fb5fba6229
Apparatus only — no fix attempt. Per the systematic-debugging skill's
"3+ failures = question architecture" rule, the 6 hypotheses we
tested speculatively on the harness's airborne-at-tick-1 bug all
failed because we kept guessing what state the harness lacks. This
commit ships the evidence-driven path: capture the EXACT player
ResolveWithTransition call (every input + body-before + body-after +
result) into a JSON Lines fixture, then a comparison test loads the
fixture and replays it against the test engine. The first per-field
divergence pinpoints the missing apparatus state — no more guessing.
Adds:
- src/AcDream.Core/Physics/PhysicsResolveCapture.cs — new static module
with CapturePath (env var ACDREAM_CAPTURE_RESOLVE), PhysicsBodySnapshot
record, JSON Lines writer (thread-safe, flushes per record), process-
exit hook for clean shutdown.
- PhysicsEngine.ResolveWithTransition probe wiring: snapshot body at
method entry, snapshot again before return, refactor the two returns
into one path so the capture call site is single. Filtered to
IsPlayer mover flag so NPC/remote DR calls don't pollute.
- CellarUpTrajectoryReplayTests.cs:
• Capture_WritesJsonLinesRecordsWhenIsPlayerAndEnabled — drives 3
ticks with capture on, reads file back, verifies round-trip of
inputs + body-before/after snapshots.
• Capture_SkipsNonPlayerCalls — drives 3 NPC-style ticks (no
IsPlayer flag), confirms the file is not created.
Off by default. Set ACDREAM_CAPTURE_RESOLVE=<path> to a writable file
path; capture starts on the next player ResolveWithTransition call.
Test baseline: 1172 + 8 pre-existing failures + 2 new smoke tests
that pass = 1174 + 8. Verified by stashed-baseline comparison.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
792 lines
34 KiB
C#
792 lines
34 KiB
C#
using System;
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using System.Collections.Generic;
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using System.IO;
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using System.Linq;
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using System.Numerics;
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using AcDream.Core.Physics;
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using DatReaderWriter.Enums;
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using DatReaderWriter.Types;
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using Xunit;
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namespace AcDream.Core.Tests.Physics;
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/// <summary>
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/// A6.P3 issue #98 (2026-05-23) — deterministic TRAJECTORY replay
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/// harness for the cottage cellar-ascent failure. Drives
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/// <see cref="PhysicsEngine.ResolveWithTransition"/> through N physics
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/// ticks against pre-loaded cell fixtures, capturing a per-tick
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/// trajectory record.
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///
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/// <para>
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/// Unlike <see cref="Issue98CellarUpReplayTests"/> (which tests a SINGLE
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/// failing-frame's geometry against our walkable predicates), this
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/// harness drives MANY ticks through the full engine to reproduce the
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/// trajectory itself — once the fixtures support it (see below).
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/// </para>
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///
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/// <h3>Status as of 2026-05-23 evening: harness mechanics WORK, fixtures
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/// INCOMPLETE.</h3>
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///
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/// <para>
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/// The harness compiles and runs the engine through N ticks in
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/// < 100 ms total. Two findings during commissioning:
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/// </para>
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///
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/// <list type="number">
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/// <item>The three issue-#98 cell fixtures
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/// (<c>tests/AcDream.Core.Tests/Fixtures/issue98/0xA9B40*.json</c>)
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/// contain ONLY axis-aligned polygons — cellar floor, cellar
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/// ceiling, four cellar walls, cottage floor, cottage walls. The
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/// live capture's CELLAR RAMP polygon
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/// (normal ≈ <c>(0, ±0.719, 0.695)</c>) is NOT in any of the
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/// fixtures. Without it the harness can't reproduce the climb
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/// trajectory — the sphere walks across the cellar floor
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/// horizontally and never encounters a slope.</item>
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/// <item>Independently: at the sphere's initial position resting on
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/// the cellar floor, the engine reports
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/// <c>hit=yes n=(0,0,1) walkable=False</c> on tick 1 and rejects
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/// the forward move. The grounded state flips off and subsequent
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/// ticks proceed as airborne (no Z change). This may be a real
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/// engine bug (touching the floor classified as non-walkable
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/// collision) or a fixture issue (cellar floor poly's
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/// containment test mis-firing). Either way, the harness
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/// exposes it deterministically — that's the point.</item>
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/// </list>
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///
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/// <para>
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/// <b>Before this harness can drive issue-#98 trajectory fix attempts,
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/// the fixtures need a re-capture</b> that includes:
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/// </para>
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///
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/// <list type="bullet">
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/// <item>The cellar ramp polygon (whichever cell it actually lives
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/// in — the live capture said cellar cell <c>0xA9B40147</c>,
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/// but our dump doesn't have it; investigate
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/// <see cref="CellDumpSerializer"/> to see whether some
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/// polygons are being skipped during capture).</item>
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/// <item>Any neighboring cells the sphere may transit into during
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/// the climb (the live capture's
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/// <c>[cell-set-summary]</c> showed overlap with
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/// <c>0xA9B40143</c> and <c>0xA9B40146</c>, both already in
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/// the fixture set — but additional cells beyond these may
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/// appear at tick boundaries we haven't observed).</item>
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/// </list>
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///
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/// <para>
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/// The current tests document the harness mechanics + the two
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/// findings above. When fixtures are re-captured, flip
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/// <see cref="CellarUp_FreezesAtRampTop_DocumentsBug"/>'s assertion
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/// to require a successful climb and add additional tests for the
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/// trajectory shape.
