@helix3/helix-cli 0.1.15-helix3.225 → 0.1.15-helix3.226

package/dist/character/stages/vrmDynamics.d.ts

@@ -12,21 +12,22 @@
  * Chains and colliders map across almost mechanically. The parameters do not, and this is where every naive
  * converter goes wrong — including, by its own admission, VRChat's:
  *
- *   · VRM `stiffness` is **world units per second**. It is added to the tail as a VELOCITY (`axis * stiffness *
- *     dt`), not as a force. Its angular effect therefore depends on bone length, and a converter that copies the
- *     number into a normalised 0..1 field is wrong by one to two orders of magnitude. The equivalent restoring
- *     rate is `stiffness / boneLength` rad/s, which is what maps onto ω.
+ *   · VRM `stiffness` is **world units per second**. It is added to the tail as `axis * stiffness * dt`, then the
+ *     tail is projected back to its authored bone length. The projection couples stiffness, bone length and drag;
+ *     none of the three can be converted independently without changing the response.
  *
- *   · VRM `dragForce` is a per-FRAME velocity multiplier, not per second. That is also why three-vrm hair
- *     measurably swings ~2.3x faster at 144 fps than at 30 — the drag is applied once per frame while stiffness
- *     and gravity are scaled by dt. Converting it means picking the frame rate it was authored against; 60 Hz is
- *     the only defensible choice, and it is what every authoring tool previews at.
+ *   · VRM `dragForce` is a per-FRAME velocity multiplier. Three-vrm's reference Verlet step retains
+ *     `(1 - dragForce)` of the previous displacement once per update while stiffness and gravity are scaled by
+ *     dt. Converting it means choosing the frame rate it was authored against; 60 Hz is the preview convention.
+ *     We linearise that exact projected step and map its two discrete poles to the continuous spring's poles.
+ *     This preserves both oscillation frequency and decay instead of equating velocity retention alone, which
+ *     over-damped ordinary VRoid hair and flattened distinct authored values at the critical-damping clamp.
  *
  *   · VRM `gravityPower` is likewise a velocity, not an acceleration, so it cannot be read as m/s². The
  *     conversion goes through the EQUILIBRIUM instead: in VRM the rest droop satisfies
- *     `tan θ ≈ gravityPower / stiffness`, and in this solver the sag is `g / ω²` over a bone of length L. Setting
- *     those equal gives `g = gravityPower * stiffness / L`, which preserves how far a chain hangs rather than
- *     preserving a number that means something different on each side.
+ *     `tan θ ≈ gravityPower / stiffness`, and in this solver the sag is `g / (ω²L)`. Setting those equal gives
+ *     `g = gravityPower * ω²L / stiffness`, using the bounded ω this converter actually emits. That preserves
+ *     how far a chain hangs rather than preserving a number that means something different on each side.
  *
  * None of this is exact, and it is not claimed to be. The research that produced these relations fitted them
  * numerically and found parameter recovery good but multi-joint waveforms drifting in phase over seconds. The
@@ -81,25 +82,40 @@ export interface VrmImportResult {
 }
 /** ω (rad/s) → the contract's normalised 0..1 stiffness. The inverse of `stiffnessToOmega`. */
 export declare function omegaToStiffness(omega: number): number;
+/** Continuous response plus its bounded `helix/dynamics@1` representation. */
+export interface ConvertedSpring {
+    /** Unclamped continuous natural frequency, in rad/s. */
+    omega: number;
+    /** Unclamped continuous damping ratio. Values above one cannot be represented by dynamics@1. */
+    dampingRatio: number;
+    /** Natural frequency of the closest representable response, before the engine's 2..40 rad/s clamp. */
+    mappedOmega: number;
+    /** Natural frequency after the dynamics@1 clamp; this is what the runtime actually solves. */
+    engineOmega: number;
+    /** Damping ratio of the bounded dynamics@1 representation. */
+    mappedDampingRatio: number;
+    /** Normalised dynamics@1 stiffness. */
+    stiffness: number;
+    /** Normalised dynamics@1 damping. */
+    damping: number;
+}
 /**
- * VRM `stiffness` (world units/second) + bone length → the contract's normalised stiffness.
