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<!DOCTYPE html><html><head><meta charset="utf-8"><title>Physics moves trainer</title>
<style>html,body{margin:0;height:100%;background:#202028;overflow:hidden}
#hud{position:fixed;top:0;left:0;color:#0f0;font:12px monospace;z-index:9;padding:6px;background:#000a;white-space:pre}
#ui{position:fixed;top:6px;right:6px;z-index:9;font:12px monospace;display:none}
#ui button{display:block;margin:2px;width:110px}</style>
<script type="importmap">{"imports":{
"three":"https://unpkg.com/three@0.160.0/build/three.module.js",
"three/addons/":"https://unpkg.com/three@0.160.0/examples/jsm/",
"fflate":"https://unpkg.com/fflate@0.8.2/esm/browser.js"
}}</script></head>
<body><div id="hud">loading…</div>
<div id="ui"><button id="save">save weights</button></div>
<script type="module">
import * as THREE from 'three';
import {FBXLoader} from 'three/addons/loaders/FBXLoader.js';
import {PhysRig, sampleClipTargets} from './physbody.js';
import {PhysTrainer} from './rltrain.js';

const hud=document.getElementById('hud');const L=m=>hud.textContent=m;
const renderer=new THREE.WebGLRenderer({antialias:true});
renderer.setPixelRatio(Math.min(devicePixelRatio,1.5));renderer.setSize(innerWidth,innerHeight);
renderer.shadowMap.enabled=true;document.body.appendChild(renderer.domElement);
const scene=new THREE.Scene();scene.background=new THREE.Color(0x202028);
scene.add(new THREE.HemisphereLight(0xffffff,0x445,1.2));
const dl=new THREE.DirectionalLight(0xffffff,2.2);dl.position.set(3,8,6);dl.castShadow=true;scene.add(dl);
const ground=new THREE.Mesh(new THREE.PlaneGeometry(60,60),new THREE.MeshStandardMaterial({color:0x33343e}));
ground.rotation.x=-Math.PI/2;ground.receiveShadow=true;scene.add(ground);
const grid=new THREE.GridHelper(60,60,0x555,0x3a3a44);grid.position.y=0.002;scene.add(grid);
const cam=new THREE.PerspectiveCamera(45,innerWidth/innerHeight,0.05,100);
cam.position.set(2.8,1.4,3.2);cam.lookAt(0,1.0,0);
const fbx=new FBXLoader();
const load=p=>new Promise((res,rej)=>fbx.load(p,res,undefined,rej));

function makeDebug(rig){
  const g=new THREE.Group();scene.add(g);
  const mat=new THREE.MeshStandardMaterial({color:0x50c0ff,transparent:true,opacity:0.45});
  rig.bodies.forEach(b=>{
    const m=new THREE.Mesh(new THREE.CapsuleGeometry(b.r,Math.max(b.len-2*b.r,0.02),4,8),mat);
    g.add(m);b._dbg=m;
    const axis=b.endB.clone().sub(b.endA).normalize();
    b._dbgQ=new THREE.Quaternion().setFromUnitVectors(new THREE.Vector3(0,1,0),axis);
  });
  return {group:g,update(){rig.bodies.forEach(b=>{
    b._dbg.position.copy(b.endA).add(b.endB).multiplyScalar(0.5).applyQuaternion(b.quat).add(b.pos);
    b._dbg.quaternion.copy(b.quat).multiply(b._dbgQ);});}};
}

