feat: prototype perimeter patrol, 3D view, and swarm algorithms

Add optional Three.js scene, base-pad lifecycle, mycelial swarms,
UFO transit steering, and algorithm selector (boids, APF, ACO, hypha).

prototype/src/live.ts

@@ -79,16 +79,27 @@ function linkKey(a: number, b: number): string {
 /** Convert live poses into the World shape the renderer already speaks. */
 export function toLiveWorld(poses: LivePose[], prev: World | null, dtS: number): World {
   const k = fitScale(poses);
-  const drones = poses.map((p, i) => ({
-    id: i,
-    name: p.id,
-    pos: { x: p.x * k, y: p.y * k },
-    vel: { x: 0, y: 0 },
-    heading: (p.yawDeg * Math.PI) / 180,
-    waypoint: 0,
-    battery: p.battery ?? 100,
-    channel: 0,
-  }));
+  const drones = poses.map((p, i) => {
+    const t = (prev?.t ?? 0) + dtS;
+    const band = 16 + (i % 6) * 4.5;
+    const alt =
+      band +
+      Math.sin(t * 0.62 + i * 0.91) * 4.5 +
+      Math.sin(p.x * 0.011 + t * 0.45) * 2;
+    const altVel = Math.cos(t * 0.62 + i * 0.91) * 2.8;
+    return {
+      id: i,
+      name: p.id,
+      pos: { x: p.x * k, y: p.y * k },
+      vel: { x: 0, y: 0 },
+      heading: (p.yawDeg * Math.PI) / 180,
+      waypoint: 0,
+      battery: p.battery ?? 100,
+      channel: 0,
+      alt,
+      altVel,
+    };
+  });
 
   // Every in-range pair exchanges pose broadcasts; accumulate totals so the
   // panel keeps its meaning between polls.
@@ -99,6 +110,7 @@ export function toLiveWorld(poses: LivePose[], prev: World | null, dtS: number):
       const dist = Math.hypot(
         drones[i].pos.x - drones[j].pos.x,
         drones[i].pos.y - drones[j].pos.y,
+        (drones[i].alt ?? 0) - (drones[j].alt ?? 0),
       );
       if (dist > LINK_RANGE) continue;
       const key = linkKey(i, j);