@woosh/meep-engine 3.14.6 → 3.16.0

package/src/engine/physics/queries/shape_cast.js

@@ -1,620 +1,628 @@
-import { assert } from "../../../core/assert.js";
-import { bvh_query_user_data_intersects_aabb } from "../../../core/bvh2/bvh3/query/bvh_query_user_data_intersects_aabb.js";
-import { returnTrue } from "../../../core/function/returnTrue.js";
-import { aabb3_transform_oriented } from "../../../core/geom/3d/aabb/aabb3_transform_oriented.js";
-import { body_id_index } from "../body/BodyStorage.js";
-import { gjk } from "../../../core/geom/3d/gjk/gjk.js";
-import { mpr } from "../../../core/geom/3d/gjk/mpr.js";
-import { PosedShape3D } from "../../../core/geom/3d/shape/PosedShape3D.js";
-
-/**
- * Bisection halts when the search interval is below this fraction of
- * the sweep length. With `MAX_BISECTION = 32` and a unit-length sweep
- * the achieved precision is ≈ 1 / 2³² (well below any practical
- * world-scale tolerance), but we cap on relative tolerance so a
- * 10 m sweep doesn't insist on sub-micron precision.
- * @type {number}
- */
-const TOI_TOLERANCE = 1e-4;
-
-/**
- * Maximum bisection iterations. `log2(1 / TOI_TOLERANCE)` is enough
- * for any practical sweep; this is the hard upper bound to prevent
- * pathological inputs (NaN ray, etc.) from hanging the query.
- * @type {number}
- */
-const MAX_BISECTION = 32;
-
-/**
- * Coarse linear-search resolution for finding *any* overlap moment
- * along the per-candidate AABB-overlap interval (NOT the full sweep —
- * see `aabb_overlap_interval` for the analytical narrowing that runs
- * upstream). 32 substeps over the AABB-overlap window is dense enough
- * for any sweep where the shape's smallest extent is on the order of
- * its AABB's extent (true for spheres / boxes / capsules); the slab
- * intersection keeps that interval small even for kilometre-scale
- * sweeps, so this isn't the limit it would otherwise be.
- * @type {number}
- */
-const COARSE_STEPS = 32;
-
-const swept_aabb = new Float64Array(6);
-const local_aabb = new Float64Array(6);
-const initial_aabb = new Float64Array(6);
-const target_local_aabb = new Float64Array(6);
-const target_world_aabb = new Float64Array(6);
-
-// GJK simplex buffer (used to detect overlap during the bisection).
-const simplex_buf = new Float64Array(12);
-
-// Scratch for MPR's MTV output — same vec3 convention as EPA: direction
-// is "A's interior into B" with the magnitude being the depth. We use
-// MPR for the contact-normal recovery at the kiss point because it
-// converges reliably on smooth-vs-smooth supports where EPA hits its
-// iteration cap before tightening (sphere-vs-sphere shallow overlap).
-const mpr_result = new Float64Array(3);
-
-/**
- * Long-lived PosedShape3D adapters for the swept shape and the
- * candidate's collider. Both are re-bound per query — the swept one
- * also gets its position field re-written every bisection step
- * without re-running `setup()`, since shape and rotation are
- * constant through the sweep.
- */
-const swept_posed = new PosedShape3D();
-const candidate_posed = new PosedShape3D();
-
-/**
- * Buffer for the union of static-BVH and dynamic-BVH candidates that
- * overlap the swept AABB. Grows by doubling on the rare overflow.
- * @type {Uint32Array}
- */
-let scratch_candidates = new Uint32Array(64);
-
-/**
- * Depths at or below this are not a contact. A kissing pair is not always
- * numerically exact — MPR returns a few microns of "overlap" for a sphere
- * resting on a plane where a box-on-box kiss returns a clean zero — so the
- * tangency test needs the same tolerance the narrowphase already applies
- * (`compute_penetration`'s CONTACT_EPSILON, same value and same reasoning).
- * Well below any real overlap a caller would be asked to depenetrate from,
- * and far below the skin widths character controllers work at.
- * @type {number}
- */
-const CONTACT_EPSILON = 1e-4;
-
-/**
- * How far from parallel a sweep must be before it counts as driving INTO a
- * tangent contact rather than sliding along it — a sine, both inputs being
- * unit vectors, so this is ~0.006°. Comfortably above the angular noise in an
- * MPR-recovered normal and far below any inclination that would move a body
- * meaningfully into a surface over one sweep.
- * @type {number}
- */
-const GRAZING_SINE_EPSILON = 1e-4;
-
-/**
- * Distance past the reported TOI at which the contact normal is sampled.
- * Bisection stops on the just-SEPARATING side, so MPR needs the pair
- * nudged into genuine overlap before it has an MTV to report.
- * @type {number}
- */
-const NORMAL_PROBE_OFFSET = 0.01;
-
-/**
- * Unit contact normal recovered by {@link probe_contact_normal}.
- * @type {Float64Array}
- */
-const probe_normal = new Float64Array(3);
-
-/**
- * Recover the target's outward surface normal by running MPR on
- * `swept_posed` displaced to `(px, py, pz)` against `candidate_posed`
- * (both must already be bound by the caller).
- *
- * Returns `false` — leaving `out` untouched — when MPR reports no depth worth
- * the name (at or below {@link CONTACT_EPSILON}). That is not an MPR failure
- * so much as the honest answer for a pair that is TANGENT at the probe pose:
- * a kiss carries no direction, so there is no normal to read off it. Callers
- * use that verdict both ways — as "no normal here" and as "this is a touch,
- * not an overlap".
- *
- * Sign-validation: MPR's polytope can settle on either side of the origin
- * for highly symmetric configurations, so we dot against the body-centre
- * axis and flip if needed (same pattern as `narrowphase_step`'s EPA path).
- * The stored normal is the target's outward surface normal — `B → A`
- * direction — i.e. the negated (validated) MTV.
- *
- * @param {Float64Array} out receives the unit normal on success
- * @param {number} px swept shape's probe centre
- * @param {number} py
- * @param {number} pz
- * @param {Transform} target_tr the target body's transform (centre for the
- *   sign check)
- * @returns {boolean}
- */
-function probe_contact_normal(out, px, py, pz, target_tr) {
-    swept_posed.px = px;
-    swept_posed.py = py;
-    swept_posed.pz = pz;
-
-    if (!mpr(mpr_result, 0, swept_posed, candidate_posed)) return false;
-
-    let ex = mpr_result[0], ey = mpr_result[1], ez = mpr_result[2];
-    const depth = Math.sqrt(ex * ex + ey * ey + ez * ez);
-    if (!(depth > CONTACT_EPSILON) || !Number.isFinite(depth)) return false;
-
-    const ab_x = target_tr.position.x - px;
-    const ab_y = target_tr.position.y - py;
-    const ab_z = target_tr.position.z - pz;
-    if (ex * ab_x + ey * ab_y + ez * ab_z < 0) {
-        ex = -ex; ey = -ey; ez = -ez;
-    }
-
-    const inv = 1 / depth;
-    out[0] = -ex * inv;
-    out[1] = -ey * inv;
-    out[2] = -ez * inv;
-    return true;
-}
-
-/**
- * Recover the target's outward surface normal for a contact whose pose is
- * `(cx, cy, cz)` — the swept shape's centre AT the contact — sweeping along
- * unit `(dx, dy, dz)`. `swept_posed` (shape + rotation) and `candidate_posed`
- * must already be bound by the caller; on success the unit normal is written
- * to `out`.
- *
- * MPR needs genuine overlap before it has an MTV to report, and bisection
- * stops on the just-SEPARATING side, so neither the contact pose itself nor
- * the reported `t` is a usable sample point. Two probes displace it:
- *
- * Probe 1 steps `NORMAL_PROBE_OFFSET` ALONG the sweep. That is the whole
- * answer wherever the sweep runs INTO the surface.
