pelican-engine 0.3.15 → 0.3.17

package/AGENTS.md

@@ -137,6 +137,31 @@ all earlier automatic ropes from that phase; the host tick may still have other
 partial changes and must be recovered from a known-good checkpoint. The source
 checkout includes `examples/rope-particles`.
 
+New ropes resolve discrete sphere overlaps along segment interiors as well as at
+particles. Corrections are distributed to movable endpoints; a segment with two
+fixed anchors cannot move. `ctx.ropes.inspect(id).segmentContacts` reports the
+segment index, closest-point fraction and reaction impulses. Set
+`segmentCollisions: false` to retain particle-only behavior. Historical rope
+solver snapshots without this field retain particle-only behavior when migrated;
+`inspect(id).segmentCollisions` reports the active mode. Normal Host snapshot
+engine-version restrictions still apply. Plane contacts use particle endpoints.
+The segment index names its first particle; `fraction` runs toward the next.
+Work increases with segment, sphere, substep and iteration counts. This does not
+provide continuous collision detection; the segment solver and snapshot migration
+have not been runtime validated.
+
+New ropes also resolve discrete self-contact between non-adjacent segments using
+sweep-and-prune and endpoint projection. `inspect(id).selfContacts` reports
+segment indices, closest-point fractions and maximum overlap; `selfCollisions`
+reports the active mode. Set `selfCollisions: false` to disable it. Adjacent
+segments and collisions between separate ropes are not handled. Immovable anchored
+endpoints stay fixed, and contacts introduced by corrections can wait until the
+next iteration. Dense overlap can approach quadratic work. Snapshots from before
+this feature retain the disabled mode when migrated; Host engine-version rules
+still apply. This is unverified discrete contact, not a guarantee against
+penetration, continuous collision, friction or full rope physics. The source
+checkout includes `examples/rope-self`.
+
 For optional visual presentation, declare a material in `defineGame({ materials:
 [...] })` and create the rope with `visual: { material: "your-material-id" }`.
 The renderer draws capped cylindrical instances between consecutive simulated
@@ -181,8 +206,8 @@ automatically act on a rigid body.
 For an explicitly mapped dynamic body, game code can read its actual world center
 of mass via `ctx.physics.centerOfMass(id)`, apply the linear impulse, and apply
 `reactionAngularImpulse - centerOfMass × reactionImpulse` as torque impulse.
-Apply each contact at most once for its `tick`; repeated `inspect` calls return
-the same contacts. The source checkout's `examples/rope-reaction` uses the
+For manual coupling, include both `contacts` and `segmentContacts` and apply each
+contact at most once for its `tick`; repeated `inspect` calls return the same contacts. The source checkout's `examples/rope-reaction` uses the
 automatic binding instead.
 
 This sampled, manually applied reaction is delayed and uses positional correction,
@@ -193,7 +218,7 @@ checkpoint. It must not be represented as complete two-way rigid-body interactio
 
 This is an unverified development-stage increment, not complete rope physics:
 the optional segmented visual does not provide a continuous deformable rope mesh,
-general rigid-body coupling, segment or self collision, or tearing. Plane normals must be unit length; `offset` is the signed
+general rigid-body coupling, continuous collision, cross-rope collision, or tearing. Plane normals must be unit length; `offset` is the signed
 normal distance from the origin. Host intervals must be between 1/1000 and
 1/30 seconds inclusive.
 

