update puppet model

src/routes/scene/components/renderer/puppet/animation.ts

@@ -11,10 +11,12 @@ export class PuppetAnimation {
   private readonly movementDelta = new THREE.Vector3();
   private readonly idleRotationY: number;
   private idleTargetRotationY: number;
+  private readonly legRestY: number;
   private hasSmoothedPosition = false;
   private wasMoving = false;
 
   constructor(private readonly rig: PuppetRig) {
+    this.legRestY = rig.leftLeg.position.y;
     this.idleRotationY = rig.root.rotation.y;
     this.idleTargetRotationY = this.idleRotationY;
   }
@@ -77,6 +79,7 @@ export class PuppetAnimation {
       if (Math.abs(limb.rotation.x) <= ANGLE_EPSILON) limb.rotation.x = 0;
       else active = true;
     }
+    this.placeFeet();
     return active;
   }
 
@@ -119,10 +122,27 @@ export class PuppetAnimation {
   }
 
   private animateWalkCycle(elapsedSeconds: number) {
-    const swing = Math.sin(elapsedSeconds * 8) * 0.5;
+    const swing = Math.sin(elapsedSeconds * 10);
-    this.rig.leftLeg.rotation.x = swing * 2;
+    this.rig.leftLeg.rotation.x = swing * 0.45;
-    this.rig.rightLeg.rotation.x = -swing * 2;
+    this.rig.rightLeg.rotation.x = -swing * 0.45;
-    this.rig.leftArm.rotation.x = -swing * 2;
+    this.rig.leftArm.rotation.x = -swing * 0.35;
-    this.rig.rightArm.rotation.x = swing * 2;
+    this.rig.rightArm.rotation.x = swing * 0.35;
+    this.placeFeet();
+  }
+
+  // Lift each short leg enough to keep its broad foot from clipping the ground.
+  // Recompute while settling too, so stopping restores the exact standing pose.
+  private placeFeet() {
+    for (const [pivot, mesh] of [
+      [this.rig.leftLeg, this.rig.leftLegMesh],
+      [this.rig.rightLeg, this.rig.rightLegMesh],
+    ] as const) {
+      const angle = pivot.rotation.x;
+      const { height, depth } = mesh.geometry.parameters;
+      pivot.position.y = this.legRestY + Math.max(
+        0,
+        height * (Math.cos(angle) - 1) + depth / 2 * Math.abs(Math.sin(angle)),
+      );
+    }
   }
 }

src/routes/scene/components/renderer/puppet/visual.ts

@@ -110,45 +110,48 @@ function createRig(): PuppetRig {
   root.rotation.y = CAMERA_FACING_ROTATION_Y;
   const material = new THREE.MeshStandardMaterial();
 
-  const body = new THREE.Mesh(new THREE.BoxGeometry(16, 24, 8), material);
+  const body = new THREE.Mesh(createTaperedBox(18, 20, 12, 0.8), material);
-  body.position.y = 36;
+  body.position.y = 26;
 
-  const head = new THREE.Mesh(new THREE.BoxGeometry(16, 16, 16), material);
+  const head = new THREE.Mesh(createTaperedBox(30, 28, 24, 0.92), material);
-  head.position.y = 56;
+  head.position.y = 50;
 
   const { pivot: leftArm, mesh: leftArmMesh } = createLimbPivot(
     -12,
-    48,
+    34,
-    8,
+    7,
-    24,
+    16,
     8,
     material,
   );
   const { pivot: rightArm, mesh: rightArmMesh } = createLimbPivot(
     12,
-    48,
+    34,
-    8,
+    7,
-    24,
+    16,
     8,
     material,
   );
   const { pivot: leftLeg, mesh: leftLegMesh } = createLimbPivot(
     -4,
-    24,
+    16,
-    8,
-    24,
     8,
+    16,
+    10,
     material,
   );
   const { pivot: rightLeg, mesh: rightLegMesh } = createLimbPivot(
     4,
-    24,
+    16,
-    8,
-    24,
     8,
+    16,
+    10,
     material,
   );
 
+  // Splayed shoulders keep the short hands clear of the wider torso.
+  leftArm.rotation.z = -0.16;
+  rightArm.rotation.z = 0.16;
   root.add(body, head, leftArm, rightArm, leftLeg, rightLeg);
 
   return {
@@ -178,7 +181,7 @@ function createLimbPivot(
   pivot.position.set(x, y, 0);
 
   const limb = new THREE.Mesh(
-    new THREE.BoxGeometry(width, height, depth),
+    createTaperedBox(width, height, depth, 0.85),
     material,
   );
   limb.position.y = -height / 2;
@@ -186,3 +189,24 @@ function createLimbPivot(
 
   return { pivot, mesh: limb };
 }
+
+/** Keep BoxGeometry's six four-vertex faces so the existing skin atlas still fits.
+ * The narrower upper end gives the torso shoulders and the limbs chunky ends.
+ */
+function createTaperedBox(
+  width: number,
+  height: number,
+  depth: number,
+  topScale: number,
+) {
+  const geometry = new THREE.BoxGeometry(width, height, depth);
+  const positions = geometry.attributes.position;
+  for (let i = 0; i < positions.count; i++) {
+    if (positions.getY(i) > 0) {
+      positions.setX(i, positions.getX(i) * topScale);
+      positions.setZ(i, positions.getZ(i) * topScale);
+    }
+  }
+  geometry.computeVertexNormals();
+  return geometry;
+}

tests/scene-animation.test.ts

@@ -97,3 +97,31 @@ test('limb relaxation has the same speed at 30 and 120 FPS and finishes', () =>
     fast.dispose();
   }
 });
+
+test('broad feet stay above ground throughout a stride and return to rest', () => {
+  const visual = new PuppetVisual('feet');
+  const point = new THREE.Vector3();
+  const restPositions = visual.root.children.map((part) => part.position.clone());
+  try {
+    for (let frame = 0; frame <= 120; frame++) {
+      visual.walkInPlace(0, frame / 120 * Math.PI * 2 / 10);
+      visual.root.updateMatrixWorld(true);
+      visual.root.traverse((part) => {
+        if (!(part instanceof THREE.Mesh)) return;
+        const vertices = part.geometry.attributes.position;
+        for (let i = 0; i < vertices.count; i++) {
+          point.fromBufferAttribute(vertices, i).applyMatrix4(part.matrixWorld);
+          assert.ok(point.y >= -1e-6, `vertex below ground: ${point.y}`);
+        }
+      });
+    }
+    visual.walkInPlace(0, 0.1);
+    for (let frame = 0; frame < 120; frame++) visual.pause(1 / 60);
+    assert.equal(visual.pause(0), false);
+    visual.root.children.forEach((part, index) => {
+      assert.deepEqual(part.position, restPositions[index]);
+    });
+  } finally {
+    visual.dispose();
+  }
+});