Make props solid: body-vs-prop contact solving - #50
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The wall-sit hinged the pelvis straight through the wall: authored poses are pure joint rotations and the root solvers only knew the floor and named anchors, so nothing pushed back when FK carried the body into a prop. Sit-to-stand and box-squat sank the torso into the chair's backrest the same way, and a step-up's trailing shin swept through the box. Props now declare solid one-sided faces (wall surface, chair backrest + seat edge, box near face) and a new contact pass (propcontact.ts) removes any body overlap after ground-lock/pins/grips: - Body-resolved faces translate the whole figure along the face normal: a wall-sit slides down the wall's SURFACE, feet walking forward as the back stays pressed to it — the physically correct resolution. - Limb-resolved faces bend the offending leg's hip clear (ROM-clamped, reusing the self-collision joint utilities), so a swing leg steps over the box edge without disturbing the root. - Limbs pinned/gripped/reached to a prop anchor are that phase's declared support and stay exempt (a foot standing ON the box is not "inside" it). Solidity is per-face, not per-volume, because contact intent differs by surface: the seat TOP stays a support surface thighs rest on; the seat EDGE blocks a standing figure's calves. Eval: the probe mirrors the pass for viewer parity and records the contact push so skate metrics treat it like authored travel; a new solid-props invariant (independent re-derivation of the face geometry, the old head-clearance abs() let a fully-through torso pass) guards every prop movement. 1007/1007 checks, 254 tests, typecheck clean. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01HLLdtbBvZUA3YnsJQsomNL
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The wall-sit hinged the pelvis straight through the wall: authored poses
are pure joint rotations and the root solvers only knew the floor and
named anchors, so nothing pushed back when FK carried the body into a
prop. Sit-to-stand and box-squat sank the torso into the chair's
backrest the same way, and a step-up's trailing shin swept through the
box.
Props now declare solid one-sided faces (wall surface, chair backrest +
seat edge, box near face) and a new contact pass (propcontact.ts)
removes any body overlap after ground-lock/pins/grips:
a wall-sit slides down the wall's SURFACE, feet walking forward as the
back stays pressed to it — the physically correct resolution.
reusing the self-collision joint utilities), so a swing leg steps over
the box edge without disturbing the root.
declared support and stay exempt (a foot standing ON the box is not
"inside" it).
Solidity is per-face, not per-volume, because contact intent differs by
surface: the seat TOP stays a support surface thighs rest on; the seat
EDGE blocks a standing figure's calves.
Eval: the probe mirrors the pass for viewer parity and records the
contact push so skate metrics treat it like authored travel; a new
solid-props invariant (independent re-derivation of the face geometry,
the old head-clearance abs() let a fully-through torso pass) guards
every prop movement. 1007/1007 checks, 254 tests, typecheck clean.
Co-Authored-By: Claude Fable 5 noreply@anthropic.com
Claude-Session: https://claude.ai/code/session_01HLLdtbBvZUA3YnsJQsomNL