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/// </para>
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/// </summary>
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public class CellarUpTrajectoryReplayTests
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{
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// ── Cellar / cottage geometry constants ────────────────────────
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private const uint CellarId = 0xA9B40147u;
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private const uint CottageNeighborA = 0xA9B40143u;
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private const uint CottageNeighborB = 0xA9B40146u;
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private const float CellarFloorZ = 90.95f;
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private const float CottageFloorZ = 94.00f;
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private const float SphereRadius = 0.48f;
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private const float SphereHeight = 1.20f;
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private const float StepUpHeight = 0.60f;
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private const float StepDownHeight = 0.04f;
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/// <summary>
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/// Sphere center starts exactly at its natural resting position on
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/// the cellar floor: bottom on floor, center at Z = floor + radius.
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/// Y=9.5 is ~0.75 m before the ramp foot at Y=8.75 (live-capture
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/// ramp plane: <c>0.719·y + 0.695·z = 69.5035</c> → y=8.75 at z=90.95).
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/// X=141.5 matches the live capture's X.
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/// </summary>
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private static readonly Vector3 InitialSphereWorld =
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new(141.5f, 9.5f, CellarFloorZ + SphereRadius);
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/// <summary>
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/// Per-tick forward offset (−Y direction toward the ramp).
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/// Magnitude (~0.10 m) matches the live capture's observed per-tick
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/// requested offset.
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/// </summary>
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private static readonly Vector3 PerTickOffset =
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new(0f, -0.10f, 0f);
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private const int SimulationTicks = 200;
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// ───────────────────────────────────────────────────────────────
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// Tests
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// ───────────────────────────────────────────────────────────────
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/// <summary>
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/// Confirms the harness compiles, the engine runs the simulation,
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/// and a trajectory comes back with the expected number of points.
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/// Does NOT assert on trajectory CONTENT — fixture limitations
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/// (see class summary) make content-level assertions premature.
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/// </summary>
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[Fact]
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public void Harness_CompilesAndRunsSimulation()
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{
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var (engine, _) = BuildEngineWithCellarFixtures();
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var body = BuildInitialBody();
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var trajectory = SimulateTicks(engine, body, CellarId, SimulationTicks);
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Assert.Equal(SimulationTicks + 1, trajectory.Count);
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Assert.Equal(0, trajectory[0].Tick);
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Assert.Equal(SimulationTicks, trajectory[^1].Tick);
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}
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/// <summary>
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/// Diagnostic dump: print the first 10 trajectory points + the
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/// engine's resolve-probe decisions. Useful when investigating
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/// what the harness is actually doing.
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/// </summary>
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[Fact]
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public void Harness_DiagnosticDump_FirstTenTicks()
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{
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PhysicsDiagnostics.ProbeResolveEnabled = true;
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PhysicsDiagnostics.ProbeStepWalkEnabled = true;
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PhysicsDiagnostics.ProbeIndoorBspEnabled = true;
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PhysicsDiagnostics.ProbePolyDumpEnabled = true;
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try
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{
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var (engine, _) = BuildEngineWithCellarFixtures();
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var body = BuildInitialBody();
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var trajectory = SimulateTicks(engine, body, CellarId, 2);
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var msg = "Trajectory (2 ticks):\n " +
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string.Join("\n ", trajectory.Select(p =>
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$"tick={p.Tick} pos=({p.Position.X:F4},{p.Position.Y:F4},{p.Position.Z:F4}) " +
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$"cell=0x{p.CellId:X8} onGround={p.IsOnGround} cpValid={p.CpValid}"));
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// Always pass — this is a diagnostic test; the probe
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// output appears in the test runner's captured stdout
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// and the trajectory in the assertion message on failure.
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Assert.True(true, msg);
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}
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finally
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{
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PhysicsDiagnostics.ProbeResolveEnabled = false;
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PhysicsDiagnostics.ProbeStepWalkEnabled = false;
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PhysicsDiagnostics.ProbeIndoorBspEnabled = false;
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PhysicsDiagnostics.ProbePolyDumpEnabled = false;
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}
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}
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/// <summary>
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/// Experiment: drive without a PhysicsBody (no CP seeding, no
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/// cross-tick state). Tests whether the airborne-at-tick-1 issue
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/// is caused by the seeded CP creating a false collision against
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/// the cellar floor.
