@ifc-lite/clash 1.2.0 → 1.4.0

package/dist/contact/shared-faces.js

@@ -0,0 +1,251 @@
+/* This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/. */
+import { liftTo3D, planeBasis, planeFromNormalPoint, planeKey, projectTo2D } from "./plane.js";
+import { convexHull2, polygonArea, polygonCentroid, sutherlandHodgman } from "./polygon-clip.js";
+import { triangleNormalRaw } from "./triangle.js";
+import { cross3, dot3, length3, normalize3 } from "./vec3.js";
+export function clusterSharedFaces(pairs, opts = {}) {
+    const planeDistSnap = opts.planeDistSnap ?? 1e-3;
+    const planeAngleSnap = opts.planeAngleSnap ?? 1e-3;
+    const lineSnap = opts.lineSnap ?? 1e-3;
+    const surfaceAreaM2 = opts.surfaceAreaM2 ?? 0.01;
+    const pointAreaM2 = opts.pointAreaM2 ?? 0.001;
+    const lineLengthM = opts.lineLengthM ?? 0.05;
+    if (pairs.length === 0)
+        return [];
+    // 1. Split into coplanar clusters and cross clusters.
+    const coplanarBuckets = new Map();
+    const crossBuckets = new Map();
+    for (const p of pairs) {
+        if (p.kind === "coplanar") {
+            const n = triangleNormalRaw(p.a);
+            const ln = length3(n);
+            if (ln === 0)
+                continue;
+            const plane = planeFromNormalPoint(n, p.a.v0);
+            const key = planeKey(plane, planeAngleSnap, planeDistSnap);
+            const entry = coplanarBuckets.get(key) ?? { plane, pairs: [] };
+            entry.pairs.push(p);
+            coplanarBuckets.set(key, entry);
+        }
+        else if (p.kind === "cross") {
+            const seg = [p.p1[0] - p.p0[0], p.p1[1] - p.p0[1], p.p1[2] - p.p0[2]];
+            const len = length3(seg);
+            if (len < 1e-12)
+                continue;
+            const dir = normalize3(seg);
+            // Canonicalise direction so parallel + anti-parallel hash identically.
+            const canon = canonicaliseDir(dir);
+            const base = closestPointOnLineFromOrigin(p.p0, canon);
+            const key = `${quant(canon[0], lineSnap)}|${quant(canon[1], lineSnap)}|${quant(canon[2], lineSnap)}|${quant(base[0], lineSnap)}|${quant(base[1], lineSnap)}|${quant(base[2], lineSnap)}`;
+            const entry = crossBuckets.get(key) ?? { dir: canon, point: base, pairs: [] };
+            entry.pairs.push(p);
+            crossBuckets.set(key, entry);
+        }
+    }
+    const out = [];
+    for (const { plane, pairs: bucketPairs } of coplanarBuckets.values()) {
+        out.push(classify(buildSurfaceCluster(plane, bucketPairs), surfaceAreaM2, pointAreaM2, lineLengthM));
+    }
+    for (const { dir, pairs: bucketPairs } of crossBuckets.values()) {
+        out.push(classify(buildLineCluster(dir, bucketPairs), surfaceAreaM2, pointAreaM2, lineLengthM));
+    }
+    return out;
+}
+// -------- surface / coplanar clusters --------
+function buildSurfaceCluster(plane, bucketPairs) {
+    const basis = planeBasis(plane);
+    let totalArea = 0;
+    const boundaryPts = [];
+    for (const p of bucketPairs) {
+        const pa = [projectTo2D(basis, p.a.v0), projectTo2D(basis, p.a.v1), projectTo2D(basis, p.a.v2)];
+        const pb = [projectTo2D(basis, p.b.v0), projectTo2D(basis, p.b.v1), projectTo2D(basis, p.b.v2)];
+        // Clip A against B; union of these clip polygons approximates the
+        // true shared face. For typical IFC meshes (tiled, non-overlapping)
+        // summed clip area ≤ true contact area ≤ the total area of A-triangles
+        // whose pair is in the bucket. We take the clipped sum.
+        const clipped = sutherlandHodgman(pa, pb);
+        if (clipped.length >= 3) {
+            totalArea += polygonArea(clipped);
+            boundaryPts.push(...clipped);
+        }
+    }
+    const boundary2d = boundaryPts.length >= 3 ? convexHull2(boundaryPts) : boundaryPts;
+    const centroid2d = boundary2d.length >= 3
+        ? polygonCentroid(boundary2d)
+        : boundary2d.length === 0
+            ? [0, 0]
+            : averagePoint2(boundary2d);
+    const centroid = liftTo3D(basis, centroid2d);
+    const boundary = boundary2d.map((p) => liftTo3D(basis, p));
+    const spans = polygonSpans(boundary2d);
+    return {
+        plane,
+        centroid,
+        normal: plane.normal,
+        area_m2: totalArea,
+        length_m: 0,
+        spanMin: spans.min,
+        spanMax: spans.max,
+        boundary,
+        pairs: bucketPairs,
+    };
+}
+/**
+ * Narrowest and widest dimensions of a convex 2D polygon (metres). `max` is
+ * the diameter (largest vertex-pair distance); `min` is the rotating-calipers
+ * width — the smallest gap between two parallel supporting lines. Degenerate
+ * (< 3 pts) polygons have width 0.
+ */
+function polygonSpans(pts) {
+    const n = pts.length;
+    if (n === 0)
+        return { min: 0, max: 0 };
+    let max = 0;
+    for (let i = 0; i < n; i++) {
+        for (let j = i + 1; j < n; j++) {
+            const a = pts[i];
+            const b = pts[j];
+            const d = Math.hypot(a[0] - b[0], a[1] - b[1]);
+            if (d > max)
+                max = d;
+        }
+    }
+    if (n < 3)
+        return { min: 0, max };
+    let min = Number.POSITIVE_INFINITY;
+    for (let i = 0; i < n; i++) {
+        const a = pts[i];
+        const b = pts[(i + 1) % n];
+        const ex = b[0] - a[0];
+        const ey = b[1] - a[1];
+        const elen = Math.hypot(ex, ey);
+        if (elen < 1e-12)
+            continue;
+        const nx = -ey / elen;
+        const ny = ex / elen;
+        let lo = Number.POSITIVE_INFINITY;
+        let hi = Number.NEGATIVE_INFINITY;
+        for (const p of pts) {
+            const d = (p[0] - a[0]) * nx + (p[1] - a[1]) * ny;
+            if (d < lo)
+                lo = d;
+            if (d > hi)
+                hi = d;
+        }
+        const width = hi - lo;
+        if (width < min)
+            min = width;
+    }
+    return { min: Number.isFinite(min) ? min : 0, max };
+}
+// -------- line / cross clusters --------
+function buildLineCluster(dir, bucketPairs) {
+    // Project every segment onto the line direction to get 1D intervals,
+    // union them, sum to get length.
+    const intervals = [];
+    let refPoint = null;
+    for (const p of bucketPairs) {
+        if (p.kind !== "cross")
+            continue;
+        if (!refPoint)
+            refPoint = p.p0;
+        const t0 = projectOnto(p.p0, refPoint, dir);
+        const t1 = projectOnto(p.p1, refPoint, dir);
+        intervals.push([Math.min(t0, t1), Math.max(t0, t1)]);
+    }
+    if (!refPoint || intervals.length === 0) {
+        return {
+            centroid: [0, 0, 0],
+            normal: dir,
+            area_m2: 0,
+            length_m: 0,
+            spanMin: 0,
+            spanMax: 0,
+            boundary: [],
+            pairs: bucketPairs,
+        };
+    }
+    intervals.sort((a, b) => a[0] - b[0]);
+    const merged = [];
+    for (const iv of intervals) {
+        if (merged.length === 0) {
+            merged.push([iv[0], iv[1]]);
+            continue;
+        }
+        const last = merged[merged.length - 1];
+        if (iv[0] <= last[1])
+            last[1] = Math.max(last[1], iv[1]);
+        else
+            merged.push([iv[0], iv[1]]);
+    }
+    const length = merged.reduce((s, iv) => s + (iv[1] - iv[0]), 0);
+    // Pick the union's overall min/max as the line's centroid basis.
+    const tMin = merged[0][0];
+    const tMax = merged[merged.length - 1][1];
+    const centroidT = (tMin + tMax) / 2;
+    const centroid = [
+        refPoint[0] + dir[0] * centroidT,
+        refPoint[1] + dir[1] * centroidT,
+        refPoint[2] + dir[2] * centroidT,
+    ];
+    const boundary = [
+        [refPoint[0] + dir[0] * tMin, refPoint[1] + dir[1] * tMin, refPoint[2] + dir[2] * tMin],
+        [refPoint[0] + dir[0] * tMax, refPoint[1] + dir[1] * tMax, refPoint[2] + dir[2] * tMax],
+    ];
+    return {
+        centroid,
+        normal: dir,
+        area_m2: 0,
+        length_m: length,
+        spanMin: 0,
+        spanMax: length,
+        boundary,
+        pairs: bucketPairs,
+    };
+}
+// -------- helpers --------
+function classify(base, surfaceAreaM2, pointAreaM2, lineLengthM) {
+    if (base.area_m2 >= surfaceAreaM2)
+        return { ...base, kind: "surface" };
+    if (base.length_m >= lineLengthM)
+        return { ...base, kind: "line" };
+    if (base.area_m2 >= pointAreaM2)
+        return { ...base, kind: "line" };
+    return { ...base, kind: "point" };
+}
+function canonicaliseDir(v) {
+    // Flip so the first significant component is positive.
+    if (Math.abs(v[0]) > 1e-9)
+        return v[0] > 0 ? v : [-v[0], -v[1], -v[2]];
+    if (Math.abs(v[1]) > 1e-9)
+        return v[1] > 0 ? v : [-v[0], -v[1], -v[2]];
+    return v[2] > 0 ? v : [-v[0], -v[1], -v[2]];
+}
+function closestPointOnLineFromOrigin(point, dir) {
+    const t = dot3(point, dir);
+    return [point[0] - dir[0] * t, point[1] - dir[1] * t, point[2] - dir[2] * t];
+}
+function projectOnto(point, refPoint, dir) {
+    return ((point[0] - refPoint[0]) * dir[0] +
+        (point[1] - refPoint[1]) * dir[1] +
+        (point[2] - refPoint[2]) * dir[2]);
+}
+function quant(x, snap) {
+    return Math.round(x / snap);
+}
+function averagePoint2(pts) {
+    if (pts.length === 0)
+        return [0, 0];
+    let x = 0;
+    let y = 0;
+    for (const p of pts) {
+        x += p[0];
+        y += p[1];
+    }
+    return [x / pts.length, y / pts.length];
+}
+// keep symbol imports that downstream modules may re-export
+void cross3;
+//# sourceMappingURL=shared-faces.js.map

