f8d669be88
First slice 2 attempt at commit 892019b removed PhysicsEngine.cs L622
per-tick CP seed entirely. User happy-test surfaced a regression: BSP
step_up at the last step of stairs failed because sub-step 1's
AdjustOffset had no ContactPlane to compute the lift direction (the
seed was load-bearing for step_up correctness).
Revert + better fix:
1. Re-add the L622 seed (PhysicsEngine.cs:620-626).
2. Add no-op-if-unchanged guard inside CollisionInfo.SetContactPlane
(TransitionTypes.cs:259-279). When called with values identical
to current state, early-return without incrementing
ContactPlaneWriteCount or rewriting fields.
When the player stands on the same plane tick after tick, the L622
seed re-calls SetContactPlane with identical args — these now no-op
instead of inflating the counter and re-writing the same values.
Only actual state changes (e.g. landing on a new step's plane, cell
crossing) increment the counter.
Verification (post-rebuild, pre-this-commit slice 2 first attempt):
- scen3 walk produced 2,690 cp-writes (down from 30,420 = 91%
reduction from L622-seed presence)
- BUT user could not pass the last step of stairs — step_up regression
- Test suite: 1148 + 8 pre-existing fail baseline maintained but
physical behavior broke
Post-this-commit expectations:
- Test suite: 1148 + 8 (unchanged, no behavioral change in fixtures
because the seed value is what the fixtures already expect)
- Stair-walking: works (seed restored)
- CP-write count: significantly reduced (most seeds are no-ops because
body.CP doesn't change tick-over-tick on stable footing)
- Issues #96 / #97: re-test in re-capture; #96 should be largely
closed via the guard; #97 (fall-through + stuck-in-falling) was
observed pre-slice-2 too, so unrelated to the seed
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
836 lines
38 KiB
C#
836 lines
38 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Numerics;
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namespace AcDream.Core.Physics;
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internal readonly record struct TerrainWalkableSample(
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System.Numerics.Plane Plane,
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Vector3[] Vertices,
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float WaterDepth,
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bool IsWater,
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uint CellId);
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/// <summary>
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/// Top-level physics resolver that combines <see cref="TerrainSurface"/> and
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/// <see cref="CellSurface"/> to resolve entity movement with step-height
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/// enforcement and outdoor/indoor cell transitions.
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///
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/// <para>
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/// Landblocks are registered via <see cref="AddLandblock"/> with their
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/// terrain, indoor cells, and world-space offsets. <see cref="Resolve"/>
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/// takes a current position, the entity's current cell ID, a movement delta,
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/// and a step-up height limit; it returns the validated new position, the
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/// updated cell ID, and whether the entity is standing on a surface.
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/// </para>
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/// </summary>
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public sealed class PhysicsEngine
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{
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private readonly Dictionary<uint, LandblockPhysics> _landblocks = new();
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/// <summary>Number of registered landblocks (diagnostic).</summary>
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public int LandblockCount => _landblocks.Count;
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/// <summary>
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/// Cell-based spatial index for static object collision.
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/// Populated during landblock streaming; queried by the Transition system.
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/// </summary>
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public ShadowObjectRegistry ShadowObjects { get; } = new();
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/// <summary>
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/// Physics BSP cache shared with the streaming loader. Set once by the
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/// host (GameWindow) immediately after construction. The Transition system
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/// reads this during FindObjCollisions to perform narrow-phase BSP tests.
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/// </summary>
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public PhysicsDataCache? DataCache { get; set; }
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private sealed record LandblockPhysics(
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TerrainSurface Terrain,
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IReadOnlyList<CellSurface> Cells,
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IReadOnlyList<PortalPlane> Portals,
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float WorldOffsetX,
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float WorldOffsetY);
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/// <summary>
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/// Register a landblock with its terrain surface, indoor cells, portal
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/// planes, and world-space origin offset.
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/// </summary>
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public void AddLandblock(uint landblockId, TerrainSurface terrain,
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IReadOnlyList<CellSurface> cells, IReadOnlyList<PortalPlane> portals,
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float worldOffsetX, float worldOffsetY)
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{
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_landblocks[landblockId] = new LandblockPhysics(terrain, cells, portals, worldOffsetX, worldOffsetY);
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}
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/// <summary>
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/// Remove a previously registered landblock, including its shadow objects.
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/// </summary>
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public void RemoveLandblock(uint landblockId)
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{
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_landblocks.Remove(landblockId);
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ShadowObjects.RemoveLandblock(landblockId);
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}
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/// <summary>
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/// Find the landblock that contains the given world-space XY position and
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/// return its ID plus world-space origin offsets. Returns false when no
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/// registered landblock covers the position.
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/// Used by Transition.FindObjCollisions to build the shadow-object query.
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/// </summary>
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public bool TryGetLandblockContext(float worldX, float worldY,
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out uint landblockId, out float worldOffsetX, out float worldOffsetY)
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{
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foreach (var kvp in _landblocks)
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{
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var lb = kvp.Value;
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float localX = worldX - lb.WorldOffsetX;
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float localY = worldY - lb.WorldOffsetY;
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if (localX >= 0f && localX < 192f && localY >= 0f && localY < 192f)
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{
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landblockId = kvp.Key;
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worldOffsetX = lb.WorldOffsetX;
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worldOffsetY = lb.WorldOffsetY;
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return true;
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}
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}
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landblockId = 0;
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worldOffsetX = 0f;
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worldOffsetY = 0f;
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return false;
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}
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/// <summary>
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/// Sample the outdoor terrain Z at the given world-space XY position.
