@developerz.ai/ts23d 0.0.0-stage → 0.2.0

package/dist/chunk-jq4e17tj.js.map

@@ -0,0 +1,21 @@
+{
+  "version": 3,
+  "sources": ["../src/qa/geometry.ts", "../src/qa/inside.ts", "../src/qa/inspect.ts", "../src/qa/checks.ts", "../src/qa/types.ts", "../src/qa/clash.ts", "../src/qa/floating.ts", "../src/qa/measures.ts", "../src/qa/occlusion.ts", "../src/qa/sanity.ts", "../src/qa/gates.ts", "../src/qa/lods.ts"],
+  "sourcesContent": [
+    "// Exact-enough geometry for QA: point↔triangle distance, a triangle spatial hash, and surface\n// samples. Bounding boxes lie (a diagonal strut's box touches everything); surfaces don't.\n\nimport { boundsOf, type Mesh, type Vec3 } from '../core/index.ts';\n\nconst at = (m: Mesh, i: number): Vec3 => [\n  m.positions[i * 3] ?? 0,\n  m.positions[i * 3 + 1] ?? 0,\n  m.positions[i * 3 + 2] ?? 0,\n];\nconst sub = (a: Vec3, b: Vec3): Vec3 => [a[0] - b[0], a[1] - b[1], a[2] - b[2]];\nconst dot = (a: Vec3, b: Vec3): number => a[0] * b[0] + a[1] * b[1] + a[2] * b[2];\nconst lerp = (a: Vec3, b: Vec3, t: number): Vec3 => [\n  a[0] + (b[0] - a[0]) * t,\n  a[1] + (b[1] - a[1]) * t,\n  a[2] + (b[2] - a[2]) * t,\n];\n\nexport function triangle(m: Mesh, t: number): [Vec3, Vec3, Vec3] {\n  return [\n    at(m, m.indices[t * 3] ?? 0),\n    at(m, m.indices[t * 3 + 1] ?? 0),\n    at(m, m.indices[t * 3 + 2] ?? 0),\n  ];\n}\n\n/** Distance from p to triangle abc (Ericson, Real-Time Collision Detection §5.1.5). */\nexport function pointTriangleDistance(p: Vec3, a: Vec3, b: Vec3, c: Vec3): number {\n  const ab = sub(b, a);\n  const ac = sub(c, a);\n  const ap = sub(p, a);\n  const d1 = dot(ab, ap);\n  const d2 = dot(ac, ap);\n  if (d1 <= 0 && d2 <= 0) return Math.hypot(...ap);\n  const bp = sub(p, b);\n  const d3 = dot(ab, bp);\n  const d4 = dot(ac, bp);\n  if (d3 >= 0 && d4 <= d3) return Math.hypot(...bp);\n  const vc = d1 * d4 - d3 * d2;\n  if (vc <= 0 && d1 >= 0 && d3 <= 0) return Math.hypot(...sub(p, lerp(a, b, d1 / (d1 - d3))));\n  const cp = sub(p, c);\n  const d5 = dot(ab, cp);\n  const d6 = dot(ac, cp);\n  if (d6 >= 0 && d5 <= d6) return Math.hypot(...cp);\n  const vb = d5 * d2 - d1 * d6;\n  if (vb <= 0 && d2 >= 0 && d6 <= 0) return Math.hypot(...sub(p, lerp(a, c, d2 / (d2 - d6))));\n  const va = d3 * d6 - d5 * d4;\n  if (va <= 0 && d4 - d3 >= 0 && d5 - d6 >= 0)\n    return Math.hypot(...sub(p, lerp(b, c, (d4 - d3) / (d4 - d3 + (d5 - d6)))));\n  const den = 1 / (va + vb + vc);\n  const v = vb * den;\n  const w = vc * den;\n  return Math.hypot(\n    ...sub(p, [\n      a[0] + ab[0] * v + ac[0] * w,\n      a[1] + ab[1] * v + ac[1] * w,\n      a[2] + ab[2] * v + ac[2] * w,\n    ]),\n  );\n}\n\n// Numeric cell keys (no string building per query) — collisions only add candidates, never drop.\nconst key = (x: number, y: number, z: number): number =>\n  ((x * 73856093) ^ (y * 19349663) ^ (z * 83492791)) | 0;\n\n/** Triangles bucketed by a uniform grid, so a point only tests its neighbourhood. */\nexport class TriangleGrid {\n  private readonly cells = new Map<number, number[]>();\n  /** Cell edge: 25 cm for props and vehicles, growing with big meshes (a 330 m tower) so one\n   *  long triangle never lands in 10⁵ cells. */\n  private readonly cell: number;\n  private readonly tris: Float64Array;\n  /** Per-triangle AABB (min xyz, max xyz) for a cheap reject before the exact distance. */\n  private readonly boxes: Float64Array;\n  private readonly stamp: Int32Array;\n  private query = 0;\n\n  constructor(mesh: Mesh) {\n    const n = mesh.indices.length / 3;\n    this.tris = new Float64Array(n * 9);\n    this.boxes = new Float64Array(n * 6);\n    this.stamp = new Int32Array(n);\n    const b = boundsOf(mesh);\n    const diag = Math.hypot(b.max[0] - b.min[0], b.max[1] - b.min[1], b.max[2] - b.min[2]);\n    this.cell = Math.max(0.25, diag / 256);\n    const CELL = this.cell;\n    for (let t = 0; t < n; t++) {\n      const [a, b, c] = triangle(mesh, t);\n      this.tris.set([...a, ...b, ...c], t * 9);\n      for (let k = 0; k < 3; k++) {\n        this.boxes[t * 6 + k] = Math.min(a[k] ?? 0, b[k] ?? 0, c[k] ?? 0);\n        this.boxes[t * 6 + 3 + k] = Math.max(a[k] ?? 0, b[k] ?? 0, c[k] ?? 0);\n      }\n      const lo = [0, 1, 2].map((k) => Math.floor(Math.min(a[k] ?? 0, b[k] ?? 0, c[k] ?? 0) / CELL));\n      const hi = [0, 1, 2].map((k) => Math.floor(Math.max(a[k] ?? 0, b[k] ?? 0, c[k] ?? 0) / CELL));\n      for (let x = lo[0] ?? 0; x <= (hi[0] ?? 0); x++)\n        for (let y = lo[1] ?? 0; y <= (hi[1] ?? 0); y++)\n          for (let z = lo[2] ?? 0; z <= (hi[2] ?? 0); z++) {\n            const k = key(x, y, z);\n            const list = this.cells.get(k);\n            if (list) list.push(t);\n            else this.cells.set(k, [t]);\n          }\n    }\n  }\n\n  /** Distance from p to the nearest triangle, if one is within `radius`; else Infinity. */\n  nearest(p: Vec3, radius: number): number {\n    const CELL = this.cell;\n    // Only the cells the query sphere overlaps — usually 1–8, not a fixed 27.\n    const [x0, y0, z0] = [\n      Math.floor((p[0] - radius) / CELL),\n      Math.floor((p[1] - radius) / CELL),\n      Math.floor((p[2] - radius) / CELL),\n    ];\n    const [x1, y1, z1] = [\n      Math.floor((p[0] + radius) / CELL),\n      Math.floor((p[1] + radius) / CELL),\n      Math.floor((p[2] + radius) / CELL),\n    ];\n    const q = ++this.query;\n    const T = this.tris;\n    const B = this.boxes;\n    let best = Infinity;\n    for (let x = x0; x <= x1; x++)\n      for (let y = y0; y <= y1; y++)\n        for (let z = z0; z <= z1; z++) {\n          const list = this.cells.get(key(x, y, z));\n          if (!list) continue;\n          for (const t of list) {\n            if (this.stamp[t] === q) continue;\n            this.stamp[t] = q;\n            const lim = Math.min(best, radius);\n            const o6 = t * 6;\n            if (\n              p[0] < (B[o6] ?? 0) - lim ||\n              p[0] > (B[o6 + 3] ?? 0) + lim ||\n              p[1] < (B[o6 + 1] ?? 0) - lim ||\n              p[1] > (B[o6 + 4] ?? 0) + lim ||\n              p[2] < (B[o6 + 2] ?? 0) - lim ||\n              p[2] > (B[o6 + 5] ?? 0) + lim\n            )\n              continue;\n            const o = t * 9;\n            const d = pointTriangleDistance(\n              p,\n              [T[o] ?? 0, T[o + 1] ?? 0, T[o + 2] ?? 0],\n              [T[o + 3] ?? 0, T[o + 4] ?? 0, T[o + 5] ?? 0],\n              [T[o + 6] ?? 0, T[o + 7] ?? 0, T[o + 8] ?? 0],\n            );\n            if (d < best) best = d;\n          }\n        }\n    return best <= radius ? best : Infinity;\n  }\n}\n\n// Gates and checks ask for the same mesh's samples many times; compute each (mesh, density) once.