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Physics Rigid Capsule CCD Reference
#1280 is CLOSED after exactlocaladoptionb8d4fb1f74e977fe25fa3a7093fa807943f207e6. Root independentlyverified46/46native modes/blobs and28artifacthashes plus276historicalsourcepins. Canonicalclosure6097962677 preserves selectedfaceGO and firstcompilerrepair; #1298 isimplementingunder6097948886.
#1264 is CLOSED after exactlocaladoption41d3bf353078cdad5cb1c0cdbd99b972e0eb79cc, parent239c64ee. Root independentlycompared86/86native modes/blobs from20168168→d2e6f59a; current18a30a46 retainsadoption. Canonicalclosure6097974561 retains physicalNUMERICAL_NO_GO atALIGNED5/OFFSET3/YAW4 andalloriginal2mmgates. #1308 archiveddiagnostic canstartafterits ownfullsource/input/errorfreeze; itdoesnotneedanotherparentworldcampaign. This closureiscompletedboundedexperimentdelivery, notsolverrepair/worldGO.
Both scopedadoptions are merged; integration validation pending674/1254. No currentproducerreplay, integratedscreen/file/recovery, force/cost/refinement/publicengine or releaseclaim. Existing1308/1309/1298contracts remainseparate; noduplicateIssue ornewPlannerapprovalgate.
Issue #1280. Current status: native selected-face GO; exact adoption pending. Historical preparation and both trial freezes remain below.
Parent: original #1179 CAPSULE_THIN_CCD admission refusal. This lane is independent of the contact-position work. Engine #1179/family #660 remain OPEN. Managed checkout /Users/user/.codex/worktrees/physics-capsule-ccd/barocss, exact base 6bd3376d6943a8d84b83ca62b0031a9ec8927bea.
Can the unchanged original fast upright capsule reach a selected finite static box face at the analytic first-contact time, stop its closing translation with zero restitution, and account for the remaining step time without crossing the face?
The current public createUprightCapsuleQuery fixes radius at 0.15 m and centreline half length at 0.35 m. It exposes no dimension or capsule-orientation input. The original fixture is radius 0.1 m, half length 0.2 m, upright and zero-spin. It cannot be represented by that public profile. Do not resize the fixture, change the public marker/constants, or claim the public query's hit is rigid-world CCD acceptance.
The retained original world admission evidence refuses this capsule at validation.ts96 with INVALID_CONFIG / ccd is supported for dynamic spheres or boxes only and must be true (engine evidence summary83/source4822/compiled4785). The later ccd.ts38 sphere-only branch is not the observed first refusal. Preserve the recorded refusal. This issue constructs no PhysicsWorld and steps no world.
Minimum new work is a PRIVATE selected head-on face sweep and a separate fixed-orientation translational response consumer. It uses the original dimensions and existing original math/detector/error helpers. It does not need a general capsule sweep, rotating-capsule law, manifold, angular response or a new public API.
Read fixtures().find(f => f.id === 'CAPSULE_THIN_CCD').input from adopted examples/physics-rigid-engine-reference/fixtures.mjs without changing it:
-
dt = 1/120 s, gravity[0,0,0] m/s^2. - Dynamic
b0: radius0.1 m, half length0.2 m, centre[-0.4,0,0] m, velocity[100,0,0] m/s, mass1 kg, restitution0, friction{static:1,dynamic:0.7},ccd:true, identity orientation and zero angular velocity from original defaults. - Static
floor: centre[0,0,0] m, half extents[0.001,1,1] m, identity orientation, restitution0, original friction unchanged.
Unconstrained travel is [5/6,0,0] m, which crosses the thin obstacle. Nominal analytic clearance is 0.4-0.001-0.1 = 0.299 m; contact time is 0.00299 s, full-step fraction 0.3588, centre at contact [-0.101,0,0] m, and remaining time 0.005343333333333333 s. Use the exact decoded binary input values in the independent oracle; these decimal figures are nominal analytic expectations with the frozen error gates below.
Proposed private API: createRigidCapsuleFaceReference(snapshot) with sweep({revision,centerM,velocityMps,stepSeconds}), copied getSnapshot(), and idempotent dispose(). A separate advanceHeadOnFaceStep(initial, sweepResult, stepSeconds) returns a detached hypothetical centre/velocity/time accounting record. Neither function creates a world or modifies caller data.
Private profile name: rigid-capsule-linear-face-v1; one original-size upright capsule and ONE static box. Capsule orientation is fixed identity and angular velocity is zero. Box motion is zero. The selected box face is local axis X; velocity must be stationary, directly approaching, or directly departing along that face normal. The capsule's entire tangential footprint must fit inside the finite face. Radius/half length remain the original literals; no caller overrides.