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/// </summary>
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[Fact]
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public void Harness_DiagnosticDump_NoBodySeed()
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{
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PhysicsDiagnostics.ProbeResolveEnabled = true;
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try
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{
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var (engine, _) = BuildEngineWithCellarFixtures();
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uint cellId = CellarId;
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bool isOnGround = true;
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Vector3 pos = InitialSphereWorld;
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var trajectory = new List<TrajectoryPoint>
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{
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new(0, pos, cellId, isOnGround, false),
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};
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for (int tick = 1; tick <= 10; tick++)
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{
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Vector3 target = pos + PerTickOffset;
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var result = engine.ResolveWithTransition(
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pos, target, cellId,
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SphereRadius, SphereHeight,
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StepUpHeight, StepDownHeight,
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isOnGround,
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body: null, // ← no body, no CP seed
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moverFlags: ObjectInfoState.IsPlayer | ObjectInfoState.EdgeSlide,
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movingEntityId: 0);
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pos = result.Position;
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cellId = result.CellId;
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isOnGround = result.IsOnGround;
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trajectory.Add(new(tick, pos, cellId, isOnGround, false));
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}
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var msg = "No-body trajectory (10 ticks):\n " +
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string.Join("\n ", trajectory.Select(p =>
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$"tick={p.Tick} pos=({p.Position.X:F4},{p.Position.Y:F4},{p.Position.Z:F4}) " +
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$"onGround={p.IsOnGround}"));
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Assert.True(true, msg);
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}
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finally
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{
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PhysicsDiagnostics.ProbeResolveEnabled = false;
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}
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}
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/// <summary>
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/// Documents the deep-investigation finding (2026-05-23 evening
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/// extension): the seeded grounded sphere still goes airborne at
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/// tick 1 with hit=(0,1,0) — a +Y wall normal that doesn't match
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/// any registered geometry. The hit is set by ValidateTransition
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/// after the inner TransitionalInsert returns Collided, but the
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/// source of the (0,1,0) inside TransitionalInsert is not yet
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/// isolated.
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///
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/// <para>
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/// Investigation excluded:
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/// <list type="bullet">
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/// <item>Stub landblock terrain (removed; same hit)</item>
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/// <item>Synthetic stair GfxObj (removed; same hit)</item>
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/// <item>Cell BSP=null on Hydrate (attached synthetic BSP; same hit)</item>
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/// <item>WalkablePolygon NOT seeded vs seeded (seeded now: walkable=True survives, but (0,1,0) hit remains)</item>
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/// <item>Initial sphere Z lift 0.0 vs 0.05 m (same hit)</item>
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/// <item>PhysicsBody seeded vs body=null (same hit)</item>
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/// </list>
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/// </para>
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///
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/// <para>
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/// Next session's investigation move: build a side-by-side
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/// instrumentation harness that calls the EXACT same
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/// ResolveWithTransition invocation as production's
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/// PlayerMovementController, with identical body state, and
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/// compare per-tick state divergence. The harness setup must be
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/// missing some piece of state that production carries from a
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/// prior live tick — find what piece.
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/// </para>
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/// </summary>
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[Fact]
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public void Harness_Finding_SphereGoesAirborneAtTick1()
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{
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var (engine, _) = BuildEngineWithCellarFixtures();
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var body = BuildInitialBody();
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var trajectory = SimulateTicks(engine, body, CellarId, 3);
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Assert.True(trajectory[0].IsOnGround,
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"Tick 0 is the seeded starting state and must report grounded.");
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Assert.False(trajectory[1].IsOnGround,
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"Open finding: at tick 1 the engine reports the sphere is NOT " +
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"grounded, even though it started seeded with ContactPlane + " +
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"WalkablePolygon on the cellar floor and the cell has a " +
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"synthetic BSP wrapping every polygon. Hit normal is (0,1,0) — " +
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"doesn't match any registered geometry. Source of (0,1,0) " +
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"inside TransitionalInsert is not yet isolated. See the class " +
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"doc for the exclusion list and next investigation move.");
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}
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/// <summary>
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/// Perf budget for the harness: 200 ticks must complete in well
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/// under 500 ms. If this ever fails, the inner loop has regressed
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/// and the whole point of the harness — fast iteration on physics
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/// fixes — is at risk.
