cozyclay 2.1.1 → 3.0.0

package/tools/track/check-rig.mjs

@@ -1,209 +0,0 @@
-#!/usr/bin/env node
-/**
- * check-rig.mjs — prove an exported rig npz (tools/track/export-rig.mjs) is
- * enough to reproduce Studio playback without three's rig objects.
- *
- *   node tools/track/check-rig.mjs --rig <rig.npz> --model <id> --motion <truth.npz> [--frame N]
- *
- * 1. rest joints: cskel27 joints of a rest take (the truth motion's frame-0
- *    root and bone factors, identity rotations) from the npz's neutral
- *    skeleton vs Studio's posedJoints (tools/bench/fit/motion.mjs
- *    regenerateJoints over src/ardy/convert.js FK).
- * 2. bones: every control bone's world position from a port of
- *    applyMotionFrame that reads only npz arrays vs the real rig driven by
- *    src/ardy/playback.js applyMotionFrame, for the rest take, truth frame N,
- *    and truth frame N on a body with non-unit bone factors.
- * 3. skin: world-space LBS from npz vertices/weights/bind inverses vs three's
- *    own SkinnedMesh.getVertexPosition on truth frame N (every 7th vertex).
- * Prints JSON; exits 1 when any error exceeds 1 mm.
- */
-import { pathToFileURL } from "node:url";
-import * as THREE from "three";
-import { globalRotations } from "../../src/ardy/convert.js";
-import { applyMotionFrame } from "../../src/ardy/playback.js";
-import { readNpz } from "../kimodo/read-npz.mjs";
-import { cloneMotion, localsAt, readMotion, regenerateJoints } from "../bench/fit/motion.mjs";
-import { loadRig, modelPath } from "./export-rig.mjs";
-
-const TOLERANCE_M = 1e-3;
-const J = 27;
-
-const m4 = (data, i) => new THREE.Matrix4().fromArray(data, i * 16).transpose(); // row-major -> three
-const v3 = (data, i) => new THREE.Vector3(data[i * 3], data[i * 3 + 1], data[i * 3 + 2]);
-const q4 = (data, i) => new THREE.Quaternion(data[i * 4], data[i * 4 + 1], data[i * 4 + 2], data[i * 4 + 3]);
-
-/** Rest cskel27 joints from the npz: root + neutral grown by boneScale. */
-export function restJoints(npz, root, boneScale) {
-	const parents = npz.cskel27_parents.data;
-	const n = npz.cskel27_neutral.data;
-	const out = [];
-	for (let j = 0; j < J; j += 1) {
-		const p = parents[j];
-		out.push(p < 0 ? [...root] : [0, 1, 2].map((k) => out[p][k] + boneScale[j] * (n[j * 3 + k] - n[p * 3 + k])));
-	}
-	return out;
-}
-
-/** World matrices (metres) of every exported bone for motion frame f, from npz arrays only. */
-export function boneWorlds(npz, motion, f) {
-	const s = npz.prep_scale.data[0];
-	const minY = npz.ardy_neutral_min_y.data[0];
-	const prepBone = npz.prep_bone.data;
-	const hasScale = Boolean(motion.boneScale);
-	const grown = hasScale ? restJoints(npz, [0, 0, 0], motion.boneScale) : null;
-	const offset = (j) => {
-		if (!grown) return v3(npz.prep_offsets.data, j);
-		const b = v3(npz.prep_bind_pos.data, j);
-		return new THREE.Vector3(b.x - s * grown[j][0], b.y - s * (grown[j][1] - minY), b.z - s * grown[j][2]);
-	};
-	const stretch = (j) => {
-		if (!hasScale) return 1;
-		if (npz.girdle_joints.data[j]) return motion.boneScale[j];
-		const canonical = npz.prep_canonical_bone_length.data[j];
-		const rigBind = npz.prep_rig_bone_length.data[j];
-		if (!(canonical > 1e-6) || !(rigBind > 1e-6)) return motion.boneScale[j];
-		return (motion.boneScale[j] * canonical) / rigBind;
-	};
-	const globals = globalRotations(localsAt(motion, f));
