posecode/packages/posecode-render/src/contacts.ts at main · posecode-dev/posecode

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/** Semantic contact-orientation helpers shared by viewer and eval. */

import * as THREE from "three";

import { eulerRomFor, type PinTarget, type ReachTarget, type GripTarget } from "posecode-parser";

import type { Mannequin } from "./mannequin.js";

import { effectorBoneId } from "./reach.js";

const DOWN = new THREE.Vector3(0, -1, 0);

const FOREARM_AXIS = new THREE.Vector3(0, 1, 0);

const DEG = Math.PI / 180;

/** Strong palm-down cone with 10° margin inside eval's 55° contact limit. */

const PALM_DOWN_TARGET_DOT = Math.cos(45 * DEG);

/** Natural outward travel as an arm straightens toward an unconstrained floor. */

const HAND_FLOOR_OUTSET = 0.04;

const CONTACT_EULER = new THREE.Euler();

export type BodySide = "left" | "right";

export type HandSide = BodySide;

export type HandContactKind = "palm" | "fist";

/**

* Actual outward normal of the flattened procedural palm geometry. The palm

* ellipsoid is shallow on local Z for both hands (see mannequin.addPalm).

export const PALM_LOCAL_NORMAL = [0, 0, 1] as const;

/** Knuckle-bearing direction from wrist to the curled finger bases. */

export const FIST_LOCAL_NORMAL = [0, -1, 0] as const;

function strictClampToRom(node: THREE.Object3D, boneId: string): boolean {

const rom = eulerRomFor(boneId);

if (!rom) return false;

CONTACT_EULER.setFromQuaternion(node.quaternion, "XYZ");

const x = THREE.MathUtils.clamp(CONTACT_EULER.x, rom.x.min * DEG, rom.x.max * DEG);

const y = THREE.MathUtils.clamp(CONTACT_EULER.y, rom.y.min * DEG, rom.y.max * DEG);

const z = THREE.MathUtils.clamp(CONTACT_EULER.z, rom.z.min * DEG, rom.z.max * DEG);

if (

Math.abs(x - CONTACT_EULER.x) < 1e-10 &&

Math.abs(y - CONTACT_EULER.y) < 1e-10 &&

Math.abs(z - CONTACT_EULER.z) < 1e-10

) return false;

CONTACT_EULER.set(x, y, z, "XYZ");

node.quaternion.setFromEuler(CONTACT_EULER);

return true;

}

/**

* Final safety assertion for renderer-authored terminal corrections. It is

* intentionally limited to wrists/ankles: timeline hip counter-rotation for a

* pelvis hinge may legitimately sit outside a raw isolated hip box, whereas

* contact wrist and ankle locals have no such coupled exception. All three

* ankle axes are clamped, including the normally locked Y/Z axes.

export function enforceContactRom(m: Mannequin): void {

let changed = false;

for (const side of ["left", "right"] as const) {

for (const joint of [`wrist_${side}`, `ankle_${side}`]) {

const node = m.bones.get(joint);

if (node) changed = strictClampToRom(node, joint) || changed;

}

if (changed) m.root.updateMatrixWorld(true);

}

function alignWristNormal(

m: Mannequin,

side: HandSide,

normal: readonly [number, number, number],

weight: number,

): boolean {

const wristId = `wrist_${side}`;

const wrist = m.bones.get(wristId);

if (!wrist?.parent) return false;

const world = wrist.getWorldQuaternion(new THREE.Quaternion());

const current = new THREE.Vector3(...normal).applyQuaternion(world).normalize();

const correction = new THREE.Quaternion().setFromUnitVectors(current, DOWN);

const safeWeight = THREE.MathUtils.clamp(weight, 0, 1);

if (safeWeight < 1) {

correction.slerp(new THREE.Quaternion(), 1 - safeWeight);

}

const desiredWorld = correction.multiply(world);

const parentWorld = wrist.parent.getWorldQuaternion(new THREE.Quaternion());

wrist.quaternion.copy(parentWorld.invert().multiply(desiredWorld));

// Contact correction is never allowed to buy contact with a broken wrist.

strictClampToRom(wrist, wristId);

return true;

}

function quaternionIsInRom(q: THREE.Quaternion, boneId: string): boolean {

const rom = eulerRomFor(boneId);

if (!rom) return false;

const euler = new THREE.Euler().setFromQuaternion(q, "XYZ");

// CCD and world/local quaternion round-trips can leave locked axes a few

// ten-thousandths of a degree off zero. Treat that as numerical noise, not

// an authored ROM violation that disables the whole contact solver.