package/dist/contact/shared-faces.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"shared-faces.js","sourceRoot":"","sources":["../../src/contact/shared-faces.ts"],"names":[],"mappings":"AAAA;;+DAE+D;AAwB/D,OAAO,EAAE,QAAQ,EAAE,UAAU,EAAE,oBAAoB,EAAE,QAAQ,EAAE,WAAW,EAAE,MAAM,YAAY,CAAC;AAE/F,OAAO,EAAE,WAAW,EAAE,WAAW,EAAE,eAAe,EAAE,iBAAiB,EAAE,MAAM,mBAAmB,CAAC;AACjG,OAAO,EAAE,iBAAiB,EAAE,MAAM,eAAe,CAAC;AAElD,OAAO,EAAE,MAAM,EAAE,IAAI,EAAE,OAAO,EAAE,UAAU,EAAE,MAAM,WAAW,CAAC;AAyC9D,MAAM,UAAU,kBAAkB,CAChC,KAA8B,EAC9B,OAA0B,EAAE;IAE5B,MAAM,aAAa,GAAG,IAAI,CAAC,aAAa,IAAI,IAAI,CAAC;IACjD,MAAM,cAAc,GAAG,IAAI,CAAC,cAAc,IAAI,IAAI,CAAC;IACnD,MAAM,QAAQ,GAAG,IAAI,CAAC,QAAQ,IAAI,IAAI,CAAC;IACvC,MAAM,aAAa,GAAG,IAAI,CAAC,aAAa,IAAI,IAAI,CAAC;IACjD,MAAM,WAAW,GAAG,IAAI,CAAC,WAAW,IAAI,KAAK,CAAC;IAC9C,MAAM,WAAW,GAAG,IAAI,CAAC,WAAW,IAAI,IAAI,CAAC;IAE7C,IAAI,KAAK,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO,EAAE,CAAC;IAElC,sDAAsD;IACtD,MAAM,eAAe,GAAG,IAAI,GAAG,EAAmD,CAAC;IACnF,MAAM,YAAY,GAAG,IAAI,GAAG,EAA6D,CAAC;IAE1F,KAAK,MAAM,CAAC,IAAI,KAAK,EAAE,CAAC;QACtB,IAAI,CAAC,CAAC,IAAI,KAAK,UAAU,EAAE,CAAC;YAC1B,MAAM,CAAC,GAAG,iBAAiB,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;YACjC,MAAM,EAAE,GAAG,OAAO,CAAC,CAAC,CAAC,CAAC;YACtB,IAAI,EAAE,KAAK,CAAC;gBAAE,SAAS;YACvB,MAAM,KAAK,GAAG,oBAAoB,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC;YAC9C,MAAM,GAAG,GAAG,QAAQ,CAAC,KAAK,EAAE,cAAc,EAAE,aAAa,CAAC,CAAC;YAC3D,MAAM,KAAK,GAAG,eAAe,CAAC,GAAG,CAAC,GAAG,CAAC,IAAI,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE,EAAE,CAAC;YAC/D,KAAK,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;YACpB,eAAe,CAAC,GAAG,CAAC,GAAG,EAAE,KAAK,CAAC,CAAC;QAClC,CAAC;aAAM,IAAI,CAAC,CAAC,IAAI,KAAK,OAAO,EAAE,CAAC;YAC9B,MAAM,GAAG,GAAS,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC;YAC5E,MAAM,GAAG,GAAG,OAAO,CAAC,GAAG,CAAC,CAAC;YACzB,IAAI,GAAG,GAAG,KAAK;gBAAE,SAAS;YAC1B,MAAM,GAAG,GAAG,UAAU,CAAC,GAAG,CAAC,CAAC;YAC5B,uEAAuE;YACvE,MAAM,KAAK,GAAG,eAAe,CAAC,GAAG,CAAC,CAAC;YACnC,MAAM,IAAI,GAAG,4BAA4B,CAAC,CAAC,CAAC,EAAE,EAAE,KAAK,CAAC,CAAC;YACvD,MAAM,GAAG,GAAG,GAAG,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,QAAQ,CAAC,IAAI,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,QAAQ,CAAC,IAAI,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,QAAQ,CAAC,IAAI,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,QAAQ,CAAC,IAAI,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,QAAQ,CAAC,IAAI,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,QAAQ,CAAC,EAAE,CAAC;YACzL,MAAM,KAAK,GAAG,YAAY,CAAC,GAAG,CAAC,GAAG,CAAC,IAAI,EAAE,GAAG,EAAE,KAAK,EAAE,KAAK,EAAE,IAAI,EAAE,KAAK,EAAE,EAAE,EAAE,CAAC;YAC9E,KAAK,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;YACpB,YAAY,CAAC,GAAG,CAAC,GAAG,EAAE,KAAK,CAAC,CAAC;QAC/B,CAAC;IACH,CAAC;IAED,MAAM,GAAG,GAAwB,EAAE,CAAC;IACpC,KAAK,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,WAAW,EAAE,IAAI,eAAe,CAAC,MAAM,EAAE,EAAE,CAAC;QACrE,GAAG,CAAC,IAAI,CACN,QAAQ,CAAC,mBAAmB,CAAC,KAAK,EAAE,WAAW,CAAC,EAAE,aAAa,EAAE,WAAW,EAAE,WAAW,CAAC,CAC3F,CAAC;IACJ,CAAC;IACD,KAAK,MAAM,EAAE,GAAG,EAAE,KAAK,EAAE,WAAW,EAAE,IAAI,YAAY,CAAC,MAAM,EAAE,EAAE,CAAC;QAChE,GAAG,CAAC,IAAI,CAAC,QAAQ,CAAC,gBAAgB,CAAC,GAAG,EAAE,WAAW,CAAC,EAAE,aAAa,EAAE,WAAW,EAAE,WAAW,CAAC,CAAC,CAAC;IAClG,CAAC;IACD,OAAO,GAAG,CAAC;AACb,CAAC;AAED,gDAAgD;AAEhD,SAAS,mBAAmB,CAC1B,KAAY,EACZ,WAA2B;IAE3B,MAAM,KAAK,GAAG,UAAU,CAAC,KAAK,CAAC,CAAC;IAChC,IAAI,SAAS,GAAG,CAAC,CAAC;IAClB,MAAM,WAAW,GAAa,EAAE,CAAC;IAEjC,KAAK,MAAM,CAAC,IAAI,WAAW,EAAE,CAAC;QAC5B,MAAM,EAAE,GAAG,CAAC,WAAW,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,WAAW,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,WAAW,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QAChG,MAAM,EAAE,GAAG,CAAC,WAAW,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,WAAW,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,WAAW,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QAChG,kEAAkE;QAClE,oEAAoE;QACpE,uEAAuE;QACvE,wDAAwD;QACxD,MAAM,OAAO,GAAG,iBAAiB,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;QAC1C,IAAI,OAAO,CAAC,MAAM,IAAI,CAAC,EAAE,CAAC;YACxB,SAAS,IAAI,WAAW,CAAC,OAAO,CAAC,CAAC;YAClC,WAAW,CAAC,IAAI,CAAC,GAAG,OAAO,CAAC,CAAC;QAC/B,CAAC;IACH,CAAC;IAED,MAAM,UAAU,GAAG,WAAW,CAAC,MAAM,IAAI,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC,WAAW,CAAC,CAAC,CAAC,CAAC,WAAW,CAAC;IACpF,MAAM,UAAU,GACd,UAAU,CAAC,MAAM,IAAI,CAAC;QACpB,CAAC,CAAC,eAAe,CAAC,UAAU,CAAC;QAC7B,CAAC,CAAC,UAAU,CAAC,MAAM,KAAK,CAAC;YACvB,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC;YACR,CAAC,CAAC,aAAa,CAAC,UAAU,CAAC,CAAC;IAClC,MAAM,QAAQ,GAAG,QAAQ,CAAC,KAAK,EAAE,UAAU,CAAC,CAAC;IAC7C,MAAM,QAAQ,GAAG,UAAU,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,QAAQ,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC,CAAC;IAC3D,MAAM,KAAK,GAAG,YAAY,CAAC,UAAU,CAAC,CAAC;IAEvC,OAAO;QACL,KAAK;QACL,QAAQ;QACR,MAAM,EAAE,KAAK,CAAC,MAAM;QACpB,OAAO,EAAE,SAAS;QAClB,QAAQ,EAAE,CAAC;QACX,OAAO,EAAE,KAAK,CAAC,GAAG;QAClB,OAAO,EAAE,KAAK,CAAC,GAAG;QAClB,QAAQ;QACR,KAAK,EAAE,WAAW;KACnB,CAAC;AACJ,CAAC;AAED;;;;;GAKG;AACH,SAAS,YAAY,CAAC,GAAsB;IAC1C,MAAM,CAAC,GAAG,GAAG,CAAC,MAAM,CAAC;IACrB,IAAI,CAAC,KAAK,CAAC;QAAE,OAAO,EAAE,GAAG,EAAE,CAAC,EAAE,GAAG,EAAE,CAAC,EAAE,CAAC;IACvC,IAAI,GAAG,GAAG,CAAC,CAAC;IACZ,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC;QAC3B,KAAK,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC;YAC/B,MAAM,CAAC,GAAG,GAAG,CAAC,CAAC,CAAW,CAAC;YAC3B,MAAM,CAAC,GAAG,GAAG,CAAC,CAAC,CAAW,CAAC;YAC3B,MAAM,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;YAC/C,IAAI,CAAC,GAAG,GAAG;gBAAE,GAAG,GAAG,CAAC,CAAC;QACvB,CAAC;IACH,CAAC;IACD,IAAI,CAAC,GAAG,CAAC;QAAE,OAAO,EAAE,GAAG,EAAE,CAAC,EAAE,GAAG,EAAE,CAAC;IAClC,IAAI,GAAG,GAAG,MAAM,CAAC,iBAAiB,CAAC;IACnC,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC;QAC3B,MAAM,CAAC,GAAG,GAAG,CAAC,CAAC,CAAW,CAAC;QAC3B,MAAM,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAW,CAAC;QACrC,MAAM,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC;QACvB,MAAM,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC;QACvB,MAAM,IAAI,GAAG,IAAI,CAAC,KAAK,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;QAChC,IAAI,IAAI,GAAG,KAAK;YAAE,SAAS;QAC3B,MAAM,EAAE,GAAG,CAAC,EAAE,GAAG,IAAI,CAAC;QACtB,MAAM,EAAE,GAAG,EAAE,GAAG,IAAI,CAAC;QACrB,IAAI,EAAE,GAAG,MAAM,CAAC,iBAAiB,CAAC;QAClC,IAAI,EAAE,GAAG,MAAM,CAAC,iBAAiB,CAAC;QAClC,KAAK,MAAM,CAAC,IAAI,GAAG,EAAE,CAAC;YACpB,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC;YAClD,IAAI,CAAC,GAAG,EAAE;gBAAE,EAAE,GAAG,CAAC,CAAC;YACnB,IAAI,CAAC,GAAG,EAAE;gBAAE,EAAE,GAAG,CAAC,CAAC;QACrB,CAAC;QACD,MAAM,KAAK,GAAG,EAAE,GAAG,EAAE,CAAC;QACtB,IAAI,KAAK,GAAG,GAAG;YAAE,GAAG,GAAG,KAAK,CAAC;IAC/B,CAAC;IACD,OAAO,EAAE,GAAG,EAAE,MAAM,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,GAAG,EAAE,CAAC;AACtD,CAAC;AAED,0CAA0C;AAE1C,SAAS,gBAAgB,CAAC,GAAS,EAAE,WAA2B;IAC9D,qEAAqE;IACrE,iCAAiC;IACjC,MAAM,SAAS,GAA4B,EAAE,CAAC;IAC9C,IAAI,QAAQ,GAAgB,IAAI,CAAC;IAEjC,KAAK,MAAM,CAAC,IAAI,WAAW,EAAE,CAAC;QAC5B,IAAI,CAAC,CAAC,IAAI,KAAK,OAAO;YAAE,SAAS;QACjC,IAAI,CAAC,QAAQ;YAAE,QAAQ,GAAG,CAAC,CAAC,EAAE,CAAC;QAC/B,MAAM,EAAE,GAAG,WAAW,CAAC,CAAC,CAAC,EAAE,EAAE,QAAQ,EAAE,GAAG,CAAC,CAAC;QAC5C,MAAM,EAAE,GAAG,WAAW,CAAC,CAAC,CAAC,EAAE,EAAE,QAAQ,EAAE,GAAG,CAAC,CAAC;QAC5C,SAAS,CAAC,IAAI,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC;IACvD,CAAC;IACD,IAAI,CAAC,QAAQ,IAAI,SAAS,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;QACxC,OAAO;YACL,QAAQ,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;YACnB,MAAM,EAAE,GAAG;YACX,OAAO,EAAE,CAAC;YACV,QAAQ,EAAE,CAAC;YACX,OAAO,EAAE,CAAC;YACV,OAAO,EAAE,CAAC;YACV,QAAQ,EAAE,EAAE;YACZ,KAAK,EAAE,WAAW;SACnB,CAAC;IACJ,CAAC;IAED,SAAS,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACtC,MAAM,MAAM,GAA4B,EAAE,CAAC;IAC3C,KAAK,MAAM,EAAE,IAAI,SAAS,EAAE,CAAC;QAC3B,IAAI,MAAM,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YACxB,MAAM,CAAC,IAAI,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;YAC5B,SAAS;QACX,CAAC;QACD,MAAM,IAAI,GAAG,MAAM,CAAC,MAAM,CAAC,MAAM,GAAG,CAAC,CAAqB,CAAC;QAC3D,IAAI,EAAE,CAAC,CAAC,CAAC,IAAI,IAAI,CAAC,CAAC,CAAC;YAAE,IAAI,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC;;YACpD,MAAM,CAAC,IAAI,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACnC,CAAC;IACD,MAAM,MAAM,GAAG,MAAM,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,EAAE,EAAE,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IAEhE,iEAAiE;IACjE,MAAM,IAAI,GAAI,MAAM,CAAC,CAAC,CAAsB,CAAC,CAAC,CAAC,CAAC;IAChD,MAAM,IAAI,GAAI,MAAM,CAAC,MAAM,CAAC,MAAM,GAAG,CAAC,CAAsB,CAAC,CAAC,CAAC,CAAC;IAChE,MAAM,SAAS,GAAG,CAAC,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC;IACpC,MAAM,QAAQ,GAAS;QACrB,QAAQ,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,SAAS;QAChC,QAAQ,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,SAAS;QAChC,QAAQ,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,SAAS;KACjC,CAAC;IACF,MAAM,QAAQ,GAAW;QACvB,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,IAAI,EAAE,QAAQ,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,IAAI,EAAE,QAAQ,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC;QACvF,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,IAAI,EAAE,QAAQ,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,IAAI,EAAE,QAAQ,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC;KACxF,CAAC;IAEF,OAAO;QACL,QAAQ;QACR,MAAM,EAAE,GAAG;QACX,OAAO,EAAE,CAAC;QACV,QAAQ,EAAE,MAAM;QAChB,OAAO,EAAE,CAAC;QACV,OAAO,EAAE,MAAM;QACf,QAAQ;QACR,KAAK,EAAE,WAAW;KACnB,CAAC;AACJ,CAAC;AAED,4BAA4B;AAE5B,SAAS,QAAQ,CACf,IAAqC,EACrC,aAAqB,EACrB,WAAmB,EACnB,WAAmB;IAEnB,IAAI,IAAI,CAAC,OAAO,IAAI,aAAa;QAAE,OAAO,EAAE,GAAG,IAAI,EAAE,IAAI,EAAE,SAAS,EAAE,CAAC;IACvE,IAAI,IAAI,CAAC,QAAQ,IAAI,WAAW;QAAE,OAAO,EAAE,GAAG,IAAI,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC;IACnE,IAAI,IAAI,CAAC,OAAO,IAAI,WAAW;QAAE,OAAO,EAAE,GAAG,IAAI,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC;IAClE,OAAO,EAAE,GAAG,IAAI,EAAE,IAAI,EAAE,OAAO,EAAE,CAAC;AACpC,CAAC;AAED,SAAS,eAAe,CAAC,CAAO;IAC9B,uDAAuD;IACvD,IAAI,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,IAAI;QAAE,OAAO,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACvE,IAAI,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,IAAI;QAAE,OAAO,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IACvE,OAAO,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;AAC9C,CAAC;AAED,SAAS,4BAA4B,CAAC,KAAW,EAAE,GAAS;IAC1D,MAAM,CAAC,GAAG,IAAI,CAAC,KAAK,EAAE,GAAG,CAAC,CAAC;IAC3B,OAAO,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;AAC/E,CAAC;AAED,SAAS,WAAW,CAAC,KAAW,EAAE,QAAc,EAAE,GAAS;IACzD,OAAO,CACL,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC;QACjC,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC;QACjC,CAAC,KAAK,CAAC,CAAC,CAAC,GAAG,QAAQ,CAAC,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,CAClC,CAAC;AACJ,CAAC;AAED,SAAS,KAAK,CAAC,CAAS,EAAE,IAAY;IACpC,OAAO,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC;AAC9B,CAAC;AAED,SAAS,aAAa,CAAC,GAAsB;IAC3C,IAAI,GAAG,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;IACpC,IAAI,CAAC,GAAG,CAAC,CAAC;IACV,IAAI,CAAC,GAAG,CAAC,CAAC;IACV,KAAK,MAAM,CAAC,IAAI,GAAG,EAAE,CAAC;QACpB,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;QACV,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC;IACZ,CAAC;IACD,OAAO,CAAC,CAAC,GAAG,GAAG,CAAC,MAAM,EAAE,CAAC,GAAG,GAAG,CAAC,MAAM,CAAC,CAAC;AAC1C,CAAC;AAED,4DAA4D;AAC5D,KAAK,MAAM,CAAC"}

