@ifc-lite/clash 2.3.1 → 2.4.0

package/dist/adapters/step.js

@@ -61,6 +61,7 @@ function syntheticKey(modelId, expressId) {
  */
 function storeHasAnyGlobalId(store) {
     const { entities } = store;
+    // @raw-entity-enumeration-ok fallback source-metadata probe asks whether the parsed file carries any GlobalId, not for live clash membership
     for (let i = 0; i < entities.count; i += 1) {
         if (entities.getGlobalId(entities.expressId[i]))
             return true;

package/dist/adapters/step.js.map

@@ -1 +1 @@
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package/dist/analysis.d.ts

@@ -31,9 +31,9 @@ export declare const SEVERITY_RANK: Record<ClashSeverity, number>;
 export declare function penetrationDepth(c: Clash): number;
 /** Default band (m) under which a `hard` clash is really a face/edge *contact*
  *  rather than a genuine interpenetration — see {@link isTouching}. Also the
- *  floor for {@link touchingEpsilonFor}'s scale-relative default: near the
- *  origin this constant IS the default (bit-for-bit), it only grows once the
- *  pair's own coordinate magnitude pushes the f32 noise floor past it. */
+ *  floor for {@link touchingEpsilonFor}'s default: the band only grows past
+ *  it when the clash's own depth floor (or, for a clash without one, its
+ *  coordinate magnitude) exceeds it. */
 export declare const TOUCHING_EPSILON = 0.0001;
 /**
  * Whether a clash is effectively a zero-distance *contact* rather than a real
@@ -42,9 +42,9 @@ export declare const TOUCHING_EPSILON = 0.0001;
  * slab, a column sitting on a footing) reported with a ~0 m depth, which users
  * reasonably distrust when they appear in the clash list.
  *
- * `eps` defaults to {@link touchingEpsilonFor}, scaled to this clash's own
- * coordinate magnitude (see that function) so the touching band stays valid
- * far from the origin. An explicit `eps` overrides the default entirely.
+ * `eps` defaults to {@link touchingEpsilonFor}: the clash's own depth floor
+ * when the engine recorded one, else the older coordinate-magnitude band (see
+ * that function). An explicit `eps` overrides the default entirely.
  */
 export declare function isTouching(c: Clash, eps?: number): boolean;
 /**

package/dist/analysis.d.ts.map

@@ -1 +1 @@
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package/dist/analysis.js