\nconst sampleCache = new WeakMap<Mesh, Map<string, Vec3[]>>();\n\n/** Vertices plus points along every edge every `step` metres (catches crossing members). */\nexport function surfaceSamples(m: Mesh, step = 0.05, maxPerEdge = 16): Vec3[] {\n  const key = `${step}:${maxPerEdge}`;\n  const byMesh = sampleCache.get(m) ?? new Map<string, Vec3[]>();\n  sampleCache.set(m, byMesh);\n  const hit = byMesh.get(key);\n  if (hit) return hit;\n  const out = sampleMesh(m, step, maxPerEdge);\n  byMesh.set(key, out);\n  return out;\n}\n\nfunction sampleMesh(m: Mesh, step: number, maxPerEdge: number): Vec3[] {\n  const out: Vec3[] = [];\n  for (let i = 0; i < m.positions.length / 3; i++) out.push(at(m, i));\n  for (let t = 0; t < m.indices.length / 3; t++) {\n    const tri = triangle(m, t);\n    for (let e = 0; e < 3; e++) {\n      const a = tri[e] ?? tri[0];\n      const b = tri[(e + 1) % 3] ?? tri[0];\n      const n = Math.min(maxPerEdge, Math.floor(Math.hypot(...sub(b, a)) / step));\n      for (let s = 1; s < n; s++) out.push(lerp(a, b, s / n));\n    }\n    out.push(lerp(lerp(tri[0], tri[1], 0.5), tri[2], 1 / 3));\n  }\n  return out;\n}\n",
+    "// Point-in-solid for closed meshes, indexed and allocation-free: axis-aligned rays (+Z, +Y, +X)\n// against triangles bucketed in a 2D grid perpendicular to each ray. An axis-aligned ray hitting a\n// triangle is a 2D point-in-triangle test in the other two axes plus one interpolated depth.\n// Majority of the three rays (short-circuited), so grazing an edge cannot flip the answer.\n// Open sheets (planar decals) are never \"solid\"; penetration only means something vs closed parts.\n\nimport { boundsOf, type Mesh, type Vec3 } from '../core/index.ts';\n\n/** Column size: 20 cm for props and vehicles, growing with the mesh so a 330 m tower's long\n *  members don't land in thousands of columns each (answers never depend on the cell size). */\nconst cellFor = (m: Mesh): number => {\n  const b = boundsOf(m);\n  return Math.max(\n    0.2,\n    Math.hypot(b.max[0] - b.min[0], b.max[1] - b.min[1], b.max[2] - b.min[2]) / 256,\n  );\n};\n// A tiny fixed offset keeps the query point off shared edges/vertices of axis-aligned geometry.\nconst NUDGE: Vec3 = [1.37e-5, 2.91e-5, 3.73e-5];\nconst OTHER = [\n  [1, 2],\n  [0, 2],\n  [0, 1],\n] as const;\n\nexport class SolidIndex {\n  private readonly tri: Float64Array;\n  private readonly columns: Map<number, number[]>[] = [new Map(), new Map(), new Map()];\n  private readonly cell: number;\n\n  constructor(mesh: Mesh) {\n    this.cell = cellFor(mesh);\n    const CELL = this.cell;\n    const n = mesh.indices.length / 3;\n    this.tri = new Float64Array(n * 9);\n    for (let t = 0; t < n; t++) {\n      for (let v = 0; v < 3; v++) {\n        const idx = mesh.indices[t * 3 + v] ?? 0;\n        for (let k = 0; k < 3; k++) this.tri[t * 9 + v * 3 + k] = mesh.positions[idx * 3 + k] ?? 0;\n      }\n      for (const axis of [0, 1, 2] as const) {\n        const [i, j] = OTHER[axis];\n        const T = this.tri;\n        const o = t * 9;\n        const a = T[o + i] ?? 0;\n        const b = T[o + 3 + i] ?? 0;\n        const c = T[o + 6 + i] ?? 0;\n        const d = T[o + j] ?? 0;\n        const e = T[o + 3 + j] ?? 0;\n        const f = T[o + 6 + j] ?? 0;\n        const u0 = Math.floor(Math.min(a, b, c) / CELL);\n        const u1 = Math.floor(Math.max(a, b, c) / CELL);\n        const v0 = Math.floor(Math.min(d, e, f) / CELL);\n        const v1 = Math.floor(Math.max(d, e, f) / CELL);\n        const map = this.columns[axis];\n        if (!map) continue;\n        for (let u = u0; u <= u1; u++)\n          for (let v = v0; v <= v1; v++) {\n            const k = (u * 92837111) ^ (v * 689287499);\n            const list = map.get(k);\n            if (list) list.push(t);\n            else map.set(k, [t]);\n          }\n      }\n    }\n  }\n\n  /** Odd number of crossings of the ray from p along +axis ⇒ inside (for that ray). */\n  private parity(px: number, py: number, pz: number, axis: 0 | 1 | 2): boolean {\n    const [i, j] = OTHER[axis];\n    const p = [px, py, pz];\n    const pi = p[i] ?? 0;\n    const pj = p[j] ?? 0;\n    const pk = p[axis] ?? 0;\n    const CELL = this.cell;\n    const list = this.columns[axis]?.get(\n      (Math.floor(pi / CELL) * 92837111) ^ (Math.floor(pj / CELL) * 689287499),\n    );\n    if (!list) return false;\n    const T = this.tri;\n    let n = 0;\n    for (const t of list) {\n      const o = t * 9;\n      const ai = T[o + i] ?? 0;\n      const aj = T[o + j] ?? 0;\n      const bi = T[o + 3 + i] ?? 0;\n      const bj = T[o + 3 + j] ?? 0;\n      const ci = T[o + 6 + i] ?? 0;\n      const cj = T[o + 6 + j] ?? 0;\n      const area = (bi - ai) * (cj - aj) - (bj - aj) * (ci - ai);\n      if (Math.abs(area) < 1e-14) continue;\n      const w0 = ((bi - pi) * (cj - pj) - (bj - pj) * (ci - pi)) / area;\n      const w1 = ((ci - pi) * (aj - pj) - (cj - pj) * (ai - pi)) / area;\n      const w2 = 1 - w0 - w1;\n      if (w0 < 0 || w1 < 0 || w2 < 0) continue;\n      const depth =\n        w0 * (T[o + axis] ?? 0) + w1 * (T[o + 3 + axis] ?? 0) + w2 * (T[o + 6 + axis] ?? 0);\n      if (depth > pk) n++;\n    }\n    return n % 2 === 1;\n  }\n\n  inside(point: Vec3): boolean {\n    const x = point[0] + NUDGE[0];\n    const y = point[1] + NUDGE[1];\n    const z = point[2] + NUDGE[2];\n    const vz = this.parity(x, y, z, 2);\n    const vy = this.parity(x, y, z, 1);\n    return vz === vy ? vz : this.parity(x, y, z, 0);\n  }\n}\n\n/** One-off query; build a SolidIndex yourself when testing many points against one mesh. */\nexport const insideSolid = (p: Vec3, m: Mesh): boolean => new SolidIndex(m).inside(p);\n",
