nx_hands_gate.nx source

1// nx_hands_gate.nx -- ★R4 HANDS: articulated fingers on the holistic being (the digital-human ladder's named next 2// rung + the MetaHuman-axis component). 4 fingers (2 segments) + thumb per hand, per-hand CURL (open<->fist), bound 3// to the forearm FK chain. The articulation proof is CAUSAL in SDF space: a point inside an OPEN fingertip must be 4// EMPTY when the fist curls (and vice versa). T1 composition. T2 causal curl. T3 rig-follow (fingers swing with the 5// arm in a pose). T4 determinism. T5 evidence (open | fist closeups + full being). license_tier: ORIGINAL expect_exit: 0 6import "nx_syscalls.nx" 7import "nx_png.nx" 8import "nx_trimesh.nx" 9import "nx_isosurf.nx" 10import "nx_bodyatlas.nx" 11 12func hw(s: *u8) -> i64 { var n: i64=0; while s[n]!=(0 as u8){n=n+1} sys_write(1,s,n); return 0 } 13func pn(v: i64) -> i64 { let b: *u8=sys_mmap(32) as *u8; var x: i64=v; var ng: i64=0; if x<0{ng=1;x=0-x} var i: i64=31; if x==0{b[i]=48 as u8;i=i-1} while x>0{b[i]=(48+x%10) as u8;x=x/10;i=i-1} if ng==1{b[i]=45 as u8;i=i-1} sys_write(1,(b as i64+i+1) as *u8,31-i); return 0 } 14func clearfb(fb: *i64, n: i64, c: i64) -> i64 { var i: i64=0; while i<n { fb[i]=c; i=i+1 } return 0 } 15 16const BG: i64 = 24 + 26*256 + 34*65536 17const CW: i64 = 300 18const CH: i64 = 320 19 20// mesh the RIGHT hand region (local x 170..305, y -150..85, z -45..105) at cell 5 and render a closeup into a panel 21func hand_panel(gal: *i64, GW: i64, slot: i64) -> i64 { 22 let gx: i64 = 27 23 let gy: i64 = 52 24 let gz: i64 = 30 25 let cell: i64 = 5 26 let grid: *i64 = sys_mmap((gx+1)*(gy+1)*(gz+1)*8) as *i64 27 var i: i64 = 0 28 while i <= gx { 29 var j: i64 = 0 30 while j <= gy { 31 var k: i64 = 0 32 while k <= gz { 33 grid[(i*(gy+1)+j)*(gz+1)+k] = ba_sdf(170+i*cell, 0-310+j*cell, 0-45+k*cell, 1) 34 k = k + 1 35 } 36 j = j + 1 37 } 38 i = i + 1 39 } 40 tm_reset() 41 surface_nets(grid, gx, gy, gz, 170, 0-310, 0-45, cell, 0, 216+172*256+152*65536) 42 // center the region about the origin for the camera: region center ~ (237, -32, 30) 43 tm_place(0, tm_nv(), 0-237, 180, 0-30, 1000) 44 let npx: i64 = CW*CH 45 let fb: *i64 = sys_mmap(npx*8) as *i64 46 let zb: *i64 = sys_mmap(npx*8) as *i64 47 clearfb(fb, npx, BG) 48 trimesh_zclear(zb, npx) 49 trimesh_render(fb, zb, CW, CH, 1400, 0-700, 540, 520, 1) 50 var y: i64 = 0 51 while y < CH { var x: i64=0; while x<CW { gal[y*GW+slot*CW+x]=fb[y*CW+x]; x=x+1 } y=y+1 } 52 return tm_nt() 53} 54 55func main() -> i64 { 56 hw("=== nx_hands_gate -- R4: articulated fingers (curl open<->fist), rig-bound ===\n" as *u8) 57 var fails: i64 = 0 58 59 // ---- T1 composition ---- 60 atlas_hand_curl(0) 61 let np: i64 = atlas_build(0) 62 let named: i64 = ba_named_count() 63 hw(" parts="); pn(np); hw(" named="); pn(named); hw(" (fingers nid 64, thumb nid 65)\n" as *u8) 64 var t1: i64 = 0 65 if np >= 119 { if named >= 65 { t1 = 1 } } 66 if t1 == 1 { hw("T1 PASS hands composed: +20 finger/thumb parts, 2 new named structures\n" as *u8) } 67 else { fails=fails+1; hw("T1 FAIL\n" as *u8) } 68 69 // ---- T2 CAUSAL CURL: SDF occupancy swaps between the open-tip and fist-tip points ---- 70 let openTipOpen: i64 = ba_sdf(267, 0-245, 20, 1) 71 let fistTipOpen: i64 = ba_sdf(267, 0-220, 50, 1) 72 