@hypersoniclabs/helix-cli 0.1.7 → 0.1.23

package/dist/visualQa/vehicleOccupants.js

@@ -0,0 +1,448 @@
+"use strict";
+var __importDefault = (this && this.__importDefault) || function (mod) {
+    return (mod && mod.__esModule) ? mod : { "default": mod };
+};
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.captureOccupants = captureOccupants;
+// Seated-occupant capture for the vehicle route (`vehicle.ts`). With the car at rest, every declared seat gets a real occupant:
+// this account's own avatar, walked to the seat's door and seated with the real E key (there is no seat-switch key in the
+// runtime; a second account joining a Try Now room is not possible, so one avatar sits in the seats one after another — the
+// engine draws a local occupant and a remote one through the same seat rig). For each seat:
+//
+//   1. the occupant, the steering wheel and the car's triangles around the pelvis are pulled out of the live scene graph and
+//      measured (vehicleMath.measureOccupant / judgeOccupants): crown vs roof lining, buttocks vs cushion, soles vs floor,
+//      the driver's fingers vs the wheel, and every skinned vertex's clipping into the cabin (vehiclePenetration);
+//   2. four frames are taken FROM OUTSIDE, in the body frame so they look the same whatever the spawn yaw:
+//      side (through the glass), 3/4 front (through the windscreen), and — with that seat's door opened with the real
+//      action key — the open door and a close head-to-roof line.
+const node_fs_1 = __importDefault(require("node:fs"));
+const node_path_1 = __importDefault(require("node:path"));
+const vehicleMath_1 = require("./vehicleMath");
+const vehiclePosture_1 = require("./vehiclePosture");
+const vehiclePenetration_1 = require("./vehiclePenetration");
+const evidenceOverlay_1 = require("./evidenceOverlay");
+const vehicleClearance_1 = require("./vehicleClearance");
+const vehicleGrip_1 = require("./vehicleGrip");
+/* eslint-disable @typescript-eslint/no-explicit-any */
+const sleep = (ms) => new Promise((r) => setTimeout(r, ms));
+/** The platform's default action key per door signal (see PORTABLE_VEHICLE_CONTROLS in the engine). */
+const DOOR_KEYS = { doorFL: 'KeyO', doorFR: 'KeyP', doorRL: 'Semicolon', doorRR: 'Digit0' };
+const label0 = (key, role) => `${key}${role === 'driver' ? ' (driver)' : ''}`;
+async function captureOccupants(a) {
+    const { page, frame, itemId, shot, setCam, clearCam } = a;
+    const measures = [];
+    const failed = [];
+    const facts = { seats: [] };
+    const evidence = [];
+    const grip = [];
+    const seated = [];
+    // the seat rig says what it gave up on (a rim out of reach, a hand parked in the lap) once, on the console
+    const rigWarnings = [];
+    let currentSeat = '';
+    const onConsole = (m) => { const t = m.text(); if (/\[vehicle-seat\]/.test(t) && currentSeat)
+        rigWarnings.push({ seatKey: currentSeat, text: t.slice(0, 300) }); };
+    page.on('console', onConsole);
+    try {
+        const seatFacts = facts.seats;
+        // declared key -> cabin seat id (the legacy 'driver' role key resolves to the driver cabin seat)
+        const ids = new Set(a.seatEvidence.map((s) => s.id));
+        const driverCabin = a.seatEvidence.find((s) => s.role === 'driver')?.id ?? null;
+        const cabinIdOf = (key) => (ids.has(key) ? key : a.seatsDeclared.driver !== null && key === a.seatsDeclared.driver ? driverCabin : null);
+        const roleOf = (id) => a.seatEvidence.find((s) => s.id === id)?.role ?? 'passenger';
+        // driver first (the player is already in it), then the rest in declaration order
+        const keys = [...a.seatsDeclared.seats].sort((x, y) => Number(y === a.seatsDeclared.driver) - Number(x === a.seatsDeclared.driver));
+        const read = (seatId) => frame.evaluate((id) => {
+            const l = globalThis.__assetGym.mp.seatEvidence().local;
+            const d = (l?.seats ?? []).find((x) => x.id === id);
+            return {
+                at: l?.atWorld ?? null,
+                would: l?.wouldBoard ? { seatId: l.wouldBoard.seatId, role: l.wouldBoard.role } : null,
+                seated: l?.seated ? { seatId: l.seated.seatId, role: l.seated.role } : null,
+                dist: d?.distanceM ?? null,
+                refusal: d?.refusal ?? null,
+            };
+        }, seatId);
+        const exitSeat = async () => {
+            for (let i = 0; i < 4; i++) {
+                const s = await read('');