- *
- * Probe 2 covers what probe 1 structurally cannot. A GRAZING contact — a body
- * merely touching geometry it is sliding past, level brushes flush against a
- * character, a seam between coplanar faces — has the sweep running PARALLEL to
- * the contact plane, so advancing along it leaves the pair exactly tangent
- * however far it goes. A sweep pointing AWAY from the surface is worse still:
- * probe 1 separates them further. Either way MPR reports zero depth, and zero
- * depth carries no direction.
- *
- * So probe 2 displaces toward the target's CENTRE, which is interior to it
- * (MPR's own precondition) and so closes on it from any contact orientation.
- * It starts from the CONTACT pose rather than probe 1's — anchoring it at
- * probe 1's pose lets a sweep directly away from the surface cancel the two
- * displacements against each other and land back on the tangency it was trying
- * to escape.
- *
- * The distance DOUBLES until the overlap is measurable, because one fixed
- * offset cannot serve both ends of the range. Only the component along the
- * (unknown) contact normal deepens the overlap, and that component shrinks
- * with the target's size: 1 cm toward the centre of a 1 m brush sinks ~1 cm,
- * but toward the centre of a 1 km floor 400 m away it sinks 30 µm — under
- * {@link CONTACT_EPSILON}, and the normal would be lost on exactly the large
- * flat geometry a character spends its life on. Growing from the smallest
- * offset keeps the displacement as shallow as it can be, which is what stops a
- * target thinner than the probe from reporting its FAR face.
- *
- * Getting this right matters more than precision: the alternative is the
- * `-ray.direction` fallback, which opposes the sweep BY CONSTRUCTION. A caller
- * testing `direction · normal < 0` to ask "is this surface in my way?" is then
- * told yes for every direction it could possibly sweep, including straight
- * down a wall it is only brushing — a kinematic character in that state has no
- * escape (see `KinematicMover._slide`).
- *
- * @param {Float64Array} out receives the unit normal on success
- * @param {number} cx swept shape's centre at the contact
- * @param {number} cy
- * @param {number} cz
- * @param {number} dx unit sweep direction
- * @param {number} dy
- * @param {number} dz
- * @param {Transform} target_tr the target body's transform
- * @returns {boolean} false when every probe degenerates — `out` is untouched
- */
-function recover_contact_normal(out, cx, cy, cz, dx, dy, dz, target_tr) {
-    if (probe_contact_normal(
-        out,
-        cx + dx * NORMAL_PROBE_OFFSET,
-        cy + dy * NORMAL_PROBE_OFFSET,
-        cz + dz * NORMAL_PROBE_OFFSET,
-        target_tr,
-    )) return true;
-
-    const ab_x = target_tr.position.x - cx;
-    const ab_y = target_tr.position.y - cy;
-    const ab_z = target_tr.position.z - cz;
-    const ab_len = Math.sqrt(ab_x * ab_x + ab_y * ab_y + ab_z * ab_z);
-    // Coincident centres leave no direction to close along, and the shapes are
-    // then as overlapped as they get — probe 1 already had its answer. The
-    // finite check also bounds the loop below against a degenerate pose.
-    if (!(ab_len > 0) || !Number.isFinite(ab_len)) return false;
-
-    const ux = ab_x / ab_len, uy = ab_y / ab_len, uz = ab_z / ab_len;
-    // Bounded by construction — doubling from a fixed offset reaches `ab_len`
-    // in log2(ab_len / NORMAL_PROBE_OFFSET) steps. Stopping there keeps the
-    // probe on the near side of the target's centre.
-    for (let d = NORMAL_PROBE_OFFSET; d < ab_len; d *= 2) {
-        if (probe_contact_normal(out, cx + ux * d, cy + uy * d, cz + uz * d, target_tr)) return true;
-    }
-    return false;
-}
-
-/**
- * Sweep a convex shape along a ray and find the first body it would
- * hit. Used by character controllers (sweep a capsule along intended
- * movement to find blockers), high-speed projectile movement (avoid
- * tunnelling without paying for full per-body CCD), and any kinematic
- * "where would this body end up if I tried to move it?" query.
- *
- * Pipeline:
- *   1. Build the swept AABB: the shape's local-frame AABB rotated
- *      into world by `rotation`, translated to `ray.origin`, then
- *      stretched along `ray.direction * ray.tMax`.
- *   2. Query both broadphase BVHs (static + dynamic) for leaves whose
- *      AABB overlaps the swept volume.
- *   3. For each candidate, bisect the [0, best_t] interval for the
- *      smallest `t` at which the swept shape overlaps the candidate's
- *      collider. GJK on each midpoint.
- *
- * Picking `best_t` (rather than always running the full [0, tMax]
- * bisection) is the early-termination optimisation: once we have a
- * hit at some t, no later candidate can produce a smaller TOI by
- * being checked at its full [0, tMax] interval.
- *
- * Output on hit:
- *   - `result.t` — sweep distance to impact (in the same units as
- *     `ray.direction`'s magnitude; for a unit-direction ray, this is
- *     metres).
- *   - `result.position` — `ray.origin + t * ray.direction`, i.e. the
- *     centre of the swept shape at the moment of first contact. NOT
- *     a point on the target's surface; that would need narrowphase
- *     refinement which the broadphase-only architecture doesn't have
- *     wired up yet.
- *   - `result.normal` — target surface's outward normal at the kiss
- *     point (unit length), recovered by running MPR against the
- *     just-overlapping configuration at the TOI. A pair that is exactly
- *     tangent there carries no MTV to read, so a second probe nudged
- *     toward the target's centre supplies one; `-ray.direction` remains
- *     the last-resort fallback if both degenerate. See the
- *     contact-normal recovery block near the end of the function.
- *   - `result.entity` / `result.body_id` — the hit body.
- *
- * Output on miss: untouched; same convention as `raycast`.
- *
- * @param {PhysicsSystem} system
- * @param {Ray3|{origin_x:number,origin_y:number,origin_z:number,direction_x:number,direction_y:number,direction_z:number,tMax:number}} ray
- *   origin + unit direction + `tMax`. Only the named accessors are read, so a
- *   plain double-precision ray-like works — `Ray3` is Float32Array-backed and
- *   quantises large-coordinate sweeps (the CCD pass passes a f64 ray-like)
- * @param {AbstractShape3D} shape  shape being swept, in its local frame
- * @param {{x:number,y:number,z:number,w:number}} rotation  fixed orientation
- * @param {PhysicsSurfacePoint} result  populated on hit; untouched on miss
- * @param {(entity:number, collider:Collider, body_id:number)=>boolean} [filter]
- *   mandatory in contract; defaults to {@link returnTrue}. Receives the
- *   candidate body's entity, primary collider, and packed body id (the id
- *   distinguishes bodies when colliders live on child entities)
- * @param {boolean} [skip_initial_overlaps=false] how a candidate ALREADY
- *   overlapping the swept shape at `t = 0` is treated. `false` (kinematic
- *   "can I move?" semantics): targets are solid, so the cast is blocked where
- *   it stands — report a hit at `t = 0`. The one exception is a convex target
- *   the shape merely TOUCHES (no depth beyond {@link CONTACT_EPSILON}): a
- *   tangency blocks only a sweep driving into it, and otherwise steps aside so
- *   the scan can reach real blockers. `true` (CCD semantics): such a candidate
- *   is a resting / sliding contact the discrete solver already owns, NOT a
- *   tunnelling threat — skip it and keep scanning the remaining candidates for
- *   real blockers along the sweep. Either way, one contact at the start of the
- *   sweep must never blind the cast to every other obstacle.
