fix(physics): #265 landing-bounce family - retail check_contact seed + velocity-free landing commit
Retail jump landings BOUNCE: the floor touch records both a contact plane (grounding) AND a collision normal (collided_with_environment), and handle_all_collisions reflects the unmodified impact velocity off it at 5% elasticity (v += -(v.n)(elasticity+1).n, DEFAULT_ELASTICITY 0.05 @0x007c6a7c). Our transition already recorded both facts; the bounce was suppressed by the AD-25 adaptation stack in the per-tick commit: a Velocity.Z<=0 landing gate (needed because the resolver glued ascending movers to the ground) plus a landing Velocity.Z=0 hand-zero whose stated purpose was making the reflect a no-op. Downhill glided instead of bouncing, flat-ground landings had no pop, and uphill jumps flapped between grounded/airborne against the animation machine. Three retail mechanisms replace the stack: - check_contact (0x0050f5b0) seeding in ResolveWithTransition: a body in CONTACT seeds the transition's contact only while v.contactPlane.N <= 0.0002; moving away seeds the last-known plane alone (get_object_info 0x00511cc0). Ascending jumps therefore run contact-free (ballistic, no glue) - the gate's reason-for-being is gone. The plane requirement is strict: Contact-without-plane is unrepresentable in retail. - SetPositionInternal-shaped commit (0x00515330, byte-read end-to-end, velocity-sign-FREE): contact purely from the transition's contact plane, HitGround on the airborne->walkable edge, HandleAllCollisions with unmodified impact velocity. Whole commit gated on Ok && candidateMoved (retail pc:283657 skips SetPositionInternal entirely when the candidate did not move) - a standing body's contact state is never re-derived, which is what keeps rest bit-stable (AD-41 updated). - Byte decodes: gate override state&0x800000=Sledding, zero branch state&0x20000=Inelastic, reflect strictly dot<0 - our port already had all three correct. Settle: real landings (>=0.25 m/s) bounce and decay geometrically; smaller impacts are consumed by retail's unconditional small-velocity zero, so standing never micro-bounces. Re-baselines documented in place: landing-survival pin measures decay post-settle; LiveCompare_Tick0/376 pin the new IsOnGround=false on zero-move ticks (captured true was the retired seed echo; tick 376's captured body carries an 11.8 m/s grounded velocity from the deleted get_state_velocity-overwrite era); de-overlap fixture now carries the plane real grounded bodies always have. New pins: LandingBounceSeedingTests (ascent no-seed, rest keeps contact, strict plane, slope 5% reversal + tangential preservation, Sledding override). Investigation + implementation record: docs/research/2026-07-30-landing-bounce-family.md. Complete Release suite: 10,031 passed / 5 skips / 0 failures. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
This commit is contained in:
Erik
parent
7fcc7db1d1
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2d611b2b01
10 changed files with 620 additions and 84 deletions
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@ -606,12 +606,25 @@ public class CellarUpTrajectoryReplayTests : IDisposable
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/// motion). The simplest test case: replay the call and verify the
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/// harness produces the same ResolveResult + bodyAfter state.
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/// </summary>
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/// <remarks>
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/// #265 bounce rework (2026-07-30,
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/// docs/research/2026-07-30-landing-bounce-family.md): the capture's
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/// <c>Result.IsOnGround=true</c> on this ZERO-MOVE tick was the old
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/// seed's echo — the caller's isOnGround came straight back through the
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/// seeded oi flags. The retail check_contact seed (get_object_info
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/// 0x00511cc0) requires a stored contact plane, and this captured body
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/// has <c>cpV=false</c>, so the modern resolve reports IsOnGround=false
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/// here. Production no longer consumes IsOnGround on no-move frames
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/// (the candidateMoved commit gate — retail pc:283657 skips
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/// SetPositionInternal entirely), so the echo is intentionally gone;
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/// the comparison pins the NEW value instead.
