ml/gen: M1 数据生成器（采样/老师/距离下界认证/时间律/统计/一致性门禁）；ik-solver 增 clearance/gapMatrix/leverBounds

webapp/js/ik-solver.js

@@ -368,11 +368,12 @@ function make(cfg) {
   }
   /* 逐对扫描（簇级宽相位 → 胶囊线段距离）。visit(cnA,cnB,d,need) 对每个距离
      < need 的胶囊对回调；无回调（collideFree）时首对即短路返回。 */
+  let GAPCAP = 20;
   function scanPairs(q, visit, onlyCls, gapCb) {
     if (!COL) return false;
     const { R: Rs, T: Ts } = cumXf(q);
     /* 两关节类查表（只在纯判定时用；明细/生成表走精算） */
-    const INF = gapCb ? 20 : 0;                     // 生成表：宽相位外扩 20 mm，表内 <20 mm 的间隙为精确值
+    const INF = gapCb ? GAPCAP : 0;                 // 生成表：宽相位外扩 GAPCAP（默认 20 mm），表内 <GAPCAP 的间隙为精确值
     if (!visit) for (const k in P2D) {
       const T = P2D[k], st = p2dStatus(T, q);
       if (st < 0) return true;
@@ -445,7 +446,7 @@ function make(cfg) {
           if (mx * mx + my * my + mz * mz > (bl + INF) * (bl + INF)) continue;
           const d = segSegDistRaw(e1[0], e1[1], e1[2], e1[3], e1[4], e1[5],
                                   e2[0], e2[1], e2[2], e2[3], e2[4], e2[5]);
-          if (gapCb) { gapCb(d - need); continue; }
+          if (gapCb) { gapCb(d - need, pr[n][0], pr[n][1]); continue; }
           if (d < need) {
             hit = true;
             if (visit) visit(e1[6], e2[6], d, need);
@@ -462,6 +463,59 @@ function make(cfg) {
     }
     return hit;
   }
+  /* 全胶囊对最小间隙（mm，= 距离 − need，负值为干涉；≥cap 一律记 cap，下界、保守）（2026-10-17，
+     ml/gen 距离下界认证用）：不走 pair2d 查表、不提前退出，比 collideFree 慢，只给离线/安全层用。 */
+  function clearance(q, cap) {
+    if (!COL) return Infinity;
+    cap = cap || 20;
+    let best = cap; const save = GAPCAP; GAPCAP = cap;
+    try { scanPairs(q, () => {}, undefined, g => { if (g < best) best = g; }); } finally { GAPCAP = save; }
+    return best;
+  }
+  /* 按组对的最小间隙表（7×7 扁平，[gA*7+gB]，gA<gB；未进入窄相位的对记 cap）。
+     组对 (gA,gB) 的相对位姿只受关节 gA..gB−1 影响，认证时只用这几轴的杠杆和。 */
+  function gapMatrix(q, cap) {
+    cap = cap || 20;
+    const M = new Float64Array(49).fill(cap);
+    if (!COL) return M;
+    const save = GAPCAP; GAPCAP = cap;
+    try {
+      scanPairs(q, () => {}, undefined, (g, i, j) => {
+        let a = CAPG[i].g, b = CAPG[j].g; if (a > b) { const t = a; a = b; b = t; }
+        if (g < M[a * 7 + b]) M[a * 7 + b] = g;
+      });
+    } finally { GAPCAP = save; }
+    return M;
+  }
+  /* 每轴杠杆上界 r_j（mm/°）：轴 j 转 1° 时，j 之后任一胶囊端点相对 j 之前部件的最大位移。
+     随机采样 n 个位形取最大值再放大 (1+pad)。胶囊间距对端点位移 1-Lipschitz，故
+     Σ r_j|Δθ_j| 是关节直线段上任意胶囊对间隙变化量的上界（用于 d(a)+d(b) > Σ r_j|Δθ_j| 认证）。 */
+  function leverBounds(n, pad, seed) {
+    n = n || 4000; pad = pad === undefined ? 0.05 : pad;
