Merge pull request #49 from posecode-dev/codex/xbot-grounding

Fix floor-pin horizontal sliding, forward lunge and superman poses, and dips metadata

Author: a-baran-orhan

packages/posecode-eval/src/probe.ts

@@ -117,6 +117,67 @@ export function probeMovement(source: string): ProbeResult {
     }
   }
 
+  // Precompute world positions of all effectors at start of each segment
+  const segmentStartEffectors: Map<string, THREE.Vector3>[] = [];
+  const tempYawQ = new THREE.Quaternion();
+  
+  const getEffectorId = (eff: string) => {
+    if (eff === "hand_left") return "wrist_left";
+    if (eff === "hand_right") return "wrist_right";
+    if (eff === "foot_left") return "ankle_left";
+    if (eff === "foot_right") return "ankle_right";
+    return eff;
+  };
+
+  let prevEffectorsMap: Map<string, THREE.Vector3> | null = null;
+  let prevPins: typeof ir.phases[number]["pins"] = [];
+
+  for (let i = 0; i < tl.segments.length; i++) {
+    const seg = tl.segments[i]!;
+    for (const bone of m.bones.values()) bone.quaternion.identity();
+    const info = tl.sample(seg.start, m.bones);
+    
+    const wasPinned = (id: string) => prevPins.some(p => getEffectorId(p.effector) === id && p.anchor === "floor");
+    const isPinned = (id: string) => info.pins.some(p => getEffectorId(p.effector) === id && p.anchor === "floor");
+
+    m.root.position.copy(baseRootPos);
+    m.root.quaternion.copy(baseRootQuat);
+    if (info.rootYaw !== 0) {
+      tempYawQ.setFromAxisAngle(WORLD_Y, info.rootYaw);
+      m.root.quaternion.premultiply(tempYawQ);
+    }
+    m.root.position.x += info.rootOffset.x;
+    m.root.position.z += info.rootOffset.z;
+    m.root.updateMatrixWorld(true);
+    depenetrate(m);
+
+    const effectorsMap = new Map<string, THREE.Vector3>();
+    for (const ids of Object.values(m.effectors)) {
+      for (const id of ids) {
+        const node = m.bones.get(id);
+        if (node) {
+          if (i > 0 && wasPinned(id) && isPinned(id) && prevEffectorsMap && prevEffectorsMap.has(id)) {
+            effectorsMap.set(id, prevEffectorsMap.get(id)!);
+          } else {
+            effectorsMap.set(id, node.getWorldPosition(new THREE.Vector3()));
+          }
+        }
+      }
+    }
+    segmentStartEffectors.push(effectorsMap);
+    prevEffectorsMap = effectorsMap;
+    prevPins = info.pins;
+  }
+
+  // Restore initial state
+  for (const bone of m.bones.values()) bone.quaternion.identity();
+  tl.sample(0, m.bones);
+  m.root.position.copy(baseRootPos);
+  m.root.quaternion.copy(baseRootQuat);
+  m.root.updateMatrixWorld(true);
+  depenetrate(m);
+  groundFigure(m);
+
   // Sample the end of each phase, applying the viewer's per-frame root
   // pipeline: base root → yaw/travel → ground-lock → floor safety clamp.
   const yawQ = new THREE.Quaternion();
@@ -166,8 +227,14 @@ export function probeMovement(source: string): ProbeResult {
         if (!effector) continue;
         let target: THREE.Vector3 | null = null;
         if (pin.anchor === "floor") {
-          target = effector.getWorldPosition(new THREE.Vector3());
-          target.y = 0;
+          const startPos = segmentStartEffectors[phaseIndex]?.get(effectorId);
+          if (startPos) {
+            target = startPos.clone();
+            target.y = 0;
+          } else {
+            target = effector.getWorldPosition(new THREE.Vector3());
+            target.y = 0;
+          }
         } else if (propScene.anchors.has(pin.anchor)) {
           target = propScene.anchors.get(pin.anchor)!.clone();
         } else {

