lecodes-cli 0.18.0 → 0.18.2

package/runtime/sdk/gl/Wheel.ts

@@ -0,0 +1,240 @@
+// One wheel of a `Vehicle`, as an aspect on the wheel's own node. The node's position IS the wheel's
+// position (where its centre rests on flat ground), and everything else about it lives here too:
+//
+//   const car = new Node('car')
+//     .add(body, wheelFL.aspect(Wheel), wheelFR.aspect(Wheel),
+//                wheelRL.aspect(Wheel), wheelRR.aspect(Wheel))
+//     .aspect(Shape, { box: [0.9, 0.4, 2.1] })
+//     .aspect(Vehicle, { mass: 1200 })
+//
+// That is the whole minimum: `Vehicle` collects every `Wheel` under itself, groups them into axles by
+// Z (front first), and the defaults fall out — the front axle steers, the rear one drives and carries
+// the handbrake. Override any of it per wheel.
+//
+// This aspect is also what POSES the wheel: it runs in the LATE phase (after the physics step, before
+// the frame draws) and writes the node's transform from the suspension length, steer angle and spin
+// the engine reports. Nothing else writes that transform — the engine deliberately does not, so a
+// wheel model's own conventions (which way its axle points, how big it looks) are settings here
+// rather than constants in C++, and a part that should steer but NOT spin is simply a sibling node.
+//
+// Chassis space is forward −Z / up +Y, the SDK's own convention (`node.forward`).
+
+import { Aspect } from "../core/Aspect"
+import type { FieldMeta } from "../core/fields"
+import { Mat4 } from "../math/mat4"
+import { Quat } from "../math/quat"
+import { Vec3, cx, cy, cz, type Vec3Like } from "../math/vec"
+import { Gizmos } from "../scene/gizmos"
+import { Node } from "./Node"
+import { Shape } from "./Shape"
+import type { Vehicle } from "./Vehicle"
+
+/** Floats `vehicleGetState` writes before the per-wheel block: speed, rpm, contacts, vx, vy, vz. */
+export const STATE_HEADER = 6
+/** Floats per wheel: contact, slip, slipAngle, suspensionLength, steerDeg, spin. */
+export const WHEEL_STATE = 6
+
+/** How a tire behaves past its grip peak. `road` is Jolt's own curve — grip falls off after the peak,
+ *  so the car can be made to let go. `arcade` holds the peak all the way out: much harder to spin. */
+export type TireCurve = "road" | "arcade"
+
+export interface WheelSuspension {
+  /** Total travel in metres, full droop to fully compressed (default 0.4). */
+  travel?: number
+  /** Spring frequency in Hz — bigger is stiffer (default 1.4; a race car ~2.5, a truck ~1). It also
+   *  sets the ride-height sag, and the sag is how far the wheel can still extend DOWN. */
+  stiffness?: number
+  /** Damping ratio 0..1 (default 0.5). Low values pogo. */
+  damping?: number
+}
+
+export interface WheelTire {
+  /** Grip multiplier on the friction curves (default 1). The grip a wheel actually gets is combined
+   *  with the ground it stands on as `sqrt(tire × groundFriction)`, and a body's friction defaults to
+   *  0.6 — so a road a car should really corner on wants `Physics { friction: 1 }`. */
+  grip?: number
+  /** Which friction curve (default `road`). */
+  curve?: TireCurve
+}
+
+export interface WheelVisual {
+  /** The MODEL's axle direction in its own space (default `[1, 0, 0]`). Set it instead of parenting
+   *  the mesh under a corrective node when the art points another way. */
+  axis?: Vec3Like
+  /** Drawn radius, if the art is not exactly the physical `radius` — sinks a wheel into its arch or
+   *  lets a fat tire overhang, with no effect on the simulation. Default: the physical radius. */
+  radius?: number
+  /** Let the model spin (default true). `false` keeps the steer angle and suspension travel but not
+   *  the rotation — a brake caliper. */
+  spin?: boolean
+}
+
+const DEG2RAD = Math.PI / 180
+const UP = new Vec3(0, 1, 0)
+
+export class Wheel extends Aspect<"wheel", Node> {
+  static readonly aspect = "wheel"
+
+  /** Wheel radius in metres. Default: measured from the node's rendered bounds, else 0.35. Too small
