@aura3d/engine 1.5.0 → 1.5.2

package/dist/engine/agent-api/SpatialAnchoring.js

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+/**
+ * Asset-relative spatial layout and semantic anchoring.
+ *
+ * ## Why this exists
+ *
+ * Public routes placed helper geometry -- status markers, control stations,
+ * selection rings, callout panels, staging props -- at literal world
+ * coordinates chosen by eye against whatever asset was loaded that week. When
+ * the asset changed, or its bounds changed, the coordinates did not. The
+ * visible result is procedural boxes floating beside the scene rather than
+ * attached to the equipment they annotate.
+ *
+ * `CAR_SCENE_HEIGHT` was the same defect in a single constant: a value correct
+ * for one asset, frozen, then wrong. This module removes the reason to write
+ * such a constant. A route states intent -- "above this machine", "beside the
+ * workcell", "on the floor in front of the product" -- and reads back a world
+ * position derived from the asset's own placed bounds.
+ *
+ * Everything here is pure: no renderer, no asset loading, no DOM. Anchors are
+ * resolved from {@link PlacedBounds}, which a route obtains from typed asset
+ * bounds plus its intended scale via {@link placedBoundsFromAsset}.
+ */
+import { boundsFromAsset, boundsSize } from "./SceneGroundingUtils.js";
+/**
+ * Build placed bounds from a subject's world position, size and floor.
+ *
+ * `position` is the subject's floor contact point, matching how Aura3D's safe
+ * model renderer grounds a normalized model on its node origin.
+ */
+export function placedBounds(options) {
+    const floorY = options.floorY ?? options.position[1];
+    const size = [
+        Math.max(0, options.size[0]),
+        Math.max(0, options.size[1]),
+        Math.max(0, options.size[2])
+    ];
+    const min = [options.position[0] - size[0] / 2, floorY, options.position[2] - size[2] / 2];
+    const max = [options.position[0] + size[0] / 2, floorY + size[1], options.position[2] + size[2] / 2];
+    return {
+        min,
+        max,
+        center: [(min[0] + max[0]) / 2, (min[1] + max[1]) / 2, (min[2] + max[2]) / 2],
+        size,
+        floorY
+    };
+}
+/**
+ * Placed bounds for a typed asset rendered with `model(asset)`.
+ *
+ * Mirrors the safe renderer: the asset is normalized to
+ * `normalizedMaxDimension`, multiplied by node scale, and grounded so its
+ * lowest point rests on `floorY`. A route therefore never needs the asset's raw
+ * dimensions to place something relative to it.
+ */
+export function placedBoundsFromAsset(asset, options) {
+    const raw = boundsFromAsset(asset);
+    const rawSize = boundsSize(raw);
+    const rawMax = Math.max(rawSize[0], rawSize[1], rawSize[2]);
+    const factor = rawMax > 0 && options.targetMaxDimension > 0 ? options.targetMaxDimension / rawMax : 1;
+    const position = options.position ?? [0, options.floorY ?? 0, 0];
+    return placedBounds({
+        position,
+        size: [rawSize[0] * factor, rawSize[1] * factor, rawSize[2] * factor],
+        floorY: options.floorY ?? position[1]
+    });
+}
+/**
+ * Size an asset so it occupies a chosen fraction of a region it sits inside.
+ *
+ * Placement was already bounds-derived through {@link resolveSemanticRegion},
+ * but *sizing* was not: a route that knew where a vehicle belonged still had to
+ * invent a multiplier such as `.scale(1.58)` to decide how big it should be.
+ * That number carries no relationship to either the asset or its surroundings,
+ * so it silently becomes wrong the moment the asset is swapped or the scene
+ * resized — which is precisely the "hero fills the frame and occludes the scene"
+ * defect class.
+ *
+ * This returns a `targetMaxDimension` rather than a raw scale factor on purpose.
+ * A scale factor is only meaningful relative to an asset's unknown raw
+ * dimensions, whereas a target dimension is an absolute statement about world
+ * size that the renderer resolves against the asset's real bounds.
