posecode-render - npm Package Compare versions

Comparing version 0.2.2 to 0.3.0

dist/reach.d.ts

+/** Reach-effector resolution and ROM-constrained IK shared by the viewer/tests. */
+import * as THREE from "three";
+import type { Mannequin } from "./mannequin.js";
+import { type JointLimits } from "./ik.js";
+/** Friendly/canonical contact effectors mapped to their driven rig bone. */
+export declare const EFFECTOR_BONE: Readonly<Record<string, string>>;
+export type ReachResidualReason = "missing-effector" | "missing-target" | "unsupported-effector";
+/**
+ * Runtime outcome for one active reach. `distance` is the actual post-blend
+ * world-space effector error in metres. A null distance means the target or
+ * effector could not be resolved; these cases are deliberately retained
+ * instead of being silently discarded by the renderer.
+ */
+export interface ReachResidual {
+    effector: string;
+    target: string;
+    weight: number;
+    distance: number | null;
+    reached: boolean;
+    reason?: ReachResidualReason;
+}
+/** Viewer/testing tolerance for considering a terminal contact reached. */
+export declare const REACH_TOLERANCE = 0.03;
+/** Resolve a canonical effector name to the bone that occupies its endpoint. */
+export declare function effectorBoneId(effector: string): string;
+/**
+ * The proximal-to-distal chain allowed to move a terminal effector.
+ * Knee contact rotates the hip only: the knee itself is the endpoint, not a
+ * joint that may rotate itself toward its own target. Fists share the arm
+ * chain with palms while retaining distinct contact geometry in contacts.ts.
+ */
+export declare function reachChain(m: Mannequin, effector: string): {
+    joints: THREE.Object3D[];
+    limits: (JointLimits | null)[];
+};
+/** A bone's ROM in radians, widened only enough to preserve authored FK. */
+export declare function widenedJointLimits(boneId: string, node: THREE.Object3D): JointLimits | null;
+/**
+ * Solve one named effector to an already-resolved world point and report the
+ * residual after reach-weight blending. This low-level entry point lets tests
+ * and non-WebGL consumers exercise the exact viewer solve.
+ */
+export declare function solveReachToPoint(m: Mannequin, effectorName: string, targetName: string, target: THREE.Vector3, weight?: number): ReachResidual;
+/** Construct an explicit diagnostic for a target name that did not resolve. */
+export declare function missingReachTarget(effector: string, target: string, weight?: number): ReachResidual;

dist/reach.js

+/** Reach-effector resolution and ROM-constrained IK shared by the viewer/tests. */
+import * as THREE from "three";
+import { eulerRomFor } from "posecode-parser";
+import { solveCCD } from "./ik.js";
+const DEG = Math.PI / 180;
+const REACH_EULER = new THREE.Euler();
+/** Friendly/canonical contact effectors mapped to their driven rig bone. */
+export const EFFECTOR_BONE = {
+    hand_left: "wrist_left",
+    hand_right: "wrist_right",
+    fist_left: "wrist_left",
+    fist_right: "wrist_right",
+    foot_left: "ankle_left",
+    foot_right: "ankle_right",
+    knee_left: "knee_left",
+    knee_right: "knee_right",
+};
+/** Viewer/testing tolerance for considering a terminal contact reached. */
+export const REACH_TOLERANCE = 0.03;
+/** Resolve a canonical effector name to the bone that occupies its endpoint. */
+export function effectorBoneId(effector) {
+    return EFFECTOR_BONE[effector] ?? effector;
+}
+/**
+ * The proximal-to-distal chain allowed to move a terminal effector.
+ * Knee contact rotates the hip only: the knee itself is the endpoint, not a
+ * joint that may rotate itself toward its own target. Fists share the arm
+ * chain with palms while retaining distinct contact geometry in contacts.ts.
+ */
+export function reachChain(m, effector) {
+    const boneId = effectorBoneId(effector);
+    const side = boneId.endsWith("_left") ? "left" : "right";
+    const ids = boneId.startsWith("wrist")
+        ? [`shoulder_${side}`, `elbow_${side}`]
+        : boneId.startsWith("elbow")
+            ? [`shoulder_${side}`]
+            : boneId.startsWith("ankle")
+                ? [`hip_${side}`, `knee_${side}`]
+                : boneId.startsWith("knee")
+                    ? [`hip_${side}`]
+                    : [];
+    const joints = [];
+    const limits = [];
+    for (const id of ids) {
+        const node = m.bones.get(id);
+        if (!node)
+            continue;
+        joints.push(node);
+        limits.push(widenedJointLimits(id, node));
+    }
+    return { joints, limits };
+}
+/** A bone's ROM in radians, widened only enough to preserve authored FK. */
+export function widenedJointLimits(boneId, node) {
+    const rom = eulerRomFor(boneId);
+    if (!rom)
+        return null;
+    REACH_EULER.setFromQuaternion(node.quaternion, "XYZ");
+    return {
+        x: widen(rom.x.min * DEG, rom.x.max * DEG, REACH_EULER.x),
+        y: widen(rom.y.min * DEG, rom.y.max * DEG, REACH_EULER.y),
+        z: widen(rom.z.min * DEG, rom.z.max * DEG, REACH_EULER.z),
+    };
+}
+function widen(min, max, current) {
+    return [Math.min(min, current), Math.max(max, current)];
+}
+/**
+ * Solve one named effector to an already-resolved world point and report the
+ * residual after reach-weight blending. This low-level entry point lets tests
+ * and non-WebGL consumers exercise the exact viewer solve.
+ */
+export function solveReachToPoint(m, effectorName, targetName, target, weight = 1) {
+    const safeWeight = THREE.MathUtils.clamp(weight, 0, 1);
+    const effector = m.bones.get(effectorBoneId(effectorName));
+    if (!effector) {
+        return {
+            effector: effectorName,
+            target: targetName,
+            weight: safeWeight,
+            distance: null,
+            reached: false,
+            reason: "missing-effector",
+        };
+    }
+    const { joints, limits } = reachChain(m, effectorName);
+    if (joints.length === 0) {
+        return {
+            effector: effectorName,
+            target: targetName,
+            weight: safeWeight,
+            distance: null,
+            reached: false,
+            reason: "unsupported-effector",
+        };
+    }
+    const before = joints.map((joint) => joint.quaternion.clone());
+    solveCCD({ joints, limits, effector, target }, 12);
+    for (let i = 0; i < joints.length; i++) {
+        const solved = joints[i].quaternion.clone();
+        joints[i].quaternion.slerpQuaternions(before[i], solved, safeWeight);
+    }
+    m.root.updateMatrixWorld(true);
+    const distance = effector
+        .getWorldPosition(new THREE.Vector3())
+        .distanceTo(target);
+    return {
+        effector: effectorName,
+        target: targetName,
+        weight: safeWeight,
+        distance,
+        reached: distance <= REACH_TOLERANCE,
+    };
+}
+/** Construct an explicit diagnostic for a target name that did not resolve. */
+export function missingReachTarget(effector, target, weight = 1) {
+    return {
+        effector,
+        target,
+        weight: THREE.MathUtils.clamp(weight, 0, 1),
+        distance: null,
+        reached: false,
+        reason: "missing-target",
+    };
+}
+//# sourceMappingURL=reach.js.map

dist/reach.js.map

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NOTICE

+Posecode Render
+Copyright 2026 Posecode contributors
+
+This product includes software developed by Posecode contributors.
+Third-party dependency notices remain available in their respective distributions.

dist/character.d.ts

@@ -33,2 +33,6 @@ /**
     getBounds(): THREE.Box3;
+    /** World position of one mapped character joint, addressed by driver id. */
+    getJointWorldPosition(driverId: string): THREE.Vector3 | null;
+    /** Character orientation expressed back in the driver's semantic frame. */
+    getJointDriverQuaternion(driverId: string): THREE.Quaternion | null;
     /** Fast sampled visible-surface correction; returns the applied Y delta. */
@@ -35,0 +39,0 @@ reconcileFloor(floorY?: number): number;

dist/character.js

@@ -377,2 +377,20 @@ /**
     }
+    function getJointWorldPosition(driverId) {
+        const mappedBone = mappedById.get(driverId);
+        if (!mappedBone)
+            return null;
+        return mappedBone.node.getWorldPosition(new THREE.Vector3());
+    }
+    function getJointDriverQuaternion(driverId) {
+        const mappedBone = mappedById.get(driverId);
+        if (!mappedBone)
+            return null;
+        // sync writes characterWorld = driverWorld * calibratedRestWorld.
+        // Removing the rest frame yields an orientation whose local axes match the
+        // driver metrics (sole/palm/knuckle normals) while still sampling the
+        // actual retargeted character skeleton.
+        return mappedBone.node
+            .getWorldQuaternion(new THREE.Quaternion())
+            .multiply(mappedBone.restWorld.clone().invert());
+    }
     // A dense uniform sample plus every rest-pose axis extremum. Xbot's 28k
@@ -434,2 +452,4 @@ // vertices reduce to ~3.6k skin transforms per frame while retaining sole,
         getBounds,
+        getJointWorldPosition,
+        getJointDriverQuaternion,
         reconcileFloor,
@@ -436,0 +456,0 @@ skinnedMesh,

dist/character.js.map

@@ -1,1 +0,1 @@
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dist/contacts.d.ts

