@aura3d/engine 1.5.1 → 2.0.0

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

@@ -90,6 +90,53 @@ export declare function placedBoundsFromAsset(asset: SceneAssetLike, options: {
     readonly targetMaxDimension: number;
     readonly floorY?: number | undefined;
 }): PlacedBounds;
+export interface RegionFittedSizeOptions {
+    /**
+     * Fraction of the region the subject should occupy along its widest
+     * horizontal axis, 0..1.
+     */
+    readonly occupancy: number;
+    /**
+     * Which region axes constrain the fit. Defaults to the horizontal axes, which
+     * is what "a vehicle inside a city block" means; include `"y"` when vertical
+     * headroom is also a real constraint, such as a crate inside a warehouse bay.
+     */
+    readonly axes?: readonly ("x" | "y" | "z")[] | undefined;
+    /** Never size the subject below this world-unit maximum dimension. */
+    readonly minSize?: number | undefined;
+    /** Never size the subject above this world-unit maximum dimension. */
+    readonly maxSize?: number | undefined;
+}
+export interface RegionFittedSize {
+    /**
+     * Pass straight to `model(asset, { targetMaxDimension })` so the renderer
+     * derives the scale from the asset's own bounds.
+     */
+    readonly targetMaxDimension: number;
+    /** Fraction of the region actually occupied after clamping. */
+    readonly occupancy: number;
+    /** Region extents the fit was computed against. */
+    readonly regionSize: Vec3;
+    /** True when `minSize` or `maxSize` overrode the requested occupancy. */
+    readonly clamped: boolean;
+}
+/**
+ * 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 declare function fitSizeToRegion(region: ResolvedSemanticRegion | PlacedBounds, options: RegionFittedSizeOptions): RegionFittedSize;
 /** Placed bounds for a raw {@link SceneBounds} already expressed in world units. */
 export declare function placedBoundsFromWorldBounds(bounds: SceneBounds): PlacedBounds;
 /**

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

@@ -1 +1 @@
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package/dist/engine/agent-api/SpatialAnchoring.js

@@ -64,6 +64,52 @@ export function placedBoundsFromAsset(asset, options) {
         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);

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

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

@@ -36,6 +36,8 @@ export interface VehicleSurfaceSample {
     readonly normal?: VehicleVec3 | undefined;
     /** Grip multiplier, 1 on tarmac and lower off-track. */
     readonly grip?: number | undefined;
+    /** False when no real surface exists under the complete contact patch. */
+    readonly hit?: boolean | undefined;
 }
 /**
  * Surface the vehicle drives on.
@@ -50,6 +52,35 @@ export interface VehicleSurface {
 }
 /** Flat surface at a fixed height, for prototypes and tests. */
 export declare function flatVehicleSurface(height?: number, grip?: number): VehicleSurface;
+/**
+ * Vehicle surface backed by the real track mesh.
+ *
+ * This is the replacement for the analytic surface every racing route had to invent.
+ * Turbo Drift's was `TRACK_SURFACE_Y - VERGE_DROP * shoulderFraction`: one frozen scalar
+ * plus a hand-graded shoulder. That model cannot represent banking, crowning, kerbs or
+ * elevation change, so the car's tyres passed through the visible road on corners, and
+ * it silently became wrong whenever the track asset changed.
+ *
+ * Grip comes from the surface query's per-triangle map, so "the tarmac grips and the
+ * grass does not" is a property of the mesh rather than a distance-from-centreline
+ * formula that has to be re-derived per circuit.
+ */
+export declare function meshVehicleSurface(query: {
+    sample(x: number, z: number): {
+        readonly height: number;
+        readonly normal: readonly [number, number, number];
+        readonly grip: number;
+        readonly hit: boolean;
+    };
+}, options?: {
+    readonly offRoadGrip?: number | undefined;
+    /**
+     * Radius of the tyre contact patch in world units. A wheel is not a zero-area ray:
+     * when the centre ray lands in a small triangle seam, nearby road within this radius
+     * still supports the tyre.
+     */
+    readonly contactPatchRadius?: number | undefined;
+}): VehicleSurface;
 export interface VehicleChassisSpec {
     /** Distance between front and rear axles, world units. */
     readonly wheelbase: number;
@@ -64,6 +95,12 @@ export interface VehicleChassisSpec {
     readonly rideHeight: number;
     /** Suspension travel available above and below rest, world units. */
     readonly suspensionTravel?: number | undefined;
+    /**
+     * Maximum additional reach supplied by tyre deformation at the contact patch.
+     * This is separate from suspension travel: a compliant tyre seats against small
+     * mesh height discontinuities while a real drop still leaves the wheel airborne.
+     */
+    readonly contactTolerance?: number | undefined;
     /**
      * Spring stiffness as a normalized rate. Higher is firmer: the chassis resists
      * pitch and roll more and settles faster.
@@ -141,6 +178,21 @@ export interface VehiclePose {
     /** Mean suspension compression across all four wheels. */
     readonly averageCompression: number;
 }
+/**
+ * Position a bottom-grounded fitted model without rotating its tyres through the road.
+ *
+ * `groundedPosition` is the physical contact plane. A fitted GLB is translated so its
+ * lowest local Y sits on that plane, but pitch and roll are then applied around the
+ * model node's pivot. Without compensation, the downhill edge of that already-grounded
+ * box rotates below the plane even though all four chassis contacts remain valid. The
+ * required lift is the vertical sweep of the model's half-length and half-width.
+ *
+ * This is a presentation transform only: wheel contact telemetry and the physical
+ * contact plane remain unchanged.
+ */
+export declare function groundedFittedModelPosition(pose: Pick<VehiclePose, "groundedPosition" | "rotation">, fittedSize: VehicleVec3, options?: {
+    readonly contactClearance?: number | undefined;
+}): VehicleVec3;
 export interface VehicleChassisTelemetry {
     readonly speed: number;
     readonly speedKph: number;

