pelican-engine 0.3.26 → 0.3.27

package/AGENTS.md

@@ -240,6 +240,8 @@ not mass-coupled with cloth velocity. The body receives no reaction when the
 option is omitted. Destroyed bodies are removed on the next automatic step.
 This is not complete cloth-rigid-body coupling.
 
+Sampled planes use the triangle centroid for discrete surface projection; this is not continuous triangle-plane collision.
+
 New cloth also resolves detected sphere overlaps against triangle surface interiors
 using closest-point barycentric projection. `inspect(id).surfaceContacts` reports
 the triangle and barycentric position. `surfaceCollisions` defaults to true for new

package/distribution.json

@@ -1,12 +1,12 @@
 {
   "format": "pelican.npm-distribution",
-  "version": "0.3.26",
+  "version": "0.3.27",
   "files": {
-    "AGENTS.md": "4c6f0e952979bad6e9562663f238608c5395aeff4fef723456ccfab0a5895029",
+    "AGENTS.md": "ea6e8d183ab104bfa3569ad56d3d86fce3503f14dcb94782ab7656ecc4f9c0cd",
     "CONTRIBUTING.md": "0ffad5d841d90f319fc50a75b81d3c0ad6dab8d5d9bec2846c65c7f8358d5a50",
     "docs/AI-WORKFLOW.md": "aa992686df93f791795f6f3fce01713d812eea6a1b9556f07411ac5847278efa",
-    "docs/api/index.json": "c4bf7891a87db76cd52000b298f7092173967d94ed988d44939349953994e5ad",
-    "docs/api/REFERENCE.md": "37a5d21b2699db53ffb9dd4121a21871a6bfebcb812643a34f6bfac180a2dd00",
+    "docs/api/index.json": "765c761b22408c49d2c949e66d6e4ff363c73242fac115cc78677cee7414b647",
+    "docs/api/REFERENCE.md": "5f3fb3e68148832e22db8fedd3b56febb1b6f65d28b80a46e4aaa85b1cea2694",
     "docs/ARCHITECTURE.md": "3184b73592d466390e7793b1cf39bbb80d6052b523fba7e7cb377b5207074627",
     "docs/assets/pelican-mark.svg": "407b10cd7e292ea83cf5dba4046fb2f01c7d566a14014c55deda3a2984562b4d",
     "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": "4c6f0e952979bad6e9562663f238608c5395aeff4fef723456ccfab0a5895029",
+    "docs/npm/GAME-AUTHOR.md": "ea6e8d183ab104bfa3569ad56d3d86fce3503f14dcb94782ab7656ecc4f9c0cd",
     "docs/PELICAN-MIGRATION.md": "c5d6ab8e5186f4d36720a0a01d1a7e4157a5d386c5400e2db99571a7d10a1e49",
     "docs/PHYSICS-LIFECYCLE-ISSUE.md": "cc78917462de4e7e9b68e77c742192ce213b4be5b516d2ba943251fff46977ac",
     "docs/RENDER-BACKENDS.md": "d981ea94742a835d028db37d536fb7fba05102e37bc6274a37baf74f5034b954",
     "docs/ROADMAP.md": "29ac1c54f36064e23c17cfe7f549d6860889257a57d1227e322958aa9c281568",
-    "docs/STATUS.md": "59757c00f4d36f8aa6403c3cc4eda6aaae5d9e34778fcf21eef305580a1a39d7",
+    "docs/STATUS.md": "68cd18f05dd092f7bf754e2298715058b5de4fd4cb563d4cbec6ba7fc48b5cfc",
     "docs/THIRD-PARTY-NOTICES.md": "58f9b72e2b4dfaaaf2a4c08b9bde9ecef3d2b7e7d65fccd782ed54f39fa76fdc",
-    "engine.manifest.json": "761c952dd0ce338f25bd134d29b06c90f8a211cd0ed969f3460fef37ba6286fd",
+    "engine.manifest.json": "0dbddba801aec40154f08b9b458bc573a3546bcb7efea05228f65a096a1b323e",
     "lib/assets/audio.js": "6facdce4e053afd172af5b9407569b035169844ea17b49f93f8b67f72b78895f",
     "lib/assets/errors.js": "70572678655c6e53179d31920d71f29882d373a0e12d560220bb0fc2cd74f2cc",
     "lib/assets/glb.js": "b808479a36299c154db97f50c16863a3b5a2c61f725e66bf01d01a5f62a288a5",
@@ -125,10 +125,10 @@
     "lib/runtime/world.js": "c43621fbaca8bd2b0d6477a96e60e895312f0f7b1eb97614b6e4f9b716129ea1",
     "lib/schema/index.js": "594429eecb4494c4af2f3d04537be3211f2c9297a1fc555bbba5d028d8627965",
     "lib/sdk/graph-values.js": "a58c00f127cb82aba5fd2824981942844e06d9a59a88a05e35d1d3df2fc7ed2f",
-    "lib/sdk/index.d.ts": "7dd24ae7f2348dd458c4b2b8509624b76a49da9877dc15e6cd126dc5f141a371",
-    "lib/sdk/index.js": "35ba8ab8303efd309b404e6628915dc99c1d5f575a7598659d741165d09fee1a",
+    "lib/sdk/index.d.ts": "0dba735ca063a00b6f0a00abefa645085e0eaa2b12f98bc87d99e8b0a0525267",
+    "lib/sdk/index.js": "6ea78d93aa08f654c7a93a2273a796d52e6df99e19a8544de1a68e93fa493837",
     "lib/simulation/cloth-plugin.js": "f9e29445b40d2b072c9b7bf61570a52e0785a5f05a58f5cc152ceabd5533a10a",
-    "lib/simulation/cloth.js": "2abe8005e23c7acdc3c307bdcfe56436f6006ae4bfa224fbd4229287085bb3f4",
+    "lib/simulation/cloth.js": "8914b77ad4af29ca0221edf6a9628f031b560475ee6d183ac915799a0c8347e1",
     "lib/simulation/rope-body-coupling.js": "70694b73d17c79f223803a51fbf4a4dae551b717cd29bbea1fa38386ac98d621",
     "lib/simulation/rope-plugin.js": "08c7c4800053b3e8f255b6dd5be2b532b8e259300666c31de5494d15704717d4",
     "lib/simulation/rope-self-collision.js": "4d8dc5d5a88f0ae0ad5463f553f49b2ad3c8c126b98344a0966f619635bdb17f",
@@ -203,7 +203,7 @@
     "licenses/undici-types/LICENSE": "a6db8096b2707bc0102d256917d4d33f298ba36d8c3f25de067a2b5bb379db27",
     "licenses/uniq/LICENSE": "e67aed7df22dc8031e4fcf5338fe91cb33e3817e5c58a99a2a2802eea9069791",
     "licenses/vite/LICENSE.md": "a22152baa1aef74402443008e767e7c689a524c0909d19b0431d97f5ab066a13",
-    "package.json": "fb602ae870412b5c1406bebbc0de92c06d11619e27b81953f43f5a651ea3c1c8",
+    "package.json": "d555ef517ef262a51246caa3b32f548156f3895e5cd49754d9716ced4ca4ad16",
     "README.md": "ff25e039921a85ba253c27608c77ed614a036117d7a04f908a78d1e3ed3f19ef",
     "web/index.html": "d89d6a5b5be3beae3627a8ed506ac308b165d264fb8696be3afd79fcca2f26ee"
   }