+ */
+export function fitSizeToRegion(region, options) {
+    const regionSize = [
+        Math.max(0, region.size[0]),
+        Math.max(0, region.size[1]),
+        Math.max(0, region.size[2])
+    ];
+    const requested = Number.isFinite(options.occupancy) ? Math.min(1, Math.max(0, options.occupancy)) : 0;
+    const axes = options.axes ?? ["x", "z"];
+    const axisIndex = { x: 0, y: 1, z: 2 };
+    const candidates = axes
+        .map((axis) => regionSize[axisIndex[axis]])
+        .filter((value) => typeof value === "number" && value > 0);
+    if (candidates.length === 0) {
+        throw new RangeError("fitSizeToRegion requires a region with positive extent on at least one constraining axis.");
+    }
+    // The smallest constraining extent governs: fitting to the largest would let
+    // the subject overflow the tighter axis, which is the same visual failure as
+    // hardcoding the scale too high.
+    const governing = Math.min(...candidates);
+    const ideal = governing * requested;
+    const lowerBound = options.minSize !== undefined && Number.isFinite(options.minSize) ? Math.max(0, options.minSize) : 0;
+    const upperBound = options.maxSize !== undefined && Number.isFinite(options.maxSize) ? Math.max(0, options.maxSize) : Number.POSITIVE_INFINITY;
+    const targetMaxDimension = Math.min(upperBound, Math.max(lowerBound, ideal));
+    return {
+        targetMaxDimension,
+        occupancy: governing > 0 ? targetMaxDimension / governing : 0,
+        regionSize,
+        clamped: targetMaxDimension !== ideal
+    };
+}
+/** Placed bounds for a raw {@link SceneBounds} already expressed in world units. */
+export function placedBoundsFromWorldBounds(bounds) {
+    const size = boundsSize(bounds);
+    return {
+        min: [bounds.min[0], bounds.min[1], bounds.min[2]],
+        max: [bounds.max[0], bounds.max[1], bounds.max[2]],
+        center: [
+            (bounds.min[0] + bounds.max[0]) / 2,
+            (bounds.min[1] + bounds.max[1]) / 2,
+            (bounds.min[2] + bounds.max[2]) / 2
+        ],
+        size,
+        floorY: bounds.min[1]
+    };
+}
+const ANCHOR_NORMALS = {
+    center: [0, 0, 0],
+    top: [0, 1, 0],
+    bottom: [0, -1, 0],
+    // "front" is +Z: Aura3D scenes look down -Z from a default camera, so the face
+    // nearest the viewer is +Z. Documented rather than inferred so a route reading
+    // "front" does not get the far side.
+    front: [0, 0, 1],
+    rear: [0, 0, -1],
+    left: [-1, 0, 0],
+    right: [1, 0, 0],
+    "top-front": [0, 0.7071, 0.7071],
+    "top-rear": [0, 0.7071, -0.7071],
+    "top-left": [-0.7071, 0.7071, 0],
+    "top-right": [0.7071, 0.7071, 0],
+    "floor-front": [0, 0, 1],
+    "floor-rear": [0, 0, -1],
+    "floor-left": [-1, 0, 0],
+    "floor-right": [1, 0, 0],
+    "corner-front-left": [-0.7071, 0, 0.7071],
+    "corner-front-right": [0.7071, 0, 0.7071],
+    "corner-rear-left": [-0.7071, 0, -0.7071],
+    "corner-rear-right": [0.7071, 0, -0.7071]
+};
+/**
+ * Resolve a world position on or beside a subject's placed bounds.
+ *
+ * The returned position is on the named face at `offset` distance outward. This
+ * is the replacement for literal helper coordinates: it tracks the asset.
+ */
+export function resolveBoundsAnchor(bounds, anchor, options = {}) {
+    const normal = ANCHOR_NORMALS[anchor];
+    const offset = options.offset ?? 0;
+    const half = [bounds.size[0] / 2, bounds.size[1] / 2, bounds.size[2] / 2];
+    // Start at the bounds centre and walk out to the named face.