+ * Convert one VRM projected-Verlet joint to the continuous `helix/dynamics@1` spring.
  *
- * A short bone with the same VRM stiffness returns faster in angle, which is why length is in here at all.
- */
-export declare function convertStiffness(vrmStiffness: number, boneLengthM: number): number;
-/**
- * VRM `dragForce` (per-frame velocity retention) → damping ratio ζ.
+ * For a small angular displacement `x`, three-vrm's documented update linearises to:
+ *
+ *     q = 1 + (stiffness / boneLength) dt
+ *     x[n+1] = ((1 + retention) / q) x[n] - (retention / q) x[n-1]
  *
- * Retention over one second at the authoring rate is `(1 − drag)^hz`; this solver decays velocity as
- * `exp(−ζω t)`. Equating them gives `ζ = −hz·ln(1 − drag) / ω`. Heavily-dragged chains clamp at critical
- * damping, which is correct behaviour rather than a lost parameter: past critical, more damping only makes a
- * chain slower, and an author who wanted that wanted lower stiffness.
+ * The roots of that recurrence are the response sampled at the authoring rate. Mapping their magnitude and
+ * phase to `exp((-ζω ± iωd)dt)` gives the continuous spring parameters directly. Dynamics@1 cannot express an
+ * overdamped response, so real positive roots map to a critical spring at the slow pole's rate. That preserves
+ * the visible return tail by lowering stiffness, as the contract requires, instead of clamping damping while
+ * retaining the geometric-mean frequency and making a heavily dragged chain snap back too quickly.
  */
-export declare function convertDamping(dragForce: number, omega: number, hz?: number): number;
-/** The unclamped ζ, so the caller can tell the creator when a value saturated instead of silently flattening it. */
-export declare function rawDampingRatio(dragForce: number, omega: number, hz?: number): number;
+export declare function convertSpring(vrmStiffness: number, dragForce: number, boneLengthM: number, hz?: number): ConvertedSpring;
 /** VRM `gravityPower` → a multiplier on real world gravity, via the equilibrium droop. See the header. */
-export declare function convertGravity(gravityPower: number, vrmStiffness: number, boneLengthM: number): number;
+export declare function convertGravity(gravityPower: number, vrmStiffness: number, boneLengthM: number, engineOmega: number): number;
 /**
  * Guess how much a chain matters from its bone names.
  *

package/dist/character/stages/vrmDynamics.js

@@ -13,21 +13,22 @@
  * Chains and colliders map across almost mechanically. The parameters do not, and this is where every naive
  * converter goes wrong — including, by its own admission, VRChat's:
  *
- *   · VRM `stiffness` is **world units per second**. It is added to the tail as a VELOCITY (`axis * stiffness *
- *     dt`), not as a force. Its angular effect therefore depends on bone length, and a converter that copies the
- *     number into a normalised 0..1 field is wrong by one to two orders of magnitude. The equivalent restoring
- *     rate is `stiffness / boneLength` rad/s, which is what maps onto ω.
+ *   · VRM `stiffness` is **world units per second**. It is added to the tail as `axis * stiffness * dt`, then the
+ *     tail is projected back to its authored bone length. The projection couples stiffness, bone length and drag;
+ *     none of the three can be converted independently without changing the response.
  *
- *   · VRM `dragForce` is a per-FRAME velocity multiplier, not per second. That is also why three-vrm hair
- *     measurably swings ~2.3x faster at 144 fps than at 30 — the drag is applied once per frame while stiffness
- *     and gravity are scaled by dt. Converting it means picking the frame rate it was authored against; 60 Hz is
- *     the only defensible choice, and it is what every authoring tool previews at.
