@ifc-lite/clash 2.3.0 → 2.4.0

package/dist/engine-ts/depth.js.map

@@ -1 +1 @@
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+{"version":3,"file":"depth.js","sourceRoot":"","sources":["../../src/engine-ts/depth.ts"],"names":[],"mappings":"AAAA;;+DAE+D;AAY/D,OAAO,EAAE,oBAAoB,EAAE,cAAc,EAAE,MAAM,UAAU,CAAC;AAChE,OAAO,EAAE,UAAU,EAAE,aAAa,EAAE,MAAM,iBAAiB,CAAC;AAgC5D,MAAM,UAAU,cAAc,CAAC,KAAc,EAAE,KAAc;IAC3D,MAAM,EAAE,GAAG,KAAK,CAAC,MAAM,EAAE,CAAC;IAC1B,MAAM,EAAE,GAAG,KAAK,CAAC,MAAM,EAAE,CAAC;IAC1B,IAAI,CAAC,EAAE,IAAI,CAAC,EAAE;QAAE,OAAO,IAAI,CAAC;IAC5B,MAAM,GAAG,GAAG,cAAc,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;IACnC,IAAI,GAAG,IAAI,IAAI;QAAE,OAAO,IAAI,CAAC;IAC7B,OAAO,EAAE,GAAG,EAAE,GAAG,CAAC,KAAK,EAAE,IAAI,EAAE,GAAG,CAAC,IAAI,EAAE,OAAO,EAAE,oBAAoB,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,CAAC;AACnF,CAAC;AAED;;;;;;;GAOG;AACH,MAAM,aAAa,GAAG,CAAC,GAAG,SAAS,CAAC,CAAC,QAAQ;AAE7C;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA6BG;AACH,MAAM,UAAU,sBAAsB,CAAC,KAAc,EAAE,KAAc;IACnE,IAAI,KAAK,CAAC,KAAK,KAAK,CAAC;QAAE,OAAO,KAAK,CAAC;IACpC,MAAM,KAAK,GAAG,CAAC,CAAO,EAAE,CAAS,EAAW,EAAE;QAC5C,MAAM,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC;QAC1F,OAAO,CAAC,GAAG,gBAAgB,GAAG,aAAa,GAAG,CAAC,CAAC;IAClD,CAAC,CAAC;IACF,MAAM,UAAU,GAAW,EAAE,CAAC;IAC9B,MAAM,CAAC,GAAG,KAAK,CAAC,cAAc,EAAE,CAAC;IACjC,IAAI,KAAK,CAAC,aAAa,CAAC,CAAC,CAAC;QAAE,UAAU,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC;IAC/C,MAAM,CAAC,GAAG,KAAK,CAAC,WAAW,EAAE,CAAC;IAC9B,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,CAAC,IAAI,CAAC;QAAE,UAAU,CAAC,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC;IAChE,wEAAwE;IACxE,2DAA2D;IAC3D,IAAI,UAAU,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,KAAK,CAAC,aAAa,CAAC,CAAC,CAAC,IAAI,KAAK,CAAC,CAAC,EAAE,KAAK,CAAC,iBAAiB,CAAC,CAAC,CAAC,CAAC,CAAC;QAAE,OAAO,IAAI,CAAC;IACxG,oCAAoC;IACpC,IAAI,KAAK,GAAgB,IAAI,CAAC;IAC9B,IAAI,QAAQ,GAAG,CAAC,QAAQ,CAAC;IACzB,KAAK,MAAM,CAAC,IAAI,UAAU,EAAE,CAAC;QAC3B,MAAM,CAAC,GAAG,KAAK,CAAC,iBAAiB,CAAC,CAAC,CAAC,CAAC;QACrC,IAAI,KAAK,CAAC,CAAC,EAAE,CAAC,CAAC;YAAE,OAAO,KAAK,CAAC;QAC9B,IAAI,CAAC,GAAG,QAAQ,EAAE,CAAC;YACjB,QAAQ,GAAG,CAAC,CAAC;YACb,KAAK,GAAG,CAAC,CAAC;QACZ,CAAC;IACH,CAAC;IACD,OAAO,KAAK,KAAK,IAAI,IAAI,KAAK,CAAC,aAAa,CAAC,KAAK,CAAC,CAAC;AACtD,CAAC;AAED;;;;;;GAMG;AACH,MAAM,gBAAgB,GAAG,EAAE,CAAC;AAU5B;;;;;;;;;;;;;;;;;;;;;GAqBG;AACH,MAAM,UAAU,yBAAyB,CAAC,IAAa,EAAE,KAAc,EAAE,UAAsB;IAC7F,MAAM,IAAI,GAAG,IAAI,UAAU,CAAC,IAAI,CAAC,WAAW,EAAE,CAAC,CAAC;IAChD,IAAI,OAAO,GAA6B,IAAI,CAAC;IAC7C,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,IAAI,CAAC,KAAK,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC;QACvC,IAAI,UAAU,CAAC,CAAC,CAAC,KAAK,CAAC;YAAE,SAAS;QAClC,KAAK,MAAM,EAAE,IAAI,IAAI,CAAC,UAAU,CAAC,CAAC,CAAC,EAAE,CAAC;YACpC,IAAI,IAAI,CAAC,EAAE,CAAC,KAAK,CAAC;gBAAE,SAAS;YAC7B,IAAI,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC;YACb,MAAM,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC,EAAE,CAAC,CAAC;YAC1B,IAAI,CAAC,KAAK,CAAC,aAAa,CAAC,CAAC,CAAC;gBAAE,SAAS;YACtC,MAAM,CAAC,CAAC,EAAE,CAAC,CAAC,GAAG,KAAK,CAAC,gBAAgB,CAAC,CAAC,CAAC,CAAC;YACzC,IAAI,CAAC,GAAG,CAAC,OAAO,EAAE,KAAK,IAAI,CAAC,CAAC,EAAE,CAAC;gBAC9B,OAAO,GAAG,EAAE,KAAK,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC;YAC1F,CAAC;QACH,CAAC;IACH,CAAC;IACD,OAAO,OAAO,CAAC;AACjB,CAAC;AAED;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA6CG;AACH,MAAM,UAAU,gBAAgB,CAC9B,GAA0B,EAC1B,QAAgB,EAChB,YAAsC,EACtC,GAAiB,EACjB,GAAiB,EACjB,IAAe,EACf,KAAW,EACX,MAAY;IAEZ,2EAA2E;IAC3E,6DAA6D;IAC7D,MAAM,QAAQ,GAAG,aAAa,CAAC,GAAG,CAAC,MAAM,EAAE,GAAG,CAAC,MAAM,CAAC,CAAC;IACvD,MAAM,QAAQ,GAAG,GAAG,IAAI,IAAI,CAAC,CAAC,CAAC,UAAU,CAAC,GAAG,CAAC,IAAI,EAAE,GAAG,CAAC,MAAM,EAAE,GAAG,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC;IACnF,MAAM,UAAU,GACd,QAAQ,IAAI,QAAQ;QACpB,CAAC,GAAG,IAAI,IAAI,IAAI,QAAQ,IAAI,IAAI,IAAI,GAAG,CAAC,GAAG,IAAI,QAAQ,CAAC;QACxD,CAAC,YAAY,IAAI,IAAI,IAAI,YAAY,CAAC,KAAK,IAAI,UAAU,CAAC,YAAY,CAAC,IAAI,EAAE,GAAG,CAAC,MAAM,EAAE,GAAG,CAAC,MAAM,CAAC,CAAC,CAAC;IACxG,IAAI,UAAU,EAAE,CAAC;QACf,IAAI,CAAC,IAAI,CAAC,WAAW;YAAE,OAAO,IAAI,CAAC;QACnC,wEAAwE;QACxE,sEAAsE;QACtE,kBAAkB;QAClB,OAAO,EAAE,MAAM,EAAE,OAAO,EAAE,QAAQ,EAAE,CAAC,EAAE,YAAY,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,CAAC;IAC/E,CAAC;IACD,0EAA0E;IAC1E,wEAAwE;IACxE,iEAAiE;IACjE,uEAAuE;IACvE,sEAAsE;IACtE,MAAM,QAAQ,GAAG,GAAG,IAAI,IAAI,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC;IAC7C,OAAO;QACL,MAAM,EAAE,MAAM;QACd,QAAQ,EAAE,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,QAAQ,CAAC;QAC1C,YAAY,EAAE,QAAQ,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,UAAU;QAC5C,KAAK;QACL,MAAM;QACN,UAAU,EAAE,QAAQ,IAAI,QAAQ,IAAI,IAAI,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,QAAQ;KAC/D,CAAC;AACJ,CAAC"}

