works a rocker.","On the Formula Student car, at FSG."),wc("pullrod","The FS car on pullrods: a rod from each upper wishbone pulls a low rocker.","On the Formula Student car, at FSG."),wc("third-spring","The pushrod FS car plus a front third spring that picks up after 5 mm of bump.","On the Formula Student car, at FSG."),wc("mcpherson-strut","The sports car on McPherson struts at the front and double wishbones at the rear.","On the sports car, at the Nordschleife."),{id:"tyre-study",domain:"racecar",kind:"study",summary:"The FS tyre\u2019s grip curves at three loads, beside the other classes\u2019 tyres.",title:"Tyre model study",blurb:"One Formula Student car on its Magic Formula tyre, opened on the tyre analysis, where the grip curves that drive the whole lap come from. The library beside it holds the other seven classes' tyres and the illustrative MF6.2 example to compare against.",tags:["tyres","magic formula"],openTool:"tires",load:()=>Xa(Ua(kn("Tyre study","fs-ev")))}],Yw=O3.map(e=>({...e,load:()=>Vg(e.load())}));var Ww={width:320,height:200},q0e=[.6*Ww.width-9,.6*Ww.height-9];var jw=new WeakMap,Uw=new WeakMap,gy=e=>JSON.stringify(e,(t,r)=>r===1/0?"Infinity":r);function Xw(e,t){if(!t){let a=jw.get(e);return a||(a=Ct(e),jw.set(e,a)),a}let r=Uw.get(e);r||(r=new Map,Uw.set(e,r));let n=gy(t),o=r.get(n);return o||(r.size>=4&&r.clear(),o=Ct(e,t),r.set(n,o)),o}var $3=Math.PI/180,G3=e=>e>1?e/100:e;function Cc(e){let t=null;return()=>(t??={v:e()}).v}function qw(e){let t=Ge(e,{travelMin:-1,travelMax:1,steps:3}).samples[1],r=t.metrics.motionRatio??1;return{motionRatio:r,wheelRate:t.metrics.wheelRate??e.config.springRate*r*r}}var Qw=new WeakMap,yy={heave:0,pitch:0,roll:0,steer:0},Zw=[0,1,2,3,4],Jw=[-20,-10,0,10,20];function tC(e,t){let r=_r(e,yy),n=["front","rear"],o=c=>{let l=pi(c);return l?(l.left+l.right)/2:Number.NaN},a=n.map(c=>o(r[c])),s=n.map(()=>({rc:[],split:[]}));for(let c of Zw){let l=c===0?null:_r(e,{...yy,roll:c*$3});n.forEach((u,m)=>{let f=l?pi(l[u]):null,p=f&&Number.isFinite(a[m]);s[m].rc.push(p?t[m]+(f.left+f.right)/2-a[m]:t[m]),s[m].split.push(p?(f.left-f.right)/2:0)})}let i=n.map(()=>[]);for(let c of Jw){let l=c===0?null:_r(e,{...yy,heave:-c});n.forEach((u,m)=>{let f=l&&l[u].valid&&r[u].valid;i[m].push(f?t[m]+l[u].height-r[u].height:t[m])})}return{roll:{rollDeg:Zw,rcFront:s[0].rc,rcRear:s[1].rc,rcSplitFront:s[0].split,rcSplitRear:s[1].split},heave:{drop:Jw,rcFront:i[0],rcRear:i[1]}}}var eC=new WeakMap;function K3(e,t,r,n){let o=eC.get(e);o||(o=new Map,eC.set(e,o));let a=`${gy(r)}|${n[0]}|${n[1]}`,s=o.get(a);if(!s){o.size>=4&&o.clear();try{s=tC(Xw(e,r),n)}catch{s=t.rigidMigration(n)}o.set(a,s)}return s}function H3(e){let t=Qw.get(e);if(t)return t;let