const epsilon = 1e-4;

return (

euler.x >= rom.x.min * DEG - epsilon && euler.x <= rom.x.max * DEG + epsilon &&

euler.y >= rom.y.min * DEG - epsilon && euler.y <= rom.y.max * DEG + epsilon &&

euler.z >= rom.z.min * DEG - epsilon && euler.z <= rom.z.max * DEG + epsilon

);

}

/**

* Find the legal forearm-axis twist that gives the wrist the best attainable

* palm-down frame. A post-multiplied local-Y twist leaves the elbow→wrist

* offset ([0,-length,0]) unchanged, so this can re-orient a planted palm

* without pulling its solved contact point away from the floor target.

function bestPalmForearmTwist(m: Mannequin, side: HandSide): number | null {

const elbowId = `elbow_${side}`;

const wristId = `wrist_${side}`;

const elbow = m.bones.get(elbowId);

const wrist = m.bones.get(wristId);

const wristRom = eulerRomFor(wristId);

if (!elbow?.parent || wrist?.parent !== elbow || !wristRom) return null;

m.root.updateMatrixWorld(true);

const elbowParentWorld = elbow.parent.getWorldQuaternion(new THREE.Quaternion());

const authoredElbow = elbow.quaternion.clone();

const authoredWrist = wrist.quaternion.clone();

const twist = new THREE.Quaternion();

const candidateElbow = new THREE.Quaternion();

const elbowWorld = new THREE.Quaternion();

const wristWorld = new THREE.Quaternion();

const correction = new THREE.Quaternion();

const desiredWorld = new THREE.Quaternion();

const desiredLocal = new THREE.Quaternion();

const clampedWrist = new THREE.Quaternion();

const finalWorld = new THREE.Quaternion();

const wristEuler = new THREE.Euler();

const candidateEuler = new THREE.Euler();

const currentNormal = new THREE.Vector3();

const finalNormal = new THREE.Vector3();

const authoredEuler = new THREE.Euler().setFromQuaternion(authoredElbow, "XYZ");

const desiredSupinationY = (side === "left" ? 1 : -1) * Math.abs(authoredEuler.y);

const score = (radians: number): number | null => {

twist.setFromAxisAngle(FOREARM_AXIS, radians);

candidateElbow.copy(authoredElbow).multiply(twist);

if (!quaternionIsInRom(candidateElbow, elbowId)) return null;

elbowWorld.copy(elbowParentWorld).multiply(candidateElbow);

wristWorld.copy(elbowWorld).multiply(authoredWrist);

currentNormal.set(...PALM_LOCAL_NORMAL).applyQuaternion(wristWorld).normalize();

correction.setFromUnitVectors(currentNormal, DOWN);

desiredWorld.copy(correction).multiply(wristWorld);

desiredLocal.copy(elbowWorld).invert().multiply(desiredWorld);

// Simulate the exact wrist correction and hard ROM clamp used below. The

// search therefore prefers a forearm twist the real wrist can finish.

wristEuler.setFromQuaternion(desiredLocal, "XYZ");

wristEuler.set(

THREE.MathUtils.clamp(wristEuler.x, wristRom.x.min * DEG, wristRom.x.max * DEG),

THREE.MathUtils.clamp(wristEuler.y, wristRom.y.min * DEG, wristRom.y.max * DEG),

THREE.MathUtils.clamp(wristEuler.z, wristRom.z.min * DEG, wristRom.z.max * DEG),

"XYZ",

);

clampedWrist.setFromEuler(wristEuler);

finalWorld.copy(elbowWorld).multiply(clampedWrist);

finalNormal.set(...PALM_LOCAL_NORMAL).applyQuaternion(finalWorld).normalize();

return finalNormal.dot(DOWN);

};

let bestRadians = 0;

let bestScore = score(0) ?? -Infinity;

// Most palms need only the cheap wrist correction. In particular this keeps

// plank/mountain-climber geometry unchanged and avoids a search per frame.

if (bestScore >= PALM_DOWN_TARGET_DOT) return 0;

let targetRadians: number | null = null;

let targetYDistance = Infinity;

const consider = (radians: number): void => {

const candidateScore = score(radians);

if (candidateScore === null) return;

const scoreGain = candidateScore - bestScore;

if (scoreGain > 1e-9 || (Math.abs(scoreGain) <= 1e-9 && Math.abs(radians) < Math.abs(bestRadians))) {

bestScore = candidateScore;

bestRadians = radians;

}

// A declared palm-floor contact overrides incompatible pronation with the

// corresponding anatomical supination frame. Prefer that semantic mirror

// over a mathematical maximum at the extreme edge of the ROM box.