- * @returns {boolean}
- */
-export function shape_cast(system, ray, shape, rotation, result, filter = returnTrue, skip_initial_overlaps = false) {
-    const ox = ray.origin_x;
-    const oy = ray.origin_y;
-    const oz = ray.origin_z;
-    const dx = ray.direction_x;
-    const dy = ray.direction_y;
-    const dz = ray.direction_z;
-    const tMax = ray.tMax;
-    // A fresh Ray3 defaults tMax to Infinity, which a sweep cannot use (the
-    // swept AABB and the bisection interval would be unbounded). Loud in dev
-    // — silently returning false for the DEFAULT ray construction reads as
-    // "nothing there" and is a debugging trap; prod degrades to a miss.
-    assert.ok(Number.isFinite(tMax) && tMax > 0,
-        `shape_cast: ray.tMax must be a positive finite sweep length, got ${tMax}`);
-    if (!(tMax > 0) || !Number.isFinite(tMax)) return false;
-
-    const rx = rotation.x, ry = rotation.y, rz = rotation.z, rw = rotation.w;
-
-    // ── 1. Swept AABB ──────────────────────────────────────────────
-    shape.compute_bounding_box(local_aabb);
-    // Rotation around ray.origin gives the shape's initial AABB in
-    // world space.
-    aabb3_transform_oriented(
-        initial_aabb, 0,
-        local_aabb[0], local_aabb[1], local_aabb[2],
-        local_aabb[3], local_aabb[4], local_aabb[5],
-        ox, oy, oz,
-        rx, ry, rz, rw
-    );
-    // Stretch by the sweep displacement. Positive direction components
-    // push the +face out; negative components push the −face out.
-    swept_aabb[0] = initial_aabb[0];
-    swept_aabb[1] = initial_aabb[1];
-    swept_aabb[2] = initial_aabb[2];
-    swept_aabb[3] = initial_aabb[3];
-    swept_aabb[4] = initial_aabb[4];
-    swept_aabb[5] = initial_aabb[5];
-    if (dx > 0) swept_aabb[3] += dx * tMax; else swept_aabb[0] += dx * tMax;
-    if (dy > 0) swept_aabb[4] += dy * tMax; else swept_aabb[1] += dy * tMax;
-    if (dz > 0) swept_aabb[5] += dz * tMax; else swept_aabb[2] += dz * tMax;
-
-    // ── 2. Broadphase: gather candidates from both trees ───────────
-    // The BVH query returns the TRUE overlap count and silently drops writes past
-    // the buffer end. An undersized buffer would make the narrowphase loop read
-    // `undefined` candidates and silently MISS the true nearest hit (tunnelling on
-    // a long sweep through a dense scene). Grow by doubling and re-query until
-    // both fit (deterministic queries → converges in one resize).
-    let n_static, n_dynamic, n_total;
-    for (;;) {
-        n_static = bvh_query_user_data_intersects_aabb(scratch_candidates, 0, system.staticBvh, swept_aabb);
-        n_dynamic = bvh_query_user_data_intersects_aabb(scratch_candidates, n_static, system.dynamicBvh, swept_aabb);
-        n_total = n_static + n_dynamic;
-        if (n_total <= scratch_candidates.length) break;
-        scratch_candidates = new Uint32Array(Math.max(n_total, scratch_candidates.length * 2));
-    }
-    if (n_total === 0) return false;
-
-    // ── 3. Narrowphase: per-candidate bisection ────────────────────
-    //
-    // Re-bind the swept shape's PosedShape3D once for shape + rotation;
-    // we update `px/py/pz` per bisection midpoint without rerunning
-    // setup (px/py/pz are public fields by contract).
-    swept_posed.shape = shape;
-    swept_posed.qx = rx; swept_posed.qy = ry; swept_posed.qz = rz; swept_posed.qw = rw;
-
-    let best_t = tMax;
-    let best_body_id = -1;
-    let best_entity = -1;
-
-    for (let i = 0; i < n_total; i++) {
-        const body_id = scratch_candidates[i];
-        const body_idx = body_id_index(body_id);
-        const entity = system.entityOf(body_id);
-        if (entity < 0) continue;
-
-        const collider = system.__primary_collider(body_idx);
-        if (collider === null) continue;
-        if (!filter(entity, collider, body_id)) continue;
-
-        const target_tr = system.__transforms[body_idx];
-        candidate_posed.setup(collider.shape, target_tr.position, target_tr.rotation);
-
-        // Already overlapping at t = 0? The bisection's "no overlap at lo,
-        // overlap at hi" invariant doesn't hold for this candidate. Under CCD
-        // semantics it is a resting contact to step over — skip THIS candidate
-        // only, and keep scanning for real blockers.
-        //
-        // Under kinematic semantics targets are SOLID: a shape that starts
-        // genuinely inside one is blocked where it stands, `t = 0`, whatever
-        // direction it is trying to sweep. Nothing can beat that, so stop
-        // scanning. Getting out is depenetration's job, not the sweep's.
-        //
-        // Exact TANGENCY is the exception, and it needs one. A zero-depth
-        // touch is not "inside" anything — the shape is resting against a
-        // face, or flush with a brush seam, and is free to slide along it or
-        // leave. It also survives depenetration, which has no depth to push
-        // out of, so it persists frame after frame.
-        //
-        // Reporting it as a `t = 0` hit ends the scan, and that is the whole
-        // problem: the caller is handed a contact it correctly judges harmless
-        // for this direction and concludes the sweep is clear, while the body
-        // it was actually about to hit was never tested. A character flush
-        // against a wall falls through the floor that way. So a tangency
-        // blocks only when the sweep drives INTO it, and otherwise steps aside
-        // and lets the scan continue.
-        //
-        // MPR's depth at the START pose is what separates the two: positive
-        // means genuine overlap, none means tangency. Tangency is also exactly
-        // where the normal is hardest to recover, hence the second probe; if
-        // even that degenerates there is no normal to judge with and the
-        // contact blocks, stopping short being the safe failure.
-        swept_posed.px = ox; swept_posed.py = oy; swept_posed.pz = oz;
-        if (gjk(simplex_buf, swept_posed, candidate_posed)) {
-            if (skip_initial_overlaps) continue;
-
-            // The tangency exception reads MPR's depth and normal, both of
-            // which assume a convex target. This query has never supported
-            // concave ones (`overlap_shape` decomposes them per-triangle;
-            // nothing here does), so rather than extend a convex-only
-            // inference to geometry the module cannot see properly, leave
-            // those on the unconditional "solid, blocked at t = 0" path.
-            const convex_target = collider.shape.is_convex !== false;
-            if (convex_target && !probe_contact_normal(probe_normal, ox, oy, oz, target_tr)) {
-                const known = recover_contact_normal(
-                    probe_normal, ox, oy, oz, dx, dy, dz, target_tr,
-                );
-                if (known) {
-                    // Both vectors are unit, so this is the sine of the angle
-                    // between the sweep and the contact plane. Zero means
-                    // exactly parallel — sliding along the face — and positive
-                    // means leaving it; neither blocks. The tolerance matters
-                    // because the parallel case sits right on the sign change,
-                    // and an MPR-recovered normal carries ~1e-6 of angular
-                    // noise: without it a sweep ALONG a face flips to
-                    // "head-on" on solver noise alone.
-                    const into = dx * probe_normal[0] + dy * probe_normal[1] + dz * probe_normal[2];
-                    if (into > -GRAZING_SINE_EPSILON) continue;
-                }
-            }
-
-            best_t = 0;
-            best_body_id = body_id;
-            best_entity = entity;
-            break;
-        }
-
-        // ── Slab intersection: narrow the search interval analytically ─
-        //
-        // Compute the body's tight world AABB and intersect it with the
-        // swept shape's AABB sliding along the sweep direction. The
-        // result is the t-interval `[t_aabb_enter, t_aabb_exit]` during
-        // which the two AABBs overlap. Outside this interval the actual
-        // shapes can't overlap either (AABB is a superset of the
-        // shape), so we get to skip all of [0, t_aabb_enter) and
-        // (t_aabb_exit, best_t] without testing.