+    "// Inspector: geometry queries over a compiled asset in world space, for checks, scripts and\n// agents (\"how far is the track from the hull?\", \"does the wheel sink into the fender?\").\n// Part selectors are names or globs: 'track_l_*', 'road_wheel_*_3', '*_hatch'.\n\nimport {\n  type Bounds,\n  boundsOf,\n  type CompiledAsset,\n  type Mesh,\n  merge,\n  worldMeshes,\n} from '../core/index.ts';\nimport { surfaceSamples, TriangleGrid } from './geometry.ts';\nimport { SolidIndex } from './inside.ts';\n\nexport const glob = (pattern: string): RegExp =>\n  new RegExp(\n    `^${pattern\n      .replace(/[.+^${}()|[\\]\\\\]/g, '\\\\$&')\n      .replaceAll('*', '.*')\n      .replaceAll('?', '.')}$`,\n  );\n\nexport interface Penetration {\n  /** Deepest sampled point of A inside B's solid, metres (0 = none). */\n  readonly depth: number;\n  readonly samples: number;\n}\n\nexport interface Inspector {\n  readonly asset: CompiledAsset;\n  parts(selector: string): string[];\n  mesh(selector: string): Mesh | null;\n  bounds(selector: string): Bounds | null;\n  /** Smallest surface-to-surface distance (0 when touching or intersecting), capped at `max`. */\n  distance(a: string, b: string, max?: number): number;\n  /** How deep A's surface goes inside B's closed solid. */\n  penetration(a: string, b: string): Penetration;\n}\n\nexport function inspect(asset: CompiledAsset): Inspector {\n  const world = worldMeshes(asset.parts);\n  const parts = (sel: string): string[] => [...world.keys()].filter((n) => glob(sel).test(n));\n  // Checks ask about the same parts over and over: build each merged mesh and index once.\n  const meshes = new Map<string, Mesh | null>();\n  const grids = new Map<string, TriangleGrid>();\n  const solids = new Map<string, SolidIndex>();\n  const samples = new Map<string, ReturnType<typeof surfaceSamples>>();\n  const mesh = (sel: string): Mesh | null => {\n    if (!meshes.has(sel)) {\n      const ms = parts(sel).flatMap((n) => world.get(n) ?? []);\n      meshes.set(sel, ms.length ? merge(ms) : null);\n    }\n    return meshes.get(sel) ?? null;\n  };\n  const cached = <T>(map: Map<string, T>, key: string, make: () => T): T => {\n    const hit = map.get(key);\n    if (hit !== undefined) return hit;\n    const v = make();\n    map.set(key, v);\n    return v;\n  };\n  const near = (a: Bounds, b: Bounds, eps: number): boolean =>\n    [0, 1, 2].every(\n      (k) => (a.min[k] ?? 0) <= (b.max[k] ?? 0) + eps && (b.min[k] ?? 0) <= (a.max[k] ?? 0) + eps,\n    );\n  return {\n    asset,\n    parts,\n    mesh,\n    bounds: (sel) => {\n      const m = mesh(sel);\n      return m ? boundsOf(m) : null;\n    },\n    distance(a, b, max = 1) {\n      const ma = mesh(a);\n      const mb = mesh(b);\n      if (!ma || !mb || !near(boundsOf(ma), boundsOf(mb), max)) return max;\n      const grid = cached(grids, b, () => new TriangleGrid(mb));\n      const pts = cached(samples, a, () => surfaceSamples(ma, 0.05, 8));\n      // Grow the search radius: \"do they touch?\" is answered at 2 cm without scanning metres.\n      for (const r of [0.02, 0.1, 0.5, max].filter((x) => x <= max)) {\n        let best = Infinity;\n        for (const p of pts) best = Math.min(best, grid.nearest(p, Math.min(r, best)));\n        if (best <= r) return best;\n      }\n      return max;\n    },\n    penetration(a, b) {\n      const ma = mesh(a);\n      const mb = mesh(b);\n      if (!ma || !mb) return { depth: 0, samples: 0 };\n      const bb = boundsOf(mb);\n      if (!near(boundsOf(ma), bb, 0)) return { depth: 0, samples: 0 };\n      const grid = cached(grids, b, () => new TriangleGrid(mb));\n      const solid = cached(solids, b, () => new SolidIndex(mb));\n      let depth = 0;\n      let count = 0;\n      for (const p of cached(samples, `${a}#pen`, () => surfaceSamples(ma, 0.1, 3))) {\n        if (!near({ min: p, max: p }, bb, 0) || !solid.inside(p)) continue;\n        count++;\n        depth = Math.max(depth, grid.nearest(p, 0.5));\n      }\n      return { depth, samples: count };\n    },\n  };\n}\n",
+    "// Check builders: a recipe states its physical intent in code and QA enforces it at every LOD.\n//   checks: [clear('track_*', 'hull_*'), noOverlap('road_wheel_l_*'), touches('turret_body', 'hull_top'),\n//            symmetric('_l', '_r', 'y')]\n// Each returns a core `Check`; write your own the same way: (asset) => CheckFinding[].\n\nimport type { Check, CheckFinding } from '../core/index.ts';\nimport { type Inspector, inspect } from './inspect.ts';\n\n// One inspector per compiled asset, shared by every check (its caches are the speed).\nconst inspectors = new WeakMap<object, Inspector>();\nconst inspectorFor = (asset: Parameters<Check>[0]): Inspector => {\n  const hit = inspectors.get(asset);\n  if (hit) return hit;\n  const made = inspect(asset);\n  inspectors.set(asset, made);\n  return made;\n};\n\nconst CLASH = 0.01;\n\n/** Nothing matching `a` sinks into anything matching `b` (closed solids), with optional min gap. */\nexport const clear =\n  (a: string, b: string, minGap = 0): Check =>\n  (asset) => {\n    const q = inspectorFor(asset);\n    const out: CheckFinding[] = [];\n    for (const pa of q.parts(a)) {\n      for (const pb of q.parts(b)) {\n        if (pa === pb) continue;\n        const pen = q.penetration(pa, pb);\n        if (pen.depth > CLASH) {\n          out.push({\n            part: pa,\n            message: `'${pa}' sinks ${(pen.depth * 100).toFixed(1)} cm into '${pb}'`,\n            fix: `move '${pa}' out of '${pb}' (or shrink one); they are declared clear of each other`,\n          });\n        } else if (minGap > 0) {\n          const d = q.distance(pa, pb, minGap);\n          if (d < minGap)\n            out.push({\n              part: pa,\n              message: `'${pa}' is ${(d * 100).toFixed(1)} cm from '${pb}', needs ≥ ${minGap * 100} cm`,\n              fix: 'open the gap — running clearance, mud, suspension travel',\n            });\n        }\n      }\n    }\n    return out;\n  };\n\n/** No two parts matching the selector interpenetrate (interleaved wheels, stacked crates). */\nexport const noOverlap =\n  (selector: string): Check =>\n  (asset) => {\n    const names = inspectorFor(asset).parts(selector);\n    return names.flatMap((a, i) => names.slice(i + 1).flatMap((b) => clear(a, b)(asset)));\n  };\n\n/** `a` must touch `b` (surface within 2 cm): a turret sits on its ring, a lamp on its post. */\nexport const touches =\n  (a: string, b: string, eps = 0.02): Check =>\n  (asset) => {\n    const q = inspectorFor(asset);\n    // A part dropped at this LOD (detail gating) has nothing to touch: the check doesn't apply.\n    if (q.parts(a).length === 0 || q.parts(b).length === 0) return [];\n    const d = q.distance(a, b, 1);\n    return d <= eps\n      ? []\n      : [\n          {\n            part: a,\n            message: `'${a}' should touch '${b}' but is ${(d * 100).toFixed(1)} cm away`,\n            fix: `seat '${a}' on '${b}'`,\n          },\n        ];\n  };\n\n/** Every part containing `left` has a mirror part (with `right`) reflected across the axis plane. */\nexport const symmetric =\n  (left: string, right: string, axis: 'x' | 'y' | 'z' = 'y', tol = 0.02): Check =>\n  (asset) => {\n    const q = inspectorFor(asset);\n    const k = ({ x: 0, y: 1, z: 2 } as const)[axis];\n    // Side tokens are whole name segments: `_l` matches `wheel_l_3` and `rod_l`, never `axle_lead`.\n    const token = new RegExp(`${left.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\$&')}(?