@@ -41,41 +41,42 @@ export function penetrationDepth(c) {
 }
 /** Default band (m) under which a `hard` clash is really a face/edge *contact*
  *  rather than a genuine interpenetration — see {@link isTouching}. Also the
- *  floor for {@link touchingEpsilonFor}'s scale-relative default: near the
- *  origin this constant IS the default (bit-for-bit), it only grows once the
- *  pair's own coordinate magnitude pushes the f32 noise floor past it. */
+ *  floor for {@link touchingEpsilonFor}'s default: the band only grows past
+ *  it when the clash's own depth floor (or, for a clash without one, its
+ *  coordinate magnitude) exceeds it. */
 export const TOUCHING_EPSILON = 1e-4;
 /**
- * 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 term (and reasoning) as
- * `precisionFloor` in `engine-ts/narrow.ts` and `narrowPhase`'s `planeEps` in
- * `contact/narrow-phase.ts` — kept local because this is a different job
- * (the *reported* touching band, not the narrow-phase's own depth floor) on
- * a `Clash`, which doesn't carry the element bounds those two derive from.
+ * f32-ULP scale factor (2^-22), for the legacy band only: see
+ * {@link touchingEpsilonFor}'s fallback.
  */
 const F32_ULP_SCALE = 1 / 4_194_304; // 2^-22
 /**
- * The touching band for one specific clash, scaled to that clash's own
- * coordinate magnitude rather than a fixed constant.
+ * The touching band for one specific clash.
  *
- * Geometry is ingested from f32 buffers, so a fixed `TOUCHING_EPSILON` is
- * only valid near the origin: the f32 ULP exceeds `1e-4` above roughly 1 km
- * from the origin (a `Clash`'s own coordinate magnitude — see below — decides
- * exactly where). Past that distance, a genuinely flush pair (a wall meeting
- * a slab) can pick up more than `1e-4` of pure rounding noise in its measured
- * penetration depth, and the fixed band then misses it, letting it reappear
- * as a hard clash in a list the user asked to de-noise.
+ * A clash from the engine carries {@link Clash.depthFloor}: the f32 noise
+ * floor of its own depth along the direction that depth was measured, the
+ * very floor the engine classified it against (`depthFloor` /
+ * `estimateFloor`, one definition in the clash-math source). The band is
+ * that floor, floored at {@link TOUCHING_EPSILON}, so whether a reported
+ * clash counts as touching is decided by the same rule as its `hard` verdict
+ * and does not move when the model is translated orthogonally to the depth
+ * (#5639). A `hard` clash's depth always exceeds its own floor, so for engine
+ * results this is the fixed {@link TOUCHING_EPSILON} band in practice; the
+ * floor is kept in the comparison so the band can never be narrower than
+ * what the engine itself cannot resolve.
  *
- * `Clash` carries no element bounds (that lives on `ClashElement`, not on the
- * detection result), but it does carry `bounds` — the contact/overlap region
- * itself, in the same world coordinates as the elements — so that is the
- * scale source: the max absolute coordinate over the clash's own contact
- * box. Floored at {@link TOUCHING_EPSILON} (not the raw single-unit f32
- * floor `precisionFloor` uses) so a clash near the origin gets exactly the
- * old fixed band, unchanged.
+ * FALLBACK, deliberately unchanged: a clash without `depthFloor` (recorded
+ * before the field existed, rehydrated from BCF/JSON without it, or built by
+ * hand) keeps the old band — the max absolute coordinate of its `bounds`
+ * over all three axes times 2^-22, floored at {@link TOUCHING_EPSILON}. That
+ * band is origin-dependent (a model 10 km out in X gives a Z-direction
+ * contact ~2.4 mm of slack), which is exactly why engine results no longer
+ * use it; it stays for those results only because nothing better can be
+ * derived from a bare `Clash`.
  */
 function touchingEpsilonFor(c) {
+    if (c.depthFloor !== undefined)
+        return Math.max(TOUCHING_EPSILON, c.depthFloor);
     let extent = 0;
     for (const v of [c.bounds.min, c.bounds.max]) {
         for (const coord of v) {
@@ -93,9 +94,9 @@ function touchingEpsilonFor(c) {
  * slab, a column sitting on a footing) reported with a ~0 m depth, which users
  * reasonably distrust when they appear in the clash list.
  *
- * `eps` defaults to {@link touchingEpsilonFor}, scaled to this clash's own
- * coordinate magnitude (see that function) so the touching band stays valid
- * far from the origin. An explicit `eps` overrides the default entirely.
+ * `eps` defaults to {@link touchingEpsilonFor}: the clash's own depth floor
+ * when the engine recorded one, else the older coordinate-magnitude band (see
+ * that function). An explicit `eps` overrides the default entirely.
  */
 export function isTouching(c, eps = touchingEpsilonFor(c)) {
     return c.status === 'touch' || (c.status === 'hard' && penetrationDepth(c) <= eps);

package/dist/analysis.js.map

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package/dist/contact/narrow-phase.js

@@ -9,7 +9,7 @@ import { triangleAt, triangleCount } from "./triangle.js";
  * 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/near_band.rs` and
- * `precisionFloor` in `engine-ts/narrow.ts` — kept local rather than shared
+ * the clash-math `depthFloor` (`math/aabb.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.
  */

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

@@ -1 +1 @@
-{"version":3,"file":"broad.d.ts","sourceRoot":"","sources":["../../src/engine-ts/broad.ts"],"names":[],"mappings":"AAKA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,aAAa,CAAC;AAGhD;;;;;;;GAOG;AACH,wBAAgB,cAAc,CAC5B,MAAM,EAAE,YAAY,EAAE,EACtB,MAAM,EAAE,YAAY,EAAE,GAAG,IAAI,EAC7B,MAAM,EAAE,MAAM,GACb,KAAK,CAAC,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC,CAsCzB"}
+{"version":3,"file":"broad.d.ts","sourceRoot":"","sources":["../../src/engine-ts/broad.ts"],"names":[],"mappings":"AAKA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,aAAa,CAAC;AAGhD;;;;;;;GAOG;AACH,wBAAgB,cAAc,CAC5B,MAAM,EAAE,YAAY,EAAE,EACtB,MAAM,EAAE,YAAY,EAAE,GAAG,IAAI,EAC7B,MAAM,EAAE,MAAM,GACb,KAAK,CAAC,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC,CA6CzB"}