+    let position = [
+        bounds.center[0] + normal[0] * half[0],
+        bounds.center[1] + normal[1] * half[1],
+        bounds.center[2] + normal[2] * half[2]
+    ];
+    // Floor anchors sit on the ground plane beside the subject.
+    if (anchor.startsWith("floor-") || options.onFloor === true) {
+        position = [position[0], bounds.floorY, position[2]];
+    }
+    position = [
+        position[0] + normal[0] * offset,
+        position[1] + normal[1] * offset,
+        position[2] + normal[2] * offset
+    ];
+    const worldOffset = options.worldOffset ?? [0, 0, 0];
+    position = [position[0] + worldOffset[0], position[1] + worldOffset[1], position[2] + worldOffset[2]];
+    return {
+        position,
+        normal,
+        anchor,
+        outsideBounds: !containsPoint(bounds, position)
+    };
+}
+/** True when a world point lies inside the placed bounds (inclusive). */
+export function containsPoint(bounds, point, epsilon = 1e-6) {
+    return point[0] >= bounds.min[0] - epsilon && point[0] <= bounds.max[0] + epsilon
+        && point[1] >= bounds.min[1] - epsilon && point[1] <= bounds.max[1] + epsilon
+        && point[2] >= bounds.min[2] - epsilon && point[2] <= bounds.max[2] + epsilon;
+}
+/** Resolve a normalized semantic region to world-space bounds on the subject. */
+export function resolveSemanticRegion(bounds, region) {
+    const clamp01 = (value) => Math.min(1, Math.max(0, Number.isFinite(value) ? value : 0));
+    const u = clamp01(region.u);
+    const v = clamp01(region.v);
+    const w = clamp01(region.w);
+    const extent = region.extent ?? [0, 0, 0];
+    const center = [
+        bounds.min[0] + bounds.size[0] * u,
+        bounds.min[1] + bounds.size[1] * v,
+        bounds.min[2] + bounds.size[2] * w
+    ];
+    const size = [
+        bounds.size[0] * clamp01(extent[0]),
+        bounds.size[1] * clamp01(extent[1]),
+        bounds.size[2] * clamp01(extent[2])
+    ];
+    return {
+        id: region.id,
+        label: region.label,
+        center,
+        size,
+        min: [center[0] - size[0] / 2, center[1] - size[1] / 2, center[2] - size[2] / 2],
+        max: [center[0] + size[0] / 2, center[1] + size[1] / 2, center[2] + size[2] / 2]
+    };
+}
+/**
+ * Distribute items evenly across a region, honouring a minimum spacing.
+ *
+ * Deterministic for a given seed so gameplay and evidence are reproducible.
+ * Used instead of `-0.45 + index * 0.17` style literals, which encode both the
+ * region and its spacing into one unexplained pair of numbers.
+ */
+export function distributeInRegion(region, options) {
+    const count = Math.max(0, Math.floor(options.count));
+    if (count === 0)
+        return [];
+    const spanX = region.max[0] - region.min[0];
+    const spanZ = region.max[2] - region.min[2];
+    const jitter = Math.min(1, Math.max(0, options.jitter ?? 0));
+    const seed = options.seed ?? 1;
+    // Lay items along the longer horizontal axis so a narrow conveyor stays a line.
+    const alongX = spanX >= spanZ;
+    const span = alongX ? spanX : spanZ;
+    const step = count > 1 ? span / (count - 1) : 0;
+    const y = options.onFloor === true ? region.min[1] : (region.min[1] + region.max[1]) / 2;
+    const positions = [];
+    let random = seed >>> 0 || 1;
+    const nextRandom = () => {
+        // xorshift32: deterministic, no dependencies, adequate for layout jitter.
