@aura3d/engine 3.0.0 → 3.0.1

package/dist/navigation-recast/index.js

@@ -0,0 +1,247 @@
+function vector(value) {
+    if (value.some((entry) => !Number.isFinite(entry)))
+        throw new TypeError("Navigation coordinates must be finite.");
+    return { x: value[0], y: value[1], z: value[2] };
+}
+export class RecastNavMeshHandle {
+    #module;
+    #navMesh;
+    #query;
+    #disposed = false;
+    constructor(module, navMesh) {
+        this.#module = module;
+        this.#navMesh = navMesh;
+        this.#query = new module.NavMeshQuery(navMesh);
+    }
+    get disposed() { return this.#disposed; }
+    computePath(start, end) {
+        this.#assertAlive();
+        const result = this.#query.computePath(vector(start), vector(end));
+        if (!result.success)
+            return { success: false, points: [], error: String(result.error ?? "Detour path query failed.") };
+        return { success: true, points: result.path.map((point) => [point.x, point.y, point.z]) };
+    }
+    createCrowd(maxAgents, maxAgentRadius) {
+        this.#assertAlive();
+        return new RecastCrowdHandle(this.#module, this.#navMesh, maxAgents, maxAgentRadius);
+    }
+    serialize() { this.#assertAlive(); return this.#module.exportNavMesh(this.#navMesh); }
+    /** Stable escape hatch. The handle retains ownership and frees this object. */
+    unsafeRecastNavMesh() { this.#assertAlive(); return this.#navMesh; }
+    dispose() {
+        if (this.#disposed)
+            return;
+        this.#query.destroy();
+        this.#navMesh.destroy();
+        this.#disposed = true;
+    }
+    #assertAlive() { if (this.#disposed)
+        throw new Error("RecastNavMeshHandle is disposed."); }
+}
+export class RecastCrowdHandle {
+    #crowd;
+    /** Over-budget cap, fixed at construction. Adding past it throws fail-closed. */
+    maxAgents;
+    #disposed = false;
+    constructor(module, navMesh, maxAgents, maxAgentRadius) {
+        if (!Number.isInteger(maxAgents) || maxAgents < 1)
+            throw new RangeError("maxAgents must be an integer >= 1.");
+        if (!Number.isFinite(maxAgentRadius) || maxAgentRadius <= 0)
+            throw new RangeError("maxAgentRadius must be positive.");
+        this.#crowd = new module.Crowd(navMesh, { maxAgents, maxAgentRadius });
+        this.maxAgents = maxAgents;
+    }
+    /** Live agent count against {@link maxAgents}. The root `crowds` builder reports this in diagnostics with a cap warning. */
+    count() {
+        this.#assertAlive();
+        return this.#crowd.getAgents().length;
+    }
+    addAgent(position, options = {}) {
+        this.#assertAlive();
+        if (this.#crowd.getAgents().length >= this.maxAgents) {
+            throw new Error(`Recast crowd is at capacity (${this.maxAgents} agents). Create the crowd with a larger maxAgents instead of silently dropping agents.`);
+        }
+        return this.#crowd.addAgent(vector(position), options);
+    }
+    requestMoveTarget(agent, target) {
+        this.#assertAlive();
+        return agent.requestMoveTarget(vector(target));
+    }
+    /** Root-facing alias for `requestMoveTarget`, matching the O1 `crowds.setTarget` builder name. */
+    setTarget(agent, target) {
+        return this.requestMoveTarget(agent, target);
+    }
+    update(dt) {
+        this.#assertAlive();
+        if (!Number.isFinite(dt) || dt <= 0)
+            throw new RangeError("Crowd dt must be positive and finite.");
+        this.#crowd.update(dt);
+    }
+    positions() {
+        this.#assertAlive();
+        return this.#crowd.getAgents().map((agent) => { const point = agent.position(); return [point.x, point.y, point.z]; });
+    }
+    /**
+     * Per-agent position + velocity + speed from the Detour crowd (O1 task 2).
+     *
+     * This is the data source the root `crowds` builder must feed its agents instead of
+     * the `sampleCrowdAnimation` fixture: the fixture sampler stays as the deterministic
+     * oracle for tests, but engine crowds render from these real positions.
+     */
+    agentStates() {
+        this.#assertAlive();
+        return this.#crowd.getAgents().map((agent) => {
+            const point = agent.position();
+            const velocity = agent.velocity();
+            return {
+                position: [point.x, point.y, point.z],
+                velocity: [velocity.x, velocity.y, velocity.z],
+                speed: Math.hypot(velocity.x, velocity.y, velocity.z)
+            };
+        });
+    }
+    /** Stable escape hatch. The handle owns and destroys this crowd. */
+    unsafeRecastCrowd() { this.#assertAlive(); return this.#crowd; }
+    dispose() { if (!this.#disposed) {
+        this.#crowd.destroy();
+        this.#disposed = true;
+    } }
+    #assertAlive() { if (this.#disposed)
+        throw new Error("RecastCrowdHandle is disposed."); }
+}
+export class RecastTileCacheHandle {
+    navMesh;
+    #module;
+    #tileCache;
+    #disposed = false;
+    constructor(module, navMesh, tileCache) {
+        this.#module = module;
+        this.#tileCache = tileCache;
+        this.navMesh = new RecastNavMeshHandle(module, navMesh);
+    }
+    addCylinderObstacle(position, radius, height) {
+        this.#assertAlive();
+        const result = this.#tileCache.addCylinderObstacle(vector(position), radius, height);
+        if (!result.success || !result.obstacle)
+            throw new Error(`Recast obstacle creation failed with status ${result.status}.`);
+        return result.obstacle;
+    }
+    removeObstacle(obstacle) {
+        this.#assertAlive();
+        const result = this.#tileCache.removeObstacle(obstacle);
+        if (!result.success)
+            throw new Error(`Recast obstacle removal failed with status ${result.status}.`);
+    }
+    update(maxIterations = 64) {
+        this.#assertAlive();