r=Ct(e),n=_r(r,{heave:0,pitch:0,roll:0,steer:0}),o=qw(e.front),a=qw(e.rear),s={wheelbase:e.config.wheelbase,trackFront:bt(e.front),trackRear:bt(e.rear),mrFront:o.motionRatio,mrRear:a.motionRatio,wheelRateFront:o.wheelRate,wheelRateRear:a.wheelRate,unsprungCgHeight:e.front.config.loadedRadius,rcHeightFront:n.front.valid?n.front.heightAboveGround:0,rcHeightRear:n.rear.valid?n.rear.heightAboveGround:0,rcGainFront:ba(n.front),rcGainRear:ba(n.rear),rigidMigration:i=>tC(r,i),kinFront:Cc(()=>ea(e.front)),kinRear:Cc(()=>ea(e.rear))};return Qw.set(e,s),s}function rC(e,t,r,n){let o=H3(e),a=Wn(e,t),s=ga(e,t),i=mk(e,t),c=Ru(e,t),l=pk(e,t),u=fk(t),m=dk(e,t),f=Yn(e.front),p=Yn(e.rear),d=zn(t.damperModel,t.damperSetup,o.mrFront,o.mrRear,t.damperModelRear??t.damperModel),h={rho:t.rho.value,area:t.A.value,cl:t.c_l.value,cw:t.c_w.value,copLongFront:1-Math.max(0,Math.min(1,Q(t,"cop_long"))),copHeight:Q(t,"cop_height"),...t.aeroModel?{model:t.aeroModel}:{},rideHeightFront:Q(t,"ride_height_front"),rideHeightRear:Q(t,"ride_height_rear")},b=9.81,g=G3(t.front_mass_diss.value),y=xa(t,r,n),R=Pe(y.front),k=y.rear===y.front?R:Pe(y.rear),v=n??t.tireModelRear??r,x=t.m.value*b*g/2,M=t.m.value*b*(1-g)/2,F=R.corneringStiffness(x),w=k.corneringStiffness(M),C=(r?R.verticalStiffness():0)||Q(t,"tire_vertical_rate"),T=(v?k.verticalStiffness():0)||Q(t,"tire_vertical_rate"),S=tr(r)??0,A=tr(v)??0,P=Au({freeRadius:S,staticLoad:x,tyreRate:C,surveyed:e.front.config.loadedRadius},{freeRadius:A,staticLoad:M,tyreRate:T,surveyed:e.rear.config.loadedRadius},g),L=$t(S,x,C,e.front.config.loadedRadius),D=$t(A,M,T,e.rear.config.loadedRadius),E=[Nr(o.rcHeightFront,o.rcGainFront,e.front.config.loadedRadius,L),Nr(o.rcHeightRear,o.rcGainRear,e.rear.config.loadedRadius,D)],V=Cc(()=>gi(o.kinFront(),Q(t,"camber_front_deg"))),N=Cc(()=>gi(o.kinRear(),Q(t,"camber_rear_deg"))),z=Cc(()=>K3(e,o,$a(B),E)),I=Ws({...t,wheelbase:{...t.wheelbase,value:o.wheelbase}}),_=bi(t),B={massTotal:t.m.value,frontMassFrac:g,steeringSystem:t.steeringSystem,tv:cu(t),cgHeight:ya(Q(t,"cg_height"),t.cgReference?.standingRadius,P),cgStandingRadius:P,wheelbase:o.wheelbase,trackFront:o.trackFront,trackRear:o.trackRear,wheelRateFront:f?0:o.wheelRateFront,wheelRateRear:p?0:o.wheelRateRear,decoupledFront:f,decoupledRear:p,...u.front?{elementLinkagesFront:u.front}:{},...u.rear?{elementLinkagesRear:u.rear}:{},...m.front.source==="part"?{cornerCoiloverFront:m.front.coilover}:{},...m.rear.source==="part"?{cornerCoiloverRear:m.rear.coilover}:{},...m.heaveFront.coilover?{heaveCoiloverFront:m.heaveFront.coilover}:{},...m.heaveRear.coilover?{heaveCoiloverRear:m.heaveRear.coilover}:{},...i.front&&!f?{heaveSeatFront:i.front}:{},...i.rear&&!p?{heaveSeatRear:i.rear}:{},...m.rollFront.coilover?{rollCoiloverFront:m.rollFront.coilover}:{},...m.rollRear.coilover?{rollCoiloverRear:m.rollRear.coilover}:{},tireRate:C,...T!==C?{tireRateRear:T}:{},tireDamping:Q(t,"tire_vertical_damping"),arbFront:a.front??Q(t,"arb_front"),arbRear:a.rear??Q(t,"arb_rear"),brakeBalanceFront:I.balanceFront,brakes:I,..._?{driveline:_}:{},heaveSpringFront:s.front??Q(t,"heave_spring_front"),heaveSpringRear:s.rear??Q(t,"heave_spring_rear"),unsprungPerCorner:Q(t,"unsprung_mass"),unsprungCgHeight:$t(S,x,C,o.unsprungCgHeight),tyreFreeRadius:S,...A!