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cc38b25 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 | /** Engineered rate decoder. Body units: mm, seconds, radians; +yaw turns left. */
const clamp = (x, lo, hi) => Math.max(lo, Math.min(hi, x));
const relax = (value, target, dt, tau) => value + (target - value) * (1 - Math.exp(-dt / tau));
export function restPose() {
return {
x: 0,
z: 0,
y: 0,
yaw: 0,
velocity: 0,
yawRate: 0,
phase: 0,
time: 0,
pitch: 0,
bank: 0,
wingOpen: 0,
flightBlend: 0,
launch: 0,
landing: 0,
behavior: 'At rest',
};
}
export class FlyController {
constructor() {
this.reset();
}
reset() {
Object.assign(this, restPose());
this.rates = new Float64Array(6);
this.vy = 0;
this.distance = 0;
this.mode = 'ground';
this.escapeAge = 0;
this.landingAge = 0;
this.quietTime = 0;
this.cooldown = 0;
this.escapeArmed = true;
this.takeoffs = 0;
}
advance(input, dt) {
if (
input.length !== 6 ||
!Array.from(input).every(Number.isFinite) ||
!Number.isFinite(dt) ||
dt <= 0 ||
dt > 0.05
)
throw Error('Invalid neural controller input');
for (let i = 0; i < 6; i++)
this.rates[i] = relax(this.rates[i], Math.max(0, input[i]), dt, 0.08);
const [wl, wr, tl, tr, back, escape] = this.rates;
const walking = Math.max(0, (wl + wr) / 2 - 6),
reverse = Math.max(0, back - 25);
const turn = Math.max(0, tl - 15) - Math.max(0, tr - 15);
const groundSpeed = 8 * Math.tanh(walking / 30) - 4 * Math.tanh(reverse / 90);
this.yawRate = relax(this.yawRate, 3.8 * Math.tanh(turn / 45), dt, 0.04);
this.cooldown = Math.max(0, this.cooldown - dt);
if (this.mode === 'ground' && escape < 45) this.escapeArmed = true;
if (this.mode === 'ground' && escape > 100 && this.cooldown === 0 && this.escapeArmed) {
this.mode = 'escape';
this.escapeAge = 0;
this.quietTime = 0;
this.escapeArmed = false;
this.vy = 80;
this.takeoffs++;
}
if (this.mode === 'escape') {
this.escapeAge += dt;
this.quietTime = escape < 45 ? this.quietTime + dt : 0;
// Escape activity sustains flight for 0.35–0.9 neural seconds.
if ((this.escapeAge >= 0.35 && this.quietTime >= 0.06) || this.escapeAge >= 0.9) {
this.mode = 'landing';
this.landingAge = 0;
}
}
const airborne = this.mode !== 'ground';
if (airborne) {
if (this.mode === 'landing') this.landingAge += dt;
const landing = this.mode === 'landing';
const targetHeight = landing ? 0 : 2.2 + 0.8 * clamp(escape / 250, 0, 1);
this.velocity = relax(
this.velocity,
landing ? groundSpeed : 16 + 8 * clamp(escape / 250, 0, 1),
dt,
landing ? 0.12 : 0.06,
);
// Reduced-order wing lift: critically damped altitude control plus gravity.
// Substeps resolve takeoff/ground contact independently of the 10 ms readout.
const parts = Math.ceil(dt / 0.002),
h = dt / parts;
for (let k = 0; k < parts; k++) {
const omega = landing ? 16 : 24;
const lift = clamp(
9810 + omega * omega * (targetHeight - this.y) - 2 * omega * this.vy,
0,
16000,
);
const acceleration = lift - 9810;
this.y = Math.max(0, this.y + this.vy * h + 0.5 * acceleration * h * h);
this.vy += acceleration * h;
if (landing && this.y < 0.025 && this.vy <= 0) {
this.y = 0;
this.vy = 0;
this.mode = 'ground';
this.cooldown = 0.2;
break;
}
}
} else this.velocity = relax(this.velocity, groundSpeed, dt, 0.055);
this.flightBlend = clamp(this.y / 0.65, 0, 1);
this.launch = this.mode === 'escape' ? clamp(1 - this.escapeAge / 0.06, 0, 1) : 0;
this.landing = this.mode === 'landing' ? clamp(this.landingAge / 0.08, 0, 1) : 0;
this.wingOpen = relax(
this.wingOpen,
this.mode === 'ground' ? 0 : 1,
dt,
this.mode === 'ground' ? 0.065 : 0.022,
);
if (this.wingOpen < 0.0001) this.wingOpen = 0;
const pitchTarget =
(this.mode === 'landing' ? -0.13 : this.launch > 0 ? -0.24 : -0.06) * this.flightBlend;
this.pitch = relax(this.pitch, pitchTarget, dt, 0.045);
this.bank = relax(
this.bank,
clamp(-this.yawRate * 0.08, -0.22, 0.22) * this.flightBlend,
dt,
0.05,
);
this.yaw += this.yawRate * dt;
this.x += Math.sin(this.yaw) * this.velocity * dt;
this.z += Math.cos(this.yaw) * this.velocity * dt;
const gaitSpeed = Math.abs(this.velocity) + Math.abs(this.yawRate) * 0.5;
this.phase += (gaitSpeed > 0.06 ? Math.min(14, gaitSpeed / 1.4) * Math.PI * 2 : 0) * dt;
this.distance += Math.abs(this.velocity) * dt;
this.time += dt;
this.behavior =
this.mode === 'landing'
? 'Landing'
: this.mode === 'escape'
? this.escapeAge < 0.08
? 'Taking off'
: 'Escape flight'
: reverse > walking + 5
? 'Walking backward'
: Math.abs(this.yawRate) > 0.3
? this.yawRate > 0
? 'Turning left'
: 'Turning right'
: Math.abs(this.velocity) > 0.15
? 'Walking'
: 'At rest';
return this.pose();
}
pose() {
return {
x: this.x,
z: this.z,
y: this.y,
yaw: this.yaw,
velocity: this.velocity,
yawRate: this.yawRate,
phase: this.phase,
time: this.time,
pitch: this.pitch,
bank: this.bank,
wingOpen: this.wingOpen,
flightBlend: this.flightBlend,
launch: this.launch,
landing: this.landing,
behavior: this.behavior,
};
}
}
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