Variable KICK_PHASESConst

Type Declaration

• ReadonlyCHAMBER: {
      ankle: readonly [0, 0, 0];
      hip: readonly [1.57, 0, 0];
      knee: readonly [-2.15, 0, 0];
      pelvis: readonly [-0.1, 0, 0];
      supportKnee: readonly [-0.45, 0, 0];
  }

  Chamber Position (준비자세) - Knee lifted, tight

• ReadonlyEXTENSION: {
      ankle: readonly [0.4, 0, 0];
      hip: readonly [1.7, 0, 0];
      knee: readonly [-0.12, 0, 0];
      pelvis: readonly [0.15, 0, 0];
      pelvisY: 0;
      supportKnee: readonly [-0.45, 0, 0];
  }

  Extension Position (차기자세) - Leg extended with hip drive

  Front kick (앞차기) keeps the hips square (정면) — NO Y-rotation. Rotational kicks (돌려차기, 옆차기) own their pelvis Y-rotation via ROUNDHOUSE_CHAMBER / SIDE_CHAMBER instead of this shared phase.

• ReadonlyHIGH_PEAK: {
      ankle: readonly [0.42, 0, 0];
      hip: readonly [1.92, 0, 0];
      knee: readonly [-0.1, 0, 0];
      pelvis: readonly [-0.32, 0, 0];
      supportKnee: readonly [-0.45, 0, 0];
  }

  High Axe Kick Peak (높은차기) - Leg nearly vertical

  Hip flexion clamped to MAX_FLEXION (1.92 rad ~110°) - the previous 2.5 rad exceeded human anatomical range.

• ReadonlyROUNDHOUSE_CHAMBER: {
      hip: readonly [1.2, 0, 0.8];
      knee: readonly [-1.7, 0, 0];
      pelvisY: -0.78;
      spineY: 0.4;
  }

  Roundhouse Chamber (돌려차기준비) - Hip rotated out

  Strong support-foot pivot (pelvisY=-0.78) for authentic Korean dollyeochagi (돌려차기) hip-driven power generation.

• ReadonlySIDE_CHAMBER: {
      hip: readonly [1.3, 0, 0.3];
      knee: readonly [-1.7, 0, 0];
      pelvisY: -1.57;
      spineLean: 0.2;
      spineY: -1;
  }

  Side Kick Lateral (옆차기) - Turned sideways

  Body fully bladed: pelvis 90°, spine counter-rotated for foot-edge strike.