Ground under the body: sphere footprint, clamber by pressure (Nimso), physics objects climbable, arms keep colliding

- Ground = centre ray + stance-wide sphere cast (face normal from a ray inside the contact):
  planks and lips keep support.
- Higher ground is stood on when the hips are over it and the body presses onto it (hands
  braced, a just-finished press, legs tucked over it, or airborne) - no hips-well-above rule.
- Bracing counts heavy/frozen physics objects (>= 15 kg), not what the hand carries.
- Knee up: braced + hips held back tucks the legs collider.
- Support goal capped at straight legs (tiptoe/over-tall head floated the body).
- Arms never get collision exceptions with held objects (they disabled whole crag rocks).
- Spike: heavy-box mantle, 15 cm plank, chest-high ledge two hands yes / one hand no.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

scripts/PlayerRagdoll.cs

@@ -187,7 +187,7 @@ public partial class PlayerRagdoll : Node3D
 	private float _supportGoalY;
 	private RigidBody3D _groundBody;
 	private Vector3 _groundPoint;
-	private float _tuckFree, _dt;
+	private float _tuckFree, _dt, _sinceBraced = float.MaxValue;
 	private PhysicsShapeQueryParameters3D _legsQuery;
 
 	private bool LegsSpaceFree(Vector3 center, Basis basis)
@@ -599,6 +599,7 @@ public partial class PlayerRagdoll : Node3D
 			HandGuide(a, _targets[a.Hand], side == 0 ? leftVelocity : rightVelocity);
 			Braced |= IsBraced(a);
 		}
+		_sinceBraced = Braced ? 0f : _sinceBraced + dt;
 		GroundControl(pelvisTarget, floorY, dt);
 		HeadGuide(s, dt);
 		LegsDrive(s);
@@ -720,15 +721,24 @@ public partial class PlayerRagdoll : Node3D
 		j.SetParamZ(Generic6DofJoint3D.Param.LinearMotorForceLimit, cap);
 	}
 
-	// A hand pressing on or holding static world (a ledge, a wall, a grabbed bar) — not the floor:
+	// A hand pressing on or holding something solid enough to push yourself up on (a ledge, a wall,
-	// hands on the floor while crawling don't lift the body.
+	// a grabbed bar, a heavy crate) — not the floor: hands on the floor while crawling don't lift the
+	// body. Nimso: physics objects are climbed "the same" as the world. A light prop just gets pushed,
+	// and something you're carrying isn't support.
+	public const float BraceMinMass = 15f;
+	public const float ClamberMemory = 0.6f;            // s a hand press still counts after the hands leave
+
 	private static bool IsBraced(Arm a)
 	{
-		if (a.Held is StaticBody3D)
+		if (a.Held is StaticBody3D || a.Held is RigidBody3D { Freeze: true })
 			return true;
 		foreach (Node3D n in a.Hand.GetCollidingBodies())
-			if (n is StaticBody3D && !n.IsInGroup(PropGrabber.NoGrabGroup))
+		{
+			if (n == a.Held || n.IsInGroup(PropGrabber.NoGrabGroup))
+				continue;
+			if (n is StaticBody3D || n is RigidBody3D { Freeze: true } || n is RigidBody3D { Mass: >= BraceMinMass })
 				return true;
+		}
 		return false;
 	}
 
