fix(phys): A6.P3 slice 1 step 2 — strip indoor walkable synthesis
Closes A6.P2 Finding 2 (ContactPlane resynthesis blowup, 250x to ∞x
more CP writes than retail). Indoor branch of Transition.FindEnvCollisions
now matches retail's CEnvCell::find_env_collisions tiny shape (decomp
line 309573): call BSPTREE::find_collisions, return OK. No synthesis,
no per-frame ValidateWalkable call, no per-frame ContactPlane write.
Cross-frame CP retention now flows via:
- Mechanism A: BSPQuery.FindCollisions Path-3 step-down write on
grounded movers (retail-faithful: BSPTREE::step_sphere_down at
acclient_2013_pseudo_c.txt:323711 always writes contact_plane when
it finds a walkable surface — only fires if sphere penetrates floor).
- Mechanism B: per-transition LKCP restore in ValidateTransition
(added in 5aba071) for the Collided/Adjusted/Slid result cases.
- PhysicsEngine.RunTransitionResolve body persist (unchanged).
TryFindIndoorWalkablePlane definition retained for now; deleted in
A6.P4 alongside the #90 sphere-overlap workaround.
Test fix: IndoorContactPlaneRetentionTests sphere position corrected
from 5 cm below the floor (pre-fix arrangement to trigger synthesis)
to exactly on the floor (worldPosZ = floorZ). A grounded sphere at
its natural position does not penetrate the floor polygon, so BSP
Path 5 finds no intersection and returns OK immediately — zero
additional CP writes in 60 frames. Previously the below-floor position
was causing Path 5 → StepSphereUp → DoStepDown → SetContactPlane
every frame (60 writes), not the synthesis path.
Verification:
- IndoorContactPlaneRetentionTests: PASS (was the 9th expected fail;
back to 1148 pass + 8 pre-existing fail).
- Full suite: 1148+420 pass, 8 fail (baseline maintained +1 pass).
- Re-capture verification (scen1/3/5) deferred to Task 6.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Erik
parent
5aba071aec
commit
5f7722a3a4
2 changed files with 47 additions and 122 deletions
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@ -1651,104 +1651,29 @@ public sealed class Transition
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return otherCellsState;
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return otherCellsState;
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// ──────────────────────────────────────────────────────────
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// ──────────────────────────────────────────────────────────
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// ── Synthesize indoor walkable contact plane ──────────────
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// ── Indoor walkable handling — A6.P3 slice 1 (2026-05-22) ─
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// Indoor walking Phase 2 follow-up (2026-05-19). When the BSP
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// Retail's CEnvCell::find_env_collisions (decomp
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// returns OK (no wall collision), the player is standing on a
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// acclient_2013_pseudo_c.txt:309573) returns OK after
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// floor poly inside the cell. We must NOT fall through to
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// BSPTREE::find_collisions returns OK — NO call to
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// outdoor terrain (SampleTerrainWalkable) — the outdoor terrain
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// set_contact_plane or any synthesis. ContactPlane is
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// Z is below the indoor floor due to the +0.02f Z-bump applied
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// either:
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// for render z-fight prevention. ValidateWalkable would then see
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// - Already valid from a previous frame's Path-6 land
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// the player 0.5m above the outdoor plane → marks them as
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// write inside BSPQuery.FindCollisions (Mechanism A).
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// airborne → walkable=False → falling animation, never recovers.
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// - Restored from LKCP by the per-transition Mechanism B
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// in Transition.ValidateTransition (added in 5aba071,
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// Task 4 of this slice).
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//
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//
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// Retail: CEnvCell::find_env_collisions returns from the cell
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// The old TryFindIndoorWalkablePlane synthesis path is
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// branch with the cell's walkable plane set — no fall-through
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// removed here; the function definition is retained for
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// to terrain.
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// now and is deleted in A6.P4 along with the #90
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bool walkableHit = TryFindIndoorWalkablePlane(
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// workaround.
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cellPhysics, localCenter, sphereRadius,
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//
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out var indoorPlane,
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// If subsequent visual verification shows first-frame
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out var indoorVertices,
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// fall-through (LKCP invalid AND no Path-6 land happens
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out uint hitPolyId);
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// for a flat-walk-only scenario), A6.P3 slice 2 adds
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// Mechanism C (retail's frames_stationary_fall flat-CP
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if (PhysicsDiagnostics.ProbeIndoorBspEnabled)
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// synthesis at acclient_2013_pseudo_c.txt:272622+).
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{
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return TransitionState.OK;
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if (walkableHit)
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{
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// dz = signed gap between foot and synthesized plane.
