@hypersoniclabs/helix-cli 0.1.7 → 0.1.24-helix3.438

package/dist/character/stages/poseFit/math.js

@@ -0,0 +1,514 @@
+"use strict";
+/**
+ * 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.
+ */
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.TriangleGrid = exports.len = exports.dot = void 0;
+exports.linearPart = linearPart;
+exports.applyLinear3 = applyLinear3;
+exports.applyLinear3Transposed = applyLinear3Transposed;
+exports.invertLinear3 = invertLinear3;
+exports.closestPointOnTriangle = closestPointOnTriangle;
+exports.closestPointFlat = closestPointFlat;
+exports.minNormCornerPush = minNormCornerPush;
+exports.addHalfSpace = addHalfSpace;
+exports.projectOntoHalfSpaces = projectOntoHalfSpaces;
+exports.segmentHitsTriangle = segmentHitsTriangle;
+exports.segmentTriangleHit = segmentTriangleHit;
+// ── 3x3 linear algebra ─────────────────────────────────────────────────────────────────────────────────────
+/** Upper-left 3x3 of a column-major 4x4, returned ROW-major (see file header). */
+function linearPart(m4) {
+    return [m4[0], m4[4], m4[8], m4[1], m4[5], m4[9], m4[2], m4[6], m4[10]];
+}
+/** Row-major 3x3 times column vector. */
+function applyLinear3(m, v) {
+    return [
+        m[0] * v[0] + m[1] * v[1] + m[2] * v[2],
+        m[3] * v[0] + m[4] * v[1] + m[5] * v[2],
+        m[6] * v[0] + m[7] * v[1] + m[8] * v[2],
+    ];
+}
+/** 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. */
+function applyLinear3Transposed(m, v) {
+    return [
+        m[0] * v[0] + m[3] * v[1] + m[6] * v[2],
+        m[1] * v[0] + m[4] * v[1] + m[7] * v[2],
+        m[2] * v[0] + m[5] * v[1] + m[8] * v[2],
+    ];
+}
+/** 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. */
+function invertLinear3(m) {
+    const a = m[0], b = m[1], c = m[2], d = m[3], e = m[4], f = m[5], g = m[6], h = m[7], i = m[8];
+    const det = a * (e * i - f * h) - b * (d * i - f * g) + c * (d * h - e * g);
+    if (!Number.isFinite(det) || Math.abs(det) < 1e-12)
+        return null;
+    const k = 1 / det;
+    return [
+        (e * i - f * h) * k, (c * h - b * i) * k, (b * f - c * e) * k,
+        (f * g - d * i) * k, (a * i - c * g) * k, (c * d - a * f) * k,
+        (d * h - e * g) * k, (b * g - a * h) * k, (a * e - b * d) * k,
+    ];
+}
+// ── small vector helpers ───────────────────────────────────────────────────────────────────────────────────
+const dot = (a, b) => a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+exports.dot = dot;
+const len = (a) => Math.hypot(a[0], a[1], a[2]);
+exports.len = len;
+/**
+ * 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.
+ */
+function closestPointOnTriangle(p, a, b, c) {
+    const tri = Float64Array.of(a[0], a[1], a[2], b[0], b[1], b[2], c[0], c[1], c[2]);
+    const out = new Float64Array(6);
+    closestPointFlat(p[0], p[1], p[2], tri, 0, out);
+    return { point: [out[0], out[1], out[2]], bary: [out[3], out[4], out[5]] };
+}
+/**
+ * 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.)
+ */
+function closestPointFlat(px, py, pz, T, o, out) {
+    const ax = T[o], ay = T[o + 1], az = T[o + 2];
+    const bx = T[o + 3], by = T[o + 4], bz = T[o + 5];
+    const cx = T[o + 6], cy = T[o + 7], cz = T[o + 8];
+    const ab0 = bx - ax, ab1 = by - ay, ab2 = bz - az;
+    const ac0 = cx - ax, ac1 = cy - ay, ac2 = cz - az;
+    const ap0 = px - ax, ap1 = py - ay, ap2 = pz - az;
+    // Region cases and point formulas are written EXACTLY as the checker's `closestPointOnTriangle` (same
+    // operations in the same order), so the gate's distances match the checker's to the last bit.