=_|$)`);\n    return q\n      .parts('*')\n      .filter((n) => token.test(n))\n      .flatMap((l): CheckFinding[] => {\n        const r = l.replace(token, right);\n        const bl = q.bounds(l);\n        const br = q.bounds(r);\n        if (!bl || !br)\n          return [{ part: l, message: `'${l}' has no mirror '${r}'`, fix: `add '${r}' or rename` }];\n        const off = Math.abs(bl.min[k] + br.max[k]) + Math.abs(bl.max[k] + br.min[k]);\n        return off > tol * 2\n          ? [\n              {\n                part: l,\n                message: `'${l}' and '${r}' are not mirrored across ${axis}=0 (off by ${(off * 50).toFixed(1)} cm)`,\n                fix: 'build one side and mirror it — place(mesh, { scale: [1, -1, 1] }) flips winding; prefer reusing the same builder with a sign',\n              },\n            ]\n          : [];\n      });\n  };\n\n/** Run a recipe's checks; the QA gate calls this. */\nexport const runChecks = (asset: Parameters<Check>[0]): CheckFinding[] =>\n  asset.checks.flatMap((c) => [...c(asset)]);\n",
+    "// QA vocabulary shared by every gate.\n\nimport type { CompiledAsset } from '../core/index.ts';\n\nexport interface Finding {\n  readonly gate: string;\n  readonly part?: string;\n  readonly message: string;\n  readonly fix: string;\n}\n\nexport type Gate = (asset: CompiledAsset) => Finding[];\n\n/** Contact tolerance: surfaces closer than this touch (metres). */\nexport const CONTACT_EPS = 0.02;\n/** Clash tolerance: penetration deeper than this is a clash (metres). */\nexport const CLASH_EPS = 0.01;\n",
+    "// Gate: moving parts never cut through anything. Each motion root (a spinning wheel/axle group, a\n// rotor, a sliding crosshead) is swept through its whole motion; any other part whose surface goes\n// deeper than CLASH_EPS into that swept volume fails — wheel vs fender, prop vs cowling, rod vs frame.\n// Spins sweep a solid of revolution (radius profile per axial slice); sways sweep only their\n// sector (the same profile, kept per 5° angular bin and widened by the swing); slides use the\n// moving mesh's bounds extended along the stroke (one side only for `oneWay`).\n\nimport {\n  boundsOf,\n  type CompiledAsset,\n  type Mesh,\n  merge,\n  type Part,\n  type Vec3,\n  worldMeshes,\n  worldTransforms,\n} from '../core/index.ts';\nimport { surfaceSamples } from './geometry.ts';\nimport { CLASH_EPS, type Finding, type Gate } from './types.ts';\n\nconst SLICES = 24;\n\nfunction subtree(parts: readonly Part[], root: string): Set<string> {\n  const out = new Set([root]);\n  for (const p of parts) if (p.parent && out.has(p.parent)) out.add(p.name);\n  return out;\n}\n\ntype Inside = (p: Vec3) => boolean;\n\n/** A swept volume plus its conservative world AABB, so far-away parts and samples skip the test. */\ninterface Volume {\n  readonly inside: Inside;\n  readonly min: Vec3;\n  readonly max: Vec3;\n}\n\nconst BINS = 72;\nconst TAU = Math.PI * 2;\n\n/**\n * Swept volume of `mesh` rotating about `axis` through `pivot`. `range` (radians, rest = 0)\n * limits it to a sector; omitted = a full revolution.\n */\nfunction spinVolume(\n  mesh: Mesh,\n  pivot: Vec3,\n  axis: Vec3,\n  range?: readonly [number, number],\n): Volume {\n  const len = Math.hypot(...axis) || 1;\n  const u: Vec3 = [axis[0] / len, axis[1] / len, axis[2] / len];\n  // A frame around the axis, for the angle of each point.\n  const ref: Vec3 = Math.abs(u[0]) < 0.9 ? [1, 0, 0] : [0, 1, 0];\n  const dotRef = ref[0] * u[0] + ref[1] * u[1] + ref[2] * u[2];\n  const e1raw: Vec3 = [ref[0] - dotRef * u[0], ref[1] - dotRef * u[1], ref[2] - dotRef * u[2]];\n  const e1l = Math.hypot(...e1raw) || 1;\n  const e1: Vec3 = [e1raw[0] / e1l, e1raw[1] / e1l, e1raw[2] / e1l];\n  const e2: Vec3 = [\n    u[1] * e1[2] - u[2] * e1[1],\n    u[2] * e1[0] - u[0] * e1[2],\n    u[0] * e1[1] - u[1] * e1[0],\n  ];\n  const coords = (p: Vec3): [number, number, number] => {\n    const d: Vec3 = [p[0] - pivot[0], p[1] - pivot[1], p[2] - pivot[2]];\n    const a = d[0] * u[0] + d[1] * u[1] + d[2] * u[2];\n    const x = d[0] * e1[0] + d[1] * e1[1] + d[2] * e1[2];\n    const y = d[0] * e2[0] + d[1] * e2[1] + d[2] * e2[2];\n    return [a, Math.hypot(x, y), Math.atan2(y, x)];\n  };\n  const bin = (phi: number): number =>\n    Math.floor((((phi % TAU) + TAU) % TAU) / (TAU / BINS)) % BINS;\n  const pts = surfaceSamples(mesh, 0.05, 8).map(coords);\n  const lo = Math.min(...pts.map((p) => p[0]));\n  const hi = Math.max(...pts.map((p) => p[0]));\n  const span = Math.max(hi - lo, 1e-6);\n  const slice = (a: number): number => Math.min(SLICES - 1, Math.floor(((a - lo) / span) * SLICES));\n  // radius[slice * BINS + bin]: farthest body sample in that slice and angular bin (rest pose).\n  const radius = new Float64Array(SLICES * BINS).fill(-1);\n  for (const [a, r, phi] of pts) {\n    const k = slice(a) * BINS + bin(phi);\n    radius[k] = Math.max(radius[k] ?? -1, r);\n  }\n  // Bins a rest-pose bin sweeps into: the swing plus one bin of slack either side.\n  const [from, to] = range ?? [0, TAU];\n  const steps = range ? Math.ceil((to - from) / (TAU / BINS)) + 2 : BINS;\n  const reach = Math.max(...radius) + Math.max(Math.abs(lo), Math.abs(hi));\n  return {\n    min: [pivot[0] - reach, pivot[1] - reach, pivot[2] - reach],\n    max: [pivot[0] + reach, pivot[1] + reach, pivot[2] + reach],\n    inside: (p) => {\n      const [a, r, phi] = coords(p);\n      if (a < lo + CLASH_EPS || a > hi - CLASH_EPS) return false;\n      const base = slice(a) * BINS;\n      // p is swept if some rest-pose bin, rotated by θ ∈ [from, to], lands on p's angle.\n      for (let i = 0; i < Math.min(steps, BINS); i++) {\n        const theta = range ? from - TAU / BINS + i * (TAU / BINS) : i * (TAU / BINS);\n        if (r < (radius[base + bin(phi - theta)] ?? -1) - CLASH_EPS) return true;\n      }\n      return false;\n    },\n  };\n}\n\nfunction slideVolume(mesh: Mesh, offset: Vec3, oneWay = false): Volume {\n  const b = boundsOf(mesh);\n  // Two-sided strokes reach ±offset; one-way strokes reach rest..rest + offset.\n  const neg = (k: number): number =>\n    oneWay ? Math.min(0, offset[k] ?? 0) : -Math.abs(offset[k] ?? 0);\n  const pos = (k: number): number =>\n    oneWay ? Math.max(0, offset[k] ?? 0) : Math.abs(offset[k] ?? 0);\n  const lo = [0, 1, 2].map((k) => (b.min[k] ?? 0) + neg(k) + CLASH_EPS);\n  const hi = [0, 1, 2].map((k) => (b.max[k] ?? 0) + pos(k) - CLASH_EPS);\n  return {\n    min: [lo[0] ?? 0, lo[1] ?? 0, lo[2] ?? 0],\n    max: [hi[0] ?? 0, hi[1] ?? 0, hi[2] ?? 0],\n    inside: (p) => [0, 1, 2].every((k) => (p[k] ?? 0) > (lo[k] ?? 0) && (p[k] ?? 0) < (hi[k] ?? 