experiment: LivingPlane readable + alive mode (L163)

RGBA32F displacement/velocity/imprint field; rolling base relief, grazing light, elevation colours, 7.5 cm contours,
follow camera; scenes: roll, rest and wobble, lift-off, second sphere; alive mode = travelling swells + viscoelastic
imprint. Intel ADL GT2: ~0.17 ms/step at 512^2. Open: run-to-run difference with queries on/off.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_016dhxM43dnWvUu2B5Ph1iG1

Experiments/LivingPlane/REPORT.md

@@ -60,3 +60,74 @@ The only changed file outside `Experiments/LivingPlane/` is `.gitignore`, which
   submission, so it's an upper bound): **0.080 ms/step at 512²** and **0.292 ms/step at 1024²**.
 - Visual read: the effect is very subtle in the current render (a slight dip under the sphere, faint rings). It needs
   a larger push amplitude, grazing light or height colouring, and a closer camera to read.
+
+## L163 — readable, living plane
+
+The plane now reads as rolling terrain, and the objects leave visible troughs and wakes. `alive` adds travelling
+breathing and a viscoelastic imprint that remains after lift-off. The simulation still runs in one GPU dispatch per
+step; CPU work only supplies the two object states.
+
+`LivingPlane.cpp` now keeps the dynamic displacement, velocity, and imprint in an `RGBA32F` ping-pong field. The
+surface shader adds broad static terrain relief, calculates normals from relief plus displacement, and uses grazing
+light, elevation colours, slope tint, and 7.5 cm contour bands. The camera follows the first sphere at a closer angle.
+The wake scene rolls the first sphere, pauses and wobbles it, lifts it, then sends a second sphere through the wake.
+The alive scene runs that same sequence with low-frequency travelling swells and a decaying contact imprint. Its
+defaults are breathing strength 4.8 m/s², imprint capture 0.15 m/s, recovery time 6 s, and maximum imprint depth
+0.34 m. These values have command-line overrides.
+
+The timer query check found no early read or reuse in L162: it allocated a unique query per step, called `glFinish`,
+then read every result. The saved Intel/Mesa 25.0.7 samples are 0 or 52 ns for most dispatches (512² median 0,
+p95 52 ns; largest sample 17.552 µs), which cannot be a credible per-dispatch cost. The old usage did not reuse
+query objects, so lifetime is not the cause; the saved data point to Intel/Mesa's timer-query reporting or timing
+scope, but the sandbox cannot isolate which. L163 uses a 64-query ring, reads each query before reusing its slot,
+checks availability after `glFinish`, and records `GL_QUERY_COUNTER_BITS`. On llvmpipe the availability check passed
+with 64 counter bits and zero waits. The Intel query result still needs the GPU diagnostic command below.
+
+### Measurements and checks
+
+- llvmpipe wake: 128², 600 steps (`dt=9.56814 ms`, 5.741 s simulation window), 151 frames at 30 fps. First-step
+  equation audit and timer-query lifetime check passed; final displacement range was −0.177488 m to +0.104854 m.
+- llvmpipe alive: same grid, steps, and window; equation audit and timer-query lifetime check passed. Final
+  displacement range was −0.200437 m to +0.115904 m, with a −0.111667 m stored imprint.
+- llvmpipe cost: 512², 1,800 steps, `--queries=off`, no frame capture: **0.767473 ms/step** in one timed
+  simulation-loop window. `timing.json` includes dispatch submission, the step-0 equation readback, and final
+  `glFinish`, but excludes setup and frame capture. This is a software-renderer measurement, not the Intel GPU cost.
+- Both five-second llvmpipe previews are in `Saved/Linux/l163/llvmpipe-wake.mp4` and
+  `Saved/Linux/l163/llvmpipe-alive.mp4`. They are 128² review previews; use the GPU commands below for the owner
+  videos.
+- Equation-audit negative control: a temporary copy with its expected first-step height forced to zero exited FAIL
+  at actual −0.0488777 m. The final source passes that same check.
+- The fast verification tier passed in 278.5 s. Build and logs are under `Saved/Linux/l163/verify/`.
+- No Unreal `Source/` files changed and no Unreal build ran.
+
+### Intel GPU run
+
+Run from the plugin root as `jahni`. First build the runner. For timed runs, check `uptime` and keep the machine
+quiet. The wall-time field is valid only when `--capture-every=0`; use `--queries=off` for the step-cost measurement.
+
+```sh
+bash Experiments/LivingPlane/build.sh
+uptime
+taskset -c 0-11 prlimit --as=6442450944 -- timeout 1740s ./Saved/Linux/l163/living-plane --device=gpu --scene=wake --size=512 --steps=2400 --capture-every=16 --queries=off --out=Saved/Linux/l163/gpu-wake-512
+taskset -c 0-11 prlimit --as=6442450944 -- timeout 1740s ./Saved/Linux/l163/living-plane --device=gpu --scene=alive --size=512 --steps=2400 --capture-every=16 --queries=off --out=Saved/Linux/l163/gpu-alive-512
+ffmpeg -y -framerate 30 -i Saved/Linux/l163/gpu-wake-512/frame_%06d.png -c:v libx264 -pix_fmt yuv420p Saved/Linux/l163/living-plane-wake-512.mp4
+ffmpeg -y -framerate 30 -i Saved/Linux/l163/gpu-alive-512/frame_%06d.png -c:v libx264 -pix_fmt yuv420p Saved/Linux/l163/living-plane-alive-512.mp4
+taskset -c 0-11 prlimit --as=6442450944 -- timeout 1740s ./Saved/Linux/l163/living-plane --device=gpu --scene=alive --size=512 --steps=1800 --capture-every=0 --queries=off --out=Saved/Linux/l163/gpu-timing-512
+taskset -c 0-11 prlimit --as=6442450944 -- timeout 1740s ./Saved/Linux/l163/living-plane --device=gpu --scene=alive --size=512 --steps=1800 --capture-every=0 --queries=on --out=Saved/Linux/l163/gpu-query-check-512
+```
+
+`gpu-timing-512/timing.json` reports the 512² batch wall time per step, including dispatch submission and completion.
+`gpu-query-check-512/timing.json` contains query counter bits, waits before slot reuse, availability status, and raw
+per-step query samples. The sandbox has no accessible Intel DRM node, so the current Intel step cost and new query
+diagnostic remain unmeasured here.
+
+### L163 Intel GPU pass (run by the orchestrator, 2026-11-02)
+
+- Intel ADL GT2 (Mesa 25.0.7, `renderD128`): wake and alive scenes, 512², 2,400 steps, 151 frames each; equation
+  audits PASS. Videos (local): `Saved/Linux/l163/living-plane-wake-512.mp4`, `living-plane-alive-512.mp4`.
+- Step cost, alive scene, 512², 1,800 steps, no capture: **0.172 ms/step** with queries off, 0.152 ms/step with
+  queries on (batch wall time per step).
+- The Intel `GL_TIME_ELAPSED` median is still 0 with 64 counter bits and the ring/availability checks passing. That
+  looks like a Mesa/Intel reporting issue; use wall time.
+- **Open issue:** the same scene with the same steps gave different final fields (min −0.637 m with queries off vs
+  −0.327 m with queries on). Something depends on more than the step index (e.g. wall-clock time); investigate.