atlas_hand_curl(1024) 73 atlas_build(0) 74 let openTipFist: i64 = ba_sdf(267, 0-245, 20, 1) 75 let fistTipFist: i64 = ba_sdf(267, 0-220, 50, 1) 76 hw(" sdf at open-tip: open="); pn(openTipOpen); hw(" fist="); pn(openTipFist); hw(" at fist-tip: open="); pn(fistTipOpen); hw(" fist="); pn(fistTipFist); hw("\n" as *u8) 77 var t2: i64 = 0 78 if openTipOpen < 0 { if openTipFist > 0 { if fistTipOpen > 0 { if fistTipFist < 0 { t2 = 1 } } } } 79 if t2 == 1 { hw("T2 PASS CAUSAL: the fingertip volume MOVES with the curl (open-tip empties, fist-tip fills)\n" as *u8) } 80 else { fails=fails+1; hw("T2 FAIL\n" as *u8) } 81 82 // ---- T3 rig-follow: in the WAVE pose the raised arm's fingers move with it ---- 83 atlas_hand_curl(0) 84 atlas_build(0) 85 atlas_pose(3) // wave: RIGHT arm overhead 86 // the right open fingertip rest point must be EMPTY now (the whole hand left with the arm) 87 let tipPosed: i64 = ba_sdf(267, 0-245, 20, 1) 88 atlas_pose(0) 89 let tipStand: i64 = ba_sdf(267, 0-245, 20, 1) 90 hw(" rig-follow: fingertip sdf standing="); pn(tipStand); hw(" waving="); pn(tipPosed); hw("\n" as *u8) 91 var t3: i64 = 0 92 if tipStand < 0 { if tipPosed > 0 { t3 = 1 } } 93 if t3 == 1 { hw("T3 PASS fingers are BOUND to the arm chain (the raised arm takes its fingers with it)\n" as *u8) } 94 else { fails=fails+1; hw("T3 FAIL\n" as *u8) } 95 96 // ---- T4 determinism ---- 97 atlas_hand_curl(1024) 98 let na: i64 = atlas_build(0) 99 let sa: i64 = ba_sdf(267, 0-220, 50, 1) 100 let nb: i64 = atlas_build(0) 101 let sb: i64 = ba_sdf(267, 0-220, 50, 1) 102 var t4: i64 = 0 103 if na == nb { if sa == sb { t4 = 1 } } 104 if t4 == 1 { hw("T4 PASS deterministic\n" as *u8) } else { fails=fails+1; hw("T4 FAIL\n" as *u8) } 105 106 // ---- T5 evidence: open hand | fist | full being ---- 107 let GW: i64 = CW*3 108 let gal: *i64 = sys_mmap(GW*CH*8) as *i64 109 clearfb(gal, GW*CH, BG) 110 atlas_hand_curl(0) 111 atlas_build(0) 112 atlas_pose(0) 113 let trisOpen: i64 = hand_panel(gal, GW, 0) 114 atlas_hand_curl(1024) 115 atlas_build(0) 116 let trisFist: i64 = hand_panel(gal, GW, 1) 117 hw(" hand closeup meshes: open tris="); pn(trisOpen); hw(" fist tris="); pn(trisFist); hw("\n" as *u8) 118 // full being (open hands) via atlas_render scaled into the third panel 119 atlas_hand_curl(0) 120 atlas_build(0) 121 let bw: i64 = 208 122 let bh: i64 = 368 123 let bfb: *i64 = sys_mmap(bw*bh*8) as *i64 124 atlas_render(bfb, bw, bh, 800, 1, 0-1) 125 var y: i64 = 0 126 while y < CH { 127 var x: i64 = 0 128 while x < CW { 129 var px: i64 = BG 130 let sx: i64 = x - 46 131 if sx >= 0 { if sx < bw { if y < bh { px = bfb[y*bw+sx] } } } 132 gal[y*GW+2*CW+x] = px 133 x = x + 1 134 } 135 y = y + 1 136 } 137 write_png(gal, GW, CH, "knowledge/nx_hands.png" as *u8) 138 hw("T5 evidence -> knowledge/nx_hands.png (open hand | fist | being)\n" as *u8) 139 140 if fails == 0 { hw("HANDS-GATE GREEN -- R4: 4 fingers + thumb per hand (20 parts, 2 named structures), per-hand CURL articulation (open<->fist, causally SDF-proven), fingers BOUND to the forearm FK chain. Residual: per-finger independent runtime FK + thumb opposition + 15-joint SMPL-X parity.\n" as *u8); sys_exit(0); return 0 } 141 hw("HANDS-GATE RED fails="); pn(fails); hw("\n" as *u8) 142 sys_exit(1) 143 return 1 144}