package/dist/engine-ts/kernel.d.ts

@@ -16,6 +16,8 @@ export interface NarrowRecord {
     distanceKind: ClashDistanceKind;
     point: Vec3;
     bounds: AABB;
+    /** See `Clash.depthFloor`. Absent for every non-`hard` record. */
+    depthFloor?: number;
 }
 export interface RuleDetection {
     records: NarrowRecord[];

package/dist/engine-ts/kernel.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"kernel.d.ts","sourceRoot":"","sources":["../../src/engine-ts/kernel.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAE,IAAI,EAAE,iBAAiB,EAAE,YAAY,EAAE,SAAS,EAAE,WAAW,EAAE,IAAI,EAAE,MAAM,aAAa,CAAC;AAEvG;;;;;GAKG;AACH,MAAM,WAAW,YAAY;IAC3B,uDAAuD;IACvD,CAAC,EAAE,MAAM,CAAC;IACV,uDAAuD;IACvD,CAAC,EAAE,MAAM,CAAC;IACV,MAAM,EAAE,WAAW,CAAC;IACpB,QAAQ,EAAE,MAAM,CAAC;IACjB,iFAAiF;IACjF,YAAY,EAAE,iBAAiB,CAAC;IAChC,KAAK,EAAE,IAAI,CAAC;IACZ,MAAM,EAAE,IAAI,CAAC;IACb,kEAAkE;IAClE,UAAU,CAAC,EAAE,MAAM,CAAC;CACrB;AAED,MAAM,WAAW,aAAa;IAC5B,OAAO,EAAE,YAAY,EAAE,CAAC;IACxB,mFAAmF;IACnF,mBAAmB,EAAE,MAAM,CAAC;IAC5B,wEAAwE;IACxE,iBAAiB,EAAE,MAAM,CAAC;CAC3B;AAED;;;;;;GAMG;AACH,MAAM,WAAW,WAAW;IAC1B,oDAAoD;IACpD,OAAO,CAAC,QAAQ,EAAE,YAAY,EAAE,GAAG,IAAI,CAAC;IACxC;;;;OAIG;IACH,UAAU,CACR,QAAQ,EAAE,YAAY,EAAE,EACxB,MAAM,EAAE,MAAM,EAAE,EAChB,MAAM,EAAE,MAAM,EAAE,GAAG,IAAI,EACvB,IAAI,EAAE,SAAS,EACf,SAAS,EAAE,MAAM,EACjB,QAAQ,EAAE,MAAM;IAChB;;;;;;OAMG;IACH,MAAM,CAAC,EAAE,WAAW;IACpB;;;;OAIG;IACH,UAAU,CAAC,EAAE,CAAC,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,KAAK,IAAI,GACjD,aAAa,GAAG,OAAO,CAAC,aAAa,CAAC,CAAC;IAC1C,6DAA6D;IAC7D,OAAO,CAAC,IAAI,IAAI,CAAC;CAClB"}

package/dist/engine-ts/narrow.d.ts

@@ -11,6 +11,14 @@ export interface NarrowResult {
     distanceKind: ClashDistanceKind;
     point: Vec3;
     bounds: AABB;
+    /**
+     * For a `hard` result, the f32 noise floor of `distance` along the
+     * direction it was measured (`depthFloor` / `estimateFloor`): the depth at
+     * or below which this pair would have been `touch`. Absent otherwise.
+     * Carried out so the reported touching band is decided by the same rule as
+     * the verdict (#5639). Mirrors the Rust `NarrowResult::depth_floor`.
+     */
+    depthFloor?: number;
 }
 /**
  * Narrow-phase test for one candidate element pair.

