@hypersoniclabs/helix-cli 0.1.7 → 0.1.23

package/dist/character/stages/poseAwareFit.js

@@ -0,0 +1,417 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.findLayerCrossings = findLayerCrossings;
+exports.countLayerCrossings = countLayerCrossings;
+exports.poseAwareFit = poseAwareFit;
+const math_1 = require("./poseFit/math");
+const measure_1 = require("./poseFit/measure");
+const model_1 = require("./poseFit/model");
+const offsetField_1 = require("./poseFit/offsetField");
+const posing_1 = require("./poseFit/posing");
+const DEFAULTS = {
+    clearanceMm: 3,
+    thresholdMm: 0.5,
+    ceilingMm: 10,
+    proximityMm: 50,
+    maxPushMm: 8,
+    hemMaxPushMm: 4,
+    hemBandMm: 20,
+    smoothRadiusMm: 20,
+    iterations: 6,
+};
+function expand(state, groupDelta, into) {
+    const { groupOf } = state.weld;
+    for (let i = 0; i < groupOf.length; i++) {
+        const g = groupOf[i];
+        into[i * 3] = groupDelta[g * 3];
+        into[i * 3 + 1] = groupDelta[g * 3 + 1];
+        into[i * 3 + 2] = groupDelta[g * 3 + 2];
+    }
+}
+/**
+ * Groups whose rest-space move from (rest + `from`) to (rest + `to`) passes through another triangle of the
+ * same mesh as it stands AFTER the move — i.e. the vertex ended up on the other side of another sheet of
+ * cloth (a lining shoved through its shell, a lapel pushed through the panel under it, or a local fold-over
+ * where a vertex outran its own neighbourhood). No body-vs-garment measurement can see this, so the stage
+ * checks it itself.
+ */
+function findLayerCrossings(state, from, to, minMoveM = 1e-5) {
+    const { groupPos, groupCount } = state.weld;
+    const T = state.triGroups;
+    const tris = new Float64Array(T.length * 3);
+    for (let t = 0; t < T.length; t++) {
+        const g = T[t];
+        tris[t * 3] = groupPos[g * 3] + to[g * 3];
+        tris[t * 3 + 1] = groupPos[g * 3 + 1] + to[g * 3 + 1];
+        tris[t * 3 + 2] = groupPos[g * 3 + 2] + to[g * 3 + 2];
+    }
+    const grid = new math_1.TriangleGrid(tris, measure_1.SURFACE_CELL_M);
+    const out = [];
+    for (let g = 0; g < groupCount; g++) {
+        const p0 = [groupPos[g * 3] + from[g * 3], groupPos[g * 3 + 1] + from[g * 3 + 1], groupPos[g * 3 + 2] + from[g * 3 + 2]];
+        const p1 = [groupPos[g * 3] + to[g * 3], groupPos[g * 3 + 1] + to[g * 3 + 1], groupPos[g * 3 + 2] + to[g * 3 + 2]];
+        const length = Math.hypot(p1[0] - p0[0], p1[1] - p0[1], p1[2] - p0[2]);
+        if (length < minMoveM)
+            continue;
+        const min = [Math.min(p0[0], p1[0]), Math.min(p0[1], p1[1]), Math.min(p0[2], p1[2])];
+        const max = [Math.max(p0[0], p1[0]), Math.max(p0[1], p1[1]), Math.max(p0[2], p1[2])];
+        let best = null;
+        for (const t of grid.candidatesInBox(min, max)) {
+            const a = T[t * 3], b = T[t * 3 + 1], c = T[t * 3 + 2];
+            if (a === g || b === g || c === g || a === b || b === c || a === c)
+                continue;
+            const hit = (0, math_1.segmentTriangleHit)(p0, p1, grid.corner(t, 0), grid.corner(t, 1), grid.corner(t, 2));
+            if (hit === null || hit.t <= 1e-9)
+                continue;
+            if (!best || hit.t < best.t) {
+                best = { group: g, t: hit.t, length, dir: [(p1[0] - p0[0]) / length, (p1[1] - p0[1]) / length, (p1[2] - p0[2]) / length], triangle: t, bary: hit.bary };
+            }
+        }
+        if (best)
+            out.push(best);
+    }
+    return out;
+}
+function countLayerCrossings(state, groupDelta) {
+    return findLayerCrossings(state, new Float64Array(groupDelta.length), groupDelta).length;
+}
+/** Stand-off kept between a stopped vertex and the sheet it would have crossed, and added when that sheet is
+ *  asked to move instead (0.5mm — the gate's own resolution). */
+const LAYER_GAP_M = 0.0005;
+/**
+ * Makes the displacement field layer-safe, in place, against the SAME criterion the gate applies: no group's
+ * total move (original → `cur`) may pass through another sheet of the garment as it now stands.