+                if (!s.seated)
+                    return true;
+                await page.keyboard.press('KeyE');
+                for (let k = 0; k < 14; k++) {
+                    await sleep(250);
+                    if (!(await read('')).seated) {
+                        await sleep(600);
+                        return true;
+                    }
+                }
+            }
+            return !(await read('')).seated;
+        };
+        /** Walk (in steps the movement gate believes, around the car's nose when the seat is on the other side) and sit with E. */
+        const boardSeat = async (seatId, hip) => {
+            const side = hip ? (Math.sign(hip[0]) || 1) : 1;
+            const target = [side * 1.7, 0, hip ? hip[2] : 0.2];
+            const frontZ = (a.carBounds?.max[2] ?? 2.2) + 1.6;
+            const trace = [];
+            const walk = () => frame.evaluate(async ({ tgt, frontZ }) => {
+                const mp = globalThis.__assetGym.mp;
+                const e = mp.portableVehicles.presentationRows()[0].entity;
+                const o = e.object3d;
+                const V = o.position.constructor;
+                o.updateMatrixWorld(true);
+                const from = mp.seatEvidence().local.atWorld;
+                const y = from[1] + 0.05;
+                const cur = o.worldToLocal(new V(from[0], from[1], from[2]));
+                // waypoints in the body frame: out ahead of the nose when the target is on the other side of the car
+                const way = [];
+                if (Math.sign(cur.x || 1) !== Math.sign(tgt[0]) && Math.abs(cur.x) < 4) {
+                    way.push([cur.x, 0, frontZ], [tgt[0], 0, frontZ]);
+                }
+                way.push(tgt);
+                let pos = [from[0], from[2]];
+                let last = [];
+                for (const w of way) {
+                    const wp = o.localToWorld(new V(w[0], 0, w[2]));
+                    const dist = Math.hypot(wp.x - pos[0], wp.z - pos[1]);
+                    const n = Math.max(1, Math.ceil(dist / 0.4));
+                    for (let i = 1; i <= n; i++) {
+                        const k = i / n;
+                        mp.local.services.body.teleport({ x: pos[0] + (wp.x - pos[0]) * k, y, z: pos[1] + (wp.z - pos[1]) * k });
+                        await new Promise((r) => setTimeout(r, 50));
+                    }
+                    pos = [wp.x, wp.z];
+                    last = [wp.x, y, wp.z];
+                }
+                return last;
+            }, { tgt: target, frontZ });
+            const t0 = Date.now();
+            let last = await read(seatId);
+            for (let i = 0; i < 6 && last.seated?.seatId !== seatId; i++) {
+                const tgt = await walk();
+                let held = 0;
+                for (let k = 0; k < 12 && held < 3; k++) {
+                    await sleep(350);
+                    last = await read(seatId);
+                    const off = last.at ? Math.hypot(last.at[0] - tgt[0], last.at[2] - tgt[2]) : Infinity;
+                    held = off < 0.6 ? held + 1 : 0;
+                    if (off > 3)
+                        break;
+                }
+                const rec = { t: +((Date.now() - t0) / 1000).toFixed(1), held, would: last.would, dist: last.dist === null ? null : +last.dist.toFixed(2), refusal: last.refusal };
+                if (held < 3 || last.would?.seatId !== seatId) {
+                    rec.outcome = held < 3 ? 'position not held' : `would board ${last.would?.seatId ?? 'nothing'}`;
+                    trace.push(rec);
+                    if (last.refusal === 'not-boardable' || last.refusal === 'occupied')
+                        break;
+                    continue;
+                }
+                await page.keyboard.press('KeyE');
+                for (let k = 0; k < 12 && !last.seated; k++) {
+                    await sleep(250);
+                    last = await read(seatId);
+                }
+                rec.outcome = last.seated ? `seated ${last.seated.seatId}` : 'E pressed, not seated';
+                trace.push(rec);
+            }
+            if (last.seated?.seatId === seatId)
+                return { ok: true, why: 'seated', trace };
+            return { ok: false, why: `could not sit in ${seatId}${last.refusal ? ` (refusal: ${last.refusal})` : ''}: ${JSON.stringify(trace[trace.length - 1] ?? null)}`, trace };
+        };