package/dist/engine-ts/narrow.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"narrow.d.ts","sourceRoot":"","sources":["../../src/engine-ts/narrow.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAE,IAAI,EAAE,iBAAiB,EAAE,YAAY,EAAE,SAAS,EAAE,WAAW,EAAE,IAAI,EAAE,MAAM,aAAa,CAAC;AAKvG,OAAO,KAAK,EAAE,OAAO,EAAE,MAAM,eAAe,CAAC;AAG7C,MAAM,WAAW,YAAY;IAC3B,MAAM,EAAE,WAAW,CAAC;IACpB,QAAQ,EAAE,MAAM,CAAC;IACjB;;;;OAIG;IACH,YAAY,EAAE,iBAAiB,CAAC;IAChC,KAAK,EAAE,IAAI,CAAC;IACZ,MAAM,EAAE,IAAI,CAAC;CACd;AAID;;;;;;;;;;;;GAYG;AACH,wBAAgB,QAAQ,CACtB,GAAG,EAAE,YAAY,EACjB,IAAI,EAAE,OAAO,EACb,GAAG,EAAE,YAAY,EACjB,IAAI,EAAE,OAAO,EACb,IAAI,EAAE,SAAS,EACf,SAAS,EAAE,MAAM,GAChB,YAAY,GAAG,IAAI,CA8PrB"}
+{"version":3,"file":"narrow.d.ts","sourceRoot":"","sources":["../../src/engine-ts/narrow.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAE,IAAI,EAAE,iBAAiB,EAAE,YAAY,EAAE,SAAS,EAAE,WAAW,EAAE,IAAI,EAAE,MAAM,aAAa,CAAC;AAKvG,OAAO,KAAK,EAAE,OAAO,EAAE,MAAM,eAAe,CAAC;AAG7C,MAAM,WAAW,YAAY;IAC3B,MAAM,EAAE,WAAW,CAAC;IACpB,QAAQ,EAAE,MAAM,CAAC;IACjB;;;;OAIG;IACH,YAAY,EAAE,iBAAiB,CAAC;IAChC,KAAK,EAAE,IAAI,CAAC;IACZ,MAAM,EAAE,IAAI,CAAC;IACb;;;;;;OAMG;IACH,UAAU,CAAC,EAAE,MAAM,CAAC;CACrB;AAID;;;;;;;;;;;;GAYG;AACH,wBAAgB,QAAQ,CACtB,GAAG,EAAE,YAAY,EACjB,IAAI,EAAE,OAAO,EACb,GAAG,EAAE,YAAY,EACjB,IAAI,EAAE,OAAO,EACb,IAAI,EAAE,SAAS,EACf,SAAS,EAAE,MAAM,GAChB,YAAY,GAAG,IAAI,CAgQrB"}

package/dist/engine-ts/narrow.js

@@ -5,7 +5,7 @@ import { aabbContains, boundsOfPoints, center, inflate, overlapBounds, signedGap
 import { centroid, mid } from '../math/vec3.js';
 import { triTriIntersect } from '../math/triangle-intersect.js';
 import { triTriDistance } from '../math/triangle-distance.js';
-import { boxPenetration, crossingVertexPenetration, depthClashResult } from './depth.js';
+import { boxPenetration, containedSolidIsBuried, crossingVertexPenetration, depthClashResult } from './depth.js';
 /**
  * Narrow-phase test for one candidate element pair.
  *
@@ -165,32 +165,36 @@ export function testPair(elA, triA, elB, triB, rule, tolerance) {
         // extent), so without it a flush contained pair — whose only measurable
         // penetration is f32 noise — would be promoted to `hard` at a number
         // that measures nothing (the eight Infra-Bridge pairs, see
-        // `depthClashResult`).
+        // `depthClashResult`). Since #5406 a pair flush to within the tri-tri
+        // predicate's own f32 noise band no longer crosses at all; this still
+        // decides a crossing above that band but at or below its precision floor.
+        // `null` means "no crossing vertex inside at all" (e.g. a thin member
+        // piercing straight through) — no evidence either way, not evidence of a
+        // sub-floor contact. The deeper side wins, the small side on a tie (the
+        // Rust kernel's order).
         let meshEvidence = null;
         if (crossSmall !== null && crossLarge !== null) {
-            const d = Math.max(crossingVertexPenetration(small, large, crossSmall), crossingVertexPenetration(large, small, crossLarge));
-            // 0 means "no crossing vertex inside at all" (e.g. a thin member
-            // piercing straight through) — no evidence either way, not evidence
-            // of a sub-floor contact.
-            if (d > 0)
-                meshEvidence = d;
+            const s = crossingVertexPenetration(small, large, crossSmall);
+            const l = crossingVertexPenetration(large, small, crossLarge);
+            meshEvidence = s !== null && l !== null && l.depth > s.depth ? l : (s ?? l);
         }
         return depthClashResult(boxPenetration(small, large), Math.max(0, -signedGap(elA.bounds, elB.bounds)), meshEvidence, elA, elB, rule, point, contactBounds);
     }
     // Fully-enclosed solid: no surface crossing, but one element's AABB is wholly
     // inside the other's, so it may be buried (e.g. equipment inside a slab). With
     // no surface crossing the inner solid is entirely inside OR entirely outside
-    // the other, so ray-casting ONE representative vertex of the contained mesh
-    // against the other solid decides it — and ray casting (not an AABB test)
-    // correctly returns "outside" when the inner sits in a concave notch.
+    // the other, so ray-casting ONE probe point of the contained mesh against the
+    // other solid decides it — and ray casting (not an AABB test) correctly
+    // returns "outside" when the inner sits in a concave notch. The probe is
+    // chosen off the other's surface, see `containedSolidIsBuried` (#5473).
     // Test B-contains-A first, then A-contains-B, so the inner pick is
     // deterministic (and identical to the Rust kernel) on equal AABBs.
     // Either way there is no surface crossing. When both elements are boxes the
     // exact box-box depth is available (see `boxPenetration`) and is reported
     // as measured; otherwise the AABB gap is an estimate, not a measured depth.
     const enclosed = aabbContains(elB.bounds, elA.bounds)
-        ? triA.count > 0 && triB.containsPoint(triA.tri(0)[0])
-        : aabbContains(elA.bounds, elB.bounds) && triB.count > 0 && triA.containsPoint(triB.tri(0)[0]);
+        ? containedSolidIsBuried(triA, triB)
+        : aabbContains(elA.bounds, elB.bounds) && containedSolidIsBuried(triB, triA);
     if (enclosed) {
         // `depthClashResult` may return `null` here (below the f32 floor and
         // `!rule.reportTouch`) — that is a suppressed touch, not "no clash",