+ *   - A group that would is pulled back along its own move to LAYER_GAP_M short of that sheet, and
+ *   - the sheet it hit is handed a requirement (for the NEXT iteration) to move out of the way by the rest of
+ *     that distance — so stacked layers (shell over lining, lapel over panel) advance together over
+ *     iterations instead of one being driven through the other.
+ * Pulling one group back moves its triangles, which can expose another crossing, so this repeats; a group
+ * still crossing after the clamping passes goes back to its original position outright, until none cross.
+ */
+function resolveLayerCrossings(state, cur, carry) {
+    const origin = new Float64Array(cur.length);
+    let stopped = 0;
+    // Clamp for a few passes, then revert whatever still crosses. Reverting only ever grows the set of groups
+    // sitting at their original position (a zero-length move cannot cross anything), so this terminates.
+    for (let pass = 0;; pass++) {
+        const crossings = findLayerCrossings(state, origin, cur);
+        if (crossings.length === 0)
+            return stopped;
+        for (const c of crossings) {
+            const g = c.group;
+            const keep = pass < 6 ? Math.max(0, c.t * c.length - LAYER_GAP_M) / c.length : 0;
+            for (let k = 0; k < 3; k++)
+                cur[g * 3 + k] = cur[g * 3 + k] * keep;
+            stopped++;
+            const push = (0, math_1.minNormCornerPush)(c.bary, (1 - c.t) * c.length + LAYER_GAP_M);
+            for (let k = 0; k < 3; k++) {
+                if (!(push[k] > 1e-6))
+                    continue;
+                const target = state.triGroups[c.triangle * 3 + k];
+                (0, math_1.addHalfSpace)(carry[target] ?? (carry[target] = []), c.dir, push[k]);
+            }
+        }
+    }
+    return stopped;
+}
+/**
+ * Runs the pose-aware fit on `garment` against `body`, gated by the poke-through measurement. Mutates
+ * `garment`'s POSITION accessors ONLY when the report's outcome is 'improved'.
+ */
+function poseAwareFit(garment, body, options = {}) {
+    const started = Date.now();
+    const log = options.onProgress ?? (() => { });
+    const poseNames = [...(options.poses ?? posing_1.FIT_POSE_NAMES)];
+    const hiddenRegions = [...(options.hiddenRegions ?? [])];
+    const settings = {
+        clearanceMm: options.clearanceMm ?? DEFAULTS.clearanceMm,
+        thresholdMm: options.thresholdMm ?? DEFAULTS.thresholdMm,
+        ceilingMm: options.ceilingMm ?? DEFAULTS.ceilingMm,
+        proximityMm: options.proximityMm ?? DEFAULTS.proximityMm,
+        maxPushMm: options.maxPushMm ?? DEFAULTS.maxPushMm,
+        hemMaxPushMm: options.hemMaxPushMm ?? DEFAULTS.hemMaxPushMm,
+        hemBandMm: options.hemBandMm ?? DEFAULTS.hemBandMm,
+        smoothRadiusMm: options.smoothRadiusMm ?? DEFAULTS.smoothRadiusMm,
+        iterations: options.iterations ?? DEFAULTS.iterations,
+        poses: poseNames,
+        hiddenRegions,
+    };
+    for (const [key, value] of Object.entries(settings)) {
+        if (typeof value === 'number' && !(Number.isFinite(value) && value >= 0))
+            throw new Error(`poseAwareFit: ${key} must be a finite, non-negative number (got ${value})`);
+    }
+    if (settings.hemMaxPushMm > settings.maxPushMm)
+        throw new Error('poseAwareFit: hemMaxPushMm must not exceed maxPushMm');
+    const report = {
+        outcome: 'skipped', reason: null, settings, before: null, after: null, bestCandidate: null, chosenIteration: null,
+        iterations: [], applied: { verticesMoved: 0, groupsMoved: 0, maxMoveMm: 0, meanMoveMm: 0, hemGroupsMoved: 0, p50MoveMm: 0, p90MoveMm: 0, p99MoveMm: 0, groupsOver5Mm: 0, groupsOver10Mm: 0 },
