FA-87544 / Collision detection broadphase / Member archive

Self pairs from the broadphase become contacts · case 04

A body starts a contact with itself.

Member previewVariant 4 · 3 implementations · 8 checks per implementation

Case contract

solve(prev, curr, asleep): contact pair cache update. Pairs are unordered; self pairs in curr are ignored. Previous pairs whose two bodies are both asleep persist even if not re-reported. Return [begin, end, persist] as sorted [min,max] lists.

Why this case matters

Broadphase stages decide which object pairs ever reach narrowphase; a wrong boundary, ordering or bookkeeping rule silently drops real contacts or floods the solver with false candidates.

One recorded failure

Sample boundary fixture

This sample comes from the broken implementation of a controlled reproducer.

Boundary fixture	Actual	Expected	Outcome
case 2	`[[[3, 4], [5, 5]], [[1, 5], [2, 3]], [[1, 7], [2, 7]]]`	`[[[3, 4]], [[1, 5], [2, 3]], [[1, 7], [2, 7]]]`	Failed

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