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/// </summary>
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[Fact]
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public void Harness_SimulationRunsInUnder500ms()
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{
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var (engine, _) = BuildEngineWithCellarFixtures();
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var body = BuildInitialBody();
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var sw = System.Diagnostics.Stopwatch.StartNew();
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_ = SimulateTicks(engine, body, CellarId, SimulationTicks);
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sw.Stop();
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Assert.True(sw.ElapsedMilliseconds < 500,
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$"200-tick simulation should complete in under 500 ms. " +
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$"Took: {sw.ElapsedMilliseconds} ms.");
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}
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/// <summary>
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/// A6.P3 #98 (2026-05-23 evening apparatus extension) — smoke-tests
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/// the <see cref="PhysicsResolveCapture"/> probe. Drives 3 ticks with
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/// capture enabled, then reads the JSON-Lines file back and verifies:
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/// <list type="bullet">
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/// <item>One record per call.</item>
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/// <item>Inputs round-trip (currentPos, targetPos, cellId, flags).</item>
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/// <item>Body-before and body-after snapshots are present.</item>
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/// </list>
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/// This proves the production probe is wire-correct before we ask the
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/// user to run a live capture in the cellar — if this test passes, the
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/// only variable left is what's different about the live run.
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/// </summary>
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[Fact]
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public void Capture_WritesJsonLinesRecordsWhenIsPlayerAndEnabled()
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{
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string capturePath = Path.Combine(
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Path.GetTempPath(),
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$"acdream_capture_{Guid.NewGuid():N}.jsonl");
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try
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{
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PhysicsResolveCapture.CapturePath = capturePath;
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PhysicsResolveCapture.ResetTickCounter();
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var (engine, _) = BuildEngineWithCellarFixtures();
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var body = BuildInitialBody();
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_ = SimulateTicks(engine, body, CellarId, 3);
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PhysicsResolveCapture.Close();
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Assert.True(File.Exists(capturePath), "Capture file should exist.");
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var lines = File.ReadAllLines(capturePath);
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Assert.Equal(3, lines.Length);
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var records = lines
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.Select(static l => System.Text.Json.JsonSerializer.Deserialize<ResolveCaptureRecord>(
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l, CaptureJsonOptions))
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.ToList();
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// Tick monotonic 0,1,2.
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Assert.Equal(0, records[0]!.Tick);
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Assert.Equal(1, records[1]!.Tick);
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Assert.Equal(2, records[2]!.Tick);
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// Inputs at tick 0 must match the harness's initial position.
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var firstInput = records[0]!.Input;
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Assert.Equal(InitialSphereWorld.X, firstInput.CurrentPos.X, 4);
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Assert.Equal(InitialSphereWorld.Y, firstInput.CurrentPos.Y, 4);
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Assert.Equal(InitialSphereWorld.Z, firstInput.CurrentPos.Z, 4);
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Assert.Equal(CellarId, firstInput.CellId);
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Assert.True(firstInput.IsOnGround,
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"First tick is seeded grounded.");
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// Body before + after snapshots present.
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Assert.NotNull(records[0]!.BodyBefore);
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Assert.NotNull(records[0]!.BodyAfter);
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// Body-before's ContactPlane should match the seeded floor plane.
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var cpBefore = records[0]!.BodyBefore!.ContactPlane;
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Assert.Equal(0f, cpBefore.Normal.X, 5);
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Assert.Equal(0f, cpBefore.Normal.Y, 5);
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Assert.Equal(1f, cpBefore.Normal.Z, 5);
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Assert.Equal(-CellarFloorZ, cpBefore.D, 3);
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}
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finally
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{
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PhysicsResolveCapture.CapturePath = null;
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PhysicsResolveCapture.Close();
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if (File.Exists(capturePath))
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File.Delete(capturePath);
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}
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}
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/// <summary>
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/// Capture is filtered to <c>IsPlayer</c> mover flag. Calls without
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/// that flag (NPC, remote dead-reckoning) must NOT pollute the
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/// capture file.
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/// </summary>
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[Fact]
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public void Capture_SkipsNonPlayerCalls()
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{
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string capturePath = Path.Combine(
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Path.GetTempPath(),
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$"acdream_capture_npc_{Guid.NewGuid():N}.jsonl");
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try
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{
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PhysicsResolveCapture.CapturePath = capturePath;
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PhysicsResolveCapture.ResetTickCounter();
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var (engine, _) = BuildEngineWithCellarFixtures();
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var body = BuildInitialBody();
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// Drive 3 ticks WITHOUT IsPlayer flag — simulates an NPC path.
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uint cellId = CellarId;
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bool isOnGround = true;
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for (int i = 0; i < 3; i++)
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{
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Vector3 target = body.Position + PerTickOffset;
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var result = engine.ResolveWithTransition(
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body.Position, target, cellId,
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SphereRadius, SphereHeight,
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StepUpHeight, StepDownHeight,
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isOnGround,
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body: body,
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moverFlags: ObjectInfoState.EdgeSlide, // ← no IsPlayer
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movingEntityId: 0);
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body.Position = result.Position;
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cellId = result.CellId;
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isOnGround = result.IsOnGround;
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}
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PhysicsResolveCapture.Close();
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// No records written because no IsPlayer call ran.