-        //
-        // This is the key to making `shapeCast` scale to long sweeps:
-        // a 1 km cast of a 1 m sphere against another 1 m sphere has an
-        // AABB-overlap window of ≈ 2 m (the sum of diameters along the
-        // sweep axis), reducing the coarse-step grid from a 30 m
-        // resolution (1000/32) to 6 cm (2/32).
-        collider.shape.compute_bounding_box(target_local_aabb);
-        aabb3_transform_oriented(
-            target_world_aabb, 0,
-            target_local_aabb[0], target_local_aabb[1], target_local_aabb[2],
-            target_local_aabb[3], target_local_aabb[4], target_local_aabb[5],
-            target_tr.position.x, target_tr.position.y, target_tr.position.z,
-            target_tr.rotation.x, target_tr.rotation.y, target_tr.rotation.z, target_tr.rotation.w
-        );
-
-        let t_aabb_enter = -Infinity;
-        let t_aabb_exit = Infinity;
-        let skip_candidate = false;
-        for (let ax = 0; ax < 3; ax++) {
-            const init_min = initial_aabb[ax];
-            const init_max = initial_aabb[ax + 3];
-            const body_min = target_world_aabb[ax];
-            const body_max = target_world_aabb[ax + 3];
-            const d_ax = ax === 0 ? dx : (ax === 1 ? dy : dz);
-            if (d_ax === 0) {
-                // Static along this axis: AABBs must overlap in their
-                // initial position or this candidate is unreachable.
-                if (init_max < body_min || init_min > body_max) {
-                    skip_candidate = true;
-                    break;
-                }
-                continue;
-            }
-            // swept_min(t) = init_min + d·t, swept_max(t) = init_max + d·t.
-            // Slab-enter: swept_max(t) = body_min  →  t = (body_min − init_max) / d
-            // Slab-exit:  swept_min(t) = body_max  →  t = (body_max − init_min) / d
-            const t1 = (body_min - init_max) / d_ax;
-            const t2 = (body_max - init_min) / d_ax;
-            const lo = t1 < t2 ? t1 : t2;
-            const hi = t1 < t2 ? t2 : t1;
-            if (lo > t_aabb_enter) t_aabb_enter = lo;
-            if (hi < t_aabb_exit)  t_aabb_exit  = hi;
-        }
-        if (skip_candidate) continue;
-        if (t_aabb_enter > t_aabb_exit) continue;
-
-        // Clamp to the relevant t-window: [0, best_t]. Anything beyond
-        // best_t can't tighten the answer.
-        const t_start = t_aabb_enter > 0     ? t_aabb_enter : 0;
-        const t_end   = t_aabb_exit  < best_t ? t_aabb_exit  : best_t;
-        if (t_start >= t_end) continue;
-
-        // Coarse-search within the narrowed interval to find any t for
-        // which the shapes overlap (their AABBs do by construction; the
-        // shapes themselves may not, e.g. two spheres passing alongside).
-        const step_dt = (t_end - t_start) / COARSE_STEPS;
-        let t_prev = t_start;
-        let t_hi = -1;
-        for (let s = 1; s <= COARSE_STEPS; s++) {
-            const t = t_start + s * step_dt;
-            swept_posed.px = ox + dx * t;
-            swept_posed.py = oy + dy * t;
-            swept_posed.pz = oz + dz * t;
-            if (gjk(simplex_buf, swept_posed, candidate_posed)) {
-                t_hi = t;
-                break;
-            }
-            t_prev = t;
-        }
-        if (t_hi < 0) continue;
-
-        // Bisect [t_prev, t_hi]: invariant is `gjk(t_lo) === false` and
-        // `gjk(t_hi) === true`.
-        let t_lo = t_prev;
-        const stop_width = TOI_TOLERANCE * tMax;
-        for (let bi = 0; bi < MAX_BISECTION && (t_hi - t_lo) > stop_width; bi++) {
-            const t_mid = (t_lo + t_hi) * 0.5;
-            swept_posed.px = ox + dx * t_mid;
-            swept_posed.py = oy + dy * t_mid;
-            swept_posed.pz = oz + dz * t_mid;
-            if (gjk(simplex_buf, swept_posed, candidate_posed)) {
-                t_hi = t_mid;
-            } else {
-                t_lo = t_mid;
-            }
-        }
-
-        // Use t_lo (the just-SEPARATING side of the bisection) rather
-        // than t_hi (just-overlapping). With the fixed GJK that no
-        // longer flags 5 mm-clear gaps as overlap, the bisection is
-        // tight; reporting t_lo gives kinematic callers a conservative
-        // TOI — the swept shape at the reported moment is provably NOT
-        // overlapping the target. The normal-probe below steps a few
-        // mm past best_t to get a valid simplex for MPR.
-        if (t_lo < best_t) {
-            best_t = t_lo;
-            best_body_id = body_id;
-            best_entity = entity;
-        }
-    }
-
-    if (best_body_id === -1) return false;
-
-    const rp = result.position;
-    const rn = result.normal;
-
-    const swept_x = ox + dx * best_t;
-    const swept_y = oy + dy * best_t;
-    const swept_z = oz + dz * best_t;
-
-    rp[0] = swept_x;
-    rp[1] = swept_y;
-    rp[2] = swept_z;
-
-    // ── Contact-normal recovery via MPR ────────────────────────────
-    //
-    // Bisection converges with `swept_posed` somewhere within
-    // `stop_width = TOI_TOLERANCE * tMax` of the true contact. At
-    // exactly `best_t` the overlap depth is therefore sub-millimetre
-    // on practical sweeps. EPA on smooth-vs-smooth supports at this
-    // overlap can't tighten before its iteration cap and returns a
-    // direction off by ~30° from truth. MPR is the better tool here:
-    // it converges in 5-15 iterations on smooth surfaces, same MTV
-    // output convention as EPA (direction = A's interior into B,
-    // magnitude = depth).
-    //
-    // The probe pose is `NORMAL_PROBE_OFFSET` past `best_t` along the sweep
-    // (a few mm into the target) — bisection stops on the just-SEPARATING
-    // side, so there is no MTV to read exactly at `best_t`. The reported
-    // `result.t` stays at `best_t`; only the normal probe moves.
-    // `recover_contact_normal` handles the grazing case, where advancing
-    // along the sweep never produces overlap at all.
-    const contact_x = ox + dx * best_t;
-    const contact_y = oy + dy * best_t;
-    const contact_z = oz + dz * best_t;
-    const best_body_idx = body_id_index(best_body_id);
-    const best_collider = system.__primary_collider(best_body_idx);
-    let normal_x = -dx, normal_y = -dy, normal_z = -dz;
-    if (best_collider !== null) {
-        const best_tr = system.__transforms[best_body_idx];
-        candidate_posed.setup(best_collider.shape, best_tr.position, best_tr.rotation);
-        if (recover_contact_normal(probe_normal, contact_x, contact_y, contact_z, dx, dy, dz, best_tr)) {
-            normal_x = probe_normal[0];
-            normal_y = probe_normal[1];
-            normal_z = probe_normal[2];
-        }
-    }
-
-    rn[0] = normal_x; rn[1] = normal_y; rn[2] = normal_z;
-    result.t = best_t;
-    result.entity = best_entity;
-    result.body_id = best_body_id;
-    return true;
-}
+import { assert } from "../../../core/assert.js";
+import { bvh_query_user_data_intersects_aabb } from "../../../core/bvh2/bvh3/query/bvh_query_user_data_intersects_aabb.js";
+import { returnTrue } from "../../../core/function/returnTrue.js";
+import { aabb3_transform_oriented } from "../../../core/geom/3d/aabb/aabb3_transform_oriented.js";
+import { body_id_index } from "../body/BodyStorage.js";
+import { gjk } from "../../../core/geom/3d/gjk/gjk.js";
+import { mpr } from "../../../core/geom/3d/gjk/mpr.js";
+import { PosedShape3D } from "../../../core/geom/3d/shape/PosedShape3D.js";
+
+/**
+ * Bisection halts when the search interval is below this fraction of
+ * the sweep length. With `MAX_BISECTION = 32` and a unit-length sweep
+ * the achieved precision is ≈ 1 / 2³² (well below any practical
+ * world-scale tolerance), but we cap on relative tolerance so a
+ * 10 m sweep doesn't insist on sub-micron precision.