+        random ^= random << 13;
+        random ^= random >>> 17;
+        random ^= random << 5;
+        return ((random >>> 0) / 0xffffffff) * 2 - 1;
+    };
+    for (let index = 0; index < count; index += 1) {
+        const t = count > 1 ? index * step : span / 2;
+        const jitterAmount = jitter * step * 0.5;
+        const primary = (alongX ? region.min[0] : region.min[2]) + t + (jitter > 0 ? nextRandom() * jitterAmount : 0);
+        const secondaryCenter = alongX ? (region.min[2] + region.max[2]) / 2 : (region.min[0] + region.max[0]) / 2;
+        const secondarySpan = alongX ? spanZ : spanX;
+        const secondary = secondaryCenter + (jitter > 0 ? nextRandom() * secondarySpan * 0.5 * jitter : 0);
+        positions.push(alongX ? [primary, y, secondary] : [secondary, y, primary]);
+    }
+    const minSpacing = options.minSpacing ?? 0;
+    return positions.map((position, index) => {
+        let nearest = Number.POSITIVE_INFINITY;
+        positions.forEach((other, otherIndex) => {
+            if (otherIndex === index)
+                return;
+            nearest = Math.min(nearest, distance(position, other));
+        });
+        if (!Number.isFinite(nearest))
+            nearest = Number.POSITIVE_INFINITY;
+        return {
+            index,
+            position,
+            nearestNeighborDistance: nearest === Number.POSITIVE_INFINITY ? Number.POSITIVE_INFINITY : round(nearest)
+        };
+    }).map((placement) => {
+        // Report rather than silently correct: a caller asking for spacing the region
+        // cannot provide should see it in the invariant report, not get moved items.
+        void minSpacing;
+        return placement;
+    });
+}
+/** Minimum-spacing check for a set of placements. */
+export function validateSpacing(placements, minSpacing) {
+    const violations = placements
+        .filter((placement) => Number.isFinite(placement.nearestNeighborDistance) && placement.nearestNeighborDistance < minSpacing)
+        .map((placement) => ({ index: placement.index, distance: placement.nearestNeighborDistance }));
+    return { ok: violations.length === 0, violations };
+}
+/**
+ * Place items on a circle around a subject.
+ *
+ * The radius is added to the subject's own horizontal half-extent, so a ring of
+ * markers stays clear of the asset regardless of how large the asset is.
+ */
+export function distributeAroundBounds(bounds, options) {
+    const count = Math.max(0, Math.floor(options.count));
+    if (count === 0)
+        return [];
+    const clearance = Math.max(bounds.size[0], bounds.size[2]) / 2;
+    const radius = clearance + Math.max(0, options.radius);
+    const sweep = options.sweep ?? Math.PI * 2;
+    const start = options.startAngle ?? 0;
+    const y = options.height ?? bounds.center[1];
+    const step = count > 1 ? sweep / (sweep >= Math.PI * 2 - 1e-6 ? count : count - 1) : 0;
+    const positions = [];
+    for (let index = 0; index < count; index += 1) {
+        const angle = start + step * index;
+        positions.push([
+            bounds.center[0] + Math.cos(angle) * radius,
+            y,
+            bounds.center[2] + Math.sin(angle) * radius
+        ]);
+    }
+    return positions.map((position, index) => {
+        let nearest = Number.POSITIVE_INFINITY;
+        positions.forEach((other, otherIndex) => {
+            if (otherIndex === index)
+                return;
+            nearest = Math.min(nearest, distance(position, other));
+        });
+        return { index, position, nearestNeighborDistance: Number.isFinite(nearest) ? round(nearest) : Number.POSITIVE_INFINITY };
+    });
+}
+/**
+ * Verify that helper geometry is anchored to its subject.
+ *
+ * `outside` elements must remain within `maxDistance` of the bounds: that is
+ * what separates "a control station beside the workcell" from "a box floating in
+ * the void". The default of 2x the subject's largest extent is generous enough
+ * for staging and tight enough to catch the digital-twin defect class.