==S?{tyreFreeRadiusRear:A}:{},rcHeightFront:E[0],rcHeightRear:E[1],corneringStiffnessFront:F,corneringStiffnessRear:w,get kinFront(){return V()},get kinRear(){return N()},damperFront:f?0:d?.front?.rate??Q(t,"damper_front")*o.mrFront*o.mrFront,damperRear:p?0:d?.rear?.rate??Q(t,"damper_rear")*o.mrRear*o.mrRear,...d?.front&&!f?{damperCurveFront:d.front.curve}:{},...d?.rear&&!p?{damperCurveRear:d.rear.curve}:{},heaveDamperFront:l.heaveFront?.rate??c.heaveFront,heaveDamperRear:l.heaveRear?.rate??c.heaveRear,rollDamperFront:l.rollFront?.rate??c.rollFront,rollDamperRear:l.rollRear?.rate??c.rollRear,...l.heaveFront?{heaveDamperCurveFront:l.heaveFront.curve}:{},...l.heaveRear?{heaveDamperCurveRear:l.heaveRear.curve}:{},...l.rollFront?{rollDamperCurveFront:l.rollFront.curve}:{},...l.rollRear?{rollDamperCurveRear:l.rollRear.curve}:{},unsprungCornerMass:Q(t,"unsprung_mass"),get rollCentreCurve(){return z().roll},get rcHeaveCurve(){return z().heave},aero:h,yawInertia:Q(t,"I_yaw"),rollInertia:Q(t,"I_roll"),pitchInertia:Q(t,"I_pitch"),get steerFront(){return vu(e.front,L)},ackermannPct:Q(t,"ackermann_pct"),toeFrontDeg:Q(t,"toe_front_deg"),toeRearDeg:Q(t,"toe_rear_deg")};return B}var oC=e=>({tire:t=>t==null?void 0:t===e.tireModelIdRear&&e.tireModelRear?e.tireModelRear:e.tireModel,motor:()=>e.motorModel,aero:()=>e.aeroModel,battery:()=>e.batteryModel,brake:()=>e.brakeModel,damper:t=>t!=null&&t===e.damperModelIdRear&&e.damperModelRear?e.damperModelRear:t!=null&&t===e.heaveDamperModelId?e.heaveDamperModel:t!=null&&t===e.rollDamperModelId?e.rollDamperModel:e.damperModel}),Ry={ggvMode:"twoTrack"},nC=new WeakMap;function vy(e,t=Ry){let r=nC.get(e.vehicle);r||nC.set(e.vehicle,r=new WeakMap);let n=r.get(e.params);n||r.set(e.params,n=new Map);let o=JSON.stringify(t),a=n.get(o);if(!a){n.size>=8&&n.clear();let s={...oC(e.params),suspensionOf:()=>e.vehicle};n.set(o,a=Ro(e.params,s,t))}return a}var aC=(e=Ry)=>t=>vy(t,e),sC=(e=Ry)=>t=>rC(t.vehicle,oy(t.params,oC(t.params),e),t.params.tireModel,t.params.tireModelRear);function z3(e,t){return vy(e,t.switches)}var ky=e=>Hr(e?.rulesets);function iC(e,t,r,n,o={},a=()=>r.standingStart){let s=vy(n,r.switches),i=(l,u)=>{let m=fm(l,t,{racingLine:r.racingLine,params:s});return{asset:m.asset,numerics:m.numerics,standingStart:u,racingLine:r.racingLine}},c=Object.fromEntries(Object.entries(o).map(([l,u])=>[l,i(u,a(l))]));return{course:e?i(e,r.standingStart):null,numerics:t,tracks:c,switches:r.switches}}var cC=e=>[...new Set(e.lap.courses.flatMap(t=>t.course.kind==="track"?[t.course.trackId]:[]))],lC=e=>{let t=e?.session;return t?{sessionParams:r=>z3(r,t),session:()=>t}:{}},Cp=e=>({metrics:ky(e),assemble:sC(e?.switches),simParams:aC(e?.switches),projectTrack:()=>e?.course??null,libraryTrack:t=>e?.tracks?.[t]??null,numerics:e?.numerics,...lC(e)}),Y3=(e,t)=>({density:e.density,envelope:e.envelope,states:e.states,operating:e.operating,lap:e.lap,assemble:sC(t?.switches),simParams:aC(t?.switches),projectTrack:()=>t?.course??null,libraryTrack:r=>t?.tracks?.