packages/posecode-render/src/index.ts

@@ -61,6 +61,8 @@ export interface Viewer {
   getTimeline(): TimelineInfo | null;
   /** Precise visible world bounds; intended for audits and deterministic export. */
   getVisibleBounds(): THREE.Box3;
+  getMannequin(): any;
+  getCharacter(): any;
   /**
    * Render the current time synchronously and return the frame as a PNG data
    * URL. Works without preserveDrawingBuffer because the read happens in the
@@ -305,6 +307,7 @@ export function createViewer(
   // ground anchors when the character (with its own proportions) arrives.
   let lastIR: PosecodeIR | null = null;
   let groundTargets = new Map<string, THREE.Vector3>();
+  const segmentStartEffectors: Map<string, THREE.Vector3>[] = [];
   // World-space anchor points contributed by scene props (chair seat, bar grip,
   // wall surface). Populated when a doc declares props; empty otherwise.
   let propAnchors = new Map<string, THREE.Vector3>();
@@ -322,6 +325,7 @@ export function createViewer(
   let tickCb: (time: number, duration: number) => void = () => {};
   let loopCb: () => void = () => {};
   let lastPhaseName = "";
+  let activeSegIndex = 0;
 
   // Camera easing targets.
   const desiredTarget = new THREE.Vector3(0, 0.9, 0);
@@ -505,7 +509,20 @@ export function createViewer(
       const effectorBone = EFFECTOR_BONE[p.effector] ?? p.effector;
       const effector = mannequin.bones.get(effectorBone);
       if (!effector) continue;
-      const anchor = resolveReachTarget(p.anchor, effector);
+      let anchor: THREE.Vector3 | null = null;
+      if (p.anchor === "floor") {
+        const startPos = segmentStartEffectors[activeSegIndex]?.get(effectorBone);
+        if (startPos) {
+          anchor = startPos.clone();
+          const isFoot = effectorBone.startsWith("ankle") || effectorBone.startsWith("foot");
+          const drop = isFoot ? (character?.proportions.soleDrop ?? 0.042) : 0;
+          anchor.y = drop;
+        } else {
+          anchor = resolveReachTarget(p.anchor, effector);
+        }
+      } else {
+        anchor = resolveReachTarget(p.anchor, effector);
+      }
       if (!anchor) continue;
       delta.add(anchor.sub(effector.getWorldPosition(new THREE.Vector3())));
       n++;
@@ -631,6 +648,15 @@ export function createViewer(
     if (timeline) {
       const info = timeline.sample(time, mannequin.bones);
       solvedInfo = info;
+      activeSegIndex = 0;
+      const tt = timeline.duration > 0 ? ((time % timeline.duration) + timeline.duration) % timeline.duration : 0;
+      for (let k = 0; k < timeline.segments.length; k++) {
+        const seg = timeline.segments[k]!;
+        if (tt >= seg.start && tt <= seg.end) {
+          activeSegIndex = k;
+          break;
+        }
+      }
       // Life layer rides on wall-clock time (not timeline time) so the figure
       // keeps breathing and blinking while paused or scrubbing.
       applyLife(performance.now() / 1000);
@@ -823,6 +849,61 @@ export function createViewer(
       captureGroundTargets();
       baseRootPos.copy(mannequin.root.position);
       baseRootQuat.copy(mannequin.root.quaternion);
+
+      // Precompute world positions of all effectors at start of each segment
+      segmentStartEffectors.length = 0;
+      if (timeline) {
+        let prevEffectorsMap: Map<string, THREE.Vector3> | null = null;
+        let prevPins: PinTarget[] = [];
+        for (let i = 0; i < timeline.segments.length; i++) {
+          const seg = timeline.segments[i]!;
+          for (const bone of mannequin.bones.values()) bone.quaternion.identity();
+          const info = timeline.sample(seg.start, mannequin.bones);
+          
+          const wasPinned = (id: string) => prevPins.some(p => (EFFECTOR_BONE[p.effector] ?? p.effector) === id && p.anchor === "floor");
+          const isPinned = (id: string) => info.pins.some(p => (EFFECTOR_BONE[p.effector] ?? p.effector) === id && p.anchor === "floor");
+
+          mannequin.root.position.copy(baseRootPos);
+          mannequin.root.quaternion.copy(baseRootQuat);
+          if (info.rootYaw !== 0) {
+            const yawQ = new THREE.Quaternion().setFromAxisAngle(WORLD_Y, info.rootYaw);
+            mannequin.root.quaternion.premultiply(yawQ);
+          }
+          mannequin.root.position.x += info.rootOffset.x;
+          mannequin.root.position.z += info.rootOffset.z;
+          mannequin.root.updateMatrixWorld(true);
+          depenetrate(mannequin);
+
+          const effectorsMap = new Map<string, THREE.Vector3>();
+          for (const ids of Object.values(mannequin.effectors)) {
+            for (const id of ids) {
+              const node = mannequin.bones.get(id);
+              if (node) {
+                if (i > 0 && wasPinned(id) && isPinned(id) && prevEffectorsMap && prevEffectorsMap.has(id)) {
+                  effectorsMap.set(id, prevEffectorsMap.get(id)!);
+                } else {
+                  effectorsMap.set(id, node.getWorldPosition(new THREE.Vector3()));
+                }
+              }
+            }
+          }
+          segmentStartEffectors.push(effectorsMap);
+          prevEffectorsMap = effectorsMap;
+          prevPins = info.pins;
+        }
+
+        // Restore initial pose
+        for (const bone of mannequin.bones.values()) bone.quaternion.identity();
+        applyBaseRoot();
+        timeline.sample(0, mannequin.bones);
+        mannequin.root.position.copy(baseRootPos);
+        mannequin.root.quaternion.copy(baseRootQuat);
+        mannequin.root.updateMatrixWorld(true);
+        depenetrate(mannequin);
+        groundFigureOf(mannequin);
+        levelPlantedFeet(mannequin, ir.phases[0]?.groundLock ?? []);
+      }
+
       requestClip(ir);
       frameCamera();
     },
@@ -874,6 +955,12 @@ export function createViewer(
     getVisibleBounds() {
       return character?.getBounds() ?? new THREE.Box3().setFromObject(mannequin.root);
     },
+    getMannequin() {
+      return mannequin;
+    },
+    getCharacter() {
+      return character;
+    },
     captureFrame() {
       frame();
       return renderer.domElement.toDataURL("image/png");

