From 3a82914ea2b39b5fd225a1dc7c11800107d3beb1 Mon Sep 17 00:00:00 2001
From: BruceChen <hi@brucec.cn>
Date: Mon, 27 Apr 2026 14:49:03 +0000
Subject: [PATCH] pathing: narrow Ascend post-landing shortcut to Turn exits
 only

The previous shortcut completed an Ascend on any non-FinalStop exit as
soon as the bot's center entered the target column. This made the next
segment start with the bot offset along the prior heading (e.g. +0.45 m
past target column center), which compounded with sprint-jump distance
on the next segment.

Live regression on (237.5, 97, 172.5) -> (252.5, 138, 220.5):
Ascend (258.5,127,222.5)->(257.5,128,223.5) PrepareJump completed at
(257.78,128.00,223.95). Followed by Parkour (257.5,128,223.5)->
(256.5,128,225.5), the sprint-jump launched from progress=+0.38 and
covered ~3.6 m, overshooting the 2.236 m landing target by ~1.7 m. Bot
fell at (255.30,123.94,226.27) and triggered repeated replans until the
5-replan budget was exhausted.

Restrict the shortcut to ExitTransition == Turn, the original target
case where the AscendTemplate yaw and GroundedSegmentController's
exit-heading yaw disagree and oscillate the bot off the landing block.
For PrepareJump/ContinueStraight/LandingRecovery, the GSC handoff is
correct because the next segment shares the segment heading.

Verified zero replans on:
- (237.5,97,172.5) -> (252.5,138,220.5) (79 segments)
- (252.5,138,220.5) -> (237.5,97,172.5) (39 segments)
- (237.5,97,172.5) -> (244.5,122,188.5) (41 segments)
- (244.5,122,188.5) -> (237.5,97,172.5) (25 segments)

Pathing test suite: 23 failures (matches baseline, no new regressions).

Made-with: Cursor
---
 .../Execution/Templates/AscendTemplate.cs     | 35 ++++++++++---------
 1 file changed, 19 insertions(+), 16 deletions(-)

diff --git a/MinecraftClient/Pathing/Execution/Templates/AscendTemplate.cs b/MinecraftClient/Pathing/Execution/Templates/AscendTemplate.cs
index 5cede71f..b4af812e 100644
--- a/MinecraftClient/Pathing/Execution/Templates/AscendTemplate.cs
+++ b/MinecraftClient/Pathing/Execution/Templates/AscendTemplate.cs
@@ -188,28 +188,31 @@ namespace MinecraftClient.Pathing.Execution.Templates
 
             if (physics.OnGround && Math.Abs(dy) < 0.2)
             {
-                // Post-landing shortcut: once the Ascend's jump arc has put the
-                // bot back on ground at the target's elevation with its center
-                // inside the target column, the segment has done its job. Hand
-                // off to the next template (which snaps yaw on its first tick)
-                // instead of trying to brake or settle to stable footing.
+                // Post-landing shortcut for Turn exits only: once the Ascend's
+                // jump arc has put the bot back on ground at the target's
+                // elevation with its center inside the target column, hand off
+                // to the next template (which snaps yaw on its first tick)
+                // instead of trying to settle to stable footing.
                 //
                 // Holding onto the segment here re-runs both the AscendTemplate
                 // top-level yaw smoothing toward targetYaw (a moving bearing as
                 // the bot drifts past End) AND GroundedSegmentController's
-                // segment/exit-heading rotation each tick. The two competing
-                // yaw targets (e.g. yaw=233 anti-velocity vs yaw=315 segment
-                // heading vs yaw=270 exit heading on a Descend->PrepareJump->
-                // Ascend->Turn chain) oscillate the bot ~80 ticks until it
+                // exit-heading rotation each tick. With a Turn transition the
+                // two yaw targets disagree (segment heading vs perpendicular
+                // exit heading) and the bot oscillates ~80 ticks until it
                 // walks off the 1-block landing's edge and the segment fails.
-                // Mirrors the existing "Ascend completes on PrepareJump as
-                // soon as center is inside the target block" gate in
-                // GroundedSegmentController.ShouldComplete. FinalStop is
-                // excluded because the last segment must come to rest at
-                // the goal: hand it back to GroundedSegmentController,
-                // which uses IsSettledAtEnd to detect a true stop.
+                //
+                // We deliberately do NOT shortcut PrepareJump exits: the next
+                // segment is another jump that needs the bot settled near the
+                // target column center for a clean takeoff. Completing too
+                // early leaves the bot's start position offset along the
+                // previous heading, which compounds with the next segment's
+                // sprint-jump boost and overshoots short (2-block) parkour
+                // landings. ContinueStraight/LandingRecovery share the same
+                // segment heading as the next segment, so the GSC handoff
+                // does not produce a conflicting yaw target.
                 if (_hasBeenAirborne
-                    && _segment.ExitTransition != PathTransitionType.FinalStop
+                    && _segment.ExitTransition == PathTransitionType.Turn
                     && TemplateFootingHelper.IsCenterInsideTargetBlock(pos, _segment.End))
                 {
                     return TemplateState.Complete;