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Copy pathmetrics.ts
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435 lines (394 loc) · 17.5 KB
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/**
* Geometric metrics over probed bone positions: the vocabulary the
* invariant checks are written in. All angles in degrees, distances in metres.
*/
import type { PhasePose, ProbeResult, Quat, Vec3 } from "./probe.js";
const RAD2DEG = 180 / Math.PI;
export function bone(pose: PhasePose, id: string): Vec3 {
const p = pose.bones.get(id);
if (!p) throw new Error(`probe result has no bone "${id}"`);
return p;
}
function sub(a: Vec3, b: Vec3): Vec3 {
return [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
}
function norm(a: Vec3): number {
return Math.hypot(a[0], a[1], a[2]);
}
function dot(a: Vec3, b: Vec3): number {
return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
}
/** Angle between two direction vectors, 0–180. */
export function angleBetweenDeg(a: Vec3, b: Vec3): number {
const d = dot(a, b) / (norm(a) * norm(b) || 1);
return Math.acos(Math.min(1, Math.max(-1, d))) * RAD2DEG;
}
/** Tilt of the segment from→to away from world-vertical (+Y). 0 = upright. */
export function segmentTiltDeg(pose: PhasePose, from: string, to: string): number {
return angleBetweenDeg(sub(bone(pose, to), bone(pose, from)), [0, 1, 0]);
}
/** Torso pitch: pelvis→neck tilt from vertical. Standing ≈ 0, hinged ≈ 70+. */
export function torsoPitchDeg(pose: PhasePose): number {
return segmentTiltDeg(pose, "pelvis", "neck");
}
/**
* Signed torso pitch in the character's travel-relative sagittal plane.
* Positive values lean character-forward; backward and sideways collapses do
* not masquerade as a valid forward hinge merely because their unsigned tilt
* is large.
*/
export function torsoForwardPitchDeg(pose: PhasePose): number {
const direction = sub(bone(pose, "neck"), bone(pose, "pelvis"));
const c = Math.cos(-pose.rootYaw);
const s = Math.sin(-pose.rootYaw);
const localForward = direction[0] * s + direction[2] * c;
return Math.atan2(localForward, direction[1]) * RAD2DEG;
}
/** Interior angle at joint b formed by segments b→a and b→c (180 = straight). */
export function jointAngleDeg(pose: PhasePose, a: string, b: string, c: string): number {
return angleBetweenDeg(sub(bone(pose, a), bone(pose, b)), sub(bone(pose, c), bone(pose, b)));
}
/** Knee flexion for one side: 0 = straight leg, 90 = right angle. */
export function kneeFlexionDeg(pose: PhasePose, side: "left" | "right"): number {
return 180 - jointAngleDeg(pose, `hip_${side}`, `knee_${side}`, `ankle_${side}`);
}
/**
* How much the spine curls: angle between the lower-torso (pelvis→chest) and
* upper-torso (chest→head) directions. ~0 = neutral straight back.
*/
export function spineCurlDeg(pose: PhasePose): number {
return angleBetweenDeg(
sub(bone(pose, "chest"), bone(pose, "pelvis")),
sub(bone(pose, "head"), bone(pose, "chest")),
);
}
/** Height of a bone above the floor. */
export function heightOf(pose: PhasePose, id: string): number {
return bone(pose, id)[1];
}
/** World-space distance between two body landmarks. */
export function distanceBetween(pose: PhasePose, a: string, b: string): number {
return norm(sub(bone(pose, a), bone(pose, b)));
}
function rotateByQuat(v: Vec3, q: Quat): Vec3 {
const [x, y, z, w] = q;
const tx = 2 * (y * v[2] - z * v[1]);
const ty = 2 * (z * v[0] - x * v[2]);
const tz = 2 * (x * v[1] - y * v[0]);
return [
v[0] + w * tx + (y * tz - z * ty),
v[1] + w * ty + (z * tx - x * tz),
v[2] + w * tz + (x * ty - y * tx),
];
}
/** Angle between the palm face normal and the downward floor normal. */
export function palmFloorAngleDeg(pose: PhasePose, side: "left" | "right"): number {
const q = pose.boneQuaternions.get(`wrist_${side}`);
if (!q) return 180;
// The procedural palm is shallow on local Z for both sides (the same
// geometry axis used by render's production floor-contact solver).