package/dist/engine-ts/broad.js

@@ -18,7 +18,17 @@ export function candidatePairs(groupA, groupB, margin) {
     const bvh = BVH.build(items);
     const pairs = [];
     if (groupB) {
-        const seen = new Set();
+        // No entity-identity dedup here. Deduping candidate PAIRS by
+        // (a.model, a.key, b.model, b.key) before the narrow phase ran used to
+        // collapse every sub-prim of a split entity onto whichever one the BVH
+        // reached first — so a broad-phase false positive submesh could claim
+        // the (A, B) slot and hide a sibling submesh that genuinely clashes
+        // (#5194). Every candidate the broad phase finds is now tested; entity
+        // identity is deduped once, downstream, AFTER the narrow phase has
+        // decided each submesh's verdict, keeping the more severe one — see
+        // `mostSevere` in `orchestrator.ts`, which already deduped by the same
+        // (model, key) identity via `clashId` for an unrelated reason and is the
+        // single place both kernels' records converge.
         for (let j = 0; j < groupB.length; j += 1) {
             const b = groupB[j];
             const hits = bvh.queryAABB(inflate(b.bounds, margin));
@@ -26,10 +36,6 @@ export function candidatePairs(groupA, groupB, margin) {
                 const a = groupA[i];
                 if (isSameEntity(a, b))
                     continue;
-                const dedup = orderKey(a.model, a.key, b.model, b.key);
-                if (seen.has(dedup))
-                    continue;
-                seen.add(dedup);
                 pairs.push([i, j]);
             }
         }
@@ -71,9 +77,4 @@ function isSameEntity(a, b) {
         return false;
     return a.key === b.key || a.ref === b.ref;
 }
-function orderKey(modelA, keyA, modelB, keyB) {
-    const a = `${modelA} ${keyA}`;
-    const b = `${modelB} ${keyB}`;
-    return a < b ? `${a} ${b}` : `${b} ${a}`;
-}
 //# sourceMappingURL=broad.js.map

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

@@ -1 +1 @@
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package/dist/engine-ts/depth.d.ts

