@aura3d/engine 2.0.4 → 3.0.1

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

@@ -0,0 +1,127 @@
+import { multiplyMat4, orthographicMat4, perspectiveMat4 } from "../../scene/MathTypes.js";
+export function composeModelInstanceMatrices(instances, meshLocal) {
+    if (instances.length % 16 !== 0 || meshLocal.length !== 16)
+        throw new Error("Model instance matrices must contain complete 4x4 matrices");
+    const output = new Float32Array(instances.length);
+    const local = Array.from(meshLocal);
+    for (let offset = 0; offset < instances.length; offset += 16) {
+        const root = Array.from(instances.subarray(offset, offset + 16));
+        output.set(multiplyMat4(root, local), offset);
+    }
+    return output;
+}
+export function resolveCameraClipping(options) {
+    const near = options.near ?? 0.05;
+    const far = options.far ?? 100;
+    if (!Number.isFinite(near) || near <= 0 || !Number.isFinite(far) || far <= near)
+        throw new RangeError("Camera clipping planes require finite 0 < near < far.");
+    return { near, far };
+}
+export function createCameraProjection(options, aspect) {
+    const { near, far } = resolveCameraClipping(options);
+    const halfHeight = Math.max(1e-4, options.orthographicSize ?? 1.4);
+    const halfWidth = Math.max(1e-4, halfHeight * aspect);
+    return options.mode === "orthographic" || options.mode === "isometric"
+        ? orthographicMat4(-halfWidth, halfWidth, -halfHeight, halfHeight, near, far)
+        : perspectiveMat4(((options.fov ?? 45) * Math.PI) / 180, aspect, near, far);
+}
+export class DeferredFrameResources {
+    release;
+    resize;
+    pending = 0;
+    disposed = false;
+    released = false;
+    resizePending = false;
+    constructor(release, resize) {
+        this.release = release;
+        this.resize = resize;
+    }
+    async run(operation) {
+        if (this.disposed)
+            throw new Error("Aura3D renderer is disposed.");
+        this.pending++;
+        try {
+            return await operation();
+        }
+        finally {
+            this.pending--;
+            this.flush();
+        }
+    }
+    requestResize() { if (!this.disposed) {
+        this.resizePending = true;
+        this.flush();
+    } }
+    dispose() { this.disposed = true; this.flush(); }
+    flush() {
+        if (this.pending !== 0)
+            return;
+        if (this.disposed) {
+            if (this.released)
+                return;
+            this.released = true;
+            this.resizePending = false;
+            this.release();
+        }
+        else if (this.resizePending) {
+            this.resizePending = false;
+            this.resize();
+        }
+    }
+}
+export function readRootDiagnosticSnapshot(previous, read, disposed, busy) {
+    if (disposed || busy || !read)
+        return structuredClone(previous);
+    return structuredClone(read() ?? previous);
+}
+export function resolveRootRenderTime(suppliedTime, explicit, isPaused, pausedRenderTime) {
+    return explicit || !isPaused() ? suppliedTime : pausedRenderTime();
+}
+const quality = new WeakMap();
+const particles = new WeakMap();
+const baseSizes = new WeakMap();
+export function validateRootPerformanceQuality(value) {
+    if (!Number.isFinite(value.resolutionScale) || value.resolutionScale <= 0 || value.resolutionScale > 1
+        || !Number.isFinite(value.particleScale) || value.particleScale <= 0 || value.particleScale > 1
+        || !Number.isFinite(value.lodBias) || value.lodBias < 1 || value.lodBias > 8
+        || !Number.isInteger(value.shadowSize) || value.shadowSize < 256 || value.shadowSize > 4096
+        || (value.shadowSize & (value.shadowSize - 1)) !== 0)
+        throw new Error("PERFORMANCE_QUALITY_INVALID: scales must be in (0,1], LOD bias in [1,8], and shadow size a power of two in [256,4096].");
+    return Object.freeze({ ...value });
+}
+export function getRootPerformanceQuality(canvas) { return quality.get(canvas); }
+export function setRootPerformanceQuality(canvas, value) { quality.set(canvas, validateRootPerformanceQuality(value)); }
+export function registerRootParticleQualityConsumer(canvas, apply) {
+    if (particles.has(canvas))
+        throw new Error("A root particle quality consumer already exists for this canvas.");
+    particles.set(canvas, apply);
+    return () => { if (particles.get(canvas) === apply)
+        particles.delete(canvas); };
+}
+export function supportsRootParticleQuality(canvas) { return particles.has(canvas); }
+export function applyRootParticleQuality(canvas, scale) { particles.get(canvas)?.(scale); }
+export function initializeRootPerformanceQuality(canvas) { quality.delete(canvas); baseSizes.set(canvas, { width: canvas.width, height: canvas.height }); }
+export function getRootPerformanceBaseSize(canvas) { return baseSizes.get(canvas) ?? { width: canvas.width, height: canvas.height }; }
+const bridges = new WeakMap();
+export function attachRootRenderSource(canvas, bridge) {
+    if (bridges.has(canvas))
+        throw new Error("A canvas already has a production-runtime source bridge.");
+    bridges.set(canvas, bridge);
+    return () => { if (bridges.get(canvas) === bridge)
+        bridges.delete(canvas); };
+}
+export function getRootRenderSource(canvas) { return bridges.get(canvas); }
+export function hasRootRenderableContent(canvas, hasPublicGeometry) { return hasPublicGeometry || Boolean(canvas && bridges.has(canvas)); }
+export function includeRootSourceMetadata(metadata, attachedItems) {
+    const renderable = attachedItems.filter(item => item.geometry && item.material);
+    if (!renderable.length)
+        return metadata;
+    return {
+        ...metadata,
+        ...("assetId" in metadata && metadata.primitiveCount === 0 ? { assetId: "production-runtime-attached-source", assetUri: "aura3d://production-runtime/attached-source" } : {}),
+        meshCount: metadata.meshCount + new Set(renderable.map(item => item.geometry)).size,
+        primitiveCount: metadata.primitiveCount + renderable.length,
+        materialCount: metadata.materialCount + new Set(renderable.map(item => item.material)).size
+    };
+}
+//# sourceMappingURL=RootRuntimeSupport.js.map