@@ -5,12 +5,42 @@ /** Semantic contact-orientation helpers shared by viewer and eval. */
 import type { Mannequin } from "./mannequin.js";
+export type HandSide = "left" | "right";
+export type HandContactKind = "palm" | "fist";
 /**
- * Rotate contacting wrists so the palm face normal points into the floor.
- * Applies to hands pressed to the floor via `reach`/`pin: hands floor` AND via
- * `ground-lock: hands` (a high plank / push-up / mountain-climber): those bear
- * weight flat on the ground and must be palm-down, not left in their raw FK
- * (pronated) orientation.
+ * Actual outward normal of the flattened procedural palm geometry. The palm
+ * ellipsoid is shallow on local Z for both hands (see mannequin.addPalm).
  */
+export declare const PALM_LOCAL_NORMAL: readonly [0, 0, 1];
+/** Knuckle-bearing direction from wrist to the curled finger bases. */
+export declare const FIST_LOCAL_NORMAL: readonly [0, -1, 0];
+/**
+ * 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 declare function enforceContactRom(m: Mannequin): void;
+/**
+ * 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 declare function alignFloorContacts(m: Mannequin, reaches: readonly (ReachTarget & {
+    weight?: number;
+})[], pins: readonly PinTarget[], groundLock?: readonly string[]): void;
+/** Backwards-compatible name retained for eval/embedders; now handles fists too. */
 export declare function alignFloorPalms(m: Mannequin, reaches: readonly (ReachTarget & {
     weight?: number;
 })[], pins: readonly PinTarget[], groundLock?: readonly string[]): void;
+/**
+ * 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 declare function floorTargetForEffector(m: Mannequin, effectorName: string): THREE.Vector3 | null;
+/** Signed height of an effector's actual contact surface above the floor. */
+export declare function floorContactHeight(m: Mannequin, effectorName: string): number | null;
 /** Foot mesh-bottom height at/below which the sole is fully leveled (m). */
@@ -30,6 +60,37 @@ export declare const PLANT_FADE = 0.06;
 /** Finger curl (radians about the knuckle X axis) that wraps a gripping hand. */
-export declare const FINGER_CURL = 1.35;
+export declare const FINGER_CURL = -1.35;
 /** Thumb opposition curl (radians) toward the fingers. */
-export declare const THUMB_CURL = 0.9;
+export declare const THUMB_CURL = -0.9;
+/** Sideways thumb opposition kept inside the thumb's adduction ROM. */
+export declare const THUMB_OPPOSE = 0.5;
+/** Closed-fist finger curl, still inside the 100deg finger-flexion limit. */
+export declare const FIST_CURL = -1.5;
+export declare const FIST_THUMB_CURL = -1.15;
+export declare const FIST_THUMB_OPPOSE = 0.45;
+/** True for the parallel-rail anchors belonging to the dip-bars prop. */
+export declare function isDipBarGrip(anchor: string): boolean;
 /**
+ * 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 declare function prepareGripFrames(m: Mannequin, grips: readonly {
+    effector: string;
+    anchor: string;
+}[]): void;
+/**
+ * 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 declare function alignGripFrames(m: Mannequin, grips: readonly {
+    effector: string;
+    anchor: string;
+}[]): void;
+/**
+ * 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 declare function formFists(m: Mannequin, sides: ReadonlySet<HandSide>, authoredFingers?: ReadonlySet<string>): void;
+/**
  * Curl the fingers of each gripping hand around the bar. Grips are per-side
@@ -43,9 +104,11 @@ * after resolution (`hand_left` / `hand_right`), so the side comes straight off
  * 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 (~30°),
+ * 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 declare const REST_CURL = 0.55;
-/** Slight finger adduction (radians) drawing splayed digits toward the middle
- * finger, so a relaxed hand closes softly rather than fanning like jazz-hands. */
-export declare const REST_ADDUCT = 0.12;
+export declare const REST_CURL = -0.32;
+/** Gentle thumb opposition for a relaxed hand, within adduction ROM. */
+export declare 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 declare const REST_ADDUCT = 0;
 /**
@@ -56,3 +119,3 @@ * Near-flat curl (radians) for a hand pressed onto the floor (plank, push-up,
  */
-export declare const FLOOR_CURL = 0.06;
+export declare const FLOOR_CURL = -0.06;
 /**
@@ -81,5 +144,5 @@ * Give idle hands a natural relaxed shape instead of a flat splayed palm.
  * animates the hips (walk, march, box-step) gets natural arm swing for free.
- * Skips shoulders the document authors and any gripping side.
+ * Skips shoulders the document authors and any contact-constrained hand side.
  */
-export declare function swingArms(m: Mannequin, authoredShoulders: ReadonlySet<string>, gripSides: ReadonlySet<"left" | "right">): void;
+export declare function swingArms(m: Mannequin, authoredShoulders: ReadonlySet<string>, protectedSides: ReadonlySet<"left" | "right">): void;
 /** Max head turn toward a look target (radians) so the neck never over-rotates. */
@@ -86,0 +149,0 @@ export declare const MAX_LOOK: number;

dist/contacts.js

 /** Semantic contact-orientation helpers shared by viewer and eval. */
 import * as THREE from "three";
 import { eulerRomFor } from "posecode-parser";
+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();
 /**
- * Rotate contacting wrists so the palm face normal points into the floor.
- * Applies to hands pressed to the floor via `reach`/`pin: hands floor` AND via
- * `ground-lock: hands` (a high plank / push-up / mountain-climber): those bear
- * weight flat on the ground and must be palm-down, not left in their raw FK
- * (pronated) orientation.
+ * Actual outward normal of the flattened procedural palm geometry. The palm
+ * ellipsoid is shallow on local Z for both hands (see mannequin.addPalm).
  */
-export function alignFloorPalms(m, reaches, pins, groundLock = []) {
-    const sides = new Map();
-    const collect = (effector, target, weight = 1) => {
-        if (target !== "floor")
+export const PALM_LOCAL_NORMAL = [0, 0, 1];
+/** Knuckle-bearing direction from wrist to the curled finger bases. */
+export const FIST_LOCAL_NORMAL = [0, -1, 0];
+function strictClampToRom(node, boneId) {
+    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) {
+    let changed = false;
+    for (const side of ["left", "right"]) {
+        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, side, normal, weight) {
+    const wristId = `wrist_${side}`;
+    const wrist = m.bones.get(wristId);
+    if (!wrist?.parent)
+        return false;
+    const world = wrist.getWorldQuaternion(new THREE.Quaternion());
+    const current = new THREE.Vector3(...normal).applyQuaternion(world).normalize();
+    const correction = new THREE.Quaternion().setFromUnitVectors(current, DOWN);
+    const safeWeight = THREE.MathUtils.clamp(weight, 0, 1);
+    if (safeWeight < 1) {
+        correction.slerp(new THREE.Quaternion(), 1 - safeWeight);
+    }
+    const desiredWorld = correction.multiply(world);
+    const parentWorld = wrist.parent.getWorldQuaternion(new THREE.Quaternion());
+    wrist.quaternion.copy(parentWorld.invert().multiply(desiredWorld));
+    // Contact correction is never allowed to buy contact with a broken wrist.
+    strictClampToRom(wrist, wristId);
+    return true;
+}
+function quaternionIsInRom(q, boneId) {
+    const rom = eulerRomFor(boneId);
+    if (!rom)
+        return false;
+    const euler = new THREE.Euler().setFromQuaternion(q, "XYZ");
+    // CCD and world/local quaternion round-trips can leave locked axes a few
+    // ten-thousandths of a degree off zero. Treat that as numerical noise, not
+    // an authored ROM violation that disables the whole contact solver.
+    const epsilon = 1e-4;
+    return (euler.x >= rom.x.min * DEG - epsilon && euler.x <= rom.x.max * DEG + epsilon &&
+        euler.y >= rom.y.min * DEG - epsilon && euler.y <= rom.y.max * DEG + epsilon &&
+        euler.z >= rom.z.min * DEG - epsilon && euler.z <= rom.z.max * DEG + epsilon);
+}
+/**
+ * Find the legal forearm-axis twist that gives the wrist the best attainable
+ * palm-down frame. A post-multiplied local-Y twist leaves the elbow→wrist
+ * offset ([0,-length,0]) unchanged, so this can re-orient a planted palm
+ * without pulling its solved contact point away from the floor target.
+ */
+function bestPalmForearmTwist(m, side) {
+    const elbowId = `elbow_${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) => {
+        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 = null;
+    let targetYDistance = Infinity;
+    const consider = (radians) => {
+        const candidateScore = score(radians);
+        if (candidateScore === null)
             return;
-        if (effector === "hands" || effector === "hand_left") {
-            sides.set("left", Math.max(sides.get("left") ?? 0, weight));
+        const scoreGain = candidateScore - bestScore;
+        if (scoreGain > 1e-9 || (Math.abs(scoreGain) <= 1e-9 && Math.abs(radians) < Math.abs(bestRadians))) {
+            bestScore = candidateScore;
+            bestRadians = radians;
         }
-        if (effector === "hands" || effector === "hand_right") {
-            sides.set("right", Math.max(sides.get("right") ?? 0, weight));
+        // 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, side, weight) {
+    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, pins, groundLock) {
+    const contacts = new Map();
+    const collect = (effector, target, weight = 1) => {
+        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 = isFist ? "fist" : "palm";
+        const add = (side) => {
+            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));
-    if (groundLock.includes("hands") || groundLock.includes("hand_left")) {
-        sides.set("left", 1);
+    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, reaches, pins, groundLock = []) {
+    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 (groundLock.includes("hands") || groundLock.includes("hand_right")) {
-        sides.set("right", 1);
+    if (changed)
+        m.root.updateMatrixWorld(true);
+}
+/** Backwards-compatible name retained for eval/embedders; now handles fists too. */
+export function alignFloorPalms(m, reaches, pins, groundLock = []) {
+    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, effectorName) {
+    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;
     }
-    for (const [side, weight] of sides) {
-        const wrist = m.bones.get(`wrist_${side}`);
-        if (!wrist?.parent)
-            continue;
-        const world = wrist.getWorldQuaternion(new THREE.Quaternion());
-        const localNormal = side === "left"
-            ? new THREE.Vector3(1, 0, 0)
-            : new THREE.Vector3(-1, 0, 0);
-        const current = localNormal.applyQuaternion(world).normalize();
-        const correction = new THREE.Quaternion().setFromUnitVectors(current, DOWN);
-        if (weight < 1)
-            correction.slerp(new THREE.Quaternion(), 1 - weight);
-        const desiredWorld = correction.multiply(world);
-        const parentWorld = wrist.parent.getWorldQuaternion(new THREE.Quaternion());
-        wrist.quaternion.copy(parentWorld.invert().multiply(desiredWorld));
+    if (effectorName.startsWith("knee_")) {
+        // Measure only the two rounded caps meeting at the knee. A subtree would
+        // wrongly include the whole shin/foot, while a fixed proxy radius misses
+        // the vertical extent as the bent limb changes orientation.
+        const side = effectorName.endsWith("_left") ? "left" : "right";
+        p.y = jointSurfaceDrop(m, `knee_${side}`, m.contactSurfaces[`knee_${side}`], Math.max(m.collision.shin, m.collision.thigh));
+        return p;
     }
-    if (sides.size > 0)
-        m.root.updateMatrixWorld(true);
+    if (effectorName.startsWith("elbow_")) {
+        p.y = m.collision.arm;
+        return p;
+    }
+    // Fists are fixed knuckle contacts (e.g. superhero landing), not sliding
+    // open palms, so they deliberately retain their authored X/Z target.
+    const handMatch = /^(?:hand|wrist)_(left|right)$/.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_${handMatch[1]}`);
+        if (shoulder) {
+            const shoulderPosition = shoulder.getWorldPosition(new THREE.Vector3());
+            const outward = new THREE.Vector3(p.x - shoulderPosition.x, 0, p.z - shoulderPosition.z);
+            if (outward.lengthSq() > 1e-8)
+                p.add(outward.normalize().multiplyScalar(HAND_FLOOR_OUTSET));
+        }
+    }
+    const box = new THREE.Box3().setFromObject(effector);
+    p.y = Number.isFinite(box.min.y) ? Math.max(0, p.y - box.min.y) : 0;
+    return p;
 }
+/** Signed height of an effector's actual contact surface above the floor. */
+export function floorContactHeight(m, effectorName) {
+    const effector = m.bones.get(effectorBoneId(effectorName));
+    if (!effector)
+        return null;
+    const originY = effector.getWorldPosition(new THREE.Vector3()).y;
+    if (effectorName.startsWith("elbow_"))
+        return originY - m.collision.arm;
+    if (effectorName.startsWith("knee_")) {
+        const side = effectorName.endsWith("_left") ? "left" : "right";
+        return originY - jointSurfaceDrop(m, `knee_${side}`, m.contactSurfaces[`knee_${side}`], Math.max(m.collision.shin, m.collision.thigh));
+    }
+    if (effectorName === "pelvis")
+        return originY - pelvisFloorDrop(m);
+    const minY = new THREE.Box3().setFromObject(effector).min.y;
+    return Number.isFinite(minY) ? minY : null;
+}
+function jointSurfaceDrop(m, boneId, surfaces, fallback) {
+    const bone = m.bones.get(boneId);
+    if (!bone)
+        return fallback;
+    const originY = bone.getWorldPosition(new THREE.Vector3()).y;
+    let minY = Infinity;
+    for (const surface of surfaces) {
+        const y = new THREE.Box3().setFromObject(surface).min.y;
+        if (Number.isFinite(y))
+            minY = Math.min(minY, y);
+    }
+    return Number.isFinite(minY) ? Math.max(0.001, originY - minY) : fallback;
+}
+/** Current trunk-surface drop below the pelvis origin (translation invariant). */
+function pelvisFloorDrop(m) {
+    const pelvis = m.bones.get("pelvis");
+    if (!pelvis)
+        return Math.max(0.08, m.collision.torso * 0.85);
+    const originY = pelvis.getWorldPosition(new THREE.Vector3()).y;
+    let minY = Infinity;
+    for (const surface of m.contactSurfaces.pelvis) {
+        const y = new THREE.Box3().setFromObject(surface).min.y;
+        if (Number.isFinite(y))
+            minY = Math.min(minY, y);
+    }
+    return Number.isFinite(minY)
+        ? Math.max(0.08, originY - minY)
+        : Math.max(0.08, m.collision.torso * 0.85);
+}
 const SOLE_LOCAL = new THREE.Vector3(0, -1, 0);
@@ -80,5 +376,8 @@ /** Foot mesh-bottom height at/below which the sole is fully leveled (m). */
         const authoredX = TMP_EULER.x;
-        const authoredZ = TMP_EULER.z;
-        if (authoredX > PLANTARFLEX_SKIP)
+        if (authoredX > PLANTARFLEX_SKIP) {
+            // Preserve deliberate tiptoe pitch, but still assert the ankle's locked
+            // axial/frontal axes and configured plantarflexion ceiling.
+            changed = strictClampToRom(ankle, `ankle_${side}`) || changed;
             continue;
+        }
         // Planted-ness weight from the foot mesh bottom height: fully level when the
@@ -100,13 +399,6 @@ // sole is on the floor, fading out as a swing foot lifts past PLANT_FADE.
         const local = parentWorld.invert().multiply(desiredWorld);
-        // Clamp the corrected ankle to its ROM, widened to admit the authored angle
-        // so leveling can never push the joint past a healthy range.
-        const rom = eulerRomFor(`ankle_${side}`);
-        if (rom) {
-            TMP_EULER.setFromQuaternion(local, "XYZ");
-            const cx = THREE.MathUtils.clamp(TMP_EULER.x, Math.min(rom.x.min * DEG, authoredX), Math.max(rom.x.max * DEG, authoredX));
-            const cz = THREE.MathUtils.clamp(TMP_EULER.z, Math.min(rom.z.min * DEG, authoredZ), Math.max(rom.z.max * DEG, authoredZ));
-            TMP_EULER.set(cx, TMP_EULER.y, cz, "XYZ");
-            local.setFromEuler(TMP_EULER);
-        }
         ankle.quaternion.copy(local);
+        // Clamp X/Y/Z strictly. In particular, ankle Y/Z are locked axes; leaving
+        // either component from the world-space correction created twisted soles.
+        strictClampToRom(ankle, `ankle_${side}`);
         changed = true;
@@ -118,7 +410,91 @@ }
 /** Finger curl (radians about the knuckle X axis) that wraps a gripping hand. */
-export const FINGER_CURL = 1.35;
+export const FINGER_CURL = -1.35;
 /** Thumb opposition curl (radians) toward the fingers. */
-export const THUMB_CURL = 0.9;
+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"];
+/** True for the parallel-rail anchors belonging to the dip-bars prop. */
+export function isDipBarGrip(anchor) {
+    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, grips) {
+    let changed = false;
+    for (const grip of grips) {
+        if (!isDipBarGrip(grip.anchor))
+            continue;
+        const match = /_(left|right)$/.exec(grip.effector);
+        if (!match)
+            continue;
+        const side = match[1];
+        const elbowId = `elbow_${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, grips) {
+    let changed = false;
+    for (const grip of grips) {
+        if (!isDipBarGrip(grip.anchor))
+            continue;
+        const match = /_(left|right)$/.exec(grip.effector);
+        if (!match)
+            continue;
+        changed = alignWristNormal(m, match[1], PALM_LOCAL_NORMAL, 1) || changed;
+    }
+    if (changed)
+        m.root.updateMatrixWorld(true);
+}
+/**
+ * Close semantic fist effectors without overwriting explicitly authored digit
+ * bones. Wrist/contact corrections never touch these locals, so the curl is
+ * preserved while the knuckles are oriented onto a target.
+ */
+export function formFists(m, sides, authoredFingers = new Set()) {
+    let changed = false;
+    for (const side of sides) {
+        for (const finger of FINGERS) {
+            const id = `${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, 0, 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
@@ -145,3 +521,3 @@ * after resolution (`hand_left` / `hand_right`), so the side comes straight off
             // Thumb wraps from the opposite side: curl plus a sideways opposition.
-            thumb.rotation.set(THUMB_CURL, 0, side === "left" ? -THUMB_CURL : THUMB_CURL);
+            thumb.rotation.set(THUMB_CURL, 0, side === "left" ? -THUMB_OPPOSE : THUMB_OPPOSE);
             changed = true;
@@ -155,9 +531,11 @@ }
  * 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 (~30°),
+ * 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 = 0.55;
-/** Slight finger adduction (radians) drawing splayed digits toward the middle
- * finger, so a relaxed hand closes softly rather than fanning like jazz-hands. */
-export const REST_ADDUCT = 0.12;
+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;
 /**
@@ -168,3 +546,3 @@ * Near-flat curl (radians) for a hand pressed onto the floor (plank, push-up,
  */
-export const FLOOR_CURL = 0.06;
+export const FLOOR_CURL = -0.06;
 /**
@@ -211,3 +589,3 @@ * Give idle hands a natural relaxed shape instead of a flat splayed palm.
                 const thumbCurl = planted ? FLOOR_CURL : REST_CURL * 0.6;
-                const thumbOppose = planted ? 0 : REST_CURL;
+                const thumbOppose = planted ? 0 : REST_THUMB_OPPOSE;
                 thumb.rotation.set(thumbCurl, 0, side === "left" ? -thumbOppose : thumbOppose);
@@ -230,8 +608,8 @@ changed = true;
  * animates the hips (walk, march, box-step) gets natural arm swing for free.
- * Skips shoulders the document authors and any gripping side.
+ * Skips shoulders the document authors and any contact-constrained hand side.
  */
-export function swingArms(m, authoredShoulders, gripSides) {
+export function swingArms(m, authoredShoulders, protectedSides) {
     let changed = false;
     for (const side of ["left", "right"]) {
-        if (gripSides.has(side))
+        if (protectedSides.has(side))
             continue;
@@ -238,0 +616,0 @@ const shoulderId = `shoulder_${side}`;

