@driftengine/physics 4.7.4 → 4.8.1

package/dist/controller.d.ts

@@ -303,6 +303,8 @@ export declare class CharacterController {
      * would climb twice.
      */
     private tryStep;
+    /** Put the body back where a step began, and say the step was not taken. */
+    private stepBack;
     /**
      * Sweep the foot ball down, and fall back to a ray when what it finds is not walkable.
      *

package/dist/controller.js

@@ -36,6 +36,8 @@ const SLIDE_PASSES = 4;
  * own stop margin already leaves a tenth of a millimetre of clearance, which is what a skin was for.
  */
 const SNAP_EPS = 0.001;
+/** How far past a step's edge a step that landed on the edge carries the body's axis. */
+const STEP_OVER = 0.01;
 export class CharacterController {
     x = 0;
     y = 0;
@@ -452,26 +454,69 @@ export class CharacterController {
         this.z += liftZ;
         this.readPose();
         if (world.shapecast(this.shape, this.pose, flatX, flatY, flatZ, this.stepHit, this.filter)) {
-            this.x = startX;
-            this.y = startY;
-            this.z = startZ;
-            return false;
+            return this.stepBack(startX, startY, startZ);
         }
         this.x += flatX;
         this.y += flatY;
         this.z += flatZ;
         this.readPose();
-        if (world.shapecast(this.shape, this.pose, -liftX, -liftY, -liftZ, this.stepHit, this.filter)) {
-            const drop = this.stepHeight * this.stepHit.fraction - SNAP_EPS;
-            this.x -= this.upX * drop;
-            this.y -= this.upY * drop;
-            this.z -= this.upZ * drop;
-            return true;
+        if (!world.shapecast(this.shape, this.pose, -liftX, -liftY, -liftZ, this.stepHit, this.filter)) {
+            // Nothing beneath the lifted position, so this was a gap rather than a step.
+            return this.stepBack(startX, startY, startZ);
         }
-        // Nothing beneath the lifted position, so this was a gap rather than a step.
-        this.x = startX;
-        this.y = startY;
-        this.z = startZ;
+        let landing = this.stepHit.nx * this.upX + this.stepHit.ny * this.upY + this.stepHit.nz * this.upZ;
+        if (landing < this.slopeCos) {
+            /*
+             * **Landed on the lip, so go on over it.** The forward part of a step is what was left of
+             * the tick's move when the body met the step, and at a tick's length that can be millimetres:
+             * the foot ball then comes down on the step's edge, a contact far too steep to stand on, and
+             * the body was set there airborne, slid off, and never stepped again. Measured with a 0.32 m
+             * radius and a 0.35 m step height: a 0.25 m rise climbed and a 0.28 m one did not.
+             *
+             * The edge's normal points from the edge at the ball's centre, so its part across up is how
+             * far the axis stands short of the edge. Moving that far again, plus a centimetre, puts the
+             * ball over the step's top, where the drop meets a face. The body moves up to one radius
+             * further in that tick than it was going to, which is the price of a step taken in one tick.
+             */
+            const lipX = this.stepHit.nx - this.upX * landing;
+            const lipY = this.stepHit.ny - this.upY * landing;
+            const lipZ = this.stepHit.nz - this.upZ * landing;
+            const lip = Math.sqrt(lipX * lipX + lipY * lipY + lipZ * lipZ);
+            // An edge behind the move, or beside it, is not one this step was climbing.
+            if (lip < 1e-6 || lipX * flatX + lipY * flatY + lipZ * flatZ >= 0) {
+                return this.stepBack(startX, startY, startZ);
+            }
+            const reach = (this.radius * lip + STEP_OVER) / lip;
+            const overX = -lipX * reach;
+            const overY = -lipY * reach;
+            const overZ = -lipZ * reach;
+            this.readPose();
+            if (world.shapecast(this.shape, this.pose, overX, overY, overZ, this.stepHit, this.filter)) {
+                return this.stepBack(startX, startY, startZ);
+            }
+            this.x += overX;
+            this.y += overY;
+            this.z += overZ;
+            this.readPose();
+            if (!world.shapecast(this.shape, this.pose, -liftX, -liftY, -liftZ, this.stepHit, this.filter)) {
+                return this.stepBack(startX, startY, startZ);
+            }
+            landing =
+                this.stepHit.nx * this.upX + this.stepHit.ny * this.upY + this.stepHit.nz * this.upZ;
+            if (landing < this.slopeCos)
+                return this.stepBack(startX, startY, startZ);
+        }
+        const drop = this.stepHeight * this.stepHit.fraction - SNAP_EPS;
+        this.x -= this.upX * drop;
+        this.y -= this.upY * drop;
+        this.z -= this.upZ * drop;
+        return true;
+    }
+    /** Put the body back where a step began, and say the step was not taken. */
+    stepBack(x, y, z) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
         return false;
     }
     /**