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Assert.False(File.Exists(capturePath),
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"Capture file should NOT exist when only non-player calls ran.");
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}
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finally
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{
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PhysicsResolveCapture.CapturePath = null;
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PhysicsResolveCapture.Close();
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if (File.Exists(capturePath))
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File.Delete(capturePath);
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}
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}
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/// <summary>
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/// Shared deserialization options matching
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/// <see cref="PhysicsResolveCapture"/>'s serializer. <c>IncludeFields</c>
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/// is required because Vector3/Quaternion/Plane store components as
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/// fields, not properties.
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/// </summary>
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public static readonly System.Text.Json.JsonSerializerOptions CaptureJsonOptions =
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new()
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{
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IncludeFields = true,
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PropertyNamingPolicy = System.Text.Json.JsonNamingPolicy.CamelCase,
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};
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// ───────────────────────────────────────────────────────────────
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// Harness internals
|
||
// ───────────────────────────────────────────────────────────────
|
||
|
||
/// <summary>
|
||
/// One point in the simulated trajectory. Captured per tick.
|
||
/// </summary>
|
||
public sealed record TrajectoryPoint(
|
||
int Tick,
|
||
Vector3 Position,
|
||
uint CellId,
|
||
bool IsOnGround,
|
||
bool CpValid);
|
||
|
||
/// <summary>
|
||
/// Builds a <see cref="PhysicsEngine"/> with:
|
||
/// <list type="bullet">
|
||
/// <item>The three issue-#98 cottage/cellar cell fixtures registered.</item>
|
||
/// <item>A stub landblock so <c>TryGetLandblockContext</c> succeeds
|
||
/// at the cellar XY (needed for FindObjCollisions to query
|
||
/// the shadow registry).</item>
|
||
/// <item>A SYNTHETIC stair-piece GfxObj containing the cellar ramp
|
||
/// polygon, registered as a ShadowEntry scoped to the cellar
|
||
/// cell. Reconstructed programmatically from the live-capture
|
||
/// <c>[poly-dump]</c> data
|
||
/// (<c>docs/research/2026-05-21-a6-captures/scen4_cottage_cellar_polydump/acdream.log</c>),
|
||
/// transformed to world coordinates so the registered object
|
||
/// sits at world origin with identity rotation/scale.</item>
|
||
/// </list>
|
||
/// </summary>
|
||
private static (PhysicsEngine engine, PhysicsDataCache cache)
|
||
BuildEngineWithCellarFixtures()
|
||
{
|
||
var cache = new PhysicsDataCache();
|
||
var engine = new PhysicsEngine { DataCache = cache };
|
||
|
||
// ── 1. Cell fixtures (existing) + synthetic BSP ──────────────
|
||
// CellDumpSerializer.Hydrate intentionally sets BSP=null (the DAT
|
||
// PhysicsBSPTree isn't in the dump format). Without a non-null BSP,
|
||
// FindEnvCollisions's indoor branch (TransitionTypes.cs:1840) is
|
||
// skipped — the engine falls through to outdoor terrain queries
|
||
// that produce spurious wall hits. Construct a single-leaf BSP
|
||
// wrapping the cell's Resolved polygons, so the indoor path fires
|
||
// like production.
|
||
foreach (var cellId in new[] { CellarId, CottageNeighborA, CottageNeighborB })
|
||
{
|
||
var path = Path.Combine(FixtureDir, $"0x{cellId:X8}.json");
|
||
Assert.True(File.Exists(path),
|
||
$"Fixture missing: {path}. Re-run cell-dump capture " +
|
||
$"(commit 3f56915 captured the originals).");
|
||
var dump = CellDumpSerializer.Read(path);
|
||
var cell = CellDumpSerializer.Hydrate(dump);
|
||
var cellWithBsp = AttachSyntheticBsp(cell);
|
||
cache.RegisterCellStructForTest(cellId, cellWithBsp);
|
||
}
|
||
|
||
// ── 2. NO landblock registered ──────────────────────────────
|
||
// Without a landblock, SampleTerrainWalkable returns null and
|
||
// FindEnvCollisions's outdoor-fallback path returns OK without
|
||
// running ValidateWalkable on stub terrain. This is the right
|
||
// shape for indoor-only tests — the cell's BSP would handle
|
||
// collision if hydrated, and falling through to stub terrain
|
||
// produces spurious (0,1,0) wall hits. FindObjCollisions also
|
||
// early-returns without landblock context (line 2153 of
|
||
// TransitionTypes.cs), so the synthetic stair GfxObj is also
|
||
// skipped — fine for the airborne-at-tick-1 isolation.
