修复循环信号与事件采样并接入 LSTP 接触定位，补充八路验证及复用实验
相较上一版 Jacobian 确定性复用更新，本次补齐事件边界一致性、结果两侧采样及接触事件定位；保留已有物性复用和组件力学公式。 - 统一 UD00 信号求值与下一事件查询的绝对时间边界，修复循环边界浮点舍入导致的阶段错位、重复或漏报，并覆盖零时长、多阶段及长周期场景。 - 引入原生输出语义 v2：保留规则网格真实时间，补充内部时间事件和状态事件的左邻及事件后采样，按保存时间、状态和离散模式重放结果。 - 两条代码生成路径均发出 LSTP 接触描述，默认定位间隙过零及非负力模式的力截断；仅在接受事件时更新防重复记录，增加 contactEvents 诊断计数。 - 补充 MASS/LSTP 独立事件实验、八路全曲线与驱动阶段配对评估，以及 Amesim 不连续点输出对照和力差定位报告；MASS 新增释放机制仍保留为独立实验。 - 保存局部 probe、context 访问与回退、shadow replay、R288 real skip/typed replay 及阀门数值尾部诊断工具和报告；未证明净收益的实验不启用为生产默认优化。 - 更新原生运行说明和元件建模规范，补充信号边界、输出语义、接触事件和实验依赖回归测试。 验证：五组专项回归共 34 项全部通过；37 个待提交 Python 文件语法检查通过；git diff --cached --check 通过。
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/* Included only by an isolated runtime copy. No production RHS mode, force
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* formula, state dimension, Jacobian coloring or property cache is changed. */
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#include <float.h>
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#if NEXPERIMENT_CONTACTS
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static double experiment_penetration(int j,const double *y) {
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ExperimentContact c=experiment_contacts[j];
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if(c.kind==1) return c.boundary-y[c.v1+1];
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if(c.kind==2) return y[c.v1+1]-c.boundary;
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/* Preserve exactly the production gap expression and operation order. */
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return -(c.boundary+y[c.v2+1]-y[c.v1+1]);
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}
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static double experiment_velocity(int j,const double *y) {
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ExperimentContact c=experiment_contacts[j];
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if(c.kind==1) return -y[c.v1];
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if(c.kind==2) return y[c.v1];
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return y[c.v1]-y[c.v2];
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}
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static double experiment_value(int j,int force,const double *y) {
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double p=experiment_penetration(j,y);
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if(force==2) return experiment_velocity(j,y);
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if(!force) return p;
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ExperimentContact c=experiment_contacts[j];
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double fraction=c.pdis>0 ? -expm1(-fmax(p,0)/c.pdis) : 1;
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return c.stiffness*p+fraction*c.damping*experiment_velocity(j,y);
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}
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static double experiment_locate(NativeRun *r,int j,int force,double left,double right,
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double sign,NativeDense dense,void *context) {
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double y[NSTATES];
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for(int k=0;k<60;k++) {
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double mid=left+.5*(right-left);
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if(mid<=left || mid>=right) break;
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r->experiment_dense++;r->experiment_roots++;
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if(!dense(context,mid,y)) return NAN;
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double g=experiment_value(j,force,y);
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if(!isfinite(g)) return NAN;
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if(sign<0 ? g>=0 : g<=0) right=mid; else left=mid;
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}
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return right;
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}
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static double experiment_bracket(NativeRun *r,int j,int force,double left,double right,
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double a,double b,NativeDense dense,void *context,int *direction) {
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int slot=2*j+force;
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if(r->experiment_direction[slot] && r->experiment_last[slot]==left)
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a=r->experiment_direction[slot]*DBL_MIN;
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if(a==0 || (a>0 ? b>0 : b<0)) return INFINITY;
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*direction=a<0 ? 1 : -1;
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return experiment_locate(r,j,force,left,right,a,dense,context);
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}
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static double experiment_contact_candidate(NativeRun *r,int j,int force,double t,double next,
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const double *old,const double *trial,
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NativeDense dense,void *context,int *direction) {
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double a=experiment_value(j,force,old), b=experiment_value(j,force,trial);
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if(!isfinite(a) || !isfinite(b)) return NAN;
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/* Detect a gap excursion and return through the same boundary even when
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* the endpoint gaps have the same sign: split at the velocity reversal.
