@konitif/viewer-3d 0.284.1

package/dist/renderer/ObservedRobotGroundingProjection.d.ts

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+export type ObservedRobotGroundingSource = 'foot-contact-anchors' | 'foot-geometry' | 'collision-guided-render-envelope' | 'collision-envelope' | 'robot-bounds' | 'unavailable';
+export type ObservedRobotGroundingContactMode = 'support-plane-static-friction' | 'collision-envelope-static-contact' | 'unconstrained';
+export interface ObservedRobotGroundingProjection {
+    status: 'disabled' | 'unavailable' | 'grounded';
+    source: ObservedRobotGroundingSource;
+    floorY: number;
+    supportMinimumY: number | null;
+    supportContactCount: number;
+    offsetY: number;
+    inferred: boolean;
+    contactMode: ObservedRobotGroundingContactMode;
+    affectedRootAxes: readonly ['y'] | readonly [];
+    physicsAffected: false;
+}
+export interface ObservedRobotSupportPoint {
+    x: number;
+    y: number;
+    z: number;
+}
+export interface ObservedRobotSupportInclinationProjection {
+    status: 'unavailable' | 'aligned' | 'corrected';
+    supportContactCount: number;
+    supportNormal: ObservedRobotSupportPoint | null;
+    correctionQuaternion: {
+        x: number;
+        y: number;
+        z: number;
+        w: number;
+    };
+    correctionAngleRadians: number;
+    correctionClamped: boolean;
+    affectedRootAxes: readonly ['roll', 'pitch'] | readonly [];
+    constraintModel: 'quasi-static-rigid-contact' | 'unconstrained';
+    physicsAffected: false;
+}
+export interface ObservedRobotSupportAnchorProjection {
+    status: 'unavailable' | 'preserved' | 'clamped';
+    supportContactCount: number;
+    offsetX: number;
+    offsetZ: number;
+    requestedOffsetMeters: number;
+    appliedOffsetMeters: number;
+    affectedRootAxes: readonly ['x', 'z'] | readonly [];
+    constraintModel: 'support-centroid-static-friction' | 'unconstrained';
+    physicsAffected: false;
+}
+export interface ObservedRobotActiveSupportProjection {
+    status: 'unavailable' | 'resolved';
+    supportPoints: readonly ObservedRobotSupportPoint[];
+    activeIndices: readonly number[];
+    activeContactIds: readonly string[];
+    sourceContactCount: number;
+    activeContactCount: number;
+    supportMinimumY: number | null;
+    contactBandMeters: number;
+    releaseContactBandMeters: number;
+}
+export interface ObservedRobotTemporalSupportAnchorState {
+    anchorX: number;
+    anchorZ: number;
+    supportSignature: string;
+    supportContactCount: number;
+    activeContactIds: readonly string[];
+}
+export interface ObservedRobotTemporalSupportAnchorProjection {
+    status: 'unavailable' | 'acquired' | 'preserved' | 'reacquired';
+    state: ObservedRobotTemporalSupportAnchorState | null;
+    supportContactCount: number;
+    offsetX: number;
+    offsetZ: number;
+    requestedOffsetMeters: number;
+    affectedRootAxes: readonly ['x', 'z'] | readonly [];
+    constraintModel: 'temporal-support-static-friction' | 'unconstrained';
+    physicsAffected: false;
+}
+export interface ObservedRobotSupportSurface {
+    supportMinimumY: number | null;
+    supportContactCount: number;
+    source: Exclude<ObservedRobotGroundingSource, 'unavailable'>;
+}
+export interface ObservedRobotFootSupportEligibility {
+    eligible: boolean;
+    footGeometryMinimumY: number | null;
+    bodyEnvelopeMinimumY: number | null;
+    separationMeters: number | null;
+}
+/**
+ * Selects only sole anchors that belong to the lowest contact band.
+ *
+ * The robot model exposes eight semantic FSR frames, but their presence does
+ * not mean both feet currently support the body. Feeding a lifted foot into
+ * the support plane makes its animated centroid a hidden root controller.
+ * This projection keeps the lowest, physically plausible contact subset,
+ * preserves its stable identities, and uses a wider release band for the
+ * previous support. That hysteresis prevents millimetric telemetry noise from
+ * repeatedly releasing and reacquiring the static-friction anchor.
+ */
+export declare function resolveObservedRobotActiveSupportProjection(input: {
+    supportPoints: readonly ObservedRobotSupportPoint[];
+    contactIds?: readonly string[];
+    supportGroupIds?: readonly string[];
+    previousActiveContactIds?: readonly string[];
+    contactBandMeters?: number;
+    releaseContactBandMeters?: number;
+}): ObservedRobotActiveSupportProjection;
+/**
+ * Keeps a stable support footprint across consecutive observed joint frames.
+ *
+ * Joint telemetry contains no authoritative world-space root translation.
+ * Once a valid foot-support subset is acquired, small centroid changes are
+ * therefore presentation artefacts caused by the articulated model and are