-	const anchor = Math.max(0, Math.min(motion.anchorFrame || 0, motion.frames - 1));
-	const ax = motion.posedJoints[anchor * J * 3];
-	const az = motion.posedJoints[anchor * J * 3 + 2];
-
-	const desired = new Array(J).fill(null);
-	const assumedParent = new Map();
-	const jointOfBone = new Map();
-	for (let j = 0; j < J; j += 1) {
-		const b = prepBone[j];
-		if (b < 0) continue;
-		const G = globals[j];
-		const q = new THREE.Quaternion().setFromRotationMatrix(new THREE.Matrix4().set(
-			G[0][0], G[0][1], G[0][2], 0, G[1][0], G[1][1], G[1][2], 0, G[2][0], G[2][1], G[2][2], 0, 0, 0, 0, 1));
-		const po = (f * J + j) * 3;
-		let pos = offset(j).applyQuaternion(q).add(new THREE.Vector3(
-			s * (motion.posedJoints[po] - ax), s * motion.posedJoints[po + 1], s * (motion.posedJoints[po + 2] - az)));
-		const cp = npz.prep_chain_parent.data[j];
-		const parentW = cp >= 0 ? desired[cp].clone().multiply(m4(npz.prep_chain_rel.data, j)) : m4(npz.prep_parent_bind_world.data, j);
-		if (npz.hierarchy_preserved.data[j]) pos = v3(npz.prep_bind_local_pos.data, j).multiplyScalar(stretch(j)).applyMatrix4(parentW);
-		desired[j] = new THREE.Matrix4().compose(pos, q.multiply(q4(npz.prep_bind_quat.data, j)), v3(npz.prep_bind_scale.data, j));
-		assumedParent.set(b, parentW);
-		jointOfBone.set(b, j);
-	}
-	const leaves = new Map();
-	for (let i = 0; i < npz.prep_stretched_leaves.shape[0]; i += 1) {
-		leaves.set(npz.prep_stretched_leaves.data[i * 2], { joint: npz.prep_stretched_leaves.data[i * 2 + 1], i });
-	}
-	const B = npz.bone_parent.shape[0];
-	const rigWorld = [];
-	for (let b = 0; b < B; b += 1) {
-		const parent = npz.bone_parent.data[b];
-		const parentWorld = parent < 0 ? new THREE.Matrix4() : rigWorld[parent];
-		let local;
-		if (jointOfBone.has(b)) {
-			local = assumedParent.get(b).clone().invert().multiply(desired[jointOfBone.get(b)]);
-		} else if (leaves.has(b)) {
-			const { joint, i } = leaves.get(b);
-			const rest = m4(npz.bone_rest_local.data, b);
-			const scale = new THREE.Vector3();
-			rest.decompose(new THREE.Vector3(), new THREE.Quaternion(), scale);
-			local = new THREE.Matrix4().compose(
-				v3(npz.prep_stretched_leaf_local_pos.data, i).multiplyScalar(stretch(joint)),
-				q4(npz.prep_stretched_leaf_local_quat.data, i), scale);
-		} else {
-			local = m4(npz.bone_rest_local.data, b);
-		}
-		rigWorld.push(parentWorld.clone().multiply(local));
-	}
-	const root = new THREE.Matrix4().makeScale(...Array(3).fill(npz.rig_root_scale.data[0]));
-	return rigWorld.map((w) => root.clone().multiply(w));
-}
-
-/** World-space LBS of npz vertex v under bone worlds W. */
-export function skinVertex(npz, worlds, v) {
-	const out = new THREE.Vector3();
-	const rest = v3(npz.vertices.data, v);
-	for (let k = 0; k < 4; k += 1) {
-		const w = npz.skin_weight.data[v * 4 + k];
-		if (w === 0) continue;
-		const b = npz.skin_index.data[v * 4 + k];
-		out.addScaledVector(rest.clone().applyMatrix4(m4(npz.bone_bind_inverse.data, b)).applyMatrix4(worlds[b]), w);
-	}
-	return out;
-}
-
-export function checkRig({ rig: rigPath, model, motion: motionPath, frame = 40 }) {
-	const npz = readNpz(rigPath);
-	const meta = JSON.parse(Buffer.from(Uint8Array.from(npz.meta_json.data)).toString("utf8"));
-	const truth = readMotion(motionPath);
-	const f = Math.min(frame, truth.frames - 1);
-
-	// 1. rest take: truth frame-0 root and bone factors, identity rotations.
