vehicle-path2 1.0.12 → 1.0.14

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.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});function L(t,e){const s=e.x-t.x,o=e.y-t.y;return Math.sqrt(s*s+o*o)}function M(t,e){const s=e.x-t.x,o=e.y-t.y,n=Math.sqrt(s*s+o*o);return n===0?{x:0,y:0}:{x:s/n,y:o/n}}function V(t,e){return e*(t==="proportional-40"?.4:.5522)}function S(t,e,s,o=!1,n){const{wheelbase:c,tangentMode:i}=s;let r;n?.fromOffset!==void 0?r=D(t,n.fromOffset,n.fromIsPercentage??!1):r=t.end;let a;n?.toOffset!==void 0?a=D(e,n.toOffset,n.toIsPercentage??!1):a=e.start;const d=M(t.start,t.end),u=o?{x:r.x-d.x*c,y:r.y-d.y*c}:r,l=M(t.start,t.end),g=M(e.start,e.end),y=L(u,a),m=V(i,y),f=o?{x:u.x-l.x*m,y:u.y-l.y*m}:{x:u.x+l.x*m,y:u.y+l.y*m},v={x:a.x-g.x*m,y:a.y-g.y*m};return{p0:u,p1:f,p2:v,p3:a}}function F(t,e){return{x:t.start.x+(t.end.x-t.start.x)*e,y:t.start.y+(t.end.y-t.start.y)*e}}function D(t,e,s){const o=L(t.start,t.end);let n;return s?n=e:n=o>0?e/o:0,n=Math.max(0,Math.min(1,n)),F(t,n)}function w(t,e){const{p0:s,p1:o,p2:n,p3:c}=t,i=1-e,r=i*i,a=r*i,d=e*e,u=d*e;return{x:a*s.x+3*r*e*o.x+3*i*d*n.x+u*c.x,y:a*s.y+3*r*e*o.y+3*i*d*n.y+u*c.y}}function U(t,e,s=10){return L(t,e)<=s}function j(t,e=100){const s=[{t:0,distance:0}];let o=t.p0,n=0;for(let c=1;c<=e;c++){const i=c/e,r=w(t,i);n+=L(o,r),s.push({t:i,distance:n}),o=r}return s}function K(t,e){if(e<=0)return 0;const s=t[t.length-1].distance;if(e>=s)return 1;let o=0,n=t.length-1;for(;o<n-1;){const u=Math.floor((o+n)/2);t[u].distance<e?o=u:n=u}const c=t[o].distance,i=t[n].distance,r=t[o].t,a=t[n].t;if(i===c)return r;const d=(e-c)/(i-c);return r+d*(a-r)}function X(t){return t[t.length-1].distance}function N(t,e=100){let s=0,o=t.p0;for(let n=1;n<=e;n++){const c=n/e,i=w(t,c);s+=L(o,i),o=i}return s}function A(t,e,s,o,n){const c=L(t.start,t.end),i=c-n;if(i<=0)return c;let r;if(e===void 0)r=o;else if(s)r=e;else{const a=Math.max(0,Math.min(e,i));return n+a}return n+r*i}function b(t,e,s,o,n){const i=L(t.start,t.end)-n;if(i<=0)return 0;let r;if(e===void 0)r=o;else if(s)r=e;else return Math.max(0,Math.min(e,i));return r*i}function Y(t,e,s){const o=new Map,n=new Map,c=new Map;for(const i of t)n.set(i.id,i),c.set(i.id,L(i.start,i.end)),o.set(i.id,[]);for(let i=0;i<e.length;i++){const r=e[i],a=n.get(r.fromLineId),d=n.get(r.toLineId);if(!a||!d)continue;const u=A(a,r.fromOffset,r.fromIsPercentage,1,s.wheelbase),l=b(d,r.toOffset,r.toIsPercentage,0,s.wheelbase),g=S(a,d,s,!1,{fromOffset:u,fromIsPercentage:!1,toOffset:l,toIsPercentage:!1}),y=N(g),m={curveIndex:i,fromLineId:r.fromLineId,toLineId:r.toLineId,fromOffset:u,toOffset:l,curveLength:y};o.get(r.fromLineId).push(m)}return{adjacency:o,lines:n,lineLengths:c}}function B(t,e){return t.curveCount!==e.curveCount?t.curveCount-e.curveCount:t.totalDistance-e.totalDistance}function k(t,e,s,o,n=!1){const{adjacency:c,lines:i,lineLengths:r}=t;if(!i.get(s))return null;const d=r.get(s),u=n?o/100*d:o,l=[],g=new Map,y=(f,v)=>`${f}:${Math.round(v)}`;if(e.lineId===s&&u>=e.offset){const f=u-e.offset;return{segments:[{type:"line",lineId:e.lineId,startOffset:e.offset,endOffset:u,length:f}],totalDistance:f,curveCount:0}}const m=c.get(e.lineId)||[];for(const f of m){if(f.fromOffset<e.offset)continue;const v=f.fromOffset-e.offset,I=v+f.curveLength,O={type:"line",lineId:e.lineId,startOffset:e.offset,endOffset:f.fromOffset,length:v},h={type:"curve",curveIndex:f.curveIndex,startOffset:0,endOffset:f.curveLength,length:f.curveLength};l.push({lineId:f.toLineId,entryOffset:f.toOffset,totalDistance:I,curveCount:1,path:[O,h]})}for(l.sort(B);l.length>0;){const f=l.shift(),v=y(f.lineId,f.entryOffset),I=g.get(v);if(I!==void 0&&(I.curveCount<f.curveCount||I.curveCount===f.curveCount&&I.distance<=f.totalDistance))continue;if(g.set(v,{curveCount:f.curveCount,distance:f.totalDistance}),f.lineId===s){const h=Math.abs(u-f.entryOffset);if(u>=f.entryOffset){const x={type:"line",lineId:s,startOffset:f.entryOffset,endOffset:u,length:h};return{segments:[...f.path,x],totalDistance:f.totalDistance+h,curveCount:f.curveCount}}}const O=c.get(f.lineId)||[];for(const h of O){if(h.fromOffset<f.entryOffset)continue;const x=h.fromOffset-f.entryOffset,q=f.totalDistance+x+h.curveLength,T=f.curveCount+1,H=y(h.toLineId,h.toOffset),P=g.get(H);if(P!