package/dist/manifold.js

@@ -113,6 +113,68 @@ function roundRound(a, b, margin, out) {
     return true;
 }
 /* ---------- sphere or capsule against a polytope ---------- */
+/** Where along a capsule's segment the search settles: 0.618 to the 30th of 1.2 m is under a micron. */
+const SEGMENT_STEPS = 30;
+const INV_PHI = 0.6180339887498949;
+/** Each end's direction away from the polytope, and its separation, read by the segment search. */
+const END_DIR = new Float64Array(9);
+const END_SEP = new Float64Array(2);
+/** The manifold being filled by `roundPolytope`, kept here so adding a contact allocates nothing. */
+const ROUND = { count: 0, bestSep: Infinity, nx: 0, ny: 1, nz: 0, margin: 0, flipped: false };
+/** Add the contact `CLOSEST` and `END_DIR[slot]` describe, at `separation`, as `feature`. */
+function emitRound(out, slot, separation, feature) {
+    if (separation > ROUND.margin || ROUND.count >= MAX_CONTACTS)
+        return;
+    // Normal points from the round shape toward the polytope, then flipped if A was the polytope.
+    const ux = END_DIR[slot * 3] ?? 0;
+    const uy = END_DIR[slot * 3 + 1] ?? 0;
+    const uz = END_DIR[slot * 3 + 2] ?? 0;
+    if (separation < ROUND.bestSep) {
+        ROUND.bestSep = separation;
+        ROUND.nx = ROUND.flipped ? ux : -ux;
+        ROUND.ny = ROUND.flipped ? uy : -uy;
+        ROUND.nz = ROUND.flipped ? uz : -uz;
+    }
+    const at = ROUND.count * 3;
+    out.points[at] = CLOSEST[0];
+    out.points[at + 1] = CLOSEST[1];
+    out.points[at + 2] = CLOSEST[2];
+    out.separations[ROUND.count] = separation;
+    out.featureIds[ROUND.count] = feature;
+    ROUND.count++;
+}
+/**
+ * The signed distance from a point to the polytope, with the direction away from it left in
+ * `END_DIR[slot]`: positive outside, the deepest face's plane distance inside.
+ */
+function signedDistance(poly, polyWorld, faces, px, py, pz, slot) {
+    closestOnPolytope(poly, polyWorld, planesB, faces, px, py, pz);
+    let ux = px - CLOSEST[0];
+    let uy = py - CLOSEST[1];
+    let uz = pz - CLOSEST[2];
+    let d = Math.sqrt(ux * ux + uy * uy + uz * uz);
+    if (CLOSEST[6] < 0) {
+        // Inside: the closest face's outward normal is the direction, and depth is its plane distance.
+        ux = CLOSEST[3];
+        uy = CLOSEST[4];
+        uz = CLOSEST[5];
+        d = CLOSEST[6];
+    }
+    else if (d === 0) {
+        ux = CLOSEST[3];
+        uy = CLOSEST[4];
+        uz = CLOSEST[5];
+    }
+    else {
+        ux /= d;
+        uy /= d;
+        uz /= d;
+    }
+    END_DIR[slot * 3] = ux;
+    END_DIR[slot * 3 + 1] = uy;
+    END_DIR[slot * 3 + 2] = uz;
+    return d;
+}
 function roundPolytope(round, poly, polyPose, margin, out, flipped) {
     // `worldA` holds whichever shape was passed first, so read the round one from the right buffer.
     const roundWorld = flipped ? worldB : worldA;
@@ -120,67 +182,79 @@ function roundPolytope(round, poly, polyPose, margin, out, flipped) {
     planesToWorld(poly, polyPose, polyWorld, planesB);
     const points = round.vertices.length / 3;
     const faces = faceCount(poly);
-    let count = 0;
-    let bestSep = Infinity;
-    let nx = 0;
-    let ny = 1;
-    let nz = 0;
-    for (let p = 0; p < points; p++) {
-        const px = roundWorld[p * 3] ?? 0;
-        const py = roundWorld[p * 3 + 1] ?? 0;
-        const pz = roundWorld[p * 3 + 2] ?? 0;
-        closestOnPolytope(poly, polyWorld, planesB, faces, px, py, pz);
-        let ux = px - CLOSEST[0];
-        let uy = py - CLOSEST[1];
-        let uz = pz - CLOSEST[2];
-        let d = Math.sqrt(ux * ux + uy * uy + uz * uz);
-        if (CLOSEST[6] < 0) {
-            // Inside: the closest face's outward normal is the direction, and depth is its plane distance.
-            ux = CLOSEST[3];
-            uy = CLOSEST[4];
-            uz = CLOSEST[5];
-            d = CLOSEST[6];
-        }
-        else if (d === 0) {
-            ux = CLOSEST[3];
-            uy = CLOSEST[4];
-            uz = CLOSEST[5];
-        }
-        else {
-            ux /= d;
-            uy /= d;
-            uz /= d;
-        }
-        const separation = d - round.radius - poly.radius;
-        if (separation > margin)
-            continue;
-        if (count >= MAX_CONTACTS)
-            break;
-        // Normal points from the round shape toward the polytope, then flipped if A was the polytope.
