posecode-render - npm Package Compare versions

Comparing version 0.3.0 to 0.4.0

dist/diagnostics.d.ts

+/** Non-mutating renderer constraint diagnostics shared by live UI and eval. */
+import type { Mannequin } from "./mannequin.js";
+/** Maximum absolute heel/toe surface offset accepted as floor contact. */
+export declare const FOOT_CONTACT_HEIGHT_MAX = 0.02;
+/** Maximum sole tilt accepted for an explicitly plantigrade ground-lock. */
+export declare const PLANTIGRADE_SOLE_ANGLE_MAX = 12;
+/** Sampled capsule overlap tolerated as solver/numeric margin. */
+export declare const SELF_COLLISION_DEPTH_MAX = 0.01;
+export type ConstraintDiagnosticKind = "heel-height" | "toe-height" | "sole-angle" | "grounding-rom-conflict" | "self-collision";
+/** One named outcome measured on the post-solver procedural-driver frame. */
+export interface ConstraintDiagnostic {
+    id: string;
+    kind: ConstraintDiagnosticKind;
+    pass: boolean;
+    value: number;
+    limit: number;
+    unit: "m" | "deg";
+    detail: string;
+}
+export interface DiagnosticPin {
+    effector: string;
+    anchor: string;
+}
+/**
+ * Measure constraints after the procedural driver's frame solvers have run.
+ * This precedes optional skinned-character and mocap surface reconciliation.
+ * Intentional tiptoe poses require toe contact without demanding a flat sole.
+ */
+export declare function measureConstraintDiagnostics(m: Mannequin, activeGroundLock: readonly string[], activePins?: readonly DiagnosticPin[]): ConstraintDiagnostic[];

dist/diagnostics.js

+import { floorContactHeight, measureFootContact } from "./contacts.js";
+import { measureSelfCollisions } from "./depenetrate.js";
+import { isGroundLockFootPlanted } from "./groundlock.js";
+/** Maximum absolute heel/toe surface offset accepted as floor contact. */
+export const FOOT_CONTACT_HEIGHT_MAX = 0.02;
+/** Maximum sole tilt accepted for an explicitly plantigrade ground-lock. */
+export const PLANTIGRADE_SOLE_ANGLE_MAX = 12;
+/** Sampled capsule overlap tolerated as solver/numeric margin. */
+export const SELF_COLLISION_DEPTH_MAX = 0.01;
+function groundedFootSides(activeGroundLock, activePins) {
+    return ["left", "right"].filter((side) => activeGroundLock.includes("feet")
+        || activeGroundLock.includes(`foot_${side}`)
+        || activePins.some((pin) => pin.anchor === "floor"
+            && (pin.effector === "feet" || pin.effector === `foot_${side}`)));
+}
+/**
+ * Measure constraints after the procedural driver's frame solvers have run.
+ * This precedes optional skinned-character and mocap surface reconciliation.
+ * Intentional tiptoe poses require toe contact without demanding a flat sole.
+ */
+export function measureConstraintDiagnostics(m, activeGroundLock, activePins = []) {
+    const out = [];
+    for (const side of groundedFootSides(activeGroundLock, activePins)) {
+        const foot = measureFootContact(m, side);
+        if (!foot)
+            continue;
+        const explicitlyPinned = activePins.some((pin) => pin.anchor === "floor"
+            && (pin.effector === "feet" || pin.effector === `foot_${side}`));
+        if (!explicitlyPinned
+            && activeGroundLock.includes("feet")
+            && !activeGroundLock.includes(`foot_${side}`)
+            && !isGroundLockFootPlanted(floorContactHeight(m, `foot_${side}`) ?? NaN))
+            continue;
+        const height = (edge, value) => ({
+            id: `grounding:foot_${side}:${edge}-height`,
+            kind: `${edge}-height`,
+            pass: Math.abs(value) <= FOOT_CONTACT_HEIGHT_MAX,
+            value,
+            limit: FOOT_CONTACT_HEIGHT_MAX,
+            unit: "m",
+            detail: `foot_${side} ${edge} ${value.toFixed(3)}m from floor (want ±${FOOT_CONTACT_HEIGHT_MAX.toFixed(3)}m)`,
+        });
+        // Every grounded foot needs a toe/ball contact. A plantigrade declaration
+        // additionally promises that the heel and full sole remain down.
+        out.push(height("toe", foot.toeHeight));
+        if (foot.plantigrade) {
+            const heel = height("heel", foot.heelHeight);
+            out.push(heel);
+            if (!heel.pass && foot.atDorsiflexionLimit) {
+                out.push({
+                    id: `grounding-rom-conflict:foot_${side}`,
+                    kind: "grounding-rom-conflict",
+                    pass: false,
+                    value: Math.abs(foot.heelHeight),
+                    limit: FOOT_CONTACT_HEIGHT_MAX,
+                    unit: "m",
+                    detail: `foot_${side} heel is ${Math.abs(foot.heelHeight).toFixed(3)}m off floor while ankle is at its dorsiflexion ROM limit`,
+                });
+            }
+            out.push({
+                id: `grounding:foot_${side}:sole-angle`,
+                kind: "sole-angle",
+                pass: foot.soleAngleDeg <= PLANTIGRADE_SOLE_ANGLE_MAX,
+                value: foot.soleAngleDeg,
+                limit: PLANTIGRADE_SOLE_ANGLE_MAX,
+                unit: "deg",
+                detail: `foot_${side} sole ${foot.soleAngleDeg.toFixed(1)}° from flat (want ≤ ${PLANTIGRADE_SOLE_ANGLE_MAX}°)`,
+            });
+        }
+    }
+    for (const collision of measureSelfCollisions(m)) {
+        out.push({
+            id: collision.id,
+            kind: "self-collision",
+            pass: collision.depth <= SELF_COLLISION_DEPTH_MAX,
+            value: collision.depth,
+            limit: SELF_COLLISION_DEPTH_MAX,
+            unit: "m",
+            detail: `${collision.id} residual ${collision.depth.toFixed(3)}m (want ≤ ${SELF_COLLISION_DEPTH_MAX.toFixed(3)}m)`,
+        });
+    }
+    return out;
+}
+//# sourceMappingURL=diagnostics.js.map