==void 0&&(P.curveCount<T||P.curveCount===T&&P.distance<=q))continue;const J={type:"line",lineId:f.lineId,startOffset:f.entryOffset,endOffset:h.fromOffset,length:x},R={type:"curve",curveIndex:h.curveIndex,startOffset:0,endOffset:h.curveLength,length:h.curveLength};l.push({lineId:h.toLineId,entryOffset:h.toOffset,totalDistance:q,curveCount:T,path:[...f.path,J,R]})}l.sort(B)}return null}function z(t,e){const s=Math.sqrt(Math.pow(t.end.x-t.start.x,2)+Math.pow(t.end.y-t.start.y,2)),o=s>0?e/s:0;return{x:t.start.x+(t.end.x-t.start.x)*Math.min(1,Math.max(0,o)),y:t.start.y+(t.end.y-t.start.y)*Math.min(1,Math.max(0,o))}}function G(t){return Math.sqrt(Math.pow(t.end.x-t.start.x,2)+Math.pow(t.end.y-t.start.y,2))}function $(t,e,s){let o=0;for(let n=0;n<e;n++)o+=t.segments[n].length;return o+=s,o}function Q(t,e){let s=0;for(let o=0;o<t.segments.length;o++){const n=t.segments[o],c=s+n.length;if(e<c)return{segmentIndex:o,segmentDistance:e-s};if(e===c)return o+1<t.segments.length?{segmentIndex:o+1,segmentDistance:0}:{segmentIndex:o,segmentDistance:n.length};s+=n.length}return null}function Z(t,e,s,o){const c=$(t,e,s)+o;return Q(t,c)}function E(t,e,s,o){const n=Math.sqrt(Math.pow(o.end.x-o.start.x,2)+Math.pow(o.end.y-o.start.y,2));let c=e+s;c=Math.min(c,n);const i=z(o,c);return{lineId:t,position:i,absoluteOffset:c}}function W(t,e){return{...t,state:"idle"}}function _(t){return{vehicle:t,execution:null}}function tt(t,e){const s=[],o=new Map;for(const n of t){if(!e.get(n.lineId))continue;const i=W(n);s.push(i);const r=_(i);o.set(n.id,r)}return{movingVehicles:s,stateMap:o}}function p(t,e){return{position:z(t,e),lineId:t.id,absoluteOffset:e}}function C(t,e){const s=K(t.arcLengthTable,e);return{position:w(t.bezier,s)}}function et(t,e,s,o,n,c,i){const r=s.segments[e.currentSegmentIndex],a=e.segmentDistance+o;if(a>=r.length){const u=a-r.length,l=e.currentSegmentIndex+1;if(l>=s.segments.length){if(i!==void 0&&r.type==="line"){const f=n.get(r.lineId),v=r.startOffset+a;if(v<=i){const O=p(f,v);return{axleState:{...t,...O},execution:{...e,segmentDistance:a},completed:!1}}const I=p(f,i);return{axleState:{...t,...I},execution:{...e,segmentDistance:i-r.startOffset},completed:!0}}const m=r.type==="line"?p(n.get(r.lineId),r.endOffset):C(c.get(r.curveIndex),r.length);return{axleState:{...t,...m},execution:{...e,segmentDistance:r.length},completed:!0}}const g=s.segments[l],y=g.type==="line"?p(n.get(g.lineId),g.startOffset+u):C(c.get(g.curveIndex),u);return{axleState:{...t,...y},execution:{currentSegmentIndex:l,segmentDistance:u},completed:!1}}const d=r.type==="line"?p(n.get(r.lineId),r.startOffset+a):C(c.get(r.curveIndex),a);return{axleState:{...t,...d},execution:{...e,segmentDistance:a},completed:!1}}function nt(t,e,s,o){const n=new Map;for(const c of t.segments)if(c.type==="curve"&&c.curveIndex!==void 0){const i=e[c.curveIndex];if(i){const r=s.get(i.fromLineId),a=s.get(i.toLineId);if(r&&a){const d=A(r,i.fromOffset,i.fromIsPercentage,1,o.wheelbase),u=b(a,i.toOffset,i.toIsPercentage,0,o.wheelbase),l=S(r,a,o,!1,{fromOffset:d,fromIsPercentage:!1,toOffset:u,toIsPercentage:!1}),g=j(l);n.set(c.curveIndex,{bezier:l,arcLengthTable:g})}}}return n}function ot(t,e,s){const{graph:o,linesMap:n,curves:c,config:i}=s,r=n.get(e.targetLineId);if(!r)return null;const d=G(r)-i.wheelbase;if(d<=0)return null;const u=e.isPercentage?e.targetOffset*d:Math.min(e.targetOffset,d),l=k(o,{lineId:t.rear.lineId,offset:t.rear.absoluteOffset},e.targetLineId,u,!1);if(!l)return null;const g=nt(l,c,n,i);return{path:l,curveDataMap:g}}function st(t,e){const s=t.execution,n=e.vehicleQueues.get(t.vehicle.id)?.[s.currentCommandIndex];return n&&e.onCommandComplete&&e.onCommandComplete({vehicleId:t.vehicle.id,command:n,finalPosition:{lineId:t.vehicle.rear.lineId,absoluteOffset:t.vehicle.rear.absoluteOffset,position:t.vehicle.rear.position},payload:n.payload}),{handled:!0,vehicle:{...t.vehicle,state:"waiting"},newExecution:s,isWaiting:!0}}exports.arcLengthToSegmentPosition=Q;exports.buildArcLengthTable=j;exports.buildGraph=Y;exports.calculateBezierArcLength=N;exports.calculateFrontAxlePosition=Z;exports.calculateInitialFrontPosition=E;exports.calculatePositionOnCurve=C;exports.calculatePositionOnLine=p;exports.calculateTangentLength=V;exports.createBezierCurve=S;exports.createInitialMovementState=_;exports.distance=L;exports.distanceToT=K;exports.findPath=k;exports.getArcLength=X;exports.getCumulativeArcLength=$;exports.getLineLength=G;exports.getPointOnBezier=w;exports.getPointOnLine=F;exports.getPointOnLineByOffset=D;exports.getPositionFromOffset=z;exports.handleArrival=st;exports.initializeAllVehicles=tt;exports.initializeMovingVehicle=W;exports.isPointNearPoint=U;exports.normalize=M;exports.prepareCommandPath=ot;exports.resolveFromLineOffset=A;exports.resolveToLineOffset=b;exports.updateAxlePosition=et;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});function I(e,t){const r=t.x-e.x,n=t.y-e.y;return Math.sqrt(r*r+n*n)}function C(e,t){const r=t.x-e.x,n=t.y-e.y,o=Math.sqrt(r*r+n*n);return o===0?