return angleBetweenDeg(rotateByQuat([0, 0, 1], q), [0, -1, 0]);
}
/** Angle between the palm face normal and world-up (0 = palm facing up). */
export function palmUpAngleDeg(pose: PhasePose, side: "left" | "right"): number {
const q = pose.boneQuaternions.get(`wrist_${side}`);
if (!q) return 180;
return angleBetweenDeg(rotateByQuat([0, 0, 1], q), [0, 1, 0]);
}
/** Angle between the palm face normal and character-forward (+Z at zero yaw). */
export function palmForwardAngleDeg(pose: PhasePose, side: "left" | "right"): number {
const q = pose.boneQuaternions.get(`wrist_${side}`);
if (!q) return 180;
const forward: Vec3 = [Math.sin(pose.rootYaw), 0, Math.cos(pose.rootYaw)];
return angleBetweenDeg(rotateByQuat([0, 0, 1], q), forward);
}
/** Angle between a palm and the body's lateral midline direction. */
export function palmInwardAngleDeg(pose: PhasePose, side: "left" | "right"): number {
const q = pose.boneQuaternions.get(`wrist_${side}`);
if (!q) return 180;
const inward = side === "left"
? sub(bone(pose, "shoulder_right"), bone(pose, "shoulder_left"))
: sub(bone(pose, "shoulder_left"), bone(pose, "shoulder_right"));
return angleBetweenDeg(rotateByQuat([0, 0, 1], q), inward);
}
/** Angle between the semantic fist's knuckle direction and floor-down. */
export function fistFloorAngleDeg(pose: PhasePose, side: "left" | "right"): number {
const q = pose.boneQuaternions.get(`wrist_${side}`);
if (!q) return 180;
// Same wrist→knuckle axis used by render's production fist contact solver.
return angleBetweenDeg(rotateByQuat([0, -1, 0], q), [0, -1, 0]);
}
/** Landmark position along character-forward after undoing authored root yaw. */
export function forwardCoordinate(pose: PhasePose, id: string): number {
const p = bone(pose, id);
const x = p[0] - pose.rootOffset[0];
const z = p[2] - pose.rootOffset[2];
const c = Math.cos(-pose.rootYaw);
const s = Math.sin(-pose.rootYaw);
return x * s + z * c;
}
/** Angle between the sole's local up axis and world up (0 = foot flat). */
export function soleUpAngleDeg(pose: PhasePose, side: "left" | "right"): number {
const q = pose.boneQuaternions.get(`ankle_${side}`);
if (!q) return 180;
return angleBetweenDeg(rotateByQuat([0, 1, 0], q), [0, 1, 0]);
}
/** Overhand bar grip: angle between the palm face normal and character-forward. */
export function palmBarAngleDeg(pose: PhasePose, side: "left" | "right"): number {
const q = pose.boneQuaternions.get(`wrist_${side}`);
if (!q) return 180;
return angleBetweenDeg(rotateByQuat([0, 0, 1], q), [0, 0, 1]);
}
/** Distance from a wrist to its side-specific pull-up-bar grip anchor. */
export function barGripError(pose: PhasePose, side: "left" | "right"): number {
const wrist = bone(pose, `wrist_${side}`);
const anchor: Vec3 = [side === "left" ? 0.24 : -0.24, 2.255, 0.025];
return norm(sub(wrist, anchor));
}
const MASS_WEIGHTS: ReadonlyArray<readonly [string, number]> = [