+   *  and the car scrapes, too large and it floats. */
+  radius?: number
+  /** Wheel width in metres. Default: measured, else 0.25. */
+  width?: number
+  /** Does this wheel steer? Default: the wheels on the front axle. */
+  steer?: boolean
+  /** Does the engine drive it? Default: from the vehicle's `drive` layout. */
+  drive?: boolean
+  /** Foot brake on this wheel. */
+  brake = true
+  /** Handbrake on this wheel. Default: every non-steering wheel (locking the front wheels of a moving
+   *  car is not a handbrake turn, it is a crash). */
+  handbrake?: boolean
+  /** Axle group, front to back. Default: derived from Z. Set it for a car whose wheels are not in neat
+   *  left/right pairs — an axle's wheels are paired for the differential and the anti-roll bar. */
+  axle?: number
+  /** Foot-brake torque in N·m (default 1500); the handbrake pulls 3× on the wheels that have it. */
+  brakeTorque = 1500
+
+  suspension: WheelSuspension = { travel: 0.4, stiffness: 1.4, damping: 0.5 }
+  tire: WheelTire = { grip: 1, curve: "road" }
+  visual: WheelVisual = {}
+
+  /** Scene-editor inspector. `steer` / `drive` / `handbrake` are deliberately absent: they are
+   *  tri-state (undefined = derive it from the axle), which a switch cannot express. */
+  static fields: FieldMeta<Wheel> = {
+    radius: { min: 0.05, step: 0.01 },
+    width: { min: 0.02, step: 0.01 },
+    axle: { min: 0, step: 1 },
+    brake: { label: "Foot brake" },
+    brakeTorque: { label: "Brake torque", min: 0, step: 50 },
+    suspension: { hidden: true },
+    tire: { hidden: true },
+    visual: { hidden: true },
+  }
+  static editor = { rebuild: true }
+
+  /** @internal Set by `Vehicle` at attach — the car this wheel belongs to, and its index in the blob. */
+  _vehicle: Vehicle | null = null
+  /** @internal */
+  _index = -1
+  /** @internal Suspension attachment point in chassis space; the wheel hangs below it. */
+  _attach = new Vec3()
+  /** @internal Resting centre in chassis space (what the author placed). */
+  _rest = new Vec3()
+
+  private _angle = 0                       // integrated spin, radians — the engine reports rate, not angle
+  private _scale = new Vec3(1, 1, 1)       // the node's own scale, preserved through the pose write
+  private _local = true                    // is the node a direct child of the chassis?
+
+  onAttach(): void {
+    this._scale = this.node.scale
+  }
+
+  onDetach(): void {
+    this._vehicle = null
+    this._index = -1
+  }
+
+  /** @internal Called by Vehicle once the car exists, with the geometry it resolved. */
+  _bind(vehicle: Vehicle, index: number, rest: Vec3, attach: Vec3): void {
+    this._vehicle = vehicle
+    this._index = index
+    this._rest = rest
+    this._attach = attach
+    this._scale = this.node.scale
+    this._local = this.node.parent === vehicle.node
+  }
+
+  // ---- live state ------------------------------------------------------------------------------
+  // Every getter reads the car's ONE shared state buffer, which is refreshed once per frame.
+
+  private _state(k: number): number {
+    const v = this._vehicle
+    if (!v || this._index < 0) return 0
+    return v._wheelState(this._index, k)
+  }
+
+  /** Touching the ground this step. */
+  get contact(): boolean { return this._state(0) !== 0 }
+  /** Longitudinal slip RATIO: 0 = rolling in sync with the ground, ~1 = spinning up or locked.
+   *  Unsigned — smoke, tire marks and wheelspin sound key off this. */
+  get slip(): number { return this._state(1) }
+  /** Slip ANGLE in degrees: how far the tire's travel direction is off from where it points.
+   *  Unsigned, 0..90 — past the curve's peak (~3°) the tire is sliding sideways. Drift particles. */
+  get slipAngle(): number { return this._state(2) }
+  /** Steer angle in degrees, positive to the right. */
+  get steerAngle(): number { return this._state(4) }
+  /** Wheel spin in rad/s (× radius ≈ the speed the tire is laying down). */
