@aura3d/engine 1.5.2 → 2.0.1

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

@@ -235,11 +235,26 @@ export interface GameRacingTrackTopology {
         readonly x: number;
         readonly z: number;
         readonly width?: number;
+        readonly surfaceY?: number;
     }[];
     readonly checkpoints: readonly {
         readonly progress: number;
         readonly width: number;
     }[];
+    /**
+     * The drivable road as indexed triangles in model space, when the asset provided them.
+     *
+     * A centreline is a curve, so it carries one height per point *along* the track and cannot
+     * express camber, crowning or banking, which vary across the road's **width**. Four wheels
+     * sit at different lateral offsets, so grounding them on a curve gives them all the same
+     * height — the flat-plane defect restated. Triangles are what make per-wheel contact real.
+     */
+    readonly drivableMesh?: {
+        readonly positions: readonly number[];
+        readonly indices: readonly number[];
+        readonly triangleCount: number;
+        readonly sourceTriangleCount?: number;
+    };
     readonly lapLengthMeters?: number;
     readonly estimatedLapSeconds: number;
     readonly confidence: number;
@@ -297,6 +312,14 @@ export interface GameRacingOptions {
     readonly steerRate?: number;
     readonly boostAcceleration?: number;
     readonly offTrackDrag?: number;
+    /**
+     * Keeps the vehicle centre this far inside each certified road edge. Use half the
+     * rendered vehicle width (converted to route units) so wheels do not hang over the
+     * terrain while the centre point still reports on-track.
+     */
+    readonly boundaryInset?: number;
+    /** Maximum heading error from the racing-line tangent during automatic edge recovery. */
+    readonly recoveryHeadingLimit?: number;
     readonly checkpointRadius?: number;
     readonly startProgress?: number;
     readonly lapsToWin?: number;
@@ -441,17 +464,67 @@ export interface GameRacingSurfaceContact {
      */
     readonly signedTrackOffset: number;
     readonly roadHalfWidth: number;
+    /**
+     * Heading of the racing line itself at the nearest point, radians, in the same convention as
+     * the car's own `heading`.
+     *
+     * Without this a controller can only see *how far* it is from the line, never which way the line
+     * is going. That is survivable for a kinematic model, whose heading snaps to the steering input,
+     * and not survivable for a force model: the car's heading and its direction of travel diverge
+     * under slip, so a pure offset controller has no heading error term and oscillates instead of
+     * tracking. `tangentHeading - heading` is the term it needs.
+     */
+    readonly tangentHeading: number;
+    /**
+     * Signed curvature of the racing line at the nearest point, 1/radius in route units, positive
+     * for a left-hand corner.
+     *
+     * A force-based car has to slow down *before* a corner, because grip is finite and load transfer
+     * takes time. Curvature is what makes the required entry speed computable — `sqrt(gripG * g / |k|)`
+     * — rather than guessed. A controller that cannot see curvature can only react after it is already
+     * understeering, which is exactly the failure the kinematic model hid.
+     */
+    readonly curvature: number;
 }
 export interface GameRacingSurfaceQuery {
     readonly kind: "aura-game-racing-surface-query";
     readonly certified: boolean;
+    /** Total centreline length in route units. Needed to convert a lookahead distance to progress. */
+    readonly length: number;
+    readonly roadHalfWidth: number;
     query(position: GameKitVec2): GameRacingSurfaceContact;
+    /**
+     * Sample the racing line at a progress value, independent of where any car is.
+     *
+     * This is the lookahead primitive. Corner entry speed depends on the curvature the car is about
+     * to reach, not the curvature under it, so anticipation requires sampling the line ahead of the
+     * current position.
+     */
+    sampleAt(progress: number): GameRacingLineSample;
+}
+export interface GameRacingLineSample {
+    readonly x: number;
+    readonly y: number;
+    readonly progress: number;
+    readonly heading: number;
+    /** Signed curvature, 1/radius, positive for a left-hand corner. */
+    readonly curvature: number;
 }
 export interface GameRacingKit {
     readonly kind: "aura-game-racing-kit";
     readonly maxSpeed: number;
     readonly surfaceQuery: GameRacingSurfaceQuery;
     step(dt: number, input?: GameRacingInput): GameRacingSnapshot;
+    /**
+     * Feed a position resolved by the selected collision solver back into the racing
+     * state. This keeps vehicle-to-vehicle and barrier contact authoritative instead
+     * of moving only the rendered model while gameplay continues through the obstacle.
+     */
+    resolveContact(position: GameKitVec2, options?: {
+        readonly heading?: number;
+        readonly speedMultiplier?: number;
+        readonly driftMultiplier?: number;
+    }): GameRacingSnapshot;
     reset(progress?: number): GameRacingSnapshot;
     placeAtProgress(progress: number, offset?: number): GameRacingSnapshot;
     snapshot(): GameRacingSnapshot;

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

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