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

@@ -1 +1 @@
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package/dist/engine/agent-api/VehicleChassis.js

@@ -29,7 +29,84 @@
  */
 /** Flat surface at a fixed height, for prototypes and tests. */
 export function flatVehicleSurface(height = 0, grip = 1) {
-    return { sample: () => ({ height, normal: [0, 1, 0], grip }) };
+    return { sample: () => ({ height, normal: [0, 1, 0], grip, hit: true }) };
+}
+/**
+ * Vehicle surface backed by the real track mesh.
+ *
+ * This is the replacement for the analytic surface every racing route had to invent.
+ * Turbo Drift's was `TRACK_SURFACE_Y - VERGE_DROP * shoulderFraction`: one frozen scalar
+ * plus a hand-graded shoulder. That model cannot represent banking, crowning, kerbs or
+ * elevation change, so the car's tyres passed through the visible road on corners, and
+ * it silently became wrong whenever the track asset changed.
+ *
+ * Grip comes from the surface query's per-triangle map, so "the tarmac grips and the
+ * grass does not" is a property of the mesh rather than a distance-from-centreline
+ * formula that has to be re-derived per circuit.
+ */
+export function meshVehicleSurface(query, options = {}) {
+    const offRoadGrip = options.offRoadGrip ?? 0.45;
+    const contactPatchRadius = Math.max(0, options.contactPatchRadius ?? 0);
+    return {
+        sample: (x, z) => {
+            let sample = query.sample(x, z);
+            if (!sample.hit && contactPatchRadius > 0) {
+                /*
+                 * Probe the finite patch from near to far. Selecting the highest hit on the
+                 * first successful ring keeps a tyre on the road surface instead of dropping it
+                 * to the mesh query's global fallback height, while still reporting a true miss
+                 * when the whole contact patch has left the mesh.
+                 */
+                // Sparse extracted meshes do not guarantee that the closest triangle lies
+                // on one of eight cardinal/diagonal rays. Probe concentric rings densely
+                // enough to represent the complete circular patch rather than 16 isolated
+                // points; this still runs only after the centre sample is a genuine miss.
+                for (const radius of [0.25, 0.5, 0.75, 1].map((fraction) => contactPatchRadius * fraction)) {
+                    const hits = Array.from({ length: 16 }, (_, index) => {
+                        const angle = index * Math.PI / 8;
+                        return query.sample(x + Math.cos(angle) * radius, z + Math.sin(angle) * radius);
+                    }).filter((candidate) => candidate.hit);
+                    if (hits.length > 0) {
+                        sample = hits.reduce((highest, candidate) => candidate.height > highest.height ? candidate : highest);
+                        break;
+                    }
+                }
+            }
+            return {
+                height: sample.height,
+                normal: sample.normal,
+                // A point with no triangle under it is off the drivable mesh entirely, which
+                // should be slippery rather than silently full-grip.
+                grip: sample.hit ? sample.grip : offRoadGrip,
+                hit: sample.hit
+            };
+        }
+    };
+}
+/**
+ * Position a bottom-grounded fitted model without rotating its tyres through the road.
+ *
+ * `groundedPosition` is the physical contact plane. A fitted GLB is translated so its
+ * lowest local Y sits on that plane, but pitch and roll are then applied around the
+ * model node's pivot. Without compensation, the downhill edge of that already-grounded
