cozyclay 2.1.0 → 3.0.0

package/src/motion/beat-board.jsx

@@ -0,0 +1,59 @@
+// The beat board: the agent's newest draft laid out on the Full-Body lane while it works (agent-progress.js), so the
+// user sees what is being built and where QA still objects before anything is installed. Each beat of the draft's
+// timeline is a block over its frames with its state (clean, issues n, goal missed), each issue a span along the
+// row's bottom edge and each goal a mark at its frame; a header names the draft and its QA total until the draft is
+// installed. Clicking a block moves the playhead to its first frame. An older take under a draft dims
+// (beat-board.css). The model is beat-board-model.js.
+import { useSyncExternalStore } from "react";
+import { ko } from "../locale.js";
+import { latestDraft, progressVersion, subscribeProgress } from "../agent-progress.js";
+import { beatBoardModel, blockTitle } from "./beat-board-model.js";
+import "./beat-board.css";
+
+function stateChip(block) {
+	const issues = block.issues ? `⚠ ${block.issues}` : "";
+	if (!block.missed) return issues || "✓";
+	const missed = ko(`goal ✗${block.missed > 1 ? ` ${block.missed}` : ""}`, `목표 ✗${block.missed > 1 ? ` ${block.missed}` : ""}`);
+	return issues ? `${missed} · ${issues}` : missed;
+}
+
+export function BeatBoard({ motion, frame, displayFrameCount, clipPct, onJump }) {
+	useSyncExternalStore(subscribeProgress, progressVersion, progressVersion);
+	const model = beatBoardModel(latestDraft(), motion);
+	if (!model) return null;
+	const last = Math.max(0, displayFrameCount - 1);
+	const jump = f => e => {
+		if (e.button !== 0) return;
+		e.preventDefault();
+		e.stopPropagation();
+		onJump?.(Math.min(f, last));
+	};
+	return (
+		<div className={`tl-beat-board ${model.mode}`} data-testid="beat-board" data-mode={model.mode} data-draft={model.n} style={{ "--beat-rows": model.blocks[0]?.rows ?? 1 }}
+			role="group" aria-label={ko("Agent draft beats", "에이전트 초안 동작 구간")}>
+			{model.blocks.filter(b => b.f0 <= last).map(b => (
+				<button key={b.key} type="button" className={`tl-beat ${b.state}${frame >= b.f0 && frame <= b.f1 ? " current" : ""}`}
+					data-beat={b.beat} data-state={b.state} title={blockTitle(b)}
+					aria-label={`${b.label} ${b.f0}–${b.f1}: ${stateChip(b)}`}
+					style={{ "--tl-f-start": clipPct(b.f0), "--tl-f-end": clipPct(Math.min(b.f1 + 1, displayFrameCount)), "--beat-row": b.row, "--beat-rows": b.rows }}
+					onPointerDown={jump(b.f0)}>
+					<span className="tl-beat-label">{b.label}</span>
+					<span className="tl-beat-state">{stateChip(b)}</span>
+				</button>
+			))}
+			{model.spans.filter(s => s.f0 <= last).map((s, i) => (
+				<span key={`span:${i}`} className="tl-beat-span" style={{ "--tl-f-start": clipPct(s.f0), "--tl-f-end": clipPct(Math.min(s.f1 + 1, displayFrameCount)) }}
+					title={`${s.f0}–${s.f1} · ${s.text}`} />
+			))}
+			{model.marks.filter(m => m.f <= last).map((m, i) => (
+				<span key={`mark:${i}`} className={`tl-beat-mark${m.ok ? " met" : ""}`} style={{ "--tl-f": clipPct(m.f) }} title={`f${m.f} · ${m.text}`} />
+			))}
+			{model.mode === "draft" && (
+				<span className={"tl-beat-head" + (model.ok ? " ok" : "")} data-testid="beat-board-head"
+					title={ko("The agent's newest draft, not installed yet", "에이전트가 만든 최신 초안 (아직 적용 전)")}>
+					{ko(`Draft ${model.n} · QA ${model.total}`, `초안 ${model.n} · QA ${model.total}`)}
+				</span>
+			)}
+		</div>
+	);
+}