package/dist/contact/tri-tri.d.ts

@@ -0,0 +1,34 @@
+/**
+ * Triangle-triangle overlap tests based on Tomas Möller,
+ * "A Fast Triangle-Triangle Intersection Test" (1997),
+ * extended to report both strict crossings (with a 3D intersection segment)
+ * and the coplanar-overlap case, which is the signal shared-face detection
+ * downstream actually cares about.
+ */
+import type { Triangle } from "./triangle.js";
+import type { Vec3 } from "./types.js";
+export type TriTriResult = {
+    readonly kind: "none";
+} | {
+    readonly kind: "cross";
+    readonly p0: Vec3;
+    readonly p1: Vec3;
+} | {
+    readonly kind: "coplanar";
+};
+/**
+ * Full Möller test.
+ *
+ * `planeEps` is the absolute tolerance on signed plane distance — distances
+ * with |d| / |N| ≤ planeEps are treated as zero (on-plane). Defaults to 1e-6
+ * in model-native units.
+ */
+export declare function triTriIntersect(a: Triangle, b: Triangle, planeEps?: number): TriTriResult;
+/**
+ * True when triangles lie in the same plane within `planeEps`.
+ * Both triangles must be non-degenerate.
+ */
+export declare function trianglesCoplanar(a: Triangle, b: Triangle, planeEps?: number): boolean;
+/** Signed distance (unit-normalised) from point `p` to triangle's plane. */
+export declare function signedDistanceToPlane(t: Triangle, p: Vec3): number;
+//# sourceMappingURL=tri-tri.d.ts.map

package/dist/contact/tri-tri.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"tri-tri.d.ts","sourceRoot":"","sources":["../../src/contact/tri-tri.ts"],"names":[],"mappings":"AAIA;;;;;;GAMG;AAEH,OAAO,KAAK,EAAE,QAAQ,EAAE,MAAM,eAAe,CAAC;AAE9C,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC;AAGvC,MAAM,MAAM,YAAY,GACpB;IAAE,QAAQ,CAAC,IAAI,EAAE,MAAM,CAAA;CAAE,GACzB;IAAE,QAAQ,CAAC,IAAI,EAAE,OAAO,CAAC;IAAC,QAAQ,CAAC,EAAE,EAAE,IAAI,CAAC;IAAC,QAAQ,CAAC,EAAE,EAAE,IAAI,CAAA;CAAE,GAChE;IAAE,QAAQ,CAAC,IAAI,EAAE,UAAU,CAAA;CAAE,CAAC;AAElC;;;;;;GAMG;AACH,wBAAgB,eAAe,CAAC,CAAC,EAAE,QAAQ,EAAE,CAAC,EAAE,QAAQ,EAAE,QAAQ,SAAO,GAAG,YAAY,CAwDvF;AAED;;;GAGG;AACH,wBAAgB,iBAAiB,CAAC,CAAC,EAAE,QAAQ,EAAE,CAAC,EAAE,QAAQ,EAAE,QAAQ,SAAO,GAAG,OAAO,CAmBpF;AAED,4EAA4E;AAC5E,wBAAgB,qBAAqB,CAAC,CAAC,EAAE,QAAQ,EAAE,CAAC,EAAE,IAAI,GAAG,MAAM,CAMlE"}