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

@@ -0,0 +1 @@
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package/dist/engine/agent-api/RuntimeNodeHandle.d.ts

@@ -1,4 +1,5 @@
 import type { AnimationPose } from "../../animation/index.js";
+import type { AuraResolvedFootPlanting } from "./FootPlanting.js";
 export type RuntimeNodeVec3 = readonly [number, number, number];
 export type RuntimeNodeMorphTargetWeights = Readonly<Record<string, number>>;
 export interface AuraRuntimeNodeBounds {
@@ -29,6 +30,25 @@ export interface RuntimeNodeAnimationSpecLike {
     readonly easing?: "linear" | "easeInOut";
     readonly metadata?: Record<string, unknown>;
 }
+/** Live physical movement authority; navigation supplies steering before this callback. */
+export interface AuraRootMotionClipSample {
+    readonly playbackId: string;
+    readonly clipName: string;
+    readonly time: number;
+    readonly weight: number;
+    readonly loop: boolean;
+    readonly additive: boolean;
+}
+export interface AuraRootMotionBinding {
+    readonly target: string;
+    /** Commit accepted movement to the physical body and runtime node exactly once. */
+    readonly move: (requestedWorldDelta: RuntimeNodeVec3) => RuntimeNodeVec3;
+    readonly onSample?: (sample: {
+        readonly requested: RuntimeNodeVec3;
+        readonly accepted: RuntimeNodeVec3;
+        readonly rejected: RuntimeNodeVec3;
+    }) => void;
+}
 export interface AuraRuntimeNodeAnimationBindingMetadata {
     readonly kind: "aura-runtime-node-animation-binding";
     readonly controllerId?: string;
@@ -47,6 +67,14 @@ export interface AuraRuntimeNodeAnimationBindingMetadata {
     readonly poseBakedFallback?: boolean;
     readonly sourceAssetId?: string;
     readonly sourceAssetName?: string;
+    /**
+     * Foot planting (E2): resolved once at controller bind and carried in-memory to the
+     * typed GLB actor. Never serialized — ground functions do not survive JSON.
+     */
+    readonly footPlanting?: AuraResolvedFootPlanting;
+    readonly rootMotion?: AuraRootMotionBinding;
+    readonly rootMotionTime?: number;
+    readonly rootMotionSamples?: readonly AuraRootMotionClipSample[];
     readonly metadata?: Record<string, unknown>;
 }
 export interface AuraRuntimeNodeAnimationPoseBindingMetadata {