0)),\n  };\n}\n\nconst inBox = (p: Vec3, v: Volume): boolean =>\n  p[0] >= v.min[0] &&\n  p[0] <= v.max[0] &&\n  p[1] >= v.min[1] &&\n  p[1] <= v.max[1] &&\n  p[2] >= v.min[2] &&\n  p[2] <= v.max[2];\n\nexport const clashes: Gate = (asset: CompiledAsset): Finding[] => {\n  const meshes = worldMeshes(asset.parts);\n  const xf = worldTransforms(asset.parts);\n  const findings: Finding[] = [];\n  for (const root of asset.parts.filter((p) => p.motion)) {\n    const moving = subtree(asset.parts, root.name);\n    const body = merge([...moving].flatMap((n) => meshes.get(n) ?? []));\n    const t = xf.get(root.name);\n    if (!t || body.indices.length === 0 || !root.motion) continue;\n    const c = Math.cos(t.yaw);\n    const s = Math.sin(t.yaw);\n    const rot = (v: Vec3): Vec3 => [v[0] * c - v[1] * s, v[0] * s + v[1] * c, v[2]];\n    const m = root.motion;\n    const peak = m.kind === 'sway' ? (m.degrees * Math.PI) / 180 : 0;\n    const vol =\n      m.kind === 'slide'\n        ? slideVolume(body, rot(m.offset), m.oneWay)\n        : m.kind === 'sway'\n          ? spinVolume(body, t.origin, rot(m.axis), m.oneWay ? [0, peak] : [-peak, peak])\n          : spinVolume(body, t.origin, rot(m.axis));\n    for (const [name, mesh] of meshes) {\n      if (moving.has(name) || root.clearOf?.includes(name)) continue;\n      const b = boundsOf(mesh);\n      if (\n        !inBox(b.min, {\n          ...vol,\n          min: [\n            vol.min[0] - (b.max[0] - b.min[0]),\n            vol.min[1] - (b.max[1] - b.min[1]),\n            vol.min[2] - (b.max[2] - b.min[2]),\n          ],\n        })\n      )\n        continue;\n      const hits = surfaceSamples(mesh, 0.1, 4).filter(\n        (p) => inBox(p, vol) && vol.inside(p),\n      ).length;\n      if (hits > 0) {\n        findings.push({\n          gate: 'clashes',\n          part: name,\n          message: `'${name}' cuts into the swept ${root.motion.kind} of '${root.name}' (${hits} sample${hits === 1 ? '' : 's'} deeper than ${CLASH_EPS * 100} cm)`,\n          fix: `move/trim '${name}' or '${root.name}' for running clearance; if they are meant to interlock (an axle through its bearing), list it: clearOf: ['${name}'] on '${root.name}'`,\n        });\n      }\n    }\n  }\n  return findings;\n};\n",
+    "// Gate: everything is attached. A part is grounded if it reaches z≈0 or its SURFACE comes within\n// CONTACT_EPS of a grounded part's surface — transitively. Bounding boxes are only the prefilter.\n\nimport {\n  type Bounds,\n  boundsOf,\n  type CompiledAsset,\n  type Mesh,\n  worldMeshes,\n} from '../core/index.ts';\nimport { surfaceSamples, TriangleGrid } from './geometry.ts';\nimport { CONTACT_EPS, type Finding, type Gate } from './types.ts';\n\nconst near = (a: Bounds, b: Bounds, eps: number): boolean =>\n  [0, 1, 2].every(\n    (k) => (a.min[k] ?? 0) <= (b.max[k] ?? 0) + eps && (b.min[k] ?? 0) <= (a.max[k] ?? 0) + eps,\n  );\n\nexport function touching(a: Mesh, b: Mesh, grid: TriangleGrid, eps = CONTACT_EPS): boolean {\n  const bb = boundsOf(b);\n  for (const p of surfaceSamples(a, 0.1, 4)) {\n    if (!near({ min: p, max: p }, bb, eps)) continue;\n    if (grid.nearest(p, eps) <= eps) return true;\n  }\n  return false;\n}\n\nexport const floatingParts: Gate = (asset: CompiledAsset): Finding[] => {\n  const meshes = [...worldMeshes(asset.parts)];\n  const bounds = new Map(meshes.map(([n, m]) => [n, boundsOf(m)]));\n  const grids = new Map<string, TriangleGrid>();\n  const grid = (n: string, m: Mesh): TriangleGrid => {\n    const g = grids.get(n) ?? new TriangleGrid(m);\n    grids.set(n, g);\n    return g;\n  };\n  const grounded = new Set(\n    meshes.filter(([n]) => (bounds.get(n)?.min[2] ?? 1) <= CONTACT_EPS).map(([n]) => n),\n  );\n  const frontier = [...grounded];\n  while (frontier.length > 0) {\n    const g = frontier.pop() ?? '';\n    const gm = meshes.find(([n]) => n === g)?.[1];\n    const gb = bounds.get(g);\n    if (!gm || !gb) continue;\n    for (const [n, m] of meshes) {\n      const b = bounds.get(n);\n      if (grounded.has(n) || !b || !near(b, gb, CONTACT_EPS)) continue;\n      if (touching(m, gm, grid(g, gm)) || touching(gm, m, grid(n, m))) {\n        grounded.add(n);\n        frontier.push(n);\n      }\n    }\n  }\n  return meshes\n    .filter(([n]) => !grounded.has(n))\n    .map(([n]) => ({\n      gate: 'floating-parts',\n      part: n,\n      message: `'${n}' has no surface within ${CONTACT_EPS * 100} cm of anything attached to the ground`,\n      fix: 'move it onto what holds it (check `at`, parent and the LOD-gated detail around it) — bounding boxes touching is not enough',\n    }));\n};\n",
+    "// Gate: the model matches its spec sheet. Each `real.measures` entry (driver diameter, gauge,\n// wheelbase, turret width…) is measured on the LOD0 model and must land within tolerance (2%\n// default — tighter than the overall box, because these are the numbers players notice).\n\nimport {\n  type Bounds,\n  boundsOf,\n  type CompiledAsset,\n  type Measure,\n  worldMeshes,\n} from '../core/index.ts';\nimport type { Finding, Gate } from './types.ts';\n\nconst AXIS = { x: 0, y: 1, z: 2 } as const;\n\nfunction union(bounds: readonly Bounds[]): Bounds | null {\n  if (bounds.length === 0) return null;\n  const k = [0, 1, 2] as const;\n  return {\n    min: k.map((i) => Math.min(...bounds.map((b) => b.min[i]))) as unknown as Bounds['min'],\n    max: k.map((i) => Math.max(...bounds.map((b) => b.max[i]))) as unknown as Bounds['max'],\n  };\n}\n\nexport function measure(asset: CompiledAsset, m: Measure): number | null {\n  const meshes = worldMeshes(asset.parts);\n  const of = (prefix: string): Bounds | null =>\n    union(\n      [...meshes]\n        .filter(([n]) => n === prefix || n.startsWith(`${prefix}_`))\n        .map(([, mesh]) => boundsOf(mesh)),\n    );\n  const k = AXIS[m.axis];\n  if (m.between) {\n    const [a, b] = [of(m.between[0]), of(m.between[1])];\n    if (!a || !b) return null;\n    return Math.abs((a.min[k] + a.max[k]) / 2 - (b.min[k] + b.max[k]) / 2);\n  }\n  const u = union((m.parts ?? []).map(of).filter((b): b is Bounds => b !== null));\n  return u ? u.max[k] - u.min[k] : null;\n}\n\nexport const measures: Gate = (asset): Finding[] => {\n  if (asset.lod !== 0 || !asset.real?.measures) return [];\n  return asset.real.measures.flatMap((m): Finding[] => {\n    const got = measure(asset, m);\n    const tol = m.tolerance ?? 0.02;\n    if (got === null) {\n      return [\n        {\n          gate: 'measures',\n          message: `'${m.label}': no part matches ${JSON.stringify(m.parts ?? m.between)}`,\n          fix: 'name the parts the measure refers to, or fix the names in the measure',\n        },\n      ];\n    }\n    return Math.abs(got - m.value) / m.value > tol\n      ? [\n          {\n            gate: 'measures',\n            message: `${m.label}: ${got.toFixed(3)} m on ${m.axis.toUpperCase()}, spec ${m.value} m (±${tol * 100}%)${m.source ? ` — ${m.source}` : ''}`,\n            fix: 'rebuild the part from the spec number; never edit the spec to match the model',\n          },\n        ]\n      : [];\n  });\n};\n",