+ * box rotates below the plane even though all four chassis contacts remain valid. The
+ * required lift is the vertical sweep of the model's half-length and half-width.
+ *
+ * This is a presentation transform only: wheel contact telemetry and the physical
+ * contact plane remain unchanged.
+ */
+export function groundedFittedModelPosition(pose, fittedSize, options = {}) {
+    const pitchLift = Math.abs(Math.sin(pose.rotation[0])) * Math.abs(fittedSize[2]) / 2;
+    const rollLift = Math.abs(Math.sin(pose.rotation[2])) * Math.abs(fittedSize[0]) / 2;
+    // A tiny caller-supplied raster clearance keeps a dark tyre circumference from
+    // disappearing into a similarly dark road/contact shadow. It is presentation-only
+    // and should remain a small fraction of wheel radius, never a ride-height offset.
+    const contactClearance = Math.max(0, options.contactClearance ?? 0);
+    return [
+        pose.groundedPosition[0],
+        pose.groundedPosition[1] + pitchLift + rollLift + contactClearance,
+        pose.groundedPosition[2]
+    ];
 }
 const WHEEL_LAYOUT = [
     { id: "front-left", forward: 0.5, lateral: -0.5, steered: true },
@@ -52,6 +129,7 @@ export function createVehicleChassis(spec, surface) {
         wheelRadius: positive(spec.wheelRadius, 0.15),
         rideHeight: positive(spec.rideHeight, 0.3),
         suspensionTravel: positive(spec.suspensionTravel ?? spec.rideHeight * 0.35, 0.05),
+        contactTolerance: Math.max(0, spec.contactTolerance ?? spec.wheelRadius * 0.04),
         springRate: positive(spec.springRate ?? 14, 1),
         dampingRatio: positive(spec.dampingRatio ?? 0.72, 0.05),
         maxSteerAngle: positive(spec.maxSteerAngle ?? 0.52, 0.05),
@@ -182,14 +260,40 @@ export function createVehicleChassis(spec, surface) {
          */
         const bodyY = cornerHeights.reduce((sum, value) => sum + value, 0) / cornerHeights.length;
         const maxReach = resolved.rideHeight + resolved.suspensionTravel * 0.5;
+        /*
+         * Which wheels can the body actually rest on?
+         *
+         * Two wrong models, both of which shipped at some point:
+         *
+         * 1. Compare each wheel's surface to `bodyY`, the flat average of four corners. On
+         *    level ground that is right. On undulating ground a legitimately low corner reads
+         *    as unreachable, so `grounded` went false while `contactGap` stayed 0.00000 — an
+         *    incoherent pair. A scripted lap over gentle terrain reported 233 of 360 steps
+         *    ungrounded with zero measured gap.
+         * 2. Compare each wheel to *its own* corner. That is self-referential, because the
+         *    corner is derived from the same sample: the difference is always ride height, so
+         *    a car could hang a wheel over a cliff and still call itself grounded. The
+         *    original code comment warned about exactly this, and a naive fix walked straight
+         *    into it.
+         *
+         * The physical model is a rigid body resting on the wheels it can reach. The support
+         * height is the *median* of the corner heights rather than the mean: a median ignores
+         * one corner that has fallen into a hole, where a mean is dragged down by it. With
+         * four corners the median is the average of the middle two, which also keeps the value
+         * stable as the car rocks.
+         */
+        const sortedCorners = [...cornerHeights].sort((left, right) => left - right);
+        const supportY = sortedCorners.length === 4
+            ? (sortedCorners[1] + sortedCorners[2]) / 2
+            : bodyY;
         const resolvedWheels = wheels.map((wheel, index) => {
             const sample = samples[index].sample;