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

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

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

@@ -0,0 +1,18 @@
+/**
+ * Root scatter-planning builders (PART D2).
+ *
+ * GPU-instanced scatter planning is package-level and real
+ * (`planScatterInstances` / `scatterWindOffset` / `enforceFrameBudget` in
+ * `@aura3d/rendering`): density admits, distance culls, wind sways, and the
+ * frame budget sheds canopy load before it ships. This module is the public
+ * root surface so a `createAuraApp` route can author scatter-planned green
+ * corridors and budget telemetry without deep-importing the renderer
+ * (showcase/template sources must not import `@aura3d/rendering` —
+ * see `tests/unit/agent-api/public-example-boundary.test.ts`).
+ *
+ * Thin re-export by design: the math lives in exactly one place
+ * (`TerrainTiles.ts`); this surface only makes it root-reachable.
+ */
+import { enforceFrameBudget, planScatterInstances, scatterWindOffset, type FrameBudgetDecision, type FrameBudgetInput, type ScatterPlan, type ScatterPlanOptions } from "../../rendering/index.js";
+export { enforceFrameBudget, planScatterInstances, scatterWindOffset, type FrameBudgetDecision, type FrameBudgetInput, type ScatterPlan, type ScatterPlanOptions };
+//# sourceMappingURL=Scatter.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"Scatter.d.ts","sourceRoot":"","sources":["../../../../../packages/engine/src/agent-api/Scatter.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;GAcG;AACH,OAAO,EACL,kBAAkB,EAClB,oBAAoB,EACpB,iBAAiB,EACjB,KAAK,mBAAmB,EACxB,KAAK,gBAAgB,EACrB,KAAK,WAAW,EAChB,KAAK,kBAAkB,EACxB,MAAM,mBAAmB,CAAC;AAE3B,OAAO,EACL,kBAAkB,EAClB,oBAAoB,EACpB,iBAAiB,EACjB,KAAK,mBAAmB,EACxB,KAAK,gBAAgB,EACrB,KAAK,WAAW,EAChB,KAAK,kBAAkB,EACxB,CAAC"}

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

@@ -0,0 +1,18 @@
+/**
+ * Root scatter-planning builders (PART D2).
+ *
+ * GPU-instanced scatter planning is package-level and real
+ * (`planScatterInstances` / `scatterWindOffset` / `enforceFrameBudget` in
+ * `@aura3d/rendering`): density admits, distance culls, wind sways, and the
+ * frame budget sheds canopy load before it ships. This module is the public
+ * root surface so a `createAuraApp` route can author scatter-planned green
+ * corridors and budget telemetry without deep-importing the renderer
+ * (showcase/template sources must not import `@aura3d/rendering` —
+ * see `tests/unit/agent-api/public-example-boundary.test.ts`).
+ *
+ * Thin re-export by design: the math lives in exactly one place
+ * (`TerrainTiles.ts`); this surface only makes it root-reachable.
+ */
+import { enforceFrameBudget, planScatterInstances, scatterWindOffset } from "../../rendering/index.js";
+export { enforceFrameBudget, planScatterInstances, scatterWindOffset };
+//# sourceMappingURL=Scatter.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"Scatter.js","sourceRoot":"","sources":["../../../../../packages/engine/src/agent-api/Scatter.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;GAcG;AACH,OAAO,EACL,kBAAkB,EAClB,oBAAoB,EACpB,iBAAiB,EAKlB,MAAM,mBAAmB,CAAC;AAE3B,OAAO,EACL,kBAAkB,EAClB,oBAAoB,EACpB,iBAAiB,EAKlB,CAAC"}