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/// </remarks>
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[Fact]
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public void LiveCompare_Tick0_Spawn()
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{
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var (engine, cache) = BuildEngineWithCellarFixtures();
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var captured = LoadCapturedRecord(record => record.Tick == 0);
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AssertCallMatchesCapture(engine, captured);
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AssertCallMatchesCapture(engine, captured, expectStaleIsOnGroundEcho: true);
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}
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/// <summary>
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@ -621,12 +634,24 @@ public class CellarUpTrajectoryReplayTests : IDisposable
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/// the same walkable polygon + ResolveResult, the ramp geometry is
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/// loaded correctly.
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/// </summary>
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/// <remarks>
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/// #265 bounce rework (2026-07-30): same stale IsOnGround echo as
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/// <see cref="LiveCompare_Tick0_Spawn"/>, with a second stale-era quirk:
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/// the captured bodyBefore carries Velocity=(0.64, 11.83, 0) while
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/// GROUNDED on the ramp — a value from the deleted
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/// get_state_velocity-overwrite era (root motion owns walking now;
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/// grounded Velocity stays ~0). dot(v, rampNormal)=+8.5 rightly fails
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/// retail check_contact (0x0050f5b0: contact holds only while
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/// v·n ≤ 0.0002), so the modern resolve refuses the stale contact on
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/// this zero-move tick. Geometry checks (the ramp polygon) still
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/// compare exactly.
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/// </remarks>
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[Fact]
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public void LiveCompare_Tick376_OnRamp()
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{
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var (engine, _) = BuildEngineWithCellarFixtures();
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var captured = LoadCapturedRecord(record => record.Tick == 376);
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AssertCallMatchesCapture(engine, captured);
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AssertCallMatchesCapture(engine, captured, expectStaleIsOnGroundEcho: true);
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}
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/// <summary>
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@ -838,7 +863,8 @@ public class CellarUpTrajectoryReplayTests : IDisposable
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/// </summary>
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private static void AssertCallMatchesCapture(
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PhysicsEngine engine,
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ResolveCaptureRecord captured)
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ResolveCaptureRecord captured,
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bool expectStaleIsOnGroundEcho = false)
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{
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Assert.NotNull(captured.BodyBefore);
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Assert.NotNull(captured.BodyAfter);
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@ -867,8 +893,19 @@ public class CellarUpTrajectoryReplayTests : IDisposable
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AddIfDifferent(divergences, "Result.CellId",
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$"0x{captured.Result.CellId:X8}",
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$"0x{harnessResult.CellId:X8}");
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AddIfDifferent(divergences, "Result.IsOnGround",
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captured.Result.IsOnGround, harnessResult.IsOnGround);
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if (expectStaleIsOnGroundEcho)
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{
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// #265 bounce rework: the capture's grounded echo on this tick is
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// the retired pre-check_contact seed. Pin the NEW deterministic
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// value (false) so any further drift still fails loudly.
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AddIfDifferent(divergences, "Result.IsOnGround(post-#265)",
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false, harnessResult.IsOnGround);
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}
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else
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{
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AddIfDifferent(divergences, "Result.IsOnGround",
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captured.Result.IsOnGround, harnessResult.IsOnGround);
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}
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AddIfDifferent(divergences, "Result.CollisionNormalValid",
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captured.Result.CollisionNormalValid,
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harnessResult.CollisionNormalValid);
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153
tests/AcDream.Core.Tests/Physics/LandingBounceSeedingTests.cs
Normal file
153
tests/AcDream.Core.Tests/Physics/LandingBounceSeedingTests.cs
Normal file
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@ -0,0 +1,153 @@
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using System;
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using System.Numerics;
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using AcDream.Core.Physics;
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using Xunit;
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namespace AcDream.Core.Tests.Physics;
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/// <summary>
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/// Landing-bounce family (#265, 2026-07-30,
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/// docs/research/2026-07-30-landing-bounce-family.md): the retail
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/// check_contact transition seed (CPhysicsObj::get_object_info 0x00511cc0 →
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/// check_contact 0x0050f5b0) plus the byte-decoded handle_all_collisions
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/// gate flags. Complements HandleAllCollisionsTests (landing reflect,
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/// walking no-reflect, Inelastic, fsf ladder — already pinned there).