+        meshes: [], excluded: [], elapsedMs: 0,
+    };
+    const finish = () => { report.elapsedMs = Date.now() - started; return report; };
+    let bodyModel, garmentModel;
+    try {
+        bodyModel = (0, model_1.buildBodyModel)(body, poseNames);
+        garmentModel = (0, model_1.buildGarmentModel)(garment, poseNames);
+    }
+    catch (error) {
+        report.reason = error instanceof Error ? error.message : String(error);
+        return finish();
+    }
+    report.excluded = garmentModel.excluded;
+    if (garmentModel.units.length === 0) {
+        report.reason = 'garment has no skinned triangle meshes';
+        return finish();
+    }
+    if (bodyModel.vertexCount === 0) {
+        report.reason = 'body has no skinned vertices';
+        return finish();
+    }
+    const mm = 1 / 1000;
+    const measureSettings = {
+        thresholdM: settings.thresholdMm * mm,
+        ceilingM: settings.ceilingMm * mm,
+        proximityM: settings.proximityMm * mm,
+        inScope: (0, posing_1.regionGlobMatcher)(hiddenRegions),
+        poseNames,
+    };
+    const states = garmentModel.units.map((unit) => {
+        const weld = (0, offsetField_1.weldByPosition)(unit.rest);
+        const triGroups = new Int32Array(unit.triangles.length);
+        for (let t = 0; t < triGroups.length; t++)
+            triGroups[t] = weld.groupOf[unit.triangles[t]];
+        const graph = (0, offsetField_1.buildGroupGraph)(triGroups, weld.groupPos, weld.groupCount);
+        const caps = (0, offsetField_1.hemBandCaps)((0, offsetField_1.distanceToBoundary)(graph), settings.maxPushMm * mm, settings.hemMaxPushMm * mm, settings.hemBandMm * mm);
+        const sweeps = (0, offsetField_1.sweepsForRadius)(settings.smoothRadiusMm * mm, graph.meanEdgeLength);
+        report.meshes.push({
+            name: unit.node.getMesh().getName() || unit.node.getName(),
+            vertices: unit.vertexCount,
+            welded: weld.groupCount,
+            triangles: unit.triangles.length / 3,
+            hemGroups: graph.boundary.reduce((s, b) => s + b, 0),
+            meanEdgeMm: +(graph.meanEdgeLength * 1000).toFixed(2),
+            smoothingSweeps: sweeps,
+        });
+        return {
+            unit, weld, triGroups, graph, caps, sweeps,
+            groupDelta: new Float64Array(weld.groupCount * 3),
+            vertexDelta: new Float64Array(unit.vertexCount * 3),
+        };
+    });
+    const measure = () => (0, measure_1.measurePokethrough)(bodyModel, garmentModel, states.map((s) => s.vertexDelta), measureSettings);
+    const before = measure();
+    report.before = before;
+    report.after = before;
+    log(`pose-fit: before — ${before.totalViolations} violation(s), ${before.totalExposedViolations ?? 'n/a'} exposed (un-oriented ${before.totalRawViolations}) across ${poseNames.length} pose(s) [${poseNames.map((p) => `${p} ${before.poses[p].violationCount}`).join(', ')}]`);
+    if (before.totalViolations === 0) {
+        report.outcome = 'unchanged-already-clean';
+        report.reason = 'garment already measures clean at the gate threshold — nothing to improve';
+        return finish();
+    }
+    const inScopeBody = [];
+    for (let i = 0; i < bodyModel.vertexCount; i++)
+        if (!measureSettings.inScope || measureSettings.inScope(bodyModel.regions[i]))
+            inScopeBody.push(i);
+    const clearanceM = settings.clearanceMm * mm;
+    const ceilingM = settings.ceilingMm * mm;
+    const proximityM = settings.proximityMm * mm;
+    let best = null;
+    let bestAny = null;
+    // Layer-propagation requirements carried from one iteration to the next (see resolveLayerCrossings).