package/dist/engine-ts/narrow.js.map

@@ -1 +1 @@
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package/dist/engine-ts/obb-detect.d.ts

@@ -0,0 +1,19 @@
+import { type MeshLike, type Obb } from './obb.js';
+/**
+ * Detect whether `mesh` is a rectangular box: every (non-degenerate)
+ * triangle's normal falls into exactly 3 mutually orthogonal canonical
+ * directions, and every vertex of the triangles in a direction group lies on
+ * one of exactly two offset planes along that direction. That combination —
+ * 3 orthogonal face families, 2 planes each — forces the mesh to be a closed
+ * rectangular box (it rejects, for example, an axis-aligned L-shape, whose
+ * notch adds a third offset plane on two of the axes). Triangulation-
+ * independent: subdividing a box's faces adds triangles but never a new
+ * canonical direction or a third offset plane, so the detection (and the
+ * resulting `Obb`) is identical at any tessellation.
+ *
+ * Returns `null` — not a best-effort guess — when the check fails, so a
+ * caller that only trusts a non-null result never certifies a shape this
+ * function could not confirm.
+ */
+export declare function detectObb(mesh: MeshLike): Obb | null;
+//# sourceMappingURL=obb-detect.d.ts.map

package/dist/engine-ts/obb-detect.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"obb-detect.d.ts","sourceRoot":"","sources":["../../src/engine-ts/obb-detect.ts"],"names":[],"mappings":"AAeA,OAAO,EAAW,KAAK,QAAQ,EAAE,KAAK,GAAG,EAAE,MAAM,UAAU,CAAC;AAwE5D;;;;;;;;;;;;;;;GAeG;AACH,wBAAgB,SAAS,CAAC,IAAI,EAAE,QAAQ,GAAG,GAAG,GAAG,IAAI,CAwFpD"}