candidateEuler.setFromQuaternion(candidateElbow, "XYZ");

const isSupinationHalf = side === "left" ? candidateEuler.y >= -1e-6 : candidateEuler.y <= 1e-6;

const yDistance = Math.abs(candidateEuler.y - desiredSupinationY);

if (candidateScore >= PALM_DOWN_TARGET_DOT && isSupinationHalf && yDistance < targetYDistance) {

targetYDistance = yDistance;

targetRadians = radians;

}

};

// Coarse global search handles authored full pronation (±80°), whose

// palm-down solution can lie roughly 160° away at the opposite ROM edge.

const coarseStep = 5 * DEG;

for (let radians = -Math.PI; radians <= Math.PI + 1e-8; radians += coarseStep) {

consider(Math.min(Math.PI, radians));

}

// Refine locally so the semantic supination mirror is not quantized to the

// coarse search step.

const coarseBest = targetRadians ?? bestRadians;

const fineStep = 0.25 * DEG;

for (let radians = coarseBest - coarseStep; radians <= coarseBest + coarseStep + 1e-8; radians += fineStep) {

consider(THREE.MathUtils.clamp(radians, -Math.PI, Math.PI));

}

return Number.isFinite(bestScore) ? targetRadians ?? bestRadians : null;

}

function alignPalmNormal(m: Mannequin, side: HandSide, weight: number): boolean {

const elbowId = `elbow_${side}`;

const elbow = m.bones.get(elbowId);

const bestTwist = bestPalmForearmTwist(m, side);

if (!elbow || bestTwist === null) {

return alignWristNormal(m, side, PALM_LOCAL_NORMAL, weight);

}

const safeWeight = THREE.MathUtils.clamp(weight, 0, 1);

const weightedTwist = new THREE.Quaternion().setFromAxisAngle(

FOREARM_AXIS,

bestTwist * safeWeight,

);

const candidate = elbow.quaternion.clone().multiply(weightedTwist);

// Both endpoints of the interpolation are legal in normal operation. Keep a

// defensive fallback for unusual imported rigs/Euler singularities without

// ever clamping the elbow in a way that could move the wrist endpoint.

if (quaternionIsInRom(candidate, elbowId)) elbow.quaternion.copy(candidate);

m.root.updateMatrixWorld(true);

return alignWristNormal(m, side, PALM_LOCAL_NORMAL, weight);

}

function collectFloorHandContacts(

reaches: readonly (ReachTarget & { weight?: number })[],

pins: readonly PinTarget[],

groundLock: readonly string[],

): Map<HandSide, { kind: HandContactKind; weight: number }> {

const contacts = new Map<HandSide, { kind: HandContactKind; weight: number }>();

const collect = (effector: string, target: string, weight = 1): void => {

if (target !== "floor") return;

const fistMatch = /^fist_(left|right)$/.exec(effector);

const palmMatch = /^(?:hand|wrist)_(left|right)$/.exec(effector);

const isFist = effector === "fists" || Boolean(fistMatch);

const isPalm = effector === "hands" || Boolean(palmMatch);

if (!isFist && !isPalm) return;

const kind: HandContactKind = isFist ? "fist" : "palm";

const add = (side: HandSide): void => {

const previous = contacts.get(side);

// An explicit fist wins over a simultaneous generic hand contact.

if (!previous || kind === "fist" || previous.kind !== "fist") {

contacts.set(side, {

kind,

weight: Math.max(previous?.weight ?? 0, weight),

});

}

};

if (effector === "hands" || effector === "fists" || fistMatch?.[1] === "left" || palmMatch?.[1] === "left") add("left");

if (effector === "hands" || effector === "fists" || fistMatch?.[1] === "right" || palmMatch?.[1] === "right") add("right");

};

reaches.forEach((r) => collect(r.effector, r.target, r.weight));

pins.forEach((p) => collect(p.effector, p.anchor));

groundLock.forEach((effector) => collect(effector, "floor"));

return contacts;

}

/**

* Orient floor contacts by their real geometry: a palm presents its flattened

* +Z face, while a fist presents the wrist→knuckle (-Y) direction. The two are

* intentionally distinct. Palm contacts may also redistribute orientation

* into a legal forearm-axis twist; fists remain wrist-only so knuckle and grip

* semantics are unaffected. Every wrist correction is strict-ROM-clamped.

export function alignFloorContacts(

m: Mannequin,

reaches: readonly (ReachTarget & { weight?: number })[],

pins: readonly PinTarget[],

groundLock: readonly string[] = [],

): void {

const contacts = collectFloorHandContacts(reaches, pins, groundLock);

let changed = false;

for (const [side, contact] of contacts) {

changed = contact.kind === "palm"

? alignPalmNormal(m, side, contact.weight) || changed

: alignWristNormal(m, side, FIST_LOCAL_NORMAL, contact.weight) || changed;

}

if (changed) m.root.updateMatrixWorld(true);

}

/** Backwards-compatible name retained for eval/embedders; now handles fists too. */

export function alignFloorPalms(

m: Mannequin,

reaches: readonly (ReachTarget & { weight?: number })[],

pins: readonly PinTarget[],

groundLock: readonly string[] = [],

): void {

alignFloorContacts(m, reaches, pins, groundLock);

}

/**

* Bone-origin target whose corresponding visible contact surface rests on y=0.