+    let qx, qy, qz, u, v, w;
+    const d1 = ab0 * ap0 + ab1 * ap1 + ab2 * ap2;
+    const d2 = ac0 * ap0 + ac1 * ap1 + ac2 * ap2;
+    if (d1 <= 0 && d2 <= 0) {
+        qx = ax;
+        qy = ay;
+        qz = az;
+        u = 1;
+        v = 0;
+        w = 0;
+    }
+    else {
+        const bp0 = px - bx, bp1 = py - by, bp2 = pz - bz;
+        const d3 = ab0 * bp0 + ab1 * bp1 + ab2 * bp2;
+        const d4 = ac0 * bp0 + ac1 * bp1 + ac2 * bp2;
+        if (d3 >= 0 && d4 <= d3) {
+            qx = bx;
+            qy = by;
+            qz = bz;
+            u = 0;
+            v = 1;
+            w = 0;
+        }
+        else {
+            const vc = d1 * d4 - d3 * d2;
+            if (vc <= 0 && d1 >= 0 && d3 <= 0) {
+                const t = d1 / (d1 - d3);
+                qx = ax + t * ab0;
+                qy = ay + t * ab1;
+                qz = az + t * ab2;
+                u = 1 - t;
+                v = t;
+                w = 0;
+            }
+            else {
+                const cp0 = px - cx, cp1 = py - cy, cp2 = pz - cz;
+                const d5 = ab0 * cp0 + ab1 * cp1 + ab2 * cp2;
+                const d6 = ac0 * cp0 + ac1 * cp1 + ac2 * cp2;
+                if (d6 >= 0 && d5 <= d6) {
+                    qx = cx;
+                    qy = cy;
+                    qz = cz;
+                    u = 0;
+                    v = 0;
+                    w = 1;
+                }
+                else {
+                    const vb = d5 * d2 - d1 * d6;
+                    if (vb <= 0 && d2 >= 0 && d6 <= 0) {
+                        const t = d2 / (d2 - d6);
+                        qx = ax + t * ac0;
+                        qy = ay + t * ac1;
+                        qz = az + t * ac2;
+                        u = 1 - t;
+                        v = 0;
+                        w = t;
+                    }
+                    else {
+                        const va = d3 * d6 - d5 * d4;
+                        if (va <= 0 && d4 - d3 >= 0 && d5 - d6 >= 0) {
+                            const t = (d4 - d3) / (d4 - d3 + (d5 - d6));
+                            qx = bx + t * (cx - bx);
+                            qy = by + t * (cy - by);
+                            qz = bz + t * (cz - bz);
+                            u = 0;
+                            v = 1 - t;
+                            w = t;
+                        }
+                        else {
+                            const denom = 1 / (va + vb + vc);
+                            v = vb * denom;
+                            w = vc * denom;
+                            u = 1 - v - w;
+                            qx = ax + ab0 * v + ac0 * w;
+                            qy = ay + ab1 * v + ac1 * w;
+                            qz = az + ab2 * v + ac2 * w;
+                        }
+                    }
+                }
+            }
+        }
+    }
+    out[0] = qx;
+    out[1] = qy;
+    out[2] = qz;
+    out[3] = u;
+    out[4] = v;
+    out[5] = w;
+    return Math.hypot(px - qx, py - qy, pz - qz);
+}
+/**
+ * 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.
