cozyclay 2.1.1 → 3.0.0

package/src/ardy/physics-panel.jsx

@@ -1,89 +0,0 @@
-import { useEffect, useState, useSyncExternalStore } from "react";
-import { SUPPORT_SITES } from "./physics-review.js";
-import { useMotionCommands } from '../domains/motion.js';
-import "./physics-panel.css";
-import { isImeComposing } from "../ime.js";
-
-// Only the progress panel subscribes. Publishing a percentage must not
-// rerender the full timeline/Studio hundreds of times during a solve.
-export function createPhysicsProgress() {
-	let value = 0;
-	const listeners = new Set();
-	return { getSnapshot: () => value, subscribe: (listener) => { listeners.add(listener); return () => listeners.delete(listener); },
-		set: (next) => { if (next === value) return; value = next; for (const listener of listeners) listener(); } };
-}
-
-export function PhysicsPanel({ ko, disabled, running, progress: progressStore, preview, show, options, frame, frames, onOptions, onRun, onShow, onApply, onCancel, onFrame }) {
-	const { run } = useMotionCommands();
-	const progress = useSyncExternalStore(progressStore.subscribe, progressStore.getSnapshot);
-	const [site, setSite] = useState("leftFoot");
-	const [start, setStart] = useState(0), [end, setEnd] = useState(0), [mode, setMode] = useState("plant");
-	const name = (id) => { const s = SUPPORT_SITES.find((s) => s.id === id); return s ? ko(s.label, s.ko) : id; };
-	const set = (patch) => onOptions({ ...options, ...patch });
-	const add = () => {
-		const a = Math.max(0, Math.min(frames - 1, Math.round(Number(start) || 0)));
-		const b = Math.max(a, Math.min(frames - 1, Math.round(Number(end) || 0)));
-		set({ overrides: [...options.overrides, { site, start: a, end: b, mode }] });
-	};
-	const cm = (x) => `${(x * 100).toFixed(2)} cm`;
-	const warning = (r) => ({ unsupported: ko("Unexplained body support", "몸을 지탱하는 접촉 미확인"), floor: ko("Floor penetration", "바닥 관통"), float: ko("Contact floats", "접지점 뜸"), slide: ko("Contact drift", "접지점 밀림"), "knee-pop": ko("Knee speed jump", "무릎 튐"), "knee-acceleration": ko("Knee acceleration increased", "무릎 가속도 증가"), "root-acceleration": ko("Root acceleration increased", "골반 가속도 증가"), replay: ko("Playback mismatch", "재생 불일치") }[r] ?? r);
-	useEffect(() => {
-		if (!preview) return undefined;
-		const onKeyDown = (event) => {
-			if (event.metaKey || event.ctrlKey || event.altKey) return;
-			if (event.key === "Escape") { event.preventDefault(); onCancel?.(); }
-			if (event.key === "Enter" && !isImeComposing(event)) { event.preventDefault(); onApply?.(); }
-		};
-		window.addEventListener("keydown", onKeyDown);
-		return () => window.removeEventListener("keydown", onKeyDown);
-	}, [preview, onApply, onCancel]);
-	return <section className="physics-review" data-testid="physics-panel" aria-label={ko("Physics cleanup", "물리 정리")}>
-		<h4>{ko("Physics cleanup", "물리 정리")} <small>{ko("review before applying", "확인 후 적용")}</small></h4>
-		<p className="inspector-hint">{ko("Floor-support hypotheses → force + moment check → pelvis + limbs. Flight is preserved; uncertain support stays flagged. Original stays unchanged until Apply.", "바닥 지지 후보 → 힘·회전 검사 → 골반·팔다리를 보정합니다. 비행은 보존하고, 불명확한 지지는 표시해요. 적용 전까지 원본은 바뀌지 않아요.")}</p>
-		<fieldset disabled={disabled || running}>
-			<label>{ko("Correction strength", "보정 강도")} <output>{Math.round(options.strength * 100)}%</output>
-				<input data-testid="physics-strength" type="range" min="0" max="100" step="10" value={options.strength * 100} onChange={(e) => set({ strength: Number(e.target.value) / 100 })} />
-			</label>
-			<details>
-				<summary>{ko("Contact overrides & protected poses", "접지 구간 지정 · 포즈 보호")}</summary>
-				<div className="physics-contact-editor">
-					<select aria-label={ko("Support point", "접지점")} value={site} onChange={(e) => setSite(e.target.value)}>{SUPPORT_SITES.map((s) => <option key={s.id} value={s.id}>{name(s.id)}</option>)}</select>
