fix #180 (root): retail adjust_to_plane - PathClipped stops now resolve to the contact point, not a step boundary
The autonomous visual loop on the stateful-sought camera exposed the true root of the #176 stripes: a ~19Hz SAWTOOTH. The sought re-extends ~3mm/frame and the sweep silently passes while the 0.3m viewer sphere presses up to ~0.25m past the wall plane, then clips a whole transition step (~0.27m) back. Headless replay against the real Facility Hub corridor BSP (0x8A020164, the captured ray) reproduced it exactly: pre-fix, embedded targets passed unclipped and the first detection stopped at the PREVIOUS STEP BOUNDARY, tracking the target (eyeBack = s - 0.27). Root cause: BSPQuery.AdjustToPlane - copied from ACE's BSPTree.cs port - was structurally inverted and ALWAYS returned false (the touchTime==1 branch re-placed the sphere at the unchanged check position; touchTime<1 iterated doing nothing; the <0.02 convergence exit returned false). With the PerfectClip exact-contact machinery dead, CollideWithPt always fell to the bare Collided path and the transition reverted the colliding step whole. ACE never noticed: PERFECT_CLIP (0x40) is a client camera flag the server never exercises (feedback_bn_decomp_field_names class 3 - the retail binary outranks ACE in branches ACE never runs). The pre-stateful camera flipped 1-step vs 2-step backoffs on mm drift - the measured pulledIn 0.27 <-> 0.53 of the original #176 strobe was step quantization all along. Rewritten per the retail binary (pseudocode doc docs/research/2026-07-06-adjust-to-plane-pseudocode.md): - BSPTREE::adjust_to_plane (0x00539bf0): clearTime/hitTime bounds (0.0/1.0), Phase 1 walks plane-touch times re-testing the whole tree (the tree test feeds a DIFFERENT blocking poly back into the next iteration), Phase 2 binary-searches with the SHARED iteration counter, window < 0.02 = CONVERGED, final commit = last known-clear time. Only failure = Phase-1 exhaustion. - CPolygon::adjust_sphere_to_poly (0x00538170): early-out = plane-band test at the START position (was: precise-poly test at the check position); touch side = sign(dpPos)*radius (was: hard-coded -radius; ACE misdecoded it as movement.LengthSquared() <= r^2); result unclamped per retail. Replay pin Issue180CorridorSweepHysteresisReplayTests: short-of-touch targets pass, past-touch targets always clip, and the clipped stop is the CONSTANT surface-contact point (eyeBack 1.609 across the band; spread < 0.03m) instead of tracking the target. Suites green (Core 2600+2skip / App 729+2skip / UI 425 / Net 385). Pending: visual-loop re-verify + the user gate (#180 + #176 re-gate). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
Erik
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using System;
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using System.Collections.Generic;
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using System.Numerics;
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using AcDream.Core.Physics;
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using AcDream.Core.Tests.Conformance;
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using DatReaderWriter;
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using DatReaderWriter.Options;
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using Xunit;
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using Xunit.Abstractions;
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namespace AcDream.Core.Tests.Physics;
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/// <summary>
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/// #180 residual — the camera-sweep SAWTOOTH in the Facility Hub corridor
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/// (0x8A020164), root-caused to a dead <c>BSPQuery.AdjustToPlane</c>:
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/// acdream (via ACE's misdecoded port) had the PerfectClip exact-contact
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/// machinery structurally inverted so it ALWAYS failed, and every PathClipped
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/// camera stop reverted to the previous transition-step boundary instead of
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/// the contact point. Live signature (launch-180-verify.log): the stateful
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/// sought re-extends ~3 mm/frame, the sweep passes silently until the step
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/// containing the contact, then clips a whole step (~0.27 m) back — a ~19 Hz
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/// sawtooth; the pre-stateful camera flipped 1-step vs 2-step backoffs
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/// (pulledIn 0.27 ↔ 0.53) — the ORIGINAL #176 stripe strobe.
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///
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/// This replay walks sweep targets along the exact captured ray
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/// (pivot → the [flap-sweep] in= of idx 28882) across the wall behind the
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/// spawn camera, against the REAL cell BSP. It pins the retail-faithful
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/// stop behavior (BSPTREE::adjust_to_plane 0x00539bf0, pseudocode
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/// docs/research/2026-07-06-adjust-to-plane-pseudocode.md):
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///
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/// 1. targets short of first touch pass unclipped (the wall plane is
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/// genuinely ~1.61 m out along this ray: dist(center,plane) > r);
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/// 2. every target past first touch CONTACTS (no silent pass-through
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/// band — pre-fix, targets embedded up to ~0.25 m passed);
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/// 3. the clipped eye is the CONSTANT surface-contact point (pre-fix it
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/// tracked the target one step back: eyeBack = s − ~0.27).
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/// </summary>
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public class Issue180CorridorSweepHysteresisReplayTests
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{
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private readonly ITestOutputHelper _out;
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public Issue180CorridorSweepHysteresisReplayTests(ITestOutputHelper output) => _out = output;
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private const float ViewerSphereRadius = 0.3f; // retail viewer_sphere (acclient :93314)
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private const uint FacilityHubLandblock = 0x8A020000u;
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private const uint CorridorCell = 0x8A020164u;
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// [flap-cam] player=(70.58,-40.16,-5.90) (parked spawn) + PivotHeight 1.5.