@@ -748,7 +758,10 @@ public partial class PlayerRagdoll : Node3D
 		bool climbingHold = _arms[0].Held is StaticBody3D || _arms[1].Held is StaticBody3D;
 		_lifted = Braced && (Pelvis.GlobalPosition.Y > _supportGoalY + MantleLift || climbingHold);
 		bool deep = center + _legsHeight * 0.5f >= hip.Y + LegsOffAbove;
-		bool wantTuck = deep || _lifted || (!_legsSolid && Braced);
+		// Hands braced while the hips are held back by an obstacle = getting a knee up onto it (a
+		// thigh-high crate or ledge the straight arms can't press down on while standing).
+		bool kneeUp = Braced && HeldBack != Vector3.Zero;
+		bool wantTuck = deep || _lifted || kneeUp || (!_legsSolid && Braced);
 		_tuckFree = wantTuck ? 0f : _tuckFree + _dt;
 		Vector3 untucked = new(hip.X, center, hip.Z);
 		bool solid = _legsSolid ? !wantTuck : _tuckFree > UntuckDelay && LegsSpaceFree(untucked, s.YawBasis);
@@ -845,16 +858,12 @@ public partial class PlayerRagdoll : Node3D
 	{
 		Vector3 pos = Pelvis.GlobalPosition;
 		float hipAboveFloor = target.Origin.Y - floorY;
-		var query = PhysicsRayQueryParameters3D.Create(pos, pos + Vector3.Down * (hipAboveFloor + GroundProbeExtra + 0.5f), WorldMask);
-		Godot.Collections.Dictionary hit = GetWorld3D().DirectSpaceState.IntersectRay(query);
 		bool wasGrounded = Grounded;
 		Grounded = false;
 		_groundBody = null;
-		if (hit.Count > 0)
+		if (ProbeGround(pos, hipAboveFloor + GroundProbeExtra + 0.5f, wasGrounded, out Vector3 point, out Vector3 normal, out GodotObject groundObject, out bool underHips))
 		{
-			Vector3 point = (Vector3)hit["position"];
+			_groundBody = groundObject as RigidBody3D;
-			Vector3 normal = (Vector3)hit["normal"];
-			_groundBody = GodotObject.InstanceFromId((ulong)hit["collider_id"]) as RigidBody3D;  // Box3D: "collider" is null
 			_groundPoint = point;
 			// Standing (or walking down a step) the legs keep contact over GroundProbeExtra; falling,
 			// they touch down only within their reach — the rest of the fall is stopped by the legs.
@@ -873,14 +882,17 @@ public partial class PlayerRagdoll : Node3D
 			}
 			else if (inReach && !steep)
 			{
-				// Step rule: ground more than a step above the feet is only stood on once the
+				// Step rule (Nimso: higher ground "doesn't move my body up … until I push on it with enough
-				// hips are already well above it (climbed/mantled/landed there) — otherwise it's an
+				// pressure, at which point I actually clamber over"): ground more than a step above the
-				// obstacle the legs collider holds us back from, and the feet stay where they were.
+				// feet is stood on once the hips are over it AND the body is pressing onto it — hands
-				// Higher ground climbed onto must be under the hips' back edge too (not just a
+				// braced on anything solid (ledge, crate), or already airborne
-				// pelvis centre hanging over the lip).
+				// (landing, hanging). Otherwise it's an obstacle the legs collider holds us back from.
-				bool clear = point.Y <= _footY + MaxStepHeight || GroundBehindAt(pos, point.Y);
+				// No "hips well above it" requirement: that made a ledge need a full press-up.
-				bool reachable = point.Y <= _footY + MaxStepHeight
+				bool step = point.Y <= _footY + MaxStepHeight;
-					|| ((!wasGrounded || _lifted || pos.Y - point.Y > 0.6f * hipAboveFloor) && clear);
+				// The press lasts a moment after the hands leave (you push up, then move over it), and legs
+				// tucked up with the hips over it are already on top of it.
+				bool pressing = !wasGrounded || Braced || _lifted || _sinceBraced < ClamberMemory || !_legsSolid;
+				bool reachable = step || (underHips && pressing);
 				Grounded = true;
 				if (reachable)
 					_footY = point.Y;
@@ -915,6 +927,9 @@ public partial class PlayerRagdoll : Node3D
 		{
 			// Pose heights are relative to the tracking floor; stand on the ground actually under us.
 			Vector3 goal = target.Origin + Vector3.Up * (GroundY - floorY);
+			// Legs can't hold the hips higher than straight legs (head above the calibrated height —
+			// tiptoes, a reach up — would otherwise float the body off the ground).
+			goal.Y = Mathf.Min(goal.Y, _footY + _standingHip + JumpExtension);
 			_supportGoalY = goal.Y;
 			if (_jump == JumpPhase.Dip)
 				goal.Y = Mathf.Min(goal.Y, _jumpFromY);
@@ -1070,16 +1085,64 @@ public partial class PlayerRagdoll : Node3D
 
 	private PhysicsShapeQueryParameters3D _cameraQuery;
 
