cozyclay 2.1.1 → 3.0.0

package/src/ardy/platform-fit-panel.css

@@ -1,64 +0,0 @@
-@layer legacy {
-/* Inspector scale: 4 px spacing, 13 px section headings, shared flat buttons.
-   Success matches the existing completed-guide marker; warning/error use theme tokens. */
-.platform-fit {
-	--platform-fit-space: 4px;
-	--platform-fit-heading-size: 13px;
-	--platform-fit-rule: 1px;
-	--platform-fit-success: #65c18c;
-	min-width: 0;
-	border-top: var(--platform-fit-rule) solid var(--line2);
-	margin-top: calc(var(--platform-fit-space) * 3);
-	padding-top: calc(var(--platform-fit-space) * 3);
-}
-
-.platform-fit.auto-fix-card {
-	margin-top: 0;
-	padding-top: calc(var(--platform-fit-space) * 3);
-	border-top: var(--platform-fit-rule) solid var(--line2);
-}
-.platform-fit h4 {
-	margin: 0;
-	font-size: var(--platform-fit-heading-size);
-}
-.platform-fit progress { width: 100%; accent-color: var(--accent); }
-.platform-fit-results {
-	display: grid;
-	gap: var(--platform-fit-space);
-	margin: calc(var(--platform-fit-space) * 2) 0 0;
-	padding: 0;
-	list-style: none;
-	max-height: calc(var(--platform-fit-space) * 48);
-	overflow: auto;
-}
-.platform-fit .platform-fit-step {
-	display: grid;
-	grid-template-columns: calc(var(--platform-fit-space) * 2) minmax(0, 1fr);
-	align-items: start;
-	gap: calc(var(--platform-fit-space) * 2);
-	width: 100%;
-	min-width: 0;
-	height: auto;
-	margin: 0;
-	padding: calc(var(--platform-fit-space) * 2);
-	text-align: left;
-	white-space: normal;
-	font-variant-numeric: tabular-nums;
-}
-.platform-fit-step[data-status="ok"] { --platform-fit-status: var(--platform-fit-success); }
-.platform-fit-step[data-status="tooHigh"] { --platform-fit-status: var(--range-pin-warning); }
-.platform-fit-step[data-status="wall"] { --platform-fit-status: var(--danger); }
-.platform-fit-chip {
-	width: calc(var(--platform-fit-space) * 2);
-	height: calc(var(--platform-fit-space) * 2);
-	margin-top: var(--platform-fit-space);
-	border-radius: var(--radius);
-	background: var(--platform-fit-status);
-}
-.platform-fit-step .inspector-hint {
-	display: block;
-	margin: var(--platform-fit-space) 0 0;
-	font-weight: normal;
-}
-
-}

package/src/ardy/platform-fit-panel.jsx

@@ -1,41 +0,0 @@
-import React, { useEffect, useSyncExternalStore } from "react";
-import "../panels/pose.css";
-import { isImeComposing } from "../ime.js";
-
-const FOOT_NAMES = { leftFoot: ["Left foot", "왼발"], rightFoot: ["Right foot", "오른발"] };
-function stepLabel(step, ko) {
-	if (step.status === "wall") return `${ko("Wall", "벽")} · F${step.start}`;
-	const [en, kr] = FOOT_NAMES[step.foot] ?? [step.foot, step.foot];
-	const amount = step.lift !== 0 ? step.lift : step.rise;
-	return `${ko(en, kr)} F${step.start}–F${step.end} · ${amount >= 0 ? "+" : ""}${Math.round(amount * 100)}cm`;
-}
-
-export function PlatformFitPanel({ ko, disabled, running, progress: progressStore, last, applied, onRun, onApply, onCancel, onRemove, onFrame }) {
-	const progress = useSyncExternalStore(progressStore.subscribe, progressStore.getSnapshot);
-	const preview = Boolean(last && !applied && last.candidate);
-	const steps = last?.steps?.filter((step) => step.lift !== 0 || step.status !== "ok") ?? [];
-	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="platform-fit auto-fix-card pose-section" data-testid="platform-fit-panel" aria-label={ko("Fit to platforms", "발판에 맞추기")}>
-		<div className="auto-fix-card-head"><h4>{ko("Fit to platforms", "발판에 맞추기")}</h4><p className="inspector-hint">{ko("Raise feet and body to platforms in the path.", "경로의 발판에 맞춰 발과 몸을 올립니다.")}</p></div>
