Nishi Family › Compare › SOFT-BODY AND BIOMECHANICS
Nishi Compare · measured, not asserted
SOFT-BODY AND BIOMECHANICS
Nishi vs the field — every Nishi cell is measured against real organ source at emit time; each gap names the watch contract that will close it.
XPBD tissue, cited biomechanics, and a validation loop no rival ships -- one process, integer, bit-deterministic replay
Layer 1 · Executive
Where we are. Measured 2026-08-25, not asserted. WORKING: an XPBD tetrahedral soft-tissue solver with five named layers and per-layer compliance; a Neo-Hookean volume constraint proven non-inverting by tooth; a conservation gate GREEN 8/8 and a metamorphic-relations gate GREEN 12/12, both bite-proven and both without any rival counterpart; a ringdown identifier that RAN FOR THE FIRST TIME TODAY and measured our plant at fn=4137 mHz zeta=480 permil, inside the published human bands 4000..5200 and 350..600; a cited oracle file where every tissue constant carries its source; an anisotropic sign-asymmetric integrator carrying cai2018's 9x up-down split and mills2025's AP and ML ratios; a reduced-order runtime model DERIVED from that solver rather than tuned, with the retired hand-tuned plant refused by a neg-control; 1001 seeded bodies per cast where there were 4; gait phase advanced by distance so foot plant and tissue drive are correlated by construction; and the whole thing compiled to ONE WebAssembly module with bit-identical replay. OPEN, and this is the whole story: there are no stress or strain TENSORS, so no clinical parity may be claimed; skin on skin now EXISTS as grazing contact with an inverse-mass split and a mesh-derived contact distance, though the friction law that would govern it waits on a citation rather than on code, and the contact is measurably blind to deep interleaving -- which is filed as SB11 rather than left unsaid. Animals are unstarted and the ground does not bear load.
Where we need to go. ONE sovereign soft-body and biomechanics engine -- human, animal and environment -- first byte up in NishiLang with no third-party code in the loop, real-time in a single process, every material constant traceable to a measured human and every claim refused until its oracle exists.
The unit. Millimetres of surface deviation for fidelity; mHz and permil for motion; microseconds per tick per body for cost. A fidelity claim without a millimetre and a motion claim without a band are both opinion wearing a number.
Where we already exceed: 0 u. Validation, not fidelity. No rival ships a conservation gate, a metamorphic gate, a motion-versus-measured-human loop, or an integer solver with bit-identical replay. Those are done and green today.
Cost to make the VR claim honest: 3 u. SB1 IS DONE -- 28 us of an 11111 us frame, measured against the cited bars, so the frame-cost half of the VR claim is now a number instead of a hope. SB2 force readback is what remains, and it is the blocking rung for the haptics domain too.
Cost to contact you can feel: 15 u. SB3's friction MECHANISM and SB10 self-contact are BOTH landed and gate-proven; friction stays unarmed pending one cited coefficient, which is a literature question rather than a build. What remains is SB7 a tetrahedralisation and sliver oracle so an arbitrary surface can enter the solver at all, and SB11 contact that survives deep interleaving -- a rung filed because SB10's own gate measured the blind spot, not because anyone imagined it.
Cost to clinical-grade parity: 24 u. SB4 Cauchy stress and strain, SB5 the FEBio analytical oracle, SB6 the 7.05 mm surface-error parity bar from chen2024. Until all three land, every parity-with-clinical claim on this board stays refused.
Cost to hyper-real embodied contact, the second admission pass: 46 u. M5 EVERYTHING THAT TOUCHES HER (SB12 strand-to-cage contact, SB13 cloth contact with garment layering and tearing, SB15 a support surface that spreads load, SB16 engorgement as rest-volume expansion) then M6 TISSUE THAT ACTS RATHER THAN ONLY REACTS (SB14 a clinging liquid film, SB17 muscle contraction that moves skin). FOUR OF THESE SIX ARE CONTACT OR COUPLING RUNGS RATHER THAN NEW SOLVERS, and that is the only reason the milestone is affordable: hair dynamics belong to graphics, the cloth solver to procgen, garment pattern and sewing to dcc, and the arousal physiology to procgen, all already contracted, so this board depends on them instead of building a second one of each. SB16 is the cheapest at 4 u because the physiology and the referee both already exist and only the coupling is missing. SB17 is the most expensive at 12 u and is gated behind SB4, making it deliberately the last rung on the whole board.
Research bar. SOFA Framework (LGPL) is measured on non-linear FEM, true stress and strain tensors, constraint-based friction contact, validated anatomical datasets for puncture and multi-layer shear, native real-time haptic device support, mature Python bindings. Theirs: source-level read plus vendor documentation, grade-1. Ours: THE reference for clinical soft tissue and the tool to exceed on fidelity. It validates STRESS against analytical solutions; it does not validate MOTION against a measured human, which is the gap we occupy. Multi-process by its own guidance: it cannot hold 90 Hz beside a generator and a renderer..
Research bar. Project Chrono (BSD-3) is measured on linear FEM and ANCF, industrial multibody dynamics, soft-soil terramechanics, deep PyChrono bindings. Theirs: vendor documentation read 2026-08-25. Ours: BEST on the environment lane -- deformable terrain under load is its home ground and is exactly our weakest row (SB9). Weaker on human soft tissue; requires bridging to a graphics framework for any interactive use..
Research bar. Bullet and PyBullet (zlib) is measured on mass-spring plus basic FEM, extensively proven in real-time robotics and VR, historically Blender's internal engine. Theirs: source-level read, grade-1. Ours: The real-time incumbent and the honest speed comparison. Mathematically simplified: no volume conservation guarantee and no material parameter with clinical meaning, so its constants cannot be sourced from tissue literature -- the same objection that rules out shape-matching lattices..
Research bar. FEBio (biomechanics FEM) is measured on purpose-built finite elements for biomechanics, hyperelastic and viscoelastic material models, the analytical reference used to check other solvers. Theirs: vendor documentation read 2026-08-25. Ours: Not a rival for real time at all -- an ORACLE. SB5 exists to turn it into our benchmark rather than our dependency, which is the only way a third party may enter this estate..
Research bar. PlasticineLab (MIT-IBM) is measured on differentiable-physics benchmark for soft-body manipulation and multi-layer deformation. Theirs: published benchmark, read 2026-08-25. Ours: An ORACLE on the manipulation rows, never a rival column. Named here so the manipulation lane has a published bar before anyone writes one by feel..
Research bar. Ziva VFX and Ziva RealTime (DNEG, commercial) is measured on Ziva VFX constructs and simulates muscles, fat, fascia and skin and produces precise skin deformations informed by the underlying anatomy, its team taking a 2025 SciTech Academy Award; Ziva RealTime analyses training sets of how a character should look as it moves and learns to reconstruct that shape at realtime speeds, turning effects that take seconds or minutes per frame into milliseconds; Ziva Face Technology converts scans into digital Face Puppets. Theirs: vendor documentation fetched and content-pinned 2026-08-25 [@ziva]. Ours: THE gold standard for biomechanical soft tissue and the tool to exceed on flesh fidelity -- flesh-on-flesh collision, sliding, fat compression and volume preservation are its home ground and ours is one honest rung of it. ITS REALTIME PRODUCT IS OUR OWN ARCHITECTURE ARRIVED AT INDEPENDENTLY: identify offline, run cheap at runtime. The difference is the one axis we can actually claim -- ours is DERIVED by physics from a measured ringdown, so it carries a volume-conservation guarantee and bit-identical replay, and a learned surrogate structurally cannot state either.
Research bar. Epic MetaHuman (Epic Games, free with Unreal Engine) is measured on a bespoke photoreal digital human complete with hair and clothing created from presets in minutes and animated by MetaHuman Animator, delivered inside Unreal Engine. Theirs: vendor front door fetched and content-pinned 2026-08-25 [@metahuman]. Ours: THE delivery bar for a complete human, and cited for POSITIONING ONLY: the mirror does not describe vasodilation, subsurface scattering or micro-expression internals, so no such claim is sourced to it here and none should be. It is an artist-authored photoreal RIG, which is precisely the axis this estate enters from the other side -- identity as a bred genome rather than an asset pack, already the declared exceed on the charsim and graphics boards.
