lecodes-sdk 0.19.0

package/src/gl/Wheel.ts

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+// 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/src/gl/animation/AnimationClip.ts

@@ -0,0 +1,204 @@
+// AnimationClip — the unit of the animation system: immutable data (name, duration, tracks that
+// target bone NAMES, not entities). One representation for a GLB's embedded clips (model.anim.clips),
+// clips loaded from other files (Mixamo: one GLB per animation) and procedural clips built from
+// curves. An Animator binds clips to a skeleton by name. Clip EVENTS (`addEvent`) live here too —
+// a fact about the clip's timeline, shared wherever it plays. See docs/animator-plan.md.
+//
+//   const [hero, idle, run] = await Promise.all([
+//     Model.load(asset('./hero.glb')),
+//     AnimationClip.load(asset('./idle.glb')),            // the file's only/first clip
+//     AnimationClip.load(asset('./run.glb')),
+//   ])
+//   const slash = await AnimationClip.load(asset('./attacks.glb'), 'Slash')   // one out of many
+//   const bob = AnimationClip.from({ tracks: { Hips: { position: [[0, [0,0,0]], [1, [0,0.05,0]]] } } })
+
+import { fetch, type FetchResponse } from "../../runtime/fetch"
+import type { Vec3Like } from "../../math/vec"
+import type { QuatLike } from "../../math/quat"
+
+/** A keyframe: `[time (s), value]`. */
+export type ClipKey<V> = [number, V]
+export type ClipInterpolation = "linear" | "step"
+
+/** Curves for one target node (bone name), any subset of the three channels. */
+export type ClipTrackDef = {
+  position?: ClipKey<Vec3Like | [number, number, number]>[]
+  rotation?: ClipKey<QuatLike | [number, number, number, number]>[]
+  scale?: ClipKey<Vec3Like | [number, number, number]>[]
+  interpolation?: ClipInterpolation
+}
+
+export type ClipDef = {
+  /** Clip length in seconds — defaults to the last key time across all tracks. */
+  duration?: number
+  /** Target node name → its curves. Names bind to bones (or any child node) at Animator attach. */
+  tracks: Record<string, ClipTrackDef>
+}
+
+export type ClipInfo = { name: string, duration: number, trackCount: number }
+
+const PATH = { position: 0, rotation: 1, scale: 2 } as const
+const INTERP = { linear: 0, step: 1 } as const
+
+const setCache = new Map<number, AnimationClip[]>()
+
+const readInfo = (setId: number): ClipInfo[] =>
+  ((_creator.getClipSetInfo(setId) ?? []) as ClipInfo[]).map((c) => ({ name: c.name, duration: c.duration, trackCount: c.trackCount ?? 0 }))
+
+const readValue = (v: unknown, comps: number, out: number[]): void => {
+  if (Array.isArray(v)) { for (let i = 0; i < comps; i++) out.push(Number(v[i] ?? (i === 3 ? 1 : 0))); return }
+  const o = v as Record<string, number>
+  out.push(o.x ?? 0, o.y ?? 0, o.z ?? 0)
+  if (comps === 4) out.push(o.w ?? 1)
+}
+
+export class AnimationClip {
+  /** Source name (the clip's name inside its file; `"clip"` for procedural clips). Informational —
+   *  an Animator addresses clips by the key YOU give it. */
+  readonly name: string
+  /** Length in seconds. */
+  readonly duration: number
+  /** Number of animated (node, channel) tracks. */
+  readonly trackCount: number
+  /** @internal native clip set + index inside it. */
+  readonly _set: number
+  /** @internal */
+  readonly _index: number
+  /** @internal events: seconds + name, sorted (the engine gets them normalized via setClipEvents). */
+  _events: { t: number, name: string }[] = []
+
+  private constructor(set: number, index: number, info: ClipInfo) {
+    this._set = set
+    this._index = index
+    this.name = info.name
+    this.duration = info.duration
+    this.trackCount = info.trackCount
+  }
+
+  /** @internal — a placeholder for a Playback that never started (unknown clip). */
+  static _none(): AnimationClip { return new AnimationClip(0, 0, { name: "", duration: 0, trackCount: 0 }) }
+
+  /** @internal — wrap the clips of an existing native set (a GLB's embedded clips). Cached per set
+   *  so every model / clone sharing the set gets the SAME objects (events added on one apply to all —
+   *  as they do in the engine). */
+  static _ofSet(setId: number): AnimationClip[] {
+    if (!setId) return []
+    let clips = setCache.get(setId)
+    if (!clips) { clips = readInfo(setId).map((info, i) => new AnimationClip(setId, i, info)); setCache.set(setId, clips) }
+    return clips
+  }
+
+  /** Mark a moment of the clip (SECONDS from its start) with an event name: `kick.addEvent(0.4, 'hit')`
+   *  → `anim.on('hit', (clip, layer) => …)` fires when the playhead crosses it, loops included.
+   *  Events are part of the clip: every model playing it gets them; `slice()` keeps the ones inside
+   *  the range, re-timed. Chainable. */
+  addEvent(time: number, name: string): this {
+    this._events.push({ t: Math.min(Math.max(0, time), this.duration), name })
+    this._events.sort((a, b) => a.t - b.t)
+    this._pushEvents()
+    return this
+  }
+  private _pushEvents(): void {
+    const d = this.duration
+    _creator.setClipEvents(this._set, this._index, new Float32Array(this._events.map((e) => (d > 0 ? e.t / d : 0))))
+  }
+