-		<button type="button" data-testid="platform-fit-run" className="btn full primary" disabled={disabled || running || preview} onClick={onRun}>{running ? ko(`Fitting ${progress}%`, `맞추는 중 ${progress}%`) : ko("Run", "실행")}</button>
-		{running && <progress max="100" value={progress} aria-label={ko("Platform fit progress", "발판 맞춤 진행률")} />}
-		{preview && <div className="pose-preview" data-testid="platform-fit-preview">
-			<strong className="pose-preview-title">{ko("Preview", "미리보기")}</strong>
-			<span className="pose-preview-summary">{ko(`${last.summary.lifted} steps lifted · ${steps.length} result${steps.length === 1 ? "" : "s"}`, `${last.summary.lifted}개 단계 상승 · 결과 ${steps.length}개`)}</span>
-			<ul className="pose-results">{steps.slice(0, 5).map((step) => <li key={step.id} data-status={step.status}><button type="button" className="btn ghost small" onClick={() => onFrame(step.start)}>{stepLabel(step, ko)}</button></li>)}</ul>
-			<div className="pose-actions"><button data-testid="platform-fit-cancel" type="button" className="btn" onClick={onCancel}>{ko("Cancel", "취소")}</button><button data-testid="platform-fit-apply" type="button" className="btn primary" disabled={!last.changedFrames?.length || steps.some((step) => step.status === "wall" && step.lift === 0)} onClick={onApply}>{ko("Apply", "적용")}</button></div>
-			<span className="pose-keyhint">{ko("Enter applies · Esc cancels", "Enter 적용 · Esc 취소")}</span>
-		</div>}
-		{applied && <button type="button" data-testid="platform-fit-remove" className="btn full" disabled={disabled || running} onClick={onRemove}>{ko("Remove platform fit", "발판 맞춤 제거")}</button>}
-		{last && !preview && <div data-testid="platform-fit-results" className="auto-fix-result"><ul className="platform-fit-results">{steps.slice(0, 5).map((step) => <li key={step.id}><button type="button" className="btn platform-fit-step" data-status={step.status} onClick={() => onFrame(step.start)}>{stepLabel(step, ko)}</button></li>)}</ul>{steps.length === 0 && <p className="inspector-hint">{ko("No platforms in the path.", "경로에 발판이 없어요.")}</p>}</div>}
-	</section>;
-}

package/src/ardy/platform-fit.js

@@ -1,326 +0,0 @@
-import * as THREE from "three";
-import { findBone, ikEvaluate, solveIk, solveHipsTranslate } from "./ik.js";
-import { createGroundSampler } from "./ground.js";
-import { objectFootprintBounds } from "../scene-objects.js";
-import { copyPhysicsKeys, createSupportSampler, physicsKeyStamp } from "./physics-review.js";
-
-/**
- * Platform fit: lift a flat-ground walk onto the boxes/steps placed in the
- * scene. Each planted-foot contact is measured against the surface under its
- * anchor; climbable rises lift that foot (and, smoothed, the pelvis), too-high
- * rises and walls are reported and left alone. The source key map is never
- * modified; the candidate uses the physics-review key format.
- *
- * stepUp/climb are fractions of the measured hip-to-ankle leg length,
- * clearance is metres, reach is the max fraction of leg length a solved leg
- * may extend (or the source extension, whichever is larger).
- */
-export const PLATFORM_FIT_LIMITS = Object.freeze({ stepUp: 0.5, climb: 1.0, clearance: 0.03, reach: 0.995 });
-
-const FEET = [
-	{ id: "leftFoot", toe: "mixamorigLeftToeBase" },
-	{ id: "rightFoot", toe: "mixamorigRightToeBase" },
-];
-// A contact within this of its surface is the clip's own contact offset, not a
-// platform. Keeps a flat walk on a flat floor (and a re-run on its own output)
-// from being re-keyed for millimetres.