{x:0,y:0}:{x:r/o,y:n/o}}function B(e,t){return t*(e==="proportional-40"?.4:.5522)}function A(e,t,r,n=!1,o){const{wheelbase:c,tangentMode:s}=r;let i;o?.fromOffset!==void 0?i=T(e,o.fromOffset,o.fromIsPercentage??!1):i=e.end;let f;o?.toOffset!==void 0?f=T(t,o.toOffset,o.toIsPercentage??!1):f=t.start;const l=C(e.start,e.end),u=n?{x:i.x-l.x*c,y:i.y-l.y*c}:i,d=C(e.start,e.end),g=C(t.start,t.end),v=I(u,f),m=B(s,v),a=n?{x:u.x-d.x*m,y:u.y-d.y*m}:{x:u.x+d.x*m,y:u.y+d.y*m},x={x:f.x-g.x*m,y:f.y-g.y*m};return{p0:u,p1:a,p2:x,p3:f}}function j(e,t){return{x:e.start.x+(e.end.x-e.start.x)*t,y:e.start.y+(e.end.y-e.start.y)*t}}function T(e,t,r){const n=I(e.start,e.end);let o;return r?o=t:o=n>0?t/n:0,o=Math.max(0,Math.min(1,o)),j(e,o)}function 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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),d=z(l,i.toOffset,i.toIsPercentage,0,r.wheelbase),g=A(f,l,r,!1,{fromOffset:u,fromIsPercentage:!1,toOffset:d,toIsPercentage:!1}),v=N(g),m={curveIndex:s,fromLineId:i.fromLineId,toLineId:i.toLineId,fromOffset:u,toOffset:d,curveLength:v};n.get(i.fromLineId).push(m)}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,d=[],g=new Map,v=(a,x)=>`${a}:${Math.round(x)}`;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 m=c.get(t.lineId)||[];for(const a of m){if(a.fromOffset<t.offset)continue;const x=a.fromOffset-t.offset,L=x+a.curveLength,p={type:"line",lineId:t.lineId,startOffset:t.offset,endOffset:a.fromOffset,length:x},h={type:"curve",curveIndex:a.curveIndex,startOffset:0,endOffset:a.curveLength,length:a.curveLength};d.push({lineId:a.toLineId,entryOffset:a.toOffset,totalDistance:L,curveCount:1,path:[p,h]})}for(d.sort(q);d.length>0;){const a=d.shift(),x=v(a.lineId,a.entryOffset),L=g.get(x);if(L!==void 0&&(L.curveCount<a.curveCount||L.curveCount===a.curveCount&&L.distance<=a.totalDistance))continue;if(g.set(x,{curveCount:a.curveCount,distance:a.totalDistance}),a.lineId===r){const h=Math.abs(u-a.entryOffset);if(u>=a.entryOffset){const O={type:"line",lineId:r,startOffset:a.entryOffset,endOffset:u,length:h};return{segments:[...a.path,O],totalDistance:a.totalDistance+h,curveCount:a.curveCount}}}const p=c.get(a.lineId)||[];for(const h of p){if(h.fromOffset<a.entryOffset)continue;const O=h.fromOffset-a.entryOffset,F=a.totalDistance+O+h.curveLength,S=a.curveCount+1,_=v(h.toLineId,h.toOffset),P=g.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:h.fromOffset,length:O},J={type:"curve",curveIndex:h.curveIndex,startOffset:0,endOffset:h.curveLength,length:h.curveLength};d.push({lineId:h.toLineId,entryOffset:h.toOffset,totalDistance:F,curveCount:S,path:[...a.path,H,J]})}d.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 g=r.segments[i],v=g.length-f;if(l<v){f+=l,l=0;break}l-=v;const m=i+1;if(m>=r.segments.length){if(s!==void 0&&g.type==="line"){const x=g.startOffset+g.length+l;if(x<=s){const h=o.get(g.lineId),O=y(h,x);return{axleState:{...e,...O},execution:{currentSegmentIndex:i,segmentDistance:g.length+l},completed:!1}}const L=o.get(g.lineId),p=y(L,s);return{axleState:{...e,...p},execution:{currentSegmentIndex:i,segmentDistance:s-g.startOffset},completed:!0}}const a=g.type==="line"?y(o.get(g.lineId),g.endOffset):w(c.get(g.curveIndex),g.length);return{axleState:{...e,...a},execution:{currentSegmentIndex:i,segmentDistance:g.length},completed:!0}}i=m,f=0}const u=r.segments[i],d=u.type==="line"?y(o.get(u.lineId),u.startOffset+f):w(c.get(u.curveIndex),f);return{axleState:{...e,...d},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 v=t.segments[u];if(v.type==="line"){const m=n.get(v.lineId);m&&(l=V(m))}}const d=D(e.front,e.frontExecution,t,r,n,o,l);if(f.axleState.lineId===c&&f.axleState.absoluteOffset>=s-.001){const v=n.get(c),m=y(v,s),a=y(v,s+i);return{rear:{...f.axleState,...m},front:{...d.axleState,...a},rearExecution:f.execution,frontExecution:d.execution,arrived:!0}}return{rear:f.axleState,front:d.axleState,rearExecution:f.execution,frontExecution:d.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),d=A(i,f,n,!1,{fromOffset:l,fromIsPercentage:!1,toOffset:u,toIsPercentage:!1}),g=k(d);o.set(c.curveIndex,{bezier:d,arcLengthTable:g})}}}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),d=R(n,{lineId:e.rear.lineId,offset:e.rear.absoluteOffset},t.targetLineId,u,!1);if(!d)return null;const g=oe(d,c,o,s);return{path:d,curveDataMap:g}}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;

package/dist/core.js

@@ -1,124 +1,124 @@
-function p(t, e) {
-  const o = e.x - t.x, s = e.y - t.y;
-  return Math.sqrt(o * o + s * s);
+function y(t, e) {