+ */
+function minNormCornerPush(bary, amount) {
+    const s = bary[0] * bary[0] + bary[1] * bary[1] + bary[2] * bary[2];
+    if (s <= 0)
+        return [0, 0, 0];
+    return [amount * bary[0] / s, amount * bary[1] / s, amount * bary[2] / s];
+}
+/** 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. */
+function addHalfSpace(list, g, r, mergeCos = 0.98, cap = 12) {
+    const l = (0, exports.len)(g);
+    if (!(l > 1e-12) || !(r > 0))
+        return;
+    const u = [g[0] / l, g[1] / l, g[2] / l];
+    const rr = r / l; // (g·Δ ≥ r) ⇔ (ĝ·Δ ≥ r/|g|)
+    for (const h of list) {
+        if ((0, exports.dot)(h.g, u) > mergeCos) {
+            if (rr > h.r)
+                h.r = rr;
+            return;
+        }
+    }
+    list.push({ g: u, r: rr });
+    if (list.length > cap) {
+        list.sort((x, y) => y.r - x.r);
+        list.length = cap;
+    }
+}
+/**
+ * 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).
+ */
+function projectOntoHalfSpaces(x, list, sweeps = 16) {
+    if (list.length === 0)
+        return 0;
+    for (let s = 0; s < sweeps; s++) {
+        let moved = false;
+        for (const h of list) {
+            const gap = h.r - (0, exports.dot)(h.g, x);
+            if (gap > 1e-12) {
+                x[0] += gap * h.g[0];
+                x[1] += gap * h.g[1];
+                x[2] += gap * h.g[2];
+                moved = true;
+            }
+        }
+        if (!moved)
+            return 0;
+    }
+    let worst = 0;
+    for (const h of list)
+        worst = Math.max(worst, h.r - (0, exports.dot)(h.g, x));
+    return worst;
+}
+/** The checker's own grid cell — used only to reproduce its order among EXACTLY tied triangles. */
+const CHECKER_CELL_M = 0.05;
+const GRID_OFFSET = 1 << 20;
+function cellKey(x, y, z) {
+    // Exact integer packing (no hashing, so no collisions): each axis fits in 21 bits for |cell| < 2^20.
+    return ((x + GRID_OFFSET) * 2097152 + (y + GRID_OFFSET)) * 2097152 + (z + GRID_OFFSET);
+}
+/**
+ * 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`.
+ */
+class TriangleGrid {
+    cell;
+    tris;
+    /** Per-triangle axis-aligned bounds (min xyz, max xyz) — a cheap exact lower bound on its distance. */
+    boxes;
+    grid = new Map();
+    /** Query stamp per triangle, so a triangle bucketed in several cells is tested once per query. */
+    stamp;
+    query = 0;
+    scratch = new Float64Array(6);
+    count;
+    /** Bounds of every triangle (min xyz, max xyz) — lets a query far from the whole surface return at once. */
+    bounds = [Infinity, Infinity, Infinity, -Infinity, -Infinity, -Infinity];
+    /** `tris`: 9 numbers per triangle (a.xyz, b.xyz, c.xyz). */
+    constructor(tris, cell) {
+        this.cell = cell;
+        this.tris = tris;
+        this.count = tris.length / 9;
+        this.stamp = new Int32Array(this.count);
+        this.boxes = new Float64Array(this.count * 6);
+        const MAX_CELLS_PER_AXIS = 256;
+        for (let t = 0; t < this.count; t++) {
+            const o = t * 9;
+            for (let k = 0; k < 3; k++) {
+                const lo = Math.min(tris[o + k], tris[o + 3 + k], tris[o + 6 + k]);
+                const hi = Math.max(tris[o + k], tris[o + 3 + k], tris[o + 6 + k]);
+                this.boxes[t * 6 + k] = lo;
+                this.boxes[t * 6 + 3 + k] = hi;
+                if (lo < this.bounds[k])
+                    this.bounds[k] = lo;
+                if (hi > this.bounds[k + 3])
+                    this.bounds[k + 3] = hi;
+            }
+            const x0 = Math.floor(this.boxes[t * 6] / cell), y0 = Math.floor(this.boxes[t * 6 + 1] / cell), z0 = Math.floor(this.boxes[t * 6 + 2] / cell);
+            const x1 = Math.floor(this.boxes[t * 6 + 3] / cell), y1 = Math.floor(this.boxes[t * 6 + 4] / cell), z1 = Math.floor(this.boxes[t * 6 + 5] / cell);
+            if (x1 - x0 >= MAX_CELLS_PER_AXIS || y1 - y0 >= MAX_CELLS_PER_AXIS || z1 - z0 >= MAX_CELLS_PER_AXIS) {
+                // Refuse rather than silently truncate: a truncated bucket is exactly the kind of quiet miss that
+                // returns a wrong nearest triangle. Nothing character-scale comes anywhere near this.
