animsmith_core/

diff.rs

//! Compare measurement maps and report per-metric movement beyond
//! significance thresholds.
//!
//! Per-metric significance thresholds treat movement below these values
//! as noise (f32 quantization, re-export dust), not a change worth
//! reporting.

use crate::measure::{ClipMeasurements, MeasurementAvailability};
use serde::Serialize;
use std::collections::{BTreeMap, BTreeSet};

/// Duration movement threshold, in seconds.
pub const DURATION_THRESHOLD_S: f64 = 0.017; // half a frame at 30 fps
/// Bone rotation range movement threshold, in degrees.
pub const ROTATION_RANGE_THRESHOLD_DEG: f64 = 1.0;
/// Per-bone loop-closure position movement threshold, in metres.
pub const LOOP_POSITION_THRESHOLD_M: f64 = 0.001;
/// Per-bone loop-closure rotation movement threshold, in degrees.
pub const LOOP_ROTATION_THRESHOLD_DEG: f64 = 0.1;
/// Per-bone seam-velocity movement threshold, in metres per second.
pub const LOOP_VELOCITY_THRESHOLD_MPS: f64 = 0.01;
/// Per-bone seam angular-velocity movement threshold, in degrees per second.
pub const LOOP_ANGULAR_VELOCITY_THRESHOLD_DEGPS: f64 = 0.5;
/// Loop-seam ratio movement threshold.
pub const SEAM_THRESHOLD: f64 = 0.05;
/// Gait phase movement threshold, in circular cycle fraction.
pub const PHASE_THRESHOLD: f64 = 0.05; // cycle fraction, circular
/// Gait amplitude movement threshold, in metres.
pub const AMPLITUDE_THRESHOLD_M: f64 = 0.005;
/// Root-motion speed movement threshold, in metres per second.
pub const SPEED_THRESHOLD_MPS: f64 = 0.1;
/// Root-trajectory translation movement threshold, in metres.
pub const ROOT_TRAJECTORY_TRANSLATION_THRESHOLD_M: f64 = 0.001;
/// Root-trajectory yaw movement threshold, in degrees.
pub const ROOT_TRAJECTORY_YAW_THRESHOLD_DEG: f64 = 0.1;

/// One significant metric difference between two measurement maps.
#[derive(Debug, Serialize)]
pub struct MetricDelta {
    /// Clip that owns the changed metric, or the added/removed clip.
    pub clip: String,
    /// Metric path, for example `"duration_s"` or
    /// `"bone_rotation_range_deg[hips]"`.
    pub metric: String,
    /// Value in the before map, absent when a metric appeared, a clip was
    /// added/removed, or a publicly constructed delta carries a non-finite
    /// value that cannot be represented by the JSON contract.
    #[serde(skip_serializing_if = "non_finite_or_none")]
    pub before: Option<f64>,
    /// Value in the after map, absent when a metric disappeared, a clip was
    /// added/removed, or a publicly constructed delta carries a non-finite
    /// value that cannot be represented by the JSON contract.
    #[serde(skip_serializing_if = "non_finite_or_none")]
    pub after: Option<f64>,
    /// Short cause such as `"moved"`, `"appeared"`, or
    /// `"bone no longer animated"`.
    pub note: String,
}

fn non_finite_or_none(value: &Option<f64>) -> bool {
    value.is_none_or(|number| !number.is_finite())
}

/// Report any change in a clip fact's availability status
/// (`measured`/`not_applicable`/`unavailable`), including the
/// `not_applicable` <-> `unavailable` transition that a bare optional value
/// compares as unchanged elsewhere in this module (both are an absent
/// value), and a `measured` <-> absent transition for facts with no numeric
/// or structured value comparison of their own (`loop_endpoint_mode`,
/// `frame_grid`) — without this those two facts' appearance/disappearance
/// would be completely silent. The note names only the status reached: it is
/// deterministic given `(a, b)` because this function returns early when
/// `a == b`, so a reached status always names a genuine change.
///
/// `metric` should carry the wire field's own `_availability` suffix (for
/// example `"loop_seam_ratio_availability"`) so this status delta never
/// collides with a sibling numeric/structured delta reported under the bare
/// field name.
fn push_availability(
    deltas: &mut Vec<MetricDelta>,
    clip: &str,
    metric: &str,
    a: MeasurementAvailability,
    b: MeasurementAvailability,
) {
    if a == b {
        return;
    }
    let note = match b {
        MeasurementAvailability::Measured => "became measured",
        MeasurementAvailability::NotApplicable => "no longer applicable",
        MeasurementAvailability::Unavailable => "became unavailable",
    };
    deltas.push(MetricDelta {
        clip: clip.into(),
        metric: metric.into(),
        before: None,
        after: None,
        note: note.into(),
    });
}

/// Compare two measurement maps and return only significant deltas.
///
/// The thresholds are intentionally fixed public constants so CLI and
/// embedding callers agree on what counts as re-export noise. Gait phase
/// uses circular distance, so phases near `0.0` and `1.0` compare as
/// adjacent rather than far apart.
pub fn diff_measurements(
    a: &BTreeMap<String, ClipMeasurements>,
    b: &BTreeMap<String, ClipMeasurements>,
) -> Vec<MetricDelta> {
    let finite = |value: Option<f64>| value.filter(|value| value.is_finite());
    let mut deltas = Vec::new();
    let delta =
        |clip: &str, metric: &str, before: Option<f64>, after: Option<f64>, note: String| {
            MetricDelta {
                clip: clip.into(),
                metric: metric.into(),
                before,
                after,
                note,
            }
        };

    for (clip, ma) in a {
        let Some(mb) = b.get(clip) else {
            deltas.push(delta(clip, "clip", None, None, "clip removed".into()));
            continue;
        };
        let mut push_num = |metric: &str,
                            va: Option<f64>,
                            vb: Option<f64>,
                            threshold: f64,
                            circular_period: Option<f64>| {
            let moved = match (va, vb) {
                (Some(x), Some(y)) => {
                    if let Some(period) = circular_period {
                        let d = (x - y).rem_euclid(period);
                        let d = d.min(period - d);
                        let roundoff = 16.0
                            * f64::EPSILON
                            * d.abs().max(threshold.abs()).max(period.abs()).max(1.0);
                        d > threshold + roundoff
                    } else {
                        (x - y).abs() > threshold
                    }
                }
                (None, None) => false,
                _ => true, // appeared or disappeared
            };
            if moved {
                deltas.push(MetricDelta {
                    clip: clip.clone(),
                    metric: metric.into(),
                    before: va,
                    after: vb,
                    note: match (va, vb) {
                        (Some(_), Some(_)) => "moved".into(),
                        (None, Some(_)) => "appeared".into(),
                        _ => "disappeared".into(),
                    },
                });
            }
        };

        push_num(
            "duration_s",
            finite(Some(ma.duration_s)),
            finite(Some(mb.duration_s)),
            DURATION_THRESHOLD_S,
            None,
        );
        push_num(
            "frame_count",
            Some(ma.frame_count as f64),
            Some(mb.frame_count as f64),
            0.5,
            None,
        );
        push_num(
            "loop_seam_ratio",
            finite(ma.loop_seam_ratio),
            finite(mb.loop_seam_ratio),
            SEAM_THRESHOLD,
            None,
        );
        push_num(
            "gait.phase",
            finite(ma.gait.as_ref().and_then(|g| g.phase)),
            finite(mb.gait.as_ref().and_then(|g| g.phase)),
            PHASE_THRESHOLD,
            Some(1.0),
        );
        push_num(
            "gait.lr_amplitude_m",
            finite(ma.gait.as_ref().map(|g| g.lr_amplitude_m)),
            finite(mb.gait.as_ref().map(|g| g.lr_amplitude_m)),
            AMPLITUDE_THRESHOLD_M,
            None,
        );
        push_num(
            "speed_mps",
            finite(ma.speed_mps),
            finite(mb.speed_mps),
            SPEED_THRESHOLD_MPS,
            None,
        );