-	// Second ground ray 12 cm behind the hips (toward the body's back): ground at least `groundY`.
+	// Ground under the body (Nimso: "ground detection uses the objects underneath the body"), not
-	private bool GroundBehindAt(Vector3 pelvisPos, float groundY)
+	// under one point: a sphere the width of the stance is cast down from the hips, plus the
+	// centre ray. One ray lost the ground as soon as the hips swayed off a plank or past a ledge lip.
+	// The sphere's contact can be a corner, whose normal is useless — the surface normal comes from a
+	// short ray just inside the contact. Same-level ground (within a step) from either probe is
+	// stood on; higher ground only from the centre ray (the hips must really be over it), and it's
+	// reported via underHips for the pressure rule.
+	public const float FootprintRadius = 0.12f;
+
+	private bool ProbeGround(Vector3 pos, float length, bool wasGrounded, out Vector3 point, out Vector3 normal, out GodotObject collider, out bool underHips)
 	{
-		Vector3 back = Pelvis.GlobalTransform.Basis.Z;
+		PhysicsDirectSpaceState3D space = GetWorld3D().DirectSpaceState;
-		back.Y = 0f;
+		point = normal = Vector3.Zero;
-		back = back.LengthSquared() > 1e-6f ? back.Normalized() * 0.12f : Vector3.Zero;
+		collider = null;
-		var query = PhysicsRayQueryParameters3D.Create(pelvisPos + back, pelvisPos + back + Vector3.Down * 3f, WorldMask);
+		underHips = false;
-		Godot.Collections.Dictionary hit = GetWorld3D().DirectSpaceState.IntersectRay(query);
+		Godot.Collections.Dictionary ray = space.IntersectRay(PhysicsRayQueryParameters3D.Create(pos, pos + Vector3.Down * length, WorldMask));
-		return hit.Count > 0 && ((Vector3)hit["position"]).Y > groundY - 0.05f;
+		bool haveRay = ray.Count > 0;
+		if (haveRay)
+		{
+			point = (Vector3)ray["position"];
+			normal = (Vector3)ray["normal"];
+			collider = GodotObject.InstanceFromId((ulong)ray["collider_id"]);  // Box3D: "collider" is null
+			underHips = true;
 		}
+		_footprintQuery ??= new PhysicsShapeQueryParameters3D { Shape = new SphereShape3D { Radius = FootprintRadius }, CollisionMask = WorldMask };
+		_footprintQuery.Transform = new Transform3D(Basis.Identity, pos);
+		_footprintQuery.Motion = Vector3.Down * length;
+		Godot.Collections.Dictionary rest = space.GetRestInfo(_footprintQuery);
+		if (rest.Count == 0)
+			return haveRay;
+		Vector3 contact = (Vector3)rest["point"];
+		if (contact.Y >= pos.Y - 0.05f)
+			return haveRay;   // touching a wall beside the hips, not ground
+		Vector3 inward = new(contact.X - pos.X, 0f, contact.Z - pos.Z);
+		inward = inward.LengthSquared() > 1e-6f ? inward.Normalized() * 0.02f : Vector3.Zero;
+		Vector3 probe = contact + inward;
+		Godot.Collections.Dictionary face = space.IntersectRay(PhysicsRayQueryParameters3D.Create(
+			new Vector3(probe.X, contact.Y + 0.05f, probe.Z), new Vector3(probe.X, contact.Y - 0.05f, probe.Z), WorldMask));
+		if (face.Count == 0)
+			return haveRay;
+		Vector3 sPoint = (Vector3)face["position"], sNormal = (Vector3)face["normal"];
+		if (sNormal.Y <= Mathf.Cos(Mathf.DegToRad(MaxSlopeDegrees)))
+			return haveRay;
+		// The sphere wins where the centre ray found nothing, nothing walkable, or only lower ground
+		// within the stance (a plank's edge under the hips) — but never higher ground than a step.
+		bool sameLevel = sPoint.Y <= _footY + MaxStepHeight || !wasGrounded;
+		bool better = !haveRay || normal.Y <= Mathf.Cos(Mathf.DegToRad(MaxSlopeDegrees)) || sPoint.Y > point.Y + 0.01f;
+		if (sameLevel && better)
+		{
+			point = sPoint;
+			normal = sNormal;
+			collider = GodotObject.InstanceFromId((ulong)face["collider_id"]);
+			underHips = true;   // under the footprint
+		}
+		return true;
+	}
+
+	private PhysicsShapeQueryParameters3D _footprintQuery;
 
 	public void TeleportBy(Transform3D delta)
 	{
@@ -1118,23 +1181,15 @@ public partial class PlayerRagdoll : Node3D
 			b.ResetPhysicsInterpolation();
 	}
 
