pelican-engine 0.3.26 → 0.3.28

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": "0.3.28",
   "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": "8c53f123d2ac1cb92d38be69d423d6b5b8dea6896ebfdbbd3ad210a6c8a33518",
+    "docs/api/REFERENCE.md": "ac2dd4b76aae621a1c1d55e8861d13b2cb106e8239baaf7ed4b04cbb44ddb727",
     "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": "b0d40d527f0865171042c46aed02091911a4d8000eb4dcf3d08f64f8a44959a1",
     "docs/THIRD-PARTY-NOTICES.md": "58f9b72e2b4dfaaaf2a4c08b9bde9ecef3d2b7e7d65fccd782ed54f39fa76fdc",
-    "engine.manifest.json": "761c952dd0ce338f25bd134d29b06c90f8a211cd0ed969f3460fef37ba6286fd",
+    "engine.manifest.json": "00d672c85db2dbe0899ba13f00e2bb6d4caf91d5c29683128ad69130ca4a2f35",
     "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": "c03c050d63aeed5f368cfedc56b3939b2bd059e2d7ce079995a52f1dc1d0b2a0",
+    "lib/sdk/index.js": "fbc5ba0ba5f48c17155d58df8128cf247a14844107df2473c466dd66bb121d54",
     "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": "bb7f348ace4b73be1e7e355b00ebb1dd32fc4aa7ff62c59d05422f518841cb5c",
     "README.md": "ff25e039921a85ba253c27608c77ed614a036117d7a04f908a78d1e3ed3f19ef",
     "web/index.html": "d89d6a5b5be3beae3627a8ed506ac308b165d264fb8696be3afd79fcca2f26ee"
   }

package/docs/STATUS.md

@@ -1,37 +1,27 @@
-# 当前研发状态
+# ??????
 
-## 版本与发布
+## ?????
 
-- 当前版本为 `0.3.22`，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。
+- ????? 0.3.28??????????SDK??????????????
+- ??????? GitHub Actions ? npm ?????? latest?GitHub Release ????????????
+- ??????????????????????????GPU???????????
 
-## 已有基础与缺口
+## ???????
 
-- TypeScript SDK、编译器、游戏运行时、渲染器、资源管线和命令行已有实现；游戏开发使用 `pelican-engine` 公开接口。
-- 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。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。
-- 三角布料新增 CPU 距离约束、近似弯曲、锚点、受力、采样球体/平面粒子碰撞、非相邻粒子自碰撞、Host 快照及动态网格入口；不包含面/边碰撞、刚体反作用、撕裂或连续碰撞。渲染、运行、稳定性、性能和快照兼容均未验证，不代表完整布料能力。
-- 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。
+- TypeScript SDK?????????????????? CLI ??????????? pelican-engine ?????
+- ????????????????? WebGL2 ?????????????????????????????????
+- ????????????????????????????????????????????????
+- ?????????????????????????????????????
+- ????????????????????????????????????????????????????????????????
+- ?????????????????????????????????????????????????????????????????????????????????
+- ?????????????????????????????????????????
 
+## ????
 
-- Historical cloth snapshots without `selfCollisions` restore in the legacy particle-only mode; invalid or duplicate self-contact state is rejected atomically. This migration fix is unverified.
+?? main ???????????? Git ???????????.git/worktrees ????????????????????????????????????????????
 
-- Cloth automatic stepping can bind live dynamic non-trigger spheres and sample their center and radius after physics as one-way moving obstacles; no reaction impulse is applied. This interface is unverified.
+?????????????????????????????????????????????????????API ???????????
 
-## 单线接续
+## ????
 
-只在 `main` 的主工作树串行开发。历史独有候选和失败记录在本机 `.pelican/consolidated-worktrees/`、`.pelican/worktree-snapshots/` 或原证据目录中；它们不是活动工作树，未审查前不能删除或声称已合入。其他环境不一定有这些本机目录。
-
-每次工作只积累一个功能、修复或下一版本的相关变更；完成后及时提交并推送，不等待里程碑。推送前同步递增标准版本，以便 npm 使用同一版本发布。历史本机开发报告可由本机 Git 排除配置隐藏，不删除原文件；正式证据和未来新报告不能因此被默认为已提交。
-
-下一步优先分析物理生命周期与旧状态兼容的实现边界，再按依赖逐步集成可用功能。保留真实失败、局限和历史来源；不在禁止验证期间声称修复已通过。
-
-- ?????????????????????????????
-
-- ?????????????????????????????????????????????????
-
-- ???????????? `bodyReactions`??????/????????????????????????????????????
+?????????? npm latest ?????????????????????????????

package/docs/api/REFERENCE.md

@@ -1,4 +1,4 @@
-# pelican 0.3.26 API 索引
+# pelican 0.3.28 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 = "0.3.28"
 ```
 
 ## Vec2

package/docs/api/index.json

@@ -1,14 +1,14 @@
 {
   "format": "pelican.api-index",
   "version": 1,
-  "engineVersion": "0.3.26",
+  "engineVersion": "0.3.28",
   "entry": "pelican-engine",
   "source": "packages/sdk/src/index.ts",
   "symbols": [
     {
       "name": "SDK_VERSION",
       "kind": "constant",
-      "signature": "SDK_VERSION = \"0.3.26\"",
+      "signature": "SDK_VERSION = \"0.3.28\"",
       "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": "0.3.28",
   "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 = "0.3.28";
 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 = "0.3.28";
 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": "0.3.28",
   "description": "Pelican Engine public SDK and offline development CLI",
   "type": "module",
   "license": "MIT",