-            const requiredDrop = bodyY - sample.height;
-            if (requiredDrop <= maxReach)
+            const requiredDrop = supportY - sample.height;
+            if (requiredDrop <= maxReach + resolved.contactTolerance)
                 return wheel;
-            // Out of travel: the wheel stays at its fullest extension below the body and
+            // Out of travel: the wheel hangs at full extension below the supported body and
             // reports the gap to the surface it cannot reach.
-            const hangingCentreY = bodyY - maxReach + resolved.wheelRadius;
+            const hangingCentreY = supportY - maxReach + resolved.wheelRadius;
             return {
                 ...wheel,
                 position: [wheel.position[0], hangingCentreY, wheel.position[2]],
@@ -205,20 +309,59 @@ export function createVehicleChassis(spec, surface) {
          * lower than right is roll. Derived rather than imposed, so the attitude can only
          * be one the springs produced.
          */
+        /*
+         * A rigid body rests on the wheels that can reach it. Do not derive its attitude
+         * from the mesh query's fallback height under an explicitly ungrounded wheel: that
+         * made one tyre over a seam roll the whole car toward the bottom of the mesh. With
+         * three supported corners, the missing corner is the planar continuation of the
+         * other three; with fewer, use the supported median rather than inventing a slope.
+         */
+        const missingSurface = samples.map((entry) => entry.sample.hit === false);
+        const supportedCornerHeights = supportPlaneValues(cornerHeights, missingSurface);
+        const supportedSurfaceHeights = supportPlaneValues(samples.map((entry) => entry.sample.height), missingSurface);
         const cornerBy = (id) => {
             const index = WHEEL_LAYOUT.findIndex((wheel) => wheel.id === id);
-            return cornerHeights[index] ?? bodyY;
+            return supportedCornerHeights[index] ?? bodyY;
         };
         const frontHeight = (cornerBy("front-left") + cornerBy("front-right")) / 2;
         const rearHeight = (cornerBy("rear-left") + cornerBy("rear-right")) / 2;
         const leftHeight = (cornerBy("front-left") + cornerBy("rear-left")) / 2;
         const rightHeight = (cornerBy("front-right") + cornerBy("rear-right")) / 2;
+        /*
+         * Surface attitude: the slope of the ground itself, under the contact patches.
+         *
+         * This is separated from the spring-induced attitude below because the two are
+         * bounded by different things, and conflating them was a real defect. `maxPitch` and
+         * `maxRoll` are correctly capped by suspension travel — a spring cannot tilt the body
+         * further than it can compress. But a car driving across a *banked* road is tilted by
+         * the road, and that rotation costs no suspension travel at all: all four springs sit
+         * at rest and the whole chassis simply lies on a slope.
+         *
+         * Capping the total attitude by travel therefore clamped surface following to a few
+         * degrees. On a 10-degree bank the chassis reported 4.59 degrees of roll, so the body
+         * stayed nearly level while its wheels sat on a visibly sloped surface — which reads
+         * as the car floating through the banking. Measured, not assumed: a 0.12-unit travel
+         * over a 1.5-unit track caps roll at 2.29 degrees, and 2 x 2.29 = 4.59.
+         */
+        const surfaceHeightAt = (id) => {
+            const index = WHEEL_LAYOUT.findIndex((wheel) => wheel.id === id);
+            return supportedSurfaceHeights[index] ?? 0;
+        };
+        const surfaceFront = (surfaceHeightAt("front-left") + surfaceHeightAt("front-right")) / 2;