-	// Collision exceptions between a held prop and that arm's segments (its hand is excluded by
+	// What each hand holds (bracing, climbing). Only the hand itself is excluded from the held object
-	// the grab weld itself) — a forearm wrapped around a held object must not fight it.
+	// (by the grab weld).
 	public void SetHeld(int side, PhysicsBody3D prop)
 	{
 		if (!Built)
 			return;
-		Arm a = _arms[side];
+		// The arm keeps colliding with what the hand holds (owner: real arms don't pass through things).
-		if (a.Held != null && IsInstanceValid(a.Held) && a.Held != _arms[1 - side].Held)
+		// The old per-object exception switched the arm off against a whole crag rock while
-		{
+		// gripping one of its holds — arms "randomly" phased through the world mid-climb.
-			a.Upper.RemoveCollisionExceptionWith(a.Held);
+		_arms[side].Held = prop;
-			a.Fore.RemoveCollisionExceptionWith(a.Held);
-		}
-		a.Held = prop;
-		if (prop != null)
-		{
-			a.Upper.AddCollisionExceptionWith(prop);
-			a.Fore.AddCollisionExceptionWith(prop);
-		}
 	}
 }

scripts/RagdollSpike.cs

@@ -100,7 +100,10 @@ public partial class RagdollSpike : Node3D
         _phases.Add(("a table can't be walked over", SetupTableObstacle, _ => _stickVelocity = new Vector3(0f, 0f, -1.5f), 3f, FinishBlockedLow));
         _phases.Add(("walks up a 0.25 m step", () => SetupObstacle(0.25f, 8f), _ => _stickVelocity = new Vector3(0f, 0f, -1.2f), 3f, FinishStep));
         _phases.Add(("two-handed mantle onto a 0.9 m ledge (crouch, hands on the edge, stand and press)", () => SetupObstacle(0.9f), _ => TickHumanMantle(both: true), 7f, () => FinishMantle(true)));
-        _phases.Add(("one hand can't mantle", () => SetupObstacle(0.9f), _ => TickHumanMantle(both: false), 7f, () => FinishMantle(false)));
+        _phases.Add(("two-handed mantle onto a chest-high 1.2 m ledge", () => SetupObstacle(1.2f), _ => TickHumanMantle(both: true), 7f, () => FinishMantle(true)));
+        _phases.Add(("one hand can't mantle the 1.2 m ledge (the hips must be lifted)", () => SetupObstacle(1.2f), _ => TickHumanMantle(both: false), 7f, () => FinishMantle(false)));
+        _phases.Add(("mantles onto the playground's heavy box (25 kg physics object, 0.7 m)", SetupCrateLedge, _ => TickHumanMantle(both: true), 8.5f, FinishCrateMantle));
+        _phases.Add(("walks a 15 cm plank swaying the hips without falling off", SetupPlank, TickPlank, 6f, FinishPlank));
         _phases.Add(("two-handed pull-up on a grabbed bar", () => SetupBarHang(), t => TickPullUp(both: true), 3.5f, () => FinishPullUp(true)));
         _phases.Add(("one-handed pull-up is weaker", () => SetupBarHang(), t => TickPullUp(both: false), 3.5f, () => FinishPullUp(false)));
         _phases.Add(("crawls through a 0.6 m tunnel", SetupTunnel, TickCrawl, 7f, FinishCrawl));
@@ -531,9 +534,59 @@ public partial class RagdollSpike : Node3D
     private void SetupObstacle(float height, float depth = 2f)
     {
         Rest();
+        _ledgeBox = null;
+        _ledgeTop = height;
+        if (height >= 1f)
+            _origin = new Transform3D(Basis.Identity, new Vector3(0f, 0f, ObstacleFront + 0.4f));
         _stage.AddChild(MakeStatic(new Vector3(3f, height, depth), new Vector3(0f, height * 0.5f, ObstacleFront - depth * 0.5f), 29));
     }
 
