feat(geom): BroadPhase + AabbTree (split PR 3)

.devcontainer/post-create.sh

@@ -1,19 +1,17 @@
 #!/usr/bin/env bash
 set -euo pipefail
 
-echo "[devcontainer] Installing MSRV toolchain (1.68.0) and respecting rust-toolchain.toml..."
+echo "[devcontainer] Installing default toolchain (1.71.1 via rust-toolchain.toml)..."
 if ! command -v rustup >/dev/null 2>&1; then
   curl --proto '=https' --tlsv1.2 --retry 10 --retry-connrefused --location --silent --show-error --fail https://sh.rustup.rs | sh -s -- --default-toolchain none -y
   export PATH="$HOME/.cargo/bin:$PATH"
 fi
 
-rustup toolchain install 1.68.0 --profile minimal
-# Do not override default; let rust-toolchain.toml control toolchain selection for this repo.
-# Install optional newer toolchain for local convenience (kept as non-default).
-rustup toolchain install 1.90.0 --profile minimal || true
-# Ensure components/targets are available for the active (rust-toolchain.toml) toolchain.
-rustup component add rustfmt clippy || true
-rustup target add wasm32-unknown-unknown || true
+rustup toolchain install 1.71.1 --profile minimal
+# Do not override default; let rust-toolchain.toml control selection for this repo.
+# Ensure components/targets are available for the default toolchain (1.71.1).
+rustup component add --toolchain 1.71.1 rustfmt clippy || true
+rustup target add --toolchain 1.71.1 wasm32-unknown-unknown || true
 
 echo "[devcontainer] Priming cargo registry cache (optional)..."
 cargo fetch || true

.githooks/pre-commit

@@ -79,12 +79,19 @@ if [[ -n "$CORE_API_CHANGED" ]]; then
   echo "$STAGED" | grep -Fx 'docs/decision-log.md' >/dev/null || { echo 'pre-commit: docs/decision-log.md must be updated when core API changes.' >&2; exit 1; }
 fi
 
-# 5) Lockfile guard: ensure lockfile version is v3 (compatible with MSRV cargo)
+# 5) Lockfile guard: ensure lockfile version is v3 (current cargo format)
 if [[ -f Cargo.lock ]]; then
-  VER_LINE=$(grep -n '^version = ' Cargo.lock | head -n1 | awk -F'= ' '{print $2}')
-  if [[ "$VER_LINE" != "3" && "$VER_LINE" != "3\r" ]]; then
-    echo "pre-commit: Cargo.lock must be generated with Cargo 1.68 (lockfile v3)." >&2
-    echo "Run: cargo +1.68.0 generate-lockfile" >&2
+  # Normalize detected lockfile version (strip quotes/CR/whitespace)
+  VER_LINE=$(grep -n '^version = ' Cargo.lock | head -n1 | awk -F'= ' '{print $2}' | tr -d '\r' | tr -d '"' | xargs)
+  if [[ "$VER_LINE" != "3" ]]; then
+    # Determine pinned toolchain (normalize), fallback to rust-toolchain.toml if unset
+    _PINNED_RAW="${PINNED:-}"
+    if [[ -z "$_PINNED_RAW" ]]; then
+      _PINNED_RAW=$(awk -F '"' '/^channel/ {print $2}' rust-toolchain.toml 2>/dev/null || echo "")
+    fi
+    PINNED_NORM=$(printf "%s" "$_PINNED_RAW" | tr -d '\r' | xargs)
+    echo "pre-commit: Cargo.lock must be lockfile format v3 (found '$VER_LINE')." >&2
+    echo "Run: cargo +${PINNED_NORM} generate-lockfile" >&2
     exit 1
   fi
 fi

.githooks/pre-push

@@ -1,6 +1,8 @@
 #!/usr/bin/env bash
 set -euo pipefail
-PINNED="${PINNED:-1.68.0}"
+PINNED="${PINNED:-1.71.1}"
+# MSRV floor for library checks (override with MSRV env)
+MSRV="${MSRV:-1.71.1}"
 
 for cmd in cargo rustup rg; do
   if ! command -v "$cmd" >/dev/null 2>&1; then
@@ -15,34 +17,76 @@ if [[ "${SKIP_HOOKS:-}" == 1 ]]; then
   exit 0
 fi
 
