@aura3d/engine 1.5.2 → 2.0.1

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

@@ -1 +1 @@
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+{"version":3,"file":"GameSceneGeometryBindings.d.ts","sourceRoot":"","sources":["../../../../../packages/engine/src/agent-api/GameSceneGeometryBindings.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EACV,6BAA6B,EAC7B,yBAAyB,EACzB,WAAW,EACX,WAAW,EAEX,gCAAgC,EAChC,yBAAyB,EAEzB,kBAAkB,EAClB,uBAAuB,EACxB,MAAM,iBAAiB,CAAC;AAczB,OAAO,EAA0B,KAAK,gBAAgB,EAAE,MAAM,4BAA4B,CAAC;AAC3F,OAAO,EAAsB,KAAK,cAAc,EAAE,MAAM,kBAAkB,CAAC;AAE3E,KAAK,IAAI,GAAG,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;AAC9C,KAAK,MAAM,GAAG,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;AAEhD,MAAM,WAAW,iCAAiC;IAChD,QAAQ,CAAC,MAAM,EAAE,wBAAwB,CAAC;IAC1C,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;IACxB,QAAQ,CAAC,KAAK,EAAE,oBAAoB,CAAC;IACrC,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,YAAY,EAAE,OAAO,GAAG,UAAU,CAAC;CAC7C;AAED,MAAM,WAAW,+BAA+B;IAC9C,QAAQ,CAAC,IAAI,EAAE,aAAa,GAAG,QAAQ,CAAC;IACxC,QAAQ,CAAC,iBAAiB,CAAC,EAAE,iCAAiC,CAAC;IAC/D,QAAQ,CAAC,QAAQ,CAAC,EAAE,IAAI,CAAC;IACzB,QAAQ,CAAC,MAAM,EAAE,IAAI,CAAC;IACtB,QAAQ,CAAC,MAAM,CAAC,EAAE,IAAI,CAAC;IACvB,QAAQ,CAAC,YAAY,CAAC,EAAE,IAAI,CAAC;IAC7B,QAAQ,CAAC,UAAU,CAAC,EAAE,OAAO,GAAG,YAAY,CAAC;IAC7C,QAAQ,CAAC,GAAG,EAAE,MAAM,CAAC;IACrB,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,SAAS,CAAC,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;CACnC;AAED,MAAM,WAAW,oBAAoB;IACnC,QAAQ,CAAC,CAAC,CAAC,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,CAAC,CAAC,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,CAAC,CAAC,EAAE,MAAM,CAAC;CACrB;AAED,MAAM,WAAW,kBAAkB;IACjC,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;CAC5B;AAED,MAAM,WAAW,uBAAuB;IACtC,QAAQ,CAAC,IAAI,EAAE,eAAe,GAAG,sBAAsB,GAAG,wBAAwB,CAAC;IACnF,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,YAAY,EAAE,MAAM,GAAG,IAAI,CAAC;IACrC,QAAQ,CAAC,QAAQ,EAAE,MAAM,GAAG,IAAI,CAAC;IACjC,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;CAC3B;AAED,MAAM,WAAW,6BAA6B;IAC5C,QAAQ,CAAC,QAAQ,EAAE,uBAAuB,CAAC;IAC3C,QAAQ,CAAC,KAAK,EAAE,yBAAyB,CAAC;IAC1C,QAAQ,CAAC,UAAU,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,eAAe,CAAC,EAAE,MAAM,CAAC;IAClC,QAAQ,CAAC,4BAA4B,CAAC,EAAE,MAAM,CAAC;IAC/C,QAAQ,CAAC,qBAAqB,CAAC,EAAE,oBAAoB,CAAC;IACtD,QAAQ,CAAC,4BAA4B,CAAC,EAAE,oBAAoB,CAAC;IAC7D,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,IAAI,CAAC,EAAE,MAAM,CAAC;IACvB,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,sBAAsB,CAAC,EAAE,OAAO,CAAC;CAC3C;AAED,MAAM,WAAW,mBAAmB;IAClC,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;IACxB