        let a_translation = ma
            .root_trajectory
            .as_ref()
            .and_then(|trajectory| trajectory.translation.as_ref());
        let b_translation = mb
            .root_trajectory
            .as_ref()
            .and_then(|trajectory| trajectory.translation.as_ref());
        for (field, va, vb) in [
            (
                "horizontal_displacement_x_m",
                a_translation.map(|translation| translation.horizontal_displacement_x_m),
                b_translation.map(|translation| translation.horizontal_displacement_x_m),
            ),
            (
                "horizontal_displacement_z_m",
                a_translation.map(|translation| translation.horizontal_displacement_z_m),
                b_translation.map(|translation| translation.horizontal_displacement_z_m),
            ),
            (
                "horizontal_travel_m",
                a_translation.map(|translation| translation.horizontal_travel_m),
                b_translation.map(|translation| translation.horizontal_travel_m),
            ),
            (
                "vertical_displacement_m",
                a_translation.map(|translation| translation.vertical_displacement_m),
                b_translation.map(|translation| translation.vertical_displacement_m),
            ),
            (
                "vertical_min_displacement_m",
                a_translation.map(|translation| translation.vertical_min_displacement_m),
                b_translation.map(|translation| translation.vertical_min_displacement_m),
            ),
            (
                "vertical_max_displacement_m",
                a_translation.map(|translation| translation.vertical_max_displacement_m),
                b_translation.map(|translation| translation.vertical_max_displacement_m),
            ),
        ] {
            push_num(
                &format!("root_trajectory.translation.{field}"),
                finite(va),
                finite(vb),
                ROOT_TRAJECTORY_TRANSLATION_THRESHOLD_M,
                None,
            );
        }
        let a_yaw = ma
            .root_trajectory
            .as_ref()
            .and_then(|trajectory| trajectory.yaw.as_ref());
        let b_yaw = mb
            .root_trajectory
            .as_ref()
            .and_then(|trajectory| trajectory.yaw.as_ref());
        push_num(
            "root_trajectory.yaw.net_yaw_deg",
            finite(a_yaw.map(|yaw| yaw.net_yaw_deg)),
            finite(b_yaw.map(|yaw| yaw.net_yaw_deg)),
            ROOT_TRAJECTORY_YAW_THRESHOLD_DEG,
            Some(360.0),
        );
        push_num(
            "root_trajectory.yaw.unwrapped_yaw_deg",
            finite(a_yaw.map(|yaw| yaw.unwrapped_yaw_deg)),
            finite(b_yaw.map(|yaw| yaw.unwrapped_yaw_deg)),
            ROOT_TRAJECTORY_YAW_THRESHOLD_DEG,
            None,
        );
        push_num(
            "root_trajectory.yaw.yaw_travel_deg",
            finite(a_yaw.map(|yaw| yaw.yaw_travel_deg)),
            finite(b_yaw.map(|yaw| yaw.yaw_travel_deg)),
            ROOT_TRAJECTORY_YAW_THRESHOLD_DEG,
            None,
        );

        let a_loop_bones: BTreeMap<_, _> = ma
            .loop_continuity
            .as_ref()
            .into_iter()
            .flat_map(|continuity| &continuity.bones)
            .map(|bone| (bone.bone_index, bone))
            .collect();
        let b_loop_bones: BTreeMap<_, _> = mb
            .loop_continuity
            .as_ref()
            .into_iter()
            .flat_map(|continuity| &continuity.bones)
            .map(|bone| (bone.bone_index, bone))
            .collect();
        let mut loop_bone_availability_deltas = Vec::new();
        for bone_index in a_loop_bones
            .keys()
            .chain(b_loop_bones.keys())
            .copied()
            .collect::<BTreeSet<_>>()
        {
            let a_bone = a_loop_bones.get(&bone_index).copied();
            let b_bone = b_loop_bones.get(&bone_index).copied();
            let metric = |field: &str| format!("loop_continuity.bones[{bone_index}].{field}");
            if let (Some(a_bone), Some(b_bone)) = (a_bone, b_bone) {
                push_availability(
                    &mut loop_bone_availability_deltas,
                    clip,
                    &metric("availability"),
                    a_bone.availability,
                    b_bone.availability,
                );
            }
            push_num(
                &metric("position_delta_m"),
                finite(a_bone.and_then(|bone| bone.position_delta_m)),
                finite(b_bone.and_then(|bone| bone.position_delta_m)),
                LOOP_POSITION_THRESHOLD_M,
                None,
            );
            push_num(
                &metric("rotation_delta_deg"),
                finite(a_bone.and_then(|bone| bone.rotation_delta_deg)),
                finite(b_bone.and_then(|bone| bone.rotation_delta_deg)),
                LOOP_ROTATION_THRESHOLD_DEG,
                None,
            );
            push_num(
                &metric("seam_velocity_delta_mps"),
                finite(a_bone.and_then(|bone| bone.seam_velocity_delta_mps)),
                finite(b_bone.and_then(|bone| bone.seam_velocity_delta_mps)),
                LOOP_VELOCITY_THRESHOLD_MPS,
                None,
            );
            push_num(
                &metric("seam_angular_velocity_delta_degps"),
                finite(a_bone.and_then(|bone| bone.seam_angular_velocity_delta_degps)),
                finite(b_bone.and_then(|bone| bone.seam_angular_velocity_delta_degps)),
                LOOP_ANGULAR_VELOCITY_THRESHOLD_DEGPS,
                None,
            );
        }
        deltas.append(&mut loop_bone_availability_deltas);

        if let (Some(a_trajectory), Some(b_trajectory)) =
            (ma.root_trajectory.as_ref(), mb.root_trajectory.as_ref())
        {
            if (
                a_trajectory.bone_index,
                &a_trajectory.bone_name,
                a_trajectory.source_role,
            ) != (
                b_trajectory.bone_index,
                &b_trajectory.bone_name,
                b_trajectory.source_role,
            ) {
                deltas.push(delta(
                    clip,
                    "root_trajectory.selected_bone",
                    Some(a_trajectory.bone_index as f64),
                    Some(b_trajectory.bone_index as f64),
                    format!(
                        "changed from #{}:{:?} ({}) to #{}:{:?} ({})",
                        a_trajectory.bone_index,
                        a_trajectory.bone_name,
                        a_trajectory.source_role.as_str(),
                        b_trajectory.bone_index,
                        b_trajectory.bone_name,
                        b_trajectory.source_role.as_str(),
                    ),
                ));
            }
            if let (Some(a_yaw), Some(b_yaw)) =
                (a_trajectory.yaw.as_ref(), b_trajectory.yaw.as_ref())
                && a_yaw.heading_axis != b_yaw.heading_axis
            {
                deltas.push(delta(
                    clip,
                    "root_trajectory.yaw.heading_axis",
                    None,
                    None,
                    format!(
                        "changed from {} to {}",
                        a_yaw.heading_axis.label(),
                        b_yaw.heading_axis.label()
                    ),
                ));
            }
        }

        push_availability(
            &mut deltas,
            clip,
            "loop_continuity_availability",
            ma.loop_continuity_availability,
            mb.loop_continuity_availability,
        );
        push_availability(
            &mut deltas,
            clip,
            "loop_endpoint_mode_availability",
            ma.loop_endpoint_mode_availability,
            mb.loop_endpoint_mode_availability,
        );
        push_availability(
            &mut deltas,
            clip,
            "frame_grid_availability",
            ma.frame_grid_availability,
            mb.frame_grid_availability,
        );
        push_availability(
            &mut deltas,
            clip,
            "loop_seam_ratio_availability",
            ma.loop_seam_ratio_availability,
            mb.loop_seam_ratio_availability,
        );
        push_availability(
            &mut deltas,
            clip,
            "gait_availability",
            ma.gait_availability,
            mb.gait_availability,
        );
        push_availability(
            &mut deltas,
            clip,
            "root_trajectory_availability",
            ma.root_trajectory_availability,
            mb.root_trajectory_availability,
        );
        push_availability(
            &mut deltas,
            clip,
            "speed_mps_availability",
            ma.speed_mps_availability,
            mb.speed_mps_availability,
        );
        // `gait.phase_availability` only exists as a field when the parent
        // `gait` object is present (schema: `gait` is Some exactly when
        // `gait_availability == measured`), so it is only meaningfully
        // comparable when both sides carry a `gait` object. A `gait` object
        // appearing/disappearing entirely is already reported above via
        // `gait_availability`, and `gait.phase`'s own value transition is
        // already reported via the numeric `gait.phase` delta.
        if let (Some(ga), Some(gb)) = (ma.gait.as_ref(), mb.gait.as_ref()) {
            push_availability(
                &mut deltas,
                clip,
                "gait.phase_availability",
                ga.phase_availability,
                gb.phase_availability,
            );
        }
        if let (Some(ta), Some(tb)) = (ma.root_trajectory.as_ref(), mb.root_trajectory.as_ref()) {
            push_availability(
                &mut deltas,
                clip,
                "root_trajectory.translation_availability",
                ta.translation_availability,
                tb.translation_availability,
            );
            push_availability(
                &mut deltas,
                clip,
                "root_trajectory.yaw_availability",
                ta.yaw_availability,
                tb.yaw_availability,
            );
        }

