feat: add transition-aware path execution core

MinecraftClient/Pathing/Core/AStarPathFinder.cs

@@ -131,6 +131,22 @@ namespace MinecraftClient.Pathing.Core
             CancellationToken ct,
             long timeoutMs = 5000)
         {
+            if (goal.IsInGoal(startX, startY, startZ))
+            {
+                DebugLog?.Invoke($"[A*] Already in goal at ({startX},{startY},{startZ})");
+                return new PathResult(
+                    PathStatus.Success,
+                    [new PathNode(startX, startY, startZ)],
+                    nodesExplored: 0,
+                    elapsedMs: 0);
+            }
+
+            if (!IsGoalReachableFootPosition(ctx, goal))
+            {
+                DebugLog?.Invoke($"[A*] Goal {goal} is not a reachable foot position");
+                return PathResult.Fail(nodesExplored: 0, elapsedMs: 0);
+            }
+
             var sw = Stopwatch.StartNew();
             var openSet = new BinaryHeapOpenSet(4096);
             var nodeMap = new Dictionary<long, PathNode>(4096);
@@ -259,5 +275,21 @@ namespace MinecraftClient.Pathing.Core
             path.Reverse();
             return path;
         }
+
+        private static bool IsGoalReachableFootPosition(CalculationContext ctx, IGoal goal)
+        {
+            if (goal is not GoalBlock blockGoal)
+                return true;
+
+            if (!ctx.IsChunkLoaded(blockGoal.X, blockGoal.Z))
+                return true;
+
+            if (blockGoal.Y == int.MinValue)
+                return false;
+
+            return ctx.CanWalkOn(blockGoal.X, blockGoal.Y - 1, blockGoal.Z)
+                && ctx.CanWalkThrough(blockGoal.X, blockGoal.Y, blockGoal.Z)
+                && ctx.CanWalkThrough(blockGoal.X, blockGoal.Y + 1, blockGoal.Z);
+        }
     }
 }

MinecraftClient/Pathing/Execution/PathSegment.cs

@@ -10,6 +10,7 @@ namespace MinecraftClient.Pathing.Execution
         public required Location End { get; init; }
         public required MoveType MoveType { get; init; }
         public PathTransitionType ExitTransition { get; init; } = PathTransitionType.FinalStop;
+        public PathTransitionHints ExitHints { get; init; } = PathTransitionHints.Default;
         public bool PreserveSprint { get; init; }
 
         public int HeadingX => Math.Sign(End.X - Start.X);

MinecraftClient/Pathing/Execution/PathSegmentBuilder.cs

@@ -12,27 +12,9 @@ namespace MinecraftClient.Pathing.Execution
             var segments = new List<PathSegment>(Math.Max(0, nodes.Count - 1));
             for (int i = 1; i < nodes.Count; i++)
             {
-                PathSegment? next = null;
-                if (i + 1 < nodes.Count)
-                {
-                    var nextNode = nodes[i + 1];
-                    var curr = nodes[i];
-                    next = new PathSegment
-                    {
-                        Start = new Location(curr.X + 0.5, curr.Y, curr.Z + 0.5),
-                        End = new Location(nextNode.X + 0.5, nextNode.Y, nextNode.Z + 0.5),
-                        MoveType = nextNode.MoveUsed
-                    };
-                }
-
-                var prev = nodes[i - 1];
-                var currNode = nodes[i];
-                var current = new PathSegment
-                {
-                    Start = new Location(prev.X + 0.5, prev.Y, prev.Z + 0.5),
-                    End = new Location(currNode.X + 0.5, currNode.Y, currNode.Z + 0.5),
-                    MoveType = currNode.MoveUsed
-                };
+                PathSegment current = CreatePreview(nodes[i - 1], nodes[i]);
+                PathSegment? next = i + 1 < nodes.Count ? CreatePreview(nodes[i], nodes[i + 1]) : null;
+                PathSegment? nextNext = i + 2 < nodes.Count ? CreatePreview(nodes[i + 1], nodes[i + 2]) : null;
 
                 PathTransitionType exitTransition = Classify(current, next);
                 segments.Add(new PathSegment
@@ -41,6 +23,7 @@ namespace MinecraftClient.Pathing.Execution
                     End = current.End,
                     MoveType = current.MoveType,
                     ExitTransition = exitTransition,
+                    ExitHints = BuildHints(current, next, nextNext, exitTransition),
                     PreserveSprint = exitTransition is PathTransitionType.ContinueStraight or PathTransitionType.PrepareJump
                 });
             }
@@ -63,5 +46,90 @@ namespace MinecraftClient.Pathing.Execution
 
             return PathTransitionType.Turn;
         }
+
+        private static PathSegment CreatePreview(PathNode start, PathNode end)
+        {
+            return new PathSegment
+            {
+                Start = new Location(start.X + 0.5, start.Y, start.Z + 0.5),
+                End = new Location(end.X + 0.5, end.Y, end.Z + 0.5),
+                MoveType = end.MoveUsed
+            };
+        }
+
+        private static PathTransitionHints BuildHints(PathSegment current, PathSegment? next, PathSegment? nextNext,
+            PathTransitionType exitTransition)
+        {
+            if (next is null)
+            {
+                return new PathTransitionHints(
+                    DesiredHeadingX: current.HeadingX,
+                    DesiredHeadingZ: current.HeadingZ,
+                    MinExitSpeed: 0.0,
+                    MaxExitSpeed: 0.02,
+                    RequireStableFooting: true,
+                    RequireGrounded: true,
+                    RequireJumpReady: false,
+                    AllowAirBrake: false,
+                    HorizonTicks: 12);
+            }
+
+            if (next.MoveType is MoveType.Parkour or MoveType.Ascend)
+            {
+                return new PathTransitionHints(
+                    DesiredHeadingX: next.HeadingX,
+                    DesiredHeadingZ: next.HeadingZ,
+                    MinExitSpeed: next.MoveType == MoveType.Parkour ? 0.10 : 0.0,
+                    MaxExitSpeed: double.PositiveInfinity,
+                    RequireStableFooting: false,
+                    RequireGrounded: true,
+                    RequireJumpReady: true,
+                    AllowAirBrake: false,
+                    HorizonTicks: 10);
+            }
+
+            bool turning = current.HeadingX != next.HeadingX || current.HeadingZ != next.HeadingZ;
+            bool nextImmediatelyJumps = nextNext is not null
+                && nextNext.MoveType is (MoveType.Parkour or MoveType.Ascend);
+
+            if (turning)
+            {
+                return new PathTransitionHints(
+                    DesiredHeadingX: next.HeadingX,
+                    DesiredHeadingZ: next.HeadingZ,
+                    MinExitSpeed: nextImmediatelyJumps ? 0.05 : 0.0,
+                    MaxExitSpeed: nextImmediatelyJumps ? 0.16 : 0.05,
+                    RequireStableFooting: !nextImmediatelyJumps,
+                    RequireGrounded: true,
+                    RequireJumpReady: nextImmediatelyJumps,
+                    AllowAirBrake: true,
+                    HorizonTicks: 12);
+            }
+
+            if (exitTransition == PathTransitionType.LandingRecovery)
+            {
+                return new PathTransitionHints(
+                    DesiredHeadingX: next.HeadingX,
+                    DesiredHeadingZ: next.HeadingZ,
+                    MinExitSpeed: 0.03,
+                    MaxExitSpeed: double.PositiveInfinity,
+                    RequireStableFooting: false,
+                    RequireGrounded: true,
+                    RequireJumpReady: false,
+                    AllowAirBrake: true,
+                    HorizonTicks: 12);
+            }
+
+            return new PathTransitionHints(
+                DesiredHeadingX: next.HeadingX,
+                DesiredHeadingZ: next.HeadingZ,
+                MinExitSpeed: 0.06,
+                MaxExitSpeed: double.PositiveInfinity,
+                RequireStableFooting: false,
+                RequireGrounded: false,
+                RequireJumpReady: false,
+                AllowAirBrake: false,
+                HorizonTicks: 8);
+        }
     }
 }

