@woosh/meep-engine 2.146.0 → 2.147.0

package/src/engine/physics/narrowphase/box_triangle_contact.js

@@ -524,18 +524,21 @@ function emit_triangle_face_manifold(
     tnx, tny, tnz,
     nx, ny, nz
 ) {
-    // Triangle's outward face normal points box → triangle = -n.
-    // (Triangle is the reference, so its outward normal is the direction
-    // the box should be pushed to separate — opposite of triangle → box.)
-    const ref_out_x = -nx;
-    const ref_out_y = -ny;
-    const ref_out_z = -nz;
-    // But we also need to ensure ref_out aligns with the triangle's CCW
-    // face normal (tn). If tn opposes ref_out, the triangle is "facing
-    // away" from the box — would happen on a thin-shell mesh; in that
-    // case our SAT axis came from the FRONT face direction and ref_out
-    // is still correct geometrically. Either way, we use the
-    // sign-canonicalised contact normal as the source of truth.
+    // Reference = triangle. Its outward face normal points from the triangle
+    // surface toward the box — i.e. the contact normal `n` (triangle → box),
+    // which the SAT already sign-canonicalised. The incident box face is then
+    // the one whose outward normal is most antiparallel to this (the box face
+    // actually facing the triangle), and the per-point depth below measures the
+    // penetration of THAT face — not the box's far face.
+    //
+    // (The earlier `-n` here pointed the reference normal into the terrain, so
+    // the incident picker selected the box's FAR face and the plane-to-plane
+    // depth ballooned to ~the box's thickness for any tilted box — catapulting
+    // rocking boxes off heightmaps. See box_triangle_contact.spec.js
+    // "tilted box, shallow corner".)
+    const ref_out_x = nx;
+    const ref_out_y = ny;
+    const ref_out_z = nz;
 
     // Pick the incident box face: the one whose outward axis is most
     // antiparallel to ref_out.

package/src/engine/physics/narrowphase/narrowphase_step.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"narrowphase_step.d.ts","sourceRoot":"","sources":["../../../../../src/engine/physics/narrowphase/narrowphase_step.js"],"names":[],"mappings":"AA2zCA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAgCG;AACH,qDAVW,YAAY,GAAC,MAAM,EAAE,iCAGrB;IAAC,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAA;CAAC,QAC5B;IAAC,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAA;CAAC,iCAErC;IAAC,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAA;CAAC,QAC5B;IAAC,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAC;IAAA,CAAC,EAAC,MAAM,CAAA;CAAC,GACnC,MAAM,CAyClB;AAED;;;;;;;;;;;GAWG;AACH,uFALW,MAAM,MAAM;IAAC,QAAQ,WAAW;IAAC,SAAS,YAAW;CAAC,CAAC,CAAC,QA0JlE;AAED;;;;;;;;;;;;;;;;;;;;;;;;;GAyBG;AACH,uEAJW,MAAM,UACN,MAAM;IAAC,QAAQ,WAAW;IAAC,SAAS,YAAW;CAAC,CAAC,UACjD,MAAM;IAAC,QAAQ,WAAW;IAAC,SAAS,YAAW;CAAC,CAAC,QAkH3D"}

package/src/engine/physics/narrowphase/narrowphase_step.js

@@ -1667,7 +1667,34 @@ export function redetect_pair_geometry(manifolds, slot, list_a, list_b) {
             }
         }
 