+    // Playground.HeavyBox (25 kg, 0.7 m cube) as the ledge, same human mantle as onto the static ledge.
+    private void SetupCrateLedge()
+    {
+        Rest();
+        _ledgeBox = MakeBox(Vector3.One * 0.7f, 25f, new Vector3(0f, 0.35f, ObstacleFront - 0.35f));
+        _ledgeTop = 0.7f;
+    }
+
+    private RigidBody3D _ledgeBox;
+    private float _ledgeTop = 0.9f;
+
+    private bool FinishCrateMantle()
+    {
+        GD.Print($"RAGDOLL:   crate mantle: pelvis rose up to {_maxPelvisRise:F3} m, feet y {_ragdoll.GroundY:F3}, origin y {_origin.Origin.Y:F3}, snaps {NewSnaps}");
+        _maxPelvisRise = 0f;
+        return _finite && NewSnaps == 0 && _ragdoll.GroundY > 0.6f && _origin.Origin.Y > 0.55f;
+    }
+
+    private const float PlankY = 0.3f;
+    private float _plankMinFoot;
+
+    private void SetupPlank()
+    {
+        Rest();
+        _origin = new Transform3D(Basis.Identity, new Vector3(0f, PlankY, 0f));
+        _stage.AddChild(MakeStatic(new Vector3(0.15f, PlankY, 8f), new Vector3(0f, PlankY * 0.5f, -3f), 29));
+        _plankMinFoot = float.MaxValue;
+    }
+
+    // Walk along it with the head (and so the hips) swaying ±9 cm side to side.
+    private void TickPlank(float dt)
+    {
+        float sway = _t > 1f ? 0.09f * Mathf.Sin(Mathf.Tau * 0.7f * (_t - 1f)) : 0f;
+        _headLocal = new Transform3D(Basis.Identity, new Vector3(sway, EyeHeight, 0f));
+        _stickVelocity = _t > 1f && _t < 5f ? new Vector3(0f, 0f, -0.6f) : Vector3.Zero;
+        _measureFrom = float.MaxValue;
+        if (_ragdoll.Built && !_needBuild && _t > 0.5f)
+            _plankMinFoot = Mathf.Min(_plankMinFoot, _ragdoll.Grounded ? _ragdoll.GroundY : -1f);
+    }
+
+    private bool FinishPlank()
+    {
+        GD.Print($"RAGDOLL:   plank: lowest supported foot level {_plankMinFoot:F3} (plank top {PlankY}), pelvis {_ragdoll.Pelvis.GlobalPosition}, eye error {_ragdoll.Eye.DistanceTo(Camera.Origin):F3}, snaps {NewSnaps}");
+        return _finite && NewSnaps == 0 && _plankMinFoot > PlankY - 0.03f && _ragdoll.Pelvis.GlobalPosition.Z < -1.8f;
+    }
+
     private void SetupTableObstacle()
     {
         Rest();
@@ -562,7 +615,7 @@ public partial class RagdollSpike : Node3D
     private bool FinishMantle(bool both)
     {
         GD.Print($"RAGDOLL:   mantle ({(both ? "two hands" : "one hand")}): pelvis rose up to {_maxPelvisRise:F3} m, feet y {_ragdoll.GroundY:F3}, origin y {_origin.Origin.Y:F3}, snaps {NewSnaps}");
-        bool onTop = _ragdoll.GroundY > 0.85f && _origin.Origin.Y > 0.8f;
+        bool onTop = _ragdoll.GroundY > _ledgeTop - 0.05f && _origin.Origin.Y > _ledgeTop - 0.1f;
         _lastRise = _maxPelvisRise;
         _maxPelvisRise = 0f;
         return _finite && NewSnaps == 0 && (both ? onTop : !onTop);  // standing tall also lifts the hips; one hand never gets you up
@@ -949,20 +1002,32 @@ public partial class RagdollSpike : Node3D
     private void TickHumanMantle(bool both)
     {
         float t = _t;
-        _stickVelocity = t < 1f || (t > 4.5f && t < 5.5f) ? new Vector3(0f, 0f, -0.8f) : Vector3.Zero;   // stop before the ledge's far end
+        // Walk up to a waist-high ledge (stop before its far end); a chest-high one starts within reach.
-        float crouch = Mathf.SmoothStep(0f, 1f, Mathf.Clamp((t - 1f) / 0.8f, 0f, 1f));