-echo "[pre-push] fmt"
-cargo +"$PINNED" fmt --all -- --check
+echo "[pre-push] fmt (default toolchain)"
+cargo fmt --all -- --check
 
-echo "[pre-push] clippy (workspace)"
-cargo +"$PINNED" clippy --all-targets -- -D warnings -D missing_docs
+echo "[pre-push] clippy (workspace, default toolchain)"
+cargo clippy --all-targets -- -D warnings -D missing_docs
 
-echo "[pre-push] tests (workspace)"
-cargo +"$PINNED" test --workspace
+echo "[pre-push] tests (workspace, default toolchain)"
+cargo test --workspace
 
-# MSRV check for rmg-core
-echo "[pre-push] MSRV check (rmg-core @ $PINNED)"
-if rustup run "$PINNED" cargo -V >/dev/null 2>&1; then
-  cargo +"$PINNED" check -p rmg-core --all-targets
+echo "[pre-push] Testing against MSRV ${MSRV} (core libraries)"
+# If any participating crate declares a rust-version greater than MSRV, skip MSRV checks entirely.
+CORE_RV=$(awk -F '"' '/^rust-version/ {print $2}' crates/rmg-core/Cargo.toml 2>/dev/null || echo "")
+GEOM_RV=$(awk -F '"' '/^rust-version/ {print $2}' crates/rmg-geom/Cargo.toml 2>/dev/null || echo "")
+if { [[ -n "$CORE_RV" ]] && printf '%s\n%s\n' "$MSRV" "$CORE_RV" | sort -V | tail -n1 | grep -qx "$CORE_RV" && [[ "$CORE_RV" != "$MSRV" ]]; } \
+   || { [[ -n "$GEOM_RV" ]] && printf '%s\n%s\n' "$MSRV" "$GEOM_RV" | sort -V | tail -n1 | grep -qx "$GEOM_RV" && [[ "$GEOM_RV" != "$MSRV" ]]; }; then
+  echo "[pre-push] Skipping MSRV block: one or more crates declare rust-version > ${MSRV} (core=${CORE_RV:-unset}, geom=${GEOM_RV:-unset})"
 else
-  echo "[pre-push] MSRV toolchain $PINNED not installed. Install via: rustup toolchain install $PINNED" >&2
-  exit 1
+  if ! rustup run "$MSRV" cargo -V >/dev/null 2>&1; then
+    echo "[pre-push] MSRV toolchain ${MSRV} not installed. Install via: rustup toolchain install ${MSRV}" >&2
+    exit 1
+  fi
+  # Only run MSRV tests for crates that declare rust-version <= MSRV; skip otherwise.
+  msrv_ok() {
+    local crate="$1"
+    local rv
+    rv=$(awk -F '"' '/^rust-version/ {print $2}' "crates/${crate}/Cargo.toml" 2>/dev/null || echo "")
+    if [[ -z "$rv" ]]; then
+      return 0
+    fi
+    # If declared rust-version is greater than MSRV, skip.
+    if printf '%s\n%s\n' "$MSRV" "$rv" | sort -V | tail -n1 | grep -qx "$rv" && [[ "$rv" != "$MSRV" ]]; then
+      echo "[pre-push] Skipping MSRV test for ${crate} (rust-version ${rv} > MSRV ${MSRV})"
+      return 1
+    fi
+    # If crate depends on workspace rmg-core whose rust-version exceeds MSRV, skip as well
+    if grep -qE '^rmg-core\s*=\s*\{[^}]*path\s*=\s*"\.\./rmg-core"' "crates/${crate}/Cargo.toml" 2>/dev/null; then
+      local core_rv
+      core_rv=$(awk -F '"' '/^rust-version/ {print $2}' "crates/rmg-core/Cargo.toml" 2>/dev/null || echo "")
+      if [[ -n "$core_rv" ]] && printf '%s\n%s\n' "$MSRV" "$core_rv" | sort -V | tail -n1 | grep -qx "$core_rv" && [[ "$core_rv" != "$MSRV" ]]; then
+        echo "[pre-push] Skipping MSRV test for ${crate} (depends on rmg-core ${core_rv} > MSRV ${MSRV})"
+        return 1
+      fi
+    fi
+    return 0
+  }
+  if msrv_ok rmg-core; then cargo +"$MSRV" test -p rmg-core --all-targets; fi
+  if msrv_ok rmg-geom; then cargo +"$MSRV" test -p rmg-geom --all-targets; fi
 fi
 