+    let carried = states.map((s) => new Array(s.weld.groupCount));
+    for (let iteration = 1; iteration <= settings.iterations; iteration++) {
+        const reqs = carried;
+        carried = states.map((s) => new Array(s.weld.groupCount));
+        let requirements = reqs.reduce((sum, list) => sum + list.reduce((n, h) => n + (h?.length ?? 0), 0), 0);
+        const carriedIn = requirements;
+        let flipped = 0, coveredSkipped = 0;
+        for (const poseName of poseNames) {
+            const bodyPose = bodyModel.poses.get(poseName);
+            states.forEach((state, k) => {
+                const surface = (0, measure_1.buildPosedSurface)([state.unit], [k], poseName, [state.vertexDelta]);
+                if (surface.grid.count === 0)
+                    return;
+                const linear = state.unit.poses.get(poseName).linear;
+                const p = [0, 0, 0], n = [0, 0, 0], bn = [0, 0, 0];
+                for (const i of inScopeBody) {
+                    p[0] = bodyPose.positions[i * 3];
+                    p[1] = bodyPose.positions[i * 3 + 1];
+                    p[2] = bodyPose.positions[i * 3 + 2];
+                    const hit = surface.grid.nearest(p, proximityM);
+                    if (!hit)
+                        continue;
+                    n[0] = surface.normals[hit.index * 3];
+                    n[1] = surface.normals[hit.index * 3 + 1];
+                    n[2] = surface.normals[hit.index * 3 + 2];
+                    let s = (p[0] - hit.point[0]) * n[0] + (p[1] - hit.point[1]) * n[1] + (p[2] - hit.point[2]) * n[2];
+                    if (bodyPose.normals) {
+                        bn[0] = bodyPose.normals[i * 3];
+                        bn[1] = bodyPose.normals[i * 3 + 1];
+                        bn[2] = bodyPose.normals[i * 3 + 2];
+                        // Orient the face away from the body, exactly as the gate (and the checker) do: an inward-facing
+                        // lining is pushed OUTWARD, never along its own inward normal into the body.
+                        if (n[0] * bn[0] + n[1] * bn[1] + n[2] * bn[2] < 0) {
+                            n[0] = -n[0];
+                            n[1] = -n[1];
+                            n[2] = -n[2];
+                            s = -s;
+                            flipped++;
+                        }
+                    }
+                    if (s <= -clearanceM || s > ceilingM)
+                        continue;
+                    // Covered: another sheet of this garment lies over the body point along its own normal, beyond the
+                    // face being measured — a shell over the lining the body is near (or even through), a lapel over the
+                    // panel. Clearance only matters against the OUTERMOST layer, so no cloth moves for a covered point:
+                    // easing a lining toward its shell would only fight the layer order and add bulges nobody can see.
+                    // (A point behind its nearest face is crossed once by that face itself, so it takes two hits.)
+                    if (bodyPose.normals && surface.grid.countHitsAlong(p, bn, proximityM) >= (s > 0 ? 1 : 2)) {
+                        coveredSkipped++;
+                        continue;
+                    }
+                    const push = (0, math_1.minNormCornerPush)(hit.bary, s + clearanceM);
+                    for (let c = 0; c < 3; c++) {
+                        if (!(push[c] > 1e-6))
+                            continue;
+                        const v = surface.corners[hit.index * 4 + 1 + c];
+                        const g = state.weld.groupOf[v];
+                        const grad = (0, math_1.applyLinear3Transposed)(linear.subarray(v * 9, v * 9 + 9), n);
+                        const list = reqs[k][g] ?? (reqs[k][g] = []);
+                        (0, math_1.addHalfSpace)(list, grad, push[c]);
+                        requirements++;
+                    }
+                }
+            });
+        }
+        if (requirements === 0) {
+            log(`pose-fit: iteration ${iteration} — every in-scope body point already clears the garment by ${settings.clearanceMm}mm`);
+            break;
+        }
+        let groupsMoved = 0, capped = 0, maxTotal = 0, stopped = 0;
+        states.forEach((state, k) => {
+            const G = state.weld.groupCount;
+            const inc = new Float64Array(G * 3);
+            const x = [0, 0, 0];
+            for (let g = 0; g < G; g++) {
+                const list = reqs[k][g];
+                if (!list)
+                    continue;
+                x[0] = 0;
+                x[1] = 0;
+                x[2] = 0;
+                (0, math_1.projectOntoHalfSpaces)(x, list);
+                inc[g * 3] = x[0];
+                inc[g * 3 + 1] = x[1];
+                inc[g * 3 + 2] = x[2];
+            }
+            (0, offsetField_1.smoothWithObstacles)(inc, reqs[k], state.graph, state.sweeps);
+            capped += (0, offsetField_1.capMagnitudes)(inc, state.groupDelta, state.caps);
+            for (let e = 0; e < inc.length; e++)
+                state.groupDelta[e] += inc[e];
+            stopped += resolveLayerCrossings(state, state.groupDelta, carried[k]);