        for bone in ma
            .bone_rotation_range_deg
            .keys()
            .chain(mb.bone_rotation_range_deg.keys())
            .collect::<BTreeSet<_>>()
        {
            let va = finite(ma.bone_rotation_range_deg.get(bone).copied());
            let vb = finite(mb.bone_rotation_range_deg.get(bone).copied());
            let moved = match (va, vb) {
                (Some(x), Some(y)) => (x - y).abs() > ROTATION_RANGE_THRESHOLD_DEG,
                (None, None) => false,
                _ => true,
            };
            if moved {
                deltas.push(delta(
                    clip,
                    &format!("bone_rotation_range_deg[{bone}]"),
                    va,
                    vb,
                    match (va, vb) {
                        (Some(_), Some(_)) => "moved".into(),
                        (None, Some(_)) => "bone now animated".into(),
                        _ => "bone no longer animated".into(),
                    },
                ));
            }
        }

        if ma.animated_bones != mb.animated_bones {
            let a_set: BTreeSet<_> = ma.animated_bones.iter().collect();
            let b_set: BTreeSet<_> = mb.animated_bones.iter().collect();
            let gained: Vec<_> = b_set.difference(&a_set).map(|s| s.as_str()).collect();
            let lost: Vec<_> = a_set.difference(&b_set).map(|s| s.as_str()).collect();
            deltas.push(delta(
                clip,
                "animated_bones",
                Some(ma.animated_bones.len() as f64),
                Some(mb.animated_bones.len() as f64),
                format!("gained [{}], lost [{}]", gained.join(", "), lost.join(", ")),
            ));
        }

        let a_channels: BTreeMap<_, _> = ma
            .bone_channels
            .iter()
            .flat_map(|bone| {
                bone.properties
                    .iter()
                    .copied()
                    .map(move |property| ((bone.bone_index, property), bone.bone_name.as_str()))
            })
            .collect();
        let b_channels: BTreeMap<_, _> = mb
            .bone_channels
            .iter()
            .flat_map(|bone| {
                bone.properties
                    .iter()
                    .copied()
                    .map(move |property| ((bone.bone_index, property), bone.bone_name.as_str()))
            })
            .collect();
        let a_channel_keys: BTreeSet<_> = a_channels.keys().copied().collect();
        let b_channel_keys: BTreeSet<_> = b_channels.keys().copied().collect();
        if a_channel_keys != b_channel_keys {
            let gained: Vec<_> = b_channel_keys
                .difference(&a_channel_keys)
                .map(|(bone_index, property)| {
                    let bone_name = b_channels[&(*bone_index, *property)];
                    format!("#{bone_index}:{bone_name:?}.{}", property.as_str())
                })
                .collect();
            let lost: Vec<_> = a_channel_keys
                .difference(&b_channel_keys)
                .map(|(bone_index, property)| {
                    let bone_name = a_channels[&(*bone_index, *property)];
                    format!("#{bone_index}:{bone_name:?}.{}", property.as_str())
                })
                .collect();
            deltas.push(delta(
                clip,
                "bone_channels",
                Some(a_channel_keys.len() as f64),
                Some(b_channel_keys.len() as f64),
                format!("gained [{}], lost [{}]", gained.join(", "), lost.join(", ")),
            ));
        }
    }
    for clip in b.keys() {
        if !a.contains_key(clip) {
            deltas.push(MetricDelta {
                clip: clip.clone(),
                metric: "clip".into(),
                before: None,
                after: None,
                note: "clip added".into(),
            });
        }
    }
    deltas
}

#[cfg(test)]
mod tests {
    use super::*;
    use crate::measure::{
        BoneChannelCoverage, BoneLoopContinuityMeasurement, ClipMeasurements, FrameGridMeasurement,
        GaitMeasurement, LoopContinuityMeasurement, LoopEndpointMode, MeasurementAvailability,
        RootTrajectoryMeasurement, RootTrajectorySourceRole, RootTranslationMeasurement,
        RootYawMeasurement,
    };
    use crate::metrics::RootYawHeadingAxis;
    use crate::model::Property;

    fn clip_measurements() -> ClipMeasurements {
        ClipMeasurements {
            duration_s: 1.0,
            frame_count: 31,
            animated_bones: vec!["hips".into()],
            bone_channels: vec![BoneChannelCoverage {
                bone_index: 0,
                bone_name: "hips".into(),
                properties: vec![Property::Translation],
            }],
            bone_rotation_range_deg: BTreeMap::from([("hips".into(), 10.0)]),
            loop_continuity: Some(LoopContinuityMeasurement {
                bones: vec![BoneLoopContinuityMeasurement {
                    bone_index: 0,
                    bone_name: "hips".into(),
                    availability: MeasurementAvailability::Measured,
                    availability_was_present: true,
                    position_delta_m: Some(0.02),
                    rotation_delta_deg: Some(2.0),
                    seam_velocity_delta_mps: Some(0.2),
                    seam_angular_velocity_delta_degps: Some(10.0),
                }],
            }),
            loop_continuity_availability: MeasurementAvailability::Measured,
            loop_endpoint_mode: None,
            loop_endpoint_mode_availability: MeasurementAvailability::NotApplicable,
            frame_grid: None,
            frame_grid_availability: MeasurementAvailability::NotApplicable,
            loop_seam_ratio: Some(0.2),
            loop_seam_ratio_availability: MeasurementAvailability::Measured,
            gait: Some(GaitMeasurement {
                phase: Some(0.25),
                phase_availability: MeasurementAvailability::Measured,
                lr_amplitude_m: 0.1,
            }),
            gait_availability: MeasurementAvailability::Measured,
            root_trajectory: Some(RootTrajectoryMeasurement {
                bone_index: 0,
                bone_name: "hips".into(),
                source_role: RootTrajectorySourceRole::HipsFallback,
                translation: Some(RootTranslationMeasurement {
                    horizontal_displacement_x_m: 0.0,
                    horizontal_displacement_z_m: 1.0,
                    horizontal_travel_m: 1.0,
                    vertical_displacement_m: 0.0,
                    vertical_min_displacement_m: 0.0,
                    vertical_max_displacement_m: 0.0,
                }),
                translation_availability: MeasurementAvailability::Measured,
                yaw: Some(RootYawMeasurement {
                    heading_axis: RootYawHeadingAxis::PositiveZ,
                    net_yaw_deg: 0.0,
                    unwrapped_yaw_deg: 0.0,
                    yaw_travel_deg: 0.0,
                }),
                yaw_availability: MeasurementAvailability::Measured,
            }),
            root_trajectory_availability: MeasurementAvailability::Measured,
            speed_mps: Some(1.0),
            speed_mps_availability: MeasurementAvailability::Measured,
        }
    }

    fn measurement_map(
        clip: &str,
        measurements: ClipMeasurements,
    ) -> BTreeMap<String, ClipMeasurements> {
        BTreeMap::from([(clip.into(), measurements)])
    }

    fn delta_for<'a>(deltas: &'a [MetricDelta], metric: &str) -> &'a MetricDelta {
        deltas
            .iter()
            .find(|d| d.metric == metric)
            .unwrap_or_else(|| {
                panic!(
                    "missing metric delta {metric}; got {:?}",
                    delta_metrics(deltas)
                )
            })
    }

    fn delta_metrics(deltas: &[MetricDelta]) -> Vec<&str> {
        deltas.iter().map(|d| d.metric.as_str()).collect()
    }