dist/contacts.js.map

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dist/depenetrate.d.ts

 /**
- * Self-collision resolution: stop limbs from passing through the body.
+ * Bounded self-penetration correction for selected limb/body samples.
  *
@@ -9,3 +9,4 @@ * Authored poses are pure per-joint rotations, so nothing prevents a biceps
  * forearm/hand and each lower leg, and when a sample sits inside an obstacle
- * it rotates the limb's proximal joint (shoulder / hip) just enough to clear.
+ * it rotates the limb's proximal joint (shoulder / hip) toward clearance. It
+ * is not a comprehensive collision detector or physics solver.
  *
@@ -18,4 +19,4 @@ * Principles:
  *   animations stay smooth (no frame-to-frame jitter).
- * - **Safe**: each adjusted joint is clamped back into its healthy ROM
- *   (widened to admit the authored angle), the same guarantee reach-IK gives.
+ * - **Bounded**: each adjusted joint is clamped back into its configured ROM
+ *   (widened to admit the authored angle), matching reach-IK's constraint.
  *
@@ -22,0 +23,0 @@ * Runs on the driver skeleton right after FK sampling, before ground-lock, in

dist/depenetrate.js

 /**
- * Self-collision resolution: stop limbs from passing through the body.
+ * Bounded self-penetration correction for selected limb/body samples.
  *
@@ -9,3 +9,4 @@ * Authored poses are pure per-joint rotations, so nothing prevents a biceps
  * forearm/hand and each lower leg, and when a sample sits inside an obstacle
- * it rotates the limb's proximal joint (shoulder / hip) just enough to clear.
+ * it rotates the limb's proximal joint (shoulder / hip) toward clearance. It
+ * is not a comprehensive collision detector or physics solver.
  *
@@ -18,4 +19,4 @@ * Principles:
  *   animations stay smooth (no frame-to-frame jitter).
- * - **Safe**: each adjusted joint is clamped back into its healthy ROM
- *   (widened to admit the authored angle), the same guarantee reach-IK gives.
+ * - **Bounded**: each adjusted joint is clamped back into its configured ROM
+ *   (widened to admit the authored angle), matching reach-IK's constraint.
  *
@@ -22,0 +23,0 @@ * Runs on the driver skeleton right after FK sampling, before ground-lock, in

dist/depenetrate.js.map

@@ -1,1 +0,1 @@
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dist/groundlock.js

@@ -34,2 +34,3 @@ /**
 import * as THREE from "three";
+import { floorTargetForEffector } from "./contacts.js";
 const ROOT_X = new THREE.Vector3(1, 0, 0);
@@ -113,8 +114,22 @@ /**
         // plank). The final bbox correction accounts for the support mesh radius.
+        const upperSurfaceError = () => {
+            let sum = 0;
+            let count = 0;
+            for (const id of upperSupports) {
+                const node = m.bones.get(id);
+                if (!node)
+                    continue;
+                const semantic = id.replace("wrist_", "hand_");
+                const targetY = floorTargetForEffector(m, semantic)?.y ?? 0;
+                sum += node.getWorldPosition(new THREE.Vector3()).y - targetY;
+                count++;
+            }
+            return count > 0 ? sum / count : 0;
+        };
         for (let i = 0; i < 8; i++) {
-            const y0 = avgWorld(m, upperSupports).y;
+            const y0 = upperSurfaceError();
             if (Math.abs(y0) < 0.004)
                 break;
             rotateRootAboutPivot(m, pivot, 0.01);
-            const y1 = avgWorld(m, upperSupports).y;
+            const y1 = upperSurfaceError();
             rotateRootAboutPivot(m, pivot, -0.01);
@@ -121,0 +136,0 @@ const deriv = (y1 - y0) / 0.01;

dist/groundlock.js.map

@@ -1,1 +0,1 @@
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dist/ik.d.ts

@@ -10,4 +10,5 @@ /**
  * box, see posecode-parser's `eulerRomFor`); each iteration clamps the joint back
- * inside its box, so a solved pose can never exceed the healthy ROM any more
- * than an authored angle can.
+ * inside its box, so a solved joint cannot exceed the configured ROM any more
+ * than an authored joint can. This is a mechanical constraint, not a safety
+ * or clinical assessment of the complete movement.
  */
@@ -14,0 +15,0 @@ import * as THREE from "three";

dist/ik.js

@@ -10,4 +10,5 @@ /**
  * box, see posecode-parser's `eulerRomFor`); each iteration clamps the joint back
- * inside its box, so a solved pose can never exceed the healthy ROM any more
- * than an authored angle can.
+ * inside its box, so a solved joint cannot exceed the configured ROM any more
+ * than an authored joint can. This is a mechanical constraint, not a safety
+ * or clinical assessment of the complete movement.
  */
@@ -14,0 +15,0 @@ import * as THREE from "three";

dist/ik.js.map

@@ -1,1 +0,1 @@
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dist/index.d.ts