+  const s = e.x - t.x, n = e.y - t.y;
+  return Math.sqrt(s * s + n * n);
 }
-function w(t, e) {
-  const o = e.x - t.x, s = e.y - t.y, n = Math.sqrt(o * o + s * s);
-  return n === 0 ? { x: 0, y: 0 } : { x: o / n, y: s / n };
+function P(t, e) {
+  const s = e.x - t.x, n = e.y - t.y, o = Math.sqrt(s * s + n * n);
+  return o === 0 ? { x: 0, y: 0 } : { x: s / o, y: n / o };
 }
 function K(t, e) {
   return e * (t === "proportional-40" ? 0.4 : 0.5522);
 }
-function b(t, e, o, s = !1, n) {
-  const { wheelbase: c, tangentMode: i } = o;
-  let r;
-  n?.fromOffset !== void 0 ? r = S(t, n.fromOffset, n.fromIsPercentage ?? !1) : r = t.end;
+function A(t, e, s, n = !1, o) {
+  const { wheelbase: i, tangentMode: r } = s;
+  let c;
+  o?.fromOffset !== void 0 ? c = D(t, o.fromOffset, o.fromIsPercentage ?? !1) : c = t.end;
   let a;
-  n?.toOffset !== void 0 ? a = S(e, n.toOffset, n.toIsPercentage ?? !1) : a = e.start;
-  const l = w(t.start, t.end), u = s ? {
+  o?.toOffset !== void 0 ? a = D(e, o.toOffset, o.toIsPercentage ?? !1) : a = e.start;
+  const l = P(t.start, t.end), u = n ? {
     // Transition with flip: kurva dimulai dari P (baseP0 - wheelbase in line direction)
-    x: r.x - l.x * c,
-    y: r.y - l.y * c
-  } : r, d = w(t.start, t.end), g = w(e.start, e.end), I = p(u, a), m = K(i, I), f = s ? { x: u.x - d.x * m, y: u.y - d.y * m } : { x: u.x + d.x * m, y: u.y + d.y * m }, v = {
+    x: c.x - l.x * i,
+    y: c.y - l.y * i
+  } : c, d = P(t.start, t.end), g = P(e.start, e.end), x = y(u, a), m = K(r, x), f = n ? { x: u.x - d.x * m, y: u.y - d.y * m } : { x: u.x + d.x * m, y: u.y + d.y * m }, v = {
     x: a.x - g.x * m,
     y: a.y - g.y * m
   };
   return { p0: u, p1: f, p2: v, p3: a };
 }
-function k(t, e) {
+function R(t, e) {
   return {
     x: t.start.x + (t.end.x - t.start.x) * e,
     y: t.start.y + (t.end.y - t.start.y) * e
   };
 }
-function S(t, e, o) {
-  const s = p(t.start, t.end);
-  let n;
-  return o ? n = e : n = s > 0 ? e / s : 0, n = Math.max(0, Math.min(1, n)), k(t, n);
+function D(t, e, s) {
+  const n = y(t.start, t.end);
+  let o;
+  return s ? o = e : o = n > 0 ? e / n : 0, o = Math.max(0, Math.min(1, o)), R(t, o);
 }
-function D(t, e) {
-  const { p0: o, p1: s, p2: n, p3: c } = t, i = 1 - e, r = i * i, a = r * i, l = e * e, u = l * e;
+function w(t, e) {
+  const { p0: s, p1: n, p2: o, p3: i } = t, r = 1 - e, c = r * r, a = c * r, l = e * e, u = l * e;
   return {
-    x: a * o.x + 3 * r * e * s.x + 3 * i * l * n.x + u * c.x,
-    y: a * o.y + 3 * r * e * s.y + 3 * i * l * n.y + u * c.y
+    x: a * s.x + 3 * c * e * n.x + 3 * r * l * o.x + u * i.x,
+    y: a * s.y + 3 * c * e * n.y + 3 * r * l * o.y + u * i.y
   };
 }
-function Y(t, e, o = 10) {
-  return p(t, e) <= o;
+function Y(t, e, s = 10) {
+  return y(t, e) <= s;
 }
 function N(t, e = 100) {
-  const o = [{ t: 0, distance: 0 }];
-  let s = t.p0, n = 0;
-  for (let c = 1; c <= e; c++) {
-    const i = c / e, r = D(t, i);
-    n += p(s, r), o.push({ t: i, distance: n }), s = r;
+  const s = [{ t: 0, distance: 0 }];
+  let n = t.p0, o = 0;
+  for (let i = 1; i <= e; i++) {
+    const r = i / e, c = w(t, r);
+    o += y(n, c), s.push({ t: r, distance: o }), n = c;
   }
-  return o;
+  return s;
 }
 function $(t, e) {
   if (e <= 0) return 0;
-  const o = t[t.length - 1].distance;
-  if (e >= o) return 1;
-  let s = 0, n = t.length - 1;
-  for (; s < n - 1; ) {
-    const u = Math.floor((s + n) / 2);
-    t[u].distance < e ? s = u : n = u;
+  const s = t[t.length - 1].distance;
+  if (e >= s) return 1;
+  let n = 0, o = t.length - 1;
+  for (; n < o - 1; ) {
+    const u = Math.floor((n + o) / 2);
+    t[u].distance < e ? n = u : o = u;
   }
-  const c = t[s].distance, i = t[n].distance, r = t[s].t, a = t[n].t;
-  if (i === c) return r;
-  const l = (e - c) / (i - c);
-  return r + l * (a - r);
+  const i = t[n].distance, r = t[o].distance, c = t[n].t, a = t[o].t;
+  if (r === i) return c;
+  const l = (e - i) / (r - i);
+  return c + l * (a - c);
 }
 function Z(t) {
   return t[t.length - 1].distance;
 }
 function G(t, e = 100) {
-  let o = 0, s = t.p0;
-  for (let n = 1; n <= e; n++) {
-    const c = n / e, i = D(t, c);
-    o += p(s, i), s = i;
+  let s = 0, n = t.p0;
+  for (let o = 1; o <= e; o++) {
+    const i = o / e, r = w(t, i);
+    s += y(n, r), n = r;
   }
-  return o;
+  return s;
 }
-function q(t, e, o, s, n) {
-  const c = p(t.start, t.end), i = c - n;
-  if (i <= 0)
-    return c;
-  let r;
+function q(t, e, s, n, o) {
+  const i = y(t.start, t.end), r = i - o;
+  if (r <= 0)
+    return i;
+  let c;
   if (e === void 0)
-    r = s;