    #[test]
    fn reports_moved_appeared_and_disappeared_metrics() {
        let mut before = clip_measurements();
        before.speed_mps = None;

        let mut after = before.clone();
        after.duration_s += DURATION_THRESHOLD_S * 2.0;
        after.loop_seam_ratio = None;
        after.speed_mps = Some(1.0);

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert_eq!(deltas.len(), 3, "{:?}", delta_metrics(&deltas));
        assert_eq!(delta_for(&deltas, "duration_s").note, "moved");
        assert_eq!(delta_for(&deltas, "loop_seam_ratio").note, "disappeared");
        assert_eq!(delta_for(&deltas, "speed_mps").note, "appeared");
    }

    #[test]
    fn reports_per_bone_loop_continuity_appearance_by_stable_index() {
        let before = clip_measurements();
        let mut after = before.clone();
        after.loop_continuity = None;

        let disappeared = diff_measurements(
            &measurement_map("walk", before.clone()),
            &measurement_map("walk", after.clone()),
        );
        assert_eq!(disappeared.len(), 4, "{:?}", delta_metrics(&disappeared));
        assert!(disappeared.iter().all(|delta| delta.note == "disappeared"));
        assert!(
            disappeared
                .iter()
                .all(|delta| { delta.metric.starts_with("loop_continuity.bones[0].") })
        );

        let appeared = diff_measurements(
            &measurement_map("walk", after),
            &measurement_map("walk", before),
        );
        assert_eq!(appeared.len(), 4, "{:?}", delta_metrics(&appeared));
        assert!(appeared.iter().all(|delta| delta.note == "appeared"));
    }

    #[test]
    fn compares_nonzero_loop_bone_indices_even_when_names_repeat() {
        let mut before = clip_measurements();
        before
            .loop_continuity
            .as_mut()
            .unwrap()
            .bones
            .push(BoneLoopContinuityMeasurement {
                bone_index: 1,
                bone_name: "hips".into(),
                availability: MeasurementAvailability::Measured,
                availability_was_present: true,
                position_delta_m: Some(0.03),
                rotation_delta_deg: Some(3.0),
                seam_velocity_delta_mps: Some(0.3),
                seam_angular_velocity_delta_degps: Some(11.0),
            });
        let mut after = before.clone();
        let changed = &mut after.loop_continuity.as_mut().unwrap().bones[1];
        changed.position_delta_m = Some(0.032);
        changed.rotation_delta_deg = Some(3.2);
        changed.seam_velocity_delta_mps = Some(0.32);
        changed.seam_angular_velocity_delta_degps = Some(11.6);

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );
        assert_eq!(deltas.len(), 4, "{:?}", delta_metrics(&deltas));
        assert!(
            deltas
                .iter()
                .all(|delta| delta.metric.starts_with("loop_continuity.bones[1]."))
        );
    }

    #[test]
    fn loop_continuity_diff_floors_are_inclusive() {
        let mut before = clip_measurements();
        let before_bone = &mut before.loop_continuity.as_mut().unwrap().bones[0];
        before_bone.position_delta_m = Some(0.0);
        before_bone.rotation_delta_deg = Some(0.0);
        before_bone.seam_velocity_delta_mps = Some(0.0);
        before_bone.seam_angular_velocity_delta_degps = Some(0.0);

        let mut at_floor = before.clone();
        let after_bone = &mut at_floor.loop_continuity.as_mut().unwrap().bones[0];
        after_bone.position_delta_m = Some(0.001);
        after_bone.rotation_delta_deg = Some(0.1);
        after_bone.seam_velocity_delta_mps = Some(0.01);
        after_bone.seam_angular_velocity_delta_degps = Some(0.5);

        assert!(
            diff_measurements(
                &measurement_map("walk", before),
                &measurement_map("walk", at_floor),
            )
            .is_empty(),
            "movement exactly at a significance floor is noise"
        );
    }

    #[test]
    fn loop_continuity_diff_reports_per_bone_unavailability() {
        let before = clip_measurements();
        let mut after = before.clone();
        let bone = &mut after.loop_continuity.as_mut().unwrap().bones[0];
        bone.availability = MeasurementAvailability::Unavailable;
        bone.position_delta_m = None;
        bone.rotation_delta_deg = None;
        bone.seam_velocity_delta_mps = None;
        bone.seam_angular_velocity_delta_degps = None;

        let deltas = diff_measurements(
            &measurement_map("walk", before.clone()),
            &measurement_map("walk", after.clone()),
        );
        assert_eq!(
            delta_for(&deltas, "loop_continuity.bones[0].availability").note,
            "became unavailable"
        );
        assert_eq!(
            delta_for(&deltas, "loop_continuity.bones[0].position_delta_m").note,
            "disappeared"
        );

        let reverse = diff_measurements(
            &measurement_map("walk", after),
            &measurement_map("walk", before),
        );
        assert_eq!(
            delta_for(&reverse, "loop_continuity.bones[0].availability").note,
            "became measured"
        );
        assert_eq!(
            delta_for(&reverse, "loop_continuity.bones[0].position_delta_m").note,
            "appeared"
        );
    }

    #[test]
    fn reports_clip_added_and_removed() {
        let deltas = diff_measurements(
            &measurement_map("removed", clip_measurements()),
            &measurement_map("added", clip_measurements()),
        );

        assert_eq!(deltas.len(), 2, "{:?}", delta_metrics(&deltas));
        assert!(
            deltas
                .iter()
                .any(|d| d.clip == "removed" && d.metric == "clip" && d.note == "clip removed")
        );
        assert!(
            deltas
                .iter()
                .any(|d| d.clip == "added" && d.metric == "clip" && d.note == "clip added")
        );
    }

    /// #52: anchor every documented threshold to literal stimuli.
    /// Deriving a metric's fixture from the constant under test
    /// (`THRESHOLD * 2`, `THRESHOLD / 2`) hides a fat-fingered constant:
    /// for example, `DURATION_THRESHOLD_S` 0.017 -> 0.17 would still pass.
    /// Concrete numbers straddling the documented threshold catch such a
    /// typo in either direction. `gait.phase` (circular) and `frame_count`
    /// (integer) do not fit this over/under numeric straddle; each has its
    /// own literal anchor.
    #[test]
    fn literal_stimuli_pin_documented_thresholds() {
        // Base fixture: duration_s 1.0, loop_seam_ratio 0.2,
        // lr_amplitude_m 0.1, speed_mps 1.0, hips rotation 10.0,
        // loop position 0.02 m, rotation 2.0 deg, velocity 0.2 m/s.
        struct Case {
            metric: &'static str,
            over: fn(&mut ClipMeasurements),  // clears the threshold
            under: fn(&mut ClipMeasurements), // stays within noise
        }
        let cases = [
            Case {
                metric: "duration_s", // threshold 0.017 s
                over: |m| m.duration_s = 1.02,
                under: |m| m.duration_s = 1.01,
            },
            Case {
                metric: "loop_seam_ratio", // threshold 0.05
                over: |m| m.loop_seam_ratio = Some(0.27),
                under: |m| m.loop_seam_ratio = Some(0.23),
            },
            Case {
                metric: "gait.lr_amplitude_m", // threshold 0.005 m
                over: |m| m.gait.as_mut().unwrap().lr_amplitude_m = 0.11,
                under: |m| m.gait.as_mut().unwrap().lr_amplitude_m = 0.102,
            },
            Case {
                metric: "speed_mps", // threshold 0.1 m/s
                over: |m| m.speed_mps = Some(1.15),
                under: |m| m.speed_mps = Some(1.05),
            },
            Case {
                metric: "bone_rotation_range_deg[hips]", // threshold 1.0 deg
                over: |m| {
                    m.bone_rotation_range_deg.insert("hips".into(), 13.0);
                },
                under: |m| {
                    m.bone_rotation_range_deg.insert("hips".into(), 10.5);
                },
            },
            Case {
                metric: "loop_continuity.bones[0].position_delta_m", // threshold 0.001 m
                over: |m| {
                    m.loop_continuity.as_mut().unwrap().bones[0].position_delta_m = Some(0.022);
                },
                under: |m| {
                    m.loop_continuity.as_mut().unwrap().bones[0].position_delta_m = Some(0.0205);
                },
            },
            Case {
                metric: "loop_continuity.bones[0].rotation_delta_deg", // threshold 0.1 deg
                over: |m| {
                    m.loop_continuity.as_mut().unwrap().bones[0].rotation_delta_deg = Some(2.2);
                },
                under: |m| {
                    m.loop_continuity.as_mut().unwrap().bones[0].rotation_delta_deg = Some(2.05);
                },
            },
            Case {
                metric: "loop_continuity.bones[0].seam_velocity_delta_mps", // threshold 0.01 m/s
                over: |m| {
                    m.loop_continuity.as_mut().unwrap().bones[0].seam_velocity_delta_mps =
                        Some(0.22);
                },
                under: |m| {
                    m.loop_continuity.as_mut().unwrap().bones[0].seam_velocity_delta_mps =
                        Some(0.205);
                },
            },
            Case {
                metric: "loop_continuity.bones[0].seam_angular_velocity_delta_degps", // threshold 0.5 deg/s
                over: |m| {
                    m.loop_continuity.as_mut().unwrap().bones[0]
                        .seam_angular_velocity_delta_degps = Some(10.5001);
                },
                under: |m| {
                    m.loop_continuity.as_mut().unwrap().bones[0]
                        .seam_angular_velocity_delta_degps = Some(10.4999);
                },
            },
        ];

