vehicle-path2 1.0.11 → 1.0.13

package/README.md

@@ -91,7 +91,6 @@ sim.clearVehicles()
 sim.goto({ id: 'v1', lineId: 'line2' })                // default position = 1.0 (ujung)
 sim.goto({ id: 'v1', lineId: 'line2', position: 0.5 }) // 0.5 = tengah line
 sim.goto({ id: 'v1', lineId: 'line2', position: 150, isPercentage: false }) // absolute
-sim.goto({ id: 'v1', lineId: 'line2', position: 0.5, wait: true })          // berhenti di tujuan
 sim.goto({ id: 'v1', lineId: 'line2', payload: { orderId: '123' } })        // dengan payload
 sim.clearQueue('v1')
 ```

package/dist/core/algorithms/vehicleMovement.d.ts

@@ -128,6 +128,26 @@ export declare function updateAxlePosition(axleState: AxleState, axleExecution:
     execution: AxleExecutionState;
     completed: boolean;
 };
+export interface MoveVehicleInput {
+    rear: AxleState;
+    front: AxleState;
+    rearExecution: AxleExecutionState;
+    frontExecution: AxleExecutionState;
+}
+export interface MoveVehicleResult {
+    rear: AxleState;
+    front: AxleState;
+    rearExecution: AxleExecutionState;
+    frontExecution: AxleExecutionState;
+    arrived: boolean;
+}
+/**
+ * Move a dual-axle vehicle along a path by a given distance.
+ *
+ * Coordinates rear and front axle updates, computes front maxOffset,
+ * detects arrival at target, and clamps both axles to preserve wheelbase.
+ */
+export declare function moveVehicle(input: MoveVehicleInput, path: PathResult, distance: number, linesMap: Map<string, Line>, curveDataMap: Map<number, CurveData>, targetLineId: string, targetOffset: number, wheelbase: number): MoveVehicleResult;
 export interface PreparedPath {
     path: PathResult;
     curveDataMap: Map<number, CurveData>;

package/dist/core/index.d.ts

@@ -12,9 +12,9 @@
  */
 export type { Point, Line, BezierCurve, Curve } from './types/geometry';
 export type { VehicleState, VehicleStart, Vehicle, AxleState, GotoCommand, GotoCompletionInfo, GotoCompletionCallback } from './types/vehicle';
-export type { CurveData, PathExecutionState, VehicleMovementState, MovementConfig, SceneContext } from './types/movement';
+export type { CurveData, PathExecutionState, AxleExecutionState, VehicleMovementState, MovementConfig, SceneContext } from './types/movement';
 export type { TangentMode } from './types/config';
 export type { CoordinateInput, SceneLineInput, SceneConnectionInput, SceneConfig, VehicleInput, VehicleUpdateInput, ConnectionUpdateInput, GotoCommandInput } from './types/api';
 export { buildGraph, findPath, calculateBezierArcLength, resolveFromLineOffset, resolveToLineOffset, type Graph, type GraphEdge, type PathSegment, type PathResult, type VehiclePosition } from './algorithms/pathFinding';