package/dist/engine-ts/obb-detect.js

@@ -0,0 +1,191 @@
+/* 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 { sub, cross, dot } from '../math/vec3.js';
+import { OBB_EPS } from './obb.js';
+function normalize(v) {
+    const len = Math.sqrt(dot(v, v));
+    if (!(len > OBB_EPS))
+        return null;
+    return [v[0] / len, v[1] / len, v[2] / len];
+}
+/** Flip `n` so its largest-magnitude component is positive, so a face and its
+ * antipodal opposite face collapse to the same canonical axis direction. Ties
+ * broken in x, y, z order — identical to the Rust `canonical`. */
+function canonical(n) {
+    const ax = Math.abs(n[0]);
+    const ay = Math.abs(n[1]);
+    const az = Math.abs(n[2]);
+    let idx = 0;
+    if (ay > ax && ay >= az)
+        idx = 1;
+    else if (az > ax && az > ay)
+        idx = 2;
+    return n[idx] < 0 ? [-n[0], -n[1], -n[2]] : n;
+}
+/**
+ * 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 constant (and reasoning) as
+ * `F32_ULP_SCALE` in `./depth.js`, and unlike the copies in `../contact/` it
+ * really is scaling the same quantity — the f32 quantisation of the same
+ * vertex buffer. It is still local because `./depth.js` imports THIS module
+ * (`obbPenetration`, `isThroughPenetration`), so importing the constant
+ * back out of it would close an import cycle for a one-line literal.
+ */
+const F32_ULP_SCALE = 1 / 4_194_304; // 2^-22
+/**
+ * Bound, in radians, on the direction error of a face normal computed as
+ * `cross(b - a, c - a)` from vertices that arrived as f32.
+ *
+ * The vertices carry an absolute coordinate error of about
+ * `max|coord| * 2^-22` (`F32_ULP_SCALE`, the same f32-ULP bound the
+ * penetration floor uses), so each edge does too. `|cross| = |e1||e2|sin t`,
+ * and perturbing the edges by `d` tilts the normal by at most
+ * `d * (|e1| + |e2|) / |cross|`. The denominator makes this a property of the
+ * TRIANGLE's conditioning rather than a constant: a sliver, or a face with
+ * one very short edge, resolves its normal far less sharply than a
+ * well-shaped one at the same distance from the origin.
+ *
+ * This is the quantity an absolute `OBB_EPS` was standing in for, and a fixed
+ * bound is simultaneously too loose near the origin and far too tight away
+ * from it: a 0.05 m thick panel 1 km out resolves its normals to ~2.7e-4, so
+ * `|dot|` between two genuinely perpendicular faces exceeded `1e-6` and the
+ * box stopped being recognised as a box purely because it had been
+ * translated (#5355).
+ */
+function normalAngleError(a, b, c) {
+    const e1 = sub(b, a);
+    const e2 = sub(c, a);
+    let maxAbs = 0;
+    for (const v of [a, b, c]) {
+        for (const k of v) {
+            const m = Math.abs(k);
+            if (m > maxAbs)
+                maxAbs = m;
+        }
+    }
+    const coordErr = Math.max(maxAbs, 1) * F32_ULP_SCALE;
+    const n = cross(e1, e2);
+    const nLen = Math.sqrt(dot(n, n));
+    if (!(nLen > 0))
+        return Infinity;
+    const e1Len = Math.sqrt(dot(e1, e1));
+    const e2Len = Math.sqrt(dot(e2, e2));
+    return (coordErr * (e1Len + e2Len)) / nLen;
+}
+/**
+ * Detect whether `mesh` is a rectangular box: every (non-degenerate)
+ * triangle's normal falls into exactly 3 mutually orthogonal canonical
+ * directions, and every vertex of the triangles in a direction group lies on
+ * one of exactly two offset planes along that direction. That combination —
+ * 3 orthogonal face families, 2 planes each — forces the mesh to be a closed
+ * rectangular box (it rejects, for example, an axis-aligned L-shape, whose
+ * notch adds a third offset plane on two of the axes). Triangulation-
+ * independent: subdividing a box's faces adds triangles but never a new
+ * canonical direction or a third offset plane, so the detection (and the
+ * resulting `Obb`) is identical at any tessellation.
+ *
+ * Returns `null` — not a best-effort guess — when the check fails, so a
+ * caller that only trusts a non-null result never certifies a shape this
+ * function could not confirm.
+ */
+export function detectObb(mesh) {
+    if (mesh.count === 0)
+        return null;
+    const groups = [];