+        _stickVelocity = (t < 1f && _ledgeTop < 1f) || (t > 4.5f && t < 5.5f) ? new Vector3(0f, 0f, -0.8f) : Vector3.Zero;
+        // Crouch to load the legs for a waist-high ledge; at a chest-high one you reach up instead.
+        float crouch = Mathf.SmoothStep(0f, 1f, Mathf.Clamp((t - 1f) / 0.8f, 0f, 1f)) * (_ledgeTop < 1f ? 1f : 0f);
         float rise = Mathf.SmoothStep(0f, 1f, Mathf.Clamp((t - 2.2f) / 1.6f, 0f, 1f));
         float eye = EyeHeight - 0.25f * crouch + 0.35f * rise;
-        float lean = 0.25f * rise;
+        float lean = (_ledgeTop < 1f ? 0.25f : 0.55f) * rise;   // over a chest-high edge you put your head well over it
         _headLocal = new Transform3D(new Basis(Vector3.Right, -0.3f * crouch), new Vector3(0f, eye, -lean));
-        float handZ = ObstacleFront - 0.08f - _origin.Origin.Z;
+        // Hands on the top just past the near edge (of the box itself when it's a movable one).
-        float handY = t < 1f ? 1.0f : Mathf.Lerp(0.95f, 0.55f, rise) - 0.05f * crouch;
+        float front = _ledgeBox != null ? _ledgeBox.GlobalPosition.Z + 0.35f : ObstacleFront;
+        float handZ = front - 0.08f - _origin.Origin.Z;
+        float handY = t < 1f ? 1.0f : Mathf.Lerp(_ledgeTop + 0.05f, _ledgeTop - 0.35f, rise) - 0.05f * crouch - _origin.Origin.Y;
         Basis down = Aim(Vector3.Down + Vector3.Forward * 0.3f);
-        _leftLocal = both ? new Transform3D(down, new Vector3(-0.2f, handY, handZ)) : new Transform3D(Basis.Identity, new Vector3(-0.2f, 1.0f, -0.3f));
+        // Walking up, the hands are down at the sides; then they go up over the edge onto the top.
-        _rightLocal = new Transform3D(down, new Vector3(0.2f, handY, handZ));
+        float reach = Mathf.Clamp((t - 0.8f) / 0.4f, 0f, 1f);
+        Vector3 rest = new(0.2f, 1.0f, -0.3f), onTop = new(0.2f, Mathf.Max(handY, _ledgeTop + 0.08f - _origin.Origin.Y), handZ);
+        Vector3 r = reach < 1f ? rest.Lerp(new Vector3(0.2f, _ledgeTop + 0.12f - _origin.Origin.Y, -0.3f), reach) : new Vector3(0.2f, handY, handZ);
+        if (reach >= 1f && t < 1.4f)
+            r = onTop;
+        _leftLocal = both ? new Transform3D(down, new Vector3(-r.X, r.Y, r.Z)) : new Transform3D(Basis.Identity, new Vector3(-0.2f, 1.0f, -0.3f));
+        _rightLocal = new Transform3D(down, r);
         if (_ragdoll.Built && !_needBuild)
             _maxPelvisRise = Mathf.Max(_maxPelvisRise, _ragdoll.Pelvis.GlobalPosition.Y - 0.99f);
-        if (t > 4.5f)
+        if (OS.HasEnvironment("MANTLETRACE") && _ragdoll.Built && ((int)(t * 144f)) % 14 == 0)
+            GD.Print($"MT t {t:F2} pelvis {_ragdoll.Pelvis.GlobalPosition} v {_ragdoll.Pelvis.LinearVelocity.Y:F2} o {_origin.Origin.Y:F2} j {_ragdoll.Jumping} braced {_ragdoll.Braced} lifted {_ragdoll.Lifted} legs {_ragdoll.LegsSolid} g {_ragdoll.Grounded} foot {_ragdoll.GroundY:F2} hands {_ragdoll.Hand(0).GlobalPosition.Y:F2}/{_ragdoll.Hand(1).GlobalPosition.Y:F2} {(_stage.GetChildCount() > 0 && _stage.GetChild(0) is RigidBody3D rb ? rb.GlobalPosition.ToString() : "")}");
+        if (t > (_ledgeTop < 1f ? 4.5f : 5.5f))
         {
             _leftLocal = new Transform3D(Basis.Identity, new Vector3(-0.2f, 1.0f, -0.3f));
             _rightLocal = new Transform3D(Basis.Identity, new Vector3(0.2f, 1.0f, -0.3f));