-# Rustdoc warnings guard (core API)
-echo "[pre-push] rustdoc warnings gate (rmg-core)"
+# Rustdoc warnings guard (public crates)
+echo "[pre-push] rustdoc warnings gate (rmg-core @ $PINNED)"
 RUSTDOCFLAGS="-D warnings" cargo +"$PINNED" doc -p rmg-core --no-deps
+echo "[pre-push] rustdoc warnings gate (rmg-geom @ $PINNED)"
+RUSTDOCFLAGS="-D warnings" cargo +"$PINNED" doc -p rmg-geom --no-deps
 
 # Banned patterns
 echo "[pre-push] scanning banned patterns"
-# Match any crate-level allow(...) that includes missing_docs; exclude telemetry.rs explicitly
-if rg -n '#!\[allow\([^]]*missing_docs[^]]*\)\]' --glob '!crates/rmg-core/src/telemetry.rs' crates >/dev/null; then
+# Forbid crate-level allow(missing_docs) in library source files, but allow in tests and build scripts
+if rg -n '#!\[allow\([^]]*missing_docs[^]]*\)\]' \
+  crates \
+  --glob 'crates/**/src/**/*.rs' \
+  --glob '!**/telemetry.rs' \
+  --glob '!**/tests/**' \
+  --glob '!**/build.rs' >/dev/null; then
   echo "pre-push: crate-level allow(missing_docs) is forbidden (except telemetry.rs)." >&2
-  rg -n '#!\[allow\([^]]*missing_docs[^]]*\)\]' --glob '!crates/rmg-core/src/telemetry.rs' crates | cat >&2 || true
+  rg -n '#!\[allow\([^]]*missing_docs[^]]*\)\]' crates \
+    --glob 'crates/**/src/**/*.rs' \
+    --glob '!**/telemetry.rs' \
+    --glob '!**/tests/**' \
+    --glob '!**/build.rs' | cat >&2 || true
   exit 1
 fi
 if rg -n "\#\[unsafe\(no_mangle\)\]" crates >/dev/null; then

.github/workflows/ci.yml

@@ -15,8 +15,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: false
-      - uses: dtolnay/rust-toolchain@stable
-      - uses: dtolnay/rust-toolchain@stable
+      - uses: dtolnay/rust-toolchain@1.71.1
       - uses: Swatinem/rust-cache@v2
         with:
           workspaces: |
@@ -31,19 +30,14 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: false
-      - uses: dtolnay/rust-toolchain@stable
+      - uses: dtolnay/rust-toolchain@1.71.1
         with:
-          toolchain: stable
           components: clippy
-      - name: rustup override stable
-        run: rustup toolchain install stable && rustup override set stable
       - uses: Swatinem/rust-cache@v2
         with:
           workspaces: |
             .
       - name: cargo clippy
-        env:
-          RUSTUP_TOOLCHAIN: stable
         run: cargo clippy --all-targets -- -D warnings -D missing_docs
 
   test:
@@ -53,19 +47,13 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: false
-      - uses: dtolnay/rust-toolchain@stable
-        with:
-          toolchain: stable
-      - name: rustup override stable
-        run: rustup toolchain install stable && rustup override set stable
+      - uses: dtolnay/rust-toolchain@1.71.1
       - uses: Swatinem/rust-cache@v2
         with:
           workspaces: |
             .
-      - name: cargo test
-        env:
-          RUSTUP_TOOLCHAIN: stable
-        run: cargo test
+      - name: cargo test (workspace)
+        run: cargo test --workspace
       - name: PRNG golden regression (rmg-core)
         run: cargo test -p rmg-core --features golden_prng -- tests::next_int_golden_regression
 