+ */
+export function checkSpatialInvariants(bounds, claims, options = {}) {
+    const tolerance = options.surfaceTolerance ?? Math.max(0.02, Math.max(...bounds.size) * 0.08);
+    const defaultMaxDistance = Math.max(...bounds.size) * 2;
+    const checks = claims.map((claim) => {
+        const inside = containsPoint(bounds, claim.position);
+        const surfaceDistance = distanceToBoundsSurface(bounds, claim.position);
+        const outsideDistance = distanceOutsideBounds(bounds, claim.position);
+        if (claim.relation === "inside") {
+            return {
+                id: claim.id,
+                description: `${claim.id} must lie inside the subject bounds`,
+                passes: inside,
+                detail: inside ? "inside bounds" : `outside bounds by ${round(outsideDistance)} units`
+            };
+        }
+        if (claim.relation === "surface") {
+            const passes = surfaceDistance <= tolerance;
+            return {
+                id: claim.id,
+                description: `${claim.id} must sit on the subject surface within ${round(tolerance)} units`,
+                passes,
+                detail: `distance to surface ${round(surfaceDistance)} (tolerance ${round(tolerance)})`
+            };
+        }
+        const limit = claim.maxDistance ?? defaultMaxDistance;
+        const passes = !inside && outsideDistance <= limit;
+        return {
+            id: claim.id,
+            description: `${claim.id} must sit beside the subject within ${round(limit)} units, not inside it`,
+            passes,
+            detail: inside
+                ? "unexpectedly inside the subject bounds"
+                : `distance outside bounds ${round(outsideDistance)} (limit ${round(limit)})`
+        };
+    });
+    return {
+        schema: "aura3d-spatial-invariants/1.0",
+        subjectBounds: bounds,
+        checks,
+        passes: checks.every((check) => check.passes)
+    };
+}
+/** Shortest distance from a point to the bounds surface (0 when on it). */
+export function distanceToBoundsSurface(bounds, point) {
+    const outside = distanceOutsideBounds(bounds, point);
+    if (outside > 0)
+        return outside;
+    // Inside: distance to the nearest face.
+    return Math.min(point[0] - bounds.min[0], bounds.max[0] - point[0], point[1] - bounds.min[1], bounds.max[1] - point[1], point[2] - bounds.min[2], bounds.max[2] - point[2]);
+}
+/** Distance from a point to the bounds volume; 0 when inside. */
+export function distanceOutsideBounds(bounds, point) {
+    const dx = Math.max(bounds.min[0] - point[0], 0, point[0] - bounds.max[0]);
+    const dy = Math.max(bounds.min[1] - point[1], 0, point[1] - bounds.max[1]);
+    const dz = Math.max(bounds.min[2] - point[2], 0, point[2] - bounds.max[2]);
+    return Math.sqrt(dx * dx + dy * dy + dz * dz);
+}
+function distance(a, b) {
+    const dx = a[0] - b[0];
+    const dy = a[1] - b[1];
+    const dz = a[2] - b[2];
+    return Math.sqrt(dx * dx + dy * dy + dz * dz);
+}
+function round(value) {
+    return Math.round(value * 1e6) / 1e6;
+}
+//# sourceMappingURL=SpatialAnchoring.js.map

package/dist/engine/agent-api/SpatialAnchoring.js.map

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package/dist/engine/agent-api/VehicleChassis.d.ts

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+/**
+ * Reusable vehicle chassis: contact, suspension, attitude and wheel visuals.
+ *
+ * ## The defects this addresses
+ *
+ * Turbo Drift Circuit drove a 2D kinematic point (`game.racing`) and then pinned
+ * the car's rendered Y to a single literal, `TRACK_SURFACE_Y`. That has three
+ * visible consequences:
+ *
+ * 1. **The car sinks into the tarmac.** A model grounded on a frozen plane cannot
+ *    respond to the surface it is actually over. There is no contact model, so
+ *    there is nothing to hold the tyres on the road.
+ * 2. **No suspension.** The chassis never pitches under braking, never rolls in a
+ *    corner, and the wheels never travel. A car that stays perfectly level at
+ *    111 km/h reads as a sprite sliding on a plane, which is what it is.
+ * 3. **Wheels do not turn or steer.** Nothing derived wheel spin from speed or
+ *    wheel yaw from steering input.
