- 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>