-        if (best_k === -1) continue; // no unclaimed same-fid candidate this substep — keep frozen geometry
+        // Position fallback (mirrors narrowphase_step's match-and-merge). A
+        // single triangle's clipped contact count is NOT stable across sub-mm
+        // pose changes — a box straddling a cell seam can have one triangle
+        // yield 4 points one substep and 3 the next — so an existing contact can
+        // outnumber this substep's same-fid candidates. Freezing its stale
+        // witness then duplicates a sibling contact's point, leaving a
+        // degenerate (sub-dimensional) manifold. Instead, claim the nearest
+        // unclaimed candidate of ANY fid: every contact keeps a DISTINCT live
+        // witness. The fid label is left intact and re-resolved by the next
+        // once-per-step narrowphase. (At a fixed pose the same-fid match always
+        // succeeds, so this never fires for the depth-equality guards or the
+        // one-contact-per-triangle sphere/mesh paths.)
+        if (best_k === -1) {
+            for (let k = 0; k < cc; k++) {
+                if (redetect_claimed[k] === 1) continue;
+                const co = k * CANDIDATE_STRIDE;
+                const dx = candidates[co]     - pax;
+                const dy = candidates[co + 1] - pay;
+                const dz = candidates[co + 2] - paz;
+                const d2 = dx * dx + dy * dy + dz * dz;
+                if (d2 < best_d2) {
+                    best_d2 = d2;
+                    best_k = k;
+                }
+            }
+        }
+
+        if (best_k === -1) continue; // no unclaimed candidate at all this substep — keep frozen geometry
 
         redetect_claimed[best_k] = 1;
         const co = best_k * CANDIDATE_STRIDE;

package/src/engine/network/sim/BinaryInterpolationAdapter.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"BinaryInterpolationAdapter.d.ts","sourceRoot":"","sources":["../../../../../src/engine/network/sim/BinaryInterpolationAdapter.js"],"names":[],"mappings":";;;;;gCAMU,MAAM;AANhB;;;;;;;GAOG;AACH;IACI,gEAAgE;;IAEhE,qEAAqE;;IAErE,+DAA+D;;GAEhE;AAEH;;;;;;;;;;;;;;;GAeG;AACH;IAEI,sDAAsD;IACtD,MADW,MAAM,CACe;IAEhC;;;;;;;;;;;;;OAaG;IACH,0EAJW,MAAM,iBACN,MAAM,KACN,MAAM,QAIhB;CACJ"}

package/src/engine/network/sim/InterpolationLog.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"InterpolationLog.d.ts","sourceRoot":"","sources":["../../../../../src/engine/network/sim/InterpolationLog.js"],"names":[],"mappings":"AA6EA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GAgDG;AACH;IAkBI;;;;;OAKG;IACH,0DALW;QAAE,qBAAqB,CAAC,EAAE,MAAM,CAAC;QAAC,gBAAgB,CAAC,EAAE,MAAM,CAAA;KAAE,EAkGvE;IA9EG,+BAA+B;IAC/B,0BADqB,MAAM,CACiB;IAe5C,+BAA+B;IAC/B,2BADqB,MAAM,CACa;IA+D5C;;;;;;;;OAQG;IACH,iBAFW,MAAM,QAkEhB;IAED;;;;;;;;;;;;;OAaG;IACH,yBAJW,MAAM,WACN,MAAM,GACJ,YAAY,CAmCxB;IAED;;;;;OAKG;IACH,mBAsDC;IAED;;;;;;;OAOG;IACH,iBAeC;IAED;;;OAGG;IACH,eAHW,MAAM,GACJ,OAAO,CAInB;IAED;;;;;;;;;;;;;;OAcG;IACH,YAPW,MAAM,EAAE,GAAC,WAAW,cACpB,MAAM,QACN,MAAM,cACN,MAAM,WACN,MAAM,GACJ,OAAO,CA+BnB;IAED;;;;;;;;;;;;;;;;;;OAkBG;IACH,wBATW,YAAY,cACZ,MAAM,WACN,MAAM,UACN,MAAM,UACN,MAAM,KACN,MAAM,wCAEJ,OAAO,CAuBnB;IAED;;;OAGG;IACH,QAFa,MAAM,CAIlB;IAED;;;OAGG;IACH,eAFa,MAAM,CAIlB;IAED;;;OAGG;IACH,cASC;;CACJ;6BArkB4B,sCAAsC"}