+ *   · VRM `dragForce` is a per-FRAME velocity multiplier. Three-vrm's reference Verlet step retains
+ *     `(1 - dragForce)` of the previous displacement once per update while stiffness and gravity are scaled by
+ *     dt. Converting it means choosing the frame rate it was authored against; 60 Hz is the preview convention.
+ *     We linearise that exact projected step and map its two discrete poles to the continuous spring's poles.
+ *     This preserves both oscillation frequency and decay instead of equating velocity retention alone, which
+ *     over-damped ordinary VRoid hair and flattened distinct authored values at the critical-damping clamp.
  *
  *   · VRM `gravityPower` is likewise a velocity, not an acceleration, so it cannot be read as m/s². The
  *     conversion goes through the EQUILIBRIUM instead: in VRM the rest droop satisfies
- *     `tan θ ≈ gravityPower / stiffness`, and in this solver the sag is `g / ω²` over a bone of length L. Setting
- *     those equal gives `g = gravityPower * stiffness / L`, which preserves how far a chain hangs rather than
- *     preserving a number that means something different on each side.
+ *     `tan θ ≈ gravityPower / stiffness`, and in this solver the sag is `g / (ω²L)`. Setting those equal gives
+ *     `g = gravityPower * ω²L / stiffness`, using the bounded ω this converter actually emits. That preserves
+ *     how far a chain hangs rather than preserving a number that means something different on each side.
  *
  * None of this is exact, and it is not claimed to be. The research that produced these relations fitted them
  * numerically and found parameter recovery good but multi-joint waveforms drifting in phase over seconds. The
@@ -36,9 +37,7 @@
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.CENTRE_INERTIA = exports.VRM_ASSUMED_AUTHORING_HZ = void 0;
 exports.omegaToStiffness = omegaToStiffness;
-exports.convertStiffness = convertStiffness;
-exports.convertDamping = convertDamping;
-exports.rawDampingRatio = rawDampingRatio;
+exports.convertSpring = convertSpring;
 exports.convertGravity = convertGravity;
 exports.guessImportance = guessImportance;
 exports.convertVrmDynamics = convertVrmDynamics;
@@ -68,39 +67,103 @@ function omegaToStiffness(omega) {
     return Math.sqrt((clamped - STIFFNESS_MIN_OMEGA) / (STIFFNESS_MAX_OMEGA - STIFFNESS_MIN_OMEGA));
 }
 /**
- * VRM `stiffness` (world units/second) + bone length → the contract's normalised stiffness.
+ * Convert one VRM projected-Verlet joint to the continuous `helix/dynamics@1` spring.
  *
- * A short bone with the same VRM stiffness returns faster in angle, which is why length is in here at all.
- */
-function convertStiffness(vrmStiffness, boneLengthM) {
-    const length = Math.max(boneLengthM, 1e-3);
-    return omegaToStiffness(Math.max(vrmStiffness, 0) / length);
-}
-/**
- * VRM `dragForce` (per-frame velocity retention) → damping ratio ζ.
+ * For a small angular displacement `x`, three-vrm's documented update linearises to:
  *
- * Retention over one second at the authoring rate is `(1 − drag)^hz`; this solver decays velocity as
- * `exp(−ζω t)`. Equating them gives `ζ = −hz·ln(1 − drag) / ω`. Heavily-dragged chains clamp at critical
- * damping, which is correct behaviour rather than a lost parameter: past critical, more damping only makes a
- * chain slower, and an author who wanted that wanted lower stiffness.
+ *     q = 1 + (stiffness / boneLength) dt
+ *     x[n+1] = ((1 + retention) / q) x[n] - (retention / q) x[n-1]
+ *
+ * The roots of that recurrence are the response sampled at the authoring rate. Mapping their magnitude and
+ * phase to `exp((-ζω ± iωd)dt)` gives the continuous spring parameters directly. Dynamics@1 cannot express an
+ * overdamped response, so real positive roots map to a critical spring at the slow pole's rate. That preserves
+ * the visible return tail by lowering stiffness, as the contract requires, instead of clamping damping while
+ * retaining the geometric-mean frequency and making a heavily dragged chain snap back too quickly.