-	const rotMats = new Float32Array(J * 9);
-	for (let j = 0; j < J; j += 1) rotMats.set([1, 0, 0, 0, 1, 0, 0, 0, 1], j * 9);
-	const rest = regenerateJoints({ frames: 1, fps: truth.fps, rotMats, rootPos: truth.rootPos.slice(0, 3), posedJoints: new Float32Array(J * 3), boneScale: truth.boneScale.slice(), anchorFrame: 0 });
-	const fromNpz = restJoints(npz, Array.from(truth.rootPos.slice(0, 3)), truth.boneScale);
-	let restJointErr = 0;
-	fromNpz.forEach((p, j) => { restJointErr = Math.max(restJointErr, Math.hypot(...p.map((x, k) => x - rest.posedJoints[j * 3 + k]))); });
-
-	// 2 + 3. bone and skin parity against the real rig under Studio playback.
-	const { rig } = loadRig(modelPath(model));
-	const control = new Map();
-	rig.traverse((o) => { if (o.isBone && !control.has(o.name)) control.set(o.name, o); });
-	const meshes = [];
-	rig.traverse((o) => { if (o.isSkinnedMesh) meshes.push(o); });
-	/** Drive the real rig with Studio playback and the npz port with the same
-	 * frame; compare every bone and (optionally) every 7th skinned vertex. */
-	const parity = (motion, fr, { skin = false } = {}) => {
-		applyMotionFrame(rig, motion, fr);
-		const worlds = boneWorlds(npz, motion, fr);
-		let err = 0;
-		let worst = "";
-		meta.boneNames.forEach((name, b) => {
-			const e = new THREE.Vector3().setFromMatrixPosition(worlds[b]).distanceTo(new THREE.Vector3().setFromMatrixPosition(control.get(name).matrixWorld));
-			if (e > err) { err = e; worst = name; }
-		});
-		let skinErr = 0;
-		let samples = 0;
-		const p = new THREE.Vector3();
-		if (skin) meshes.forEach((mesh, m) => {
-			const [start, count] = npz.mesh_ranges.data.slice(m * 4, m * 4 + 2);
-			for (let v = 0; v < count; v += 7) {
-				mesh.getVertexPosition(v, p).applyMatrix4(mesh.matrixWorld);
-				skinErr = Math.max(skinErr, skinVertex(npz, worlds, start + v).distanceTo(p));
-				samples += 1;
-			}
-		});
-		return { err, worst, skinErr, samples };
-	};
-	const restBones = parity(rest, 0);
-	const posed = parity(truth, f, { skin: true });
-	// The same frame on a non-canonical body (bone factors 0.85..1.15), so the
-	// grown offsets and the arm/leaf stretch are exercised with factors != 1.
-	const body = cloneMotion(truth);
-	body.boneScale = Float32Array.from({ length: J }, (_, j) => 0.85 + 0.3 * ((j * 7) % 11) / 10);
-	const scaled = parity(regenerateJoints(body), f, { skin: true });
-	const result = {
-		rig: rigPath, model, motion: motionPath, frame: f,
-		shapes: Object.fromEntries(Object.entries(npz).map(([k, v]) => [k, `${v.dtype}[${v.shape.join(",")}]`])),
-		restJointMaxErrM: restJointErr,
-		restBoneMaxErrM: restBones.err, restBoneWorst: restBones.worst,
-		posedBoneMaxErrM: posed.err, posedBoneWorst: posed.worst,
-		posedSkinMaxErrM: posed.skinErr, skinSamples: posed.samples,
-		scaledBodyBoneMaxErrM: scaled.err, scaledBodyBoneWorst: scaled.worst,
-		scaledBodySkinMaxErrM: scaled.skinErr,
-		toleranceM: TOLERANCE_M,
-	};
-	result.pass = [restJointErr, restBones.err, posed.err, posed.skinErr, scaled.err, scaled.skinErr].every((e) => e <= TOLERANCE_M);
-	return result;
-}
-
-if (import.meta.url === pathToFileURL(process.argv[1] ?? "").href) {
-	const args = {};
-	for (let i = 2; i < process.argv.length; i += 2) args[process.argv[i].replace(/^--/, "")] = process.argv[i + 1];
-	if (!args.rig || !args.model || !args.motion) {
-		console.error("usage: check-rig.mjs --rig <rig.npz> --model <id> --motion <truth.npz> [--frame N]");
-		process.exit(2);
-	}