The canonical case is axis aligned. One explicit derived control may yaw the box by 0.2 rad about world Y and rotate the initial centre/velocity by the same original rotation, preserving dimensions. Its capsule remains upright; the local Y axis is unchanged. Freeze its literal inputs before trial. This qualifies only that selected face profile, not arbitrary oriented-box edge/corner CCD.
Reject angular motion, moving boxes, nonzero tangent travel, edge/corner approach or footprint outside the selected face as INVALID_CONFIG (snapshot/profile) or INVALID_QUERY (movement query). Proposed exact messages must be pinned with all sources: Private capsule face profile is unsupported, Private capsule face movement is unsupported. Do not silently fall back to the public fixed-size query or a different contact feature.
The face sweep uses a closed-form supporting-plane gap and head-on closing speed. It must independently verify that its contact lies within the declared finite face. Initial signed capsule/box gap below -1e-12 m refuses with original PhysicsError INITIAL_OVERLAP / Initial capsule overlaps a box; touching within 1e-12 m produces fraction0; zero/departing travel with positive gap produces null. Contact beyond the step produces null. No hidden position slop, velocity bias or contact-fraction clamp repairs a failed result.
For a qualified hit, tHit=dt*toiFraction, remaining=dt-tHit, centerHit=center0+velocity*tHit. The declared e=0 HEAD-ON translational response removes closing normal velocity; its tangent component is already zero by admission. Advance the remaining time using the returned velocity. This is a fixed-orientation response contract: original mass/material values remain metadata, and angular/contact-friction dynamics are UNMEASURED. No multiplier is represented as a calibrated force or rigid angular impulse.
Nonfinite calculations, fraction/time outside their admitted interval, or a post-response gap below -1e-12 m refuse with NUMERIC_LIMIT / Private capsule face result is invalid. Invalid/revision-stale queries and initial-overlap refusals must retain exact snapshot/previous accepted consumer state. Query failure is not a partial state commit. Disposal uses original PhysicsError DISPOSED; freeze its exact message. Unknown/unexpected exceptions propagate and are not reclassified as physical refusals.
Implement an independent stdlib Decimal80/120 oracle from scalar poses and actual radius/half length. Derive segment-to-OBB distance by breakpoints of each local coordinate at the box halfspaces, minimizing the resulting piecewise quadratic on the finite centreline. Do not import the query's 100-pass ternary distance routine or reuse its advancement result. Report witness membership, distances, signed gaps and tie/flat-distance ambiguity without requiring a unique centreline witness.
Freeze these gates before execution:
- Decimal80/120 distance/TOI/time differences
<=1e-25in the stated units. - Original fixture analytic contact-time error
<=1e-12 s, fraction error<=1e-12, contact-centre/witness/face-membership error<=1e-12 m, normal unit/orientation error<=1e-12. - At contact, signed gap in
[-1e-12,+1e-12] m; after response, no penetration beyond1e-12 m, closing normal speed magnitude<=1e-12 m/s, and exact preserved fixed orientation/static box. -
tHit+remainingagrees with the input step within1e-12 s; no negative remaining time or time beyond the original step. - One full
1/120 sstep versus two composed1/240 ssteps: final centre and velocity agree within1e-12 mand1e-12 m/s; total contact time agrees within1e-12 s. - Source/source-repeat/genuine compiled-original-helper query and private reference outputs, original fixture bits, snapshot copies and typed error/copy/disposal receipts agree. Preserve raw Float64 signed zeros where applicable.
Literal controls: exact original head-on, the selected yaw-derived head-on case, initially touching, initial overlap, contact beyond remaining travel, zero/departing motion, half-step composition, stale revision, input/snapshot mutation, nonfinite/time error, and explicit angular/moving/tangent/edge-corner profile refusals. No parameter sweep or general-purpose CCD claim follows.
Original dependencies are already adopted: capsule-query.ts, capsule-query/{types,profile,admission,geometry,sweep,snapshot}.ts, capsule-query-error.ts, original types.ts, math.ts, limits.ts, validation.ts, collision.ts, capsule-contact.ts, ccd.ts, package public entry/build rules and the original fixture. Pin exact source/emitted hashes and Node version before actual execution.
Use current public query unchanged in its OWN 0.15/0.35 profile as an API/lifecycle control. It must explicitly refuse the new private profile tag. Its direct axis-wall contact is nominal fraction0.2988, not original-fixture fraction0.3588. Record that distinction. Reuse actual original capsule detect for distance/contact sanity at start and contact; do not equate a discrete endpoint check with continuous collision qualification. Retain the already measured original world capsule admission refusal instead of rerunning a world campaign.
