test(phys): A6.P3 #98 — harness deep investigation; airborne-at-tick-1 root cause not yet isolated
Multi-step investigation of the airborne-at-tick-1 bug per the
systematic-debugging skill. Several hypotheses tested via the
harness, each producing the same (0,1,0) hit normal at tick 1:
1. WalkablePolygon seeding ADDED to BuildInitialBody (was missing).
PhysicsEngine.cs:665-673 requires body.WalkablePolygonValid +
WalkableVertices to call SpherePath.SetWalkable. With seeded
walkable poly: walkPoly=True survives tick 1 (was False before).
BUT engine still reports hit=(0,1,0) and body goes airborne.
2. Initial Z lift removed (back to 0): same airborne behavior.
3. Synthetic stair GfxObj DISABLED: same (0,1,0) hit. Hit is not
from FindObjCollisions.
4. Stub landblock REMOVED: same (0,1,0). FindObjCollisions early-
returns without landblock context, FindEnvCollisions's outdoor
terrain returns null. Hit is not from terrain.
5. SYNTHETIC BSP attached to cell fixtures (Hydrate sets BSP=null
per its xmldoc; without BSP the indoor branch is skipped, falls
through to outdoor terrain). One-leaf BSP referencing every poly
in cell.Resolved. Indoor BSP path now runs. Same (0,1,0) hit.
Trace timeline at tick 1:
find-start: walkPoly=True, CP valid, oi=0x303 (Contact+OnWalkable)
after-adjust: req=(0,-0.1,0) adj=(0,-0.1,0) — no projection change
before-insert: check=(141.5, 9.4, 91.43)
stepdown-enter (Contact-recovery): stepDown=True, height=0.04
stepdown-after-offset: check=(141.5, 9.4, 91.39) — moved DOWN 0.04
stepdown-after-insert: state=OK, cp=n/a (no walkable found)
stepdown-reject
(second stepdown attempt — same outcome)
after-insert: state=Collided, hit=n/a, walkPoly=False
after-validate: state=OK, hit=(0,1,0), slide=(0,1,0)
oi=0x300 (Contact+OnWalkable CLEARED)
The (0,1,0) hit is set by ValidateTransition between after-insert
and after-validate. ValidateTransition's default-push-up code path
sets UnitZ=(0,0,1), NOT UnitY=(0,1,0). So something INSIDE
TransitionalInsert sets ci.CollisionNormal=(0,1,0) before
ValidateTransition runs (12 SetCollisionNormal call sites in
TransitionTypes.cs — root cause not isolated to one).
Per systematic-debugging skill: 5+ hypotheses tested without
convergence = "question architecture". The bug is hidden deeper
than a single misconfigured init field.
Next session pickup: build a side-by-side instrumentation harness
that mimics PlayerMovementController's EXACT call sequence
(PhysicsBody field state, ResolveWithTransition args, frame
ordering) and compare per-tick divergence against a live capture.
The harness is missing some piece of state production carries
across ticks — find what piece.
Apparatus progress (committed):
- Harness with synthetic stair GfxObj registration (Issue #98 ramp polygon now constructable programmatically)
- Synthetic cell-BSP attachment (AttachSyntheticBsp) — unlocks indoor
BSP collision path for hydrated cell fixtures
- WalkablePolygon seeding in BuildInitialBody (PhysicsBody seeding pattern documented)
- Three diagnostic dump tests for tick-by-tick traces
Test baseline: 1167 + 5 (harness) = 1172 + 8 pre-existing failures.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Erik
parent
227a77522a
commit
5c6bdbe30d
1 changed files with 163 additions and 54 deletions
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@ -96,23 +96,14 @@ public class CellarUpTrajectoryReplayTests
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private const float StepDownHeight = 0.04f;
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/// <summary>
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/// Sphere center starts slightly ABOVE its resting position on the
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/// cellar floor (offset by an additional 0.05 m above sphere-bottom-
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/// on-floor) to avoid the BSP query's floating-point boundary at
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/// exact contact. With sphere center at exactly Z=floor+radius, the
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/// engine reports hit=yes (back-face contact) and the body goes
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/// airborne; with a 0.05 m lift, step-down on tick 1 should snap
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/// the sphere cleanly to the floor.
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///
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/// <para>
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/// Sphere center starts exactly at its natural resting position on
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/// the cellar floor: bottom on floor, center at Z = floor + radius.
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/// Y=9.5 is ~0.75 m before the ramp foot at Y=8.75 (live-capture
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/// ramp plane: <c>0.719·y + 0.695·z = 69.5035</c> → y=8.75 at z=90.95).
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/// X=141.5 matches the live capture's X.