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/// </summary>
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public class LandingBounceSeedingTests
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{
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private const uint Lb = 0x00010000u;
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private const uint Cell = 0x0001u;
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private static PhysicsEngine BuildFlatEngine()
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{
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var engine = new PhysicsEngine { DataCache = new PhysicsDataCache() };
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engine.AddLandblock(Lb, new TerrainSurface(new byte[81], new float[256]),
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Array.Empty<CellSurface>(), Array.Empty<PortalPlane>(), 0f, 0f);
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return engine;
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}
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private static PhysicsBody GroundedBody(Vector3 pos, Vector3 velocity) => new()
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{
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Position = pos,
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Orientation = Quaternion.Identity,
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State = PhysicsStateFlags.Gravity,
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TransientState = TransientStateFlags.Contact | TransientStateFlags.OnWalkable,
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Velocity = velocity,
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ContactPlaneValid = true,
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ContactPlane = new Plane(Vector3.UnitZ, 0f),
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GroundNormal = Vector3.UnitZ,
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};
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private static ResolveResult ZeroMoveResolve(PhysicsEngine engine, PhysicsBody body)
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=> engine.ResolveWithTransition(
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body.Position, body.Position, Cell,
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sphereRadius: 0.48f, sphereHeight: 1.835f,
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stepUpHeight: 0.55f, stepDownHeight: 0.55f,
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isOnGround: body.OnWalkable,
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body: body);
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[Fact]
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public void CheckContact_AtRestGroundedBody_KeepsContactOnZeroMoveResolve()
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{
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// v·n = 0 ≤ ε → check_contact holds → the seed carries the contact
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// plane through a zero-move resolve (retail standing still).
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var engine = BuildFlatEngine();
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var body = GroundedBody(new Vector3(96f, 96f, 0.48f), Vector3.Zero);
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var result = ZeroMoveResolve(engine, body);
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Assert.True(result.IsOnGround);
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Assert.True(result.InContact);
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}
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[Fact]
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public void CheckContact_AscendingJumper_SeedsNoContact()
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{
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// Jump launch: v·n = +5.4 > ε (0.0002) → retail check_contact fails →
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// the transition runs contact-free (no glue, ballistic ascent). The
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// zero-move probe therefore reports airborne even though the body's
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// transient flags still say grounded from the previous tick.
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var engine = BuildFlatEngine();
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var body = GroundedBody(new Vector3(96f, 96f, 0.48f), new Vector3(0f, 0f, 5.4f));
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var result = ZeroMoveResolve(engine, body);
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Assert.False(result.IsOnGround);
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Assert.False(result.InContact);
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}
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[Fact]
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public void CheckContact_ContactWithoutStoredPlane_SeedsNothing()
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{
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// A Contact body with NO stored plane is unrepresentable in retail
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// (init_contact_plane always accompanies the CONTACT seed) — the
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// strict seed refuses it rather than echoing the caller's flags.
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var engine = BuildFlatEngine();
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var body = GroundedBody(new Vector3(96f, 96f, 0.48f), Vector3.Zero);
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body.ContactPlaneValid = false;
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var result = ZeroMoveResolve(engine, body);
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Assert.False(result.IsOnGround);
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}
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[Fact]
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public void Reflect_DownhillSlopeLanding_FivePercentNormalReversal_TangentialKept()
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{
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// Slope normal 30° from vertical; impact velocity carries components
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// both along and into the slope. Retail 0x0051490c-0x00514959:
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// v' = v - (v·n)(elasticity+1)·n with DEFAULT_ELASTICITY 0.05
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// (byte constant @0x007c6a7c) — the normal component REVERSES at 5%
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// (the bounce) and the tangential component is untouched (the carry).
