Worker count at run time, colour counts, def names, stored ids; test_world.c, test_body_query.c, test_broad_phase.c whole; the rolling mix traced (#142, #143, #146)

README.md

@@ -44,12 +44,12 @@ so a test written against the reference reads the same here.
 | `aephysics.mover` | the character mover's plane solver: pushes accumulated and clamped over twenty sweeps, the velocity clip | done, `test_mover.ae` (56 checks); [same results as the reference, 0.9x its time](bench/RESULTS.md#mover) |
 | `aephysics.broad_phase` | the broad phase: a tree per body type, proxies keyed by type, the pair update through the moved siblings and cross-tree seeds with the filter and compound lookups as visitors, the pair set, the keys sorted | done, `test_broad_phase.ae` (36 checks against a brute force); [10,000 moving boxes at 4.6 ms a step](bench/RESULTS.md#broad_phase) |
 | `aephysics.mesh_contact` | a convex shape against a mesh or height field: the triangle cache with per-triangle warm starts, the manifolds per triangle, the seam rules against ghost collisions, clusters by normal, the four-point cull | done, `test_mesh_contact.ae` (64 checks); [a box on a wave at 3.2 us a step](bench/RESULTS.md#mesh_contact) |
-| `aephysics.dynamics` | the world's state and bookkeeping: worlds, bodies (creation, mass from shapes or by hand, transforms, velocities, extents, locks, sleep and enable flags, the type changed, disabled and enabled) in solver sets, shapes of every kind on bodies with their broad-phase proxies, islands linked by contacts and joints and split by union-find, sleeping sets, waking and merging, the constraint graph's colouring, contacts from the broad phase's pairs with the narrow phase (convex, mesh, height field, compound children) and the state changes with their events, contact recycling, joints of every kind (definitions, creation with the edges, sets and islands, collide-connected in the pair filter, destruction, separations, reactions), sensors with their begin and end events | `test_dynamics.ae` (635 checks: test_body.c, the step-free test_world.c and test_joint.c, test_shape.c's flags, contacts, islands, sleep, joints, sensors); [creation 0.9x, the first collide at parity, recycling 1.1-1.2x, joints 0.6x, sensors 0.75-1.0x](bench/RESULTS.md#dynamics-bookkeeping-contacts-joints-sensors) |
+| `aephysics.dynamics` | the world's state and bookkeeping: worlds, bodies (creation, mass from shapes or by hand, transforms, velocities, extents, locks, sleep and enable flags, the type changed, disabled and enabled) in solver sets, shapes of every kind on bodies with their broad-phase proxies, islands linked by contacts and joints and split by union-find, sleeping sets, waking and merging, the constraint graph's colouring, contacts from the broad phase's pairs with the narrow phase (convex, mesh, height field, compound children) and the state changes with their events, contact recycling, joints of every kind (definitions, creation with the edges, sets and islands, collide-connected in the pair filter, destruction, separations, reactions), sensors with their begin and end events | `test_dynamics.ae` (641 checks: test_body.c, the step-free test_world.c and test_joint.c, test_shape.c's names and flags, contacts, islands, sleep, joints, sensors); [creation 0.9x, the first collide at parity, recycling 1.1-1.2x, joints 0.6x, sensors 0.75-1.0x](bench/RESULTS.md#dynamics-bookkeeping-contacts-joints-sensors) |
 | `aephysics.contact_solver` | the contact constraints of a step, scalar: prepared from the manifolds (anchors, base separations, normal masses, the friction centre and its tangent mass, twist and rolling masses), warm started, solved per sub-step (soft normal constraints with speculative bias, then central friction, twist friction and rolling resistance in the relax pass), the restitution pass, the impulses stored with the hit events; the step context | `test_contact_solver.ae` (50 checks: the passes by hand on a cube on a slab) | [ours alone](bench/RESULTS.md#contact_solver) |
 | `aephysics.contact_solver_wide` | a colour's convex contacts eight at a time: the constraint of eight contacts as one single-precision record in lanes (`f32x8`, std.lanes -- the reference's SIMD path; one AVX2 register with `AETHER_AEPHYSICS_CFLAGS=-mavx2`, two four-lane halves without), the same prepare, warm start, solve, restitution and store, the bodies gathered into lanes and scattered back | `test_contact_solver_wide.ae` (one scene two ways -- the stack, the bounce with hit events, rolling resistance, a conveyor, a slide -- the lanes within a millimetre of the scalar solve, and the same lanes twice bit for bit) | [the falling grid: scalar 241 ms, lanes 142, the reference 155](bench/RESULTS.md#solver) |
 | `aephysics.joint_solver` | the seven joints solved: each kind's prepare (frames relative to the centres of mass, effective masses, spring softness), warm start and solve (rigid or soft constraints, speculative limits, springs, motors), the kinds' accessors (limits, springs, motors, current angles and translations, forces and torques), joint.c's dispatch with the constraint hertz clamp; beyond the reference, a spherical joint's cone may be centred off frame A's z and may be an ellipse of two half-angles (the circle stays the default, bit for bit) | `test_joint_solver.ae` (181 checks: test_joint.c's accessors on every kind, each kind solved by hand) | [ours alone](bench/RESULTS.md#joint_solver) |