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/// </para>
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/// </summary>
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private const float InitialZLift = 0.05f;
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private static readonly Vector3 InitialSphereWorld =
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new(141.5f, 9.5f, CellarFloorZ + SphereRadius + InitialZLift);
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new(141.5f, 9.5f, CellarFloorZ + SphereRadius);
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/// <summary>
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/// Per-tick forward offset (−Y direction toward the ramp).
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@ -154,26 +145,32 @@ public class CellarUpTrajectoryReplayTests
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[Fact]
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public void Harness_DiagnosticDump_FirstTenTicks()
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{
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PhysicsDiagnostics.ProbeResolveEnabled = true;
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PhysicsDiagnostics.ProbeResolveEnabled = true;
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PhysicsDiagnostics.ProbeStepWalkEnabled = true;
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PhysicsDiagnostics.ProbeIndoorBspEnabled = true;
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PhysicsDiagnostics.ProbePolyDumpEnabled = true;
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try
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{
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var (engine, _) = BuildEngineWithCellarFixtures();
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var body = BuildInitialBody();
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var trajectory = SimulateTicks(engine, body, CellarId, 10);
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var trajectory = SimulateTicks(engine, body, CellarId, 2);
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var msg = "Trajectory (10 ticks):\n " +
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var msg = "Trajectory (2 ticks):\n " +
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string.Join("\n ", trajectory.Select(p =>
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$"tick={p.Tick} pos=({p.Position.X:F4},{p.Position.Y:F4},{p.Position.Z:F4}) " +
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$"cell=0x{p.CellId:X8} onGround={p.IsOnGround} cpValid={p.CpValid}"));
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// Always pass — this is a diagnostic test; the resolve
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// probe output appears in the test runner's captured stdout
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// Always pass — this is a diagnostic test; the probe
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// output appears in the test runner's captured stdout
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// and the trajectory in the assertion message on failure.
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Assert.True(true, msg);
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}
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finally
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{
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PhysicsDiagnostics.ProbeResolveEnabled = false;
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PhysicsDiagnostics.ProbeResolveEnabled = false;
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PhysicsDiagnostics.ProbeStepWalkEnabled = false;
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PhysicsDiagnostics.ProbeIndoorBspEnabled = false;
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PhysicsDiagnostics.ProbePolyDumpEnabled = false;
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}
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}
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@ -232,11 +229,35 @@ public class CellarUpTrajectoryReplayTests
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}
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/// <summary>
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/// Documents finding #2: at the initial grounded position, the
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/// engine reports the cellar floor as a non-walkable collision
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/// and the body goes airborne at tick 1. Whether this is an
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/// engine bug or a fixture issue is unclear; the harness exposes
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/// it deterministically.
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/// Documents the deep-investigation finding (2026-05-23 evening
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/// extension): the seeded grounded sphere still goes airborne at
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/// tick 1 with hit=(0,1,0) — a +Y wall normal that doesn't match
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/// any registered geometry. The hit is set by ValidateTransition
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/// after the inner TransitionalInsert returns Collided, but the
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/// source of the (0,1,0) inside TransitionalInsert is not yet
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/// isolated.
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///
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/// <para>
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/// Investigation excluded:
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/// <list type="bullet">
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/// <item>Stub landblock terrain (removed; same hit)</item>
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/// <item>Synthetic stair GfxObj (removed; same hit)</item>
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/// <item>Cell BSP=null on Hydrate (attached synthetic BSP; same hit)</item>
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/// <item>WalkablePolygon NOT seeded vs seeded (seeded now: walkable=True survives, but (0,1,0) hit remains)</item>
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/// <item>Initial sphere Z lift 0.0 vs 0.05 m (same hit)</item>
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/// <item>PhysicsBody seeded vs body=null (same hit)</item>
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/// </list>
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/// </para>
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///
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/// <para>
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/// Next session's investigation move: build a side-by-side
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/// instrumentation harness that calls the EXACT same
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/// ResolveWithTransition invocation as production's
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/// PlayerMovementController, with identical body state, and
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/// compare per-tick state divergence. The harness setup must be
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/// missing some piece of state that production carries from a
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/// prior live tick — find what piece.
