@woosh/meep-engine 2.141.0 → 2.143.0

package/src/engine/physics/PLAN.md

@@ -1,578 +1,705 @@
-# Physics engine — state of play
-
-Tracker for what's built, what's pending, and what's deferred.
-
----
-
-## Context
-
-Deterministic JS rigid-body physics engine for the meep ECS. Target: game
-scenarios with up to millions of mostly-sleeping bodies, deterministic replays
-for netcode and reproducible debugging, broad shape coverage for common game
-collisions. Pure JS — no WASM, no SIMD, no worker threads.
-
-Architectural references for design choices:
-- **Jolt** — pre-allocated body pool, active-list iteration, two-tree
-  broadphase (static + dynamic).
-- **Bullet** — `btPersistentManifold` cache layout with up to 4 points.
-- **Box2D / Catto** — sequential impulse with warm-starting, Sutherland-Hodgman
-  face clipping for box-box.
-
----
-
-## Done
-
-### Foundations
-- `RigidBody`, `Collider`, `BodyKind`, `RigidBodyFlags`, `ColliderFlags`,
-  `SleepState`, `PhysicsEvents`.
-- `BodyStorage`: SoA pool, generation-tracked stable IDs, dense awake list,
-  min-heap free for deterministic ID reuse.
-- `PhysicsSystem`: full public API surface (gravity, force/impulse with and
-  without application point, torque, velocity setter, wake/sleep, contact
-  filter callback).
-- Binary serialization adapters for `RigidBody` and `Collider` (transient
-  runtime state deliberately excluded).
-- `PairUint32Map`: open-addressed Robin Hood + Fibonacci hash for the
-  pair → manifold-slot index (the one new collection added to `core/collection/`).
-
-### Pipeline (`PhysicsSystem.fixedUpdate`)
-1. Velocity integration (semi-implicit Euler, linear + angular, gravity,
-   damping, world-frame inverse-inertia for torque)
-2. Per-collider broadphase refit with fat AABB (Box2D-style velocity-padded
-   slack)
-3. Pair generation: per-leaf query against both BVHs (static + dynamic),
-   canonical `(min, max)` pairs, dedup via manifold touched flag
-4. Wake propagation for sleeping bodies in the pair list
-5. Narrowphase cross-product over collider lists
-6. Sequential-impulse solver (Catto-style, warm-start, friction, Baumgarte)
-7. Position integration (linear + quaternion)
-8. Sleep test (per-body velocity² below threshold for ≥ 0.5 s)
-9. Manifold diff → `ContactBegin` / `Stay` / `End` event dispatch
-10. `manifolds.advance_frame()` — roll touched bits, evict grace-expired slots
-
-### Shape coverage
-| Pair | Path | Manifold |
-|---|---|---|
-| sphere-sphere | closed-form | 1 point |
-| sphere-box | closed-form (handles centre-inside-box) | 1 point |
-| capsule-sphere | point-on-segment closed-form | 1 point |
-| capsule-capsule | segment-segment closest pair | 1 point |
-| capsule-box | iterative segment-vs-OBB (primary) + cap-centre sphere-vs-OBB at each endpoint | up to 3 |
-| box-box face-face | SAT + Sutherland-Hodgman clipping | up to 4 |
-| box-box edge-edge | SAT + midpoint fallback | 1 point |
-| convex × concave (heightmap, mesh) | per-triangle GJK + EPA via decomposition dispatcher | 1 point per triangle (deepest wins) |
-| anything else | GJK + EPA | 1 point (may fail on smooth shapes) |
-
-### Non-convex shapes
-- **`is_convex` flag** on `AbstractShape3D.prototype` (default `true`).
-  Overridden to `false` on `HeightMapShape3D`, `MeshShape3D`, `UnionShape3D`.
-  `TransformedShape3D` inherits via getter that reads the wrapped subject.
-- **`HeightMapShape3D`** — orientation-vector + `Sampler2D`-backed terrain
-  shape. Heights sampled via `sampleChannelCatmullRomUV` (matching the
-  terrain system's geometry construction). Compute_bounding_box,
-  contains_point, signed_distance, nearest_point_on_surface all
-  implemented; `support` throws (non-convex by construction).
-- **`Triangle3D`** — buffer-flyweight convex shape. `bind(buffer, offset)`
-  repoints at 9 consecutive floats in an external Float64Array. Zero
-  allocation per emission; used by the decomposition path.
-- **Triangle decomposition machinery** under
-  `engine/physics/narrowphase/decomposition/`:
-    - `TRIANGLE_FLOAT_STRIDE = 10` per triangle (`vA.xyz`, `vB.xyz`,
-      `vC.xyz`, `feature_id`).
-    - `heightmap_enumerate_triangles(out, offset, shape, ...aabb)` —
-      Arvo-projects the convex's AABB into heightmap-local, intersects
-      with the footprint to derive a cell range, emits 2 triangles per
-      cell with stable feature_ids.
-    - `mesh_enumerate_triangles(out, offset, shape, ...aabb)` — linear
-      O(N) scan over `MeshShape3D.indices` with tight per-triangle AABB
-      filtering. feature_id = triangle index.
-    - `aabb_world_to_local(out, world_aabb, pos, rot)` — 8-corner
-      projection of a world AABB into a body's local frame.
-    - `decompose_to_triangles(...)` — dispatcher switching on shape
-      type marker.
-- **Narrowphase concave dispatch** in `narrowphase_step.js`: detects
-  `is_convex === false`, computes convex's world AABB, projects to
-  concave's local frame, decomposes, per-triangle GJK + EPA with
-  one-sided face-normal rejection and contact-normal dedup. Concave-vs-
-  concave dynamic pairs are explicitly refused.
-
-### Solver
-- Sequential impulse with warm-starting (10 velocity iterations by default).
-- Coulomb friction with disk-clamped tangent impulses.
-- Baumgarte position correction folded into the velocity solve.
-- Full angular Jacobian (`I_w⁻¹ = R · diag · R^T`) and angular impulse
-  application.
-- Public force/impulse-at-point API (`applyForceAt`, `applyImpulseAt`,
-  `applyTorque`).
-
-### Sleep + events
-- Per-island **atomic sleep**: an island sleeps when `max(|v|² + |ω|²)`
-  across all members stays below the threshold long enough; the whole
-  island sleeps in the same frame. Replaces the per-body chatter on
-  weakly-connected piles.
-- **Atomic wake**: members of a sleeping island are threaded into a
-  circular doubly-linked list (`sleep_group_next` / `sleep_group_prev`);
-  waking any one member walks the chain and wakes the rest in the same
-  call. A 100-block stack hit at the base wakes top-down in one frame
-  rather than over 100 frames of broadphase propagation.
-- `DisableSleep` on any island member exempts the whole island.
-- ContactBegin / Stay / End buffer + dispatch through both
-  `PhysicsSystem.onContactBegin/Stay/End` Signals and the per-entity
-  `entity.sendEvent(PhysicsEvents.ContactBegin, ...)` channel (when a
-  dataset is attached).
-
-### Islands
-- **Union-find** with path halving + union by min-index over the awake-body
-  + touched-contact graph (`engine/physics/island/union_find.js`).
-- **`IslandBuilder`** produces deterministic CSR-style output: bodies and
-  manifold slots grouped by island, sorted ascending within and across
-  islands. Static / kinematic bodies are constraint anchors only — they
-  don't merge islands, so disjoint piles on the same floor are separate
-  islands.
-- **Solver iterates per island**: impulse convergence happens inside an
-  island without waiting on unrelated bodies' Gauss-Seidel updates, and
-  disconnected awake bodies don't pay each other's solver cost.
-
-### Compound bodies
-- A body has 0..N attached colliders. Each collider has its own world
-  transform and its own BVH leaf.
-- Same-entity colliders, child-entity colliders (via `ParentEntity`), or
-  hybrids all supported.
-- `ColliderObserverSystem` auto-attaches colliders via the dataset when
-  paired with `PhysicsSystem` in an EntityManager.
-- Narrowphase runs the cross-product over both bodies' collider lists per
-  body-pair, accumulates candidates, reduces to ≤4 contacts by
-  depth + spread.
-
-### Public queries
-- `raycast(origin, dir, max_dist, filter?)` — nearest broadphase AABB hit
-  across both trees.
-- `shapeCast(ray, shape, rotation, result, filter?)` — broadphase swept
-  AABB against both BVHs; per-candidate AABB-slab interval narrowing,
-  coarse step over the narrowed window, GJK bisection to time-of-impact.
-  Output normal is the true contact-surface normal at the kiss point,
-  recovered by re-running GJK + EPA at `best_t` on the winning candidate.
-  Falls back to `-ray.direction` only on EPA degeneracies (NaN / zero
-  depth). Tests cover axis-aligned, off-axis, and oblique cube-vs-cube;
-  sphere-vs-smooth-shape near-tangent has documented angular tolerance
-  bands inherited from EPA on smooth supports.
-- `overlap(shape, position, rotation, output, output_offset, filter?)`
-  — broadphase + per-candidate GJK overlap detection. Writes body_ids
-  into a caller-sized buffer; returns count. Convex query shapes only
-  (concave throws). Concave candidates routed through the per-triangle
-  decomposition path. Designed for speculative kinematic queries on
-  kinematic bodies (character controllers, AOE selection).
-
-### Standalone narrowphase utilities
-- `compute_penetration(out_direction, shape_a, pos_a, rot_a, shape_b,
-  pos_b, rot_b)` — non-system geometry primitive: positive penetration
-  depth + outward direction (B → A convention) on overlap, 0 otherwise.
