VR-Mess

7 Commits 1 Branch 0 Tags

2 Commits

Include renames

Author	SHA1	Message	Date
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

Author

SHA1

Message

Date

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