lecodes-sdk 0.20.2 → 1.1.0

package/src/gl/Vehicle.ts

@@ -1,473 +0,0 @@
-// A car, as an aspect on a 3D Node, backed by Jolt's wheeled-vehicle constraint in creator-gl. The
-// node is the CHASSIS: it needs a Shape (its collision body) and must NOT also carry a Physics aspect
-// — Vehicle owns its rigid body, the way CharacterController owns its controller.
-//
-//   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 })
-//
-//   setLoop(() => {
-//     const gas = (Input.key('KeyW') ? 1 : 0) - (Input.key('KeyS') ? 1 : 0)
-//     car.vehicle.drive(gas, (Input.key('KeyD') ? 1 : 0) - (Input.key('KeyA') ? 1 : 0), 0, Input.key('Space') ? 1 : 0)
-//     hud.text = `${Math.round(car.vehicle.speed * 3.6)} km/h  gear ${car.gearbox.gear}`
-//   })
-//
-// This aspect is the car as a WHOLE: mass, engine, steering, aero. Anything per-wheel lives on the
-// `Wheel` aspect of the wheel's own node (which is where Jolt keeps it too), and the gearbox is the
-// `Gearbox` aspect — policy, not physics. Vehicle collects every Wheel under itself, groups them into
-// axles by Z, and installs a default Gearbox if the node has none.
-//
-// Chassis space is forward −Z / up +Y — the SDK's own convention, the one `node.forward` reports: if
-// the model faces the other way, rotate the MODEL (a child), never the chassis node. Physics owns the
-// chassis transform: drive it with `drive()`, never per-frame `node.position` writes.
-//
-// Layering, and why it is where it is: docs/vehicle-rework-plan.md.
-
-import { Aspect, _phaseStamp } from "../core/Aspect"
-import type { FieldMeta } from "../core/fields"
-import { Mat4 } from "../math/mat4"
-import { Vec3, cx, cy, cz, type Vec3Like } from "../math/vec"
-import { cw, type QuatLike } from "../math/quat"
-import { Gizmos } from "../scene/gizmos"
-import { Gearbox } from "./Gearbox"
-import { Node } from "./Node"
-import { DEFAULT_FRICTION, Physics } from "./Physics"
-import { Shape } from "./Shape"
-import { STATE_HEADER, WHEEL_STATE, Wheel } from "./Wheel"
-
-/** Which axle the engine drives. A wheel's own `drive` overrides it. */
-export type DriveLayout = "rear" | "front" | "all"
-
-/**
- * How an axle's two wheels share torque.
- *  - `lsd` — limited slip (Jolt's 1.4 ratio), the sane default.
- *  - `open` — fully open: a lifted or spinning wheel takes ALL the torque.
- *  - `locked` — both wheels forced to the same speed. Breaks traction predictably: the drift diff.
- *  A number is the raw max/min wheel-speed ratio (> 1; smaller is more locked).
- */
-export type DifferentialMode = "lsd" | "open" | "locked"
-
-export interface EngineConfig {
-  /** Peak torque in N·m (default 500). The single biggest "how fast is it" knob. */
-  torque?: number
-  /** Redline in RPM (default 6000). */
-  maxRpm?: number
-  /** Idle RPM (default 1000) — the engine never falls below it. */
-  idleRpm?: number
-  /**
-   * The engine's CHARACTER: a flat list `[rpm, torque, rpm, torque, …]` in NORMALISED units — x is
-   * a fraction of the redline, y a fraction of `torque`. Left out, Jolt's own broad curve is used.
-   *
-   * `[0, 0.8, 0.66, 1, 1, 0.8]` is an ordinary petrol engine (peak two thirds up, falling to the
-   * redline); `[0, 1, 1, 1]` is flat, which is what an electric motor feels like.
-   */
-  curve?: number[]
-  /** Moment of inertia in kg·m² (default 0.5) — how eagerly it revs when the clutch is out. */
-  inertia?: number
-  /** Engine braking: angular damping of the engine itself (default 0.2). */
-  braking?: number
-}
-
-export interface SteeringConfig {
-  /** Steering lock in degrees at a standstill (default 35). */
-  lock?: number
-  /**
-   * The lock still available, in degrees, once the car reaches `speed` (default 10) — what stops a
-   * car over-driving its own front tires.
