Fix figure IK snapping and gate the library on a fail-hard motion checker
Three solver defects made limbs teleport, twist, or windmill: write-back angles wrapped at ±180 and lerped the long way around; branch flips landed on configurations the anatomical write-back cannot represent, silently pulling pinned extremities off their pins; and the degenerate straight-limb bend plane fell back to the camera axis instead of the anatomical anterior. solve_limb now verifies each branch reproduces the solved end before accepting it, resolve unwraps written-back angles toward the pose they replace, and the degenerate plane comes from the parent's anterior axis. render.py --check replays every exercise's full tween loop and fails hard on six invariants (pin fidelity, continuity, wraps, authored-vs-resolved drift, ground penetration, resolved ROM); --export refuses to ship a failing exercise. All 66 motions re-authored or retouched to pass: honest authored angles where pins used to override them silently, grounded feet on the seated machines, a vertical bench-press bar path, straight-armed child's pose, a butterfly stretch seated on the mat, and FK arms where pins forced impossible reaches. MotionSolver.swift mirrors the solver changes line for line, held by regenerated fixtures. Claude-Session: https://claude.ai/code/session_01PKptrgbx74peTwHGRxBojv
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<path d="M 118.2 149.9 L 183.8 161.3 L 213.5 156.2 L 147.9 144.8 Z" fill="none" stroke="#b9bec9" stroke-width="2.1" stroke-linejoin="round"/>
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<g id="leg_l">
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||||
<path d="M 176.9 92.9 L 176.9 124.8" stroke="url(#grad-leg_l-0)" stroke-width="3.85" stroke-linecap="round"/>
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||||
<path d="M 176.9 124.8 L 164.2 149.2" stroke="#a9afba" stroke-width="3.5" stroke-linecap="round"/>
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<path d="M 164.2 149.2 L 171.0 152.8" stroke="#a9afba" stroke-width="3.5" stroke-linecap="round"/>
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<path d="M 176.9 92.9 L 180.1 124.6" stroke="url(#grad-leg_l-0)" stroke-width="3.8536" stroke-linecap="round"/>
|
||||
<path d="M 180.1 124.6 L 164.2 147.1" stroke="url(#grad-leg_l-1)" stroke-width="3.5036" stroke-linecap="round"/>
|
||||
<path d="M 164.2 147.1 L 170.5 151.6" stroke="#a9afba" stroke-width="3.5" stroke-linecap="round"/>
|
||||
</g>
|
||||
<g id="arm_l">
|
||||
<path d="M 187.4 36.0 L 194.4 51.3" stroke="#a9afba" stroke-width="3.5" stroke-linecap="round"/>
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||||
<path d="M 194.4 51.3 L 201.9 46.9" stroke="url(#grad-arm_l-1)" stroke-width="3.54189" stroke-linecap="round"/>
|
||||
</g>
|
||||
<g id="leg_r">
|
||||
<path d="M 167.0 93.1 L 166.4 125.0" stroke="#3a3f4b" stroke-width="4.2" stroke-linecap="round"/>
|
||||
<path d="M 166.4 125.0 L 155.8 150.4" stroke="url(#grad-leg_r-1)" stroke-width="3.99365" stroke-linecap="round"/>
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||||
<path d="M 155.8 150.4 L 162.9 153.4" stroke="url(#grad-leg_r-2)" stroke-width="3.8256" stroke-linecap="round"/>
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||||
<path d="M 167.0 93.1 L 170.2 124.9" stroke="#3a3f4b" stroke-width="4.2" stroke-linecap="round"/>
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||||
<path d="M 170.2 124.9 L 155.8 148.3" stroke="url(#grad-leg_r-1)" stroke-width="4.00515" stroke-linecap="round"/>
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||||
<path d="M 155.8 148.3 L 162.3 152.4" stroke="url(#grad-leg_r-2)" stroke-width="3.82748" stroke-linecap="round"/>
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||||
</g>
|
||||
<path id="girdle" d="M 187.4 36.0 L 179.2 33.8 L 174.0 32.6" stroke="#0d9488" stroke-width="3.5" stroke-linecap="round" stroke-linejoin="round"/>
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<path id="pelvisBar" d="M 176.9 92.9 L 170.5 92.5 L 167.0 93.1" stroke="#0d9488" stroke-width="3.5" stroke-linecap="round" stroke-linejoin="round"/>
|
||||
|
||||
|
Before Width: | Height: | Size: 3.5 KiB After Width: | Height: | Size: 3.7 KiB |
Reference in New Issue
Block a user