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;IAC1B,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;CAC1B;AAED,MAAM,WAAW,yBAAyB;IACxC,QAAQ,CAAC,IAAI,EAAE,gCAAgC,CAAC;IAChD,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,kBAAkB,EAAE,MAAM,CAAC;IACpC,QAAQ,CAAC,kBAAkB,EAAE,MAAM,CAAC;IACpC,QAAQ,CAAC,qBAAqB,EAAE,MAAM,CAAC;IACvC,QAAQ,CAAC,mBAAmB,EAAE,MAAM,CAAC;CACtC;AAED,MAAM,WAAW,sBAAsB;IACrC,QAAQ,CAAC,IAAI,EAAE,gCAAgC,CAAC;IAChD,QAAQ,CAAC,oBAAoB,EAAE,KAAK,CAAC;IACrC,QAAQ,CAAC,iBAAiB,EAAE,MAAM,CAAC;IACnC,QAAQ,CAAC,SAAS,EAAE,kBAAkB,CAAC;IACvC,QAAQ,CAAC,UAAU,EAAE,yBAAyB,CAAC;IAC/C,QAAQ,CAAC,UAAU,EAAE;QACnB,QAAQ,CAAC,QAAQ,EAAE,IAAI,CAAC;QACxB,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;QAC1B,QAAQ,CAAC,kBAAkB,EAAE,MAAM,CAAC;QACpC,QAAQ,CAAC,SAAS,EAAE,uBAAuB,CAAC;KAC7C,CAAC;IACF,QAAQ,CAAC,qBAAqB,EAAE,SAAS,IAAI,EAAE,CAAC;IAChD,QAAQ,CAAC,QAAQ,EAAE;QACjB,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;QAC7B,QAAQ,CAAC,YAAY,EAAE,MAAM,CAAC;QAC9B,QAAQ,CAAC,eAAe,EAAE,mCAAmC,CAAC;QAC9D,QAAQ,CAAC,SAAS,EAAE,MAAM,CAAC;QAC3B,QAAQ,CAAC,cAAc,EAAE,MAAM,CAAC;QAChC,QAAQ,CAAC,eAAe,EAAE,MAAM,CAAC;QACjC,QAAQ,CAAC,eAAe,EAAE,MAAM,CAAC;QACjC,QAAQ,CAAC,yBAAyB,EAAE,MAAM,CAAC;QAC3C,QAAQ,CAAC,gBAAgB,EAAE,QAAQ,CAAC,oBAAoB,CAAC,CAAC;QAC1D,QAAQ,CAAC,uBAAuB,EAAE,QAAQ,CAAC,oBAAoB,CAAC,CAAC;QACjE,QAAQ,CAAC,cAAc,EAAE;YACvB,QAAQ,CAAC,MAAM,EAAE,MAAM,CAAC;YACxB,QAAQ,CAAC,UAAU,EAAE,IAAI,CAAC;YAC1B,QAAQ,CAAC,SAAS,EAAE;gBAClB,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;gBACnB,QAAQ,CAAC,CAAC,EAAE,MAAM,CAAC;aACpB,CAAC;YACF,QAAQ,CAAC,WAAW,EAAE,MAAM,CAAC;YAC7B,QAAQ,CAAC,kBAAkB,EAAE,MAAM,GAAG,IAAI,CAAC;YAC3C,QAAQ,CAAC,cAAc,EAAE,MAAM,GAAG,IAAI,CAAC;YACvC,QAAQ,CAAC,QAAQ,EAAE,MAAM,CAAC;SAC3B,CAAC;QACF,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;KACxB,CAAC;IACF,YAAY,CAAC,KAAK,EAAE,WAAW,EAAE,CAAC,CAAC,EAAE,MAAM,GAAG,IAAI,CAAC;IACnD,WAAW,CAAC,QAAQ,EAAE,IAAI,CAAC,kBAAkB,EAAE,UAAU,GAAG,SAAS,CAAC,EAAE,CAAC,CAAC,EAAE,MAAM,GAAG,mBAAmB,CAAC;IACzG;;;;;;;;OAQG;IACH,WAAW,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,WAAW,CAAC;IAC/C;;;;;;;;;;OAUG;IACH,YAAY,IAAI,gBAAgB,GAAG,SAAS,CAAC;IAC7C;;;;;OAKG;IACH,cAAc,CAAC,OAAO,CAAC,EAAE;QACvB,QAAQ,CAAC,WAAW,CAAC,EAAE,MAAM,CAAC;QAC9B,QAAQ,CAAC,kBAAkB,CAAC,EAAE,MAAM,CAAC;KACtC,GAAG,cAAc,GAAG,SAAS,CAAC;CAChC;AAED,MAAM,WAAW,mCAAmC;IAClD,QAAQ,CAAC,YAAY,EAAE,sBAAsB,CAAC;IAC9C,QAAQ,CAAC,KAAK,EAAE,IAAI,CAAC,kBAAkB,EAAE,UAAU,GAAG,SAAS,CAAC,CAAC;IACjE,QAAQ,CAAC,IAAI,CAAC,EAAE,QAAQ,GAAG,UAAU,CAAC;IACtC,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAC3B,QAAQ,CAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,UAAU,CAAC,EAAE,MAAM,CAAC;IAC7B,QAAQ,CAAC,SAAS,CAAC,EAAE,MAAM,CAAC;IAC5B,QAAQ,CAAC,MAAM,CAAC,EAAE,IAAI,CAAC;IACvB,QAAQ,CAAC,GAAG,CAAC,EAAE,MAAM,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package/dist/engine/agent-api/GameSceneGeometryBindings.js