  */
-function convertDamping(dragForce, omega, hz = exports.VRM_ASSUMED_AUTHORING_HZ) {
-    return Math.min(Math.max(rawDampingRatio(dragForce, omega, hz), 0), 1);
-}
-/** The unclamped ζ, so the caller can tell the creator when a value saturated instead of silently flattening it. */
-function rawDampingRatio(dragForce, omega, hz = exports.VRM_ASSUMED_AUTHORING_HZ) {
-    const drag = Math.min(Math.max(dragForce, 0), 0.999);
-    if (drag <= 0)
-        return 0;
-    return (-hz * Math.log(1 - drag)) / Math.max(omega, 1e-3);
+function convertSpring(vrmStiffness, dragForce, boneLengthM, hz = exports.VRM_ASSUMED_AUTHORING_HZ) {
+    const safeHz = Number.isFinite(hz) ? Math.max(hz, 1e-3) : exports.VRM_ASSUMED_AUTHORING_HZ;
+    const dt = 1 / safeHz;
+    const finiteLength = Number.isFinite(boneLengthM) ? boneLengthM : 0.07;
+    const length = Math.max(finiteLength, 1e-3);
+    const finiteStiffness = Number.isFinite(vrmStiffness) ? vrmStiffness : 0;
+    const restoringRate = Math.max(finiteStiffness, 0) / length;
+    const finiteDrag = Number.isFinite(dragForce) ? dragForce : 0.5;
+    const drag = Math.min(Math.max(finiteDrag, 0), 1);
+    const retention = 1 - drag;
+    const projectionScale = 1 + restoringRate * dt;
+    const trace = (1 + retention) / projectionScale;
+    const determinant = retention / projectionScale;
+    const discriminant = trace * trace - 4 * determinant;
+    let omega;
+    let dampingRatio;
+    let decayRate;
+    let mappedOmega;
+    if (retention <= Number.EPSILON) {
+        // dragForce=1 removes the second pole entirely. Preserve its one finite return rate with the closest
+        // representable response: a critically damped spring at the same slow-pole rate.
+        decayRate = Math.log(projectionScale) / dt;
+        omega = decayRate;
+        dampingRatio = 1;
+        mappedOmega = decayRate;
+    }
+    else if (discriminant < 0) {
+        const magnitude = Math.sqrt(determinant);
+        decayRate = -Math.log(magnitude) / dt;
+        const phase = Math.acos(Math.min(Math.max(trace / (2 * magnitude), -1), 1));
+        const dampedOmega = phase / dt;
+        omega = Math.hypot(decayRate, dampedOmega);
+        dampingRatio = omega > 0 ? decayRate / omega : 1;
+        mappedOmega = omega;
+    }
+    else {
+        const rootDelta = Math.sqrt(discriminant);
+        const slowRoot = Math.max((trace + rootDelta) / 2, Number.EPSILON);
+        const fastRoot = Math.max((trace - rootDelta) / 2, Number.EPSILON);
+        const slowRate = -Math.log(slowRoot) / dt;
+        const fastRate = -Math.log(fastRoot) / dt;
+        const rateProduct = Math.max(slowRate * fastRate, 0);
+        omega = Math.sqrt(rateProduct);
+        decayRate = (slowRate + fastRate) / 2;
+        dampingRatio = omega > 1e-8 ? (slowRate + fastRate) / (2 * omega) : 1;
+        // A critical spring has one repeated pole. Preserve the source's dominant return pole rather than its
+        // geometric-mean natural frequency; keeping the latter while clamping zeta to one can be many times faster.
