@rig-c/pose 0.20.2 → 0.20.3

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@rig-c/pose",
-  "version": "0.20.2",
+  "version": "0.20.3",
   "description": "Puts motion from a body-18 pose sequence onto a rig built with rig-c: bone keys in rig-c's motion format, checked through rig-c's gate before anything is written. A CLI for agents that cannot see the rig.",
   "type": "module",
   "bin": {

package/src/legs.ts

@@ -683,6 +683,23 @@ function placeHip(feet: Feet, offset: (i: number, s: Side) => Pt, travel: (i: nu
   const tracked = new Array<Side | null>(n).fill(null);
   for (const t of feet.tracked ?? []) for (let i = t.frames[0]; i <= t.frames[1]; i++) tracked[i] = t.side;
   const trkX = trackFn ?? follow;
+  // #142: on a run (two or more flights), each support span's push-off ankle lift and side-to-side
+  // straight-length asymmetry would otherwise swing floorY - offset(i, s)[1] far past the pose's
+  // own bounce and ratchet the un-floored picture pass per cycle. Keep the support spans' mean floor
+  // shift across both support spans and flights, holding each grounded ankle on floorY via blends.
+  const isRun = feet.jumps.length >= 2 && feet.supports.length > 0;
+  let runShift = 0;
+  if (isRun && floorY !== null) {
+    const t0 = travel(0)[1];
+    const shifts: number[] = [];
+    for (let i = 0; i < n; i++) {
+      const s = feet.support[i] ?? null;
+      if (s === null) continue;
+      shifts.push(floorY - offset(i, s)[1] - (start[1] + travel(i)[1] - t0));
+    }
+    if (shifts.length > 0) runShift = shifts.reduce((a, b) => a + b, 0) / shifts.length;
+  }
+  const flightShift = runShift;
   /** How the hip is derived on a frame: held over a foot's anchor, tracking the lower foot on the floor (#119), or carried by the pose's travel from a frame's hip (and for a jump against `floorY`, carried so the landing frame meets the floor and frames inside the flight never go below it, #103). */
   type Mode =
     | { kind: 'plant'; side: Side; anchor: Pt; from: number }
@@ -693,6 +710,13 @@ function placeHip(feet: Feet, offset: (i: number, s: Side) => Pt, travel: (i: nu
       const o = offset(i, mode.side);
       // In place (#92) the anchor's x follows the supporting ankle's own track from the frame it planted.
       const dx = follow === undefined ? 0 : follow(i, mode.side) - follow(mode.from, mode.side);
+      if (isRun) {
+        const yPose = start[1] + travel(i)[1] - travel(0)[1] + (floorY === null ? 0 : runShift);
+        if (floorY === null) return [mode.anchor[0] + dx - o[0], yPose];
+        const d = -o[1];
+        const y = d > 0 ? Math.min(Math.max(yPose, mode.anchor[1] + STANCE_BOUNDS[0] * d), mode.anchor[1] + STANCE_BOUNDS[1] * d) : yPose;
+        return [mode.anchor[0] + dx - o[0], y];
+      }
       return [mode.anchor[0] + dx - o[0], mode.anchor[1] - o[1]];
     }
     if (mode.kind === 'track') {
@@ -703,6 +727,13 @@ function placeHip(feet: Feet, offset: (i: number, s: Side) => Pt, travel: (i: nu
     }
     const a = travel(i);
     const b = travel(mode.from);
+    if (isRun) {
+      let y = start[1] + a[1] - travel(0)[1] + (floorY === null ? 0 : flightShift);
+      if (mode.end !== undefined && floorY !== null && i <= mode.end) {
+        y = Math.max(y, floorY - Math.min(offset(i, 'r')[1], offset(i, 'l')[1]));
+      }
+      return [mode.at[0] + a[0] - b[0], y];
+    }
     let y = mode.at[1] + a[1] - b[1];
     if (mode.carry !== undefined && mode.land !== undefined && mode.end !== undefined && floorY !== null) {
       if (mode.land < n && i <= mode.land && mode.land > mode.from) {
@@ -756,7 +787,7 @@ function placeHip(feet: Feet, offset: (i: number, s: Side) => Pt, travel: (i: nu
         // The new support is held where it is on this frame, under the hip the old derivation gives here.
         const here = of(mode!, i);
         const o = offset(i, s);
-        from = mode;
+        from = isRun ? null : mode;
         mode = plant(i, s, [here[0] + o[0], here[1] + o[1]]);
         blendAt = i;
       }
@@ -784,6 +815,10 @@ function placeHip(feet: Feet, offset: (i: number, s: Side) => Pt, travel: (i: nu
     } else {
       from = null;
       hip.push(to);
+      const m = mode!;
+      if (isRun && floorY !== null && m.kind === 'plant' && Math.abs(to[1] - (m.anchor[1] - offset(i, m.side)[1])) > BLEND_HOLD_WITHIN) {
+        blends.push({ frame: i, side: m.side, y: m.anchor[1] });
+      }
     }
   }
   return { hip, anchors, blends };

package/src/retarget.ts

@@ -775,7 +775,16 @@ export function retarget(rest: Rest, map: JointMap, frames: ReadonlyArray<Partia
     const ankleSeries = { r: series.get('r_ankle')!, l: series.get('l_ankle')! };
     const lower = stanceRangeOf(ankleSeries, { r: series.get('r_hip')!, l: series.get('l_hip')! });
     blendHold = holdBlend(planted.blends, n, posedFeet, lower);
+    const holdAnchorX = feet!.jumps.length >= 2 ? blendHold.stretch.map((b, i) => (b ? posedFeet(i).ankle[b.side][0] : 0)) : null;
     stretchChain(blendHold.stretch);
+    if (holdAnchorX !== null) {
+      for (let i = 0; i < n; i++) {
+        const b = blendHold.stretch[i];
+        if (!b) continue;
+        hip[i]![0] += holdAnchorX[i]! - posedFeet(i).ankle[b.side][0];
+        travel[i]![0] = hip[i]![0] - tb.worldX;
+      }
+    }
     // --stance (#60): with the hip placed, a free ankle within the tolerance of the floor has its leg
     // stretched (every bone of its chain's scalex, about the chain's root) until it reaches it.
     if (opts.stance !== undefined && opts.stance !== 'off') {