docs: S0 draft — fail-closed motion commit, derived centres, candidate tolerances, S1 scope

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

docs/moving_bodies.md

@@ -82,12 +82,21 @@ fluid pull from a solid slot of a moving body is BFL-written.
 
 ## 4. State, masks and authority
 
-- Host `ObjectState` is the single authority for `offset = (dx, dy)`,
+- Host `ObjectState` is the single authority for one displacement
-  `velocity = (vx, vy)` and `omega`. Velocity is supplied, never differenced
+  `offset = (dx, dy)` relative to the immutable base centre, plus
-  from offsets.
+  `velocity = (vx, vy)` and `omega`. Centres are always derived
-- Per body a small device **motion record** `{c^{n-1}, c^n, u^n}` is uploaded
+  (`c = base + offset`), never stored as independent state. Velocity is
-  with the action buffer; action-slot meaning is not overloaded. (CANDIDATE
+  supplied, never differenced from offsets.
-  layout; OPEN.)
+- `c^{n-1}` is derived from the last *committed* offset, `c^n` from the
+  offset being applied. Per body a small device **motion record**
+  `{c^{n-1}, c^n, u^n}` is uploaded with the action buffer; action-slot meaning
+  is not overloaded. (CANDIDATE layout; OPEN.)
+- Fail-closed commit: an enqueued upload is not a completed one. The new
+  offset becomes the committed offset only after the stream synchronization
+  that follows the upload and the step group succeeds. Any upload or later
+  synchronization failure leaves host and device motion state unknown: the
+  simulation is marked unusable (existing `_require_usable` lifecycle), and
+  no API may report a host/device match afterwards.
 - Membership is never read from a flag that M1 is overwriting. The host
   verifies at `add_body` that every swept-band cell has base flag FLUID, so the
   band's base state is known without reading `flag_gpu`.
@@ -97,7 +106,9 @@ fluid pull from a solid slot of a moving body is BFL-written.
 ## 5. Refill of fresh cells (CANDIDATE)
 
 - Stored time level: everything in `ddf` at M1 is post-collision `G^{n-1}`; the
-  refill writes all 9 slots at that same level.
+  refill writes all 9 slots at that same level, so every slot of a fresh cell
+  that the following pull or a q < 1/2 link may read is defined. Donor values
+  are read at the same level `G^{n-1}` (old-fluid cells, untouched by M1).
 - `G = f_eq(rho_bar, u_w(x)) + G_neq(x_d)` where `rho_bar` = mean density of
   valid neighbours and `x_d` = the valid neighbour best aligned with the outward
   normal `(x - c^n)/|x - c^n|`; `G_neq(x_d) = G(x_d) - f_eq(rho(x_d), u(x_d))`.
@@ -146,6 +157,12 @@ switch cancels with the switching momentum. Whether `sum u_w dm` approximates
 impulse, per crossing cycle). Momentum conservation is also distinct from
 Galilean invariance, which G4 tests.
 
+External reference note: waLBerla's covered/refill momentum switches
+(`conserveMomentumWhenMapping`, `conserveMomentumWhenRestoring`) default to
+false (Astra), so their existence does not establish which combination its
+validation cases use. A bookkeeping identity alone does not select the
+physical force either.
+
 Accumulators (separate, per body, per step window; all reported raw):
 `link_cme`, `link_wen_correction` (= `sum u_w dm`), `node_cover`,
 `node_uncover`, plus counters of crossings and refill fallbacks, so force
@@ -182,8 +199,11 @@ mass), `zeta = c/c_crit = 0.01`, `U* = U/(f_N D)` with `f_N` the natural
 frequency in fluid assuming an inviscid added-mass term; the paper also
 reports frequencies normalised by the in-vacuo value. Our runner derives `k`
 from that in-fluid `f_N` (added-mass coefficient as stated in the paper) and
-never from the vacuum formula; `c_crit` definition to be confirmed (OPEN). Stability/convergence is gated by a halved-time-step run, not
+never from the vacuum formula; `c_crit` convention and the original
-assumed from the mass ratio.
+comparison data are still OPEN. Stability/convergence is gated by fluid
+time/space refinement of the coupled run, not assumed from the mass ratio;
+structural sub-stepping does not substitute for fluid-coupling time
+refinement.
 
 ## 9. Gates (map; tolerances OPEN, declared before runs)
 
@@ -196,7 +216,32 @@ KC 5 in-line (needs 2-component offset) · G6 Leontini free transverse VIV
 (m* = 10, ζ = 0.01, Re = 200, definitions pending) · G7 time-level contract
 frozen before the oscillator.
 
-## 10. Remaining decisions
+Candidate pre-run engineering tolerances (Astra; for discussion, not
+literature limits or measured outcomes; norms, averaging window, convergence
+protocol and physical reference uncertainty must be fixed before adoption, and
+none may be weakened after seeing runs):
+normalised momentum-ledger residual FP32 ≤ 5e-6 (FP64 oracle ≤ 2e-13);
+10-cycle relative mass drift ≤ 1e-4; prescribed-motion grid study D = 40/80/160
+with final-step amplitude change ≤ 2 % and phase ≤ 2°; enlarged domain
+amplitude change ≤ 1 %; matched-frame force RMS ≤ 2 % and improving with
+refinement; VIV refinement amplitude ≤ 2 %, frequency ≤ 1 %, five consecutive
+cycle amplitudes within 1 %.
+
+## 10. Proposed minimal S1 scope (host only; held until cross-review)
+
+- `add_body` moving-circle declaration: base centre, declared offset box
+  (x/y), speed bound; swept-band computation and band-placement validation.
+- `set_body(offset=..., velocity=..., omega=...)` validation before mutation
+  (section 7) and the fail-closed commit of section 4.
+- Motion-record host layout and upload path; exclusion of moving bodies from
+  the packed `CurvedBoundaryKernel` links (stationary packing unchanged).
+- Explicit rejections for unsupported modes.
+- Host tests (Astra runs them): rejection-before-mutation, band geometry,
+  derived centres, fail-closed behaviour under an injected upload/sync
+  failure, stationary packing byte-identical. No kernels, no GPU runs, no
+  y-only VIV oscillator (S4), no force RHS.
+
+## 11. Remaining decisions
 
 Structural RHS (section 6); motion-record layout; refill details; coupling
 scheme; benchmark definitions and digitized reference data; tolerances;