@ifc-lite/clash 1.7.0 → 1.9.0

package/dist/contact/min-distance.js

@@ -0,0 +1,255 @@
+/* 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/. */
+/**
+ * Minimum distance between two world-space meshes, with the witness points.
+ *
+ * Why this is a new traversal rather than a new predicate: the exact
+ * triangle-to-triangle minimum distance already exists as `triTriDistance`
+ * (`../math/triangle-distance.ts`), and a second copy of that math would be one
+ * more thing to keep in step. What did NOT exist anywhere in this package is a
+ * traversal that can find the CLOSEST pair.
+ *
+ * Every other query here is an OVERLAP predicate: `Bvh.queryAABB`,
+ * `Bvh.queryPairs` and `queryMeshCross` all prune on AABB intersection, so for
+ * two disjoint meshes they return an empty candidate set and there is nothing
+ * left to measure. Inflating a clash `clearance` does not substitute either:
+ * `testPair` only ever considers triangle pairs already within its margin, so
+ * the answer is capped by the margin you guessed rather than found.
+ *
+ * So this is branch-and-bound over the two BVHs: descend the node pair whose
+ * AABB-to-AABB LOWER bound is smallest, and prune any pair whose lower bound is
+ * already >= the best real distance found so far. The bound is exact for
+ * axis-aligned boxes and never exceeds the true triangle distance, which is
+ * what makes the pruning safe: a pruned subtree cannot contain a closer pair.
+ */
+import { buildMeshBvh } from './mesh-bvh.js';
+import { triangleAt } from './triangle.js';
+import { closestPtPointTriangle, triTriDistance } from '../math/triangle-distance.js';
+import { triTriIntersect } from '../math/triangle-intersect.js';
+/** Squared distance between two AABBs; 0 when they overlap or touch. */
+function aabbDistSq(a, b) {
+    let total = 0;
+    for (let axis = 0; axis < 3; axis++) {
+        // Gap on this axis, in whichever direction they are separated. Negative
+        // overlap contributes nothing, which is what makes this a LOWER bound.
+        const gap = Math.max(0, a.min[axis] - b.max[axis], b.min[axis] - a.max[axis]);
+        total += gap * gap;
+    }
+    return total;
+}
+/** The tuple `triTriDistance` expects (its Vec3 is mutable). */
+function mutable(v) {
+    return [v[0], v[1], v[2]];
+}
+/**
+ * Binary min-heap over `lowerSq`. Exported for its own tests but deliberately
+ * NOT re-exported from `contact/index.ts`, so it stays out of the package's
+ * public surface: it is an implementation detail of the traversal, and a
+ * hand-rolled sift is precisely the kind of code that needs a direct contract
+ * test rather than being covered incidentally.
+ *
+ * Note that a broken heap order does NOT break the RESULT — the traversal
+ * still visits every unpruned pair and still finds the true minimum, just
+ * slower. That is why the distance tests cannot catch an inverted comparison
+ * here, and why this class is tested on its own terms.
+ *
+ * Small and local on purpose: this is the only
+ * priority queue in the package, and pulling in a dependency (or a generic
+ * implementation) for one traversal would be more surface than the ~25 lines
+ * it replaces.
+ */
+export class PairHeap {
+    items = [];
+    push(entry) {
+        const items = this.items;
+        items.push(entry);
+        let i = items.length - 1;
+        while (i > 0) {
+            const parent = (i - 1) >> 1;
+            if (items[parent].lowerSq <= items[i].lowerSq)
+                break;
+            [items[parent], items[i]] = [items[i], items[parent]];
+            i = parent;
+        }
+    }
+    pop() {
+        const items = this.items;
+        if (items.length === 0)
+            return undefined;
+        const top = items[0];
+        const last = items.pop();
+        if (items.length === 0)
+            return top;
+        items[0] = last;
+        let i = 0;
+        for (;;) {
+            const l = 2 * i + 1;
+            const r = l + 1;
+            let smallest = i;
+            if (l < items.length && items[l].lowerSq < items[smallest].lowerSq)
+                smallest = l;
+            if (r < items.length && items[r].lowerSq < items[smallest].lowerSq)
+                smallest = r;
+            if (smallest === i)