Research bar. Unreal Engine Groom and Chaos Cloth (Epic Games) is measured on a strand-based groom workflow rendering each individual strand of hair with physically accurate motion at hundreds of thousands of strands, and the Chaos Cloth low-level particle clothing solver whose collision is supplied by the character Physics Asset. Theirs: vendor documentation fetched and content-pinned 2026-08-25 [@uegroom] [@chaoscloth]. Ours: THE real-time bar for both new contact rungs, and the bar that states our own dependency structure out loud: cloth collision comes FROM THE BODY RIG. That is exactly the coupling this board owns and that procgen's cloth-solver rung is waiting on, which is why softbody files the contact and not a second solver.
Research bar. Augmented Mass-Spring hair, Digital Salon (Yale, arXiv 2507.07387) is measured on strand-level edge, bending and torsional degrees of freedom plus an augmented biphasic interaction through two additional one-way springs, embedded in a hybrid Eulerian and Lagrangian framework, simulating thousands of interacting strands in real time on consumer hardware. Theirs: open-access paper fetched, content-pinned and READ FROM THE STORED BYTES 2026-08-25 [@hairams]. Ours: THE only genuinely citable primary source among the new bars, and therefore the research bar for the hair rung. Read honestly it also BOUNDS ITSELF in our favour: its contribution is hair-HAIR interaction and it cites improved hair-BODY interaction as separate prior work, so the contact rung filed here is not covered by it and is not a reimplementation of it.
Research bar. Marvelous Designer and CLO (CLO Virtual Fashion, commercial) is measured on pattern-first garment simulation from real tailoring patterns with sewing, drape and a Solidify property assignable to parts of a garment, and CLO for true-to-life garment visualization, digital patternmaking and virtual fitting. Theirs: vendor documentation fetched and content-pinned 2026-08-25 [@marvelous] [@clo3d]. Ours: THE bar for garment realism built from real patterns rather than painted onto a mesh. Pattern and sewing are dcc's gd_drape rung and NOT this board's -- the bar is named here so the softbody contact rung is never judged against a painted cloth when the field standard is a sewn one.
Research bar. JangaFX LiquiGen (commercial) is measured on real-time liquid simulation spanning water, blood, ketchup and slime, with real-time meshing, customizable forces, sparse simulation domains and a real-time path tracer. Theirs: vendor documentation fetched and content-pinned 2026-08-25 [@liquigen]. Ours: THE bar for the fluid rung and the honest measure of the distance: ours is a volume-conserving 2.5D height field, theirs is a free-surface liquid with material variety. Houdini FLIP and Vellum belong beside it and are deliberately named WITHOUT a cite mark, because www.sidefx.com fails TLS in our own fetcher (rc=-209 t12-cert-pipeline, reproduced on two URLs after retries) and a reference nobody fetched is a fabrication.
22 of 33 capabilities measured|7 of them measured exceeds|11 open|coverage 666/1000|adoption 20 full / 2 partial
Layer 2 · Roadmap
Do this next — computed by the ranker, never chosen by a seat
Order from nx_compare_rank (nx_dr_ocm: (deficit + cost-of-delay + option + enables) x sponsor x self-sufficiency x momentum / cost). FINISH rows are rungs whose symbol is present but whose organ is short of full adoption: the cheapest closures on this board, listed before any new work. Stamp: # asof=1787883581 domain=softbody target_version=1.0 rungs=17 done=5 open=12 finish=0 ranker=nx_dr_ocm
| # | Stage | Rung | Priority | Derivation |
|---|---|---|---|---|
| #1 | 1.0 | Contact that survives deep interleaving (SB11) st_sdf_contact | 923 | v=6 m=2 c=13 |
| #2 | 1.0 | Tetrahedralisation of an arbitrary watertight surface with a sliver oracle (SB7) st_tet_from_surface | 0 | v=0 m=1 c=70 |
| #3 | later | Cauchy stress and strain tensors with Young's modulus and Poisson ratio (SB4) st_cauchy_stress | 1750 | v=14 m=2 c=16 |
| #4 | later | A support surface that spreads load (SB15) st_support_surface | 1500 | v=6 m=2 c=8 |
| #5 | later | Cloth against the body, against itself, and tearing (SB13) st_cloth_contact | 666 | v=5 m=2 c=15 |
| #6 | later | Strand hair that collides with the body (SB12) st_strand_contact | 600 | v=3 m=2 c=10 |
| #7 | later | FEBio as an analytical oracle, not a dependency (SB5) fo_febio_compare | 384 | v=5 m=1 c=13 |
| #8 | later | Ground that bears load (SB9) we_shear_transport | 54 | v=6 m=1 c=110 |
| #9 | later | A liquid film that clings (SB14) fl_film_cling | 20 | v=1 m=2 c=100 |
| #10 | later | Muscle contraction that moves skin (SB17) my_contract_fiber | 16 | v=2 m=1 c=120 |
| #11 | later | Surface deviation against the 4D-scan parity bar (SB6) st_surface_err_mm | 0 | v=0 m=1 c=60 |
| #12 | later | One animal on the same solver with a cited gait band (SB8) st_quadruped_gait | 0 | v=0 m=2 c=90 |
Critical path — contract, done-rule, executor, cost
| Rung | Closes with | Definition of done (pre-declared) | Executor | Est. |
|---|---|---|---|---|
| Per-tick tissue cost measured against the banked 90 Hz budget (SB1) after | tb_measure | DONE 2026-08-25, nx_tissuebudget GREEN 6/6: 28 us per cast tick against an 11111 us frame and a 2000 us app-logic ceiling, with the derived and cited budgets cross-checked against each other and a neg-control that refuses a cost one microsecond over. Labelled a NATIVE FLOOR. THE ANSWER IS THAT THE SOLVER IS NOT THE CONSTRAINT -- which is worth more than a pass, because it says where NOT to spend the next optimisation. | Organ | 2 u |
| Contact reaction force reported from the solver (SB2) after SB1 | st_contact_force | DONE 2026-08-25, nx_contactforce_gate GREEN 6/6: the readback fires, rises with depth (a 20 mm press reads 3.2x a 10 mm press, superlinear because the tissue stiffens), discriminates firmness (firm reads 3.75x soft at the SAME depth), reads exactly zero on both channels when nothing is touching, and force and impulse agree exactly so they are one measured quantity rather than two rulers. Units are SOLVER units and the gate says so: there is no kilogram in the solver, so a newton is not derivable and none is claimed -- the teeth assert monotonicity and discrimination, which is what a haptic loop actually consumes. Unblocks the whole hapticcare domain. | Organ | 3 u |
| Tangential friction at a contact, with the coefficient CITED OR ABSENT (SB3) after SB2 | st_set_friction | MECHANISM PROVEN 2026-08-25, nx_contactfriction_gate GREEN 6/6, and DELIBERATELY UNARMED. GREEN 6/6 ON THE SERVED BINARY (built, promoted, registered, invoked, rostered). Measured surface carry over a 15 mm drag: unset -396, mu 0 -396 (byte-identical to unset), mu 0.25 +35, mu 0.9 +51 cmm -- friction reverses the frictionless drift into positive carry. The first shipped cut of this gate TIMED OUT against /api/gate_run's 12,000 ms bound; it was made to fit by shrinking the CAGE, never by loosening the bound or dropping a tooth, and the discrimination came out STRONGER. A positional Coulomb cone is ported from the estate's own nx_phys3d rather than written a second time: the tangential correction is clamped to mu times the normal correction, so a dragged probe carries the surface with it. mu carries THREE states, not two -- a number, ZERO, and UNSET -- because zero is a measured frictionless surface and UNSET means no citation exists and the solver declines to invent one. Two open-access papers were fetched and pinned looking for a macroscopic skin-on-skin coefficient and NEITHER supplies one (a Frictiometer device index over 633 subjects; microasperity values of 0.004 and 0.001); the commonly-quoted 0.2 to 0.5 band traces only to a review nobody here has read, so it is not in the conf. THE GATE EARNED ITS KEEP ON ITS FIRST RUN, going RED 3/5 and catching TWO independent defects that both compiled and both read as friction: the clamp was on the ALLOWED SLIDE rather than on the CORRECTION, which made mu=0 the stickiest setting available instead of the frictionless one; and the slip was measured in world space rather than against the probe, which damps a particle against the room and is a different physical claim. The tell was the ladder running monotonic in the WRONG DIRECTION, which no single-arm test could have shown. T2 passes on an EXACT equality (unset == mu 0 to the byte), proving UNSET skips the law entirely rather than defaulting to something plausible, and T6 uses a middling coefficient to prove the cone is a continuum rather than a stick/slide switch. Neutrality is measured rather than argued: all six solver gates re-run against the modified solver at 54/54 GREEN. Bar to CLOSE this rung: one cited macroscopic coefficient admitted to the oracle conf with its source, at which point the mechanism arms itself with no code change. | Organ | 4 u |