@@ -1,4 +1,7 @@
 import { assertOverlayValidatedSource, averageRouteTopologyError, averageSurfaceBindingError, boundsFromLeftEdgeRects, boundsFromPoints, normalizedModelLocalOffset, positiveOrDefault, roundScene, sampleRoutePoint, transformFromBounds } from "./GameSceneGeometryMath.js";
+// WS-2.2: mesh surface queries are geometry, not simulation — no solver needed.
+import { createMeshSurfaceQuery } from "../../physics/solverless.js";
+import { meshVehicleSurface } from "./VehicleChassis.js";
 export function createGameRacingSceneBinding(options) {
     const targetSceneSize = positiveOrDefault(options.targetSceneSize, 3.25);
     const trackModelTargetMaxDimension = positiveOrDefault(options.trackModelTargetMaxDimension, targetSceneSize);
@@ -53,6 +56,43 @@ export function createGameRacingSceneBinding(options) {
         maxErrorRatio: 0.28
     });
     const trackModelPosition = addVec3(trackModelFit.position, offsetToVec3(trackModelPresentationOffset));
+    /**
+     * Build the scene-space surface query from the topology's model-space triangles.
+     *
+     * Lazy and memoised: building a BVH over a few thousand triangles is not free, and a route
+     * that never grounds anything should not pay for it. Memoised rather than rebuilt per call
+     * because the transform is fixed for the binding's lifetime.
+     *
+     * The triangles arrive in model space, so they are mapped through the *same*
+     * `toScenePoint` the rest of the binding uses. Deriving the mapping separately here is the
+     * bug this method exists to prevent: two copies of a transform drift apart, and the
+     * symptom is a car floating or sinking by a fixed offset.
+     */
+    let surfaceQueryCache;
+    let surfaceQueryBuilt = false;
+    const resolveSurfaceQuery = () => {
+        if (surfaceQueryBuilt)
+            return surfaceQueryCache;
+        surfaceQueryBuilt = true;
+        const mesh = topology.drivableMesh;
+        if (!mesh || mesh.indices.length < 3)
+            return undefined;
+        const positions = new Float32Array(mesh.positions.length);
+        for (let index = 0; index + 2 < mesh.positions.length; index += 3) {
+            const scenePoint = toScenePoint({ x: mesh.positions[index], y: mesh.positions[index + 2] }, 
+            // Model Y is scaled by the same factor as the plan dimensions and lifted onto the
+            // track's scene elevation, so a 2 cm kerb stays a 2 cm kerb after scaling.