+                break;
+            [items[smallest], items[i]] = [items[i], items[smallest]];
+            i = smallest;
+        }
+        return top;
+    }
+}
+/**
+ * Exact minimum distance between two meshes, or `null` when either has no
+ * triangles (there is no distance to a mesh that is not there — deliberately
+ * distinct from returning 0, which would read as "they touch").
+ */
+export function minDistanceBetweenMeshes(a, b, opts = {}) {
+    const bvhA = buildMeshBvh(a, opts.leafSize ?? 8);
+    const bvhB = buildMeshBvh(b, opts.leafSize ?? 8);
+    return minDistanceBetweenBvhs(bvhA, bvhB, opts);
+}
+/**
+ * Same, for callers that already hold the BVHs. Worth having separately: the
+ * BVH is the expensive part, and a measure tool asking about one element
+ * against several others should build each mesh's tree once.
+ */
+export function minDistanceBetweenBvhs(a, b, opts = {}) {
+    const rootA = a.bvh.root;
+    const rootB = b.bvh.root;
+    if (!rootA || !rootB)
+        return null;
+    const stopAt = opts.earlyExitAtOrBelow;
+    const best = {
+        distance: Infinity,
+        pointA: [0, 0, 0],
+        pointB: [0, 0, 0],
+        triangleA: -1,
+        triangleB: -1,
+    };
+    // Frontier of node pairs, popped best-first: the tightest lower bound is
+    // explored first, so a good real distance is found early and prunes the most.
+    //
+    // A min-heap rather than a scan-and-splice over an array. Both are correct,
+    // but the frontier grows with the product of the two trees' widths, and a
+    // linear pick plus a splice is O(n) each, so the traversal degrades toward
+    // quadratic exactly on the large disjoint meshes this query exists for. The
+    // heap keeps it O(log n) per pop with the same visit order.
+    const frontier = new PairHeap();
+    frontier.push({ na: rootA, nb: rootB, lowerSq: aabbDistSq(rootA.bounds, rootB.bounds) });
+    for (;;) {
+        const next = frontier.pop();
+        if (!next)
+            break;
+        const { na, nb, lowerSq } = next;
+        // The bound is a lower bound on every pair beneath this node pair, so
+        // once it reaches the best distance found, nothing here can improve it.
+        if (lowerSq >= best.distance * best.distance)
+            continue;
+        const leafA = na.items !== undefined;
+        const leafB = nb.items !== undefined;
+        if (leafA && leafB) {
+            for (const ia of na.items ?? []) {
+                const triA = triangleAt(a.mesh, Number(a.bvh.items[ia].id));
+                const va0 = mutable(triA.v0);
+                const va1 = mutable(triA.v1);
+                const va2 = mutable(triA.v2);
+                for (const ib of nb.items ?? []) {
+                    const triB = triangleAt(b.mesh, Number(b.bvh.items[ib].id));
+                    const vb0 = mutable(triB.v0);
+                    const vb1 = mutable(triB.v1);
+                    const vb2 = mutable(triB.v2);
+                    // triTriDistance's own contract (../math/triangle-distance.ts) is
+                    // "only invoked for non-intersecting pairs" — intersecting ones
+                    // must be gated separately with triTriIntersect, the same order
+                    // engine-ts/narrow.ts already uses for its per-pair test. Skipping
+                    // this gate is exactly the bug this fix closes: an intersecting
+                    // pair fed to triTriDistance reports a nonzero gap for surfaces
+                    // that actually overlap.
+                    if (triTriIntersect(va0, va1, va2, vb0, vb1, vb2)) {
+                        // 0 is the smallest distance this query can ever report, so once
+                        // found nothing left in the frontier — pruned or not — can beat
+                        // it. Return immediately rather than continuing to search.
+                        //
+                        // Each `MeshDistance.pointA`/`pointB` is documented as "witness
+                        // point on mesh A"/"on mesh B" — a point that actually lies ON
+                        // that triangle. The 6-vertex centroid of BOTH triangles combined
+                        // (the pre-fix value here) generally lies on neither: it is the