        for case in cases {
            let before = clip_measurements();

            let mut over = before.clone();
            (case.over)(&mut over);
            let deltas = diff_measurements(
                &measurement_map("walk", before.clone()),
                &measurement_map("walk", over),
            );
            assert_eq!(
                delta_metrics(&deltas),
                vec![case.metric],
                "over-threshold literal must report exactly {}",
                case.metric
            );

            let mut under = before.clone();
            (case.under)(&mut under);
            let deltas = diff_measurements(
                &measurement_map("walk", before),
                &measurement_map("walk", under),
            );
            assert!(
                deltas.is_empty(),
                "under-threshold literal for {} must be silent: {:?}",
                case.metric,
                delta_metrics(&deltas)
            );
        }
    }

    #[test]
    fn compares_gait_phase_on_a_cycle() {
        let mut before = clip_measurements();
        before.gait.as_mut().unwrap().phase = Some(0.98);
        let mut after = before.clone();
        after.gait.as_mut().unwrap().phase = Some(0.02);

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert!(deltas.is_empty(), "{:?}", delta_metrics(&deltas));
    }

    #[test]
    fn reports_significant_gait_phase_moves() {
        let mut before = clip_measurements();
        before.gait.as_mut().unwrap().phase = Some(0.9);
        let mut after = before.clone();
        after.gait.as_mut().unwrap().phase = Some(0.1);

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert_eq!(deltas.len(), 1, "{:?}", delta_metrics(&deltas));
        let delta = delta_for(&deltas, "gait.phase");
        assert_eq!(delta.note, "moved");
        assert_eq!(delta.before, Some(0.9));
        assert_eq!(delta.after, Some(0.1));
    }

    /// #53: `frame_count` is the wrong-sign guard; a decrease must still
    /// report, so an impl that only diffed increases is caught.
    #[test]
    fn reports_frame_count_move_including_a_decrease() {
        let before = clip_measurements(); // frame_count 31
        let mut after = before.clone();
        after.frame_count = 20;

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert_eq!(deltas.len(), 1, "{:?}", delta_metrics(&deltas));
        let delta = delta_for(&deltas, "frame_count");
        assert_eq!(delta.note, "moved");
        assert_eq!(delta.before, Some(31.0));
        assert_eq!(delta.after, Some(20.0));
        assert!(
            delta.before.unwrap() > delta.after.unwrap(),
            "a decrease must be captured, not dropped"
        );
    }

    /// #52 item 2: pin the `frame_count` 0.5 threshold to a literal
    /// one-frame move. `frame_count` is integer-valued, so the tightest
    /// possible stimulus - a single-frame change - must report.
    #[test]
    fn single_frame_change_crosses_the_frame_count_threshold() {
        let before = clip_measurements(); // frame_count 31
        let mut after = before.clone();
        after.frame_count = 32; // +1 frame, the smallest possible move

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert_eq!(deltas.len(), 1, "{:?}", delta_metrics(&deltas));
        let delta = delta_for(&deltas, "frame_count");
        assert_eq!(delta.note, "moved");
        assert_eq!(delta.before, Some(31.0));
        assert_eq!(delta.after, Some(32.0));
    }

    #[test]
    fn reports_gait_amplitude_move() {
        let before = clip_measurements(); // lr_amplitude_m 0.1
        let mut after = before.clone();
        after.gait.as_mut().unwrap().lr_amplitude_m = 0.1 + AMPLITUDE_THRESHOLD_M * 2.0;

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert_eq!(deltas.len(), 1, "{:?}", delta_metrics(&deltas));
        let delta = delta_for(&deltas, "gait.lr_amplitude_m");
        assert_eq!(delta.note, "moved");
        assert_eq!(delta.before, Some(0.1));
        assert_eq!(delta.after, Some(0.1 + AMPLITUDE_THRESHOLD_M * 2.0));
    }

    #[test]
    fn reports_bone_rotation_range_moved() {
        let before = clip_measurements(); // hips: 10.0
        let mut after = before.clone();
        after
            .bone_rotation_range_deg
            .insert("hips".into(), 10.0 + ROTATION_RANGE_THRESHOLD_DEG * 2.0);

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert_eq!(deltas.len(), 1, "{:?}", delta_metrics(&deltas));
        let delta = delta_for(&deltas, "bone_rotation_range_deg[hips]");
        assert_eq!(delta.note, "moved");
        assert_eq!(delta.before, Some(10.0));
        assert_eq!(delta.after, Some(10.0 + ROTATION_RANGE_THRESHOLD_DEG * 2.0));
    }

    #[test]
    fn reports_bone_rotation_range_appeared_and_disappeared() {
        let before = clip_measurements();
        let mut after = before.clone();
        after.bone_rotation_range_deg.insert("spine".into(), 5.0);
        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );
        assert_eq!(deltas.len(), 1, "{:?}", delta_metrics(&deltas));
        let delta = delta_for(&deltas, "bone_rotation_range_deg[spine]");
        assert_eq!(delta.note, "bone now animated");
        assert_eq!(delta.before, None);
        assert_eq!(delta.after, Some(5.0));

        let before = clip_measurements();
        let mut after = before.clone();
        after.bone_rotation_range_deg.remove("hips");
        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );
        assert_eq!(deltas.len(), 1, "{:?}", delta_metrics(&deltas));
        let delta = delta_for(&deltas, "bone_rotation_range_deg[hips]");
        assert_eq!(delta.note, "bone no longer animated");
        assert_eq!(delta.before, Some(10.0));
        assert_eq!(delta.after, None);
    }

    #[test]
    fn reports_animated_bones_gained_and_lost() {
        let before = clip_measurements(); // ["hips"]
        let mut after = before.clone();
        after.animated_bones = vec!["spine".into(), "tail".into()];

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert_eq!(deltas.len(), 1, "{:?}", delta_metrics(&deltas));
        let delta = delta_for(&deltas, "animated_bones");
        assert_eq!(delta.before, Some(1.0));
        assert_eq!(delta.after, Some(2.0));
        assert_eq!(delta.note, "gained [spine, tail], lost [hips]");
    }