-export { initializeMovingVehicle, createInitialMovementState, initializeAllVehicles, calculateInitialFrontPosition, type InitializationResult, updateAxlePosition, calculatePositionOnLine, calculatePositionOnCurve, calculateFrontAxlePosition, getCumulativeArcLength, arcLengthToSegmentPosition, prepareCommandPath, type PreparedPath, handleArrival, type SegmentCompletionContext, type SegmentCompletionResult, type SegmentVehicleState, getPositionFromOffset, getLineLength } from './algorithms/vehicleMovement';
+export { initializeMovingVehicle, createInitialMovementState, initializeAllVehicles, calculateInitialFrontPosition, type InitializationResult, updateAxlePosition, moveVehicle, type MoveVehicleInput, type MoveVehicleResult, calculatePositionOnLine, calculatePositionOnCurve, calculateFrontAxlePosition, getCumulativeArcLength, arcLengthToSegmentPosition, prepareCommandPath, type PreparedPath, handleArrival, type SegmentCompletionContext, type SegmentCompletionResult, type SegmentVehicleState, getPositionFromOffset, getLineLength } from './algorithms/vehicleMovement';
 export { distance, normalize, getPointOnLine, getPointOnLineByOffset, getPointOnBezier, createBezierCurve, buildArcLengthTable, distanceToT, getArcLength, calculateTangentLength, isPointNearPoint, type ArcLengthEntry, type CurveOffsetOptions } from './algorithms/math';

package/dist/core/types/api.d.ts

@@ -106,7 +106,6 @@ export interface ConnectionUpdateInput {
  * goto({ id: 'v1', lineId: 'line002' })  // position defaults to 1.0 (end)
  * goto({ id: 'v1', lineId: 'line002', position: 0.5 })  // 50% of line
  * goto({ id: 'v1', lineId: 'line002', position: 150, isPercentage: false })  // absolute 150
- * goto({ id: 'v1', lineId: 'line002', position: 0.5, wait: true })  // wait at destination
  * goto({ id: 'v1', lineId: 'line002', payload: { orderId: '123' } })  // with payload
  */
 export interface GotoInput {
@@ -114,7 +113,6 @@ export interface GotoInput {
     lineId: string;
     position?: number;
     isPercentage?: boolean;
-    wait?: boolean;
     payload?: unknown;
 }
 /**
@@ -126,7 +124,6 @@ export interface GotoInput {
  * queueMovement('v1', {
  *   targetLineId: 'line002',
  *   targetPosition: 0.5,
- *   wait: true,
  *   payload: { orderId: '123' }
  * })
  * queueMovement('v1', { targetLineId: 'line002', targetPosition: 150, isPercentage: false })
@@ -135,7 +132,6 @@ export interface GotoCommandInput {
     targetLineId: string;
     targetPosition?: number;
     isPercentage?: boolean;
-    wait?: boolean;
     payload?: unknown;
 }
 /**
@@ -151,7 +147,6 @@ export interface MovementCommandInput {
     targetLineId: string;
     targetPosition?: number;
     isPercentage?: boolean;
-    wait?: boolean;
     payload?: unknown;
 }
 /**

package/dist/core/types/vehicle.d.ts

@@ -43,7 +43,6 @@ export interface GotoCommand {
     targetLineId: string;
     targetOffset: number;
     isPercentage: boolean;
-    awaitConfirmation?: boolean;
     payload?: unknown;
 }
 /**

package/dist/core.cjs

@@ -1 +1 @@
