fix: run reach-IK before the floor safety clamp (levitating cobra) - #27
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…d to the floor From a prone base, an authored reach pose (cobra: shoulders flex 50 + reach: hands floor) swung the arms through the floor via FK. The frame loop's floor safety clamp ran before reach-IK, so it resolved the penetration by lifting the entire rigid body until the hands cleared the floor - legs and pelvis levitating in mid-air. - Apply reaches after ground-lock/pins but before the clamp, so the arms solve down to the floor and the clamp becomes a no-op for grounded poses. - Make the 'floor' reach target mesh-aware: rest the visible palm on the floor instead of driving the wrist bone to y=0, removing the residual body lift from the bone-vs-mesh gap.
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Description
From a prone base, an authored reaching pose — cobra's
shoulders: flex 50+reach: hands floor— swings the arms through the floor via FK. The viewer frame loop applied its floor safety clamp before reach-IK, so the clamp resolved the penetration the only way it can: by hoisting the entire rigid body upward until the hands cleared the floor. The pelvis and legs levitated in mid-air, making cobra (and any prone/seated movement that reaches for the floor) physically impossible-looking.Two changes in
packages/posecode-render/src/index.ts:floorreach target is mesh-aware. It now rests the visible palm on the floor rather than driving the wrist bone to y=0; the hand mesh extends below the bone, and the old target left the mesh sunk, forcing a residual whole-body lift from the clamp.Verified in the playground: cobra now keeps pelvis/legs planted while the chest lifts; mountain climber (hands+feet ground-lock) and superman (prone, clamp-only path) are unchanged.
Type of Change
.posecodescript and registering it)Checklist
npm run typecheckpasses successfullynpm run buildcompiles without errorsnpm test) and all tests pass (194/194)npm run eval) and all checks pass (361/361, 73 movements, 0 clamp warnings)node scripts/generate-content-pages.mjsto regenerate the static pages (N/A)