-   *
-   * A tire makes its peak grip at a few degrees of slip angle, and the steering angle a corner needs
-   * falls with the SQUARE of speed. Holding full lock at 100 km/h therefore asks the front for
-   * several times what it can give: the tires saturate, the car ploughs on, and the wheel stops
-   * answering. In between the lock eases on `(1 − v/speed)²`, which tracks the real curve closely.
-   * `0` turns the taper off — full lock at any speed.
-   */
-  atSpeed?: number
-  /** The speed in m/s at which the lock has fallen to `atSpeed` (default 30 ≈ 108 km/h). */
-  speed?: number
-  /** How fast the front wheels may turn, in degrees per second (default 220). A keyboard asks for
-   *  full lock in one frame, which no steering wheel can do, and that step alone snaps a tire past
-   *  its peak. `0` = instantly. */
-  rate?: number
-}
-
-/**
- * Aerodynamics. Both numbers are quoted the same way — **a fraction of the car's own weight at
- * 30 m/s (108 km/h)** — and both grow with the SQUARE of speed from there, so `0.5` at 30 m/s is
- * `2.0` at 60 m/s. One mental model for both, and no drag coefficients or frontal areas to invent.
- */
-export interface AeroConfig {
-  /**
-   * Downforce (default 0 — a car with no wing). The knob that decides whether a car corners better
-   * or worse the faster it goes: tire grip is a constant, but the force a corner demands grows with
-   * v², so with no downforce every car runs out of road at speed. `0.6` roughly doubles a car's
-   * cornering at 150 km/h; a road car is nearer `0.1`, a race car well past `1`.
-   *
-   * It presses along the CHASSIS' own down axis (that is what keeps a car planted over a crest) and
-   * only while a wheel is on the ground — a car on its roof is never launched by its own wing.
-   */
-  downforce?: number
-  /** Air resistance (default 0.03 — an ordinary car). What gives a car a top speed at all. */
-  drag?: number
-}
-
-/** Blob v5 — see bridges.d.ts for the field-by-field layout. */
-const BLOB_VERSION = 5
-const BLOB_HEADER = 21
-const BLOB_WHEEL = 15
-const DIFFERENTIALS: Record<DifferentialMode, number> = { lsd: 1.4, open: 0, locked: 1 }
-const GRAVITY = 9.81          // only used to place the wheels at their resting height
-const AXLE_EPS = 0.35         // wheels within this many metres in Z are the same axle
-const clamp = (v: number, lo: number, hi: number): number => (v < lo ? lo : v > hi ? hi : v)
-
-export class Vehicle extends Aspect<"vehicle", Node> {
-  static readonly aspect = "vehicle"
-
-  /** Chassis mass in kg (default 1200). Wheels are massless in this model. */
-  mass = 1200
-  /** Centre of mass height in chassis space (metres, negative = lower). Left out, it drops to halfway
-   *  down the chassis shape — a car with its mass at the shape's centre tips over. */
-  centerOfMass?: number
-  /** Which axle the engine drives (default "rear"). A wheel's own `drive` overrides it. */
-  driveAxle: DriveLayout = "rear"
-  /** Differential lock across each driven axle. `locked` is the drift setup — both wheels turn
-   *  together, so the pair lets go as a pair. Live: re-configure the aspect to switch it mid-drive. */
-  differential: DifferentialMode | number = "lsd"
-  /**
-   * Anti-roll bars between each axle's wheels — what stops a car rolling onto its inside wheels in a
-   * fast corner. `true` (default) is a bar 0.01 as stiff as the wheel's own spring; a number is that
-   * ratio directly, and `0` / `false` removes the bars.
-   *
-   * **The numbers are far smaller than they look and the gain is steep** — Jolt's bar feeds
-   * `lengthDifference × stiffness × dt` as a bias into the suspension's own soft constraint, so 4%
-   * of the spring already flattens the body. Measured on a 1250 kg car: `0` → 1.3° of roll at 0.86 g,
-   * `0.01` → 0.6°, `0.15` → 0.2° (flat), `0.5` → the car HOPS.
-   *
-   * This is the knob for how much a car visibly LEANS, not for wheel lift: bars change how far the
-   * body tips, not how much load transfers. For lift, lower `centerOfMass`.