+    let st = (seed || 7) >>> 0; const rnd = () => { st = (st * 1664525 + 1013904223) >>> 0; return st / 4294967296; };
+    const r = [0, 0, 0, 0, 0, 0];
+    for (let t = 0; t < n; t++) {
+      const q = ORDER.map(id => { const L = LIM[id]; return L.cont ? -180 + 360 * rnd() : L.lo + (L.hi - L.lo) * rnd(); });
+      const { R: Rs, T: Ts } = cumXf(q);
+      for (let j = 0; j < 6; j++) {
+        const Rj = Rs[j], tj = Ts[j], Pj = P[ORDER[j]], Dj = D[ORDER[j]];
+        const o = [Rj[0] * Pj[0] + Rj[1] * Pj[1] + Rj[2] * Pj[2] + tj[0], Rj[3] * Pj[0] + Rj[4] * Pj[1] + Rj[5] * Pj[2] + tj[1], Rj[6] * Pj[0] + Rj[7] * Pj[1] + Rj[8] * Pj[2] + tj[2]];
+        const u = [Rj[0] * Dj[0] + Rj[1] * Dj[1] + Rj[2] * Dj[2], Rj[3] * Dj[0] + Rj[4] * Dj[1] + Rj[5] * Dj[2], Rj[6] * Dj[0] + Rj[7] * Dj[1] + Rj[8] * Dj[2]];
+        const un = Math.hypot(u[0], u[1], u[2]);
+        for (const c of CAPG) {
+          if (c.g < j + 1) continue;
+          const R = Rs[c.g], T = Ts[c.g];
+          for (const e of [c.a, c.b]) {
+            const w = [R[0] * e[0] + R[1] * e[1] + R[2] * e[2] + T[0] - o[0], R[3] * e[0] + R[4] * e[1] + R[5] * e[2] + T[1] - o[1], R[6] * e[0] + R[7] * e[1] + R[8] * e[2] + T[2] - o[2]];
+            const dp = (w[0] * u[0] + w[1] * u[1] + w[2] * u[2]) / un;
+            const dd = Math.sqrt(Math.max(0, w[0] * w[0] + w[1] * w[1] + w[2] * w[2] - dp * dp));
+            if (dd > r[j]) r[j] = dd;
+          }
+        }
+      }
+    }
+    return r.map(v => v * D2R * (1 + pad));
+  }
   /* 全姿态动态碰撞判定：True = 无动态干涉（模型近似，含 margin 外扩） */
   const PST = { n: 0 };
   /* 单次求解内的判定记忆：routeFrom / gatherGoals / 规划器会对同一批 IK 候选反复判定 */
@@ -3109,7 +3163,7 @@ function make(cfg) {
            solveRoute: solveRoute, routeFrom: routeFrom, transitPt: transitPt, planAround: planAround, edgeFree: edgeFree, PST: PST, unwrapTo: unwrapTo, rtWarm: rtWarm, rtReset: () => { RT = null; }, rmPlan: rmPlan, rmSmooth: rmSmooth, modelFingerprint: modelFingerprint, RM: RM, wd: wd, classGap: classGap, classFingerprint: classFingerprint, P2D: P2D,
            mixSolve: mixSolve, closest: closest, closest6: closest6, closestOri: closestOri, orient: orient,
            branch: branch, selfTest: selfTest, poseSelfTest: poseSelfTest,
-           collideFree: collideFree, collideDetail: collideDetail,
+           collideFree: collideFree, collideDetail: collideDetail, clearance: clearance, gapMatrix: gapMatrix, leverBounds: leverBounds,
            dynLimit: dynLimit, dynLimits: dynLimits,
            K: K, LIM: LIM, P: P, D: D, ORDER: ORDER, wrap180: wrap180, costOf: costOf };
 }