@ifc-lite/clash 2.3.1 → 2.4.2

package/dist/engine-ts/depth.js

@@ -1,76 +1,108 @@
 /* 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
- * 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` — see
- * that function's doc for the derivation; kept here rather than shared
- * because the two live in different language runtimes.
+ * Distance from `p` to `mesh`'s surface, and whether `p` is CLEAR of that
+ * surface: farther from it than the pair's depth floor along the direction
+ * from the nearest surface point to `p` (#5751).
+ *
+ * A ray-parity (`containsPoint`) verdict is trustworthy only for a clear
+ * point. For a point on the surface — which is exactly where a probe lands
+ * for a flush pair — parity is a coin flip decided by f32 rounding, and any
+ * rigid translation re-rolls it. The threshold is the classification floor
+ * itself (`depthFloor`, #5591): a point within it of a surface is within f32
+ * noise of being on it, so it is evidence of contact, not of volume. One rule
+ * for every probe that asks "is this point clearly inside". Bit-identical to
+ * the Rust `surface_clearance`.
  */
-const F32_ULP_SCALE = 1 / 4_194_304; // 2^-22
+export function surfaceClearance(mesh, p, a, b) {
+    const [d, q] = mesh.closestOnSurface(p);
+    const clear = d > 0 && d > depthFloor([(p[0] - q[0]) / d, (p[1] - q[1]) / d, (p[2] - q[2]) / d], a, b);
+    return [d, clear];
+}
+/** `p` is inside `mesh`'s solid AND clear of its surface (see
+ *  {@link surfaceClearance}). Parity first: it is the cheaper query. */
+export function clearlyInside(mesh, p, a, b) {
+    return mesh.containsPoint(p) && surfaceClearance(mesh, p, a, b)[1];
+}
 /**
- * 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 of `outer`'s surface by
+ * {@link surfaceClearance} (the pair's depth floor along its own direction,
+ * the same rule as the AABB-penetration probe, #5751).
+ * 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).
+ *
+ * `a` / `b` are the pair's element AABBs (in either order: the floor is
+ * symmetric). 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, a, b) {
+    if (inner.count === 0)
+        return false;
+    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.
+    if (candidates.some((p) => clearlyInside(outer, p, a, b)))
+        return true;
+    // 2./3. No shell is clearly buried.
+    let probe = null;
+    let farthest = -Infinity;
+    for (const p of candidates) {
+        const [d, clear] = surfaceClearance(outer, p, a, b);
+        if (clear)
+            return false;
+        if (d > farthest) {
+            farthest = d;
+            probe = p;
         }
     }
-    return extent * F32_ULP_SCALE;
+    return probe !== null && outer.containsPoint(probe);
 }
 /**
  * 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 +119,7 @@ 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 +130,13 @@ 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,
@@ -125,10 +158,22 @@ export function crossingVertexPenetration(mesh, other, crossFlags) {
  * - the box MTD, when both elements are certified boxes (`box`);
  * - the crossing-vertex penetration, for a CONTAINED pair with a crossing
  *   vertex inside the other solid (`meshEvidence`) — evidence for this gate
- *   only, never a reported depth (see `crossingVertexPenetration`).
+ *   only, never a reported depth (see `crossingVertexPenetration`), and
+ *   only where the reported depth would be the ESTIMATE (#5717).
+ *
+ * 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 the SMALLEST available candidate clears the
- * floor. That is what makes the floor unreachable by depth-source selection:
+ * The pair is `hard` only when every candidate that BEARS ON THE REPORTED
+ * NUMBER clears its floor — all three when the report is the estimate, and
+ * the estimate and the MTD when the box path certified a depth, since a
+ * sampling probe may not overrule an exact one (#5717).
+ * 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 +189,32 @@ 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;
+    // Whether the pair has a CERTIFIED depth, i.e. whether the number this
+    // function would report is the exact box MTD or the AABB estimate. Hoisted
+    // above the floor test because the mesh-evidence term needs it too.
+    const measured = box != null && !box.through;
+    const belowFloor = estimate <= estFloor ||
+        (box != null && boxFloor != null && box.mtd <= boxFloor) ||
+        // Mesh evidence guards the ESTIMATE, and only the estimate (#5717).
+        // `crossingVertexPenetration` is not a depth metric — its own doc
+        // comment says so, and it underestimates by an amount that depends on
+        // tessellation. That is harmless when it is the only thing standing
+        // between a flush contained pair and a fabricated AABB estimate, the
+        // case it was added for. It is not harmless against a certified box
+        // MTD: a vertex lying ON a face the two boxes share reads as a
+        // sub-floor "penetration" once rotation pushes it a noise-width
+        // inside, and vetoed a 20 mm overlap the exact box depth had measured
+        // correctly. Two boxes that are genuinely flush already report 0
+        // through the MTD term above (#5355), so nothing here needs the
+        // probe's second opinion.
+        (!measured &&
+            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
@@ -160,13 +225,15 @@ 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`).
-    const measured = box != null && !box.through;
+    // 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.
     return {
         status: 'hard',
         distance: -(measured ? box.mtd : estimate),
         distanceKind: measured ? 'mesh' : 'estimate',
         point,
         bounds,
+        depthFloor: measured && boxFloor != null ? boxFloor : estFloor,
     };
 }
 //# sourceMappingURL=depth.js.map