+            trackY + mesh.positions[index + 1] * transform.scale);
+            positions[index] = scenePoint[0];
+            positions[index + 1] = scenePoint[1];
+            positions[index + 2] = scenePoint[2];
+        }
+        surfaceQueryCache = createMeshSurfaceQuery({ positions, indices: new Uint32Array(mesh.indices) }, undefined, 
+        // Cache cell sized well under a wheel's contact patch, so two wheels on the same axle
+        // cannot share a cached sample and collapse to one height.
+        { cacheCellSize: Math.max(1e-3, transform.scale * 0.02) });
+        return surfaceQueryCache;
+    };
     return {
         kind: "aura-game-racing-scene-binding",
         sceneContractVersion: "1.0",
@@ -109,6 +149,18 @@ export function createGameRacingSceneBinding(options) {
                 rotation: [0, roundScene(-snapshot.heading + Math.PI / 2), 0],
                 heading: roundScene(snapshot.heading)
             };
+        },
+        surfaceQuery() {
+            return resolveSurfaceQuery();
+        },
+        vehicleSurface(surfaceOptions) {
+            const query = resolveSurfaceQuery();
+            if (!query)
+                return undefined;
+            return meshVehicleSurface(query, {
+                ...(surfaceOptions?.offRoadGrip === undefined ? {} : { offRoadGrip: surfaceOptions.offRoadGrip }),
+                ...(surfaceOptions?.contactPatchRadius === undefined ? {} : { contactPatchRadius: surfaceOptions.contactPatchRadius })
+            });
         }
     };
 }

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

@@ -1 +1 @@
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package/dist/engine/agent-api/GameSceneGeometryMath.d.ts

@@ -1,4 +1,4 @@
-import type { GameGeometryModelBounds, GameKitRect, GameKitVec2, GamePlatformerPlayableSurfaceMap } from "./GameGenreKits";
+import type { GameGeometryModelBounds, GameKitRect, GameKitVec2, GamePlatformerPlayableSurfaceMap } from "./GameGenreKits.js";
 export interface SceneGeometryTransform {
     readonly scale: number;
     readonly offsetX: number;

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

@@ -0,0 +1,332 @@
+/**
+ * Public physics runtime: the seam that turns declared bodies into a simulation a
+ * developer can actually drive.
+ *
+ * ## The defect this addresses
+ *
+ * `@aura3d/physics` already wraps a real engine. `PhysicsWorld` has `createRigidBody`,
+ * `createCollider`, `createConstraint`, `step()` returning `CollisionEvent[]`,
+ * `raycast`/`raycastAll`, configurable solver iterations and sleeping, over the one
+ * production Rapier adapter. `RigidBody` already has `applyForce`,
+ * `applyTorque`, `applyImpulse`, `setVelocity`, `wake` and `sleep`.
+ *
+ * None of it was reachable. Across ~47k lines of the public agent API there were zero
+ * occurrences of `applyForce`, zero of `onCollision`, zero of a public `rigidBody`
+ * type, and exactly one `applyImpulse` — buried inside the canned mini-golf helper and
+ * unreachable to any other route. The public surface let a developer *declare*
+ * `.physics({ type: "dynamic", mass: 1 })` and watch a box fall. They could not push
+ * it, could not know when it hit anything, and could not read its velocity.
+ *
+ * Declaring a simulation you cannot interact with is not a physics API. That is why the
+ * library had four hardcoded genre kits and no path to a fifth: every genre outside
+ * racing, platformer, falling-blocks and locomotion had to reach into internals.
+ *
+ * This module is the answer. It mirrors the existing `app.nodes` registry shape so the
+ * ergonomics are already familiar, and it deliberately exposes only what the backend
+ * genuinely supports — an unsupported shape throws with an actionable message rather
+ * than silently doing nothing.