-					<select aria-label={ko("Contact mode", "접지 방식")} value={mode} onChange={(e) => setMode(e.target.value)}><option value="plant">{ko("Plant", "접지")}</option><option value="free">{ko("Free / moving", "해제 / 이동")}</option></select>
-					<input aria-label={ko("First frame", "시작 프레임")} type="number" min="0" max={frames - 1} value={start} onChange={(e) => setStart(e.target.value)} />
-					<input aria-label={ko("Last frame", "끝 프레임")} type="number" min="0" max={frames - 1} value={end} onChange={(e) => setEnd(e.target.value)} />
-				</div>
-				<div className="physics-actions"><button className="btn" onClick={() => { setStart(frame); setEnd(frame); }}>{ko("Use playhead", "현재 프레임")}</button><button data-testid="physics-add-contact" className="btn" onClick={add}>{ko("Add interval", "구간 추가")}</button></div>
-				{options.overrides.map((o, i) => <div className="physics-row" key={i}><span>{name(o.site)} · {o.start}–{o.end} · {o.mode === "plant" ? ko("Plant", "접지") : ko("Free", "해제")}</span><button className="btn" aria-label={ko("Remove interval", "구간 삭제")} onClick={() => set({ overrides: options.overrides.filter((_, j) => i !== j) })}>×</button></div>)}
-				<button data-testid="physics-protect" className="btn full" onClick={() => set({ protectedFrames: [...new Set([...options.protectedFrames, frame])].sort((a, b) => a - b) })}>{ko(`Protect pose at frame ${frame}`, `${frame}프레임 포즈 보호`)}</button>
-				{options.protectedFrames.map((f) => <div key={f} className="physics-row"><button className="btn" onClick={() => onFrame(f)}>{ko("Protected", "보호")} F{f}</button><button className="btn" aria-label={ko("Unprotect pose", "포즈 보호 해제")} onClick={() => set({ protectedFrames: options.protectedFrames.filter((p) => p !== f) })}>×</button></div>)}
-			</details>
-			<button data-testid="physics-analyse" className="btn full primary" onClick={() => run('motion.autoPhysics', { ...options, apply: false })}>{running ? ko(`Analysing ${progress}%`, `분석 중 ${progress}%`) : ko("Analyse & preview", "분석 · 미리보기")}</button>
-		</fieldset>
-		{running && <progress max="100" value={progress} aria-label={ko("Analysis progress", "분석 진행률")} />}
-		{preview && <div data-testid="physics-results">
-			<div className="physics-actions"><button data-testid="physics-original" className={`btn ${!show ? "primary" : ""}`} aria-pressed={!show} onClick={() => onShow(false)}>{ko("Original", "원본")}</button><button data-testid="physics-corrected" className={`btn ${show ? "primary" : ""}`} aria-pressed={show} onClick={() => onShow(true)}>{ko("Corrected preview", "보정 미리보기")}</button></div>
-			<table><thead><tr><th>{ko("Measured", "실측")}</th><th>{ko("Before", "전")}</th><th>{ko("After", "후")}</th></tr></thead><tbody>
-				{[["penetration", ko("Max floor depth", "최대 바닥 관통"), cm], ["meanSlide", ko("Mean contact drift", "평균 접지 밀림"), cm], ["slide", ko("Max contact drift", "최대 접지 밀림"), cm], ["float", ko("Max contact gap", "최대 접지 뜸"), cm], ["kneeStep", ko("Knee step / frame", "무릎 변화 / 프레임"), (x) => `${x.toFixed(1)}°`]].map(([id, label, fmt]) => <tr key={id}><td>{label}</td><td>{fmt(preview.before[id])}</td><td>{fmt(preview.after[id])}</td></tr>)}
-			</tbody></table>
-			{preview.support && <p className="inspector-hint" data-testid="physics-support-metrics">
-				{ko("Unsupported floating frames", "지지 미확인 부유 프레임")}: {preview.before.unsupportedFrames} → {preview.after.unsupportedFrames}<br />
-				{ko("Unexplained floating gap", "지지 미확인 뜸")}: {cm(preview.before.unsupportedGap)} → {cm(preview.after.unsupportedGap)}<br />
-				{ko("Peak force residual", "최대 잔여 지지력")}: {preview.before.forceResidual.toFixed(2)} → {preview.after.forceResidual.toFixed(2)} BW<br />