-	const result = checkRig({ ...args, frame: args.frame === undefined ? 40 : Number(args.frame) });
-	console.log(JSON.stringify(result, null, 2));
-	process.exit(result.pass ? 0 : 1);
-}

package/tools/track/diagnostics.schema.json

@@ -1,60 +0,0 @@
-{
-  "$schema": "https://json-schema.org/draft/2020-12/schema",
-  "$id": "https://cozyclay.org/schemas/track-diagnostics.json",
-  "title": "Known-character tracker diagnostics",
-  "type": "object",
-  "additionalProperties": false,
-  "required": ["version", "frames", "fps", "occluded", "lrState", "lrMargin", "ambiguous", "stance", "penetration", "nuisance", "stageLosses", "runtime", "failure"],
-  "properties": {
-    "version": { "type": "integer", "const": 1 },
-    "frames": { "type": "integer", "minimum": 1 },
-    "fps": { "type": "number", "exclusiveMinimum": 0 },
-    "occluded": {
-      "type": "array",
-      "items": { "type": "array", "items": { "type": "boolean" }, "minItems": 27, "maxItems": 27 }
-    },
-    "lrState": { "type": "array", "items": { "type": "string" } },
-    "lrMargin": { "type": "array", "items": { "type": "number" } },
-    "ambiguous": { "type": "array", "items": { "type": "boolean" } },
-    "stance": {
-      "type": "object",
-      "additionalProperties": false,
-      "required": ["left", "right"],
-      "properties": {
-        "left": { "type": "array", "items": { "type": "boolean" } },
-        "right": { "type": "array", "items": { "type": "boolean" } }
-      }
-    },
-    "penetration": {
-      "type": "object",
-      "additionalProperties": false,
-      "required": ["maxBoxCm", "maxFloorCm", "frames"],
-      "properties": {
-        "maxBoxCm": { "type": "number", "minimum": 0 },
-        "maxFloorCm": { "type": "number", "minimum": 0 },
-        "frames": { "type": "array", "items": { "type": "integer", "minimum": 0 } }
-      }
-    },
-    "nuisance": {
-      "type": "object",
-      "additionalProperties": false,
-      "required": ["scale", "cameraDeltaDeg", "fovDeltaPct"],
-      "properties": {
-        "scale": { "type": "number", "exclusiveMinimum": 0 },
-        "cameraDeltaDeg": { "type": "array", "prefixItems": [{ "type": "number" }, { "type": "number" }], "items": false },
-        "fovDeltaPct": { "type": "number" }
-      }
-    },
-    "stageLosses": { "type": "object", "additionalProperties": { "type": "number" } },
-    "runtime": {
-      "type": "object",
-      "additionalProperties": false,
-      "required": ["trackerSeconds", "peakReservedMiB"],
-      "properties": {
-        "trackerSeconds": { "type": "number", "minimum": 0 },
-        "peakReservedMiB": { "type": "number", "minimum": 0 }
-      }
-    },
-    "failure": { "type": ["null", "string"] }
-  }
-}

package/tools/track/export-rig.mjs

@@ -1,256 +0,0 @@
-#!/usr/bin/env node
-/**
- * export-rig.mjs — export a shipped Studio character rig for the known-character
- * tracker (plan mocap-rearch todo 3).
- *
- *   node tools/track/export-rig.mjs --model y-bot-tpose [--out <path.npz>]
- *
- * Loads public/models/<model>.fbx in node with three's FBXLoader exactly as
- * tools/bench/obs-bench.mjs characterStandingAnkle does (rig root scale 0.01,
- * bind pose primed like Studio's app-stage clone), and writes one npz with the
- * merged skinned mesh (both SkinnedMeshes, rest pose, metres), the rig's
- * control bones, and the positional-skinning preparation playback.js
- * computes for this rig (prepOf), plus the canonical cskel27 skeleton. Array
- * layout and units: tools/track/rig-dump.mjs.