|
||
|
||
// ── 3. Synthetic stair-piece GfxObj + ShadowEntry ──────────
|
||
// Temporarily disabled while debugging the airborne-at-tick-1
|
||
// issue. Re-enable once the cell-BSP-is-null + landblock-stub
|
||
// interaction is understood, AND we have a way to register
|
||
// the stair without needing a landblock (e.g., extend
|
||
// FindObjCollisions to query cellScope-only shadows without
|
||
// landblock context).
|
||
// RegisterStairRampGfxObj(engine, cache);
|
||
|
||
return (engine, cache);
|
||
}
|
||
|
||
/// <summary>
|
||
/// Wraps a hydrated <see cref="CellPhysics"/> with a synthetic
|
||
/// single-leaf <see cref="PhysicsBSPTree"/> that references every
|
||
/// polygon in <c>cell.Resolved</c>. <c>CellDumpSerializer.Hydrate</c>
|
||
/// intentionally sets BSP=null (per its xmldoc) because the dump
|
||
/// format doesn't capture the DAT BSP tree. Without a non-null BSP,
|
||
/// FindEnvCollisions's indoor branch is skipped — the engine then
|
||
/// falls through to outdoor terrain queries that misfire. A flat
|
||
/// single-leaf BSP is sufficient for the BSP query to find every
|
||
/// polygon by exhaustive iteration (slower than a real BSP but
|
||
/// correct).
|
||
/// </summary>
|
||
private static CellPhysics AttachSyntheticBsp(CellPhysics cell)
|
||
{
|
||
// Compute a bounding sphere that encompasses every polygon in the
|
||
// cell — center at the origin of the cell's WORLD transform plus
|
||
// a margin radius. The cellar fixture is ~12 m × 12 m × 3 m.
|
||
var bsphereCenter = new Vector3(0f, 0f, 0f); // cell local
|
||
var bsphereRadius = 15f;
|
||
|
||
var leaf = new PhysicsBSPNode
|
||
{
|
||
Type = BSPNodeType.Leaf,
|
||
BoundingSphere = new Sphere { Origin = bsphereCenter, Radius = bsphereRadius },
|
||
};
|
||
foreach (var kv in cell.Resolved)
|
||
leaf.Polygons.Add(kv.Key);
|
||
|
||
var bspTree = new PhysicsBSPTree { Root = leaf };
|
||
|
||
// CellPhysics has init-only properties; rebuild a new instance
|
||
// with BSP set, copying every other field unchanged.
|
||
return new CellPhysics
|
||
{
|
||
BSP = bspTree,
|
||
PhysicsPolygons = cell.PhysicsPolygons,
|
||
Vertices = cell.Vertices,
|
||
WorldTransform = cell.WorldTransform,
|
||
InverseWorldTransform = cell.InverseWorldTransform,
|
||
Resolved = cell.Resolved,
|
||
CellBSP = cell.CellBSP,
|
||
Portals = cell.Portals,
|
||
PortalPolygons = cell.PortalPolygons,
|
||
VisibleCellIds = cell.VisibleCellIds,
|
||
};
|
||
}
|
||
|
||
/// <summary>
|
||
/// Constructs a synthetic GfxObj containing the cellar ramp polygon
|
||
/// in WORLD coordinates and registers it as a ShadowEntry scoped to
|
||
/// the cellar cell. The polygon's vertices + normal are reproduced
|
||
/// from the live capture's <c>[poly-dump]</c> data (commit pre-3f56915),
|
||
/// transformed to world frame so the GfxObj can sit at world origin
|
||
/// with identity rotation/scale (simplifies the
|
||
/// FindObjCollisions local-to-world transform).
|
||
///
|
||
/// <para>
|
||
/// Live capture's local polygon vertices (in building frame):
|
||
/// (0.8,-1.59,-1.5), (0.8,1.31,1.5), (-0.8,1.31,1.5), (-0.8,-1.59,-1.5).
|
||
/// Building's world transform: origin (141.5, 7.155, 92.455), 180° yaw
|
||
/// around Z. After applying yaw + translation, world vertices are:
|
||
/// (140.7, 8.745, 90.955), (140.7, 5.845, 93.955),
|
||
/// (142.3, 5.845, 93.955), (142.3, 8.745, 90.955).
|
||
/// World normal = (0, 0.719, 0.695), world d = -69.5035 — matches
|
||
/// the live cdb capture exactly.
|
||
/// </para>
|
||
/// </summary>
|
||
private static void RegisterStairRampGfxObj(PhysicsEngine engine, PhysicsDataCache cache)
|
||
{
|
||
const ushort RampPolyId = 0x0008;
|
||
const uint StairGfxId = 0xDEADBEEFu;
|
||
const uint StairEntityId = 0xC0FFEE00u;
|
||
|
||
// World-frame vertices (winding order preserved from live capture).