+        for (let iteration = 1; iteration <= maxIterations; iteration += 1) {
+            const result = this.#tileCache.update(this.navMesh.unsafeRecastNavMesh());
+            if (!result.success)
+                throw new Error(`Recast tile-cache update failed with status ${result.status}.`);
+            if (result.upToDate)
+                return iteration;
+        }
+        throw new Error(`Recast tile cache did not settle within ${maxIterations} updates.`);
+    }
+    serialize() {
+        this.#assertAlive();
+        return this.#module.exportTileCache(this.navMesh.unsafeRecastNavMesh(), this.#tileCache);
+    }
+    dispose() {
+        if (this.#disposed)
+            return;
+        this.#tileCache.destroy();
+        this.navMesh.dispose();
+        this.#disposed = true;
+    }
+    #assertAlive() { if (this.#disposed)
+        throw new Error("RecastTileCacheHandle is disposed."); }
+}
+export class RecastNavigation {
+    #module;
+    #generators;
+    constructor(module, generators) { this.#module = module; this.#generators = generators; }
+    generateSolo(input, config) {
+        const result = this.#generators.generateSoloNavMesh([...input.positions], [...input.indices], config);
+        if (!result.success || !result.navMesh)
+            throw new Error(`Recast navmesh generation failed: ${String(result.error ?? "unknown error")}`);
+        return new RecastNavMeshHandle(this.#module, result.navMesh);
+    }
+    generateTileCache(input, config = {}) {
+        const result = this.#generators.generateTileCache(input.positions, input.indices, config);
+        if (!result.success || !result.navMesh || !result.tileCache)
+            throw new Error(`Recast tile-cache generation failed: ${String(result.error ?? "unknown error")}`);
+        return new RecastTileCacheHandle(this.#module, result.navMesh, result.tileCache);
+    }
+    import(bytes) {
+        const result = this.#module.importNavMesh(bytes);
+        return new RecastNavMeshHandle(this.#module, result.navMesh);
+    }
+    async importAsset(asset, options = {}) {
+        if (asset.kind !== "aura-asset-ref" || asset.type !== "navigation" || asset.format !== "navmesh") {
+            throw new TypeError("Recast navigation import requires a typed Aura navigation/navmesh asset reference.");
+        }
+        const fetchAsset = options.fetch ?? ((url) => fetch(url));
+        const response = await fetchAsset(asset.url);
+        if (!response.ok)
+            throw new Error(`Navigation asset ${asset.id} failed to load (${response.status}) from ${asset.url}.`);
+        const bytes = new Uint8Array(await response.arrayBuffer());
+        if (bytes.byteLength === 0)
+            throw new Error(`Navigation asset ${asset.id} is empty.`);
+        if (options.verifyHash !== false && asset.hash)
+            await verifyNavigationAssetHash(asset, bytes);
+        return this.import(bytes);
+    }
+    /** Stable typed escape hatch for Crowd, TileCache, and advanced Detour APIs. */
+    get rawModule() { return this.#module; }
+}
+async function verifyNavigationAssetHash(asset, bytes) {
+    const expected = asset.hash?.match(/^sha256-([a-f0-9]{64})$/i)?.[1]?.toLowerCase();
+    if (!expected)
+        throw new Error(`Navigation asset ${asset.id} has an unsupported integrity value; expected sha256-<64 hex characters>.`);
+    if (!globalThis.crypto?.subtle)
+        throw new Error(`Navigation asset ${asset.id} cannot verify SHA-256 because Web Crypto is unavailable.`);
+    const digest = new Uint8Array(await globalThis.crypto.subtle.digest("SHA-256", Uint8Array.from(bytes).buffer));
+    const actual = [...digest].map((value) => value.toString(16).padStart(2, "0")).join("");
+    if (actual !== expected)
+        throw new Error(`Navigation asset ${asset.id} failed SHA-256 verification.`);
+}
+/**
+ * Fail-closed construction for the optional Recast/Detour peer (O1 checklist).
+ *
+ * Recast is optional navigation, never a silent fallback: when the peer module is
+ * absent the error names the missing package and the install step instead of
+ * resolving to a no-op navigator. The root `navigation` builder must surface this
+ * in diagnostics rather than reporting a successful bake.
+ */
+/*
+ * Literal lazy imports: the engine stays out of every bundle until navigation
+ * is actually called, and bundlers (vite dev, rollup build) can statically
+ * resolve the specifier against the installed `recast-navigation` dependency.
+ * An earlier variable-indirection broke exactly that: bundlers left a native
+ * runtime `import(variable)` behind, which browsers reject as an unresolvable
+ * bare specifier even with the engine installed. Absence still fails closed
+ * at call time through the errors below (never as a silent no-op navigator).
+ */
+export async function createRecastNavigation(options = {}) {
+    let module;
+    try {
+        module = await (options.moduleLoader ?? (() => import("recast-navigation")))();
+        await module.init();
+    }
+    catch (error) {
+        throw new Error("Recast navigation peer unavailable: the optional \"recast-navigation\" package could not be loaded. " +
+            "Install it to enable navmesh baking, or treat navigation as absent — never as silently succeeding. " +
+            `Cause: ${error instanceof Error ? error.message : String(error)}`);
+    }
+    let generators;
+    try {
+        generators = await (options.generatorLoader ?? (() => import("recast-navigation/generators")))();
+    }
+    catch (error) {
+        throw new Error("Recast navigation generators unavailable: \"recast-navigation/generators\" could not be loaded. " +
+            `Cause: ${error instanceof Error ? error.message : String(error)}`);
+    }
+    return new RecastNavigation(module, generators);
+}
+//# sourceMappingURL=index.js.map