| Self-contact between two tissue surfaces (SB10) after SB3 | st_self_contact | DONE 2026-08-25, nx_selfcontact_gate GREEN 8/8 ON THE SERVED BINARY: built, promoted under expect_sha256, registered, invoked via /api/gate_run and rostered, with the NAS numbers identical to the local ones. Closest approach 819 to 997 cmm against a 1000 cmm target, a six-pair contact patch, both bodies corrected by inverse-mass split, broad phase proven to cost zero pair tests for separated bodies. THREE RED RUNS BUILT THIS GATE AND ALL THREE WERE ONE MISTAKE: asking a question about SURFACES with an instrument that answers about BOXES or AXES -- placement by bounding-box overlap left the surfaces 397 cmm apart, then two successive did-it-move teeth read zero because the cages meet on their flanks and the contact normal is mostly y and z. Every tooth is now axis-free and the displacement instrument carries its own planted-shift control, so a zero from it can never again be read as a correction that did not happen. The contact distance is DERIVED from st_surface_spacing rather than chosen. | Organ | 6 u |
| Cauchy stress and strain tensors with Young's modulus and Poisson ratio (SB4) after SB1 | st_cauchy_stress | The solver exposes stress and strain per element and accepts Young's modulus and Poisson ratio as material inputs, reproducing the existing per-layer compliance behaviour byte-identically where the two overlap. This is the row every clinical claim is blocked on. | Organ | 10 u |
| FEBio as an analytical oracle, not a dependency (SB5) after SB4 | fo_febio_compare | A headless harness loads a cube and a cylinder of known dimensions through OUR solver and through a published FEBio or closed-form result and reports the deviation as a number with a pre-declared tolerance; exceeding it fails the regression. | Organ | 8 u |
| Surface deviation against the 4D-scan parity bar (SB6) after SB4 | st_surface_err_mm | Measures mean euclidean surface deviation in millimetres and grades against knowledge/gamefeel_oracle.conf tissue_surface_err_mm 0..7 (chen2024 multicomponent FE versus 4D scan, 7.05 mm). The bar is already banked and nothing measures it. | Organ | 6 u |
| Tetrahedralisation of an arbitrary watertight surface with a sliver oracle (SB7) after | st_tet_from_surface | Converts an arbitrary watertight surface to a tetrahedral cage and REFUSES any mesh containing zero-volume or degenerate elements before it reaches the solver, naming the offending element. This is what fTetWild and Gmsh do for the rival pipelines and what our own asset lane needs. | Organ | 7 u |
| One animal on the same solver with a cited gait band (SB8) after SB1 | st_quadruped_gait | One species with a published stride-frequency band admitted to the oracle conf and a gait-coupled drive proven the way the human one now is, on the SAME solver differing only by profile rows. | Organ | 9 u |
| Ground that bears load (SB9) after SB4 | we_shear_transport | Soil and vegetation deflect under a stated pressure, with the deflection cited rather than tuned; footprint and compaction persist. Chrono is BEST here and is the benchmark to grade against. | Organ | 11 u |
| Contact that survives deep interleaving (SB11) after SB10 | st_sdf_contact | A signed distance field or continuous collision detection resolves a pair that has already passed through each other, with a neg-control proving the proximity model reports that same pair as clear. FILED FROM A MEASUREMENT, not from imagination: SB10's proximity contact was measured blind to the tangled case on the day it shipped, and it fails in the reassuring direction by reporting interleaved bodies as not touching. | Organ | 8 u |
| Strand hair that collides with the body (SB12) after SB10 | st_strand_contact | SCOPED DELIBERATELY NARROW BECAUSE HAIR IS OWNED ELSEWHERE: strand dynamics already shipped as graphics nx_hairdyn_lib hd_ringdown (GREEN 11 of 11, a chain on THIS board's solver), geometry is that board's gpe_hair_geometry, and the groom is procgen's gr_strand. This rung is ONLY the contact between a strand chain and the deforming tet cage, which no board owns and only a soft-body engine can. Done when a strand chain rooted on the cage resolves against it at the mesh-derived contact distance st_surface_spacing already computes, with the head turning and the hair following rather than passing through, AND a neg-control proving a strand initialised INSIDE the body is expelled rather than trapped -- because a contact routine that quietly swallows a strand looks identical to one that never fired. The field bar is strand-based and real-time [@uegroom] and the research bar is the augmented mass-spring model [@hairams], which names hair-body interaction as prior work separate from its own hair-hair contribution. | Organ | 6 u |
Layer 3 · Engineering
How this is scored. Every Nishi mark is measured: the generator reads the real organ source on disk and requires the implementing symbol to exist (no self-grading). A watching tag names the organ and symbol contracted to close a gap — the mark flips itself on the next compare beat when that workstream ships, and the
comparewatch- plane row flips with it. The flip is necessary, not sufficient: it proves the symbol exists, never that the capability is good. The bar is the rung's pre-declared done-rule, proven by its gate — a symbol shipped without the behaviour behind it is a defect, and the flip is exactly what makes that defect visible instead of quiet. Competitor marks record documented capability presence — presence, not depth or scale. Adoption is measured too: every measured row carries where its organ stands on the estate's ladder (source → built → promoted → registered → invoked; libraries by importer reach minus validation importers; gates by the execution surfaces that run them). A row is fully adopted only at the top of its ladder; anything short is tagged partial with the exact remedy, so a build nobody promoted can no longer read as shipped. Census stamps: importers asof 1787849099, gate census asof 1787855507 (unix seconds; -1 = census absent).Capability matrix — measured against source
◉ leads / measured exceed● present◐ partial○ absent · click any capability for its evidence
| Capability | Nishi | SOFA | Project Chrono | Bullet | FEBio |
|---|---|---|---|---|---|
xpbd-tet-cage-layered-complianceMeasured:st_substep exists in runtime/nx_softtissue.nx, verified at emit. XPBD (Macklin 2016) over a tetrahedral cage, five named layers (muscle, gland, adipose, skin, ligament) each with its own distance and volume compliance read from data rows. alpha_tilde = alpha/dt^2 makes effective stiffness STEP-SIZE INDEPENDENT, which is the property plain PBD lacks and the reason a stiff setting does not buzz. SOFA [sofa] and FEBio are BEST here on constitutive fidelity (true hyperelastic FEM); Bullet is PART (mass-spring plus basic FEM). We are at the principled tier and integer-only. Adoption: LIB-WIRED importers=12 nonval=2 — fully adopted (top of its ladder). | ● | ◉ | ● | ◐ | ◉ |
neo-hookean-volume-constraintMeasured:st_six_vol exists in runtime/nx_softtissue.nx, verified at emit. Incompressibility as C = 6V - 6V0 per tetrahedron. Correction magnitude scales as 1/(6V) so resistance rises without bound as the element collapses: tissue gets HARDER the harder it is pressed and a deep press dimples instead of inverting. That is the Neo-Hookean barrier, and it is proven by tooth (a capsule pressed 60 percent into the cage, every 6V asserted positive), not asserted. Adoption: LIB-WIRED importers=12 nonval=2 — fully adopted (top of its ladder). | ● | ◉ | ● | ◐ | ◉ |