package/dist/contact/tri-tri.js

@@ -0,0 +1,195 @@
+/* This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/. */
+import { isDegenerate, triangleNormalRaw } from "./triangle.js";
+import { cross3, dot3, length3, lerp3, sub3 } from "./vec3.js";
+/**
+ * Full Möller test.
+ *
+ * `planeEps` is the absolute tolerance on signed plane distance — distances
+ * with |d| / |N| ≤ planeEps are treated as zero (on-plane). Defaults to 1e-6
+ * in model-native units.
+ */
+export function triTriIntersect(a, b, planeEps = 1e-6) {
+    if (isDegenerate(a) || isDegenerate(b))
+        return { kind: "none" };
+    // Plane of B
+    const N2 = triangleNormalRaw(b);
+    const ln2 = length3(N2);
+    const d2 = -dot3(N2, b.v0);
+    const dA0 = (dot3(N2, a.v0) + d2) / ln2;
+    const dA1 = (dot3(N2, a.v1) + d2) / ln2;
+    const dA2 = (dot3(N2, a.v2) + d2) / ln2;
+    const sA0 = signOf(dA0, planeEps);
+    const sA1 = signOf(dA1, planeEps);
+    const sA2 = signOf(dA2, planeEps);
+    if (sA0 === sA1 && sA1 === sA2 && sA0 !== 0)
+        return { kind: "none" };
+    // Plane of A
+    const N1 = triangleNormalRaw(a);
+    const ln1 = length3(N1);
+    const d1 = -dot3(N1, a.v0);
+    const dB0 = (dot3(N1, b.v0) + d1) / ln1;
+    const dB1 = (dot3(N1, b.v1) + d1) / ln1;
+    const dB2 = (dot3(N1, b.v2) + d1) / ln1;
+    const sB0 = signOf(dB0, planeEps);
+    const sB1 = signOf(dB1, planeEps);
+    const sB2 = signOf(dB2, planeEps);
+    if (sB0 === sB1 && sB1 === sB2 && sB0 !== 0)
+        return { kind: "none" };
+    // All-zero on either side → coplanar
+    if (sA0 === 0 && sA1 === 0 && sA2 === 0)
+        return { kind: "coplanar" };
+    if (sB0 === 0 && sB1 === 0 && sB2 === 0)
+        return { kind: "coplanar" };
+    // Chord endpoints: 3D points where each triangle's edges cross the opposite plane.
+    const chordA = triChord(a, dA0, dA1, dA2);
+    const chordB = triChord(b, dB0, dB1, dB2);
+    if (!chordA || !chordB)
+        return { kind: "none" };
+    // Overlap along the common intersection line.
+    const D = cross3(N1, N2);
+    const dAxis = dominantAxis(D);
+    const ta0 = chordA[0][dAxis];
+    const ta1 = chordA[1][dAxis];
+    const tb0 = chordB[0][dAxis];
+    const tb1 = chordB[1][dAxis];
+    const aMin = Math.min(ta0, ta1);
+    const aMax = Math.max(ta0, ta1);
+    const bMin = Math.min(tb0, tb1);
+    const bMax = Math.max(tb0, tb1);
+    const oMin = Math.max(aMin, bMin);
+    const oMax = Math.min(aMax, bMax);
+    if (oMax < oMin - planeEps)
+        return { kind: "none" };
+    // Reconstruct 3D endpoints of the overlap on the intersection line by
+    // picking the chord whose parameter interval matches the overlap.
+    const p0 = pointAtLineParam(chordA, chordB, dAxis, oMin);
+    const p1 = pointAtLineParam(chordA, chordB, dAxis, oMax);
+    return { kind: "cross", p0, p1 };
+}
+/**
+ * True when triangles lie in the same plane within `planeEps`.
+ * Both triangles must be non-degenerate.
+ */
+export function trianglesCoplanar(a, b, planeEps = 1e-6) {
+    if (isDegenerate(a) || isDegenerate(b))
+        return false;
+    const N2 = triangleNormalRaw(b);
+    const d2 = -dot3(N2, b.v0);
+    const n2Len = length3(N2);
+    if (n2Len === 0)
+        return false;
+    if (Math.abs(dot3(N2, a.v0) + d2) / n2Len > planeEps)
+        return false;
+    if (Math.abs(dot3(N2, a.v1) + d2) / n2Len > planeEps)
+        return false;
+    if (Math.abs(dot3(N2, a.v2) + d2) / n2Len > planeEps)
+        return false;
+    const N1 = triangleNormalRaw(a);
+    const d1 = -dot3(N1, a.v0);
+    const n1Len = length3(N1);
+    if (n1Len === 0)
+        return false;
+    if (Math.abs(dot3(N1, b.v0) + d1) / n1Len > planeEps)
+        return false;
+    if (Math.abs(dot3(N1, b.v1) + d1) / n1Len > planeEps)
+        return false;
+    if (Math.abs(dot3(N1, b.v2) + d1) / n1Len > planeEps)
+        return false;
+    return true;
+}
+/** Signed distance (unit-normalised) from point `p` to triangle's plane. */
+export function signedDistanceToPlane(t, p) {
+    const n = triangleNormalRaw(t);
+    const ln = length3(n);
+    if (ln === 0)
+        return 0;
+    const d = -dot3(n, t.v0);
+    return (dot3(n, p) + d) / ln;
+}
+function signOf(x, eps) {
+    if (x > eps)
+        return 1;
+    if (x < -eps)
+        return -1;
+    return 0;
+}
+function dominantAxis(v) {
+    const ax = Math.abs(v[0]);
+    const ay = Math.abs(v[1]);
+    const az = Math.abs(v[2]);
+    if (ax >= ay && ax >= az)
+        return 0;
+    if (ay >= az)
+        return 1;
+    return 2;
+}
+/** Intersection point of segment `p→q` with a plane, given signed distances `dp,dq` (opposite signs). */
+function edgePlane(p, q, dp, dq) {
+    const t = dp / (dp - dq);
+    return lerp3(p, q, t);
+}
+/** Two 3D points where triangle's edges cross the opposite plane. */
+function triChord(tri, d0, d1, d2) {
+    const pts = [];
+    // Count crossings by edge
+    if ((d0 > 0 && d1 < 0) || (d0 < 0 && d1 > 0))
+        pts.push(edgePlane(tri.v0, tri.v1, d0, d1));
+    if ((d1 > 0 && d2 < 0) || (d1 < 0 && d2 > 0))
+        pts.push(edgePlane(tri.v1, tri.v2, d1, d2));
+    if ((d2 > 0 && d0 < 0) || (d2 < 0 && d0 > 0))
+        pts.push(edgePlane(tri.v2, tri.v0, d2, d0));
+    // On-plane vertices contribute themselves once
+    if (d0 === 0)
+        pts.push(tri.v0);
+    if (d1 === 0)
+        pts.push(tri.v1);
+    if (d2 === 0)
+        pts.push(tri.v2);
+    if (pts.length < 2)
+        return null;
+    const first = pts[0];
+    const last = pts[pts.length - 1];
+    return [first, last];
+}
+/**
+ * Given two chord segments on the same line, parametrised by their
+ * dominant-axis coordinate, return the 3D point whose dominant-axis
+ * coordinate is `t`. We look up the chord whose interval contains `t`
+ * (or the closer one) and lerp along it in 3D.
+ */
+function pointAtLineParam(chordA, chordB, axis, t) {
+    // Prefer chord A unless B clearly contains t better.
+    const ta0 = chordA[0][axis];
+    const ta1 = chordA[1][axis];
+    const tb0 = chordB[0][axis];
+    const tb1 = chordB[1][axis];
+    const aMin = Math.min(ta0, ta1);
+    const aMax = Math.max(ta0, ta1);
+    const bMin = Math.min(tb0, tb1);
+    const bMax = Math.max(tb0, tb1);
+    const aContains = t >= aMin - 1e-12 && t <= aMax + 1e-12;
+    const bContains = t >= bMin - 1e-12 && t <= bMax + 1e-12;
+    if (aContains)
+        return lerpChord(chordA, axis, t);
+    if (bContains)
+        return lerpChord(chordB, axis, t);
+    // numerical fallback — pick whichever is closer
+    const distA = Math.min(Math.abs(t - aMin), Math.abs(t - aMax));
+    const distB = Math.min(Math.abs(t - bMin), Math.abs(t - bMax));
+    return distA <= distB ? lerpChord(chordA, axis, t) : lerpChord(chordB, axis, t);
+}
+function lerpChord(chord, axis, t) {
+    const a = chord[0][axis];
+    const b = chord[1][axis];
+    const denom = b - a;
+    if (Math.abs(denom) < 1e-15)
+        return chord[0];
+    const u = (t - a) / denom;
+    return lerp3(chord[0], chord[1], u);
+}
+// Keep import of sub3 so bundlers don't eagerly tree-shake indirect users;
+// triangleNormalRaw uses it transitively.
+void sub3;
+//# sourceMappingURL=tri-tri.js.map