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// Plane: N·p + D = 0 ⇒ pZ_on_plane = -D/N.z (for upward-facing planes)
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// gap = foot.Z - pZ_on_plane = foot.Z - (-D/N.z) = foot.Z + D/N.z
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float dz = footCenter.Z + indoorPlane.D / indoorPlane.Normal.Z;
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Console.WriteLine(System.FormattableString.Invariant(
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$"[indoor-walkable] cell=0x{sp.CheckCellId:X8} wpos=({footCenter.X:F3},{footCenter.Y:F3},{footCenter.Z:F3}) probe={INDOOR_WALKABLE_PROBE_DISTANCE:F2} result=HIT poly=0x{hitPolyId:X4} wn=({indoorPlane.Normal.X:F3},{indoorPlane.Normal.Y:F3},{indoorPlane.Normal.Z:F3}) wD={indoorPlane.D:F3} dz={dz:+0.00;-0.00;+0.00}"));
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}
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else
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{
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Console.WriteLine(System.FormattableString.Invariant(
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$"[indoor-walkable] cell=0x{sp.CheckCellId:X8} wpos=({footCenter.X:F3},{footCenter.Y:F3},{footCenter.Z:F3}) probe={INDOOR_WALKABLE_PROBE_DISTANCE:F2} result=MISS"));
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}
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}
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if (!walkableHit && PhysicsDiagnostics.ProbeWalkMissEnabled)
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{
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var agg = WalkMissDiagnostic.AggregateNearestWalkable(
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cellPhysics.Resolved,
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footLocal: localCenter,
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floorZ: PhysicsGlobals.FloorZ);
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// Count walkable polys for the line (cheap re-scan; the
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// probe is opt-in so cost is bounded to MISS frames).
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int walkableCount = 0;
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foreach (var kvp in cellPhysics.Resolved)
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{
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if (kvp.Value.Plane.Normal.Z >= PhysicsGlobals.FloorZ
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&& kvp.Value.Vertices.Length >= 3)
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walkableCount++;
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}
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// Outdoor terrain probe at the same world XY — the
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// "would multi-cell iteration have grounded us?" check.
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var terrain = engine.SampleTerrainWalkable(footCenter.X, footCenter.Y);
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string terrainPart;
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if (terrain is null)
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{
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terrainPart = "landcell.hasTerrain=false";
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}
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else
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{
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var tp = terrain.Value.Plane;
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float terrainZ = -(tp.D + tp.Normal.X * footCenter.X
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+ tp.Normal.Y * footCenter.Y)
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/ tp.Normal.Z;
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float terrainDz = footCenter.Z - terrainZ;
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terrainPart = System.FormattableString.Invariant(
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$"landcell.hasTerrain=true landcell.terrainZ={terrainZ:F3} landcell.dz={terrainDz:+0.000;-0.000;+0.000}");
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}
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string nearestPart = agg.Found
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? System.FormattableString.Invariant(
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$"nearest.polyId=0x{agg.PolyId:X4} nearest.containsFootXY={agg.ContainsFootXY} nearest.dz={agg.Dz:+0.000;-0.000;+0.000} nearest.normalZ={agg.NormalZ:F3}")
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: "nearest=none";
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Console.WriteLine(System.FormattableString.Invariant(
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$"[walk-miss] cell=0x{sp.CheckCellId:X8} foot.W=({footCenter.X:F3},{footCenter.Y:F3},{footCenter.Z:F3}) foot.L=({localCenter.X:F3},{localCenter.Y:F3},{localCenter.Z:F3}) floorPolyCount={walkableCount} {nearestPart} {terrainPart}"));
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}
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if (walkableHit)
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{
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return ValidateWalkable(
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footCenter,
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sphereRadius,
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indoorPlane,
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isWater: false,
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waterDepth: 0f,
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cellId: sp.CheckCellId,
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walkableVertices: indoorVertices);
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}
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// If no walkable floor was found under the player indoors
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// (rare — cell with only walls/ceiling), fall through to
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// outdoor terrain as a defensive backstop. Indoor walking
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// will report walkable=False until the player moves over a
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// cell with a proper floor poly.
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}
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}
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}
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}
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@ -230,36 +230,36 @@ public class IndoorContactPlaneRetentionTests
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public void IndoorFlatFloorWalking_60Frames_ProducesAtMost5ExtraCpWrites()
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public void IndoorFlatFloorWalking_60Frames_ProducesAtMost5ExtraCpWrites()
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{
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{
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// ── Arrange ───────────────────────────────────────────────────────────
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// ── Arrange ───────────────────────────────────────────────────────────
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// SpherePath.InitPath sets LocalSphere[0].Origin = (0,0,sphereRadius).
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// Post-fix grounded model:
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// After SetCheckPos(worldPos), the global sphere CENTER is at
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// worldPos + (0,0,sphereRadius) = worldPos + (0,0,0.48).
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//
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//
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// For TryFindIndoorWalkablePlane's probe to reach the floor:
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// SpherePath.InitPath sets LocalSphere[0].Origin = (0,0,sphereRadius).