package/docs/STATUS.md

@@ -35,3 +35,5 @@
 - ?????????????????????????????????????????????????
 
 - ???????????? `bodyReactions`??????/????????????????????????????????????
+
+- ??????????????????????????????????????????

package/docs/api/REFERENCE.md

@@ -1,4 +1,4 @@
-# pelican 0.3.26 API 索引
+# pelican 0.3.27 API 索引
 
 Installed declarations: `lib/sdk/index.d.ts` (relative to the package root).
 The signatures below come from the same public SDK source as repository games.
@@ -11,7 +11,7 @@ Source-file paths and line numbers are build-time provenance only; TypeScript so
 来源：`packages/sdk/src/index.ts:2`
 
 ```ts
-SDK_VERSION = "0.3.26"
+SDK_VERSION = "0.3.27"
 ```
 
 ## Vec2

package/docs/api/index.json

@@ -1,14 +1,14 @@
 {
   "format": "pelican.api-index",
   "version": 1,
-  "engineVersion": "0.3.26",
+  "engineVersion": "0.3.27",
   "entry": "pelican-engine",
   "source": "packages/sdk/src/index.ts",
   "symbols": [
     {
       "name": "SDK_VERSION",
       "kind": "constant",
-      "signature": "SDK_VERSION = \"0.3.26\"",
+      "signature": "SDK_VERSION = \"0.3.27\"",
       "line": 2
     },
     {

package/docs/npm/GAME-AUTHOR.md

@@ -240,6 +240,8 @@ not mass-coupled with cloth velocity. The body receives no reaction when the
 option is omitted. Destroyed bodies are removed on the next automatic step.
 This is not complete cloth-rigid-body coupling.
 