-  else if (o)
-    r = e;
+    c = n;
+  else if (s)
+    c = e;
   else {
-    const a = Math.max(0, Math.min(e, i));
-    return n + a;
+    const a = Math.max(0, Math.min(e, r));
+    return o + a;
   }
-  return n + r * i;
+  return o + c * r;
 }
-function z(t, e, o, s, n) {
-  const i = p(t.start, t.end) - n;
-  if (i <= 0)
+function z(t, e, s, n, o) {
+  const r = y(t.start, t.end) - o;
+  if (r <= 0)
     return 0;
-  let r;
+  let c;
   if (e === void 0)
-    r = s;
-  else if (o)
-    r = e;
+    c = n;
+  else if (s)
+    c = e;
   else
-    return Math.max(0, Math.min(e, i));
-  return r * i;
-}
-function E(t, e, o) {
-  const s = /* @__PURE__ */ new Map(), n = /* @__PURE__ */ new Map(), c = /* @__PURE__ */ new Map();
-  for (const i of t)
-    n.set(i.id, i), c.set(i.id, p(i.start, i.end)), s.set(i.id, []);
-  for (let i = 0; i < e.length; i++) {
-    const r = e[i], a = n.get(r.fromLineId), l = n.get(r.toLineId);
+    return Math.max(0, Math.min(e, r));
+  return c * r;
+}
+function tt(t, e, s) {
+  const n = /* @__PURE__ */ new Map(), o = /* @__PURE__ */ new Map(), i = /* @__PURE__ */ new Map();
+  for (const r of t)
+    o.set(r.id, r), i.set(r.id, y(r.start, r.end)), n.set(r.id, []);
+  for (let r = 0; r < e.length; r++) {
+    const c = e[r], a = o.get(c.fromLineId), l = o.get(c.toLineId);
     if (!a || !l) continue;
-    const u = q(a, r.fromOffset, r.fromIsPercentage, 1, o.wheelbase), d = z(l, r.toOffset, r.toIsPercentage, 0, o.wheelbase), g = b(
+    const u = q(a, c.fromOffset, c.fromIsPercentage, 1, s.wheelbase), d = z(l, c.toOffset, c.toIsPercentage, 0, s.wheelbase), g = A(
       a,
       l,
-      o,
+      s,
       !1,
       // willFlip is always false now
       {
@@ -129,26 +129,26 @@ function E(t, e, o) {
         toIsPercentage: !1
         // Already resolved to absolute
       }
-    ), I = G(g), m = {
-      curveIndex: i,
-      fromLineId: r.fromLineId,
-      toLineId: r.toLineId,
+    ), x = G(g), m = {
+      curveIndex: r,
+      fromLineId: c.fromLineId,
+      toLineId: c.toLineId,
       fromOffset: u,
       toOffset: d,
-      curveLength: I
+      curveLength: x
     };
-    s.get(r.fromLineId).push(m);
+    n.get(c.fromLineId).push(m);
   }
-  return { adjacency: s, lines: n, lineLengths: c };
+  return { adjacency: n, lines: o, lineLengths: i };
 }
-function A(t, e) {
+function T(t, e) {
   return t.curveCount !== e.curveCount ? t.curveCount - e.curveCount : t.totalDistance - e.totalDistance;
 }
-function Q(t, e, o, s, n = !1) {
-  const { adjacency: c, lines: i, lineLengths: r } = t;
-  if (!i.get(o)) return null;
-  const l = r.get(o), u = n ? s / 100 * l : s, d = [], g = /* @__PURE__ */ new Map(), I = (f, v) => `${f}:${Math.round(v)}`;
-  if (e.lineId === o && u >= e.offset) {
+function Q(t, e, s, n, o = !1) {
+  const { adjacency: i, lines: r, lineLengths: c } = t;
+  if (!r.get(s)) return null;
+  const l = c.get(s), u = o ? n / 100 * l : n, d = [], g = /* @__PURE__ */ new Map(), x = (f, v) => `${f}:${Math.round(v)}`;
+  if (e.lineId === s && u >= e.offset) {
     const f = u - e.offset;
     return {
       segments: [{
@@ -162,10 +162,10 @@ function Q(t, e, o, s, n = !1) {
       curveCount: 0
     };
   }
-  const m = c.get(e.lineId) || [];
+  const m = i.get(e.lineId) || [];
   for (const f of m) {
     if (f.fromOffset < e.offset) continue;
-    const v = f.fromOffset - e.offset, y = v + f.curveLength, x = {
+    const v = f.fromOffset - e.offset, I = v + f.curveLength, p = {
       type: "line",
       lineId: e.lineId,
       startOffset: e.offset,
@@ -181,45 +181,45 @@ function Q(t, e, o, s, n = !1) {
     d.push({
       lineId: f.toLineId,
       entryOffset: f.toOffset,
-      totalDistance: y,
+      totalDistance: I,
       curveCount: 1,
-      path: [x, h]
+      path: [p, h]
     });
   }
-  for (d.sort(A); d.length > 0; ) {
-    const f = d.shift(), v = I(f.lineId, f.entryOffset), y = g.get(v);
-    if (y !== void 0 && (y.curveCount < f.curveCount || y.curveCount === f.curveCount && y.distance <= f.totalDistance))
+  for (d.sort(T); d.length > 0; ) {
+    const f = d.shift(), v = x(f.lineId, f.entryOffset), I = g.get(v);
+    if (I !== void 0 && (I.curveCount < f.curveCount || I.curveCount === f.curveCount && I.distance <= f.totalDistance))
       continue;
-    if (g.set(v, { curveCount: f.curveCount, distance: f.totalDistance }), f.lineId === o) {
+    if (g.set(v, { curveCount: f.curveCount, distance: f.totalDistance }), f.lineId === s) {
       const h = Math.abs(u - f.entryOffset);
       if (u >= f.entryOffset) {
-        const O = {