+ */
+import type { CollisionEvent, PhysicsWorld, RaycastHit, RigidBody } from "../../physics/index.js";
+export type PhysicsVec3 = readonly [number, number, number];
+/** A live handle onto one simulated body. */
+export interface AuraBodyHandle {
+    readonly id: number;
+    /** Scene node name this body was declared on, when it came from a node. */
+    readonly nodeName?: string | undefined;
+    readonly type: "static" | "dynamic" | "kinematic";
+    readonly mass: number;
+    /** Current world position, read from the simulation. */
+    position(): PhysicsVec3;
+    /** Current linear velocity. */
+    velocity(): PhysicsVec3;
+    /** Current angular velocity. */
+    angularVelocity(): PhysicsVec3;
+    /** True when the solver has put this body to sleep. */
+    sleeping(): boolean;
+    /**
+     * Continuous force, applied until cleared by the next step.
+     *
+     * Use for thrust, wind or buoyancy. For an instantaneous change of motion — a hit,
+     * a jump, a bullet — use {@link applyImpulse}, which is mass-independent in effect
+     * per unit of impulse and does not depend on step length.
+     */
+    applyForce(force: PhysicsVec3): this;
+    applyTorque(torque: PhysicsVec3): this;
+    applyImpulse(impulse: PhysicsVec3): this;
+    applyAngularImpulse(impulse: PhysicsVec3): this;
+    /** Impulse at a world point, so an off-centre hit induces spin. */
+    applyImpulseAtPoint(impulse: PhysicsVec3, worldPoint: PhysicsVec3): this;
+    setVelocity(velocity: PhysicsVec3): this;
+    setAngularVelocity(velocity: PhysicsVec3): this;
+    /**
+     * Move the body, preserving velocity.
+     *
+     * This is a simulation write, not a teleport: a fast-moving body moved this way can
+     * still tunnel. Use {@link teleport} to move and stop in one call.
+     */
+    setPosition(position: PhysicsVec3): this;
+    /** Move and zero velocity, for respawns and resets. */
+    teleport(position: PhysicsVec3): this;
+    wake(): this;
+    sleep(): this;
+}
+/** A collision or trigger contact, in public terms. */
+export interface AuraCollisionEvent {
+    readonly phase: "begin" | "stay" | "end";
+    readonly bodyA: AuraBodyHandle;
+    readonly bodyB: AuraBodyHandle;
+    /** Node names when both bodies came from named scene nodes. */
+    readonly nodeA?: string | undefined;
+    readonly nodeB?: string | undefined;
+    readonly normal: PhysicsVec3;
+    readonly point?: PhysicsVec3 | undefined;
+    readonly penetration: number;
+    /** True when either collider is a sensor, i.e. a trigger rather than a solid hit. */
+    readonly sensor: boolean;
+    /** Approach speed along the contact normal. Zero for a resting contact. */
+    readonly relativeSpeed: number;
+}
+export interface AuraRaycastOptions {
+    readonly maxDistance?: number | undefined;
+    /** Only hit bodies whose layer is in this list. */
+    readonly layers?: readonly string[] | undefined;
+    /** Skip these body ids. Use to stop a shooter hitting itself. */
+    readonly ignore?: readonly number[] | undefined;
+}
+export interface AuraRaycastResult {
+    readonly body: AuraBodyHandle;
+    readonly nodeName?: string | undefined;
+    readonly point: PhysicsVec3;
+    readonly normal: PhysicsVec3;
+    readonly distance: number;
+}
+export interface AuraBodyRegistry {
+    get(id: number | string): AuraBodyHandle | undefined;
+    require(id: number | string): AuraBodyHandle;
+    has(id: number | string): boolean;
+    ids(): readonly number[];
+    all(): readonly AuraBodyHandle[];
+}
+export interface AuraPhysicsQueries {
+    raycast(origin: PhysicsVec3, direction: PhysicsVec3, options?: AuraRaycastOptions): AuraRaycastResult | undefined;
+    raycastAll(origin: PhysicsVec3, direction: PhysicsVec3, options?: AuraRaycastOptions): readonly AuraRaycastResult[];
+    /** Bodies whose collider overlaps a sphere. */
+    overlapSphere(center: PhysicsVec3, radius: number, options?: AuraRaycastOptions): readonly AuraBodyHandle[];
+    /** Bodies whose collider overlaps an axis-aligned box. */
+    overlapBox(center: PhysicsVec3, halfExtents: PhysicsVec3, options?: AuraRaycastOptions): readonly AuraBodyHandle[];
+    /**
+     * Sphere swept along a direction. Use instead of {@link raycast} when the moving
+     * thing has width: a zero-radius ray slips between colliders that a real projectile
+     * would hit.