 | `aephysics.solver` | the Soft Step over the workers, the reference's stages: the work in blocks (the bodies', each colour's joints, wide and scalar constraints) that workers claim by compare-and-swap, the stages published as sync bits by worker 0 -- the constraints prepared, per sub-step the velocities integrated (gravity, damping, the gyroscopic torque), warm start, solve, positions, relax, colour by colour with the overflow first on worker 0; restitution, the impulses stored; the bodies finalised in parallel (sleep velocities, move events, fast bodies swept for the time of impact, bounds and proxies), the joint and hit events, the trees refit, bullets, the sensors' hits, islands put to sleep | `test_solver.ae` (45 checks: free fall against the closed form, resting and sleeping, a stack, a bounce and its hit event, a joint event, a pendulum, a fast sphere stopped by a thin wall, a bullet, a sensor swept, two worlds bit for bit alike) | [1.2-1.3x the reference's step, stage by stage](bench/RESULTS.md#stage-by-stage) |
-| `aephysics.physics_world` | the world's face: the step (pairs, narrow phase, solve, sensors, events), the events read back, the settings and counters, queries over every shape (overlap of a box or a proxy, the mover's planes, ray, shape and mover casts, the closest ray hit) and against one body at a transform of the caller's, explosions | `test_physics_world.ae` (159 checks: test_world.c's HelloWorld, empty and recycled worlds, every setting, contact, hit, move and sensor events, the explosion near and far, the bullet and sleep flags, the compound count, an enlarged proxy destroyed; test_body_query.c's casts, overlaps, mover planes and time of impact; test_broad_phase.c's static rebuild; the world queries; a wave pile stepping alike twice) | [the reference's own benchmark scenes with the same checksums: 1.2x its AVX2 build on the large pyramid, 1.15x on the many pyramids, 1.05x on the joint grid, ours at eight lanes in AVX2 with float records (#121)](bench/RESULTS.md#the-collide-pass-as-the-reference-keeps-it-2026-10-09-121); [the rest of its suite, nine scenes and the SAT runs, at 1.04-1.21x](bench/RESULTS.md#suite-the-references-benchmark-suite) |
+| `aephysics.physics_world` | the world's face: the step (pairs, narrow phase, solve, sensors, events), the events read back, the settings and counters, queries over every shape (overlap of a box or a proxy, the mover's planes, ray, shape and mover casts, the closest ray hit) and against one body at a transform of the caller's, explosions | `test_physics_world.ae` (238 checks: test_world.c whole but the hull database, among it empty and recycled worlds, every setting, the worker count set between steps, contact, hit, move and sensor events, a compound child's hit events and materials, the overflow colour pile, the explosion near and far, the bullet and sleep flags, the compound count, an enlarged proxy destroyed; test_body_query.c whole: casts, overlaps of hull proxies and turned compounds, mover planes, and the mover's time of impact against 2,000 random sweeps; test_broad_phase.c's static rebuild and its stress test, a swarm through every proxy change with the pair set checked by brute force every step; test_id.c; the world queries; a wave pile stepping alike twice) | [the reference's own benchmark scenes with the same checksums: 1.2x its AVX2 build on the large pyramid, 1.15x on the many pyramids, 1.05x on the joint grid, ours at eight lanes in AVX2 with float records (#121)](bench/RESULTS.md#the-collide-pass-as-the-reference-keeps-it-2026-10-09-121); [the rest of its suite, nine scenes and the SAT runs, at 1.04-1.21x](bench/RESULTS.md#suite-the-references-benchmark-suite) |
 | `aephysics.human` | the ragdoll: twelve capsule bones on spherical joints with cone and twist limits and revolute joints with angle limits -- a person's ranges by default (shoulders that reach overhead on a cone centred off the rest, hips on an elliptical cone through 125 degrees ahead, 25 back, 45 out and 30 across, knees and elbows that never pass straight), the reference's tight ones on request -- soles that grip, a spring on every joint toward the reference pose, a motor whose torque limit is joint friction, filter joints for the limbs that clash; the align spring, kinematic anchors through motor or parallel joints and their targets driven over a step (the pose drive of an active ragdoll), velocity, kicks, bullets | `test_human.ae` (96 checks: the figure's shape, a fall to rest in one piece, the setters, a kick, standing under the align spring, the pose held on anchors, the anchors driven two metres and the figure walked behind them, the same drop twice bit for bit, a fitted shape, each arm reaching flexion 170, abduction 160 and extension 45 degrees standing and prone, the hips' cone through a person's four ranges and short of a split, the hinges stopping at straight and folding to their range, the soles' grip) | [the reference's rain benchmark, 300 ragdolls over 400 steps, at 0.9x](bench/RESULTS.md#human) |
 | `aephysics` | the public API | |
 