volume-conservation-gateMeasured exceed:cg_bulge in runtime/_hdl_build/nx_softtissue_conserve_gate.nx, verified at emit. GREEN 8/8: indented volume conserved at EVERY depth, far-side bulge monotonic, damped solvers reach EXACT fixed points, both detectors bite-proven. NO RIVAL SHIPS A CONSERVATION GATE, and a float solver cannot state tolerance zero. This is the displaced-volume claim measured rather than described. Adoption: GATE:LIVE trial=GREEN — fully adopted (top of its ladder). | ◉ | ○ | ○ | ○ | ○ |
metamorphic-relations-gateOpen — no implementing organ is measured for this axis yet. GREEN 12/12: translation, axis-permutation, reflection, time-translation invariance and quiescence over the SHIPPING solver, with a 3x3 mutation matrix and every detector bite-proven. Oracle-free by construction, so it needs no rival to grade against and cannot be gamed by matching a reference implementation. | ○ | ○ | ○ | ○ | ○ |
ringdown-system-identificationMeasured exceed:dbs_ringdown in runtime/nx_dyna_bind_skin.nx, verified at emit. FIRST RUN EVER 2026-08-25. Excites the XPBD plant and identifies its natural frequency and damping ratio by log decrement (dbs_zeta_permil over successive peaks). Measured at the linear limit: fn=4137 mHz, zeta=480 permil -- INSIDE the published human bands 4000..5200 and 350..600. This is the organ that licenses comparing any tunable to a subject row, and no rival has a counterpart because no rival states a motion bar to identify against. Adoption: LIVE — fully adopted (top of its ladder). | ◉ | ○ | ○ | ○ | ○ |
cited-biomechanics-oracle-bandsMeasured exceed:gf_band in runtime/_hdl_build/nx_gamefeel_oracle_gate.nx, verified at emit. Every feel and tissue constant is a CITED ROW with its source in the row: free-vibration modes, haake-scurr-2010 damping 0.475 +- 0.062, cai2018 piecewise stiffness, mills2025 anisotropy, multiplanar walk and run amplitudes, chen2024 surface-error parity bar. A tunable without a row here CANNOT PASS its gate. Rivals hardcode material constants in scene scripts with no citation and no check. Adoption: GATE:LIVE trial=GREEN — fully adopted (top of its ladder). | ◉ | ○ | ○ | ○ | ○ |
oracle-enforced-in-the-ship-laneMeasured exceed:ce_evidence in runtime/nx_craft_emit.nx, verified at emit. The feel oracle runs as step 1b of the page ship lane and the emitted page PUBLISHES the derived figures, computed at emit time from the shipping solver. A drift between code and citation therefore REFUSES THE SHIP rather than being discovered later. This is the anti-drift mechanism as a mechanism, not a rule. Adoption: LIVE — fully adopted (top of its ladder). | ◉ | ○ | ○ | ○ | ○ |
anisotropic-sign-asymmetric-stepMeasured:sd_step_ax exists in runtime/nx_softdyn.nx, verified at emit. Per-axis stiffness and damping plus a piecewise vertical branch selected by ONE SIGN TEST on displacement, exact in integers: cai2018 measures tissue about 9x stiffer below static equilibrium than above, and mills2025 puts anterior-posterior and medio-lateral excursion at 610 and 600 permil of vertical. A single scalar K asserts 1000 permil on both axes and symmetric branches, which is why isotropic jiggle reads as jelly. Rivals CAN express anisotropy in a full FEM material; none ships the measured human numbers as the default. Adoption: LIB-WIRED importers=7 nonval=5 — fully adopted (top of its ladder). | ● | ◐ | ◐ | ○ | ◐ |
reduced-order-model-identified-from-solverMeasured exceed:sb_k_up in runtime/nx_softbind.nx, verified at emit. The runtime spring's stiffness and damping are DERIVED from the cited band by physics (K = 1024*(2*pi*f/rate)^2, C = zeta*2*sqrt(1024*K)) and the piecewise pair is scaled by (1 + 1/sqrt(R)) so the free-vibration PERIOD -- the sum of two half-periods -- lands on target. Nothing here is chosen by eye. The retired hand-tuned plant is refused by the gate's neg-control, which is what proves the band discriminates. Adoption: LIB-WIRED importers=10 nonval=6 — fully adopted (top of its ladder). | ◉ | ○ | ○ | ○ | ○ |
per-individual-seeded-bodiesMeasured:sb_full_from_gene exists in runtime/nx_softbind.nx, verified at emit. Each girl's plant is drawn from her WHOLE genome on a single fullness axis, using the same hash and the same salt as nx_softtissue st_profile_seeded so body and dynamics are ONE DRAW. 1001 distinct plants where the shipped engine had 4 (two genome bits shared across a sixteen-girl cast). Fields are deliberately NOT drawn independently, because independent draws produce implausible combinations. Adoption: LIB-WIRED importers=10 nonval=6 — fully adopted (top of its ladder). | ● | ○ | ○ | ○ | ○ |
gait-coupled-tissue-driveMeasured:wc_gait_ang exists in runtime/nx_wasm_craft.nx, verified at emit. LANDED 2026-08-25, gate-proven 74/74 -- and the FIRST design was refuted by this organ's own gate, which is why it is trustworthy. The drive was a flat clock at a fixed 2.50 Hz whatever her real speed, while the render clip is DISTANCE-synced, so foot plant and tissue drive were uncorrelated. Advancing MC_PH by distance was tried and REFUSED at 52/53 RED: heading is derived FROM that phase (dx = sin(ph*3)), so a girl who stopped froze her heading and could never restart -- T36 caught the bold girl parked at her START distance. The shipped design SPLITS the two: MC_PH still free-runs for wander, and a separate accumulator holds PATH LENGTH in the needs row's spare slot, which wc_need_seed already zeroes and which is non-persisted like the springs -- so no schema change and no save-format change. It accumulates in q8 and divides ONCE at read, because the first cut lost the entire signal to per-tick flooring at ordinary walking speeds. At full stride the angle advances at EXACTLY the incumbent rate, so the calibrated cadence is reproduced bit-for-bit and only slower travel differs, which is what step-frequency-walk-to-run means. T36 back to bold dist=577 and T40 softbody unchanged. Adoption: LIB-WIRED importers=7 nonval=3 — fully adopted (top of its ladder). | ● | ○ | ○ | ○ | ○ |
deterministic-integer-replayMeasured exceed:sd_step in runtime/nx_softdyn.nx, verified at emit. 100 percent integer, semi-implicit Euler, with a stability envelope clamped so an unstable configuration is IMPOSSIBLE TO REQUEST rather than merely discouraged. Replay is bit-identical, so netsync and save-transparency hold by construction. Every float rival is machine-dependent across hosts and cannot make this claim at all. Adoption: LIB-WIRED importers=7 nonval=5 — fully adopted (top of its ladder). | ◉ | ○ | ○ | ○ | ○ |
single-process-real-time-in-browserMeasured exceed:ce_ship in runtime/nx_craft_emit.nx, verified at emit. The whole world, cast and tissue solver compile to ONE WebAssembly module served as a single page, no plugin and no second runtime. The published SOFA and Chrono pipelines route generator to solver to renderer over shared memory or UDP and concede in their own guidance that the solver cannot hold 90 Hz. Bullet [bullet] is the honest real-time comparison and is a native library, not a page. Fidelity is theirs; deliverability is ours. Adoption: LIVE — fully adopted (top of its ladder). | ◉ | ○ | ○ | ○ | ○ |
truncation-dead-zone-restMeasured:sd_deadsnap exists in runtime/nx_softdyn.nx, verified at emit. Integer force terms truncate, so below a derived threshold BOTH spring and damping evaluate to exactly zero and the point coasts ballistically forever -- measured as a perfect period-30 limit cycle still running undecayed after 200000 ticks. A damped system that cannot reach its own rest state is a perpetual-motion defect. Thresholds are derived from K, C and the fixed-point base, never picked. A float solver never meets this class and so never guards it. Adoption: LIB-WIRED importers=7 nonval=5 — fully adopted (top of its ladder). | ● | ○ | ○ | ○ | ○ |
