This physics engine overhaul introduces two major fidelity upgrades to the Shenron pipeline: 1. Physical Area Integration: Tethers incident power natively to the solid angle expanding physical area (dTheta*dPhi*R^2) ensuring cross-section energy output scales independently of LiDAR point cloud resolution. 2. Millimeter Jitter: Maps physical property roughness (e.g., 5mm concrete, 50um metal) as a sub-wavelength Gaussian distance distorter. This fractures the 'perfect mathematical mirror' bug inherent to flat CARLA meshes by substituting naive coherent summation (N^2) with physical diffuse Rayleigh scattering (N). Includes addition of interactive 3-slide HTML and dark-mode simulation presentation decks for project reporting.