@@ -29,19 +29,60 @@ import type { NarrowResult } from './narrow.js';
 export interface BoxPenetration {
     /** Exact box-box minimum-translation depth (Gottschalk 15-axis SAT). */
     mtd: number;
+    /** The unit axis `mtd` was measured along (its precision floor's
+     * direction, #5405). */
+    axis: Vec3;
     /** The MTD is inflated by the piercing member's own extent; report the
      * AABB estimate instead (see `isThroughPenetration`). */
     through: boolean;
 }
 export declare function boxPenetration(small: TriMesh, large: TriMesh): BoxPenetration | null;
+/**
+ * Whether `inner` — AABB-contained in `outer`, with no triangle pair crossing
+ * beyond f32 noise — is buried in `outer`'s solid (#5473).
+ *
+ * With no crossing, each connected shell of `inner` lies entirely on one side
+ * of `outer`'s surface up to touching it, so one probe point per shell decides
+ * by ray parity — provided the probe is not itself on `outer`'s surface, where
+ * parity is a coin flip decided by f32 rounding. The old probe, `inner`'s
+ * first vertex, is exactly that point for a flush pair (an element resting
+ * against the inside of another's AABB touches it AT its vertices), so a rigid
+ * translation re-rolled the verdict.
+ *
+ * Candidates are `inner`'s vertex centroid (when that lies inside `inner`) and
+ * every vertex; a candidate is CLEAR when it is more than
+ * {@link PROBE_CLEAR_ULPS} f32 ULPs of its largest coordinate off `outer`'s
+ * surface, where its parity is trustworthy.
+ * 1. Any clear candidate inside `outer` means its shell is buried: `true`.
+ *    Every candidate is checked, because `inner` may be several disconnected
+ *    shells and only one of them need be buried (review of #5564); an outside
+ *    shell must not end the search.
+ * 2. Otherwise any clear candidate is outside, and no shell is clearly
+ *    buried: `false`.
+ * 3. With no clear candidate at all — every vertex on `outer`'s surface — the
+ *    one farthest from it decides. That is what separates an element exactly
+ *    filling a notch (its centroid is outside) from a duplicate of part of
+ *    `outer` (its centroid is inside).
+ *
+ * Visit order and strict comparisons keep the pick bit-identical to the Rust
+ * `contained_solid_is_buried`.
+ */
+export declare function containedSolidIsBuried(inner: TriMesh, outer: TriMesh): boolean;
+/** A crossing vertex's penetration into the other solid, with the unit
+ *  direction it was measured along (from the other's surface to the vertex),
+ *  which is what its precision floor is projected onto (#5405). */
+export interface VertexPenetration {
+    depth: number;
+    axis: Vec3;
+}
 /**
  * Deepest penetration of `mesh`'s crossing-triangle VERTICES into `other`:
- * the maximum distance-to-surface of `other` over the vertices of the
- * triangles flagged in `crossFlags` (the pairs the narrow phase saw
- * genuinely crossing `other`) that lie inside `other`. Each vertex is
- * visited once (deduped by vertex index, in index order — bit-identical to
- * the Rust `crossing_vertex_penetration`). Returns 0 when no flagged vertex
- * is inside.
+ * the vertex of the triangles flagged in `crossFlags` (the pairs the narrow
+ * phase saw genuinely crossing `other`) that lies inside `other` farthest
+ * from its surface. Each vertex is visited once (deduped by vertex index, in
+ * index order, strict `>` — bit-identical to the Rust
+ * `crossing_vertex_penetration`). `null` when no flagged vertex is strictly
+ * inside.
  *
  * This is NOT a depth metric and must never be reported as one — it is the
  * sampling probe PR #2536 was held over (`maxPenetrationInto`): its value is
@@ -56,7 +97,7 @@ export declare function boxPenetration(small: TriMesh, large: TriMesh): BoxPenet
  * underestimating can only keep a pair BELOW the floor, and the floor is
  * the very thing being tested.
  */
-export declare function crossingVertexPenetration(mesh: TriMesh, other: TriMesh, crossFlags: Uint8Array): number;
+export declare function crossingVertexPenetration(mesh: TriMesh, other: TriMesh, crossFlags: Uint8Array): VertexPenetration | null;
 /**
  * Turns the candidate penetration depths into the final `(status,
  * distanceKind, distance)` triple. This is the ONLY place in the narrow
@@ -79,8 +120,16 @@ export declare function crossingVertexPenetration(mesh: TriMesh, other: TriMesh,
  *   vertex inside the other solid (`meshEvidence`) — evidence for this gate
  *   only, never a reported depth (see `crossingVertexPenetration`).
  *
- * The pair is `hard` only when the SMALLEST available candidate clears the
- * floor. That is what makes the floor unreachable by depth-source selection:
+ * Each candidate is tested against the floor OF ITS OWN DIRECTION — the
+ * pair's per-axis f32 noise projected onto the direction that candidate was
+ * measured along (`depthFloor`, `estimateFloor`; #5405). A single floor from
+ * the max coordinate over all axes handed a Z-direction depth the noise of
+ * an X coordinate 10 km out: a genuine 2 mm overlap read as `touch` there and
+ * `hard` at the origin, and near the origin the X extent pinned the threshold
+ * for contacts that have no X component at all.
+ *
+ * The pair is `hard` only when EVERY available candidate clears its floor.
+ * That is what makes the floor unreachable by depth-source selection:
  * a sub-floor box MTD cannot be promoted by the through-penetration guard
  * swapping in a larger AABB estimate; a sub-floor crossing-vertex
  * penetration on a contained pair (surfaces authored flush — the eight
@@ -95,5 +144,5 @@ export declare function crossingVertexPenetration(mesh: TriMesh, other: TriMesh,
  * distance clears the floor by construction, whichever quantity it came
  * from.
  */
-export declare function depthClashResult(box: BoxPenetration | null, estimate: number, meshEvidence: number | null, elA: ClashElement, elB: ClashElement, rule: ClashRule, point: Vec3, bounds: AABB): NarrowResult | null;
+export declare function depthClashResult(box: BoxPenetration | null, estimate: number, meshEvidence: VertexPenetration | null, elA: ClashElement, elB: ClashElement, rule: ClashRule, point: Vec3, bounds: AABB): NarrowResult | null;
 //# sourceMappingURL=depth.d.ts.map

