Foxyz/VR-Mess
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4 Commits
Author SHA1 Message Date
FoxyzandClaude Opus 5.5 81a9b1fca2 Body step 1: one-time T-pose calibration (prefs.json, forced gate) + True Body solver + shared ArmSolver 
- BodyProfile (Winter anthropometry, T-pose: arm = (span - shoulder width)/2 - 1.5 cm) and
  Prefs (gitignored prefs.json next to the executable / project folder in editor builds)
- Calibration node: loads prefs, else head-locked prompt + jitter-proof TPoseDetector; body
  systems wait for BodyProfile.Current; Recalibrate() in group "calibration"; recal rebuilds arms
- ArmSolver: PhysicsArms' elbow solve extracted (behaviour-identical) + min reach |U-F| fix
- TrueBody: derived real-body pose (neck, chest yaw + crouch lean at neck pivot, lagging pelvis,
  moving shoulder girdle with scapulohumeral shrug, arms) + debug skeleton
- PhysicsArms/PhysicsTorso/BodyRig now profile-driven (arm length no longer from head height)
- TrueBodySpike PASS x3; all spikes PASS x3 (arm spike thresholds re-based for correct 0.57 m arms;
  CollapseSpike uses a fixed standing profile)

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
 2026-10-02 05:47:20 +03:00
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