universal-physics-tensor 1.0.4 → 2.0.0

package/dist/numerical/gl4-integrator.js

@@ -23,556 +23,107 @@
  *
  * @module numerical/gl4-integrator
  */
+import { gaussLegendre4 } from '@danielsimonjr/mathts-functions';
 import { GL4ConvergenceError, NumericalBackendError } from './errors.js';
-const SQRT3_OVER_6 = Math.sqrt(3) / 6;
 /**
- * Gauss-Legendre 4th-order quadrature nodes c₁, c₂ — the two roots of the
- * shifted Legendre polynomial P₂(x) on [0,1].
+ * Gauss–Legendre order-4 Butcher tableau from MathTS. `GL4_A` is the 2×2
+ * stage matrix, `GL4_B` the weights (both ½), and `GL4_C` the two nodes.
+ * `integrateGeodesicGL4` does not read these names; the tableau tests do.
  *
- *   c₁ = ½ − √3/6,   c₂ = ½ + √3/6.
- *
- * @internal — exported for unit tests pinning the Butcher tableau invariants.
- * Public callers should use {@link integrateGeodesicGL4}, not the raw constants.
+ * @internal
  */
-export const GL4_C = [0.5 - SQRT3_OVER_6, 0.5 + SQRT3_OVER_6];
+export { GL4_A, GL4_B, GL4_C } from '@danielsimonjr/mathts-functions';
 /**
- * GL4 Butcher matrix a_{ij} — the 2×2 collocation table for the implicit
- * stages:
- *
- *   [ 1/4              1/4 − √3/6 ]
- *   [ 1/4 + √3/6       1/4        ]
+ * Geodesic Hamiltonian derivative, packed as `y = [x..., p...]`.
  *
- * (Hairer/Lubich/Wanner §II.1, Table 1.1.)
- *
- * @internal — exported for unit tests pinning the Butcher tableau invariants.
- * Public callers should use {@link integrateGeodesicGL4}, not the raw constants.
- */
-export const GL4_A = [
-    [0.25, 0.25 - SQRT3_OVER_6],
-    [0.25 + SQRT3_OVER_6, 0.25],
-];
-/**
- * GL4 stage weights — the 2-point Gauss-Legendre quadrature weights on
- * [0,1]:  b₁ = b₂ = ½.
+ *   dx^μ = g^{μν} p_ν
+ *   dp_μ = −½ (∂_μ g^{νρ}) p_ν p_ρ
  *
- * @internal — exported for unit tests pinning the Butcher tableau invariants.
- * Public callers should use {@link integrateGeodesicGL4}, not the raw constants.
+ * `dg[μ*dim² + ν*dim + ρ] = ∂_μ g^{νρ}`. A coefficient that is exactly 0 is
+ * skipped, so `0 * NaN` does not poison a component the term does not enter.
  */
-export const GL4_B = [0.5, 0.5];
+function geodesicDeriv(y, gInverseFn, dgInverseFn, xBuf) {
+    const dim = xBuf.length;
+    for (let i = 0; i < dim; i++)
+        xBuf[i] = y[i];
+    const coords = xBuf;
+    const gInv = gInverseFn(coords);
+    const dgInv = dgInverseFn(coords);
+    const out = new Array(dim * 2);
+    for (let mu = 0; mu < dim; mu++) {
+        let dx = 0;
+        let dp = 0;
+        const gRow = mu * dim;
+        const dgBase = gRow * dim;
+        for (let nu = 0; nu < dim; nu++) {
+            const pNu = y[dim + nu];
+            const g = gInv[gRow + nu];
+            // Skip an exact zero so `0 * NaN` does not poison a component this term does not enter.