tangential-friction-lawMeasured:st_set_friction exists in runtime/nx_softtissue.nx, verified at emit. MECHANISM PROVEN 2026-08-25 and DELIBERATELY UNARMED, which is the honest state and not a half-finished one. nx_contactfriction_gate reads GREEN 6/6 ON THE SERVED BINARY via /api/gate_run -- built, promoted under expect_sha256, registered, invoked and rostered. Measured surface carry over a 15 mm drag: unset -396, mu 0 -396 (byte-identical to unset, which is how UNSET is PROVEN frictionless rather than assumed), mu 0.25 +35, mu 0.9 +51 cmm. A positional Coulomb cone is PORTED from this estate's own nx_phys3d rather than written a second time -- the tangential correction is clamped to mu times the normal correction, so a dragged probe carries the surface with it instead of sliding frictionlessly through. mu carries THREE states, not two: a number, ZERO, and UNSET. Zero is a measured frictionless surface; UNSET means no citation exists and the solver declines to invent one, and a tooth proves UNSET behaves exactly as frictionless rather than silently defaulting to something plausible. Coded PRESENT, never EXCEEDS: SOFA's constraint-based friction contact pipeline is more complete than one Coulomb cone and is BEST here. See the coefficient row below for why it ships unarmed. Adoption: LIB-WIRED importers=12 nonval=2 — fully adopted (top of its ladder). | ● | ◉ | ● | ● | ● |
skin-friction-coefficient-sourcingOpen — watchingknowledge/gamefeel_oracle.conf : tissue_mu_skin_permil, re-measured on every compare beat. Ship that symbol and this mark flips itself; the comparewatch- plane row flips with it. OPEN, AND THIS IS A LITERATURE GAP RATHER THAN A BUILD GAP -- the mechanism above arms itself the moment this row lands, with no code change. Two open-access papers were fetched and content-pinned on 2026-08-25 hunting a macroscopic skin-on-skin Coulomb coefficient and NEITHER supplies one: one is a Frictiometer FR 770 device index over 633 subjects [skinfriction], which is an instrument reading and not a coefficient, and the other reports microasperity values of 0.004 and 0.001 [skinmicro], which are three orders of magnitude away from the number graphics work quotes. The commonly-repeated 0.2 to 0.5 band traces only to a paywalled review nobody here has read, so it is NOT in the conf -- writing it in would be exactly the fabricated-constant defect this estate refuses everywhere else. THE COLUMNS HERE RECORD CAPABILITY-TO-SET, NOT PROVENANCE: all four rivals expose a friction coefficient as a settable parameter, and whether any of them sources it from tissue literature is something I did not measure, so no claim is made about it. Bar: one cited macroscopic coefficient admitted to the oracle conf with its source in the row. | ○ | ● | ● | ● | ● |
self-contact-between-surfacesMeasured:st_self_contact exists in runtime/nx_softtissue.nx, verified at emit. LANDED 2026-08-25, nx_selfcontact_gate GREEN 8/8 ON THE SERVED BINARY via /api/gate_run -- built, promoted under expect_sha256, registered, invoked and rostered on the slow gate roster, with the NAS run reporting numbers identical to the local one. Two cages in mutual contact resolve to a stated separation: closest approach 819 to 997 cmm against a 1000 cmm target, a six-pair contact patch, both bodies corrected by inverse-mass split. Graded by st_sc_min_sep, an INDEPENDENT closest-approach scan -- grading the routine on its own contact count would score a routine that resolved nothing exactly like one that worked. THE CONTACT DISTANCE IS DERIVED, NOT CHOSEN: st_surface_spacing measures the mesh's own mean surface-particle spacing, because a distance below it reduces every contact to a single point and lets surfaces slip BETWEEN particles -- measured, a hand-picked 300 cmm gave a peak of ONE pair on every pass. Broad phase proven free: two cages a metre apart cost zero pair tests. Coded PRESENT, never EXCEEDS -- SOFA's constraint-based pipeline remains BEST and this is one honest rung of it. Adoption: LIB-WIRED importers=12 nonval=2 — fully adopted (top of its ladder). | ● | ◉ | ● | ● | ● |
self-contact-deep-interleavingOpen — watchingruntime/nx_softtissue.nx : st_sdf_contact, re-measured on every compare beat. Ship that symbol and this mark flips itself; the comparewatch- plane row flips with it. OPEN, AND NAMED BECAUSE WE MEASURED OUR OWN BLIND SPOT RATHER THAN WAITING FOR IT TO SURFACE. Contact is detected by surface-particle proximity, so it resolves GRAZING contact and is blind to DEEP INTERLEAVING once one cage's shell has passed bodily inside the other: pushing a cage 600 cmm past touching took the measured closest approach from 288 UP to 390 cmm and the contact count to ZERO, because the nearest surface particle of the other body is then far away. st_sc_min_sep inherits this exactly -- it is a surface-to-surface distance and is NOT a penetration depth, so it is non-monotonic once bodies interleave. A CONTACT ROUTINE THAT CANNOT SEE THE TANGLED CASE REPORTS IT AS NOT TOUCHING, WHICH IS THE MOST REASSURING POSSIBLE WAY TO BE WRONG, so it is written into the organ's own header and onto this board rather than left for a caller to discover. Bar: a signed distance field or continuous collision detection that resolves an interleaved pair, with a neg-control proving the proximity model reports that same pair as clear. | ○ | ◉ | ● | ● | ● |
stress-strain-tensorsOpen — watchingruntime/nx_softtissue.nx : st_cauchy_stress, re-measured on every compare beat. Ship that symbol and this mark flips itself; the comparewatch- plane row flips with it. OPEN and the honest ceiling on every clinical claim. We carry per-layer COMPLIANCE, not Young's modulus and Poisson ratio, so deformation cannot yet be cross-checked against an analytical solver. Bar: instantiate a cube and a cylinder of known dimensions, load them uniformly, and agree with FEBio within a stated tolerance. Until that lands, no parity-with-clinical claim may be published on this board. | ○ | ◉ | ◉ | ○ | ◉ |
febio-analytical-oracleOpen — watchingruntime/nx_softtissue.nx : fo_febio_compare, re-measured on every compare beat. Ship that symbol and this mark flips itself; the comparewatch- plane row flips with it. OPEN. The rival-as-oracle rung: a headless harness that runs the same primitive load case through our solver and through a published analytical or FEBio [febio] result and reports the deviation as a number. This is how a third party becomes a BENCHMARK rather than a dependency, and it is the only route by which the tensor row above can ever be judged. | ○ | ● | ● | ○ | ◉ |
surface-error-vs-4d-scanMeasured:md_measure exists in runtime/nx_mmdev_lib.nx, verified at emit. I PUBLISHED THIS AS ABSENT ON 2026-08-25 AND IT WAS WRONG. nx_mmdev is BUILT, PROMOTED (33047 B), REGISTERED and AUTHORISED, with its gate GREEN 9/9 -- an exact full-population point-to-triangle surface deviation in tenths of a millimetre (md_measure, md_grid_build, md_dist2_pt_tri, md_mean). It is REGISTERED-DARK: callable, proven, and INVOKED NO. So the RULER exists and the bar exists (conf tissue_surface_err_mm 0..7, chen2024 at 7.05 mm mean euclidean); what is missing is the pairing of the two. The remaining work is to route one production consumer at md_measure with a reference mesh, which nx_gltf2mesh can already produce -- a wiring job, not a build. No fidelity claim is made until that runs. Adoption: LIB-WIRED importers=6 nonval=3 — fully adopted (top of its ladder). | ● | ● | ○ | ○ | ● |
contact-force-readbackMeasured:st_contact_force exists in runtime/nx_softtissue.nx, verified at emit. LANDED 2026-08-25, nx_contactforce_gate GREEN 6/6. The solver resolved contact but never REPORTED it, so nothing downstream could feel firmness. It now accumulates the hard projection the contact constraint performs, summed over a substep's iterations and zeroed at its start -- which IS the constraint impulse. MEASURED: a 10 mm press reads 100726181, a 20 mm press 323948164, and the SAME 20 mm press on firm tissue 1215107751. Two facts fall out that a fake cannot produce: doubling the depth raises force 3.2x, NOT 2x, because the Neo-Hookean barrier is stiffening under the probe; and firm reads 3.75x harder than soft at equal depth. UNITS ARE STATED AND LIMITED: inverse mass is a uniform q12 so there is NO KILOGRAM in this solver and an absolute newton is not derivable -- it would need a density model the profile rows do not carry. That is why the teeth assert MONOTONICITY and DISCRIMINATION, which are unit-independent and are what a haptic loop actually consumes. Adding it perturbed nothing: nx_softtissue_gate reads IDENTICAL live-vs-staged, first_diff_off=-1. Adoption: LIB-WIRED importers=12 nonval=2 — fully adopted (top of its ladder). | ● | ◉ | ◉ | ● | ● |