    #[test]
    fn reports_bone_channel_properties_gained_and_lost_by_index() {
        let before = clip_measurements();
        let mut after = before.clone();
        after.bone_channels[0].properties = vec![Property::Rotation, Property::Scale];

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert_eq!(deltas.len(), 1, "{:?}", delta_metrics(&deltas));
        let delta = delta_for(&deltas, "bone_channels");
        assert_eq!(delta.before, Some(1.0));
        assert_eq!(delta.after, Some(2.0));
        assert_eq!(
            delta.note,
            "gained [#0:\"hips\".rotation, #0:\"hips\".scale], lost [#0:\"hips\".translation]"
        );
    }

    #[test]
    fn bone_channel_diff_uses_index_not_display_name_as_identity() {
        let before = clip_measurements();
        let mut after = before.clone();
        after.animated_bones = vec!["pelvis".into()];
        after.bone_channels[0].bone_name = "pelvis".into();

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert_eq!(deltas.len(), 1, "{:?}", delta_metrics(&deltas));
        assert_eq!(deltas[0].metric, "animated_bones");
    }

    #[test]
    fn reports_every_root_trajectory_numeric_field_in_both_directions() {
        let mut before = clip_measurements();
        let trajectory = before.root_trajectory.as_mut().unwrap();
        let translation = trajectory.translation.as_mut().unwrap();
        translation.horizontal_displacement_x_m = 0.011;
        translation.horizontal_displacement_z_m = 0.022;
        translation.horizontal_travel_m = 0.055;
        translation.vertical_displacement_m = 0.033;
        translation.vertical_min_displacement_m = -0.044;
        translation.vertical_max_displacement_m = 0.066;
        let yaw = trajectory.yaw.as_mut().unwrap();
        yaw.net_yaw_deg = 11.0;
        yaw.unwrapped_yaw_deg = 371.0;
        yaw.yaw_travel_deg = 412.0;

        let mut after = before.clone();
        let trajectory = after.root_trajectory.as_mut().unwrap();
        let translation = trajectory.translation.as_mut().unwrap();
        translation.horizontal_displacement_x_m = 0.111;
        translation.horizontal_displacement_z_m = 0.222;
        translation.horizontal_travel_m = 0.555;
        translation.vertical_displacement_m = 0.333;
        translation.vertical_min_displacement_m = -0.444;
        translation.vertical_max_displacement_m = 0.666;
        let yaw = trajectory.yaw.as_mut().unwrap();
        yaw.net_yaw_deg = 21.0;
        yaw.unwrapped_yaw_deg = 741.0;
        yaw.yaw_travel_deg = 842.0;

        let expected = [
            (
                "root_trajectory.translation.horizontal_displacement_x_m",
                0.011,
                0.111,
            ),
            (
                "root_trajectory.translation.horizontal_displacement_z_m",
                0.022,
                0.222,
            ),
            (
                "root_trajectory.translation.horizontal_travel_m",
                0.055,
                0.555,
            ),
            (
                "root_trajectory.translation.vertical_displacement_m",
                0.033,
                0.333,
            ),
            (
                "root_trajectory.translation.vertical_min_displacement_m",
                -0.044,
                -0.444,
            ),
            (
                "root_trajectory.translation.vertical_max_displacement_m",
                0.066,
                0.666,
            ),
            ("root_trajectory.yaw.net_yaw_deg", 11.0, 21.0),
            ("root_trajectory.yaw.unwrapped_yaw_deg", 371.0, 741.0),
            ("root_trajectory.yaw.yaw_travel_deg", 412.0, 842.0),
        ];

        for (from, to, reverse) in [
            (before.clone(), after.clone(), false),
            (after, before, true),
        ] {
            let deltas =
                diff_measurements(&measurement_map("walk", from), &measurement_map("walk", to));
            assert_eq!(
                deltas.len(),
                expected.len(),
                "{:#?}",
                delta_metrics(&deltas)
            );
            for (delta, (metric, before_value, after_value)) in
                deltas.iter().zip(expected.iter().copied())
            {
                let (before_value, after_value) = if reverse {
                    (after_value, before_value)
                } else {
                    (before_value, after_value)
                };
                assert_eq!(delta.clip, "walk");
                assert_eq!(delta.metric, metric);
                assert_eq!(delta.before, Some(before_value), "{metric}");
                assert_eq!(delta.after, Some(after_value), "{metric}");
                assert_eq!(delta.note, "moved", "{metric}");
            }
        }
    }

    #[test]
    fn root_trajectory_thresholds_are_inclusive_and_sign_symmetric() {
        for sign in [-1.0, 1.0] {
            let before = clip_measurements();
            let mut at_threshold = before.clone();
            let trajectory = at_threshold.root_trajectory.as_mut().unwrap();
            trajectory
                .translation
                .as_mut()
                .unwrap()
                .horizontal_displacement_x_m = sign * ROOT_TRAJECTORY_TRANSLATION_THRESHOLD_M;
            let yaw = trajectory.yaw.as_mut().unwrap();
            yaw.net_yaw_deg = sign * ROOT_TRAJECTORY_YAW_THRESHOLD_DEG;
            yaw.unwrapped_yaw_deg = sign * ROOT_TRAJECTORY_YAW_THRESHOLD_DEG;
            yaw.yaw_travel_deg = ROOT_TRAJECTORY_YAW_THRESHOLD_DEG;

            let deltas = diff_measurements(
                &measurement_map("walk", before.clone()),
                &measurement_map("walk", at_threshold),
            );
            assert!(
                deltas.is_empty(),
                "exact thresholds must stay silent for sign {sign}: {:?}",
                delta_metrics(&deltas)
            );

            let mut over_threshold = before.clone();
            let trajectory = over_threshold.root_trajectory.as_mut().unwrap();
            trajectory
                .translation
                .as_mut()
                .unwrap()
                .horizontal_displacement_x_m =
                sign * ROOT_TRAJECTORY_TRANSLATION_THRESHOLD_M * 1.01;
            let yaw = trajectory.yaw.as_mut().unwrap();
            yaw.net_yaw_deg = sign * ROOT_TRAJECTORY_YAW_THRESHOLD_DEG * 1.01;
            yaw.unwrapped_yaw_deg = sign * ROOT_TRAJECTORY_YAW_THRESHOLD_DEG * 1.01;
            yaw.yaw_travel_deg = ROOT_TRAJECTORY_YAW_THRESHOLD_DEG * 1.01;

            let deltas = diff_measurements(
                &measurement_map("walk", before),
                &measurement_map("walk", over_threshold),
            );
            let metrics = delta_metrics(&deltas);
            for expected in [
                "root_trajectory.translation.horizontal_displacement_x_m",
                "root_trajectory.yaw.net_yaw_deg",
                "root_trajectory.yaw.unwrapped_yaw_deg",
                "root_trajectory.yaw.yaw_travel_deg",
            ] {
                assert!(metrics.contains(&expected), "{expected}: {metrics:?}");
            }
        }
    }

    #[test]
    fn root_yaw_diff_uses_circular_net_but_retains_full_turn_evidence() {
        let mut before_silent_seam = clip_measurements();
        let yaw = before_silent_seam
            .root_trajectory
            .as_mut()
            .unwrap()
            .yaw
            .as_mut()
            .unwrap();
        yaw.net_yaw_deg = 179.96;
        yaw.unwrapped_yaw_deg = 179.96;
        yaw.yaw_travel_deg = 179.96;
        let mut after_silent_seam = before_silent_seam.clone();
        let yaw = after_silent_seam
            .root_trajectory
            .as_mut()
            .unwrap()
            .yaw
            .as_mut()
            .unwrap();
        yaw.net_yaw_deg = -179.96;
        yaw.unwrapped_yaw_deg = 180.04;
        yaw.yaw_travel_deg = 180.04;
        assert!(
            diff_measurements(
                &measurement_map("walk", before_silent_seam),
                &measurement_map("walk", after_silent_seam),
            )
            .is_empty(),
            "a 0.08-degree circular seam crossing must stay below the floor"
        );