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/// </para>
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/// </summary>
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[Fact]
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public void Harness_Finding_SphereGoesAirborneAtTick1()
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@ -248,13 +269,13 @@ public class CellarUpTrajectoryReplayTests
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Assert.True(trajectory[0].IsOnGround,
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"Tick 0 is the seeded starting state and must report grounded.");
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Assert.False(trajectory[1].IsOnGround,
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"Finding #2: at tick 1 the engine reports the sphere is NOT " +
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"grounded, even though it started seeded on the cellar floor " +
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"with a flat-floor ContactPlane. Investigate whether the " +
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"cellar floor polygon's containment test is mis-firing or " +
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"whether the engine genuinely treats floor contact as a " +
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"non-walkable collision. If/when this is fixed, the assertion " +
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"should be flipped to require continuous grounded state.");
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"Open finding: at tick 1 the engine reports the sphere is NOT " +
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"grounded, even though it started seeded with ContactPlane + " +
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"WalkablePolygon on the cellar floor and the cell has a " +
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"synthetic BSP wrapping every polygon. Hit normal is (0,1,0) — " +
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"doesn't match any registered geometry. Source of (0,1,0) " +
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"inside TransitionalInsert is not yet isolated. See the class " +
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"doc for the exclusion list and next investigation move.");
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}
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/// <summary>
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@ -314,7 +335,14 @@ public class CellarUpTrajectoryReplayTests
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var cache = new PhysicsDataCache();
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var engine = new PhysicsEngine { DataCache = cache };
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// ── 1. Cell fixtures (existing) ─────────────────────────────
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// ── 1. Cell fixtures (existing) + synthetic BSP ──────────────
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// CellDumpSerializer.Hydrate intentionally sets BSP=null (the DAT
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// PhysicsBSPTree isn't in the dump format). Without a non-null BSP,
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// FindEnvCollisions's indoor branch (TransitionTypes.cs:1840) is
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// skipped — the engine falls through to outdoor terrain queries
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// that produce spurious wall hits. Construct a single-leaf BSP
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// wrapping the cell's Resolved polygons, so the indoor path fires
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// like production.
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foreach (var cellId in new[] { CellarId, CottageNeighborA, CottageNeighborB })
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{
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var path = Path.Combine(FixtureDir, $"0x{cellId:X8}.json");
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@ -323,32 +351,80 @@ public class CellarUpTrajectoryReplayTests
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$"(commit 3f56915 captured the originals).");
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var dump = CellDumpSerializer.Read(path);
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var cell = CellDumpSerializer.Hydrate(dump);
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cache.RegisterCellStructForTest(cellId, cell);
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var cellWithBsp = AttachSyntheticBsp(cell);
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cache.RegisterCellStructForTest(cellId, cellWithBsp);
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}
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// ── 2. Stub landblock so TryGetLandblockContext succeeds ───
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// FindObjCollisions early-returns if no landblock covers the
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// sphere's XY. The cellar is in the world's first landblock
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// (worldOffset 0,0 covers 0..192m). We don't need real terrain
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// for indoor BSP collision — minimal heights array suffices.
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var heights = new byte[81];
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Array.Fill(heights, (byte)0);
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var heightTab = new float[256];
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for (int i = 0; i < 256; i++) heightTab[i] = i * 1.0f;
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engine.AddLandblock(
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landblockId: 0xA9B40000u,
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terrain: new TerrainSurface(heights, heightTab),
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cells: Array.Empty<CellSurface>(),
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portals: Array.Empty<PortalPlane>(),
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worldOffsetX: 0f,
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worldOffsetY: 0f);
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// ── 2. NO landblock registered ──────────────────────────────
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// Without a landblock, SampleTerrainWalkable returns null and
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// FindEnvCollisions's outdoor-fallback path returns OK without
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// running ValidateWalkable on stub terrain. This is the right
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// shape for indoor-only tests — the cell's BSP would handle
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// collision if hydrated, and falling through to stub terrain
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// produces spurious (0,1,0) wall hits. FindObjCollisions also
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// early-returns without landblock context (line 2153 of
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// TransitionTypes.cs), so the synthetic stair GfxObj is also
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// skipped — fine for the airborne-at-tick-1 isolation.
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// ── 3. Synthetic stair-piece GfxObj + ShadowEntry ──────────
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RegisterStairRampGfxObj(engine, cache);
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// Temporarily disabled while debugging the airborne-at-tick-1
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// issue. Re-enable once the cell-BSP-is-null + landblock-stub
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// interaction is understood, AND we have a way to register
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// the stair without needing a landblock (e.g., extend
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// FindObjCollisions to query cellScope-only shadows without
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// landblock context).
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// RegisterStairRampGfxObj(engine, cache);
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return (engine, cache);
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}
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/// <summary>
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/// Wraps a hydrated <see cref="CellPhysics"/> with a synthetic
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/// single-leaf <see cref="PhysicsBSPTree"/> that references every
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/// polygon in <c>cell.Resolved</c>. <c>CellDumpSerializer.Hydrate</c>
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/// intentionally sets BSP=null (per its xmldoc) because the dump
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/// format doesn't capture the DAT BSP tree. Without a non-null BSP,
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/// FindEnvCollisions's indoor branch is skipped — the engine then
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/// falls through to outdoor terrain queries that misfire. A flat
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/// single-leaf BSP is sufficient for the BSP query to find every
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/// polygon by exhaustive iteration (slower than a real BSP but
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/// correct).
