@aura3d/engine 2.0.3 → 3.0.0

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

@@ -210,8 +210,30 @@ export function createVehicleChassis(spec, surface) {
             return { wheel, point, sample };
         });
         const meanGrip = samples.reduce((sum, entry) => sum + (entry.sample.grip ?? 1), 0) / samples.length;
+        /*
+         * An explicit miss (`hit === false`) carries the query's fallback height, which
+         * for a mesh query is the lowest vertex in the whole track -- not a surface.
+         * Nothing below may treat that number as ground: wheels with no surface hang,
+         * and the body is supported only by wheels that hit. Surfaces without a hit
+         * flag (flat test planes, analytic slopes) keep the previous behaviour.
+         */
+        const missingSurface = samples.map((entry) => entry.sample.hit === false);
+        const supportedHeights = [];
         const cornerHeights = [];
-        const wheels = samples.map(({ wheel, point, sample }) => {
+        const wheels = samples.map(({ wheel, point, sample }, sampleIndex) => {
+            if (missingSurface[sampleIndex]) {
+                cornerHeights.push(Number.NaN);
+                const spring = compression.get(wheel.id) ?? { value: 0.5, velocity: 0 };
+                return {
+                    id: wheel.id,
+                    position: [point.x, Number.NaN, point.z],
+                    steerAngle: wheel.steered ? steerInput * resolved.maxSteerAngle : 0,
+                    spin,
+                    compression: spring.value,
+                    grounded: false,
+                    contactGap: 0
+                };
+            }
             const spring = compression.get(wheel.id) ?? { value: 0.5, velocity: 0 };
             /*
              * Target compression from load transfer. A front wheel (`forward > 0`) compresses
@@ -240,6 +262,7 @@ export function createVehicleChassis(spec, surface) {
             const cornerY = wheelCentreY - resolved.wheelRadius + resolved.rideHeight
                 - (spring.value - 0.5) * resolved.suspensionTravel;
             cornerHeights.push(cornerY);
+            supportedHeights.push(cornerY);
             return {
                 id: wheel.id,
                 position: [point.x, wheelCentreY, point.z],
@@ -258,8 +281,19 @@ export function createVehicleChassis(spec, surface) {
          * Measured against the body: if a corner would have to sit further above its wheel
          * than ride height plus full travel, the wheel has run out of extension and hangs.
          */
-        const bodyY = cornerHeights.reduce((sum, value) => sum + value, 0) / cornerHeights.length;
         const maxReach = resolved.rideHeight + resolved.suspensionTravel * 0.5;
+        /*
+         * The body rests on supported corners only. Averaging in a fallback height
+         * dragged the whole car toward the bottom of the mesh whenever two or more
+         * wheels missed a sparse seam at once; with every corner missed the mean
+         * equalled the fallback and the car rendered at rock bottom while reporting
+         * itself grounded. With no support at all, hold the previous body height so
+         * a mesh gap reads as a hold, not a dive.
+         */
+        const heldBodyY = currentPose?.position[1];
+        const bodyY = supportedHeights.length > 0
+            ? supportedHeights.reduce((sum, value) => sum + value, 0) / supportedHeights.length
+            : (heldBodyY ?? cornerHeights.reduce((sum, value) => sum + (Number.isFinite(value) ? value : 0), 0) / cornerHeights.length);
         /*
          * Which wheels can the body actually rest on?
          *
@@ -277,16 +311,33 @@ export function createVehicleChassis(spec, surface) {
          *    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.
+         * height is the *median* of the supported corner heights rather than the mean, and
+         * corners with no surface under them are excluded entirely: their sample height
+         * is the query fallback (the mesh's lowest vertex), not a measurement, and even
+         * the median is dragged down once two wheels miss the same seam.
          */
-        const sortedCorners = [...cornerHeights].sort((left, right) => left - right);
-        const supportY = sortedCorners.length === 4
-            ? (sortedCorners[1] + sortedCorners[2]) / 2
-            : bodyY;
+        const sortedSupported = [...supportedHeights].sort((left, right) => left - right);
+        // With no supported corner there is no measured support plane; hang the wheels
+        // off the held body so the whole pose freezes instead of falling to fallback.
+        const heldSupportY = (currentPose?.groundedPosition[1] ?? bodyY - maxReach) + maxReach;
+        const supportY = sortedSupported.length > 0
+            ? (sortedSupported.length % 2 === 1
+                ? sortedSupported[Math.floor(sortedSupported.length / 2)]
+                : (sortedSupported[sortedSupported.length / 2 - 1] + sortedSupported[sortedSupported.length / 2]) / 2)
+            : heldSupportY;
         const resolvedWheels = wheels.map((wheel, index) => {
+            if (missingSurface[index]) {
+                // No surface under this wheel: hang it at full extension below the
+                // supported body. The gap is unknown, so report the extension itself --
+                // grounded:false with a positive gap stays a coherent pair.
+                return {
+                    ...wheel,
+                    position: [wheel.position[0], supportY - maxReach + resolved.wheelRadius, wheel.position[2]],
+                    compression: 0,
+                    grounded: false,
+                    contactGap: maxReach
+                };
+            }
             const sample = samples[index].sample;
             const requiredDrop = supportY - sample.height;
             if (requiredDrop <= maxReach + resolved.contactTolerance)
@@ -316,7 +367,6 @@ export function createVehicleChassis(spec, surface) {
          * 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) => {
@@ -362,6 +412,12 @@ export function createVehicleChassis(spec, surface) {
         // produces a negative roll and steering left a positive one.
         const totalRoll = Math.asin(clamp((leftHeight - rightHeight) / Math.max(1e-6, resolved.trackWidth), -1, 1));
         roll = surfaceRoll + clamp(totalRoll - surfaceRoll, -resolved.maxRoll, resolved.maxRoll);
+        if (supportedHeights.length === 0 && currentPose) {
+            // No measured surface anywhere under the car: the support-plane fill above
+            // resolves to zero, which would snap the body level. Hold the last attitude.
+            pitch = currentPose.rotation[0];
+            roll = currentPose.rotation[2];
+        }
         // 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;
@@ -369,8 +425,15 @@ export function createVehicleChassis(spec, surface) {
         const spunWheels = resolvedWheels.map((wheel) => ({ ...wheel, spin }));
         const averageCompression = spunWheels.reduce((sum, wheel) => sum + wheel.compression, 0) / spunWheels.length;
         const maxContactGap = Math.max(...spunWheels.map((wheel) => wheel.contactGap));
-        // Lowest contact patch across the four wheels: where a grounded model sits.
-        const contactPlaneY = Math.min(...resolvedWheels.map((wheel) => wheel.position[1] - resolved.wheelRadius));
+        // Lowest contact patch across the supported wheels: where a grounded model
+        // sits. Hanging wheels dangle below support and must not set the plane;
+        // with no support at all, hold the last plane instead of the fallback depth.
+        const supportedPatches = resolvedWheels
+            .filter((_wheel, index) => !missingSurface[index])
+            .map((wheel) => wheel.position[1] - resolved.wheelRadius);
+        const contactPlaneY = supportedPatches.length > 0
+            ? Math.min(...supportedPatches)
+            : (currentPose?.groundedPosition[1] ?? Math.min(...resolvedWheels.map((wheel) => wheel.position[1] - resolved.wheelRadius)));
         currentPose = {
             position: [state.x, bodyY, state.z],
             groundedPosition: [state.x, contactPlaneY, state.z],

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

@@ -1 +1 @@
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