+                throw new Error(`TriangleGrid: triangle ${t} spans more than ${MAX_CELLS_PER_AXIS} cells of ${cell}m — raise the cell size`);
+            }
+            for (let x = x0; x <= x1; x++)
+                for (let y = y0; y <= y1; y++)
+                    for (let z = z0; z <= z1; z++) {
+                        const key = cellKey(x, y, z);
+                        const bucket = this.grid.get(key);
+                        if (bucket)
+                            bucket.push(t);
+                        else
+                            this.grid.set(key, [t]);
+                    }
+        }
+    }
+    corner(t, k) {
+        const o = t * 9 + k * 3;
+        return [this.tris[o], this.tris[o + 1], this.tris[o + 2]];
+    }
+    /** 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, max) {
+        const cell = this.cell;
+        const out = new Set();
+        const x0 = Math.floor(min[0] / cell), y0 = Math.floor(min[1] / cell), z0 = Math.floor(min[2] / cell);
+        const x1 = Math.floor(max[0] / cell), y1 = Math.floor(max[1] / cell), z1 = Math.floor(max[2] / cell);
+        for (let x = x0; x <= x1; x++)
+            for (let y = y0; y <= y1; y++)
+                for (let z = z0; z <= z1; z++) {
+                    const bucket = this.grid.get(cellKey(x, y, z));
+                    if (bucket)
+                        for (const t of bucket)
+                            out.add(t);
+                }
+        return [...out];
+    }
+    /** 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, d, maxLength, minDistance = 1e-5) {
+        const q = [p[0] + d[0] * maxLength, p[1] + d[1] * maxLength, p[2] + d[2] * maxLength];
+        const min = [Math.min(p[0], q[0]), Math.min(p[1], q[1]), Math.min(p[2], q[2])];
+        const max = [Math.max(p[0], q[0]), Math.max(p[1], q[1]), Math.max(p[2], q[2])];
+        let hits = 0;
+        for (const t of this.candidatesInBox(min, max)) {
+            const hit = segmentTriangleHit(p, q, this.corner(t, 0), this.corner(t, 1), this.corner(t, 2));
+            if (hit !== null && hit.t * maxLength > minDistance)
+                hits++;
+        }
+        return hits;
+    }
+    /** 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, d, maxLength, minDistance = 1e-5) {
+        const q = [p[0] + d[0] * maxLength, p[1] + d[1] * maxLength, p[2] + d[2] * maxLength];
+        const min = [Math.min(p[0], q[0]), Math.min(p[1], q[1]), Math.min(p[2], q[2])];
+        const max = [Math.max(p[0], q[0]), Math.max(p[1], q[1]), Math.max(p[2], q[2])];
+        let best = null;
+        for (const t of this.candidatesInBox(min, max)) {
+            const hit = segmentTriangleHit(p, q, this.corner(t, 0), this.corner(t, 1), this.corner(t, 2));
+            if (hit === null)
+                continue;
+            const dist = hit.t * maxLength;
+            if (dist > minDistance && (best === null || dist < best))
+                best = dist;
+        }
+        return best;
+    }
+    nearest(p, maxDistance) {
+        if (this.count === 0)
+            return null;
+        const px = p[0], py = p[1], pz = p[2];
+        // Exact early-out: every triangle lies inside `bounds`, so nothing is closer than the distance to it.