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w(e,t){const{p0:s,p1:n,p2:o,p3:c}=e,i=1-t,r=i*i,u=r*i,d=t*t,f=d*t;return{x:u*s.x+3*r*t*n.x+3*i*d*o.x+f*c.x,y:u*s.y+3*r*t*n.y+3*i*d*o.y+f*c.y}}function U(e,t,s=10){return I(e,t)<=s}function j(e,t=100){const s=[{t:0,distance:0}];let n=e.p0,o=0;for(let c=1;c<=t;c++){const i=c/t,r=w(e,i);o+=I(n,r),s.push({t:i,distance:o}),n=r}return s}function K(e,t){if(t<=0)return 0;const s=e[e.length-1].distance;if(t>=s)return 1;let n=0,o=e.length-1;for(;n<o-1;){const f=Math.floor((n+o)/2);e[f].distance<t?n=f:o=f}const c=e[n].distance,i=e[o].distance,r=e[n].t,u=e[o].t;if(i===c)return r;const d=(t-c)/(i-c);return r+d*(u-r)}function X(e){return e[e.length-1].distance}function N(e,t=100){let s=0,n=e.p0;for(let o=1;o<=t;o++){const c=o/t,i=w(e,c);s+=I(n,i),n=i}return s}function A(e,t,s,n,o){const c=I(e.start,e.end),i=c-o;if(i<=0)return c;let r;if(t===void 0)r=n;else if(s)r=t;else{const u=Math.max(0,Math.min(t,i));return o+u}return o+r*i}function b(e,t,s,n,o){const i=I(e.start,e.end)-o;if(i<=0)return 0;let r;if(t===void 0)r=n;else if(s)r=t;else return Math.max(0,Math.min(t,i));return r*i}function Y(e,t,s){const n=new Map,o=new Map,c=new Map;for(const i of e)o.set(i.id,i),c.set(i.id,I(i.start,i.end)),n.set(i.id,[]);for(let i=0;i<t.length;i++){const r=t[i],u=o.get(r.fromLineId),d=o.get(r.toLineId);if(!u||!d)continue;const f=A(u,r.fromOffset,r.fromIsPercentage,1,s.wheelbase),l=b(d,r.toOffset,r.toIsPercentage,0,s.wheelbase),g=T(u,d,s,!1,{fromOffset:f,fromIsPercentage:!1,toOffset:l,toIsPercentage:!1}),p=N(g),m={curveIndex:i,fromLineId:r.fromLineId,toLineId:r.toLineId,fromOffset:f,toOffset:l,curveLength:p};n.get(r.fromLineId).push(m)}return{adjacency:n,lines:o,lineLengths:c}}function B(e,t){return e.curveCount!==t.curveCount?e.curveCount-t.curveCount:e.totalDistance-t.totalDistance}function k(e,t,s,n,o=!1){const{adjacency:c,lines:i,lineLengths:r}=e;if(!i.get(s))return null;const d=r.get(s),f=o?n/100*d:n,l=[],g=new Map,p=(a,v)=>`${a}:${Math.round(v)}`;if(t.lineId===s&&f>=t.offset){const a=f-t.offset;return{segments:[{type:"line",lineId:t.lineId,startOffset:t.offset,endOffset:f,length:a}],totalDistance:a,curveCount:0}}const m=c.get(t.lineId)||[];for(const a of m){if(a.fromOffset<t.offset)continue;const v=a.fromOffset-t.offset,L=v+a.curveLength,O={type:"line",lineId:t.lineId,startOffset:t.offset,endOffset:a.fromOffset,length:v},h={type:"curve",curveIndex:a.curveIndex,startOffset:0,endOffset:a.curveLength,length:a.curveLength};l.push({lineId:a.toLineId,entryOffset:a.toOffset,totalDistance:L,curveCount:1,path:[O,h]})}for(l.sort(B);l.length>0;){const a=l.shift(),v=p(a.lineId,a.entryOffset),L=g.get(v);if(L!==void 0&&(L.curveCount<a.curveCount||L.curveCount===a.curveCount&&L.distance<=a.totalDistance))continue;if(g.set(v,{curveCount:a.curveCount,distance:a.totalDistance}),a.lineId===s){const h=Math.abs(f-a.entryOffset);if(f>=a.entryOffset){const x={type:"line",lineId:s,startOffset:a.entryOffset,endOffset:f,length:h};return{segments:[...a.path,x],totalDistance:a.totalDistance+h,curveCount:a.curveCount}}}const O=c.get(a.lineId)||[];for(const h of O){if(h.fromOffset<a.entryOffset)continue;const x=h.fromOffset-a.entryOffset,V=a.totalDistance+x+h.curveLength,D=a.curveCount+1,E=p(h.toLineId,h.toOffset),C=g.get(E);if(C!