@@ -14,3 +14,6 @@ /**
 import { type PhaseSegment } from "./timeline.js";
+import { type ReachResidual } from "./reach.js";
 export interface ViewerPhaseInfo {
+    /** Zero-based real phase index, or -1 while blending through loop reset. */
+    phaseIndex: number;
     phaseName: string;
@@ -40,2 +43,4 @@ cue?: string;
     getTimeline(): TimelineInfo | null;
+    /** Diagnostics for every active reach, including missing/unreachable targets. */
+    getReachResiduals(): readonly ReachResidual[];
     /** Precise visible world bounds; intended for audits and deterministic export. */
@@ -94,2 +99,3 @@ getVisibleBounds(): THREE.Box3;
 export { solveCCD, type IkChain, type JointLimits } from "./ik.js";
+export { EFFECTOR_BONE, REACH_TOLERANCE, effectorBoneId, reachChain, solveReachToPoint, missingReachTarget, type ReachResidual, type ReachResidualReason, } from "./reach.js";
 export { buildProps, type PropScene, type FaceCollider, type BlockedPart } from "./props.js";
@@ -100,3 +106,3 @@ export { resolvePropContacts, propContactExemptions, type PropContactExemptions } from "./propcontact.js";
 export { depenetrate } from "./depenetrate.js";
-export { alignFloorPalms, levelPlantedFeet } from "./contacts.js";
+export { PALM_LOCAL_NORMAL, FIST_LOCAL_NORMAL, alignFloorContacts, alignFloorPalms, prepareGripFrames, alignGripFrames, isDipBarGrip, floorTargetForEffector, floorContactHeight, enforceContactRom, formFists, levelPlantedFeet, wrapGrip, } from "./contacts.js";
 export type { PhaseSegment } from "./timeline.js";