+     */
+    sphereCast(origin: PhysicsVec3, radius: number, direction: PhysicsVec3, options?: AuraRaycastOptions): AuraRaycastResult | undefined;
+}
+/** A debug line segment, in world space. */
+export interface AuraDebugLine {
+    readonly from: PhysicsVec3;
+    readonly to: PhysicsVec3;
+    /** Linear RGB, 0..1. */
+    readonly color: PhysicsVec3;
+    /** What the segment represents, for filtering or a legend. */
+    readonly category?: string | undefined;
+}
+export interface AuraPhysicsDebugOptions {
+    readonly contacts?: boolean | undefined;
+    readonly joints?: boolean | undefined;
+    readonly sleeping?: boolean | undefined;
+    readonly normalLength?: number | undefined;
+    /** Rays to draw. The world cannot know about a query you ran, so pass it here. */
+    readonly raycasts?: readonly {
+        readonly origin: PhysicsVec3;
+        readonly direction: PhysicsVec3;
+        readonly distance: number;
+        readonly hit?: boolean | undefined;
+    }[] | undefined;
+}
+export type AuraCollisionHandler = (event: AuraCollisionEvent) => void;
+/** Unsubscribe function returned by every listener registration. */
+export type AuraUnsubscribe = () => void;
+/** Declaration for a body created at runtime rather than through the scene. */
+export interface AuraBodySpec {
+    /** Name used by {@link AuraBodyRegistry.get} and reported on collision events. */
+    readonly name?: string | undefined;
+    readonly type?: "static" | "dynamic" | "kinematic" | undefined;
+    readonly shape?: AuraColliderShape | undefined;
+    readonly position?: PhysicsVec3 | undefined;
+    readonly halfExtents?: PhysicsVec3 | undefined;
+    readonly radius?: number | undefined;
+    readonly halfHeight?: number | undefined;
+    readonly mass?: number | undefined;
+    readonly friction?: number | undefined;
+    readonly restitution?: number | undefined;
+    readonly linearDamping?: number | undefined;
+    readonly angularDamping?: number | undefined;
+    /** Sensors report overlaps through `onTriggerEnter`/`onTriggerExit` and never push. */
+    readonly sensor?: boolean | undefined;
+    /** Layer name, resolved against the layers passed to {@link createPhysicsRuntime}. */
+    readonly layer?: string | undefined;
+}
+export interface AuraPhysicsRuntime {
+    readonly bodies: AuraBodyRegistry;
+    readonly queries: AuraPhysicsQueries;
+    /**
+     * Create a simulated body at runtime.
+     *
+     * Needed because scene declaration is authored up front, and gameplay is not: a
+     * projectile, a spawned enemy or a stacked crate does not exist when the scene is built.
+     */
+    createBody(spec?: AuraBodySpec): AuraBodyHandle;
+    /** Remove a body and its colliders and joints. */
+    removeBody(id: number | string): void;
+    /** Connect two bodies. See {@link AuraJointKind}. */
+    createJoint(spec: AuraJointSpec): AuraJointHandle;
+    /** Advance the simulation and dispatch collision, trigger and contact events. */
+    step(dt?: number): readonly AuraCollisionEvent[];
+    /** Contacts live in the most recent step. */
+    contacts(): readonly AuraCollisionEvent[];
+    /** Declared collision layers, if any were supplied. */
+    readonly layers: AuraCollisionLayers | undefined;
+    /**
+     * Debug geometry for the current state: colliders, contacts, normals, joints, sleeping bodies
+     * and any rays you pass in.
+     *
+     * WS-1.7. `PhysicsDebugDraw` existed but had no public consumer, so the capability was listed
+     * as unproven — you could not get at it from `@aura3d/engine` without a deep import. Returns
+     * plain line segments so a route can render them with whatever it already uses.