+Sampled planes use the triangle centroid for discrete surface projection; this is not continuous triangle-plane collision.
+
 New cloth also resolves detected sphere overlaps against triangle surface interiors
 using closest-point barycentric projection. `inspect(id).surfaceContacts` reports
 the triangle and barycentric position. `surfaceCollisions` defaults to true for new

package/engine.manifest.json

@@ -1,6 +1,6 @@
 {
   "name": "pelican-engine",
-  "version": "0.3.26",
+  "version": "0.3.27",
   "milestone": "M3",
   "stage": "advanced-rendering-development",
   "license": "MIT",

package/lib/sdk/index.d.ts

@@ -1,5 +1,5 @@
 /** Pelican Engine public API. No renderer or GPU implementation types escape this module. */
-export declare const SDK_VERSION = "0.3.26";
+export declare const SDK_VERSION = "0.3.27";
 export type Vec2 = readonly [number, number];
 export type Vec3 = readonly [number, number, number];
 export type Vec4 = readonly [number, number, number, number];

package/lib/sdk/index.js

@@ -1,5 +1,5 @@
 /** Pelican Engine public API. No renderer or GPU implementation types escape this module. */
-export const SDK_VERSION = "0.3.26";
+export const SDK_VERSION = "0.3.27";
 export const SYSTEM_PHASES = [
     "input",
     "prePhysics",

package/lib/simulation/cloth.js

@@ -299,12 +299,22 @@ export class ClothSolver {
                     for (let triangleIndex = 0; triangleIndex < this.config.triangles.length; triangleIndex++) {
                         const triangle = this.config.triangles[triangleIndex], a = positions[triangle[0]], b = positions[triangle[1]], c = positions[triangle[2]];
                         for (const collider of this.colliders) {
-                            if (collider.kind !== "sphere")
-                                continue;
-                            const closest = closestTriangle(collider.center, a, b, c), delta = [closest.point[0] - collider.center[0], closest.point[1] - collider.center[1], closest.point[2] - collider.center[2]], length = Math.hypot(...delta), depth = collider.radius + radius - length;
+                            let closest, normal, depth;
+                            if (collider.kind === "sphere") {
+                                closest = closestTriangle(collider.center, a, b, c);
+                                const delta = [closest.point[0] - collider.center[0], closest.point[1] - collider.center[1], closest.point[2] - collider.center[2]], length = Math.hypot(...delta);
+                                depth = collider.radius + radius - length;
+                                normal = length < 1e-12 ? [0, 1, 0] : [delta[0] / length, delta[1] / length, delta[2] / length];
+                            }
+                            else {
+                                const centroid = [(a[0] + b[0] + c[0]) / 3, (a[1] + b[1] + c[1]) / 3, (a[2] + b[2] + c[2]) / 3];
+                                normal = collider.normal;
+                                depth = collider.offset + radius - (centroid[0] * normal[0] + centroid[1] * normal[1] + centroid[2] * normal[2]);
+                                closest = { point: centroid, barycentric: [1 / 3, 1 / 3, 1 / 3] };
+                            }
                             if (depth <= 0)
                                 continue;
-                            const normal = length < 1e-12 ? [0, 1, 0] : [delta[0] / length, delta[1] / length, delta[2] / length], weights = [this.anchors.has(triangle[0]) ? 0 : closest.barycentric[0], this.anchors.has(triangle[1]) ? 0 : closest.barycentric[1], this.anchors.has(triangle[2]) ? 0 : closest.barycentric[2]], denominator = weights.reduce((sum, value) => sum + value * value, 0);
+                            const weights = [this.anchors.has(triangle[0]) ? 0 : closest.barycentric[0], this.anchors.has(triangle[1]) ? 0 : closest.barycentric[1], this.anchors.has(triangle[2]) ? 0 : closest.barycentric[2]], denominator = weights.reduce((sum, value) => sum + value * value, 0);
                             if (denominator === 0)
                                 continue;
                             const correction = depth / denominator;
@@ -430,7 +440,7 @@ export class ClothSolver {
         const surfaceKeys = new Set();
         if (!Array.isArray(surfaceContacts) || surfaceContacts.length > this.config.triangles.length * colliders.length || (!this.config.surfaceCollisions && surfaceContacts.length > 0) ||
             surfaceContacts.some(contact => !contact || contact.tick !== input.tick || !Number.isSafeInteger(contact.triangle) || contact.triangle < 0 || contact.triangle >= this.config.triangles.length ||
-                !colliders.some(collider => collider.id === contact.colliderId && collider.kind === "sphere") || typeof contact.penetration !== "number" || !Number.isFinite(contact.penetration) || contact.penetration <= 0 ||
+                !colliders.some(collider => collider.id === contact.colliderId) || typeof contact.penetration !== "number" || !Number.isFinite(contact.penetration) || contact.penetration <= 0 ||
                 !Array.isArray(contact.barycentric) || contact.barycentric.length !== 3 || !contact.barycentric.every(value => typeof value === "number" && Number.isFinite(value) && value >= 0 && value <= 1) ||
                 Math.abs(contact.barycentric[0] + contact.barycentric[1] + contact.barycentric[2] - 1) > 1e-5 || (contact.reactionImpulse === undefined) !== (contact.reactionAngularImpulse === undefined) || (contact.reactionImpulse !== undefined && (!vec(contact.reactionImpulse) || !vec(contact.reactionAngularImpulse)))))
             fail("CLOTH_SNAPSHOT", "invalid surface contact state");

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "pelican-engine",
-  "version": "0.3.26",
+  "version": "0.3.27",
   "description": "Pelican Engine public SDK and offline development CLI",
   "type": "module",
   "license": "MIT",