Three docs from the indoor walk-miss probe spike landed in commits
27c7284..a2e7a87:
- Spec: design of the [walk-miss] + [floor-polys] diagnostic emissions
with the H1/H2/H3 disambiguation matrix.
- Plan: 3-task TDD implementation plan (flag, aggregator, emissions).
- Findings: live-capture analysis showing H3 (walkable_hits_sphere /
adjust_sphere_to_plane synthesis rejection) is the dominant defect.
817 of 876 ground-contact misses (93%) cluster at dz~0.48 m, while
the 7 HITs all sit at dz~0.46 m — a 2 cm boundary between working
and broken that points at the sphere-overlap math, not the probe
distance. H1 (multi-cell iteration missing) is real but only 3%
of misses, secondary. H2 (probe distance) ruled out.
Next step: line-by-line decomp comparison of FindWalkableInternal /
walkable_hits_sphere / adjust_sphere_to_plane against retail at
acclient_2013_pseudo_c.txt:322032 / :323006 / :326793, then design
the fix in a follow-up session.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