MinecraftClient/Pathing/Execution/PathSegmentManager.cs

@@ -105,6 +105,16 @@ namespace MinecraftClient.Pathing.Execution
             using var cts = new CancellationTokenSource();
             var result = finder.Calculate(ctx, sx, sy, sz, _goal, cts.Token, 3000);
 
+            bool alreadyInGoal = _goal.IsInGoal(sx, sy, sz)
+                || (result.Path.Count == 1 && _goal.IsInGoal(result.Path[0].X, result.Path[0].Y, result.Path[0].Z));
+            if (alreadyInGoal)
+            {
+                _infoLog?.Invoke("[PathMgr] Navigation complete!");
+                _executor = null;
+                _goal = null;
+                return;
+            }
+
             if (result.Status == PathStatus.Failed || result.Path.Count < 2)
             {
                 _infoLog?.Invoke("[PathMgr] Replan failed -- no path found.");

MinecraftClient/Pathing/Execution/PathTransitionHints.cs

@@ -0,0 +1,25 @@
+namespace MinecraftClient.Pathing.Execution
+{
+    public sealed record PathTransitionHints(
+        int DesiredHeadingX,
+        int DesiredHeadingZ,
+        double MinExitSpeed,
+        double MaxExitSpeed,
+        bool RequireStableFooting,
+        bool RequireGrounded,
+        bool RequireJumpReady,
+        bool AllowAirBrake,
+        int HorizonTicks)
+    {
+        public static PathTransitionHints Default { get; } = new(
+            DesiredHeadingX: 0,
+            DesiredHeadingZ: 0,
+            MinExitSpeed: 0.0,
+            MaxExitSpeed: double.PositiveInfinity,
+            RequireStableFooting: false,
+            RequireGrounded: false,
+            RequireJumpReady: false,
+            AllowAirBrake: false,
+            HorizonTicks: 8);
+    }
+}

MinecraftClient/Pathing/Execution/Templates/DescendTemplate.cs

@@ -66,7 +66,12 @@ namespace MinecraftClient.Pathing.Execution.Templates
             {
                 TransitionBrakingDecision decision = TransitionBrakingPlanner.Plan(_segment, _nextSegment, pos, physics, world);
                 if (horizDistSq > 0.01 && !decision.HoldBack)
-                    physics.Yaw = TemplateHelper.SmoothYaw(physics.Yaw, targetYaw);
+                {
+                    float groundedYaw = TemplateHelper.ShouldBiasTowardExitHeading(pos, _segment)
+                        ? TemplateHelper.GetExitHeadingYaw(_segment)
+                        : targetYaw;
+                    physics.Yaw = TemplateHelper.SmoothYaw(physics.Yaw, groundedYaw);
+                }
 
                 TemplateHelper.ApplyDecision(input, decision);
                 if (decision.HoldBack)
@@ -99,9 +104,19 @@ namespace MinecraftClient.Pathing.Execution.Templates
                     }
                     else
                     {
-                        input.Forward = true;
-                        if (_needsSprint)
-                            input.Sprint = true;
+                        TransitionBrakingDecision decision = TransitionBrakingPlanner.Plan(_segment, _nextSegment, pos, physics, world);
+                        if (_segment.ExitHints.AllowAirBrake)
+                        {
+                            TemplateHelper.ApplyDecision(input, decision);
+                            if (decision.HoldForward && _needsSprint)
+                                input.Sprint = true;
+                        }
+                        else
+                        {
+                            input.Forward = true;
+                            if (_needsSprint)
+                                input.Sprint = true;
+                        }
                     }
                 }
             }
@@ -116,7 +131,8 @@ namespace MinecraftClient.Pathing.Execution.Templates
 
             double remaining = (_segment.End.X - pos.X) * _segment.HeadingX
                 + (_segment.End.Z - pos.Z) * _segment.HeadingZ;
-            return remaining <= 0.55;
+            return remaining <= 0.55
+                && TemplateFootingHelper.IsFootprintInsideTargetBlock(pos, _segment.End);
         }
 
         private static float YawDifference(float current, float target)