+            for (let g = 0; g < G; g++) {
+                const m = Math.hypot(state.groupDelta[g * 3], state.groupDelta[g * 3 + 1], state.groupDelta[g * 3 + 2]);
+                if (m > 1e-6)
+                    groupsMoved++;
+                if (m > maxTotal)
+                    maxTotal = m;
+            }
+            expand(state, state.groupDelta, state.vertexDelta);
+        });
+        const measurement = measure();
+        const layerCrossings = states.reduce((s, state) => s + countLayerCrossings(state, state.groupDelta), 0);
+        const rejectedBecause = (0, measure_1.gateRejection)(before, measurement, layerCrossings);
+        const qualifies = rejectedBecause === null;
+        report.iterations.push({
+            iteration, requirements, carriedLayerRequirements: carriedIn, stoppedAtLayer: stopped, groupsMoved, maxTotalMoveMm: +(maxTotal * 1000).toFixed(3), capped, orientationFlipped: flipped, coveredSkipped,
+            totalViolations: measurement.totalViolations, totalBeyondCeiling: measurement.totalBeyondCeiling,
+            totalRawViolations: measurement.totalRawViolations, totalExposedViolations: measurement.totalExposedViolations, layerCrossings, qualifies,
+            perPose: Object.fromEntries(Object.entries(measurement.poses).map(([pose, m]) => [pose, [m.violationCount, m.exposedViolationCount]])),
+            rejectedBecause,
+        });
+        log(`pose-fit: iteration ${iteration} — ${requirements} requirement(s), ${groupsMoved} group(s) moved (max ${(maxTotal * 1000).toFixed(2)}mm, ${capped} capped, ${stopped} stopped at a layer), ${coveredSkipped} covered point(s) skipped, ${flipped} inward face(s) oriented → ${measurement.totalViolations} violation(s), ${measurement.totalExposedViolations ?? 'n/a'} exposed (un-oriented ${measurement.totalRawViolations})${layerCrossings > 0 ? `, ${layerCrossings} layer crossing(s)` : ''}${qualifies ? '' : ` — rejected: ${rejectedBecause}`}`);
+        if (!bestAny || measurement.totalViolations < bestAny.totalViolations)
+            bestAny = measurement;
+        const better = (a, b) => a.totalViolations < b.totalViolations
+            || (a.totalViolations === b.totalViolations && (a.totalExposedViolations ?? 0) < (b.totalExposedViolations ?? 0));
+        if (qualifies && (!best || better(measurement, best.measurement))) {
+            best = { measurement, deltas: states.map((s) => Float64Array.from(s.groupDelta)), iteration };
+        }
+    }
+    report.bestCandidate = best?.measurement ?? bestAny;
+    if (!best) {
+        report.outcome = 'unchanged-no-improvement';
+        report.reason = report.iterations.length === 0
+            ? 'no in-scope body point needed clearing — the violations are outside what the fit may move (beyond the ceiling, out of scope or inward-facing)'
+            : `no candidate passed the gate — original geometry kept (last rejection: ${report.iterations.filter((i) => i.rejectedBecause).at(-1)?.rejectedBecause ?? 'none'})`;
+        log(`pose-fit: ${report.reason}`);
+        return finish();
+    }
+    // Gate passed: write the chosen candidate's rest positions. This is the ONLY mutation of `garment`.
+    let verticesMoved = 0, groupsMoved = 0, hemGroupsMoved = 0, sum = 0, maxMove = 0;
+    const moves = [];
+    states.forEach((state, k) => {
+        const delta = best.deltas[k];
+        for (let g = 0; g < state.weld.groupCount; g++) {
+            const m = Math.hypot(delta[g * 3], delta[g * 3 + 1], delta[g * 3 + 2]);
+            if (m <= 1e-9)
+                continue;
+            groupsMoved++;
+            sum += m;
+            maxMove = Math.max(maxMove, m);
+            moves.push(m);
+            if (state.graph.boundary[g])
+                hemGroupsMoved++;
+        }
+        const vertexDelta = new Float64Array(state.unit.vertexCount * 3);
+        expand(state, delta, vertexDelta);
+        state.unit.accessors.forEach((accessor, a) => {
+            const base = state.unit.accessorBase[a];
+            const count = accessor.getCount();
+            const out = new Float32Array(count * 3);
+            for (let i = 0; i < count; i++) {
+                const v = base + i;
+                const moved = vertexDelta[v * 3] !== 0 || vertexDelta[v * 3 + 1] !== 0 || vertexDelta[v * 3 + 2] !== 0;
+                if (moved)
+                    verticesMoved++;
+                for (let c = 0; c < 3; c++)
+                    out[i * 3 + c] = state.unit.rest[v * 3 + c] + vertexDelta[v * 3 + c];
+            }
+            accessor.setArray(out);
+        });
+    });
+    // Re-judge what actually SHIPS. The loop measured each candidate as posedRest + L·Δ in float64; the file
+    // holds float32(rest + Δ), skinned by the checker's own arithmetic. The two agree to ~1e-8 m, but near-ties
+    // between two garment faces (a lining meeting its shell at a fold) can flip on that, and did: Male Casual
+    // Blazer's winning candidate read 213 in the loop and 204 in the checker on the written file. So the gate
+    // is applied once more to a fresh, checker-exact measurement of the written geometry — the number reported
+    // is the number the checker will print — and a candidate that no longer passes is rolled back to the
+    // original bytes.
