Foxyz/VR-Mess
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Author SHA1 Message Date
FoxyzandClaude Opus 5.5 d83273dd2f Body step 2: the player is a muscle-driven ragdoll (Project TX) 
PlayerRagdoll: 9 bodies, spine/neck ball joints, shoulder drives (girdle + muscle),
elbow hinges, torque-capped motor PDs toward the True Body, chest->hand guides,
implicit balance motor, mass-scaled ground control. PlayerRig: XR driver with
stick move / snap turn and Bonelab-style push-back (eye->camera sphere sweep).
Replaces the chase bodies in main.tscn; RagdollSpike regression (14 phases).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
 2026-10-02 06:43:52 +03:00
FoxyzandClaude Opus 5.5 7bc6a866eb Arms playtest-2 fixes: flip-proof elbow (angle clamp + rate limit, controller-driven), Stage 2b hand coupling (blocked arm holds the hand back) 
- Elbow stored as an angle around the arm axis vs a torso-frame reference: 85% hand-suggested,
  from the controller pose (not the physics palm), clamped +-110 deg, 6 rad/s rate limit
  (flip spike: 1.8 cm/tick max vs 13.8 unclamped)
- PhysicsArms.ConstrainHand: while an arm segment is in contact the hand may lead the
  forearm end by 3 cm; PhysicsHands applies it and suspends stuck-snap while active
- ArmSpike: forearm-rest-over-anvil (owner pose: collider fine, drawn forearm 3.9 cm -> 0),
  flip sweep, bar test now asserts the hand is held back; all six spikes PASS x3

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
 2026-10-02 01:27:29 +03:00
FoxyzandClaude Opus 5.5 cb518999e5 Body Stage 1 collapse root-caused + fixed: NaN in torso servo math (GetAngle = 2*acos(W) at W=1.0000001), not solver stacking 
- BodyMath.RotationError: atan2-based shortest-arc error (no NaN, no GetAxis gain collapse
  inside 0.16 deg); used by PhysicsTorso orientation servo and PhysicsHands rotation lock
- BodyMath.ResetIfNonFinite escape hatch on torso + hands
- PhysicsHands.Drive extracted (static) so spikes run the real hand chase
- CollapseSpike: deterministic repro (slow yaw drift across a parked chest, 7/40 NaN on old
  code) + solver-stacking scenarios (seated chest in table, two-hand-welded 50 kg anvil,
  real PropShop) — 49/49 clean after fix, x3; all other spikes PASS x3
- Failure brief RESOLUTION section; HANDOFF/AGENTS updated

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
 2026-10-01 23:55:46 +03:00
Foxyz1302 4fdfcfd928 Body physics Stage 1: PhysicsTorso chase chest (30 kg PD + yaw servo), collision layers reworked (3=body, 4=hands, no self-collision), BodyRig visual-only, BodySpike regression (PASS 3x, all spikes green) 2026-10-01 23:05:31 +03:00
Foxyz1302 5d2c5bf265 Initial commit: VR Messs workspace (grab v5.3.1, body-physics research) 2026-10-01 21:32:13 +03:00