acdream/docs/research/2026-06-04-p2-cellar-corner-stepup-handoff.md

# P2 pickup — cellar-top corner wedge = cell-resolver ping-pong (re-diagnosed) reverting a WORKING step-up

> **Canonical pickup, 2026-06-04.** Branch `claude/thirsty-goldberg-51bb9b` (do NOT
> branch/worktree; do NOT push without asking; NEVER `git stash`/`gc`). PowerShell on
> Windows; launch logs are UTF-16.

> **🔴 RE-DIAGNOSED 2026-06-04 (acdream corner trace) — the cellar wedge is a MEMBERSHIP
> bug, NOT collision.** The "## The cdb-pinned finding" below (retail steps up onto the
> floor) is correct for RETAIL, but instrumenting acdream (`ACDREAM_DUMP_STEPUP=1`) at the
> lip showed acdream's **step-up WORKS**: 518 attempts, **220 SUCCESS** landing the
> candidate on the cottage floor (`CheckPos Z=94.0`, normal `(0,0,1)`), 298 FAILED,
> alternating. But the **committed `CurPos` never advances** — it stays on the ramp at
> `(…,9.70,93.41)`; every success is REVERTED. `[cell-transit]` shows a **cell-resolver
> ping-pong every tick at the 3-cell junction: `0xA9B40175↔0174↔0171`, `reason=resolver`**.
> So `ResolveCellId` flips the cell each frame → the floor-landing is validated against the
> wrong cell + rejected → revert → oscillation → wedge. **NOT step-up (works), NOT
> edge-slide.** It's the #98/"Finding-3" cell-ping-pong family. **The fix is membership/
> cell-resolution stability at the junction — the PARKED, approval-gated (a) `ResolveCellId`
> demotion/stickiness from the master plan** (P1 claimed it was demoted out of the per-frame
> path, but this trace shows it's STILL driving per-frame cell changes here + unstable). The
> collision-side fixes (B1 `abbd761`, slide_sphere `0935a31`) are correct + KEEP. Apparatus:
> `acdream-corner-capture.jsonl` + the `stepup:`/`[cell-transit]` lines in
> `launch-acdream-corner.log`. **Next:** pin whether the commit-rejection is caused by the
> resolver flip (trace `ResolveWithTransition` validate/commit vs the cell change at the
> lip), then stabilize membership there (do NOT touch step-up/slide — they work).

## State both altitudes
- **Milestone:** M1.5 — Indoor world feels right.
- **Phase:** P2 (door / building-shell collision) of the verbatim spatial-pipeline port.
- **Shipped this session (committed, branch HEAD `0935a31`):**
  - `abbd761` — **B1 fix:** Path 5 (Contact) near-miss dispatch ported verbatim — gate
    behind `num_sphere > 1`, head-first order, `neg_step_up` mapping (head→false/slide,
    foot→true/step-up). Retail `transitional_insert`/`find_collisions` Contact branch
    (`acclient_2013_pseudo_c.txt:323838-323881`, `set_neg_poly_hit` :323279). Fixed the
    B1 grounded-step-up wedge (the handoff's "climb" localization was WRONG — proved via
    `ITestOutputHelper` capture).
  - `0935a31` — **slide_sphere fix:** head near-miss (`neg_step_up==0`) now calls the
    faithful `CSphere::slide_sphere` (existing `SlideSphereInternal`) + continues the
    insert loop, replacing the A6.P4 `Collided` shortcut (`transitional_insert`
    pc:273350-273351).
  - `f984e92` — docs (corrected the prior P2 handoff).
- **Visual-verified 2026-06-04:** generic step-up climbs; **closed cottage door still
  BLOCKS** (slides tangentially, no walkthrough — regression check passed); **cellar
  ascent went from ALWAYS-stuck → WORKS-MOSTLY.**
- **Remaining:** an **intermittent corner-wedge** at the cellar-top lip. Retail is
  always smooth there (user-confirmed). So it's a real bug.

## The cdb-pinned finding (retail ground truth)
`tools/cdb/cellar-corner-escape.cdb` traced live retail at the cellar-top corner
(decode: `parse_corner_log.py`; raw: `cellar-corner-retail.log`). Retail escapes the
corner by **STEP-UP, not slide:**
- `step_sphere_up`→`step_up` fired **196×** vs only **38 near-misses**. `step_up`
  normals: +X wall ×78, **ceiling `(0,0,-1)` ×36**, +Y wall ×32, −X wall ×18, ramp
  slope `(0,−0.62,0.78)` ×11, −Y wall ×10, floor `(0,0,1)` ×10. So retail step-ups
  against EVERY grounded full-hit at the corner.
- **Contact plane transitions ramp `N.z=0.78` (×63) → flat cottage floor `N.z=1.0`
  (×76).** That's the escape: retail **climbs the lip off the ramp ONTO the cottage
  floor.**
- The user's "run in place against the ceiling (not stuck)" = `step_up` failing on the
  ceiling normal `(0,0,-1)` → `step_up_slide` (transient; steer out).