-        const sx = flipped ? ux : -ux;
-        const sy = flipped ? uy : -uy;
-        const sz = flipped ? uz : -uz;
-        if (separation < bestSep) {
-            bestSep = separation;
-            nx = sx;
-            ny = sy;
-            nz = sz;
-        }
-        const at = count * 3;
-        out.points[at] = CLOSEST[0];
-        out.points[at + 1] = CLOSEST[1];
-        out.points[at + 2] = CLOSEST[2];
-        out.separations[count] = separation;
+    const radii = round.radius + poly.radius;
+    ROUND.count = 0;
+    ROUND.bestSep = Infinity;
+    ROUND.nx = 0;
+    ROUND.ny = 1;
+    ROUND.nz = 0;
+    ROUND.margin = margin;
+    ROUND.flipped = flipped;
+    for (let p = 0; p < points && p < 2; p++) {
+        const separation = signedDistance(poly, polyWorld, faces, roundWorld[p * 3] ?? 0, roundWorld[p * 3 + 1] ?? 0, roundWorld[p * 3 + 2] ?? 0, p) - radii;
+        END_SEP[p] = separation;
         // The endpoint that produced it, which is stable while the capsule keeps its orientation.
-        out.featureIds[count] = 0x40000000 | p;
-        count++;
+        emitRound(out, p, separation, 0x40000000 | p);
     }
-    if (count === 0)
+    /*
+     * **A capsule is a segment, and its middle can be the part that touches.** This used to ask only
+     * its two ends, which is exact for a ball and for a capsule lying on a face, and wrong wherever the
+     * segment crosses an edge: a standing capsule walked through a slab across its waist, because
+     * neither end ball came within reach of it, and a capsule lying across a rail fell through it.
+     *
+     * The distance from a point on the segment to a convex polytope is convex along the segment, so
+     * its least value is at an end exactly when the slope there points away from the other end. Each
+     * end's direction away from the polytope is that slope, so a capsule whose ends are the answer, as
+     * one standing on a floor always is, costs nothing more. Otherwise a fixed number of golden-section
+     * steps finds the interior point, and it is kept only where it is nearer than both ends.
+     */
+    if (points === 2) {
+        const ax = roundWorld[0] ?? 0;
+        const ay = roundWorld[1] ?? 0;
+        const az = roundWorld[2] ?? 0;
+        const sx = (roundWorld[3] ?? 0) - ax;
+        const sy = (roundWorld[4] ?? 0) - ay;
+        const sz = (roundWorld[5] ?? 0) - az;
+        const leavesFirst = sx * (END_DIR[0] ?? 0) + sy * (END_DIR[1] ?? 0) + sz * (END_DIR[2] ?? 0);
+        const leavesSecond = -(sx * (END_DIR[3] ?? 0) +
+            sy * (END_DIR[4] ?? 0) +
+            sz * (END_DIR[5] ?? 0));
+        if (leavesFirst < 0 && leavesSecond < 0) {
+            let lo = 0;
+            let hi = 1;
+            let m1 = hi - (hi - lo) * INV_PHI;
+            let m2 = lo + (hi - lo) * INV_PHI;
+            let f1 = signedDistance(poly, polyWorld, faces, ax + sx * m1, ay + sy * m1, az + sz * m1, 2);
+            let f2 = signedDistance(poly, polyWorld, faces, ax + sx * m2, ay + sy * m2, az + sz * m2, 2);
+            for (let step = 0; step < SEGMENT_STEPS; step++) {
+                if (f1 <= f2) {
+                    hi = m2;
+                    m2 = m1;
+                    f2 = f1;
+                    m1 = hi - (hi - lo) * INV_PHI;
+                    f1 = signedDistance(poly, polyWorld, faces, ax + sx * m1, ay + sy * m1, az + sz * m1, 2);
+                }
+                else {
+                    lo = m1;
+                    m1 = m2;
+                    f1 = f2;
+                    m2 = lo + (hi - lo) * INV_PHI;
+                    f2 = signedDistance(poly, polyWorld, faces, ax + sx * m2, ay + sy * m2, az + sz * m2, 2);
+                }
+            }
+            const at = (lo + hi) / 2;
+            const separation = signedDistance(poly, polyWorld, faces, ax + sx * at, ay + sy * at, az + sz * at, 2) - radii;
+            if (separation < Math.min(END_SEP[0] ?? Infinity, END_SEP[1] ?? Infinity) - 1e-7) {
+                emitRound(out, 2, separation, 0x40000000 | 2);
+            }
+        }
+    }
+    if (ROUND.count === 0)
         return false;
-    out.nx = nx;
-    out.ny = ny;
-    out.nz = nz;
-    out.count = count;
+    out.nx = ROUND.nx;
+    out.ny = ROUND.ny;
+    out.nz = ROUND.nz;
+    out.count = ROUND.count;
     return true;
 }
 /* ---------- polytope against polytope ---------- */