+ * cancelled as static friction. A changed contact subset or a discontinuity
+ * beyond the bounded threshold reacquires the anchor instead of inventing a
+ * robot trajectory.
+ */
+export declare function resolveObservedRobotTemporalSupportAnchorProjection(input: {
+    previousState: ObservedRobotTemporalSupportAnchorState | null;
+    supportPoints: readonly ObservedRobotSupportPoint[];
+    activeIndices: readonly number[];
+    activeContactIds?: readonly string[];
+    supportEligible?: boolean;
+    reacquireDistanceMeters?: number;
+}): ObservedRobotTemporalSupportAnchorProjection;
+/**
+ * Preserves the world-space support footprint while a missing root
+ * inclination is completed for presentation.
+ *
+ * Rotating the observed model around its authored root (usually near the
+ * torso) moves the sole anchors laterally. The inverse centroid delta makes
+ * the support polygon the effective pivot instead. Y remains owned by the
+ * grounding projection, and the bounded X/Z correction is a static-friction
+ * constraint only: it does not integrate velocity or alter observed joints.
+ */
+export declare function resolveObservedRobotSupportAnchorProjection(input: {
+    supportPointsBefore: readonly ObservedRobotSupportPoint[];
+    supportPointsAfter: readonly ObservedRobotSupportPoint[];
+    supportEligible?: boolean;
+    maxCorrectionMeters?: number;
+}): ObservedRobotSupportAnchorProjection;
+/**
+ * Fits y = ax + bz + c through the semantic sole anchors and returns the
+ * shortest world-space rotation that aligns that support plane with world up.
+ *
+ * This is deliberately a quasi-static contact constraint, not a dynamics
+ * simulation: observed joints remain authoritative and only the missing root
+ * roll/pitch presentation is inferred. The bounded correction cannot inject
+ * velocity, oscillation or a competing pose history.
+ */
+export declare function resolveObservedRobotSupportInclinationProjection(input: {
+    enabled: boolean;
+    supportPoints: readonly ObservedRobotSupportPoint[];
+    supportEligible?: boolean;
+    maxCorrectionRadians?: number;
+}): ObservedRobotSupportInclinationProjection;
+/**
+ * Decides whether sole anchors may complete the missing root inclination.
+ *
+ * The feet are only a valid support authority while their rendered envelope
+ * belongs to the lowest body contact band. When the torso, back, arms or any
+ * other collider is lower, the robot is treated as body-supported: its
+ * observed orientation is preserved and no "stand it back up" correction is
+ * invented locally.
+ */
+export declare function resolveObservedRobotFootSupportEligibility(input: {
+    footGeometryMinimumY?: number | null;
+    bodyEnvelopeMinimumY?: number | null;
+    contactBandMeters?: number;
+}): ObservedRobotFootSupportEligibility;
+/**
+ * Resolves the surface that must visually meet the support plane.
+ *
+ * FSR frames describe where support can be observed, but their origins live
+ * inside the foot assembly and are not guaranteed to coincide with the
+ * rendered sole. Prefer the rendered foot envelope for the vertical contact
+ * correction, while retaining the FSR count as evidence for the projection.
+ *
+ * Whole-body colliders decide which support regime is active, but simplified
+ * collision geometry is not a reliable visible contact surface. When both are
+ * available, align the rendered envelope to the floor and report explicitly
+ * that the contact was collider-guided. This covers back, belly and side
+ * contacts without making an approximate collider visibly float or penetrate.
+ */
+export declare function resolveObservedRobotSupportSurface(input: {
+    contactMinimumY?: number | null;
+    supportContactCount?: number;
+    footGeometryMinimumY?: number | null;
+    collisionEnvelopeMinimumY?: number | null;
+    robotBoundsMinimumY?: number | null;
+}): ObservedRobotSupportSurface;
+/**
+ * Completes the missing world-height component of an observed robot pose.
+ *
+ * Joint values remain observed facts. The vertical offset is an explicit,
+ * deterministic support-plane inference and never steps a physics simulation.
+ * This vertical stage never changes X/Z. The companion support-anchor
+ * projection may only apply the inverse centroid delta required to preserve
+ * static contact, without becoming the robot pose authority.
+ */
+export declare function resolveObservedRobotGroundingProjection(input: {
+    enabled: boolean;
+    floorY: number;
+    supportMinimumY: number | null;
+    supportContactCount?: number;
+    source: Exclude<ObservedRobotGroundingSource, 'unavailable'>;
+}): ObservedRobotGroundingProjection;
+//# sourceMappingURL=ObservedRobotGroundingProjection.d.ts.map

package/dist/renderer/ObservedRobotGroundingProjection.d.ts.map

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