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/// Searches all registered landblocks; returns null if no landblock covers the position.
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/// Used by Transition.FindEnvCollisions for terrain collision resolution.
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/// </summary>
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public float? SampleTerrainZ(float worldX, float worldY)
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{
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foreach (var kvp in _landblocks)
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{
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var lb = kvp.Value;
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float localX = worldX - lb.WorldOffsetX;
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float localY = worldY - lb.WorldOffsetY;
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if (localX >= 0f && localX < 192f && localY >= 0f && localY < 192f)
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return lb.Terrain.SampleZ(localX, localY);
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}
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return null;
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}
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/// <summary>
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/// Sample the per-point water depth at the given world-space XY
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/// (meters by which the character is allowed to sink below the
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/// contact plane — 0.9 on fully-flooded water cells, 0.45 on
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/// partial-water near a water corner, 0.1 on non-water corners of
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/// partial-water cells, 0 on dry cells). Matches ACE
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/// <c>ObjCell.get_water_depth</c>. Used by
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/// <see cref="Transition"/> to visually submerge characters in water
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/// without needing a separate water surface mesh.
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/// </summary>
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public float SampleWaterDepth(float worldX, float worldY)
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{
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foreach (var kvp in _landblocks)
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{
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var lb = kvp.Value;
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float localX = worldX - lb.WorldOffsetX;
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float localY = worldY - lb.WorldOffsetY;
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if (localX >= 0f && localX < 192f && localY >= 0f && localY < 192f)
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return lb.Terrain.SampleWaterDepth(localX, localY);
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}
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return 0f;
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}
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/// <summary>
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/// Sample the outdoor terrain plane (Z + sloped normal) at the given
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/// world-space XY position. The returned <see cref="System.Numerics.Plane"/>
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/// has the true terrain-triangle normal (NOT a flat <c>(0,0,1)</c>), and
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/// its <c>D</c> is set so the plane passes through the sampled point. Used
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/// by <see cref="Transition"/> to build a CORRECT contact plane — a flat
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/// plane breaks slope tracking because <c>AdjustOffset</c>'s projection
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/// onto a flat plane cannot impart the Z component that horizontal
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/// velocity needs to follow the slope.
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/// </summary>
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public System.Numerics.Plane? SampleTerrainPlane(float worldX, float worldY)
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{
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foreach (var kvp in _landblocks)
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{
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var lb = kvp.Value;
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float localX = worldX - lb.WorldOffsetX;
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float localY = worldY - lb.WorldOffsetY;
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if (localX >= 0f && localX < 192f && localY >= 0f && localY < 192f)
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{
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var (z, normal) = lb.Terrain.SampleSurface(localX, localY);
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// System.Numerics.Plane convention: dot(Normal, P) + D == 0
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// for points P on the plane. Pick P = (worldX, worldY, z).
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float d = -(normal.X * worldX + normal.Y * worldY + normal.Z * z);
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return new System.Numerics.Plane(normal, d);
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}
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}
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return null;
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}
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/// <summary>
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/// Public surface for callers that only need the local terrain plane
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/// normal at a world-space XY (e.g., the grounded-remote tick path
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/// projecting anim root motion onto the slope to avoid the staircase
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/// between server position updates). Returns null when no registered
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/// landblock covers the point. Mirrors the plane component of
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/// <see cref="SampleTerrainWalkable"/> without exposing the internal
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/// <c>TerrainWalkableSample</c> shape.
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/// </summary>
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public Vector3? SampleTerrainNormal(float worldX, float worldY)
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{
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var sample = SampleTerrainWalkable(worldX, worldY);
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return sample?.Plane.Normal;
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}
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/// <summary>
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/// Sample the outdoor terrain walkable triangle at the given world-space
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/// XY position. This carries the same plane as <see cref="SampleTerrainPlane"/>
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/// plus world-space triangle vertices for retail precipice-slide.
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/// </summary>
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internal TerrainWalkableSample? SampleTerrainWalkable(float worldX, float worldY)
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{
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foreach (var kvp in _landblocks)
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{
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var lb = kvp.Value;
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float localX = worldX - lb.WorldOffsetX;
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float localY = worldY - lb.WorldOffsetY;
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if (localX >= 0f && localX < 192f && localY >= 0f && localY < 192f)
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{
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var sample = lb.Terrain.SampleSurfacePolygon(localX, localY);
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var vertices = new Vector3[sample.Vertices.Length];
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for (int i = 0; i < sample.Vertices.Length; i++)
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{
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var v = sample.Vertices[i];
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vertices[i] = new Vector3(
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v.X + lb.WorldOffsetX,
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v.Y + lb.WorldOffsetY,
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v.Z);
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}
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var normal = sample.Normal;
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float d = -Vector3.Dot(normal, vertices[0]);
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var plane = new System.Numerics.Plane(normal, d);
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float waterDepth = lb.Terrain.SampleWaterDepth(localX, localY);
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bool isWater = waterDepth >= 0.45f;
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uint lowCellId = lb.Terrain.ComputeOutdoorCellId(localX, localY);
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uint fullCellId = (kvp.Key & 0xFFFF0000u) | lowCellId;
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return new TerrainWalkableSample(
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plane,
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vertices,
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waterDepth,
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isWater,
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fullCellId);
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}
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}
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return null;
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}
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/// <summary>
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/// Indoor walking Phase 2 (2026-05-19). Resolves the cell id for a
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/// given world position via retail's portal-graph traversal for indoor
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/// cells, or via terrain grid lookup for outdoor cells.