+        const surfaceRear = (surfaceHeightAt("rear-left") + surfaceHeightAt("rear-right")) / 2;
+        const surfaceLeft = (surfaceHeightAt("front-left") + surfaceHeightAt("rear-left")) / 2;
+        const surfaceRight = (surfaceHeightAt("front-right") + surfaceHeightAt("rear-right")) / 2;
+        const surfacePitch = Math.asin(clamp((surfaceRear - surfaceFront) / Math.max(1e-6, resolved.wheelbase), -1, 1));
+        const surfaceRoll = Math.asin(clamp((surfaceLeft - surfaceRight) / Math.max(1e-6, resolved.trackWidth), -1, 1));
         // A lower nose is a positive pitch, matching the convention that braking pitches
         // the car nose-down with a positive angle.
-        pitch = clamp(Math.asin(clamp((rearHeight - frontHeight) / Math.max(1e-6, resolved.wheelbase), -1, 1)), -resolved.maxPitch, resolved.maxPitch);
+        // Total attitude, then split: the surface part is free, the spring part is capped.
+        const totalPitch = Math.asin(clamp((rearHeight - frontHeight) / Math.max(1e-6, resolved.wheelbase), -1, 1));
+        pitch = surfacePitch + clamp(totalPitch - surfacePitch, -resolved.maxPitch, resolved.maxPitch);
         // A lower left side is a negative roll, so steering right (which loads the left)
         // produces a negative roll and steering left a positive one.
-        roll = clamp(Math.asin(clamp((leftHeight - rightHeight) / Math.max(1e-6, resolved.trackWidth), -1, 1)), -resolved.maxRoll, resolved.maxRoll);
+        const totalRoll = Math.asin(clamp((leftHeight - rightHeight) / Math.max(1e-6, resolved.trackWidth), -1, 1));
+        roll = surfaceRoll + clamp(totalRoll - surfaceRoll, -resolved.maxRoll, resolved.maxRoll);
         // Rolling rotation from distance travelled. A stationary car's wheels must not
         // spin, and a fast car's must, which is what makes motion legible.
         const spinRate = resolved.wheelRadius > 0 ? state.speed / resolved.wheelRadius : 0;
@@ -310,6 +453,37 @@ function attitudeLimitForTravel(travel, span) {
     const budget = Math.max(0, travel) / 2;
     return Math.asin(Math.min(1, budget / halfSpan));
 }
+/** Resolve a rectangular four-corner support plane around any hanging wheels. */
+function supportPlaneValues(values, missingSurface) {
+    const resolved = [values[0] ?? 0, values[1] ?? 0, values[2] ?? 0, values[3] ?? 0];
+    const hanging = missingSurface
+        .map((missing, index) => missing ? index : -1)
+        .filter((index) => index >= 0);
+    if (hanging.length === 0)
+        return resolved;
+    if (hanging.length === 1) {
+        const missing = hanging[0];
+        // Layout: front-left, front-right, rear-left, rear-right.
+        const extrapolated = [
+            resolved[1] + resolved[2] - resolved[3],
+            resolved[0] + resolved[3] - resolved[2],
+            resolved[0] + resolved[3] - resolved[1],
+            resolved[1] + resolved[2] - resolved[0]
+        ];
+        resolved[missing] = extrapolated[missing];
+        return resolved;
+    }
+    const supported = resolved.filter((_value, index) => !missingSurface[index]);
+    const sorted = supported.sort((left, right) => left - right);
+    const median = sorted.length === 0
+        ? 0
+        : sorted.length % 2 === 1
+            ? sorted[Math.floor(sorted.length / 2)]
+            : (sorted[sorted.length / 2 - 1] + sorted[sorted.length / 2]) / 2;
+    for (const index of hanging)
+        resolved[index] = median;
+    return resolved;
+}
 function clamp(value, min, max) {
     return Math.min(max, Math.max(min, Number.isFinite(value) ? value : min));
 }

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

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