-   */
-  antiRoll: boolean | number = true
-  /** Pitch/roll limit in degrees (default 60) before the constraint rights the car. 180 turns it off. */
-  maxTilt = 60
-  /** Friction of the CHASSIS body itself — how it slides when it lands on its roof or side. Nothing
-   *  to do with the tires; those are the `Wheel`'s `tire.grip` × the ground's friction. */
-  friction = DEFAULT_FRICTION
-  /** Strength of the clutch when fully engaged (default 10). Small values slip; large ones weld the
-   *  engine to the wheels. The `Gearbox` scales it 0..1 while shifting. */
-  clutchStrength = 10
-
-  engine: EngineConfig = { torque: 500, maxRpm: 6000, idleRpm: 1000, inertia: 0.5, braking: 0.2 }
-  steering: SteeringConfig = { lock: 35, atSpeed: 10, speed: 30, rate: 220 }
-  aero: AeroConfig = { downforce: 0, drag: 0.03 }
-
-  /** Scene-editor inspector: the flat, tunable half. The grouped objects are edited in code. */
-  static fields: FieldMeta<Vehicle> = {
-    mass: { min: 1, step: 10 },
-    driveAxle: { label: "Drive", options: [ "rear", "front", "all" ] },
-    differential: { options: [ "lsd", "open", "locked" ] },
-    antiRoll: { label: "Anti-roll" },
-    maxTilt: { label: "Max tilt", min: 0, max: 180, step: 5 },
-    friction: { label: "Chassis friction", min: 0, max: 2, step: 0.05 },
-    clutchStrength: { label: "Clutch", min: 0.5, max: 100, step: 0.5 },
-    engine: { hidden: true },
-    steering: { hidden: true },
-    aero: { hidden: true },
-  }
-  static editor = { rebuild: true }
-
-  private _id = 0
-  private _bodyId = 0
-  private _builtMass = 0
-  private _wheels: Wheel[] = []
-  private _state = new Float32Array(STATE_HEADER)
-  private _stateFrame = -1
-  private _throttle = 0
-  private _steer = 0
-  private _brake = 0
-  private _handbrake = 0
-
-  onAttach(): void {
-    if (!_creator.physicsHasSupport || !_creator.physicsHasSupport()) return
-    if (!_creator.vehicleCreate) {
-      console.warn("Vehicle needs a newer host (no vehicleCreate) — the car will not move")
-      return
-    }
-    const shape = this.node.get(Shape)
-    if (!shape) {
-      throw new Error("Vehicle requires a Shape aspect (the chassis collider) — add it first: node.aspect(Shape, { box: […] }).aspect(Vehicle, {…})")
-    }
-    if (shape._isTriangleMesh) {
-      throw new Error("Vehicle: the chassis cannot use Shape { mesh: true } (a triangle mesh can't be a dynamic body) — use { mesh: 'convex' } or a box")
-    }
-    if (this.node.has(Physics)) {
-      throw new Error("Vehicle owns its own rigid body — remove the Physics aspect from the chassis node (put `mass` on the Vehicle instead)")
-    }
-
-    this._wheels = this._collectWheels()
-    if (this._wheels.length === 0) {
-      throw new Error("Vehicle found no wheels — put a Wheel aspect on each wheel node under the chassis: wheelFL.aspect(Wheel)")
-    }
-
-    const shapeId = shape._claim()  // the vehicle owns the shape; drop the pick-only body
-    this._id = _creator.vehicleCreate(this.node.id, shapeId, this._buildSettings())
-    if (!this._id) {
-      console.warn(`Vehicle: the engine refused the settings for "${this.node.name}" — check the wheel list`)
-      shape._recreatePickBody()
-      return
-    }
-    this._bodyId = _creator.vehicleBodyId ? _creator.vehicleBodyId(this._id) : 0
-    // The chassis body owns the node's transform, so route position writes to it (see Node._xf) —
-    // `car.position = p` places the car instead of being silently overwritten by the next sync. It is
-    // the WEAK form of the operation: it keeps the car's velocity and its roll, so a respawn still
-    // wants `reset(p)`, which also uprights it and clears engine, gearbox and wheel spin.
-    this.node._xf = this._bodyId
-    this.node._xfKind = this._bodyId ? 2 : 0
-    if (this._bodyId && this.friction !== DEFAULT_FRICTION) {
-      _creator.physicsSetFriction?.(this._bodyId, this.friction)
-    }
-    this._builtMass = this.mass
-    this._state = new Float32Array(STATE_HEADER + this._wheels.length * WHEEL_STATE)
-    // A car with no gearbox still has to drive: install the default automatic.