[r]??null,numerics:t?.numerics,...lC(t)}),uC="nelder-mead",mC=600,Tc=[0,.15,.15];function pC(e,t,r,n=Tc.length){let o=Ay(t);return Tc.slice(0,Math.max(1,n)).map((a,s)=>({...e,seed:s+1,startJitter:a,car:o,...r?{lap:r}:{}}))}function dC(e,t,r=.5){let n=[];return e.forEach((o,a)=>{let s=o.hi-o.lo;if(s<=0)return;let i=Math.min(r,s*.01);t[a]<=o.lo+i?n.push({id:o.id,name:o.name,unit:o.unit,at:"lo",value:t[a],moved:t[a]-o.start}):t[a]>=o.hi-i&&n.push({id:o.id,name:o.name,unit:o.unit,at:"hi",value:t[a],moved:t[a]-o.start})}),n}function fC(e,t,r,n,o=.01){let a=ky(n).byId;return W3(e,t,r,n).filter(s=>s.excess>-o*(a[s.metricId]?.scale??1))}function W3(e,t,r,n){let o;try{o=xn(mp(e,t,r),Y3(t,n))}catch{return[]}return j3(o,t,ky(n))}function j3(e,t,r){let n=[];for(let o of t.constraints){let a=r.byId[o.metricId];if(!a)continue;let s=Lt(e,a,o.at);if(!Number.isFinite(s))continue;let i=`${et(a)}${kc(o.at,a)}`;n.push({key:o.key,metricId:o.metricId,label:i,unit:a.unit==="-"?"":a.unit,value:s,excess:vc(o,s)})}return n}var U3=.05;function X3(e,t){if(t.id.startsWith("hp.")||cp(t.id))return 1;let r=/^rocker\.(front|rear)\.(\w+)$/.exec(t.id);if(r){let a=r[1]==="front"?e.vehicle.front:e.vehicle.rear;return _0(vn(a.hardpoints),r[2],1)}let n=/^arm\.(front|rear)\.(uca|lca)\.(\w+)$/.exec(t.id);if(!n)return null;let o=n[1]==="front"?e.vehicle.front:e.vehicle.rear;return D0(zr(o.hardpoints,n[2]),n[3],1)}function hC(e,t,r){let n=r.filter(f=>f.score.feasible);if(n.length<2)return null;let o=t.map(f=>X3(e,f)),a=o.every(f=>f!==null)?"mm":null,s=0,i="",c=0,l=n.reduce((f,p)=>p.score.total<f.score.total?p:f);for(let f of n)if(f!==l)for(let p=0;p<t.length;p++){let d=Math.abs(f.x[p]-l.x[p])*(o[p]??1);c+=d*d,d>s&&(s=d,i=t[p].name)}let u=n.map(f=>f.score.total),m=l.score.terms.reduce((f,p)=>f+(p.resolution??0),0);return{distance:Math.sqrt(c),worst:s,worstName:i,scoreSpread:Math.max(...u)-Math.min(...u),tolerance:Math.max(U3,m),unit:a}}var q3={steeringSystem:!0,brakeSetup:!0,driveline:!0,heaveFrontDesign:!0,heaveRearDesign:!0,arbFrontDesign:!0,arbRearDesign:!0},bC=e=>Object.hasOwn(q3,e);function xy(e){let[t,r]=e.split("."),n=r==="front"?"Front":r==="rear"?"Rear":null;return n?t==="heave"?`heave${n}Design`:t==="roll"?`arb${n}Design`:null:null}function Q3(e){let t=e.split(".")[0];return t==="hp"||t==="arm"||t==="rocker"?"hardpoint":t==="cfg"?"config":t==="kc"?"compliance":t==="param"?"param":t==="brakeModel"?"part":bC(t)||xy(e)?"block":null}function My(e,t){t=Dt(e,t);let r=Gt(e);return[...t.variables,...t.followers??[]].filter(n=>r[n.id]&&!r[n.id].supersededBy&&!Q3(n.id)).map(n=>ct(r[n.id]))}function gC(e,t,r){t=Dt(e,t);let n=Gt(e),o=mp(e,t,r),a=[],s=new Set,i=new Set;for(let c of[...t.variables,...t.followers??