dist/diagnostics.js.map

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dist/floor-guide.d.ts

+/**
+ * Floor-orientation overlay for the viewer.
+ *
+ * The guide turns otherwise implicit root choreography into scene geometry:
+ * a half-metre grid, a one-metre ruler, the document load origin, the figure's
+ * live facing direction, and (only when authored) its travel trajectory.
+ */
+import * as THREE from "three";
+import type { PosecodeIR } from "posecode-parser";
+import type { BuiltTimeline } from "./timeline.js";
+export declare const FLOOR_GRID_STEP_METRES = 0.5;
+export declare const FLOOR_SCALE_BAR_METRES = 1;
+export interface FloorGuidePoint {
+    x: number;
+    z: number;
+}
+/** Read-only metadata hosts can use to describe the rendered floor guide. */
+export interface FloorGuideInfo {
+    /** Whether the guide was enabled when the viewer was created. */
+    visible: boolean;
+    /** Distance between the fine grid lines. */
+    gridStepMetres: number;
+    /** Length of the brighter ruler drawn beside the origin. */
+    scaleBarMetres: number;
+    /** True when the source contains a non-zero root travel path. */
+    hasTravel: boolean;
+    /** True when the implicit loop reset translates the root back to the origin. */
+    hasLoopReset: boolean;
+    /** Exact authored travel destinations, beginning at the load origin. */
+    waypoints: readonly FloorGuidePoint[];
+}
+export interface FloorGuideData extends Omit<FloorGuideInfo, "visible"> {
+    /** Timeline-sampled authored path used for the solid curve. */
+    path: readonly FloorGuidePoint[];
+    /** Timeline-sampled implicit return to origin, rendered separately as dashes. */
+    resetPath: readonly FloorGuidePoint[];
+    /** Half-width of the square grid, in metres. */
+    gridRadiusMetres: number;
+}
+export interface FloorGuideScene {
+    group: THREE.Group;
+    getInfo(visible: boolean): FloorGuideInfo;
+    /** Place the guide's load origin in world space. */
+    setOrigin(x: number, z: number): void;
+    /** Move and turn the live facing marker relative to the load origin. */
+    updateRoot(offset: FloorGuidePoint, yawRadians: number): void;
+    dispose(): void;
+}
+/**
+ * Synchronize the live marker to the renderer's final world-space root.
+ * Contact and prop solvers may translate X/Z beyond the authored trajectory,
+ * so callers should invoke this only after those solver passes finish.
+ */
+export declare function syncFloorGuideToSolvedRoot(guide: Pick<FloorGuideScene, "updateRoot">, solvedRoot: FloorGuidePoint, loadOrigin: FloorGuidePoint, yawRadians: number): void;
+/**
+ * Build deterministic guide data from the authored destinations and the same
+ * root interpolation the figure uses. Sampling the built timeline means a
+ * curved `flow` corner is displayed as the actual trajectory, not a misleading
+ * straight waypoint polyline.
+ */
+export declare function buildFloorGuideData(ir: PosecodeIR, timeline: BuiltTimeline): FloorGuideData;
+/** Build disposable Three.js geometry for one loaded movement. */
+export declare function createFloorGuide(data: FloorGuideData): FloorGuideScene;