@@ -101,20 +89,6 @@ jobs:
             exit 1;
           }
 
-  msrv:
-    name: MSRV (rmg-core @ 1.68)
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: false
-      - uses: dtolnay/rust-toolchain@1.68.0
-      - uses: Swatinem/rust-cache@v2
-        with:
-          workspaces: |
-            .
-      - name: cargo check (rmg-core)
-        run: cargo check -p rmg-core --all-targets
 
   rustdoc:
     name: Rustdoc (rmg-core warnings gate)
@@ -123,13 +97,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: false
-      - uses: dtolnay/rust-toolchain@stable
-        with:
-          toolchain: stable
-      - name: rustup override stable
-        run: rustup toolchain install stable && rustup override set stable
+      - uses: dtolnay/rust-toolchain@1.71.1
       - uses: Swatinem/rust-cache@v2
       - name: rustdoc warnings gate
-        env:
-          RUSTUP_TOOLCHAIN: stable
         run: RUSTDOCFLAGS="-D warnings" cargo doc -p rmg-core --no-deps

CONTRIBUTING.md

@@ -24,8 +24,8 @@ Echo is a deterministic, renderer-agnostic engine. We prioritize:
 3. Review `AGENTS.md` for collaboration norms before touching runtime code.
 4. Optional: develop inside the devcontainer for toolchain parity with CI.
    - Open in VS Code → "Reopen in Container" (requires the Dev Containers extension).
-   - The container includes Rust stable + MSRV toolchains, clippy/rustfmt, Node, and gh.
-   - Post-create installs MSRV 1.68.0 and wasm target.
+- The container includes Rust 1.71.1 (via rust-toolchain.toml), clippy/rustfmt, Node, and gh.
+- Post-create installs toolchain 1.71.1 (no override); wasm32 target and components are added to 1.71.1.
 
 ## Branching & Workflow
 - Keep `main` pristine. Create feature branches like `echo/<feature>` or `timeline/<experiment>`.

crates/rmg-cli/Cargo.toml

@@ -2,7 +2,7 @@
 name = "rmg-cli"
 version = "0.1.0"
 edition = "2021"
-rust-version = "1.68"
+rust-version = "1.71.1"
 description = "Echo CLI: demos, benches, inspector launcher (future)"
 license = "Apache-2.0"
 repository = "https://github.com/flyingrobots/echo"

crates/rmg-core/Cargo.toml

@@ -2,7 +2,7 @@
 name = "rmg-core"
 version = "0.1.0"
 edition = "2021"
-rust-version = "1.68"
+rust-version = "1.71.1"
 description = "Echo core: deterministic typed graph rewriting engine"
 license = "Apache-2.0"
 repository = "https://github.com/flyingrobots/echo"
@@ -18,9 +18,9 @@ thiserror = "1.0"
 hex = { version = "0.4", optional = true }
 serde = { version = "1.0", features = ["derive"], optional = true }
 serde_json = { version = "1.0", optional = true }
+once_cell = "1.19"
 
 [dev-dependencies]
-once_cell = "1.19"
 serde = { version = "1.0", features = ["derive"] }
 serde_json = "1.0"
 

crates/rmg-core/src/constants.rs

@@ -0,0 +1,19 @@
+//! Canonical digests and constants used across the engine.
+use once_cell::sync::Lazy;
+
+use crate::ident::Hash;
+
+/// BLAKE3 digest of an empty byte slice.
+///
+/// Used where canonical empty input semantics are required.
+pub static BLAKE3_EMPTY: Lazy<Hash> = Lazy::new(|| blake3::hash(&[]).into());
+
+/// Canonical digest representing an empty length-prefix list: BLAKE3 of
+/// `0u64.to_le_bytes()`.
+///
+/// Used for plan/decision/rewrites digests when the corresponding list is empty.
+pub static DIGEST_LEN0_U64: Lazy<Hash> = Lazy::new(|| {
+    let mut h = blake3::Hasher::new();
+    h.update(&0u64.to_le_bytes());
+    h.finalize().into()
+});