+ * @type {number}
+ */
+const TOI_TOLERANCE = 1e-4;
+
+/**
+ * Maximum bisection iterations. `log2(1 / TOI_TOLERANCE)` is enough
+ * for any practical sweep; this is the hard upper bound to prevent
+ * pathological inputs (NaN ray, etc.) from hanging the query.
+ * @type {number}
+ */
+const MAX_BISECTION = 32;
+
+/**
+ * Coarse linear-search resolution for finding *any* overlap moment
+ * along the per-candidate AABB-overlap interval (NOT the full sweep —
+ * see `aabb_overlap_interval` for the analytical narrowing that runs
+ * upstream). 32 substeps over the AABB-overlap window is dense enough
+ * for any sweep where the shape's smallest extent is on the order of
+ * its AABB's extent (true for spheres / boxes / capsules); the slab
+ * intersection keeps that interval small even for kilometre-scale
+ * sweeps, so this isn't the limit it would otherwise be.
+ * @type {number}
+ */
+const COARSE_STEPS = 32;
+
+const swept_aabb = new Float64Array(6);
+const local_aabb = new Float64Array(6);
+const initial_aabb = new Float64Array(6);
+const target_local_aabb = new Float64Array(6);
+const target_world_aabb = new Float64Array(6);
+
+// GJK simplex buffer (used to detect overlap during the bisection).
+const simplex_buf = new Float64Array(12);
+
+// Scratch for MPR's MTV output — same vec3 convention as EPA: direction
+// is "A's interior into B" with the magnitude being the depth. We use
+// MPR for the contact-normal recovery at the kiss point because it
+// converges reliably on smooth-vs-smooth supports where EPA hits its
+// iteration cap before tightening (sphere-vs-sphere shallow overlap).
+const mpr_result = new Float64Array(3);
+
+/**
+ * Long-lived PosedShape3D adapters for the swept shape and the
+ * candidate's collider. Both are re-bound per query — the swept one
+ * also gets its position field re-written every bisection step
+ * without re-running `setup()`, since shape and rotation are
+ * constant through the sweep.
+ */
+const swept_posed = new PosedShape3D();
+const candidate_posed = new PosedShape3D();
+
+/**
+ * Buffer for the union of static-BVH and dynamic-BVH candidates that
+ * overlap the swept AABB. Grows by doubling on the rare overflow.
+ * @type {Uint32Array}
+ */
+let scratch_candidates = new Uint32Array(64);
+
+/**
+ * Depths at or below this are not a contact. A kissing pair is not always
+ * numerically exact — MPR returns a few microns of "overlap" for a sphere
+ * resting on a plane where a box-on-box kiss returns a clean zero — so the
+ * tangency test needs the same tolerance the narrowphase already applies
+ * (`compute_penetration`'s CONTACT_EPSILON, same value and same reasoning).
+ * Well below any real overlap a caller would be asked to depenetrate from,
+ * and far below the skin widths character controllers work at.
+ * @type {number}
+ */
+const CONTACT_EPSILON = 1e-4;
+
+/**
+ * How far from parallel a sweep must be before it counts as driving INTO a
+ * tangent contact rather than sliding along it — a sine, both inputs being
+ * unit vectors, so this is ~0.006°. Comfortably above the angular noise in an
+ * MPR-recovered normal and far below any inclination that would move a body
+ * meaningfully into a surface over one sweep.
+ * @type {number}
+ */
+const GRAZING_SINE_EPSILON = 1e-4;
+
+/**
+ * Distance past the reported TOI at which the contact normal is sampled.
+ * Bisection stops on the just-SEPARATING side, so MPR needs the pair
+ * nudged into genuine overlap before it has an MTV to report.
+ * @type {number}
+ */
+const NORMAL_PROBE_OFFSET = 0.01;
+
+/**
+ * Unit contact normal recovered by {@link probe_contact_normal}.
+ * @type {Float64Array}
+ */
+const probe_normal = new Float64Array(3);
+
+/**
+ * Recover the target's outward surface normal by running MPR on
+ * `swept_posed` displaced to `(px, py, pz)` against `candidate_posed`
+ * (both must already be bound by the caller).
+ *
+ * Returns `false` — leaving `out` untouched — when MPR reports no depth worth
+ * the name (at or below {@link CONTACT_EPSILON}). That is not an MPR failure
+ * so much as the honest answer for a pair that is TANGENT at the probe pose:
+ * a kiss carries no direction, so there is no normal to read off it. Callers
+ * use that verdict both ways — as "no normal here" and as "this is a touch,
+ * not an overlap".
+ *
+ * Sign-validation: MPR's polytope can settle on either side of the origin
+ * for highly symmetric configurations, so we dot against the body-centre
+ * axis and flip if needed (same pattern as `narrowphase_step`'s EPA path).
+ * The stored normal is the target's outward surface normal — `B → A`
+ * direction — i.e. the negated (validated) MTV.
+ *
+ * @param {Float64Array} out receives the unit normal on success
+ * @param {number} px swept shape's probe centre
+ * @param {number} py
+ * @param {number} pz
+ * @param {Transform} target_tr the target body's transform (centre for the
+ *   sign check)
+ * @returns {boolean}
+ */
+function probe_contact_normal(out, px, py, pz, target_tr) {
+    swept_posed.px = px;
+    swept_posed.py = py;
+    swept_posed.pz = pz;
+
+    if (!mpr(mpr_result, 0, swept_posed, candidate_posed)) return false;
+
+    let ex = mpr_result[0], ey = mpr_result[1], ez = mpr_result[2];
+    const depth = Math.sqrt(ex * ex + ey * ey + ez * ez);
+    if (!(depth > CONTACT_EPSILON) || !Number.isFinite(depth)) return false;
+
+    const ab_x = target_tr.translation_x - px;
+    const ab_y = target_tr.translation_y - py;
+    const ab_z = target_tr.translation_z - pz;
+    if (ex * ab_x + ey * ab_y + ez * ab_z < 0) {
+        ex = -ex; ey = -ey; ez = -ez;
+    }
+
+    const inv = 1 / depth;
+    out[0] = -ex * inv;
+    out[1] = -ey * inv;
+    out[2] = -ez * inv;
+    return true;
+}
+
+/**
+ * Recover the target's outward surface normal for a contact whose pose is
+ * `(cx, cy, cz)` — the swept shape's centre AT the contact — sweeping along
+ * unit `(dx, dy, dz)`. `swept_posed` (shape + rotation) and `candidate_posed`
+ * must already be bound by the caller; on success the unit normal is written
+ * to `out`.
+ *
+ * MPR needs genuine overlap before it has an MTV to report, and bisection
+ * stops on the just-SEPARATING side, so neither the contact pose itself nor
+ * the reported `t` is a usable sample point. Two probes displace it:
+ *
+ * Probe 1 steps `NORMAL_PROBE_OFFSET` ALONG the sweep. That is the whole
+ * answer wherever the sweep runs INTO the surface.