package/dist/query.js

@@ -697,7 +697,15 @@ export function shapecastWorld(bodies, tree, shape, pose, dx, dy, dz, out, filte
             }
             else if (!collideShapes(shape, poseA, other, poseB, 1e9, manifold))
                 break;
-            const gap = manifold.separations[0] ?? 0;
+            /*
+             * **The nearest contact, not the first one written.** A capsule's manifold holds a point per
+             * end, and the first is its lower end: reading only that advanced the sweep by the distance
+             * from the lower ball while the upper one was the nearer, so a standing capsule swept clean
+             * through a beam at head height.
+             */
+            let gap = Infinity;
+            for (let c = 0; c < manifold.count; c++)
+                gap = Math.min(gap, manifold.separations[c] ?? gap);
             if (gap < 1e-4) {
                 /*
                  * A shape already touching a surface it is travelling *along* has not run into it.
@@ -713,7 +721,25 @@ export function shapecastWorld(bodies, tree, shape, pose, dx, dy, dz, out, filte
                 touched = true;
                 break;
             }
-            t += gap / travel;
+            /*
+             * **How far the shapes may close along the contact normal, not along the travel.** The
+             * manifold's normal separates the two by `gap`, so they cannot meet before the sweep has
+             * closed that much along it. Dividing by the whole travel was always safe and crawled
+             * wherever the travel grazes the surface: a ball dropping past the lip of a step closes on it
+             * at a sixth of its speed, and twenty-four steps ended before it arrived, so the sweep said
+             * nothing was there. A mesh keeps the old step, since one triangle's normal does not separate
+             * the whole mesh.
+             */
+            if (isMesh(shape) || isMesh(other)) {
+                t += gap / travel;
+            }
+            else {
+                const closing = dx * manifold.nx + dy * manifold.ny + dz * manifold.nz;
+                // Not closing along the normal that separates them, so they never meet on this travel.
+                if (closing <= 1e-12)
+                    break;
+                t += gap / closing;
+            }
             if (t > 1)
                 break;
         }