dist/floor-guide.js

+/**
+ * Floor-orientation overlay for the viewer.
+ *
+ * The guide turns otherwise implicit root choreography into scene geometry:
+ * a half-metre grid, a one-metre ruler, the document load origin, the figure's
+ * live facing direction, and (only when authored) its travel trajectory.
+ */
+import * as THREE from "three";
+export const FLOOR_GRID_STEP_METRES = 0.5;
+export const FLOOR_SCALE_BAR_METRES = 1;
+const EPSILON = 1e-5;
+const GUIDE_Y = 0.006;
+/**
+ * Synchronize the live marker to the renderer's final world-space root.
+ * Contact and prop solvers may translate X/Z beyond the authored trajectory,
+ * so callers should invoke this only after those solver passes finish.
+ */
+export function syncFloorGuideToSolvedRoot(guide, solvedRoot, loadOrigin, yawRadians) {
+    guide.updateRoot({
+        x: solvedRoot.x - loadOrigin.x,
+        z: solvedRoot.z - loadOrigin.z,
+    }, yawRadians);
+}
+/**
+ * Build deterministic guide data from the authored destinations and the same
+ * root interpolation the figure uses. Sampling the built timeline means a
+ * curved `flow` corner is displayed as the actual trajectory, not a misleading
+ * straight waypoint polyline.
+ */
+export function buildFloorGuideData(ir, timeline) {
+    const waypoints = [{ x: 0, z: 0 }];
+    let position = { x: 0, z: 0 };
+    for (const phase of ir.phases) {
+        if (!phase.travel)
+            continue;
+        position = { x: phase.travel.x, z: phase.travel.z };
+        const previous = waypoints.at(-1);
+        if (Math.hypot(position.x - previous.x, position.z - previous.z) > EPSILON) {
+            waypoints.push({ ...position });
+        }
+    }
+    const hasTravel = waypoints.some((point) => Math.hypot(point.x, point.z) > EPSILON);
+    const path = [];
+    const resetPath = [];
+    const motionEnd = timeline.segments.at(-1)?.end ?? 0;
+    if (hasTravel) {
+        path.push(...sampleRootPath(timeline, 0, motionEnd, 16, 192));
+        // Sampling at `duration` wraps to t=0. Preserve the exact final authored
+        // destination for a clip that ends at home as well as one with a reset.
+        const final = waypoints.at(-1);
+        const last = path.at(-1);
+        if (!last || Math.hypot(final.x - last.x, final.z - last.z) > 0.002) {
+            path.push({ ...final });
+        }
+    }
+    const final = waypoints.at(-1);
+    const hasLoopReset = timeline.duration - motionEnd > EPSILON && Math.hypot(final.x, final.z) > EPSILON;
+    if (hasLoopReset) {
+        resetPath.push(...sampleRootPath(timeline, motionEnd, timeline.duration, 8, 96));
+        // Keep the semantic boundary exact: solid reaches the final authored
+        // waypoint; dashed begins there and ends at the load origin.
+        resetPath[0] = { ...final };
+        resetPath[resetPath.length - 1] = { x: 0, z: 0 };
+    }
+    const maxCoordinate = Math.max(0, ...[...waypoints, ...path, ...resetPath]
+        .map((point) => Math.max(Math.abs(point.x), Math.abs(point.z))));
+    // Preserve the existing 12m floor for normal movements, expanding in whole
+    // metres only when choreography would otherwise leave the grid.
+    const gridRadiusMetres = Math.max(6, Math.ceil(maxCoordinate + 1.5));
+    return {
+        gridStepMetres: FLOOR_GRID_STEP_METRES,
+        scaleBarMetres: FLOOR_SCALE_BAR_METRES,
+        hasTravel,
+        hasLoopReset,
+        waypoints,
+        path,
+        resetPath,
+        gridRadiusMetres,
+    };
+}
+function sampleRootPath(timeline, start, end, minimumSamples, maximumSamples) {
+    if (end - start <= EPSILON)
+        return [];
+    // 16 Hz is smooth at floor scale; cap density for unusually long clips.
+    const samples = THREE.MathUtils.clamp(Math.ceil((end - start) * 16), minimumSamples, maximumSamples);
+    const path = [];
+    const noBones = new Map();
+    for (let i = 0; i <= samples; i++) {
+        const time = start + (end - start) * (i / samples);
+        const point = timeline.sample(time, noBones).rootOffset;
+        const previous = path.at(-1);
+        if (!previous || Math.hypot(point.x - previous.x, point.z - previous.z) > 0.002) {
+            path.push({ ...point });
+        }
+    }
+    return path;
+}
+/** Build disposable Three.js geometry for one loaded movement. */
+export function createFloorGuide(data) {
+    const group = new THREE.Group();
+    group.name = "posecode-floor-guide";
+    const size = data.gridRadiusMetres * 2;
+    const minorGrid = new THREE.GridHelper(size, Math.round(size / data.gridStepMetres), 0x343b45, 0x20262e);
+    minorGrid.name = "floor-grid-half-metre";
+    configureLineMaterial(minorGrid.material, 0.42);
+    minorGrid.position.y = 0.001;
+    group.add(minorGrid);
+    const majorGrid = new THREE.GridHelper(size, Math.round(size), 0x46515e, 0x303844);
+    majorGrid.name = "floor-grid-metre";
+    configureLineMaterial(majorGrid.material, 0.34);
+    majorGrid.position.y = 0.002;
+    group.add(majorGrid);
+    const originMaterial = new THREE.MeshBasicMaterial({
+        color: 0xf2f1eb,
+        transparent: true,
+        opacity: 0.9,
+        depthWrite: false,
+        side: THREE.DoubleSide,
+    });
+    const origin = new THREE.Mesh(new THREE.RingGeometry(0.055, 0.078, 32), originMaterial);
+    origin.name = "floor-origin";
+    origin.rotation.x = -Math.PI / 2;
+    origin.position.y = GUIDE_Y;
+    origin.renderOrder = 2;
+    group.add(origin);
+    const rulerMaterial = new THREE.LineBasicMaterial({
+        color: 0xf2f1eb,
+        transparent: true,
+        opacity: 0.78,
+        depthWrite: false,
+    });
+    const rulerZ = -0.38;
+    const rulerHalf = data.scaleBarMetres / 2;
+    const tick = 0.055;
+    const ruler = new THREE.LineSegments(new THREE.BufferGeometry().setFromPoints([
+        new THREE.Vector3(-rulerHalf, GUIDE_Y, rulerZ),
+        new THREE.Vector3(rulerHalf, GUIDE_Y, rulerZ),
+        new THREE.Vector3(-rulerHalf, GUIDE_Y, rulerZ - tick),
+        new THREE.Vector3(-rulerHalf, GUIDE_Y, rulerZ + tick),
+        new THREE.Vector3(rulerHalf, GUIDE_Y, rulerZ - tick),
+        new THREE.Vector3(rulerHalf, GUIDE_Y, rulerZ + tick),
+    ]), rulerMaterial);
+    ruler.name = "floor-scale-one-metre";
+    ruler.renderOrder = 2;
+    group.add(ruler);
+    if (data.hasTravel && data.path.length > 1) {
+        const curve = new THREE.CurvePath();
+        for (let i = 1; i < data.path.length; i++) {
+            const from = data.path[i - 1];
+            const to = data.path[i];
+            curve.add(new THREE.LineCurve3(new THREE.Vector3(from.x, GUIDE_Y, from.z), new THREE.Vector3(to.x, GUIDE_Y, to.z)));
+        }
+        const path = new THREE.Mesh(new THREE.TubeGeometry(curve, Math.max(12, data.path.length * 2), 0.009, 5, false), new THREE.MeshBasicMaterial({
+            color: 0xd4ff3f,
+            transparent: true,
+            opacity: 0.62,
+            depthWrite: false,
+        }));
+        path.name = "floor-travel-path";
+        path.renderOrder = 2;
+        group.add(path);
+        const waypointMaterial = new THREE.MeshBasicMaterial({
+            color: 0xd4ff3f,
+            transparent: true,
+            opacity: 0.8,
+            depthWrite: false,
+            side: THREE.DoubleSide,
+        });
+        for (const [index, point] of data.waypoints.entries()) {
+            // The white origin marker already marks both departure and return-home.
+            if (index === 0 || Math.hypot(point.x, point.z) <= EPSILON)
+                continue;
+            const marker = new THREE.Mesh(new THREE.RingGeometry(0.025, 0.043, 20), waypointMaterial);
+            marker.name = `floor-travel-waypoint-${index}`;
+            marker.rotation.x = -Math.PI / 2;
+            marker.position.set(point.x, GUIDE_Y + 0.002, point.z);
+            marker.renderOrder = 3;
+            group.add(marker);
+        }
+    }
+    if (data.hasLoopReset && data.resetPath.length > 1) {
+        const reset = new THREE.Line(new THREE.BufferGeometry().setFromPoints(data.resetPath.map((point) => new THREE.Vector3(point.x, GUIDE_Y + 0.003, point.z))), new THREE.LineDashedMaterial({
+            color: 0xb8c2cc,
+            dashSize: 0.09,
+            gapSize: 0.055,
+            transparent: true,
+            opacity: 0.68,
+            depthWrite: false,
+        }));
+        reset.name = "floor-loop-reset-path";
+        reset.renderOrder = 2;
+        reset.computeLineDistances();
+        group.add(reset);
+    }
+    const currentMaterial = new THREE.MeshBasicMaterial({
+        color: 0xd4ff3f,
+        transparent: true,
+        opacity: 0.96,
+        depthWrite: false,
+        side: THREE.DoubleSide,
+    });
+    const current = new THREE.Mesh(new THREE.RingGeometry(0.033, 0.052, 24), currentMaterial);
+    current.name = "floor-current-position";
+    current.rotation.x = -Math.PI / 2;
+    current.position.y = GUIDE_Y + 0.004;
+    current.renderOrder = 4;
+    group.add(current);
+    // The mannequin's anatomical front is local +Z. Keep this arrow attached to
+    // the root trajectory so turns are readable even when the camera orbits.
+    const facing = new THREE.ArrowHelper(new THREE.Vector3(0, 0, 1), new THREE.Vector3(0, GUIDE_Y + 0.006, 0), 0.46, 0xd4ff3f, 0.12, 0.075);
+    facing.name = "floor-facing-direction";
+    facing.line.renderOrder = 4;
+    facing.cone.renderOrder = 4;
+    configureLineMaterial(facing.line.material, 0.95);
+    const coneMaterial = facing.cone.material;
+    if (Array.isArray(coneMaterial)) {
+        for (const material of coneMaterial)
+            material.depthWrite = false;
+    }
+    else {
+        coneMaterial.depthWrite = false;
+    }
+    group.add(facing);
+    return {
+        group,
+        getInfo(visible) {
+            return {
+                visible,
+                gridStepMetres: data.gridStepMetres,
+                scaleBarMetres: data.scaleBarMetres,
+                hasTravel: data.hasTravel,
+                hasLoopReset: data.hasLoopReset,
+                waypoints: data.waypoints.map((point) => ({ ...point })),
+            };
+        },
+        setOrigin(x, z) {
+            group.position.x = x;
+            group.position.z = z;
+        },
+        updateRoot(offset, yawRadians) {
+            current.position.x = offset.x;
+            current.position.z = offset.z;
+            facing.position.x = offset.x;
+            facing.position.z = offset.z;
+            facing.setDirection(new THREE.Vector3(Math.sin(yawRadians), 0, Math.cos(yawRadians)).normalize());
+        },
+        dispose() {
+            group.traverse((object) => {
+                const drawable = object;
+                drawable.geometry?.dispose();
+                const material = drawable.material;
+                if (Array.isArray(material))
+                    material.forEach((item) => item.dispose());
+                else
+                    material?.dispose();
+            });
+        },
+    };
+}
+function configureLineMaterial(material, opacity) {
+    const materials = Array.isArray(material) ? material : [material];
+    for (const item of materials) {
+        item.transparent = true;
+        item.opacity = opacity;
+        item.depthWrite = false;
+    }
+}
+//# sourceMappingURL=floor-guide.js.map

dist/floor-guide.js.map

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dist/contacts.d.ts

@@ -5,3 +5,4 @@ /** Semantic contact-orientation helpers shared by viewer and eval. */
 import type { Mannequin } from "./mannequin.js";
-export type HandSide = "left" | "right";
+export type BodySide = "left" | "right";
+export type HandSide = BodySide;
 export type HandContactKind = "palm" | "fist";
@@ -46,2 +47,29 @@ /**
 export declare function floorContactHeight(m: Mannequin, effectorName: string): number | null;
+export interface FootContactMeasurement {
+    side: BodySide;
+    /** Lowest heel-edge point of the visible sole above the world floor (metres). */
+    heelHeight: number;
+    /** Lowest toe-edge point of the visible sole above the world floor (metres). */
+    toeHeight: number;
+    /** World-space centre of the sampled sole footprint. */
+    center: readonly [x: number, y: number, z: number];
+    /** World-space midpoint of the heel edge. */
+    heelCenter: readonly [x: number, y: number, z: number];
+    /** World-space midpoint of the toe/ball edge used as a tiptoe contact anchor. */
+    toeCenter: readonly [x: number, y: number, z: number];
+    /** Angle between the visible sole normal and world-up; 0 means flat. */
+    soleAngleDeg: number;
+    /** Current local ankle plantarflexion (+X) in degrees. */
+    plantarflexDeg: number;
+    /** True when the local ankle has reached its configured dorsiflexion bound. */
+    atDorsiflexionLimit: boolean;
+    /** False when explicit plantarflexion opts the foot into intentional tiptoe contact. */
+    plantigrade: boolean;
+}
+/**
+ * Measure the real procedural sole at its heel and toe edges. Unlike ankle-bone
+ * height, these samples distinguish a flat planted foot from a foot balanced on
+ * its ball while the ankle origin remains close to the floor.
+ */
+export declare function measureFootContact(m: Mannequin, side: BodySide): FootContactMeasurement | null;
 /** Foot mesh-bottom height at/below which the sole is fully leveled (m). */
@@ -48,0 +76,0 @@ export declare const PLANT_FADE = 0.06;