MinecraftClient/Pathing/Execution/Templates/GroundedSegmentController.cs

@@ -5,8 +5,13 @@ namespace MinecraftClient.Pathing.Execution.Templates
 {
     internal static class GroundedSegmentController
     {
+        private const double FinalStopFastCompleteSpeed = 0.08;
+
         internal static void Apply(PathSegment segment, PathSegment? nextSegment, Location pos, PlayerPhysics physics, MovementInput input, World world)
         {
+            if (TemplateHelper.ShouldBiasTowardExitHeading(pos, segment))
+                TemplateHelper.FaceExitHeading(physics, segment);
+
             TransitionBrakingDecision decision = TransitionBrakingPlanner.Plan(segment, nextSegment, pos, physics, world);
             TemplateHelper.ApplyDecision(input, decision);
             if (decision.HoldBack)
@@ -15,11 +20,69 @@ namespace MinecraftClient.Pathing.Execution.Templates
 
         internal static bool ShouldComplete(PathSegment segment, Location pos, PlayerPhysics physics)
         {
+            if (segment.ExitHints.RequireGrounded && !physics.OnGround)
+                return false;
+
+            if (segment.ExitTransition == PathTransitionType.ContinueStraight
+                && physics.OnGround
+                && TemplateFootingHelper.IsFootprintInsideTargetBlock(pos, segment.End)
+                && !TemplateFootingHelper.WillLeaveTargetBlockNextTick(pos, physics, segment.End))
+            {
+                return true;
+            }
+
+            if (segment.ExitTransition == PathTransitionType.FinalStop
+                && physics.OnGround
+                && TemplateFootingHelper.IsFootprintInsideTargetBlock(pos, segment.End)
+                && !TemplateFootingHelper.WillLeaveTargetBlockNextTick(pos, physics, segment.End))
+            {
+                return TemplateHelper.GetHorizontalSpeed(physics) <= FinalStopFastCompleteSpeed;
+            }
+
+            double exitSpeed = TemplateHelper.ProjectHorizontalSpeedAlongHint(physics, segment);
+            bool headingReady = TemplateHelper.HeadingPenaltyDegrees(physics.Yaw, segment)
+                <= (segment.ExitHints.RequireJumpReady ? 8.0 : 15.0);
+
+            if (!headingReady)
+                return false;
+
+            if (segment.ExitTransition == PathTransitionType.PrepareJump
+                && physics.OnGround
+                && segment.ExitHints.RequireJumpReady
+                && segment.ExitHints.MinExitSpeed <= 0.0
+                && TemplateFootingHelper.IsCenterInsideTargetBlock(pos, segment.End)
+                && TemplateHelper.RemainingDistanceAlongSegment(pos, segment) <= 0.30)
+            {
+                return true;
+            }
+
+            if (exitSpeed < segment.ExitHints.MinExitSpeed)
+                return false;
+
+            if (exitSpeed > segment.ExitHints.MaxExitSpeed)
+                return false;
+
+            if (segment.ExitHints.RequireStableFooting)
+            {
+                return physics.OnGround
+                    && (segment.ExitTransition == PathTransitionType.FinalStop
+                        ? TemplateHelper.IsSettledAtEnd(pos, segment.End, physics)
+                        : TemplateHelper.IsSettledOnTargetBlock(pos, segment.End, physics));
+            }
+
+            if (segment.ExitHints.RequireJumpReady)
+            {
+                return physics.OnGround
+                    && TemplateHelper.HasReachedSegmentEndPlane(pos, segment)
+                    && exitSpeed >= segment.ExitHints.MinExitSpeed;
+            }
+
             return segment.ExitTransition switch
             {
                 PathTransitionType.ContinueStraight => TemplateHelper.IsNear(pos, segment.End, horizThresholdSq: 0.09),
                 PathTransitionType.PrepareJump => TemplateHelper.HasReachedSegmentEndPlane(pos, segment)
-                    && TemplateHelper.ProjectHorizontalSpeedAlongSegment(physics, segment) > 0.02,
+                    && exitSpeed > 0.02,
+                PathTransitionType.FinalStop => physics.OnGround && TemplateHelper.IsSettledAtEnd(pos, segment.End, physics),
                 _ => physics.OnGround && TemplateHelper.IsSettledOnTargetBlock(pos, segment.End, physics)
             };
         }

MinecraftClient/Pathing/Execution/Templates/SprintJumpTemplate.cs

@@ -29,7 +29,6 @@ namespace MinecraftClient.Pathing.Execution.Templates
         private readonly double _horizDist;
         private int _tickCount;
         private Phase _phase = Phase.Approach;
-        private bool _airReleaseCommitted;
         private bool _leftGround;
 
         private const float YawToleranceDeg = 5f;
@@ -80,7 +79,7 @@ namespace MinecraftClient.Pathing.Execution.Templates
                             minApproachSq = 0.64; // 0.8 blocks - 3+ ticks of sprint
                         else if (_horizDist >= 4.0)
                             minApproachSq = 0.36; // 0.6 blocks - 2-3 ticks of sprint
-                        else if (_horizDist > 2.5)
+                        else if (_horizDist > 3.5)
                             minApproachSq = 0.09; // 0.3 blocks - 1-2 ticks of sprint
                         else
                             minApproachSq = 0.0;
@@ -104,17 +103,29 @@ namespace MinecraftClient.Pathing.Execution.Templates
                         _leftGround = true;
 
                     bool pastTarget = IsPastTarget(pos);
+                    bool biasTowardExitInAir = _segment.ExitTransition == PathTransitionType.LandingRecovery
+                        ? TemplateHelper.ShouldBiasTowardExitHeading(pos, _segment, distanceThreshold: 1.5)
+                        : TemplateHelper.ShouldBiasTowardExitHeading(pos, _segment);
+                    if (biasTowardExitInAir)
+                        TemplateHelper.FaceExitHeading(physics, _segment);
+
+                    bool lookaheadAirBrake = TransitionBrakingPlanner.ShouldReleaseForwardInAir(
+                        _segment, _nextSegment, pos, physics, world);
                     bool releaseInAir = ShouldReleaseInAir(pos, physics, world);
-                    if (_segment.ExitTransition == PathTransitionType.LandingRecovery && releaseInAir)
-                        _airReleaseCommitted = true;
-                    if (_airReleaseCommitted)
-                        releaseInAir = true;
+                    bool earlySoftBrake = _segment.ExitTransition == PathTransitionType.LandingRecovery
+                        && lookaheadAirBrake
+                        && !releaseInAir;
 
                     if (releaseInAir || pastTarget)
                     {
                         input.Forward = false;
                         input.Sprint = false;
                     }
+                    else if (earlySoftBrake)
+                    {
+                        input.Forward = true;
+                        input.Sprint = false;
+                    }
                     else
                     {
                         input.Forward = true;
@@ -134,6 +145,8 @@ namespace MinecraftClient.Pathing.Execution.Templates
                     TemplateHelper.ApplyDecision(input, decision);
                     if (decision.HoldBack)
                         TemplateHelper.FaceSegmentHeading(physics, _segment);
+                    else if (TemplateHelper.ShouldBiasTowardExitHeading(pos, _segment))
+                        TemplateHelper.FaceExitHeading(physics, _segment);
 