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* Like the existing event locator, this relies on resolved accepted steps;
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* arbitrarily many unresolved oscillations in one step are not certified. */
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if(!force) {
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double va=experiment_velocity(j,old),vb=experiment_velocity(j,trial);
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if((va<0 && vb>0) || (va>0 && vb<0)) {
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double turn=experiment_locate(r,j,2,t,next,va,dense,context),y[NSTATES];
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if(!isfinite(turn)) return NAN;
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r->experiment_dense++;
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if(!dense(context,turn,y)) return NAN;
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double g=experiment_value(j,force,y);
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if(g==0 && ((a<0 && b<0) || (a>0 && b>0))) return INFINITY;
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double found=experiment_bracket(r,j,force,t,turn,a,g,dense,context,direction);
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if(isfinite(found) || isnan(found)) return found;
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return experiment_bracket(r,j,force,turn,next,g,b,dense,context,direction);
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}
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}
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return experiment_bracket(r,j,force,t,next,a,b,dense,context,direction);
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}
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#endif
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#if NEXPERIMENT_RELEASES
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static int experiment_drives(NativeRun *r,double t,const double *y,double *drives) {
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r->nfev++;r->experiment_rhs++;
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return model_experiment_release_drives(t,y,drives);
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}
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static double experiment_release_root(NativeRun *r,int j,int lower,double left,double right,
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NativeDense dense,void *context) {
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double y[NSTATES],drives[NEXPERIMENT_RELEASES];
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for(int k=0;k<60;k++) {
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double mid=left+.5*(right-left);
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if(mid<=left || mid>=right) break;
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r->experiment_dense++;r->experiment_roots++;
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if(!dense(context,mid,y) || !experiment_drives(r,mid,y,drives)) return NAN;
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if(lower ? drives[j]>0 : drives[j]<0) right=mid; else left=mid;
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}
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return right;
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}
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#endif
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static int experiment_candidates(NativeRun *r,double t,double next,const double *old,const double *trial,
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NativeDense dense,void *context,double *when,int *indices,int *kinds,int *count) {
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(void)r;(void)t;(void)next;(void)old;(void)trial;(void)dense;(void)context;
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(void)when;(void)indices;(void)kinds;(void)count;
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#if NEXPERIMENT_CONTACTS
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for(int j=0;j<NEXPERIMENT_CONTACTS;j++) {
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r->experiment_checks++;
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for(int force=0;force<2;force++) {
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if(force && (experiment_contacts[j].signed_force==1 ||
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experiment_penetration(j,old)<=0)) continue;
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int direction=0;
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double at=experiment_contact_candidate(r,j,force,t,next,old,trial,dense,context,&direction);
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if(isnan(at)) return 0;
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if(isfinite(at)) {
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if(force) {
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double y[NSTATES];r->experiment_dense++;
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if(!dense(context,at,y)) return 0;
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if(experiment_penetration(j,y)<=0) continue;
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}
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int n=(*count)++;
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when[n]=at;indices[n]=j;kinds[n]=force?-3:-2;
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r->experiment_pending[2*j+force]=direction;
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}
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}
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}
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#endif
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#if NEXPERIMENT_RELEASES
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double before[NEXPERIMENT_RELEASES],after[NEXPERIMENT_RELEASES];
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int evaluated=0;
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for(int j=0;j<NEXPERIMENT_RELEASES;j++) {
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NativeStop s=model_stops[j];int v=s.velocity_index, x=v+1;
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if(fabs(old[v])>1e-12*fmax(fabs(old[v]),1)) continue;
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if(r->experiment_direction[2*NEXPERIMENT_CONTACTS+j] &&
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r->experiment_last[2*NEXPERIMENT_CONTACTS+j]==t) continue;
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for(int lower=0;lower<2;lower++) {
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double bound=lower?s.lower:s.upper,tol=1e-12*fmax(fabs(bound),1);
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if(lower ? old[x]>bound+tol : old[x]<bound-tol) continue;
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if(!evaluated) {
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if(!experiment_drives(r,t,old,before) || !experiment_drives(r,next,trial,after)) return 0;
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evaluated=1;
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}
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r->experiment_checks++;
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if(lower ? !(before[j]<=0 && after[j]>0) : !(before[j]>=0 && after[j]<0)) continue;
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double at=experiment_release_root(r,j,lower,t,next,dense,context);
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if(!isfinite(at)) return 0;
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int n=(*count)++;when[n]=at;indices[n]=j;kinds[n]=lower?-4:-5;
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}
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}
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#endif
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return 1;
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}
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static void experiment_commit(NativeRun *r,double t,double *y,const double *when,const int *indices,const int *kinds,int count) {
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(void)y;
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for(int i=0;i<count;i++) {
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if(kinds[i]>-2 || when[i]!=t) continue;
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int j=indices[i];
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(void)j;
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#if NEXPERIMENT_CONTACTS
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if(kinds[i]==-2 || kinds[i]==-3) {
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int force=kinds[i]==-3,slot=2*j+force;
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r->experiment_last[slot]=t;
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r->experiment_direction[slot]=r->experiment_pending[slot];
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if(force) r->experiment_clipping++;
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else if(experiment_contacts[j].kind==3) r->experiment_lstp++;
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else r->experiment_mass++;
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fprintf(stderr,"{\"phase\":\"mechanical-event\",\"kind\":\"%s\",\"index\":%d,\"time\":%.17g,\"direction\":%d,\"penetration\":%.17g,\"relativeVelocity\":%.17g}\n",
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force?"force-clip":experiment_contacts[j].kind==3?"lstp-contact":"mass-contact",j,t,
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r->experiment_direction[slot],experiment_penetration(j,y),experiment_velocity(j,y));
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}
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#endif
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#if NEXPERIMENT_RELEASES
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if(kinds[i]==-4 || kinds[i]==-5) {
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NativeStop s=model_stops[j];int slot=2*NEXPERIMENT_CONTACTS+j;
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y[s.velocity_index]=0;y[s.velocity_index+1]=kinds[i]==-4?s.lower:s.upper;
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r->experiment_last[slot]=t;r->experiment_direction[slot]=1;r->experiment_release++;
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fprintf(stderr,"{\"phase\":\"mechanical-event\",\"kind\":\"mass-release\",\"index\":%d,\"time\":%.17g,\"side\":\"%s\"}\n",
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j,t,kinds[i]==-4?"lower":"upper");
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}
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#endif
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}
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(void)r;
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}
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