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/// </summary>
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private static CellPhysics AttachSyntheticBsp(CellPhysics cell)
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{
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// Compute a bounding sphere that encompasses every polygon in the
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// cell — center at the origin of the cell's WORLD transform plus
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// a margin radius. The cellar fixture is ~12 m × 12 m × 3 m.
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var bsphereCenter = new Vector3(0f, 0f, 0f); // cell local
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var bsphereRadius = 15f;
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var leaf = new PhysicsBSPNode
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{
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Type = BSPNodeType.Leaf,
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BoundingSphere = new Sphere { Origin = bsphereCenter, Radius = bsphereRadius },
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};
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foreach (var kv in cell.Resolved)
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leaf.Polygons.Add(kv.Key);
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var bspTree = new PhysicsBSPTree { Root = leaf };
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// CellPhysics has init-only properties; rebuild a new instance
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// with BSP set, copying every other field unchanged.
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return new CellPhysics
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{
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BSP = bspTree,
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PhysicsPolygons = cell.PhysicsPolygons,
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Vertices = cell.Vertices,
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WorldTransform = cell.WorldTransform,
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InverseWorldTransform = cell.InverseWorldTransform,
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Resolved = cell.Resolved,
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CellBSP = cell.CellBSP,
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Portals = cell.Portals,
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PortalPolygons = cell.PortalPolygons,
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VisibleCellIds = cell.VisibleCellIds,
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};
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}
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/// <summary>
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/// Constructs a synthetic GfxObj containing the cellar ramp polygon
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/// in WORLD coordinates and registers it as a ShadowEntry scoped to
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@ -447,19 +523,52 @@ public class CellarUpTrajectoryReplayTests
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}
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/// <summary>
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/// Sphere on the cellar floor with a seeded flat-floor ContactPlane.
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/// Mirrors the production pattern in <c>PlayerMovementController</c>:
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/// a grounded body carries its last ContactPlane forward across ticks.
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/// Sphere on the cellar floor with BOTH a seeded ContactPlane AND a
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/// seeded WalkablePolygon. Both are required by the engine to treat
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/// the body as truly grounded:
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/// <list type="bullet">
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/// <item><c>ContactPlaneValid</c> + <c>ContactPlane</c>: copied into
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/// <c>CollisionInfo.ContactPlane</c> via the body parameter
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/// seeding in <see cref="PhysicsEngine.ResolveWithTransition"/>.</item>
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/// <item><c>WalkablePolygonValid</c> + <c>WalkablePlane</c> +
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/// <c>WalkableVertices</c>: read by
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/// <see cref="PhysicsEngine.ResolveWithTransition"/> lines
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/// 665-673 to call <c>SpherePath.SetWalkable(...)</c>, which
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/// sets <c>HasWalkablePolygon=true</c>. Without this, the
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/// engine treats the sphere as "grounded but with no walkable
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/// polygon anchor" — a contradictory state that fires step-down
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/// probes which reject and clear the grounded flag.</item>
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/// </list>
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/// </summary>
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private static PhysicsBody BuildInitialBody() => new()
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{
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Position = InitialSphereWorld,
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Orientation = Quaternion.Identity,
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// ContactPlane: cellar floor at world Z=90.95.
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ContactPlaneValid = true,
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ContactPlane = new System.Numerics.Plane(0f, 0f, 1f, -CellarFloorZ),
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ContactPlaneCellId = CellarId,
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TransientState = TransientStateFlags.Contact
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| TransientStateFlags.OnWalkable,
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// WalkablePolygon: cellar floor poly 24 (the cellar quad under
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// sphere XY=(141.5, 9.5)), transformed to world coordinates via
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// the cell's 180° yaw + origin (130.5, 11.5, 94.0). Local verts
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// [(-11.6, 0, -3.05), (-11.6, 3.1, -3.05), (-9.6, 3.1, -3.05),
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// (-9.6, 0, -3.05)] → world [(142.1, 11.5, 90.95),
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// (142.1, 8.4, 90.95), (140.1, 8.4, 90.95), (140.1, 11.5, 90.95)].
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WalkablePolygonValid = true,
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WalkablePlane = new System.Numerics.Plane(0f, 0f, 1f, -CellarFloorZ),
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WalkableVertices = new[]
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{
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new Vector3(142.1f, 11.5f, 90.95f),
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new Vector3(142.1f, 8.4f, 90.95f),
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new Vector3(140.1f, 8.4f, 90.95f),
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new Vector3(140.1f, 11.5f, 90.95f),
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},
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WalkableUp = Vector3.UnitZ,
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TransientState = TransientStateFlags.Contact
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| TransientStateFlags.OnWalkable,
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};
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/// <summary>
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