["pelvis", 0.22], ["spine", 0.13], ["chest", 0.2], ["head", 0.08],
["hip_left", 0.07], ["hip_right", 0.07], ["knee_left", 0.05], ["knee_right", 0.05],
["shoulder_left", 0.025], ["shoulder_right", 0.025],
["elbow_left", 0.025], ["elbow_right", 0.025],
["ankle_left", 0.015], ["ankle_right", 0.015],
];
/** Approximate whole-body COM from anthropometrically weighted landmarks. */
export function centerOfMass(pose: PhasePose): Vec3 {
let x = 0, y = 0, z = 0, total = 0;
for (const [id, weight] of MASS_WEIGHTS) {
const p = pose.bones.get(id);
if (!p) continue;
x += p[0] * weight; y += p[1] * weight; z += p[2] * weight; total += weight;
}
return total > 0 ? [x / total, y / total, z / total] : [0, 0, 0];
}
function supportBoneIds(pose: PhasePose): string[] {
const ids = new Set<string>();
const addGroup = (name: string) => {
if (name === "feet") { ids.add("ankle_left"); ids.add("ankle_right"); }
if (name === "foot_left") ids.add("ankle_left");
if (name === "foot_right") ids.add("ankle_right");
if (name === "hands") { ids.add("wrist_left"); ids.add("wrist_right"); }
if (name === "hand_left") ids.add("wrist_left");
if (name === "hand_right") ids.add("wrist_right");
if (name === "fists") { ids.add("wrist_left"); ids.add("wrist_right"); }
if (name === "fist_left") ids.add("wrist_left");
if (name === "fist_right") ids.add("wrist_right");
if (name === "forearms") { ids.add("elbow_left"); ids.add("elbow_right"); }
if (name === "elbow_left") ids.add("elbow_left");
if (name === "elbow_right") ids.add("elbow_right");
if (name === "knees") { ids.add("knee_left"); ids.add("knee_right"); }
if (name === "knee_left") ids.add("knee_left");
if (name === "knee_right") ids.add("knee_right");
};
pose.groundLock.forEach(addGroup);
for (const reach of pose.reaches) {
if (reach.target !== "floor") continue;
addGroup(reach.effector);
const mapped = reach.effector
.replace("hand_", "wrist_")
.replace("fist_", "wrist_")
.replace("foot_", "ankle_");
if (pose.bones.has(mapped)) ids.add(mapped);
}
for (const pin of pose.pins) {
addGroup(pin.effector);
const mapped = pin.effector
.replace("hand_", "wrist_")
.replace("fist_", "wrist_")
.replace("foot_", "ankle_");
if (pose.bones.has(mapped)) ids.add(mapped);
}
// Floor poses also distribute load through the torso/pelvis even when the
// authored contact declaration only mentions hands or feet.
for (const id of ["pelvis", "chest", "head"]) {
const p = pose.bones.get(id);
if (p && p[1] < 0.5) ids.add(id);
}
return [...ids];
}
/** Horizontal COM distance outside the active support bounding box (0 = inside). */
export function balanceOverflow(pose: PhasePose): number {
const supports = supportBoneIds(pose).map((id) => bone(pose, id));
// No authored support information remains unscored for backward
// compatibility. A single support, however, is a real balance constraint:
// measure outside a foot/hand-sized disc instead of auto-passing it.