package/src/motion/center-of-mass.js

@@ -0,0 +1,66 @@
+import * as THREE from "three";
+import { findBone } from "./ik.js";
+
+// Body segment masses and the centre of mass of a posed Mixamo rig. Read-only:
+// motion verification and the support diagnostics measure with it.
+
+/**
+ * Segment mass fractions of total body mass, from Dempster's cadaver study
+ * (Dempster, W.T., "Space Requirements of the Seated Operator", WADC TR
+ * 55-159, 1955), in the tabulation popularised by Winter, "Biomechanics and
+ * Motor Control of Human Movement". The trunk (0.497) is split into pelvis
+ * (0.142) and thorax+abdomen (0.355); distal pairs are merged because their
+ * combined centroid still lands near the segment midpoint and Mixamo's hand
+ * and toe bones are too short to place reliably:
+ *
+ *   head+neck 0.081 · trunk 0.497 · upper arm 0.028 · forearm 0.016 +
+ *   hand 0.006 = 0.022 · thigh 0.100 · shank 0.0465 + foot 0.0145 = 0.061
+ *
+ * Each entry names the two Mixamo bones whose MIDPOINT carries the fraction.
+ * Dempster's true centres of mass sit ~43% down each segment rather than at
+ * 50%, but the difference is a couple of centimetres on a limb and cancels
+ * almost exactly between the left and right sides — while the midpoint keeps
+ * the table readable and needs no extra per-segment constant.
+ *
+ * The fractions sum to 1, so the weighted average below is a true CoM.
+ */
+export const SEGMENT_MASSES = [
+	{ id: "pelvis", start: "mixamorigHips", end: "mixamorigSpine1", mass: 0.142 },
+	{ id: "torso", start: "mixamorigSpine1", end: "mixamorigNeck", mass: 0.355 },
+	{ id: "head", start: "mixamorigNeck", end: "mixamorigHead", mass: 0.081 },
+	{ id: "leftUpperArm", start: "mixamorigLeftArm", end: "mixamorigLeftForeArm", mass: 0.028 },
+	{ id: "leftForeArmHand", start: "mixamorigLeftForeArm", end: "mixamorigLeftHand", mass: 0.022 },
+	{ id: "rightUpperArm", start: "mixamorigRightArm", end: "mixamorigRightForeArm", mass: 0.028 },
+	{ id: "rightForeArmHand", start: "mixamorigRightForeArm", end: "mixamorigRightHand", mass: 0.022 },
+	{ id: "leftThigh", start: "mixamorigLeftUpLeg", end: "mixamorigLeftLeg", mass: 0.100 },
+	{ id: "leftShankFoot", start: "mixamorigLeftLeg", end: "mixamorigLeftFoot", mass: 0.061 },
+	{ id: "rightThigh", start: "mixamorigRightUpLeg", end: "mixamorigRightLeg", mass: 0.100 },
+	{ id: "rightShankFoot", start: "mixamorigRightLeg", end: "mixamorigRightFoot", mass: 0.061 },
+];
+
+/**
+ * World-space centre of mass of the rig's CURRENT pose: the mass-weighted
+ * average of every segment's midpoint. Returns null when any segment bone is
+ * missing — a partial CoM would silently drift the correction toward
+ * whichever half of the body did resolve, so the caller must instead hide the
+ * tool (the same all-or-nothing policy resolveIkRig uses).
+ */
+export function computeCenterOfMass(rig) {
+	if (!rig) return null;
+	rig.updateMatrixWorld(true);
+	const com = new THREE.Vector3();
+	const start = new THREE.Vector3();
+	const end = new THREE.Vector3();
+	let total = 0;
+	for (const segment of SEGMENT_MASSES) {
+		const a = findBone(rig, segment.start);
+		const b = findBone(rig, segment.end);
+		if (!a || !b) return null;
+		a.getWorldPosition(start);
+		b.getWorldPosition(end);
+		com.addScaledVector(start.add(end).multiplyScalar(0.5), segment.mass);
+		total += segment.mass;
+	}
+	if (total <= 0) return null;
+	return com.divideScalar(total);
+}