+    "// Gates: surfaces a viewer either can't see or can't see cleanly. `zFighting` — a face lying in\n// another part's face, both facing the same way, flickers in every engine. `hiddenParts` — a part\n// entirely inside another closed solid is budget nobody ever sees. Both need a closed partner\n// (point-in-solid); open sheets are skipped, never guessed.\n\nimport {\n  type Bounds,\n  boundsOf,\n  type CompiledAsset,\n  type Mesh,\n  type Vec3,\n  worldMeshes,\n} from '../core/index.ts';\nimport { TriangleGrid } from './geometry.ts';\nimport { SolidIndex } from './inside.ts';\nimport type { Finding, Gate } from './types.ts';\n\nconst overlaps = (a: Bounds, b: Bounds, eps: number): boolean =>\n  [0, 1, 2].every(\n    (k) => (a.min[k] ?? 0) <= (b.max[k] ?? 0) + eps && (b.min[k] ?? 0) <= (a.max[k] ?? 0) + eps,\n  );\nconst contains = (outer: Bounds, inner: Bounds): boolean =>\n  [0, 1, 2].every(\n    (k) => (outer.min[k] ?? 0) <= (inner.min[k] ?? 0) && (inner.max[k] ?? 0) <= (outer.max[k] ?? 0),\n  );\n\n/** Up to `cap` triangle centroids with unit face normals, evenly strided (deterministic). */\nfunction faceSamples(m: Mesh, cap: number): Array<{ p: Vec3; n: Vec3 }> {\n  const tris = m.indices.length / 3;\n  const step = Math.max(1, Math.floor(tris / cap));\n  const out: Array<{ p: Vec3; n: Vec3 }> = [];\n  const P = m.positions;\n  const v = (i: number): Vec3 => [P[i * 3] ?? 0, P[i * 3 + 1] ?? 0, P[i * 3 + 2] ?? 0];\n  for (let t = 0; t < tris; t += step) {\n    const a = v(m.indices[t * 3] ?? 0);\n    const b = v(m.indices[t * 3 + 1] ?? 0);\n    const c = v(m.indices[t * 3 + 2] ?? 0);\n    const u: Vec3 = [b[0] - a[0], b[1] - a[1], b[2] - a[2]];\n    const w: Vec3 = [c[0] - a[0], c[1] - a[1], c[2] - a[2]];\n    const g: Vec3 = [\n      u[1] * w[2] - u[2] * w[1],\n      u[2] * w[0] - u[0] * w[2],\n      u[0] * w[1] - u[1] * w[0],\n    ];\n    const len = Math.hypot(...g);\n    if (len < 1e-10) continue;\n    out.push({\n      p: [(a[0] + b[0] + c[0]) / 3, (a[1] + b[1] + c[1]) / 3, (a[2] + b[2] + c[2]) / 3],\n      n: [g[0] / len, g[1] / len, g[2] / len],\n    });\n  }\n  return out;\n}\n\ninterface Scene {\n  readonly names: string[];\n  readonly mesh: Map<string, Mesh>;\n  readonly bounds: Map<string, Bounds>;\n  grid(name: string): TriangleGrid;\n  solid(name: string): SolidIndex;\n}\n\nfunction scene(asset: CompiledAsset): Scene {\n  const mesh = worldMeshes(asset.parts);\n  const bounds = new Map([...mesh].map(([n, m]) => [n, boundsOf(m)]));\n  const grids = new Map<string, TriangleGrid>();\n  const solids = new Map<string, SolidIndex>();\n  const lazy =\n    <T>(cache: Map<string, T>, make: (m: Mesh) => T) =>\n    (name: string): T => {\n      const hit = cache.get(name);\n      if (hit) return hit;\n      const made = make(\n        mesh.get(name) ?? {\n          positions: new Float32Array(),\n          normals: new Float32Array(),\n          uvs: new Float32Array(),\n          colors: new Float32Array(),\n          indices: new Uint32Array(),\n        },\n      );\n      cache.set(name, made);\n      return made;\n    };\n  return {\n    names: [...mesh.keys()],\n    mesh,\n    bounds,\n    grid: lazy(grids, (m) => new TriangleGrid(m)),\n    solid: lazy(solids, (m) => new SolidIndex(m)),\n  };\n}\n\nconst ON = 2e-4;\nconst PROBE = 2e-3;\n\nexport const zFighting: Gate = (asset) => {\n  const s = scene(asset);\n  const out: Finding[] = [];\n  for (const a of s.names) {\n    const ba = s.bounds.get(a);\n    const ma = s.mesh.get(a);\n    if (!ba || !ma) continue;\n    const samples = faceSamples(ma, 256);\n    for (const b of s.names) {\n      const bb = s.bounds.get(b);\n      if (a === b || !bb || !overlaps(ba, bb, ON)) continue;\n      let hits = 0;\n      for (const { p, n } of samples) {\n        if (!overlaps({ min: p, max: p }, bb, ON) || s.grid(b).nearest(p, ON) > ON) continue;\n        const solid = s.solid(b);\n        const behind = solid.inside([\n          p[0] - n[0] * PROBE,\n          p[1] - n[1] * PROBE,\n          p[2] - n[2] * PROBE,\n        ]);\n        const front = solid.inside([p[0] + n[0] * PROBE, p[1] + n[1] * PROBE, p[2] + n[2] * PROBE]);\n        if (behind && !front) hits++;\n      }\n      if (hits >= 2)\n        out.push({\n          gate: 'z-fighting',\n          part: a,\n          message: `'${a}' has ${hits} face sample(s) lying in '${b}''s surface, facing the same way — it flickers`,\n          fix: `stand '${a}' proud of '${b}' by ≥ 2 mm, or inset it, or cut it from '${b}'; coplanar faces never render cleanly`,\n        });\n    }\n  }\n  return out;\n};\n\nexport const hiddenParts: Gate = (asset) => {\n  const s = scene(asset);\n  return s.names.flatMap((a): Finding[] => {\n    const ba = s.bounds.get(a);\n    const ma = s.mesh.get(a);\n    if (!ba || !ma) return [];\n    const pts = faceSamples(ma, 64).map((x) => x.p);\n    const stride = Math.max(1, Math.floor(ma.positions.length / 192));\n    for (let i = 0; i < ma.positions.length / 3; i += stride)\n      pts.push([\n        ma.positions[i * 3] ?? 0,\n        ma.positions[i * 3 + 1] ?? 0,\n        ma.positions[i * 3 + 2] ?? 0,\n      ]);\n    const host = s.names.find((b) => {\n      const bb = s.bounds.get(b);\n      if (b === a || !bb || !contains(bb, ba)) return false;\n      // Inside, and not merely flush with the host's skin (that is seating, not hiding).\n      return (\n        pts.every((p) => s.solid(b).inside(p)) &&\n        pts.every((p) => s.grid(b).nearest(p, PROBE) > PROBE)\n      );\n    });\n    return host\n      ? [\n          {\n            gate: 'hidden-parts',\n            part: a,\n            message: `'${a}' (${ma.indices.length / 3} tris) is entirely inside '${host}' — nobody can see it`,\n            fix: `delete it, gate it behind ctx.lod, or move it out of '${host}'; hidden triangles are wasted budget`,\n          },\n        ]\n      : [];\n  });\n};\n",