+    const shipped = (0, measure_1.measurePokethrough)(bodyModel, (0, model_1.buildGarmentModel)(garment, poseNames), garmentModel.units.map((u) => new Float64Array(u.vertexCount * 3)), measureSettings);
+    const shippedRejection = (0, measure_1.gateRejection)(before, shipped, 0);
+    if (shippedRejection !== null) {
+        for (const state of states) {
+            state.unit.accessors.forEach((accessor, a) => {
+                const base = state.unit.accessorBase[a];
+                accessor.setArray(Float32Array.from(state.unit.rest.subarray(base * 3, (base + accessor.getCount()) * 3)));
+            });
+        }
+        report.outcome = 'unchanged-no-improvement';
+        report.after = before;
+        report.reason = `the chosen candidate failed the gate once written at float32 precision (${shippedRejection}) — original geometry restored`;
+        log(`pose-fit: ${report.reason}`);
+        return finish();
+    }
+    report.outcome = 'improved';
+    report.after = shipped;
+    report.chosenIteration = best.iteration;
+    moves.sort((x, y) => x - y);
+    const pct = (q) => (moves.length > 0 ? +(moves[Math.min(moves.length - 1, Math.floor(q * moves.length))] * 1000).toFixed(3) : 0);
+    report.applied = {
+        verticesMoved, groupsMoved, maxMoveMm: +(maxMove * 1000).toFixed(3), meanMoveMm: groupsMoved > 0 ? +((sum / groupsMoved) * 1000).toFixed(3) : 0, hemGroupsMoved,
+        p50MoveMm: pct(0.5), p90MoveMm: pct(0.9), p99MoveMm: pct(0.99),
+        groupsOver5Mm: moves.filter((m) => m > 0.005).length, groupsOver10Mm: moves.filter((m) => m > 0.01).length,
+    };
+    log(`pose-fit: improved ${before.totalViolations} → ${shipped.totalViolations} violation(s) (iteration ${best.iteration}); moved ${groupsMoved} welded vertex group(s), max ${(maxMove * 1000).toFixed(2)}mm`);
+    return finish();
+}
+//# sourceMappingURL=poseAwareFit.js.map

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

@@ -0,0 +1 @@
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package/dist/character/stages/poseFit/math.d.ts

@@ -0,0 +1,141 @@
+/**
+ * Pure geometry kernel for the pose-aware garment fit stage (`../poseAwareFit.ts`). No glTF, no I/O —
+ * everything here is unit-tested in isolation (`math.spec.ts`), because every earlier attempt at this
+ * pass was undone by a linear-algebra or search bug that produced plausible-looking, wrong numbers.
+ *
+ * CONVENTIONS — read before touching anything here:
+ *
+ * - 4x4 matrices are glTF column-major flat arrays (`m[col * 4 + row]`), exactly as `../../mat4.ts`.
+ * - 3x3 matrices in this file are ROW-MAJOR flat arrays `[a,b,c, d,e,f, g,h,i]` meaning
+ *   `[[a,b,c],[d,e,f],[g,h,i]]`, applied to a column vector as a plain matrix-vector product.
+ *   `linearPart` is the ONLY place that crosses from one convention to the other, and the round-trip
+ *   tests in `math.spec.ts` pin it: `linearPart(M) · v` must equal `transformDir(M, v)` for any M, and
+ *   `transformPoint(M, r + inv(linearPart(M)) · d) - transformPoint(M, r)` must equal `d` exactly.
