3 Commits

Include renames

Author	SHA1	Message	Date
FoxyzandClaude Opus 5.5	464cda2f71	Arms playtest-1 fixes: open-loop torso lean (chest hunting), hand-driven elbow pole + height cap, held-prop arm collision exceptions ... - Lean computed from PhysicsTorso.NominalTarget/TargetBasis, not the body's own shoulders: the closed loop made the chest hunt (spike: |v| 1.1 -> 0.019 m/s, lean range 2.7 cm -> 0.9 mm) - Elbow on its IK circle, 75% hand-axis (forearm continues behind the wrist), bounded-rate rotation smoothing (no flips), capped at max(shoulder, wrist) + 5 cm - PhysicsArms.SetHeld: held prop ignores that side's arm segments (PropGrabber calls it) - ArmSpike: stretch settle, hug elbows out (0.17 m vs 0.02 m old pole), held-anvil stability; all six spikes PASS x3 Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>	2026-10-02 00:25:50 +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