package/distribution.json

@@ -1,12 +1,12 @@
 {
   "format": "pelican.npm-distribution",
-  "version": "0.3.15",
+  "version": "0.3.17",
   "files": {
-    "AGENTS.md": "e12abbd5320cd6823a1689c5d76a260b1e9f2293f6d9c871ec11ed0c497bcd3e",
+    "AGENTS.md": "cdcd34e5b4529ae61bdba6fc988b36aee1165d522fab601ed9f73aa80b0e835b",
     "CONTRIBUTING.md": "0ffad5d841d90f319fc50a75b81d3c0ad6dab8d5d9bec2846c65c7f8358d5a50",
     "docs/AI-WORKFLOW.md": "aa992686df93f791795f6f3fce01713d812eea6a1b9556f07411ac5847278efa",
-    "docs/api/index.json": "72cb96387ddbb933920a3589457e585cf16335ac13a95868b1306ff606818136",
-    "docs/api/REFERENCE.md": "af4f340f6209272eceb6136942642f2c5f090db3fe15666ec31dc1c12ac71c46",
+    "docs/api/index.json": "8e0c5d3537ef97940d2716a9e10edbdc11ea6f8c72d9661bb884edc5aa0fa89e",
+    "docs/api/REFERENCE.md": "31c399396d42b04b19095ff0c56a71c23b0033a5c675dc031a8ca7c45c7cc0ab",
     "docs/ARCHITECTURE.md": "3184b73592d466390e7793b1cf39bbb80d6052b523fba7e7cb377b5207074627",
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     "docs/CAPABILITIES.md": "92950817497d8c63db07830db96dc93c877befa8d038320feed1ae1f1a053cb1",
@@ -14,14 +14,14 @@
     "docs/GETTING-STARTED.md": "5519ebe4e513e8ae4517c04948ee9dc70bcb1e3d04a65d468a6537c838502663",
     "docs/GRAPHICS-GUIDE.md": "e3d0f7df6189ca3f88d81af5ffaf393f5d6bf39b9e66167bb2f64b39194b514c",
     "docs/npm/DISTRIBUTION.md": "ff25e039921a85ba253c27608c77ed614a036117d7a04f908a78d1e3ed3f19ef",
-    "docs/npm/GAME-AUTHOR.md": "e12abbd5320cd6823a1689c5d76a260b1e9f2293f6d9c871ec11ed0c497bcd3e",
+    "docs/npm/GAME-AUTHOR.md": "cdcd34e5b4529ae61bdba6fc988b36aee1165d522fab601ed9f73aa80b0e835b",
     "docs/PELICAN-MIGRATION.md": "c5d6ab8e5186f4d36720a0a01d1a7e4157a5d386c5400e2db99571a7d10a1e49",
     "docs/PHYSICS-LIFECYCLE-ISSUE.md": "cc78917462de4e7e9b68e77c742192ce213b4be5b516d2ba943251fff46977ac",
     "docs/RENDER-BACKENDS.md": "d981ea94742a835d028db37d536fb7fba05102e37bc6274a37baf74f5034b954",
     "docs/ROADMAP.md": "29ac1c54f36064e23c17cfe7f549d6860889257a57d1227e322958aa9c281568",
-    "docs/STATUS.md": "cd0ff5eb4bdcad4ef9d040f91f1239827e25e47e12d36e68a82f7f230e0b27f9",
+    "docs/STATUS.md": "a0e2757c30899b6d32dafb83af453da9c75de66252d47529259dbe3029b1d0f1",
     "docs/THIRD-PARTY-NOTICES.md": "58f9b72e2b4dfaaaf2a4c08b9bde9ecef3d2b7e7d65fccd782ed54f39fa76fdc",
-    "engine.manifest.json": "57443c5c26e312da99a6d224eaec66e964282cdfbffb167d76d0b4242ade0a69",
+    "engine.manifest.json": "4ba737057000e310d9b9f77fd662f41fde85674e59d3b9dcc37e2b52a7f965f5",
     "lib/assets/audio.js": "6facdce4e053afd172af5b9407569b035169844ea17b49f93f8b67f72b78895f",
     "lib/assets/errors.js": "70572678655c6e53179d31920d71f29882d373a0e12d560220bb0fc2cd74f2cc",
     "lib/assets/glb.js": "b808479a36299c154db97f50c16863a3b5a2c61f725e66bf01d01a5f62a288a5",
@@ -124,11 +124,12 @@
     "lib/runtime/world.js": "c43621fbaca8bd2b0d6477a96e60e895312f0f7b1eb97614b6e4f9b716129ea1",
     "lib/schema/index.js": "594429eecb4494c4af2f3d04537be3211f2c9297a1fc555bbba5d028d8627965",
     "lib/sdk/graph-values.js": "a58c00f127cb82aba5fd2824981942844e06d9a59a88a05e35d1d3df2fc7ed2f",
-    "lib/sdk/index.d.ts": "6108606fb38dae6c044e34d7589baa205bec472b2eff1181f1df278c21deb56f",
-    "lib/sdk/index.js": "950429d5fdcd8e8ad7dfee727c859d127d4f26f45ac0065bbcb938629a3784af",
+    "lib/sdk/index.d.ts": "088d3194d08c5396b7e25633182c1653124b5dead9d3d90bf37bf58a28f98bf3",
+    "lib/sdk/index.js": "ddbaa32add3f69435c280c7442776acdbeabff2e0142ada6ea154503fcf15be1",
     "lib/simulation/rope-body-coupling.js": "70694b73d17c79f223803a51fbf4a4dae551b717cd29bbea1fa38386ac98d621",
-    "lib/simulation/rope-plugin.js": "000f2d74d8ec95eeb27baf556d1d97ead80babbe212eaf5a3117f2a65e81694c",
-    "lib/simulation/rope.js": "1a9dff898d43d9e9a39f0be4ece5a17761cf8aae4a287de9da4b95d26235d441",
+    "lib/simulation/rope-plugin.js": "08c7c4800053b3e8f255b6dd5be2b532b8e259300666c31de5494d15704717d4",
+    "lib/simulation/rope-self-collision.js": "4d8dc5d5a88f0ae0ad5463f553f49b2ad3c8c126b98344a0966f619635bdb17f",
+    "lib/simulation/rope.js": "e00c1cfb31e3f9bee7465e99897d162a0465eb5a41718599d8ab71b03bbe2dcc",
     "lib/tools/api-index.js": "6aedc153a0ce8eaf18239b0368a76a8ae8e4397bd8e6cdf571889bc39265be5d",
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@@ -199,7 +200,7 @@
     "licenses/undici-types/LICENSE": "a6db8096b2707bc0102d256917d4d33f298ba36d8c3f25de067a2b5bb379db27",
     "licenses/uniq/LICENSE": "e67aed7df22dc8031e4fcf5338fe91cb33e3817e5c58a99a2a2802eea9069791",
     "licenses/vite/LICENSE.md": "a22152baa1aef74402443008e767e7c689a524c0909d19b0431d97f5ab066a13",
-    "package.json": "c2ee39a9767bcaac74cc5f3d10ad1617ae5078b332dde7f709a4dde6952c0e79",
+    "package.json": "782d123698809a46c5f83c42fcfa51cb69c102df7cbe3b9665e9f247302471ef",
     "README.md": "ff25e039921a85ba253c27608c77ed614a036117d7a04f908a78d1e3ed3f19ef",
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package/docs/STATUS.md

