Not a tuning pass — a locomotion rebuild per Codex's review. Replaces the X-axis shuttle +
scripted 180° U-turn with a proper 3D steering controller (behavior.js): UB seeks wandering
waypoints through the whole tank (XYZ incl. near/far depth passes), eases speed via limited
accel, steers with a rate-limited quaternion toward its velocity, banks into curves, and
softly veers away from walls BEFORE reaching them — no scripted turns.
Architecture: motionRoot (Group) owns world position + heading + bank; the visual rig plays
in-place body clips inside it, so navigation never fights the skeleton and the controller is
the sole heading authority (clips carry no root motion — verified). Fuller clip set exported
(idle/cruise/fast/turn{L,R}{in,loop,out}/eat*, build-clips.mjs). Authored clips play at their
own timing; only cruise cadence scales with speed. Debug panel: cruise speed + roam W/H/DEPTH
+ liveliness, a live readout (mode/clip/speed/turn/pos), and the raw-clip preview.
Next (Codex step 3): needs-driven personality — forage/zoomies/surface/inspect — on this base.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
UB is no longer a static in-place loop. New behavior.js owns locomotion: UB wanders a
bounded tank, cruises at a chosen speed, drifts to new depths (nose tilts into it),
occasionally rests or darts, and banks through smooth U-turns at the edges — the tail
beats faster/slower with speed. All clips are in-place, so the engine drives world
position + heading and crossfades between the named clips (idle/cruise/burst/turnL/turnR).
Multi-clip GLB built via tools/glb-split/build-clips.mjs (5 clips, 8.7MB — orphaned Take
accessors explicitly disposed). aquarium.js reworked: clip crossfade + per-frame behavior
apply. Tuner (/zen?debug=1) now exposes scale + Behavior (cruise speed / roam width /
roam height / liveliness) + the fins section. Reduced-motion calms speed + liveliness.
Still admin-gated.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
thejayman77