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///
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/// <para>
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/// Indoor seed: delegates to <see cref="CellTransit.FindCellList"/> which
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/// BFS-walks the portal graph and uses <see cref="BSPQuery.PointInsideCellBsp"/>
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/// for containment. This replaces Phase D's AABB shortcut.
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/// </para>
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///
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/// <para>
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/// Outdoor seed: uses the registered landblock terrain grid to compute
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/// the correct prefixed cell ID, preserving the pre-existing outdoor
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/// resolution behavior (the L.2e prefix-preservation fix).
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/// </para>
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///
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/// <para>
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/// Design: <c>docs/superpowers/specs/2026-05-19-indoor-portal-cell-tracking-design.md</c>
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/// </para>
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/// </summary>
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internal uint ResolveCellId(Vector3 worldPos, float sphereRadius, uint fallbackCellId)
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{
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if (fallbackCellId == 0) return 0;
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uint fallbackLow = fallbackCellId & 0xFFFFu;
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if (fallbackLow >= 0x0100u)
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{
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// Indoor branch needs DataCache to look up cells; outdoor uses
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// _landblocks (no DataCache dependency).
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if (DataCache is null) return fallbackCellId;
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uint indoorResult = CellTransit.FindCellList(DataCache, worldPos, sphereRadius, fallbackCellId);
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// ISSUES #83 / Phase A1.7 (2026-05-21): verify the indoor result
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// actually contains the player. CellTransit.FindCellList falls back
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// to currentCellId when no candidate cell's CellBSP contains the
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// sphere center — but this happens even when the player has walked
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// OUTSIDE the entire portal-connected indoor cell graph (e.g.,
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// exited through an unblocked wall or doorway gap). In that state
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// the player's CellId is stuck on an indoor cell whose BSP is
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// far away, every indoor-bsp query returns OK (NodeIntersects
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// fails at root), and no walls block.
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//
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// If the resolved indoor cell's BSP does NOT contain the sphere
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// center, fall through to the outdoor cell resolution below — it
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// will compute the correct landcell from the terrain grid and
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// optionally re-enter an indoor cell via CheckBuildingTransit.
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var indoorCell = DataCache.GetCellStruct(indoorResult);
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if (indoorCell?.CellBSP?.Root is null)
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return indoorResult; // Can't verify (no CellBSP); trust FindCellList.
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// Issue #90 fix (2026-05-20): use SPHERE-overlap instead of POINT-in
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// for the indoor verification. The previous point-only check caused
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// a per-frame ping-pong at the inn doorway: indoor BSP push-back
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// moved the sphere CENTER a few cm outside the indoor CellBSP
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// volume → point-only check returned false → fell through to outdoor
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// → next tick re-promoted to indoor → wall hit → push-back →
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// outdoor → repeat. Net visual behavior: "walls walk through"
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// because outdoor ticks bypass indoor BSP entirely. With sphere-
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// overlap, the player stays classified indoor as long as ANY part
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// of the foot sphere still overlaps the indoor cell volume.
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//
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// Retail oracle: CCellStruct::sphere_intersects_cell at
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// acclient_2013_pseudo_c.txt:317666 →
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// BSPTREE::sphere_intersects_cell_bsp at :323267.
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var localCenter = Vector3.Transform(worldPos, indoorCell.InverseWorldTransform);
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if (BSPQuery.SphereIntersectsCellBsp(indoorCell.CellBSP.Root, localCenter, sphereRadius))
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return indoorResult;
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// Fall through to outdoor resolution: player has FULLY left the
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// indoor portal-connected graph (sphere no longer overlaps).
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}
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// Outdoor seed: use terrain grid to compute the prefixed cell id.
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// Preserves the L.2e prefix-preservation fix (always apply the matched
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// landblock's high-16 prefix even when fallbackCellId arrived bare-low-byte).
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foreach (var kvp in _landblocks)
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{
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var lb = kvp.Value;
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float localX = worldPos.X - lb.WorldOffsetX;
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float localY = worldPos.Y - lb.WorldOffsetY;
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if (localX >= 0f && localX < 192f && localY >= 0f && localY < 192f)
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{
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uint lowCellId = lb.Terrain.ComputeOutdoorCellId(localX, localY);
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uint outdoorCellId = (kvp.Key & 0xFFFF0000u) | lowCellId;
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// Outdoor→indoor entry: if this landcell has a cached building,
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// check whether the sphere has crossed into one of its interior
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// EnvCells via the building's portals.