[]]){let l=n[c.id];if(!l||l.supersededBy)continue;let u=l.read(o),[m,f,p,d]=c.id.split(".");if(m==="rocker"){let h=`${f}.rocker`;if(i.has(h))continue;i.add(h);let b=f==="front"?o.vehicle.front:o.vehicle.rear;for(let g of[bo.fore,bo.aft]){let y=b.hardpoints[g];for(let R=0;R<3;R++)a.push({kind:"hardpoint",axle:f,key:g,axis:R,value:y[R]})}}else if(m==="arm"){let h=`${f}.${p}`;if(i.has(h))continue;i.add(h);let b=f==="front"?o.vehicle.front:o.vehicle.rear,g=jt[p];for(let y of[g.fore,g.aft]){let R=b.hardpoints[y];for(let k=0;k<3;k++)a.push({kind:"hardpoint",axle:f,key:y,axis:k,value:R[k]})}}else if(m==="hp"&&dr(c.id)){let h=`${f}.${p}`;if(i.has(h))continue;i.add(h);let b=(f==="front"?o.vehicle.front:o.vehicle.rear).hardpoints[p];for(let g=0;g<3;g++)a.push({kind:"hardpoint",axle:f,key:p,axis:g,value:b[g]})}else if(m==="hp")a.push({kind:"hardpoint",axle:f,key:p,axis:"xyz".indexOf(d),value:u});else if(m==="cfg")a.push({kind:"config",axle:f,field:p,value:u});else if(m==="kc"){if(s.has(`kc.${f}`))continue;s.add(`kc.${f}`);let h=f==="front"?o.vehicle.front:o.vehicle.rear;a.push({kind:"compliance",axle:f,value:h.compliance})}else if(m==="param")a.push({kind:"param",label:ct(l),value:u});else if(m==="brakeModel"){if(s.has(m))continue;if(s.add(m),!o.params.brakeModel)throw new Error(`optimiser: "${c.id}" left the car with no brake part to adopt`);a.push({kind:"part",key:"brakeModel",fromId:e.params.brakeModelId,value:o.params.brakeModel})}else if(bC(m)||xy(c.id)){let h=xy(c.id)??m;if(s.has(h))continue;s.add(h);let b=o.params[h];if(!b)throw new Error(`optimiser: "${c.id}" left the car with no ${h} to adopt`);a.push({kind:"block",key:h,value:b})}else throw new Error(`optimiser: Adopt has no way to write "${c.id}" back into the project`)}return a}function Sy(e){let t=performance.now(),r=Cp(e.lap),n=e.follow?W0(e.car,e.spec,r):e.spec,{dead:o,unprobed:a,...s}=q0(e.car,n,r);return{...s,deadIds:o.map(i=>i.id),unprobedIds:a.map(i=>i.id),elapsedMs:performance.now()-t,...e.follow?{followed:!0,fromCar:n===e.spec?null:{states:n.states,envelope:n.envelope}}:{}}}var Ay=e=>e.vehicle.chassis?{...e,vehicle:sy(e.vehicle)}:e;function yC(e,t){try{let r=Fy(e.car,e.spec,e.lap),n=na.find(u=>u.name===e.method);if(!n)throw new Error(`unknown method "${e.method}"`);t({kind:"progress",seed:e.seed,progress:{evaluations:0,budget:e.budget,x:Mr(r.variables),score:kr(r,Mr(r.variables)),infeasible:0}});let o=e.from,a=o?{...r,variables:r.variables.map((u,m)=>({...u,start:Number.isFinite(o[m])?o[m]:u.start}))}:r,s=performance.now(),i=n.run(a,{budget:e.budget,seed:e.seed,startJitter:e.startJitter,progressEvery:20,onProgress:u=>t({kind:"progress",seed:e.seed,progress:u})}),c=performance.now()-s,l=i.score.feasible&&B0(r.variables)?G0(r,i.x,i.score):void 0;t({kind:"done",seed:e.seed,result:l?{...i,snapped:l}:i,elapsedMs:c})}catch(r){t({kind:"error",seed:e.seed,message:r instanceof Error?r.message:String(r)})}}var Fy=(e,t,r)=>pp(e,t,Cp(r));function xC(e,t){let r=e.tireModelIdRear?t.tire(e.tireModelIdRear):void 0;return{tireModel:t.tire(e.tireModelId),...r?