+    "// Gates: per-part mesh sanity a reviewer would spot at once — non-finite numbers (NaN from a\n// zero-length normalize), vertex colours outside [0,1], shading normals that point against the\n// face winding (black or inside-out lighting), and wasted zero-area triangles.\n\nimport type { CompiledAsset, Mesh, Part } from '../core/index.ts';\nimport type { Finding, Gate } from './types.ts';\n\nconst parts = (asset: CompiledAsset): Array<[Part, Mesh]> =>\n  asset.parts.flatMap((p): Array<[Part, Mesh]> => (p.mesh ? [[p, p.mesh]] : []));\n\nconst finite = (a: Float32Array): boolean => {\n  for (let i = 0; i < a.length; i++) if (!Number.isFinite(a[i] ?? 0)) return false;\n  return true;\n};\n\nexport const nonFinite: Gate = (asset) =>\n  parts(asset).flatMap(([p, m]): Finding[] => {\n    const bad = (\n      [\n        ['positions', m.positions],\n        ['normals', m.normals],\n        ['uvs', m.uvs],\n        ['colors', m.colors],\n      ] as const\n    )\n      .filter(([, a]) => !finite(a))\n      .map(([n]) => n);\n    const maxIndex = m.positions.length / 3;\n    const outOfRange = m.indices.some((i) => i >= maxIndex);\n    if (outOfRange) bad.push('indices' as never);\n    return bad.length\n      ? [\n          {\n            gate: 'non-finite',\n            part: p.name,\n            message: `'${p.name}' has NaN/Infinity or out-of-range data in ${bad.join(', ')}`,\n            fix: 'look for a zero-length normalize, a divide by a zero count or segment, or an index past the vertex count',\n          },\n        ]\n      : [];\n  });\n\nexport const vertexColors: Gate = (asset) =>\n  parts(asset).flatMap(([p, m]): Finding[] => {\n    let lo = Infinity;\n    let hi = -Infinity;\n    for (const c of m.colors) {\n      if (c < lo) lo = c;\n      if (c > hi) hi = c;\n    }\n    return lo < -1e-6 || hi > 1 + 1e-6\n      ? [\n          {\n            gate: 'vertex-colors',\n            part: p.name,\n            message: `'${p.name}' vertex colour spans ${lo.toFixed(3)}…${hi.toFixed(3)}, outside linear [0,1]`,\n            fix: 'colours are linear 0–1 (use the palette / material helpers); clamp after grime or livery maths',\n          },\n        ]\n      : [];\n  });\n\n/** Per triangle: geometric normal (from winding) vs the mean of its three vertex normals. */\nfunction windingStats(m: Mesh): {\n  flipped: number;\n  area: number;\n  flippedArea: number;\n  counted: number;\n} {\n  const P = m.positions;\n  const N = m.normals;\n  let flipped = 0;\n  let area = 0;\n  let flippedArea = 0;\n  let counted = 0;\n  for (let t = 0; t < m.indices.length; t += 3) {\n    const a = (m.indices[t] ?? 0) * 3;\n    const b = (m.indices[t + 1] ?? 0) * 3;\n    const c = (m.indices[t + 2] ?? 0) * 3;\n    const ux = (P[b] ?? 0) - (P[a] ?? 0);\n    const uy = (P[b + 1] ?? 0) - (P[a + 1] ?? 0);\n    const uz = (P[b + 2] ?? 0) - (P[a + 2] ?? 0);\n    const vx = (P[c] ?? 0) - (P[a] ?? 0);\n    const vy = (P[c + 1] ?? 0) - (P[a + 1] ?? 0);\n    const vz = (P[c + 2] ?? 0) - (P[a + 2] ?? 0);\n    const gx = uy * vz - uz * vy;\n    const gy = uz * vx - ux * vz;\n    const gz = ux * vy - uy * vx;\n    const len = Math.hypot(gx, gy, gz);\n    if (len < 1e-12) continue;\n    counted++;\n    const nx = (N[a] ?? 0) + (N[b] ?? 0) + (N[c] ?? 0);\n    const ny = (N[a + 1] ?? 0) + (N[b + 1] ?? 0) + (N[c + 1] ?? 0);\n    const nz = (N[a + 2] ?? 0) + (N[b + 2] ?? 0) + (N[c + 2] ?? 0);\n    area += len;\n    // Against the face by more than ~95°: the lighting is inside out, not just smoothed.\n    if ((gx * nx + gy * ny + gz * nz) / (len * (Math.hypot(nx, ny, nz) || 1)) < -0.1) {\n      flipped++;\n      flippedArea += len;\n    }\n  }\n  return { flipped, area, flippedArea, counted };\n}\n\n/** Shading normals must agree with the winding (the side a renderer culls/lights). */\nexport const normalsMatchWinding: Gate = (asset) =>\n  parts(asset).flatMap(([p, m]): Finding[] => {\n    const s = windingStats(m);\n    // 1% of a part's area tolerates a few pinched poles on smooth caps.\n    return s.flipped > 0 && s.flippedArea > s.area * 0.01\n      ? [\n          {\n            gate: 'normals-winding',\n            part: p.name,\n            message: `'${p.name}': ${s.flipped} triangle(s) (${((100 * s.flippedArea) / s.area).toFixed(1)}% of its area) have vertex normals opposing their face — inverted winding, or normals smoothed across a hard crease`,\n            fix: 'split normals at creases (lathe crease angle / weightedNormals hardAngle), or fix the mirrored piece: a negative-scale place() flips winding but not normals',\n          },\n        ]\n      : [];\n  });\n\n/** Zero-area triangles: invisible, but they cost index bandwidth and skew QA sampling. */\nexport const degenerateTriangles: Gate = (asset) =>\n  parts(asset).flatMap(([p, m]): Finding[] => {\n    const tris = m.indices.length / 3;\n    const zero = tris - windingStats(m).counted;\n    return zero > tris * 0.05\n      ? [\n          {\n            gate: 'degenerate-triangles',\n            part: p.name,\n            message: `'${p.name}': ${zero} of ${tris} triangles have zero area`,\n            fix: 'a ring/lathe with a zero radius emits fans of slivers: cap it with a point instead, or skip the segment',\n          },\n        ]\n      : [];\n  });\n",
+    "// The QA gate: checks a compiled asset must pass before it ships. A failing gate is a build\n// error (exit 1), not a warning — an agent iterates until it prints PASS.\n\nimport {\n  type Bounds,\n  boundsOf,\n  type CompiledAsset,\n  notImplemented,\n  toWorld,\n  triangleCount,\n  worldTransforms,\n} from '../core/index.ts';\nimport { runChecks } from './checks.ts';\nimport { clashes } from './clash.ts';\nimport { floatingParts } from './floating.ts';\nimport { measures } from './measures.ts';\nimport { hiddenParts } from './occlusion.ts';\nimport { nonFinite, normalsMatchWinding, vertexColors } from './sanity.ts';\nimport type { Finding, Gate } from './types.ts';\n\nconst worldBounds = (asset: CompiledAsset): Map<string, Bounds> => {\n  const xf = worldTransforms(asset.parts);\n  const out = new Map<string, Bounds>();\n  for (const p of asset.parts) {\n    const t = xf.get(p.name);\n    if (!t || !p.mesh || p.mesh.indices.length === 0) continue;\n    const b = boundsOf(p.mesh);\n    const corners = [0, 1, 2, 3, 4, 5, 6, 7].map((i) =>\n      toWorld(t, [\n        i & 1 ? b.max[0] : b.min[0],\n        i & 2 ? b.max[1] : b.min[1],\n        i & 4 ? b.max[2] : b.min[2],\n      ]),\n    );\n    const axis = (k: 0 | 1 | 2, f: (...v: number[]) => number): number =>\n      f(...corners.map((c) => c[k]));\n    out.set(p.name, {\n      min: [axis(0, Math.min), axis(1, Math.min), axis(2, Math.min)],\n      max: [axis(0, Math.max), axis(1, Math.max), axis(2, Math.max)],\n    });\n  }\n  return out;\n};\n\nexport const triangleBudget: Gate = (asset) => {\n  const tris = asset.parts.reduce((s, p) => s + (p.mesh ? triangleCount(p.mesh) : 0), 0);\n  const cap = asset.budget.triangles[asset.lod];\n  return tris > cap\n    ? [\n        {\n          gate: 'triangle-budget',\n          message: `LOD${asset.lod} has ${tris} triangles, budget ${cap}`,\n          fix: 'drop detail at this LOD (read ctx.lod) or raise the budget with a reason',\n        },\n      ]\n    : [];\n};\n\nexport const partNames: Gate = (asset) =>\n  asset.parts\n    .filter((p) => !