* Joint effectors (knee/elbow) use their local contact radius instead of the

* whole descendant subtree—otherwise a knee target incorrectly measures the

* shin/foot and folds the knee upward while still claiming floor contact.

export function floorTargetForEffector(

m: Mannequin,

effectorName: string,

): THREE.Vector3 | null {

const effector = m.bones.get(effectorBoneId(effectorName));

if (!effector) return null;

const p = effector.getWorldPosition(new THREE.Vector3());

if (effectorName === "pelvis") {

p.y = pelvisFloorDrop(m);

return p;

}

if (effectorName.startsWith("knee_")) {

// Measure only the two rounded caps meeting at the knee. A subtree would

// wrongly include the whole shin/foot, while a fixed proxy radius misses

// the vertical extent as the bent limb changes orientation.

const side = effectorName.endsWith("_left") ? "left" : "right";

p.y = jointSurfaceDrop(

`knee_${side}`,

m.contactSurfaces[`knee_${side}`],

Math.max(m.collision.shin, m.collision.thigh),

);

return p;

}

if (effectorName.startsWith("elbow_")) {

p.y = m.collision.arm;

return p;

}

// Fists are fixed knuckle contacts (e.g. superhero landing), not sliding

// open palms, so they deliberately retain their authored X/Z target.

const handMatch = /^(?:hand|wrist)_(left|right)$/.exec(effectorName);

if (handMatch) {

// A floor is an infinite contact plane, not a fixed X/Z landmark. Lowering

// a nearly straight arm naturally carries the hand a few centimetres away

// from the shoulder; targeting the wrist's old vertical projection makes

// safe elbow ROM miss Cobra's otherwise reachable landing point.

const shoulder = m.bones.get(`shoulder_${handMatch[1]}`);

if (shoulder) {

const shoulderPosition = shoulder.getWorldPosition(new THREE.Vector3());

const outward = new THREE.Vector3(

p.x - shoulderPosition.x,

p.z - shoulderPosition.z,

);

if (outward.lengthSq() > 1e-8) p.add(outward.normalize().multiplyScalar(HAND_FLOOR_OUTSET));

}

const box = new THREE.Box3().setFromObject(effector);

p.y = Number.isFinite(box.min.y) ? Math.max(0, p.y - box.min.y) : 0;

return p;

}

/** Signed height of an effector's actual contact surface above the floor. */

export function floorContactHeight(m: Mannequin, effectorName: string): number | null {

const effector = m.bones.get(effectorBoneId(effectorName));

if (!effector) return null;

const originY = effector.getWorldPosition(new THREE.Vector3()).y;

if (effectorName.startsWith("elbow_")) return originY - m.collision.arm;

if (effectorName.startsWith("knee_")) {

const side = effectorName.endsWith("_left") ? "left" : "right";

return originY - jointSurfaceDrop(

`knee_${side}`,

m.contactSurfaces[`knee_${side}`],

Math.max(m.collision.shin, m.collision.thigh),

);

}

if (effectorName === "pelvis") return originY - pelvisFloorDrop(m);

const minY = new THREE.Box3().setFromObject(effector).min.y;

return Number.isFinite(minY) ? minY : null;

}

export interface FootContactMeasurement {

side: BodySide;

/** Lowest heel-edge point of the visible sole above the world floor (metres). */

heelHeight: number;

/** Lowest toe-edge point of the visible sole above the world floor (metres). */

toeHeight: number;

/** World-space centre of the sampled sole footprint. */

center: readonly [x: number, y: number, z: number];

/** World-space midpoint of the heel edge. */

heelCenter: readonly [x: number, y: number, z: number];

/** World-space midpoint of the toe/ball edge used as a tiptoe contact anchor. */

toeCenter: readonly [x: number, y: number, z: number];

/** Angle between the visible sole normal and world-up; 0 means flat. */

soleAngleDeg: number;

/** Current local ankle plantarflexion (+X) in degrees. */

plantarflexDeg: number;