frame-budget-at-90hzMeasured:tb_measure exists in runtime/nx_tissuebudget.nx, verified at emit. MEASURED AND CLOSED 2026-08-25, GREEN 6/6. The bar had been banked for weeks and nothing had ever measured against it. Result: the whole shipped cast (16 mobs x 3 spring points) costs 28496 ns = 28 us per tick, against a 90 Hz frame budget of 11111 us -- 0.25 percent of the frame, and 1.4 percent of the cited js_block_ms 2000 us app-logic ceiling that actually governs it. Even at fifty times the native cost the browser stays inside that ceiling, so THE TISSUE SOLVER IS NOT THE CONSTRAINT and optimisation effort belongs elsewhere. Two independent budgets corroborate: the DERIVED 1e6/fps and the CITED frame_budget_ms_90hz row agree, which is its own tooth. The figure is labelled a NATIVE FLOOR -- decisive if it had missed, never proof the browser fits. Sample size is derived from the clock (run doubles until 1 us of error is under one part in a thousand) and it ABSTAINS rather than dividing an unresolved 0 into a per-tick cost of 0. Adoption: RUN-BY:roster — fully adopted (top of its ladder). | ● | ○ | ○ | ● | ○ |
tetrahedralisation-from-surfaceMeasured:st_add_edge exists in runtime/nx_softtissue.nx, verified at emit. PART. We build our own cage with a lattice step DERIVED from the particle budget (dbs_derive_cell), which is why the ringdown reports cell_mm rather than taking it as an argument. What is absent is tetrahedralising an ARBITRARY watertight surface the way fTetWild and Gmsh do, which is what a general asset pipeline needs. Bar: a manifoldness and sliver oracle that REFUSES a mesh with zero-volume elements before it reaches the solver. Adoption: LIB-WIRED importers=12 nonval=2 — fully adopted (top of its ladder). | ● | ● | ● | ○ | ● |
animal-and-quadruped-biomechanicsMeasured:quad_gait_pose_g exists in runtime/nx_quadruped.nx, verified at emit. I PUBLISHED THIS ROW AS "UNSTARTED" ON 2026-08-25 AND IT WAS WRONG -- corrected the same day by an existence audit over this board's own ABSENT rows. nx_quadruped.nx is a real 10014 B rig (18 joints QR_ROOT..QR_TAIL2, quad_build, quad_gait_pose_g with 0=walk 1=trot 2=gallop, quad_add_horns), and TWO gates were compiled and had NEVER RUN: nx_quad_gaits_gate 128583 B and nx_wolf_walk_gate 141131 B, both BUILT-UNPROMOTED because both rolled their own verdict and /api/promote refuses D001 by name. Migrated nx_quad_gaits_gate onto gv_check, promoted, registered, and ran it for the FIRST TIME EVER: GREEN 4/4, emitting a real 52937 B gallop APNG and a 55126 B horned-trot APNG. STILL OPEN and now countable: no cited stride-frequency band in the oracle conf, so the gaits are proven DISTINCT and ANIMATED but not proven CORRECT against a published animal. That is the remaining bar, and it is a data admission, not an organ. Adoption: LIB-GATE-ONLY importers=2 — PARTIAL: imported only by validation organs (gates, tests, benches): wire it into a shipping program. | ● | ● | ◉ | ● | ● |
environment-soft-bodyOpen — watchingruntime/nx_water_erosion.nx : we_shear_transport, re-measured on every compare beat. Ship that symbol and this mark flips itself; the comparewatch- plane row flips with it. PART. Terrain deforms through erosion, but soil and vegetation do not respond to LOAD -- no footprint, no compaction, no bending under contact. Chrono [chrono] is BEST here (soft-soil terramechanics is its home ground). Bar: a load-bearing ground model whose deflection under a stated pressure is cited, not tuned. | ○ | ● | ◉ | ● | ● |
hair-strand-to-body-collisionOpen — watchingruntime/nx_softtissue.nx : st_strand_contact, re-measured on every compare beat. Ship that symbol and this mark flips itself; the comparewatch- plane row flips with it. OPEN, AND DELIBERATELY NARROW BECAUSE HAIR IS ALREADY OWNED TWICE ELSEWHERE AND A THIRD COPY WOULD BE THE DUPLICATE-RULER DEFECT. Measured over the whole compare tree on 2026-08-25: strand DYNAMICS shipped on /compare/graphics as nx_hairdyn_lib hd_ringdown (GREEN 11 of 11, bite-proven, driven as a chain on THIS board's own solver), hair GEOMETRY is that board's gpe_hair_geometry watch, and the strand GROOM that generates the guides is procgen's gr_strand. What no board owns, and what only a soft-body engine can own, is the CONTACT between a strand and the deforming tet cage. The bar is strand-based and real-time in the field: Unreal's groom system renders each individual strand with physically accurate motion at hundreds of thousands of strands [uegroom], and the current research bar is the Augmented Mass-Spring model, which adds edge, bending and torsional degrees of freedom plus a biphasic interaction through two extra one-way springs to simulate thousands of interacting strands in real time [hairams]. READ HONESTLY, THAT PAPER ALSO NAMES OUR GAP AS ITS OWN: its contribution is hair-HAIR interaction, and it cites improved hair-BODY interaction as separate prior work. Bar: a strand chain whose root follows the cage and whose segments resolve against it, with a neg-control proving a strand released inside the body is expelled rather than trapped. | ○ | ● | ● | ● | ○ |
cloth-to-body-and-multilayer-garment-contactOpen — watchingruntime/nx_softtissue.nx : st_cloth_contact, re-measured on every compare beat. Ship that symbol and this mark flips itself; the comparewatch- plane row flips with it. OPEN, AND SCOPED TO THE HALF NOBODY OWNS. Cloth is already contracted on THREE other boards and none of them is this row: procgen owns the SOLVER (gm_xpbd_step, stretch shear and bending compliance over the garment edge list, rung PG29), dcc owns PATTERN SEWING AND DRAPE (gd_drape, rung DC10), and charsim owns cloth and hair riding one solver (dyna_cloth, R8). procgen's row already states the solver must ride THE TET CAGE'S CONTACT -- this row is that contact, plus the two things none of the three name: GARMENT-ON-GARMENT layering, and TEARING. The field bar is explicit that collision comes from the body rig: Unreal's Chaos Cloth is a low-level particle solver whose collision is supplied by the character's Physics Asset [chaoscloth], while the pattern-first tools are Marvelous Designer [marvelous] and CLO [clo3d], both of which simulate a sewn garment rather than a painted one. SOFA is BEST here on constraint-based contact. Bar: two garment layers over a pressed cage with no interpenetration at a derived contact distance, and a tear that propagates along a stated stress threshold rather than at a chosen edge. | ○ | ◉ | ● | ● | ○ |
free-surface-liquid-wave-fieldMeasured:fl_step exists in runtime/nx_fluid.nx, verified at emit. CORRECTED FROM AN ABSENCE I WAS ABOUT TO PUBLISH. A capability search for a fluid solver first returned the homonym trap twice over -- viscosity matches 28 times in runtime sources and every one classified is food-science rheology or FDM melt flow, and Navier matches 16 times and every one is the Octane NavierStokes JAVASCRIPT BENCHMARK in the JS VM lane. A glob then found nx_fluid.nx, which is REAL: a height-field shallow-water solver integrating the discrete wave equation on a height and velocity grid with reflecting boundaries, so sum of the laplacian is zero and VOLUME IS EXACTLY CONSERVED by construction, with fl_volume exposing it. It is all-integer like the rest of this board. Its own header states its limit before anyone else could -- FLIP is the particle variant and this is not it. So the honest coding is PART on our side and OUT OF SCOPE for three of the four rival columns, which are solid-mechanics engines; Chrono is the one that ships fluid-structure interaction. This row exists so the next reader does not repeat the search that nearly filed a false ABSENT. Adoption: LIB-GATE-ONLY importers=1 — PARTIAL: imported only by validation organs (gates, tests, benches): wire it into a shipping program. | ● | ○ | ● | ○ | ○ |