+ *   The garment-refit scratch tool (`run/open-alpha-qa/garment-refit/tools/pose-aware-pushout-v2.mjs`)
+ *   once had an inverse whose cofactor layout disagreed with its apply step — right magnitude, right
+ *   general direction, systematically wrong — and only a round-trip identity test caught it.
+ */
+export type V3 = [number, number, number];
+/** Upper-left 3x3 of a column-major 4x4, returned ROW-major (see file header). */
+export declare function linearPart(m4: ArrayLike<number>): number[];
+/** Row-major 3x3 times column vector. */
+export declare function applyLinear3(m: ArrayLike<number>, v: readonly number[]): V3;
+/** Transpose of a row-major 3x3 times column vector (`Mᵀ · v`) — used to pull a posed-space normal back
+ *  into a rest-space constraint gradient: if posed displacement = L · Δrest, then n · (L Δ) = (Lᵀ n) · Δ. */
+export declare function applyLinear3Transposed(m: ArrayLike<number>, v: readonly number[]): V3;
+/** Inverse of a row-major 3x3 via the adjugate, or null when (near-)singular. Adjugate entry (r,c) is the
+ *  cofactor of (c,r); written out in the same row-major layout as the input. */
+export declare function invertLinear3(m: ArrayLike<number>): number[] | null;
+export declare const dot: (a: readonly number[], b: readonly number[]) => number;
+export declare const len: (a: readonly number[]) => number;
+export interface ClosestPoint {
+    point: V3;
+    /** Barycentric weights of `point` for corners a, b, c (sum 1, each in [0,1]). */
+    bary: V3;
+}
+/**
+ * Closest point on triangle (a,b,c) to p — Ericson, Real-Time Collision Detection §5.1.5 — returning the
+ * barycentric weights of the region it lands in directly (no separate area-ratio re-derivation, which is
+ * ill-conditioned for slivers). Identical case analysis to `pokethrough-check.mjs`'s `closestPointOnTriangle`
+ * so the fit targets exactly the point the checker measures from.
+ */
+export declare function closestPointOnTriangle(p: readonly number[], a: readonly number[], b: readonly number[], c: readonly number[]): ClosestPoint;
+/**
+ * Allocation-free core of `closestPointOnTriangle` for the hot loop: the triangle is 9 numbers of `T` starting
+ * at `o`; writes the closest point to `out[0..2]` and its barycentrics to `out[3..5]`; returns the distance
+ * (as `Math.hypot`, like the checker). (The public wrapper above calls this, so the unit tests exercise exactly this code.)
+ */
+export declare function closestPointFlat(px: number, py: number, pz: number, T: Float64Array, o: number, out: Float64Array): number;
+/**
+ * A point q = Σ λᵢ vᵢ on a triangle must move by `amount` along a direction; how much must each corner vᵢ
+ * move along that same direction? Any δ with Σ λᵢ δᵢ = amount works — this returns the MINIMUM-NORM one,
+ * δᵢ = amount · λᵢ / Σ λⱼ². At a corner (λ = 1,0,0) the whole push lands on that corner; at the centroid
+ * every corner moves the full amount (the face translates rigidly); in between it is weighted toward the
+ * nearer corners. It hits `amount` EXACTLY in one step, where the scratch tool's `δᵢ = amount · λᵢ`
+ * under-shot by a factor Σλ² (as little as 1/3 at the centroid) and had to rely on iteration to converge.
+ */
+export declare function minNormCornerPush(bary: readonly number[], amount: number): V3;
+/**
+ * One requirement on a garment vertex's REST-space displacement Δ: `ĝ · Δ ≥ r` with ĝ a unit vector. Every
+ * (pose, body point) that needs a garment vertex to move contributes one; a vertex that must clear the body
+ * in two poses whose skinning differs gets two differently-oriented half-spaces.
+ */
+export interface HalfSpace {
+    g: V3;
+    r: number;
+}
+/** Collapses near-parallel requirements (cos > `mergeCos`) onto the stronger one and keeps at most `cap` —
+ *  a dense body surface emits many near-identical constraints per garment vertex; solving them all buys
+ *  nothing and costs a lot. */
+export declare function addHalfSpace(list: HalfSpace[], g: readonly number[], r: number, mergeCos?: number, cap?: number): void;
+/**
+ * Moves `x` (in place) into the intersection of the half-spaces by cyclic orthogonal projection (Kaczmarz /
+ * POCS). Starting from 0 it lands on (or next to) the minimum-norm feasible point for the few, mostly
+ * well-separated constraints a garment vertex carries. Returns the largest residual violation left after
+ * `sweeps` — non-zero only when requirements genuinely conflict (two poses asking for opposite pushes).
