pathing: add side-wall theory, full-coverage parkour test suite, and live test fixes

Theory simulator:
- Add 2D side-wall jump physics with yaw sweep for worst-case margin
- Generate sidewall theory cases (flat/ascend/descend, wall_offset 0/1)
- Add momentum-capabilities.json with band compression and max_reach
- Extend models, capabilities, canonical, and renderers for sidewall

Full-coverage parkour test suite (tools/test-parkour.py):
- Derive test matrix from momentum-capabilities.json
- Build linear/neo/ceiling courses via RCON with 7-block clear margin
- Use /goto for pathfinding, parse A* and PathMgr log output
- Stop-at-first-failure per (family, subfamily, dy, ceil, wo) group
- Hierarchical --filter (e.g. linear/flat, ceiling/headhitter/ceil2.5)
- Exclude sidewall from default matrix (identical max_reach to linear)

Pathing execution fixes:
- Align parkour contracts and timing budgets with live test results
- Fix jump-entry yaw snapping for grounded handoffs
- Template helper and sprint jump template refinements

Made-with: Cursor

MinecraftClient/Pathing/Execution/Templates/AscendTemplate.cs

@@ -46,11 +46,8 @@ namespace MinecraftClient.Pathing.Execution.Templates
 
             float targetYaw = TemplateHelper.CalculateYaw(dx, dz);
             float targetPitch = TemplateHelper.CalculatePitch(dx, dy, dz);
-            bool snapYawForJumpCommit = !_initiatedJump && !groundedPrepareJumpHandoff;
-            physics.Yaw = TemplateHelper.AlignYaw(
-                physics.Yaw,
-                targetYaw,
-                snapYawForJumpCommit ? YawAlignmentMode.Snap : YawAlignmentMode.Smooth);
+            if (!groundedPrepareJumpHandoff)
+                physics.Yaw = TemplateHelper.SmoothYaw(physics.Yaw, targetYaw);
             physics.Pitch = TemplateHelper.SmoothPitch(physics.Pitch, targetPitch);
             float headingPenalty = YawDifference(physics.Yaw, targetYaw);
             bool headingReady = headingPenalty <= 8.0;

MinecraftClient/Pathing/Execution/Templates/GroundedSegmentController.cs

@@ -20,7 +20,7 @@ namespace MinecraftClient.Pathing.Execution.Templates
                 input.Forward = false;
                 input.Sprint = false;
                 input.Back = false;
-                TemplateHelper.FaceExitHeading(physics, segment, YawAlignmentMode.Snap);
+                TemplateHelper.FaceExitHeading(physics, segment);
                 return;
             }
 

MinecraftClient/Pathing/Execution/Templates/SprintJumpTemplate.cs

@@ -31,7 +31,6 @@ namespace MinecraftClient.Pathing.Execution.Templates
         private Phase _phase = Phase.Approach;
         private bool _leftGround;
         private bool _carriedGroundEntry;
-        private bool _airBrakeLatched;
 
         private const float YawToleranceDeg = 5f;
 
@@ -57,10 +56,7 @@ namespace MinecraftClient.Pathing.Execution.Templates
 
             float targetYaw = TemplateHelper.CalculateYaw(dx, dz);
             float targetPitch = TemplateHelper.CalculatePitch(dx, dy, dz);
-            YawAlignmentMode yawMode = _phase == Phase.Approach
-                ? YawAlignmentMode.Snap
-                : YawAlignmentMode.Smooth;
-            physics.Yaw = TemplateHelper.AlignYaw(physics.Yaw, targetYaw, yawMode);
+            physics.Yaw = TemplateHelper.SmoothYaw(physics.Yaw, targetYaw);
             physics.Pitch = TemplateHelper.SmoothPitch(physics.Pitch, targetPitch);
 
             switch (_phase)
@@ -139,14 +135,7 @@ namespace MinecraftClient.Pathing.Execution.Templates
                         && lookaheadAirBrake
                         && !releaseInAir;
 
-                    if (_segment.ExitTransition == PathTransitionType.FinalStop
-                        && _horizDist <= 2.5
-                        && (releaseInAir || pastTarget))
-                    {
-                        _airBrakeLatched = true;
-                    }
-
-                    if (_airBrakeLatched || releaseInAir || pastTarget)
+                    if (releaseInAir || pastTarget)
                     {
                         input.Forward = false;
                         input.Sprint = false;

