Phase 1 / Forge / Forge 3D narrowphase fast paths - #57

Merged

guysenpai merged 24 commits into

mainfrom

phase-1/forge/narrowphase-fast-paths

Jul 20, 2026

Commits on Jul 20, 2026

docs(forge): add M1.1.4 narrowphase fast paths brief
guysenpai
committed
fix(forge): single witness for non-parallel segment contacts
guysenpai
committed
refactor(forge): add fast-path dispatcher and generic oracle
guysenpai
committed
docs(forge): log M1.1.4 E1 execution
guysenpai
committed
feat(forge): add sphere/sphere and sphere/box narrowphase fast paths
guysenpai
committed
docs(forge): log M1.1.4 E2 execution
guysenpai
committed
feat(forge): add box/box SAT narrowphase fast path
guysenpai
committed
docs(forge): log M1.1.4 E3 execution
guysenpai
committed
fix(forge): box/box SAT depth equals true MTV, add deep tests
guysenpai
committed
docs(forge): log M1.1.4 E3 re-review and epa defect
guysenpai
committed
test(forge): add box/box deep surface-witness position check
guysenpai
committed
feat(forge): add capsule/capsule narrowphase fast path
guysenpai
committed
docs(forge): log M1.1.4 E4 execution
guysenpai
committed
test(forge): add feature_id matrix audit and fast-path bench
guysenpai
committed
docs(forge): log M1.1.4 E5 matrix and bench
guysenpai
committed
fix(forge): resolve narrowphase P1 defects and harden fast-path tests
guysenpai
committed
docs(forge): log M1.1.4 E6 codex fixes
guysenpai
committed
fix(forge): make narrowphase length thresholds scale-relative
guysenpai
committed
docs(forge): log M1.1.4 E7 scale-invariance fixes
guysenpai
committed
fix(forge): enforce threshold-class invariance in narrowphase
guysenpai
committed
docs(forge): log M1.1.4 E8 threshold-class contract
guysenpai
committed
fix(forge): dedup tolerance relative to candidate extent
guysenpai
committed
docs(forge): log M1.1.4 E9 extent-based dedup
guysenpai
committed
docs(brief): close M1.1.4
guysenpai
committed

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Phase 1 / Forge / Forge 3D narrowphase fast paths - #57

Phase 1 / Forge / Forge 3D narrowphase fast paths#57
guysenpai merged 24 commits into
mainfrom
phase-1/forge/narrowphase-fast-paths

Commits on Jul 20, 2026

docs(forge): add M1.1.4 narrowphase fast paths brief

fix(forge): single witness for non-parallel segment contacts

refactor(forge): add fast-path dispatcher and generic oracle

docs(forge): log M1.1.4 E1 execution

feat(forge): add sphere/sphere and sphere/box narrowphase fast paths

docs(forge): log M1.1.4 E2 execution

feat(forge): add box/box SAT narrowphase fast path

docs(forge): log M1.1.4 E3 execution

fix(forge): box/box SAT depth equals true MTV, add deep tests

docs(forge): log M1.1.4 E3 re-review and epa defect

test(forge): add box/box deep surface-witness position check

feat(forge): add capsule/capsule narrowphase fast path

docs(forge): log M1.1.4 E4 execution

test(forge): add feature_id matrix audit and fast-path bench

docs(forge): log M1.1.4 E5 matrix and bench

fix(forge): resolve narrowphase P1 defects and harden fast-path tests

docs(forge): log M1.1.4 E6 codex fixes

fix(forge): make narrowphase length thresholds scale-relative

docs(forge): log M1.1.4 E7 scale-invariance fixes

fix(forge): enforce threshold-class invariance in narrowphase

docs(forge): log M1.1.4 E8 threshold-class contract

fix(forge): dedup tolerance relative to candidate extent

docs(forge): log M1.1.4 E9 extent-based dedup

docs(brief): close M1.1.4