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。

tests/manual/summarize_mechanical_events.py

@@ -0,0 +1,63 @@
+"""Summarize accuracy, contact phases and repeated cost for isolated variants."""
+import argparse
+import json
+from pathlib import Path
+import statistics
+
+import numpy as np
+
+
+def read(path):return json.loads(path.read_bytes())
+
+
+def main():
+    parser=argparse.ArgumentParser(description=__doc__)
+    parser.add_argument('directory',type=Path)
+    args=parser.parse_args();out=args.directory
+    runs=read(out/'summary.json');rows=[];branches=[];groups=[]
+    for profile,variants in runs.items():
+        baseline=variants['off']
+        base_force=baseline['groups']['force']['worstAbsolute']['maxAbsoluteError']
+        base_time=baseline['timing']['medianSeconds']
+        base_curves=np.load(out/profile/'off/curves.npz')
+        for mode,r in variants.items():
+            data=np.load(out/profile/mode/'curves.npz')
+            contacts=[]
+            for key in data.files:
+                if key.startswith('platform|') and key.endswith('.gap'):
+                    expected='amesim|'+key.split('|',1)[1]
+                    mismatch=data['phaseMatched'] & ((data[key]<0)!=(data[expected]<0))
+                    contacts.extend(dict(key=key.split('|',1)[1],time=float(data['time'][i])) for i in np.flatnonzero(mismatch))
+            equal=all(np.array_equal(data[k],base_curves[k],equal_nan=True)
+                      for k in data.files if k.startswith('platform|'))
+            worst=r['groups']['force']['worstAbsolute'];timing=r['timing'];native=r['nativeRun']
+            report=read(out/profile/mode/'comparison.json')
+            branches.extend(dict(profile=profile,mode=mode,**c) for c in report['curves'] if c['quantity']=='force')
+            groups.extend(dict(profile=profile,mode=mode,quantity=q,**g) for q,g in r['groups'].items())
+            counter_keys=('nfev','acceptedSteps','rejectedSteps','solverStarts','stateTransitions','njev','nlu','experimentalEvents')
+            counters=[{k:t.get(k) for k in counter_keys} for t in timing['runs']]
+            row=dict(profile=profile,mode=mode,medianSolveSeconds=timing['medianSeconds'],
+                minimumSolveSeconds=timing['minimumSeconds'],maximumSolveSeconds=timing['maximumSeconds'],
+                timingRepeats=timing['repeats'],repeatCountersStable=all(c==counters[0] for c in counters),
+                medianCpuSeconds=statistics.median(t['solveCpuSeconds'] for t in timing['runs']),
+                solveChangePercent=100*(timing['medianSeconds']/base_time-1),
+                forceMaxError=worst['maxAbsoluteError'],forceWorstTime=worst['worstTime'],forceWorstKey=worst['key'],
+                forceErrorChangePercent=100*(worst['maxAbsoluteError']/base_force-1),
+                forceQuietMax=max(c['quietMaxAbsolute'] for c in report['curves'] if c['quantity']=='force'),
+                pressureMaxError=r['groups']['pressure']['worstAbsolute']['maxAbsoluteError'],
+                temperatureMaxError=r['groups']['temperature']['worstAbsolute']['maxAbsoluteError'],
+                above5PercentCount=r['above5PercentCount'],phaseUnpairedCount=r['phaseUnpairedGridCount'],
+                contactPhaseMismatches=contacts,gridTrajectoryEqualsOff=equal,
+                rawPeakContactForce=r['extraEventPointMaxContactForce'],
+                acceptedSteps=native['acceptedSteps'],rejectedSteps=native['rejectedSteps'],
+                nfev=native['nfev'],solverStarts=native['solverStarts'],njev=native['njev'],nlu=native['nlu'],
+                stateTransitions=native['stateTransitions'],
+                experimentalEvents=native.get('experimentalEvents',{}),jacobianMode=native['jacobianMode'])
+            rows.append(row)
+            print(json.dumps(row,ensure_ascii=False))
+    (out/'effect-summary.json').write_text(json.dumps(rows,ensure_ascii=False,indent=2)+'\n',encoding='utf-8')
+    (out/'branch-force-summary.json').write_text(json.dumps(branches,ensure_ascii=False,indent=2)+'\n',encoding='utf-8')
+    (out/'group-summary.json').write_text(json.dumps(groups,ensure_ascii=False,indent=2)+'\n',encoding='utf-8')
+
+
+if __name__=='__main__':main()