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if (DataCache is not null)
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{
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var building = DataCache.GetBuilding(outdoorCellId);
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if (building is not null)
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{
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var candidates = new System.Collections.Generic.HashSet<uint>();
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CellTransit.CheckBuildingTransit(
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DataCache, building, worldPos, sphereRadius, candidates);
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if (candidates.Count > 0)
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{
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// First candidate wins — building portal containment is
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// mutually exclusive in retail (one interior cell per portal).
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foreach (var c in candidates) return c;
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}
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}
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}
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return outdoorCellId;
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}
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}
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return fallbackCellId;
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}
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/// <summary>
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/// Resolve an entity's movement from <paramref name="currentPos"/> by
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/// applying <paramref name="delta"/> (XY only) and computing the correct Z
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/// from the terrain or indoor cell floor beneath the candidate position.
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///
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/// <para>
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/// Step-height enforcement rejects horizontal movement when the upward Z
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/// change exceeds <paramref name="stepUpHeight"/>. Downhill movement is
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/// always accepted. Returns <see cref="ResolveResult.IsOnGround"/> false
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/// when no loaded landblock covers the candidate position.
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/// </para>
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/// </summary>
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public ResolveResult Resolve(Vector3 currentPos, uint cellId, Vector3 delta, float stepUpHeight)
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{
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var candidatePos = currentPos + new Vector3(delta.X, delta.Y, 0f);
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// Find the landblock this candidate position falls in.
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LandblockPhysics? physics = null;
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foreach (var kvp in _landblocks)
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{
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var lb = kvp.Value;
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float localX = candidatePos.X - lb.WorldOffsetX;
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float localY = candidatePos.Y - lb.WorldOffsetY;
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if (localX >= 0 && localX < 192f && localY >= 0 && localY < 192f)
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{
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physics = lb;
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break;
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}
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}
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if (physics is null)
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return new ResolveResult(candidatePos, cellId, IsOnGround: false);
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float localCandX = candidatePos.X - physics.WorldOffsetX;
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float localCandY = candidatePos.Y - physics.WorldOffsetY;
|
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|
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// Check if the candidate position falls on any indoor cell floor.
|
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// Pick the cell whose floor Z is closest to the entity's current Z.
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CellSurface? bestCell = null;
|
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float? bestCellZ = null;
|
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float bestZDist = float.MaxValue;
|
||
|
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foreach (var cell in physics.Cells)
|
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{
|
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float? floorZ = cell.SampleFloorZ(candidatePos.X, candidatePos.Y);
|
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if (floorZ is not null)
|
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{
|
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float dist = MathF.Abs(floorZ.Value - currentPos.Z);
|
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if (dist < bestZDist)
|
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{
|
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bestCell = cell;
|
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bestCellZ = floorZ;
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bestZDist = dist;
|
||
}
|
||
}
|
||
}
|
||
|
||
// Determine target surface Z and cell.
|
||
float terrainZ = physics.Terrain.SampleZ(localCandX, localCandY);
|
||
float targetZ;
|
||
uint targetCellId;
|
||
|
||
// Only the low 16 bits of cellId carry the cell index. Outdoor
|
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// cells are 0x0001–0x0040; indoor (EnvCell) cells are 0x0100+.
|
||
// The full 32-bit cellId includes the landblock prefix in the
|
||
// high 16 bits (e.g., 0xA9B40001), so we MUST mask before
|
||
// comparing. Without the mask, every cell looks "indoor" because
|
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// 0xA9B40001 >= 0x0100 → the engine always takes the "stay
|
||
// indoors" path and snaps Z to an EnvCell floor 28m below.
|
||
bool currentlyIndoor = (cellId & 0xFFFFu) >= 0x0100;
|
||
|
||
if (currentlyIndoor)
|
||
{
|
||
// Check whether the player crosses a portal belonging to the current cell.
|
||
uint currentCellIndex = cellId & 0xFFFFu;
|
||
PortalPlane? crossedPortal = null;
|
||
foreach (var portal in physics.Portals)
|
||
{
|
||
// Only portals owned by the current cell are relevant when indoors.
|
||
if ((portal.OwnerCellId & 0xFFFFu) != currentCellIndex) continue;
|
||
if (portal.IsCrossing(currentPos, candidatePos))
|
||
{
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||
crossedPortal = portal;
|
||
break;
|
||
}
|
||
}
|
||
|
||
if (crossedPortal is not null)
|
||
{
|
||
if (crossedPortal.Value.TargetCellId == 0xFFFFu)
|
||
{
|
||
// Indoor → Outdoor exit.
|
||
targetZ = terrainZ;
|
||
targetCellId = physics.Terrain.ComputeOutdoorCellId(localCandX, localCandY);
|
||
}
|
||
else
|
||
{
|
||
// Indoor → Indoor (room to room).
|
||
uint nextCellIndex = crossedPortal.Value.TargetCellId & 0xFFFFu;
|
||
CellSurface? nextCell = null;
|
||
foreach (var c in physics.Cells)
|
||
{
|
||
if ((c.CellId & 0xFFFFu) == nextCellIndex) { nextCell = c; break; }
|
||
}
|
||
float? nextFloorZ = nextCell?.SampleFloorZ(candidatePos.X, candidatePos.Y);
|
||
targetZ = nextFloorZ ?? terrainZ;
|
||
targetCellId = nextCellIndex;
|
||
}
|
||
}
|
||
else if (bestCellZ is not null)
|
||
{
|
||
// Staying in the same indoor cell.