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

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package/dist/engine-ts/depth.js

@@ -1,16 +1,17 @@
 /* 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 { isThroughPenetration, obbPenetrationDepth } from './obb.js';
+import { isThroughPenetration, obbPenetration } from './obb.js';
+import { depthFloor, estimateFloor } from '../math/aabb.js';
 export function boxPenetration(small, large) {
     const oa = small.getObb();
     const ob = large.getObb();
     if (!oa || !ob)
         return null;
-    const mtd = obbPenetrationDepth(oa, ob);
-    if (mtd == null)
+    const pen = obbPenetration(oa, ob);
+    if (pen == null)
         return null;
-    return { mtd, through: isThroughPenetration(oa, ob) };
+    return { mtd: pen.depth, axis: pen.axis, through: isThroughPenetration(oa, ob) };
 }
 /**
  * f32-ULP scale factor for a "worst-case" single-precision coordinate: for a
@@ -22,55 +23,83 @@ export function boxPenetration(small, large) {
  */
 const F32_ULP_SCALE = 1 / 4_194_304; // 2^-22
 /**
- * Penetration-depth floor below which a computed overlap cannot be
- * distinguished from float32 rounding noise, scaled to the pair's own
- * coordinate magnitude (not a fixed constant — infra models sit far from the
- * origin, where a fixed epsilon would be far too tight, and small models sit
- * near it, where a fixed epsilon would be far too loose).
+ * Whether `inner` — AABB-contained in `outer`, with no triangle pair crossing
+ * beyond f32 noise — is buried in `outer`'s solid (#5473).
  *
- * `rust/clash/src/tri_mesh.rs` ingests geometry from f32 buffers and stores/
- * queries it in f64, so f64 arithmetic cannot recover precision the source
- * data never had: two surfaces authored to be flush round to adjacent f32
- * values, and the resulting "penetration" is bit-noise at the ULP of
- * whichever operand coordinate is largest, not a measured overlap. Extent is
- * the max abs coordinate over both elements' AABBs (world space, matching
- * `near_band_from_extent`'s use of the actual compared coordinates) with a
- * floor of 1.0 so a model near the origin still gets the single-unit ULP,
- * not zero.
+ * With no crossing, each connected shell of `inner` lies entirely on one side
+ * of `outer`'s surface up to touching it, so one probe point per shell decides
+ * by ray parity — provided the probe is not itself on `outer`'s surface, where
+ * parity is a coin flip decided by f32 rounding. The old probe, `inner`'s
+ * first vertex, is exactly that point for a flush pair (an element resting
+ * against the inside of another's AABB touches it AT its vertices), so a rigid
+ * translation re-rolled the verdict.
  *
- * The floor grows linearly with the pair's distance from the origin — that
- * is the point, since f32 precision itself degrades the same way. The
- * consequence: on a georeferenced model whose elements sit at real map
- * coordinates (hundreds of kilometres out, which real IFC files do), the
- * floor reaches decimetre scale, and a genuine clash below that threshold
- * reclassifies as `touch`. That is not a bug in this function — at those
- * magnitudes f32 genuinely cannot represent a finer distinction, so the
- * "penetration" is not reliably measurable either way — but it means the
- * floor tracks a limitation of the source data, not of clash detection.
- * The fix for a model in that position is ingesting geometry closer to the
- * origin (or in f64), not lowering this floor.
+ * Candidates are `inner`'s vertex centroid (when that lies inside `inner`) and
+ * every vertex; a candidate is CLEAR when it is more than
+ * {@link PROBE_CLEAR_ULPS} f32 ULPs of its largest coordinate off `outer`'s
+ * surface, where its parity is trustworthy.
+ * 1. Any clear candidate inside `outer` means its shell is buried: `true`.
+ *    Every candidate is checked, because `inner` may be several disconnected