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;;;;;;;;;;;;;GAaG;AACH,MAAM,UAAU,gBAAgB,CAAC,IAAa,EAAE,CAAO,EAAE,CAAO,EAAE,CAAO;IACvE,MAAM,CAAC,CAAC,EAAE,CAAC,CAAC,GAAG,IAAI,CAAC,gBAAgB,CAAC,CAAC,CAAC,CAAC;IACxC,MAAM,KAAK,GAAG,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,UAAU,CAAC,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,EAAE,CAAC,CAAC,CAAC;IACvG,OAAO,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;AACpB,CAAC;AAED;wEACwE;AACxE,MAAM,UAAU,aAAa,CAAC,IAAa,EAAE,CAAO,EAAE,CAAO,EAAE,CAAO;IACpE,OAAO,IAAI,CAAC,aAAa,CAAC,CAAC,CAAC,IAAI,gBAAgB,CAAC,IAAI,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;AACrE,CAAC;AAED;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA8BG;AACH,MAAM,UAAU,sBAAsB,CAAC,KAAc,EAAE,KAAc,EAAE,CAAO,EAAE,CAAO;IACrF,IAAI,KAAK,CAAC,KAAK,KAAK,CAAC;QAAE,OAAO,KAAK,CAAC;IACpC,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,6BAA6B;IAC7B,IAAI,UAAU,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,aAAa,CAAC,KAAK,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QAAE,OAAO,IAAI,CAAC;IACvE,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,CAAC,EAAE,KAAK,CAAC,GAAG,gBAAgB,CAAC,KAAK,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QACpD,IAAI,KAAK;YAAE,OAAO,KAAK,CAAC;QACxB,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;AAUD;;;;;;;;;;;;;;;;;;;;;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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAiDG;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,uEAAuE;IACvE,2EAA2E;IAC3E,oEAAoE;IACpE,MAAM,QAAQ,GAAG,GAAG,IAAI,IAAI,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC;IAC7C,MAAM,UAAU,GACd,QAAQ,IAAI,QAAQ;QACpB,CAAC,GAAG,IAAI,IAAI,IAAI,QAAQ,IAAI,IAAI,IAAI,GAAG,CAAC,GAAG,IAAI,QAAQ,CAAC;QACxD,oEAAoE;QACpE,kEAAkE;QAClE,sEAAsE;QACtE,oEAAoE;QACpE,qEAAqE;QACrE,oEAAoE;QACpE,+DAA+D;QAC/D,gEAAgE;QAChE,sEAAsE;QACtE,iEAAiE;QACjE,gEAAgE;QAChE,0BAA0B;QAC1B,CAAC,CAAC,QAAQ;YACR,YAAY,IAAI,IAAI;YACpB,YAAY,CAAC,KAAK,IAAI,UAAU,CAAC,YAAY,CAAC,IAAI,EAAE,GAAG,CAAC,MAAM,EAAE,GAAG,CAAC,MAAM,CAAC,CAAC,CAAC;IACjF,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,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,IA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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 @@
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+{"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,CAoQrB"}

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, clearlyInside, 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, elA.bounds, elB.bounds)
+        : aabbContains(elA.bounds, elB.bounds) && containedSolidIsBuried(triB, triA, elA.bounds, elB.bounds);
     if (enclosed) {
         // `depthClashResult` may return `null` here (below the f32 floor and
         // `!rule.reportTouch`) — that is a suppressed touch, not "no clash",
@@ -218,8 +222,13 @@ export function testPair(elA, triA, elB, triB, rule, tolerance) {
         if (gap < -tolerance) {
             const probeCentroid = mid(triA.vertexCentroid(), triB.vertexCentroid());
             const probeOverlap = center(overlap);
-            if ((triA.containsPoint(probeCentroid) && triB.containsPoint(probeCentroid)) ||
-                (triA.containsPoint(probeOverlap) && triB.containsPoint(probeOverlap))) {
+            // Each probe counts only when it is CLEARLY inside both solids: for a
+            // flush pair the AABB-overlap centre sits ON the shared face, where ray
+            // parity is a coin flip, and a lucky flip used to report the pair `hard`
+            // at the AABB estimate (an element dimension, not a depth) — differently
+            // wherever the model sat (#5751). Same rule as `containedSolidIsBuried`.
+            const insideBoth = (p) => clearlyInside(triA, p, elA.bounds, elB.bounds) && clearlyInside(triB, p, elA.bounds, elB.bounds);
+            if (insideBoth(probeCentroid) || insideBoth(probeOverlap)) {
                 // Report the tight contact region (the touching patch where the surfaces
                 // actually coincide), clamped to the element overlap — not the whole-
                 // element AABB intersection, which for angled members spans nearly the

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

@@ -0,0 +1,3 @@
+import { type MeshLike, type Obb } from './obb.js';
+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;AAqG5D,wBAAgB,SAAS,CAAC,IAAI,EAAE,QAAQ,GAAG,GAAG,GAAG,IAAI,CA+HpD"}