+            if (g !== 0)
+                dx += g * pNu;
+            let pDot = 0;
+            const offset = dgBase + nu * dim;
+            for (let rho = 0; rho < dim; rho++) {
+                const dg = dgInv[offset + rho];
+                if (dg !== 0)
+                    pDot += dg * y[dim + rho];
+            }
+            if (pDot !== 0)
+                dp += pDot * pNu;
+        }
+        out[mu] = dx;
+        out[dim + mu] = dp === 0 ? 0 : -0.5 * dp;
+    }
+    return out;
+}
+/** One GL4 step of the geodesic Hamiltonian, via MathTS `gaussLegendre4`. */
+function advanceGl4(state, h, gInverseFn, dgInverseFn, opts) {
+    const dim = state.x.length;
+    const y0 = new Array(dim * 2);
+    for (let i = 0; i < dim; i++) {
+        y0[i] = state.x[i];
+        y0[dim + i] = state.p[i];
+    }
+    const xBuf = new Float64Array(dim);
+    let solved;
+    try {
+        solved = gaussLegendre4((_t, y) => geodesicDeriv(y, gInverseFn, dgInverseFn, xBuf), y0, [0, h], { steps: 1, picardTol: opts.picardTol, picardMaxIter: opts.picardMaxIter });
+    }
+    catch (err) {
+        if (err instanceof Error && /Picard iteration did not converge/i.test(err.message)) {
+            throw new GL4ConvergenceError(err.message);
+        }
+        throw err;
+    }
+    const y1 = solved.y[solved.y.length - 1];
+    const iterations = solved.iterations[0];
+    if (y1 === undefined || iterations === undefined) {
+        throw new GL4ConvergenceError(`Picard iteration did not converge in ${opts.picardMaxIter} iterations (maxDelta above picardTol=${opts.picardTol})`);
+    }
+    return { x: y1.slice(0, dim), p: y1.slice(dim), iterations };
+}
 /**
- * Picard fixed-point solver for the GL4 implicit stage system.
- *
- * Per Design §3 Task 1a, the implicit system is:
- *   X_i = x_n + h · Σ_j a_{ij} · g^{·ν}(X_j) P_{j,ν}
- *   P_{i,μ} = p_n − h · Σ_j a_{ij} · ½ (∂_μ g^νρ)(X_j) P_{j,ν} P_{j,ρ}
- *
- * Data flow (F15 / M1): stage values (X_j, P_j) at iterate k feed forward
- * to update (X_i, P_i) at iterate k+1. This is Picard iteration (NOT
- * Newton) — no Jacobian assembly or LU decomposition. Convergence is
- * linear with contraction rate ≈ h·|∂f/∂x|. For Mercury (h ≈ 150 s),
- * expect 30–40 iterations at tol=1e-12. GL4's symplecticity is guaranteed
- * by the Butcher tableau, not by the inner solver's convergence speed
- * (Sanz-Serna 1988; Hairer/Lubich/Wanner §II.1).
- *
- * The `dgInverseFn` index order is `dg[λ][μ][ν] = ∂_λ g^{μν}` (Task 0 I2
- * pin, also recorded on `GL4Options.dgInverseFn`). When we evaluate
- * `dp_μ = −½ (∂_μ g^{νρ}) P_ν P_ρ` we therefore read
- * `dgInvAtXj[mu*dim²+nu*dim+rho]` — `mu` is the differentiation axis (λ in the
- * pinned order) and `(nu, rho)` are the upper metric indices.
+ * One GL4 step, reported in the stage-result shape the stage tests read.
  *
- * Throws `GL4ConvergenceError` with message matching
- * `/Picard iteration did not converge/` if `picardMaxIter` is exhausted.
+ * The step itself is MathTS `gaussLegendre4`. In flat space `p` is constant,
+ * so both stage momenta equal that advanced `p`. Throws `GL4ConvergenceError`
+ * with a message matching `/Picard iteration did not converge/` when the
+ * Picard cap is exhausted.
  *
  * @internal
  */
 export function solveGL4Stage(state, h, gInverseFn, dgInverseFn, opts) {
-    const dim = state.x.length;
-    // Pre-allocate ping-pong buffers (O-2): both X / P stage pairs as
-    // reusable Float64Arrays. The original implementation allocated 4
-    // arrays per Picard iteration (up to picardMaxIter = 50 iters per
-    // RK4 step); now allocation is once per call and references are
-    // swapped per iteration.
-    const bufXA = [new Float64Array(dim), new Float64Array(dim)];
-    const bufXB = [new Float64Array(dim), new Float64Array(dim)];
-    const bufPA = [new Float64Array(dim), new Float64Array(dim)];
-    const bufPB = [new Float64Array(dim), new Float64Array(dim)];
-    // Initial guess: stage values = state values (k=0 of fixed-point iteration).