@@ -131,7 +131,10 @@ never makes a thread. A host with a job system of its own lends it
 instead (`WorldDef.scheduler`, an `aephysics.parallel` scheduler the
 host made and keeps; its worker count then rules), as the reference
 takes a game's task callbacks, so an engine runs its crowd, its
-weather and its physics on one pool. [What the workers buy, against
+weather and its physics on one pool. `physics_world.set_worker_count`
+changes a world's own count between steps, clamped to the cap as the
+reference's `b3World_SetWorkerCount` clamps it, and the steps after give
+the same bits. [What the workers buy, against
 the reference's own scaling](bench/RESULTS.md#parallel).
 
 A world's queries may be called from any thread at once, as the
@@ -155,7 +158,10 @@ shapes; 40 checks), `test_determinism.ae` (the reference's wave pile,
 query spawn and mesh drop with its own random numbers, and the
 falling ragdolls, each run to sleep twice and over four workers and
 compared bit for bit; the query spawn sleeps a step after the
-reference's with its 59 query hits, the mesh drop two; 20 checks) and `test_large_world.ae` (a stack, a bullet and the
+reference's with its 59 query hits, the mesh drop two; and its rolling
+mix of spheres, capsules and boxes with rolling resistance, whose trace
+folds the manifolds' impulses in, the scene of its SIMD width test: CI
+runs the golden trace on the four-lane and the AVX2 builds; 22 checks) and `test_large_world.ae` (a stack, a bullet and the
 origin-relative queries at x = 0 and at x = 1e7 agree, the whole
 engine being in doubles; 43 checks), `test_collision.ae` (the reference's
 test_collision.c: boxes valid and not, a ray against a box in its twelve
@@ -175,9 +181,10 @@ hinge whose limits meet, a hinge's motor pressing past its limit settling
 where the reference's does, an elliptical cone stopping a swing at each
 half-angle, a kinematic body's contacts made stiff on request, and a
 hull rocking about a vertex on the floor coming to rest, and the
-contacts' sim indices kept current through every move of a sim, and
+contacts' sim indices kept current through every move of a sim (and
+test_world.c's five locator scenes, at one worker and four alike), and
 a weld and a hinge between static and kinematic bodies surviving a
-disable and an enable; 145 checks).
+disable and an enable; 158 checks).
 
 A joint's limits are soft constraints, as the reference's are: driven
 past one by a motor or held under a steady load, it settles past itself