One dedicated Physics lane owns ONLY NEW examples/physics-rigid-capsule-ccd-reference/**: private profile/admission, selected face sweep, translational response, independent reference, literal controls, entry/bundle/consumer, README and evidence. Suggested files: profile.ts, admission.ts, face-sweep.ts, response.ts, reference.py, controls.mjs, entry.ts, bundle.mjs, runner.mjs, CONTRACT.md, source/input freeze JSON and evidence/**.
After root creates the Issue/Wiki scope and freezes complete private/reused sources: run original affected Physics build/private strict types, then ONE source/repeat/genuine compiled-original-helper consumer. No PhysicsWorld/candidate construction or step, no contact-lane dependency, no public profile/source changes, no benchmark/refinement campaign beyond the literal two-half-step control, and no browser/Viewer work.
GO means only the selected original-size fixed-orientation face sweep/remaining-time contract passed its analytic, distance, bit/copy/error and graph gates. fullWorldCCDGO=false, rigidAngularResponseMeasured=false, contactFrictionMeasured=false. A public configurable capsule sweep or world CCD admission/response requires a separately frozen interface and actual qualification. Preserve original #1179 capsule refusal and contact NO-GOs. Root owns Issue/Wiki and exact sole adoption; no product push/PR/release/publication.
Pre-trial interface clarification from static review: snapshot declares selectedFace=negative-x (original fixture and frozen yaw control approach that face). Positive-side clear approach explicitly refuses INVALID_QUERY. No-hit response tHit=0 / remaining=dt; response validates same movement/overlap/face and received TOI/witnesses before translating. Unexpected execution/control failures are recorded separately from independent numerical NO-GO. Sources and controls still await full trial freeze; no parameter or gate retuning.
Native receipt6097239806. Adopted base6bd3376d6943a8d84b83ca62b0031a9ec8927bea → initialsourcefeb43c66d247f5d7bffcb8f8d6190ca68dcf0509 → preservedcompilerfailurede27ba9e → repaired measuredsource19b30fce5b333a41e2cae1102fe8e0c4c23ebee4 → clean native43ea7abcb83475b3beee1ceafbb40e45c94c2551. Fourlocalcommits/46ONLYNEWownedpaths. Sourcefreeze556ba18d and actualstrictTS18048errors atadmission13/19 are retained; compiler-only narrowing and nonnullreferenceguards were frozen501eee4f9f61fddf4b499bd2d5974742b0e723df2c13c1c4e1f95799e03d9e57 before retry. No numeric trial ran before repair; one numerical campaign, no tolerance/model tuning.
Actual CAD/Physicsbuild0,repairedstrictadaptertypes0 and ONEsource/repeat/genuinecompiled consumer0. Eachgraph10privatecases/58error-copyreceipts;24independentoraclecontrols. Originalsize.1/.2m at100m/s vs.002mthinwall: tHit.0029900000000000005s,fraction.35880000000000006, centre[-.10099999999999998,0,0],finalvelocity[0,0,0],remaining.005343333333333333s. Derivedyaw/head-on and two-half-step controls pass. Current publicquery remains its OWN.15/.35m profile/fraction.2988; the originalworld capsuleCCD refusal is unchanged.
MaxTOIerror6.314441035056315e-19s,fraction7.67774732679527e-17,contactcentre6.314441035056314e-17m,witnessdistance7.47279786838765e-17m,normal4.0652699819383584e-17,finalcentre4.85722573273506e-17m,velocity1.4601662185926434e-14m/s,timeaccounting0. Qualifiedhit closingresidual<=1.3221768499853344e-14m/s. Aggregatepositiveclearance or untouched10m/s clear-case approachingvelocity is not a hit-response error.
Source13src0dist/compiled0src13dist; exact4664byteFloat64raw/source-repeat-compiled reports/controls/oraclematch, SHAfa99ecd2d5bdc456a03b9b8b4d61cb88aab020bbf0a694f9fa679ea2970b8baa. Root verified all276sourcepins and28artifacthashes. Native manifestaa80b2a2c3dee24f9af44d6c9ac6baf364786f09a98914a4cb6c03098d1b6302.
GO only private selected negative-X face sweep and fixed-orientation remaining-time response. No PhysicsWorld created/stepped; fullWorldCCDGO=false,rigidAngularResponseMeasured=false,contactFrictionMeasured=false. Exact soleIntegration adoption pending. #1179/#660 stayOPEN; currentintegratedscreen/file/recovery remainsseparate#674. No public support expansion/Viewer/cost/release.
#1298 carries the exact original capsule/thinwall fixture into a copied staged private world. Code starts only after exact1280adoption and privateAPI/source-difference/errorfreeze. Numeric/nativeworldGO remainsUNMEASURED. SelectedfaceGO is not general/angular/frictionCCD.