package/dist/navigation-recast/index.js.map

@@ -0,0 +1 @@
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package/dist/physics-rapier/HeightfieldLayout.d.ts

@@ -0,0 +1,12 @@
+export interface RowMajorHeightfield {
+    readonly rows: number;
+    readonly columns: number;
+    readonly heights: readonly number[];
+}
+/**
+ * Aura stores terrain samples row-major (`z * columns + x`). Rapier builds its
+ * nalgebra height matrix from column-major bytes, so pass the transposed flat
+ * layout or asymmetric terrain contacts will disagree with the authored grid.
+ */
+export declare function toRapierHeightfieldHeights(shape: RowMajorHeightfield): Float32Array;
+//# sourceMappingURL=HeightfieldLayout.d.ts.map

package/dist/physics-rapier/HeightfieldLayout.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"HeightfieldLayout.d.ts","sourceRoot":"","sources":["../../../../packages/physics-rapier/src/HeightfieldLayout.ts"],"names":[],"mappings":"AAAA,MAAM,WAAW,mBAAmB;IAClC,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAC;IACtB,QAAQ,CAAC,OAAO,EAAE,MAAM,CAAC;IACzB,QAAQ,CAAC,OAAO,EAAE,SAAS,MAAM,EAAE,CAAC;CACrC;AAED;;;;GAIG;AACH,wBAAgB,0BAA0B,CAAC,KAAK,EAAE,mBAAmB,GAAG,YAAY,CAYnF"}