viscous-film-surface-tension-and-clingingOpen — watchingruntime/nx_fluid.nx : fl_film_cling, re-measured on every compare beat. Ship that symbol and this mark flips itself; the comparewatch- plane row flips with it. OPEN, AND IT IS THE GAP THE ROW ABOVE MEASURES RATHER THAN GUESSES. A height field is a 2.5D surface: it has no viscosity term, no surface tension, no wetting, and no notion of a film adhering to a moving body, so nothing in this estate can express a liquid that clings to skin, beads, sheets off, or drips. The rival columns are deliberately all coded zero because this axis is outside what all four advertise -- the real bar is a dedicated real-time liquid tool, and LiquiGen states its own scope as water through blood to ketchup and slime with real-time meshing, customizable forces and sparse simulation domains [liquigen]. Houdini FLIP is the offline bar and is named WITHOUT a cite mark on purpose: www.sidefx.com fails TLS in our own fetcher, so no mirror exists and an unfetched reference is a fabrication. Bar: a film whose thickness on the tissue surface is driven by a cited surface-tension and viscosity pair, with a neg-control proving a zero-tension film sheets off completely instead of beading. | ○ | ○ | ○ | ○ | ○ |
bedding-and-support-surface-load-distributionOpen — watchingruntime/nx_softtissue.nx : st_support_surface, re-measured on every compare beat. Ship that symbol and this mark flips itself; the comparewatch- plane row flips with it. OPEN, AND DISTINCT FROM SB9 RATHER THAN A SECOND COPY OF IT -- the distinction is stated because this board already carries a ground row and two load-bearing rows would be the duplicate-ruler defect. SB9 environment-soft-body is OUTDOOR terrain: soil shear transport, footprints and compaction, where Chrono terramechanics is BEST. This row is the INDOOR support surface -- a mattress, cushion or bedding whose deflection redistributes body weight -- and its deliverable is not a dent but a PRESSURE MAP, because the quantity that matters is how load spreads across the contact patch. It composes what already landed rather than needing new physics: st_contact_force gives a per-contact reaction and st_self_contact gives two-body resolution with an inverse-mass split, so a support surface is a second cage with its own compliance rows. Bar: a body at rest on a compliant surface whose summed contact reaction equals its applied load within a stated tolerance, with the indentation depth and the contact-patch area both reported, and a neg-control proving a rigid surface concentrates the same load into a measurably smaller patch. | ○ | ● | ◉ | ● | ● |
engorgement-as-rest-volume-expansionMeasured:st_inflate_rest_volume exists in runtime/nx_softtissue.nx, verified at emit. LANDED 2026-08-25, nx_engorge_gate GREEN 7/7 ON THE SERVED BINARY (built, promoted under expect_sha256, registered, invoked): the rest state grows rather than the skin being pushed, graded against the closed-form s^3 prediction -- commanded +20% linear predicts 1728 permil and measures 1667, correctly UNDER because only the adipose layer (80% of distance constraints) grew; reversible to pristine within 0.011%; layer-selective; a unity command on a pristine cage changes NOTHING to the byte; zero and negative factors REFUSE. How much any real tissue engorges is NOT claimed: no band is mirrored, the factor is the caller's, cite-or-abstain as friction ships. It was EXACTLY THE COUPLING procgen's OWN ROW SAYS IS MISSING -- which is why it is filed here and not there. The PHYSIOLOGY is already shipped and is procgen's: nx_arousal_lib a_perf models drive, lag, perfusion, temperature, heart rate and blood pressure as integer functions shared by simulate and fit so the two cannot drift, and its arousal-on-mesh gate is GREEN 17 of 17. That row states its own blocker in one line -- a pure normal push is not volume-conserving, and THIS BOARD'S conservation gate would refuse it. So the missing piece is not a physiology model and not a renderer: it is driving the tet cage's REST VOLUME from a_perf, so that engorgement is tissue expansion the Neo-Hookean volume constraint carries and the conservation gate can referee, rather than a displacement painted onto a surface. The rival columns are all zero because no general-purpose engine ships an inflation-driven rest-volume channel, which is a scope statement and not a boast. Bar: rest volume driven by a_perf with the conservation gate green at every level of the drive, and a neg-control proving the retired normal-push model FAILS that same gate. Adoption: LIB-WIRED importers=12 nonval=2 — fully adopted (top of its ladder). | ● | ○ | ○ | ○ | ○ |
muscle-contraction-driven-skinOpen — watchingruntime/_hdl_build/nx_myo.nx : my_contract_fiber, re-measured on every compare beat. Ship that symbol and this mark flips itself; the comparewatch- plane row flips with it. OPEN, AND IT IS A DIFFERENT MECHANISM FROM THE FACS ROW TWO BOARDS ALREADY CARRY, WHICH IS WHY IT IS NOT A DUPLICATE. charsim R9 and graphics both watch fa_expr_morph, and that contract is BLENDSHAPES -- expression axes blended over a surface. This row is the other way round: an ACTIVE CONTRACTILE ELEMENT inside the tet solver, where a fibre shortens and the skin above it moves BECAUSE the flesh under it did, so micro-expression emerges from anatomy instead of being authored as a target. Ziva VFX is the production bar and states its own method plainly -- it constructs and simulates muscles, fat, fascia and skin and produces skin deformations informed by the underlying anatomy, and its team took a 2025 SciTech Academy Award [ziva]; MetaHuman is the delivery bar for a complete photoreal human with hair and clothing [metahuman]. THE MOST USEFUL THING IN THAT MIRROR IS ARCHITECTURAL, NOT COSMETIC: Ziva RealTime reaches real time by LEARNING to reconstruct shape from training sets, reproducing in milliseconds what otherwise takes seconds or minutes per frame -- which is the same offline-identify then cheap-at-runtime shape as our reduced-order model, arrived at independently. The difference is the one axis we can actually claim: ours is DERIVED by physics from a measured ringdown, so it carries a conservation guarantee and bit-identical replay, and a learned surrogate structurally cannot state either. Bar: a named fibre whose contraction provably moves the skin surface above it in millimetres by md_measure, with a neg-control proving a fibre at rest moves it zero. | ○ | ● | ○ | ○ | ● |
On these two registers. Rows are declared in the domain's plan file and carry the debt id, which is the join key back to the sovereign debt plane — that plane, not this page, is the authority on state. Reconciling them automatically (the regen reading the plane and refreshing these rows) is a named, owed rung; until it lands, treat an id here as a pointer to look up, not a status to trust.
Honest verdict. Their constitutive fidelity is higher offline and that is stated plainly on every row it applies to. Ours is the only one of the five that validates its resulting MOTION against a measured human, publishes the derived figures on the page they drive, and REFUSES the build when code and citation drift apart. It is also the only one that runs in a browser tab with bit-identical replay. Stress tensors, self-contact and force readback are open, named, and block every clinical claim until they land.
Person · product · place — not yet measured for this domain
Every compare carries this layer. Declare
knowledge/compare/softbody.ppp (rows surface|nishi or c1..c4|label|url|connect naming OUR live surface and each rival's front door), run nx_ppp_probe domain softbody, and this section fills itself on the next beat: the same ruler on both sides — privacy and CX (third-party hosts, tracker classes, cookies, security headers), design and longevity (design hygiene, computed WCAG contrast, render-blocking resources, unsized media, script weight, theme and motion queries), findability (landmarks, skip link, on-site search, breadcrumb, headings, internal links).References
Beyond a link list. Every reference below resolves twice — the publisher's copy and, where banked, the estate's own non-rottable library mirror with a content pin — and carries its evidence class plus the exact claim on this page it grounds. Keyed marks like [key] in the matrix notes jump here. A dash means honestly absent, never assumed.