|
||
targetZ = bestCellZ.Value;
|
||
targetCellId = bestCell!.CellId & 0xFFFFu;
|
||
}
|
||
else
|
||
{
|
||
// No cell floor found and no portal crossed — fall back to outdoor.
|
||
targetZ = terrainZ;
|
||
targetCellId = physics.Terrain.ComputeOutdoorCellId(localCandX, localCandY);
|
||
}
|
||
}
|
||
else
|
||
{
|
||
// Outdoor player: check for a portal crossing into an indoor cell.
|
||
// Outside-facing portals have TargetCellId == 0xFFFF (they face the
|
||
// outdoor world); crossing one from the outdoor side enters the OwnerCellId.
|
||
PortalPlane? crossedPortal = null;
|
||
foreach (var portal in physics.Portals)
|
||
{
|
||
if (portal.TargetCellId != 0xFFFFu) continue; // only outside-facing portals
|
||
if (portal.IsCrossing(currentPos, candidatePos))
|
||
{
|
||
crossedPortal = portal;
|
||
break;
|
||
}
|
||
}
|
||
|
||
if (crossedPortal is not null)
|
||
{
|
||
// Outdoor → Indoor: enter the OwnerCellId IF the target cell
|
||
// actually contains the candidate position. Without CellBSP,
|
||
// we verify by checking that SampleFloorZ returns non-null
|
||
// (position is within the cell's floor polygon bounds) AND the
|
||
// floor Z is close to the player's current Z (not a basement
|
||
// 30m below). This prevents the wall-bounce bug where portal
|
||
// planes on upper floors captured outdoor positions.
|
||
uint enterCellIndex = crossedPortal.Value.OwnerCellId & 0xFFFFu;
|
||
CellSurface? enterCell = null;
|
||
foreach (var c in physics.Cells)
|
||
{
|
||
if ((c.CellId & 0xFFFFu) == enterCellIndex) { enterCell = c; break; }
|
||
}
|
||
float? enterFloorZ = enterCell?.SampleFloorZ(candidatePos.X, candidatePos.Y);
|
||
|
||
// Validate: floor must exist AND be within step height of current Z.
|
||
// This rejects transitions to basements, upper floors, and cells
|
||
// whose floor polygon doesn't actually cover this position.
|
||
bool validTransition = enterFloorZ is not null
|
||
&& MathF.Abs(enterFloorZ.Value - currentPos.Z) < stepUpHeight + 2f;
|
||
|
||
if (validTransition)
|
||
{
|
||
targetZ = enterFloorZ!.Value;
|
||
targetCellId = enterCellIndex;
|
||
}
|
||
else
|
||
{
|
||
// Portal crossed but target cell doesn't contain us — stay outdoor.
|
||
targetZ = terrainZ;
|
||
targetCellId = physics.Terrain.ComputeOutdoorCellId(localCandX, localCandY);
|
||
}
|
||
}
|
||
else
|
||
{
|
||
// Stay outdoors on terrain.
|
||
targetZ = terrainZ;
|
||
targetCellId = physics.Terrain.ComputeOutdoorCellId(localCandX, localCandY);
|
||
}
|
||
}
|
||
|
||
// Step-height enforcement: block upward movement that exceeds the limit.
|
||
float zDelta = targetZ - currentPos.Z;
|
||
if (zDelta > stepUpHeight)
|
||
{
|
||
// Too steep to step up — reject horizontal movement.
|
||
return new ResolveResult(currentPos, cellId, IsOnGround: true);
|
||
}
|
||
|
||
return new ResolveResult(
|
||
new Vector3(candidatePos.X, candidatePos.Y, targetZ),
|
||
targetCellId,
|
||
IsOnGround: true);
|
||
}
|
||
|
||
/// <summary>
|
||
/// Resolve movement using the CTransition sphere-sweep system.
|
||
/// Subdivides movement into sphere-radius steps, tests terrain collision
|
||
/// at each step, handles step-down for ground contact.
|
||
/// Falls back to the simple <see cref="Resolve"/> if the transition fails.
|
||
///
|
||
/// <para>
|
||
/// <paramref name="body"/> is optional but highly recommended for movement
|
||
/// that runs across multiple frames. When provided, the previous frame's
|
||
/// contact plane is copied INTO the transition's CollisionInfo (mirroring
|
||
/// retail's <c>PhysicsObj.get_object_info → InitContactPlane</c> at
|
||
/// <c>PhysicsObj.cs:2598-2604</c>). That seed is critical for slope
|
||
/// tracking: <c>AdjustOffset</c> projects the Euler offset onto the plane
|
||
/// so horizontal velocity acquires the correct Z component for the slope,
|
||
/// preventing the character from floating on downhill runs where the
|
||
/// per-frame descent exceeds the 4 cm step-down budget.
|
||
/// </para>
|
||
///
|
||
/// <para>
|
||
/// On return, the plane discovered during this call is written BACK to
|
||
/// <paramref name="body"/>, so the next frame's transition starts with
|
||
/// an up-to-date plane seed. Callers without a persistent body (tests,
|
||
/// one-shot movements) can pass <c>null</c> and accept the first-frame
|
||
/// hiccup.