/** True when the local ankle has reached its configured dorsiflexion bound. */

atDorsiflexionLimit: boolean;

/** False when explicit plantarflexion opts the foot into intentional tiptoe contact. */

plantigrade: boolean;

}

/**

* Measure the real procedural sole at its heel and toe edges. Unlike ankle-bone

* height, these samples distinguish a flat planted foot from a foot balanced on

* its ball while the ankle origin remains close to the floor.

export function measureFootContact(

m: Mannequin,

side: BodySide,

): FootContactMeasurement | null {

const ankle = m.bones.get(`ankle_${side}`);

const sole = m.contactSurfaces[`foot_${side}`]?.[0] as THREE.Mesh | undefined;

const geometry = sole?.geometry;

if (!ankle || !sole || !geometry) return null;

if (!geometry.boundingBox) geometry.computeBoundingBox();

const bounds = geometry.boundingBox;

if (!bounds) return null;

m.root.updateMatrixWorld(true);

const points = (z: number): THREE.Vector3[] => [bounds.min.x, bounds.max.x].map((x) =>

sole.localToWorld(new THREE.Vector3(x, bounds.min.y, z)),

);

const heel = points(bounds.min.z);

const toe = points(bounds.max.z);

const midpoint = (edge: readonly THREE.Vector3[]): THREE.Vector3 =>

edge.reduce((sum, point) => sum.add(point), new THREE.Vector3())

.multiplyScalar(1 / edge.length);

const heelCenter = midpoint(heel);

const toeCenter = midpoint(toe);

const footprint = [...heel, ...toe];

const center = new THREE.Vector3();

for (const point of footprint) center.add(point);

center.multiplyScalar(1 / footprint.length);

const world = sole.getWorldQuaternion(new THREE.Quaternion());

const normal = new THREE.Vector3(0, 1, 0).applyQuaternion(world).normalize();

const soleAngleDeg = Math.acos(THREE.MathUtils.clamp(normal.dot(new THREE.Vector3(0, 1, 0)), -1, 1)) / DEG;

TMP_EULER.setFromQuaternion(ankle.quaternion, "XYZ");

const plantarflexDeg = TMP_EULER.x / DEG;

const ankleRom = eulerRomFor(`ankle_${side}`);

return {

side,

heelHeight: Math.min(...heel.map((point) => point.y)),

toeHeight: Math.min(...toe.map((point) => point.y)),

center: [center.x, center.y, center.z],

heelCenter: [heelCenter.x, heelCenter.y, heelCenter.z],

toeCenter: [toeCenter.x, toeCenter.y, toeCenter.z],

soleAngleDeg,

plantarflexDeg,

atDorsiflexionLimit: ankleRom

? Math.abs(TMP_EULER.x - ankleRom.x.min * DEG) <= 0.25 * DEG

: false,

plantigrade: TMP_EULER.x <= PLANTARFLEX_SKIP + 1e-6,

};

}

function jointSurfaceDrop(

m: Mannequin,

boneId: string,

surfaces: readonly THREE.Object3D[],

fallback: number,

): number {

const bone = m.bones.get(boneId);

if (!bone) return fallback;

const originY = bone.getWorldPosition(new THREE.Vector3()).y;

let minY = Infinity;

for (const surface of surfaces) {

const y = new THREE.Box3().setFromObject(surface).min.y;

if (Number.isFinite(y)) minY = Math.min(minY, y);

}

return Number.isFinite(minY) ? Math.max(0.001, originY - minY) : fallback;

}

/** Current trunk-surface drop below the pelvis origin (translation invariant). */

function pelvisFloorDrop(m: Mannequin): number {

const pelvis = m.bones.get("pelvis");

if (!pelvis) return Math.max(0.08, m.collision.torso * 0.85);

const originY = pelvis.getWorldPosition(new THREE.Vector3()).y;

let minY = Infinity;

for (const surface of m.contactSurfaces.pelvis) {

const y = new THREE.Box3().setFromObject(surface).min.y;

if (Number.isFinite(y)) minY = Math.min(minY, y);

}

return Number.isFinite(minY)

? Math.max(0.08, originY - minY)

: Math.max(0.08, m.collision.torso * 0.85);

}

const SOLE_LOCAL = new THREE.Vector3(0, -1, 0);

/** Foot mesh-bottom height at/below which the sole is fully leveled (m). */

export const PLANT_FADE = 0.06;

/** Authored plantarflex (ankle local +X) beyond this opts out of leveling (rad). */

export const PLANTARFLEX_SKIP = 15 * DEG;

const FOOT_SIDES: Array<"left" | "right"> = ["left", "right"];

const TMP_EULER = new THREE.Euler();

/**

* Level each ground-locked foot: rotate the ankle so the sole normal points

* world-down (the whole sole rests flat), weighted by how planted the foot is

* and skipped when the ankle is authored into plantarflexion (tiptoe intent).