dist/index.js

@@ -14,7 +14,5 @@ /**
 import { RoomEnvironment } from "three/examples/jsm/environments/RoomEnvironment.js";
-import { eulerRomFor } from "posecode-parser";
 import { buildMannequin } from "./mannequin.js";
 import { applyGroundLock as applyGroundLockTo, groundFigure as groundFigureOf } from "./groundlock.js";
 import { buildTimeline, } from "./timeline.js";
-import { solveCCD } from "./ik.js";
 import { buildProps } from "./props.js";
@@ -25,3 +23,5 @@ import { loadCharacter } from "./character.js";
 import { resolvePropContacts, propContactExemptions } from "./propcontact.js";
-import { alignFloorPalms, levelPlantedFeet, wrapGrip, relaxHands, swingArms, aimHead } from "./contacts.js";
+import { alignFloorContacts, alignGripFrames, enforceContactRom, floorContactHeight, floorTargetForEffector, formFists, isDipBarGrip, levelPlantedFeet, prepareGripFrames, wrapGrip, relaxHands, swingArms, aimHead, } from "./contacts.js";
+import { REACH_TOLERANCE, effectorBoneId, missingReachTarget, reachChain, solveReachToPoint, } from "./reach.js";
+import { solveCCD } from "./ik.js";
 const DEG = Math.PI / 180;
@@ -200,2 +200,6 @@ export function createViewer(canvas, opts = {}) {
     let lastIR = null;
+    // Rebuilt on every solved frame. Missing target names and unreachable
+    // effectors remain visible here instead of disappearing behind `continue`.
+    let reachResiduals = [];
+    let reachResidualTargets = [];
     let groundTargets = new Map();
@@ -219,4 +223,9 @@ const segmentStartEffectors = [];
     let loopCb = () => { };
-    let lastPhaseName = "";
+    let lastPhaseIndex = -2;
     let activeSegIndex = 0;
+    // `load()` briefly solves each real phase endpoint to seed any floor pin
+    // introduced by the following phase from the *fully solved* prior pose.
+    // Keep those internal solves out of callbacks, character/mocap state, and
+    // the canvas; they are deterministic anchor preparation, not visible frames.
+    let precomputingAnchors = false;
     // Camera easing targets.
@@ -282,66 +291,6 @@ const desiredTarget = new THREE.Vector3(0, 0.9, 0);
     }
-    // Friendly DSL effector aliases → the distal bone whose world position is
-    // driven to the reach target.
-    const EFFECTOR_BONE = {
-        hand_left: "wrist_left",
-        hand_right: "wrist_right",
-        foot_left: "ankle_left",
-        foot_right: "ankle_right",
-    };
-    /**
-     * The rotatable joint chain (proximal → distal) that moves an effector, with
-     * each joint's ROM expressed as local Euler limits for the constrained solve.
-     * A limit box is widened to include the joint's CURRENT (authored FK) angle:
-     * the timeline pose is already ROM-clamped in author terms, but rig mechanics
-     * such as the hip-hinge counter-rotation can place a bone outside its raw box
-     * on purpose: IK must never fight the authored pose, only be prevented from
-     * pushing beyond it.
-     */
-    function reachChain(effectorBone) {
-        const side = effectorBone.endsWith("_left") ? "left" : "right";
-        const ids = effectorBone.startsWith("wrist")
-            ? [`shoulder_${side}`, `elbow_${side}`]
-            : effectorBone.startsWith("elbow")
-                ? [`shoulder_${side}`]
-                : effectorBone.startsWith("ankle")
-                    ? [`hip_${side}`, `knee_${side}`]
-                    : [];
-        const joints = [];
-        const limits = [];
-        for (const id of ids) {
-            const node = mannequin.bones.get(id);
-            if (!node)
-                continue;
-            joints.push(node);
-            limits.push(jointLimitsFor(id, node));
-        }
-        return { joints, limits };
-    }
-    const REACH_EULER = new THREE.Euler();
-    /** A bone's ROM as radian Euler limits, widened to admit its current pose. */
-    function jointLimitsFor(boneId, node) {
-        const rom = eulerRomFor(boneId);
-        if (!rom)
-            return null;
-        REACH_EULER.setFromQuaternion(node.quaternion, "XYZ");
-        return {
-            x: widen(rom.x.min * DEG, rom.x.max * DEG, REACH_EULER.x),
-            y: widen(rom.y.min * DEG, rom.y.max * DEG, REACH_EULER.y),
-            z: widen(rom.z.min * DEG, rom.z.max * DEG, REACH_EULER.z),
-        };
-    }
-    function widen(min, max, current) {
-        return [Math.min(min, current), Math.max(max, current)];
-    }
     /** Resolve a reach target name to a world point: floor / prop anchor / landmark. */
-    function resolveReachTarget(target, effector) {
-        if (target === "floor") {
-            // Rest the effector's MESH on the floor, not its bone origin: the hand
-            // mesh extends below the wrist bone, so a bone target of y=0 would sink
-            // the palm and force the floor safety clamp to lift the whole body.
-            const p = effector.getWorldPosition(new THREE.Vector3());
-            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;
-        }
+    function resolveReachTarget(target, effectorName) {
+        if (target === "floor")
+            return floorTargetForEffector(mannequin, effectorName);
         const anchor = propAnchors.get(target);
@@ -364,22 +313,57 @@ if (anchor)
     function applyReaches(reaches) {
+        reachResiduals = [];
+        reachResidualTargets = [];
         for (const r of reaches) {
-            const effectorBone = EFFECTOR_BONE[r.effector] ?? r.effector;
+            const effectorBone = effectorBoneId(r.effector);
             const effector = mannequin.bones.get(effectorBone);
-            if (!effector)
+            if (!effector) {
+                reachResiduals.push(solveReachToPoint(mannequin, r.effector, r.target, new THREE.Vector3(), r.weight));
+                reachResidualTargets.push(null);
                 continue;
-            const target = resolveReachTarget(r.target, effector);
-            if (!target)
+            }
+            const target = resolveReachTarget(r.target, r.effector);
+            if (!target) {
+                reachResiduals.push(missingReachTarget(r.effector, r.target, r.weight));
+                reachResidualTargets.push(null);
                 continue;
-            const { joints, limits } = reachChain(effectorBone);
-            if (joints.length === 0)
-                continue;
-            const before = joints.map((joint) => joint.quaternion.clone());
-            solveCCD({ joints, limits, effector, target }, 12);
-            for (let i = 0; i < joints.length; i++) {
-                const solved = joints[i].quaternion.clone();
-                joints[i].quaternion.slerpQuaternions(before[i], solved, r.weight);
             }
-            mannequin.root.updateMatrixWorld(true);
+            reachResiduals.push(solveReachToPoint(mannequin, r.effector, r.target, target, r.weight));
+            reachResidualTargets.push(r.target === "floor"
+                ? { kind: "floor", point: target.clone() }
+                : mannequin.bones.has(r.target)
+                    ? { kind: "landmark", boneId: r.target }
+                    : { kind: "fixed", point: target.clone() });
         }
     }
+    /** Re-measure after later contacts/root grounding so diagnostics are final. */
+    function refreshReachResiduals() {
+        reachResiduals = reachResiduals.map((residual, index) => {
+            const targetRef = reachResidualTargets[index];
+            if (!targetRef || residual.distance === null)
+                return residual;
+            const effector = mannequin.bones.get(effectorBoneId(residual.effector));
+            if (!effector)
+                return residual;
+            // Body landmarks and contact surfaces can move during later root/contact
+            // reconciliation. Re-read their final geometry while preserving a floor
+            // contact's solved world-space X/Z anchor.
+            const point = effector.getWorldPosition(new THREE.Vector3());
+            let target;
+            if (targetRef.kind === "fixed") {
+                target = targetRef.point;
+            }
+            else if (targetRef.kind === "landmark") {
+                target = mannequin.bones.get(targetRef.boneId)?.getWorldPosition(new THREE.Vector3());
+            }
+            else {
+                const height = floorContactHeight(mannequin, residual.effector);
+                if (height !== null)
+                    target = targetRef.point.clone().setY(point.y - height);
+            }
+            if (!target)
+                return residual;
+            const distance = point.distanceTo(target);
+            return { ...residual, distance, reached: distance <= REACH_TOLERANCE };
+        });
+    }
     /**
@@ -396,6 +380,8 @@ * Contact pins: translate the WHOLE figure so each pinned effector sits on its
             return;
+        const dipBarPins = pins.filter((pin) => isDipBarGrip(pin.anchor));
+        prepareGripFrames(mannequin, dipBarPins);
         const delta = new THREE.Vector3();
         let n = 0;
         for (const p of pins) {
-            const effectorBone = EFFECTOR_BONE[p.effector] ?? p.effector;
+            const effectorBone = effectorBoneId(p.effector);
             const effector = mannequin.bones.get(effectorBone);
@@ -409,12 +395,10 @@ if (!effector)
                     anchor = startPos.clone();
-                    const isFoot = effectorBone.startsWith("ankle") || effectorBone.startsWith("foot");
-                    const drop = isFoot ? (character?.proportions.soleDrop ?? 0.042) : 0;
-                    anchor.y = drop;
+                    anchor.y = floorTargetForEffector(mannequin, p.effector)?.y ?? 0;
                 }
                 else {
-                    anchor = resolveReachTarget(p.anchor, effector);
+                    anchor = resolveReachTarget(p.anchor, p.effector);
                 }
             }
             else {
-                anchor = resolveReachTarget(p.anchor, effector);
+                anchor = resolveReachTarget(p.anchor, p.effector);
             }
@@ -430,2 +414,3 @@ if (!anchor)
         }
+        alignGripFrames(mannequin, dipBarPins);
     }
@@ -443,4 +428,7 @@ /**
             return;
-        const resolveGrip = (anchor, effector) => resolveReachTarget(anchor, effector) ??
-            resolveReachTarget(anchor.replace(/_(left|right)$/, ""), effector);
+        // Dip support begins from a deterministic untwisted forearm frame; doing
+        // this before translation/IK means the later wrist target remains exact.
+        prepareGripFrames(mannequin, grips);
+        const resolveGrip = (anchor, effectorName) => resolveReachTarget(anchor, effectorName) ??
+            resolveReachTarget(anchor.replace(/_(left|right)$/, ""), effectorName);
         // 1. Body translate (the vertical pull).
@@ -450,7 +438,7 @@ const delta = new THREE.Vector3();
         for (const g of grips) {
-            const effectorBone = EFFECTOR_BONE[g.effector] ?? g.effector;
+            const effectorBone = effectorBoneId(g.effector);
             const effector = mannequin.bones.get(effectorBone);
             if (!effector)
                 continue;
-            const target = resolveGrip(g.anchor, effector);
+            const target = resolveGrip(g.anchor, g.effector);
             if (!target)
@@ -467,16 +455,27 @@ continue;
         for (const g of grips) {
-            const effectorBone = EFFECTOR_BONE[g.effector] ?? g.effector;
+            const effectorBone = effectorBoneId(g.effector);
             const effector = mannequin.bones.get(effectorBone);
             if (!effector)
                 continue;
-            const target = resolveGrip(g.anchor, effector);
+            const target = resolveGrip(g.anchor, g.effector);
             if (!target)
                 continue;
-            const { joints, limits } = reachChain(effectorBone);
+            const { joints, limits } = reachChain(mannequin, g.effector);
             if (joints.length === 0)
                 continue;
+            if (isDipBarGrip(g.anchor)) {
+                // Keep forearm twist stable while CCD positions the hand. Otherwise
+                // equally-valid axial solutions flip palms between/away from the rails.
+                for (let i = 0; i < joints.length; i++) {
+                    if (!joints[i].name.startsWith("elbow_"))
+                        continue;
+                    const limit = limits[i];
+                    if (limit)
+                        limits[i] = { ...limit, y: [0, 0] };
+                }
+            }
             solveCCD({ joints, limits, effector, target }, 12);
         }
-        // 3. Finger wrap. Wrist orientation remains inherited until the semantic
-        // contact-frame solver can account for this character's calibrated axes.
+        // 3. Stable contact frame followed by an anatomically signed finger wrap.
+        alignGripFrames(mannequin, grips);
         wrapGrip(mannequin, grips);
@@ -494,8 +493,8 @@ }
         const collect = (effectorName, anchorName) => {
-            const bone = EFFECTOR_BONE[effectorName] ?? effectorName;
+            const bone = effectorBoneId(effectorName);
             const eff = mannequin.bones.get(bone);
             if (!eff)
                 return;
-            const t = resolveReachTarget(anchorName, eff) ??
-                resolveReachTarget(anchorName.replace(/_(left|right)$/, ""), eff);
+            const t = resolveReachTarget(anchorName, effectorName) ??
+                resolveReachTarget(anchorName.replace(/_(left|right)$/, ""), effectorName);
             if (t)
@@ -551,14 +550,7 @@ pts.push(t);
             solvedInfo = info;
-            activeSegIndex = 0;
-            const tt = timeline.duration > 0 ? ((time % timeline.duration) + timeline.duration) % timeline.duration : 0;
-            for (let k = 0; k < timeline.segments.length; k++) {
-                const seg = timeline.segments[k];
-                if (tt >= seg.start && tt <= seg.end) {
-                    activeSegIndex = k;
-                    break;
-                }
-            }
+            activeSegIndex = info.phaseIndex >= 0 ? info.phaseIndex : 0;
             // Life layer rides on wall-clock time (not timeline time) so the figure
             // keeps breathing and blinking while paused or scrubbing.
-            applyLife(performance.now() / 1000);
+            if (!precomputingAnchors)
+                applyLife(performance.now() / 1000);
             // Recompute root contact from the grounded base each frame (no drift).
@@ -579,2 +571,18 @@ mannequin.root.position.copy(baseRootPos);
             mannequin.root.updateMatrixWorld(true);
+            // A semantic fist is geometry as well as an endpoint name. Close any
+            // unauthored digits before floor target/bounds resolution; authored curl
+            // remains untouched and survives the later wrist contact correction.
+            const fistSides = fistSidesOf(info.reaches, info.pins, info.groundLock);
+            const activeGripSides = gripSidesOf(info.grips);
+            const constrainedHandSides = contactHandSidesOf(info.reaches, info.pins, info.grips, info.groundLock);
+            const palmFloorSides = floorHandSidesOf(info.reaches, info.pins, info.groundLock);
+            formFists(mannequin, fistSides, authoredFingers);
+            // Finger surface shape is part of a floor target too. Flatten palms (and
+            // relax free hands) before measuring their subtree bounds; fist/grip
+            // sides are protected from this pass.
+            relaxHands(mannequin, unionHandSides(activeGripSides, fistSides), authoredFingers, palmFloorSides);
+            // Establish the intended palm/knuckle surface BEFORE any floor target is
+            // measured. The post-IK pass below restores the same frame after parent
+            // joints move, keeping contact-surface height consistent at both ends.
+            alignFloorContacts(mannequin, info.reaches, info.pins, info.groundLock);
             // Self-collision: nudge limbs out of the body BEFORE contact solving so
@@ -603,3 +611,3 @@ // ground-lock and pins see the corrected pose (same order as load()).
             applyReaches(info.reaches);
-            alignFloorPalms(mannequin, info.reaches, info.pins, info.groundLock);
+            alignFloorContacts(mannequin, info.reaches, info.pins, info.groundLock);
             // Plantigrade correction: keep planted soles flat to the floor so grounded
@@ -610,7 +618,21 @@ // lower-body poses (squat, lunge, deadlift) don't balance on the toes.
             // L4.2 aliveness: contralateral arm swing during locomotion (free arms only).
-            swingArms(mannequin, authoredShoulders, gripSidesOf(info.grips));
-            // L4.1 aliveness: relax idle hands into a natural curl (grips still wrap).
-            relaxHands(mannequin, gripSidesOf(info.grips), authoredFingers, floorHandSidesOf(info.reaches, info.pins, info.groundLock));
+            swingArms(mannequin, authoredShoulders, constrainedHandSides);
             // L4.3 aliveness: turn the head toward the active contact (bar / floor reach).
             applyLookAt(info);
+            // Final renderer-authored contact mutations stay inside strict terminal
+            // ROM (notably wrist and every ankle axis, including locked ankle Y/Z).
+            enforceContactRom(mannequin);
+            // A floor reach can change a limb after floating-root ground-lock has
+            // placed the existing supports. Reconcile once more in constraint order:
+            // replant the root support, then re-solve the independent limbs. Without
+            // this bounded refinement, the global floor safety clamp could rescue a
+            // reached knee/hand by lifting the declared planted foot several cm.
+            if (info.groundLock.length > 0 && info.reaches.length > 0) {
+                for (let refinement = 0; refinement < 3; refinement++) {
+                    applyGroundLockTo(mannequin, info.groundLock, frameAnchors(info.rootYaw, info.rootOffset));
+                    applyReaches(info.reaches);
+                    alignFloorContacts(mannequin, info.reaches, info.pins, info.groundLock);
+                    enforceContactRom(mannequin);
+                }
+            }
             // Safety net: reconcile the fully-solved pose with the floor.
@@ -641,7 +663,14 @@ //
             }
-            if (info.phaseName !== lastPhaseName) {
-                lastPhaseName = info.phaseName;
-                phaseCb({ phaseName: info.phaseName, ...(info.cue ? { cue: info.cue } : {}) });
+            refreshReachResiduals();
+            if (!precomputingAnchors && info.phaseIndex !== lastPhaseIndex) {
+                lastPhaseIndex = info.phaseIndex;
+                phaseCb({
+                    phaseIndex: info.phaseIndex,
+                    phaseName: info.phaseName,
+                    ...(info.cue ? { cue: info.cue } : {}),
+                });
             }
         }
+        if (precomputingAnchors)
+            return;
         // Mirror the fully-solved driver pose onto the skinned character.
@@ -714,3 +743,13 @@ character?.sync(mannequin);
             time = 0;
-            lastPhaseName = "";
+            lastPhaseIndex = -2;
+            reachResiduals = [];
+            reachResidualTargets = [];
+            authoredFingers = new Set(timeline.bonesUsed.filter(isFingerId));
+            authoredShoulders = new Set(timeline.bonesUsed.filter((id) => id.startsWith("shoulder_")));
+            authoredHead = timeline.bonesUsed.some((id) => id === "head" || id === "neck");
+            const initialPhase = ir.phases[0];
+            const initialFistSides = fistSidesOf(initialPhase?.reaches ?? [], initialPhase?.pins ?? [], initialPhase?.groundLock ?? []);
+            const initialGripSides = gripSidesOf(initialPhase?.grips ?? []);
+            const initialConstrainedHandSides = contactHandSidesOf(initialPhase?.reaches ?? [], initialPhase?.pins ?? [], initialPhase?.grips ?? [], initialPhase?.groundLock ?? []);
+            const initialPalmFloorSides = floorHandSidesOf(initialPhase?.reaches ?? [], initialPhase?.pins ?? [], initialPhase?.groundLock ?? []);
             // Scene props: tear down any previous set, build the declared ones, and
@@ -736,2 +775,5 @@ // expose their anchors to reach-IK.
             mannequin.root.updateMatrixWorld(true);
+            formFists(mannequin, initialFistSides, authoredFingers);
+            relaxHands(mannequin, unionHandSides(initialGripSides, initialFistSides), authoredFingers, initialPalmFloorSides);
+            alignFloorContacts(mannequin, initialPhase?.reaches ?? [], initialPhase?.pins ?? [], initialPhase?.groundLock ?? []);
             depenetrate(mannequin);
@@ -743,8 +785,5 @@ groundFigureOf(mannequin);
             levelPlantedFeet(mannequin, ir.phases[0]?.groundLock ?? []);
-            authoredFingers = new Set(timeline.bonesUsed.filter(isFingerId));
-            authoredShoulders = new Set(timeline.bonesUsed.filter((id) => id.startsWith("shoulder_")));
-            authoredHead = timeline.bonesUsed.some((id) => id === "head" || id === "neck");
-            swingArms(mannequin, authoredShoulders, gripSidesOf(ir.phases[0]?.grips ?? []));
-            relaxHands(mannequin, gripSidesOf(ir.phases[0]?.grips ?? []), authoredFingers, floorHandSidesOf(ir.phases[0]?.reaches ?? [], ir.phases[0]?.pins ?? [], ir.phases[0]?.groundLock ?? []));
+            swingArms(mannequin, authoredShoulders, initialConstrainedHandSides);
             applyLookAt({ grips: ir.phases[0]?.grips ?? [], reaches: ir.phases[0]?.reaches ?? [] });
+            enforceContactRom(mannequin);
             captureGroundTargets();
@@ -763,4 +802,4 @@ baseRootPos.copy(mannequin.root.position);
                     const info = timeline.sample(seg.start, mannequin.bones);
-                    const wasPinned = (id) => prevPins.some(p => (EFFECTOR_BONE[p.effector] ?? p.effector) === id && p.anchor === "floor");
-                    const isPinned = (id) => info.pins.some(p => (EFFECTOR_BONE[p.effector] ?? p.effector) === id && p.anchor === "floor");
+                    const wasPinned = (id) => prevPins.some(p => effectorBoneId(p.effector) === id && p.anchor === "floor");
+                    const isPinned = (id) => info.pins.some(p => effectorBoneId(p.effector) === id && p.anchor === "floor");
                     mannequin.root.position.copy(baseRootPos);
@@ -794,2 +833,49 @@ mannequin.root.quaternion.copy(baseRootQuat);
                 }
+                // The raw FK pass above provides deterministic first-phase anchors,
+                // but a pin introduced later must inherit the contact position from
+                // the preceding phase *after* ground-lock, reach IK, ROM enforcement,
+                // and floor reconciliation. Otherwise a ground-lock→pin handoff snaps
+                // the whole body to the next phase's unsolved FK location (the original
+                // superhero knee planted abruptly; bridge lowers jumped by ~60 cm).
+                let previousSolvedEffectors = null;
+                const activeFloorPinTargets = new Map();
+                precomputingAnchors = true;
+                try {
+                    for (let i = 0; i < timeline.segments.length; i++) {
+                        const seg = timeline.segments[i];
+                        const currentPins = new Set((ir.phases[i]?.pins ?? [])
+                            .filter((pin) => pin.anchor === "floor")
+                            .map((pin) => effectorBoneId(pin.effector)));
+                        for (const id of [...activeFloorPinTargets.keys()]) {
+                            if (!currentPins.has(id))
+                                activeFloorPinTargets.delete(id);
+                        }
+                        for (const id of currentPins) {
+                            let anchor = activeFloorPinTargets.get(id);
+                            if (!anchor) {
+                                anchor = previousSolvedEffectors?.get(id)?.clone()
+                                    ?? segmentStartEffectors[i]?.get(id)?.clone();
+                                if (anchor)
+                                    activeFloorPinTargets.set(id, anchor);
+                            }
+                            if (anchor)
+                                segmentStartEffectors[i]?.set(id, anchor.clone());
+                        }
+                        // Stay inside the segment because sample(duration) wraps to zero.
+                        time = Math.max(seg.start, seg.end - 1e-5);
+                        frame();
+                        previousSolvedEffectors = new Map();
+                        for (const ids of Object.values(mannequin.effectors)) {
+                            for (const id of ids) {
+                                const node = mannequin.bones.get(id);
+                                if (node)
+                                    previousSolvedEffectors.set(id, node.getWorldPosition(new THREE.Vector3()));
+                            }
+                        }
+                    }
+                }
+                finally {
+                    precomputingAnchors = false;
+                    time = 0;
+                }
                 // Restore initial pose
@@ -800,2 +886,5 @@ for (const bone of mannequin.bones.values())
                 timeline.sample(0, mannequin.bones);
+                formFists(mannequin, initialFistSides, authoredFingers);
+                relaxHands(mannequin, unionHandSides(initialGripSides, initialFistSides), authoredFingers, initialPalmFloorSides);
+                alignFloorContacts(mannequin, initialPhase?.reaches ?? [], initialPhase?.pins ?? [], initialPhase?.groundLock ?? []);
                 mannequin.root.position.copy(baseRootPos);
@@ -807,2 +896,3 @@ mannequin.root.quaternion.copy(baseRootQuat);
                 levelPlantedFeet(mannequin, ir.phases[0]?.groundLock ?? []);
+                enforceContactRom(mannequin);
             }
@@ -859,2 +949,5 @@ requestClip(ir);
         },
+        getReachResiduals() {
+            return reachResiduals.map((residual) => ({ ...residual }));
+        },
         getVisibleBounds() {
@@ -943,2 +1036,10 @@ return character?.getBounds() ?? new THREE.Box3().setFromObject(mannequin.root);
             ids.add("wrist_right");
+        if (effector === "fists" || effector === "fist_left")
+            ids.add("wrist_left");
+        if (effector === "fists" || effector === "fist_right")
+            ids.add("wrist_right");
+        if (effector === "knees" || effector === "knee_left")
+            ids.add("knee_left");
+        if (effector === "knees" || effector === "knee_right")
+            ids.add("knee_right");
         if (effector === "forearms") {
@@ -990,2 +1091,35 @@ ids.add("elbow_left");
 }
+/** Every hand side whose arm participates in an active contact constraint. */
+function contactHandSidesOf(reaches, pins, grips, groundLock = []) {
+    const sides = gripSidesOf(grips);
+    const add = (effector) => {
+        if (/^(?:hand|fist|elbow)_left$/.test(effector)
+            || effector === "hands" || effector === "fists" || effector === "forearms")
+            sides.add("left");
+        if (/^(?:hand|fist|elbow)_right$/.test(effector)
+            || effector === "hands" || effector === "fists" || effector === "forearms")
+            sides.add("right");
+    };
+    reaches.forEach((contact) => add(contact.effector));
+    pins.forEach((contact) => add(contact.effector));
+    groundLock.forEach(add);
+    return sides;
+}
+/** Hand sides whose semantic endpoint is a closed fist (at any target). */
+function fistSidesOf(reaches, pins, groundLock = []) {
+    const sides = new Set();
+    const add = (effector) => {
+        if (effector === "fists" || effector === "fist_left")
+            sides.add("left");
+        if (effector === "fists" || effector === "fist_right")
+            sides.add("right");
+    };
+    reaches.forEach((reach) => add(reach.effector));
+    pins.forEach((pin) => add(pin.effector));
+    groundLock.forEach(add);
+    return sides;
+}
+function unionHandSides(a, b) {
+    return new Set([...a, ...b]);
+}
 /**
@@ -1043,2 +1177,3 @@ * Hand sides pressed onto the floor this phase — via `reach`/`pin: hands floor`
 export { solveCCD } from "./ik.js";
+export { EFFECTOR_BONE, REACH_TOLERANCE, effectorBoneId, reachChain, solveReachToPoint, missingReachTarget, } from "./reach.js";
 export { buildProps } from "./props.js";
@@ -1049,3 +1184,3 @@ export { resolvePropContacts, propContactExemptions } from "./propcontact.js";
 export { depenetrate } from "./depenetrate.js";
-export { alignFloorPalms, levelPlantedFeet } from "./contacts.js";
+export { PALM_LOCAL_NORMAL, FIST_LOCAL_NORMAL, alignFloorContacts, alignFloorPalms, prepareGripFrames, alignGripFrames, isDipBarGrip, floorTargetForEffector, floorContactHeight, enforceContactRom, formFists, levelPlantedFeet, wrapGrip, } from "./contacts.js";
 //# sourceMappingURL=index.js.map