+        /** The door panel nearest a seat (by the door's drawn box), when the package articulates one. */
+        const doorFor = async (hip) => {
+            let best = null;
+            for (const p of a.panels) {
+                if (!/door/i.test(p.id + p.role) || !DOOR_KEYS[p.signal])
+                    continue;
+                const box = await frame.evaluate((n) => globalThis.__vqaVeh.nodeBox(n), p.nodes);
+                if (!box)
+                    continue;
+                const c = [(box.min[0] + box.max[0]) / 2, 0, (box.min[2] + box.max[2]) / 2];
+                const d = Math.hypot(c[0] - hip[0], c[2] - hip[2]);
+                if (!best || d < best.d)
+                    best = { p, d };
+            }
+            return best && best.d < 1.6 ? best.p : null;
+        };
+        const durable = (signal) => frame.evaluate((s) => globalThis.__vqaVeh.durable()[s], signal);
+        const toggleDoor = async (p, want) => {
+            if ((await durable(p.signal)) === want)
+                return true;
+            await page.keyboard.press(DOOR_KEYS[p.signal]);
+            for (let i = 0; i < 12; i++) {
+                await sleep(200);
+                if ((await durable(p.signal)) === want) {
+                    await sleep(2600);
+                    return true;
+                }
+            }
+            return false;
+        };
+        for (const key of keys) {
+            currentSeat = key;
+            const seatId = cabinIdOf(key);
+            const sf = { key, seatId, role: seatId ? roleOf(seatId) : null };
+            seatFacts.push(sf);
+            if (!seatId) {
+                failed.push({ seatKey: key, why: 'the declared seat is not in the cabin' });
+                sf.error = 'not in cabin';
+                continue;
+            }
+            const hipNode = await frame.evaluate((id) => globalThis.__vqaVeh.seatPos(id), seatId);
+            const now = await read(seatId);
+            if (now.seated?.seatId !== seatId) {
+                if (now.seated && !(await exitSeat())) {
+                    failed.push({ seatKey: key, why: 'could not get out of the previous seat' });
+                    sf.error = 'exit failed';
+                    continue;
+                }
+                const b = await boardSeat(seatId, hipNode);
+                sf.board = b;
+                if (!b.ok) {
+                    failed.push({ seatKey: key, why: b.why });
+                    continue;
+                }
+            }
+            else
+                sf.board = { ok: true, why: 'already seated' };
+            await clearCam();
+            await sleep(2200); // the seat pose, leg planting and hand grips settle
+            const pull = await frame.evaluate('globalThis.__vqaVeh.occupantPull()');
+            if (!pull) {
+                failed.push({ seatKey: key, why: 'no occupant model to measure' });
+                sf.error = 'no occupant model';
+                continue;
+            }
+            const role = roleOf(seatId);
+            const m = (0, vehicleMath_1.measureOccupant)({ ...pull, seatKey: key, seatId, role });
+            m.penetration = (0, vehiclePenetration_1.measurePenetration)({ ...pull, seatKey: key, seatId, role });
+            m.posture = (0, vehiclePosture_1.measurePosture)(pull, m.hips.baseY);
+            measures.push(m);
+            sf.occupant = { meshInfo: pull.meshInfo ?? null, skinnedMeshes: pull.skinned ?? null, rimNode: pull.rimNode ?? null, points: pull.points.length / 3, cabinTriangles: pull.cabin.tris.length / 9 };
+            sf.measure = m;
+            sf.cabinFit = await frame.evaluate('globalThis.__vqaVeh.cabinFit()').catch(() => null);
+            sf.seatFit = await frame.evaluate((id) => globalThis.__vqaVeh.seatFit(id), seatId).catch(() => null);
+            if (process.env.HELIX_VQA_DUMP_GEOMETRY)
+                node_fs_1.default.writeFileSync(node_path_1.default.join(a.outDir, `occupant-${key}.json`), JSON.stringify(pull));
+            // ------------------------------------------------------------------------------------------------ frames
+            // Every exterior frame below is taken through `outside`: its near plane sits just short of the car + occupant box
+            // (live, so an open door counts), and any scenery box still crossing a sight line to the car is hidden for that frame
+            // only. A camera can never end up showing a wall it was placed behind; nothing on the car is clipped or hidden.