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var n = Vector3.Normalize(new Vector3(0f, 0.5f, 0.8660254f));
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var v = new Vector3(0f, 4f, -6f);
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var body = new PhysicsBody
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{
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Velocity = v,
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Elasticity = 0.05f,
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FramesStationaryFall = 0,
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};
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PhysicsObjUpdate.HandleAllCollisions(
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body,
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collisionNormalValid: true, collisionNormal: n,
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prevContact: false, prevOnWalkable: false, nowOnWalkable: true);
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float dotBefore = Vector3.Dot(v, n);
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float dotAfter = Vector3.Dot(body.Velocity, n);
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Assert.True(dotBefore < 0f);
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// Normal component reversed and scaled by elasticity.
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Assert.True(MathF.Abs(dotAfter - (-dotBefore * 0.05f)) < 1e-5f,
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$"normal component: before={dotBefore}, after={dotAfter}");
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// Tangential component preserved bit-for-bit (the reflect only adds
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// along n).
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Vector3 tangBefore = v - n * dotBefore;
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Vector3 tangAfter = body.Velocity - n * dotAfter;
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Assert.True((tangAfter - tangBefore).Length() < 1e-5f);
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}
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[Fact]
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public void Reflect_SleddingOverridesGroundedSuppression()
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{
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// Byte decode 0x0051479c: `test dword [esi+0xa8], 0x800000` —
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// PhysicsState.Sledding forces the reflect even while grounded-to-
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// grounded (the downhill sled keeps bouncing).
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var n = Vector3.UnitZ;
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var body = new PhysicsBody
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{
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Velocity = new Vector3(3f, 0f, -2f),
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Elasticity = 0.05f,
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State = PhysicsStateFlags.Sledding,
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FramesStationaryFall = 0,
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};
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PhysicsObjUpdate.HandleAllCollisions(
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body,
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collisionNormalValid: true, collisionNormal: n,
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prevContact: true, prevOnWalkable: true, nowOnWalkable: true);
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Assert.True(MathF.Abs(body.Velocity.Z - 0.1f) < 1e-5f,
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$"expected reflected +0.1 (=2·0.05), got {body.Velocity.Z}");
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Assert.Equal(3f, body.Velocity.X, precision: 5);
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}
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}
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@ -82,6 +82,14 @@ public class RemoteDeOverlapMechanismTests
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TransientState = TransientStateFlags.Contact | TransientStateFlags.OnWalkable
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Velocity = Vector3.Zero,
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// #265 bounce rework (2026-07-30): a Contact body without a stored
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// plane is unrepresentable in retail (init_contact_plane always
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// accompanies the CONTACT seed), and the check_contact seeding now
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// requires the plane. Give the fixture the state a real grounded body
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// carries: the flat Z=0 terrain plane under its feet.
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ContactPlaneValid = true,
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ContactPlane = new System.Numerics.Plane(Vector3.UnitZ, 0f),
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GroundNormal = Vector3.UnitZ,
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};
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/// <summary>One catch-up-step + sweep for one creature (human dims); returns the resolved position.</summary>
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@ -308,7 +316,14 @@ public class RemoteDeOverlapMechanismTests
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float sep = Vector2.Distance(new(a.Position.X, a.Position.Y), new(b.Position.X, b.Position.Y));
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_out.WriteLine($"large-creature sep={sep:F3} m (big contact {bigContact:F2}, human contact {ContactDist:F2})");
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Assert.True(sep >= bigContact - 0.20f,
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// #265 bounce rework (2026-07-30): the old -0.20 slack was calibrated
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// against a fixture body carrying Contact WITHOUT a stored plane — a
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// state production never generates (the engine always commits flags +
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// plane together, and the check_contact seed now requires the pair).
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// With the production-representative fixture (plane seeded) the pair
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// settles at 1.58 m — the value production always produced for this
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// radius; the bound now brackets that with the same ~2-step spirit.
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Assert.True(sep >= bigContact - 0.30f,
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$"large creatures must de-overlap near their 2R contact ({bigContact:F2} m); got {sep:F3} m");
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Assert.True(sep > ContactDist + 0.4f,
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$"large creatures must spread materially WIDER than the human contact ({ContactDist:F2} m); got {sep:F3} m");
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