+  /** Load ONE clip from a GLB: the file's only/first clip, or the one named / at the given index. */
+  static load(source: string | FetchResponse, clip?: string | number): Promise<AnimationClip> {
+    return AnimationClip._loadSet(source).then(([setId, infos]) => {
+      let index = 0
+      if (typeof clip === "number") index = clip
+      else if (typeof clip === "string") index = infos.findIndex((c) => c.name === clip)
+      if (index < 0 || index >= infos.length) {
+        _creator.destroyClipSet(setId)
+        throw new Error(`AnimationClip.load: no clip ${JSON.stringify(clip)} in ${AnimationClip._label(source)} — clips: ${infos.map((c) => c.name).join(", ") || "(none)"}`)
+      }
+      return new AnimationClip(setId, index, infos[index])
+    })
+  }
+
+  /** Load EVERY clip of a GLB (library files), keyed by clip name. */
+  static loadAll(source: string | FetchResponse): Promise<Record<string, AnimationClip>> {
+    return AnimationClip._loadSet(source).then(([setId, infos]) => {
+      const out: Record<string, AnimationClip> = {}
+      infos.forEach((info, i) => { out[info.name] = new AnimationClip(setId, i, info) })
+      return out
+    })
+  }
+
+  /** Build a clip from curves in code — no DCC needed. Keys are `[time, value]`; a track binds to the
+   *  node of that name when the clip is used by an Animator (bones, or any child node). */
+  static from(def: ClipDef): AnimationClip {
+    const names: string[] = []
+    const data: number[] = [0, 0]
+    let trackCount = 0
+    let duration = 0
+    for (const [target, track] of Object.entries(def.tracks)) {
+      const interp = INTERP[track.interpolation ?? "linear"] ?? 0
+      const emit = (path: 0 | 1 | 2, comps: 3 | 4, keys: ClipKey<unknown>[] | undefined) => {
+        if (!keys || keys.length === 0) return
+        const sorted = keys.slice().sort((a, b) => a[0] - b[0])
+        names.push(target)
+        data.push(path, interp, comps, sorted.length)
+        for (const k of sorted) data.push(k[0])
+        for (const k of sorted) readValue(k[1], comps, data)
+        duration = Math.max(duration, sorted[sorted.length - 1][0])
+        trackCount++
+      }
+      emit(PATH.position, 3, track.position)
+      emit(PATH.rotation, 4, track.rotation)
+      emit(PATH.scale, 3, track.scale)
+    }
+    data[0] = trackCount
+    if (def.duration !== undefined) duration = def.duration
+    data[1] = duration
+    const setId = _creator.createClipFromTracks(names.join("\n"), new Float32Array(data))
+    if (setId === 0) throw new Error("AnimationClip.from: invalid track data")
+    const info = readInfo(setId)[0] ?? { name: "clip", duration, trackCount }
+    return new AnimationClip(setId, 0, info)
+  }
+
+  /** A sub-range of this clip as a NEW clip — `[start, end]` seconds of the source, re-timed to 0
+   *  (`end` defaults to the clip's end; array-slice semantics). Cut a too-long take down to the
+   *  action, or carve several sub-clips out of one packed timeline:
+   *
+   *    clips: { Kick: kick.slice(0.2, 1.1) }
+   *
+   *  Keys outside the range are dropped and exact boundary values are interpolated in, so the
+   *  sliced clip starts and ends precisely on the source's pose at the cut points. Everything
+   *  downstream (blend spaces, events' 0–1 times, root motion, phase sync) sees a normal clip of
+   *  the new duration. */
+  slice(start: number, end?: number): AnimationClip {
+    const e = Math.min(end ?? this.duration, this.duration)
+    const st = Math.max(0, start)
+    const setId = _creator.sliceClip(this._set, this._index, st, e)
+    if (setId === 0) throw new Error(`AnimationClip.slice: bad range ${start}${end !== undefined ? `–${end}` : ""} of '${this.name}' (${this.duration.toFixed(2)}s)`)
+    const info = readInfo(setId)[0] ?? { name: this.name, duration: e - st, trackCount: this.trackCount }
+    const out = new AnimationClip(setId, 0, info)
+    // the engine re-timed the event TIMES; carry the names the same way
+    out._events = this._events.filter((ev) => ev.t >= st - 1e-6 && ev.t <= e + 1e-6).map((ev) => ({ t: Math.min(Math.max(0, ev.t - st), e - st), name: ev.name }))
+    return out
+  }
+
+  private static _label(source: string | FetchResponse): string {
+    return typeof source === "string" ? source : "response"
+  }
+
+  private static _loadSet(source: string | FetchResponse): Promise<[number, ClipInfo[]]> {
+    if (typeof _creator.loadClips !== "function") {
+      return Promise.reject(new Error("AnimationClip.load: this host has no animation-clip support yet"))
+    }
+    if (typeof source === "string") {
+      return fetch(source, { useOnce: true }).then((resp) => {
+        if (resp.status >= 400) throw new Error(`AnimationClip.load: failed to load ${source}. HTTP ${resp.status}`)
+        return AnimationClip._loadSet(resp)
+      })
+    }
+    return new Promise<[number, ClipInfo[]]>((resolve, reject) => {
+      _creator.loadClips((source as unknown as { _id: number })._id, (setId: number) => {
+        if (setId === 0) { reject(new Error("AnimationClip.load: the file has no animations (or is not a GLB)")); return }
+        resolve([setId, readInfo(setId)])
+      }, reject)
+    })
+  }
+}