==void 0&&(C.curveCount<D||C.curveCount===D&&C.distance<=V))continue;const H={type:"line",lineId:a.lineId,startOffset:a.entryOffset,endOffset:h.fromOffset,length:x},J={type:"curve",curveIndex:h.curveIndex,startOffset:0,endOffset:h.curveLength,length:h.curveLength};l.push({lineId:h.toLineId,entryOffset:h.toOffset,totalDistance:V,curveCount:D,path:[...a.path,H,J]})}l.sort(B)}return null}function z(e,t){const s=Math.sqrt(Math.pow(e.end.x-e.start.x,2)+Math.pow(e.end.y-e.start.y,2)),n=s>0?t/s:0;return{x:e.start.x+(e.end.x-e.start.x)*Math.min(1,Math.max(0,n)),y:e.start.y+(e.end.y-e.start.y)*Math.min(1,Math.max(0,n))}}function G(e){return Math.sqrt(Math.pow(e.end.x-e.start.x,2)+Math.pow(e.end.y-e.start.y,2))}function $(e,t,s){let n=0;for(let o=0;o<t;o++)n+=e.segments[o].length;return n+=s,n}function Q(e,t){let s=0;for(let n=0;n<e.segments.length;n++){const o=e.segments[n],c=s+o.length;if(t<c)return{segmentIndex:n,segmentDistance:t-s};if(t===c)return n+1<e.segments.length?{segmentIndex:n+1,segmentDistance:0}:{segmentIndex:n,segmentDistance:o.length};s+=o.length}return null}function R(e,t,s,n){const c=$(e,t,s)+n;return Q(e,c)}function Z(e,t,s,n){const o=Math.sqrt(Math.pow(n.end.x-n.start.x,2)+Math.pow(n.end.y-n.start.y,2));let c=t+s;c=Math.min(c,o);const i=z(n,c);return{lineId:e,position:i,absoluteOffset:c}}function W(e,t){return{...e,state:"idle"}}function _(e){return{vehicle:e,execution:null}}function ee(e,t){const s=[],n=new Map;for(const o of e){if(!t.get(o.lineId))continue;const i=W(o);s.push(i);const r=_(i);n.set(o.id,r)}return{movingVehicles:s,stateMap:n}}function y(e,t){return{position:z(e,t),lineId:e.id,absoluteOffset:t}}function M(e,t){const s=K(e.arcLengthTable,t);return{position:w(e.bezier,s)}}function te(e,t,s,n,o,c,i){const r=s.segments[t.currentSegmentIndex],u=t.segmentDistance+n;if(u>=r.length){const f=u-r.length,l=t.currentSegmentIndex+1;if(l>=s.segments.length){if(i!==void 0&&r.type==="line"){const a=o.get(r.lineId),v=r.startOffset+u;if(v<=i){const O=y(a,v);return{axleState:{...e,...O},execution:{...t,segmentDistance:u},completed:!1}}const L=y(a,i);return{axleState:{...e,...L},execution:{...t,segmentDistance:i-r.startOffset},completed:!0}}const m=r.type==="line"?y(o.get(r.lineId),r.endOffset):M(c.get(r.curveIndex),r.length);return{axleState:{...e,...m},execution:{...t,segmentDistance:r.length},completed:!0}}const g=s.segments[l],p=g.type==="line"?y(o.get(g.lineId),g.startOffset+f):M(c.get(g.curveIndex),f);return{axleState:{...e,...p},execution:{currentSegmentIndex:l,segmentDistance:f},completed:!1}}const d=r.type==="line"?y(o.get(r.lineId),r.startOffset+u):M(c.get(r.curveIndex),u);return{axleState:{...e,...d},execution:{...t,segmentDistance:u},completed:!1}}function ne(e,t,s,n){const o=new Map;for(const c of e.segments)if(c.type==="curve"&&c.curveIndex!