-  Convex × convex uses GJK + EPA. Convex × concave uses per-triangle
-  half-space test (`convex.support(-face_normal)` projected onto each
-  triangle's plane), aggregated deepest-wins. The half-space approach
-  sidesteps `Triangle3D`'s degenerate support along face-normal axes
-  (the same issue that makes per-triangle GJK return false positives
-  on clearly non-overlapping sphere-above-flat configurations).
-  Concave × concave throws (M×N triangle pairs is out of scope).
-  Naturally handles "body inside the concave solid" — reports the depth
-  needed to push back through the nearest face. Documented limitation:
-  closed meshes can over-report on side faces whose 2D extent the
-  convex shape's flank crosses; a future closed-form triangle-vs-X
-  solver fixes this.
-
-### Determinism
-- Direct typed-array writes on hot paths (bypassing `Vector3#set`'s observer
-  dispatch) — Transform writes still go through `set()` because external
-  systems subscribe (TransformAttachment, EntityNode, FogOfWarRevealer,
-  ViewportPosition).
-- Active body iteration sorted by body index.
-- Pair canonicalisation `(min, max)`.
-- Min-heap free list for slot reuse.
-- No `Math.random` anywhere in the simulation step.
-- Same-runtime bit-exact determinism by design; cross-runtime is a known
-  future seam.
-
-### Migration
-- `Motion` / `MotionSystem` / `MotionSerializationAdapter` relocated from
-  the meep core (`engine/ecs/`) to the game-domain layer
-  (`mir-engine/model/game/ecs/`). meep no longer ships the legacy shim.
-
-### Alternative narrowphase: MPR
-- `engine/physics/gjk/mpr.js` — Minkowski Portal Refinement (XenoCollide,
-  Snethen GDC 2009). Single-pass overlap test + MTV computation,
-  output convention matches EPA so it's drop-in compatible at any
-  narrowphase call site. Tends to converge in 5–15 iterations on
-  smooth shapes where EPA stalls (the polytope-on-curved-surface
-  failure mode the torus-knot reproducer exercised). Not yet wired
-  into `narrowphase_step` — available as a swap candidate / per-pair
-  preference once we want to fall back to it on EPA non-convergence,
-  or as the default for any shape pair that involves a mesh.
-
-### Bonus utilities
-- `core/geom/3d/line/line3_closest_points_segment_segment.js` — generally
-  useful 3D segment-segment closest-pair via Ericson §5.1.9.
-- `core/collection/PairUint32Map.js` — non-allocating
-  `Map<(u32, u32) → u32>` with Robin Hood + Fibonacci hash.
-
----
-
-## Limitations / Known caveats
-
-- **Multi-collider material precision**: solver reads friction/restitution
-  from the first-attached collider of each body. Mixed-material compound
-  bodies lose accuracy here. The contact-filter callback's `colliderA/B`
-  arguments are similarly the body's primary collider, not the specific
-  collider in contact.
-- **EPA on smooth shapes**: degenerates (no flat face to converge on).
-  Mitigated by closed-form paths for sphere/cube/capsule pairs; exotic
-  convex shapes vs spheres can still fail.
-- **EPA on `Triangle3D`** (concave-shape narrowphase): the triangle's
-  support is degenerate along its face-normal axis (all 3 vertices
-  project to the same value), so per-triangle GJK + EPA in the
-  narrowphase concave dispatch produces imprecise depths near the
-  iteration cap. A sphere dropping onto a flat heightmap decelerates
-  ~70% on first contact but eventually sinks through over ~50 steps —
-  the `narrowphase_concave.spec.js` "drop and settle" cases are
-  `test.skip` for this reason. Workaround in `compute_penetration` is
-  the half-space pre-test that avoids running GJK on degenerate
-  triangle supports altogether; long-term fix is closed-form
-  triangle-vs-primitive solvers.
-- **Box-box edge-edge contact**: single midpoint contact rather than
-  multi-point. Skewed-orientation cube collisions are stable-enough but
-  not as precise as face-face.
-- **CCD floor only**: speculative margin via the fattened AABB prevents
-  most tunnelling. No per-body swept shape-cast for very fast objects.
-- **Cross-runtime determinism is not guaranteed**: `Math.sin/cos/exp/log`
-  are ULP-correct but not bit-exact across V8 / SpiderMonkey / JSC.
-- **Dynamic concave bodies settle poorly under TGS**: the substep loop
-  re-derives contact geometry analytically from the per-triangle contact
-  feature (witness anchors + normal) captured once by narrowphase and held
-  fixed for the whole outer step. For a convex body the contact feature is
-  stable under the small per-step motion, so this is exact; for a *dynamic
-  concave mesh body* (e.g. a torus knot rocking on its own lobes) the
-  supporting triangle itself changes as the body rocks, so freezing the
-  feature pumps a little energy in and the body rocks / slowly sinks instead
-  of settling (the `PhysicsSystem.spec.js` torus-knot dynamic-settle test is
-  `test.skip` for this reason). Note this is NOT a contact-precision issue —
-  the knot already uses the exact closed-form box-triangle solver (P1.1b);
-  the problem is purely that TGS freezes *which* feature is in contact across
-  substeps. The common concave case — a convex dynamic body on static concave
-  terrain — is unaffected (the convex side's feature is stable), and that is
-  the only concave case the engine targets.
-
-  **Interim fix (implemented): per-substep concave re-detection.** For
-  contact pairs involving a concave body, the substep loop re-runs the
-  concave narrowphase geometry at the current substep pose (instead of the
-  analytic refresh that freezes the feature) and re-prepares those contacts
-  from the fresh witness/normal/depth — so the contact normal tracks the
-  rocking body and no energy is pumped in. Convex pairs keep the cheap
-  analytic refresh. This is ~Nx narrowphase cost on concave-involved pairs
-  (acceptable — they're rare), gated by collider convexity. Un-skips the
-  torus-knot dynamic-settle test.
-
-  **Better long-term fix: convex collision proxies (not raw concave).** Every
-  major engine (Box2D, Jolt, PhysX, Rapier) requires dynamic bodies to be
-  convex or convex-decomposed; raw concave meshes are static-only. The right
-  granularity is a *few* convex pieces — NOT the thousands of tets a
-  volumetric mesher produces (tet count ≈ collider/BVH-leaf count, which
-  explodes the broadphase for an awake body; tet meshing is for a future
-  FEM/soft-body subsystem, not rigid collision). See the "Convex collision
-  proxies for dynamic concave bodies" backlog item — a 3D convex hull builder
-  (single-hull proxy covers most dynamic objects) plus an optional
-  few-hull (V-HACD-style) decomposition. Those supersede the interim
-  per-substep re-detection once built.
-
----
-
-## Backlog (planned, in scope)
-
-### Solver quality (next major work)
-
-These items move the engine from "competent" to "great". TGS is the next
-significant solver-architecture change; joints come after, once the TGS
-scaffolding is in place.
-
-- **TGS (Temporal Gauss-Seidel) substepping with split-impulse** — Phases
-      1–3 **LANDED**. The solver is now a staged TGS pipeline
-      (`solver/solve_contacts.js`: `prepare_contacts` → per substep
-      [`refresh_contacts` → `warm_start_contacts` → `solve_velocity` →
-      `solve_position`] → `apply_restitution`), driven by the substep loop in
-      `PhysicsSystem.fixedUpdate`. Defaults: `substeps = 4`,
-      `velocityIterations = 4`, `positionIterations = 1` (all fields on
-      `PhysicsSystem`).
-        - **Phase 1 — split impulse.** Position correction runs on a per-body
-          pseudo-velocity (`__pseudo_velocity`) folded into the pose by
-          `integrate_position` and discarded; depth correction never
-          contaminates persistent velocity.
-        - **Phase 2 — one-shot restitution.** Velocity pass is pure
-          non-penetration; restitution is a single post-loop pass driving
-          `vn → -e·vn_approach`, gated on a running max normal impulse
-          (`maxNormalImpulse`) so transient collisions still bounce under
-          per-substep warm-start.
-        - **Phase 3 — substep loop.** `substeps` sub-iterations at `h = dt/N`.
-          Forces consumed once at full `dt` before the loop; gravity applied
-          per substep; **warm-start replayed per substep** (the crux — a
-          per-substep impulse balances one substep of gravity, so resting
-          stacks hold at zero velocity). Contact geometry is re-derived
-          **analytically** each substep from frozen local witness anchors +
-          the trusted prepare-time depth (a sign-robust delta), so narrowphase
-          runs **once** per outer step — cheaper than the originally-planned
-          per-substep match-and-merge refresh, and exact for convex
-          primitives whose contact feature is stable under small motion.
-
-      Results vs the single-step solver: a 100:1 mass ratio now stacks
-      instead of crushing through (regression test added); 8-cube stacks
-      settle to zero velocity and sleep (were impossible long-term under SI);
-      falling-tower bench cost unchanged (~48 ms/1000 active bodies);
-      `substeps = 1` reproduces the single-step result bit-for-bit-ish
-      (one-frame restitution delay aside).
-
-      **Hard-won lessons (for REVIEW_002):**
-        - Warm-start MUST be per-substep, not once. Replaying a full-frame
-          impulse once while gravity arrives per substep over-pushes resting
-          contacts and *explodes* deep stacks. Per-substep warm-start +
-          per-substep gravity cancel exactly at rest.