+    // Per-family bound on the representative normal's direction error.
+    const groupErr = [];
+    const groupOfTri = new Array(mesh.count).fill(-1);
+    for (let t = 0; t < mesh.count; t += 1) {
+        const [a, b, c] = mesh.tri(t);
+        const n = normalize(cross(sub(b, a), sub(c, a)));
+        if (!n)
+            continue; // degenerate triangle: contributes no face-normal evidence
+        const cn = canonical(n);
+        let gi = -1;
+        for (let g = 0; g < groups.length; g += 1) {
+            if (dot(groups[g], cn) > 1 - OBB_EPS) {
+                gi = g;
+                break;
+            }
+        }
+        if (gi === -1) {
+            if (groups.length >= 3)
+                return null; // a 4th face-normal family: not a box
+            groups.push(cn);
+            // The representative IS this triangle's normal, so the bound that
+            // applies to the orthogonality test below is this triangle's.
+            groupErr.push(normalAngleError(a, b, c));
+            gi = groups.length - 1;
+        }
+        groupOfTri[t] = gi;
+    }
+    if (groups.length !== 3)
+        return null;
+    for (let i = 0; i < 3; i += 1) {
+        for (let j = i + 1; j < 3; j += 1) {
+            // Two unit normals each uncertain in direction by `groupErr` can read
+            // as non-perpendicular by up to the sum of those angles
+            // (`|dot| = |cos(90deg +/- e)| <= sin e_i + sin e_j <= e_i + e_j`).
+            // `OBB_EPS` stays as a FLOOR so a mesh at the origin, where the derived
+            // bound collapses towards zero, is judged exactly as strictly as it was
+            // before #5355.
+            const tol = Math.max(groupErr[i] + groupErr[j], OBB_EPS);
+            if (Math.abs(dot(groups[i], groups[j])) > tol)
+                return null;
+        }
+    }
+    const minOff = [Infinity, Infinity, Infinity];
+    const maxOff = [-Infinity, -Infinity, -Infinity];
+    for (let t = 0; t < mesh.count; t += 1) {
+        const gi = groupOfTri[t];
+        if (gi === -1)
+            continue;
+        const [a, b, c] = mesh.tri(t);
+        for (const v of [a, b, c]) {
+            const o = dot(v, groups[gi]);
+            if (o < minOff[gi])
+                minOff[gi] = o;
+            if (o > maxOff[gi])
+                maxOff[gi] = o;
+        }
+    }
+    // Reject a 3rd offset plane on any axis (e.g. an L-shaped footprint).
+    for (let t = 0; t < mesh.count; t += 1) {
+        const gi = groupOfTri[t];
+        if (gi === -1)
+            continue;
+        const [a, b, c] = mesh.tri(t);
+        for (const v of [a, b, c]) {
+            const o = dot(v, groups[gi]);
+            const scale = Math.max(1, Math.abs(minOff[gi]), Math.abs(maxOff[gi]));
+            const nearMin = Math.abs(o - minOff[gi]) <= OBB_EPS * scale;
+            const nearMax = Math.abs(o - maxOff[gi]) <= OBB_EPS * scale;
+            if (!nearMin && !nearMax)
+                return null;
+        }
+    }
+    const half = [0, 0, 0];
+    const c0 = [0, 0, 0];
+    for (let i = 0; i < 3; i += 1) {
+        half[i] = (maxOff[i] - minOff[i]) / 2;
+        c0[i] = (maxOff[i] + minOff[i]) / 2;
+        // Reject a zero-thickness "box": a face family whose triangles are all
+        // coplanar passes the 2-plane test above (minOff == maxOff, so both
+        // `nearMin` and `nearMax` hold for every vertex) with no positive
+        // extent along that axis. An open shell (a slab exported without its
+        // top face, or partial `IfcTriangulatedFaceSet` geometry) can produce
+        // exactly this — 3 orthogonal families, but one degenerate — and must
+        // not be certified as a box (review: #2536).
+        if (!(half[i] > OBB_EPS))
+            return null;
+    }
+    const center = [
+        c0[0] * groups[0][0] + c0[1] * groups[1][0] + c0[2] * groups[2][0],
+        c0[0] * groups[0][1] + c0[1] * groups[1][1] + c0[2] * groups[2][1],
+        c0[0] * groups[0][2] + c0[1] * groups[1][2] + c0[2] * groups[2][2],
+    ];
+    return { center, axes: [groups[0], groups[1], groups[2]], half };
+}
+//# sourceMappingURL=obb-detect.js.map