==void 0){const i=t[c.curveIndex];if(i){const r=s.get(i.fromLineId),u=s.get(i.toLineId);if(r&&u){const d=A(r,i.fromOffset,i.fromIsPercentage,1,n.wheelbase),f=b(u,i.toOffset,i.toIsPercentage,0,n.wheelbase),l=T(r,u,n,!1,{fromOffset:d,fromIsPercentage:!1,toOffset:f,toIsPercentage:!1}),g=j(l);o.set(c.curveIndex,{bezier:l,arcLengthTable:g})}}}return o}function oe(e,t,s){const{graph:n,linesMap:o,curves:c,config:i}=s,r=o.get(t.targetLineId);if(!r)return null;const d=G(r)-i.wheelbase;if(d<=0)return null;const f=t.isPercentage?t.targetOffset*d:Math.min(t.targetOffset,d),l=k(n,{lineId:e.rear.lineId,offset:e.rear.absoluteOffset},t.targetLineId,f,!1);if(!l)return null;const g=ne(l,c,o,i);return{path:l,curveDataMap:g}}function se(e,t){const s=e.execution,n=t.vehicleQueues.get(e.vehicle.id),o=n?.[s.currentCommandIndex];if(o&&t.onCommandComplete&&t.onCommandComplete({vehicleId:e.vehicle.id,command:o,finalPosition:{lineId:e.vehicle.rear.lineId,absoluteOffset:e.vehicle.rear.absoluteOffset,position:e.vehicle.rear.position},payload:o.payload}),o?.awaitConfirmation)return{handled:!0,vehicle:{...e.vehicle,state:"waiting"},newExecution:s,isWaiting:!0};const c=s.currentCommandIndex+1;if(n&&c<n.length){const r=n[c],u=t.graphRef.current;if(u){const d={graph:u,linesMap:t.linesMap,curves:t.curves,config:t.config},f=t.prepareCommandPath(e.vehicle,r,d);if(f){const l=R(f.path,0,0,t.config.wheelbase);t.onCommandStart&&t.onCommandStart({vehicleId:e.vehicle.id,command:r,commandIndex:c,startPosition:{lineId:e.vehicle.rear.lineId,absoluteOffset:e.vehicle.rear.absoluteOffset,position:e.vehicle.rear.position}});const g={path:f.path,curveDataMap:f.curveDataMap,currentCommandIndex:c,rear:{currentSegmentIndex:0,segmentDistance:0},front:l?{currentSegmentIndex:l.segmentIndex,segmentDistance:l.segmentDistance}:{currentSegmentIndex:0,segmentDistance:0}};return{handled:!0,vehicle:{...e.vehicle,state:"moving"},newExecution:g}}}}return{handled:!0,vehicle:{...e.vehicle,state:"idle"},newExecution:null}}exports.arcLengthToSegmentPosition=Q;exports.buildArcLengthTable=j;exports.buildGraph=Y;exports.calculateBezierArcLength=N;exports.calculateFrontAxlePosition=R;exports.calculateInitialFrontPosition=Z;exports.calculatePositionOnCurve=M;exports.calculatePositionOnLine=y;exports.calculateTangentLength=q;exports.createBezierCurve=T;exports.createInitialMovementState=_;exports.distance=I;exports.distanceToT=K;exports.findPath=k;exports.getArcLength=X;exports.getCumulativeArcLength=$;exports.getLineLength=G;exports.getPointOnBezier=w;exports.getPointOnLine=F;exports.getPointOnLineByOffset=S;exports.getPositionFromOffset=z;exports.handleArrival=se;exports.initializeAllVehicles=ee;exports.initializeMovingVehicle=W;exports.isPointNearPoint=U;exports.normalize=P;exports.prepareCommandPath=oe;exports.resolveFromLineOffset=A;exports.resolveToLineOffset=b;exports.updateAxlePosition=te;