-    if (!this.node.has(Gearbox)) this.node.aspect(Gearbox)
-  }
-
-  onDetach(): void {
-    if (this._id) { _creator.vehicleDestroy(this._id); this._id = 0; this._bodyId = 0 }
-    for (const w of this._wheels) w._vehicle = null
-    this._wheels = []
-    this.node._xf = 0
-    this.node._xfKind = 0
-    this.node.get(Shape)?._recreatePickBody()   // hands the routing back to the pick body
-  }
-
-  /**
-   * Re-configuring an attached vehicle retunes it in place — the way a drift button switches the
-   * differential without the car so much as blinking:
-   *
-   *   car.aspect(Vehicle, { differential: drift ? 'locked' : 'lsd' })
-   *
-   * Live: `differential`, `engine`, `steering`, `aero`, `maxTilt`, `friction`, `clutchStrength`, and
-   * every `Wheel`'s `tire.grip` and brake torques. Everything else describes the car's STRUCTURE —
-   * `mass`, `centerOfMass`, which wheels exist and where, their suspension, `driveAxle`, `antiRoll` — and
-   * is baked into the constraint at attach; to change one of those, re-attach the aspect.
-   */
-  onReconfigure(): void {
-    if (!this._id) return
-    if (this.mass !== this._builtMass) {
-      console.warn(`Vehicle: mass is fixed once the body exists (still ${this._builtMass} kg) — re-add the aspect to change it`)
-      this.mass = this._builtMass
-    }
-    _creator.vehicleSetTuning?.(this._id, this._buildSettings())
-    if (this._bodyId) _creator.physicsSetFriction?.(this._bodyId, this.friction)
-  }
-
-  /** Native vehicle id (0 until attached / no physics support). */
-  get id(): number { return this._id }
-  /** The chassis rigid-body id — the same handle the plain body calls take. */
-  get bodyId(): number { return this._bodyId }
-  /** The wheels, in blob order (front axle first). */
-  get wheels(): readonly Wheel[] { return this._wheels }
-
-  // --- driving --------------------------------------------------------------------------------
-
-  /**
-   * The driver's controls, all in [-1, 1] (brakes in [0, 1]). Sticky: the last values keep applying
-   * until the next call, so a held key does not need re-sending. `forward < 0` asks for reverse; the
-   * `Gearbox` engages it once the car has stopped.
-   */
-  drive(forward: number, steer = 0, brake = 0, handbrake = 0): this {
-    if (this._id) {
-      this._throttle = clamp(forward, -1, 1)
-      this._steer = clamp(steer, -1, 1)
-      this._brake = clamp(brake, 0, 1)
-      this._handbrake = clamp(handbrake, 0, 1)
-      _creator.vehicleSetInput(this._id, this._throttle, this._steer, this._brake, this._handbrake)
-    }
-    return this
-  }
-
-  /** Teleport upright and clear all motion (velocity, engine, gearbox, wheel spin). Defaults to the
-   *  chassis node's current pose — `reset()` alone un-flips a car where it lies. */
-  reset(position?: Vec3Like, rotation?: QuatLike): this {
-    if (!this._id) return this
-    const p = position ?? this.node.worldPosition
-    // No rotation given: keep the heading, drop the roll/pitch — the point of reset is to land upright.