-const LEVEL_TOLERANCE = 0.02;
-const EPS = 1e-6;
-const V = () => new THREE.Vector3();
-const Q = () => new THREE.Quaternion();
-const clamp = THREE.MathUtils.clamp;
-const smooth = (x) => { x = clamp(x, 0, 1); return x * x * (3 - 2 * x); };
-const quantile = (a, t) => { const s = a.filter(Number.isFinite).sort((x, y) => x - y); return s[Math.floor((s.length - 1) * t)] ?? 0; };
-
-/** Edge-renormalised Gaussian, truncated at `radius` frames. */
-function gaussian(values, sigma, radius = Math.ceil(3 * sigma)) {
-	if (!(sigma > 0)) return [...values];
-	return values.map((_, f) => {
-		let sum = 0, weight = 0;
-		for (let i = Math.max(0, f - radius); i <= Math.min(values.length - 1, f + radius); i += 1) {
-			const k = Math.exp(-0.5 * ((i - f) / sigma) ** 2);
-			sum += k * values[i]; weight += k;
-		}
-		return sum / weight;
-	});
-}
-function maxFilter(values, radius) {
-	return values.map((_, f) => {
-		let best = -Infinity;
-		for (let i = Math.max(0, f - radius); i <= Math.min(values.length - 1, f + radius); i += 1) best = Math.max(best, values[i]);
-		return best;
-	});
-}
-function minFilter(values, radius) {
-	return values.map((_, f) => {
-		let best = Infinity;
-		for (let i = Math.max(0, f - radius); i <= Math.min(values.length - 1, f + radius); i += 1) best = Math.min(best, values[i]);
-		return best;
-	});
-}
-/** Smooth upper envelope: max-filter then a Gaussian truncated at the same
- * radius, so every output frame is >= the raw requirement at that frame. */
-function envelope(values, sigma) {
-	const radius = Math.max(1, Math.ceil(2.5 * sigma));
-	return gaussian(maxFilter(values, radius), sigma, radius);
-}
-
-/** Per-frame lift from span lifts: exact inside spans, smoothstep between,
- * held before the first and after the last. */
-function spanTrack(count, spans) {
-	const out = new Array(count).fill(0);
-	if (!spans.length) return out;
-	for (let f = 0; f < count; f += 1) {
-		const next = spans.find((s) => s.end >= f);
-		if (!next) { out[f] = spans[spans.length - 1].lift; continue; }
-		if (f >= next.start) { out[f] = next.lift; continue; }
-		const prev = [...spans].reverse().find((s) => s.end < f);
-		out[f] = prev ? THREE.MathUtils.lerp(prev.lift, next.lift, smooth((f - prev.end) / (next.start - prev.end))) : next.lift;
-	}
-	return out;
-}
-
-function snapshot(chains, hips) {
-	return { hips: { p: hips.position.clone(), q: hips.quaternion.clone() },
-		chains: Object.fromEntries(FEET.map(({ id }) => [id, chains.get(id).bones.map((b) => ({ p: b.position.clone(), q: b.quaternion.clone() }))])) };
-}
-
-/** Planted spans: stationary toe (XZ), at least ~0.1 s, sole no more than a
- * step above the ground below it. Unlike supportIntervals this is not measured
- * against one global floor level, so a foot already standing on a box (a
- * re-run over a previous fit) is still a contact. Deliberately no vertical
- * speed test: a fit only moves feet vertically, so XZ stillness is the signal
- * that detects the SAME spans on the fitted output, which is what makes a
- * re-run idempotent (a one-frame edge shift re-adds swing clearance). */
-function contactSpans(samples, id, fps, groundAt, maxHeight) {
-	const count = samples.length, minLength = Math.max(3, Math.round(fps * 0.1)), spans = [];
-	const flags = samples.map((row, i) => {
-		const lo = Math.max(0, i - 2), hi = Math.min(count - 1, i + 2), a = samples[lo].feet[id], b = samples[hi].feet[id], c = row.feet[id];
-		const dt = (hi - lo) / fps || 1 / fps;
-		const below = groundAt(c.toe.x, c.toe.z, c.sole + LEVEL_TOLERANCE);