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@driftengine/physics",
-  "version": "4.7.4",
+  "version": "4.8.1",
   "description": "Collision shapes, spatial queries and swept kinematic collision",
   "license": "Apache-2.0",
   "type": "module",

package/src/controller.ts

@@ -170,6 +170,8 @@ const SLIDE_PASSES = 4;
  * own stop margin already leaves a tenth of a millimetre of clearance, which is what a skin was for.
  */
 const SNAP_EPS = 0.001;
+/** How far past a step's edge a step that landed on the edge carries the body's axis. */
+const STEP_OVER = 0.01;
 
 export class CharacterController {
   x = 0;
@@ -603,26 +605,74 @@ export class CharacterController {
     this.z += liftZ;
     this.readPose();
     if (world.shapecast(this.shape, this.pose, flatX, flatY, flatZ, this.stepHit, this.filter)) {
-      this.x = startX;
-      this.y = startY;
-      this.z = startZ;
-      return false;
+      return this.stepBack(startX, startY, startZ);
     }
     this.x += flatX;
     this.y += flatY;
     this.z += flatZ;
     this.readPose();
-    if (world.shapecast(this.shape, this.pose, -liftX, -liftY, -liftZ, this.stepHit, this.filter)) {
-      const drop = this.stepHeight * this.stepHit.fraction - SNAP_EPS;
-      this.x -= this.upX * drop;
-      this.y -= this.upY * drop;
-      this.z -= this.upZ * drop;
-      return true;
+    if (
+      !world.shapecast(this.shape, this.pose, -liftX, -liftY, -liftZ, this.stepHit, this.filter)
+    ) {
+      // Nothing beneath the lifted position, so this was a gap rather than a step.
+      return this.stepBack(startX, startY, startZ);
+    }
+    let landing =
+      this.stepHit.nx * this.upX + this.stepHit.ny * this.upY + this.stepHit.nz * this.upZ;
+    if (landing < this.slopeCos) {
+      /*
+       * **Landed on the lip, so go on over it.** The forward part of a step is what was left of
+       * the tick's move when the body met the step, and at a tick's length that can be millimetres:
+       * the foot ball then comes down on the step's edge, a contact far too steep to stand on, and
+       * the body was set there airborne, slid off, and never stepped again. Measured with a 0.32 m
+       * radius and a 0.35 m step height: a 0.25 m rise climbed and a 0.28 m one did not.
+       *
+       * The edge's normal points from the edge at the ball's centre, so its part across up is how
+       * far the axis stands short of the edge. Moving that far again, plus a centimetre, puts the
+       * ball over the step's top, where the drop meets a face. The body moves up to one radius
+       * further in that tick than it was going to, which is the price of a step taken in one tick.
+       */
+      const lipX = this.stepHit.nx - this.upX * landing;
+      const lipY = this.stepHit.ny - this.upY * landing;
+      const lipZ = this.stepHit.nz - this.upZ * landing;
+      const lip = Math.sqrt(lipX * lipX + lipY * lipY + lipZ * lipZ);
+      // An edge behind the move, or beside it, is not one this step was climbing.
+      if (lip < 1e-6 || lipX * flatX + lipY * flatY + lipZ * flatZ >= 0) {
+        return this.stepBack(startX, startY, startZ);
+      }
+      const reach = (this.radius * lip + STEP_OVER) / lip;
+      const overX = -lipX * reach;
+      const overY = -lipY * reach;
+      const overZ = -lipZ * reach;
+      this.readPose();
+      if (world.shapecast(this.shape, this.pose, overX, overY, overZ, this.stepHit, this.filter)) {
+        return this.stepBack(startX, startY, startZ);
+      }
+      this.x += overX;
+      this.y += overY;
+      this.z += overZ;
+      this.readPose();
+      if (
+        !world.shapecast(this.shape, this.pose, -liftX, -liftY, -liftZ, this.stepHit, this.filter)
+      ) {
+        return this.stepBack(startX, startY, startZ);
+      }
+      landing =
+        this.stepHit.nx * this.upX + this.stepHit.ny * this.upY + this.stepHit.nz * this.upZ;
+      if (landing < this.slopeCos) return this.stepBack(startX, startY, startZ);
     }
-    // Nothing beneath the lifted position, so this was a gap rather than a step.
-    this.x = startX;
-    this.y = startY;
-    this.z = startZ;
+    const drop = this.stepHeight * this.stepHit.fraction - SNAP_EPS;
+    this.x -= this.upX * drop;
+    this.y -= this.upY * drop;
+    this.z -= this.upZ * drop;
+    return true;
+  }
+
+  /** Put the body back where a step began, and say the step was not taken. */
+  private stepBack(x: number, y: number, z: number): false {
+    this.x = x;
+    this.y = y;
+    this.z = z;
     return false;
   }
 