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// sphereCenter.Z - PROBE_DIST (0.5m) < floorZ
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// After SetCheckPos(worldPos), the global sphere CENTER is at
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// (worldPos.Z + 0.48) - 0.5 < floorZ
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// worldPos + (0,0,SphereRadius) = (0,0,SphereRadius).
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// worldPos.Z < floorZ + 0.02
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//
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//
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// And for ValidateWalkable to call SetContactPlane (below-surface):
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// A correctly-grounded sphere has its bottom exactly at the floor:
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// sphereBottom = sphereCenter.Z - radius = worldPos.Z < floorZ
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// sphereBottom = sphereCenter.Z - SphereRadius
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// i.e. worldPos.Z < floorZ
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// = worldPosZ + SphereRadius - SphereRadius
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// = worldPosZ
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//
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//
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// Choose worldPos.Z = floorZ - 0.05 so sphere bottom is 0.05m below the
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// With worldPosZ = 0 (= floorZ), the bottom just touches the floor.
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// floor. Sphere center is at floorZ + 0.43. Probe reaches floorZ + 0.43 -
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// SphereIntersectsPolyInternal uses a strict penetration check, so a
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// 0.5 = floorZ - 0.07 which is below the floor, so AdjustSphereToPlane
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// sphere touching-but-not-penetrating does NOT count as a hit.
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// returns true (dpPos = 0.43, dist = 0.43 - 0.48 = -0.05, iDist = 0.1).
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// Path 5 (Contact grounded) returns OK with no CP write.
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//
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//
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// ValidateWalkable: lowPoint.Z = floorZ + 0.43 - 0.48 = floorZ - 0.05
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// Pre-fix: the sphere was positioned 5 cm BELOW the floor so that
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// dist = -0.05 < -EPSILON → SetContactPlane fires every frame.
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// TryFindIndoorWalkablePlane → ValidateWalkable would fire every frame.
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const float floorZ = 0f;
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// Post-fix: synthesis is gone; the sphere must be at its natural
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const float worldPosZ = floorZ - 0.05f; // character "foot" position (begin param)
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// grounded position (bottom at floorZ) so that BSP Path 5 finds no
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// Sphere center in world space = worldPosZ + SphereRadius = -0.05 + 0.48 = 0.43
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// penetration and returns OK immediately — zero additional CP writes.
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const float sphereCenterZ = worldPosZ + SphereRadius; // = 0.43
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const float floorZ = 0f;
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const float worldPosZ = floorZ; // sphere bottom exactly at floor
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const float sphereCenterZ = worldPosZ + SphereRadius; // = 0.48
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var floorPlane = new Plane(Vector3.UnitZ, -floorZ); // N·p + D = 0 → D = 0
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var floorPlane = new Plane(Vector3.UnitZ, -floorZ); // N·p + D = 0 → D = 0
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var worldPos = new Vector3(0f, 0f, worldPosZ);
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var worldPos = new Vector3(0f, 0f, worldPosZ);
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// BSP bounding sphere centered at the actual sphere center (not worldPos),
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// BSP bounding sphere centered at the sphere center so NodeIntersects
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// so NodeIntersects passes in FindWalkableInternal.
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// passes during the BSP traversal.
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var cell = BuildCellWithFloor(floorZ, bspCenterZ: sphereCenterZ);
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var cell = BuildCellWithFloor(floorZ, bspCenterZ: sphereCenterZ);
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var engine = BuildEngine(IndoorCellId, cell);
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var engine = BuildEngine(IndoorCellId, cell);
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var t = BuildGroundedTransition(
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var t = BuildGroundedTransition(
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@ -274,11 +274,11 @@ public class IndoorContactPlaneRetentionTests
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// ── Act — 60 frames of flat-floor walking ─────────────────────────────
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// ── Act — 60 frames of flat-floor walking ─────────────────────────────
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// Each iteration: nudge CheckPos a tiny bit forward in X (stays on the
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// Each iteration: nudge CheckPos a tiny bit forward in X (stays on the
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// same floor), then call FindEnvCollisions as the indoor branch would
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// same floor at the grounded Z), then call FindEnvCollisions as the
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// call it each physics frame.
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// indoor branch would call it each physics frame.
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for (int frame = 0; frame < SimulatedFrames; frame++)
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for (int frame = 0; frame < SimulatedFrames; frame++)
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{
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{
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// Advance position by 1 mm forward — same Z, still over the floor.
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// Advance position by 1 mm forward — same Z (grounded on floor).
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var newPos = new Vector3(frame * 0.001f, 0f, worldPosZ);
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var newPos = new Vector3(frame * 0.001f, 0f, worldPosZ);
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t.SpherePath.SetCheckPos(newPos, IndoorCellId);
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t.SpherePath.SetCheckPos(newPos, IndoorCellId);
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