**Divergence pinned:** retail escapes by **stepping up onto the cottage floor**;
acdream **slides at the lip and never makes the ramp→floor transition**. The slide
itself (the `0935a31` fix) is correct + working; the gap is the **final lip-climb**.
This is the **original #98 core** — `DoStepDown`/`step_sphere_down` finding + landing
on the cottage floor — which B1+slide got close to but didn't finish.

## Next step (evidence-first — #98 saga rule: do NOT guess)
1. **Instrument acdream's OWN corner path.** The captures so far
   (`cellar-up-capture*.jsonl`, `door-recheck-capture.jsonl`) have positions/normals but
   NOT the path. Need to answer: at the cellar-top lip, does acdream's `step_sphere_up`→
   `DoStepUp` FIRE and FAIL to land on the cottage floor (DoStepDown can't find
   `N.z=1.0` within `StepUpHeight=0.6`), or does it not fire (the hit goes to the slide
   path instead)? Relaunch acdream with `ProbeBuildingEnabled` (→ `[neg-poly-dispatch]`/
   `[bsp-test]`) + `ACDREAM_DUMP_STEPUP=1` + `ProbeStepWalkEnabled` (→ `[step-walk]`),
   reproduce the wedge, read the path. (xunit-swallow doesn't apply to the live app —
   Console probes DO surface in the launch log.)
2. **Compare to retail's 196 step_up / ramp→floor transition** and port the missing
   lip-climb verbatim. Likely in `DoStepDown` (`TransitionTypes.cs:3074`) /
   `BSPQuery.step_sphere_down` (:1206) / `find_walkable` (:693) — the cottage-floor
   find+land. Retail anchors: `CTransition::step_up` pc:273099, `step_down` pc:272946,
   `BSPTREE::step_sphere_down` pc:323665, `CObjCell::find_env_collisions` (the
   walkable-refresh that overwrites the contact plane ramp→floor).
3. **USER VISUAL GATE:** cellar ascent clean (no intermittent wedge); door still blocks;
   generic step-up still climbs.

## Apparatus (committed / available)
- `tools/cdb/cellar-corner-escape.cdb` — retail corner trace (step_up/step_sphere_up/
  neg_poly_hit/contact_plane counts + args; 30K threshold — TOO HIGH for these
  lower-frequency BPs, lower to ~3000 next time so it auto-detaches in one wedge).
- `parse_corner_log.py` — decodes the cdb log (hex→float, histograms).
- Captures (UNCOMMITTED, in worktree root, ~32 MB each — do NOT commit):
  `cellar-up-capture.jsonl` (v1, pre-slide-fix wedge), `cellar-up-capture-v2.jsonl`
  (post-slide-fix: 96 hit-and-advanced slide frames), `door-recheck-capture.jsonl`,
  `cellar-corner-retail.log` (the retail cdb trace).
- `analyze_cellar.py` / `analyze_v2.py` — ad-hoc capture analyzers (capture-specific).

## Test baseline
Core 1310 pass / 4 fail / 1 skip. The 4 fails are pre-existing documents-the-bug /
separate-issue: `DoorCollisionApparatusTests.Apparatus_Grounded_50cmOffCenter`
(synthetic-test artifact — terrain=-1000, no queryable floor; NOT a real door-block
failure — see `memory/project_p2_door_stepup_findings.md`), 2× `DoorBugTrajectoryReplay
LiveCompare_*` (compare against captured-BUGGY-live positions; need re-baseline), and
`BSPStepUpTests.D4` (airborne Path 6 sliding-normal persistence — separate). App 177 green.

## Do NOT
- Guess a step-up fix without acdream's corner path trace (the #98 saga burned 10+ guesses).
- Flip `Apparatus_Grounded_50cmOffCenter` to `Assert.True(blocked)` — it blocks via a
  synthetic-floor artifact, not a faithful door block.
- Re-investigate B1 (the near-miss gate) or the slide_sphere head-near-miss path — both
  shipped + verified.