                     double horizToleranceLinear = _horizDist >= 3.5 ? 1.5 : 1.0;
                     double horizToleranceSq = horizToleranceLinear * horizToleranceLinear;
@@ -144,7 +157,8 @@ namespace MinecraftClient.Pathing.Execution.Templates
 
                     if (_segment.ExitTransition != PathTransitionType.ContinueStraight
                         && physics.OnGround
-                        && TemplateHelper.IsSettledOnTargetBlock(pos, ExpectedEnd, physics))
+                        && (TemplateHelper.IsSettledOnTargetBlock(pos, ExpectedEnd, physics)
+                            || IsSettledOnTurnEntryStrip(pos, physics)))
                     {
                         return TemplateState.Complete;
                     }
@@ -177,12 +191,16 @@ namespace MinecraftClient.Pathing.Execution.Templates
 
         private bool ShouldReleaseInAir(Location pos, PlayerPhysics physics, World world)
         {
-            if (TransitionBrakingPlanner.ShouldReleaseForwardInAir(_segment, _nextSegment, pos, physics))
-                return true;
-
             if (_segment.ExitTransition == PathTransitionType.ContinueStraight || physics.OnGround)
                 return false;
 
+            bool plannerWantsRelease = TransitionBrakingPlanner.ShouldReleaseForwardInAir(
+                _segment, _nextSegment, pos, physics, world);
+            double remaining = TemplateHelper.RemainingDistanceAlongSegment(pos, _segment);
+            bool centeredOverLandingBlock = remaining <= 1.2;
+            if (plannerWantsRelease && centeredOverLandingBlock)
+                return true;
+
             Location? landingIfHolding = PredictLandingPosition(physics, world, holdForward: true, holdSprint: true);
             Location? landingIfReleased = PredictLandingPosition(physics, world, holdForward: false, holdSprint: false);
             if (landingIfHolding is null || landingIfReleased is null)
@@ -191,15 +209,17 @@ namespace MinecraftClient.Pathing.Execution.Templates
             bool holdingStaysInside = TemplateFootingHelper.IsFootprintInsideTargetBlock(landingIfHolding.Value, ExpectedEnd);
             bool releasingStaysInside = TemplateFootingHelper.IsFootprintInsideTargetBlock(landingIfReleased.Value, ExpectedEnd);
 
-            if (_segment.ExitTransition == PathTransitionType.LandingRecovery && !holdingStaysInside)
+            if (plannerWantsRelease && releasingStaysInside)
+            {
                 return true;
+            }
 
             return !holdingStaysInside && releasingStaysInside;
         }
 
         private Location? PredictLandingPosition(PlayerPhysics physics, World world, bool holdForward, bool holdSprint)
         {
-            PlayerPhysics sim = ClonePhysics(physics);
+            PlayerPhysics sim = TemplateHelper.ClonePhysicsForPlanning(physics);
             var input = new MovementInput
             {
                 Forward = holdForward,
@@ -217,36 +237,19 @@ namespace MinecraftClient.Pathing.Execution.Templates
             return null;
         }
 
-        private static PlayerPhysics ClonePhysics(PlayerPhysics physics)
+        private bool IsSettledOnTurnEntryStrip(Location pos, PlayerPhysics physics)
         {
-            return new PlayerPhysics
-            {
-                Position = physics.Position,
-                DeltaMovement = physics.DeltaMovement,
-                Yaw = physics.Yaw,
-                Pitch = physics.Pitch,
-                OnGround = physics.OnGround,
-                HorizontalCollision = physics.HorizontalCollision,
-                VerticalCollision = physics.VerticalCollision,
-                VerticalCollisionBelow = physics.VerticalCollisionBelow,
-                FallDistance = physics.FallDistance,
-                StuckSpeedMultiplier = physics.StuckSpeedMultiplier,
-                Xxa = physics.Xxa,
-                Zza = physics.Zza,
-                Yya = physics.Yya,
-                Jumping = physics.Jumping,
-                Sprinting = physics.Sprinting,
-                Sneaking = physics.Sneaking,
-                CreativeFlying = physics.CreativeFlying,
-                InWater = physics.InWater,
-                IsUnderWater = physics.IsUnderWater,
-                InLava = physics.InLava,
-                OnClimbable = physics.OnClimbable,
-                HasSlowFalling = physics.HasSlowFalling,
-                HasLevitation = physics.HasLevitation,
-                LevitationAmplifier = physics.LevitationAmplifier,
-                MovementSpeed = physics.MovementSpeed
-            };
+            if (_segment.ExitTransition != PathTransitionType.LandingRecovery || _nextSegment is null)
+                return false;
+
+            if (_segment.HeadingX == _nextSegment.HeadingX && _segment.HeadingZ == _nextSegment.HeadingZ)
+                return false;
+
+            double horizontalSpeedSq = physics.DeltaMovement.X * physics.DeltaMovement.X
+                + physics.DeltaMovement.Z * physics.DeltaMovement.Z;
+            return TemplateFootingHelper.IsCenterInsideSupportStrip(pos, ExpectedEnd, _nextSegment.End)
+                && !TemplateFootingHelper.WillCenterLeaveSupportStripNextTick(pos, physics, ExpectedEnd, _nextSegment.End)
+                && horizontalSpeedSq <= 0.0016;
         }
 
         private static float YawDifference(float current, float target)

MinecraftClient/Pathing/Execution/Templates/TemplateFootingHelper.cs

@@ -35,6 +35,71 @@ namespace MinecraftClient.Pathing.Execution.Templates
             return !IsFootprintInsideTargetBlock(nextPos, target, epsilon);
         }
 