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M(e,t){const{p0:r,p1:n,p2:o,p3:c}=e,s=1-t,i=s*s,f=i*s,l=t*t,u=l*t;return{x:f*r.x+3*i*t*n.x+3*s*l*o.x+u*c.x,y:f*r.y+3*i*t*n.y+3*s*l*o.y+u*c.y}}function U(e,t,r=10){return I(e,t)<=r}function k(e,t=100){const r=[{t:0,distance:0}];let n=e.p0,o=0;for(let c=1;c<=t;c++){const s=c/t,i=M(e,s);o+=I(n,i),r.push({t:s,distance:o}),n=i}return r}function K(e,t){if(t<=0)return 0;const r=e[e.length-1].distance;if(t>=r)return 1;let n=0,o=e.length-1;for(;n<o-1;){const u=Math.floor((n+o)/2);e[u].distance<t?n=u:o=u}const c=e[n].distance,s=e[o].distance,i=e[n].t,f=e[o].t;if(s===c)return i;const l=(t-c)/(s-c);return i+l*(f-i)}function X(e){return e[e.length-1].distance}function N(e,t=100){let r=0,n=e.p0;for(let o=1;o<=t;o++){const c=o/t,s=M(e,c);r+=I(n,s),n=s}return r}function b(e,t,r,n,o){const c=I(e.start,e.end),s=c-o;if(s<=0)return c;let i;if(t===void 0)i=n;else if(r)i=t;else{const f=Math.max(0,Math.min(t,s));return o+f}return o+i*s}function z(e,t,r,n,o){const s=I(e.start,e.end)-o;if(s<=0)return 0;let i;if(t===void 0)i=n;else if(r)i=t;else return Math.max(0,Math.min(t,s));return i*s}function Y(e,t,r){const n=new Map,o=new Map,c=new Map;for(const s of e)o.set(s.id,s),c.set(s.id,I(s.start,s.end)),n.set(s.id,[]);for(let s=0;s<t.length;s++){const i=t[s],f=o.get(i.fromLineId),l=o.get(i.toLineId);if(!f||!l)continue;const u=b(f,i.fromOffset,i.fromIsPercentage,1,r.wheelbase),g=z(l,i.toOffset,i.toIsPercentage,0,r.wheelbase),d=A(f,l,r,!1,{fromOffset:u,fromIsPercentage:!1,toOffset:g,toIsPercentage:!1}),x=N(d),h={curveIndex:s,fromLineId:i.fromLineId,toLineId:i.toLineId,fromOffset:u,toOffset:g,curveLength:x};n.get(i.fromLineId).push(h)}return{adjacency:n,lines:o,lineLengths:c}}function q(e,t){return e.curveCount!==t.curveCount?e.curveCount-t.curveCount:e.totalDistance-t.totalDistance}function R(e,t,r,n,o=!1){const{adjacency:c,lines:s,lineLengths:i}=e;if(!s.get(r))return null;const l=i.get(r),u=o?n/100*l:n,g=[],d=new Map,x=(a,v)=>`${a}:${Math.round(v)}`;if(t.lineId===r&&u>=t.offset){const a=u-t.offset;return{segments:[{type:"line",lineId:t.lineId,startOffset:t.offset,endOffset:u,length:a}],totalDistance:a,curveCount:0}}const h=c.get(t.lineId)||[];for(const a of h){if(a.fromOffset<t.offset)continue;const v=a.fromOffset-t.offset,L=v+a.curveLength,p={type:"line",lineId:t.lineId,startOffset:t.offset,endOffset:a.fromOffset,length:v},m={type:"curve",curveIndex:a.curveIndex,startOffset:0,endOffset:a.curveLength,length:a.curveLength};g.push({lineId:a.toLineId,entryOffset:a.toOffset,totalDistance:L,curveCount:1,path:[p,m]})}for(g.sort(q);g.length>0;){const a=g.shift(),v=x(a.lineId,a.entryOffset),L=d.get(v);if(L!