|
||
var v0 = new Vector3(140.7f, 8.745f, 90.955f); // ramp foot, X=-side
|
||
var v1 = new Vector3(140.7f, 5.845f, 93.955f); // ramp top, X=-side
|
||
var v2 = new Vector3(142.3f, 5.845f, 93.955f); // ramp top, X=+side
|
||
var v3 = new Vector3(142.3f, 8.745f, 90.955f); // ramp foot, X=+side
|
||
var verts = new[] { v0, v1, v2, v3 };
|
||
|
||
// Compute normal from cross(v1-v0, v3-v0).
|
||
var edge0 = v1 - v0;
|
||
var edge1 = v3 - v0;
|
||
var normal = Vector3.Normalize(Vector3.Cross(edge0, edge1));
|
||
// Plane equation: N·p + d = 0 → d = -N·v0.
|
||
float d = -Vector3.Dot(normal, v0);
|
||
|
||
var resolved = new Dictionary<ushort, ResolvedPolygon>
|
||
{
|
||
[RampPolyId] = new ResolvedPolygon
|
||
{
|
||
Vertices = verts,
|
||
Plane = new System.Numerics.Plane(normal, d),
|
||
NumPoints = 4,
|
||
SidesType = CullMode.Landblock,
|
||
},
|
||
};
|
||
|
||
// Minimal one-leaf BSP containing the ramp poly. Bounding sphere
|
||
// encompasses the polygon (center at poly centroid).
|
||
var leaf = new PhysicsBSPNode
|
||
{
|
||
Type = BSPNodeType.Leaf,
|
||
BoundingSphere = new Sphere
|
||
{
|
||
Origin = new Vector3(141.5f, 7.295f, 92.455f),
|
||
Radius = 3.0f,
|
||
},
|
||
};
|
||
leaf.Polygons.Add(RampPolyId);
|
||
|
||
var bspTree = new PhysicsBSPTree { Root = leaf };
|
||
|
||
var gfxPhysics = new GfxObjPhysics
|
||
{
|
||
BSP = bspTree,
|
||
PhysicsPolygons = new Dictionary<ushort, Polygon>(),
|
||
Vertices = new VertexArray(),
|
||
Resolved = resolved,
|
||
BoundingSphere = leaf.BoundingSphere,
|
||
};
|
||
|
||
cache.RegisterGfxObjForTest(StairGfxId, gfxPhysics);
|
||
|
||
// ShadowEntry: object at world origin (0,0,0), identity rotation,
|
||
// scale 1.0 — keeps the polygon's WORLD-frame vertices intact
|
||
// through the FindObjCollisions local-transform math.
|
||
// cellScope = CellarId so the entry is only queried when the sphere
|
||
// is in cellar cell (matches retail's per-cell shadow scoping for
|
||
// interior statics — Issue #91 family).
|
||
engine.ShadowObjects.Register(
|
||
entityId: StairEntityId,
|
||
gfxObjId: StairGfxId,
|
||
worldPos: Vector3.Zero,
|
||
rotation: Quaternion.Identity,
|
||
radius: 5.0f,
|
||
worldOffsetX: 0f,
|
||
worldOffsetY: 0f,
|
||
landblockId: 0xA9B40000u,
|
||
collisionType: ShadowCollisionType.BSP,
|
||
scale: 1.0f,
|
||
cellScope: CellarId);
|
||
}
|
||
|
||
/// <summary>
|
||
/// Sphere on the cellar floor with BOTH a seeded ContactPlane AND a
|
||
/// seeded WalkablePolygon. Both are required by the engine to treat
|
||
/// the body as truly grounded:
|
||
/// <list type="bullet">
|
||
/// <item><c>ContactPlaneValid</c> + <c>ContactPlane</c>: copied into
|
||
/// <c>CollisionInfo.ContactPlane</c> via the body parameter
|
||
/// seeding in <see cref="PhysicsEngine.ResolveWithTransition"/>.</item>
|
||
/// <item><c>WalkablePolygonValid</c> + <c>WalkablePlane</c> +
|
||
/// <c>WalkableVertices</c>: read by
|
||
/// <see cref="PhysicsEngine.ResolveWithTransition"/> lines
|
||
/// 665-673 to call <c>SpherePath.SetWalkable(...)</c>, which
|
||
/// sets <c>HasWalkablePolygon=true</c>. Without this, the
|
||
/// engine treats the sphere as "grounded but with no walkable
|
||
/// polygon anchor" — a contradictory state that fires step-down
|
||
/// probes which reject and clear the grounded flag.</item>
|
||
/// </list>
|
||
/// </summary>
|
||
private static PhysicsBody BuildInitialBody() => new()
|
||
{
|
||
Position = InitialSphereWorld,
|
||
Orientation = Quaternion.Identity,
|
||
|
||
// ContactPlane: cellar floor at world Z=90.95.