+        public static bool IsCenterInsideTargetBlock(Location pos, Location target, double epsilon = 1.0E-4)
+        {
+            double blockMinX = Math.Floor(target.X);
+            double blockMaxX = blockMinX + 1.0;
+            double blockMinZ = Math.Floor(target.Z);
+            double blockMaxZ = blockMinZ + 1.0;
+
+            return pos.X >= blockMinX - epsilon
+                && pos.X <= blockMaxX + epsilon
+                && pos.Z >= blockMinZ - epsilon
+                && pos.Z <= blockMaxZ + epsilon;
+        }
+
+        public static bool WillCenterLeaveTargetBlockNextTick(Location pos, PlayerPhysics physics, Location target, double epsilon = 1.0E-4)
+        {
+            Location nextPos = new(
+                pos.X + physics.DeltaMovement.X,
+                pos.Y,
+                pos.Z + physics.DeltaMovement.Z);
+            return !IsCenterInsideTargetBlock(nextPos, target, epsilon);
+        }
+
+        public static bool IsFootprintInsideSupportStrip(Location pos, Location first, Location second, double epsilon = 1.0E-4)
+        {
+            double minX = pos.X - HalfWidth;
+            double maxX = pos.X + HalfWidth;
+            double minZ = pos.Z - HalfWidth;
+            double maxZ = pos.Z + HalfWidth;
+
+            GetSupportStripBounds(first, second, out double stripMinX, out double stripMaxX, out double stripMinZ, out double stripMaxZ);
+
+            return minX >= stripMinX - epsilon
+                && maxX <= stripMaxX + epsilon
+                && minZ >= stripMinZ - epsilon
+                && maxZ <= stripMaxZ + epsilon;
+        }
+
+        public static bool WillLeaveSupportStripNextTick(Location pos, PlayerPhysics physics, Location first, Location second, double epsilon = 1.0E-4)
+        {
+            Location nextPos = new(
+                pos.X + physics.DeltaMovement.X,
+                pos.Y,
+                pos.Z + physics.DeltaMovement.Z);
+            return !IsFootprintInsideSupportStrip(nextPos, first, second, epsilon);
+        }
+
+        public static bool IsCenterInsideSupportStrip(Location pos, Location first, Location second, double epsilon = 1.0E-4)
+        {
+            GetSupportStripBounds(first, second, out double stripMinX, out double stripMaxX, out double stripMinZ, out double stripMaxZ);
+
+            return pos.X >= stripMinX - epsilon
+                && pos.X <= stripMaxX + epsilon
+                && pos.Z >= stripMinZ - epsilon
+                && pos.Z <= stripMaxZ + epsilon;
+        }
+
+        public static bool WillCenterLeaveSupportStripNextTick(Location pos, PlayerPhysics physics, Location first, Location second, double epsilon = 1.0E-4)
+        {
+            Location nextPos = new(
+                pos.X + physics.DeltaMovement.X,
+                pos.Y,
+                pos.Z + physics.DeltaMovement.Z);
+            return !IsCenterInsideSupportStrip(nextPos, first, second, epsilon);
+        }
+
         public static bool WillCrossSupportExitNextTick(Location pos, PlayerPhysics physics, PathSegment segment, double epsilon = 1.0E-4)
         {
             double nextX = pos.X + physics.DeltaMovement.X;
@@ -56,5 +121,19 @@ namespace MinecraftClient.Pathing.Execution.Templates
 
             return false;
         }
+
+        private static void GetSupportStripBounds(Location first, Location second,
+            out double minX, out double maxX, out double minZ, out double maxZ)
+        {
+            double firstMinX = Math.Floor(first.X);
+            double secondMinX = Math.Floor(second.X);
+            double firstMinZ = Math.Floor(first.Z);
+            double secondMinZ = Math.Floor(second.Z);
+
+            minX = Math.Min(firstMinX, secondMinX);
+            maxX = Math.Max(firstMinX, secondMinX) + 1.0;
+            minZ = Math.Min(firstMinZ, secondMinZ);
+            maxZ = Math.Max(firstMinZ, secondMinZ) + 1.0;
+        }
     }
 }

MinecraftClient/Pathing/Execution/Templates/TemplateHelper.cs

@@ -83,6 +83,12 @@ namespace MinecraftClient.Pathing.Execution.Templates
             physics.Yaw = SmoothYaw(physics.Yaw, headingYaw);
         }
 
+        internal static void FaceExitHeading(PlayerPhysics physics, PathSegment segment)
+        {
+            float headingYaw = GetExitHeadingYaw(segment);
+            physics.Yaw = SmoothYaw(physics.Yaw, headingYaw);
+        }
+
         internal static void ApplyDecision(MovementInput input, TransitionBrakingDecision decision)
         {
             input.Forward = decision.HoldForward;
@@ -104,6 +110,45 @@ namespace MinecraftClient.Pathing.Execution.Templates
             return physics.DeltaMovement.X * dirX + physics.DeltaMovement.Z * dirZ;
         }
 
+        internal static double ProjectHorizontalSpeedAlongHint(PlayerPhysics physics, PathSegment segment)
+        {
+            GetExitHeading(segment, out int headingX, out int headingZ);
+            return ProjectHorizontalSpeedAlongHeading(physics, headingX, headingZ);
+        }
+
+        internal static double ProjectHorizontalSpeedAlongHeading(PlayerPhysics physics, int headingX, int headingZ)
+        {
+            if (headingX == 0 && headingZ == 0)
+                return GetHorizontalSpeed(physics);
+
+            return physics.DeltaMovement.X * headingX + physics.DeltaMovement.Z * headingZ;
+        }
+
+        internal static double GetHorizontalSpeed(PlayerPhysics physics)
+        {
+            return Math.Sqrt(physics.DeltaMovement.X * physics.DeltaMovement.X
+                + physics.DeltaMovement.Z * physics.DeltaMovement.Z);
+        }
+
+        internal static double RemainingDistanceAlongSegment(Location pos, PathSegment segment)
+        {
+            double dx = segment.End.X - pos.X;
+            double dz = segment.End.Z - pos.Z;
+            return dx * segment.HeadingX + dz * segment.HeadingZ;
+        }
+
+        internal static bool ShouldBiasTowardExitHeading(Location pos, PathSegment segment, double distanceThreshold = 0.35)
+        {
+            GetExitHeading(segment, out int headingX, out int headingZ);
+            if ((headingX == 0 && headingZ == 0)
+                || (headingX == segment.HeadingX && headingZ == segment.HeadingZ))
+            {
+                return false;
+            }
+
+            return RemainingDistanceAlongSegment(pos, segment) <= distanceThreshold;
+        }
+
         internal static bool IsSettledOnTargetBlock(Location pos, Location target, PlayerPhysics physics,
             double speedThresholdSq = 0.0016)
         {
@@ -120,11 +165,88 @@ namespace MinecraftClient.Pathing.Execution.Templates
             if (IsSettledOnTargetBlock(pos, target, physics, speedThresholdSq))
                 return true;
 