+        const L = {
           type: "line",
-          lineId: o,
+          lineId: s,
           startOffset: f.entryOffset,
           endOffset: u,
           length: h
         };
         return {
-          segments: [...f.path, O],
+          segments: [...f.path, L],
           totalDistance: f.totalDistance + h,
           curveCount: f.curveCount
         };
       }
     }
-    const x = c.get(f.lineId) || [];
-    for (const h of x) {
+    const p = i.get(f.lineId) || [];
+    for (const h of p) {
       if (h.fromOffset < f.entryOffset) continue;
-      const O = h.fromOffset - f.entryOffset, T = f.totalDistance + O + h.curveLength, C = f.curveCount + 1, B = I(h.toLineId, h.toOffset), M = g.get(B);
-      if (M !== void 0 && (M.curveCount < C || M.curveCount === C && M.distance <= T))
+      const L = h.fromOffset - f.entryOffset, S = f.totalDistance + L + h.curveLength, C = f.curveCount + 1, B = x(h.toLineId, h.toOffset), M = g.get(B);
+      if (M !== void 0 && (M.curveCount < C || M.curveCount === C && M.distance <= S))
         continue;
       const j = {
         type: "line",
         lineId: f.lineId,
         startOffset: f.entryOffset,
         endOffset: h.fromOffset,
-        length: O
-      }, F = {
+        length: L
+      }, k = {
         type: "curve",
         curveIndex: h.curveIndex,
         startOffset: 0,
@@ -229,196 +229,233 @@ function Q(t, e, o, s, n = !1) {
       d.push({
         lineId: h.toLineId,
         entryOffset: h.toOffset,
-        totalDistance: T,
+        totalDistance: S,
         curveCount: C,
-        path: [...f.path, j, F]
+        path: [...f.path, j, k]
       });
     }
-    d.sort(A);
+    d.sort(T);
   }
   return null;
 }
 function V(t, e) {
-  const o = Math.sqrt(
+  const s = Math.sqrt(
     Math.pow(t.end.x - t.start.x, 2) + Math.pow(t.end.y - t.start.y, 2)
-  ), s = o > 0 ? e / o : 0;
+  ), n = s > 0 ? e / s : 0;
   return {
-    x: t.start.x + (t.end.x - t.start.x) * Math.min(1, Math.max(0, s)),
-    y: t.start.y + (t.end.y - t.start.y) * Math.min(1, Math.max(0, s))
+    x: t.start.x + (t.end.x - t.start.x) * Math.min(1, Math.max(0, n)),
+    y: t.start.y + (t.end.y - t.start.y) * Math.min(1, Math.max(0, n))
   };
 }
-function W(t) {
+function F(t) {
   return Math.sqrt(
     Math.pow(t.end.x - t.start.x, 2) + Math.pow(t.end.y - t.start.y, 2)
   );
 }
-function _(t, e, o) {
-  let s = 0;
-  for (let n = 0; n < e; n++)
-    s += t.segments[n].length;
-  return s += o, s;
+function W(t, e, s) {
+  let n = 0;
+  for (let o = 0; o < e; o++)
+    n += t.segments[o].length;
+  return n += s, n;
 }
-function H(t, e) {
-  let o = 0;
-  for (let s = 0; s < t.segments.length; s++) {
-    const n = t.segments[s], c = o + n.length;
-    if (e < c)
+function _(t, e) {
+  let s = 0;
+  for (let n = 0; n < t.segments.length; n++) {
+    const o = t.segments[n], i = s + o.length;
+    if (e < i)
       return {
-        segmentIndex: s,
-        segmentDistance: e - o
+        segmentIndex: n,
+        segmentDistance: e - s
       };
-    if (e === c)
-      return s + 1 < t.segments.length ? {
-        segmentIndex: s + 1,
+    if (e === i)
+      return n + 1 < t.segments.length ? {
+        segmentIndex: n + 1,
         segmentDistance: 0
       } : {
-        segmentIndex: s,
-        segmentDistance: n.length
+        segmentIndex: n,
+        segmentDistance: o.length
       };
-    o += n.length;
+    s += o.length;
   }
   return null;
 }
-function tt(t, e, o, s) {
-  const c = _(
+function et(t, e, s, n) {
+  const i = W(
     t,
     e,
-    o
-  ) + s;
-  return H(t, c);
+    s
+  ) + n;
+  return _(t, i);
 }
-function et(t, e, o, s) {
-  const n = Math.sqrt(
-    Math.pow(s.end.x - s.start.x, 2) + Math.pow(s.end.y - s.start.y, 2)
+function nt(t, e, 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 = e + o;
-  c = Math.min(c, n);
-  const i = V(s, c);
+  let i = e + s;
+  i = Math.min(i, o);
+  const r = V(n, i);
   return {
     lineId: t,
-    position: i,
-    absoluteOffset: c
+    position: r,
+    absoluteOffset: i
   };
 }
-function J(t, e) {
+function H(t, e) {
   return {
     ...t,
     state: "idle"
   };
 }
-function R(t) {
+function J(t) {
   return {
     vehicle: t,
     execution: null
   };
 }
-function nt(t, e) {
-  const o = [], s = /* @__PURE__ */ new Map();
-  for (const n of t) {
-    if (!e.get(n.lineId)) continue;
-    const i = J(n);
-    o.push(i);
-    const r = R(i);
-    s.set(n.id, r);
+function ot(t, e) {
+  const s = [], n = /* @__PURE__ */ new Map();
+  for (const o of t) {
+    if (!e.get(o.lineId)) continue;
+    const r = H(o);