+ */
+export declare function projectOntoHalfSpaces(x: V3, list: readonly HalfSpace[], sweeps?: number): number;
+export interface NearestHit {
+    /** Index of the winning triangle (its position in the flat triangle array). */
+    index: number;
+    distance: number;
+    point: V3;
+    bary: V3;
+}
+/**
+ * Uniform-grid nearest-triangle index that returns the TRUE nearest triangle, not the first one it trips
+ * over. Two bugs of exactly this class were already found in this project's tooling (`pokethrough-check.mjs`
+ * and the scratch push-out both stopped widening their search at the first non-empty ring, returning a
+ * farther triangle with a different normal and therefore a wrong signed distance), so the termination rule
+ * here is the provable one:
+ *
+ *   After scanning every cell within Chebyshev radius r of the query's cell, any triangle not yet seen lies
+ *   entirely outside that (2r+1)³ block, so its distance to p is at least r·cell (p sits inside the centre
+ *   cell). Stop as soon as the best distance found is ≤ r·cell — nothing unseen can beat it.
+ *
+ * Rings are scanned as shells (only the cells new at radius r), so no cell is visited twice. EXACT ties are
+ * common, not exotic — a body vertex whose nearest garment point is a garment vertex is equidistant from
+ * every triangle sharing it, and which one "wins" decides the normal the signed distance is taken along —
+ * so ties are broken the way the checker's own scan breaks them (see `scanFirst`), keeping the gate's
+ * verdict identical to the checker's rather than merely close. `maxDistance`
+ * bounds the work: once r·cell > maxDistance nothing within range can remain, and null is returned when the
+ * nearest triangle is farther than that. Brute-force parity is asserted in `math.spec.ts`.
+ */
+export declare class TriangleGrid {
+    readonly cell: number;
+    private readonly tris;
+    /** Per-triangle axis-aligned bounds (min xyz, max xyz) — a cheap exact lower bound on its distance. */
+    private readonly boxes;
+    private readonly grid;
+    /** Query stamp per triangle, so a triangle bucketed in several cells is tested once per query. */
+    private readonly stamp;
+    private query;
+    private readonly scratch;
+    readonly count: number;
+    /** Bounds of every triangle (min xyz, max xyz) — lets a query far from the whole surface return at once. */
+    private readonly bounds;
+    /** `tris`: 9 numbers per triangle (a.xyz, b.xyz, c.xyz). */
+    constructor(tris: Float64Array, cell: number);
+    corner(t: number, k: number): V3;
+    /** Triangle indices whose bucket cells overlap the axis-aligned box [min, max] (a superset of the
+     *  triangles that actually intersect it — callers run an exact test on each). */
+    candidatesInBox(min: readonly number[], max: readonly number[]): number[];
+    /** How many triangles the segment [p, p + d·maxLength] crosses (touches closer than `minDistance` ignored)
+     *  — the number of garment sheets stacked over a body point along its normal. */
+    countHitsAlong(p: readonly number[], d: readonly number[], maxLength: number, minDistance?: number): number;
+    /** Distance along the unit direction `d` from `p` to the first triangle the segment [p, p + d·maxLength]
+     *  crosses (ignoring touches closer than `minDistance`), or null when it crosses none. */
+    firstHitAlong(p: readonly number[], d: readonly number[], maxLength: number, minDistance?: number): number | null;
+    nearest(p: readonly number[], maxDistance: number): NearestHit | null;
+}
+/**
+ * Segment p0→p1 against triangle (a,b,c), Möller–Trumbore. Returns the segment parameter t ∈ [0,1] of the
+ * crossing, or null. Used to detect a pushed garment vertex passing THROUGH another layer of the same
+ * garment (a lining shoved through its shell), which no body-vs-garment measurement can see.
+ */
+export declare function segmentHitsTriangle(p0: readonly number[], p1: readonly number[], a: readonly number[], b: readonly number[], c: readonly number[]): number | null;
+/** As `segmentHitsTriangle`, also returning the barycentric weights (for a, b, c) of the crossing point. */
+export declare function segmentTriangleHit(p0: readonly number[], p1: readonly number[], a: readonly number[], b: readonly number[], c: readonly number[]): {
+    t: number;
+    bary: V3;
+} | null;