+  get spin(): number { return this._state(5) }
+  /** Suspension compression, 0 = fully extended (drooping) … 1 = fully compressed. */
+  get compression(): number {
+    const travel = this.suspension.travel ?? 0.4
+    if (travel <= 0) return 0
+    const len = this._state(3)
+    const min = travel * 0.4
+    return Math.max(0, Math.min(1, (travel - len) / (travel - min)))
+  }
+
+  // ---- the visual ------------------------------------------------------------------------------
+
+  /** LATE phase: after the step and the transform sync, right before the frame draws. */
+  update(dt: number): void {
+    const v = this._vehicle
+    if (!v || this._index < 0 || !v.id) return
+
+    if (this.visual.spin !== false) this._angle += this._state(5) * dt
+
+    // Down the suspension from the attachment point by however far it currently hangs.
+    const length = this._state(3)
+    const centre = new Vec3(this._attach.x, this._attach.y - length, this._attach.z)
+
+    // Steer about the chassis' up axis, then spin about the MODEL's own axle in the steered frame.
+    // Both reports are negated, for the same reason: the engine describes them in the DRIVER's terms
+    // and the scene is right-handed with forward on −Z. Steer is reported right-positive while a yaw
+    // about +Y turns left. Spin is reported positive-means-forward, but a positive turn about the
+    // right-hand axle carries the top of the wheel to +Z — which rolls the car backwards.
+    const steer = Quat.fromAxisAngle(UP, -this._state(4) * DEG2RAD)
+    const axis = this.visual.axis ?? [1, 0, 0]
+    const rotation = this.visual.spin === false ? steer : steer.mul(Quat.fromAxisAngle(axis, -this._angle))
+
+    // A model that draws bigger or smaller than it collides scales on top of the node's own scale.
+    const vr = this.visual.radius
+    const k = vr !== undefined && this.radius ? vr / this.radius : 1
+    const scale = k === 1 ? this._scale : new Vec3(this._scale.x * k, this._scale.y * k, this._scale.z * k)
+
+    const m = Mat4.compose(centre, rotation, scale)
+    // The common case is a direct child of the chassis, where chassis space IS the local space.
+    if (this._local) this.node.matrix = m
+    else this.node.worldMatrix = new Mat4(v.node.worldMatrix).mul(m)
+  }
+
+  /** Edit mode: this wheel's own circle at its resting height, its travel range, and a mark when the
+   *  engine drives it — enough to place a wheel without running the game. */
+  rebuild(): void {
+    const travel = this.suspension.travel ?? 0.4
+    const r = this.radius ?? this._measure().radius
+    const world = new Mat4(this.node.worldMatrix)
+    const P = (x: number, y: number, z: number): Vec3 => world.transformPoint([ x, y, z ])
+    const ring: Vec3[] = []
+    for (let i = 0; i < 24; i++) {
+      const t = (i / 24) * Math.PI * 2
+      ring.push(P(0, Math.sin(t) * r, Math.cos(t) * r))
+    }
+    Gizmos.polyline(ring, { color: this.steer === false ? "#9aa3b2" : "#5b8ef0", closed: true })
+    Gizmos.line(P(0, travel * 0.6, 0), P(0, -travel * 0.4, 0), { color: "#59606d" })
+    if (this.drive) Gizmos.cross(P(0, 0, 0), r * 0.35, { color: "#e0b25a" })
+  }
+
+  /** @internal Radius/width from the node's rendered bounds, so a placed model needs no numbers. */
+  _measure(): { radius: number, width: number } {
+    const b = Shape.boundsOf(this.node)
+    if (!b) return { radius: 0.35, width: 0.25 }
+    const size = new Vec3(cx(b.max) - cx(b.min), cy(b.max) - cy(b.min), cz(b.max) - cz(b.min))
+    // A wheel is a disc: its diameter is the larger of the two axes across the axle, and the width is
+    // the axle direction itself.
+    const axis = this.visual.axis ?? [1, 0, 0]
+    const along = Math.abs(cx(axis)) >= Math.abs(cz(axis)) ? size.x : size.z
+    const across = Math.max(Math.abs(cx(axis)) >= Math.abs(cz(axis)) ? size.z : size.x, size.y)
+    return { radius: across > 0 ? across * 0.5 : 0.35, width: along > 0 ? along : 0.25 }
+  }
+}