playground/src/presets.ts

@@ -144,7 +144,7 @@ export const PRESETS: Preset[] = [
   { id: "box-step-taps", label: "Box step taps", domain: "Warm-up", bodyPart: "Upper legs", target: "Hip flexors", equipment: "Box", difficulty: "Beginner", source: boxStepTaps },
   { id: "pull-up", label: "Pull-up", domain: "Fitness", bodyPart: "Back", target: "Lats", equipment: "Bar", difficulty: "Advanced", status: "development", developmentNote: "Hand grip and wrist contact are still being refined", source: pullUp },
   { id: "step-up", label: "Step-up (box)", domain: "Functional", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Box", difficulty: "Intermediate", source: stepUp },
-  { id: "triceps-dips", label: "Triceps dips (chair)", domain: "Fitness", bodyPart: "Upper arms", target: "Triceps", equipment: "Chair", difficulty: "Intermediate", status: "development", developmentNote: "Hand support and wrist contact are still being refined", source: tricepsDips },
+  { id: "triceps-dips", label: "Triceps dips (bars)", domain: "Fitness", bodyPart: "Upper arms", target: "Triceps", equipment: "Bars", difficulty: "Intermediate", status: "development", developmentNote: "Hand support and wrist contact are still being refined", source: tricepsDips },
   { id: "quad-stretch", label: "Standing quad stretch", domain: "Mobility", bodyPart: "Upper legs", target: "Quadriceps", equipment: "Body weight", difficulty: "Beginner", source: quadStretch },
 
   // --- Education / anatomy: single-joint ROM demos ---

spec/examples/forward-lunge.posecode

@@ -7,7 +7,7 @@ posecode exercise "Forward lunge"
     knee_right: flex 95
     hip_left: extend 15
     knee_left: flex 80
-    ankle_right: plantarflex 50
+    ankle_left: plantarflex 50
     spine: extend 4
     travel: 0 0.3
     pin: foot_left floor
@@ -19,7 +19,7 @@ posecode exercise "Forward lunge"
     knee_right: flex 0
     hip_left: extend 0
     knee_left: flex 0
-    ankle_right: plantarflex 0
+    ankle_left: plantarflex 0
     spine: flex 0
     travel: 0 0
     ground-lock: feet

spec/examples/superman.posecode

@@ -3,7 +3,7 @@ posecode exercise "Superman"
   pose start = prone
 
   step "Lift" 1.5s settle:
-    shoulders: abduct 130
+    shoulders: flex 140
     spine: extend 20
     chest: extend 15
     neck: extend 25
@@ -12,7 +12,7 @@ posecode exercise "Superman"
     cue "Lift the arms, chest, and legs off the floor"
 
   step "Lower" 1.5s drive:
-    shoulders: abduct 0
+    shoulders: flex 0
     spine: flex 0
     chest: flex 0
     neck: flex 0