        let mut before_seam = clip_measurements();
        let yaw = before_seam
            .root_trajectory
            .as_mut()
            .unwrap()
            .yaw
            .as_mut()
            .unwrap();
        yaw.net_yaw_deg = 179.9;
        yaw.unwrapped_yaw_deg = 179.9;
        yaw.yaw_travel_deg = 179.9;

        let mut after_seam = before_seam.clone();
        let yaw = after_seam
            .root_trajectory
            .as_mut()
            .unwrap()
            .yaw
            .as_mut()
            .unwrap();
        yaw.net_yaw_deg = -179.9;
        yaw.unwrapped_yaw_deg = 180.1;
        yaw.yaw_travel_deg = 180.1;

        let seam_deltas = diff_measurements(
            &measurement_map("walk", before_seam),
            &measurement_map("walk", after_seam),
        );
        assert_eq!(
            delta_metrics(&seam_deltas),
            [
                "root_trajectory.yaw.net_yaw_deg",
                "root_trajectory.yaw.unwrapped_yaw_deg",
                "root_trajectory.yaw.yaw_travel_deg",
            ]
        );
        let net = delta_for(&seam_deltas, "root_trajectory.yaw.net_yaw_deg");
        assert_eq!(net.before, Some(179.9));
        assert_eq!(net.after, Some(-179.9));

        let before_turn = clip_measurements();
        let mut after_turn = before_turn.clone();
        let yaw = after_turn
            .root_trajectory
            .as_mut()
            .unwrap()
            .yaw
            .as_mut()
            .unwrap();
        yaw.unwrapped_yaw_deg = 360.0;
        yaw.yaw_travel_deg = 360.0;

        let turn_deltas = diff_measurements(
            &measurement_map("walk", before_turn),
            &measurement_map("walk", after_turn),
        );
        assert_eq!(
            delta_metrics(&turn_deltas),
            [
                "root_trajectory.yaw.unwrapped_yaw_deg",
                "root_trajectory.yaw.yaw_travel_deg",
            ]
        );
    }

    #[test]
    fn root_trajectory_diff_reports_nested_status_identity_and_basis_changes() {
        let before = clip_measurements();
        let mut after = before.clone();
        let trajectory = after.root_trajectory.as_mut().unwrap();
        trajectory.bone_index = 1;
        trajectory.bone_name = "root".into();
        trajectory.source_role = RootTrajectorySourceRole::Root;
        trajectory.translation = None;
        trajectory.translation_availability = MeasurementAvailability::Unavailable;
        trajectory.yaw.as_mut().unwrap().heading_axis = RootYawHeadingAxis::PositiveX;

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );
        let metrics = deltas
            .iter()
            .map(|delta| delta.metric.as_str())
            .collect::<BTreeSet<_>>();
        let selected_bone = delta_for(&deltas, "root_trajectory.selected_bone");
        assert_eq!(selected_bone.before, Some(0.0));
        assert_eq!(selected_bone.after, Some(1.0));
        assert_eq!(
            selected_bone.note,
            "changed from #0:\"hips\" (hips_fallback) to #1:\"root\" (root)"
        );
        let heading_axis = delta_for(&deltas, "root_trajectory.yaw.heading_axis");
        assert_eq!(heading_axis.before, None);
        assert_eq!(heading_axis.after, None);
        assert_eq!(heading_axis.note, "changed from +Z to +X");
        assert!(metrics.contains("root_trajectory.translation_availability"));
        for field in [
            "horizontal_displacement_x_m",
            "horizontal_displacement_z_m",
            "horizontal_travel_m",
            "vertical_displacement_m",
            "vertical_min_displacement_m",
            "vertical_max_displacement_m",
        ] {
            assert!(metrics.contains(format!("root_trajectory.translation.{field}").as_str()));
        }
    }

    #[test]
    fn root_trajectory_diff_checks_each_selected_identity_component() {
        type SelectionMutation = (
            fn(&mut RootTrajectoryMeasurement),
            Option<f64>,
            Option<f64>,
            &'static str,
        );
        let mutations: [SelectionMutation; 3] = [
            (
                |trajectory| trajectory.bone_index = 1,
                Some(0.0),
                Some(1.0),
                "changed from #0:\"hips\" (hips_fallback) to #1:\"hips\" (hips_fallback)",
            ),
            (
                |trajectory| trajectory.bone_name = "root".into(),
                Some(0.0),
                Some(0.0),
                "changed from #0:\"hips\" (hips_fallback) to #0:\"root\" (hips_fallback)",
            ),
            (
                |trajectory| trajectory.source_role = RootTrajectorySourceRole::Root,
                Some(0.0),
                Some(0.0),
                "changed from #0:\"hips\" (hips_fallback) to #0:\"hips\" (root)",
            ),
        ];

        for (mutate, expected_before, expected_after, expected_note) in mutations {
            let before = clip_measurements();
            let mut after = before.clone();
            mutate(after.root_trajectory.as_mut().unwrap());
            let deltas = diff_measurements(
                &measurement_map("walk", before),
                &measurement_map("walk", after),
            );
            assert_eq!(delta_metrics(&deltas), ["root_trajectory.selected_bone"]);
            let delta = delta_for(&deltas, "root_trajectory.selected_bone");
            assert_eq!(delta.before, expected_before);
            assert_eq!(delta.after, expected_after);
            assert_eq!(delta.note, expected_note);
        }
    }

    #[test]
    fn root_trajectory_diff_reports_outer_and_nested_availability_both_directions() {
        let all_numeric = [
            "root_trajectory.translation.horizontal_displacement_x_m",
            "root_trajectory.translation.horizontal_displacement_z_m",
            "root_trajectory.translation.horizontal_travel_m",
            "root_trajectory.translation.vertical_displacement_m",
            "root_trajectory.translation.vertical_min_displacement_m",
            "root_trajectory.translation.vertical_max_displacement_m",
            "root_trajectory.yaw.net_yaw_deg",
            "root_trajectory.yaw.unwrapped_yaw_deg",
            "root_trajectory.yaw.yaw_travel_deg",
        ];
        let translation_numeric = &all_numeric[..6];
        let yaw_numeric = &all_numeric[6..];

        let measured = clip_measurements();
        let mut outer_unavailable = measured.clone();
        outer_unavailable.root_trajectory = None;
        outer_unavailable.root_trajectory_availability = MeasurementAvailability::Unavailable;

        let mut translation_unavailable = measured.clone();
        let trajectory = translation_unavailable.root_trajectory.as_mut().unwrap();
        trajectory.translation = None;
        trajectory.translation_availability = MeasurementAvailability::Unavailable;

        let mut yaw_unavailable = measured.clone();
        let trajectory = yaw_unavailable.root_trajectory.as_mut().unwrap();
        trajectory.yaw = None;
        trajectory.yaw_availability = MeasurementAvailability::Unavailable;

        for (available, unavailable, status, numeric) in [
            (
                measured.clone(),
                outer_unavailable,
                "root_trajectory_availability",
                all_numeric.as_slice(),
            ),
            (
                measured.clone(),
                translation_unavailable,
                "root_trajectory.translation_availability",
                translation_numeric,
            ),
            (
                measured.clone(),
                yaw_unavailable,
                "root_trajectory.yaw_availability",
                yaw_numeric,
            ),
        ] {
            for (before, after, expected_note) in [
                (available.clone(), unavailable.clone(), "became unavailable"),
                (unavailable, available, "became measured"),
            ] {
                let deltas = diff_measurements(
                    &measurement_map("walk", before),
                    &measurement_map("walk", after),
                );
                let metrics = delta_metrics(&deltas);
                assert_eq!(metrics.len(), numeric.len() + 1, "{metrics:?}");
                assert!(metrics.contains(&status), "{metrics:?}");
                for field in numeric {
                    assert!(metrics.contains(field), "{field}: {metrics:?}");
                }
                assert_eq!(delta_for(&deltas, status).note, expected_note);
            }
        }

        let mut not_applicable = measured;
        not_applicable.root_trajectory = None;
        not_applicable.root_trajectory_availability = MeasurementAvailability::NotApplicable;
        let mut unavailable = not_applicable.clone();
        unavailable.root_trajectory_availability = MeasurementAvailability::Unavailable;
        for (before, after, note) in [
            (
                not_applicable.clone(),
                unavailable.clone(),
                "became unavailable",
            ),
            (unavailable, not_applicable, "no longer applicable"),
        ] {
            let deltas = diff_measurements(
                &measurement_map("walk", before),
                &measurement_map("walk", after),
            );
            assert_eq!(delta_metrics(&deltas), ["root_trajectory_availability"]);
            assert_eq!(
                delta_for(&deltas, "root_trajectory_availability").note,
                note
            );
        }
    }