-    const wq = this.node.worldQuaternion
-    const q: QuatLike = rotation ?? [ 0, wq.y, 0, wq.w ]
-    _creator.vehicleReset(this._id, cx(p), cy(p), cz(p), cx(q), cy(q), cz(q), cw(q))
-    this._stateFrame = -1
-    const box = this.node.get(Gearbox)
-    if (box) box.gear = 0
-    return this
-  }
-
-  /** Push the chassis (a boost pad, an explosion) — an instantaneous impulse in kg·m/s. */
-  applyImpulse(v: Vec3Like): this {
-    if (this._bodyId) _creator.physicsApplyImpulse(this._bodyId, cx(v), cy(v), cz(v))
-    return this
-  }
-
-  /** @internal The Gearbox's latched pair: the one ratio the engine runs, and the clutch envelope. */
-  _setTransmission(ratio: number, clutch: number): void {
-    if (this._id) _creator.vehicleSetTransmission(this._id, ratio, clamp(clutch, 0, 1))
-  }
-
-  // --- readouts (one native read per PHASE — early sees the pre-step state, late the settled one —
-  //     shared by the car and every wheel; keyed on core/Aspect's _phaseStamp) -------------------
-
-  private _read(): Float32Array {
-    if (this._id && this._stateFrame !== _phaseStamp.value) {
-      _creator.vehicleGetState(this._id, this._state)
-      this._stateFrame = _phaseStamp.value
-    }
-    return this._state
-  }
-
-  /** @internal One value out of wheel `index`'s slice — see WHEEL_STATE in Wheel.ts. */
-  _wheelState(index: number, k: number): number {
-    const s = this._read()
-    const at = STATE_HEADER + index * WHEEL_STATE + k
-    return at < s.length ? s[at]! : 0
-  }
-
-  /** Speed along the car's forward axis in m/s — negative when reversing (× 3.6 for km/h). */
-  get speed(): number { return this._read()[0]! }
-  /** Engine revolutions per minute. */
-  get rpm(): number { return this._read()[1]! }
-  /** How many wheels are touching the ground. */
-  get wheelsOnGround(): number { return this._read()[2]! }
-  /** Any wheel on the ground — false while airborne. */
-  get grounded(): boolean { return this._read()[2]! > 0 }
-  /** Chassis velocity in world units/s (fresh Vec3). */
-  get velocity(): Vec3 { const s = this._read(); return new Vec3(s[3]!, s[4]!, s[5]!) }
-  /** The last throttle handed to `drive()` — what the gearbox reads to know which way you want to go. */
-  get throttle(): number { return this._throttle }
-  /** The last steer input handed to `drive()`, [-1, 1]. */
-  get steerInput(): number { return this._steer }
-  /** The last foot-brake input handed to `drive()`, [0, 1] — the pedal, not the resulting force. */
-  get brake(): number { return this._brake }
-  /** The last handbrake input handed to `drive()`, [0, 1]. */
-  get handbrake(): number { return this._handbrake }
-  /** Current gear from the attached `Gearbox`: −1 reverse, 0 neutral, 1… forward. */
-  get gear(): number { return this.node.get(Gearbox)?.gear ?? 0 }
-  /** The steering lock, in degrees, the car is allowed at its current speed — the full lock at rest,
-   *  falling to `steering.atSpeed`. The same curve the engine applies; useful on a HUD. */
-  get steerLock(): number {
-    const lock = this.steering.lock ?? 35
-    const atSpeed = Math.max(0, this.steering.atSpeed ?? 10)
-    if (atSpeed <= 0 || atSpeed >= lock) return lock
-    const full = this.steering.speed ?? 30
-    const t = full > 0 ? Math.min(Math.abs(this.speed) / full, 1) : 1
-    return atSpeed + (lock - atSpeed) * (1 - t) * (1 - t)
-  }
-
-  // --- setup ----------------------------------------------------------------------------------
-
-  /** Every Wheel under the chassis, ordered front axle first, with its axle group resolved. */
-  private _collectWheels(): Wheel[] {
-    const found: Wheel[] = []
-    this.node.traverse((n) => { const w = n.get(Wheel); if (w) found.push(w) })
-    if (found.length === 0) return found
-
-    const chassisInv = this.node.worldMatrix.invert()
-    const centres = found.map((w) => chassisInv.mul(w.node.worldMatrix).position)
-
-    // Axles: sort by Z (forward is −Z, so the front axle is the most NEGATIVE) and start a new group
-    // whenever the gap is more than AXLE_EPS.
-    const order = centres.map((_, i) => i).sort((a, b) => centres[a]!.z - centres[b]!.z)
-    const axleOf = new Array<number>(found.length).fill(0)
-    let axle = 0
-    let ref = centres[order[0]!]!.z
-    for (const i of order) {
-      if (Math.abs(centres[i]!.z - ref) > AXLE_EPS) { axle++; ref = centres[i]!.z }
-      axleOf[i] = found[i]!.axle ?? axle
-    }
-    const maxAxle = Math.max(...axleOf)
-
-    // Bind each wheel in front-to-back order, resolving what it did not say.
-    const wheels: Wheel[] = []
-    for (const i of order) {
-      const w = found[i]!
-      const a = axleOf[i]!