+ *    shells and only one of them need be buried (review of #5564); an outside
+ *    shell must not end the search.
+ * 2. Otherwise any clear candidate is outside, and no shell is clearly
+ *    buried: `false`.
+ * 3. With no clear candidate at all — every vertex on `outer`'s surface — the
+ *    one farthest from it decides. That is what separates an element exactly
+ *    filling a notch (its centroid is outside) from a duplicate of part of
+ *    `outer` (its centroid is inside).
+ *
+ * Visit order and strict comparisons keep the pick bit-identical to the Rust
+ * `contained_solid_is_buried`.
  */
-function precisionFloor(elA, elB) {
-    let extent = 1.0;
-    for (const b of [elA.bounds, elB.bounds]) {
-        for (const v of [b.min, b.max]) {
-            for (const c of v) {
-                const a = Math.abs(c);
-                if (a > extent)
-                    extent = a;
-            }
+export function containedSolidIsBuried(inner, outer) {
+    if (inner.count === 0)
+        return false;
+    const clear = (p, d) => {
+        const m = Math.max(Math.max(Math.max(Math.abs(p[0]), Math.abs(p[1])), Math.abs(p[2])), 1);
+        return d > PROBE_CLEAR_ULPS * F32_ULP_SCALE * m;
+    };
+    const candidates = [];
+    const c = inner.vertexCentroid();
+    if (inner.containsPoint(c))
+        candidates.push(c);
+    const n = inner.vertexCount();
+    for (let i = 0; i < n; i += 1)
+        candidates.push(inner.vertex(i));
+    // 1. A clearly buried shell. Parity first: it is the cheaper query, and
+    //    only candidates it places inside need their distance.
+    if (candidates.some((p) => outer.containsPoint(p) && clear(p, outer.distanceToSurface(p))))
+        return true;
+    // 2./3. No shell is clearly buried.
+    let probe = null;
+    let farthest = -Infinity;
+    for (const p of candidates) {
+        const d = outer.distanceToSurface(p);
+        if (clear(p, d))
+            return false;
+        if (d > farthest) {
+            farthest = d;
+            probe = p;
         }
     }
-    return extent * F32_ULP_SCALE;
+    return probe !== null && outer.containsPoint(probe);
 }
+/**
+ * How far off `outer`'s surface a candidate must be for
+ * `containedSolidIsBuried` to trust its ray parity, in f32 ULPs of its largest
+ * coordinate. Generous on purpose: rounding moves a point on the surface by a
+ * few ULPs, and a vertex any closer is treated as touching, which only defers
+ * the verdict to a farther candidate.
+ */
+const PROBE_CLEAR_ULPS = 64;
 /**
  * Deepest penetration of `mesh`'s crossing-triangle VERTICES into `other`:
- * the maximum distance-to-surface of `other` over the vertices of the
- * triangles flagged in `crossFlags` (the pairs the narrow phase saw
- * genuinely crossing `other`) that lie inside `other`. Each vertex is
- * visited once (deduped by vertex index, in index order — bit-identical to
- * the Rust `crossing_vertex_penetration`). Returns 0 when no flagged vertex
- * is inside.
+ * the vertex of the triangles flagged in `crossFlags` (the pairs the narrow
+ * phase saw genuinely crossing `other`) that lies inside `other` farthest
+ * from its surface. Each vertex is visited once (deduped by vertex index, in
+ * index order, strict `>` — bit-identical to the Rust
+ * `crossing_vertex_penetration`). `null` when no flagged vertex is strictly
+ * inside.
  *
  * This is NOT a depth metric and must never be reported as one — it is the
  * sampling probe PR #2536 was held over (`maxPenetrationInto`): its value is
@@ -87,7 +116,7 @@ function precisionFloor(elA, elB) {
  */
 export function crossingVertexPenetration(mesh, other, crossFlags) {
     const seen = new Uint8Array(mesh.vertexCount());
-    let depth = 0;
+    let deepest = null;
     for (let t = 0; t < mesh.count; t += 1) {
         if (crossFlags[t] === 0)
             continue;
@@ -98,12 +127,13 @@ export function crossingVertexPenetration(mesh, other, crossFlags) {