dist/index.js.map

@@ -1,1 +0,1 @@
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dist/mannequin.d.ts

@@ -25,2 +25,10 @@ /**
     collision: CollisionRadii;
+    /** Visible meshes that form semantic local support surfaces. */
+    contactSurfaces: {
+        /** Trunk/mat surface used by `pin: pelvis floor`. */
+        pelvis: THREE.Object3D[];
+        /** Rounded thigh/shin caps that meet at each supporting knee. */
+        knee_left: THREE.Object3D[];
+        knee_right: THREE.Object3D[];
+    };
 }
@@ -27,0 +35,0 @@ /** Capsule/sphere radii approximating the visible body for self-collision. */

dist/mannequin.js

@@ -114,2 +114,3 @@ /**
     const bones = new Map();
+    const jointCaps = new Map();
     for (const spec of SKELETON) {
@@ -129,5 +130,17 @@ const bone = new THREE.Object3D();
             const mat = segmentMaterial(spec.id, mats);
-            const seg = isFinger(spec.id)
-                ? makeSegment(offset.length(), spec.radius, mats.skin)
-                : makeTaperedSegment(offset.length(), spec.radius, spec.radiusEnd ?? spec.radius, mat);
+            let seg;
+            if (isFinger(spec.id)) {
+                seg = makeSegment(offset.length(), spec.radius, mats.skin);
+            }
+            else {
+                const tapered = makeTaperedSegment(offset.length(), spec.radius, spec.radiusEnd ?? spec.radius, mat);
+                seg = tapered.group;
+                const addCap = (joint, cap) => {
+                    const caps = jointCaps.get(joint) ?? [];
+                    caps.push(cap);
+                    jointCaps.set(joint, caps);
+                };
+                addCap(spec.parent, tapered.proximalCap);
+                addCap(spec.id, tapered.distalCap);
+            }
             orientSegment(seg, offset);
@@ -154,2 +167,19 @@ bones.get(spec.parent).add(seg);
     addShoe(bones.get("ankle_right"), mats, proportions?.soleDrop);
+    // A pelvis floor pin represents the trunk's mat contact, whose thickness
+    // changes with orientation (supine/prone) and spinal pose. A fixed proxy
+    // radius cannot serve both a flat prone lower and a supine bridge. Record
+    // the actual trunk meshes so contact code can measure that surface without
+    // accidentally including descendant arms or legs in the pelvis subtree.
+    const boneIdByNode = new Map([...bones].map(([id, node]) => [node, id]));
+    const trunkIds = new Set(["pelvis", "spine", "chest", "neck", "head"]);
+    const pelvisSurface = [];
+    root.traverse((obj) => {
+        if (!obj.isMesh)
+            return;
+        let owner = obj.parent;
+        while (owner && !boneIdByNode.has(owner))
+            owner = owner.parent;
+        if (owner && trunkIds.has(boneIdByNode.get(owner)))
+            pelvisSurface.push(obj);
+    });
     return {
@@ -162,5 +192,11 @@ root,
             hand_right: ["wrist_right"],
+            fists: ["wrist_left", "wrist_right"],
+            fist_left: ["wrist_left"],
+            fist_right: ["wrist_right"],
             forearms: ["elbow_left", "elbow_right"],
             elbow_left: ["elbow_left"],
             elbow_right: ["elbow_right"],
+            knees: ["knee_left", "knee_right"],
+            knee_left: ["knee_left"],
+            knee_right: ["knee_right"],
             feet: ["ankle_left", "ankle_right"],
@@ -173,2 +209,7 @@ foot_left: ["ankle_left"],
         collision: proportions?.collision ?? DEFAULT_COLLISION,
+        contactSurfaces: {
+            pelvis: pelvisSurface,
+            knee_left: jointCaps.get("knee_left") ?? [],
+            knee_right: jointCaps.get("knee_right") ?? [],
+        },
     };
@@ -199,3 +240,3 @@ }
     group.add(capProx);
-    return group;
+    return { group, proximalCap: capProx, distalCap: capDist };
 }
@@ -276,3 +317,7 @@ /** Position/orient a +Y segment so it spans from the parent joint to `offset`. */
 function addPalm(wrist, mat) {
-    addEllipsoid(wrist, 0.045, [0.85, 1.05, 0.5], [0, -0.02, 0.004], mat);
+    // The ellipsoid's thinnest axis is local Z, so +Z is the procedural palm's
+    // outward face normal on BOTH sides. Contact orientation must use this mesh
+    // convention (not an anatomical left/right guess such as +/-X).
+    const palm = addEllipsoid(wrist, 0.045, [0.85, 1.05, 0.5], [0, -0.02, 0.004], mat);
+    palm.name = `palm_${wrist.name.replace("wrist_", "")}`;
 }
@@ -279,0 +324,0 @@ /**

dist/mannequin.js.map

@@ -1,1 +0,1 @@
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dist/poses.js