+ *
+ * Probe 2 covers what probe 1 structurally cannot. A GRAZING contact — a body
+ * merely touching geometry it is sliding past, level brushes flush against a
+ * character, a seam between coplanar faces — has the sweep running PARALLEL to
+ * the contact plane, so advancing along it leaves the pair exactly tangent
+ * however far it goes. A sweep pointing AWAY from the surface is worse still:
+ * probe 1 separates them further. Either way MPR reports zero depth, and zero
+ * depth carries no direction.
+ *
+ * So probe 2 displaces toward the target's CENTRE, which is interior to it
+ * (MPR's own precondition) and so closes on it from any contact orientation.
+ * It starts from the CONTACT pose rather than probe 1's — anchoring it at
+ * probe 1's pose lets a sweep directly away from the surface cancel the two
+ * displacements against each other and land back on the tangency it was trying
+ * to escape.
+ *
+ * The distance DOUBLES until the overlap is measurable, because one fixed
+ * offset cannot serve both ends of the range. Only the component along the
+ * (unknown) contact normal deepens the overlap, and that component shrinks
+ * with the target's size: 1 cm toward the centre of a 1 m brush sinks ~1 cm,
+ * but toward the centre of a 1 km floor 400 m away it sinks 30 µm — under
+ * {@link CONTACT_EPSILON}, and the normal would be lost on exactly the large
+ * flat geometry a character spends its life on. Growing from the smallest
+ * offset keeps the displacement as shallow as it can be, which is what stops a
+ * target thinner than the probe from reporting its FAR face.
+ *
+ * Getting this right matters more than precision: the alternative is the
+ * `-ray.direction` fallback, which opposes the sweep BY CONSTRUCTION. A caller
+ * testing `direction · normal < 0` to ask "is this surface in my way?" is then
+ * told yes for every direction it could possibly sweep, including straight
+ * down a wall it is only brushing — a kinematic character in that state has no
+ * escape (see `KinematicMover._slide`).
+ *
+ * @param {Float64Array} out receives the unit normal on success
+ * @param {number} cx swept shape's centre at the contact
+ * @param {number} cy
+ * @param {number} cz
+ * @param {number} dx unit sweep direction
+ * @param {number} dy
+ * @param {number} dz
+ * @param {Transform} target_tr the target body's transform
+ * @returns {boolean} false when every probe degenerates — `out` is untouched
+ */
+function recover_contact_normal(out, cx, cy, cz, dx, dy, dz, target_tr) {
+    if (probe_contact_normal(
+        out,
+        cx + dx * NORMAL_PROBE_OFFSET,
+        cy + dy * NORMAL_PROBE_OFFSET,
+        cz + dz * NORMAL_PROBE_OFFSET,
+        target_tr,
+    )) return true;
+
+    const ab_x = target_tr.translation_x - cx;
+    const ab_y = target_tr.translation_y - cy;
+    const ab_z = target_tr.translation_z - cz;
+    const ab_len = Math.sqrt(ab_x * ab_x + ab_y * ab_y + ab_z * ab_z);
+    // Coincident centres leave no direction to close along, and the shapes are
+    // then as overlapped as they get — probe 1 already had its answer. The
+    // finite check also bounds the loop below against a degenerate pose.
+    if (!(ab_len > 0) || !Number.isFinite(ab_len)) return false;
+
+    const ux = ab_x / ab_len, uy = ab_y / ab_len, uz = ab_z / ab_len;
+    // Bounded by construction — doubling from a fixed offset reaches `ab_len`
+    // in log2(ab_len / NORMAL_PROBE_OFFSET) steps. Stopping there keeps the
+    // probe on the near side of the target's centre.
+    for (let d = NORMAL_PROBE_OFFSET; d < ab_len; d *= 2) {
+        if (probe_contact_normal(out, cx + ux * d, cy + uy * d, cz + uz * d, target_tr)) return true;
+    }
+    return false;
+}
+
+/**
+ * Sweep a convex shape along a ray and find the first body it would
+ * hit. Used by character controllers (sweep a capsule along intended
+ * movement to find blockers), high-speed projectile movement (avoid
+ * tunnelling without paying for full per-body CCD), and any kinematic
+ * "where would this body end up if I tried to move it?" query.
+ *
+ * Pipeline:
+ *   1. Build the swept AABB: the shape's local-frame AABB rotated
+ *      into world by `rotation`, translated to `ray.origin`, then
+ *      stretched along `ray.direction * ray.tMax`.
+ *   2. Query both broadphase BVHs (static + dynamic) for leaves whose
+ *      AABB overlaps the swept volume.
+ *   3. For each candidate, bisect the [0, best_t] interval for the
+ *      smallest `t` at which the swept shape overlaps the candidate's
+ *      collider. GJK on each midpoint.
+ *
+ * Picking `best_t` (rather than always running the full [0, tMax]
+ * bisection) is the early-termination optimisation: once we have a
+ * hit at some t, no later candidate can produce a smaller TOI by
+ * being checked at its full [0, tMax] interval.
+ *
+ * Output on hit:
+ *   - `result.t` — sweep distance to impact (in the same units as
+ *     `ray.direction`'s magnitude; for a unit-direction ray, this is
+ *     metres).
+ *   - `result.position` — `ray.origin + t * ray.direction`, i.e. the
+ *     centre of the swept shape at the moment of first contact. NOT
+ *     a point on the target's surface; that would need narrowphase
+ *     refinement which the broadphase-only architecture doesn't have
+ *     wired up yet.
+ *   - `result.normal` — target surface's outward normal at the kiss
+ *     point (unit length), recovered by running MPR against the
+ *     just-overlapping configuration at the TOI. A pair that is exactly
+ *     tangent there carries no MTV to read, so a second probe nudged
+ *     toward the target's centre supplies one; `-ray.direction` remains
+ *     the last-resort fallback if both degenerate. See the
+ *     contact-normal recovery block near the end of the function.
+ *   - `result.entity` / `result.body_id` — the hit body.
+ *
+ * Output on miss: untouched; same convention as `raycast`.
+ *
+ * @param {PhysicsSystem} system
+ * @param {Ray3|{origin_x:number,origin_y:number,origin_z:number,direction_x:number,direction_y:number,direction_z:number,tMax:number}} ray
+ *   origin + unit direction + `tMax`. Only the named accessors are read, so a
+ *   plain double-precision ray-like works — `Ray3` is Float32Array-backed and
+ *   quantises large-coordinate sweeps (the CCD pass passes a f64 ray-like)
+ * @param {AbstractShape3D} shape  shape being swept, in its local frame
+ * @param {{x:number,y:number,z:number,w:number}} rotation  fixed orientation
+ * @param {PhysicsSurfacePoint} result  populated on hit; untouched on miss
+ * @param {(entity:number, collider:Collider, body_id:number)=>boolean} [filter]
+ *   mandatory in contract; defaults to {@link returnTrue}. Receives the
+ *   candidate body's entity, primary collider, and packed body id (the id
+ *   distinguishes bodies when colliders live on child entities)
+ * @param {boolean} [skip_initial_overlaps=false] how a candidate ALREADY
+ *   overlapping the swept shape at `t = 0` is treated. `false` (kinematic
+ *   "can I move?" semantics): targets are solid, so the cast is blocked where
+ *   it stands — report a hit at `t = 0`. The one exception is a convex target
+ *   the shape merely TOUCHES (no depth beyond {@link CONTACT_EPSILON}): a
+ *   tangency blocks only a sweep driving into it, and otherwise steps aside so
+ *   the scan can reach real blockers. `true` (CCD semantics): such a candidate
+ *   is a resting / sliding contact the discrete solver already owns, NOT a
+ *   tunnelling threat — skip it and keep scanning the remaining candidates for
+ *   real blockers along the sweep. Either way, one contact at the start of the
+ *   sweep must never blind the cast to every other obstacle.