|
||
/// </para>
|
||
/// </summary>
|
||
public ResolveResult ResolveWithTransition(
|
||
Vector3 currentPos, Vector3 targetPos, uint cellId,
|
||
float sphereRadius, float sphereHeight,
|
||
float stepUpHeight, float stepDownHeight,
|
||
bool isOnGround,
|
||
PhysicsBody? body = null,
|
||
ObjectInfoState moverFlags = ObjectInfoState.None,
|
||
uint movingEntityId = 0)
|
||
{
|
||
var transition = new Transition();
|
||
transition.ObjectInfo.StepUpHeight = stepUpHeight;
|
||
transition.ObjectInfo.StepDownHeight = stepDownHeight;
|
||
transition.ObjectInfo.StepDown = true;
|
||
// Fix #42 (2026-05-05): the moving entity's ShadowEntry must be
|
||
// skipped in FindObjCollisions or the sweep collides with self.
|
||
// Default 0 keeps tests / one-shot callers (no registered entity)
|
||
// working. Plumbed through ObjectInfo because retail stores the
|
||
// self pointer on OBJECTINFO::object (named-retail
|
||
// acclient_2013_pseudo_c.txt:274435 OBJECTINFO::init →
|
||
// this->object = arg2). The skip itself is at
|
||
// CObjCell::find_obj_collisions line 308931.
|
||
transition.ObjectInfo.SelfEntityId = movingEntityId;
|
||
|
||
// Commit C 2026-04-29 — caller-supplied mover flags drive the
|
||
// retail PvP exemption block in FindObjCollisions. The local
|
||
// player passes IsPlayer (and PK/PKLite/Impenetrable when known
|
||
// from PlayerDescription); remote dead-reckoning passes None
|
||
// (matches non-player movement, all targets collide).
|
||
transition.ObjectInfo.State |= moverFlags;
|
||
|
||
if (isOnGround)
|
||
transition.ObjectInfo.State |= ObjectInfoState.Contact | ObjectInfoState.OnWalkable;
|
||
|
||
// K-fix7 (2026-04-26): only seed the contact plane when the body
|
||
// is actually grounded. Pre-seeding while AIRBORNE caused
|
||
// AdjustOffset's "Have a contact plane / Moving away from plane"
|
||
// branch to fire on every jump step — which calls
|
||
// Plane::snap_to_plane on the offset and ZEROES the Z component,
|
||
// killing all upward jump motion.
|
||
//
|
||
// We KEEP the seeding when isOnGround for slope-walking + step-up
|
||
// continuity (the original concern that motivated the seed).
|
||
// BSP step_up needs ContactPlane on sub-step 1 to compute the
|
||
// correct lift direction; removing the seed breaks stair-walking
|
||
// at the last step (verified by A6.P3 slice 2 first attempt
|
||
// 2026-05-22, reverted in this commit). Retail's CTransition::init
|
||
// explicitly CLEARS contact_plane_valid; we deliberately diverge
|
||
// for step_up correctness.
|
||
//
|
||
// A6.P3 slice 2 (2026-05-22) — to close issue #96 (per-tick CP-write
|
||
// blowup) without breaking stair-walking, the no-op-if-unchanged
|
||
// guard inside CollisionInfo.SetContactPlane (TransitionTypes.cs:259)
|
||
// collapses redundant seeds (same plane every tick) to a true no-op.
|
||
// The seed still fires the function call but only counts as a write
|
||
// when the plane values actually change.
|
||
if (isOnGround && body is not null && body.ContactPlaneValid)
|
||
{
|
||
transition.CollisionInfo.SetContactPlane(
|
||
body.ContactPlane,
|
||
body.ContactPlaneCellId,
|
||
body.ContactPlaneIsWater);
|
||
}
|
||
|
||
// Retail CPhysicsObj::get_object_info also seeds SlidingNormal when
|
||
// transient_state has bit 2 set. This matters for one-step/frame hits:
|
||
// a wall collision at the end of one transition must project the next
|
||
// frame's movement along the wall instead of hard-stopping again.
|
||
if (body is not null
|
||
&& body.TransientState.HasFlag(TransientStateFlags.Sliding)
|
||
&& body.SlidingNormal.LengthSquared() > PhysicsGlobals.EpsilonSq)
|
||
{
|
||
transition.CollisionInfo.SetSlidingNormal(body.SlidingNormal);
|
||
}
|
||
|
||
transition.SpherePath.InitPath(currentPos, targetPos, cellId, sphereRadius, sphereHeight);
|
||
|
||
if (isOnGround && body is not null
|
||
&& body.WalkablePolygonValid
|
||
&& body.WalkableVertices is { Length: >= 3 })
|
||
{
|
||
transition.SpherePath.SetWalkable(
|
||
body.WalkablePlane,
|
||
body.WalkableVertices,
|
||
body.WalkableUp);
|
||
}
|
||
|
||
bool ok = transition.FindTransitionalPosition(this);
|
||
|
||
var sp = transition.SpherePath;
|
||
var ci = transition.CollisionInfo;
|
||
|
||
// Persist the resulting contact plane state back to the body so the
|
||
// next frame's transition can seed from it. Uses LastKnownContactPlane
|
||
// when current is invalid (e.g., airborne this frame), matching retail.