- *
- * Mixamo FBX nests an identity copy of every bone under its control bone and
- * a mesh's skeleton may reference either; playback only ever writes control
- * bones, so every skeleton bone is canonicalised onto the control bone of the
- * same name (the copy's local transform is asserted to be identity).
- *
- * Default output: node_modules/.cache/cozyfit/rig-<model>.npz (never committed).
- */
-import { createHash } from "node:crypto";
-import { existsSync, mkdirSync, readFileSync, renameSync, rmSync, statSync } from "node:fs";
-import { dirname, join, relative, resolve } from "node:path";
-import { fileURLToPath, pathToFileURL } from "node:url";
-import * as THREE from "three";
-import { FBXLoader } from "three/examples/jsm/loaders/FBXLoader.js";
-import { writeNpz } from "../ardy/npz.mjs";
-import { CSKEL27_JOINTS, CSKEL27_PARENTS } from "../../src/ardy/cskel27.js";
-import { CSKEL27_NEUTRAL } from "../../src/ardy/cskel27-neutral.js";
-import { ARDY_NEUTRAL_MIN_Y, GIRDLE_JOINTS, HIERARCHY_PRESERVED_JOINTS, prepOf } from "../../src/ardy/playback.js";
-import { primeBindPose } from "../../src/poses.js";
-import { CHARACTER_MODEL_IDS } from "../../src/scenes.js";
-import { rigArraysFromDump, RIG_DUMP_VERSION } from "./rig-dump.mjs";
-
-const HERE = dirname(fileURLToPath(import.meta.url));
-const ROOT = resolve(HERE, "../..");
-const ROOT_SCALE = 0.01; // app-stage.jsx: model.scale = 0.01 * character scale (1)
-const BIND_TOLERANCE = 1e-5;
-
-/** 4x4 row-major list from a three.js (column-major) Matrix4. */
-const rowMajor = (m) => m.clone().transpose().toArray();
-const vec = (v) => (v ? [v.x, v.y, v.z] : null);
-const quat = (q) => (q ? [q.x, q.y, q.z, q.w] : null);
-
-export function modelPath(model) {
-	if (!CHARACTER_MODEL_IDS.includes(model)) {
-		throw new Error(`unknown character model: ${model} (known: ${CHARACTER_MODEL_IDS.join(", ")})`);
-	}
-	const path = ["public", "dist"].map((d) => join(ROOT, d, "models", `${model}.fbx`)).find(existsSync);
-	if (!path) throw new Error(`character model ${model}.fbx not found under public/models or dist/models`);
-	return path;
-}
-
-/** The Studio rig as the app holds it: FBX parse, 0.01 root scale, primed bind. */
-export function loadRig(path) {
-	const bytes = readFileSync(path);
-	const rig = new FBXLoader().parse(bytes.buffer.slice(bytes.byteOffset, bytes.byteOffset + bytes.byteLength), "");
-	rig.scale.setScalar(ROOT_SCALE);
-	primeBindPose(rig);
-	rig.updateMatrixWorld(true);
-	return { rig, sha256: createHash("sha256").update(bytes).digest("hex") };
-}
-
-const isIdentityLocal = (bone) =>
-	bone.position.lengthSq() < 1e-12 &&
-	Math.abs(Math.abs(bone.quaternion.w) - 1) < 1e-9 &&
-	bone.scale.distanceToSquared(new THREE.Vector3(1, 1, 1)) < 1e-12;
-
-/** Plain-JSON dump of a loaded, untouched rig (rigArraysFromDump input). */
-export function dumpRig(rig, { model = null, source = null } = {}) {
-	rig.updateMatrixWorld(true);
-
-	// Control bones: the first depth-first bone of every name (playback's findBone rule).
-	const control = [];
-	const byName = new Map();
-	rig.traverse((node) => {
-		if (node.isBone && !byName.has(node.name)) {
-			byName.set(node.name, control.length);
-			control.push(node);
-		}
-	});
-	const indexOf = new Map(control.map((bone, i) => [bone, i]));
-	const canonical = (bone) => {
-		const i = byName.get(bone.name);
-		if (i === undefined) throw new Error(`bone ${bone.name} has no control bone`);
-		if (control[i] !== bone) {
-			// A nested copy: only valid when it sits (transitively) at its control bone.