package/src/manifold.ts

@@ -207,6 +207,76 @@ function roundRound(a: ConvexShape, b: ConvexShape, margin: number, out: Manifol
 
 /* ---------- sphere or capsule against a polytope ---------- */
 
+/** Where along a capsule's segment the search settles: 0.618 to the 30th of 1.2 m is under a micron. */
+const SEGMENT_STEPS = 30;
+const INV_PHI = 0.6180339887498949;
+/** Each end's direction away from the polytope, and its separation, read by the segment search. */
+const END_DIR = new Float64Array(9);
+const END_SEP = new Float64Array(2);
+/** The manifold being filled by `roundPolytope`, kept here so adding a contact allocates nothing. */
+const ROUND = { count: 0, bestSep: Infinity, nx: 0, ny: 1, nz: 0, margin: 0, flipped: false };
+
+/** Add the contact `CLOSEST` and `END_DIR[slot]` describe, at `separation`, as `feature`. */
+function emitRound(out: Manifold, slot: number, separation: number, feature: number): void {
+  if (separation > ROUND.margin || ROUND.count >= MAX_CONTACTS) return;
+  // Normal points from the round shape toward the polytope, then flipped if A was the polytope.
+  const ux = END_DIR[slot * 3] ?? 0;
+  const uy = END_DIR[slot * 3 + 1] ?? 0;
+  const uz = END_DIR[slot * 3 + 2] ?? 0;
+  if (separation < ROUND.bestSep) {
+    ROUND.bestSep = separation;
+    ROUND.nx = ROUND.flipped ? ux : -ux;
+    ROUND.ny = ROUND.flipped ? uy : -uy;
+    ROUND.nz = ROUND.flipped ? uz : -uz;
+  }
+  const at = ROUND.count * 3;
+  out.points[at] = CLOSEST[0];
+  out.points[at + 1] = CLOSEST[1];
+  out.points[at + 2] = CLOSEST[2];
+  out.separations[ROUND.count] = separation;
+  out.featureIds[ROUND.count] = feature;
+  ROUND.count++;
+}
+
+/**
+ * The signed distance from a point to the polytope, with the direction away from it left in
+ * `END_DIR[slot]`: positive outside, the deepest face's plane distance inside.
+ */
+function signedDistance(
+  poly: ConvexShape,
+  polyWorld: Float32Array,
+  faces: number,
+  px: number,
+  py: number,
+  pz: number,
+  slot: number,
+): number {
+  closestOnPolytope(poly, polyWorld, planesB, faces, px, py, pz);
+  let ux = px - CLOSEST[0];
+  let uy = py - CLOSEST[1];
+  let uz = pz - CLOSEST[2];
+  let d = Math.sqrt(ux * ux + uy * uy + uz * uz);
+  if (CLOSEST[6] < 0) {
+    // Inside: the closest face's outward normal is the direction, and depth is its plane distance.
+    ux = CLOSEST[3];
+    uy = CLOSEST[4];
+    uz = CLOSEST[5];
+    d = CLOSEST[6];
+  } else if (d === 0) {
+    ux = CLOSEST[3];
+    uy = CLOSEST[4];
+    uz = CLOSEST[5];
+  } else {
+    ux /= d;
+    uy /= d;
+    uz /= d;
+  }
+  END_DIR[slot * 3] = ux;
+  END_DIR[slot * 3 + 1] = uy;
+  END_DIR[slot * 3 + 2] = uz;
+  return d;
+}
+
 function roundPolytope(
   round: ConvexShape,
   poly: ConvexShape,
@@ -222,63 +292,92 @@ function roundPolytope(
 