* The plantigrade analogue of `alignFloorPalms` for feet: it fixes the

* squat/lunge "balancing on the toes" artifact that ground-lock alone leaves,

* where a leg-induced foot tilt makes the ball the lowest mesh point.

export function levelPlantedFeet(m: Mannequin, activeGroundLock: readonly string[]): void {

const plantedSides = FOOT_SIDES.filter((side) =>

activeGroundLock.includes("feet") || activeGroundLock.includes(`foot_${side}`),

);

if (plantedSides.length === 0) return;

let changed = false;

for (const side of plantedSides) {

const ankle = m.bones.get(`ankle_${side}`);

if (!ankle?.parent) continue;

// Tiptoe opt-out: an ankle authored into plantarflexion (local +X) is a

// deliberate relevé / calf-raise / demi-plié — leave it on its toes.

TMP_EULER.setFromQuaternion(ankle.quaternion, "XYZ");

const authoredX = TMP_EULER.x;

if (authoredX > PLANTARFLEX_SKIP) {

// Preserve deliberate tiptoe pitch, but still assert the ankle's locked

// axial/frontal axes and configured plantarflexion ceiling.

changed = strictClampToRom(ankle, `ankle_${side}`) || changed;

continue;

}

// Planted-ness weight from the foot mesh bottom height: fully level when the

// sole is on the floor, fading out as a swing foot lifts past PLANT_FADE.

const box = new THREE.Box3().setFromObject(ankle);

const y = Number.isFinite(box.min.y) ? box.min.y : 0;

const weight = THREE.MathUtils.clamp((PLANT_FADE - y) / PLANT_FADE, 0, 1);

if (weight <= 1e-3) continue;

// Minimal rotation aligning the sole normal to world-down (preserves yaw).

const world = ankle.getWorldQuaternion(new THREE.Quaternion());

const current = SOLE_LOCAL.clone().applyQuaternion(world).normalize();

const correction = new THREE.Quaternion().setFromUnitVectors(current, DOWN);

if (weight < 1) correction.slerp(new THREE.Quaternion(), 1 - weight);

const desiredWorld = correction.multiply(world);

const parentWorld = ankle.parent.getWorldQuaternion(new THREE.Quaternion());

const local = parentWorld.invert().multiply(desiredWorld);

ankle.quaternion.copy(local);

// Clamp X/Y/Z strictly. In particular, ankle Y/Z are locked axes; leaving

// either component from the world-space correction created twisted soles.

strictClampToRom(ankle, `ankle_${side}`);

changed = true;

}

if (changed) m.root.updateMatrixWorld(true);

}

/** Finger curl (radians about the knuckle X axis) that wraps a gripping hand. */

export const FINGER_CURL = -1.35;

/** Thumb opposition curl (radians) toward the fingers. */

export const THUMB_CURL = -0.9;

/** Sideways thumb opposition kept inside the thumb's adduction ROM. */

export const THUMB_OPPOSE = 0.5;

/** Closed-fist finger curl, still inside the 100deg finger-flexion limit. */

export const FIST_CURL = -1.5;

export const FIST_THUMB_CURL = -1.15;

export const FIST_THUMB_OPPOSE = 0.45;

const FINGERS = ["index", "middle", "ring", "pinky"] as const;

/** True for the parallel-rail anchors belonging to the dip-bars prop. */

export function isDipBarGrip(anchor: string): boolean {

return anchor === "bars" || anchor.startsWith("bars_");

}

/**

* Establish a deterministic dip-bar forearm frame before body translation/IK.

* Removing inherited elbow axial twist makes the palm face available for the

* downward support contact instead of leaving each hand turned toward a thigh.

export function prepareGripFrames(

m: Mannequin,

grips: readonly { effector: string; anchor: string }[],

): void {

let changed = false;

for (const grip of grips) {

if (!isDipBarGrip(grip.anchor)) continue;

const match = /_(left|right)$/.exec(grip.effector);

if (!match) continue;

const side = match[1] as HandSide;

const elbowId = `elbow_${side}`;

const elbow = m.bones.get(elbowId);

if (!elbow) continue;

CONTACT_EULER.setFromQuaternion(elbow.quaternion, "XYZ");

CONTACT_EULER.y = 0;

elbow.quaternion.setFromEuler(CONTACT_EULER);

strictClampToRom(elbow, elbowId);

changed = true;