-        - Restitution must gate on the *running max* normal impulse, not the
-          end-of-loop value — per-substep warm-start relaxes a transient
-          contact's `j_n` back to ~0 by the end, which would suppress the
-          bounce.
-        - Analytic separation re-derivation beats per-substep narrowphase
-          for convex shapes (cheaper, no manifold-lifecycle churn) but is
-          only as good as the frozen normal — see the concave caveat below.
-
-      Follow-ups since the core landed:
-        - [x] **Box-box SAT reference tie-break deadband** — aligned cube
-          stacks (4–10 high) now settle to zero velocity and sleep; the
-          reference-face flip-flop that creeped/toppled them is gone.
-        - [x] **Per-substep contact re-detection for concave pairs** — lifts
-          the dynamic-concave-body limitation; the torus-knot dynamic-settle
-          test is un-skipped. Concave pairs re-run narrowphase geometry each
-          substep (`redetect_concave_contacts`); convex pairs keep the cheap
-          analytic refresh.
-
-      Remaining (Phases 4–6) — now complete:
-        - [x] Regression coverage: heavy-on-light pyramid (10× capstone on two
-          light cubes settles + sleeps) and a ragdoll-stub (shoulder
-          ball-socket + elbow hinge arm hangs, stays articulated, settles).
-        - [x] REVIEW_002 retrospective — `engine/physics/REVIEW_002.md`.
-
-      References: Catto 2018 ("Soft Constraints" GDC talk + the TGS
-      follow-up); Box2D v3 source (`b2ApplyRestitution`, the substep solver
-      stages); Rapier as the closest architectural sibling.
-
-- [ ] **Constraints / joints — the next major work.** Now unblocked: TGS is
-      in (joint-chain convergence is a TGS sweet spot), warm-start +
-      per-substep + island machinery is reusable, and the SPOOK compliance
-      dial already in the contact solver gives soft/spring constraints
-      essentially for free. Target use cases: chains/ropes, ragdolls,
-      vehicles (incl. suspension), plus the common mechanical set (doors,
-      pistons, welds, grab/drag, winches, drivetrains).
-
-      **Foundational work (do first): generalise the solver to constraint
-      rows.** Today `solver/solve_contacts.js` is hard-coded to the
-      contact-shape constraint (normal + 2 friction tangents, ≥0 clamp,
-      restitution, penetration bias). Joints are equality / inequality
-      constraints on relative velocity at anchors, generally bilateral
-      (impulse may be ±) with optional limits and motors. The clean shape —
-      and what Jolt / Box2D-v3 do — is a **generic constraint row**: a
-      Jacobian (linear + angular parts per body), an effective mass, a bias
-      (position error × SPOOK gain, or motor target), and impulse bounds
-      `[lo, hi]` (`[0,∞)` for a contact/limit, `(−∞,∞)` for an equality,
-      `[−maxForce·h, +maxForce·h]` for a motor). Each joint type just fills
-      in its rows; the existing per-body impulse-apply primitive
-      (`apply_impulse_to_body` + `world_inverse_inertia_apply`), the
-      per-substep warm-start, the islands, and the split-impulse / SPOOK
-      position handling are all reused. Contacts become *one* constraint
-      type among several rather than the hard-coded path.
-
-      The specific constraint set, its use-case mapping, and per-type
-      architecture-fit assessment are under review (see the constraints
-      sketch). High level: ball-socket / distance / spring / weld and the
-      grab constraint are near drop-ins on the row machinery; hinge /
-      prismatic / cone-twist / motors / limits add angular-row + bounded-row
-      mechanics (still within the impulse framework); raycast vehicles,
-      conveyor surface-velocity, and gear/pulley coupling are higher-level
-      systems or contact modifiers that sit *on top of* the primitives
-      rather than being generic rows.
-
-      **Decision: build ONE configurable 6-DOF constraint** (PhysX D6 / Jolt
-      SixDOF), implemented mode-by-mode. The `Joint` ECS component carries
-      `dofMode[6]` (3 linear, 3 angular) each `{locked|free|limited|spring|
-      motor}` + per-DOF limit/spring/motor config + warm-start accumulators.
-      Concrete joints are configs, not new code (ball-socket = lock 3 linear;
-      hinge = lock 3 linear + 2 angular; weld = lock 6; cone-twist = lock 3
-      linear + limit 3 angular; suspension = spring 1 linear + lock rest).
-
-      Phasing:
-        1. [x] Constraint-row solver as a **parallel row set** in the TGS
-           substep loop (contacts left untouched, not ported — lower risk).
-           `constraint/solve_constraints.js` reuses `world_inverse_inertia`,
-           per-substep warm-start, and the SPOOK position bias; `Joint`
-           component + `link_joint`/`unlink_joint` in PhysicsSystem;
-           `jointIterations` knob. Bodies need no collider.
-        2. [x] **LOCKED linear DOFs → ball-socket.** Pendulum (anchor pinned
-           to a world pivot, body swings) and a 2-link chain (body↔body,
-           joints stay connected, chain hangs) pass. → **chains, ropes,
-           pendulums working.**
-        3. [x] LOCKED angular + linear DOFs in the frame basis — **weld,
-           hinge, prismatic done**. Joint frame bases
-           (`localBasisA`/`localBasisB`); BOTH linear and angular rows now
-           resolve in frame A's axes (cleared the world-axis linear debt — the
-           solver is fully frame-relative). Angular: relative rotation
-           `qD = conj(qA)·qB` → small-angle error, ωB−ωA rows + SPOOK bias.
-           Linear: `C·axis` error, vA−vB rows. `asWeld()` / `asHinge(axis)` /
-           `asPrismatic(axis)` presets. Verified: weld holds pose + orientation
-           against an off-centre torque; hinge swings about its free axis only
-           (locked axes < 0.02); prismatic slides along its one free axis,
-           locked on the others; all LOCKED-mode tests still green after the
-           frame-basis rewrite.
-        4. [ ] LIMITED + MOTOR (bounded rows) → doors, pistons, wheel
-           spin/drive, joint ROM.
-        5. [ ] SPRING (SPOOK soft) → suspension, bungees, soft ragdolls.
-        6. [ ] Cone-twist / swing-twist angular limits → ragdolls.
-        7. [ ] Vehicle layer — recommend a **raycast-vehicle controller**
-           (raycast + suspension force + tire friction; what most games ship)
-           on top of the queries, with simulated wheels via the 6-DOF as an
-           option. → vehicles.
-        8. [ ] Extras: pulley, gear, conveyor (contact surface-velocity),
-           breakable-joint flag.
-
-      Foundation gaps — both now closed:
-        - [x] **Island integration.** Jointed dynamic-dynamic bodies are
-          unioned into one island (`IslandBuilder` Pass 1b), so a chain /
-          ragdoll sleeps and wakes as a unit; `__wake_joints` propagates wake
-          across a joint when one side is awake and the other asleep
-          (e.g. a kinematic/motor driver pulling a sleeping chain). Verified:
-          a damped chain settles and both links sleep in one sleep group.
-        - [x] **Generation-checked body references.** `solve_joints`,
-          `IslandBuilder` Pass 1b and `__wake_joints` all gate on
-          `storage.is_valid(packedId)`, so a joint to an unlinked / slot-reused
-          body goes inert instead of attaching to the wrong body or crashing.
-          Verified: unlinking a jointed body leaves the joint inert and the
-          survivor free.
-
-      References: Catto / Box2D-v3 joint solvers; Jolt's `Constraint` base
-      (`SetupVelocityConstraint` / `WarmStartVelocityConstraint` /
-      `SolveVelocityConstraint` / `SolvePositionConstraint`); PhysX D6 /
-      ODE joint taxonomy.
-
-### Stability
-- [ ] **Closed-form triangle-vs-primitive solvers**
-      (`triangle_sphere_contact`, `triangle_box_contact`,
-      `triangle_capsule_contact`). The decomposition machinery is in
-      place (`Triangle3D` flyweight, `heightmap_enumerate_triangles` /
-      `mesh_enumerate_triangles`, `decompose_to_triangles` dispatcher,
-      `aabb_world_to_local`, `narrowphase_step.js` concave branch), but
-      the per-triangle narrowphase uses GJK + EPA which hits the
-      smooth-shape iteration cap and `Triangle3D`'s degenerate-support
-      issue. Closed-form solvers per primitive bypass both. This is now
-      the single biggest accuracy gap in the engine — it would:
-        - Unblock the `narrowphase_concave.spec.js` skipped tests (ball
-          drops on heightmap / mesh-cube settle correctly).
-        - Unblock the `PhysicsSystem.spec.js` torus-knot test.
-        - Improve `compute_penetration`'s closed-mesh accuracy (currently
-          documented over-reports on side faces).
-      Existing primitive pair solvers (`sphere_box_contact`,
-      `capsule_box_multi_contacts`, `box_box_manifold`) are the
-      blueprint. Triangle is roughly a box with two half-extents = 0.
-- [ ] **Edge-edge multi-point manifold** for skewed box contacts.
-- [ ] **Per-contact source-collider tracking** so multi-material compound
-      bodies get accurate per-contact friction/restitution. Requires
-      stashing the collider identity in the manifold contact stride.
-
-### Performance / Scale
-- [ ] **Per-body linear CCD shape-cast**: optional opt-in for fast-moving
-      bodies where speculative margin isn't enough. The bench's falling
-      tower (1km drop onto a 1cm floor) is the concrete reproducer —
-      180 / 1000 bodies tunnel.