-      const measured = w._measure()
-      w.radius ??= measured.radius
-      w.width ??= measured.width
-      w.steer ??= a === 0
-      w.drive ??= this.driveAxle === "all" || (this.driveAxle === "front" ? a === 0 : a === maxAxle)
-      w.handbrake ??= !w.steer
-      w.axle = a
-      const rest = centres[i]!
-      // Where the suspension hangs from, so the wheel CENTRE ends up where the author put it: the
-      // spring sags by g/(2πf)² under its own load (mass-independent), and that sag is what separates
-      // the resting length from full droop.
-      const travel = w.suspension.travel ?? 0.4
-      const stiffness = w.suspension.stiffness ?? 1.4
-      const sag = Math.min(GRAVITY / ((2 * Math.PI * stiffness) ** 2), travel * 0.6)
-      const attach = new Vec3(rest.x, rest.y + (travel - sag), rest.z)
-      w._bind(this, wheels.length, rest, attach)
-      wheels.push(w)
-    }
-    return wheels
-  }
-
-  /** Pack the whole configuration into the one blob the host ABI takes (see bridges.d.ts). */
-  private _buildSettings(): Float32Array {
-    const curve = this.engine.curve ?? []
-    const curveCount = Math.floor(curve.length / 2)
-    const diff = typeof this.differential === "number"
-      ? this.differential
-      : DIFFERENTIALS[this.differential] ?? DIFFERENTIALS.lsd
-
-    const out = new Float32Array(BLOB_HEADER + curveCount * 2 + this._wheels.length * BLOB_WHEEL)
-    out[0] = BLOB_VERSION
-    out[1] = this.mass
-    out[2] = this.centerOfMass === undefined ? 1 : 0
-    out[3] = this.centerOfMass ?? 0
-    out[4] = this.engine.torque ?? 500
-    out[5] = this.engine.maxRpm ?? 6000
-    out[6] = this.engine.idleRpm ?? 1000
-    out[7] = this.engine.inertia ?? 0.5
-    out[8] = this.engine.braking ?? 0.2
-    out[9] = this.clutchStrength
-    out[10] = diff
-    out[11] = this.antiRoll === true ? 0.01 : this.antiRoll === false ? 0 : Math.max(0, this.antiRoll)
-    out[12] = this.maxTilt
-    out[13] = this.steering.lock ?? 35
-    out[14] = Math.max(0, this.steering.atSpeed ?? 10)
-    out[15] = this.steering.speed ?? 30
-    out[16] = Math.max(0, this.steering.rate ?? 220)
-    out[17] = Math.max(0, this.aero.downforce ?? 0)
-    out[18] = Math.max(0, this.aero.drag ?? 0.03)
-    out[19] = this._wheels.length
-    out[20] = curveCount
-    let at = BLOB_HEADER
-    for (let i = 0; i < curveCount * 2; i++) out[at++] = curve[i]!
-    for (const w of this._wheels) {
-      out[at++] = w._attach.x
-      out[at++] = w._attach.y
-      out[at++] = w._attach.z
-      out[at++] = w.radius ?? 0.35
-      out[at++] = w.width ?? 0.25
-      out[at++] = w.steer ? (this.steering.lock ?? 35) : 0
-      out[at++] = w.drive ? 1 : 0
-      out[at++] = w.brake ? w.brakeTorque : 0
-      out[at++] = w.handbrake ? w.brakeTorque * 3 : 0
-      out[at++] = w.axle ?? 0
-      out[at++] = w.suspension.travel ?? 0.4
-      out[at++] = w.suspension.stiffness ?? 1.4
-      out[at++] = w.suspension.damping ?? 0.5
-      out[at++] = w.tire.grip ?? 1
-      out[at++] = w.tire.curve === "arcade" ? 1 : 0
-    }
-    return out
-  }
-
-  /** Edit mode: which way the chassis faces. Each wheel draws its own circle and travel range — see
-   *  `Wheel.rebuild()`. Play mode never calls this. */
-  rebuild(): void {
-    const w = new Mat4(this.node.worldMatrix)
-    const P = (x: number, y: number, z: number): Vec3 => w.transformPoint([ x, y, z ])
-    Gizmos.polyline([ P(0, 0, 0), P(0, 0, -1.2), P(-0.15, 0, -1.0), P(0, 0, -1.2), P(0.15, 0, -1.0) ], { color: "#ffffff" })
-  }
-}