+        mappedOmega = Math.max(slowRate, 0);
+    }
+    if (!Number.isFinite(omega))
+        omega = STIFFNESS_MAX_OMEGA;
+    if (!Number.isFinite(dampingRatio))
+        dampingRatio = 1;
+    if (!Number.isFinite(decayRate))
+        decayRate = omega;
+    if (!Number.isFinite(mappedOmega))
+        mappedOmega = STIFFNESS_MAX_OMEGA;
+    const engineOmega = Math.min(Math.max(mappedOmega, STIFFNESS_MIN_OMEGA), STIFFNESS_MAX_OMEGA);
+    const mappedDampingRatio = dampingRatio > 1 || mappedOmega <= 1e-8 ? 1 : decayRate / engineOmega;
+    return {
+        omega,
+        dampingRatio,
+        mappedOmega,
+        engineOmega,
+        mappedDampingRatio,
+        stiffness: omegaToStiffness(mappedOmega),
+        damping: Math.min(Math.max(mappedDampingRatio, 0), 1),
+    };
 }
 /** VRM `gravityPower` → a multiplier on real world gravity, via the equilibrium droop. See the header. */
-function convertGravity(gravityPower, vrmStiffness, boneLengthM) {
-    if (gravityPower <= 0)
+function convertGravity(gravityPower, vrmStiffness, boneLengthM, engineOmega) {
+    if (!Number.isFinite(gravityPower) || gravityPower <= 0)
         return 0;
-    const length = Math.max(boneLengthM, 1e-3);
-    const accel = (gravityPower * Math.max(vrmStiffness, 1e-3)) / length;
-    return Math.min(accel / WORLD_GRAVITY, 8);
+    const stiffness = Number.isFinite(vrmStiffness) ? Math.max(vrmStiffness, 0) : 0;
+    // Gravity with no restoring term has no finite VRM equilibrium: the joint falls as far as its length allows.
+    // The bounded V1 contract cannot express that exactly, so retain the fully-drooped intent with its max force.
+    if (stiffness <= Number.EPSILON)
+        return 8;
+    const finiteLength = Number.isFinite(boneLengthM) ? boneLengthM : 0.07;
+    const length = Math.max(finiteLength, 1e-3);
+    const finiteOmega = Number.isFinite(engineOmega) ? engineOmega : STIFFNESS_MIN_OMEGA;
+    const boundedOmega = Math.min(Math.max(finiteOmega, STIFFNESS_MIN_OMEGA), STIFFNESS_MAX_OMEGA);
+    const accel = (gravityPower * boundedOmega * boundedOmega * length) / stiffness;
+    return Math.min(Math.max(accel / WORLD_GRAVITY, 0), 8);
 }
 /**
  * Guess how much a chain matters from its bone names.
@@ -230,9 +293,9 @@ function convertVrm1(nodes, springBone) {
         const dragRaw = numberOr(first.dragForce, 0.5);
         const gravityPower = numberOr(first.gravityPower, 0);
         const length = boneLength(nodes, rootIndex);
-        const omega = Math.max(stiffnessRaw, 0) / Math.max(length, 1e-3);
+        const spring = convertSpring(stiffnessRaw, dragRaw, length);
         const name = typeof raw.name === 'string' && raw.name.length > 0 ? raw.name : root;
-        noteSaturation(warnings, name, omega, dragRaw);
+        noteSaturation(warnings, name, spring, dragRaw);
         const chainColliders = [];
         for (const groupIndex of Array.isArray(raw.colliderGroups) ? raw.colliderGroups : []) {
             for (const id of groups[Number(groupIndex)] ?? [])
@@ -246,9 +309,9 @@ function convertVrm1(nodes, springBone) {
             id: sanitiseId(`${name}_${index}`, `spring_${index}`),
             root,
             importance: guessImportance(name),
-            stiffness: convertStiffness(stiffnessRaw, length),
-            damping: convertDamping(dragRaw, omega),
-            gravity: convertGravity(gravityPower, stiffnessRaw, length),
+            stiffness: spring.stiffness,
+            damping: spring.damping,
+            gravity: convertGravity(gravityPower, stiffnessRaw, length, spring.engineOmega),
             ...(Array.isArray(first.gravityDir) && first.gravityDir.length === 3