if (supports.length === 0) return 0;
const com = centerOfMass(pose);
const margin = 0.14;
if (supports.length === 1) {
const support = supports[0]!;
return Math.max(0, Math.hypot(com[0] - support[0], com[2] - support[2]) - margin);
}
const minX = Math.min(...supports.map((p) => p[0])) - margin;
const maxX = Math.max(...supports.map((p) => p[0])) + margin;
const minZ = Math.min(...supports.map((p) => p[2])) - margin;
const maxZ = Math.max(...supports.map((p) => p[2])) + margin;
const dx = Math.max(minX - com[0], 0, com[0] - maxX);
const dz = Math.max(minZ - com[2], 0, com[2] - maxZ);
return Math.hypot(dx, dz);
}
/** Clearance between the head sphere and known prop geometry; Infinity if none. */
export function headPropClearance(result: ProbeResult, pose: PhasePose): number {
const h = bone(pose, "head");
let clearance = Infinity;
if (result.propTypes.includes("bar")) {
const closestX = Math.max(-0.6, Math.min(0.6, h[0]));
clearance = Math.min(clearance, Math.hypot(h[0] - closestX, h[1] - 2.3, h[2]) - 0.13);
}
if (result.propTypes.includes("wall")) {
clearance = Math.min(clearance, Math.abs(h[2] - (-0.29)) - 0.105);
}
if (result.propTypes.includes("chair")) {
const dx = Math.max(Math.abs(h[0]) - 0.21, 0);
const dy = Math.max(Math.abs(h[1] - 0.78) - 0.25, 0);
const dz = Math.max(Math.abs(h[2] - (-0.34)) - 0.03, 0);
clearance = Math.min(clearance, Math.hypot(dx, dy, dz) - 0.105);
}
return clearance;
}
interface SolidFace {
point: Vec3;
normal: Vec3;
tangentU: Vec3;
halfU: number;
tangentV: Vec3;
halfV: number;
captureDepth: number;
blocks: readonly string[];
}
/** The solid prop faces, re-derived from the prop geometry independently of
* the renderer's collider declarations so a regression in either is caught. */
function solidFaces(propTypes: readonly string[]): SolidFace[] {
const out: SolidFace[] = [];
const all = ["torso", "head", "thigh", "shin", "arm"];
if (propTypes.includes("wall")) {
out.push({ point: [0, 1.3, -0.29], normal: [0, 0, 1], tangentU: [1, 0, 0], halfU: 1.1, tangentV: [0, 1, 0], halfV: 1.3, captureDepth: 0.8, blocks: all });
}
if (propTypes.includes("chair")) {
out.push(
{ point: [0, 0.78, -0.31], normal: [0, 0, 1], tangentU: [1, 0, 0], halfU: 0.21, tangentV: [0, 1, 0], halfV: 0.25, captureDepth: 0.4, blocks: ["torso", "head"] },
{ point: [0, 0.47, 0.05], normal: [0, 0, 1], tangentU: [1, 0, 0], halfU: 0.21, tangentV: [0, 1, 0], halfV: 0.03, captureDepth: 0.42, blocks: ["shin"] },
);
}
if (propTypes.includes("box")) {
out.push({ point: [0, 0.15, 0.11], normal: [0, 0, -1], tangentU: [1, 0, 0], halfU: 0.25, tangentV: [0, 1, 0], halfV: 0.15, captureDepth: 0.42, blocks: ["shin"] });
}
return out;
}
/** Body capsule radii matching the render mannequin (see mannequin.ts). */
const PART_RADII = { torso: 0.13, head: 0.105, thigh: 0.075, shin: 0.055, arm: 0.038 } as const;
/**
* Worst body penetration into a solid prop face (metres, ≤0 when clear), or
* reached to a non-floor anchor are that phase's declared prop support and
* don't count (a foot standing ON the box is not "in" the box).
*/
export function propPenetrationDepth(result: ProbeResult, pose: PhasePose): number {
const faces = solidFaces(result.propTypes);
if (faces.length === 0) return -Infinity;
const exemptLegs = new Set<string>();
const contacts = [
...pose.pins,
...pose.reaches.map((r) => ({ effector: r.effector, anchor: r.target })),
];
for (const c of contacts) {
if (c.anchor === "floor") continue;
if (c.effector === "feet" || c.effector === "foot_left") exemptLegs.add("left");
if (c.effector === "feet" || c.effector === "foot_right") exemptLegs.add("right");
}
const segments: [string, string, keyof typeof PART_RADII][] = [
["pelvis", "neck", "torso"],
["neck", "head", "head"],
];
for (const side of ["left", "right"]) {