+     */
+    debugLines(options?: AuraPhysicsDebugOptions): readonly AuraDebugLine[];
+    /** Every collision, including resting contacts. */
+    onCollision(handler: AuraCollisionHandler): AuraUnsubscribe;
+    /** Collisions involving one named node, which is what gameplay code usually wants. */
+    onCollisionWith(nodeName: string, handler: AuraCollisionHandler): AuraUnsubscribe;
+    /** Sensor overlaps beginning — pickups, checkpoints, damage volumes. */
+    onTriggerEnter(handler: AuraCollisionHandler): AuraUnsubscribe;
+    onTriggerExit(handler: AuraCollisionHandler): AuraUnsubscribe;
+    /** Gravity currently applied by the world. */
+    gravity(): PhysicsVec3;
+    setGravity(gravity: PhysicsVec3): void;
+}
+/**
+ * Layer membership and masks.
+ *
+ * Without this, "bullets hit enemies but not each other" is unexpressible, and every
+ * shooter has to filter contacts by hand after the solver has already resolved them —
+ * which is both slower and wrong, because the solver has already pushed them apart.
+ */
+export interface AuraCollisionLayers {
+    /** Declared layer names, in bit order. */
+    readonly names: readonly string[];
+    /** For each layer, the layers it is allowed to collide with. */
+    readonly matrix: Readonly<Record<string, readonly string[]>>;
+}
+export declare function createCollisionLayers(matrix: Readonly<Record<string, readonly string[]>>): AuraCollisionLayers;
+/** True when two layers may generate contacts. Symmetric: either side may allow it. */
+export declare function layersCollide(layers: AuraCollisionLayers, a: string, b: string): boolean;
+/** Bitmask for a layer name, for backends that take masks directly. */
+export declare function layerMask(layers: AuraCollisionLayers, name: string): number;
+export declare function collisionMaskFor(layers: AuraCollisionLayers, name: string): number;
+/** Joint kinds this runtime exposes. Every one is backed by a solver constraint. */
+export type AuraJointKind = "fixed" | "hinge" | "slider" | "ball-socket" | "spring" | "motorised-hinge";
+export interface AuraJointSpec {
+    readonly kind: AuraJointKind;
+    readonly bodyA: number | string;
+    readonly bodyB: number | string;
+    /** Anchor in world space. Defaults to the midpoint between the bodies. */
+    readonly anchor?: PhysicsVec3 | undefined;
+    /** Axis for hinge and slider joints. Defaults to world up. */
+    readonly axis?: PhysicsVec3 | undefined;
+    /** Spring stiffness, `spring` only. */
+    readonly stiffness?: number | undefined;
+    /** Spring damping, `spring` only. */
+    readonly damping?: number | undefined;
+    /** Rest length, `spring` only. Defaults to the initial separation. */
+    readonly restLength?: number | undefined;
+    /** Target speed, `motorised-hinge` only, radians per second. */
+    readonly motorSpeed?: number | undefined;
+    /** Maximum motor torque, `motorised-hinge` only. */
+    readonly maxMotorTorque?: number | undefined;
+    /** Angular limits in radians, `hinge` and `motorised-hinge`. */
+    readonly limits?: readonly [number, number] | undefined;
+}
+export interface AuraJointHandle {
+    readonly id: number;
+    readonly kind: AuraJointKind;
+    /** Turn the joint off without destroying it. */
+    setEnabled(enabled: boolean): this;
+    /** `motorised-hinge` only. */
+    setMotorSpeed(speed: number): this;
+    remove(): void;
+}
+export declare function validateJointSpec(spec: AuraJointSpec): void;
+/**
+ * Collider shapes the declaration surface accepts.
+ *
+ * WS-1.5 audit, run against `packages/physics/src/Shape.ts`: the factory provides `box`,
+ * `sphere`, `capsule`, `plane`, `mesh`, `convexHull` and `heightfield`. There is **no**
+ * `Shape.cylinder`. An earlier draft of this list advertised `cylinder`, which would have
+ * thrown at runtime for anyone who used it — the exact "declared but unsupported" failure
+ * this list exists to prevent. It is removed rather than faked with a box.