+        const bx = Math.max(this.bounds[0] - px, 0, px - this.bounds[3]);
+        const by = Math.max(this.bounds[1] - py, 0, py - this.bounds[4]);
+        const bz = Math.max(this.bounds[2] - pz, 0, pz - this.bounds[5]);
+        if (bx * bx + by * by + bz * bz > maxDistance * maxDistance)
+            return null;
+        const cell = this.cell;
+        const cx = Math.floor(px / cell), cy = Math.floor(py / cell), cz = Math.floor(pz / cell);
+        const q = ++this.query;
+        if (q === 0x7fffffff) {
+            this.stamp.fill(0);
+            this.query = 1;
+        }
+        const stampId = this.query;
+        let bestD = Infinity, bestD2 = Infinity, bestT = -1;
+        let hx = 0, hy = 0, hz = 0, hu = 0, hv = 0, hw = 0;
+        const out = this.scratch, boxes = this.boxes, tris = this.tris, stamp = this.stamp;
+        // Exact-tie order (see the class doc): the triangle `pokethrough-check.mjs`'s scan meets first — the
+        // lexicographically smallest first-overlapped cell of its 5cm grid inside its ±6-cell search cube, then
+        // the lower triangle index.
+        const TC = CHECKER_CELL_M;
+        const tcx = Math.floor(px / TC) - 6, tcy = Math.floor(py / TC) - 6, tcz = Math.floor(pz / TC) - 6;
+        const scanFirst = (a, b) => {
+            for (let k = 0; k < 3; k++) {
+                const lo = k === 0 ? tcx : k === 1 ? tcy : tcz;
+                const ka = Math.max(Math.floor(boxes[a * 6 + k] / TC), lo), kb = Math.max(Math.floor(boxes[b * 6 + k] / TC), lo);
+                if (ka !== kb)
+                    return ka < kb;
+            }
+            return a < b;
+        };
+        const visit = (x, y, z) => {
+            if (bestT >= 0) {
+                // Skip a whole cell that cannot hold anything closer than the best so far.
+                const ex = Math.max(x * cell - px, 0, px - (x + 1) * cell);
+                const ey = Math.max(y * cell - py, 0, py - (y + 1) * cell);
+                const ez = Math.max(z * cell - pz, 0, pz - (z + 1) * cell);
+                if (ex * ex + ey * ey + ez * ez > bestD2 * (1 + 1e-9))
+                    return;
+            }
+            const bucket = this.grid.get(cellKey(x, y, z));
+            if (!bucket)
+                return;
+            for (let i = 0; i < bucket.length; i++) {
+                const t = bucket[i];
+                if (stamp[t] === stampId)
+                    continue;
+                stamp[t] = stampId;
+                const b = t * 6;
+                const gx = Math.max(boxes[b] - px, 0, px - boxes[b + 3]);
+                const gy = Math.max(boxes[b + 1] - py, 0, py - boxes[b + 4]);
+                const gz = Math.max(boxes[b + 2] - pz, 0, pz - boxes[b + 5]);
+                if (gx * gx + gy * gy + gz * gz > bestD2 * (1 + 1e-9))
+                    continue; // its box is farther than the best: so is it
+                const d = closestPointFlat(px, py, pz, tris, t * 9, out);
+                if (d < bestD || (d === bestD && scanFirst(t, bestT))) {
+                    bestD = d;
+                    bestD2 = d * d;
+                    bestT = t;
+                    hx = out[0];
+                    hy = out[1];
+                    hz = out[2];
+                    hu = out[3];
+                    hv = out[4];
+                    hw = out[5];
+                }
+            }
+        };
+        for (let r = 0;; r++) {
+            if (r === 0)
+                visit(cx, cy, cz);
+            else {
+                for (let dx = -r; dx <= r; dx++)
+                    for (let dy = -r; dy <= r; dy++) {
+                        const onXYShell = Math.abs(dx) === r || Math.abs(dy) === r;
+                        if (onXYShell)
+                            for (let dz = -r; dz <= r; dz++)
+                                visit(cx + dx, cy + dy, cz + dz);
+                        else {
+                            visit(cx + dx, cy + dy, cz - r);
+                            visit(cx + dx, cy + dy, cz + r);
+                        }
+                    }
+            }
+            const reach = r * cell;
+            // Strictly less: an unseen triangle at exactly `reach` could still TIE and win the tie order.