-            double dx = target.X - pos.X;
-            double dz = target.Z - pos.Z;
             double horizontalSpeedSq = physics.DeltaMovement.X * physics.DeltaMovement.X
                 + physics.DeltaMovement.Z * physics.DeltaMovement.Z;
-            return dx * dx + dz * dz <= horizThresholdSq && horizontalSpeedSq <= speedThresholdSq;
+            if (horizontalSpeedSq > speedThresholdSq)
+                return false;
+
+            if (TemplateFootingHelper.IsCenterInsideTargetBlock(pos, target)
+                && !TemplateFootingHelper.WillCenterLeaveTargetBlockNextTick(pos, physics, target))
+            {
+                return true;
+            }
+
+            double dx = target.X - pos.X;
+            double dz = target.Z - pos.Z;
+            return dx * dx + dz * dz <= horizThresholdSq;
+        }
+
+        internal static double HeadingPenaltyDegrees(float yaw, PathSegment segment)
+        {
+            GetExitHeading(segment, out int headingX, out int headingZ);
+            return HeadingPenaltyDegrees(yaw, headingX, headingZ);
+        }
+
+        internal static double HeadingPenaltyDegrees(float yaw, int headingX, int headingZ)
+        {
+            if (headingX == 0 && headingZ == 0)
+                return 0.0;
+
+            float targetYaw = CalculateYaw(headingX, headingZ);
+            float delta = targetYaw - yaw;
+            while (delta > 180f) delta -= 360f;
+            while (delta < -180f) delta += 360f;
+            return Math.Abs(delta);
+        }
+
+        internal static float GetExitHeadingYaw(PathSegment segment)
+        {
+            GetExitHeading(segment, out int headingX, out int headingZ);
+            return CalculateYaw(headingX, headingZ);
+        }
+
+        internal static void GetExitHeading(PathSegment segment, out int headingX, out int headingZ)
+        {
+            headingX = segment.ExitHints.DesiredHeadingX;
+            headingZ = segment.ExitHints.DesiredHeadingZ;
+
+            if (headingX == 0 && headingZ == 0)
+            {
+                headingX = segment.HeadingX;
+                headingZ = segment.HeadingZ;
+            }
+        }
+
+        internal static PlayerPhysics ClonePhysicsForPlanning(PlayerPhysics physics)
+        {
+            return new PlayerPhysics
+            {
+                Position = physics.Position,
+                DeltaMovement = physics.DeltaMovement,
+                Yaw = physics.Yaw,
+                Pitch = physics.Pitch,
+                OnGround = physics.OnGround,
+                HorizontalCollision = physics.HorizontalCollision,
+                VerticalCollision = physics.VerticalCollision,
+                VerticalCollisionBelow = physics.VerticalCollisionBelow,
+                FallDistance = physics.FallDistance,
+                StuckSpeedMultiplier = physics.StuckSpeedMultiplier,
+                Xxa = physics.Xxa,
+                Zza = physics.Zza,
+                Yya = physics.Yya,
+                Jumping = physics.Jumping,
+                Sprinting = physics.Sprinting,
+                Sneaking = physics.Sneaking,
+                CreativeFlying = physics.CreativeFlying,
+                InWater = physics.InWater,
+                IsUnderWater = physics.IsUnderWater,
+                InLava = physics.InLava,
+                OnClimbable = physics.OnClimbable,
+                HasSlowFalling = physics.HasSlowFalling,
+                HasLevitation = physics.HasLevitation,
+                LevitationAmplifier = physics.LevitationAmplifier,
+                MovementSpeed = physics.MovementSpeed
+            };
         }
 
         private static void GetNormalizedSegmentDirection(PathSegment segment, out double dirX, out double dirZ)

MinecraftClient/Pathing/Execution/Templates/WalkTemplate.cs

@@ -35,7 +35,9 @@ namespace MinecraftClient.Pathing.Execution.Templates
             double dx = ExpectedEnd.X - pos.X;
             double dz = ExpectedEnd.Z - pos.Z;
             double dy = ExpectedEnd.Y - pos.Y;
-            float targetYaw = TemplateHelper.CalculateYaw(dx, dz);
+            float targetYaw = TemplateHelper.ShouldBiasTowardExitHeading(pos, _segment)
+                ? TemplateHelper.GetExitHeadingYaw(_segment)
+                : TemplateHelper.CalculateYaw(dx, dz);
             float targetPitch = TemplateHelper.CalculatePitch(dx, dy, dz);
             physics.Yaw = TemplateHelper.SmoothYaw(physics.Yaw, targetYaw);
             physics.Pitch = TemplateHelper.SmoothPitch(physics.Pitch, targetPitch);

MinecraftClient/Pathing/Execution/TransitionBrakingPlanner.cs

@@ -1,5 +1,6 @@
 using System;
 using MinecraftClient.Mapping;
+using MinecraftClient.Pathing.Execution.Templates;
 using MinecraftClient.Physics;
 
 namespace MinecraftClient.Pathing.Execution
@@ -15,39 +16,61 @@ namespace MinecraftClient.Pathing.Execution
 