+            const occBox = (0, vehicleClearance_1.boxOfPoints)(pull.points);
+            const frameFacts = {};
+            sf.frames = frameFacts;
+            const outside = async (id, cam, caption, settleMs, aim = []) => {
+                const live = await frame.evaluate('globalThis.__vqaVeh.bounds()').catch(() => null);
+                const keep = (0, vehicleClearance_1.unionBoxes)([live ?? a.carBounds, occBox]);
+                const near = (0, vehicleClearance_1.nearPlaneClearOf)(cam.pos, cam.target, keep);
+                const sc = await frame.evaluate((r) => globalThis.__vqaVeh.sceneBoxes(r), 30).catch(() => null);
+                let hidden = [];
+                if (sc && keep) {
+                    const ctr = [(keep.min[0] + keep.max[0]) / 2, (keep.min[1] + keep.max[1]) / 2, (keep.min[2] + keep.max[2]) / 2];
+                    const targets = [cam.target, ctr, ...aim].map((t) => (0, vehicleClearance_1.applyMatrix)(sc.bodyToWorld, t));
+                    hidden = (0, vehicleClearance_1.occludersOf)((0, vehicleClearance_1.applyMatrix)(sc.bodyToWorld, cam.pos), targets, sc.boxes, near);
+                    if (hidden.length)
+                        await frame.evaluate((ids) => globalThis.__vqaVeh.hideScenery(ids, true), hidden.map((b) => b.id));
+                }
+                try {
+                    await setCam({ ...cam, near: Math.max(cam.near ?? 0.05, near) });
+                    await shot(id, caption, 'occupant', settleMs);
+                }
+                finally {
+                    if (hidden.length)
+                        await frame.evaluate(() => globalThis.__vqaVeh.hideScenery(null, false));
+                }
+                frameFacts[id] = { near: +Math.max(cam.near ?? 0.05, near).toFixed(3), sceneryHidden: hidden.map((b) => b.name ?? b.id) };
+            };
+            const bones = pull.bones;
+            const pel = bones.pelvis ?? Object.values(bones)[0];
+            const head = bones.head ?? [pel[0], pel[1] + 0.6, pel[2]];
+            const crownY = m.head.crownY ?? head[1] + 0.12;
+            const side = Math.sign(pel[0]) || 1;
+            const label = `${key}${role === 'driver' ? ' (driver)' : ''}`;
+            const centre = [pel[0], (pel[1] + crownY) / 2, pel[2]];
+            await outside(`occupant.${key}.side`, { pos: [pel[0] + side * 2.5, head[1] - 0.02, pel[2] + 0.25], target: centre, fov: 32, near: 0.05 }, `Occupant in ${label}: side view through the window, doors closed`, 600, [head]);
+            await outside(`occupant.${key}.front34`, { pos: [pel[0] + side * 1.3, head[1] + 0.35, pel[2] + 2.7], target: centre, fov: 34, near: 0.05 }, `Occupant in ${label}: three-quarter front, through the windscreen`, 600, [head]);
+            // ------------------------------------------------------------------------------------------------ inspection views
+            // The fixed occupant views an owner checks every seat from (the gauntlet inspection set): first person, over the
+            // shoulder and straight through the windscreen (the side-glass and 3/4 views are above). The interior views are not
+            // `outside`: the first-person camera sits just in front of the face; the over-the-shoulder camera's near plane cuts
+            // away the roof and seat back between it and the occupant (its caption says so).