+ * @returns {boolean}
+ */
+export function shape_cast(system, ray, shape, rotation, result, filter = returnTrue, skip_initial_overlaps = false) {
+    const ox = ray.origin_x;
+    const oy = ray.origin_y;
+    const oz = ray.origin_z;
+    const dx = ray.direction_x;
+    const dy = ray.direction_y;
+    const dz = ray.direction_z;
+    const tMax = ray.tMax;
+    // A fresh Ray3 defaults tMax to Infinity, which a sweep cannot use (the
+    // swept AABB and the bisection interval would be unbounded). Loud in dev
+    // — silently returning false for the DEFAULT ray construction reads as
+    // "nothing there" and is a debugging trap; prod degrades to a miss.
+    assert.ok(Number.isFinite(tMax) && tMax > 0,
+        `shape_cast: ray.tMax must be a positive finite sweep length, got ${tMax}`);
+    if (!(tMax > 0) || !Number.isFinite(tMax)) return false;
+
+    const rx = rotation[0], ry = rotation[1], rz = rotation[2], rw = rotation[3];
+
+    // ── 1. Swept AABB ──────────────────────────────────────────────
+    shape.compute_bounding_box(local_aabb);
+    // Rotation around ray.origin gives the shape's initial AABB in
+    // world space.
+    aabb3_transform_oriented(
+        initial_aabb, 0,
+        local_aabb[0], local_aabb[1], local_aabb[2],
+        local_aabb[3], local_aabb[4], local_aabb[5],
+        ox, oy, oz,
+        rx, ry, rz, rw
+    );
+    // Stretch by the sweep displacement. Positive direction components
+    // push the +face out; negative components push the −face out.
+    swept_aabb[0] = initial_aabb[0];
+    swept_aabb[1] = initial_aabb[1];
+    swept_aabb[2] = initial_aabb[2];
+    swept_aabb[3] = initial_aabb[3];
+    swept_aabb[4] = initial_aabb[4];
+    swept_aabb[5] = initial_aabb[5];
+    if (dx > 0) swept_aabb[3] += dx * tMax; else swept_aabb[0] += dx * tMax;
+    if (dy > 0) swept_aabb[4] += dy * tMax; else swept_aabb[1] += dy * tMax;
+    if (dz > 0) swept_aabb[5] += dz * tMax; else swept_aabb[2] += dz * tMax;
+
+    // ── 2. Broadphase: gather candidates from both trees ───────────
+    // The BVH query returns the TRUE overlap count and silently drops writes past
+    // the buffer end. An undersized buffer would make the narrowphase loop read
+    // `undefined` candidates and silently MISS the true nearest hit (tunnelling on
+    // a long sweep through a dense scene). Grow by doubling and re-query until
+    // both fit (deterministic queries → converges in one resize).
+    let n_static, n_dynamic, n_total;
+    for (;;) {
+        n_static = bvh_query_user_data_intersects_aabb(scratch_candidates, 0, system.staticBvh, swept_aabb);
+        n_dynamic = bvh_query_user_data_intersects_aabb(scratch_candidates, n_static, system.dynamicBvh, swept_aabb);
+        n_total = n_static + n_dynamic;
+        if (n_total <= scratch_candidates.length) break;
+        scratch_candidates = new Uint32Array(Math.max(n_total, scratch_candidates.length * 2));
+    }
+    if (n_total === 0) return false;
+
+    // ── 3. Narrowphase: per-candidate bisection ────────────────────
+    //
+    // Re-bind the swept shape's PosedShape3D once for shape + rotation;
+    // we update `px/py/pz` per bisection midpoint without rerunning
+    // setup (px/py/pz are public fields by contract).
+    swept_posed.shape = shape;
+    swept_posed.qx = rx; swept_posed.qy = ry; swept_posed.qz = rz; swept_posed.qw = rw;
+
+    let best_t = tMax;
+    let best_body_id = -1;
+    let best_entity = -1;
+
+    for (let i = 0; i < n_total; i++) {
+        const body_id = scratch_candidates[i];
+        const body_idx = body_id_index(body_id);
+        const entity = system.entityOf(body_id);
+        if (entity < 0) continue;
+
+        const collider = system.__primary_collider(body_idx);
+        if (collider === null) continue;
+        if (!filter(entity, collider, body_id)) continue;
+
+        const target_tr = system.__transforms[body_idx];
+        candidate_posed.setup_components(
+                collider.shape,
+                target_tr.translation_x, target_tr.translation_y, target_tr.translation_z,
+                target_tr.rotation_x, target_tr.rotation_y, target_tr.rotation_z, target_tr.rotation_w
+            );
+
+        // Already overlapping at t = 0? The bisection's "no overlap at lo,
+        // overlap at hi" invariant doesn't hold for this candidate. Under CCD
+        // semantics it is a resting contact to step over — skip THIS candidate
+        // only, and keep scanning for real blockers.
+        //
+        // Under kinematic semantics targets are SOLID: a shape that starts
+        // genuinely inside one is blocked where it stands, `t = 0`, whatever
+        // direction it is trying to sweep. Nothing can beat that, so stop
+        // scanning. Getting out is depenetration's job, not the sweep's.
+        //
+        // Exact TANGENCY is the exception, and it needs one. A zero-depth
+        // touch is not "inside" anything — the shape is resting against a
+        // face, or flush with a brush seam, and is free to slide along it or
+        // leave. It also survives depenetration, which has no depth to push
+        // out of, so it persists frame after frame.
+        //
+        // Reporting it as a `t = 0` hit ends the scan, and that is the whole
+        // problem: the caller is handed a contact it correctly judges harmless
+        // for this direction and concludes the sweep is clear, while the body
+        // it was actually about to hit was never tested. A character flush
+        // against a wall falls through the floor that way. So a tangency
+        // blocks only when the sweep drives INTO it, and otherwise steps aside
+        // and lets the scan continue.
+        //
+        // MPR's depth at the START pose is what separates the two: positive
+        // means genuine overlap, none means tangency. Tangency is also exactly
+        // where the normal is hardest to recover, hence the second probe; if
+        // even that degenerates there is no normal to judge with and the
+        // contact blocks, stopping short being the safe failure.
+        swept_posed.px = ox; swept_posed.py = oy; swept_posed.pz = oz;
+        if (gjk(simplex_buf, swept_posed, candidate_posed)) {
+            if (skip_initial_overlaps) continue;
+
+            // The tangency exception reads MPR's depth and normal, both of
+            // which assume a convex target. This query has never supported
+            // concave ones (`overlap_shape` decomposes them per-triangle;
+            // nothing here does), so rather than extend a convex-only
+            // inference to geometry the module cannot see properly, leave
+            // those on the unconditional "solid, blocked at t = 0" path.
+            const convex_target = collider.shape.is_convex !== false;
+            if (convex_target && !probe_contact_normal(probe_normal, ox, oy, oz, target_tr)) {
+                const known = recover_contact_normal(
+                    probe_normal, ox, oy, oz, dx, dy, dz, target_tr,
+                );
+                if (known) {
+                    // Both vectors are unit, so this is the sine of the angle
+                    // between the sweep and the contact plane. Zero means
+                    // exactly parallel — sliding along the face — and positive
+                    // means leaving it; neither blocks. The tolerance matters
+                    // because the parallel case sits right on the sign change,
+                    // and an MPR-recovered normal carries ~1e-6 of angular
+                    // noise: without it a sweep ALONG a face flips to
+                    // "head-on" on solver noise alone.
+                    const into = dx * probe_normal[0] + dy * probe_normal[1] + dz * probe_normal[2];
+                    if (into > -GRAZING_SINE_EPSILON) continue;
+                }
+            }
+
+            best_t = 0;
+            best_body_id = body_id;
+            best_entity = entity;
+            break;
+        }
+
+        // ── Slab intersection: narrow the search interval analytically ─
+        //
+        // Compute the body's tight world AABB and intersect it with the
+        // swept shape's AABB sliding along the sweep direction. The
+        // result is the t-interval `[t_aabb_enter, t_aabb_exit]` during
+        // which the two AABBs overlap. Outside this interval the actual
+        // shapes can't overlap either (AABB is a superset of the
+        // shape), so we get to skip all of [0, t_aabb_enter) and
+        // (t_aabb_exit, best_t] without testing.