dist/contacts.js

@@ -319,2 +319,52 @@ /** Semantic contact-orientation helpers shared by viewer and eval. */
 }
+/**
+ * Measure the real procedural sole at its heel and toe edges. Unlike ankle-bone
+ * height, these samples distinguish a flat planted foot from a foot balanced on
+ * its ball while the ankle origin remains close to the floor.
+ */
+export function measureFootContact(m, side) {
+    const ankle = m.bones.get(`ankle_${side}`);
+    const sole = m.contactSurfaces[`foot_${side}`]?.[0];
+    const geometry = sole?.geometry;
+    if (!ankle || !sole || !geometry)
+        return null;
+    if (!geometry.boundingBox)
+        geometry.computeBoundingBox();
+    const bounds = geometry.boundingBox;
+    if (!bounds)
+        return null;
+    m.root.updateMatrixWorld(true);
+    const points = (z) => [bounds.min.x, bounds.max.x].map((x) => sole.localToWorld(new THREE.Vector3(x, bounds.min.y, z)));
+    const heel = points(bounds.min.z);
+    const toe = points(bounds.max.z);
+    const midpoint = (edge) => edge.reduce((sum, point) => sum.add(point), new THREE.Vector3())
+        .multiplyScalar(1 / edge.length);
+    const heelCenter = midpoint(heel);
+    const toeCenter = midpoint(toe);
+    const footprint = [...heel, ...toe];
+    const center = new THREE.Vector3();
+    for (const point of footprint)
+        center.add(point);
+    center.multiplyScalar(1 / footprint.length);
+    const world = sole.getWorldQuaternion(new THREE.Quaternion());
+    const normal = new THREE.Vector3(0, 1, 0).applyQuaternion(world).normalize();
+    const soleAngleDeg = Math.acos(THREE.MathUtils.clamp(normal.dot(new THREE.Vector3(0, 1, 0)), -1, 1)) / DEG;
+    TMP_EULER.setFromQuaternion(ankle.quaternion, "XYZ");
+    const plantarflexDeg = TMP_EULER.x / DEG;
+    const ankleRom = eulerRomFor(`ankle_${side}`);
+    return {
+        side,
+        heelHeight: Math.min(...heel.map((point) => point.y)),
+        toeHeight: Math.min(...toe.map((point) => point.y)),
+        center: [center.x, center.y, center.z],
+        heelCenter: [heelCenter.x, heelCenter.y, heelCenter.z],
+        toeCenter: [toeCenter.x, toeCenter.y, toeCenter.z],
+        soleAngleDeg,
+        plantarflexDeg,
+        atDorsiflexionLimit: ankleRom
+            ? Math.abs(TMP_EULER.x - ankleRom.x.min * DEG) <= 0.25 * DEG
+            : false,
+        plantigrade: TMP_EULER.x <= PLANTARFLEX_SKIP + 1e-6,
+    };
+}
 function jointSurfaceDrop(m, boneId, surfaces, fallback) {
@@ -321,0 +371,0 @@ const bone = m.bones.get(boneId);

dist/contacts.js.map

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dist/depenetrate.d.ts

@@ -27,2 +27,12 @@ /**
 import type { Mannequin } from "./mannequin.js";
+export type SelfCollisionKind = "arm-body" | "lower-leg-other-leg";
+/** Residual overlap remaining after the bounded self-collision pass. */
+export interface SelfCollisionResidual {
+    /** Stable diagnostic identity suitable for UI warnings and evaluation output. */
+    id: string;
+    kind: SelfCollisionKind;
+    side: "left" | "right";
+    /** Deepest sampled overlap in metres; 0 means no sampled penetration. */
+    depth: number;
+}
 /**
@@ -49,1 +59,7 @@ * Rotate `joint` (world-space axis/angle) and clamp it back into `limits`.
 export declare function depenetrate(m: Mannequin): void;
+/**
+ * Re-measure the exact capsule/sample pairs handled by `depenetrate`. This is a
+ * residual diagnostic, not a claim of comprehensive physics: a positive depth
+ * means the bounded pass left (or a later contact solve reintroduced) overlap.
+ */
+export declare function measureSelfCollisions(m: Mannequin): SelfCollisionResidual[];

dist/depenetrate.js

@@ -209,2 +209,66 @@ /**
 }
+/**
+ * Re-measure the exact capsule/sample pairs handled by `depenetrate`. This is a
+ * residual diagnostic, not a claim of comprehensive physics: a positive depth
+ * means the bounded pass left (or a later contact solve reintroduced) overlap.
+ */
+export function measureSelfCollisions(m) {
+    const R = m.collision;
+    m.root.updateMatrixWorld(true);
+    const samples = (aId, bId, tipOverhang) => {
+        const a = wp(m, aId);
+        const b = wp(m, bId);
+        const dir = b.clone().sub(a);
+        const points = [0.15, 0.45, 0.75, 1.0].map((t) => a.clone().addScaledVector(dir, t));
+        if (tipOverhang > 0)
+            points.push(b.clone().addScaledVector(dir.clone().normalize(), tipOverhang));
+        return points;
+    };
+    const obstacles = () => {
+        const pelvis = wp(m, "pelvis");
+        const neck = wp(m, "neck");
+        const head = wp(m, "head");
+        const torso = {
+            a: pelvis.clone().addScaledVector(neck.clone().sub(pelvis).normalize(), -0.08),
+            b: neck,
+            r: R.torso,
+        };
+        const headCap = {
+            a: head.clone().addScaledVector(head.clone().sub(neck).normalize(), 0.05),
+            b: head,
+            r: R.head,
+        };
+        const leg = (side) => [
+            { a: wp(m, `hip_${side}`), b: wp(m, `knee_${side}`), r: R.thigh },
+            { a: wp(m, `knee_${side}`), b: wp(m, `ankle_${side}`), r: R.shin },
+        ];
+        return { torsoHead: [torso, headCap], leg: { left: leg("left"), right: leg("right") } };
+    };
+    const residuals = [];
+    for (const side of ["left", "right"]) {
+        const current = obstacles();
+        let armHit = null;
+        for (const point of samples(`elbow_${side}`, `wrist_${side}`, 0.09)) {
+            armHit = deepestHit(point, R.arm, [...current.torsoHead, ...current.leg.left, ...current.leg.right], armHit);
+        }
+        residuals.push({
+            id: `self-collision:arm_${side}:body`,
+            kind: "arm-body",
+            side,
+            depth: armHit?.depth ?? 0,
+        });
+        const other = side === "left" ? "right" : "left";
+        let legHit = null;
+        for (const point of samples(`knee_${side}`, `ankle_${side}`, 0.06)) {
+            legHit = deepestHit(point, R.shin, current.leg[other], legHit);
+        }
+        residuals.push({
+            id: `self-collision:lower_leg_${side}:leg_${other}`,
+            kind: "lower-leg-other-leg",
+            side,
+            depth: legHit?.depth ?? 0,
+        });
+    }
+    return residuals;
+}
 //# sourceMappingURL=depenetrate.js.map

dist/depenetrate.js.map

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

@@ -42,2 +42,6 @@ /**
 export declare function groundFigure(m: Mannequin): void;
+/** A foot whose visible surface is within this height counts as planted. */
+export declare const GROUND_LOCK_PLANTED_MAX_Y = 0.05;
+/** Shared swing-foot predicate for ground-lock and its diagnostics. */
+export declare function isGroundLockFootPlanted(surfaceMinY: number): boolean;
 /**
@@ -44,0 +48,0 @@ * Apply ground-lock for the phase's active effector groups (see module doc).