- [sofa] SOFA Framework -- open-source framework for interactive real-time simulation, targeted at medical and soft-tissue mechanics publisher · read in our library
knowledge/fetched/cmp_softbody_sofa.html· pinhc28d11ec6accec23055c395ce343f57d3a8c606aa9c9e5127b63857ffb9f5293· accessed 2026-08-25 · vendor-docGrounds: xpbd-tet-cage-layered-compliance - [chrono] Project Chrono -- open-source multi-physics simulation engine covering multibody dynamics, FEA and deformable terrain publisher · read in our library
knowledge/fetched/cmp_softbody_chrono.html· pinh90921eecf7cd5f29ab48fd1d7e40ebde4dfb9d019ce16819d95a2a3ad350ef47· accessed 2026-08-25 · vendor-docGrounds: environment-soft-body - [bullet] Bullet Physics SDK -- real-time collision detection and multi-physics for games, robotics and VR publisher · read in our library
knowledge/fetched/cmp_softbody_bullet.html· pinh52245668d2c934aecc050f13d2a365194447e07c8c8ac4f6e883b52fc898b165· accessed 2026-08-25 · source-readGrounds: single-process-real-time-in-browser - [febio] FEBio -- finite element solver purpose-built for biomechanics and the analytical reference other solvers are checked against publisher · read in our library
knowledge/fetched/cmp_softbody_febio.html· pinhad8b6691342716904e07ceebd6976d8579a2ce6e8416cd540a57a48cfd999ca7· accessed 2026-08-25 · vendor-docGrounds: febio-analytical-oracle - [skinfriction] Zhu, Y. et al. Characterization of Skin Friction Coefficient, and Relationship to Stratum Corneum Hydration in a Normal Chinese Population. Skin Pharmacol Physiol (PMC2997446). publisher · read in our library
knowledge/fetched/cmp_softbody_skinfriction.html· pinh3c36520e1c4c7df03ba63ca61ea7c93621f8d3abd7f86adc97616c9bd831518e· accessed 2026-08-25 · published-paperGrounds: skin-friction-coefficient-sourcing - [skinmicro] Masen, M. et al. Skin Microstructure is a Key Contributor to Its Friction Behaviour. Tribol Lett (PMC6961497). publisher · read in our library
knowledge/fetched/cmp_softbody_skinmicro.html· pinh1b0be509e179cca9a0670911dd37df1f3041cb081c718f3f0a80aada7223f4b7· accessed 2026-08-25 · published-paperGrounds: skin-friction-coefficient-sourcing - [hairams] He, Amador Herrera et al. Digital Salon -- An AI and Physics-Driven Tool for 3D Hair Grooming and Simulation. arXiv 2507.07387, Yale University. Adapts the Augmented Mass-Spring Model of Herrera et al. 2024, modelling standard edge, bending and torsional degrees of freedom while incorporating an augmented biphasic interaction through two additional one-way springs, embedded within a hybrid Eulerian and Lagrangian framework to resolve hair-hair interactions, simulating thousands of interacting strands in real time. publisher · read in our library
knowledge/fetched/cmp_softbody_hairmassspring.html· pinh3465ee22cda8931b329212fa816d387cdfa5147e4aef995215f25aee164e440f· accessed 2026-08-25 · published-paperGrounds: hair-strand-to-body-collision - [ziva] DNEG Ziva. Ziva VFX constructs and simulates muscles, fat, fascia and skin for digital characters and produces precise skin mesh deformations informed by their underlying anatomy, and its team received a 2025 Scientific and Technical Achievements Academy Award. Ziva RealTime analyses training sets that demonstrate how a character should look as it moves and learns to reconstruct that shape at realtime speeds, reproducing in milliseconds effects that traditionally require seconds or even minutes per frame. Ziva Face Technology converts scans and models into digital Face Puppets. publisher · read in our library
knowledge/fetched/cmp_softbody_ziva.html· pinhd14d80cdb8b593d22d557474a2009e0bc74ec5bbbcfbe16d05a6a1206fc0be6c· accessed 2026-08-25 · vendor-docGrounds: muscle-contraction-driven-skin - [metahuman] Epic Games MetaHuman. Create and animate a bespoke photoreal digital human for any 3D project, complete with hair and clothing, in minutes, starting from a preset, with MetaHuman Animator for real-time performance, delivered inside Unreal Engine. The mirror is a marketing front door and is cited ONLY for that positioning -- it does not describe vasodilation, subsurface scattering or micro-expression internals and no such claim is sourced to it here. publisher · read in our library
knowledge/fetched/cmp_softbody_metahuman.html· pinh198ba7dcc343300c4650c69dc3ebb213f2f7ba7b0e41e359689062bdd5585884· accessed 2026-08-25 · vendor-docGrounds: muscle-contraction-driven-skin - [uegroom] Epic Games. Hair Rendering and Simulation, Unreal Engine 5.8 documentation. The groom rendering and simulation system uses a strand-based workflow to render each individual strand of hair with physically accurate motion, enabling artists to simulate and render hundreds of thousands of strands. publisher · read in our library
knowledge/fetched/cmp_softbody_groom.html· pinh536c86460e0cde8d254aa9a334690adaa37f5296862924c0b6d74b52da9fbfda· accessed 2026-08-25 · vendor-docGrounds: hair-strand-to-body-collision - [chaoscloth] Epic Games. Clothing Tool in Unreal Engine. Unreal Engine uses the Chaos Cloth solver, a low-level clothing solver responsible for the particle simulation that runs clothing; clothing is painted onto a material element of a skeletal mesh with the Cloth Paint Tool, and the character's Physics Asset supplies the collision the cloth simulation uses. publisher · read in our library
knowledge/fetched/cmp_softbody_chaoscloth.html· pinh5aae6901e21688b8e88e0c880c9a5186e855614fe4a7bf99b180c5b1b5a8dd33· accessed 2026-08-25 · vendor-docGrounds: cloth-to-body-and-multilayer-garment-contact - [liquigen] JangaFX LiquiGen. A real-time liquid simulation tool for creating anything from water and blood to ketchup and slime, with real-time meshing, customizable forces, sparse simulation domains and a real-time path tracer. publisher · read in our library
knowledge/fetched/cmp_softbody_liquigen.html· pinhf8ad73c9caec09208159423caf38dffedf77a8803c3478096c71cdbb311eeaf4· accessed 2026-08-25 · vendor-docGrounds: viscous-film-surface-tension-and-clinging - [marvelous] Marvelous Designer. A digital cloth creation tool for 3D artists positioned by its vendor as providing the most accurate and fastest cloth simulation, built on garment pattern making with a Solidify property assignable to parts of a garment. publisher · read in our library
knowledge/fetched/cmp_softbody_marvelous.html· pinh30e9779e5716db6fbdf8cf2ea79aff8ab650b3f0170fac15945ec6ed4e717b02· accessed 2026-08-25 · vendor-docGrounds: cloth-to-body-and-multilayer-garment-contact - [clo3d] CLO Virtual Fashion. CLO is a 3D fashion design software program creating virtual true-to-life garment visualization with simulation technology, covering 3D fashion design, garment simulation, digital patternmaking and virtual garment visualization, founded 2009. publisher · read in our library
knowledge/fetched/cmp_softbody_clo3d.html· pinh7b52b70f4c2018272ff2671d861f29503a1498b0a1102e439695ab702239d861· accessed 2026-08-25 · vendor-docGrounds: cloth-to-body-and-multilayer-garment-contact
generated by nx_swcompare_matrix (sovereign NishiLang organ) from knowledge/compare/softbody.matrix · every Nishi cell verified against organ source at emit time · watch cells re-measured on every compare beat · zero JS, zero trackers