==void 0&&(L.curveCount<a.curveCount||L.curveCount===a.curveCount&&L.distance<=a.totalDistance))continue;if(d.set(v,{curveCount:a.curveCount,distance:a.totalDistance}),a.lineId===r){const m=Math.abs(u-a.entryOffset);if(u>=a.entryOffset){const O={type:"line",lineId:r,startOffset:a.entryOffset,endOffset:u,length:m};return{segments:[...a.path,O],totalDistance:a.totalDistance+m,curveCount:a.curveCount}}}const p=c.get(a.lineId)||[];for(const m of p){if(m.fromOffset<a.entryOffset)continue;const O=m.fromOffset-a.entryOffset,F=a.totalDistance+O+m.curveLength,S=a.curveCount+1,_=x(m.toLineId,m.toOffset),P=d.get(_);if(P!==void 0&&(P.curveCount<S||P.curveCount===S&&P.distance<=F))continue;const H={type:"line",lineId:a.lineId,startOffset:a.entryOffset,endOffset:m.fromOffset,length:O},J={type:"curve",curveIndex:m.curveIndex,startOffset:0,endOffset:m.curveLength,length:m.curveLength};g.push({lineId:m.toLineId,entryOffset:m.toOffset,totalDistance:F,curveCount:S,path:[...a.path,H,J]})}g.sort(q)}return null}function E(e,t){const r=Math.sqrt(Math.pow(e.end.x-e.start.x,2)+Math.pow(e.end.y-e.start.y,2)),n=r>0?t/r:0;return{x:e.start.x+(e.end.x-e.start.x)*Math.min(1,Math.max(0,n)),y:e.start.y+(e.end.y-e.start.y)*Math.min(1,Math.max(0,n))}}function V(e){return Math.sqrt(Math.pow(e.end.x-e.start.x,2)+Math.pow(e.end.y-e.start.y,2))}function G(e,t,r){let n=0;for(let o=0;o<t;o++)n+=e.segments[o].length;return n+=r,n}function $(e,t){let r=0;for(let n=0;n<e.segments.length;n++){const o=e.segments[n],c=r+o.length;if(t<c)return{segmentIndex:n,segmentDistance:t-r};if(t===c)return n+1<e.segments.length?{segmentIndex:n+1,segmentDistance:0}:{segmentIndex:n,segmentDistance:o.length};r+=o.length}return null}function Z(e,t,r,n){const c=G(e,t,r)+n;return $(e,c)}function ee(e,t,r,n){const o=Math.sqrt(Math.pow(n.end.x-n.start.x,2)+Math.pow(n.end.y-n.start.y,2));let c=t+r;c=Math.min(c,o);const s=E(n,c);return{lineId:e,position:s,absoluteOffset:c}}function Q(e,t){return{...e,state:"idle"}}function W(e){return{vehicle:e,execution:null}}function te(e,t){const r=[],n=new Map;for(const o of e){if(!t.get(o.lineId))continue;const s=Q(o);r.push(s);const i=W(s);n.set(o.id,i)}return{movingVehicles:r,stateMap:n}}function y(e,t){return{position:E(e,t),lineId:e.id,absoluteOffset:t}}function w(e,t){const r=K(e.arcLengthTable,t);return{position:M(e.bezier,r)}}function D(e,t,r,n,o,c,s){let i=t.currentSegmentIndex,f=t.segmentDistance,l=n;for(;l>0;){const d=r.segments[i],x=d.length-f;if(l<x){f+=l,l=0;break}l-=x;const h=i+1;if(h>=r.segments.length){if(s!==void 0&&d.type==="line"){const v=d.startOffset+d.length+l;if(v<=s){const m=o.get(d.lineId),O=y(m,v);return{axleState:{...e,...O},execution:{currentSegmentIndex:i,segmentDistance:d.length+l},completed:!1}}const L=o.get(d.lineId),p=y(L,s);return{axleState:{...e,...p},execution:{currentSegmentIndex:i,segmentDistance:s-d.startOffset},completed:!0}}const a=d.type==="line"?y(o.get(d.lineId),d.endOffset):w(c.get(d.curveIndex),d.length);return{axleState:{...e,...a},execution:{currentSegmentIndex:i,segmentDistance:d.length},completed:!0}}i=h,f=0}const