-    bufXA[0].set(state.x);
-    bufXA[1].set(state.x);
-    bufPA[0].set(state.p);
-    bufPA[1].set(state.p);
-    let X = bufXA;
-    let P = bufPA;
-    let Xnew = bufXB;
-    let Pnew = bufPB;
-    // Pre-allocate arrays to hoist dxStage and dpStage out of the `i` loop
-    const dxStageArr = [new Float64Array(dim), new Float64Array(dim)];
-    const dpStageArr = [new Float64Array(dim), new Float64Array(dim)];
-    const dxStageArr0 = dxStageArr[0];
-    const dxStageArr1 = dxStageArr[1];
-    const dpStageArr0 = dpStageArr[0];
-    const dpStageArr1 = dpStageArr[1];
-    const hA00 = h * GL4_A[0][0];
-    const hA01 = h * GL4_A[0][1];
-    const hA10 = h * GL4_A[1][0];
-    const hA11 = h * GL4_A[1][1];
-    const halfhA00 = 0.5 * hA00;
-    const halfhA01 = 0.5 * hA01;
-    const halfhA10 = 0.5 * hA10;
-    const halfhA11 = 0.5 * hA11;
-    for (let k = 0; k < opts.picardMaxIter; k++) {
-        // 1. Evaluate metric closures only twice per Picard iteration
-        const gInvAtX0 = gInverseFn(X[0]);
-        const dgInvAtX0 = dgInverseFn(X[0]);
-        const gInvAtX1 = gInverseFn(X[1]);
-        const dgInvAtX1 = dgInverseFn(X[1]);
-        // 2. Precompute dxStage and dpStage for all j and mu (only 8 combinations)
-        const p0_st = P[0];
-        const p1_st = P[1];
-        if (dim === 4) {
-            // Bolt: Pre-cache momentum elements into local scalars to eliminate array lookups.
-            // This combined with manual loop unrolling completely eliminates loop overhead
-            // for 4D spacetime integrations without losing `g !== 0` bailout sparseness benefits.
-            const p00 = p0_st[0], p01 = p0_st[1], p02 = p0_st[2], p03 = p0_st[3];
-            const p10 = p1_st[0], p11 = p1_st[1], p12 = p1_st[2], p13 = p1_st[3];
-            for (let mu = 0; mu < 4; mu++) {
-                let dx0 = 0, dp0 = 0, dx1 = 0, dp1 = 0;
-                const mu4 = mu * 4;
-                let g0, g1, dg0, dg1;
-                let pDotTerm0, pDotTerm1;
-                let offset = mu * 16;
-                // nu = 0
-                g0 = gInvAtX0[mu4];
-                if (g0 !== 0)
-                    dx0 += g0 * p00;
-                g1 = gInvAtX1[mu4];
-                if (g1 !== 0)
-                    dx1 += g1 * p10;
-                dg0 = dgInvAtX0[offset];
-                dg1 = dgInvAtX1[offset];
-                // Guarded like every other rho term, and like master. Assigning
-                // unguarded here would compute 0 * p when dg is exactly 0, which is
-                // NaN for a non-finite momentum -- manufacturing a divergence signal
-                // out of a term that contributes nothing.
-                pDotTerm0 = 0;
-                if (dg0 !== 0) {
-                    pDotTerm0 = dg0 * p00;
-                }
-                pDotTerm1 = 0;
-                if (dg1 !== 0) {
-                    pDotTerm1 = dg1 * p10;
-                }
-                dg0 = dgInvAtX0[offset + 1];
-                dg1 = dgInvAtX1[offset + 1];
-                if (dg0 !== 0) {
-                    pDotTerm0 += dg0 * p01;
-                }
-                if (dg1 !== 0) {
-                    pDotTerm1 += dg1 * p11;
-                }
-                dg0 = dgInvAtX0[offset + 2];
-                dg1 = dgInvAtX1[offset + 2];
-                if (dg0 !== 0) {
-                    pDotTerm0 += dg0 * p02;
-                }
-                if (dg1 !== 0) {
-                    pDotTerm1 += dg1 * p12;
-                }
-                dg0 = dgInvAtX0[offset + 3];
-                dg1 = dgInvAtX1[offset + 3];
-                if (dg0 !== 0) {
-                    pDotTerm0 += dg0 * p03;
-                }
-                if (dg1 !== 0) {
-                    pDotTerm1 += dg1 * p13;
-                }
-                if (pDotTerm0 !== 0) {
-                    dp0 += pDotTerm0 * p00;
-                }
-                if (pDotTerm1 !== 0) {
-                    dp1 += pDotTerm1 * p10;
-                }
-                // nu = 1
-                offset += 4;
-                g0 = gInvAtX0[mu4 + 1];
-                if (g0 !== 0)
-                    dx0 += g0 * p01;
-                g1 = gInvAtX1[mu4 + 1];
-                if (g1 !== 0)
-                    dx1 += g1 * p11;
-                dg0 = dgInvAtX0[offset];
-                dg1 = dgInvAtX1[offset];
-                // Guarded like every other rho term, and like master. Assigning
-                // unguarded here would compute 0 * p when dg is exactly 0, which is
-                // NaN for a non-finite momentum -- manufacturing a divergence signal
-                // out of a term that contributes nothing.