+            if (bestT >= 0 && bestD < reach)
+                break; // provably nothing unseen is closer (or equally close)
+            if (reach > maxDistance)
+                break; // nothing unseen is within range either
+        }
+        if (bestT < 0 || bestD > maxDistance)
+            return null;
+        return { index: bestT, distance: bestD, point: [hx, hy, hz], bary: [hu, hv, hw] };
+    }
+}
+exports.TriangleGrid = TriangleGrid;
+/**
+ * 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.
+ */
+function segmentHitsTriangle(p0, p1, a, b, c) {
+    return segmentTriangleHit(p0, p1, a, b, c)?.t ?? null;
+}
+/** As `segmentHitsTriangle`, also returning the barycentric weights (for a, b, c) of the crossing point. */
+function segmentTriangleHit(p0, p1, a, b, c) {
+    const d0 = p1[0] - p0[0], d1 = p1[1] - p0[1], d2 = p1[2] - p0[2];
+    const e10 = b[0] - a[0], e11 = b[1] - a[1], e12 = b[2] - a[2];
+    const e20 = c[0] - a[0], e21 = c[1] - a[1], e22 = c[2] - a[2];
+    const h0 = d1 * e22 - d2 * e21, h1 = d2 * e20 - d0 * e22, h2 = d0 * e21 - d1 * e20;
+    const det = e10 * h0 + e11 * h1 + e12 * h2;
+    const scale = Math.hypot(e10, e11, e12) * Math.hypot(e20, e21, e22) * Math.hypot(d0, d1, d2);
+    if (!(scale > 0) || Math.abs(det) <= 1e-12 * scale)
+        return null; // parallel or degenerate
+    const inv = 1 / det;
+    const s0 = p0[0] - a[0], s1 = p0[1] - a[1], s2 = p0[2] - a[2];
+    const u = (s0 * h0 + s1 * h1 + s2 * h2) * inv;
+    if (u < 0 || u > 1)
+        return null;
+    const q0 = s1 * e12 - s2 * e11, q1 = s2 * e10 - s0 * e12, q2 = s0 * e11 - s1 * e10;
+    const v = (d0 * q0 + d1 * q1 + d2 * q2) * inv;
+    if (v < 0 || u + v > 1)
+        return null;
+    const t = (e20 * q0 + e21 * q1 + e22 * q2) * inv;
+    return t >= 0 && t <= 1 ? { t, bary: [1 - u - v, u, v] } : null;
+}
+//# sourceMappingURL=math.js.map

package/dist/character/stages/poseFit/math.js.map

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

@@ -0,0 +1,88 @@
+import { TriangleGrid } from './math';
+import { type BodyModel, type GarmentModel, type GarmentUnit } from './model';
+/**
+ * The poke-through measurement — a port of `pokethrough-check.mjs`'s `checkPose` (see `posing.ts` for the one
+ * deliberate difference: duplicated skeletons are posed as one). For every BODY vertex within `proximity` of
+ * the garment's posed surface, the signed distance from the nearest garment point along that garment
+ * triangle's own normal decides: > `threshold` and ≤ `ceiling` is a violation; > `ceiling` is `beyondCeiling`
+ * (a point the garment was never meant to cover); a vertex outside the slot's region scope is `outOfScope`.
+ * The garment surface is the UNION of every skinned garment mesh (every LOD level), as in the checker.
+ *
+ * ORIENTATION (found building this stage, 2026-09-28; landed in the canonical checker the same day as its
+ * ORIENTATION_REASONING): the raw signed distance trusts each garment triangle's own winding as "outward". A
+ * lined or two-sided garment's nearest surface to the body is its LINING, whose normal faces INTO the body,
+ * so a body vertex sitting safely 5mm behind the lining read as "5mm past the garment" — ~90% of Male Casual
+ * Blazer's violations. When every body primitive carries NORMAL, a garment normal that opposes the body
+ * vertex's own normal has the signed distance's sign flipped first, exactly as the checker now does.
+ * `violationCount` is that (canonical) count; the old un-oriented count is kept as `rawViolationCount` for
+ * comparison only — it is not gated on, because it REWARDS pushing a lining into the body.
