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feat(hand-shapes): morph-target hand-pose solver — fist/grip that actually deform

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The morph lane's blocking bug was believed to be coincident duplicate verts hidden
from the solver's convergence gate. Welding was necessary but nowhere near
sufficient: the previous relaxation could satisfy every stretch bar without posing
anything, so the numbers it reported were not measuring the thing they claimed.

Measured on Ariki_Female_QuatSkin_LowPoly_40, the tracked "left hand is fully
clean" baseline was a morph that moved fingertips 0.3cm, and the right hand was a
rigid 6.5cm translation of the whole hand with its shape intact. Gated Laplacian
diffusion of a delta field has a null space — constants — and edge stretch cannot
see any of it: a rigid translation stretches no edge and neither does a collapse to
zero. Both exits report perfect bars.

Six defects fixed, each with its measurement in the code comments:

  weld_roi           356 duplicate groups solved twice, deltas up to 2.55cm apart
  stitch_components  hand is 6 overlapping sheets with 1-10mm gaps; Dijkstra
                     cannot cross one, so each bone saw only its own sheet
  refit_fingers      skeleton finger chain ran to 19.8cm; the flesh ends at 14.0cm,
                     so curl_02/curl_03 drove almost no weight (shipped skeleton
                     untouched — this is solver-local scaffolding)
  solve_weights      chain-arc partition of unity; the old 8mm isotropic kernels
                     left ZERO of 17,480 verts owned above 0.85, and a 3-way blend
                     averages the curl away. Plus a support cutoff: outside every
                     kernel, renormalized 1e-81 noise had handed a mid-palm vertex
                     index_02_r=0.50 and flung it 29cm
  build_roi          joint-sphere ROI, so the rim is a wrist band and not a fractal
                     of interior chart holes
  relax              strain-only edge projection + ROI-border seam constraints,
                     replacing the diffusion described above

All 8 shapes now pass every bar with real deformation: p99.9 <= 1.58x, zero edges
over 5x, zero needles with the sliver floor removed, seam <= 3.2mm, cross-hand
independence exactly 0.0000cm, mesh fingertip travel 4.6-6.2cm on fist and
3.5-4.7cm on grip (both hands). Gates now report mesh travel and seam alongside
stretch, because stretch alone cannot gate this lane.

Verified in anim_hand_test_bed: fist and grip read as a real curl on both hands,
static and mid-dance, no fins/shards/needles. It is a loose fist rather than a
clenched one — her fingers are ~4-5cm past the knuckles.

Demo GLB stays out of git (122.6 MB, ariki-game/scratchpad/). Ship decision, the
thumb-axis refit, and the TDR crash from 8 dense targets are open — see README.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
This commit is contained in:
Jeremy
2026-08-18 10:50:16 -07:00
parent 0913a5972c
commit 36fc0494e8
4 changed files with 1756 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
characters/work/lena_leafbikini/handmorph/handmorph_report.json
+360
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{
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