-				{ko("Peak moment residual", "최대 잔여 회전력")}: {preview.before.momentResidual.toFixed(2)} → {preview.after.momentResidual.toFixed(2)} BW·H<br />
-				{ko("Estimated floor support, not measured forces. Hidden props and joint torque limits are not modeled.", "바닥 지지의 근사 추정입니다. 실제 측정 힘이 아니며 숨은 물체·관절 토크 한계는 모델링하지 않아요.")}
-			</p>}
-			{preview.performance && <p className="inspector-hint" data-testid="physics-timing">{ko("Analysis", "분석")}: {(preview.performance.totalMs / 1000).toFixed(2)}s · {preview.performance.cacheHit ? ko("source measurements reused", "원본 측정 재사용") : ko("source measured", "원본 측정 포함")}{preview.performance.attempts > 1 && <> · {ko(`${preview.performance.attempts} candidates checked`, `${preview.performance.attempts}개 후보 비교`)}</>}</p>}
-			<p className="inspector-hint">{ko("Peak knee acceleration", "최대 무릎 각가속도")}: {preview.before.kneeAcceleration.toFixed(0)} → {preview.after.kneeAcceleration.toFixed(0)}°/s²<br />{ko("Peak root acceleration", "최대 골반 가속도")}: {preview.before.rootAcceleration.toFixed(1)} → {preview.after.rootAcceleration.toFixed(1)} m/s²</p>
-			<p className="inspector-hint">{preview.after.surfaceMeasured ? ko("Measured on skinned mesh surfaces, not bone height.", "뼈 높이가 아니라 변형된 캐릭터 표면을 측정했어요.") : ko("Surface unavailable: bone proxy only.", "표면 측정 불가: 뼈 기준 대체 측정이에요.")}</p>
-			<details><summary>{ko(`${preview.contacts.spans.length} support intervals`, `접지 ${preview.contacts.spans.length}개 구간`)}</summary><div className="physics-list">{preview.contacts.spans.map((s) => <div className="physics-row" key={s.id}><button className="btn" onClick={() => onFrame(s.start)}>{name(s.site)} F{s.start}–{s.end}{s.manual ? " *" : ""}</button><button className="btn" onClick={() => set({ overrides: [...options.overrides, { site: s.site, start: s.start, end: s.end, mode: "free" }] })}>{ko("Free", "해제")}</button></div>)}</div></details>
-			<div className={preview.warnings.length || preview.unresolved.length ? "physics-warning" : "inspector-hint"} role="status">
-				{preview.warnings.length || preview.unresolved.length ? ko(`${preview.warnings.length} warnings · ${new Set(preview.unresolved.map((r) => r.frame)).size} unresolved contact / support frames`, `경고 ${preview.warnings.length}건 · 접지·지지 역학 미확정 ${new Set(preview.unresolved.map((r) => r.frame)).size}프레임`) : ko("No measured limit exceeded", "측정 기준 초과 없음")}
-				{preview.warnings.map((w, i) => <button className="btn full" key={i} onClick={() => onFrame(w.frame)}>{warning(w.reason)} · F{w.frame}</button>)}
-				{!!preview.unresolved.length && <button className="btn full" onClick={() => onFrame(preview.unresolved[0].frame)}>{ko("Go to first unresolved contact", "첫 미해결 접지로 이동")}</button>}
-				{!!preview.skippedAir?.length && <p>{ko(`${preview.skippedAir.length} flight spans skipped`, `공중 ${preview.skippedAir.length}구간 보류`)}</p>}
-				{!!preview.contacts.rejected.length && <button className="btn full" onClick={() => onFrame(preview.contacts.rejected[0].start)}>{ko(`${preview.contacts.rejected.length} moving support intervals rejected`, `움직이는 접지 ${preview.contacts.rejected.length}구간 제외`)}</button>}
-			</div>
-			<div className="physics-actions"><button data-testid="physics-cancel" className="btn" onClick={onCancel}>{ko("Cancel", "취소")}</button><button data-testid="physics-apply" className="btn primary" disabled={!preview.changedFrames.length || preview.strength === 0} onClick={() => run('motion.applyPhysics')}>{ko("Apply", "적용")}</button></div><small className="pose-keyhint">{ko("Enter applies · Esc cancels", "Enter 적용 · Esc 취소")}</small>
-		</div>}
-	</section>;
-}

package/src/ardy/physics-refine.js

@@ -1,111 +0,0 @@
-import * as THREE from "three";
-import { ikEvaluate, solveIk, solveHipsTranslate } from "./ik.js";
-import { relaxPhysicsRoot } from "./physics-temporal.js";
-
-// Feed the surfaces actually reached by IK back into the temporal solve.