+            seated.push({ seatKey: key, role });
+            // near plane just short of the occupant's own nearest skin along a view: the roof, a seat back or the seat ahead in
+            // front of it go, the occupant never does
+            const nearClearOfOccupant = (pos, target) => {
+                const d = [target[0] - pos[0], target[1] - pos[1], target[2] - pos[2]];
+                const l = Math.hypot(d[0], d[1], d[2]) || 1;
+                let nearest = Infinity;
+                for (let i = 0; i + 2 < pull.points.length; i += 3) {
+                    const along = ((pull.points[i] - pos[0]) * d[0] + (pull.points[i + 1] - pos[1]) * d[1] + (pull.points[i + 2] - pos[2]) * d[2]) / l;
+                    if (along > 0 && along < nearest)
+                        nearest = along;
+                }
+                return Number.isFinite(nearest) ? Math.max(0.03, nearest - 0.04) : 0.03;
+            };
+            const eye = [head[0], head[1] + 0.06, head[2] + 0.13];
+            try {
+                await clearCam();
+                await setCam({ pos: eye, target: [eye[0], eye[1] - 0.16, eye[2] + 1], fov: 70, near: 0.03 });
+                await shot(`occupant.${key}.first_person`, `Occupant in ${label}: first person, from the occupant's eyes`, 'occupant', 500);
+                const osPos = [head[0] + side * 0.17, head[1] + 0.24, head[2] - 0.5];
+                const osTarget = [head[0] - side * 0.06, head[1] - 0.28, head[2] + 1.0];
+                const dir = [osTarget[0] - osPos[0], osTarget[1] - osPos[1], osTarget[2] - osPos[2]];
+                const dl = Math.hypot(dir[0], dir[1], dir[2]) || 1;
+                await setCam({ pos: osPos, target: osTarget, fov: 55, near: nearClearOfOccupant(osPos, osTarget) });
+                await shot(`occupant.${key}.over_shoulder`, `Occupant in ${label}: over the shoulder (near plane cuts away the roof and seat back behind the head)`, 'occupant', 500);
+                const noseZ = (a.carBounds?.max[2] ?? pel[2] + 2.2) + 1.7;
+                await outside(`occupant.${key}.windscreen`, { pos: [pel[0], head[1] + 0.3, noseZ], target: [pel[0], head[1] - 0.12, pel[2] + 0.1], fov: 26, near: 0.05 }, `Occupant in ${label}: straight on through the windscreen`, 500, [head]);
+            }
+            catch (e) {
+                sf.viewsError = String(e?.message ?? e).slice(0, 200);
+            }
+            // ------------------------------------------------------------------------------------------------ hands over time
+            // Held windows of the arm, hand and finger bones (vehicleGrip.ts): at rest for every occupant; the driver also with the
+            // wheel centred and held at each lock with the real steering keys. Each window is followed by its pictures: a close of
+            // the hands (three frames 0.3 s apart, so a twitch shows) and, for the driver, the wheel and hands at each lock.