package/dist/contact/tri-tri.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"tri-tri.js","sourceRoot":"","sources":["../../src/contact/tri-tri.ts"],"names":[],"mappings":"AAAA;;+DAE+D;AAW/D,OAAO,EAAE,YAAY,EAAE,iBAAiB,EAAE,MAAM,eAAe,CAAC;AAEhE,OAAO,EAAE,MAAM,EAAE,IAAI,EAAE,OAAO,EAAE,KAAK,EAAE,IAAI,EAAE,MAAM,WAAW,CAAC;AAO/D;;;;;;GAMG;AACH,MAAM,UAAU,eAAe,CAAC,CAAW,EAAE,CAAW,EAAE,QAAQ,GAAG,IAAI;IACvE,IAAI,YAAY,CAAC,CAAC,CAAC,IAAI,YAAY,CAAC,CAAC,CAAC;QAAE,OAAO,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC;IAEhE,aAAa;IACb,MAAM,EAAE,GAAG,iBAAiB,CAAC,CAAC,CAAC,CAAC;IAChC,MAAM,GAAG,GAAG,OAAO,CAAC,EAAE,CAAC,CAAC;IACxB,MAAM,EAAE,GAAG,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC;IAC3B,MAAM,GAAG,GAAG,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,EAAE,CAAC,GAAG,GAAG,CAAC;IACxC,MAAM,GAAG,GAAG,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,EAAE,CAAC,GAAG,GAAG,CAAC;IACxC,MAAM,GAAG,GAAG,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,EAAE,CAAC,GAAG,GAAG,CAAC;IACxC,MAAM,GAAG,GAAG,MAAM,CAAC,GAAG,EAAE,QAAQ,CAAC,CAAC;IAClC,MAAM,GAAG,GAAG,MAAM,CAAC,GAAG,EAAE,QAAQ,CAAC,CAAC;IAClC,MAAM,GAAG,GAAG,MAAM,CAAC,GAAG,EAAE,QAAQ,CAAC,CAAC;IAClC,IAAI,GAAG,KAAK,GAAG,IAAI,GAAG,KAAK,GAAG,IAAI,GAAG,KAAK,CAAC;QAAE,OAAO,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC;IAErE,aAAa;IACb,MAAM,EAAE,GAAG,iBAAiB,CAAC,CAAC,CAAC,CAAC;IAChC,MAAM,GAAG,GAAG,OAAO,CAAC,EAAE,CAAC,CAAC;IACxB,MAAM,EAAE,GAAG,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC;IAC3B,MAAM,GAAG,GAAG,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,EAAE,CAAC,GAAG,GAAG,CAAC;IACxC,MAAM,GAAG,GAAG,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,EAAE,CAAC,GAAG,GAAG,CAAC;IACxC,MAAM,GAAG,GAAG,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,EAAE,CAAC,GAAG,GAAG,CAAC;IACxC,MAAM,GAAG,GAAG,MAAM,CAAC,GAAG,EAAE,QAAQ,CAAC,CAAC;IAClC,MAAM,GAAG,GAAG,MAAM,CAAC,GAAG,EAAE,QAAQ,CAAC,CAAC;IAClC,MAAM,GAAG,GAAG,MAAM,CAAC,GAAG,EAAE,QAAQ,CAAC,CAAC;IAClC,IAAI,GAAG,KAAK,GAAG,IAAI,GAAG,KAAK,GAAG,IAAI,GAAG,KAAK,CAAC;QAAE,OAAO,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC;IAErE,qCAAqC;IACrC,IAAI,GAAG,KAAK,CAAC,IAAI,GAAG,KAAK,CAAC,IAAI,GAAG,KAAK,CAAC;QAAE,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,CAAC;IACrE,IAAI,GAAG,KAAK,CAAC,IAAI,GAAG,KAAK,CAAC,IAAI,GAAG,KAAK,CAAC;QAAE,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,CAAC;IAErE,mFAAmF;IACnF,MAAM,MAAM,GAAG,QAAQ,CAAC,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,CAAC,CAAC;IAC1C,MAAM,MAAM,GAAG,QAAQ,CAAC,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,CAAC,CAAC;IAC1C,IAAI,CAAC,MAAM,IAAI,CAAC,MAAM;QAAE,OAAO,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC;IAEhD,8CAA8C;IAC9C,MAAM,CAAC,GAAG,MAAM,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;IACzB,MAAM,KAAK,GAAG,YAAY,CAAC,CAAC,CAAC,CAAC;IAC9B,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC,KAAK,CAAW,CAAC;IACvC,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC,KAAK,CAAW,CAAC;IACvC,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC,KAAK,CAAW,CAAC;IACvC,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC,KAAK,CAAW,CAAC;IACvC,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC;IAChC,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC;IAChC,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC;IAChC,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC;IAChC,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;IAClC,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC;IAClC,IAAI,IAAI,GAAG,IAAI,GAAG,QAAQ;QAAE,OAAO,EAAE,IAAI,EAAE,MAAM,EAAE,CAAC;IAEpD,sEAAsE;IACtE,kEAAkE;IAClE,MAAM,EAAE,GAAG,gBAAgB,CAAC,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,IAAI,CAAC,CAAC;IACzD,MAAM,EAAE,GAAG,gBAAgB,CAAC,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,IAAI,CAAC,CAAC;IACzD,OAAO,EAAE,IAAI,EAAE,OAAO,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC;AACnC,CAAC;AAED;;;GAGG;AACH,MAAM,UAAU,iBAAiB,CAAC,CAAW,EAAE,CAAW,EAAE,QAAQ,GAAG,IAAI;IACzE,IAAI,YAAY,CAAC,CAAC,CAAC,IAAI,YAAY,CAAC,CAAC,CAAC;QAAE,OAAO,KAAK,CAAC;IACrD,MAAM,EAAE,GAAG,iBAAiB,CAAC,CAAC,CAAC,CAAC;IAChC,MAAM,EAAE,GAAG,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC;IAC3B,MAAM,KAAK,GAAG,OAAO,CAAC,EAAE,CAAC,CAAC;IAC1B,IAAI,KAAK,KAAK,CAAC;QAAE,OAAO,KAAK,CAAC;IAC9B,IAAI,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,EAAE,CAAC,GAAG,KAAK,GAAG,QAAQ;QAAE,OAAO,KAAK,CAAC;IACnE,IAAI,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,EAAE,CAAC,GAAG,KAAK,GAAG,QAAQ;QAAE,OAAO,KAAK,CAAC;IACnE,IAAI,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,EAAE,CAAC,GAAG,KAAK,GAAG,QAAQ;QAAE,OAAO,KAAK,CAAC;IAEnE,MAAM,EAAE,GAAG,iBAAiB,CAAC,CAAC,CAAC,CAAC;IAChC,MAAM,EAAE,GAAG,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC;IAC3B,MAAM,KAAK,GAAG,OAAO,CAAC,EAAE,CAAC,CAAC;IAC1B,IAAI,KAAK,KAAK,CAAC;QAAE,OAAO,KAAK,CAAC;IAC9B,IAAI,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,EAAE,CAAC,GAAG,KAAK,GAAG,QAAQ;QAAE,OAAO,KAAK,CAAC;IACnE,IAAI,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,EAAE,CAAC,GAAG,KAAK,GAAG,QAAQ;QAAE,OAAO,KAAK,CAAC;IACnE,IAAI,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,GAAG,EAAE,CAAC,GAAG,KAAK,GAAG,QAAQ;QAAE,OAAO,KAAK,CAAC;IAEnE,OAAO,IAAI,CAAC;AACd,CAAC;AAED,4EAA4E;AAC5E,MAAM,UAAU,qBAAqB,CAAC,CAAW,EAAE,CAAO;IACxD,MAAM,CAAC,GAAG,iBAAiB,CAAC,CAAC,CAAC,CAAC;IAC/B,MAAM,EAAE,GAAG,OAAO,CAAC,CAAC,CAAC,CAAC;IACtB,IAAI,EAAE,KAAK,CAAC;QAAE,OAAO,CAAC,CAAC;IACvB,MAAM,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC;IACzB,OAAO,CAAC,IAAI,CAAC,CAAC,EAAE,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,EAAE,CAAC;AAC/B,CAAC;AAED,SAAS,MAAM,CAAC,CAAS,EAAE,GAAW;IACpC,IAAI,CAAC,GAAG,GAAG;QAAE,OAAO,CAAC,CAAC;IACtB,IAAI,CAAC,GAAG,CAAC,GAAG;QAAE,OAAO,CAAC,CAAC,CAAC;IACxB,OAAO,CAAC,CAAC;AACX,CAAC;AAED,SAAS,YAAY,CAAC,CAAO;IAC3B,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IAC1B,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IAC1B,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;IAC1B,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE;QAAE,OAAO,CAAC,CAAC;IACnC,IAAI,EAAE,IAAI,EAAE;QAAE,OAAO,CAAC,CAAC;IACvB,OAAO,CAAC,CAAC;AACX,CAAC;AAED,yGAAyG;AACzG,SAAS,SAAS,CAAC,CAAO,EAAE,CAAO,EAAE,EAAU,EAAE,EAAU;IACzD,MAAM,CAAC,GAAG,EAAE,GAAG,CAAC,EAAE,GAAG,EAAE,CAAC,CAAC;IACzB,OAAO,KAAK,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AACxB,CAAC;AAED,qEAAqE;AACrE,SAAS,QAAQ,CAAC,GAAa,EAAE,EAAU,EAAE,EAAU,EAAE,EAAU;IACjE,MAAM,GAAG,GAAW,EAAE,CAAC;IACvB,0BAA0B;IAC1B,IAAI,CAAC,EAAE,GAAG,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC;QAAE,GAAG,CAAC,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,EAAE,EAAE,GAAG,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,CAAC,CAAC;IAC1F,IAAI,CAAC,EAAE,GAAG,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC;QAAE,GAAG,CAAC,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,EAAE,EAAE,GAAG,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,CAAC,CAAC;IAC1F,IAAI,CAAC,EAAE,GAAG,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC;QAAE,GAAG,CAAC,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,EAAE,EAAE,GAAG,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,CAAC,CAAC;IAC1F,+CAA+C;IAC/C,IAAI,EAAE,KAAK,CAAC;QAAE,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC;IAC/B,IAAI,EAAE,KAAK,CAAC;QAAE,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC;IAC/B,IAAI,EAAE,KAAK,CAAC;QAAE,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC;IAC/B,IAAI,GAAG,CAAC,MAAM,GAAG,CAAC;QAAE,OAAO,IAAI,CAAC;IAChC,MAAM,KAAK,GAAG,GAAG,CAAC,CAAC,CAAS,CAAC;IAC7B,MAAM,IAAI,GAAG,GAAG,CAAC,GAAG,CAAC,MAAM,GAAG,CAAC,CAAS,CAAC;IACzC,OAAO,CAAC,KAAK,EAAE,IAAI,CAAC,CAAC;AACvB,CAAC;AAED;;;;;GAKG;AACH,SAAS,gBAAgB,CACvB,MAA6B,EAC7B,MAA6B,EAC7B,IAAe,EACf,CAAS;IAET,qDAAqD;IACrD,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,CAAW,CAAC;IACtC,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,CAAW,CAAC;IACtC,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,CAAW,CAAC;IACtC,MAAM,GAAG,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,CAAW,CAAC;IACtC,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC;IAChC,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC;IAChC,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC;IAChC,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC;IAChC,MAAM,SAAS,GAAG,CAAC,IAAI,IAAI,GAAG,KAAK,IAAI,CAAC,IAAI,IAAI,GAAG,KAAK,CAAC;IACzD,MAAM,SAAS,GAAG,CAAC,IAAI,IAAI,GAAG,KAAK,IAAI,CAAC,IAAI,IAAI,GAAG,KAAK,CAAC;IACzD,IAAI,SAAS;QAAE,OAAO,SAAS,CAAC,MAAM,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;IACjD,IAAI,SAAS;QAAE,OAAO,SAAS,CAAC,MAAM,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;IACjD,gDAAgD;IAChD,MAAM,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC;IAC/D,MAAM,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC;IAC/D,OAAO,KAAK,IAAI,KAAK,CAAC,CAAC,CAAC,SAAS,CAAC,MAAM,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,SAAS,CAAC,MAAM,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC;AAClF,CAAC;AAED,SAAS,SAAS,CAAC,KAA4B,EAAE,IAAe,EAAE,CAAS;IACzE,MAAM,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAW,CAAC;IACnC,MAAM,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAW,CAAC;IACnC,MAAM,KAAK,GAAG,CAAC,GAAG,CAAC,CAAC;IACpB,IAAI,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,KAAK;QAAE,OAAO,KAAK,CAAC,CAAC,CAAC,CAAC;IAC7C,MAAM,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CAAC;IAC1B,OAAO,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;AACtC,CAAC;AAED,2EAA2E;AAC3E,0CAA0C;AAC1C,KAAK,IAAI,CAAC"}