segments.push([`shoulder_${side}`, `elbow_${side}`, "arm"], [`elbow_${side}`, `wrist_${side}`, "arm"]);
if (exemptLegs.has(side)) continue;
segments.push([`hip_${side}`, `knee_${side}`, "thigh"], [`knee_${side}`, `ankle_${side}`, "shin"]);
}
let worst = -Infinity;
for (const [aId, bId, part] of segments) {
const a = pose.bones.get(aId);
const b = pose.bones.get(bId);
if (!a || !b) continue;
const r = PART_RADII[part];
for (const t of [0, 0.25, 0.5, 0.75, 1]) {
const p: Vec3 = [a[0] + (b[0] - a[0]) * t, a[1] + (b[1] - a[1]) * t, a[2] + (b[2] - a[2]) * t];
for (const f of faces) {
if (!f.blocks.includes(part)) continue;
const rel = sub(p, f.point);
const d = dot(rel, f.normal);
if (d < -f.captureDepth) continue;
if (Math.abs(dot(rel, f.tangentU)) > f.halfU + r) continue;
if (Math.abs(dot(rel, f.tangentV)) > f.halfV + r) continue;
worst = Math.max(worst, r - d);
}
}
}
return worst;
}
/** Fastest landmark's average speed from the previous endpoint into this phase. */
export function phaseMaxLandmarkSpeed(previous: PhasePose | null, pose: PhasePose): number {
if (!previous || pose.durationSec <= 0) return 0;
let max = 0;
for (const [id, p] of pose.bones) {
const before = previous.bones.get(id);
if (before) max = Math.max(max, norm(sub(p, before)) / pose.durationSec);
}
return max;
}
export function footSkateDistance(previous: PhasePose, pose: PhasePose, side: "left" | "right"): number {
const id = `ankle_${side}`;
// Authored travel AND the solid-prop contact push both translate the whole
// body deliberately, feet included; skate is what's left after removing them.
const local = (p: Vec3, phase: PhasePose): readonly [number, number] => {
const x = p[0] - phase.rootOffset[0] - phase.propPush[0];
const z = p[2] - phase.rootOffset[2] - phase.propPush[2];
const c = Math.cos(-phase.rootYaw), s = Math.sin(-phase.rootYaw);
return [x * c - z * s, x * s + z * c];
};
const a = local(bone(previous, id), previous), b = local(bone(pose, id), pose);
return Math.hypot(b[0] - a[0], b[1] - a[1]);
}
/** World-space X/Z drift for a support whose anchor is fixed in the scene. */
export function footWorldSkateDistance(
previous: PhasePose,
pose: PhasePose,
side: "left" | "right",
): number {
const a = bone(previous, `ankle_${side}`);
const b = bone(pose, `ankle_${side}`);
return Math.hypot(b[0] - a[0], b[2] - a[2]);
}
/** Drift of the planted foot-pair center, ignoring intentional stance-width changes. */
export function feetCenterSkateDistance(previous: PhasePose, pose: PhasePose): number {
const delta = (side: "left" | "right") => {
const id = `ankle_${side}`;
const a = bone(previous, id), b = bone(pose, id);
const unyaw = (p: Vec3, phase: PhasePose) => {
const x = p[0] - phase.rootOffset[0] - phase.propPush[0];
const z = p[2] - phase.rootOffset[2] - phase.propPush[2];
const c = Math.cos(-phase.rootYaw), s = Math.sin(-phase.rootYaw);
return [x * c - z * s, x * s + z * c] as const;
};
const aa = unyaw(a, previous), bb = unyaw(b, pose);
return [bb[0] - aa[0], bb[1] - aa[1]] as const;
};
const l = delta("left"), r = delta("right");
return Math.hypot((l[0] + r[0]) / 2, (l[1] + r[1]) / 2);
}
export function footIsSupported(pose: PhasePose, side: "left" | "right"): boolean {
return pose.groundLock.includes("feet")
|| pose.groundLock.includes(`foot_${side}`)
|| pose.pins.some((p) =>
(p.effector === "feet" || p.effector === `foot_${side}`) && p.anchor === "floor");
}
/** Lowest bone height in the pose (should never be much below 0). */
export function lowestPoint(pose: PhasePose): number {
let min = Infinity;
for (const p of pose.bones.values()) min = Math.min(min, p[1]);
return min;
}
/** Average height of the two ankles (0 when the feet are planted). */
export function feetHeight(pose: PhasePose): number {
return (heightOf(pose, "ankle_left") + heightOf(pose, "ankle_right")) / 2;
}