package/runtime/sdk/gl/scenarios.ts

@@ -16,11 +16,8 @@ import type { InspectorUI } from "../core/InspectorUI"
 import { Vec3 } from "../math/vec"
 import { Quat } from "../math/quat"
 import { Node } from "./Node"
-import { Mesh } from "./Mesh"
 import { Model } from "./Model"
 import type { Playback } from "./animation/Playback"
-import { Geometry } from "./Geometry"
-import { Material } from "./Material"
 import { Gizmos } from "../scene/gizmos"
 
 const MOVE_LINE = "#5b8ef0"
@@ -49,25 +46,6 @@ const toParentLocal = (node: Node, world: Vec3): Vec3 => {
   return parent ? parent.worldMatrix.invert().transformPoint(world) : world
 }
 
-// ---- editor marker meshes (defineScene's empty/camera markers — real meshes, so they pick) -------
-
-/** @internal An "edges" line mesh from flat segment endpoints ([x,y,z, x,y,z] per segment) —
- *  the scene editor's node markers (defineScene). Path lines are `Gizmos` calls instead. */
-export const edgesMesh = (segments: number[], color: string): Mesh => {
-  const vertices = new Float32Array(segments)
-  const count = vertices.length / 3
-  const normals = new Float32Array(count * 3)
-  for (let i = 0; i < count; i++) normals[i * 3 + 1] = 1
-  const indices = new Uint16Array(count)
-  for (let i = 0; i < count; i++) indices[i] = i
-  const geo = new Geometry(vertices, normals, indices, new Float32Array(count * 2))
-  geo.kind = "edges"
-  const mesh = Mesh.from(geo, { material: Material.unlit({ color }), name: "__editor_line" })
-  mesh.castShadows = false
-  mesh.receiveShadows = false
-  return mesh
-}
-
 /** A path node's waypoints: its children in scene-FILE order (`_sceneChildOrder`, stamped by
  *  defineScene — the engine's live child order is insertion-based and may differ), editor helper
  *  nodes (`__`-prefixed) excluded. Runtime-added children append in engine order. */
@@ -127,9 +105,8 @@ export class MoveTo extends Aspect<"moveTo"> {
   /** Editor-only path line (edit mode; play mode never calls this). */
   rebuild(): void {
     if (!this.target) return
-    const b = this.target.worldPosition
-    Gizmos.line(this.node.worldPosition, b, { color: MOVE_LINE })
-    Gizmos.cross(b, 0.09, { color: MOVE_LINE })
+    // the target is an empty — its own anchored marker shows the endpoint
+    Gizmos.line(this.node.worldPosition, this.target.worldPosition, { color: MOVE_LINE })
   }
 }
 
@@ -203,8 +180,7 @@ export class FollowPath extends Aspect<"followPath"> {
   /** Editor-only waypoint polyline (edit mode; play mode never calls this). */
   rebuild(): void {
     const points = this._points()   // loop mode already appends the first point again
-    Gizmos.polyline(points, { color: MOVE_LINE })
-    for (const p of points) Gizmos.cross(p, 0.07, { color: MOVE_LINE })
+    Gizmos.polyline(points, { color: MOVE_LINE })   // waypoints are empties: they carry their own markers
   }
 }
 
@@ -262,9 +238,7 @@ export class LookAt extends Aspect<"facing"> {
   /** Editor-only sight line (edit mode; play mode never calls this). */
   rebuild(): void {
     if (!this.target) return
-    const b = this.target.worldPosition
-    Gizmos.line(this.node.worldPosition, b, { color: LOOK_LINE })
-    Gizmos.cross(b, 0.07, { color: LOOK_LINE })
+    Gizmos.line(this.node.worldPosition, this.target.worldPosition, { color: LOOK_LINE })
   }
 }
 

package/runtime/sdk/gl/state.ts

@@ -1,6 +1,6 @@
-// Tiny shared module to break the Node ↔ Scene ↔ touch dependency cycle. The active 3D scene is set
-// here by Scene.open()/close() and read by the touch dispatch system.
-
-import type { Scene } from "./Scene"
-
-export const glState: { activeScene: Scene | null, frame: number } = { activeScene: null, frame: 0 }
+// Tiny shared module to break the Node ↔ Scene ↔ touch dependency cycle. The active 3D scene is set
+// here by Scene.open()/close() and read by the touch dispatch system.
+
+import type { Scene } from "./Scene"
+
+export const glState: { activeScene: Scene | null, frame: number } = { activeScene: null, frame: 0 }