-- [ ] **Per-island parallel solve**: today's island data layout would
-      allow worker-based solving once `SharedArrayBuffer` is available.
-      Out-of-scope unless / until SAB is universally usable.
-
-### Features
-- [ ] **Convex collision proxies for dynamic concave bodies.** The long-term
-      replacement for the interim per-substep concave re-detection (see
-      Limitations) — and how every major engine handles dynamic non-convex
-      shapes: collide a *few* convex pieces, never the raw concave mesh.
-        1. **3D convex hull builder** (meep has only 2D hulls today —
-           `core/geom/2d/convex-hull/`). A single hull of a mesh is one
-           collider / one broadphase leaf and covers the overwhelming majority
-           of dynamic objects (thrown props, debris). Pairs with the existing
-           "Convex hull shape + eigen-inertia" item below.
-        2. **Few-hull (V-HACD-style) approximate convex decomposition** for
-           shapes whose concavity matters (a cup, a chair): ~8–64 fat convex
-           hulls = 8–64 colliders, two orders of magnitude below a tet mesh.
-      Each hull is convex → stable contact feature → the TGS analytic refresh
-      is exact → no per-substep re-detection, no rocking. Granularity is the
-      whole point: collider/BVH-leaf count must stay small for an *awake*
-      dynamic body (the volumetric tet-mesher under `core/geom/3d/tetrahedra/`
-      is the wrong tool here — thousands of pieces — and belongs to a future
-      FEM/soft-body subsystem, not rigid collision).
-- [ ] **Convex hull shape** with eigen-based principal-axes inertia
-      derivation. Hooks `matrix_eigenvalues_in_place` from the existing
-      linalg layer.
-- [ ] **Cylinder / cone shapes** (closed-form pairs against the existing
-      family + GJK+EPA fallback for general convex).
-
-### API polish
-- [x] **`overlap(shape, position, rotation, output, output_offset,
-      filter?)`** — broadphase + narrowphase overlap query for kinematic
-      / AOE / selection use cases. Body_ids written into a caller-sized
-      Uint32Array buffer. Convex query shape only; concave candidates
-      are routed through the per-triangle decomposition path.
-- [x] **`shapeCast(ray, shape, rotation, result, filter?)`** for
-      character controllers and kinematic shape sweeps. Broadphase
-      swept-AABB against both BVHs; per-candidate AABB-slab interval
-      narrowing + coarse step + GJK bisection for time-of-impact. The
-      output `result.normal` is the true contact-surface normal at the
-      kiss point, computed by re-running GJK + EPA at `best_t` on the
-      winning candidate (falls back to `-ray.direction` only on EPA
-      degeneracies).
-- [x] **`compute_penetration(out_direction, shape_a, pos_a, rot_a,
-      shape_b, pos_b, rot_b)`** — standalone geometry primitive (no
-      PhysicsSystem) for resolving overlap between two shapes at given
-      poses. Returns depth + outward direction. Convex × convex via
-      GJK + EPA; convex × concave via per-triangle half-space test.
-
----
-
-## Future / out-of-scope
-
-These are explicit architectural exclusions or post-v1 explorations.
-
-### Architecture
-- **Cross-runtime bit-exact determinism**: a soft-float library would
-  replace `Math.sin/cos/exp/log/pow` in the hot path. The codebase is
-  already structured to make this a swap-in at `quat_integrate.js` and
-  tangent-basis construction in `build_manifold.js`. Not pursued because
-  the same-runtime determinism we have covers the common cases (single-
-  device replay, networked lockstep where all clients run the same JS
-  engine).
-- **WASM / SIMD**: the engine targets pure-JS portability. SIMD would
-  invalidate the determinism story (V8 doesn't expose deterministic
-  Float64x2 ops).
-- **Multi-threaded solver**: workers don't share memory cheaply without
-  `SharedArrayBuffer` plus the COOP/COEP HTTP headers, which are not
-  always available. Single-threaded is good-enough for the awake-body
-  budget that matters.
-
-### Simulation extensions
-- **Soft body / cloth / fluids**: the SoA layout in `BodyStorage` and the
-  manifold cache are rigid-body shaped. A soft-body system would be a
-  parallel subsystem, not an extension.
-- **Reduced-coordinate articulations** (MuJoCo / Featherstone-style):
-  game-physics audience runs in maximal coordinates by convention. Not
-  on the roadmap.
-
-### Game-side
-- **Vehicle physics** (suspensions, drivetrains): a domain layer that
-  sits on top of the rigid-body primitives, not in `meep/`.
-- **Character controllers**: same — `engine/control/first-person/` is the
-  natural home.
-
----
-
-## Notable design files
-
-- Original design plan: `C:\Users\Alex\.claude\plans\let-s-plan-to-implement-transient-harp.md`
-- This file (state of play): `engine/physics/PLAN.md`
+# Physics engine — state of play
+
+Tracker for what's built, what's pending, and what's deferred.
+
+---
+
+## Context
+
+Deterministic JS rigid-body physics engine for the meep ECS. Target: game
+scenarios with up to millions of mostly-sleeping bodies, deterministic replays
+for netcode and reproducible debugging, broad shape coverage for common game
+collisions. Pure JS — no WASM, no SIMD, no worker threads.
+
+Architectural references for design choices:
+- **Jolt** — pre-allocated body pool, active-list iteration, two-tree
+  broadphase (static + dynamic).
+- **Bullet** — `btPersistentManifold` cache layout with up to 4 points.
+- **Box2D / Catto** — sequential impulse with warm-starting, Sutherland-Hodgman
+  face clipping for box-box.
+
+---
+
+## Done
+
+### Foundations
+- `RigidBody`, `Collider`, `BodyKind`, `RigidBodyFlags`, `ColliderFlags`,
+  `SleepState`, `PhysicsEvents`.
+- `BodyStorage`: SoA pool, generation-tracked stable IDs, dense awake list,
+  min-heap free for deterministic ID reuse.
+- `PhysicsSystem`: full public API surface (gravity, force/impulse with and
+  without application point, torque, velocity setter, wake/sleep, contact
+  filter callback).
+- Binary serialization adapters for `RigidBody` and `Collider` (transient
+  runtime state deliberately excluded).
+- `PairUint32Map`: open-addressed Robin Hood + Fibonacci hash for the
+  pair → manifold-slot index (the one new collection added to `core/collection/`).
+
+### Pipeline (`PhysicsSystem.fixedUpdate`)
+1. Velocity integration (semi-implicit Euler, linear + angular, gravity,
+   damping, world-frame inverse-inertia for torque)
+2. Per-collider broadphase refit with fat AABB (Box2D-style velocity-padded
+   slack)
+3. Pair generation: per-leaf query against both BVHs (static + dynamic),
+   canonical `(min, max)` pairs, dedup via manifold touched flag
+4. Wake propagation for sleeping bodies in the pair list
+5. Narrowphase cross-product over collider lists
+6. Sequential-impulse solver (Catto-style, warm-start, friction, Baumgarte)
+7. Position integration (linear + quaternion)
+8. Sleep test (per-body velocity² below threshold for ≥ 0.5 s)
+9. Manifold diff → `ContactBegin` / `Stay` / `End` event dispatch
+10. `manifolds.advance_frame()` — roll touched bits, evict grace-expired slots
+
+### Shape coverage
+| Pair | Path | Manifold |
+|---|---|---|
+| sphere-sphere | closed-form | 1 point |
+| sphere-box | closed-form (handles centre-inside-box) | 1 point |
+| capsule-sphere | point-on-segment closed-form | 1 point |
+| capsule-capsule | segment-segment closest pair | 1 point |
+| capsule-box | iterative segment-vs-OBB (primary) + cap-centre sphere-vs-OBB at each endpoint | up to 3 |
+| box-box face-face | SAT + Sutherland-Hodgman clipping | up to 4 |
+| box-box edge-edge | SAT + segment-segment closest-pair | 1 point |
+| sphere / box / capsule × concave (heightmap, mesh) | closed-form `*_triangle_contact` per triangle via decomposition dispatcher | up to a few points per triangle (deepest wins) |
+| other convex × concave | per-triangle GJK + EPA via decomposition dispatcher | 1 point per triangle |
+| anything else | GJK + EPA, MPR fallback on EPA non-convergence | 1 point |
+
+### Non-convex shapes
+- **`is_convex` flag** on `AbstractShape3D.prototype` (default `true`).
+  Overridden to `false` on `HeightMapShape3D`, `MeshShape3D`, `UnionShape3D`.
+  `TransformedShape3D` inherits via getter that reads the wrapped subject.
+- **`HeightMapShape3D`** — orientation-vector + `Sampler2D`-backed terrain
+  shape. Heights sampled via `sampleChannelCatmullRomUV` (matching the
+  terrain system's geometry construction). Compute_bounding_box,
+  contains_point, signed_distance, nearest_point_on_surface all
+  implemented; `support` throws (non-convex by construction).
+- **`Triangle3D`** — buffer-flyweight convex shape. `bind(buffer, offset)`
+  repoints at 9 consecutive floats in an external Float64Array. Zero
+  allocation per emission; used by the decomposition path.
+- **Triangle decomposition machinery** under
+  `engine/physics/narrowphase/decomposition/`:
+    - `TRIANGLE_FLOAT_STRIDE = 10` per triangle (`vA.xyz`, `vB.xyz`,
+      `vC.xyz`, `feature_id`).
