@aura3d/engine 1.5.2 → 2.0.1

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));
 }

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

@@ -62,7 +62,53 @@ export interface WorldLabel {
     readonly hideWhenBehindCamera?: boolean | undefined;
     /** Screen-anchored HUD labels ignore the projection entirely. */
     readonly screenAnchor?: "top-left" | "top-right" | "bottom-left" | "bottom-right" | undefined;
+    /**
+     * Respect geometry in front of the label's anchor (WS-2.7).
+     *
+     * ## Why this field is new when the option is old
+     *
+     * `occlusionAware` has defaulted to **true** on every `labels.billboard()`, `labels.anchor()` and
+     * `labels.axisTick()` since before 1.6, `AuraLabelOptions` accepts it, and `FocusSelection` sets it
+     * explicitly — but `worldLabelsFromSnapshot` never read it and `WorldLabel` had no field to read it
+     * into. `depth` existed and was used only for draw ordering and collision priority.
+     *
+     * So a developer reading the API saw occlusion-aware labels on by default while the screen showed
+     * labels drawn through walls: a declared capability that quietly did nothing. Adding the field is the
+     * part that makes the existing option mean something.
+     *
+     * Defaults to true here to match the public default. A label with no depth sampler available is drawn
+     * normally rather than hidden — absence of a depth signal is not evidence of occlusion.
+     */
+    readonly occlusionAware?: boolean | undefined;
+    /**
+     * What to do when the anchor is occluded. `"dim"` keeps the label readable but visibly behind, which
+     * is usually better for an annotation than vanishing; `"hide"` suits dense scenes.
+     */
+    readonly occlusionPolicy?: "dim" | "hide" | undefined;
 }
+/**
+ * Is the world point this label annotates hidden by geometry in front of it?
+ *
+ * ## Why a world-space test rather than a depth-buffer read
+ *
+ * The obvious implementation is to sample the depth buffer at the label's pixel. **WebGL2 cannot do
+ * that for the default framebuffer** — `readPixels` reads colour only, and reading depth requires
+ * rendering into a framebuffer with a depth *texture* attachment. Building that would mean restructuring
+ * both render paths to render off-screen and blit, for a label feature.
+ *
+ * A world-space segment test answers the question more directly anyway. "Is this label occluded" really
+ * means *"is the subject it points at behind something"*, which is a property of the scene, not of a
+ * pixel. It is also deterministic and unit-testable without a GPU, and it gives the same answer at any
+ * resolution — a depth read is subject to whatever happened to be rasterised at that exact pixel.
+ *
+ * Injected rather than computed here so this module stays pure: a test supplies a synthetic occluder and
+ * asserts the policy without constructing a scene.
+ *
+ * Returning `false` for "unknown" is deliberate. Absence of an occlusion signal is not evidence of
+ * occlusion, and guessing pessimistically would hide labels whenever the test was unavailable — the same
+ * silent-wrong-result shape this phase exists to remove.
+ */
+export type LabelOcclusionTest = (anchor: LabelVec3) => boolean;
 export interface LabelViewport {
     readonly width: number;
     readonly height: number;
@@ -90,6 +136,15 @@ export interface ProjectedLabel {
     readonly leader: boolean;
     /** Normalized depth, 0 at the near plane. Used for draw ordering. */
     readonly depth: number;
+    /**
+     * True when geometry sits in front of this label's anchor (WS-2.7).
+     *
+     * Reported even when the policy is `"dim"` rather than `"hide"`, so evidence can distinguish
+     * "occluded and dimmed" from "not occluded" — a screenshot cannot.
+     */
+    readonly occluded: boolean;
+    /** Opacity multiplier applied for occlusion. 1 when unoccluded, < 1 when dimmed. */
+    readonly occlusionOpacity: number;
 }
 /**
  * Project a world point through a column-major 4x4 view-projection matrix.
@@ -109,7 +164,9 @@ export declare function ndcToScreen(ndc: readonly [number, number, number], view
  * Pure: no DOM. This is the function tests assert on, so label placement is
  * verified by arithmetic rather than by looking at a screenshot.
  */
-export declare function projectWorldLabels(labels: readonly WorldLabel[], viewProjection: ArrayLike<number>, viewport: LabelViewport): readonly ProjectedLabel[];
+export declare function projectWorldLabels(labels: readonly WorldLabel[], viewProjection: ArrayLike<number>, viewport: LabelViewport, 
+/** WS-2.7 — occlusion test for a world anchor. Omit when unavailable; labels are then never occluded. */
+isOccluded?: LabelOcclusionTest): readonly ProjectedLabel[];
 /**
  * Resolve overlapping labels by nudging later ones vertically.
  *
@@ -131,6 +188,13 @@ export interface WorldLabelLayer {
     setLabels(labels: readonly WorldLabel[]): void;
     /** Reproject and redraw with the current view-projection matrix. */
     update(viewProjection: ArrayLike<number>): void;
+    /**
+     * Supply the occlusion test used for annotations (WS-2.7).
+     *
+     * Set separately from `update` because scene geometry changes with `setScene`, and because a layer
+     * created before the renderer mounts must remain usable and simply gain occlusion later.
+     */
+    setOcclusionTest(isOccluded: LabelOcclusionTest | undefined): void;
     /** Most recent projection result, for evidence and tests. */
     snapshot(): readonly ProjectedLabel[];
     dispose(): void;