-                pDotTerm0 = 0;
-                if (dg0 !== 0) {
-                    pDotTerm0 = dg0 * p00;
-                }
-                pDotTerm1 = 0;
-                if (dg1 !== 0) {
-                    pDotTerm1 = dg1 * p10;
-                }
-                dg0 = dgInvAtX0[offset + 1];
-                dg1 = dgInvAtX1[offset + 1];
-                if (dg0 !== 0) {
-                    pDotTerm0 += dg0 * p01;
-                }
-                if (dg1 !== 0) {
-                    pDotTerm1 += dg1 * p11;
-                }
-                dg0 = dgInvAtX0[offset + 2];
-                dg1 = dgInvAtX1[offset + 2];
-                if (dg0 !== 0) {
-                    pDotTerm0 += dg0 * p02;
-                }
-                if (dg1 !== 0) {
-                    pDotTerm1 += dg1 * p12;
-                }
-                dg0 = dgInvAtX0[offset + 3];
-                dg1 = dgInvAtX1[offset + 3];
-                if (dg0 !== 0) {
-                    pDotTerm0 += dg0 * p03;
-                }
-                if (dg1 !== 0) {
-                    pDotTerm1 += dg1 * p13;
-                }
-                if (pDotTerm0 !== 0) {
-                    dp0 += pDotTerm0 * p01;
-                }
-                if (pDotTerm1 !== 0) {
-                    dp1 += pDotTerm1 * p11;
-                }
-                // nu = 2
-                offset += 4;
-                g0 = gInvAtX0[mu4 + 2];
-                if (g0 !== 0)
-                    dx0 += g0 * p02;
-                g1 = gInvAtX1[mu4 + 2];
-                if (g1 !== 0)
-                    dx1 += g1 * p12;
-                dg0 = dgInvAtX0[offset];
-                dg1 = dgInvAtX1[offset];
-                // Guarded like every other rho term, and like master. Assigning
-                // unguarded here would compute 0 * p when dg is exactly 0, which is
-                // NaN for a non-finite momentum -- manufacturing a divergence signal
-                // out of a term that contributes nothing.
-                pDotTerm0 = 0;
-                if (dg0 !== 0) {
-                    pDotTerm0 = dg0 * p00;
-                }
-                pDotTerm1 = 0;
-                if (dg1 !== 0) {
-                    pDotTerm1 = dg1 * p10;
-                }
-                dg0 = dgInvAtX0[offset + 1];
-                dg1 = dgInvAtX1[offset + 1];
-                if (dg0 !== 0) {
-                    pDotTerm0 += dg0 * p01;
-                }
-                if (dg1 !== 0) {
-                    pDotTerm1 += dg1 * p11;
-                }
-                dg0 = dgInvAtX0[offset + 2];
-                dg1 = dgInvAtX1[offset + 2];
-                if (dg0 !== 0) {
-                    pDotTerm0 += dg0 * p02;
-                }
-                if (dg1 !== 0) {
-                    pDotTerm1 += dg1 * p12;
-                }
-                dg0 = dgInvAtX0[offset + 3];
-                dg1 = dgInvAtX1[offset + 3];
-                if (dg0 !== 0) {
-                    pDotTerm0 += dg0 * p03;
-                }
-                if (dg1 !== 0) {
-                    pDotTerm1 += dg1 * p13;
-                }
-                if (pDotTerm0 !== 0) {
-                    dp0 += pDotTerm0 * p02;
-                }
-                if (pDotTerm1 !== 0) {
-                    dp1 += pDotTerm1 * p12;
-                }
-                // nu = 3
-                offset += 4;
-                g0 = gInvAtX0[mu4 + 3];
-                if (g0 !== 0)
-                    dx0 += g0 * p03;
-                g1 = gInvAtX1[mu4 + 3];
-                if (g1 !== 0)
-                    dx1 += g1 * p13;
-                dg0 = dgInvAtX0[offset];
-                dg1 = dgInvAtX1[offset];
-                // Guarded like every other rho term, and like master. Assigning
-                // unguarded here would compute 0 * p when dg is exactly 0, which is
-                // NaN for a non-finite momentum -- manufacturing a divergence signal
-                // out of a term that contributes nothing.