dist/groundlock.js

@@ -79,4 +79,8 @@ /**
 }
-/** A foot whose mesh bottom is within this height counts as planted. */
-const PLANTED_MAX_Y = 0.05;
+/** A foot whose visible surface is within this height counts as planted. */
+export const GROUND_LOCK_PLANTED_MAX_Y = 0.05;
+/** Shared swing-foot predicate for ground-lock and its diagnostics. */
+export function isGroundLockFootPlanted(surfaceMinY) {
+    return Number.isFinite(surfaceMinY) && surfaceMinY <= GROUND_LOCK_PLANTED_MAX_Y;
+}
 /**
@@ -229,3 +233,3 @@ * Apply ground-lock for the phase's active effector groups (see module doc).
         const box = new THREE.Box3().setFromObject(node);
-        if (!Number.isFinite(box.min.y) || box.min.y > PLANTED_MAX_Y)
+        if (!isGroundLockFootPlanted(box.min.y))
             continue; // swing foot
@@ -232,0 +236,0 @@ node.getWorldPosition(p);

dist/groundlock.js.map

@@ -1,1 +0,1 @@
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+{"version":3,"file":"groundlock.js","sourceRoot":"","sources":["../src/groundlock.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;GA+BG;AAEH,OAAO,KAAK,KAAK,MAAM,OAAO,CAAC;AAE/B,OAAO,EAAE,sBAAsB,EAAE,MAAM,eAAe,CAAC;AAEvD,MAAM,MAAM,GAAG,IAAI,KAAK,CAAC,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAE1C;;;;;GAKG;AACH,MAAM,UAAU,YAAY,CAAC,CAAY;IACvC,CAAC,CAAC,IAAI,CAAC,iBAAiB,CAAC,IAAI,CAAC,CAAC;IAC/B,MAAM,GAAG,GAAG,IAAI,KAAK,CAAC,IAAI,EAAE,CAAC,aAAa,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC;IACnD,IAAI,MAAM,CAAC,QAAQ,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC;QAC/B,CAAC,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC,IAAI,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC;QAC/B,CAAC,CAAC,IAAI,CAAC,iBAAiB,CAAC,IAAI,CAAC,CAAC;IACjC,CAAC;AACH,CAAC;AAED,oEAAoE;AACpE,SAAS,iBAAiB,CAAC,CAAY,EAAE,MAAgB;IACvD,MAAM,GAAG,GAAG,IAAI,GAAG,EAAU,CAAC;IAC9B,KAAK,MAAM,KAAK,IAAI,MAAM,EAAE,CAAC;QAC3B,KAAK,MAAM,EAAE,IAAI,CAAC,CAAC,SAAS,CAAC,KAAK,CAAC,IAAI,EAAE;YAAE,GAAG,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC;IACzD,CAAC;IACD,OAAO,CAAC,GAAG,GAAG,CAAC,CAAC;AAClB,CAAC;AAED,yDAAyD;AACzD,SAAS,QAAQ,CAAC,CAAY,EAAE,GAAa;IAC3C,MAAM,CAAC,GAAG,IAAI,KAAK,CAAC,OAAO,EAAE,CAAC;IAC9B,IAAI,CAAC,GAAG,CAAC,CAAC;IACV,KAAK,MAAM,EAAE,IAAI,GAAG,EAAE,CAAC;QACrB,MAAM,IAAI,GAAG,CAAC,CAAC,KAAK,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC;QAC7B,IAAI,CAAC,IAAI;YAAE,SAAS;QACpB,CAAC,CAAC,GAAG,CAAC,IAAI,CAAC,gBAAgB,CAAC,IAAI,KAAK,CAAC,OAAO,EAAE,CAAC,CAAC,CAAC;QAClD,CAAC,EAAE,CAAC;IACN,CAAC;IACD,OAAO,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,cAAc,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;AAC7C,CAAC;AAED,gFAAgF;AAChF,SAAS,oBAAoB,CAAC,CAAY,EAAE,KAAoB,EAAE,KAAa;IAC7E,MAAM,CAAC,GAAG,IAAI,KAAK,CAAC,UAAU,EAAE,CAAC,gBAAgB,CAAC,MAAM,EAAE,KAAK,CAAC,CAAC;IACjE,CAAC,CAAC,IAAI,CAAC,QAAQ,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC,eAAe,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;IACzD,CAAC,CAAC,IAAI,CAAC,UAAU,CAAC,WAAW,CAAC,CAAC,CAAC,CAAC;IACjC,CAAC,CAAC,IAAI,CAAC,iBAAiB,CAAC,IAAI,CAAC,CAAC;AACjC,CAAC;AAED,4EAA4E;AAC5E,MAAM,CAAC,MAAM,yBAAyB,GAAG,IAAI,CAAC;AAE9C,uEAAuE;AACvE,MAAM,UAAU,uBAAuB,CAAC,WAAmB;IACzD,OAAO,MAAM,CAAC,QAAQ,CAAC,WAAW,CAAC,IAAI,WAAW,IAAI,yBAAyB,CAAC;AAClF,CAAC;AAED;;;;GAIG;AACH,MAAM,UAAU,eAAe,CAC7B,CAAY,EACZ,MAAgB,EAChB,OAA4C;IAE5C,IAAI,MAAM,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO;IAChC,MAAM,GAAG,GAAG,iBAAiB,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC;IACzC,MAAM,KAAK,GAAG,GAAG,CAAC,MAAM,CAAC,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,CAAC,UAAU,CAAC,OAAO,CAAC,CAAC,CAAC;IACzD,MAAM,QAAQ,GAAG,GAAG,CAAC,MAAM,CAAC,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,CAAC,UAAU,CAAC,OAAO,CAAC,CAAC,CAAC;IAC5D,MAAM,IAAI,GAAG,GAAG,CAAC,MAAM,CAAC,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,CAAC,UAAU,CAAC,OAAO,CAAC,CAAC,CAAC;IACxD,MAAM,IAAI,GAAG,GAAG,CAAC,MAAM,CAAC,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,KAAK,QAAQ,IAAI,EAAE,KAAK,OAAO,IAAI,EAAE,KAAK,OAAO,CAAC,CAAC;IACrF,MAAM,aAAa,GAAG,QAAQ,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,KAAK,CAAC;IAE7D,IAAI,IAAI,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;QACpB,oBAAoB,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC;QAC9B,OAAO;IACT,CAAC;IAED,IAAI,aAAa,CAAC,MAAM,GAAG,CAAC,IAAI,IAAI,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;QAChD,2EAA2E;QAC3E,yEAAyE;QACzE,yEAAyE;QACzE,yEAAyE;QACzE,0EAA0E;QAC1E,wEAAwE;QACxE,0EAA0E;QAC1E,wDAAwD;QACxD,eAAe,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC;QACzB,MAAM,KAAK,GAAG,QAAQ,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC;QAChC,yEAAyE;QACzE,sEAAsE;QACtE,0EAA0E;QAC1E,MAAM,iBAAiB,GAAG,GAAW,EAAE;YACrC,IAAI,GAAG,GAAG,CAAC,CAAC;YACZ,IAAI,KAAK,GAAG,CAAC,CAAC;YACd,KAAK,MAAM,EAAE,IAAI,aAAa,EAAE,CAAC;gBAC/B,MAAM,IAAI,GAAG,CAAC,CAAC,KAAK,CAAC,GAAG,CAAC,EAAE,CAAC,CAAC;gBAC7B,IAAI,CAAC,IAAI;oBAAE,SAAS;gBACpB,MAAM,QAAQ,GAAG,EAAE,CAAC,OAAO,CAAC,QAAQ,EAAE,OAAO,CAAC,CAAC;gBAC/C,MAAM,OAAO,GAAG,sBAAsB,CAAC,CAAC,EAAE,QAAQ,CAAC,EAAE,CAAC,IAAI,CAAC,CAAC;gBAC5D,GAAG,IAAI,IAAI,CAAC,gBAAgB,CAAC,IAAI,KAAK,CAAC,OAAO,EAAE,CAAC,CAAC,CAAC,GAAG,OAAO,CAAC;gBAC9D,KAAK,EAAE,CAAC;YACV,CAAC;YACD,OAAO,KAAK,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,GAAG,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC;QACrC,CAAC,CAAC;QACF,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC;YAC3B,MAAM,EAAE,GAAG,iBAAiB,EAAE,CAAC;YAC/B,IAAI,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,KAAK;gBAAE,MAAM;YAChC,oBAAoB,CAAC,CAAC,EAAE,KAAK,EAAE,IAAI,CAAC,CAAC;YACrC,MAAM,EAAE,GAAG,iBAAiB,EAAE,CAAC;YAC/B,oBAAoB,CAAC,CAAC,EAAE,KAAK,EAAE,CAAC,IAAI,CAAC,CAAC;YACtC,MAAM,KAAK,GAAG,CAAC,EAAE,GAAG,EAAE,CAAC,GAAG,IAAI,CAAC;YAC/B,IAAI,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,IAAI;gBAAE,MAAM;YAClC,oBAAoB,CAAC,CAAC,EAAE,KAAK,EAAE,KAAK,CAAC,SAAS,CAAC,KAAK,CAAC,CAAC,EAAE,GAAG,KAAK,EAAE,CAAC,IAAI,EAAE,IAAI,CAAC,CAAC,CAAC;QAClF,CAAC;QACD,sEAAsE;QACtE,wEAAwE;QACxE,0EAA0E;QAC1E,wEAAwE;QACxE,mEAAmE;QACnE,CAAC,CAAC,IAAI,CAAC,iBAAiB,CAAC,IAAI,CAAC,CAAC;QAC/B,MAAM,GAAG,GAAG,IAAI,KAAK,CAAC,IAAI,EAAE,CAAC,aAAa,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC;QACnD,IAAI,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC;YAClB,CAAC,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC,IAAI,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC;YAC/B,CAAC,CAAC,IAAI,CAAC,iBAAiB,CAAC,IAAI,CAAC,CAAC;QACjC,CAAC;QACD,OAAO;IACT,CAAC;IAED,IAAI,IAAI,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;QACpB,wEAAwE;QACxE,kEAAkE;QAClE,uEAAuE;QACvE,eAAe,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC;QACzB,IAAI,OAAO;YAAE,qBAAqB,CAAC,CAAC,EAAE,IAAI,EAAE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dist/index.d.ts