+        //
+        // This is the key to making `shapeCast` scale to long sweeps:
+        // a 1 km cast of a 1 m sphere against another 1 m sphere has an
+        // AABB-overlap window of ≈ 2 m (the sum of diameters along the
+        // sweep axis), reducing the coarse-step grid from a 30 m
+        // resolution (1000/32) to 6 cm (2/32).
+        collider.shape.compute_bounding_box(target_local_aabb);
+        aabb3_transform_oriented(
+            target_world_aabb, 0,
+            target_local_aabb[0], target_local_aabb[1], target_local_aabb[2],
+            target_local_aabb[3], target_local_aabb[4], target_local_aabb[5],
+            target_tr.translation_x, target_tr.translation_y, target_tr.translation_z,
+            target_tr.rotation_x, target_tr.rotation_y, target_tr.rotation_z, target_tr.rotation_w
+        );
+
+        let t_aabb_enter = -Infinity;
+        let t_aabb_exit = Infinity;
+        let skip_candidate = false;
+        for (let ax = 0; ax < 3; ax++) {
+            const init_min = initial_aabb[ax];
+            const init_max = initial_aabb[ax + 3];
+            const body_min = target_world_aabb[ax];
+            const body_max = target_world_aabb[ax + 3];
+            const d_ax = ax === 0 ? dx : (ax === 1 ? dy : dz);
+            if (d_ax === 0) {
+                // Static along this axis: AABBs must overlap in their
+                // initial position or this candidate is unreachable.
+                if (init_max < body_min || init_min > body_max) {
+                    skip_candidate = true;
+                    break;
+                }
+                continue;
+            }
+            // swept_min(t) = init_min + d·t, swept_max(t) = init_max + d·t.
+            // Slab-enter: swept_max(t) = body_min  →  t = (body_min − init_max) / d
+            // Slab-exit:  swept_min(t) = body_max  →  t = (body_max − init_min) / d
+            const t1 = (body_min - init_max) / d_ax;
+            const t2 = (body_max - init_min) / d_ax;
+            const lo = t1 < t2 ? t1 : t2;
+            const hi = t1 < t2 ? t2 : t1;
+            if (lo > t_aabb_enter) t_aabb_enter = lo;
+            if (hi < t_aabb_exit)  t_aabb_exit  = hi;
+        }
+        if (skip_candidate) continue;
+        if (t_aabb_enter > t_aabb_exit) continue;
+
+        // Clamp to the relevant t-window: [0, best_t]. Anything beyond
+        // best_t can't tighten the answer.
+        const t_start = t_aabb_enter > 0     ? t_aabb_enter : 0;
+        const t_end   = t_aabb_exit  < best_t ? t_aabb_exit  : best_t;
+        if (t_start >= t_end) continue;
+
+        // Coarse-search within the narrowed interval to find any t for
+        // which the shapes overlap (their AABBs do by construction; the
+        // shapes themselves may not, e.g. two spheres passing alongside).
+        const step_dt = (t_end - t_start) / COARSE_STEPS;
+        let t_prev = t_start;
+        let t_hi = -1;
+        for (let s = 1; s <= COARSE_STEPS; s++) {
+            const t = t_start + s * step_dt;
+            swept_posed.px = ox + dx * t;
+            swept_posed.py = oy + dy * t;
+            swept_posed.pz = oz + dz * t;
+            if (gjk(simplex_buf, swept_posed, candidate_posed)) {
+                t_hi = t;
+                break;
+            }
+            t_prev = t;
+        }
+        if (t_hi < 0) continue;
+
+        // Bisect [t_prev, t_hi]: invariant is `gjk(t_lo) === false` and
+        // `gjk(t_hi) === true`.
+        let t_lo = t_prev;
+        const stop_width = TOI_TOLERANCE * tMax;
+        for (let bi = 0; bi < MAX_BISECTION && (t_hi - t_lo) > stop_width; bi++) {
+            const t_mid = (t_lo + t_hi) * 0.5;
+            swept_posed.px = ox + dx * t_mid;
+            swept_posed.py = oy + dy * t_mid;
+            swept_posed.pz = oz + dz * t_mid;
+            if (gjk(simplex_buf, swept_posed, candidate_posed)) {
+                t_hi = t_mid;
+            } else {
+                t_lo = t_mid;
+            }
+        }
+
+        // Use t_lo (the just-SEPARATING side of the bisection) rather
+        // than t_hi (just-overlapping). With the fixed GJK that no
+        // longer flags 5 mm-clear gaps as overlap, the bisection is
+        // tight; reporting t_lo gives kinematic callers a conservative
+        // TOI — the swept shape at the reported moment is provably NOT
+        // overlapping the target. The normal-probe below steps a few
+        // mm past best_t to get a valid simplex for MPR.
+        if (t_lo < best_t) {
+            best_t = t_lo;
+            best_body_id = body_id;
+            best_entity = entity;
+        }
+    }
+
+    if (best_body_id === -1) return false;
+
+    const rp = result.position;
+    const rn = result.normal;
+
+    const swept_x = ox + dx * best_t;
+    const swept_y = oy + dy * best_t;
+    const swept_z = oz + dz * best_t;
+
+    rp[0] = swept_x;
+    rp[1] = swept_y;
+    rp[2] = swept_z;
+
+    // ── Contact-normal recovery via MPR ────────────────────────────
+    //
+    // Bisection converges with `swept_posed` somewhere within
+    // `stop_width = TOI_TOLERANCE * tMax` of the true contact. At
+    // exactly `best_t` the overlap depth is therefore sub-millimetre
+    // on practical sweeps. EPA on smooth-vs-smooth supports at this
+    // overlap can't tighten before its iteration cap and returns a
+    // direction off by ~30° from truth. MPR is the better tool here:
+    // it converges in 5-15 iterations on smooth surfaces, same MTV
+    // output convention as EPA (direction = A's interior into B,
+    // magnitude = depth).
+    //
+    // The probe pose is `NORMAL_PROBE_OFFSET` past `best_t` along the sweep
+    // (a few mm into the target) — bisection stops on the just-SEPARATING
+    // side, so there is no MTV to read exactly at `best_t`. The reported
+    // `result.t` stays at `best_t`; only the normal probe moves.
+    // `recover_contact_normal` handles the grazing case, where advancing
+    // along the sweep never produces overlap at all.
+    const contact_x = ox + dx * best_t;
+    const contact_y = oy + dy * best_t;
+    const contact_z = oz + dz * best_t;
+    const best_body_idx = body_id_index(best_body_id);
+    const best_collider = system.__primary_collider(best_body_idx);
+    let normal_x = -dx, normal_y = -dy, normal_z = -dz;
+    if (best_collider !== null) {
+        const best_tr = system.__transforms[best_body_idx];
+        candidate_posed.setup_components(
+                best_collider.shape,
+                best_tr.translation_x, best_tr.translation_y, best_tr.translation_z,
+                best_tr.rotation_x, best_tr.rotation_y, best_tr.rotation_z, best_tr.rotation_w
+            );
+        if (recover_contact_normal(probe_normal, contact_x, contact_y, contact_z, dx, dy, dz, best_tr)) {
+            normal_x = probe_normal[0];
+            normal_y = probe_normal[1];
+            normal_z = probe_normal[2];
+        }
+    }
+
+    rn[0] = normal_x; rn[1] = normal_y; rn[2] = normal_z;
+    result.t = best_t;
+    result.entity = best_entity;
+    result.body_id = best_body_id;
+    return true;
+}