-			for (let node = bone; node !== control[i]; node = node.parent) {
-				if (!node || !node.isBone || !isIdentityLocal(node)) {
-					throw new Error(`skeleton bone ${bone.name} is not an identity copy of its control bone`);
-				}
-			}
-		}
-		return i;
-	};
-	const parentIndex = (bone) => {
-		for (let node = bone.parent; node && node !== rig; node = node.parent) {
-			if (node.isBone && indexOf.has(node)) return indexOf.get(node);
-		}
-		return -1;
-	};
-	const bones = control.map((bone) => {
-		const world = bone.matrixWorld.clone();
-		return {
-			name: bone.name,
-			parent: parentIndex(bone),
-			restLocal: rowMajor(bone.matrix),
-			restWorld: rowMajor(world),
-			bindInverse: rowMajor(world.clone().invert()),
-		};
-	});
-
-	const meshes = [];
-	let maxBindDeviation = 0;
-	rig.traverse((node) => {
-		if (!node.isSkinnedMesh) return;
-		const { geometry, skeleton } = node;
-		const remap = skeleton.bones.map(canonical);
-		// Studio's skinning uses bone.matrixWorld @ boneInverse; the export's
-		// world-space LBS uses controlWorld @ inverse(controlWorld at rest). The
-		// two agree only when every bone's rest product is the same matrix.
-		const reference = new THREE.Matrix4().multiplyMatrices(skeleton.bones[0].matrixWorld, skeleton.boneInverses[0]).multiply(node.bindMatrix);
-		skeleton.bones.forEach((bone, k) => {
-			const product = new THREE.Matrix4().multiplyMatrices(bone.matrixWorld, skeleton.boneInverses[k]).multiply(node.bindMatrix);
-			product.elements.forEach((x, e) => { maxBindDeviation = Math.max(maxBindDeviation, Math.abs(x - reference.elements[e])); });
-		});
-		const count = geometry.attributes.position.count;
-		const vertices = new Array(count * 3);
-		const skinIndex = new Array(count * 4);
-		const skinWeight = new Array(count * 4);
-		const p = new THREE.Vector3();
-		const si = geometry.attributes.skinIndex;
-		const sw = geometry.attributes.skinWeight;
-		for (let v = 0; v < count; v += 1) {
-			node.getVertexPosition(v, p).applyMatrix4(node.matrixWorld);
-			vertices[v * 3] = p.x; vertices[v * 3 + 1] = p.y; vertices[v * 3 + 2] = p.z;
-			for (let k = 0; k < 4; k += 1) {
-				const w = sw.getComponent(v, k);
-				skinWeight[v * 4 + k] = w;
-				// A zero-weight slot's index is irrelevant; point it at a real bone.
-				skinIndex[v * 4 + k] = w === 0 ? remap[0] : remap[si.getComponent(v, k)];
-			}
-		}
-		const faces = geometry.index
-			? Array.from(geometry.index.array)
-			: Array.from({ length: count }, (_, i) => i);
-		meshes.push({ name: node.name, vertices, faces, skinIndex, skinWeight });
-	});
-	if (meshes.length === 0) throw new Error("rig has no skinned mesh");
-	if (maxBindDeviation > BIND_TOLERANCE) {
-		throw new Error(`bind pose is not the rest pose (max boneWorld*boneInverse deviation ${maxBindDeviation})`);
-	}
-
-	const prep = prepOf(rig);
-	const boneOf = (bone) => {
-		if (!bone) return -1;
-		if (!indexOf.has(bone)) throw new Error(`prep bone ${bone.name} is not a control bone`);
-		return indexOf.get(bone);
-	};
-	const mat = (m) => (m ? rowMajor(m) : null);
-	return {
-		version: RIG_DUMP_VERSION,
-		model,
-		source,
-		rootScale: ROOT_SCALE,
-		bones,
-		meshes,
-		prep: {
-			bones: prep.bones.map(boneOf),
-			scale: prep.scale,