+                        // mean of six points spread across two different planes, not a
+                        // point constrained to either surface (PR #2815 review).
+                        //
+                        // Two rounds of closest-point projection give a pair of points
+                        // that DO satisfy that contract exactly, by construction of
+                        // `closestPtPointTriangle`: project the midpoint of both
+                        // triangles' centroids onto A, then project THAT point onto B, so
+                        // `pointB` answers "where does B actually sit relative to A's own
+                        // witness" rather than an independent, uncorrelated projection.
+                        // For a genuinely overlapping pair this converges into the
+                        // overlap region in practice; it is not a claim of the exact
+                        // deepest-penetration point (computing the true triangle-triangle
+                        // intersection segment/polygon is a separate, larger fix), but it
+                        // is always a real point on its own reported triangle, which is
+                        // the property callers of this witness point can rely on.
+                        const midCentroid = [
+                            (va0[0] + va1[0] + va2[0] + vb0[0] + vb1[0] + vb2[0]) / 6,
+                            (va0[1] + va1[1] + va2[1] + vb0[1] + vb1[1] + vb2[1]) / 6,
+                            (va0[2] + va1[2] + va2[2] + vb0[2] + vb1[2] + vb2[2]) / 6,
+                        ];
+                        const pA = closestPtPointTriangle(midCentroid, va0, va1, va2);
+                        const pB = closestPtPointTriangle(pA, vb0, vb1, vb2);
+                        return {
+                            distance: 0,
+                            pointA: pA,
+                            pointB: pB,
+                            triangleA: Number(a.bvh.items[ia].id),
+                            triangleB: Number(b.bvh.items[ib].id),
+                        };
+                    }
+                    const r = triTriDistance(va0, va1, va2, vb0, vb1, vb2);
+                    if (r.dist < best.distance) {
+                        best.distance = r.dist;
+                        best.pointA = r.pA;
+                        best.pointB = r.pB;
+                        best.triangleA = Number(a.bvh.items[ia].id);
+                        best.triangleB = Number(b.bvh.items[ib].id);
+                        if (stopAt !== undefined && best.distance <= stopAt) {
+                            return { ...best };
+                        }
+                    }
+                }
+            }
+            continue;
+        }
+        // Descend the side that is still internal; when both are, split the one
+        // with the larger box so the bounds tighten fastest.
+        const descendA = leafB || (!leafA && boxExtent(na.bounds) >= boxExtent(nb.bounds));
+        const children = [];
+        if (descendA && !leafA) {
+            if (na.left)
+                children.push({ na: na.left, nb });
+            if (na.right)
+                children.push({ na: na.right, nb });
+        }
+        else if (!leafB) {
+            if (nb.left)
+                children.push({ na, nb: nb.left });
+            if (nb.right)
+                children.push({ na, nb: nb.right });
+        }
+        for (const c of children) {
+            const lower = aabbDistSq(c.na.bounds, c.nb.bounds);
+            if (lower < best.distance * best.distance)
+                frontier.push({ ...c, lowerSq: lower });
+        }
+    }
+    // Both roots exist, so the mesh has at least one triangle and at least one
+    // leaf pair was evaluated: `best` is always populated here. (An earlier
+    // version returned null on `triangleA < 0`, which no input could reach —
+    // a branch a test cannot exercise is a branch that hides a mistake.)
+    return { ...best };
+}
+/** Longest side of a box, used only to choose which side to split. */
+function boxExtent(box) {
+    return Math.max(box.max[0] - box.min[0], box.max[1] - box.min[1], box.max[2] - box.min[2]);
+}
+//# sourceMappingURL=min-distance.js.map