}

if (changed) m.root.updateMatrixWorld(true);

}

/**

* Finish the stable dip-bar frame after IK: the flattened palm presses down on

* the rail while wrist flexion/extension remains strictly ROM-safe.

export function alignGripFrames(

m: Mannequin,

grips: readonly { effector: string; anchor: string }[],

): void {

let changed = false;

for (const grip of grips) {

if (!isDipBarGrip(grip.anchor)) continue;

const match = /_(left|right)$/.exec(grip.effector);

if (!match) continue;

changed = alignWristNormal(

match[1] as HandSide,

PALM_LOCAL_NORMAL,

) || changed;

}

if (changed) m.root.updateMatrixWorld(true);

}

/**

* Close semantic fist effectors without overwriting explicitly authored digit

* bones. Wrist/contact corrections never touch these locals, so the curl is

* preserved while the knuckles are oriented onto a target.

export function formFists(

m: Mannequin,

sides: ReadonlySet<HandSide>,

authoredFingers: ReadonlySet<string> = new Set(),

): void {

let changed = false;

for (const side of sides) {

for (const finger of FINGERS) {

const id = `${finger}_${side}`;

if (authoredFingers.has(id)) continue;

const bone = m.bones.get(id);

if (!bone) continue;

bone.rotation.set(FIST_CURL, 0, 0);

changed = true;

}

const thumbId = `thumb_${side}`;

if (!authoredFingers.has(thumbId)) {

const thumb = m.bones.get(thumbId);

if (thumb) {

thumb.rotation.set(

FIST_THUMB_CURL,

side === "left" ? -FIST_THUMB_OPPOSE : FIST_THUMB_OPPOSE,

);

changed = true;

}

if (changed) m.root.updateMatrixWorld(true);

}

/**

* Curl the fingers of each gripping hand around the bar. Grips are per-side

* after resolution (`hand_left` / `hand_right`), so the side comes straight off

* the effector. The four fingers flex at the knuckle and the thumb opposes,

* turning the open reach pose into a closed grip on the bar.

export function wrapGrip(m: Mannequin, grips: readonly GripTarget[]): void {

let changed = false;

for (const g of grips) {

const side = /_(left|right)$/.exec(g.effector)?.[1];

if (!side) continue;

for (const f of FINGERS) {

const bone = m.bones.get(`${f}_${side}`);

if (bone) {

bone.rotation.set(FINGER_CURL, 0, 0);

changed = true;

}

const thumb = m.bones.get(`thumb_${side}`);

if (thumb) {

// Thumb wraps from the opposite side: curl plus a sideways opposition.

thumb.rotation.set(THUMB_CURL, 0, side === "left" ? -THUMB_OPPOSE : THUMB_OPPOSE);

changed = true;

}

if (changed) m.root.updateMatrixWorld(true);

}

/**

* Relaxed resting finger curl (radians) for an idle hand in the air. A truly

* relaxed hand is not flat: the fingers settle into a soft inward hook (~18°),

* which reads as a natural cupped hand instead of a stiff splayed palm.

export const REST_CURL = -0.32;

/** Gentle thumb opposition for a relaxed hand, within adduction ROM. */

export const REST_THUMB_OPPOSE = 0.26;

/** Finger bones are intentionally single-DOF; their authored rest offsets

* provide natural spacing without inventing an out-of-ROM lateral rotation. */

export const REST_ADDUCT = 0;

/**

* Near-flat curl (radians) for a hand pressed onto the floor (plank, push-up,

* cobra). The palm lies flat with the fingers extended forward; the resting

* inward hook would instead claw the fingertips into the ground.

export const FLOOR_CURL = -0.06;

/**

* Give idle hands a natural relaxed shape instead of a flat splayed palm.

* Applied every frame to any hand that is NOT gripping this phase (those are

* wrapped by `wrapGrip`) and whose fingers are NOT explicitly authored

* (make-a-fist, finger-spell, hand-wave keep their pose).

* Two resting shapes by context:

* - **Free hand** (arms swinging, a crunch, hands by the hips): a soft inward

* hook with the fingers drawn slightly together — a relaxed cupped hand.

* - **Floor-planted hand** (`reach`/`pin: hands floor`): fingers stay extended

* and flat so the palm rests on the ground instead of clawing into it.