// FIGHT-IMITATION training: the physics ragdoll (student) learns to reproduce
// the REAL Mixamo animation (teacher) while withstanding combat knockback.
// perturbMag = knockback speed (m/s) injected mid-move, sized from the game's
// actual hit knock values (boss hits ~4-9 -> impulse ~3-6 m/s). Locomotion &
// block get hit hardest; fragile jumps train clean.
const LEGS11=['thighL','shinL','footL','thighR','shinR','footR','torso','uarmL','farmL','uarmR','farmR'];
const _q=new URLSearchParams(location.search);const _itOv=+_q.get('iters')||0;
const MOVES=(_q.get('only')==='walk')?[
  ['walk',    {oneshot:false, iters:_itOv||4000, pop:56, imWeight:1.3, speedWeight:2.6, distWeight:0.8, driven:LEGS11, perturbMag:4, clip:_q.get('clip')||'walk'}],
]:[
  // trained on the Male Locomotion Pack (cleaner set) + boxing/uppercut/roll.
  // cfg.clip = source fbx; move key = how the game refers to it.
  ['idle',    {oneshot:false, iters:30,  pop:32, imWeight:1.6, speedWeight:0, targetSpeed:0, perturbMag:3.5, clip:'lp_idle'}],
  ['walk',    {oneshot:false, iters:110, pop:56, imWeight:1.3, speedWeight:2.6, distWeight:0.8, driven:LEGS11, perturbMag:4, clip:'lp_walk'}],
  ['walkback',{oneshot:false, iters:110, pop:56, imWeight:1.3, speedWeight:2.6, distWeight:0.8, dirZ:-1, driven:LEGS11, perturbMag:4, clip:'walkback'}],
  ['run',     {oneshot:false, iters:110, pop:56, imWeight:1.2, speedWeight:2.6, distWeight:0.8, driven:LEGS11, perturbMag:4, clip:'lp_run'}],
  ['runback', {oneshot:false, iters:110, pop:56, imWeight:1.2, speedWeight:2.6, distWeight:0.8, dirZ:-1, driven:LEGS11, perturbMag:4, clip:'runback'}],
  ['turnL',   {oneshot:true,  iters:50,  pop:36, imWeight:2.5, speedWeight:0, targetSpeed:0, perturbMag:2.5, clip:'lp_turnL'}],
  ['turnR',   {oneshot:true,  iters:50,  pop:36, imWeight:2.5, speedWeight:0, targetSpeed:0, perturbMag:2.5, clip:'lp_turnR'}],
  ['jump',    {oneshot:true,  iters:70,  pop:40, imWeight:1.0, speedWeight:0, targetSpeed:0, vertWeight:3.0, assistScale:0.15, clip:'lp_jump'}],
  ['attack1', {oneshot:true,  iters:60,  pop:36, imWeight:2.0, perturbMag:3, clip:'boxing'}],
  ['hit',     {oneshot:true,  iters:50,  pop:36, imWeight:1.5, perturbMag:5, assistScale:0.6, clip:'uppercut'}],
  ['block',   {oneshot:false, iters:60,  pop:36, imWeight:2.0, perturbMag:5.5, clip:'block'}],
  ['roll',    {oneshot:true,  iters:64,  pop:36, assistScale:0.75, imWeight:1.2, perturbMag:2, clip:'roll2'}],
];

let rig,obj,dbg,trained={},cur='walk',phase=0,playing=false,showMesh=true;
window.__mesh=v=>{showMesh=v;obj.visible=v;return v;};
window.__poke=(x=0,y=0,z=2)=>{rig.bodies.forEach(b=>b.vel.add(new THREE.Vector3(x,y,z)));return 'poked';};
window.__move=n=>{if(trained[n]){cur=n;phase=0;}return cur;};
window.__weights=()=>{const moves={};for(const[n,t] of Object.entries(trained))
  moves[n]=t.trainer.exportWeights(t.params,{clip:t.clip||n,character:'player'});
  return {kind:'physmoves-v1',character:'player',moves};};