package/dist/contact/min-distance.js.map

@@ -0,0 +1 @@
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package/dist/contact/narrow-phase.d.ts

@@ -21,8 +21,9 @@ export interface NarrowPhaseOptions {
     readonly epsilon?: number;
     /**
      * Plane-distance tolerance for coplanarity and Möller sign tests. Defaults
-     * to {@link scaledPlaneEps}'s f32-ULP floor for this pair's coordinate
-     * magnitude, not a fixed constant — see that function's doc.
+     * to {@link scaledPlaneEps}'s per-axis f32-ULP noise, projected onto each
+     * tested plane's own normal, not a fixed constant nor a single max over
+     * all axes; see that function's doc.
      */
     readonly planeEps?: number;
     /** BVH leaf size for per-mesh triangle BVHs. Default 8. */

package/dist/contact/narrow-phase.d.ts.map

@@ -1 +1 @@
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package/dist/contact/narrow-phase.js

@@ -8,7 +8,7 @@ import { triangleAt, triangleCount } from "./triangle.js";
  * f32-ULP scale factor for a "worst-case" single-precision coordinate: for a
  * value with magnitude in `[2, 4)` the true float32 ULP is `2^-22`, and for
  * larger magnitudes the ULP only grows. Same `2^-22` term (and reasoning) as
- * `near_band_from_extent` in `rust/geometry/src/kernel/mesh_bridge.rs` and
+ * `near_band_from_extent` in `rust/geometry/src/kernel/near_band.rs` and
  * `precisionFloor` in `engine-ts/narrow.ts` — kept local rather than shared
  * because plane-distance tolerance and penetration-depth tolerance are
  * different jobs, even though both derive from the same f32 ingestion floor.
@@ -25,26 +25,44 @@ const F32_ULP_SCALE = 1 / 4_194_304; // 2^-22
  * bit-identical — f32 values, and a too-tight fixed epsilon then reads that
  * rounding noise as a genuine non-coplanar separation, discarding the
  * shared-face contact entirely rather than reporting it as
- * `touch`/`coplanar`. Extent is the max abs coordinate over both meshes'
- * AABBs (already computed by the BVH build, so this costs nothing extra).
- * The result is floored at the old fixed `1e-6`: scaling must only ever
- * *widen* the tolerance relative to the constant it replaces, never narrow
- * it — a bare `extent * F32_ULP_SCALE` with only the 1.0 extent floor is far
- * tighter than `1e-6` for any extent under ~4.19 m, which reintroduces the
- * exact dropped-shared-face bug this function exists to fix.
+ * `touch`/`coplanar`.
+ *
+ * Crucially, the extent must be taken PER AXIS and projected onto each
+ * plane's own normal (`epsForPlane` in `./tri-tri.js`), not collapsed to a
+ * single max over all three axes of both AABBs. The tolerance is compared
+ * against a signed distance measured along ONE plane normal, and each
+ * coordinate's rounding noise enters that distance weighted by its axis's
+ * normal component; an axis orthogonal to the normal contributes nothing.
+ * A max-over-axes scalar instead scales the tolerance to the meshes'
+ * DISTANCE FROM THE WORLD ORIGIN along whichever axis happens to be
+ * largest, even when that axis is irrelevant to the plane being tested:
+ * two horizontal faces (normal Z) with a genuine 2.0 mm Z-clearance
+ * authored 10 km along X got planeEps = 10000 * 2^-22 = 2.384 mm, inflated
+ * entirely by the irrelevant X axis, and were fabricated as coplanar
+ * contact (above ~8.4 km extent every near-parallel candidate pair reads
+ * as coplanar). Same reasoning as the LOCAL-vs-world tolerance sizing in
+ * `section-cutter.ts` (#2622): size the tolerance off the quantity the
+ * noise actually scales with, never off an unrelated world magnitude.
+ *
+ * The projected result is floored at the old fixed `1e-6`
+ * (`ProjectedPlaneEps.floor`): scaling must only ever *widen* the tolerance
+ * relative to the constant it replaces, never narrow it: a bare
+ * `extent * F32_ULP_SCALE` is far tighter than `1e-6` for any extent under
+ * ~4.19 m, which reintroduces the exact dropped-shared-face bug this
+ * function exists to fix.
  */
 function scaledPlaneEps(aabbA, aabbB) {
-    let extent = 1.0;
+    const axisNoise = [0, 0, 0];
     for (const aabb of [aabbA, aabbB]) {
         for (const v of [aabb.min, aabb.max]) {
-            for (const c of v) {
-                const a = Math.abs(c);
-                if (a > extent)
-                    extent = a;
+            for (let i = 0; i < 3; i++) {
+                const a = Math.abs(v[i]) * F32_ULP_SCALE;
+                if (a > axisNoise[i])
+                    axisNoise[i] = a;
             }
         }
     }
-    return Math.max(1e-6, extent * F32_ULP_SCALE);
+    return { axisNoise, floor: 1e-6 };
 }
 /**
  * For two meshes A and B, return every triangle pair whose triangles

package/dist/contact/narrow-phase.js.map

@@ -1 +1 @@
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package/dist/contact/shared-faces.js