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

@@ -71,6 +71,38 @@ export interface GameControlBindingResult {
     /** Remove every listener this call attached. */
     dispose(): void;
 }
+/**
+ * Genre presets for on-screen button bindings (I2).
+ *
+ * These mirror the button maps in the input package's `createTouchLayoutPreset`
+ * (same element-id suffixes and `KeyboardEvent.code`s) so a route can bind the
+ * buttons here and drive the analog stick there with one shared naming scheme.
+ * The maps live in both places because this engine entry cannot depend on
+ * the input package; if either map changes, update the other and the
+ * `touch-layout-preset-parity` unit test will fail until they agree.
+ */
+export type GameTouchLayoutGenre = "fight" | "race" | "platform";
+export interface GameTouchLayoutPresetSpec {
+    readonly genre: GameTouchLayoutGenre;
+    /** Prefix for button element ids, e.g. `touch-fight` binds `touch-fight:jump`. */
+    readonly elementIdPrefix?: string;
+    readonly host?: TouchControlHost | undefined;
+    readonly holdMs?: number | undefined;
+}
+export interface GameTouchLayoutBindings {
+    readonly genre: GameTouchLayoutGenre;
+    readonly hold: readonly HoldControlBinding[];
+    readonly pulse: readonly PulseControlBinding[];
+}
+export declare const GAME_TOUCH_LAYOUT_GENRES: readonly GameTouchLayoutGenre[];
+export declare function touchLayoutBindingsForGenre(genre: GameTouchLayoutGenre, elementIdPrefix?: string): GameTouchLayoutBindings;
+/**
+ * Bind a genre's on-screen buttons through the same synthetic-keyboard path as
+ * `bindGameTouchControls`. Analog sticks are *not* bound here — create them
+ * from the input package's `createTouchLayoutPreset(genre)`, which uses the same
+ * element-id prefix scheme for its buttons.
+ */
+export declare function bindGameTouchLayoutPreset(spec: GameTouchLayoutPresetSpec): GameControlBindingResult;
 /**
  * Bind on-screen controls to synthetic keyboard events.
  *

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

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

@@ -22,6 +22,42 @@
  * Bindings are additive and idempotent per element: re-binding the same id replaces its listeners rather than
  * stacking them, because a route that re-runs setup after a reset would otherwise fire one keydown per bind.
  */
+export const GAME_TOUCH_LAYOUT_GENRES = ["fight", "race", "platform"];
+export function touchLayoutBindingsForGenre(genre, elementIdPrefix = `touch-${genre}`) {
+    const hold = (suffix, code) => ({ elementId: `${elementIdPrefix}:${suffix}`, code });
+    const pulse = (suffix, code) => ({ elementId: `${elementIdPrefix}:${suffix}`, code });
+    switch (genre) {
+        case "fight":
+            return {
+                genre,
+                hold: [hold("left", "ArrowLeft"), hold("right", "ArrowRight"), hold("block", "KeyS")],
+                pulse: [pulse("light", "KeyJ"), pulse("heavy", "KeyK"), pulse("special", "KeyL"), pulse("jump", "Space")]
+            };
+        case "race":
+            return {
+                genre,
+                hold: [hold("steer-left", "ArrowLeft"), hold("steer-right", "ArrowRight"), hold("throttle", "ArrowUp"), hold("brake", "ArrowDown")],
+                pulse: [pulse("boost", "ShiftLeft"), pulse("reset", "KeyR")]
+            };
+        case "platform":
+            return {
+                genre,
+                hold: [hold("left", "ArrowLeft"), hold("right", "ArrowRight"), hold("dash", "ShiftLeft")],
+                pulse: [pulse("jump", "Space"), pulse("attack", "KeyJ")]
+            };
+    }
+}
+/**
+ * Bind a genre's on-screen buttons through the same synthetic-keyboard path as
+ * `bindGameTouchControls`. Analog sticks are *not* bound here — create them
+ * from the input package's `createTouchLayoutPreset(genre)`, which uses the same
+ * element-id prefix scheme for its buttons.
+ */
+export function bindGameTouchLayoutPreset(spec) {
+    const bindings = touchLayoutBindingsForGenre(spec.genre, spec.elementIdPrefix ?? `touch-${spec.genre}`);
+    const pulse = spec.holdMs === undefined ? bindings.pulse : bindings.pulse.map((control) => ({ ...control, holdMs: spec.holdMs }));
+    return bindGameTouchControls({ hold: bindings.hold, pulse, host: spec.host });
+}
 /** Tracks attached listeners per element id so a re-bind replaces rather than stacks. */
 const attached = new Map();
 /** The real browser host: synthetic keyboard events on `window`, elements from `document`. */

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

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

@@ -1 +1 @@
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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],