@@ -14,2 +14,4 @@ /**
 import { type PhaseSegment } from "./timeline.js";
+import { type FloorGuideInfo } from "./floor-guide.js";
+import { type ConstraintDiagnostic } from "./diagnostics.js";
 import { type ReachResidual } from "./reach.js";
@@ -20,2 +22,3 @@ export interface ViewerPhaseInfo {
     phaseName: string;
+    /** Display-only coaching text from the phase; it never drives the animation. */
     cue?: string;
@@ -44,4 +47,8 @@ }
     getTimeline(): TimelineInfo | null;
+    /** Floor scale/orientation and authored root-path metadata for the loaded clip. */
+    getFloorGuideInfo(): FloorGuideInfo | null;
     /** Diagnostics for every active reach, including missing/unreachable targets. */
     getReachResiduals(): readonly ReachResidual[];
+    /** Procedural-driver grounding/collision outcomes, before optional skin/mocap reconciliation. */
+    getConstraintDiagnostics(): readonly ConstraintDiagnostic[];
     /** Precise visible world bounds; intended for audits and deterministic export. */
@@ -67,2 +74,7 @@ getVisibleBounds(): THREE.Box3;
     /**
+     * Show the metric floor, load origin, live facing arrow, and authored travel
+     * path. Defaults to true; set false for a completely clean embed.
+     */
+    floorGuide?: boolean;
+    /**
      * URL of a rigged human character GLB (Mixamo bone naming) to render instead
@@ -97,5 +109,6 @@ * of the procedural figure. Loaded asynchronously; until it resolves — and if
 export { buildMannequin } from "./mannequin.js";
-export { applyGroundLock, groundFigure } from "./groundlock.js";
+export { applyGroundLock, groundFigure, GROUND_LOCK_PLANTED_MAX_Y, isGroundLockFootPlanted, } from "./groundlock.js";
 export type { Mannequin, Proportions, CollisionRadii } from "./mannequin.js";
 export { buildTimeline } from "./timeline.js";
+export { FLOOR_GRID_STEP_METRES, FLOOR_SCALE_BAR_METRES, buildFloorGuideData, createFloorGuide, syncFloorGuideToSolvedRoot, type FloorGuideData, type FloorGuideInfo, type FloorGuidePoint, type FloorGuideScene, } from "./floor-guide.js";
 export { solveCCD, type IkChain, type JointLimits } from "./ik.js";
@@ -107,4 +120,5 @@ export { EFFECTOR_BONE, REACH_TOLERANCE, effectorBoneId, reachChain, solveReachToPoint, missingReachTarget, type ReachResidual, type ReachResidualReason, } from "./reach.js";
 export { loadClipSource, retargetMocapClip, createClipLayer, type ClipLayer, type ClipSource, } from "./clips.js";
-export { depenetrate } from "./depenetrate.js";
-export { PALM_LOCAL_NORMAL, FIST_LOCAL_NORMAL, alignFloorContacts, alignFloorPalms, prepareGripFrames, alignGripFrames, isDipBarGrip, floorTargetForEffector, floorContactHeight, enforceContactRom, formFists, levelPlantedFeet, wrapGrip, } from "./contacts.js";
+export { depenetrate, measureSelfCollisions, type SelfCollisionKind, type SelfCollisionResidual, } from "./depenetrate.js";
+export { FOOT_CONTACT_HEIGHT_MAX, PLANTIGRADE_SOLE_ANGLE_MAX, SELF_COLLISION_DEPTH_MAX, measureConstraintDiagnostics, type ConstraintDiagnostic, type ConstraintDiagnosticKind, type DiagnosticPin, } from "./diagnostics.js";
+export { PALM_LOCAL_NORMAL, FIST_LOCAL_NORMAL, PLANT_FADE, PLANTARFLEX_SKIP, alignFloorContacts, alignFloorPalms, prepareGripFrames, alignGripFrames, isDipBarGrip, floorTargetForEffector, floorContactHeight, measureFootContact, enforceContactRom, formFists, levelPlantedFeet, relaxHands, swingArms, aimHead, wrapGrip, type BodySide, type FootContactMeasurement, } from "./contacts.js";
 export type { PhaseSegment } from "./timeline.js";