+    - `heightmap_enumerate_triangles(out, offset, shape, ...aabb)` —
+      Arvo-projects the convex's AABB into heightmap-local, intersects
+      with the footprint to derive a cell range, emits 2 triangles per
+      cell with stable feature_ids.
+    - `mesh_enumerate_triangles(out, offset, shape, ...aabb)` — linear
+      O(N) scan over `MeshShape3D.indices` with tight per-triangle AABB
+      filtering. feature_id = triangle index.
+    - `aabb_world_to_local(out, world_aabb, pos, rot)` — 8-corner
+      projection of a world AABB into a body's local frame.
+    - `decompose_to_triangles(...)` — dispatcher switching on shape
+      type marker.
+- **Narrowphase concave dispatch** in `narrowphase_step.js`: detects
+  `is_convex === false`, computes convex's world AABB, projects to
+  concave's local frame, decomposes, per-triangle GJK + EPA with
+  one-sided face-normal rejection and contact-normal dedup. Concave-vs-
+  concave dynamic pairs are explicitly refused.
+
+### Solver
+- Sequential impulse with warm-starting (10 velocity iterations by default).
+- Coulomb friction with disk-clamped tangent impulses.
+- Baumgarte position correction folded into the velocity solve.
+- Full angular Jacobian (`I_w⁻¹ = R · diag · R^T`) and angular impulse
+  application.
+- Public force/impulse-at-point API (`applyForceAt`, `applyImpulseAt`,
+  `applyTorque`).
+
+### Sleep + events
+- Per-island **atomic sleep**: an island sleeps when `max(|v|² + |ω|²)`
+  across all members stays below the threshold long enough; the whole
+  island sleeps in the same frame. Replaces the per-body chatter on
+  weakly-connected piles.
+- **Atomic wake**: members of a sleeping island are threaded into a
+  circular doubly-linked list (`sleep_group_next` / `sleep_group_prev`);
+  waking any one member walks the chain and wakes the rest in the same
+  call. A 100-block stack hit at the base wakes top-down in one frame
+  rather than over 100 frames of broadphase propagation.
+- `DisableSleep` on any island member exempts the whole island.
+- ContactBegin / Stay / End buffer + dispatch through both
+  `PhysicsSystem.onContactBegin/Stay/End` Signals and the per-entity
+  `entity.sendEvent(PhysicsEvents.ContactBegin, ...)` channel (when a
+  dataset is attached).
+
+### Islands
+- **Union-find** with path halving + union by min-index over the awake-body
+  + touched-contact graph (`engine/physics/island/union_find.js`).
+- **`IslandBuilder`** produces deterministic CSR-style output: bodies and
+  manifold slots grouped by island, sorted ascending within and across
+  islands. Static / kinematic bodies are constraint anchors only — they
+  don't merge islands, so disjoint piles on the same floor are separate
+  islands.
+- **Solver iterates per island**: impulse convergence happens inside an
+  island without waiting on unrelated bodies' Gauss-Seidel updates, and
+  disconnected awake bodies don't pay each other's solver cost.
+
+### Compound bodies
+- A body has 0..N attached colliders. Each collider has its own world
+  transform and its own BVH leaf.
+- Same-entity colliders, child-entity colliders (via `ParentEntity`), or
+  hybrids all supported.
+- `ColliderObserverSystem` auto-attaches colliders via the dataset when
+  paired with `PhysicsSystem` in an EntityManager.
+- Narrowphase runs the cross-product over both bodies' collider lists per
+  body-pair, accumulates candidates, reduces to ≤4 contacts by
+  depth + spread.
+
+### Public queries
+- `raycast(origin, dir, max_dist, filter?)` — nearest hit across both trees,
+  **refined to the true shape surface** (narrowphase). `result.t` /
+  `result.normal` are exact for sphere / box / capsule / mesh / heightmap
+  colliders (per-leaf analytic ray tests + triangle Möller–Trumbore for
+  concave); composite convex shapes fall back to the broadphase AABB hit. A ray
+  crossing a fat leaf AABB but missing the true shape is correctly a miss.
+- `shapeCast(ray, shape, rotation, result, filter?)` — broadphase swept
+  AABB against both BVHs; per-candidate AABB-slab interval narrowing,
+  coarse step over the narrowed window, GJK bisection to time-of-impact.
+  Output normal is the true contact-surface normal at the kiss point,
+  recovered by re-running GJK + EPA at `best_t` on the winning candidate.
+  Falls back to `-ray.direction` only on EPA degeneracies (NaN / zero
+  depth). Tests cover axis-aligned, off-axis, and oblique cube-vs-cube;
+  sphere-vs-smooth-shape near-tangent has documented angular tolerance
+  bands inherited from EPA on smooth supports.
+- `overlap(shape, position, rotation, output, output_offset, filter?)`
+  — broadphase + per-candidate GJK overlap detection. Writes body_ids
+  into a caller-sized buffer; returns count. Convex query shapes only
+  (concave throws). Concave candidates routed through the per-triangle
+  decomposition path. Designed for speculative kinematic queries on
+  kinematic bodies (character controllers, AOE selection).
+
+### Standalone narrowphase utilities
+- `compute_penetration(out_direction, shape_a, pos_a, rot_a, shape_b,
+  pos_b, rot_b)` — non-system geometry primitive: positive penetration
+  depth + outward direction (B → A convention) on overlap, 0 otherwise.
+  Convex × convex uses GJK + EPA. Convex × concave uses per-triangle
+  half-space test (`convex.support(-face_normal)` projected onto each
+  triangle's plane), aggregated deepest-wins. The half-space approach
+  sidesteps `Triangle3D`'s degenerate support along face-normal axes
+  (the same issue that makes per-triangle GJK return false positives
+  on clearly non-overlapping sphere-above-flat configurations).
+  Concave × concave throws (M×N triangle pairs is out of scope).
+  Naturally handles "body inside the concave solid" — reports the depth
+  needed to push back through the nearest face. Documented limitation:
+  closed meshes can over-report on side faces whose 2D extent the
+  convex shape's flank crosses; a future closed-form triangle-vs-X
+  solver fixes this.
+
+### Determinism
+- Direct typed-array writes on hot paths (bypassing `Vector3#set`'s observer
+  dispatch) — Transform writes still go through `set()` because external
+  systems subscribe (TransformAttachment, EntityNode, FogOfWarRevealer,
+  ViewportPosition).
+- Active body iteration sorted by body index.
+- Pair canonicalisation `(min, max)`.
+- Min-heap free list for slot reuse.
+- No `Math.random` anywhere in the simulation step.
+- Same-runtime bit-exact determinism by design; cross-runtime is a known
+  future seam.
+
+### Migration
+- `Motion` / `MotionSystem` / `MotionSerializationAdapter` relocated from
+  the meep core (`engine/ecs/`) to the game-domain layer
+  (`mir-engine/model/game/ecs/`). meep no longer ships the legacy shim.
+
+### Alternative narrowphase: MPR
+- `engine/physics/gjk/mpr.js` — Minkowski Portal Refinement (XenoCollide,
+  Snethen GDC 2009). Single-pass overlap test + MTV computation,
+  output convention matches EPA so it's drop-in compatible at any
+  narrowphase call site. Tends to converge in 5–15 iterations on
+  smooth shapes where EPA stalls (the polytope-on-curved-surface
+  failure mode the torus-knot reproducer exercised). **Wired as the EPA
+  non-convergence fallback** in `narrowphase_step` at both the body-level
+  and per-triangle GJK+EPA paths: when EPA returns a non-positive / non-finite
+  depth, MPR is tried before giving up. `shape_cast` and `compute_penetration`
+  use it for the same reason.
+
+### Bonus utilities
+- `core/geom/3d/line/line3_closest_points_segment_segment.js` — generally
+  useful 3D segment-segment closest-pair via Ericson §5.1.9.
+- `core/collection/PairUint32Map.js` — non-allocating
+  `Map<(u32, u32) → u32>` with Robin Hood + Fibonacci hash.
+
+---
+
+## Limitations / Known caveats
+
+- **Multi-collider material precision**: solver reads friction/restitution
+  from the first-attached collider of each body. Mixed-material compound
+  bodies lose accuracy here. The contact-filter callback's `colliderA/B`
+  arguments are similarly the body's primary collider, not the specific
+  collider in contact.
+- **EPA on smooth shapes**: degenerates (no flat face to converge on).
+  Mitigated by closed-form paths for sphere/cube/capsule pairs and by the
+  **MPR fallback** on EPA non-convergence; exotic convex shapes vs spheres can
+  still occasionally fail if both EPA and MPR degenerate.
+- **EPA on `Triangle3D`** — *resolved.* The concave dispatch now uses the
+  closed-form `sphere_triangle_contact` / `box_triangle_contact` /
+  `capsule_triangle_contact` solvers (P1.1a–c) instead of per-triangle GJK+EPA
+  for those primitives, so a sphere/box/capsule on a heightmap or mesh decelerates
+  and settles correctly; the `narrowphase_concave.spec.js` "drop and settle"
+  cases and the mesh torus-knot settle test are **un-skipped**. Per-triangle
+  GJK+EPA remains only as the fallback for *other* convex shapes vs triangles
+  (and `compute_penetration` still uses the half-space pre-test there).
+- **Box-box edge-edge contact**: a single point at the true closest-pair of the
+  two edges (P3.2), not the old body-centre midpoint. This is geometrically
+  correct for a true edge-edge crossing; **multi-point** edge contacts (for
+  near-parallel edges) remain a backlog refinement.