         public static TransitionBrakingDecision Plan(PathSegment current, PathSegment? next, Location pos, PlayerPhysics physics, World world)
         {
-            if (current.ExitTransition is PathTransitionType.ContinueStraight or PathTransitionType.PrepareJump)
-                return TransitionBrakingDecision.CarryMomentum(current.PreserveSprint);
-
-            double remaining = RemainingDistanceAlongSegment(current, pos);
-            double forwardSpeed = Math.Max(0.0, ProjectHorizontalSpeedAlongHeading(physics, current.HeadingX, current.HeadingZ));
-            double coastStopDistance = EstimateGroundStopDistance(physics, world, current.HeadingX, current.HeadingZ, applyBackBrake: false);
-            double hardBrakeDistance = EstimateGroundStopDistance(physics, world, current.HeadingX, current.HeadingZ, applyBackBrake: true);
-            bool landingNeedsTurnBrake = current.ExitTransition == PathTransitionType.LandingRecovery
+            if (physics.OnGround
+                && current.ExitTransition == PathTransitionType.LandingRecovery
                 && next is not null
-                && !HasSameHeading(current, next);
-
-            if (current.ExitTransition == PathTransitionType.FinalStop)
+                && !HasSameHeading(current, next))
             {
-                if (remaining < 0.0)
+                double remaining = RemainingDistanceAlongSegment(current, pos);
+                double forwardSpeed = Math.Max(0.0,
+                    ProjectHorizontalSpeedAlongHeading(physics, current.HeadingX, current.HeadingZ));
+                double maxExitSpeed = !double.IsPositiveInfinity(current.ExitHints.MaxExitSpeed)
+                    ? current.ExitHints.MaxExitSpeed
+                    : 0.035;
+                double coastStopDistance = EstimateGroundStopDistance(
+                    physics, world, current.HeadingX, current.HeadingZ, applyBackBrake: false);
+                double hardBrakeDistance = EstimateGroundStopDistance(
+                    physics, world, current.HeadingX, current.HeadingZ, applyBackBrake: true);
+
+                if (TemplateFootingHelper.IsFootprintInsideTargetBlock(pos, current.End)
+                    && forwardSpeed <= maxExitSpeed)
+                {
+                    return TransitionBrakingDecision.Coast;
+                }
+
+                if (remaining < 0.0 && forwardSpeed > maxExitSpeed)
                     return TransitionBrakingDecision.Brake;
 
-                if (forwardSpeed > GroundSpeedThreshold && remaining <= hardBrakeDistance + FinalBrakeLead)
+                if (forwardSpeed > GroundSpeedThreshold && remaining <= hardBrakeDistance + TurnBrakeLead)
                     return TransitionBrakingDecision.Brake;
 
-                if (forwardSpeed <= GroundSpeedThreshold && remaining > 0.0)
-                    return TransitionBrakingDecision.CarryMomentum(preserveSprint: false);
+                if (remaining <= coastStopDistance + FinalStopLead)
+                    return TransitionBrakingDecision.Coast;
             }
 
-            if ((current.ExitTransition == PathTransitionType.Turn || landingNeedsTurnBrake)
-                && remaining <= hardBrakeDistance + TurnBrakeLead)
+            TransitionInputProfile profile;
+            if (physics.OnGround)
             {
-                return TransitionBrakingDecision.Brake;
+                profile = TransitionLookaheadEvaluator.ChooseGroundProfile(current, pos, physics, world);
+            }
+            else
+            {
+                if (!current.ExitHints.AllowAirBrake)
+                    return TransitionBrakingDecision.CarryMomentum(current.PreserveSprint);
+
+                profile = TransitionLookaheadEvaluator.ChooseAirProfile(current, pos, physics, world);
             }
 
-            if (remaining <= coastStopDistance + FinalStopLead)
-                return TransitionBrakingDecision.Coast;
-
-            return TransitionBrakingDecision.CarryMomentum(current.PreserveSprint);
+            return profile switch
+            {
+                TransitionInputProfile.Carry => TransitionBrakingDecision.CarryMomentum(current.PreserveSprint),
+                TransitionInputProfile.Coast => TransitionBrakingDecision.Coast,
+                TransitionInputProfile.Brake => TransitionBrakingDecision.Brake,
+                TransitionInputProfile.AirHoldForward => TransitionBrakingDecision.CarryMomentum(current.PreserveSprint),
+                TransitionInputProfile.AirRelease => TransitionBrakingDecision.Coast,
+                TransitionInputProfile.AirBrake => TransitionBrakingDecision.Brake,
+                _ => TransitionBrakingDecision.Coast
+            };
         }
 
         public static bool ShouldReleaseForwardInAir(PathSegment current, PathSegment? next, Location pos, PlayerPhysics physics)
@@ -61,6 +84,15 @@ namespace MinecraftClient.Pathing.Execution
             return remaining <= forwardSpeed + AirReleaseLead;
         }
 
+        public static bool ShouldReleaseForwardInAir(PathSegment current, PathSegment? next, Location pos, PlayerPhysics physics, World world)
+        {
+            if (!current.ExitHints.AllowAirBrake)
+                return false;
+
+            TransitionInputProfile profile = TransitionLookaheadEvaluator.ChooseAirProfile(current, pos, physics, world);
+            return profile is TransitionInputProfile.AirRelease or TransitionInputProfile.AirBrake;
+        }
+
         public static double EstimateGroundStopDistance(PlayerPhysics physics, World world, int headingX, int headingZ, bool applyBackBrake)
         {
             if (!physics.OnGround)

MinecraftClient/Pathing/Execution/TransitionInputProfile.cs

@@ -0,0 +1,12 @@
+namespace MinecraftClient.Pathing.Execution
+{
+    public enum TransitionInputProfile
+    {
+        Carry,
+        Coast,
+        Brake,
+        AirHoldForward,
+        AirRelease,
+        AirBrake
+    }
+}

