feat(lekiwi): release V0.10.1 初步集成 LeKiwi，优化碰撞模型

集成通用机器人数值接口、本机控制桥、LeRobot 插件和统一键盘遥操作。采用离线 CoACD 全臂碰撞配方 revision 4、局部装配区切分与结构自接触，限制直接关节位姿写入并保留安全看门狗。同步版本号、变更记录、来源许可证和兼容性验证。

web_platform/physics/meshDistance.ts

@@ -0,0 +1,71 @@
+import { Ray, Triangle, Vector3 } from 'three';
+
+export type Surface = { vertices: Vector3[]; faces: number[][] };
+
+/** Independent, unsigned triangle-surface distance oracle for the small E2E tip hulls.
+ * Not a runtime collision detector. Includes vertex/face, edge/edge and edge/face cases.
+ */
+export function surfaceDistance(a: Surface, b: Surface) {
+  let distanceSq = Infinity;
+  let from = new Vector3(),
+    to = new Vector3();
+  const candidate = new Vector3(),
+    rayPoint = new Vector3(),
+    segmentPoint = new Vector3();
+  const consider = (p: Vector3, q: Vector3, reversed = false) => {
+    const distance = p.distanceToSquared(q);
+    if (distance < distanceSq) {
+      distanceSq = distance;
+      from = (reversed ? q : p).clone();
+      to = (reversed ? p : q).clone();
+    }
+  };
+  const triangles = (surface: Surface) =>
+    surface.faces.map(
+      ([i, j, k]) => new Triangle(surface.vertices[i], surface.vertices[j], surface.vertices[k]),
+    );
+  const edges = (surface: Surface) => {
+    const pairs = new Map<string, [Vector3, Vector3]>();
+    for (const f of surface.faces)
+      for (let i = 0; i < 3; i++) {
+        const p = f[i],
+          q = f[(i + 1) % 3];
+        pairs.set([p, q].sort((x, y) => x - y).join(','), [
+          surface.vertices[p],
+          surface.vertices[q],
+        ]);
+      }
+    return [...pairs.values()];
+  };
+  const ta = triangles(a),
+    tb = triangles(b),
+    ea = edges(a),
+    eb = edges(b);
+  for (const v of a.vertices) for (const t of tb) consider(v, t.closestPointToPoint(v, candidate));
+  for (const v of b.vertices)
+    for (const t of ta) consider(v, t.closestPointToPoint(v, candidate), true);
+  for (const [p, q] of ea) {
+    const length = p.distanceTo(q);
+    if (length === 0) continue;
+    const ray = new Ray(p, q.clone().sub(p).divideScalar(length));
+    for (const [v, w] of eb) {
+      ray.distanceSqToSegment(v, w, rayPoint, segmentPoint);
+      if (rayPoint.distanceTo(p) <= length) consider(rayPoint, segmentPoint);
+    }
+    for (const t of tb) {
+      const point = ray.intersectTriangle(t.a, t.b, t.c, false, candidate);
+      if (point && point.distanceTo(p) <= length) consider(point, point);
+    }
+  }
+  for (const [p, q] of eb) {
+    const length = p.distanceTo(q);
+    if (length === 0) continue;
+    const ray = new Ray(p, q.clone().sub(p).divideScalar(length));
+    for (const t of ta) {
+      const point = ray.intersectTriangle(t.a, t.b, t.c, false, candidate);
+      if (point && point.distanceTo(p) <= length) consider(point, point);
+    }
+  }
+  if (!Number.isFinite(distanceSq)) throw new Error('表面距离查询缺少有效三角形');
+  return { distance: Math.sqrt(distanceSq), from: from.toArray(), to: to.toArray() };
+}