package/dist/engine-ts/obb-detect.js.map

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package/dist/engine-ts/obb.d.ts

@@ -32,31 +32,21 @@ export interface MeshLike {
     readonly count: number;
     tri(t: number): [Vec3, Vec3, Vec3];
 }
-/**
- * Detect whether `mesh` is a rectangular box: every (non-degenerate)
- * triangle's normal falls into exactly 3 mutually orthogonal canonical
- * directions, and every vertex of the triangles in a direction group lies on
- * one of exactly two offset planes along that direction. That combination —
- * 3 orthogonal face families, 2 planes each — forces the mesh to be a closed
- * rectangular box (it rejects, for example, an axis-aligned L-shape, whose
- * notch adds a third offset plane on two of the axes). Triangulation-
- * independent: subdividing a box's faces adds triangles but never a new
- * canonical direction or a third offset plane, so the detection (and the
- * resulting `Obb`) is identical at any tessellation.
- *
- * Returns `null` — not a best-effort guess — when the check fails, so a
- * caller that only trusts a non-null result never certifies a shape this
- * function could not confirm.
- */
-export declare function detectObb(mesh: MeshLike): Obb | null;
 /**
  * Bound, in f64 ulps, on the absolute error of one component of the cross
  * product of two UNIT vectors (each component is a product-difference of
  * magnitude-<=1 terms: ~2 ulps), with headroom for the normalisation and the
  * per-projection dot rounding it feeds. Shared by the axis noise bound in
- * {@link obbPenetrationDepth}; same literal in the Rust kernel.
+ * {@link obbPenetration}; same literal in the Rust kernel.
  */
 export declare const AXIS_NOISE_ULPS = 8;
+/** An OBB-OBB minimum translation depth and the UNIT axis it was measured
+ *  along: the depth's precision floor is the pair's f32 noise projected onto
+ *  that axis (#5405). Mirrors the Rust `ObbPenetration`. */
+export interface ObbPenetration {
+    depth: number;
+    axis: Vec3;
+}
 /**
  * Exact penetration depth between two oriented boxes: the minimum overlap
  * over the 15 canonical OBB-OBB separating-axis candidates (each box's 3 face
@@ -70,8 +60,9 @@ export declare const AXIS_NOISE_ULPS = 8;
  * the ~ulp-level absolute error of the cross product into a direction error
  * of up to `AXIS_NOISE_ULPS * EPS / |L|` radians. Each candidate's verdict
  * therefore carries a SCALE-RELATIVE noise bound (see `testAxis`), and a
- * verdict inside its own noise band is skipped — not trusted to separate,
- * not trusted as a depth (review: #2536; the same
+ * verdict inside its own noise band is never trusted to separate, and
+ * contributes a depth candidate of zero rather than being dropped from the
+ * minimum (#5355) (review: #2536; the same
  * tolerance-from-the-wrong-quantity class as #2598/#2600/#2529 — an earlier
  * ABSOLUTE `len > 1e-6` guard here both divided by lengths whose noise
  * dwarfs a thin overlap at large operand scale, and hard-dropped axes that
@@ -86,7 +77,7 @@ export declare const AXIS_NOISE_ULPS = 8;
  * `null` (caller falls back to the AABB estimate) rather than reporting a
  * wrong depth.
  */
-export declare function obbPenetrationDepth(a: Obb, b: Obb): number | null;
+export declare function obbPenetration(a: Obb, b: Obb): ObbPenetration | null;
 /**
  * Whether `a` and `b` are in a THROUGH-PENETRATION configuration: one box's
  * cross-section, in the plane perpendicular to one of ITS OWN axes, is fully
@@ -96,7 +87,7 @@ export declare function obbPenetrationDepth(a: Obb, b: Obb): number | null;
  * ways, so it also holds for the MUTUAL case: two walls crossing at an
  * X-junction, each piercing the other clean through in thickness.
  *
- * This matters because {@link obbPenetrationDepth} reports the minimum
+ * This matters because {@link obbPenetration} reports the minimum
  * TRANSLATION distance to separate the pair, which for this shape is
  * dominated by the piercing member's own extent along the piercing axis, not
  * by how much material it actually crossed (review: #2536 — a 2 m duct
@@ -105,7 +96,7 @@ export declare function obbPenetrationDepth(a: Obb, b: Obb): number | null;
  *
  * Tests containment against EACH box's own axes independently (via
  * {@link piercesAlong}'s general per-axis projection, the same projection
- * {@link obbPenetrationDepth} already computes for its 15 SAT candidates) —
+ * {@link obbPenetration} already computes for its 15 SAT candidates) —
  * unlike an earlier version restricted to a frame shared by both boxes'
  * axes up to sign, this also catches a member piercing through at a generic
  * relative rotation (e.g. a duct crossing a wall at 15 degrees, review:

package/dist/engine-ts/obb.d.ts.map

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