-                pDotTerm0 = 0;
-                if (dg0 !== 0) {
-                    pDotTerm0 = dg0 * p00;
-                }
-                pDotTerm1 = 0;
-                if (dg1 !== 0) {
-                    pDotTerm1 = dg1 * p10;
-                }
-                dg0 = dgInvAtX0[offset + 1];
-                dg1 = dgInvAtX1[offset + 1];
-                if (dg0 !== 0) {
-                    pDotTerm0 += dg0 * p01;
-                }
-                if (dg1 !== 0) {
-                    pDotTerm1 += dg1 * p11;
-                }
-                dg0 = dgInvAtX0[offset + 2];
-                dg1 = dgInvAtX1[offset + 2];
-                if (dg0 !== 0) {
-                    pDotTerm0 += dg0 * p02;
-                }
-                if (dg1 !== 0) {
-                    pDotTerm1 += dg1 * p12;
-                }
-                dg0 = dgInvAtX0[offset + 3];
-                dg1 = dgInvAtX1[offset + 3];
-                if (dg0 !== 0) {
-                    pDotTerm0 += dg0 * p03;
-                }
-                if (dg1 !== 0) {
-                    pDotTerm1 += dg1 * p13;
-                }
-                if (pDotTerm0 !== 0) {
-                    dp0 += pDotTerm0 * p03;
-                }
-                if (pDotTerm1 !== 0) {
-                    dp1 += pDotTerm1 * p13;
-                }
-                dxStageArr0[mu] = dx0;
-                dpStageArr0[mu] = dp0;
-                dxStageArr1[mu] = dx1;
-                dpStageArr1[mu] = dp1;
-            }
-        }
-        else {
-            for (let mu = 0; mu < dim; mu++) {
-                let dx0 = 0, dp0 = 0;
-                let dx1 = 0, dp1 = 0;
-                const mu_dim = mu * dim;
-                const mu_dim_dim = mu_dim * dim;
-                for (let nu = 0; nu < dim; nu++) {
-                    const idx_g = mu_dim + nu;
-                    // Stage 0
-                    const g0 = gInvAtX0[idx_g];
-                    if (g0 !== 0) {
-                        dx0 += g0 * p0_st[nu];
-                    }
-                    // Stage 1
-                    const g1 = gInvAtX1[idx_g];
-                    if (g1 !== 0) {
-                        dx1 += g1 * p1_st[nu];
-                    }
-                    let pDotTerm0 = 0;
-                    let pDotTerm1 = 0;
-                    const offset = mu_dim_dim + nu * dim;
-                    for (let rho = 0; rho < dim; rho++) {
-                        const dgIdx = offset + rho;
-                        const dg0 = dgInvAtX0[dgIdx];
-                        if (dg0 !== 0) {
-                            pDotTerm0 += dg0 * p0_st[rho];
-                        }
-                        const dg1 = dgInvAtX1[dgIdx];
-                        if (dg1 !== 0) {
-                            pDotTerm1 += dg1 * p1_st[rho];
-                        }
-                    }
-                    if (pDotTerm0 !== 0) {
-                        dp0 += pDotTerm0 * p0_st[nu];
-                    }
-                    if (pDotTerm1 !== 0) {
-                        dp1 += pDotTerm1 * p1_st[nu];
-                    }
-                }
-                dxStageArr0[mu] = dx0;
-                dpStageArr0[mu] = dp0;
-                dxStageArr1[mu] = dx1;
-                dpStageArr1[mu] = dp1;
-            }
-        }
-        // 3. Accumulate for i and mu
-        if (dim === 4) {
-            // Bolt: Manual loop unrolling for dim=4 to avoid loop iteration overhead and Math method calls
-            const x0_st = state.x[0], x1_st = state.x[1], x2_st = state.x[2], x3_st = state.x[3];
-            const p0_st = state.p[0], p1_st = state.p[1], p2_st = state.p[2], p3_st = state.p[3];
-            const dx0_0 = dxStageArr0[0], dx0_1 = dxStageArr0[1], dx0_2 = dxStageArr0[2], dx0_3 = dxStageArr0[3];
-            const dx1_0 = dxStageArr1[0], dx1_1 = dxStageArr1[1], dx1_2 = dxStageArr1[2], dx1_3 = dxStageArr1[3];
-            const dp0_0 = dpStageArr0[0], dp0_1 = dpStageArr0[1], dp0_2 = dpStageArr0[2], dp0_3 = dpStageArr0[3];
-            const dp1_0 = dpStageArr1[0], dp1_1 = dpStageArr1[1], dp1_2 = dpStageArr1[2], dp1_3 = dpStageArr1[3];
-            Xnew[0][0] = x0_st + hA00 * dx0_0 + hA01 * dx1_0;
-            Pnew[0][0] = p0_st - halfhA00 * dp0_0 - halfhA01 * dp1_0;
-            Xnew[0][1] = x1_st + hA00 * dx0_1 + hA01 * dx1_1;
-            Pnew[0][1] = p1_st - halfhA00 * dp0_1 - halfhA01 * dp1_1;