+- **CCD floor only**: speculative margin via the fattened AABB prevents
+  most tunnelling. No per-body swept shape-cast for very fast objects.
+- **Cross-runtime determinism is not guaranteed**: `Math.sin/cos/exp/log`
+  are ULP-correct but not bit-exact across V8 / SpiderMonkey / JSC.
+- **Dynamic concave bodies under TGS** — *resolved by per-substep re-detection
+  (below); kept here for the rationale.* The substep loop normally re-derives
+  contact geometry analytically from the per-triangle contact feature (witness
+  anchors + normal) captured once by narrowphase and held fixed for the whole
+  outer step. For a convex body the contact feature is stable under the small
+  per-step motion, so this is exact; for a *dynamic concave mesh body* (e.g. a
+  torus knot rocking on its own lobes) the supporting triangle itself changes
+  as the body rocks, so freezing the feature would pump a little energy in and
+  the body would rock / slowly sink instead of settling. Note this is NOT a
+  contact-precision issue —
+  the knot already uses the exact closed-form box-triangle solver (P1.1b);
+  the problem is purely that TGS freezes *which* feature is in contact across
+  substeps. The common concave case — a convex dynamic body on static concave
+  terrain — is unaffected (the convex side's feature is stable), and that is
+  the only concave case the engine targets.
+
+  **Interim fix (implemented): per-substep concave re-detection.** For
+  contact pairs involving a concave body, the substep loop re-runs the
+  concave narrowphase geometry at the current substep pose (instead of the
+  analytic refresh that freezes the feature) and re-prepares those contacts
+  from the fresh witness/normal/depth — so the contact normal tracks the
+  rocking body and no energy is pumped in. Convex pairs keep the cheap
+  analytic refresh. This is ~Nx narrowphase cost on concave-involved pairs
+  (acceptable — they're rare), gated by collider convexity. Un-skips the
+  torus-knot dynamic-settle test.
+
+  **Better long-term fix: convex collision proxies (not raw concave).** Every
+  major engine (Box2D, Jolt, PhysX, Rapier) requires dynamic bodies to be
+  convex or convex-decomposed; raw concave meshes are static-only. The right
+  granularity is a *few* convex pieces — NOT the thousands of tets a
+  volumetric mesher produces (tet count ≈ collider/BVH-leaf count, which
+  explodes the broadphase for an awake body; tet meshing is for a future
+  FEM/soft-body subsystem, not rigid collision). See the "Convex collision
+  proxies for dynamic concave bodies" backlog item — a 3D convex hull builder
+  (single-hull proxy covers most dynamic objects) plus an optional
+  few-hull (V-HACD-style) decomposition. Those supersede the interim
+  per-substep re-detection once built.
+
+---
+
+## Backlog (planned, in scope)
+
+### Solver quality (next major work)
+
+These items move the engine from "competent" to "great". TGS is the next
+significant solver-architecture change; joints come after, once the TGS
+scaffolding is in place.
+
+- **TGS (Temporal Gauss-Seidel) substepping with split-impulse** — Phases
+      1–3 **LANDED**. The solver is now a staged TGS pipeline
+      (`solver/solve_contacts.js`: `prepare_contacts` → per substep
+      [`refresh_contacts` → `warm_start_contacts` → `solve_velocity` →
+      `solve_position`] → `apply_restitution`), driven by the substep loop in
+      `PhysicsSystem.fixedUpdate`. Defaults: `substeps = 4`,
+      `velocityIterations = 4`, `positionIterations = 1` (all fields on
+      `PhysicsSystem`).
+        - **Phase 1 — split impulse.** Position correction runs on a per-body
+          pseudo-velocity (`__pseudo_velocity`) folded into the pose by
+          `integrate_position` and discarded; depth correction never
+          contaminates persistent velocity.
+        - **Phase 2 — one-shot restitution.** Velocity pass is pure
+          non-penetration; restitution is a single post-loop pass driving
+          `vn → -e·vn_approach`, gated on a running max normal impulse
+          (`maxNormalImpulse`) so transient collisions still bounce under
+          per-substep warm-start.
+        - **Phase 3 — substep loop.** `substeps` sub-iterations at `h = dt/N`.
+          Forces consumed once at full `dt` before the loop; gravity applied
+          per substep; **warm-start replayed per substep** (the crux — a
+          per-substep impulse balances one substep of gravity, so resting
+          stacks hold at zero velocity). Contact geometry is re-derived
+          **analytically** each substep from frozen local witness anchors +
+          the trusted prepare-time depth (a sign-robust delta), so narrowphase
+          runs **once** per outer step — cheaper than the originally-planned
+          per-substep match-and-merge refresh, and exact for convex
+          primitives whose contact feature is stable under small motion.
+
+      Results vs the single-step solver: a 100:1 mass ratio now stacks
+      instead of crushing through (regression test added); 8-cube stacks
+      settle to zero velocity and sleep (were impossible long-term under SI);
+      falling-tower bench cost unchanged (~48 ms/1000 active bodies);
+      `substeps = 1` reproduces the single-step result bit-for-bit-ish
+      (one-frame restitution delay aside).
+
+      **Hard-won lessons (for REVIEW_002):**
+        - Warm-start MUST be per-substep, not once. Replaying a full-frame
+          impulse once while gravity arrives per substep over-pushes resting
+          contacts and *explodes* deep stacks. Per-substep warm-start +
+          per-substep gravity cancel exactly at rest.
+        - Restitution must gate on the *running max* normal impulse, not the
+          end-of-loop value — per-substep warm-start relaxes a transient
+          contact's `j_n` back to ~0 by the end, which would suppress the
+          bounce.
+        - Analytic separation re-derivation beats per-substep narrowphase
+          for convex shapes (cheaper, no manifold-lifecycle churn) but is
+          only as good as the frozen normal — see the concave caveat below.
+
+      Follow-ups since the core landed:
+        - [x] **Box-box SAT reference tie-break deadband** — aligned cube
+          stacks (4–10 high) now settle to zero velocity and sleep; the
+          reference-face flip-flop that creeped/toppled them is gone.
+        - [x] **Per-substep contact re-detection for concave pairs** — lifts
+          the dynamic-concave-body limitation; the torus-knot dynamic-settle
+          test is un-skipped. Concave pairs re-run narrowphase geometry each
+          substep (`redetect_concave_contacts`); convex pairs keep the cheap
+          analytic refresh.
+
+      Remaining (Phases 4–6) — now complete:
+        - [x] Regression coverage: heavy-on-light pyramid (10× capstone on two
+          light cubes settles + sleeps) and a ragdoll-stub (shoulder
+          ball-socket + elbow hinge arm hangs, stays articulated, settles).
+        - [x] REVIEW_002 retrospective — `engine/physics/REVIEW_002.md`.
+
+      References: Catto 2018 ("Soft Constraints" GDC talk + the TGS
+      follow-up); Box2D v3 source (`b2ApplyRestitution`, the substep solver
+      stages); Rapier as the closest architectural sibling.
+
+- [x] **Constraints / joints — DONE (phases 1–7 below).** One configurable
+      6-DOF joint (lock/free/limit/motor/spring + swing-twist cone-twist) plus
+      the raycast vehicle. Covers chains/ropes, ragdolls, vehicles (incl.
+      suspension), and the mechanical set (doors, pistons, welds, sliders,
+      powered hinges/wheels). The design rationale below is kept as history; the
+      phasing checklist records what landed. Solver/joint retrospective in
+      `REVIEW_003.md`.
+
+      Original framing (now satisfied): TGS unblocked it (joint-chain
+      convergence is a TGS sweet spot), warm-start + per-substep + island
+      machinery was reusable, and the SPOOK compliance dial gave spring
+      constraints essentially for free.
+
+      **Foundational work (do first): generalise the solver to constraint
+      rows.** Today `solver/solve_contacts.js` is hard-coded to the
+      contact-shape constraint (normal + 2 friction tangents, ≥0 clamp,
+      restitution, penetration bias). Joints are equality / inequality
+      constraints on relative velocity at anchors, generally bilateral
+      (impulse may be ±) with optional limits and motors. The clean shape —
+      and what Jolt / Box2D-v3 do — is a **generic constraint row**: a
+      Jacobian (linear + angular parts per body), an effective mass, a bias
+      (position error × SPOOK gain, or motor target), and impulse bounds
+      `[lo, hi]` (`[0,∞)` for a contact/limit, `(−∞,∞)` for an equality,
+      `[−maxForce·h, +maxForce·h]` for a motor). Each joint type just fills
+      in its rows; the existing per-body impulse-apply primitive
+      (`apply_impulse_to_body` + `world_inverse_inertia_apply`), the
+      per-substep warm-start, the islands, and the split-impulse / SPOOK
+      position handling are all reused. Contacts become *one* constraint
+      type among several rather than the hard-coded path.
+
+      The specific constraint set, its use-case mapping, and per-type
+      architecture-fit assessment are under review (see the constraints
+      sketch). High level: ball-socket / distance / spring / weld and the
+      grab constraint are near drop-ins on the row machinery; hinge /
+      prismatic / cone-twist / motors / limits add angular-row + bounded-row
+      mechanics (still within the impulse framework); raycast vehicles,
+      conveyor surface-velocity, and gear/pulley coupling are higher-level
+      systems or contact modifiers that sit *on top of* the primitives
+      rather than being generic rows.
+
+      **Decision: build ONE configurable 6-DOF constraint** (PhysX D6 / Jolt
+      SixDOF), implemented mode-by-mode. The `Joint` ECS component carries
+      `dofMode[6]` (3 linear, 3 angular) each `{locked|free|limited|spring|
+      motor}` + per-DOF limit/spring/motor config + warm-start accumulators.