MinecraftClient/Pathing/Execution/TransitionLookaheadEvaluator.cs

@@ -0,0 +1,196 @@
+using System;
+using MinecraftClient.Mapping;
+using MinecraftClient.Pathing.Execution.Templates;
+using MinecraftClient.Physics;
+
+namespace MinecraftClient.Pathing.Execution
+{
+    public static class TransitionLookaheadEvaluator
+    {
+        public static TransitionInputProfile ChooseGroundProfile(PathSegment segment, Location pos, PlayerPhysics physics, World world)
+        {
+            double remaining = TemplateHelper.RemainingDistanceAlongSegment(pos, segment);
+            double forwardSpeed = Math.Max(0.0,
+                TemplateHelper.ProjectHorizontalSpeedAlongHeading(physics, segment.HeadingX, segment.HeadingZ));
+
+            bool requiresJumpEntry = segment.ExitHints.RequireJumpReady
+                || segment.ExitTransition == PathTransitionType.PrepareJump;
+
+            if (segment.ExitTransition == PathTransitionType.ContinueStraight && !requiresJumpEntry)
+                return TransitionInputProfile.Carry;
+
+            if (requiresJumpEntry)
+                return TransitionInputProfile.Carry;
+
+            bool requiresSlowEntry = segment.ExitHints.RequireStableFooting
+                || segment.ExitTransition is PathTransitionType.FinalStop or PathTransitionType.Turn
+                || (segment.ExitTransition == PathTransitionType.LandingRecovery
+                    && (segment.ExitHints.AllowAirBrake || IsFiniteSpeedCap(segment)));
+
+            if (!requiresSlowEntry)
+                return TransitionInputProfile.Carry;
+
+            double maxExitSpeed = GetTargetMaxExitSpeed(segment);
+            double hardBrakeDistance = TransitionBrakingPlanner.EstimateGroundStopDistance(
+                physics, world, segment.HeadingX, segment.HeadingZ, applyBackBrake: true);
+            double coastStopDistance = TransitionBrakingPlanner.EstimateGroundStopDistance(
+                physics, world, segment.HeadingX, segment.HeadingZ, applyBackBrake: false);
+
+            if (remaining < 0.0)
+                return TransitionInputProfile.Brake;
+
+            if (forwardSpeed > maxExitSpeed && remaining <= hardBrakeDistance + 0.10)
+                return TransitionInputProfile.Brake;
+
+            if (forwardSpeed <= maxExitSpeed && remaining > 0.0)
+                return TransitionInputProfile.Carry;
+
+            if (remaining <= coastStopDistance + 0.06)
+                return TransitionInputProfile.Coast;
+
+            return TransitionInputProfile.Carry;
+        }
+
+        public static TransitionInputProfile ChooseAirProfile(PathSegment segment, Location pos, PlayerPhysics physics, World world)
+        {
+            if (!segment.ExitHints.AllowAirBrake)
+                return TransitionInputProfile.AirHoldForward;
+
+            TransitionInputProfile[] candidates =
+            [
+                TransitionInputProfile.AirHoldForward,
+                TransitionInputProfile.AirRelease,
+                TransitionInputProfile.AirBrake
+            ];
+
+            return ChooseBest(segment, pos, physics, world, candidates);
+        }
+
+        private static TransitionInputProfile ChooseBest(PathSegment segment, Location pos, PlayerPhysics physics, World world,
+            TransitionInputProfile[] candidates)
+        {
+            TransitionInputProfile best = candidates[0];
+            double bestScore = double.PositiveInfinity;
+
+            foreach (TransitionInputProfile candidate in candidates)
+            {
+                double score = Score(segment, pos, physics, world, candidate);
+                if (score < bestScore)
+                {
+                    best = candidate;
+                    bestScore = score;
+                }
+            }
+
+            return best;
+        }
+
+        private static double Score(PathSegment segment, Location pos, PlayerPhysics physics, World world, TransitionInputProfile candidate)
+        {
+            PlayerPhysics sim = TemplateHelper.ClonePhysicsForPlanning(physics);
+            sim.Position = new Vec3d(pos.X, pos.Y, pos.Z);
+
+            var input = new MovementInput();
+            Location simPos = pos;
+
+            for (int tick = 0; tick < segment.ExitHints.HorizonTicks; tick++)
+            {
+                if (TemplateHelper.ShouldBiasTowardExitHeading(simPos, segment))
+                    TemplateHelper.FaceExitHeading(sim, segment);
+
+                input.Reset();
+                ApplyCandidateInput(input, candidate, segment);
+                sim.ApplyInput(input);
+                sim.Tick(world);
+                simPos = new Location(sim.Position.X, sim.Position.Y, sim.Position.Z);
+            }
+
+            double score = 0.0;
+            double exitSpeed = TemplateHelper.ProjectHorizontalSpeedAlongHint(sim, segment);
+            double horizontalSpeed = TemplateHelper.GetHorizontalSpeed(sim);
+
+            if (segment.ExitHints.RequireGrounded && !sim.OnGround)
+                score += 1000.0;
+
+            if (segment.ExitHints.RequireStableFooting
+                && !TemplateHelper.IsSettledOnTargetBlock(simPos, segment.End, sim))
+            {
+                score += 1000.0;
+            }
+
+            if (segment.ExitHints.RequireStableFooting && !sim.OnGround)
+            {
+                double remaining = TemplateHelper.RemainingDistanceAlongSegment(simPos, segment);
+                if (remaining > 0.0)
+                    score += 2000.0 + remaining * 500.0;
+
+                if (simPos.Y < segment.End.Y)
+                    score += 2000.0 + (segment.End.Y - simPos.Y) * 500.0;
+            }
+
+            if (exitSpeed < segment.ExitHints.MinExitSpeed)
+                score += (segment.ExitHints.MinExitSpeed - exitSpeed) * 200.0;
+
+            if (exitSpeed > segment.ExitHints.MaxExitSpeed)
+                score += (exitSpeed - segment.ExitHints.MaxExitSpeed) * 200.0;
+
+            score += TemplateHelper.HeadingPenaltyDegrees(sim.Yaw, segment);
+
+            if (segment.ExitHints.RequireStableFooting)
+            {
+                double dx = segment.End.X - simPos.X;
+                double dz = segment.End.Z - simPos.Z;
+                score += (dx * dx + dz * dz) * 20.0;
+            }
+            else
+            {
+                score += Math.Abs(TemplateHelper.RemainingDistanceAlongSegment(simPos, segment)) * 10.0;
+            }
+
+            if (segment.ExitHints.RequireJumpReady && horizontalSpeed < segment.ExitHints.MinExitSpeed)
+                score += 250.0;
+
+            return score;
+        }
+
+        private static void ApplyCandidateInput(MovementInput input, TransitionInputProfile candidate, PathSegment segment)
+        {
+            switch (candidate)
+            {
+                case TransitionInputProfile.Carry:
+                case TransitionInputProfile.AirHoldForward:
+                    input.Forward = true;
+                    input.Sprint = segment.PreserveSprint || segment.ExitHints.RequireJumpReady;
+                    break;
+
+                case TransitionInputProfile.Brake:
+                case TransitionInputProfile.AirBrake:
+                    input.Back = true;
+                    break;
+
+                case TransitionInputProfile.Coast:
+                case TransitionInputProfile.AirRelease:
+                default:
+                    break;
+            }
+        }
+
+        private static bool IsFiniteSpeedCap(PathSegment segment)
+        {
+            return !double.IsPositiveInfinity(segment.ExitHints.MaxExitSpeed);
+        }
+
+        private static double GetTargetMaxExitSpeed(PathSegment segment)
+        {
+            if (IsFiniteSpeedCap(segment))
+                return segment.ExitHints.MaxExitSpeed;
+
+            return segment.ExitTransition switch
+            {
+                PathTransitionType.FinalStop => 0.03,
+                PathTransitionType.Turn or PathTransitionType.LandingRecovery => 0.035,
+                _ => double.PositiveInfinity
+            };
+        }
+    }
+}