MinecraftClient/Pathing/Execution/Templates/TemplateHelper.cs

@@ -4,12 +4,6 @@ using MinecraftClient.Physics;
 
 namespace MinecraftClient.Pathing.Execution.Templates
 {
-    internal enum YawAlignmentMode
-    {
-        Smooth,
-        Snap
-    }
-
     internal static class TemplateHelper
     {
         private const double EyeHeight = 1.62;
@@ -56,14 +50,6 @@ namespace MinecraftClient.Pathing.Execution.Templates
             return result;
         }
 
-        internal static float AlignYaw(float current, float target, YawAlignmentMode mode, float maxStep = MaxYawStepPerTick)
-        {
-            target = NormalizeYaw(target);
-            return mode == YawAlignmentMode.Snap
-                ? target
-                : SmoothYaw(current, target, maxStep);
-        }
-
         /// <summary>
         /// Smoothly interpolate pitch toward a target.
         /// </summary>
@@ -91,18 +77,16 @@ namespace MinecraftClient.Pathing.Execution.Templates
             return dx * dx + dz * dz < horizThresholdSq && Math.Abs(dy) < vertThreshold;
         }
 
-        internal static void FaceSegmentHeading(PlayerPhysics physics, PathSegment segment,
-            YawAlignmentMode mode = YawAlignmentMode.Smooth)
+        internal static void FaceSegmentHeading(PlayerPhysics physics, PathSegment segment)
         {
             float headingYaw = CalculateYaw(segment.HeadingX, segment.HeadingZ);
-            physics.Yaw = AlignYaw(physics.Yaw, headingYaw, mode);
+            physics.Yaw = SmoothYaw(physics.Yaw, headingYaw);
         }
 
-        internal static void FaceExitHeading(PlayerPhysics physics, PathSegment segment,
-            YawAlignmentMode mode = YawAlignmentMode.Smooth)
+        internal static void FaceExitHeading(PlayerPhysics physics, PathSegment segment)
         {
             float headingYaw = GetExitHeadingYaw(segment);
-            physics.Yaw = AlignYaw(physics.Yaw, headingYaw, mode);
+            physics.Yaw = SmoothYaw(physics.Yaw, headingYaw);
         }
 
         internal static void ApplyDecision(MovementInput input, TransitionBrakingDecision decision)
@@ -238,13 +222,6 @@ namespace MinecraftClient.Pathing.Execution.Templates
             }
         }
 
-        private static float NormalizeYaw(float yaw)
-        {
-            while (yaw < 0f) yaw += 360f;
-            while (yaw >= 360f) yaw -= 360f;
-            return yaw;
-        }
-
         internal static PlayerPhysics ClonePhysicsForPlanning(PlayerPhysics physics)
         {
             return new PlayerPhysics

MinecraftClient/Pathing/Execution/Templates/WalkTemplate.cs

@@ -35,17 +35,11 @@ namespace MinecraftClient.Pathing.Execution.Templates
             double dx = ExpectedEnd.X - pos.X;
             double dz = ExpectedEnd.Z - pos.Z;
             double dy = ExpectedEnd.Y - pos.Y;
-            bool snapYawForJumpEntry = physics.OnGround
-                && _segment.ExitTransition == PathTransitionType.PrepareJump
-                && _segment.ExitHints.RequireJumpReady;
             float targetYaw = TemplateHelper.ShouldBiasTowardExitHeading(pos, _segment)
                 ? TemplateHelper.GetExitHeadingYaw(_segment)
                 : TemplateHelper.CalculateYaw(dx, dz);
             float targetPitch = TemplateHelper.CalculatePitch(dx, dy, dz);
-            physics.Yaw = TemplateHelper.AlignYaw(
-                physics.Yaw,
-                targetYaw,
-                snapYawForJumpEntry ? YawAlignmentMode.Snap : YawAlignmentMode.Smooth);
+            physics.Yaw = TemplateHelper.SmoothYaw(physics.Yaw, targetYaw);
             physics.Pitch = TemplateHelper.SmoothPitch(physics.Pitch, targetPitch);
 
             GroundedSegmentController.Apply(_segment, _nextSegment, pos, physics, input, world);

MinecraftClient/Pathing/Moves/ParkourFeasibility.cs

@@ -15,10 +15,7 @@ internal static class ParkourFeasibility
         int yDelta)
     {
         double horiz = Math.Sqrt(xOffset * xOffset + zOffset * zOffset);
-        if (yDelta <= 0)
-            return true;
-
-        double threshold = 2.5;
+        double threshold = yDelta > 0 ? 2.5 : 3.5;
         if (horiz < threshold)
             return true;