* A mesh-only-style aliveness layer: it writes only finger-bone locals, so it

* can never disturb the solved pose.

export function relaxHands(

m: Mannequin,

gripSides: ReadonlySet<"left" | "right">,

authoredFingers: ReadonlySet<string>,

floorSides: ReadonlySet<"left" | "right"> = new Set(),

): void {

let changed = false;

for (const side of ["left", "right"] as const) {

if (gripSides.has(side)) continue;

const planted = floorSides.has(side);

const curl = planted ? FLOOR_CURL : REST_CURL;

// Adduction sign: fingers on each hand draw toward the middle, i.e. toward

// the thumb side, which is +Z on the left hand and -Z on the right.

const adduct = planted ? 0 : side === "left" ? REST_ADDUCT : -REST_ADDUCT;

for (const f of FINGERS) {

const id = `${f}_${side}`;

if (authoredFingers.has(id)) continue;

const bone = m.bones.get(id);

if (bone) {

bone.rotation.set(curl, 0, adduct);

changed = true;

}

const thumbId = `thumb_${side}`;

if (!authoredFingers.has(thumbId)) {

const thumb = m.bones.get(thumbId);

if (thumb) {

// Planted: thumb lies alongside the flat palm. Free: opposes softly.

const thumbCurl = planted ? FLOOR_CURL : REST_CURL * 0.6;

const thumbOppose = planted ? 0 : REST_THUMB_OPPOSE;

thumb.rotation.set(thumbCurl, 0, side === "left" ? -thumbOppose : thumbOppose);

changed = true;

}

if (changed) m.root.updateMatrixWorld(true);

}

/** Fraction of the contralateral hip's sagittal angle carried into arm swing. */

export const SWING_GAIN = 0.4;

const SWING_EULER = new THREE.Euler();

const HIP_EULER = new THREE.Euler();

/**

* Contralateral arm swing: during locomotion the arms counter-swing to the legs

* (right leg forward ↔ left arm forward). Adds a swing to each free shoulder

* proportional to the OPPOSITE hip's sagittal (local X) angle, so any move that

* animates the hips (walk, march, box-step) gets natural arm swing for free.

* Skips shoulders the document authors and any contact-constrained hand side.

export function swingArms(

m: Mannequin,

authoredShoulders: ReadonlySet<string>,

protectedSides: ReadonlySet<"left" | "right">,

): void {

let changed = false;

for (const side of ["left", "right"] as const) {

if (protectedSides.has(side)) continue;

const shoulderId = `shoulder_${side}`;

if (authoredShoulders.has(shoulderId)) continue;

const shoulder = m.bones.get(shoulderId);

const contraHip = m.bones.get(`hip_${side === "left" ? "right" : "left"}`);

if (!shoulder || !contraHip) continue;

HIP_EULER.setFromQuaternion(contraHip.quaternion, "XYZ");

if (Math.abs(HIP_EULER.x) < 1e-3) continue; // legs still → no swing

SWING_EULER.setFromQuaternion(shoulder.quaternion, "XYZ");

// This pass runs every render frame. Assign the procedural channel instead

// of adding to last frame's result, otherwise an unauthored shoulder keeps

// accumulating rotation (most visibly the left arm in a forward lunge).

SWING_EULER.x = HIP_EULER.x * SWING_GAIN;

shoulder.quaternion.setFromEuler(SWING_EULER);

changed = true;

}

if (changed) m.root.updateMatrixWorld(true);

}

/** Max head turn toward a look target (radians) so the neck never over-rotates. */

export const MAX_LOOK = 55 * (Math.PI / 180);

const LOOK_FWD = new THREE.Vector3(0, 0, 1);

/**

* Turn the head toward a world focus point (look-at): aims the face (+Z) at the

* target, clamped to MAX_LOOK so the head tracks the action (up at the bar in a

* pull-up, down at the hands in a floor fold) without spinning unnaturally.

export function aimHead(m: Mannequin, focus: THREE.Vector3): void {

const head = m.bones.get("head");

if (!head?.parent) return;

const headPos = head.getWorldPosition(new THREE.Vector3());

const desired = focus.clone().sub(headPos);

if (desired.lengthSq() < 1e-6) return;

desired.normalize();

const world = head.getWorldQuaternion(new THREE.Quaternion());

const currentZ = LOOK_FWD.clone().applyQuaternion(world).normalize();

const full = new THREE.Quaternion().setFromUnitVectors(currentZ, desired);

const angle = 2 * Math.acos(THREE.MathUtils.clamp(Math.abs(full.w), -1, 1));

const correction =

angle > MAX_LOOK

? new THREE.Quaternion().slerpQuaternions(new THREE.Quaternion(), full, MAX_LOOK / angle)

: full;

const desiredWorld = correction.multiply(world);

const parentWorld = head.parent.getWorldQuaternion(new THREE.Quaternion());

head.quaternion.copy(parentWorld.invert().multiply(desiredWorld));

m.root.updateMatrixWorld(true);

}

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