dist/index.js

@@ -17,2 +17,3 @@ /**
 import { buildTimeline, } from "./timeline.js";
+import { buildFloorGuideData, createFloorGuide, syncFloorGuideToSolvedRoot, } from "./floor-guide.js";
 import { buildProps } from "./props.js";
@@ -22,2 +23,3 @@ import { loadCharacter } from "./character.js";
 import { depenetrate } from "./depenetrate.js";
+import { measureConstraintDiagnostics, } from "./diagnostics.js";
 import { resolvePropContacts, propContactExemptions } from "./propcontact.js";
@@ -28,2 +30,4 @@ import { alignFloorContacts, alignGripFrames, enforceContactRom, floorContactHeight, floorTargetForEffector, formFists, isDipBarGrip, levelPlantedFeet, prepareGripFrames, wrapGrip, relaxHands, swingArms, aimHead, } from "./contacts.js";
 const DEG = Math.PI / 180;
+/** Live diagnostics match the playground warning refresh cadence (~5Hz). */
+const CONSTRAINT_DIAGNOSTIC_INTERVAL_MS = 200;
 export function createViewer(canvas, opts = {}) {
@@ -85,7 +89,2 @@ const renderer = new THREE.WebGLRenderer({ canvas, antialias: true });
     scene.add(ground);
-    const grid = new THREE.GridHelper(12, 24, 0x2b323d, 0x1b2027);
-    grid.material.transparent = true;
-    grid.material.opacity = 0.5;
-    grid.position.y = 0.001;
-    scene.add(grid);
     let mannequin = buildMannequin();
@@ -192,2 +191,5 @@ enableShadows(mannequin.root);
     let timeline = null;
+    const floorGuideEnabled = opts.floorGuide ?? true;
+    let floorGuideData = null;
+    let floorGuide = null;
     // Finger bones the loaded document explicitly poses (make-a-fist, finger-spell,
@@ -206,2 +208,5 @@ // hand-wave): the L4.1 resting-hand curl leaves these alone.
     let reachResiduals = [];
+    let constraintDiagnostics = [];
+    let constraintDiagnosticsDirty = true;
+    let lastConstraintDiagnosticsAt = -Infinity;
     let reachResidualTargets = [];
@@ -233,2 +238,14 @@ let groundTargets = new Map();
     let precomputingAnchors = false;
+    function refreshConstraintDiagnostics(info) {
+        if (precomputingAnchors)
+            return;
+        const now = performance.now();
+        if (!constraintDiagnosticsDirty) {
+            if (!playing || now - lastConstraintDiagnosticsAt < CONSTRAINT_DIAGNOSTIC_INTERVAL_MS)
+                return;
+        }
+        constraintDiagnostics = measureConstraintDiagnostics(mannequin, info.groundLock, info.pins);
+        constraintDiagnosticsDirty = false;
+        lastConstraintDiagnosticsAt = now;
+    }
     // Camera easing targets.
@@ -654,2 +671,9 @@ const desiredTarget = new THREE.Vector3(0, 0.9, 0);
             refreshReachResiduals();
+            refreshConstraintDiagnostics(info);
+            // Root/contact solvers can translate X/Z beyond the authored travel
+            // offset (pins, grips, and solid-prop correction). Keep the live floor
+            // marker on the final rendered root rather than the pre-solve target.
+            if (!precomputingAnchors && floorGuide) {
+                syncFloorGuideToSolvedRoot(floorGuide, mannequin.root.position, baseRootPos, info.rootYaw);
+            }
             if (!precomputingAnchors && info.phaseIndex !== lastPhaseIndex) {
@@ -720,2 +744,3 @@ lastPhaseIndex = info.phaseIndex;
                     playing = false;
+                    constraintDiagnosticsDirty = true;
                 }
@@ -733,5 +758,18 @@ }
             timeline = buildTimeline(ir);
+            floorGuideData = buildFloorGuideData(ir, timeline);
+            if (floorGuide) {
+                scene.remove(floorGuide.group);
+                floorGuide.dispose();
+                floorGuide = null;
+            }
+            if (floorGuideEnabled) {
+                floorGuide = createFloorGuide(floorGuideData);
+                scene.add(floorGuide.group);
+            }
             time = 0;
             lastPhaseIndex = -2;
             reachResiduals = [];
+            constraintDiagnostics = [];
+            constraintDiagnosticsDirty = true;
+            lastConstraintDiagnosticsAt = -Infinity;
             reachResidualTargets = [];
@@ -781,2 +819,4 @@ authoredFingers = new Set(timeline.bonesUsed.filter(isFingerId));
             baseRootQuat.copy(mannequin.root.quaternion);
+            floorGuide?.setOrigin(baseRootPos.x, baseRootPos.z);
+            floorGuide?.updateRoot({ x: 0, z: 0 }, 0);
             // Precompute world positions of all effectors at start of each segment
@@ -885,2 +925,5 @@ segmentStartEffectors.length = 0;
             }
+            // Anchor precomputation samples every phase endpoint; restore the visual
+            // root marker alongside the figure before the first visible frame.
+            floorGuide?.updateRoot({ x: 0, z: 0 }, 0);
             requestClip(ir);
@@ -891,2 +934,3 @@ frameCamera();
             playing = true;
+            constraintDiagnosticsDirty = true;
             lastT = performance.now();
@@ -896,5 +940,7 @@ },
             playing = false;
+            constraintDiagnosticsDirty = true;
         },
         toggle() {
             playing = !playing;
+            constraintDiagnosticsDirty = true;
             lastT = performance.now();
@@ -907,2 +953,4 @@ return playing;
             time = THREE.MathUtils.clamp(seconds, 0, timeline.duration);
+            constraintDiagnostics = [];
+            constraintDiagnosticsDirty = true;
         },
@@ -939,5 +987,22 @@ setSpeed(multiplier) {
         },
+        getFloorGuideInfo() {
+            if (!floorGuideData)
+                return null;
+            return floorGuide
+                ? floorGuide.getInfo(true)
+                : {
+                    visible: false,
+                    gridStepMetres: floorGuideData.gridStepMetres,
+                    scaleBarMetres: floorGuideData.scaleBarMetres,
+                    hasTravel: floorGuideData.hasTravel,
+                    hasLoopReset: floorGuideData.hasLoopReset,
+                    waypoints: floorGuideData.waypoints.map((point) => ({ ...point })),
+                };
+        },
         getReachResiduals() {
             return reachResiduals.map((residual) => ({ ...residual }));
         },
+        getConstraintDiagnostics() {
+            return constraintDiagnostics.map((diagnostic) => ({ ...diagnostic }));
+        },
         getVisibleBounds() {
@@ -970,2 +1035,3 @@ return character?.getBounds() ?? new THREE.Box3().setFromObject(mannequin.root);
             character?.dispose();
+            floorGuide?.dispose();
             renderer.dispose();
@@ -1163,4 +1229,5 @@ },
 export { buildMannequin } from "./mannequin.js";
-export { applyGroundLock, groundFigure } from "./groundlock.js";
+export { applyGroundLock, groundFigure, GROUND_LOCK_PLANTED_MAX_Y, isGroundLockFootPlanted, } from "./groundlock.js";
 export { buildTimeline } from "./timeline.js";
+export { FLOOR_GRID_STEP_METRES, FLOOR_SCALE_BAR_METRES, buildFloorGuideData, createFloorGuide, syncFloorGuideToSolvedRoot, } from "./floor-guide.js";
 export { solveCCD } from "./ik.js";
@@ -1172,4 +1239,5 @@ export { EFFECTOR_BONE, REACH_TOLERANCE, effectorBoneId, reachChain, solveReachToPoint, missingReachTarget, } from "./reach.js";
 export { loadClipSource, retargetMocapClip, createClipLayer, } from "./clips.js";
-export { depenetrate } from "./depenetrate.js";
-export { PALM_LOCAL_NORMAL, FIST_LOCAL_NORMAL, alignFloorContacts, alignFloorPalms, prepareGripFrames, alignGripFrames, isDipBarGrip, floorTargetForEffector, floorContactHeight, enforceContactRom, formFists, levelPlantedFeet, wrapGrip, } from "./contacts.js";
+export { depenetrate, measureSelfCollisions, } from "./depenetrate.js";
+export { FOOT_CONTACT_HEIGHT_MAX, PLANTIGRADE_SOLE_ANGLE_MAX, SELF_COLLISION_DEPTH_MAX, measureConstraintDiagnostics, } from "./diagnostics.js";
+export { PALM_LOCAL_NORMAL, FIST_LOCAL_NORMAL, PLANT_FADE, PLANTARFLEX_SKIP, alignFloorContacts, alignFloorPalms, prepareGripFrames, alignGripFrames, isDipBarGrip, floorTargetForEffector, floorContactHeight, measureFootContact, enforceContactRom, formFists, levelPlantedFeet, relaxHands, swingArms, aimHead, wrapGrip, } from "./contacts.js";
 //# sourceMappingURL=index.js.map