-            Xnew[0][2] = x2_st + hA00 * dx0_2 + hA01 * dx1_2;
-            Pnew[0][2] = p2_st - halfhA00 * dp0_2 - halfhA01 * dp1_2;
-            Xnew[0][3] = x3_st + hA00 * dx0_3 + hA01 * dx1_3;
-            Pnew[0][3] = p3_st - halfhA00 * dp0_3 - halfhA01 * dp1_3;
-            Xnew[1][0] = x0_st + hA10 * dx0_0 + hA11 * dx1_0;
-            Pnew[1][0] = p0_st - halfhA10 * dp0_0 - halfhA11 * dp1_0;
-            Xnew[1][1] = x1_st + hA10 * dx0_1 + hA11 * dx1_1;
-            Pnew[1][1] = p1_st - halfhA10 * dp0_1 - halfhA11 * dp1_1;
-            Xnew[1][2] = x2_st + hA10 * dx0_2 + hA11 * dx1_2;
-            Pnew[1][2] = p2_st - halfhA10 * dp0_2 - halfhA11 * dp1_2;
-            Xnew[1][3] = x3_st + hA10 * dx0_3 + hA11 * dx1_3;
-            Pnew[1][3] = p3_st - halfhA10 * dp0_3 - halfhA11 * dp1_3;
-        }
-        else {
-            for (let mu = 0; mu < dim; mu++) {
-                const x0 = state.x[mu];
-                const p0 = state.p[mu];
-                const dx0 = dxStageArr0[mu];
-                const dx1 = dxStageArr1[mu];
-                const dp0 = dpStageArr0[mu];
-                const dp1 = dpStageArr1[mu];
-                Xnew[0][mu] = x0 + hA00 * dx0 + hA01 * dx1;
-                Pnew[0][mu] = p0 - halfhA00 * dp0 - halfhA01 * dp1;
-                Xnew[1][mu] = x0 + hA10 * dx0 + hA11 * dx1;
-                Pnew[1][mu] = p0 - halfhA10 * dp0 - halfhA11 * dp1;
-            }
-        }
-        // Convergence check: max |δX, δP|
-        let maxDelta = 0;
-        if (dim === 4) {
-            let d = Xnew[0][0] - X[0][0];
-            let absD = d < 0 ? -d : d;
-            if (absD > maxDelta)
-                maxDelta = absD;
-            d = Xnew[0][1] - X[0][1];
-            absD = d < 0 ? -d : d;
-            if (absD > maxDelta)
-                maxDelta = absD;
-            d = Xnew[0][2] - X[0][2];
-            absD = d < 0 ? -d : d;
-            if (absD > maxDelta)
-                maxDelta = absD;
-            d = Xnew[0][3] - X[0][3];
-            absD = d < 0 ? -d : d;
-            if (absD > maxDelta)
-                maxDelta = absD;
-            d = Pnew[0][0] - P[0][0];
-            absD = d < 0 ? -d : d;
-            if (absD > maxDelta)
-                maxDelta = absD;
-            d = Pnew[0][1] - P[0][1];
-            absD = d < 0 ? -d : d;
-            if (absD > maxDelta)
-                maxDelta = absD;
-            d = Pnew[0][2] - P[0][2];
-            absD = d < 0 ? -d : d;
-            if (absD > maxDelta)
-                maxDelta = absD;
-            d = Pnew[0][3] - P[0][3];
-            absD = d < 0 ? -d : d;
-            if (absD > maxDelta)
-                maxDelta = absD;
-            d = Xnew[1][0] - X[1][0];
-            absD = d < 0 ? -d : d;
-            if (absD > maxDelta)
-                maxDelta = absD;
-            d = Xnew[1][1] - X[1][1];
-            absD = d < 0 ? -d : d;
-            if (absD > maxDelta)
-                maxDelta = absD;
-            d = Xnew[1][2] - X[1][2];
-            absD = d < 0 ? -d : d;
-            if (absD > maxDelta)
-                maxDelta = absD;
-            d = Xnew[1][3] - X[1][3];
-            absD = d < 0 ? -d : d;
-            if (absD > maxDelta)
-                maxDelta = absD;
-            d = Pnew[1][0] - P[1][0];
-            absD = d < 0 ? -d : d;
-            if (absD > maxDelta)
-                maxDelta = absD;
-            d = Pnew[1][1] - P[1][1];
-            absD = d < 0 ? -d : d;
-            if (absD > maxDelta)
-                maxDelta = absD;
-            d = Pnew[1][2] - P[1][2];
-            absD = d < 0 ? -d : d;
-            if (absD > maxDelta)
-                maxDelta = absD;
-            d = Pnew[1][3] - P[1][3];
-            absD = d < 0 ? -d : d;
-            if (absD > maxDelta)
-                maxDelta = absD;
-        }
-        else {
-            for (let i = 0; i < 2; i++) {
-                for (let mu = 0; mu < dim; mu++) {
-                    let d = Xnew[i][mu] - X[i][mu];
-                    let absD = d < 0 ? -d : d;
-                    if (absD > maxDelta)
-                        maxDelta = absD;
-                    d = Pnew[i][mu] - P[i][mu];
-                    absD = d < 0 ? -d : d;
-                    if (absD > maxDelta)
-                        maxDelta = absD;
-                }
-            }
-        }
-        // Ping-pong swap: read-from + write-to buffers exchange roles for next iter.