{tireModelRear:r}:{},motorModel:t.motor(e.motorModelId),aeroModel:t.aero(e.aeroModelId),batteryModel:t.battery(e.batteryModelId),brakeModel:t.brake(e.brakeModelId),damperModel:t.damper(e.damperModelId),...si(e,t.damper)}}function RC(e,t,r){let{tireModelRear:n,damperModelRear:o,heaveDamperModel:a,rollDamperModel:s,...i}=r;return{vehicle:e,params:{...t,...i,...n?{tireModelRear:n}:{},...o?{damperModelRear:o}:{},...a?{heaveDamperModel:a}:{},...s?{rollDamperModel:s}:{}}}}var vC=e=>({ggvMode:e.ggvMode,quasiTransient:e.quasiTransient===!0&&e.ggvMode!=="fast",motorThermal:e.motorThermal===!0,...XF({brakeFade:e.brakeFade===!0,airTempC:e.airTempC,diffYaw:e.diffYaw===!0,...e.air?{air:e.air}:{}})});function Z3(e){if(!(e.plannedPath!==void 0||!e.track))return{track:e.track,numerics:e.numerics,settings:{racingLine:e.racingLine,standingStart:e.standingStart,...Object.keys(e.lapCounts).length?{lapCounts:e.lapCounts}:{}},switches:e.switches,rulesets:e.rulesets}}function kC(e,t){let r=t.plannedPath!==void 0,n=Z3(t);return{...iC(r?t.plannedPath:t.track,t.numerics,{racingLine:r?!1:t.racingLine,standingStart:t.standingStart,switches:t.switches},e,t.library,t.standingOf),...n?{session:n}:{},rulesets:t.rulesets}}function wy(e,t){let r=e.vehicles.find(o=>o.id===t);if(!r)throw new Error(`this project holds no vehicle "${t}"`);let n=xo(e);return RC(structuredClone(ny(e,r.params)),structuredClone(r.params),xC(r.params,n))}var J3="this project's laps follow a fixed trajectory from the planner, which the server cannot read \u2014 set Laptime back to the track to run this study here, or run it in the Studies tool";async function Cy(e,t,r,n){if(e.settings.pathPlanId)throw new Error(J3);let o=Wa(e),a=e.tracks.length?(await hp(e,t)).asset:null,s={};for(let i of n?cC(n):[]){let c=e.tracks.find(l=>l.id===i);c&&(s[i]=await Sc(c,t))}return kC(r,{track:a,numerics:o.numerics,racingLine:o.racingLine,standingStart:o.standingStart,lapCounts:o.lapCounts??{},switches:vC(o),rulesets:e.rulesets??[],library:s,standingOf:i=>e.tracks.find(c=>c.id===i)?.standingStart===!0})}async function MC(e,t,r,n){let o=wy(e,r),a=Dt(o,n),s=await Cy(e,t,o,a);return Sy({id:0,car:o,spec:a,lap:s})}async function SC(e,t,r,n){let o=wy(e,r),a=Dt(o,n),s=My(o,a);if(s.length)return{problems:[`Adopt has no way to write ${s.join(", ")} back into the project. Take them out of the study.`]};let i;try{i=await Cy(e,t,o,a)}catch(l){return{problems:[l instanceof Error?l.message:String(l)]}}let c=X0(o,a,{...Cp(i),metrics:Hr(e.rulesets)});return c.length?{problems:c}:{problems:[],msPerEval:Sy({id:0,car:o,spec:a,lap:i}).msPerEval,carFingerprint:ro(Ay(o))}}async function eB(e,t,r,n,o,a=[]){let s=pC(t,e,r,n),i=s.length*t.budget,c=null,l=[];for(let[u,m]of s.entries()){if(a.includes(m.seed))continue;await o?.tick();let f=[],p=null,d=null;if(yC(m,y=>{y.kind==="progress"?(f.push([y.progress.evaluations,y.progress.score.total]),y.progress.evaluations===0&&(c??