dist/index.js.map

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dist/mannequin.d.ts

@@ -27,2 +27,6 @@ /**
     contactSurfaces: {
+        /** Thin sole mesh used for heel/toe grounding diagnostics. */
+        foot_left: THREE.Object3D[];
+        /** Thin sole mesh used for heel/toe grounding diagnostics. */
+        foot_right: THREE.Object3D[];
         /** Trunk/mat surface used by `pin: pelvis floor`. */
@@ -29,0 +33,0 @@ pelvis: THREE.Object3D[];

dist/mannequin.js

@@ -163,4 +163,4 @@ /**
     addPalm(bones.get("wrist_right"), mats.skin);
-    addShoe(bones.get("ankle_left"), mats, proportions?.soleDrop);
-    addShoe(bones.get("ankle_right"), mats, proportions?.soleDrop);
+    const leftSole = addShoe(bones.get("ankle_left"), mats, proportions?.soleDrop);
+    const rightSole = addShoe(bones.get("ankle_right"), mats, proportions?.soleDrop);
     // A pelvis floor pin represents the trunk's mat contact, whose thickness
@@ -207,2 +207,4 @@ // changes with orientation (supine/prone) and spinal pose. A fixed proxy
         contactSurfaces: {
+            foot_left: [leftSole],
+            foot_right: [rightSole],
             pelvis: pelvisSurface,
@@ -332,3 +334,4 @@ knee_left: jointCaps.get("knee_left") ?? [],
     ankle.add(sole);
+    return sole;
 }
 //# sourceMappingURL=mannequin.js.map

dist/mannequin.js.map

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

@@ -112,4 +112,34 @@ /**
 export function buildTimeline(ir) {
-    const basePose = poseFor(ir.startPose);
-    const baseJoints = new Map(Object.entries(basePose.joints ?? {}));
+    const namedBasePose = poseFor(ir.startPose);
+    const baseJoints = new Map(Object.entries(namedBasePose.joints ?? {}).map(([boneId, euler]) => [boneId, [...euler]]));
+    // A custom start pose is a sparse overlay on a named built-in pose. Merge
+    // only authored channels, exactly like phase targets, so (for example) a
+    // standing elbow-flex override preserves the built-in relaxed forearm roll.
+    // This composed map seeds both the t=0 anchor and the structural loop reset.
+    for (const target of ir.startPoseOverrides ?? []) {
+        const next = [...(baseJoints.get(target.boneId) ?? [0, 0, 0])];
+        for (const axis of target.axes ?? ALL_AXES) {
+            next[AXIS_INDEX[axis]] = target.euler[axis];
+        }
+        baseJoints.set(target.boneId, next);
+    }
+    // Expose the same composed pose that sampling uses. Consumers use basePose
+    // to initialize/ground the root, and must not observe a stale named preset
+    // while sample(0) applies a different customized joint map.
+    const sampledBaseJoints = snapshot(baseJoints);
+    const basePose = {
+        ...(namedBasePose.root
+            ? {
+                root: {
+                    ...(namedBasePose.root.position
+                        ? { position: [...namedBasePose.root.position] }
+                        : {}),
+                    ...(namedBasePose.root.rotationDeg
+                        ? { rotationDeg: [...namedBasePose.root.rotationDeg] }
+                        : {}),
+                },
+            }
+            : {}),
+        joints: Object.fromEntries([...sampledBaseJoints].map(([boneId, euler]) => [boneId, [...euler]])),
+    };
     // Accumulating current joint angles (degrees).
@@ -116,0 +146,0 @@ const curr = new Map(baseJoints);

dist/timeline.js.map

@@ -1,1 +0,1 @@
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package.json

 {
   "name": "posecode-render",
-  "version": "0.3.0",
+  "version": "0.4.0",
   "description": "Render a Posecode IR as an animated 3D human figure (skinned character or procedural mannequin) with Three.js.",
@@ -20,3 +20,3 @@ "license": "AGPL-3.0-only",
   "peerDependencies": {
-    "posecode-parser": ">=0.2.2 <0.4.0"
+    "posecode-parser": ">=0.2.2 <0.5.0"
   },
@@ -23,0 +23,0 @@ "devDependencies": {

README.md

@@ -29,2 +29,5 @@ # posecode-render
   autoRotate: false,
+  // Metric grid, load origin, live +Z facing arrow, and authored travel path.
+  // Enabled by default; disable it for a clean presentation-only embed.
+  floorGuide: true,
   // Optional: realistic skinned character (Mixamo bone naming). Omit for the
@@ -45,4 +48,21 @@ // zero-asset procedural figure.
 });
+
+const floor = viewer.getFloorGuideInfo();
+console.log(floor?.gridStepMetres, floor?.hasTravel, floor?.waypoints);
+
+const solverWarnings = viewer
+  .getConstraintDiagnostics()
+  .filter((diagnostic) => !diagnostic.pass);
+console.log(solverWarnings);
 ```
 
+`cue` is optional display-only coaching text. It never changes the pose,
+timing, range checks, contacts, or collision solving.
+
+Constraint diagnostics name visible heel/toe contact errors, sole tilt,
+grounding-versus-ankle-ROM conflicts, and residual overlaps from the renderer's
+bounded self-collision pairs. They measure the post-solver procedural driver,
+before optional skinned-character or mocap surface reconciliation, and report
+outcomes without changing the authored motion.
+
 No GPU, no diffusion model: generation is a fraction of a cent of text, and
@@ -53,2 +73,2 @@ rendering is plain forward kinematics.
 
-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).
+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/docs/legal/COMMERCIAL-LICENSE.md).

No alert changes

Improved metrics

Total package byte prevSize

509645

13.2%

Number of package files

52

13.04%

Lines of code

5914

14.06%

Number of lines in readme file

72

38.46%

No dependency changes