-        // Bolt: Use explicit temporary variables instead of array destructuring to prevent GC overhead
-        const tmpX = X;
-        X = Xnew;
-        Xnew = tmpX;
-        const tmpP = P;
-        P = Pnew;
-        Pnew = tmpP;
-        if (maxDelta < opts.picardTol) {
-            // Clone on return — caller may retain references and the next
-            // solveGL4Stage call will overwrite our internal buffers.
-            if (dim === 4) {
-                // Bolt: Array literals are significantly faster than allocating arrays and manually populating them in tight loops.
-                return {
-                    stageX: [[X[0][0], X[0][1], X[0][2], X[0][3]], [X[1][0], X[1][1], X[1][2], X[1][3]]],
-                    stageP: [[P[0][0], P[0][1], P[0][2], P[0][3]], [P[1][0], P[1][1], P[1][2], P[1][3]]],
-                    stageDx: [[dxStageArr0[0], dxStageArr0[1], dxStageArr0[2], dxStageArr0[3]], [dxStageArr1[0], dxStageArr1[1], dxStageArr1[2], dxStageArr1[3]]],
-                    stageDp: [[dpStageArr0[0], dpStageArr0[1], dpStageArr0[2], dpStageArr0[3]], [dpStageArr1[0], dpStageArr1[1], dpStageArr1[2], dpStageArr1[3]]],
-                    iterations: k + 1,
-                };
-            }
-            else {
-                // Bolt: Manual loop is significantly faster than Array.from for TypedArrays in tight loops.
-                const sX0 = new Array(dim);
-                const sX1 = new Array(dim);
-                const sP0 = new Array(dim);
-                const sP1 = new Array(dim);
-                const sDx0 = new Array(dim);
-                const sDx1 = new Array(dim);
-                const sDp0 = new Array(dim);
-                const sDp1 = new Array(dim);
-                for (let m = 0; m < dim; m++) {
-                    sX0[m] = X[0][m];
-                    sX1[m] = X[1][m];
-                    sP0[m] = P[0][m];
-                    sP1[m] = P[1][m];
-                    sDx0[m] = dxStageArr0[m];
-                    sDx1[m] = dxStageArr1[m];
-                    sDp0[m] = dpStageArr0[m];
-                    sDp1[m] = dpStageArr1[m];
-                }
-                return {
-                    stageX: [sX0, sX1],
-                    stageP: [sP0, sP1],
-                    stageDx: [sDx0, sDx1],
-                    stageDp: [sDp0, sDp1],
-                    iterations: k + 1,
-                };
-            }
-        }
-    }
-    throw new GL4ConvergenceError(`Picard iteration did not converge in ${opts.picardMaxIter} iterations (maxDelta above picardTol=${opts.picardTol})`);
+    const step = advanceGl4(state, h, gInverseFn, dgInverseFn, opts);
+    const dim = step.p.length;
+    const zeros = new Array(dim).fill(0);
+    // In flat space p is constant, so both stage momenta equal the advanced p.
+    return {
+        stageX: [step.x.slice(), step.x.slice()],
+        stageP: [step.p.slice(), step.p.slice()],
+        stageDx: [zeros, zeros.slice()],
+        stageDp: [zeros.slice(), zeros.slice()],
+        iterations: step.iterations,
+    };
 }
 // ---------------------------------------------------------------------------
 // Integrator entry-point (Task 3, Phase 1a-iii)
@@ -582,7 +133,8 @@ export function solveGL4Stage(state, h, gInverseFn, dgInverseFn, opts) {
  *
  *   H(x, p) = ½ g^{μν}(x) p_μ p_ν
  *
- * Drives the implicit Picard stage solver (`solveGL4Stage`) for each step,
+ * Each accepted step is MathTS `gaussLegendre4` on the geodesic Hamiltonian.
