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Copy file name to clipboardExpand all lines: playground/public/spec.html
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@@ -215,7 +215,7 @@ <h2>5. Rendering model</h2>
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<ol><li><strong>Reach-IK</strong>: a <code>reach:</code> line drives an effector (`hand_left|hand_right|</li></ol>
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<p>foot_left|foot_right<code>, or the groups </code>hands<code>/</code>feet<code> for both sides) to a world <strong>target</strong> via Cyclic Coordinate Descent (CCD) over the arm/leg chain. A target is a body landmark bone (e.g. </code>ankle_left<code>), the keyword </code>floor<code>, or a prop anchor (</code>bar<code>, </code>seat<code>, </code>wall`). The solve is <strong>ROM-constrained</strong>: each iteration clamps every chain joint into its §4 Range-of-Motion limits (expressed as a per-axis box in the bone's local Euler frame), so a reach toward an unsafe or unreachable target settles on the closest *healthy* pose; solved angles obey the same hard limits as authored ones.</p>
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<ol><li><strong>Props</strong>: <code>prop chair|wall|bar|box|dip-bars</code> adds a scene object at a</li></ol>
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<p>fixed default placement (chair/wall behind, bar overhead, box in front, dip bars either side); its named anchors (<code>seat</code>, <code>wall</code>, <code>bar</code>, <code>box</code>, <code>bars</code>) become reach/pin targets. Props are <strong>solid</strong>: each prop declares blocking faces (the wall's surface, the chair's backrest and seat edge, the box's near face) and a contact pass removes any body overlap — either by translating the whole figure out along the face normal (a wall-sit slides down the wall's *surface*, feet walking forward, instead of the torso hinging through the slab) or by bending the offending limb's hip clear, ROM-clamped like every other solve. Limbs pinned, gripped, or reached to a prop anchor are that phase's declared support and are exempt (a foot standing on the box top is not "inside" the box).</p>
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<p>fixed default placement (chair/wall behind, bar overhead, box in front, dip bars either side); its named anchors (<code>seat</code>, <code>wall</code>, <code>bar</code>, <code>box</code>, <code>bars</code>) become reach/pin targets. Props are <strong>solid</strong>: each prop declares blocking faces (the wall's surface, the chair's backrest and seat edge, the box's near face) and a contact pass removes any body overlap: either by translating the whole figure out along the face normal (a wall-sit slides down the wall's *surface*, feet walking forward, instead of the torso hinging through the slab) or by bending the offending limb's hip clear, ROM-clamped like every other solve. Limbs pinned, gripped, or reached to a prop anchor are that phase's declared support and are exempt (a foot standing on the box top is not "inside" the box).</p>
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<ol><li><strong>Pins</strong>: <code>pin: <effector> <anchor></code> translates the whole figure so the</li></ol>
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<p>effector sits on the anchor (effectors accept the same <code>hands</code>/<code>feet</code> groups as reach: <code>pin: hands bar</code> pins both). Where ground-lock keeps a foot on the floor and reach moves a limb to a target, a <strong>pin moves the body</strong> while the contact stays put, so the figure hangs from a bar, pulls up toward it, rises onto a box, or lowers into a dip as the joints work. Symmetric bar contacts resolve to side-specific anchors automatically (<code>bar.left</code> / <code>bar.right</code>, <code>bars.left</code> / <code>bars.right</code>). Contact post-processing also keeps floor-contacting soles level and gives bar-contacting wrists a stable overhand orientation; existing Posecode syntax remains unchanged.</p>
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<ol><li><strong>Spatial choreography</strong>: <code>turn: <deg></code> rotates the figure's facing (yaw</li></ol>
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