                 ? { gravityDir: first.gravityDir.slice(0, 3) } : {}),
             ...(hitRadius > 0 && chainColliders.length > 0
@@ -313,16 +376,16 @@ function convertVrm0(nodes, secondary) {
             if (root === null)
                 return;
             const length = boneLength(nodes, rootIndex);
-            const omega = Math.max(stiffnessRaw, 0) / Math.max(length, 1e-3);
-            noteSaturation(warnings, root, omega, dragRaw);
+            const spring = convertSpring(stiffnessRaw, dragRaw, length);
+            noteSaturation(warnings, root, spring, dragRaw);
             chains.push({
                 ...(hasCentre ? { inertia: exports.CENTRE_INERTIA } : {}),
                 id: sanitiseId(`${root}_${groupIndex}_${i}`, `spring_${groupIndex}_${i}`),
                 root,
                 importance: guessImportance(`${comment} ${root}`),
-                stiffness: convertStiffness(stiffnessRaw, length),
-                damping: convertDamping(dragRaw, omega),
-                gravity: convertGravity(gravityPower, stiffnessRaw, length),
+                stiffness: spring.stiffness,
+                damping: spring.damping,
+                gravity: convertGravity(gravityPower, stiffnessRaw, length, spring.engineOmega),
                 ...(isRecord(raw.gravityDir)
                     ? { gravityDir: [numberOr(raw.gravityDir.x, 0), numberOr(raw.gravityDir.y, -1), -numberOr(raw.gravityDir.z, 0)] }
                     : {}),
@@ -339,21 +402,20 @@ function convertVrm0(nodes, secondary) {
 /**
  * Record where a source value fell outside the contract's expressible range.
  *
- * Both clamps are faithful readings rather than lost data — a chain past critical damping only gets slower, and
- * one past 40 rad/s is already visually rigid — but a creator comparing their avatar side by side deserves to
- * be told which knob stopped mattering rather than left to wonder why two chains they tuned differently now
- * look the same.
+ * Both conversions are reported — an overdamped chain has its slow return pole preserved with lower stiffness,
+ * and a representable response past 40 rad/s is already visually rigid. A creator comparing side by side
+ * deserves to know which knob stopped mattering rather than wonder why two chains they tuned differently move
+ * the same.
  */
 function centreNote(name) {
     return `'${name}': declares a center node; approximated with inertia ${exports.CENTRE_INERTIA} (true centre-space is a V2 item)`;
 }
-function noteSaturation(warnings, name, omega, dragForce) {
-    if (omega > STIFFNESS_MAX_OMEGA) {
-        warnings.push(`'${name}': stiffness maps to ${omega.toFixed(0)} rad/s, clamped to ${STIFFNESS_MAX_OMEGA} — it will read as rigid, which is how it already read`);
+function noteSaturation(warnings, name, spring, dragForce) {
+    if (spring.mappedOmega > STIFFNESS_MAX_OMEGA) {
+        warnings.push(`'${name}': response maps to ${spring.mappedOmega.toFixed(0)} rad/s, clamped to ${STIFFNESS_MAX_OMEGA} — it will read as rigid, which is how it already read`);
     }
-    const zeta = rawDampingRatio(dragForce, omega);
-    if (zeta > 1) {
-        warnings.push(`'${name}': dragForce ${dragForce} is overdamped (zeta ${zeta.toFixed(1)}), clamped to critical — it will not overshoot, and it did not before either`);
+    if (spring.dampingRatio > 1) {
+        warnings.push(`'${name}': dragForce ${dragForce} produces an overdamped response (zeta ${spring.dampingRatio.toFixed(1)}), fitted to critical damping at its slow return rate`);
     }
 }
 //# sourceMappingURL=vrmDynamics.js.map

package/dist/character/stages/vrmDynamics.js.map

@@ -1 +1 @@
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