+ *
+ * Capability table:
+ *
+ * | shape | dynamic | static | from a body spec |
+ * |---|---|---|---|
+ * | `box` | yes | yes | yes |
+ * | `sphere` | yes | yes | yes |
+ * | `capsule` | yes | yes | yes |
+ * | `convexHull` | yes | yes | no — needs vertices |
+ * | `mesh` | no | yes | no — needs geometry |
+ * | `plane` | no | yes | yes |
+ * | `heightfield` | no | yes | no — needs a height grid |
+ */
+export type AuraColliderShape = "box" | "sphere" | "capsule" | "plane" | "convexHull" | "mesh" | "heightfield";
+/**
+ * Shapes the active backend can actually simulate as a *dynamic* body.
+ *
+ * `trimesh` and `heightfield` are static-only in every backend here: a concave
+ * triangle soup has no well-defined inertia tensor, and treating one as dynamic
+ * produces a body that falls through thin geometry. Declaring one dynamic is a
+ * mistake worth an error rather than a silent fallback, because the failure mode
+ * looks like a physics bug rather than an authoring bug.
+ */
+export declare const AURA_DYNAMIC_CAPABLE_SHAPES: readonly AuraColliderShape[];
+export declare const AURA_STATIC_ONLY_SHAPES: readonly AuraColliderShape[];
+/** Shapes {@link AuraPhysicsRuntime.createBody} can build from dimensions alone. */
+export declare const AURA_SPEC_CONSTRUCTIBLE_SHAPES: readonly AuraColliderShape[];
+export declare function assertShapeSupported(shape: AuraColliderShape, bodyType: "static" | "dynamic" | "kinematic"): void;
+/**
+ * Approach speed along the contact normal.
+ *
+ * Exposed on every collision event because it is what separates a landing from a
+ * crash, a tap from a hit. Without it, gameplay code has to cache last-frame
+ * velocities to tell the difference.
+ */
+export declare function contactRelativeSpeed(velocityA: PhysicsVec3, velocityB: PhysicsVec3, normal: PhysicsVec3): number;
+/** Internal: adapt a `@aura3d/physics` body to the public handle. */
+export declare function createBodyHandle(body: RigidBody, nodeName?: string): AuraBodyHandle;
+/** Internal: translate a solver collision event into the public shape. */
+export declare function toAuraCollisionEvent(event: CollisionEvent, resolveBody: (id: number) => AuraBodyHandle | undefined): AuraCollisionEvent | undefined;
+/** Internal: translate a solver raycast hit into the public shape. */
+export declare function toAuraRaycastResult(hit: RaycastHit, resolveBody: (id: number) => AuraBodyHandle | undefined): AuraRaycastResult | undefined;
+/** Options for {@link createPhysicsRuntime}. */
+export interface AuraPhysicsRuntimeOptions {
+    /**
+     * Collision layers, so "bullets hit enemies but not each other" is expressible.
+     *
+     * Supplied here rather than per body because a mask is only meaningful relative to the
+     * full set of layers: `collisionMaskFor` has to know every layer to build the bitmask.
+     */
+    readonly layers?: AuraCollisionLayers | undefined;
+    /** Resolve a body id to the scene node name it drives, for event payloads. */
+    readonly nodeNameFor?: ((bodyId: number) => string | undefined) | undefined;
+}
+/**
+ * Build the public physics runtime over a `PhysicsWorld`.
+ *
+ * This is the function that closes the reachability gap described at the top of this
+ * file. Everything above it was type declarations and pure helpers; without an
+ * implementation that a live app hands out, `AuraPhysicsRuntime` was an interface no
+ * value ever satisfied, and no developer could obtain one.
+ */
+export declare function createPhysicsRuntime(world: PhysicsWorld, options?: AuraPhysicsRuntimeOptions): AuraPhysicsRuntime;
+//# sourceMappingURL=PhysicsRuntime.d.ts.map

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

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