-		return c.sole - below <= maxHeight
-			&& Math.hypot(b.toe.x - a.toe.x, b.toe.z - a.toe.z) / dt < 0.16;
-	});
-	let start = -1;
-	for (let f = 0; f <= count; f += 1) {
-		if (flags[f] && start < 0) start = f;
-		if ((f === count || !flags[f]) && start >= 0) {
-			if (f - start >= minLength) {
-				const rows = samples.slice(start, f).map((r) => r.feet[id]);
-				const toe = new THREE.Vector3(quantile(rows.map((r) => r.toe.x), 0.5), 0, quantile(rows.map((r) => r.toe.z), 0.5));
-				const ankle = new THREE.Vector3(quantile(rows.map((r) => r.ankle.x), 0.5), 0, quantile(rows.map((r) => r.ankle.z), 0.5));
-				const wander = Math.max(...rows.map((r) => Math.hypot(r.toe.x - toe.x, r.toe.z - toe.z)));
-				if (wander <= 0.10) spans.push({ start, end: f - 1, toe, ankle, currentY: quantile(rows.map((r) => r.sole), 0.25) });
-			}
-			start = -1;
-		}
-	}
-	return spans;
-}
-
-export async function fitPlatforms({ rig, motion, chains, fkJoints, sourceKeys, applyRaw, sceneObjects = [], floorY = 0, onProgress = () => {}, yieldFrame = () => Promise.resolve() }) {
-	const hipsJoint = fkJoints?.get("hips"), hips = hipsJoint?.bone;
-	if (!hips || !motion || !FEET.every(({ id }) => chains?.get(id))) throw new Error("A loaded motion and complete rig are required");
-	const count = motion.frames, fps = motion.fps || 24, limits = PLATFORM_FIT_LIMITS;
-	const sourceStamp = physicsKeyStamp(sourceKeys);
-	const source = { keys: copyPhysicsKeys(sourceKeys), tracked: new Set([...sourceKeys.values()].flatMap((e) => [...e.keys()])) };
-	const candidate = { keys: copyPhysicsKeys(sourceKeys), tracked: new Set(source.tracked) };
-	const groundAt = createGroundSampler(sceneObjects, { floorY });
-	const owners = groundAt.surfaces.map((s) => sceneObjects.find((o) => {
-		const b = objectFootprintBounds(o);
-		return b.minX === s.minX && b.maxX === s.maxX && b.minZ === s.minZ && b.maxZ === s.maxZ && b.topY === s.topY && b.baseY === s.baseY;
-	})?.id ?? null);
-	const surfaceAt = (p, y) => groundAt.surfaces.findIndex((s) => s.topY === y && p.x >= s.minX && p.x <= s.maxX && p.z >= s.minZ && p.z <= s.maxZ);
-	const support = createSupportSampler(rig);
-	const toeBones = Object.fromEntries(FEET.map(({ id, toe }) => [id, findBone(rig, toe)]));
-	const applyBase = (f) => { applyRaw(f); ikEvaluate(chains, source, f, fkJoints, 6); rig.updateMatrixWorld(true); };
-
-	// 1. Sample the current pose (raw clip + source IK keys) at every frame.
-	const samples = [];
-	for (let f = 0; f < count; f += 1) {
-		applyRaw(f); rig.updateMatrixWorld(true);
-		const raw = snapshot(chains, hips);
-		applyBase(f);
-		const surfaces = support();
-		samples.push({ raw, hips: hips.getWorldPosition(V()), feet: Object.fromEntries(FEET.map(({ id }) => {
-			const chain = chains.get(id), p = chain.bones.map((b) => b.getWorldPosition(V()));
-			return [id, { sole: surfaces[id].floor, ankle: surfaces[id].position.clone(), rotation: surfaces[id].rotation.clone(),
-				toe: (toeBones[id] ?? chain.bones[2]).getWorldPosition(V()), hip: p[0], leg: p[0].distanceTo(p[1]) + p[1].distanceTo(p[2]), extension: p[0].distanceTo(p[2]) }];
-		})) });
-		if (f % 12 === 0) { onProgress(Math.round(50 * f / Math.max(1, count))); await yieldFrame(); }
-	}
-	const legLengths = Object.fromEntries(FEET.map(({ id }) => [id, quantile(samples.map((r) => r.feet[id].leg), 0.5)]));
-	const leg = (legLengths.leftFoot + legLengths.rightFoot) / 2;
-	const stepUp = limits.stepUp * leg, climb = limits.climb * leg;
-
-	// 2-3. Contacts, surfaces, classification.