+            const handsCentre = () => {
+                const hs = Object.entries(bones).filter(([n]) => /^hand[_.](l|r)$/i.test(n)).map(([, p]) => p);
+                if (!hs.length)
+                    return [pel[0], pel[1] + 0.25, pel[2] + 0.3];
+                return [hs.reduce((s, p) => s + p[0], 0) / hs.length, hs.reduce((s, p) => s + p[1], 0) / hs.length, hs.reduce((s, p) => s + p[2], 0) / hs.length];
+            };
+            const takeWindow = async (state) => {
+                const w = await frame.evaluate(([n, k]) => globalThis.__vqaVeh.occupantFrames(n, k), [vehicleGrip_1.GRIP_WINDOW_FRAMES, vehicleGrip_1.GRIP_WINDOW_STRIDE]).catch(() => null);
+                if (!w)
+                    return null;
+                const win = { seatKey: key, role, state, frames: w.frames, rim: w.rim, rimQ: w.rimQ, steer: w.steer };
+                grip.push(win);
+                return win;
+            };
+            try {
+                await clearCam();
+                await sleep(400);
+                const isDriver = role === 'driver';
+                const rest = await takeWindow(isDriver ? 'centre' : 'rest');
+                const rimG = isDriver && rest ? (0, vehicleGrip_1.rimGeometry)(rest.rim) : null;
+                // the hands camera: the driver's from the middle of the cabin onto the wheel; a passenger's through the windscreen
+                const hc = handsCentre();
+                const handsCam = rimG
+                    ? { pos: [rimG.centre[0] - side * 0.5, rimG.centre[1] + 0.14, rimG.centre[2] - 0.3], target: rimG.centre, fov: 50, near: 0.03 }
+                    : { pos: [hc[0] - side * 0.6, hc[1] + 0.28, hc[2] + 0.3], target: hc, fov: 50, near: nearClearOfOccupant([hc[0] - side * 0.6, hc[1] + 0.28, hc[2] + 0.3], hc) };
+                const stills = async (tag) => {
+                    // from inside the cabin (the empty seat beside, or mid-cabin onto the wheel): close on the hands, never through glass
+                    for (let i = 0; i < 3; i++) {
+                        await setCam(handsCam);
+                        await shot(`occupant.${key}.still.${tag}.${i}`, `Occupant in ${label}: hands ${tag}, frame ${i + 1} of 3 (0.3 s apart; fingers must not move)`, 'occupant', i ? 300 : 500);
+                    }
+                };
+                await stills(isDriver ? 'centre' : 'rest');
+                if (isDriver) {
+                    await setCam(handsCam);
+                    await shot(`occupant.${key}.steer_centre.hands`, `Driver ${label}: wheel centred, hands on the rim (about 9 and 3)`, 'occupant', 300);
+                    await setCam({ pos: eye, target: [eye[0], eye[1] - 0.2, eye[2] + 1], fov: 70, near: 0.03 });
+                    await shot(`occupant.${key}.steer_centre.fp`, `Driver ${label}: wheel centred, first person`, 'occupant', 300);
+                    for (const [lock, keyName] of [['left', 'KeyA'], ['right', 'KeyD']]) {
+                        await clearCam();
+                        await page.keyboard.down(keyName);
+                        try {
+                            await sleep(1400); // the wheel reaches its lock and the hands settle on it
+                            await takeWindow(lock);
+                            await setCam(handsCam);
+                            await shot(`occupant.${key}.steer_${lock}.hands`, `Driver ${label}: steering ${lock} (${keyName === 'KeyA' ? 'A' : 'D'} held), hands must stay on the rim and turn with it`, 'occupant', 250);
+                            await setCam({ pos: eye, target: [eye[0], eye[1] - 0.2, eye[2] + 1], fov: 70, near: 0.03 });
+                            await shot(`occupant.${key}.steer_${lock}.fp`, `Driver ${label}: steering ${lock}, first person`, 'occupant', 250);
+                        }
+                        finally {
+                            await page.keyboard.up(keyName);
+                        }
+                        await clearCam();
+                        await sleep(1000);
+                    }
+                }
+            }
+            catch (e) {
+                sf.gripError = String(e?.message ?? e).slice(0, 200);
+            }
+            sf.gripWindows = grip.filter((w) => w.seatKey === key).map((w) => ({ state: w.state, frames: w.frames.length, steer: w.steer, rim: w.rim ? w.rim.length / 3 : 0 }));
+            // the raw windows, so a hands verdict can be re-derived (and thresholds re-calibrated) without another render
+            try {
+                node_fs_1.default.writeFileSync(node_path_1.default.join(a.outDir, `grip-${key}.json`), JSON.stringify(grip.filter((w) => w.seatKey === key)));
+            }
+            catch { /* evidence only */ }
+            await clearCam();
+            const door = await doorFor(pel);
+            sf.door = door ? { id: door.id, signal: door.signal } : null;
+            // The driver can work every door with the real action keys (a passenger cannot: the runtime grants controls to the
+            // controller only), so the real open-door frame is the driver's, from the driver's own seat.