    #[test]
    fn metric_delta_omits_non_finite_public_values() {
        let delta = MetricDelta {
            clip: "walk".into(),
            metric: "duration_s".into(),
            before: Some(f64::NAN),
            after: Some(f64::INFINITY),
            note: "moved".into(),
        };
        let json = serde_json::to_value(delta).expect("delta serializes");
        assert!(json.get("before").is_none());
        assert!(json.get("after").is_none());
    }

    #[test]
    fn reports_not_applicable_to_unavailable_availability_transitions() {
        let mut before = clip_measurements();
        before.speed_mps = None;
        before.speed_mps_availability = MeasurementAvailability::NotApplicable;

        let mut after = before.clone();
        after.speed_mps_availability = MeasurementAvailability::Unavailable;

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert_eq!(deltas.len(), 1, "{:?}", delta_metrics(&deltas));
        let delta = delta_for(&deltas, "speed_mps_availability");
        assert_eq!(delta.note, "became unavailable");
        assert_eq!(delta.before, None);
        assert_eq!(delta.after, None);
    }

    #[test]
    fn reports_unavailable_to_not_applicable_availability_transitions() {
        let mut before = clip_measurements();
        before.speed_mps = None;
        before.speed_mps_availability = MeasurementAvailability::Unavailable;

        let mut after = before.clone();
        after.speed_mps_availability = MeasurementAvailability::NotApplicable;

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert_eq!(deltas.len(), 1, "{:?}", delta_metrics(&deltas));
        let delta = delta_for(&deltas, "speed_mps_availability");
        assert_eq!(delta.note, "no longer applicable");
    }

    #[test]
    fn availability_stays_silent_only_when_unchanged() {
        let before = clip_measurements();
        let after = before.clone();

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );
        assert!(deltas.is_empty(), "{:?}", delta_metrics(&deltas));
    }

    /// A `measured` -> `unavailable` transition on a scalar fact reports
    /// *two* deltas: the ordinary numeric "disappeared" delta under the
    /// bare field name, and a status delta under the field's
    /// `_availability` name. Both are contract evidence: the first is the
    /// value movement a consumer already watches; the second is what #443
    /// exists for — it is the only signal that distinguishes this
    /// applicable-but-failed-to-derive case from a legitimate absence.
    #[test]
    fn measured_to_unavailable_reports_both_value_and_availability_deltas() {
        let before = clip_measurements();
        let mut after = before.clone();
        after.speed_mps = None;
        after.speed_mps_availability = MeasurementAvailability::Unavailable;

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert_eq!(deltas.len(), 2, "{:?}", delta_metrics(&deltas));
        assert_eq!(delta_for(&deltas, "speed_mps").note, "disappeared");
        assert_eq!(
            delta_for(&deltas, "speed_mps_availability").note,
            "became unavailable"
        );
    }

    #[test]
    fn reports_gait_phase_not_applicable_to_unavailable_transitions() {
        let mut before = clip_measurements();
        before.gait.as_mut().unwrap().phase = None;
        before.gait.as_mut().unwrap().phase_availability = MeasurementAvailability::NotApplicable;

        let mut after = before.clone();
        after.gait.as_mut().unwrap().phase_availability = MeasurementAvailability::Unavailable;

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert_eq!(deltas.len(), 1, "{:?}", delta_metrics(&deltas));
        let delta = delta_for(&deltas, "gait.phase_availability");
        assert_eq!(delta.note, "became unavailable");
    }

    #[test]
    fn regenerated_flat_gait_reports_phase_disappearance_and_non_applicability() {
        let mut before = clip_measurements();
        before.gait.as_mut().unwrap().lr_amplitude_m = 0.0;

        let mut after = before.clone();
        after.gait.as_mut().unwrap().phase = None;
        after.gait.as_mut().unwrap().phase_availability = MeasurementAvailability::NotApplicable;

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert_eq!(deltas.len(), 2, "{:?}", delta_metrics(&deltas));
        assert_eq!(delta_for(&deltas, "gait.phase").note, "disappeared");
        assert_eq!(
            delta_for(&deltas, "gait.phase_availability").note,
            "no longer applicable"
        );
    }

    /// `gait.phase_availability` is a field nested inside the `gait` object,
    /// so it exists only when `gait` itself is present (schema invariant:
    /// `gait` is `Some` exactly when `gait_availability == measured`).
    /// When `gait` disappears entirely there is no `gait.phase_availability`
    /// to compare on the side that lost it, so this transition must not be
    /// reported there — the parent `gait_availability` delta and the
    /// numeric `gait.phase` "disappeared" delta already carry that event.
    #[test]
    fn gait_phase_availability_is_not_compared_when_gait_itself_disappears() {
        let before = clip_measurements();
        let mut after = before.clone();
        after.gait = None;
        after.gait_availability = MeasurementAvailability::Unavailable;

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert!(
            deltas
                .iter()
                .all(|delta| delta.metric != "gait.phase_availability"),
            "gait.phase_availability has no valid comparison when gait is absent on one side: {:?}",
            delta_metrics(&deltas)
        );
        assert_eq!(delta_for(&deltas, "gait.phase").note, "disappeared");
        assert_eq!(
            delta_for(&deltas, "gait_availability").note,
            "became unavailable"
        );
    }

    /// `loop_endpoint_mode` and `frame_grid` have no numeric or structured
    /// value comparison of their own (they are an enum and a small object,
    /// not an `f64`), so a `measured` -> `unavailable` transition on either
    /// would otherwise be completely silent. The `_availability` status
    /// delta is their only diff evidence.
    #[test]
    fn measured_to_unavailable_reports_endpoint_and_frame_grid_status_deltas() {
        let mut before = clip_measurements();
        before.loop_endpoint_mode = Some(LoopEndpointMode::UniqueCycle);
        before.loop_endpoint_mode_availability = MeasurementAvailability::Measured;
        before.frame_grid = Some(FrameGridMeasurement {
            fps: 30.0,
            frame_intervals: 30,
        });
        before.frame_grid_availability = MeasurementAvailability::Measured;

        let mut after = before.clone();
        after.loop_endpoint_mode = None;
        after.loop_endpoint_mode_availability = MeasurementAvailability::Unavailable;
        after.frame_grid = None;
        after.frame_grid_availability = MeasurementAvailability::Unavailable;

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert_eq!(deltas.len(), 2, "{:?}", delta_metrics(&deltas));
        assert_eq!(
            delta_for(&deltas, "loop_endpoint_mode_availability").note,
            "became unavailable"
        );
        assert_eq!(
            delta_for(&deltas, "frame_grid_availability").note,
            "became unavailable"
        );
    }

    #[test]
    fn reports_endpoint_and_frame_grid_not_applicable_to_unavailable_transitions() {
        let mut before = clip_measurements();
        before.loop_endpoint_mode_availability = MeasurementAvailability::NotApplicable;
        before.frame_grid_availability = MeasurementAvailability::NotApplicable;

        let mut after = before.clone();
        after.loop_endpoint_mode_availability = MeasurementAvailability::Unavailable;
        after.frame_grid_availability = MeasurementAvailability::Unavailable;

        let deltas = diff_measurements(
            &measurement_map("walk", before),
            &measurement_map("walk", after),
        );

        assert_eq!(deltas.len(), 2, "{:?}", delta_metrics(&deltas));
        assert_eq!(
            delta_for(&deltas, "loop_endpoint_mode_availability").note,
            "became unavailable"
        );
        assert_eq!(
            delta_for(&deltas, "frame_grid_availability").note,
            "became unavailable"
        );
    }
}