-	const steps = [], spansByFoot = {};
-	for (const { id } of FEET) {
-		const spans = contactSpans(samples, id, fps, groundAt, stepUp);
-		for (const span of spans) {
-			const onToe = groundAt(span.toe.x, span.toe.z), onAnkle = groundAt(span.ankle.x, span.ankle.z);
-			const surfaceY = Math.max(onToe, onAnkle), point = onToe >= onAnkle ? span.toe : span.ankle;
-			const index = surfaceY > floorY ? surfaceAt(point, surfaceY) : -1;
-			const rise = surfaceY - span.currentY;
-			const status = rise <= stepUp ? "ok" : rise <= climb ? "tooHigh" : "wall";
-			let lift = 0;
-			if (status === "ok" && Math.abs(rise) > LEVEL_TOLERANCE) {
-				let target = surfaceY;
-				if (rise < 0) {
-					// Lowering undoes an earlier fit whose box moved away. Never
-					// push a contact below the raw clip's own height: an elevated
-					// performance (a generated stair climb) is not a fit to undo.
-					const rawSoles = [];
-					for (let f = span.start; f <= span.end; f += 1) { applyRaw(f); rawSoles.push(support()[id].floor); }
-					target = Math.max(surfaceY, Math.min(span.currentY, quantile(rawSoles, 0.25)));
-				}
-				if (Math.abs(target - span.currentY) > LEVEL_TOLERANCE) lift = target - span.currentY;
-			}
-			Object.assign(span, { surfaceY, rise, status, lift, objectId: index >= 0 ? owners[index] : null });
-		}
-		spansByFoot[id] = spans;
-		steps.push(...spans.map((s) => ({ id: `${id}:${s.start}`, foot: id, start: s.start, end: s.end, surfaceY: s.surfaceY, rise: s.rise, status: s.status, objectId: s.objectId, lift: s.lift })));
-	}
-	// The pelvis walking into something taller than a climb is a wall even
-	// when no planted foot lands on it.
-	groundAt.surfaces.forEach((s, index) => {
-		const objectId = owners[index];
-		if (steps.some((step) => step.status === "wall" && step.objectId === objectId)) return;
-		let start = -1;
-		for (let f = 0; f <= count; f += 1) {
-			const row = samples[f];
-			const standing = row && Math.min(row.feet.leftFoot.sole, row.feet.rightFoot.sole);
-			const inside = row && row.hips.x >= s.minX && row.hips.x <= s.maxX && row.hips.z >= s.minZ && row.hips.z <= s.maxZ && s.topY - standing > climb;
-			if (inside && start < 0) start = f;
-			if (!inside && start >= 0) {
-				const entry = samples[start], center = { x: (s.minX + s.maxX) / 2, z: (s.minZ + s.maxZ) / 2 };
-				const foot = FEET.map(({ id }) => id).sort((a, b) => Math.hypot(entry.feet[a].toe.x - center.x, entry.feet[a].toe.z - center.z) - Math.hypot(entry.feet[b].toe.x - center.x, entry.feet[b].toe.z - center.z))[0];
-				const standY = Math.min(entry.feet.leftFoot.sole, entry.feet.rightFoot.sole);
-				steps.push({ id: `pelvis:${objectId ?? index}:${start}`, foot, start, end: f - 1, surfaceY: s.topY, rise: s.topY - standY, status: "wall", objectId, lift: 0 });
-				break;
-			}
-		}
-	});
-	steps.sort((a, b) => a.start - b.start || a.foot.localeCompare(b.foot));
-	onProgress(55); await yieldFrame();
-
-	// 4. Per-foot lift: span lifts with smoothstep transitions, plus swing toe
-	// clearance over raised surfaces. The clearance ramps in from each contact
-	// by time, not by the source's own toe height, so a re-run on the fitted
-	// output measures the same requirement and adds nothing.