(async()=>{
  L('loading player…');
  obj=await load('assets/chars/player.fbx');
  const box=new THREE.Box3().setFromObject(obj);const s=new THREE.Vector3();box.getSize(s);
  const sc=1.8/s.y;obj.scale.setScalar(sc);obj.position.y=-box.min.y*sc;
  obj.traverse(o=>{if(o.isMesh){o.castShadow=true;o.frustumCulled=false;}});
  scene.add(obj);
  const bones={};obj.traverse(o=>{if(o.isBone)bones[o.name]=o;});
  obj.updateWorldMatrix(true,true);
  rig=new PhysRig(bones,obj,{mass:78});
  dbg=makeDebug(rig);
  window.__rig=rig;

  const t0=performance.now();
  for(const[name,cfg] of MOVES){
    L(`loading clip ${name}…`);
    let clip;
    try{clip=(await load(`assets/anim/player/${cfg.clip||name}.fbx`)).animations[0];}
    catch(e){console.warn('no clip',name,e);continue;}
    rig.reset();obj.updateWorldMatrix(true,true);
    const ref=sampleClipTargets(clip,obj,rig,30);
    const trainer=new PhysTrainer(rig,ref,{oneshot:cfg.oneshot,T:cfg.oneshot?undefined:170,assistScale:cfg.assistScale,imWeight:cfg.imWeight,speedWeight:cfg.speedWeight,distWeight:cfg.distWeight,driven:cfg.driven,dirZ:cfg.dirZ,vertWeight:cfg.vertWeight,targetSpeed:cfg.targetSpeed,perturbMag:cfg.perturbMag,perturbK:2,contactWeight:cfg.contactWeight});
    const res=await trainer.cem({pop:cfg.pop,elite:9,iters:cfg.iters,seed:7,
      onIter:(it,r)=>L(`training ${name}… iter ${it+1}/${cfg.iters}  reward ${r.toFixed(3)}  (${((performance.now()-t0)/1000).toFixed(0)}s total)`)});
    const fid=trainer.fidelity(res.params);
    trained[name]={trainer,params:res.params,reward:res.reward,oneshot:cfg.oneshot,fid,clip:cfg.clip||name};
    // ui button per move
    const b=document.createElement('button');b.textContent=`${name} (${res.reward.toFixed(2)})`;
    b.onclick=()=>window.__move(name);document.getElementById('ui').appendChild(b);
    window.__T=window.__T||trainer;
  }
  window.__fid=()=>Object.fromEntries(Object.entries(trained).map(([n,t])=>[n,{fidelity:+(t.fid.fidelity*100).toFixed(0)+'%',errDeg:t.fid.meanErrDeg,motionDeg:t.fid.meanMotionDeg}]));
  // robustness: fraction of hit-directions the move survives without falling
  window.__robust=(mag=4.5)=>{const V=rig.byName.pelvis.pos.constructor;const out={};
    for(const[n,t] of Object.entries(trained)){const T=t.trainer;let ok=0,tot=0;
      for(let a=0;a<8;a++){const ang=a/8*2*Math.PI;rig.reset();rig.heading=null;
        const up0=rig.uprightK,hv0=rig.hoverK;rig.uprightK*=(T.assistScale||1);rig.hoverK*=(T.assistScale||1);
        let fell=false;const N=t.oneshot?T.T:Math.round(2.2/T.dt);
        for(let i=0;i<N;i++){let ph=T.freq*i*T.dt;if(!t.oneshot)ph%=1;T.drive(t.params,ph);rig.step(T.dt,T.substeps);
          if(i===Math.floor(N*0.3))rig.bodies.forEach(b=>{b.vel.x+=Math.cos(ang)*mag;b.vel.z+=Math.sin(ang)*mag;});
          if(rig.byName.pelvis.pos.y<rig.restPelvisY*0.5)fell=true;}
        rig.uprightK=up0;rig.hoverK=hv0;if(!fell)ok++;tot++;}
      out[n]=Math.round(ok/tot*100)+'%';}
    rig.reset();rig.heading=0;return out;};
  // measure actual physical motion each trained move produces
  window.__behavior=()=>{const V=rig.byName.pelvis.pos.constructor;const out={};
    for(const[n,t] of Object.entries(trained)){const T=t.trainer;rig.reset();rig.heading=null;
      const up0=rig.uprightK,hv0=rig.hoverK;rig.uprightK*=(t.trainer.assistScale||1);rig.hoverK*=(t.trainer.assistScale||1);
      const p0=rig.byName.pelvis.pos.clone();const f0=new V(0,0,1).applyQuaternion(rig.byName.pelvis.quat);
      const y0v=rig.restPelvisY;let peak=-9,minY=9;const N=t.oneshot?T.T:Math.round(2.5/T.dt);
      for(let i=0;i<N;i++){let ph=T.freq*i*T.dt;if(!t.oneshot)ph%=1;T.drive(t.params,ph);rig.step(T.dt,T.substeps);
        peak=Math.max(peak,rig.byName.pelvis.pos.y);minY=Math.min(minY,rig.byName.pelvis.pos.y);}
      const p1=rig.byName.pelvis.pos,f1=new V(0,0,1).applyQuaternion(rig.byName.pelvis.quat);
      const yaw0=Math.atan2(f0.x,f0.z),yaw1=Math.atan2(f1.x,f1.z);
      let dyaw=(yaw1-yaw0)*180/Math.PI;while(dyaw>180)dyaw-=360;while(dyaw<-180)dyaw+=360;
      out[n]={dz:+(p1.z-p0.z).toFixed(2),dx:+(p1.x-p0.x).toFixed(2),dyawDeg:+dyaw.toFixed(0),
        peakAboveRest:+(peak-y0v).toFixed(2),minY:+minY.toFixed(2),fell:minY<y0v*0.55};
      rig.uprightK=up0;rig.hoverK=hv0;}
    rig.reset();rig.heading=0;return out;};
  L(`all trained in ${((performance.now()-t0)/1000).toFixed(1)}s\n`+
    Object.entries(trained).map(([n,t])=>`${n}: R${t.reward.toFixed(2)} fid${(t.fid.fidelity*100).toFixed(0)}%`).join('  ')+
    `\nkeys: 1 walk  2 attack1  3 block  4 roll   __poke(x,y,z)`);
  document.getElementById('ui').style.display='block';
  window.__trained=trained;
  rig.reset();rig.heading=0;playing=true;

