Summary
A receiving rigid body can now accept one coincident modeled parcel into its actual mass, center of gravity and inertia. It begins empty, applies a perfectly inelastic momentum-conserving impulse, retains raw kinetic loss and potential energy, and permits later separation without refilling.
awaiting, base mass -> matching current joint intake -> attached, combined mass
-> separated, base masscreateReceivingRigidBody shares the existing integrator. Strict captured input, refusal without mutation, detached events and continuous pose/motor state preserve the old constructor contract. Refs #25. This six-file primitive builds on #97 and #98; finite station handling, world parcel ownership and the two-vehicle custody protocol remain open.
Evidence
- Before: no empty receiving joint; the public intake test failed on the absent factory. After: eight intake cases and 206 assertions cover a worked rational impulse, independent world-frame momentum/energy accounting across nine evolved rotated bodies, actual subsequent acceleration, co-moving separation, lifecycle and malformed/stale input.
- Final focused regression: 341 passed, zero failed, 20,524 assertions across 24 files. Native Buddy Pickier lint, app/runtime types and docs build passed.
- All 31 actual copied cargo CLI cases passed outside the checkout and remained byte-identical to #98. Six complete default vehicle reports also remained byte-identical.
- Generated documentation: 96 pages, 7,237 local links and 96 assets without missing targets. Independent Spec and Standards reviews passed; reviewed source hashes remained unchanged through qualification and commit.
- Full local suite was not launched below the retained 4 GB free-space floor. Exact-source CI subsequently passed, as recorded below. Parent #98 has a real Linux browser-startup failure recorded under #72; this change does not claim to fix it.
Merge Danger
Door: two-way. No migration, wire protocol or physical actuator endpoint.
Blast Radius: physics. The existing loaded constructor and integrator share strict record capture helpers. Default numerical paths and report shapes are preserved. The new ideal joint does not model contact duration, impact IMU, parcel spin, mechanism acknowledgement, global parcel uniqueness, authenticated identity or physical flight qualification. Whole issue #25 remains incomplete.
Publication checkpoint
Exact-source CI 40080999116 passed all five jobs: 2,098 native tests passed, 41 skipped, zero failed and 507,032 assertions across 236 files, plus 13 Python bridge tests and all 31 copied cargo cases. Original workflow and cargo ZIPs were each retained once. All cargo report hashes match the previous qualified Linux f22 release; local Mac reports have tiny binary64 differences and cross-host byte equality is not claimed. Both prerequisite commits retained their reviewed source hashes and were published to origin/main at 0eac2af as Chris with no coauthors through a normal fast-forward. PR #98's failed workflow remains a distinct unresolved startup failure under #72; this later success does not explain it. Finite station handling and actual two-vehicle authority/custody integration remain in progress, so issue #25 remains incomplete.