package/dist/physics-rapier/HeightfieldLayout.js

@@ -0,0 +1,19 @@
+/**
+ * Aura stores terrain samples row-major (`z * columns + x`). Rapier builds its
+ * nalgebra height matrix from column-major bytes, so pass the transposed flat
+ * layout or asymmetric terrain contacts will disagree with the authored grid.
+ */
+export function toRapierHeightfieldHeights(shape) {
+    const expected = shape.rows * shape.columns;
+    if (shape.rows < 2 || shape.columns < 2 || shape.heights.length !== expected) {
+        throw new RangeError(`heightfield requires rows*columns samples (${expected}), received ${shape.heights.length}`);
+    }
+    const heights = new Float32Array(expected);
+    for (let row = 0; row < shape.rows; row += 1) {
+        for (let column = 0; column < shape.columns; column += 1) {
+            heights[column * shape.rows + row] = shape.heights[row * shape.columns + column];
+        }
+    }
+    return heights;
+}
+//# sourceMappingURL=HeightfieldLayout.js.map

package/dist/physics-rapier/HeightfieldLayout.js.map

@@ -0,0 +1 @@
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package/dist/physics-rapier/index.js

@@ -1,3 +1,4 @@
+import { toRapierHeightfieldHeights } from "./HeightfieldLayout.js";
 const defaultRapierModule = await import("@dimforge/rapier3d-compat");
 const defaultRapierInit = defaultRapierModule.init;
 if (defaultRapierInit)
@@ -165,7 +166,7 @@ export class RapierPhysicsWorld {
             collider = hull;
         }
         else {
-            collider = R.ColliderDesc.heightfield(shape.rows - 1, shape.columns - 1, new Float32Array(shape.heights), { x: shape.cellSize * (shape.columns - 1), y: 1, z: shape.cellSize * (shape.rows - 1) });
+            collider = R.ColliderDesc.heightfield(shape.rows - 1, shape.columns - 1, toRapierHeightfieldHeights(shape), { x: shape.cellSize * (shape.columns - 1), y: 1, z: shape.cellSize * (shape.rows - 1) });
         }
         if (spec.density !== undefined)
             collider.setDensity(finite(spec.density, "density"));

package/dist/physics-rapier/index.js.map

@@ -1 +1 @@
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package/dist/rendering/CascadedShadowMaps.d.ts.map

@@ -1 +1 @@
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package/dist/rendering/CascadedShadowMaps.js

@@ -360,7 +360,9 @@ function orthographicMatrix(bounds) {
         0, 0, -2 / depth, 0,
         -(bounds.right + bounds.left) / width,
         -(bounds.top + bounds.bottom) / height,
-        -(bounds.far + bounds.near) / depth,
+        // These bounds are signed light-space coordinates, not positive camera
+        // distances. Larger Z is nearer the light and must map to depth -1.
+        (bounds.far + bounds.near) / depth,
         1
     ];
 }

package/dist/rendering/CascadedShadowMaps.js.map

@@ -1 +1 @@
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package/dist/rendering/ExtensionScalarAtlas.d.ts

@@ -0,0 +1,18 @@
+import { Texture } from "./Texture.js";
+export declare const EXTENSION_SCALAR_ATLAS_SLOTS: readonly ["clearcoat", "clearcoatRoughness", "sheenRoughness", "iridescence", "iridescenceThickness"];
+export type ExtensionScalarAtlasSlot = typeof EXTENSION_SCALAR_ATLAS_SLOTS[number];
+export interface ExtensionScalarPixels {
+    readonly width: number;
+    readonly height: number;
+    readonly data: Uint8Array | Uint8ClampedArray;
+}
+export type ExtensionScalarAtlas = {
+    readonly texture: Texture;
+    readonly originsY?: Readonly<Record<ExtensionScalarAtlasSlot, number>>;
+} & Readonly<Record<ExtensionScalarAtlasSlot, readonly [number, number, number, number]>>;
+/** Each map keeps its own dimensions and complete mip chain in an isolated column.
+ * Shader texelFetch performs filtering inside the selected map/level, so adjacent
+ * columns and mip levels cannot bleed, including repeat and negative UVs.
+ */
+export declare function createExtensionScalarAtlas(inputs: Readonly<Partial<Record<ExtensionScalarAtlasSlot, ExtensionScalarPixels>>>, maxTextureSize?: number): ExtensionScalarAtlas;
+//# sourceMappingURL=ExtensionScalarAtlas.d.ts.map

package/dist/rendering/ExtensionScalarAtlas.d.ts.map

@@ -0,0 +1 @@
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