+    s.push(r);
+    const c = J(r);
+    n.set(o.id, c);
   }
-  return { movingVehicles: o, stateMap: s };
+  return { movingVehicles: s, stateMap: n };
 }
-function L(t, e) {
+function O(t, e) {
   return { position: V(t, e), lineId: t.id, absoluteOffset: e };
 }
-function P(t, e) {
-  const o = $(t.arcLengthTable, e);
-  return { position: D(t.bezier, o) };
-}
-function st(t, e, o, s, n, c, i) {
-  const r = o.segments[e.currentSegmentIndex], a = e.segmentDistance + s;
-  if (a >= r.length) {
-    const u = a - r.length, d = e.currentSegmentIndex + 1;
-    if (d >= o.segments.length) {
-      if (i !== void 0 && r.type === "line") {
-        const f = n.get(r.lineId), v = r.startOffset + a;
-        if (v <= i) {
-          const x = L(f, v);
+function E(t, e) {
+  const s = $(t.arcLengthTable, e);
+  return { position: w(t.bezier, s) };
+}
+function b(t, e, s, n, o, i, r) {
+  let c = e.currentSegmentIndex, a = e.segmentDistance, l = n;
+  for (; l > 0; ) {
+    const g = s.segments[c], x = g.length - a;
+    if (l < x) {
+      a += l, l = 0;
+      break;
+    }
+    l -= x;
+    const m = c + 1;
+    if (m >= s.segments.length) {
+      if (r !== void 0 && g.type === "line") {
+        const v = g.startOffset + g.length + l;
+        if (v <= r) {
+          const h = o.get(g.lineId), L = O(h, v);
           return {
-            axleState: { ...t, ...x },
-            execution: { ...e, segmentDistance: a },
+            axleState: { ...t, ...L },
+            execution: { currentSegmentIndex: c, segmentDistance: g.length + l },
             completed: !1
           };
         }
-        const y = L(f, i);
+        const I = o.get(g.lineId), p = O(I, r);
         return {
-          axleState: { ...t, ...y },
-          execution: { ...e, segmentDistance: i - r.startOffset },
+          axleState: { ...t, ...p },
+          execution: { currentSegmentIndex: c, segmentDistance: r - g.startOffset },
           completed: !0
         };
       }
-      const m = r.type === "line" ? L(
-        n.get(r.lineId),
-        r.endOffset
-      ) : P(
-        c.get(r.curveIndex),
-        r.length
+      const f = g.type === "line" ? O(
+        o.get(g.lineId),
+        g.endOffset
+      ) : E(
+        i.get(g.curveIndex),
+        g.length
       );
       return {
-        axleState: { ...t, ...m },
-        execution: { ...e, segmentDistance: r.length },
+        axleState: { ...t, ...f },
+        execution: { currentSegmentIndex: c, segmentDistance: g.length },
         completed: !0
       };
     }
-    const g = o.segments[d], I = g.type === "line" ? L(
-      n.get(g.lineId),
-      g.startOffset + u
-    ) : P(
-      c.get(g.curveIndex),
-      u
-    );
-    return {
-      axleState: { ...t, ...I },
-      execution: {
-        currentSegmentIndex: d,
-        segmentDistance: u
-      },
-      completed: !1
-    };
+    c = m, a = 0;
   }
-  const l = r.type === "line" ? L(
-    n.get(r.lineId),
-    r.startOffset + a
-  ) : P(
-    c.get(r.curveIndex),
+  const u = s.segments[c], d = u.type === "line" ? O(
+    o.get(u.lineId),
+    u.startOffset + a
+  ) : E(
+    i.get(u.curveIndex),
     a
   );
   return {
-    axleState: { ...t, ...l },
-    execution: { ...e, segmentDistance: a },
+    axleState: { ...t, ...d },
+    execution: { currentSegmentIndex: c, segmentDistance: a },
     completed: !1
   };
 }
-function U(t, e, o, s) {
-  const n = /* @__PURE__ */ new Map();
-  for (const c of t.segments)
-    if (c.type === "curve" && c.curveIndex !== void 0) {
-      const i = e[c.curveIndex];
-      if (i) {
-        const r = o.get(i.fromLineId), a = o.get(i.toLineId);
-        if (r && a) {
+function st(t, e, s, n, o, i, r, c) {
+  const a = b(
+    t.rear,
+    t.rearExecution,
+    e,
+    s,
+    n,
+    o
+  );
+  let l;
+  const u = t.frontExecution.currentSegmentIndex;
+  if (u < e.segments.length) {
+    const x = e.segments[u];
+    if (x.type === "line") {
+      const m = n.get(x.lineId);
+      m && (l = F(m));
+    }
+  }
+  const d = b(
+    t.front,
+    t.frontExecution,
+    e,
+    s,
+    n,
+    o,
+    l
+  );
+  if (a.axleState.lineId === i && a.axleState.absoluteOffset >= r - 1e-3) {
+    const x = n.get(i), m = O(x, r), f = O(x, r + c);
+    return {
+      rear: { ...a.axleState, ...m },
+      front: { ...d.axleState, ...f },
+      rearExecution: a.execution,
+      frontExecution: d.execution,
+      arrived: !0
+    };
+  }
+  return {
+    rear: a.axleState,
+    front: d.axleState,
+    rearExecution: a.execution,
+    frontExecution: d.execution,
+    arrived: !1