package/dist/contact/triangle.d.ts

@@ -0,0 +1,22 @@
+import type { AABB, Mesh, Vec3 } from "./types.js";
+/** Triangle as three world-space vertices. */
+export interface Triangle {
+    readonly v0: Vec3;
+    readonly v1: Vec3;
+    readonly v2: Vec3;
+}
+/** Read the `triIndex`-th triangle from a mesh. */
+export declare function triangleAt(mesh: Mesh, triIndex: number): Triangle;
+/** Total triangle count in a mesh. */
+export declare function triangleCount(mesh: Mesh): number;
+/** Unnormalised triangle normal = (v1-v0) × (v2-v0). Useful as a plane direction. */
+export declare function triangleNormalRaw(t: Triangle): Vec3;
+/** Triangle area (geometric). */
+export declare function triangleArea(t: Triangle): number;
+/** Triangle centroid. */
+export declare function triangleCentroid(t: Triangle): Vec3;
+/** Tight AABB of a triangle. */
+export declare function triangleAabb(t: Triangle): AABB;
+/** True when the triangle is degenerate (zero area within tolerance). */
+export declare function isDegenerate(t: Triangle, eps?: number): boolean;
+//# sourceMappingURL=triangle.d.ts.map

package/dist/contact/triangle.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"triangle.d.ts","sourceRoot":"","sources":["../../src/contact/triangle.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAE,IAAI,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,YAAY,CAAC;AAGnD,8CAA8C;AAC9C,MAAM,WAAW,QAAQ;IACvB,QAAQ,CAAC,EAAE,EAAE,IAAI,CAAC;IAClB,QAAQ,CAAC,EAAE,EAAE,IAAI,CAAC;IAClB,QAAQ,CAAC,EAAE,EAAE,IAAI,CAAC;CACnB;AAED,mDAAmD;AACnD,wBAAgB,UAAU,CAAC,IAAI,EAAE,IAAI,EAAE,QAAQ,EAAE,MAAM,GAAG,QAAQ,CAUjE;AAOD,sCAAsC;AACtC,wBAAgB,aAAa,CAAC,IAAI,EAAE,IAAI,GAAG,MAAM,CAEhD;AAED,qFAAqF;AACrF,wBAAgB,iBAAiB,CAAC,CAAC,EAAE,QAAQ,GAAG,IAAI,CAEnD;AAED,iCAAiC;AACjC,wBAAgB,YAAY,CAAC,CAAC,EAAE,QAAQ,GAAG,MAAM,CAEhD;AAED,yBAAyB;AACzB,wBAAgB,gBAAgB,CAAC,CAAC,EAAE,QAAQ,GAAG,IAAI,CAMlD;AAED,gCAAgC;AAChC,wBAAgB,YAAY,CAAC,CAAC,EAAE,QAAQ,GAAG,IAAI,CAa9C;AAED,yEAAyE;AACzE,wBAAgB,YAAY,CAAC,CAAC,EAAE,QAAQ,EAAE,GAAG,SAAQ,GAAG,OAAO,CAE9D"}