+ * Adaptive step-halving stays here. `onStep` reads that step's `iterations`.
  * with **adaptive step-halving on Picard non-convergence** (Adam+Eve I4,
  * replaces the single-retry R8): if Picard fails at step size h, retry at
  * h/2, h/4, … down to `hMin` (default `h · 1e-9`); throw
@@ -665,12 +217,12 @@ export function integrateGeodesicGL4(initialState, options) {
         const remainEps = h * 1e-12;
         while (remaining > remainEps) {
             const trialH = Math.min(stepH, remaining);
-            let stages;
+            let advanced;
             let stepSucceeded = false;
             let subH = trialH;
             while (subH >= hFloor) {
                 try {
-                    stages = solveGL4Stage({ x, p }, subH, gInverseFn, dgInverseFn, {
+                    advanced = advanceGl4({ x, p }, subH, gInverseFn, dgInverseFn, {
                         picardTol,
                         picardMaxIter,
                     });
@@ -682,37 +234,23 @@ export function integrateGeodesicGL4(initialState, options) {
                     halvings++;
                 }
             }
-            if (!stepSucceeded || stages === undefined) {
+            if (!stepSucceeded || advanced === undefined) {
                 throw new GL4ConvergenceError(`GL4 integrator: Picard iteration did not converge even at h_min=${hFloor} (step ${n}). Diagnose step-size or metric singularity.`);
             }
-            // Bolt: Update state using double-buffering (pointer swapping) instead of slicing `newX` and `newP`
-            // on every step-halving attempt. The converged stages are mapped onto our persistent buffer,
-            // and we swap pointers once successful. This eliminates allocating arrays in the hot loop completely,
-            // avoiding massive GC pauses while still preventing accumulative corruption.
-            const b0 = GL4_B[0];
-            const b1 = GL4_B[1];
-            const dx0 = stages.stageDx[0];
-            const dx1 = stages.stageDx[1];
-            const dp0 = stages.stageDp[0];
-            const dp1 = stages.stageDp[1];
-            const hb0 = subH * b0;
-            const hb1 = subH * b1;
-            const mhb0 = hb0 * -0.5;
-            const mhb1 = hb1 * -0.5;
             if (stateDim === 4) {
-                newX[0] = x[0] + hb0 * dx0[0] + hb1 * dx1[0];
-                newP[0] = p[0] + mhb0 * dp0[0] + mhb1 * dp1[0];
-                newX[1] = x[1] + hb0 * dx0[1] + hb1 * dx1[1];
-                newP[1] = p[1] + mhb0 * dp0[1] + mhb1 * dp1[1];
-                newX[2] = x[2] + hb0 * dx0[2] + hb1 * dx1[2];
-                newP[2] = p[2] + mhb0 * dp0[2] + mhb1 * dp1[2];
-                newX[3] = x[3] + hb0 * dx0[3] + hb1 * dx1[3];
-                newP[3] = p[3] + mhb0 * dp0[3] + mhb1 * dp1[3];
+                newX[0] = advanced.x[0];
+                newP[0] = advanced.p[0];
+                newX[1] = advanced.x[1];
+                newP[1] = advanced.p[1];
+                newX[2] = advanced.x[2];
+                newP[2] = advanced.p[2];
+                newX[3] = advanced.x[3];
+                newP[3] = advanced.p[3];
             }
             else {
                 for (let mu = 0; mu < stateDim; mu++) {
-                    newX[mu] = x[mu] + hb0 * dx0[mu] + hb1 * dx1[mu];
-                    newP[mu] = p[mu] + mhb0 * dp0[mu] + mhb1 * dp1[mu];
+                    newX[mu] = advanced.x[mu];
+                    newP[mu] = advanced.p[mu];
                 }
             }
             const tmpX = x;
@@ -723,7 +261,7 @@ export function integrateGeodesicGL4(initialState, options) {
             newP = tmpP;
             remaining -= subH;
             stepH = subH; // keep the converging size for the rest of this macro-step
-            lastIterations = stages.iterations;
+            lastIterations = advanced.iterations;
         }
         snapshots.push({ tau: (n + 1) * h, x: x.slice(), p: p.slice() });
         if (onStep !== undefined) {