+ *
+ * EXPOSED COUNT (informational + a no-worse gate clause, not in the checker): of the counted violations,
+ * those with NO sheet of the same LOD's garment over them along the body vertex's own normal (a ray to
+ * `proximity`). A violation under an outer layer (body through the lining but still under the shell) is
+ * invisible; an exposed one is skin you can actually see. On Male Casual Blazer ~80% of the oriented count is
+ * covered this way — the exposed count is the closest geometric proxy for "visible poke-through" we have.
+ *
+ * The nearest-triangle search is `TriangleGrid.nearest` — exact, with a provable stopping rule — so a
+ * vertex's verdict here equals the checker's except where two garment triangles tie exactly for nearest
+ * (a shared edge or corner) and the checker's scan order happens to pick the other one; ties here always
+ * go to the lower triangle index.
+ */
+export interface PoseMeasurement {
+    pass: boolean;
+    bodyVerticesConsidered: number;
+    violationCount: number;
+    outOfScope: number;
+    beyondCeiling: number;
+    maxViolationMm: number;
+    /** Garment normals flipped to face away from the body before measuring (0 when the body has no normals). */
+    orientationFlipped: number;
+    /** The pre-orientation-fix count (the checker before 2026-09-28) — informational only. */
+    rawViolationCount: number;
+    /** Violations with no sheet of the garment over them along the body normal (null without body normals). */
+    exposedViolationCount: number | null;
+}
+export interface Measurement {
+    poses: Record<string, PoseMeasurement>;
+    totalViolations: number;
+    totalBeyondCeiling: number;
+    totalRawViolations: number;
+    totalExposedViolations: number | null;
+}
+export interface MeasureSettings {
+    thresholdM: number;
+    ceilingM: number;
+    proximityM: number;
+    /** Region scope (the slot's granted hide regions); null = unscoped. */
+    inScope: ((region: string | null) => boolean) | null;
+    poseNames: readonly string[];
+}
+/** Grid cell for garment-surface lookups. 1cm keeps the typical near-surface query to one 27-cell shell. */
+export declare const SURFACE_CELL_M = 0.01;
+export interface PosedSurface {
+    grid: TriangleGrid;
+    /** Unit normal per grid triangle (3 each). */
+    normals: Float64Array;
+    /** For each grid triangle: [unitIndex, vA, vB, vC] (vertex indices local to that unit). */
+    corners: Int32Array;
+}
+/**
+ * Posed garment triangles for `units` at rest displacement `deltas` (per unit, 3 per vertex), skipping
+ * degenerate triangles exactly where the checker does (a zero-length cross product).
+ */
+export declare function buildPosedSurface(units: readonly GarmentUnit[], unitIds: readonly number[], poseName: string, deltas: readonly Float64Array[]): PosedSurface;
+export declare function measurePokethrough(body: BodyModel, garment: GarmentModel, deltas: readonly Float64Array[], settings: MeasureSettings): Measurement;
+/**
+ * The gate's verdict: `after` counts as an improvement only if
+ *   - its total violation count (the checker's) is STRICTLY lower than `before`'s, and
+ *   - no single pose shows MORE VISIBLE poke-through than before: the exposed count per pose may not rise
+ *     (fewer violations in total must never mean more skin showing in one motion). When the body carries no
+ *     normals there is no exposed count, and the per-pose violation count is held to the same rule instead.
+ * The per-pose rule is deliberately on the exposed count, not the raw per-pose count: most of a lined
+ * garment's counted violations are covered by an outer layer, and those shuffle between poses as cloth
+ * moves without anything becoming visible; holding them to a per-pose ratchet rejected fits that removed
+ * 80% of the visible poke-through (Male Casual Blazer, 2026-09-28).
+ */
+export declare function isStrictImprovement(before: Measurement, after: Measurement): boolean;
+/** The first gate clause `after` fails (see `isStrictImprovement`), or null when it passes. */
+export declare function gateRejection(before: Measurement, after: Measurement, layerCrossings: number): string | null;