-	const lifts = {};
-	for (const { id } of FEET) {
-		const spans = spansByFoot[id], base = spanTrack(count, spans);
-		const inSpan = new Array(count).fill(false);
-		for (const s of spans) for (let f = s.start; f <= s.end; f += 1) inSpan[f] = true;
-		const offsets = spans.flatMap((s) => samples.slice(s.start, s.end + 1).map((r) => r.feet[id].toe.y - r.feet[id].sole));
-		const toeOffset = quantile(offsets.length ? offsets : samples.map((r) => r.feet[id].toe.y - r.feet[id].sole), 0.5);
-		const ramp = Math.max(2, Math.round(fps * 0.15));
-		const excess = samples.map((row, f) => {
-			if (inSpan[f]) return 0;
-			const toe = row.feet[id].toe, ground = groundAt(toe.x, toe.z);
-			if (ground <= floorY + EPS) return 0;
-			const under = toe.y - toeOffset;
-			if (ground - under > stepUp) return 0; // a wall: reported, never vaulted
-			const prev = [...spans].reverse().find((s) => s.end < f), next = spans.find((s) => s.start > f);
-			const gap = Math.min(prev ? f - prev.end : Infinity, next ? next.start - f : Infinity);
-			return Math.max(0, ground + limits.clearance * smooth(gap / ramp) - under - base[f]);
-		});
-		const clearance = envelope(excess, 0.06 * fps);
-		// The envelope spreads clearance right up to a contact; cutting it off
-		// on the lift-off/landing frame is a one-frame foot jump that the leg IK
-		// turns into a visible knee pop. Fade the spread to zero at every contact
-		// edge, but never below the frame's own requirement (which itself ramps
-		// in from the contact), so a re-run still measures nothing left to add.
-		const taper = samples.map((_, f) => {
-			if (inSpan[f]) return 0;
-			const prev = [...spans].reverse().find((s) => s.end < f), next = spans.find((s) => s.start > f);
-			return smooth(Math.min(prev ? f - prev.end : Infinity, next ? next.start - f : Infinity) / ramp);
-		});
-		lifts[id] = base.map((v, f) => inSpan[f] ? v : v + Math.max(excess[f], clearance[f] * taper[f]));
-	}
-
-	// 5. Pelvis: follow the supporting feet, smoothed, never lifted where no
-	// foot is lifted, then lowered wherever a leg would over-reach.
-	const planted = (id, f) => spansByFoot[id].some((s) => f >= s.start && f <= s.end);
-	const supportLift = samples.map((_, f) => {
-		const values = FEET.filter(({ id }) => planted(id, f)).map(({ id }) => lifts[id][f]);
-		return values.length ? values.reduce((a, b) => a + b, 0) / values.length : NaN;
-	});
-	const known = supportLift.map((v, f) => Number.isFinite(v) ? f : -1).filter((f) => f >= 0);
-	const filled = supportLift.map((v, f) => {
-		if (Number.isFinite(v)) return v;
-		if (!known.length) return 0;
-		const next = known.find((k) => k > f), prev = [...known].reverse().find((k) => k < f);
-		if (prev === undefined) return supportLift[next];
-		if (next === undefined) return supportLift[prev];
-		return THREE.MathUtils.lerp(supportLift[prev], supportLift[next], (f - prev) / (next - prev));
-	});
-	const pelvis = gaussian(filled, 0.15 * fps).map((v, f) => {
-		const values = FEET.map(({ id }) => lifts[id][f]);
-		return clamp(v, Math.min(0, ...values), Math.max(0, ...values));
-	});
-	// Highest pelvis lift at which every leg still reaches its foot target.
-	// Smoothing the over-reach and subtracting it spread the correction into
-	// frames that did not need it: the leg locked straight at a step-down and
-	// the body then sank below the source (a squat). Instead take a smooth
-	// LOWER envelope of min(desired, reachable): it never exceeds either, and
-	// never drops below the lowest value within its window.
-	// Only a planted foot (or one about to land / just lifting off) holds the
-	// pelvis down: a trailing swing leg would otherwise keep the body low while
-	// the other foot already stands on the box - a squat. Mid-swing feet are
-	// raised to stay within reach instead (below).