u=r.segments[i],g=u.type==="line"?y(o.get(u.lineId),u.startOffset+f):w(c.get(u.curveIndex),f);return{axleState:{...e,...g},execution:{currentSegmentIndex:i,segmentDistance:f},completed:!1}}function ne(e,t,r,n,o,c,s,i){const f=D(e.rear,e.rearExecution,t,r,n,o);let l;const u=e.frontExecution.currentSegmentIndex;if(u<t.segments.length){const h=t.segments[u];if(h.type==="line"){const a=n.get(h.lineId);a&&(l=V(a))}}const g=D(e.front,e.frontExecution,t,r,n,o,l),d=s-i;if(f.axleState.lineId===c&&f.axleState.absoluteOffset>=d-.001){const h=n.get(c),a=y(h,d),v=y(h,s);return{rear:{...f.axleState,...a},front:{...g.axleState,...v},rearExecution:f.execution,frontExecution:g.execution,arrived:!0}}return{rear:f.axleState,front:g.axleState,rearExecution:f.execution,frontExecution:g.execution,arrived:!1}}function oe(e,t,r,n){const o=new Map;for(const c of e.segments)if(c.type==="curve"&&c.curveIndex!==void 0){const s=t[c.curveIndex];if(s){const i=r.get(s.fromLineId),f=r.get(s.toLineId);if(i&&f){const l=b(i,s.fromOffset,s.fromIsPercentage,1,n.wheelbase),u=z(f,s.toOffset,s.toIsPercentage,0,n.wheelbase),g=A(i,f,n,!1,{fromOffset:l,fromIsPercentage:!1,toOffset:u,toIsPercentage:!1}),d=k(g);o.set(c.curveIndex,{bezier:g,arcLengthTable:d})}}}return o}function re(e,t,r){const{graph:n,linesMap:o,curves:c,config:s}=r,i=o.get(t.targetLineId);if(!i)return null;const l=V(i)-s.wheelbase;if(l<=0)return null;const u=t.isPercentage?t.targetOffset*l:Math.min(t.targetOffset,l),g=R(n,{lineId:e.rear.lineId,offset:e.rear.absoluteOffset},t.targetLineId,u,!1);if(!g)return null;const d=oe(g,c,o,s);return{path:g,curveDataMap:d}}function se(e,t){const r=e.execution,o=t.vehicleQueues.get(e.vehicle.id)?.[r.currentCommandIndex];return o&&t.onCommandComplete&&t.onCommandComplete({vehicleId:e.vehicle.id,command:o,finalPosition:{lineId:e.vehicle.rear.lineId,absoluteOffset:e.vehicle.rear.absoluteOffset,position:e.vehicle.rear.position},payload:o.payload}),{handled:!0,vehicle:{...e.vehicle,state:"waiting"},newExecution:r,isWaiting:!0}}exports.arcLengthToSegmentPosition=$;exports.buildArcLengthTable=k;exports.buildGraph=Y;exports.calculateBezierArcLength=N;exports.calculateFrontAxlePosition=Z;exports.calculateInitialFrontPosition=ee;exports.calculatePositionOnCurve=w;exports.calculatePositionOnLine=y;exports.calculateTangentLength=B;exports.createBezierCurve=A;exports.createInitialMovementState=W;exports.distance=I;exports.distanceToT=K;exports.findPath=R;exports.getArcLength=X;exports.getCumulativeArcLength=G;exports.getLineLength=V;exports.getPointOnBezier=M;exports.getPointOnLine=j;exports.getPointOnLineByOffset=T;exports.getPositionFromOffset=E;exports.handleArrival=se;exports.initializeAllVehicles=te;exports.initializeMovingVehicle=Q;exports.isPointNearPoint=U;exports.moveVehicle=ne;exports.normalize=C;exports.prepareCommandPath=re;exports.resolveFromLineOffset=b;exports.resolveToLineOffset=z;exports.updateAxlePosition=D;