|
||
if (body is not null)
|
||
{
|
||
if (ci.ContactPlaneValid)
|
||
{
|
||
body.ContactPlaneValid = true;
|
||
body.ContactPlane = ci.ContactPlane;
|
||
body.ContactPlaneCellId = ci.ContactPlaneCellId;
|
||
body.ContactPlaneIsWater = ci.ContactPlaneIsWater;
|
||
}
|
||
else if (ci.LastKnownContactPlaneValid)
|
||
{
|
||
body.ContactPlaneValid = true;
|
||
body.ContactPlane = ci.LastKnownContactPlane;
|
||
body.ContactPlaneCellId = ci.LastKnownContactPlaneCellId;
|
||
body.ContactPlaneIsWater = ci.LastKnownContactPlaneIsWater;
|
||
}
|
||
else
|
||
{
|
||
body.ContactPlaneValid = false;
|
||
}
|
||
|
||
if (sp.HasLastWalkablePolygon && sp.LastWalkableVertices is not null)
|
||
{
|
||
body.WalkablePolygonValid = true;
|
||
body.WalkablePlane = sp.LastWalkablePlane;
|
||
body.WalkableVertices = (Vector3[])sp.LastWalkableVertices.Clone();
|
||
body.WalkableUp = sp.LastWalkableUp;
|
||
}
|
||
else if (!isOnGround && !ci.ContactPlaneValid && !ci.LastKnownContactPlaneValid)
|
||
{
|
||
body.WalkablePolygonValid = false;
|
||
body.WalkableVertices = null;
|
||
}
|
||
|
||
if (ci.SlidingNormalValid
|
||
&& ci.SlidingNormal.LengthSquared() > PhysicsGlobals.EpsilonSq)
|
||
{
|
||
body.SlidingNormal = ci.SlidingNormal;
|
||
body.TransientState |= TransientStateFlags.Sliding;
|
||
}
|
||
else
|
||
{
|
||
body.SlidingNormal = Vector3.Zero;
|
||
body.TransientState &= ~TransientStateFlags.Sliding;
|
||
}
|
||
|
||
// L.4 retail-strict (2026-04-30): apply OBJECTINFO::kill_velocity.
|
||
// Phase 3's reset path sets VelocityKilled when an airborne hit
|
||
// can't find a walkable surface (steep roof, wall) AND the
|
||
// body had a last_known_contact_plane (i.e., was grounded
|
||
// recently). Retail zeros all three velocity components so
|
||
// gravity restarts cleanly next frame.
|
||
//
|
||
// Named-retail: OBJECTINFO::kill_velocity → CPhysicsObj::set_velocity({0,0,0}, 0)
|
||
// acclient_2013_pseudo_c.txt:274467-274475
|
||
// Called from CTransition::transitional_insert reset path:
|
||
// acclient_2013_pseudo_c.txt:273237 (Phase 3)
|
||
// acclient_2013_pseudo_c.txt:272567 (validate_transition)
|
||
if (transition.ObjectInfo.VelocityKilled)
|
||
{
|
||
if (PhysicsDiagnostics.DumpSteepRoofEnabled)
|
||
Console.WriteLine($"[steep-roof] KILL-VELOCITY-APPLIED Vbefore=({body.Velocity.X:F2},{body.Velocity.Y:F2},{body.Velocity.Z:F2}) → 0,0,0");
|
||
body.Velocity = Vector3.Zero;
|
||
}
|
||
}
|
||
|
||
// L.3a (2026-04-30): surface the wall normal so callers can apply
|
||
// retail's velocity-reflection bounce (CPhysicsObj::handle_all_collisions
|
||
// at acclient_2013_pseudo_c.txt:282699-282715, ACE PhysicsObj.cs:
|
||
// 2692-2697). The reflection itself is applied in
|
||
// PlayerMovementController after the position commit, gated on
|
||
// apply_bounce = !(prevOnWalkable && newOnWalkable) — airborne wall
|
||
// hits bounce, grounded wall slides don't.
|
||
bool collisionNormalValid = ci.CollisionNormalValid;
|
||
Vector3 collisionNormal = ci.CollisionNormal;
|
||
|
||
// #42 diagnostic (2026-05-05): trace airborne sweeps to identify the
|
||
// source of the ~1m XY drift on retail-observed stationary jumps.
|
||
// Gated on ACDREAM_AIRBORNE_DIAG=1 and !isOnGround. One line per
|
||
// resolve call. deltaXY = post - target tells us how much the sweep
|
||
// diverged from the requested target; for a clean stationary +Z
|
||
// jump we expect (0,0). cp=valid with a tilted normal would confirm
|
||
// H1 (initial-overlap depenetration → next-step AdjustOffset projects
|
||
// the +Z offset along a non-+Z normal). User repros at flat plaza /
|
||
// east hillside / north hillside; if drift direction tracks terrain
|
||
// orientation, H1 is the cause; if it tracks actor facing, H2 / H3.