-	const edgeFrames = Math.max(2, Math.round(fps * 0.15));
-	const contactGap = (id, f) => Math.min(...spansByFoot[id].map((s) => f < s.start ? s.start - f : f > s.end ? f - s.end : 0), Infinity);
-	const slack = (id, f) => {
-		const foot = samples[f].feet[id], reach = Math.max(limits.reach * legLengths[id], foot.extension);
-		const horizontal = Math.hypot(foot.ankle.x - foot.hip.x, foot.ankle.z - foot.hip.z);
-		return foot.ankle.y - foot.hip.y + Math.sqrt(Math.max(0, reach * reach - horizontal * horizontal));
-	};
-	const reachable = samples.map((_, f) => Math.min(...FEET.filter(({ id }) => contactGap(id, f) <= edgeFrames).map(({ id }) => lifts[id][f] + slack(id, f)), Infinity));
-	const sigma = 0.08 * fps, radius = Math.max(1, Math.ceil(2.5 * sigma));
-	const capped = gaussian(minFilter(pelvis.map((p, f) => Math.min(p, reachable[f])), radius), sigma, radius);
-	capped.forEach((p, f) => { pelvis[f] = Math.abs(p) > EPS ? p : 0; });
-	for (const { id } of FEET) for (let f = 0; f < count; f += 1) {
-		if (contactGap(id, f) > edgeFrames) lifts[id][f] = Math.max(lifts[id][f], pelvis[f] - slack(id, f));
-	}
-	onProgress(65); await yieldFrame();
-
-	// 6. Solve and key every changed frame plus one unchanged frame each side.
-	const changed = samples.map((_, f) => f).filter((f) => Math.abs(pelvis[f]) > EPS || FEET.some(({ id }) => Math.abs(lifts[id][f]) > EPS));
-	const changedSet = new Set(changed);
-	const keyed = [...new Set(changed.flatMap((f) => [f - 1, f, f + 1]))].filter((f) => f >= 0 && f < count).sort((a, b) => a - b);
-	for (let n = 0; n < keyed.length; n += 1) {
-		const f = keyed[n], row = samples[f];
-		applyBase(f);
-		if (changedSet.has(f)) {
-			solveHipsTranslate(hipsJoint, new THREE.Vector3(0, pelvis[f], 0), hips.position.clone()); rig.updateMatrixWorld(true);
-			for (const { id } of FEET) {
-				const chain = chains.get(id), foot = row.feet[id];
-				solveIk(chain, foot.ankle.clone().setY(foot.ankle.y + lifts[id][f]), { exactHinge: true }); rig.updateMatrixWorld(true);
-				// The foot keeps its source world orientation: a lift is a
-				// translation of the planted sole, never a toe dip.
-				const end = chain.bones[2];
-				end.quaternion.copy(end.parent.getWorldQuaternion(Q()).invert().multiply(foot.rotation)); rig.updateMatrixWorld(true);
-			}
-		}
-		const entry = candidate.keys.get(f) ?? new Map();
-		entry.set("hips", { q: [hips.quaternion.clone()], p: hips.position.clone(), baseQ: [row.raw.hips.q.clone()], basePos: row.raw.hips.p.clone() });
-		candidate.tracked.add("hips");
-		for (const { id } of FEET) {
-			const bones = chains.get(id).bones, raw = row.raw.chains[id];
-			const key = { q: bones.map((b) => b.quaternion.clone()), p: null, baseQ: raw.map((b) => b.q.clone()), keepTranslations: true };
-			// Island-edge keys carry translations only when the source changed
-			// them; otherwise their ease ramp would smear this frame's bone
-			// lengths onto the untouched neighbours.
-			if (changedSet.has(f) || bones.some((b, i) => !b.position.equals(raw[i].p))) key.chainP = bones.map((b) => b.position.clone());
-			entry.set(id, key); candidate.tracked.add(id);
-		}
-		candidate.keys.set(f, entry);
-		if (n % 12 === 0) { onProgress(65 + Math.round(35 * n / keyed.length)); await yieldFrame(); }
-	}
-	onProgress(100);
-	const summary = { ok: 0, tooHigh: 0, wall: 0, lifted: 0 };
-	for (const step of steps) { summary[step.status] += 1; if (step.lift !== 0) summary.lifted += 1; }
-	return { candidate, steps, summary, changedFrames: changed, sourceStamp, lifts: { ...lifts, pelvis }, legLength: leg };
-}