+  };
+}
+function U(t, e, s, n) {
+  const o = /* @__PURE__ */ new Map();
+  for (const i of t.segments)
+    if (i.type === "curve" && i.curveIndex !== void 0) {
+      const r = e[i.curveIndex];
+      if (r) {
+        const c = s.get(r.fromLineId), a = s.get(r.toLineId);
+        if (c && a) {
           const l = q(
-            r,
-            i.fromOffset,
-            i.fromIsPercentage,
+            c,
+            r.fromOffset,
+            r.fromIsPercentage,
             1,
             // Default: 100% = 1.0
-            s.wheelbase
+            n.wheelbase
           ), u = z(
             a,
-            i.toOffset,
-            i.toIsPercentage,
+            r.toOffset,
+            r.toIsPercentage,
             0,
-            s.wheelbase
-          ), d = b(
-            r,
+            n.wheelbase
+          ), d = A(
+            c,
             a,
-            s,
+            n,
             !1,
             // willFlip is always false now
             {
@@ -430,76 +467,77 @@ function U(t, e, o, s) {
               // Already resolved to absolute
             }
           ), g = N(d);
-          n.set(c.curveIndex, { bezier: d, arcLengthTable: g });
+          o.set(i.curveIndex, { bezier: d, arcLengthTable: g });
         }
       }
     }
-  return n;
+  return o;
 }
-function ot(t, e, o) {
-  const { graph: s, linesMap: n, curves: c, config: i } = o, r = n.get(e.targetLineId);
-  if (!r) return null;
-  const l = W(r) - i.wheelbase;
+function rt(t, e, s) {
+  const { graph: n, linesMap: o, curves: i, config: r } = s, c = o.get(e.targetLineId);
+  if (!c) return null;
+  const l = F(c) - r.wheelbase;
   if (l <= 0) return null;
   const u = e.isPercentage ? e.targetOffset * l : Math.min(e.targetOffset, l), d = Q(
-    s,
+    n,
     { lineId: t.rear.lineId, offset: t.rear.absoluteOffset },
     e.targetLineId,
     u,
     !1
   );
   if (!d) return null;
-  const g = U(d, c, n, i);
+  const g = U(d, i, o, r);
   return { path: d, curveDataMap: g };
 }
-function rt(t, e) {
-  const o = t.execution, n = e.vehicleQueues.get(t.vehicle.id)?.[o.currentCommandIndex];
-  return n && e.onCommandComplete && e.onCommandComplete({
+function ct(t, e) {
+  const s = t.execution, o = e.vehicleQueues.get(t.vehicle.id)?.[s.currentCommandIndex];
+  return o && e.onCommandComplete && e.onCommandComplete({
     vehicleId: t.vehicle.id,
-    command: n,
+    command: o,
     finalPosition: {
       lineId: t.vehicle.rear.lineId,
       absoluteOffset: t.vehicle.rear.absoluteOffset,
       position: t.vehicle.rear.position
     },
-    payload: n.payload
+    payload: o.payload
   }), {
     handled: !0,
     vehicle: { ...t.vehicle, state: "waiting" },
-    newExecution: o,
+    newExecution: s,
     // Keep execution state for resume
     isWaiting: !0
   };
 }
 export {
-  H as arcLengthToSegmentPosition,
+  _ as arcLengthToSegmentPosition,
   N as buildArcLengthTable,
-  E as buildGraph,
+  tt as buildGraph,
   G as calculateBezierArcLength,
-  tt as calculateFrontAxlePosition,
-  et as calculateInitialFrontPosition,
-  P as calculatePositionOnCurve,
-  L as calculatePositionOnLine,
+  et as calculateFrontAxlePosition,
+  nt as calculateInitialFrontPosition,
+  E as calculatePositionOnCurve,
+  O as calculatePositionOnLine,
   K as calculateTangentLength,
-  b as createBezierCurve,
-  R as createInitialMovementState,
-  p as distance,
+  A as createBezierCurve,
+  J as createInitialMovementState,
+  y as distance,
   $ as distanceToT,
   Q as findPath,
   Z as getArcLength,
-  _ as getCumulativeArcLength,
-  W as getLineLength,
-  D as getPointOnBezier,
-  k as getPointOnLine,
-  S as getPointOnLineByOffset,
+  W as getCumulativeArcLength,
+  F as getLineLength,
+  w as getPointOnBezier,
+  R as getPointOnLine,
+  D as getPointOnLineByOffset,
   V as getPositionFromOffset,
-  rt as handleArrival,
-  nt as initializeAllVehicles,
-  J as initializeMovingVehicle,
+  ct as handleArrival,
+  ot as initializeAllVehicles,
+  H as initializeMovingVehicle,
   Y as isPointNearPoint,
-  w as normalize,
-  ot as prepareCommandPath,
+  st as moveVehicle,
+  P as normalize,
+  rt as prepareCommandPath,
   q as resolveFromLineOffset,
   z as resolveToLineOffset,
-  st as updateAxlePosition
+  b as updateAxlePosition
 };

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "vehicle-path2",
-  "version": "1.0.12",
+  "version": "1.0.14",
   "description": "Vehicle motion simulator library for dual-axle vehicle movement along paths composed of lines and Bezier curves",
   "type": "module",
   "main": "./dist/vehicle-path.cjs",