+            if (door && role === 'driver') {
+                await clearCam();
+                const opened = await toggleDoor(door, true);
+                sf.doorOpened = opened;
+                if (opened) {
+                    await outside(`occupant.${key}.door_open`, { pos: [pel[0] + side * 1.9, head[1] + 0.3, pel[2] + 1.0], target: [pel[0], pel[1] + 0.2, pel[2] - 0.05], fov: 42, near: 0.05 }, `Occupant in ${label}: door opened with its real key, whole occupant`, 500, [head]);
+                    await clearCam();
+                    sf.doorClosed = await toggleDoor(door, false);
+                }
+            }
+            // CUTAWAY: this seat's door panel (door, glass, card) is hidden for these frames only, so the lower body, the seat and
+            // the footwell can be seen. The captions say so; nothing else on the car is touched and the panel is restored.
+            if (door) {
+                const hid = await frame.evaluate(({ n }) => globalThis.__vqaVeh.setHidden(n, true), { n: door.nodes });
+                sf.cutawayHidden = { nodes: door.nodes, hidden: hid };
+                await sleep(250);
+                const foot = bones.foot_l && bones.foot_r ? ((Math.abs(bones.foot_l[0] - pel[0]) > Math.abs(bones.foot_r[0] - pel[0])) ? bones.foot_l : bones.foot_r) : [pel[0], pel[1] - 0.4, pel[2] + 0.5];
+                const hint = ' (this seat\'s door panel hidden for this frame only)';
+                await outside(`occupant.${key}.cutaway`, { pos: [pel[0] + side * 1.7, head[1] - 0.1, pel[2] + 0.1], target: [pel[0], pel[1] + 0.25, pel[2] + 0.1], fov: 40, near: 0.05 }, `Occupant in ${label}: whole occupant in the seat${hint}`, 500);
+                await outside(`occupant.${key}.head_roof`, { pos: [pel[0] + side * 1.25, crownY - 0.02, pel[2] - 0.05], target: [pel[0], crownY - 0.06, pel[2]], fov: 26, near: 0.05 }, `Occupant in ${label}: close on the head-to-roof line${hint}`, 500);
+                await outside(`occupant.${key}.hips`, { pos: [pel[0] + side * 0.95, pel[1] + 0.3, pel[2] + 0.45], target: [pel[0], pel[1] - 0.12, pel[2] + 0.02], fov: 34, near: 0.05 }, `Occupant in ${label}: hips and thighs against the seat cushion, from above the sill${hint}`, 500);
+                // the footwell is under the dash: look down into it from the open door, over the knee
+                await outside(`occupant.${key}.feet`, { pos: [foot[0] + side * 0.8, pel[1] + 0.4, pel[2] + 0.2], target: [foot[0], foot[1] - 0.08, foot[2] - 0.05], fov: 42, near: 0.05 }, `Occupant in ${label}: feet and footwell, looking down from the open door${hint}`, 500);
+                await clearCam();
+                await frame.evaluate(({ n }) => globalThis.__vqaVeh.setHidden(n, false), { n: door.nodes });
+            }
+            else {
+                // no articulated door to take away: the head-to-roof close is taken through the glass instead
+                await outside(`occupant.${key}.head_roof`, { pos: [pel[0] + side * 1.6, head[1] + 0.02, pel[2] - 0.1], target: [pel[0], crownY - 0.05, pel[2]], fov: 26, near: 0.05 }, `Occupant in ${label}: close on the head-to-roof line, through the window`, 500);
+            }
+            // EVIDENCE: a cutaway of each failing clipping cluster (worst 3 of this seat, one per body part + cabin part): only the
+            // occupant and the clashing mesh drawn, the camera looking along the penetrated surface from outside both, its near
+            // plane just short of the clash. The geometry crossing is then in the frame, not a camera inside a panel.