@@ -12,2 +12,7 @@ /**
 };
+/** Half-pronated forearms: palms face the thighs instead of away from them. */
+const RELAXED_FOREARMS = {
+    elbow_left: [0, -80, 0],
+    elbow_right: [0, 80, 0],
+};
 // Face-down support position: torso horizontal, arms reaching to the floor.
@@ -36,5 +41,14 @@ // Ground-lock IK plants hands and feet; this just gets the gross posture right.
     root: { position: [0, 0, 0], rotationDeg: [0, 0, 0] },
+    joints: { ...RELAXED_FOREARMS },
+};
+// Ballet first position: legs externally rotated from the hips while the
+// straight-leg chain stays vertical. Seeding turnout in the base pose means a
+// demi-plié can keep it constant instead of visibly twisting planted feet on
+// every descent and rise.
+const FIRST_POSITION = {
+    root: { position: [0, 0, 0], rotationDeg: [0, 0, 0] },
     joints: {
-        elbow_left: [0, 80, 0],
-        elbow_right: [0, -80, 0],
+        ...RELAXED_FOREARMS,
+        hip_left: [0, 30, 0],
+        hip_right: [0, -30, 0],
     },
@@ -60,2 +74,3 @@ };
     joints: {
+        ...RELAXED_FOREARMS,
         hip_left: [-90, 0, 0],
@@ -68,2 +83,3 @@ hip_right: [-90, 0, 0],
     standing: STANDING,
+    "first-position": FIRST_POSITION,
     plank: PLANK,
@@ -70,0 +86,0 @@ supine: SUPINE,

dist/poses.js.map

@@ -1,1 +0,1 @@
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+{"version":3,"file":"poses.js","sourceRoot":"","sources":["../src/poses.ts"],"names":[],"mappings":"AAAA;;;;;;GAMG;AAUH,MAAM,OAAO,GAAa;IACxB,IAAI,EAAE,EAAE,QAAQ,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,WAAW,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE;IACrD,MAAM,EAAE,EAAE;CACX,CAAC;AAEF,+EAA+E;AAC/E,MAAM,gBAAgB,GAAoC;IACxD,UAAU,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC;IACvB,WAAW,EAAE,CAAC,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;CACxB,CAAC;AAEF,4EAA4E;AAC5E,gFAAgF;AAChF,MAAM,KAAK,GAAa;IACtB,6EAA6E;IAC7E,qEAAqE;IACrE,wEAAwE;IACxE,4EAA4E;IAC5E,0EAA0E;IAC1E,yEAAyE;IACzE,aAAa;IACb,IAAI,EAAE,EAAE,QAAQ,EAAE,CAAC,CAAC,EAAE,GAAG,EAAE,CAAC,CAAC,EAAE,WAAW,EAAE,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE;IACxD,MAAM,EAAE;QACN,aAAa,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC;QAC1B,cAAc,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC;QAC3B,UAAU,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC;QACvB,WAAW,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC;KACzB;CACF,CAAC;AAEF,4EAA4E;AAC5E,2EAA2E;AAC3E,uEAAuE;AACvE,MAAM,QAAQ,GAAa;IACzB,IAAI,EAAE,EAAE,QAAQ,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,WAAW,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE;IACrD,MAAM,EAAE,EAAE,GAAG,gBAAgB,EAAE;CAChC,CAAC;AAEF,yEAAyE;AACzE,8EAA8E;AAC9E,6EAA6E;AAC7E,0BAA0B;AAC1B,MAAM,cAAc,GAAa;IAC/B,IAAI,EAAE,EAAE,QAAQ,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE,WAAW,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE;IACrD,MAAM,EAAE;QACN,GAAG,gBAAgB;QACnB,QAAQ,EAAE,CAAC,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;QACpB,SAAS,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC;KACvB;CACF,CAAC;AAEF,gFAAgF;AAChF,8EAA8E;AAC9E,kFAAkF;AAClF,MAAM,MAAM,GAAa;IACvB,IAAI,EAAE,EAAE,QAAQ,EAAE,CAAC,CAAC,EAAE,GAAG,EAAE,CAAC,CAAC,EAAE,WAAW,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE;IACzD,MAAM,EAAE,EAAE;CACX,CAAC;AAEF,6EAA6E;AAC7E,MAAM,KAAK,GAAa;IACtB,IAAI,EAAE,EAAE,QAAQ,EAAE,CAAC,CAAC,EAAE,GAAG,EAAE,CAAC,CAAC,EAAE,WAAW,EAAE,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE;IACxD,MAAM,EAAE,EAAE;CACX,CAAC;AAEF,2EAA2E;AAC3E,gFAAgF;AAChF,6EAA6E;AAC7E,MAAM,MAAM,GAAa;IACvB,IAAI,EAAE,EAAE,QAAQ,EAAE,CAAC,CAAC,EAAE,GAAG,EAAE,CAAC,CAAC,EAAE,WAAW,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,EAAE;IACvD,MAAM,EAAE;QACN,GAAG,gBAAgB;QACnB,QAAQ,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC;QACrB,SAAS,EAAE,CAAC,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC;KACvB;CACF,CAAC;AAEF,MAAM,KAAK,GAA6B;IACtC,OAAO,EAAE,OAAO;IAChB,QAAQ,EAAE,QAAQ;IAClB,gBAAgB,EAAE,cAAc;IAChC,KAAK,EAAE,KAAK;IACZ,MAAM,EAAE,MAAM;IACd,KAAK,EAAE,KAAK;IACZ,MAAM,EAAE,MAAM;CACf,CAAC;AAEF,MAAM,UAAU,OAAO,CAAC,IAAwB;IAC9C,IAAI,CAAC,IAAI;QAAE,OAAO,OAAO,CAAC;IAC1B,OAAO,KAAK,CAAC,IAAI,CAAC,IAAI,OAAO,CAAC;AAChC,CAAC"}

dist/propcontact.d.ts

 /**
- * Prop contact solving: props are solid, not just visual.
+ * Bounded prop-contact correction for selected blocking surfaces.
  *
@@ -9,4 +9,4 @@ * Authored poses are pure joint rotations relative to the root, and the root
  * samples the body as capsules (torso, head, thighs, shins, forearms) against
- * each prop's declared solid faces (`FaceCollider`, see props.ts) and removes
- * any overlap:
+ * selected declared faces (`FaceCollider`, see props.ts) and reduces sampled
+ * overlap. This is deliberately not comprehensive collision detection:
  *
@@ -25,3 +25,3 @@ * - **Body-resolved faces** (wall, backrest, seat edge) translate the WHOLE
  * pose with no overlap is untouched, contact settles ON the surface),
- * deterministic (pure function of the pose), and ROM-safe.
+ * deterministic (pure function of the pose), and ROM-bounded.
  *
@@ -28,0 +28,0 @@ * Runs after ground-lock / pins / grips (it must see the final root

dist/propcontact.js

 /**
- * Prop contact solving: props are solid, not just visual.
+ * Bounded prop-contact correction for selected blocking surfaces.
  *
@@ -9,4 +9,4 @@ * Authored poses are pure joint rotations relative to the root, and the root
  * samples the body as capsules (torso, head, thighs, shins, forearms) against
- * each prop's declared solid faces (`FaceCollider`, see props.ts) and removes
- * any overlap:
+ * selected declared faces (`FaceCollider`, see props.ts) and reduces sampled
+ * overlap. This is deliberately not comprehensive collision detection:
  *
@@ -25,3 +25,3 @@ * - **Body-resolved faces** (wall, backrest, seat edge) translate the WHOLE
  * pose with no overlap is untouched, contact settles ON the surface),
- * deterministic (pure function of the pose), and ROM-safe.
+ * deterministic (pure function of the pose), and ROM-bounded.
  *
@@ -106,5 +106,13 @@ * Runs after ground-lock / pins / grips (it must see the final root
         for (const side of ["left", "right"]) {
-            if (c.effector === "feet" || c.effector === `foot_${side}` || c.effector === `ankle_${side}`)
+            if (c.effector === "feet" ||
+                c.effector === "knees" ||
+                c.effector === `foot_${side}` ||
+                c.effector === `ankle_${side}` ||
+                c.effector === `knee_${side}`)
                 legs.add(side);
-            if (c.effector === "hands" || c.effector === `hand_${side}` || c.effector === `wrist_${side}`)
+            if (c.effector === "hands" ||
+                c.effector === "fists" ||
+                c.effector === `hand_${side}` ||
+                c.effector === `fist_${side}` ||
+                c.effector === `wrist_${side}`)
                 arms.add(side);
@@ -111,0 +119,0 @@ }