|
||
ContactPlaneValid = true,
|
||
ContactPlane = new System.Numerics.Plane(0f, 0f, 1f, -CellarFloorZ),
|
||
ContactPlaneCellId = CellarId,
|
||
|
||
// WalkablePolygon: cellar floor poly 24 (the cellar quad under
|
||
// sphere XY=(141.5, 9.5)), transformed to world coordinates via
|
||
// the cell's 180° yaw + origin (130.5, 11.5, 94.0). Local verts
|
||
// [(-11.6, 0, -3.05), (-11.6, 3.1, -3.05), (-9.6, 3.1, -3.05),
|
||
// (-9.6, 0, -3.05)] → world [(142.1, 11.5, 90.95),
|
||
// (142.1, 8.4, 90.95), (140.1, 8.4, 90.95), (140.1, 11.5, 90.95)].
|
||
WalkablePolygonValid = true,
|
||
WalkablePlane = new System.Numerics.Plane(0f, 0f, 1f, -CellarFloorZ),
|
||
WalkableVertices = new[]
|
||
{
|
||
new Vector3(142.1f, 11.5f, 90.95f),
|
||
new Vector3(142.1f, 8.4f, 90.95f),
|
||
new Vector3(140.1f, 8.4f, 90.95f),
|
||
new Vector3(140.1f, 11.5f, 90.95f),
|
||
},
|
||
WalkableUp = Vector3.UnitZ,
|
||
|
||
TransientState = TransientStateFlags.Contact
|
||
| TransientStateFlags.OnWalkable,
|
||
};
|
||
|
||
/// <summary>
|
||
/// Drives <paramref name="tickCount"/> physics ticks. Each tick
|
||
/// applies <see cref="PerTickOffset"/> as the requested forward
|
||
/// motion, calls <see cref="PhysicsEngine.ResolveWithTransition"/>,
|
||
/// writes the result back to <paramref name="body"/>, and records
|
||
/// a <see cref="TrajectoryPoint"/>.
|
||
///
|
||
/// <para>
|
||
/// Cross-tick ContactPlane persistence is via <paramref name="body"/>
|
||
/// — the engine writes its final CP back to the body, then reads
|
||
/// it as the seed for the next tick. This mirrors the production
|
||
/// pattern in <c>PlayerMovementController</c>.
|
||
/// </para>
|
||
/// </summary>
|
||
private static List<TrajectoryPoint> SimulateTicks(
|
||
PhysicsEngine engine,
|
||
PhysicsBody body,
|
||
uint initialCellId,
|
||
int tickCount)
|
||
{
|
||
uint cellId = initialCellId;
|
||
bool isOnGround = true;
|
||
|
||
var trajectory = new List<TrajectoryPoint>(tickCount + 1)
|
||
{
|
||
new(0, body.Position, cellId, isOnGround, body.ContactPlaneValid),
|
||
};
|
||
|
||
for (int tick = 1; tick <= tickCount; tick++)
|
||
{
|
||
Vector3 target = body.Position + PerTickOffset;
|
||
|
||
var result = engine.ResolveWithTransition(
|
||
currentPos: body.Position,
|
||
targetPos: target,
|
||
cellId: cellId,
|
||
sphereRadius: SphereRadius,
|
||
sphereHeight: SphereHeight,
|
||
stepUpHeight: StepUpHeight,
|
||
stepDownHeight: StepDownHeight,
|
||
isOnGround: isOnGround,
|
||
body: body,
|
||
moverFlags: ObjectInfoState.IsPlayer
|
||
| ObjectInfoState.EdgeSlide,
|
||
movingEntityId: 0);
|
||
|
||
body.Position = result.Position;
|
||
cellId = result.CellId;
|
||
isOnGround = result.IsOnGround;
|
||
|
||
trajectory.Add(new(
|
||
tick,
|
||
body.Position,
|
||
cellId,
|
||
isOnGround,
|
||
body.ContactPlaneValid));
|
||
}
|
||
|
||
return trajectory;
|
||
}
|
||
|
||
private static string FixtureDir =>
|
||
Path.Combine(SolutionRoot(), "tests", "AcDream.Core.Tests",
|
||
"Fixtures", "issue98");
|
||
|
||
private static string SolutionRoot()
|
||
{
|
||
var dir = AppContext.BaseDirectory;
|
||
while (!string.IsNullOrEmpty(dir))
|
||
{
|
||
if (File.Exists(Path.Combine(dir, "AcDream.slnx")))
|
||
return dir;
|
||
dir = Path.GetDirectoryName(dir);
|
||
}
|
||
throw new InvalidOperationException(
|
||
"Could not locate AcDream.slnx from " + AppContext.BaseDirectory);
|
||
}
|
||
}
|