|
||
if (!isOnGround
|
||
&& Environment.GetEnvironmentVariable("ACDREAM_AIRBORNE_DIAG") == "1")
|
||
{
|
||
var post = sp.CheckPos;
|
||
float dx = post.X - targetPos.X;
|
||
float dy = post.Y - targetPos.Y;
|
||
string cpInfo = ci.ContactPlaneValid
|
||
? $"valid cpN=({ci.ContactPlane.Normal.X:F3},{ci.ContactPlane.Normal.Y:F3},{ci.ContactPlane.Normal.Z:F3})"
|
||
: "none";
|
||
Console.WriteLine(
|
||
$"[SWEEP] airborne pre=({currentPos.X:F3},{currentPos.Y:F3},{currentPos.Z:F3}) " +
|
||
$"target=({targetPos.X:F3},{targetPos.Y:F3},{targetPos.Z:F3}) " +
|
||
$"post=({post.X:F3},{post.Y:F3},{post.Z:F3}) " +
|
||
$"cell={cellId:X8}->{sp.CheckCellId:X8} ok={ok} " +
|
||
$"deltaXY=({dx:F3},{dy:F3}) cp={cpInfo}");
|
||
}
|
||
|
||
// L.2a slice 1 (2026-05-12): general-purpose resolver probe.
|
||
// One line per call when PhysicsDiagnostics.ProbeResolveEnabled
|
||
// is set (env var ACDREAM_PROBE_RESOLVE=1 at startup, or the
|
||
// DebugPanel checkbox flipped at runtime). Captures every
|
||
// dimension L.2 cares about: input/output position, input/output
|
||
// cell, ok-vs-partial, grounded-in vs contact-out, contact-plane
|
||
// status, wall normal if hit, walkable polygon valid. Zero cost
|
||
// when off (one static-bool read).
|
||
if (PhysicsDiagnostics.ProbeResolveEnabled)
|
||
{
|
||
var probePost = sp.CheckPos;
|
||
string probeCp = ci.ContactPlaneValid
|
||
? "valid"
|
||
: (ci.LastKnownContactPlaneValid ? "lastKnown" : "none");
|
||
string probeHit;
|
||
if (collisionNormalValid)
|
||
{
|
||
// L.2a slice 2 (2026-05-12): include the hit object's guid +
|
||
// environment flag so we can tell whether the wall is a building
|
||
// (CBuildingObj), a door (CC0Cxxxx range), an NPC, or terrain.
|
||
// Without this we know the wall normal but not the responsible
|
||
// entity — half the L.2d sub-direction call.
|
||
string objPart = ci.LastCollidedObjectGuid.HasValue
|
||
? System.FormattableString.Invariant(
|
||
$" obj=0x{ci.LastCollidedObjectGuid.Value:X8}")
|
||
: "";
|
||
string envPart = ci.CollidedWithEnvironment ? " env" : "";
|
||
int objCount = ci.CollideObjectGuids.Count;
|
||
string objCountPart = objCount > 1
|
||
? System.FormattableString.Invariant($" nObj={objCount}")
|
||
: "";
|
||
probeHit = System.FormattableString.Invariant(
|
||
$"yes n=({collisionNormal.X:F2},{collisionNormal.Y:F2},{collisionNormal.Z:F2}){objPart}{envPart}{objCountPart}");
|
||
}
|
||
else
|
||
{
|
||
probeHit = "no";
|
||
}
|
||
Console.WriteLine(System.FormattableString.Invariant(
|
||
$"[resolve] ent=0x{movingEntityId:X8} in=({currentPos.X:F3},{currentPos.Y:F3},{currentPos.Z:F3}) cell=0x{cellId:X8} tgt=({targetPos.X:F3},{targetPos.Y:F3},{targetPos.Z:F3}) out=({probePost.X:F3},{probePost.Y:F3},{probePost.Z:F3}) cell=0x{sp.CheckCellId:X8} ok={ok} groundedIn={isOnGround} cp={probeCp} hit={probeHit} walkable={sp.HasLastWalkablePolygon}"));
|
||
}
|
||
|
||
if (ok)
|
||
{
|
||
bool onGround = ci.ContactPlaneValid
|
||
|| transition.ObjectInfo.State.HasFlag(ObjectInfoState.OnWalkable);
|
||
|
||
return new ResolveResult(
|
||
sp.CheckPos,
|
||
ResolveCellId(sp.GlobalSphere[0].Origin, sphereRadius, sp.CheckCellId),
|
||
onGround,
|
||
collisionNormalValid,
|
||
collisionNormal);
|
||
}
|
||
|
||
// Transition failed (e.g., stuck in corner, too many steps).
|
||
// Use whatever position the transition reached (partial movement)
|
||
// instead of falling back to the no-collision Resolve.
|
||
// If CheckPos hasn't moved from CurPos, the player stays put —
|
||
// this is correct behavior when completely blocked.
|
||
bool partialOnGround = ci.ContactPlaneValid
|
||
|| transition.ObjectInfo.State.HasFlag(ObjectInfoState.OnWalkable)
|
||
|| isOnGround;
|
||
|
||
uint partialCellId = sp.CheckCellId != 0 ? sp.CheckCellId : cellId;
|
||
return new ResolveResult(
|
||
sp.CheckPos,
|
||
ResolveCellId(sp.GlobalSphere[0].Origin, sphereRadius, partialCellId),
|
||
partialOnGround,
|
||
collisionNormalValid,
|
||
collisionNormal);
|
||
}
|
||
}
|