+            if (a.evidence && m.penetration) {
+                const shots = [];
+                for (const [k, c] of (0, vehiclePenetration_1.evidenceClusters)(m.penetration.clusters).entries()) {
+                    const keep = c.cabinPart === 'self' ? [] : [c.cabinMesh];
+                    const hidden = await frame.evaluate((names) => globalThis.__vqaVeh.isolate(names), keep);
+                    try {
+                        const cam = (0, vehiclePenetration_1.evidenceCamera)(c, side, pull.points);
+                        await setCam({ pos: cam.pos, target: cam.target, fov: cam.fov, near: cam.near });
+                        const what = c.cabinPart === 'self' ? `its own ${c.cabinMesh.replace(/_/g, ' ')}` : `the ${c.cabinPart} (${c.cabinMesh})`;
+                        const id = `${a.evidencePrefix ?? 'evidence.'}penetration.${key}.${k}`;
+                        const label = `Evidence CUTAWAY, measured clash drawn over the render: ${label0(key, role)} ${c.bodyPart} through ${what}, ${(c.maxDepthM * 1000).toFixed(0)} mm deep over ${(c.areaDeepM2 * 1e4).toFixed(1)} cm² (${(c.areaM2 * 1e4).toFixed(1)} cm² in contact). Red: where the measure found the occupant and the part overlapping, shown even where it is buried; cyan: ${keep.length ? c.cabinMesh : 'the thigh'}. Only the occupant${keep.length ? ` and ${c.cabinMesh}` : ''} drawn.`;
+                        const overlay = (0, evidenceOverlay_1.penetrationOverlay)(c.points ?? [], c.centroid, keep.length ? pull.cabin : null, keep.length ? c.cabinMesh : null, {
+                            body: `${c.bodyPart} and ${c.cabinPart} overlap (${(c.maxDepthM * 1000).toFixed(0)} mm deep, ${(c.areaDeepM2 * 1e4).toFixed(1)} cm²)`,
+                            mesh: `${c.cabinMesh} (${c.cabinPart})`,
+                        });
+                        const shot = await a.evidence(id, label, 'evidence', overlay);
+                        evidence.push({ id, score: c.maxDepthM * Math.sqrt(Math.max(c.areaDeepM2, 1e-6)), shot });
+                        shots.push({ id, bodyPart: c.bodyPart, cabinPart: c.cabinPart, cabinMesh: c.cabinMesh, depthMm: +(c.maxDepthM * 1000).toFixed(1), areaDeepCm2: +(c.areaDeepM2 * 1e4).toFixed(1), hiddenMeshes: hidden, occluders: cam.occluders });
+                    }
+                    finally {
+                        await frame.evaluate(() => globalThis.__vqaVeh.unisolate());
+                    }
+                }
+                sf.penetrationEvidence = shots;
+            }
+            // the cluster points served the pictures; the recorded measure keeps the table, not 800 points per cluster
+            for (const c of m.penetration?.clusters ?? [])
+                delete c.points;
+            await clearCam();
+        }
+    }
+    finally {
+        page.off('console', onConsole);
+    }
+    facts.itemId = itemId;
+    facts.rigWarnings = rigWarnings;
+    return { measures, failed, facts, evidence, grip, seated, rigWarnings };
+}
+//# sourceMappingURL=vehicleOccupants.js.map

package/dist/visualQa/vehicleOccupants.js.map

@@ -0,0 +1 @@
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