dist/propcontact.js.map

@@ -1,1 +0,1 @@
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+{"version":3,"file":"propcontact.js","sourceRoot":"","sources":["../src/propcontact.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA4BG;AAEH,OAAO,KAAK,KAAK,MAAM,OAAO,CAAC;AAG/B,OAAO,EAAE,WAAW,EAAE,aAAa,EAAE,MAAM,kBAAkB,CAAC;AAE9D,MAAM,GAAG,GAAG,IAAI,CAAC,EAAE,GAAG,GAAG,CAAC;AAE1B,yEAAyE;AACzE,MAAM,mBAAmB,GAAG,EAAE,GAAG,GAAG,CAAC;AACrC,0EAA0E;AAC1E,MAAM,aAAa,GAAG,CAAC,GAAG,GAAG,CAAC;AAC9B,MAAM,eAAe,GAAG,CAAC,CAAC;AAC1B,2EAA2E;AAC3E,MAAM,WAAW,GAAG,CAAC,CAAC;AAUtB,MAAM,KAAK,GAAG,IAAI,KAAK,CAAC,OAAO,EAAE,CAAC;AAElC;;;;;GAKG;AACH,SAAS,SAAS,CAAC,CAAe,EAAE,CAAgB,EAAE,CAAS;IAC7D,KAAK,CAAC,UAAU,CAAC,CAAC,EAAE,CAAC,CAAC,KAAK,CAAC,CAAC;IAC7B,MAAM,CAAC,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC;IAC9B,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,YAAY;QAAE,OAAO,CAAC,CAAC;IAChD,IAAI,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC,GAAG,CAAC,CAAC,KAAK,GAAG,CAAC;QAAE,OAAO,CAAC,CAAC;IAC5D,IAAI,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC,GAAG,CAAC,CAAC,KAAK,GAAG,CAAC;QAAE,OAAO,CAAC,CAAC;IAC5D,OAAO,CAAC,GAAG,CAAC,CAAC;AACf,CAAC;AAED,4DAA4D;AAC5D,SAAS,EAAE,CAAC,CAAY,EAAE,EAAU,EAAE,GAAG,GAAG,IAAI,KAAK,CAAC,OAAO,EAAE;IAC7D,OAAO,CAAC,CAAC,KAAK,CAAC,GAAG,CAAC,EAAE,CAAE,CAAC,gBAAgB,CAAC,GAAG,CAAC,CAAC;AAChD,CAAC;AAED,0EAA0E;AAC1E,SAAS,cAAc,CACrB,CAAY,EACZ,IAAiB,EACjB,GAAW,EACX,GAAW,EACX,MAAc,EACd,WAAmB,EACnB,GAAiB,EACjB,IAAuB;IAEvB,MAAM,CAAC,GAAG,EAAE,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC;IACrB,MAAM,CAAC,GAAG,EAAE,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC;IACrB,MAAM,GAAG,GAAG,CAAC,CAAC,KAAK,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;IAC7B,KAAK,MAAM,CAAC,IAAI,CAAC,CAAC,EAAE,IAAI,EAAE,IAAI,EAAE,CAAC,CAAC,EAAE,CAAC;QACnC,GAAG,CAAC,IAAI,CAAC,EAAE,IAAI,EAAE,IAAI,EAAE,KAAK,EAAE,CAAC,CAAC,KAAK,EAAE,CAAC,eAAe,CAAC,GAAG,EAAE,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,CAAC;IAC7E,CAAC;IACD,IAAI,WAAW,GAAG,CAAC,IAAI,GAAG,CAAC,QAAQ,EAAE,GAAG,KAAK,EAAE,CAAC;QAC9C,GAAG,CAAC,IAAI,CAAC,EAAE,IAAI,EAAE,IAAI,EAAE,KAAK,EAAE,CAAC,CAAC,KAAK,EAAE,CAAC,eAAe,CAAC,GAAG,CAAC,SAAS,EAAE,EAAE,WAAW,CAAC,EAAE,MAAM,EAAE,CAAC,CAAC;IACnG,CAAC;AACH,CAAC;AAED,0EAA0E;AAC1E,SAAS,WAAW,CAAC,CAAY;IAC/B,MAAM,CAAC,GAAG,CAAC,CAAC,SAAS,CAAC;IACtB,MAAM,GAAG,GAAiB,EAAE,CAAC;IAC7B,cAAc,CAAC,CAAC,EAAE,OAAO,EAAE,QAAQ,EAAE,MAAM,EAAE,CAAC,CAAC,KAAK,EAAE,CAAC,EAAE,GAAG,CAAC,CAAC;IAC9D,cAAc,CAAC,CAAC,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,CAAC,CAAC,IAAI,EAAE,IAAI,EAAE,GAAG,CAAC,CAAC;IAC7D,KAAK,MAAM,IAAI,IAAI,CAAC,MAAM,EAAE,OAAO,CAAU,EAAE,CAAC;QAC9C,cAAc,CAAC,CAAC,EAAE,OAAO,EAAE,OAAO,IAAI,EAAE,EAAE,QAAQ,IAAI,EAAE,EAAE,CAAC,CAAC,KAAK,EAAE,CAAC,EAAE,GAAG,EAAE,IAAI,CAAC,CAAC;QACjF,4DAA4D;QAC5D,cAAc,CAAC,CAAC,EAAE,MAAM,EAAE,QAAQ,IAAI,EAAE,EAAE,SAAS,IAAI,EAAE,EAAE,CAAC,CAAC,IAAI,EAAE,IAAI,EAAE,GAAG,EAAE,IAAI,CAAC,CAAC;QACpF,cAAc,CAAC,CAAC,EAAE,KAAK,EAAE,YAAY,IAAI,EAAE,EAAE,SAAS,IAAI,EAAE,EAAE,CAAC,CAAC,GAAG,EAAE,CAAC,EAAE,GAAG,EAAE,IAAI,CAAC,CAAC;QACnF,cAAc,CAAC,CAAC,EAAE,KAAK,EAAE,SAAS,IAAI,EAAE,EAAE,SAAS,IAAI,EAAE,EAAE,CAAC,CAAC,GAAG,EAAE,IAAI,EAAE,GAAG,EAAE,IAAI,CAAC,CAAC;IACrF,CAAC;IACD,OAAO,GAAG,CAAC;AACb,CAAC;AAED;;;;;;;GAOG;AACH,MAAM,UAAU,qBAAqB,CACnC,QAAyD;IAEzD,MAAM,IAAI,GAAG,IAAI,GAAG,EAAoB,CAAC;IACzC,MAAM,IAAI,GAAG,IAAI,GAAG,EAAoB,CAAC;IACzC,KAAK,MAAM,CAAC,IAAI,QAAQ,EAAE,CAAC;QACzB,IAAI,CAAC,CAAC,MAAM,KAAK,OAAO;YAAE,SAAS;QACnC,KAAK,MAAM,IAAI,IAAI,CAAC,MAAM,EAAE,OAAO,CAAU,EAAE,CAAC;YAC9C,IACE,CAAC,CAAC,QAAQ,KAAK,MAAM;gBACrB,CAAC,CAAC,QAAQ,KAAK,OAAO;gBACtB,CAAC,CAAC,QAAQ,KAAK,QAAQ,IAAI,EAAE;gBAC7B,CAAC,CAAC,QAAQ,KAAK,SAAS,IAAI,EAAE;gBAC9B,CAAC,CAAC,QAAQ,KAAK,QAAQ,IAAI,EAAE;gBAC7B,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;YACjB,IACE,CAAC,CAAC,QAAQ,KAAK,OAAO;gBACtB,CAAC,CAAC,QAAQ,KAAK,OAAO;gBACtB,CAAC,CAAC,QAAQ,KAAK,QAAQ,IAAI,EAAE;gBAC7B,CAAC,CAAC,QAAQ,KAAK,QAAQ,IAAI,EAAE;gBAC7B,CAAC,CAAC,QAAQ,KAAK,SAAS,IAAI,EAAE;gBAC9B,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;QACnB,CAAC;IACH,CAAC;IACD,OAAO,EAAE,IAAI,EAAE,IAAI,EAAE,CAAC;AACxB,CAAC;AAOD,MAAM,aAAa,GAA0B,EAAE,IAAI,EAAE,IAAI,GAAG,EAAE,EAAE,IAAI,EAAE,IAAI,GAAG,EAAE,EAAE,CAAC;AAElF;;;;GAIG;AACH,MAAM,UAAU,mBAAmB,CACjC,CAAY,EACZ,SAAkC,EAClC,SAAgC,aAAa;IAE7C,IAAI,SAAS,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO;IACnC,MAAM,SAAS,GAAG,SAAS,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,OAAO,KAAK,MAAM,CAAC,CAAC;IAChE,MAAM,SAAS,GAAG,SAAS,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,CAAC,CAAC,OAAO,KAAK,MAAM,CAAC,CAAC;IAEhE,2EAA2E;IAC3E,+CAA+C;IAC/C,MAAM,YAAY,GAAG,CAAC,CAAa,EAAW,EAAE,CAC9C,CAAC,CAAC,CAAC,IAAI,KAAK,MAAM,IAAI,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,IAAK,CAAC,CAAC;QAC/C,CAAC,CAAC,CAAC,IAAI,KAAK,OAAO,IAAI,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,IAAK,CAAC,CAAC;QAChD,CAAC,CAAC,CAAC,IAAI,KAAK,KAAK,IAAI,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,IAAK,CAAC,CAAC,CAAC;IAEjD,0EAA0E;IAC1E,uEAAuE;IACvE,KAAK,IAAI,IAAI,GAAG,CAAC,EAAE,IAAI,GAAG,WAAW,IAAI,SAAS,CAAC,MAAM,GAAG,CAAC,EAAE,IAAI,EAAE,EAAE,CAAC;QACtE,IAAI,KAAK,GAAG,KAAK,CAAC;QAClB,KAAK,MAAM,CAAC,IAAI,SAAS,EAAE,CAAC;YAC1B,IAAI,KAAK,GAAG,CAAC,CAAC;YACd,KAAK,MAAM,CAAC,IAAI,WAAW,CAAC,CAAC,CAAC,EAAE,CAAC;gBAC/B,IAAI,CAAC,CAAC,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC,CAAC,IAAI,CAAC,IAAI,YAAY,CAAC,CAAC,CAAC;oBAAE,S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dist/props.js

@@ -89,3 +89,5 @@ /**
             // position meets the anchor, which leaves each authored hand over its
-            // own rail.
+            // own rail. Side-specific anchors are required because grouped grips are
+            // resolved to `bars_left` / `bars_right`; falling back to the centre
+            // collapses both hands onto one point and twists the shoulders together.
             const railH = 1.1;
@@ -105,2 +107,4 @@ const halfSpan = 0.22;
             anchors.set("bars", new THREE.Vector3(0, railH, 0));
+            anchors.set("bars_left", new THREE.Vector3(halfSpan, railH, 0));
+            anchors.set("bars_right", new THREE.Vector3(-halfSpan, railH, 0));
         }
@@ -107,0 +111,0 @@ else if (type === "box") {

dist/props.js.map

@@ -1,1 +0,1 @@
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dist/timeline.d.ts

@@ -32,2 +32,4 @@ /**
     sample(t: number, bones: Map<string, THREE.Object3D>): {
+        /** Zero-based real phase index, or -1 while blending through loop reset. */
+        phaseIndex: number;
         phaseName: string;
@@ -34,0 +36,0 @@ cue?: string;

dist/timeline.js

@@ -12,2 +12,4 @@ /**
 const DEG = Math.PI / 180;
+const AXIS_INDEX = { x: 0, y: 1, z: 2 };
+const ALL_AXES = ["x", "y", "z"];
 function eulerToQuat([x, y, z]) {
@@ -137,3 +139,7 @@ return new THREE.Quaternion().setFromEuler(new THREE.Euler(x * DEG, y * DEG, z * DEG, "XYZ"));
         for (const target of phase.targets) {
-            curr.set(target.boneId, [target.euler.x, target.euler.y, target.euler.z]);
+            const next = [...(curr.get(target.boneId) ?? [0, 0, 0])];
+            for (const axis of target.axes ?? ALL_AXES) {
+                next[AXIS_INDEX[axis]] = target.euler[axis];
+            }
+            curr.set(target.boneId, next);
         }
@@ -287,2 +293,3 @@ if (phase.turnDeg !== undefined)
             return {
+                phaseIndex: i < segments.length ? i : -1,
                 phaseName: b.name,
@@ -314,3 +321,6 @@ ...(b.cue ? { cue: b.cue } : {}),
             const [hx, hy, hz] = curr.get(hip) ?? [0, 0, 0];
-            out.set(hip, [hx - pelvisX, hy, hz]);
+            // Parser-produced IR already enforces this coupled limit. Clamp here too
+            // because PosecodeIR is public and hosts may construct legacy/manual IR
+            // without running the parser first.
+            out.set(hip, [THREE.MathUtils.clamp(hx - pelvisX, -135, 20), hy, hz]);
         }
@@ -317,0 +327,0 @@ }

dist/timeline.js.map

@@ -1,1 +0,1 @@
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LICENSE

@@ -1,201 +0,661 @@
-                                 Apache License
-                           Version 2.0, January 2004
-                        http://www.apache.org/licenses/
+                    GNU AFFERO GENERAL PUBLIC LICENSE
+                       Version 3, 19 November 2007
 
-   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
 
-   1. Definitions.
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+3 of the GNU General Public License.
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+SUCH DAMAGES.
+
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+
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+
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+
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package.json

 {
   "name": "posecode-render",
-  "version": "0.2.2",
+  "version": "0.3.0",
   "description": "Render a Posecode IR as an animated 3D human figure (skinned character or procedural mannequin) with Three.js.",
-  "license": "Apache-2.0",
+  "license": "AGPL-3.0-only",
   "type": "module",
@@ -20,3 +20,3 @@ "main": "./dist/index.js",
   "peerDependencies": {
-    "posecode-parser": "0.2.2"
+    "posecode-parser": ">=0.2.2 <0.4.0"
   },
@@ -46,3 +46,5 @@ "devDependencies": {
     "dist",
-    "README.md"
+    "README.md",
+    "LICENSE",
+    "NOTICE"
   ],
@@ -49,0 +51,0 @@ "publishConfig": {

README.md

@@ -31,3 +31,3 @@ # posecode-render
   // zero-asset procedural figure.
-  characterUrl: "https://posecode.org/models/character.glb",
+  characterUrl: "https://posecode.org/models/xbot.glb",
 });
@@ -52,2 +52,2 @@
 
-Apache-2.0
+AGPL-3.0-only. A separate commercial license is available for closed-source product use; see [commercial licensing](https://github.com/posecode-dev/posecode/blob/main/COMMERCIAL-LICENSE.md).

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Fixed alerts

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Improved metrics

Total package byte prevSize

450225

27.86%

Number of package files

46

9.52%

Lines of code

5185

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0

-100%

Worsened metrics

Number of low license alerts

3

Infinity%

License quality

70

-30%

No dependency changes