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private static readonly Vector3 Pivot = new(70.58f, -40.16f, -4.40f);
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// [flap-sweep] idx 28882: the captured in= that clipped (the sawtooth's deep edge).
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private static readonly Vector3 THit = new(70.366051f, -38.628315f, -3.935829f);
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private static (PhysicsEngine, PhysicsDataCache) BuildCorridorEngine(DatCollection dats)
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{
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var cache = new PhysicsDataCache();
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var engine = new PhysicsEngine { DataCache = cache };
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for (uint low = 0x0100u; low <= 0x01FFu; low++)
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{
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uint id = FacilityHubLandblock | low;
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try { ConformanceDats.LoadEnvCell(dats, cache, id); }
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catch (InvalidOperationException) { /* cell id not present in this dungeon */ }
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}
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var heights = new byte[81];
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var heightTable = new float[256];
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for (int i = 0; i < 256; i++) heightTable[i] = -1000f;
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engine.AddLandblock(FacilityHubLandblock, new TerrainSurface(heights, heightTable),
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Array.Empty<CellSurface>(), Array.Empty<PortalPlane>(), 0f, 0f);
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return (engine, cache);
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}
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/// <summary>Mirror of PhysicsCameraCollisionProbe.SweepEye's transition call.</summary>
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private static ResolveResult SweepViewer(PhysicsEngine engine, Vector3 pivot, Vector3 desiredEye, uint cellId)
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{
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uint startCell = cellId;
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if ((cellId & 0xFFFFu) >= 0x0100u)
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{
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var (pivotCell, found) = engine.AdjustPosition(cellId, pivot);
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if (found) startCell = pivotCell;
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}
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Vector3 begin = pivot - new Vector3(0f, 0f, ViewerSphereRadius);
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Vector3 end = desiredEye - new Vector3(0f, 0f, ViewerSphereRadius);
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return engine.ResolveWithTransition(
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currentPos: begin,
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targetPos: end,
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cellId: startCell,
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sphereRadius: ViewerSphereRadius,
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sphereHeight: 0f,
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stepUpHeight: 0f,
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stepDownHeight: 0f,
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isOnGround: false,
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body: null,
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moverFlags: ObjectInfoState.IsViewer | ObjectInfoState.PathClipped
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| ObjectInfoState.FreeRotate | ObjectInfoState.PerfectClip,
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movingEntityId: 0);
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}
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[Fact]
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public void ClippedStop_IsTheContactPoint_NotAStepBoundary()
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{
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var datDir = ConformanceDats.ResolveDatDir();
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if (datDir is null) { _out.WriteLine("SKIP: dats unavailable"); return; }
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using var dats = new DatCollection(datDir, DatAccessType.Read);
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var (engine, _) = BuildCorridorEngine(dats);
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Vector3 dir = Vector3.Normalize(THit - Pivot);
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var clippedEyeBacks = new List<float>();
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for (float s = 1.20f; s <= 1.75f; s += 0.025f)
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{
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Vector3 target = Pivot + dir * s;
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var r = SweepViewer(engine, Pivot, target, CorridorCell);
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Vector3 eye = r.Position + new Vector3(0f, 0f, ViewerSphereRadius);
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float eyeBack = Vector3.Distance(Pivot, eye);
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_out.WriteLine(FormattableString.Invariant(
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$"s={s:F3} eyeBack={eyeBack:F3} collNorm={r.CollisionNormalValid}"));
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if (s <= 1.55f)
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{
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// (1) Short of first touch (~1.61 m): the sweep must reach the target.
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Assert.False(r.CollisionNormalValid,
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$"s={s:F3}: no wall within reach, sweep must not clip");
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Assert.True(MathF.Abs(eyeBack - s) < 0.01f,
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$"s={s:F3}: unclipped sweep must reach the target, got eyeBack={eyeBack:F3}");
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}
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else if (s >= 1.65f)
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{
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// (2) Past first touch: every target must contact — the pre-fix
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// defect passed targets embedded up to ~0.25 m unclipped.
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Assert.True(r.CollisionNormalValid,
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$"s={s:F3}: target past the wall must clip");
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clippedEyeBacks.Add(eyeBack);
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}
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}
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// (3) The clipped stop is the constant surface-contact point. Pre-fix the
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// stop tracked the target one step back (eyeBack = s − ~0.27, spread
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// ≈ 0.10 m over this range); retail's adjust_to_plane commits the
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// last-clear time within a 0.02 window of the contact.
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Assert.True(clippedEyeBacks.Count >= 4, "expected several clipped samples");
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float min = float.MaxValue, max = float.MinValue;
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foreach (var e in clippedEyeBacks) { min = MathF.Min(min, e); max = MathF.Max(max, e); }
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Assert.True(max - min < 0.03f,
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$"clipped stops must be one contact point, got spread {max - min:F3} m ({min:F3}..{max:F3})");
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}
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}
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