package/dist/contact/triangle.js

@@ -0,0 +1,60 @@
+/* This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/. */
+import { cross3, length3, sub3 } from "./vec3.js";
+/** Read the `triIndex`-th triangle from a mesh. */
+export function triangleAt(mesh, triIndex) {
+    const base = triIndex * 3;
+    const i0 = mesh.indices[base];
+    const i1 = mesh.indices[base + 1];
+    const i2 = mesh.indices[base + 2];
+    return {
+        v0: readVertex(mesh.positions, i0),
+        v1: readVertex(mesh.positions, i1),
+        v2: readVertex(mesh.positions, i2),
+    };
+}
+function readVertex(positions, index) {
+    const b = index * 3;
+    return [positions[b], positions[b + 1], positions[b + 2]];
+}
+/** Total triangle count in a mesh. */
+export function triangleCount(mesh) {
+    return mesh.indices.length / 3;
+}
+/** Unnormalised triangle normal = (v1-v0) × (v2-v0). Useful as a plane direction. */
+export function triangleNormalRaw(t) {
+    return cross3(sub3(t.v1, t.v0), sub3(t.v2, t.v0));
+}
+/** Triangle area (geometric). */
+export function triangleArea(t) {
+    return length3(triangleNormalRaw(t)) / 2;
+}
+/** Triangle centroid. */
+export function triangleCentroid(t) {
+    return [
+        (t.v0[0] + t.v1[0] + t.v2[0]) / 3,
+        (t.v0[1] + t.v1[1] + t.v2[1]) / 3,
+        (t.v0[2] + t.v1[2] + t.v2[2]) / 3,
+    ];
+}
+/** Tight AABB of a triangle. */
+export function triangleAabb(t) {
+    return {
+        min: [
+            Math.min(t.v0[0], t.v1[0], t.v2[0]),
+            Math.min(t.v0[1], t.v1[1], t.v2[1]),
+            Math.min(t.v0[2], t.v1[2], t.v2[2]),
+        ],
+        max: [
+            Math.max(t.v0[0], t.v1[0], t.v2[0]),
+            Math.max(t.v0[1], t.v1[1], t.v2[1]),
+            Math.max(t.v0[2], t.v1[2], t.v2[2]),
+        ],
+    };
+}
+/** True when the triangle is degenerate (zero area within tolerance). */
+export function isDegenerate(t, eps = 1e-12) {
+    return length3(triangleNormalRaw(t)) <= eps;
+}
+//# sourceMappingURL=triangle.js.map

package/dist/contact/triangle.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"triangle.js","sourceRoot":"","sources":["../../src/contact/triangle.ts"],"names":[],"mappings":"AAAA;;+DAE+D;AAG/D,OAAO,EAAE,MAAM,EAAE,OAAO,EAAE,IAAI,EAAE,MAAM,WAAW,CAAC;AASlD,mDAAmD;AACnD,MAAM,UAAU,UAAU,CAAC,IAAU,EAAE,QAAgB;IACrD,MAAM,IAAI,GAAG,QAAQ,GAAG,CAAC,CAAC;IAC1B,MAAM,EAAE,GAAG,IAAI,CAAC,OAAO,CAAC,IAAI,CAAW,CAAC;IACxC,MAAM,EAAE,GAAG,IAAI,CAAC,OAAO,CAAC,IAAI,GAAG,CAAC,CAAW,CAAC;IAC5C,MAAM,EAAE,GAAG,IAAI,CAAC,OAAO,CAAC,IAAI,GAAG,CAAC,CAAW,CAAC;IAC5C,OAAO;QACL,EAAE,EAAE,UAAU,CAAC,IAAI,CAAC,SAAS,EAAE,EAAE,CAAC;QAClC,EAAE,EAAE,UAAU,CAAC,IAAI,CAAC,SAAS,EAAE,EAAE,CAAC;QAClC,EAAE,EAAE,UAAU,CAAC,IAAI,CAAC,SAAS,EAAE,EAAE,CAAC;KACnC,CAAC;AACJ,CAAC;AAED,SAAS,UAAU,CAAC,SAA4B,EAAE,KAAa;IAC7D,MAAM,CAAC,GAAG,KAAK,GAAG,CAAC,CAAC;IACpB,OAAO,CAAC,SAAS,CAAC,CAAC,CAAW,EAAE,SAAS,CAAC,CAAC,GAAG,CAAC,CAAW,EAAE,SAAS,CAAC,CAAC,GAAG,CAAC,CAAW,CAAC,CAAC;AAC1F,CAAC;AAED,sCAAsC;AACtC,MAAM,UAAU,aAAa,CAAC,IAAU;IACtC,OAAO,IAAI,CAAC,OAAO,CAAC,MAAM,GAAG,CAAC,CAAC;AACjC,CAAC;AAED,qFAAqF;AACrF,MAAM,UAAU,iBAAiB,CAAC,CAAW;IAC3C,OAAO,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;AACpD,CAAC;AAED,iCAAiC;AACjC,MAAM,UAAU,YAAY,CAAC,CAAW;IACtC,OAAO,OAAO,CAAC,iBAAiB,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC;AAC3C,CAAC;AAED,yBAAyB;AACzB,MAAM,UAAU,gBAAgB,CAAC,CAAW;IAC1C,OAAO;QACL,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;QACjC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;QACjC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC;KAClC,CAAC;AACJ,CAAC;AAED,gCAAgC;AAChC,MAAM,UAAU,YAAY,CAAC,CAAW;IACtC,OAAO;QACL,GAAG,EAAE;YACH,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YACnC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YACnC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;SACpC;QACD,GAAG,EAAE;YACH,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YACnC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;YACnC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;SACpC;KACF,CAAC;AACJ,CAAC;AAED,yEAAyE;AACzE,MAAM,UAAU,YAAY,CAAC,CAAW,EAAE,GAAG,GAAG,KAAK;IACnD,OAAO,OAAO,CAAC,iBAAiB,CAAC,CAAC,CAAC,CAAC,IAAI,GAAG,CAAC;AAC9C,CAAC"}

package/dist/contact/types.d.ts

@@ -0,0 +1,33 @@
+/**
+ * Core geometric and identity types for connection detection.
+ *
+ * IDs are opaque strings. In an ifc-lite integration they'd be
+ * federation-aware GlobalIds, but this package treats them as
+ * strings so it stays independent of the viewer.
+ */
+export type Vec3 = readonly [number, number, number];
+/** Axis-aligned bounding box in world coordinates. */
+export interface AABB {
+    readonly min: Vec3;
+    readonly max: Vec3;
+}
+/** An entity's bounds, keyed by an opaque id. */
+export interface MeshBounds {
+    readonly id: string;
+    readonly aabb: AABB;
+}
+/** Triangulated mesh in world coordinates (Z-up, matching IFC). */
+export interface Mesh {
+    readonly id: string;
+    /** Flat array of positions, length = 3 * vertexCount. */
+    readonly positions: Float32Array | Float64Array;
+    /** Flat array of triangle indices, length = 3 * triangleCount. */
+    readonly indices: Uint32Array;
+}
+/** Unordered pair of ids, canonicalised to (min, max) lexicographically. */
+export type IdPair = readonly [string, string];
+/** Classification types emitted by the shared-face pipeline. */
+export type ConnectionType = "point" | "line" | "surface";
+/** Reference type for an element's buildup origin. */
+export type ReferenceType = "outer_face" | "center" | "upper_face";
+//# sourceMappingURL=types.d.ts.map

package/dist/contact/types.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"types.d.ts","sourceRoot":"","sources":["../../src/contact/types.ts"],"names":[],"mappings":"AAIA;;;;;;GAMG;AAEH,MAAM,MAAM,IAAI,GAAG,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;AAErD,sDAAsD;AACtD,MAAM,WAAW,IAAI;IACnB,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;IACnB,QAAQ,CAAC,GAAG,EAAE,IAAI,CAAC;CACpB;AAED,iDAAiD;AACjD,MAAM,WAAW,UAAU;IACzB,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,QAAQ,CAAC,IAAI,EAAE,IAAI,CAAC;CACrB;AAED,mEAAmE;AACnE,MAAM,WAAW,IAAI;IACnB,QAAQ,CAAC,EAAE,EAAE,MAAM,CAAC;IACpB,yDAAyD;IACzD,QAAQ,CAAC,SAAS,EAAE,YAAY,GAAG,YAAY,CAAC;IAChD,kEAAkE;IAClE,QAAQ,CAAC,OAAO,EAAE,WAAW,CAAC;CAC/B;AAED,4EAA4E;AAC5E,MAAM,MAAM,MAAM,GAAG,SAAS,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;AAE/C,gEAAgE;AAChE,MAAM,MAAM,cAAc,GAAG,OAAO,GAAG,MAAM,GAAG,SAAS,CAAC;AAE1D,sDAAsD;AACtD,MAAM,MAAM,aAAa,GAAG,YAAY,GAAG,QAAQ,GAAG,YAAY,CAAC"}