-// The first solve's ideal foot target can differ from the real skinned sole;
-// smoothing against the measured target avoids a final projection undoing
-// the temporal solution at contact boundaries.
-export async function refinePhysicsCandidate({ rig, chains, fkJoints, samples, after, contacts, candidate, base, roots, sites, applyRaw, read, strength, protectedFrames, yieldFrame, floorY = 0, onProgress = () => {} }) {
-	if (strength <= 0) return;
-	const hips = fkJoints.get("hips"), locks = new Set(protectedFrames);
-	const targets = after.map((row, f) => sites.filter((s) => s.kind === "foot" || contacts.masks[f].has(s.id)).map((site) => ({ site, target: row.support[site.id].position.clone() })));
-	const seeds = after.map((row, f) => [...row.root.clone().sub(samples[f].root).toArray(), roots[f][3], roots[f][4]]);
-	const optimized = relaxPhysicsRoot(samples, targets, seeds, protectedFrames);
-	const prior = [...after];
-	const aim = (bone, child, target) => {
-		const p = bone.getWorldPosition(new THREE.Vector3());
-		const from = child.getWorldPosition(new THREE.Vector3()).sub(p).normalize(), to = target.clone().sub(p).normalize();
-		const delta = new THREE.Quaternion().setFromUnitVectors(from, to);
-		const world = bone.getWorldQuaternion(new THREE.Quaternion());
-		bone.quaternion.copy(bone.parent.getWorldQuaternion(new THREE.Quaternion()).invert().multiply(delta).multiply(world));
-		bone.updateMatrixWorld(true);
-	};
-	for (let f = 0; f < samples.length; f += 1) {
-		if (locks.has(f)) continue;
-		applyRaw(f); ikEvaluate(chains, candidate, f, fkJoints, 6); rig.updateMatrixWorld(true);
-		const root = hips.bone.getWorldPosition(new THREE.Vector3());
-		const desired = samples[f].root.clone().add(new THREE.Vector3(...optimized[f]));
-		let influence = strength;
-		for (const p of protectedFrames) { const t = Math.min(1, Math.abs(f - p) / 4); influence = Math.min(influence, t * t * (3 - 2 * t)); }
-		solveHipsTranslate(hips, desired.sub(root).multiplyScalar(influence), hips.bone.position.clone());
-		for (const [id, chain] of chains) {
-			const endTarget = targets[f].find((t) => t.site.chain === id && t.site.kind !== "knee");
-			if (!endTarget) continue;
-			const knee = targets[f].find((t) => t.site.chain === id && t.site.kind === "knee");
-			if (knee) {
-				aim(chain.bones[0], chain.bones[1], knee.target);
-				aim(chain.bones[1], chain.bones[2], endTarget.target);
-			} else solveIk({ ...chain, bindPositions: base[f].chains.get(id).map((b) => b.p), lengths: samples[f].chains[id].lengths }, endTarget.target, endTarget.site.kind === "foot" ? { maxExtension: samples[f].chains[id].distance + 0.01, softening: 0.01 } : undefined);
-			const end = chain.bones[2]; rig.updateMatrixWorld(true);
-			end.quaternion.copy(end.parent.getWorldQuaternion(new THREE.Quaternion()).invert().multiply(prior[f].support[id].rotation));
-			rig.updateMatrixWorld(true);
-		}
-		const entry = candidate.keys.get(f);
-		entry.get("hips").p.copy(hips.bone.position);
-		for (const [id, chain] of chains) entry.get(id).q = chain.bones.map((b) => b.quaternion.clone());
-		applyRaw(f); ikEvaluate(chains, candidate, f, fkJoints, 6); after[f] = read();
-		if (f % 12 === 0) { onProgress(80 + Math.round(8 * f / samples.length)); await yieldFrame(); }
-	}
-	// A swing foot is not a pinned constraint. Use that remaining freedom to
-	// smooth knee acceleration instead of forcing the pelvis to absorb every
-	// knee-speed change. Planted feet and protected poses remain untouched.