@@ -2,7 +2,7 @@
 
 ## 版本与发布
 
-- 当前版本为 `0.3.15`，包、锁文件、引擎、SDK、编译器和示例中的版本保持一致。下一项功能完成后统一递增并推送；相同版本不能重复发布。
+- 当前版本为 `0.3.17`，包、锁文件、引擎、SDK、编译器和示例中的版本保持一致。下一项功能完成后统一递增并推送；相同版本不能重复发布。
 - 推送主线会通过 GitHub Actions 和 npm 可信发布更新 `latest`；GitHub Release 用于记录里程碑。历史版本和旧标签保持原样，不代表当前源码通过。
 - 当前按用户要求仅允许编译和构建，不运行测试、浏览器、GPU、性能或其他验证。普通版本号不意味着运行行为、硬件或完整引擎已验收。
 
@@ -12,7 +12,7 @@
 - 动态光追、路径追踪、受控图形计算和 WebGL2 回退已有研发实现，但当前源码的完整画质、性能、兼容性和资源生命周期未验证，不能称为完整首发。
 - 刚体首步前删除存在已知缺陷；历史候选存在旧快照兼容及危险历史回放风险，不得通过修改夹具或在主进程回放危险历史掩盖。有关背景与原始证据保留在历史任务文档中。
 - 正交网格导航新增批量障碍更新接口；它只处理单个网格的阻挡状态，不等于世界流送、实体变换或物理联动。该增量尚未进行运行行为验证。
-- CPU 粒子绳索已接入 `ctx.ropes` 和 Host 快照，支持手动或自动固定步进。显式绑定的动态非触发球体可在物理阶段后被采样，并接收绳索投影产生的反冲量；其他采样球体/平面仍为单向。可选分段圆柱实例随粒子位置更新；它不是连续变形绳索网格。尚无完整双向求解、绳段/自碰撞或撕裂；渲染、运行行为和快照兼容均未验证。
+- CPU 粒子绳索已接入 `ctx.ropes` 和 Host 快照，支持手动或自动固定步进。显式绑定的动态非触发球体可在物理阶段后被采样，并接收绳索投影产生的反冲量；其他采样球体/平面仍为单向。可选分段圆柱实例随粒子位置更新；它不是连续变形绳索网格。新绳索默认对绳段内部与球体的离散重叠求解，旧粒子型快照保留原模式；新增非相邻绳段间离散自接触和扫掠式宽相，可关闭；尚无完整双向求解、跨绳索碰撞、连续碰撞或撕裂。渲染、碰撞、性能、运行行为和快照兼容均未验证。
 - 动态球体绑定的接触响应已纳入刚体接触点速度、有效逆质量和转动惯量；绳索阶段使用虚拟状态、按绳索顺序求解并延迟提交冲量。真实刚体位移在下一物理步更新，仍无全局耦合子步、摩擦、恢复系数或连续碰撞，不代表完整双向物理。稳定性、守恒、运行和快照兼容尚未验证。
 - 布料、绳索、软体、流体、连续世界、导航、动画、音频和其他首发能力仍需按各自依赖完成，不能把独立候选或局部实现写成整项完成。