   const points = round.vertices.length / 3;
   const faces = faceCount(poly);
-  let count = 0;
-  let bestSep = Infinity;
-  let nx = 0;
-  let ny = 1;
-  let nz = 0;
-
-  for (let p = 0; p < points; p++) {
-    const px = roundWorld[p * 3] ?? 0;
-    const py = roundWorld[p * 3 + 1] ?? 0;
-    const pz = roundWorld[p * 3 + 2] ?? 0;
-    closestOnPolytope(poly, polyWorld, planesB, faces, px, py, pz);
-    let ux = px - CLOSEST[0];
-    let uy = py - CLOSEST[1];
-    let uz = pz - CLOSEST[2];
-    let d = Math.sqrt(ux * ux + uy * uy + uz * uz);
-    if (CLOSEST[6] < 0) {
-      // Inside: the closest face's outward normal is the direction, and depth is its plane distance.
-      ux = CLOSEST[3];
-      uy = CLOSEST[4];
-      uz = CLOSEST[5];
-      d = CLOSEST[6];
-    } else if (d === 0) {
-      ux = CLOSEST[3];
-      uy = CLOSEST[4];
-      uz = CLOSEST[5];
-    } else {
-      ux /= d;
-      uy /= d;
-      uz /= d;
-    }
-    const separation = d - round.radius - poly.radius;
-    if (separation > margin) continue;
-    if (count >= MAX_CONTACTS) break;
-    // Normal points from the round shape toward the polytope, then flipped if A was the polytope.
-    const sx = flipped ? ux : -ux;
-    const sy = flipped ? uy : -uy;
-    const sz = flipped ? uz : -uz;
-    if (separation < bestSep) {
-      bestSep = separation;
-      nx = sx;
-      ny = sy;
-      nz = sz;
-    }
-    const at = count * 3;
-    out.points[at] = CLOSEST[0];
-    out.points[at + 1] = CLOSEST[1];
-    out.points[at + 2] = CLOSEST[2];
-    out.separations[count] = separation;
+  const radii = round.radius + poly.radius;
+  ROUND.count = 0;
+  ROUND.bestSep = Infinity;
+  ROUND.nx = 0;
+  ROUND.ny = 1;
+  ROUND.nz = 0;
+  ROUND.margin = margin;
+  ROUND.flipped = flipped;
+
+  for (let p = 0; p < points && p < 2; p++) {
+    const separation =
+      signedDistance(
+        poly,
+        polyWorld,
+        faces,
+        roundWorld[p * 3] ?? 0,
+        roundWorld[p * 3 + 1] ?? 0,
+        roundWorld[p * 3 + 2] ?? 0,
+        p,
+      ) - radii;
+    END_SEP[p] = separation;
     // The endpoint that produced it, which is stable while the capsule keeps its orientation.
-    out.featureIds[count] = 0x40000000 | p;
-    count++;
+    emitRound(out, p, separation, 0x40000000 | p);
   }
-  if (count === 0) return false;
-  out.nx = nx;
-  out.ny = ny;
-  out.nz = nz;
-  out.count = count;
+
+  /*
+   * **A capsule is a segment, and its middle can be the part that touches.** This used to ask only
+   * its two ends, which is exact for a ball and for a capsule lying on a face, and wrong wherever the
+   * segment crosses an edge: a standing capsule walked through a slab across its waist, because
+   * neither end ball came within reach of it, and a capsule lying across a rail fell through it.
+   *
+   * The distance from a point on the segment to a convex polytope is convex along the segment, so
+   * its least value is at an end exactly when the slope there points away from the other end. Each
+   * end's direction away from the polytope is that slope, so a capsule whose ends are the answer, as
+   * one standing on a floor always is, costs nothing more. Otherwise a fixed number of golden-section
+   * steps finds the interior point, and it is kept only where it is nearer than both ends.
+   */
+  if (points === 2) {
+    const ax = roundWorld[0] ?? 0;
+    const ay = roundWorld[1] ?? 0;
+    const az = roundWorld[2] ?? 0;
+    const sx = (roundWorld[3] ?? 0) - ax;
+    const sy = (roundWorld[4] ?? 0) - ay;
+    const sz = (roundWorld[5] ?? 0) - az;
+    const leavesFirst = sx * (END_DIR[0] ?? 0) + sy * (END_DIR[1] ?? 0) + sz * (END_DIR[2] ?? 0);
+    const leavesSecond = -(
+      sx * (END_DIR[3] ?? 0) +
+      sy * (END_DIR[4] ?? 0) +
+      sz * (END_DIR[5] ?? 0)
+    );
+    if (leavesFirst < 0 && leavesSecond < 0) {
+      let lo = 0;
+      let hi = 1;
+      let m1 = hi - (hi - lo) * INV_PHI;
+      let m2 = lo + (hi - lo) * INV_PHI;
+      let f1 = signedDistance(poly, polyWorld, faces, ax + sx * m1, ay + sy * m1, az + sz * m1, 2);
+      let f2 = signedDistance(poly, polyWorld, faces, ax + sx * m2, ay + sy * m2, az + sz * m2, 2);
+      for (let step = 0; step < SEGMENT_STEPS; step++) {
+        if (f1 <= f2) {
+          hi = m2;
+          m2 = m1;
+          f2 = f1;
+          m1 = hi - (hi - lo) * INV_PHI;
+          f1 = signedDistance(poly, polyWorld, faces, ax + sx * m1, ay + sy * m1, az + sz * m1, 2);
+        } else {
+          lo = m1;
+          m1 = m2;
+          f1 = f2;
+          m2 = lo + (hi - lo) * INV_PHI;
+          f2 = signedDistance(poly, polyWorld, faces, ax + sx * m2, ay + sy * m2, az + sz * m2, 2);
+        }
+      }
+      const at = (lo + hi) / 2;
+      const separation =
+        signedDistance(poly, polyWorld, faces, ax + sx * at, ay + sy * at, az + sz * at, 2) - radii;
+      if (separation < Math.min(END_SEP[0] ?? Infinity, END_SEP[1] ?? Infinity) - 1e-7) {
+        emitRound(out, 2, separation, 0x40000000 | 2);
+      }
+    }
+  }
+
+  if (ROUND.count === 0) return false;
+  out.nx = ROUND.nx;
+  out.ny = ROUND.ny;
+  out.nz = ROUND.nz;
+  out.count = ROUND.count;
   return true;
 }
 