+ *
+ * This module is the reusable answer. It takes a planar vehicle state -- position,
+ * heading, speed, steering, lateral slip -- plus a surface query, and produces the
+ * full 3D pose a renderer needs: chassis height from four independent contact
+ * points, pitch and roll from load transfer, per-wheel suspension travel, wheel
+ * spin and steer angles, and a contact report that states whether every tyre is
+ * on the ground.
+ *
+ * It is pure: no renderer, no DOM, no asset loading. That makes vehicle behaviour
+ * unit-testable, which is the only way "the car is grounded" becomes a fact rather
+ * than an opinion about a screenshot.
+ */
+export type VehicleVec3 = readonly [number, number, number];
+/** Surface sample under one contact point. */
+export interface VehicleSurfaceSample {
+    /** World Y of the surface at the queried point. */
+    readonly height: number;
+    /** Surface normal. Defaults to world up when a track is flat. */
+    readonly normal?: VehicleVec3 | undefined;
+    /** Grip multiplier, 1 on tarmac and lower off-track. */
+    readonly grip?: number | undefined;
+}
+/**
+ * Surface the vehicle drives on.
+ *
+ * A route supplies this from its own track topology. Because the chassis asks the
+ * surface for a height at each wheel rather than being told one number, swapping
+ * the track asset cannot leave the car buried: there is no frozen plane to be
+ * wrong about.
+ */
+export interface VehicleSurface {
+    sample(x: number, z: number): VehicleSurfaceSample;
+}
+/** Flat surface at a fixed height, for prototypes and tests. */
+export declare function flatVehicleSurface(height?: number, grip?: number): VehicleSurface;
+export interface VehicleChassisSpec {
+    /** Distance between front and rear axles, world units. */
+    readonly wheelbase: number;
+    /** Distance between left and right wheels, world units. */
+    readonly trackWidth: number;
+    /** Rolling radius of a wheel, world units. Drives visual spin rate. */
+    readonly wheelRadius: number;
+    /**
+     * Ride height: distance from the wheel contact patch to the chassis origin at
+     * rest. Derived from the asset's own bounds by the caller, never guessed.
+     */
+    readonly rideHeight: number;
+    /** Suspension travel available above and below rest, world units. */
+    readonly suspensionTravel?: number | undefined;
+    /**
+     * Spring stiffness as a normalized rate. Higher is firmer: the chassis resists
+     * pitch and roll more and settles faster.
+     */
+    readonly springRate?: number | undefined;
+    /** Damping ratio. 1 is critically damped; below 1 oscillates. */
+    readonly dampingRatio?: number | undefined;
+    /** Maximum steering angle at the front wheels, radians. */
+    readonly maxSteerAngle?: number | undefined;
+    /** Maximum chassis pitch under full braking or acceleration, radians. */
+    readonly maxPitch?: number | undefined;
+    /** Maximum chassis roll at full lateral load, radians. */
+    readonly maxRoll?: number | undefined;
+}
+export interface VehiclePlanarState {
+    /** World X of the chassis centre. */
+    readonly x: number;
+    /** World Z of the chassis centre. */
+    readonly z: number;
+    /** Heading in radians, measured so that heading 0 faces +X. */
+    readonly heading: number;
+    /** Forward speed in world units per second. */
+    readonly speed: number;
+    /** Steering input, -1..1. */
+    readonly steer: number;
+    /** Throttle input, 0..1. */
+    readonly throttle?: number | undefined;
+    /** Brake input, 0..1. */
+    readonly brake?: number | undefined;
+    /** Lateral slip, 0..1, used for roll and tyre scrub. */
+    readonly slip?: number | undefined;
+}
+export type VehicleWheelId = "front-left" | "front-right" | "rear-left" | "rear-right";
+export interface VehicleWheelPose {
+    readonly id: VehicleWheelId;
+    /** World position of the wheel centre. */
+    readonly position: VehicleVec3;
+    /** Steering angle applied to this wheel, radians. Zero for rear wheels. */
+    readonly steerAngle: number;
+    /** Accumulated rolling rotation, radians. */
+    readonly spin: number;
+    /** Suspension compression, 0 at full extension and 1 at full compression. */
+    readonly compression: number;
+    /** True when this wheel's contact patch is on the surface. */
+    readonly grounded: boolean;
+    /** Distance from the contact patch to the surface. Zero when grounded. */
+    readonly contactGap: number;
+}
+export interface VehiclePose {
+    /**
+     * Chassis origin in world space: the body's centre height, as a rigid body would
+     * report it.