  let last=performance.now(),acc=0;
  (function loop(now){requestAnimationFrame(loop);
    const dt=Math.min((now-last)/1000,0.05);last=now;
    if(playing&&trained[cur]){acc+=dt;
      const t=trained[cur],T=t.trainer;
      while(acc>=T.dt){acc-=T.dt;
        phase+=T.dt*T.freq;
        if(t.oneshot&&phase>=1){cur='walk';phase=0;}
        else if(!t.oneshot)phase%=1;
        const tt=trained[cur];
        tt.trainer.drive(tt.params,phase);
        rig.step(tt.trainer.dt,tt.trainer.substeps);
        const p=rig.byName.pelvis;
        if(p.pos.z>12||p.pos.z<-12||Math.abs(p.pos.x)>12){rig.reset();rig.heading=0;phase=0;}
        if(p.pos.y<rig.restPelvisY*0.35){rig.reset();rig.heading=0;phase=0;cur='walk';}
      }
      if(showMesh)rig.applyToBones();
      dbg.update();
      const p=rig.byName.pelvis.pos;
      cam.position.set(p.x+2.8,1.5,p.z+3.2);cam.lookAt(p.x,1.0,p.z);
    }
    renderer.render(scene,cam);})(performance.now());
})().catch(e=>L('ERR '+e.message+'\n'+(e.stack||'')));

addEventListener('keydown',e=>{
  const k={Digit1:'walk',Digit2:'attack1',Digit3:'block',Digit4:'roll'}[e.code];
  if(k)window.__move(k);});
document.getElementById('save').onclick=()=>{
  const blob=new Blob([JSON.stringify(window.__weights())],{type:'application/json'});
  const a=document.createElement('a');a.href=URL.createObjectURL(blob);
  a.download='player_moves.json';a.click();
  localStorage.setItem('player_moves',JSON.stringify(window.__weights()));
};
</script></body></html>