package/src/query.ts

@@ -858,7 +858,14 @@ export function shapecastWorld(
         if (chosen === undefined) break;
         copyManifold(chosen, manifold);
       } else if (!collideShapes(shape, poseA, other, poseB, 1e9, manifold)) break;
-      const gap = manifold.separations[0] ?? 0;
+      /*
+       * **The nearest contact, not the first one written.** A capsule's manifold holds a point per
+       * end, and the first is its lower end: reading only that advanced the sweep by the distance
+       * from the lower ball while the upper one was the nearer, so a standing capsule swept clean
+       * through a beam at head height.
+       */
+      let gap = Infinity;
+      for (let c = 0; c < manifold.count; c++) gap = Math.min(gap, manifold.separations[c] ?? gap);
       if (gap < 1e-4) {
         /*
          * A shape already touching a surface it is travelling *along* has not run into it.
@@ -874,7 +881,23 @@ export function shapecastWorld(
         touched = true;
         break;
       }
-      t += gap / travel;
+      /*
+       * **How far the shapes may close along the contact normal, not along the travel.** The
+       * manifold's normal separates the two by `gap`, so they cannot meet before the sweep has
+       * closed that much along it. Dividing by the whole travel was always safe and crawled
+       * wherever the travel grazes the surface: a ball dropping past the lip of a step closes on it
+       * at a sixth of its speed, and twenty-four steps ended before it arrived, so the sweep said
+       * nothing was there. A mesh keeps the old step, since one triangle's normal does not separate
+       * the whole mesh.
+       */
+      if (isMesh(shape) || isMesh(other)) {
+        t += gap / travel;
+      } else {
+        const closing = dx * manifold.nx + dy * manifold.ny + dz * manifold.nz;
+        // Not closing along the normal that separates them, so they never meet on this travel.
+        if (closing <= 1e-12) break;
+        t += gap / closing;
+      }
       if (t > 1) break;
     }
     if (brushing || !touched || t > 1) continue;