/^[a-z][a-z0-9_]*$/.test(p.name))\n    .map((p) => ({\n      gate: 'part-names',\n      part: p.name,\n      message: `part '${p.name}' is not snake_case`,\n      fix: 'rename it — engines bind to node names like axle_0, door_l',\n    }));\n\n/** Overall bounding box vs the recipe's `real` dimensions: catches a 6 m tank modelled at 7.4 m. */\nexport const proportions: Gate = (asset) => {\n  const real = asset.real;\n  if (!real || asset.lod !== 0) return [];\n  const boxes = [...worldBounds(asset).values()];\n  const span = (k: 0 | 1 | 2): number =>\n    Math.max(...boxes.map((b) => b.max[k])) - Math.min(...boxes.map((b) => b.min[k]));\n  const tol = real.tolerance ?? 0.05;\n  return (\n    [\n      ['length', 0, real.length],\n      ['width', 1, real.width],\n      ['height', 2, real.height],\n    ] as const\n  ).flatMap(([axis, k, want]) => {\n    const got = span(k);\n    return Math.abs(got - want) / want > tol\n      ? [\n          {\n            gate: 'proportions',\n            message: `${axis} ${got.toFixed(2)} m vs real ${want} m (±${tol * 100}%)`,\n            fix: `rescale along ${'XYZ'[k]} — re-derive the lengths from the sources, don't fudge the tolerance`,\n          },\n        ]\n      : [];\n  });\n};\n\n/** Planned gates, signatures fixed: docs/idea/06-qa.md. */\nexport const silhouetteIoU = (_asset: CompiledAsset, _referencePng: Uint8Array): number =>\n  notImplemented('silhouette IoU gate');\n\n/** The recipe's own `checks`, each finding reported under the gate name `check`. */\nexport const recipeChecks: Gate = (asset) =>\n  runChecks(asset).map((f) => ({\n    gate: 'check',\n    ...(f.part ? { part: f.part } : {}),\n    message: f.message,\n    fix: f.fix,\n  }));\n\nexport const DEFAULT_GATES: readonly Gate[] = [\n  triangleBudget,\n  floatingParts,\n  clashes,\n  partNames,\n  proportions,\n  measures,\n  recipeChecks,\n  nonFinite,\n  vertexColors,\n  hiddenParts,\n  normalsMatchWinding,\n];\n\nexport function runQa(asset: CompiledAsset, gates: readonly Gate[] = DEFAULT_GATES): Finding[] {\n  return gates.flatMap((g) => g(asset));\n}\n",
+    "// Gates across the LOD chain (they need all three compiled LODs at once): triangle counts fall\n// LOD0 ≥ LOD1 ≥ LOD2, the far LODs keep the near one's silhouette box (no popping when the engine\n// switches), and every pivot the engine binds to (groups, moving parts) survives at every LOD.\n\nimport { type Bounds, boundsOf, type CompiledAsset, worldMeshes } from '../core/index.ts';\nimport type { Finding } from './types.ts';\n\n/** A gate over the whole LOD chain, index = LOD. */\nexport type LodGate = (lods: readonly CompiledAsset[]) => Finding[];\n\nconst tris = (a: CompiledAsset): number =>\n  a.parts.reduce((s, p) => s + (p.mesh ? p.mesh.indices.length / 3 : 0), 0);\n\nexport const lodTriangles: LodGate = (lods) =>\n  lods.slice(1).flatMap((a, i): Finding[] => {\n    const prev = lods[i];\n    if (!prev || tris(a) <= tris(prev)) return [];\n    return [\n      {\n        gate: 'lod-triangles',\n        message: `LOD${a.lod} has ${tris(a)} triangles, more than LOD${prev.lod} (${tris(prev)})`,\n        fix: 'each LOD must be cheaper than the one before: read ctx.lod / ctx.pick([...]) and drop segments or detail parts',\n      },\n    ];\n  });\n\nfunction assetBounds(a: CompiledAsset): Bounds | null {\n  const all = [...worldMeshes(a.parts).values()].map(boundsOf);\n  if (all.length === 0) return null;\n  const k = [0, 1, 2] as const;\n  const lo = k.map((i) => Math.min(...all.map((b) => b.min[i])));\n  const hi = k.map((i) => Math.max(...all.map((b) => b.max[i])));\n  return {\n    min: [lo[0] ?? 0, lo[1] ?? 0, lo[2] ?? 0],\n    max: [hi[0] ?? 0, hi[1] ?? 0, hi[2] ?? 0],\n  };\n}\n\n/** LOD1/LOD2 overall box within `tol` of LOD0's span per side (min 5 cm). */\nexport const lodSilhouette =\n  (tol = 0.05): LodGate =>\n  (lods) => {\n    const ref = lods[0] ? assetBounds(lods[0]) : null;\n    if (!ref) return [];\n    return lods.slice(1).flatMap((a): Finding[] => {\n      const b = assetBounds(a);\n      if (!b) return [];\n      const off = ([0, 1, 2] as const).flatMap((k) => {\n        const lim = Math.max(0.05, (ref.max[k] - ref.min[k]) * tol);\n        const d = Math.max(Math.abs(b.min[k] - ref.min[k]), Math.abs(b.max[k] - ref.max[k]));\n        return d > lim ? [`${'XYZ'[k]} by ${(d * 100).toFixed(0)} cm`] : [];\n      });\n      return off.length\n        ? [\n            {\n              gate: 'lod-silhouette',\n              message: `LOD${a.lod} outline differs from LOD0 on ${off.join(', ')} — it will pop on LOD switch`,\n              fix: 'keep the big masses at every LOD (drop detail, not extent): a far LOD is the same shape with fewer segments',\n            },\n          ]\n        : [];\n    });\n  };\n\n/** Pivots = what an engine binds code to: empty groups and parts with motion. */\nconst pivots = (a: CompiledAsset): string[] =>\n  a.parts.filter((p) => p.mesh === null || p.motion !== null).map((p) => p.name);\n\nexport const lodPivots: LodGate = (lods) => {\n  const ref = lods[0];\n  if (!ref) return [];\n  const want = pivots(ref);\n  return lods.slice(1).flatMap((a): Finding[] => {\n    const have = new Set(a.parts.map((p) => p.name));\n    const missing = want.filter((n) => !have.has(n));\n    return missing.length\n      ? [\n          {\n            gate: 'lod-pivots',\n            message: `LOD${a.lod} drops pivot(s) ${missing.slice(0, 6).join(', ')}${missing.length > 6 ? ` (+${missing.length - 6})` : ''} that LOD0 has — game code driving them breaks at that LOD`,\n            fix: 'keep the group/moving part at every LOD and gate only its geometry: ctx.group(name) always, detail meshes behind ctx.lod',\n          },\n        ]\n      : [];\n  });\n};\n\n/** Default chain gates: only what every gallery recipe passes today. `lodSilhouette` and\n *  `lodPivots` are opt-in until the recipes they flag are fixed (see their findings). */\nexport const DEFAULT_LOD_GATES: readonly LodGate[] = [lodTriangles];\n\nexport function runLodQa(\n  lods: readonly CompiledAsset[],\n  gates: readonly LodGate[] = DEFAULT_LOD_GATES,\n): Finding[] {\n  return gates.flatMap((g) => g(lods));\n}\n"
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