-			offsets: prep.offsets.map(vec),
-			bindPos: prep.bindPos.map(vec),
-			bindQuat: prep.bindQuat.map(quat),
-			bindScale: prep.bindScale.map(vec),
-			bindLocalPos: prep.bindLocalPos.map(vec),
-			parentBindWorld: prep.parentBindWorld.map(mat),
-			chainParent: [...prep.chainParent],
-			chainRel: prep.chainRel.map(mat),
-			canonicalBoneLength: [...prep.canonicalBoneLength],
-			rigBoneLength: [...prep.rigBoneLength],
-			stretchedLeaves: prep.stretchedLeaves.map((leaf) => ({
-				bone: boneOf(leaf.bone),
-				joint: leaf.joint,
-				bindLocalPos: vec(leaf.bindLocalPos),
-				bindLocalQuat: quat(leaf.bindLocalQuat),
-			})),
-			hierarchyPreserved: [...HIERARCHY_PRESERVED_JOINTS],
-			girdleJoints: [...GIRDLE_JOINTS],
-			ardyNeutralMinY: ARDY_NEUTRAL_MIN_Y,
-		},
-		cskel27: {
-			joints: [...CSKEL27_JOINTS],
-			parents: CSKEL27_PARENTS.map((p) => (p === null ? -1 : p)),
-			neutral: CSKEL27_NEUTRAL.map((row) => [...row]),
-		},
-		maxBindDeviation,
-	};
-}
-
-/** Export `model` to `out`; returns a summary. The file is replaced atomically. */
-export function exportRig(model, out) {
-	const path = modelPath(model);
-	const { rig, sha256 } = loadRig(path);
-	const dump = dumpRig(rig, { model, source: { fbx: relative(ROOT, path), sha256 } });
-	const { members } = rigArraysFromDump(dump);
-	mkdirSync(dirname(out), { recursive: true });
-	const partial = `${out}.partial-${process.pid}`;
-	try {
-		writeNpz(partial, members);
-		renameSync(partial, out);
-	} finally {
-		rmSync(partial, { force: true });
-	}
-	return {
-		model,
-		out,
-		bytes: statSync(out).size,
-		vertices: members.vertices.shape[0],
-		faces: members.faces.shape[0],
-		bones: members.bone_parent.shape[0],
-		meshes: dump.meshes.map((m) => `${m.name}:${m.vertices.length / 3}`),
-		mappedJoints: dump.prep.bones.filter((b) => b >= 0).length,
-		prepScale: dump.prep.scale,
-		maxBindDeviation: dump.maxBindDeviation,
-	};
-}
-
-function parseArgs(argv) {
-	const args = { model: null, out: null };
-	for (let i = 0; i < argv.length; i += 1) {
-		const flag = argv[i];
-		const value = argv[i + 1];
-		if ((flag === "--model" || flag === "--out") && value && !value.startsWith("--")) {
-			args[flag.slice(2)] = value;
-			i += 1;
-		} else {
-			throw new Error(`usage: export-rig.mjs --model <${CHARACTER_MODEL_IDS.join("|")}> [--out <path.npz>] (bad argument ${flag})`);
-		}
-	}
-	if (!args.model) throw new Error("usage: export-rig.mjs --model <id> [--out <path.npz>] (--model is required)");
-	args.out = resolve(args.out ?? join(ROOT, "node_modules/.cache/cozyfit", `rig-${args.model}.npz`));
-	return args;
-}
-
-if (import.meta.url === pathToFileURL(process.argv[1] ?? "").href) {
-	try {
-		const { model, out } = parseArgs(process.argv.slice(2));
-		const summary = exportRig(model, out);
-		console.log(JSON.stringify(summary, null, 2));
-	} catch (error) {
-		console.error(`export-rig: ${error.message}`);
-		process.exit(1);
-	}
-}

package/tools/track/fallback.mjs

@@ -1,7 +0,0 @@
-/** Choose the safe ladder fallback for the supplied endpoint poses. */
-export function fallbackStep(endpoints) {
-	const hasTwo = Array.isArray(endpoints)
-		? endpoints.length >= 2
-		: Boolean(endpoints && endpoints.a && endpoints.b);
-	return hasTwo ? "Gbest" : "G5";
-}