-	const angles = {};
-	for (const id of ["leftFoot", "rightFoot"]) {
-		const original = after.map((s) => s.knees[id] * Math.PI / 180), values = [...original];
-		for (let sweep = 0; sweep < 24; sweep += 1) for (let k = 2; k < values.length - 2; k += 1) {
-			const f = sweep % 2 ? values.length - 1 - k : k;
-			if (locks.has(f) || contacts.masks[f].has(id)) continue;
-			const next = (original[f] + 2 * (4 * (values[f - 1] + values[f + 1]) - values[f - 2] - values[f + 2])) / 13;
-			values[f] = THREE.MathUtils.clamp(next, original[f] - .14, original[f] + .14);
-		}
-		angles[id] = values;
-	}
-	for (let f = 0; f < samples.length; f += 1) {
-		if (locks.has(f)) continue;
-		applyRaw(f); ikEvaluate(chains, candidate, f, fkJoints, 6); rig.updateMatrixWorld(true);
-		const backups = new Map();
-		for (const id of ["leftFoot", "rightFoot"]) {
-			if (contacts.masks[f].has(id)) continue;
-			const chain = chains.get(id), [upper, lower, foot] = chain.bones;
-			const h = upper.getWorldPosition(new THREE.Vector3()), k = lower.getWorldPosition(new THREE.Vector3()), p = foot.getWorldPosition(new THREE.Vector3());
-			const axis = h.sub(k).normalize(), dir = p.clone().sub(k).normalize();
-			const tangent = dir.clone().addScaledVector(axis, -dir.dot(axis)).normalize();
-			if (tangent.lengthSq() < .5) continue;
-			const from = after[f].knees[id] * Math.PI / 180, to = angles[id][f];
-			const targetAt = (w) => axis.clone().multiplyScalar(Math.cos(from + (to - from) * w)).addScaledVector(tangent, Math.sin(from + (to - from) * w)).multiplyScalar(samples[f].chains[id].lengths[1]).add(k);
-			let weight = strength;
-			for (const lock of protectedFrames) { const t = Math.min(1, Math.abs(f - lock) / 4); weight = Math.min(weight, t * t * (3 - 2 * t)); }
-			if (after[f].support[id].floor - floorY + targetAt(weight).y - p.y < .001) {
-				let lo = 0, hi = weight;
-				for (let n = 0; n < 12; n += 1) { const mid = (lo + hi) / 2; if (after[f].support[id].floor - floorY + targetAt(mid).y - p.y >= .001) lo = mid; else hi = mid; }
-				weight = lo;
-			}
-			backups.set(id, candidate.keys.get(f).get(id).q.map((q) => q.clone()));
-			aim(lower, foot, targetAt(weight));
-			foot.quaternion.copy(foot.parent.getWorldQuaternion(new THREE.Quaternion()).invert().multiply(after[f].support[id].rotation));
-			candidate.keys.get(f).get(id).q = chain.bones.map((b) => b.quaternion.clone());
-		}
-		applyRaw(f); ikEvaluate(chains, candidate, f, fkJoints, 6); let measured = read();
-		// A skin-blended ankle is not perfectly rigid. Reject a smoothing move
-		// if the actual surface violates the floor, not just its bone proxy.
-		let restored = false;
-		for (const [id, q] of backups) if (measured.support[id].floor < floorY - .002) {
-			const key = candidate.keys.get(f).get(id), proposed = key.q.map((v) => v.clone());
-			const threshold = Math.min(floorY - .002, after[f].support[id].floor);
-			let lo = 0, hi = 1;
-			// A continuous constrained blend avoids an all-or-nothing knee pop
-			// when the exact skinned ankle just crosses the floor threshold.
-			for (let pass = 0; pass < 7; pass += 1) {
-				const w = (lo + hi) / 2;
-				key.q = q.map((v, i) => v.clone().slerp(proposed[i], w));
-				applyRaw(f); ikEvaluate(chains, candidate, f, fkJoints, 6);
-				if (read().support[id].floor >= threshold) lo = w; else hi = w;
-			}
-			key.q = q.map((v, i) => v.clone().slerp(proposed[i], lo)); restored = true;
-		}
-		if (restored) { applyRaw(f); ikEvaluate(chains, candidate, f, fkJoints, 6); measured = read(); }
-		after[f] = measured;
-		if (f % 12 === 0) { onProgress(88 + Math.round(9 * f / samples.length)); await yieldFrame(); }
-	}
-}