FMA skeleton: 3D-octree CRS · cascade builder · projection contract · NodeGuid audit

[AdaWorldAPI]

Builds on the merged FMA skeletal spine (#116) with the four follow-ups.

1. Cascade / ontology Guid builder (soft tissue)

Guid::ontological(classid, heel, hip, twig, leaf) — the self-speaking
classification path (ANAT0001-CARD-HERT-LVNT-PAPMUS-<id>), the Cascade
counterpart to Guid::located() for bones. Same [container:member] tier
algebra; only the HHTL reading differs (ontology vs spatial). This is the
soft-tissue case (the heart muscle, the sinus): classified, then a splat
projects onto it.

2. Full 3D-octree HEEL/HIP (true CRS)

morton::{morton3_encode, morton3_decode} (24-bit octree) + guid::located_3d
/ position_3d. Bones now carry a real x:y:z coordinate (HIP's reserved odd
bits used), so the body is an ArcGIS / Cesium-grade spatial layer —
prefix containment over HEEL ++ HIP.container is 3D octree containment.
Bone::position() decodes it back. Supersedes the coronal-tile + depth-slice
v0.

3. ModalityProjection contract (projection.rs)

The seam where "address the heart muscle with ArcGIS, measure the sinus with
ViT" lands: every modality (Xray / Ultrasound / Doppler / Vit)
implements register(&Skeleton) -> RigidTransform (align to the bone
fiducials) + project(&pose) -> Vec<ProjectionSample> (emit Guid-addressed
samples). The address is the join key letting heterogeneous sensors write to
the same node. Worked example XrayBoneFiducial; a real ViT/ultrasound engine
implements the same trait downstream.

4. NodeGuid canon audit (docs/NODEGUID-CANON-AUDIT.md)

Group-by-group reconciliation of the FMA tier Guid against lance-graph
NodeGuid per the canon rule ("wrappers audited against OGAR, never the
reverse"). It caught a real cross-repo bug:

F-1 (high): lance-graph NodeGuid::CLASSID_FMA = 0x0901 collides with
OGAR patient = 0x0901. This session's new 0x0A Anatomy domain resolves
it — recommend retargeting CLASSID_FMA → 0x0A01.

Plus documented divergences (each with a reconciliation): classid width (2 B
vs 4 B), family/identity 256:256 vs u24:u24 (the economy decision),
endianness (FMA container-first vs canon LE — the membrane owns the
adaptation), and the 12+4 EdgeBlock (canon keeps it; the operator superseded
it with family nodes this session). No lance-graph code is changed —
findings are for the operator / a lance-graph session.

Tests / gates

cargo test --workspace — fully green; ogar-fma-skeleton 25 lib + 3
doctests, clippy-clean. New coverage: 3D CRS laterality + depth via decoded
position, the cascade ontology path, X-ray projection addressed by bone Guid,
3D-Morton roundtrip.

DISCOVERY-MAP: D-GUID-TIER, D-NODEGUID-AUDIT.

🤖 Generated with Claude Code

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