@@ -259,8 +259,17 @@ function classify(base, surfaceAreaM2, pointAreaM2, lineLengthM) {
         return { ...base, kind: "surface" };
     if (base.length_m >= lineLengthM)
         return { ...base, kind: "line" };
+    // A cluster below the surface-area threshold but still above the point
+    // floor is a small coplanar/surface contact (buildSurfaceCluster always
+    // sets length_m: 0 -- see the field docs above), not a line: it has no
+    // shared-line length to report, only a small real area and a polygon
+    // boundary. Labeling it "line" here would contradict the length_m
+    // invariant ("line only -- 0 otherwise") and mislead consumers such as
+    // the viewer's contact overlay, which renders "line" clusters as a single
+    // 2-point segment (`boundary[0]`/`boundary[1]`) rather than the polygon
+    // outline a surface cluster actually has.
     if (base.area_m2 >= pointAreaM2)
-        return { ...base, kind: "line" };
+        return { ...base, kind: "surface" };
     return { ...base, kind: "point" };
 }
 function canonicaliseDir(v) {

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

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

@@ -16,17 +16,43 @@ export type TriTriResult = {
 } | {
     readonly kind: "coplanar";
 };
+/**
+ * Direction-aware plane-distance tolerance: per-axis absolute rounding-noise
+ * amplitudes (world units), resolved into a scalar tolerance per plane by
+ * projecting them onto that plane's own unit normal:
+ *
+ *   eps(n) = max(floor, |n_x| * axisNoise_x + |n_y| * axisNoise_y + |n_z| * axisNoise_z)
+ *
+ * A signed plane distance is `dot(n, v) + d` for a unit normal `n`, so each
+ * coordinate's rounding noise enters it weighted by that axis's normal
+ * component; an axis orthogonal to the normal contributes nothing. A single
+ * scalar built from the max coordinate over ALL axes (the pre-fix
+ * `scaledPlaneEps`) is compared against a quantity it was not derived from:
+ * it lets one large-magnitude axis inflate the tolerance for planes whose
+ * normal has no component on that axis at all, fabricating coplanar verdicts
+ * across genuine clearances (see `scaledPlaneEps` in `./narrow-phase.js`).
+ */
+export interface ProjectedPlaneEps {
+    /** Per-axis absolute rounding-noise amplitude (world units). */
+    readonly axisNoise: Vec3;
+    /** Minimum tolerance, applied after projection. */
+    readonly floor: number;
+}
+export type PlaneEps = number | ProjectedPlaneEps;
 /**
  * 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, which is only valid near the origin (see
- * `scaledPlaneEps` in `./narrow-phase.js`); the production call path
- * (`narrowPhase`) always supplies an explicit, coordinate-scaled value, so
- * this default only applies to direct/standalone callers.
+ * `planeEps` is the tolerance on signed plane distance: distances with
+ * |d| / |N| <= eps are treated as zero (on-plane). A scalar is used as-is; a
+ * {@link ProjectedPlaneEps} is resolved per plane against that plane's own
+ * normal, so each of the two plane tests gets its own direction-correct
+ * tolerance. Defaults to 1e-6 in model-native units, which is only valid
+ * near the origin (see `scaledPlaneEps` in `./narrow-phase.js`); the
+ * production call path (`narrowPhase`) always supplies an explicit,
+ * coordinate-scaled value, so this default only applies to
+ * direct/standalone callers.
  */
-export declare function triTriIntersect(a: Triangle, b: Triangle, planeEps?: number): TriTriResult;
+export declare function triTriIntersect(a: Triangle, b: Triangle, planeEps?: PlaneEps): TriTriResult;
 /**
  * True when triangles lie in the same plane within `planeEps`.
  * Both triangles must be non-degenerate.