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

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

@@ -24,6 +24,8 @@
  *
  * The projection math here is pure and unit-testable; only `mount` touches the DOM.
  */
+/** Opacity for an occluded label under the `"dim"` policy: visibly behind, still readable. */
+const OCCLUDED_OPACITY = 0.35;
 /**
  * Project a world point through a column-major 4x4 view-projection matrix.
  *
@@ -57,7 +59,9 @@ const SCREEN_ANCHOR_MARGIN = 14;
  * Pure: no DOM. This is the function tests assert on, so label placement is
  * verified by arithmetic rather than by looking at a screenshot.
  */
-export function projectWorldLabels(labels, viewProjection, viewport) {
+export function projectWorldLabels(labels, viewProjection, viewport, 
+/** WS-2.7 — occlusion test for a world anchor. Omit when unavailable; labels are then never occluded. */
+isOccluded) {
     const compactScale = viewport.compact === true ? 0.86 : 1;
     return labels.map((label) => {
         const fontSize = Math.max(11, Math.round((label.fontSize ?? 14) * compactScale));
@@ -80,7 +84,10 @@ export function projectWorldLabels(labels, viewProjection, viewport) {
                 color,
                 background,
                 leader: false,
-                depth: 0
+                depth: 0,
+                // A screen-anchored HUD label is deliberately in front of everything.
+                occluded: false,
+                occlusionOpacity: 1
             };
         }
         const projected = projectWorldPoint(viewProjection, label.anchor);
@@ -121,6 +128,25 @@ export function projectWorldLabels(labels, viewProjection, viewport) {
                 y = clampedY;
             }
         }
+        /*
+         * WS-2.7 — occlusion of the point this label annotates.
+         *
+         * Tested at the LEADER anchor's world position, not the label box. A callout box is deliberately
+         * offset beside its subject and often sits over empty space, so testing there would ask about the
+         * background rather than the subject. The question is "is the thing this label points at hidden".
+         *
+         * A label already hidden for another reason is not tested — no need — and one behind the camera is
+         * not either, since `behindCamera` already covers it and is a stronger statement.
+         */
+        const occlusionAware = label.occlusionAware ?? true;
+        const occlusionAnchor = label.leaderAnchor ?? label.anchor;
+        const occluded = occlusionAware && isOccluded !== undefined && visible && !behindCamera
+            ? isOccluded(occlusionAnchor)
+            : false;
+        const occlusionPolicy = label.occlusionPolicy ?? "dim";
+        if (occluded && occlusionPolicy === "hide")
+            visible = false;
+        const occlusionOpacity = occluded && occlusionPolicy === "dim" ? OCCLUDED_OPACITY : 1;
         return {
             id: label.id,
             text: label.text,
@@ -135,7 +161,9 @@ export function projectWorldLabels(labels, viewProjection, viewport) {
             color,
             background,
             leader,
-            depth: round(projected.ndc[2])
+            depth: round(projected.ndc[2]),
+            occluded,
+            occlusionOpacity
         };
     });
 }
@@ -190,6 +218,8 @@ export function resolveLabelCollisions(labels, options = {}) {
  * annotations without announcing every camera-driven reposition.
  */
 export function createWorldLabelLayer(host) {
+    /** WS-2.7 — set by the runtime once scene geometry is known. Undefined means "never occlude". */
+    let occlusionTest;
     const root = document.createElement("div");
     root.className = "aura-world-label-layer";
     root.setAttribute("data-aura-world-labels", "");
@@ -268,6 +298,16 @@ export function createWorldLabelLayer(host) {
             element.style.color = label.color;
             element.style.background = label.background;
             element.style.fontSize = `${label.fontSize}px`;
+            /*
+             * WS-2.7 — dim an occluded label rather than removing it.
+             *
+             * `aria-hidden` is deliberately NOT set: the annotation is still true, it is simply behind
+             * geometry, and hiding it from a screen reader would trade a visual cue for an accessibility
+             * regression. `data-occluded` is exposed so an interaction audit can assert occlusion happened —
+             * a screenshot cannot distinguish "dimmed" from "unoccluded but faint".
+             */
+            element.style.opacity = String(label.occlusionOpacity);
+            element.dataset.occluded = label.occluded ? "true" : "false";
             if (element.textContent !== label.text)
                 element.textContent = label.text;
             if (label.leader) {
@@ -277,7 +317,7 @@ export function createWorldLabelLayer(host) {
                 line.setAttribute("x2", String(label.anchorX));
                 line.setAttribute("y2", String(label.anchorY));
                 line.setAttribute("stroke", label.color);
-                line.setAttribute("stroke-opacity", "0.72");
+                line.setAttribute("stroke-opacity", String(0.72 * label.occlusionOpacity));
             }
             else {
                 leaders.get(label.id)?.setAttribute("stroke", "transparent");
@@ -297,8 +337,11 @@ export function createWorldLabelLayer(host) {
         setLabels(next) {
             labels = next;
         },
+        setOcclusionTest(next) {
+            occlusionTest = next;
+        },
         update(viewProjection) {
-            projected = resolveLabelCollisions(projectWorldLabels(labels, viewProjection, viewport()));
+            projected = resolveLabelCollisions(projectWorldLabels(labels, viewProjection, viewport(), occlusionTest));
             draw();
         },
         snapshot() {