=y.progress.score),o?.progress(u*t.budget+y.progress.evaluations,i)):y.kind==="done"?p={result:y.result,elapsedMs:y.elapsedMs}:d=y.message}),d)throw new Error(d);if(!p)throw new Error("the search stopped without a result");let{result:h,elapsedMs:b}=p,g={seed:m.seed,startJitter:m.startJitter,x:h.x,score:h.score,evaluations:h.evaluations,infeasible:h.infeasible,history:h.history,trace:f,elapsedMs:b,...h.snapped?{snapped:h.snapped}:{}};l.push(g),o?.progress((u+1)*t.budget,i),await o?.finished?.(g)}if(!c)throw new Error("the search never scored the starting design");return{method:t.method,budget:t.budget,designScore:c,runs:l}}async function AC(e,t,r,n){let o=wy(e,r.vehicleId),a=Dt(o,r.spec),s=My(o,a);if(s.length)throw new Error(`study_adopt has no way to write ${s.join(", ")} back into the project \u2014 take them out of the study`);let i=await Cy(e,t,o,a),c=r.method??uC;if(!na.some(b=>b.name===c))throw new Error(`unknown method "${c}" \u2014 it is one of ${na.map(b=>b.name).join(", ")}`);let l=r.budget??mC,u=Math.max(1,Math.min(r.seeds??Tc.length,Tc.length)),m=await eB(o,{spec:a,method:c,budget:l},i,u,n),f=Fy(o,a,i),p=m.runs.map(b=>({seed:b.seed,startScore:m.designScore.total,score:b.score.total,feasible:b.score.feasible,...b.score.reason?{reason:b.score.reason}:{},terms:b.score.terms,x:b.x,evaluations:b.evaluations,infeasible:b.infeasible,bounds:dC(f.variables,b.x),constraints:fC(o,a,b.x,i),...b.snapped?{onSteps:{x:b.snapped.x,score:b.snapped.score.total,feasible:b.snapped.score.feasible,...b.snapped.score.reason?{reason:b.snapped.score.reason}:{},terms:b.snapped.score.terms}}:{}})),d=m.runs.reduce((b,g)=>_s(g.score,b.score)?g:b),h=d.snapped?.score.feasible?d.snapped:null;return{method:c,budget:l,seeds:p,spread:m.runs.length>1?hC(o,f.variables,m.runs.map(b=>({x:b.x,score:b.score}))):null,writes:gC(o,a,h?h.x:d.x),...d.snapped?{adopts:h?"on its steps":`as found: on its steps it breaks a hold (${d.snapped.score.reason??"not legal"})`}:{}}}function wC(){if(typeof process.threadCpuUsage!="function")return performance.now();let e=process.threadCpuUsage();return(e.user+e.system)/1e3}async function rB(e,t){let r=YF(e.root);switch(e.kind){case"sweep":return ow(e.doc,r,e.req,t);case"convergence":return rw(e.doc,r,{vehicleId:e.vehicleId,...e.steps?{steps:e.steps}:{},...e.tolPct!==void 0?{tolPct:e.tolPct}:{},onStep:t});case"study":return AC(e.doc,r,{vehicleId:e.vehicleId,spec:e.spec,...e.method?{method:e.method}:{},...e.budget?{budget:e.budget}:{},...e.seeds?{seeds:e.seeds}:{}},{progress:t,cancelled:()=>!1,tick:async()=>{}});case"fleet":return bp(e.doc,r,{...e.vehicleIds?{vehicleIds:e.vehicleIds}:{},...e.settings?{settings:e.settings}:{},...e.overrides?{overrides:e.overrides}:{}});case"probe":return MC(e.doc,r,e.vehicleId,e.spec);case"quote":return SC(e.doc,r,e.vehicleId,e.spec)}}if(FC){let e=FC,t=r=>e.postMessage(r);(async()=>{try{let r=await rB(tB,(n,o)=>t({type:"progress",done:n,total:o}));t({type:"done",result:r,cpuMs:wC()})}catch(r){t({type:"failed",message:r instanceof Error?r.message:String(r),cpuMs:wC()})}})()}export{rB as runJob,wC as threadCpuMs};