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

@@ -1 +1 @@
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+{"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;;;;;;;;;;;;;;;GAeG;AACH,MAAM,WAAW,iBAAiB;IAChC,gEAAgE;IAChE,QAAQ,CAAC,SAAS,EAAE,IAAI,CAAC;IACzB,mDAAmD;IACnD,QAAQ,CAAC,KAAK,EAAE,MAAM,CAAC;CACxB;AAED,MAAM,MAAM,QAAQ,GAAG,MAAM,GAAG,iBAAiB,CAAC;AAelD;;;;;;;;;;;;GAYG;AACH,wBAAgB,eAAe,CAAC,CAAC,EAAE,QAAQ,EAAE,CAAC,EAAE,QAAQ,EAAE,QAAQ,GAAE,QAAe,GAAG,YAAY,CAiEjG;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

@@ -3,15 +3,30 @@
  * 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";
+/** Resolve a {@link PlaneEps} into a scalar tolerance for the plane with
+ * (unnormalised) normal `n` of length `ln`. */
+function epsForPlane(planeEps, n, ln) {
+    if (typeof planeEps === "number")
+        return planeEps;
+    const { axisNoise, floor } = planeEps;
+    const projected = (Math.abs(n[0]) * axisNoise[0] +
+        Math.abs(n[1]) * axisNoise[1] +
+        Math.abs(n[2]) * axisNoise[2]) /
+        ln;
+    return Math.max(floor, projected);
+}
 /**
  * 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, which is only valid near the origin (see
- * `scaledPlaneEps` in `./narrow-phase.js`); the production call path
- * (`narrowPhase`) always supplies an explicit, coordinate-scaled value, so
- * this default only applies to direct/standalone callers.
+ * `planeEps` is the tolerance on signed plane distance: distances with
+ * |d| / |N| <= eps are treated as zero (on-plane). A scalar is used as-is; a
+ * {@link ProjectedPlaneEps} is resolved per plane against that plane's own
+ * normal, so each of the two plane tests gets its own direction-correct
+ * tolerance. Defaults to 1e-6 in model-native units, which is only valid
+ * near the origin (see `scaledPlaneEps` in `./narrow-phase.js`); the
+ * production call path (`narrowPhase`) always supplies an explicit,
+ * coordinate-scaled value, so this default only applies to
+ * direct/standalone callers.
  */
 export function triTriIntersect(a, b, planeEps = 1e-6) {
     if (isDegenerate(a) || isDegenerate(b))
@@ -20,24 +35,26 @@ export function triTriIntersect(a, b, planeEps = 1e-6) {
     const N2 = triangleNormalRaw(b);
     const ln2 = length3(N2);
     const d2 = -dot3(N2, b.v0);
+    const epsB = epsForPlane(planeEps, N2, ln2);
     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);
+    const sA0 = signOf(dA0, epsB);
+    const sA1 = signOf(dA1, epsB);
+    const sA2 = signOf(dA2, epsB);
     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 epsA = epsForPlane(planeEps, N1, ln1);
     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);
+    const sB0 = signOf(dB0, epsA);
+    const sB1 = signOf(dB1, epsA);
+    const sB2 = signOf(dB2, epsA);
     if (sB0 === sB1 && sB1 === sB2 && sB0 !== 0)
         return { kind: "none" };
     // All-zero on either side → coplanar
@@ -50,9 +67,15 @@ export function triTriIntersect(a, b, planeEps = 1e-6) {
     const chordB = triChord(b, dB0, dB1, dB2);
     if (!chordA || !chordB)
         return { kind: "none" };
-    // Overlap along the common intersection line.
+    // Overlap along the common intersection line. The slop here compares
+    // coordinates along one world axis (`dAxis`), so a ProjectedPlaneEps
+    // resolves to that axis's own noise amplitude (the projection of
+    // `axisNoise` onto the axis unit vector), floored the same way.
     const D = cross3(N1, N2);
     const dAxis = dominantAxis(D);
+    const lineEps = typeof planeEps === "number"
+        ? planeEps
+        : Math.max(planeEps.floor, planeEps.axisNoise[dAxis]);
     const ta0 = chordA[0][dAxis];
     const ta1 = chordA[1][dAxis];
     const tb0 = chordB[0][dAxis];
@@ -63,7 +86,7 @@ export function triTriIntersect(a, b, planeEps = 1e-6) {
     const bMax = Math.max(tb0, tb1);
     const oMin = Math.max(aMin, bMin);
     const oMax = Math.min(aMax, bMax);
-    if (oMax < oMin - planeEps)
+    if (oMax < oMin - lineEps)
         return { kind: "none" };
     // Reconstruct 3D endpoints of the overlap on the intersection line by
     // picking the chord whose parameter interval matches the overlap.