             const v = mesh.vertex(vi);
             if (!other.containsPoint(v))
                 continue;
-            const d = other.distanceToSurface(v);
-            if (d > depth)
-                depth = d;
+            const [d, q] = other.closestOnSurface(v);
+            if (d > (deepest?.depth ?? 0)) {
+                deepest = { depth: d, axis: [(v[0] - q[0]) / d, (v[1] - q[1]) / d, (v[2] - q[2]) / d] };
+            }
         }
     }
-    return depth;
+    return deepest;
 }
 /**
  * Turns the candidate penetration depths into the final `(status,
@@ -127,8 +157,16 @@ export function crossingVertexPenetration(mesh, other, crossFlags) {
  *   vertex inside the other solid (`meshEvidence`) — evidence for this gate
  *   only, never a reported depth (see `crossingVertexPenetration`).
  *
- * The pair is `hard` only when the SMALLEST available candidate clears the
- * floor. That is what makes the floor unreachable by depth-source selection:
+ * Each candidate is tested against the floor OF ITS OWN DIRECTION — the
+ * pair's per-axis f32 noise projected onto the direction that candidate was
+ * measured along (`depthFloor`, `estimateFloor`; #5405). A single floor from
+ * the max coordinate over all axes handed a Z-direction depth the noise of
+ * an X coordinate 10 km out: a genuine 2 mm overlap read as `touch` there and
+ * `hard` at the origin, and near the origin the X extent pinned the threshold
+ * for contacts that have no X component at all.
+ *
+ * The pair is `hard` only when EVERY available candidate clears its floor.
+ * That is what makes the floor unreachable by depth-source selection:
  * a sub-floor box MTD cannot be promoted by the through-penetration guard
  * swapping in a larger AABB estimate; a sub-floor crossing-vertex
  * penetration on a contained pair (surfaces authored flush — the eight
@@ -144,12 +182,14 @@ export function crossingVertexPenetration(mesh, other, crossFlags) {
  * from.
  */
 export function depthClashResult(box, estimate, meshEvidence, elA, elB, rule, point, bounds) {
-    let floorDepth = estimate;
-    if (box != null && box.mtd < floorDepth)
-        floorDepth = box.mtd;
-    if (meshEvidence != null && meshEvidence < floorDepth)
-        floorDepth = meshEvidence;
-    if (floorDepth <= precisionFloor(elA, elB)) {
+    // `||` in the same order as the Rust kernel, each comparison `<=` so a NaN
+    // candidate never counts as below its floor, on either side.
+    const estFloor = estimateFloor(elA.bounds, elB.bounds);
+    const boxFloor = box != null ? depthFloor(box.axis, elA.bounds, elB.bounds) : null;
+    const belowFloor = estimate <= estFloor ||
+        (box != null && boxFloor != null && box.mtd <= boxFloor) ||
+        (meshEvidence != null && meshEvidence.depth <= depthFloor(meshEvidence.axis, elA.bounds, elB.bounds));
+    if (belowFloor) {
         if (!rule.reportTouch)
             return null;
         // distance is exactly 0 here (the classification, not a measurement, is
@@ -160,6 +200,8 @@ export function depthClashResult(box, estimate, meshEvidence, elA, elB, rule, po
     // Estimate-vs-mesh selection, reachable only above the floor: the box MTD
     // is certified (`mesh`) unless the pair is a through-penetration, where
     // the AABB estimate is the honest number (see `boxPenetration`).
+    // The reported depth carries ITS OWN floor out with it (#5639), so the
+    // reported touching band is decided by the same rule as this verdict.
     const measured = box != null && !box.through;
     return {
         status: 'hard',
@@ -167,6 +209,7 @@ export function depthClashResult(box, estimate, meshEvidence, elA, elB, rule, po
         distanceKind: measured ? 'mesh' : 'estimate',
         point,
         bounds,
+        depthFloor: measured && boxFloor != null ? boxFloor : estFloor,
     };
 }
 //# sourceMappingURL=depth.js.map