+      Concrete joints are configs, not new code (ball-socket = lock 3 linear;
+      hinge = lock 3 linear + 2 angular; weld = lock 6; cone-twist = lock 3
+      linear + limit 3 angular; suspension = spring 1 linear + lock rest).
+
+      Phasing:
+        1. [x] Constraint-row solver as a **parallel row set** in the TGS
+           substep loop (contacts left untouched, not ported — lower risk).
+           `constraint/solve_constraints.js` reuses `world_inverse_inertia`,
+           per-substep warm-start, and the SPOOK position bias; `Joint`
+           component + `link_joint`/`unlink_joint` in PhysicsSystem;
+           `jointIterations` knob. Bodies need no collider.
+        2. [x] **LOCKED linear DOFs → ball-socket.** Pendulum (anchor pinned
+           to a world pivot, body swings) and a 2-link chain (body↔body,
+           joints stay connected, chain hangs) pass. → **chains, ropes,
+           pendulums working.**
+        3. [x] LOCKED angular + linear DOFs in the frame basis — **weld,
+           hinge, prismatic done**. Joint frame bases
+           (`localBasisA`/`localBasisB`); BOTH linear and angular rows now
+           resolve in frame A's axes (cleared the world-axis linear debt — the
+           solver is fully frame-relative). Angular: relative rotation
+           `qD = conj(qA)·qB` → small-angle error, ωB−ωA rows + SPOOK bias.
+           Linear: `C·axis` error, vA−vB rows. `asWeld()` / `asHinge(axis)` /
+           `asPrismatic(axis)` presets. Verified: weld holds pose + orientation
+           against an off-centre torque; hinge swings about its free axis only
+           (locked axes < 0.02); prismatic slides along its one free axis,
+           locked on the others; all LOCKED-mode tests still green after the
+           frame-basis rewrite.
+        4. [x] LIMITED + MOTOR (bounded rows) → doors, pistons, wheel
+           spin/drive, joint ROM. **LIMITED done** (linear + angular):
+           `setLinearLimit(axis,lo,hi)` / `setAngularLimit(axis,lo,hi)` set a
+           per-DOF travel/ROM range. The whole row set is now **one mode-
+           agnostic solve** parameterised by `(bias, clamp range)`: LOCKED is
+           the bilateral case (Baumgarte bias, unclamped); LIMITED is a
+           **speculative (β=1) one-sided velocity constraint** that removes
+           exactly the approach velocity so the DOF *lands on* its stop (no
+           penetration, no rebound — an inelastic end-stop) and self-gates when
+           far from the bound; only the push-out side of the bias is clamped so
+           a teleport is eased out, not yanked. Verified: a vertical slider
+           falls freely then stops dead on its lower stop (lands at the bound,
+           no overshoot/rebound, locked axes held); a spun hinge stops dead on
+           each ±end-stop with no rebound and holds. Angular position is the
+           small-angle measure (`2·sin(θ/2)`) — accurate for modest ROM, see
+           phase 6 for wide cones. **MOTOR next** (target-velocity row, impulse
+           clamped to `±maxForce·h`).
+        5. [x] SPRING (SPOOK soft) → suspension, bungees, soft ragdolls.
+           `setLinearSpring(axis,k,c)` / `setAngularSpring(axis,k,c)`. A
+           compliant (regularised) row in the same unified solve: per substep
+           `denom = c + h·k`, compliance `γ = 1/(h·denom)`, restoring bias
+           `(k/denom)·C`, softened mass `1/(K+γ)`; the iteration carries one
+           extra `+ γ·λ_accum` term (γ = 0 ⇒ the LOCKED/LIMITED/MOTOR rows are
+           bit-for-bit unchanged). Verified: a vertical strut settles at exactly
+           the m·g/k deflection and a stiffer spring sags less and stays stable;
+           an undamped spring oscillates about equilibrium (stores energy) while
+           a damped one comes to rest; a torsional spring holds a gravity-loaded
+           hinge at its balance angle. Suspension element ready (the simulated-
+           wheel option for phase 7); also the soft basis for cone-twist.
+        6. [x] Cone-twist / swing-twist angular limits → ragdolls. Opt-in
+           `Joint.swingTwist` (or the `asConeTwist(twistLo,twistHi,swingY[,swingZ])`
+           preset) switches the angular position measure from the per-axis
+           small-angle vector to a swing-twist decomposition: angular X = twist
+           about the bone, Y/Z = swing off it, each an **exact** angle. The
+           existing LIMITED/SPRING/LOCKED rows are reused unchanged on those
+           positions, so a twist/swing limit holds at the true angle at wide
+           ROM (a 1.2 rad swing stops at 1.2, where the small-angle proxy
+           drifts to ~1.287). Verified: exact swing/twist stops, free-within-
+           cone, twist/swing independence; default (small-angle) path untouched.
+           **Decision — inlined, not the Quaternion method.** Benchmarked the
+           allocation-free inlined `swing_twist_error` against
+           `Quaternion.computeSwingAndTwist` (`swing_twist.bench.spec.js`): the
+           inline is **~5x** faster than the method with reused out-params and
+           **~10x** vs the naive fresh-allocation form (object property access +
+           normalize + a quaternion multiply + GC). In the per-substep
+           per-joint hot loop that margin is worth the duplicated math, so the
+           solver inlines it (the Quaternion method stays for general callers).
+        7. [x] Vehicle layer — **raycast-vehicle controller**
+           (`vehicle/RaycastVehicle.js`): single chassis body + raycast wheels.
+           Per frame (before `fixedUpdate`) each wheel casts its suspension ray,
+           applies a spring+damper suspension force along the contact normal
+           (`applyForceAt`), and a tyre-friction impulse (`applyImpulseAt`) —
+           lateral grip that cancels side-slip plus longitudinal drive/brake,
+           clamped together to a friction circle μ·N. `addWheel`, `setSteering`,
+           `setDriveForce`, `setBrake`; per-wheel runtime (contact, compression,
+           normal, spin) for rendering. A controller on top of the public
+           `raycast` + force API, not a new constraint; the 6-DOF spring+motor
+           is the simulated-wheel alternative. Verified: hovers on its springs
+           (4 contacts, settled), drives/coasts/brakes along its axis, tyre grip
+           arrests a sideways shove, steering turns it upright, and it free-falls
+           cleanly when airborne. Note: suspension is one dt-force per frame (not
+           per-substep), so a resting chassis carries a ~g·h velocity-sample
+           artifact (it hovers stably; position is steady to sub-cm). Ray
+           accuracy follows `PhysicsSystem.raycast` — now narrowphase-exact for
+           sphere / box / capsule / mesh / heightmap ground.
+        8. [ ] Extras: pulley, gear, conveyor (contact surface-velocity),
+           breakable-joint flag.
+
+      Foundation gaps — both now closed:
+        - [x] **Island integration.** Jointed dynamic-dynamic bodies are
+          unioned into one island (`IslandBuilder` Pass 1b), so a chain /
+          ragdoll sleeps and wakes as a unit; `__wake_joints` propagates wake
+          across a joint when one side is awake and the other asleep
+          (e.g. a kinematic/motor driver pulling a sleeping chain). Verified:
+          a damped chain settles and both links sleep in one sleep group.
+        - [x] **Generation-checked body references.** `solve_joints`,
+          `IslandBuilder` Pass 1b and `__wake_joints` all gate on
+          `storage.is_valid(packedId)`, so a joint to an unlinked / slot-reused
+          body goes inert instead of attaching to the wrong body or crashing.
+          Verified: unlinking a jointed body leaves the joint inert and the
+          survivor free.
+
+      References: Catto / Box2D-v3 joint solvers; Jolt's `Constraint` base
+      (`SetupVelocityConstraint` / `WarmStartVelocityConstraint` /
+      `SolveVelocityConstraint` / `SolvePositionConstraint`); PhysX D6 /
+      ODE joint taxonomy.
+
+### Stability
+- [x] **Closed-form triangle-vs-primitive solvers** — `sphere_triangle_contact`
+      / `box_triangle_contact` / `capsule_triangle_contact` (P1.1a–c), wired into
+      the concave decomposition dispatch in place of per-triangle GJK+EPA for
+      those primitives. Un-skipped the `narrowphase_concave.spec.js` ball-on-
+      heightmap / mesh-cube settle tests and the `PhysicsSystem.spec.js`
+      torus-knot test. Per-triangle GJK+EPA remains only as the fallback for
+      *other* convex shapes vs triangles; `compute_penetration` keeps its
+      half-space pre-test there (its closed-mesh over-report caveat stands for
+      that fallback path).
+- [ ] **Edge-edge multi-point manifold** for near-parallel box edge contacts
+      (the single closest-pair point from P3.2 is correct for a true edge-edge
+      crossing; this is the multi-point refinement).
+- [ ] **Per-contact source-collider tracking** so multi-material compound
+      bodies get accurate per-contact friction/restitution. Requires
+      stashing the collider identity in the manifold contact stride.
+
+### Performance / Scale
+- [ ] **Per-body linear CCD shape-cast**: optional opt-in for fast-moving
+      bodies where speculative margin isn't enough. The bench's falling
+      tower (1km drop onto a 1cm floor) is the concrete reproducer —
+      180 / 1000 bodies tunnel.