+     *
+     * Use this for a model whose pivot is at its own centre. For a model rendered with
+     * `scaleMode: "fit"`, use {@link groundedPosition} instead -- the safe renderer grounds
+     * a fitted model's *lowest point* on its node position, so placing the body centre
+     * there lifts the whole vehicle by its ride height. That mismatch is visible as a car
+     * hovering above the road, which is the same class of defect as the sinking it
+     * replaced, in the opposite direction.
+     */
+    readonly position: VehicleVec3;
+    /**
+     * Contact-plane position: the height the lowest tyre contact patch sits at.
+     *
+     * This is what a `scaleMode: "fit"` model's node position should be set to.
+     */
+    readonly groundedPosition: VehicleVec3;
+    /** Euler rotation: pitch on X, yaw on Y, roll on Z. */
+    readonly rotation: VehicleVec3;
+    readonly wheels: readonly VehicleWheelPose[];
+    /** Height of the lowest contact patch above the surface. */
+    readonly contactGap: number;
+    /** True when every wheel is on the ground. */
+    readonly grounded: boolean;
+    /** Mean suspension compression across all four wheels. */
+    readonly averageCompression: number;
+}
+export interface VehicleChassisTelemetry {
+    readonly speed: number;
+    readonly speedKph: number;
+    readonly pitch: number;
+    readonly roll: number;
+    readonly steerAngle: number;
+    readonly wheelSpinRate: number;
+    readonly groundedWheels: number;
+    readonly maxContactGap: number;
+    readonly averageCompression: number;
+    readonly surfaceGrip: number;
+}
+export interface VehicleChassis {
+    readonly kind: "aura-vehicle-chassis";
+    readonly spec: Required<Omit<VehicleChassisSpec, never>>;
+    /** Advance suspension and wheel state, returning the resolved 3D pose. */
+    step(dt: number, state: VehiclePlanarState): VehiclePose;
+    /** Most recent pose without advancing. */
+    pose(): VehiclePose;
+    telemetry(): VehicleChassisTelemetry;
+    /** Return to rest at a planar state, clearing suspension and spin history. */
+    reset(state: VehiclePlanarState): VehiclePose;
+}
+/**
+ * Create a vehicle chassis.
+ *
+ * `rideHeight` and `wheelRadius` should be derived from the vehicle asset's own
+ * bounds. That is the difference between this and the constant it replaces: the
+ * caller states a proportion of a measured asset, not a number that happened to
+ * look right once.
+ */
+export declare function createVehicleChassis(spec: VehicleChassisSpec, surface: VehicleSurface): VehicleChassis;
+/**
+ * Derive chassis geometry from a vehicle asset's rendered bounds.
+ *
+ * This is what removes the need for a `CAR_SCENE_HEIGHT`-style constant. Given the
+ * size the asset actually renders at, the wheelbase, track width, wheel radius and
+ * ride height follow from standard automotive proportions, so a different car
+ * produces a different chassis instead of inheriting the old one's numbers.
+ */
+export declare function vehicleChassisSpecFromBounds(size: VehicleVec3, options?: {
+    /** Fraction of the body length between the axles. Real cars sit near 0.6. */
+    readonly wheelbaseFraction?: number | undefined;
+    /** Fraction of the body width between the wheel centres. */
+    readonly trackFraction?: number | undefined;
+    /** Fraction of body height taken by wheel diameter. */
+    readonly wheelDiameterFraction?: number | undefined;
+}): VehicleChassisSpec;
+//# sourceMappingURL=VehicleChassis.d.ts.map

package/dist/engine/agent-api/VehicleChassis.d.ts.map

@@ -0,0 +1 @@
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