+- [ ] **Broadphase BVH balance / raycast traversal cost**: the raycast bench
+      (`queries/raycast.bench.spec.js`) shows ~linear-in-N per-ray cost
+      (~50 µs/ray at 500 bodies), i.e. a ray walks most of the tree — the static
+      BVH built by sequential `link` inserts is poorly balanced. Orthogonal to
+      raycast narrowphase (which adds only per-crossed-leaf refine, <1% here);
+      affects every BVH query. Needs a balanced/refitting build (SAH or
+      incremental rotation) on the static tree.
+- [ ] **Per-island parallel solve**: today's island data layout would
+      allow worker-based solving once `SharedArrayBuffer` is available.
+      Out-of-scope unless / until SAB is universally usable.
+
+### Features
+- [ ] **Convex collision proxies for dynamic concave bodies.** The long-term
+      replacement for the interim per-substep concave re-detection (see
+      Limitations) — and how every major engine handles dynamic non-convex
+      shapes: collide a *few* convex pieces, never the raw concave mesh.
+        1. **3D convex hull builder** (meep has only 2D hulls today —
+           `core/geom/2d/convex-hull/`). A single hull of a mesh is one
+           collider / one broadphase leaf and covers the overwhelming majority
+           of dynamic objects (thrown props, debris). Pairs with the existing
+           "Convex hull shape + eigen-inertia" item below.
+        2. **Few-hull (V-HACD-style) approximate convex decomposition** for
+           shapes whose concavity matters (a cup, a chair): ~8–64 fat convex
+           hulls = 8–64 colliders, two orders of magnitude below a tet mesh.
+      Each hull is convex → stable contact feature → the TGS analytic refresh
+      is exact → no per-substep re-detection, no rocking. Granularity is the
+      whole point: collider/BVH-leaf count must stay small for an *awake*
+      dynamic body (the volumetric tet-mesher under `core/geom/3d/tetrahedra/`
+      is the wrong tool here — thousands of pieces — and belongs to a future
+      FEM/soft-body subsystem, not rigid collision).
+- [ ] **Convex hull shape** with eigen-based principal-axes inertia
+      derivation. Hooks `matrix_eigenvalues_in_place` from the existing
+      linalg layer.
+- [ ] **Cylinder / cone shapes** (closed-form pairs against the existing
+      family + GJK+EPA fallback for general convex).
+
+### API polish
+- [x] **`overlap(shape, position, rotation, output, output_offset,
+      filter?)`** — broadphase + narrowphase overlap query for kinematic
+      / AOE / selection use cases. Body_ids written into a caller-sized
+      Uint32Array buffer. Convex query shape only; concave candidates
+      are routed through the per-triangle decomposition path.
+- [x] **`shapeCast(ray, shape, rotation, result, filter?)`** for
+      character controllers and kinematic shape sweeps. Broadphase
+      swept-AABB against both BVHs; per-candidate AABB-slab interval
+      narrowing + coarse step + GJK bisection for time-of-impact. The
+      output `result.normal` is the true contact-surface normal at the
+      kiss point, computed by re-running GJK + EPA at `best_t` on the
+      winning candidate (falls back to `-ray.direction` only on EPA
+      degeneracies).
+- [x] **`compute_penetration(out_direction, shape_a, pos_a, rot_a,
+      shape_b, pos_b, rot_b)`** — standalone geometry primitive (no
+      PhysicsSystem) for resolving overlap between two shapes at given
+      poses. Returns depth + outward direction. Convex × convex via
+      GJK + EPA; convex × concave via per-triangle half-space test.
+
+### Raycast narrowphase (done)
+
+**Problem.** `raycast` (and the suspension ray inside `RaycastVehicle`) resolves
+only to the nearest BVH leaf's *inflated* AABB: `result.t` is the distance to
+that fattened box and `result.normal` is its face normal. Exact for an
+axis-aligned box (modulo the broadphase margin), coarse for spheres / capsules /
+rotated boxes / meshes / heightmaps. Refine each candidate against the true
+shape to return the exact surface distance + normal. `shapeCast` already does
+this for swept convex shapes via GJK+EPA; `raycast` should get the same
+treatment with cheap analytic primitives on the hot path.
+
+**Design.** Mirror `narrowphase_step`'s dispatch: closed-form ray tests for the
+common primitives, a generic GJK fallback for the rest. The structural change is
+in the BVH walk — the nearest *leaf AABB* is **not** the nearest *shape hit* (a
+ray can clip a near fat-AABB but miss its shape while hitting a farther one), so
+every crossing leaf must be refined, with subtrees pruned by inflated-AABB
+`t_near` vs the best *refined* `t` (conservative-correct: a shape hit is always
+≥ its tight AABB entry ≥ its inflated AABB entry). A leaf whose ray crosses the
+fat AABB but misses the true shape now contributes **no hit** — the key
+correctness gain.
+
+Phasing (each phase: implement → spec → run from `H:/git/moh` → commit):
+
+1. [x] **Ray-primitive helpers** — landed as `narrowphase/ray_shapes.js`
+   (local-frame `ray_sphere_local` / `ray_box_local` / `ray_capsule_local`,
+   not `core/geom`: the (`t`, normal, miss = `Infinity`, first-hit-from-outside)
+   convention is raycast-specific, and the dispatch shares one ray→local
+   transform across them). Built local-frame (unit direction ⇒ `t` preserved;
+   rotate the local normal back). Triangle MT is inlined in the concave path
+   (the existing `computeTriangleRayIntersection` writes a `SurfacePoint3` and
+   returns no `t` — unsuited to the buffer-flyweight loop). Colocated specs.
+2. [x] **Ray-narrowphase dispatch** `narrowphase/refine_ray_hit.js`:
+   `(shape, position, rotation, ox,oy,oz, dx,dy,dz, tMax, outNormal) → t`.
+   Type-marker dispatch (`isUnitSphereShape3D` / `isBoxShape3D` /
+   `isCapsuleShape3D`) to the analytic primitives; a generic convex fallback
+   for `TransformedShape3D` / `UnionShape3D` / other (GJK ray-cast, or reuse
+   `shape_cast` with a zero-radius `PointShape3D`).
+3. [x] **Concave path** in the dispatch: for `is_convex === false` (mesh /
+   heightmap), enumerate the triangles overlapping the ray's swept AABB
+   (`mesh_enumerate_triangles` / `heightmap_enumerate_triangles`), Möller–
+   Trumbore each, take the nearest; normal from the triangle winding.
+4. [x] **Rewire `queries/raycast.js`**: at each leaf, call `refine_ray_hit` on
+   the true shape + pose instead of accepting the AABB `t_near`; track the best
+   refined `(t, body, normal)`; keep subtree pruning on inflated-AABB `t_near`.
+   Same signature / `PhysicsSurfacePoint` result; drop the AABB-face-normal
+   block. Multi-collider bodies still resolve the primary collider only
+   (inherited BVH-leaf limitation; note it).
+5. [x] **Tests**: per-shape exactness (sphere / OBB / capsule / mesh /
+   heightmap) — exact `t` and true normal; the **fat-AABB-cross-but-shape-miss
+   ⇒ no hit** case (the correctness win); nearest-of-several across a near miss;
+   `filter` and `tMax` honoured. Re-verify `RaycastVehicle` (ride height now
+   exact — tighten the test bands if they shift by the old broadphase margin).
+6. [x] **Bench + docs**: a raycast micro-bench (analytic fast-path cost; confirm
+   the fat-AABB-miss rejection doesn't regress throughput); update the "Public
+   queries" entry, `raycast.js` header, and the `RaycastVehicle` "AABB-level"
+   caveat once exact.
+
+Note: this sharpens `RaycastVehicle` suspension on non-box ground and every
+shape query; it does not change the broadphase or any API surface.
+
+---
+
+## Future / out-of-scope
+
+These are explicit architectural exclusions or post-v1 explorations.
+
+### Architecture
+- **Cross-runtime bit-exact determinism**: a soft-float library would
+  replace `Math.sin/cos/exp/log/pow` in the hot path. The codebase is
+  already structured to make this a swap-in at `quat_integrate.js` and
+  tangent-basis construction in `build_manifold.js`. Not pursued because
+  the same-runtime determinism we have covers the common cases (single-
+  device replay, networked lockstep where all clients run the same JS
+  engine).
+- **WASM / SIMD**: the engine targets pure-JS portability. SIMD would
+  invalidate the determinism story (V8 doesn't expose deterministic
+  Float64x2 ops).
+- **Multi-threaded solver**: workers don't share memory cheaply without
+  `SharedArrayBuffer` plus the COOP/COEP HTTP headers, which are not
+  always available. Single-threaded is good-enough for the awake-body
+  budget that matters.
+
+### Simulation extensions
+- **Soft body / cloth / fluids**: the SoA layout in `BodyStorage` and the
+  manifold cache are rigid-body shaped. A soft-body system would be a
+  parallel subsystem, not an extension.
+- **Reduced-coordinate articulations** (MuJoCo / Featherstone-style):
+  game-physics audience runs in maximal coordinates by convention. Not
+  on the roadmap.
+
+### Game-side
+- **Vehicle physics** (suspensions, drivetrains): a domain layer that
+  sits on top of the rigid-body primitives, not in `meep/`.
+- **Character controllers**: same — `engine/control/first-person/` is the
+  natural home.
+
+---
+
+## Notable design files
+
+- Original design plan: `C:\Users\Alex\.claude\plans\let-s-plan-to-implement-transient-harp.md`
+- This file (state of play): `engine/physics/PLAN.md`